Corrugated box stacking apparatus

Abstract

The application relates to a corrugated carton stacking device, which relates to the technical field of stacking devices and comprises a paperboard input mechanism, a stacking robot, a tray processing mechanism, a flattening mechanism, a partition plate placing mechanism and a transfer mechanism. The paperboard input mechanism is used for conveying corrugated paperboards bundled into bundles. The stacking robot transfers the corrugated paperboards conveyed to a position to a tray to form a stacking layer. The flattening mechanism aggregates the formed stacking layer and rises with the stacking layer. The partition plate placing mechanism is used for placing a partition plate between each stacking layer. The tray processing mechanism is used for outputting a full tray and supplying an empty tray after reaching a set stacking layer. During the process of removing the full tray and supplying the empty tray, the device can use a transfer tray to temporarily store a stacking layer. The stacking robot does not need to wait for the tray processing mechanism to complete the full tray output, and can continue to stack the corrugated paperboards to the transfer tray, realizes the synchronization of full tray processing and new stacking layer stacking, can reduce the idle time of the device, and improves the stacking efficiency of the device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacking equipment, in particular to a corrugated box stacking equipment. BACKGROUND

[0002] The core of the corrugated box is corrugated paperboard. After the corrugated paperboard is produced, the blank is cut according to the design drawing, and the indentation line is formed synchronously to facilitate subsequent folding into a box. In the traditional corrugated box stacking process, the blank formed by die cutting and indentation needs to be stacked and bundled according to the set number of layers to form a layer stack unit, and then the layer stack unit is transferred to the pallet by the stacking robot according to the preset arrangement mode for layer-by-layer stacking.

[0003] In the prior art, after the stacking robot performs each layer stacking operation, the originally loose layer stack needs to be aligned by the alignment mechanism to prevent the layer stack from being misaligned and causing the stack to be unstable. The alignment mechanism needs to be lifted synchronously with the stacking height to realize the interlayer alignment function. However, after completing the set stacking height, the system needs to sequentially perform the processes of pallet out-of-warehouse, empty pallet supply, and alignment mechanism reset, which causes the stacking robot to be in a stopped waiting state. In order to avoid the stack from collapsing, the moving speed of the pallet out-of-warehouse is usually set to be low, which causes the idle time of the equipment to be long and restricts the working efficiency of the production line. SUMMARY

[0004] Therefore, the present application provides a corrugated box stacking equipment with shorter idle time and higher working efficiency.

[0005] In order to achieve the above purpose, the present application provides the following technical solutions.

[0006] The corrugated box stacking equipment comprises a paperboard input mechanism, a stacking robot, a pallet handling mechanism, an alignment mechanism, a partition plate placing mechanism, and a transfer mechanism. The paperboard input mechanism is used to transport corrugated paperboard bundled into a bundle. The stacking robot transfers the corrugated paperboard transported in place to the pallet to form a stacking layer. The alignment mechanism aggregates the formed stacking layer and rises with the stacking layer. The partition plate placing mechanism is used to place a partition plate between each stacking layer. The pallet handling mechanism is used to output a full pallet and supply an empty pallet after reaching the set stacking layer. The transfer mechanism comprises:

[0007] The transfer pallet is provided with a first station and a second station and can slide and switch between the first station and the second station;

[0008] The pallet driving mechanism is used to drive the transfer pallet to switch between the first station and the second station;

[0009] When the transfer pallet is located at the first station, it is in a lateral position of the alignment mechanism to avoid the working space of the stacking robot;

[0010] When the transfer pallet is located at the second station, it is directly below the aligning mechanism, so that the corrugated paperboard can be stacked on the transfer pallet by the stacking robot to form a temporary stack layer.

[0011] Through the dynamic switching of the transfer pallet between the first station and the second station, the equipment can buffer the temporary stack layer by the transfer pallet during the process of full pallet removal and empty pallet supply. The stacking robot does not need to wait for the pallet handling mechanism to complete the full pallet output, and can continue to stack the corrugated paperboard on the transfer pallet, so as to realize the synchronous operation of full pallet handling and new stack layer stacking, reduce the idle time of the equipment, and improve the stacking efficiency of the equipment.

[0012] The aligning mechanism comprises:

[0013] An X-axis driving unit is provided with two X-axis sliding tables capable of sliding along the X-axis direction;

[0014] A Y-axis driving unit is provided with two groups and is respectively mounted on the two X-axis sliding tables. The two groups of Y-axis driving units are respectively provided with two Y-axis sliding tables capable of sliding along the Y-axis direction, and the two groups of Y-axis sliding tables are symmetrically distributed. The inner sides of the two groups of Y-axis driving units are respectively provided with Y-axis baffles;

[0015] An X-axis baffle is provided with four X-axis baffles and is respectively fixedly connected with each Y-axis sliding table. The X-axis baffles and the Y-axis baffles are perpendicular to each other to form an aligning area;

[0016] A lifting driving unit is used to drive the X-axis driving unit to ascend and descend;

[0017] An adsorption assembly is provided with four groups and is respectively mounted on the Y-axis sliding table. Each group of adsorption assemblies comprises a Z-axis suction cup cylinder fixedly arranged on the Y-axis sliding table and a fixed suction cup connected with the output end of the Z-axis suction cup cylinder.

[0018] After the temporary stack layer is formed, the aligning mechanism is lowered to the empty pallet, each X-axis baffle and Y-axis baffle slides into the aligning area to aggregate the temporary stack layer, the transfer pallet is switched from the second station to the first station, the fixed suction cup adsorbs the temporary stack layer during the switching process, and after the switching of the transfer pallet is completed, the Z-axis suction cup cylinder drives the fixed suction cup to descend, and the fixed suction cup releases the temporary stack layer to the empty pallet.

[0019] During the switching process of the transfer pallet, the paperboards in the temporary stack will gradually be separated from the supporting support. Due to the limited clamping force of the aligning mechanism, the first separated paperboard is prone to relative downward deviation, resulting in layer misalignment. When the misaligned paperboard falls into the empty tray, the stepped fitting is easily formed at the stacking interface between the paperboards, causing the stacking height difference, which will destroy the verticality of the stack, causing the paperboards in the upper layer to be prone to toppling during stacking, and if the stepped fitting is directly used to aggregate and align after the stepped fitting is formed, it will cause the fitting to be deeper. By setting the Z-axis suction cup cylinder and the fixed suction cup, the four fixed suction cups provide additional suction force to compensate for the lack of support force during the switching of the transfer pallet, preventing the paperboards in the temporary stack from falling during the switching process of the transfer pallet, and preventing the temporary stack from forming a stepped fitting after losing support. The Z-axis suction cup cylinder and the fixed suction cup are released after the transfer pallet is completely switched to the first station, reducing the probability of layer misalignment caused by free fall impact.

[0020] Further, the inside of the aligning area is taken as the inside, after the transfer pallet is switched to the first station from the second station, the fixed suction cup is tightly sucked to the temporary stack, and the X-axis sliding table and the Y-axis sliding table are respectively slid outward to drive the paperboards in the temporary stack to separate from each other, then the Z-axis suction cup cylinder drives the fixed suction cup to descend, the fixed suction cup releases the temporary stack to the empty tray, and the X-axis sliding table and the Y-axis sliding table are respectively slid inward to make the X-axis baffle and the Y-axis baffle aggregate the temporary stack again. When the stepped fitting is formed at the stacking section, the X-axis sliding table and the Y-axis sliding table are synchronously moved outward to expand the distance between the paperboards, so as to remove the stepped fitting formed at the stacking section, and then the temporary stack is aggregated again to reconstruct and correct the temporary stack.

[0021] The aligning mechanism further comprises two groups of movable suction cup assemblies, and each movable suction cup assembly comprises:

[0022] The fixed sleeve is provided with two, which are respectively fixedly arranged on the output ends of the two symmetrically distributed Z-axis suction cup cylinders;

[0023] The support guide rod penetrates through the two fixed sleeves and can slide along the X-axis, and the first return spring is connected between the two ends of the support guide rod and the corresponding fixed sleeve;

[0024] The movable suction cup is provided with two, which are slidably sleeved on the support guide rod, the movable suction cup corresponds to the fixed sleeve, and the second return spring is connected between the movable suction cup and the corresponding fixed sleeve, and the two movable suction cups are abutted at the midpoint of the support guide rod under the action of the second return spring.

[0025] Due to the different arrangement of the layers, the number of layers is also different, for example, 4, 5, 6, when the paperboard in a layer is more than 4, the fixed suction cups around can only suck the paperboard around to pull out, and the paperboard in the middle is still in the embedded state, which may move with the embedded paperboard and cannot be separated. By setting the movable suction cup assembly, in the case of 2 columns, when the layers are arranged in 2 columns (2+2 mode, a total of 4 paperboards), the 4 movable suction cups are respectively adsorbed on the 4 paperboards, and each paperboard can be separated at the same time when being pulled; when the layers are arranged in 2 columns in one column and 3 columns in the other column (2+3 mode, a total of 5 paperboards), for the side of 2 paperboards, the 2 movable suction cups of the movable suction cup assembly on this side are respectively adsorbed on the 2 paperboards, and the two paperboards can be separated when being pulled, the 2 movable suction cups of the movable suction cup assembly on the other side are adsorbed on the same paperboard in the middle, and the paperboard adsorbed by the 2 movable suction cups is subjected to two equal and opposite forces when being pulled, so it will not move, and the paperboards on both sides are pulled away from the middle paperboard under the action of the fixed suction cups, at this time the state of the supporting guide rod is relatively sliding inward to the fixed sleeve.

[0026] Further, the partition plate placing mechanism comprises a translation driving unit and an execution suction cup, the execution suction cup is fixedly arranged on the output end of the translation driving unit, and the execution suction cup is provided with an initial station and an execution station, and the execution station is located above the temporary stack layer;

[0027] During the process of re-aggregation of the temporary stack layer by the X-axis baffle and the Y-axis baffle, the execution suction cup adsorbs the partition plate in the initial station and is driven to the execution station to release the partition plate to the surface of the stack layer, the corrugated paperboard is clamped by the stacking robot in the initial station for temporary placement, after the temporary stack layer is aggregated, the execution suction cup adsorbs the corrugated paperboard and moves to place it in the new stacking position, and the stacking robot synchronously performs the next clamping operation.

[0028] Since the temporary stack layer needs to be reconfigured and arranged, the stacking robot cannot perform the stacking operation of the next layer in this process, which affects the production efficiency. Through the cooperative operation mechanism, during the inevitable aggregation and reorganization period of the alignment mechanism, the stacking robot and the partition plate placing mechanism are used to cooperate to make the execution suction cup adsorb the new corrugated paperboard clamped by the stacking robot and place it, and then the stacking robot continues the clamping operation of the next corrugated paperboard, so as to reduce the idle time of the stacking robot and further improve the stacking efficiency.

[0029] Further, the Y-axis driving unit near the first station side is provided with a dust removal mechanism, and when the transfer support plate is switched from the first station to the second station, the dust removal mechanism removes dust on the upper surface of the transfer support plate. Because the upper surface of the transfer support plate is prone to dust accumulation, dust accumulation can easily cause friction damage to the bottom of the corrugated paperboard during the switching process. By providing a dust removal mechanism on the path of the transfer support plate switching station, the upper surface of the transfer support plate can be cleaned before the corrugated paperboard is placed on the transfer support plate, realizing seamless cooperation between dynamic cleaning and production rhythm, and reducing friction damage to the bottom surface of the corrugated paperboard. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a perspective view of the corrugated paper box stacking equipment of the present application.

[0031] Figure 2 It is a perspective view of the alignment mechanism and the partition plate placing mechanism.

[0032] Figure 3 It is an exploded view of the alignment mechanism and the partition plate placing mechanism (for convenience, the hidden lifting driving assembly is shown).

[0033] Figure 4 It is a perspective view of the alignment mechanism and the partition plate placing mechanism when the transfer support plate is located in the second station (for convenience, the hidden lifting driving assembly is shown).

[0034] Figure 5 It is a perspective view of the alignment mechanism and the partition plate placing mechanism when the transfer support plate is located in the first station (for convenience, the hidden lifting driving assembly is shown).

[0035] Figure 6 It is Figure 5 An enlarged view of the middle A

[0036] Figure 7 It is a perspective view of the alignment mechanism and the partition plate placing mechanism when the transfer support plate is located in the first station (for convenience, the hidden lifting driving assembly is shown).

[0037] Figure 8 It is Figure 7 An enlarged view of the middle B

[0038] Figure 9 (a) is a schematic view of the fixed suction cup and the movable suction cup just adsorbing the paperboard when the temporary pile layer has one row of 3 bundles of paperboard.

[0039] Figure 9 (b) is a schematic view of the fixed suction cup and the movable suction cup pulling the paperboard when the temporary pile layer has one row of 3 bundles of paperboard.

[0040] Figure 10(a) is a schematic view of the fixed suction cup and the movable suction cup when they just adsorb the paperboard in the case of one row of 2 bundles of paperboard in the temporary stack layer.

[0041] Figure 10 (b) is a schematic view of the fixed suction cup and the movable suction cup when they pull the paperboard in the case of one row of 2 bundles of paperboard in the temporary stack layer.

[0042] Reference signs include:

[0043] The aligning mechanism 1, the X-axis driving unit 11, the X-axis sliding table 111, the Y-axis driving unit 12, the Y-axis sliding table 121, the Y-axis baffle 122, the X-axis baffle 123, the lifting driving unit 13, the Z-axis suction cup cylinder 14, the fixed suction cup 15, the fixed sleeve 16, the supporting guide rod 17, the first reset spring 171, the second reset spring 172, the movable suction cup 18;

[0044] The transfer supporting plate 2, the fixed guide column 21, the first station 211, the second station 212, the supporting plate driving mechanism 22;

[0045] The partition plate placing mechanism 3, the translation driving unit 31, the X-axis translation unit 311, the Y-axis translation unit 312, the Z-axis translation unit 313, the execution suction cup 32, the initial station 321, the execution station 322, the partition plate 33;

[0046] The temporary stack layer 4, the corrugated paper 41, the tray 5, the paperboard input mechanism 6, the stacking robot 7, the tray processing mechanism 8, the dust removal mechanism 9. DETAILED DESCRIPTION

[0047] The present application is described in detail below in combination with specific embodiments.

[0048] In combination Figures 1-3The carton stacking equipment of the embodiment is used for stacking the baled corrugated paperboards 41 which are expanded into corrugated cartons, and comprises a paperboard input mechanism 6, a stacking robot 7, a tray handling mechanism 8, a aligning mechanism 1, a partition placing mechanism 3 and a transfer mechanism. The paperboard input mechanism 6 is used for conveying the baled corrugated paperboards 41. The stacking robot 7 transfers the corrugated paperboards 41 conveyed to a position to the tray 5 to form a stack layer. After each layer is placed on the tray 5 (i.e. a stack layer is formed), the aligning mechanism 1 is used to gather the stack layer to make each bale of corrugated paperboards 41 of the stack layer gather and adhere to each other, and the outer edge of the stack layer is flush with other stack layers. The aligning mechanism 1 rises with the stack layer. The partition placing mechanism 3 is used to place a partition 33 between each stack layer. After the aligning mechanism 1 gathers the stack layer, the partition placing mechanism 3 places a partition 33 on the stack layer. The tray handling mechanism 8 is used to output the stack after the number of stack layers reaches a set stack layer, i.e. after the stack is full, and to supply an empty tray 5 for continuing to stack the next stack. The transfer mechanism comprises a transfer tray 2, a fixed guide column 21 and a tray driving mechanism 22. Referring to Figure 5 The transfer tray 2 is provided with a first station 211 and a second station 212. The fixed guide column 21 is fixedly connected with the aligning mechanism 1. The fixed guide column 21 is provided with a guide rail. The transfer tray 2 is slidably connected with the fixed guide column 21 through the guide rail, so as to be able to slide and switch between the first station 211 and the second station 212. The tray driving mechanism 22 is installed at the bottom of the aligning mechanism 1, and drives the transfer tray 2 to slide and switch between the first station 211 and the second station 212.

[0049] When the transfer tray 2 is located at the first station 211, it is in a lateral position of the aligning mechanism 1 to avoid the working space of the stacking robot 7. When the transfer tray 2 is located at the second station 212, it is directly below the aligning mechanism 1, so that the stacking robot 7 can stack the corrugated paperboards 41 on the transfer tray 2 to form a temporary stack layer 4.

[0050] In the initial state, the transfer tray 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 full tray 5 from moving out of the path, and the tray handling mechanism 8 removes the output full tray 5 (the tray stacked with the full layer of corrugated paper 41). At the same time, the transfer tray 2 switches to the second station 212, and the stacking robot 7 stacks the corrugated paper 41 on the transfer tray 2 until a temporary layer 4 is formed. At this time, the previous full tray 5 has been removed, and the empty tray 5 has been placed in position. The alignment mechanism 1 and the transfer mechanism are synchronized to lower to the empty tray 5, and the transfer tray 2 switches to the first station 211. In this process, the alignment mechanism 1 can pre-converge the temporary layer 4, or only act to the edge of the temporary layer 4. After the transfer tray 2 slides to the first station 211, the temporary layer 4 cannot be removed with the transfer tray 2 due to the blocking of the alignment mechanism 1, and thus falls onto the empty tray 5 below. The alignment mechanism 1 converges the temporary layer 4 after falling, and the stacking robot 7 continues to stack the subsequent corrugated paper 41. The partition placing mechanism 3 places a partition 33 between each layer of the stack, and the cycle continues until the full stack is output.

[0051] Through the dynamic switching of the transfer tray 2 between the first station 211 and the second station 212, the device can buffer the temporary layer 4 using the transfer tray 2 during the process of removing the full tray 5 and supplying the empty tray 5. The stacking robot 7 does not need to wait for the tray handling mechanism 8 to complete the output of the full tray 5, and can continue to stack the corrugated paper 41 on the transfer tray 2. This realizes the synchronization of full tray 5 processing and new layer stacking, reduces the idle time of the device, and improves the stacking efficiency of the device.

[0052] During the switching process of the transfer tray 2, each bundle of corrugated paper 41 of the temporary layer 4 will gradually detach from the supporting support and fall onto the empty tray 5. Each bundle of corrugated paper 41 has multiple layers of corrugated paper 41 bundled together, so the edges of each bundle of corrugated paper 41 are not flush, but jagged. Since the falling time is sequential, the edges of adjacent two bundles of corrugated paper 41 may be misaligned to cause layering, similar to two jagged edges fitting into each other, resulting in an upward protrusion at that location. The stack is not flat enough, and the cumulative error of continued stacking will damage the verticality of the stack, making it difficult to converge and easy to scatter, increasing the risk of collapse. Furthermore, when the alignment mechanism 1 converges and aligns the stack, it not only cannot disengage the fitting of the edges of the adjacent two bundles of corrugated paper 41, but also deepens the fitting. To solve this problem, in combination with the Figures 3-6The flattening mechanism 1 comprises an X-axis driving unit 11, a Y-axis driving unit 12, a lifting driving unit 13 and a suction assembly. Each driving unit can adopt a common driving mechanism such as a ball screw or a linear module. The X-axis driving unit 11 is provided with two X-axis sliding tables 111 capable of sliding along the X-axis direction. The Y-axis driving unit 12 is provided with two groups of Y-axis driving units 12 and is respectively mounted on the two X-axis sliding tables 111. Each group of Y-axis driving units 12 is provided with two Y-axis sliding tables 121 capable of sliding along the Y-axis direction. The two groups of Y-axis sliding tables 121 are symmetrically distributed. The inner sides of the two groups of Y-axis driving units 12 are respectively provided with Y-axis baffles 122. Each Y-axis sliding table 121 is fixedly provided with an X-axis baffle 123. The X-axis baffles 123 are perpendicular to the Y-axis baffles 122 to form a flattening area. The X-axis driving unit 11 is mounted on the lifting driving unit 13. The tray driving mechanism 22 is mounted on the bottom of the X-axis driving unit 11. Each Y-axis sliding table 121 is provided with a suction assembly. Each suction assembly comprises a Z-axis suction cylinder 14 fixedly arranged on the Y-axis sliding table 121 and a fixed suction disc 15 connected to the output end of the Z-axis suction cylinder 14. The fixed suction disc 15 is in communication with an external air source to form a negative pressure.

[0053] After the temporary stack 4 is formed, the flattening mechanism 1 is lowered to the empty tray 5. Each X-axis baffle 123 and Y-axis baffle 122 slides into the flattening area to aggregate the temporary stack 4. The transfer tray 2 is switched from the second station 212 to the first station 211. During the switching process, the fixed suction disc 15 sucks the temporary stack 4. After the switching of the transfer tray 2 is completed, the Z-axis suction cylinder 14 drives the fixed suction disc 15 to descend. The fixed suction disc 15 releases the temporary stack 4 to the empty tray 5.

[0054] The Z-axis suction cylinder 14 and the fixed suction disc 15 provide additional suction force. The four fixed suction discs 15 can suck the corrugated paper board 41 to avoid lateral displacement. The Z-axis suction cylinder 14 and the fixed suction disc 15 can also compensate for the lack of support force when the transfer tray 2 is switched, so as to avoid the edges of the adjacent two bundles of corrugated paper boards 41 in the temporary stack 4 from being embedded into each other. The Z-axis suction cylinder 14 and the fixed suction disc 15 are released after the transfer tray 2 is completely switched to the first station 211, so as to reduce the probability of layer misalignment caused by free fall impact.

[0055] Further, the actions of the X-axis sliding table 111, the Y-axis sliding table 121 and the suction assembly can be controlled to disengage the fitting of the edges of the two adjacent bundles of corrugated paperboard 41. After the transfer pallet 2 is switched from the second station 212 to the first station 211, the inner part of the trimming area is taken as the inside, the fixed suction cup 15 suctions the temporary stack layer 4, and the X-axis sliding table 111 and the Y-axis sliding table 121 slide outward respectively to drive the bundles of corrugated paperboard 41 of the temporary stack layer 4 to separate from each other, then the fixed suction cup 15 releases the temporary stack layer 4 to the empty pallet 5 below, the X-axis sliding table 111 and the Y-axis sliding table 121 slide inward respectively, so that the X-axis baffle 123 and the Y-axis baffle 122 aggregate the temporary stack layer 4 again. When the stepped fitting is formed at the stacking section, the X-axis sliding table 111 and the Y-axis sliding table 121 are synchronously moved outward to expand the spacing between the bundles of corrugated paperboard 41, disengage the stepped fitting formed at the stacking section, and then aggregate the temporary stack layer 4 again to reconstruct and correct the temporary stack layer 4.

[0056] For different corrugated paperboard products, the arrangement of the stack layers is not the same, and the number of each stack layer is also different, for example, 4, 5 or 6. If the paperboard in a layer is more than 4, when the fitting problem occurs, the fixed suction cup 15 located at the periphery can only suction the paperboard at the periphery to pull outward, while the paperboard located in the middle of each column cannot be suctioned and is still in the fitting state, which may be moved together with the other paperboard that is fitted and cannot be separated. Figures 4-6 The trimming mechanism 1 further comprises two groups of movable suction cup assemblies. Each movable suction cup assembly comprises a fixed sleeve 16, a supporting guide rod 17 and a movable suction cup 18. The fixed sleeve 16 is provided with two fixed sleeves, which are respectively fixed to the output ends of the two symmetrical Z-axis suction cup cylinders 14. Figure 9 The supporting guide rod 17 is installed through the two fixed sleeves 16 and is in sliding connection with the two fixed sleeves 16 to be able to slide along the X-axis. The two ends of the supporting guide rod 17 are connected with the corresponding fixed sleeves 16 through the first return springs 171.

[0057] Referring to Figure 10 When the corrugated paperboard 41 of the temporary stack layer 4 is arranged in 2 columns, and each column of the stack layer is arranged with 2 bundles of corrugated paperboard 41 (2+2 mode, a total of 4 bundles of paperboard), referring to Figure 10 (a), the four movable suction cups 18 are respectively adsorbed on the four bundles of corrugated paperboard 41, referring to Figure 10(b), each bundle of corrugated paperboard 41 can be separated at the same time when pulled. When the pile layer is arranged in one column of 2 bundles of corrugated paperboard 41 and another column of 3 bundles of corrugated paperboard 41 (2+3 mode, a total of 5 bundles of paperboard), for one side of the 2 bundles of corrugated paperboard 41, 2 movable suction cups 18 of the moving suction cup assembly are respectively adsorbed on the 2 bundles of corrugated paperboard 41, and the two bundles of corrugated paperboard 41 can be separated when pulled, see Figure 9 (a), 2 movable suction cups 18 of the moving suction cup assembly are adsorbed on the same bundle of corrugated paperboard 41 in the middle on the other side, see Figure 9 (b), when pulled, the corrugated paperboard 41 adsorbed by the 2 movable suction cups 18 is simultaneously subjected to two equal and opposite pulling forces, so it does not move, and the corrugated paperboard 41 on both sides is pulled and separated from the middle paperboard under the action of the fixed suction cup 15, at this time the support guide rod 17 is in the state of sliding inward relative to the fixed sleeve 16; when the pile layer is arranged in each column of 3 bundles of corrugated paperboard 41 (3+3 mode, a total of 6 bundles of paperboard), the pulling principle of one side of the 3 bundles of corrugated paperboard 41 is the same as above, and will not be repeated here. Therefore, the moving suction cup assembly arranged can simultaneously meet the arrangement mode of the pile layer as 2+2, 2+3, 3+3 mode.

[0058] Because the temporary pile layer 4 needs to be reconfigured and arranged, the stacking robot 7 cannot perform the stacking work of the next layer during this process. As shown in Figures 3-4 The partition placing mechanism 3 includes a translation driving unit 31 and an execution suction cup 32, the execution suction cup 32 is fixedly arranged on the output end of the translation driving unit 31 and communicates with an external air source, the execution suction cup 32 is provided with an initial station 321 and an execution station 322, and the execution station 322 is located above the temporary pile layer 4. The translation driving unit 31 includes an X-axis translation unit 311, a Y-axis translation unit 312 and a Z-axis translation unit 313, so that the execution suction cup 32 forms a spatial moving pair. During the process of re-aggregating the temporary pile layer 4 by the X-axis baffle 123 and the Y-axis baffle 122, the execution suction cup 32 first adsorbs the partition 33 in the initial station 321, and then moves to the execution station 322 under the driving of the translation driving unit 31 to release the partition 33 to the surface of the pile layer. At this time, the stacking robot 7 clamps the next bundle of corrugated paperboard 41 and places it on the partition 33 in the initial station 321 for temporary placement. After the temporary pile layer 4 is arranged, the execution suction cup 32 adsorbs the bundle of corrugated paperboard 41 and moves it to the new stacking position. In this way, the stacking robot 7 does not need to wait during the process of arranging the temporary pile layer 4.

[0059] Through the cooperative working mechanism, during the inevitable aggregation and reorganization period of the flattening mechanism 1, the stacking robot 7 and the partition placing mechanism 3 cooperate to work, so that the execution suction cup 32 adsorbs the new bundle of corrugated paperboard 41 clamped by the stacking robot 7 and temporarily places it, and then the stacking robot 7 synchronously continues the clamping work of the next bundle of corrugated paperboard 41, reduces the idle time of the stacking robot 7, and further improves the stacking efficiency.

[0060] Because the upper surface of the transfer pallet 2 is easy to accumulate dust, after accumulating dust, it is easy to cause friction damage to the bottom of the corrugated board 41 during the switching process. Figures 7-8 , a dust removal mechanism 9 is arranged on the Y-axis drive unit 12 near the side of the first station 211, which 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 is switched 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 arranging the dust removal mechanism 9 on the path of the transfer pallet 2 switching the station, the upper surface of the transfer pallet 2 can be cleaned before the corrugated board 41 is placed on it, realizing seamless cooperation between dynamic cleaning and production rhythm, and reducing friction damage to the bottom surface of the corrugated board 41.

[0061] The working process of the corrugated box stacking equipment is as follows:

[0062] In the initial state, the transfer pallet 2 is located in the first station 211 to avoid the working space of the stacking robot 7, the paperboard input mechanism 6 conveys the bundled paperboard, the stacking robot 7 transfers the paperboard to the tray 5 to stack and form a layer, the alignment mechanism 1 aggregates each layer and synchronously lifts with the layer, and after each layer is formed and aggregated by the alignment mechanism 1, the partition placing mechanism 3 places a partition 33 on the layer. When the layer reaches the set number of layers, the tray handling mechanism 8 outputs the full tray 5 and inputs the empty tray 5, in this process, the alignment mechanism 1 lifts to avoid, the transfer pallet 2 switches to the second station 212 to accept the temporary layer 4 continued to be stacked by the stacking robot 7. After completing a temporary layer 4, the alignment mechanism 1 and the transfer mechanism are lowered to the position of the empty tray 5, the fixed suction cup 15 and the movable suction cup 18 adsorb the temporary layer 4, the transfer pallet 2 retreats from the first station 211, the X-axis sliding table 111, the Y-axis sliding table 121 and the suction assembly act, so that each bundle of corrugated paperboard 41 adsorbed by the suction cup spreads outward and separates, and the Z-axis suction cylinder 14 controls the release of the temporary layer 4 to the empty tray 5. Then the alignment mechanism 1 reconfigures and aggregates the temporary layer 4 again through the X and Y axis baffles 122, the moving suction cup assembly separates the corrugated paperboard 41 that is adaptively separated according to the arrangement mode, the partition placing mechanism 3 places the partition 33, and cooperates with the stacking robot 7 to perform the temporary placement and re-movement of the first bundle of corrugated paperboard 41 of the next layer to the new stacking position, realizing seamless connection of the process. During the process of switching the transfer pallet 2 from the first station 211 to the second station 212, the dust removal mechanism 9 cleans the upper surface of the transfer pallet 2.

[0063] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the protection scope of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A corrugated box stacking apparatus, comprising a paperboard input mechanism, a stacking robot, a tray handling mechanism, a aligning mechanism and a partition placing mechanism, the paperboard input mechanism is used to transport corrugated paperboard bundled into a bundle, the stacking robot transfers the corrugated paperboard transported to a position to a tray to form a stack layer, the aligning mechanism aggregates the formed stack layer and rises with the stack layer, the partition placing mechanism is used to place a partition between each stack layer, the tray handling mechanism is used to output a full tray after reaching a set stack layer and supply an empty tray, characterized in that, The transfer mechanism comprises: The transfer support plate is provided with a first station and a second station and can be switched between the first station and the second station; The support plate driving mechanism is used to drive the transfer support plate to switch between the first station and the second station; When the transfer support plate is located at the first station, it is in a lateral position of the aligning mechanism to avoid the working space of the stacking robot; When the transfer support plate is located at the second station, it is directly below the aligning mechanism to allow the stacking robot to stack the corrugated paperboard on the transfer support plate to form a temporary stack layer; The aligning mechanism comprises: The X-axis driving unit is provided with two X-axis sliding tables capable of sliding along the X-axis direction; The Y-axis driving unit is provided with two groups and is respectively mounted on the two X-axis sliding tables, the two groups of Y-axis driving units are respectively provided with two Y-axis sliding tables capable of sliding along the Y-axis direction, and the two groups of Y-axis sliding tables are symmetrically distributed, and the inner sides of the two groups of Y-axis driving units are respectively provided with Y-axis baffles; The X-axis baffle is provided with four X-axis baffles and is respectively fixedly connected with each Y-axis sliding table, and the X-axis baffle is perpendicular to the Y-axis baffle to form an aligning area; The lifting driving unit is used to drive the X-axis driving unit to ascend and descend; The suction assembly is provided with four groups and is respectively mounted on the Y-axis sliding table, each group of suction assemblies comprises a Z-axis suction cylinder fixedly arranged on the Y-axis sliding table and a fixed suction disc connected with the output end of the Z-axis suction cylinder; After the temporary stack layer is formed, the aligning mechanism is lowered to the empty tray, each X-axis baffle and Y-axis baffle slides into the aligning area to aggregate the temporary stack layer, the transfer support plate is switched from the second station to the first station, the fixed suction disc is suctioned to the temporary stack layer during the switching process, after the switching of the transfer support plate is completed, the Z-axis suction cylinder drives the fixed suction disc to descend, and the fixed suction disc releases the temporary stack layer to the empty tray; With the inside of the aligning area as the inside, after the transfer support plate is switched from the second station to the first station, the fixed suction disc suctioned to the temporary stack layer and the X-axis sliding table and the Y-axis sliding table respectively slide outward to drive each bundle of corrugated paperboard of the temporary stack layer to separate from each other, then the Z-axis suction cylinder drives the fixed suction disc to descend, the fixed suction disc releases the temporary stack layer to the empty tray, and the X-axis sliding table and the Y-axis sliding table respectively slide inward to allow the X-axis baffle and the Y-axis baffle to aggregate the temporary stack layer again; The aligning mechanism further comprises two groups of movable suction disc assemblies, and the movable suction disc assembly comprises: The fixed sleeve is provided with two fixed sleeves and is respectively fixedly arranged on the output end of the two symmetrically distributed Z-axis suction cylinders; The supporting guide rod penetrates through the two fixed sleeves and can slide along the X-axis direction, and the first return spring is connected between the two ends of the supporting guide rod and the corresponding fixed sleeve; The movable suction disc is provided with two movable suction discs, which are slidingly sleeved on the supporting guide rod, the movable suction disc corresponds to the fixed sleeve, and the second return spring is connected between the movable suction disc and the corresponding fixed sleeve, and the two movable suction discs abut against the midpoint of the supporting guide rod under the action of the second return spring.

2. The corrugated carton palletizing apparatus of claim 1, wherein, The partition plate placing mechanism comprises a translation driving unit and an execution suction disc, the execution suction disc is fixedly arranged on the output end of the translation driving unit, the execution suction disc is provided with an initial station and an execution station, and the execution station is located above the temporary stack layer; The X-axis baffle and the Y-axis baffle perform the process of re-aggregating the temporary stack, the execution suction cup adsorbs the separator plate in the initial station, and is driven to the execution station to release the separator plate to the surface of the stack, the stacking robot clamps the next bundle of corrugated paperboard to the initial station for temporary placement, after the temporary stack is aggregated, the execution suction cup adsorbs the bundle of corrugated paperboard and moves to place in the new stacking position, and the stacking robot synchronously performs the next clamping operation.

3. The corrugated carton palletizing apparatus of claim 1, wherein, The Y-axis driving unit near the side of the first station is provided with a dust removal mechanism, and when the transfer support plate is switched from the first station to the second station, the dust removal mechanism performs dust removal on the upper surface of the transfer support plate.

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