Carton stacking device for carton production

Abstract

The invention relates to the technical field of carton stacking devices, in particular to a carton stacking device for carton production. Comprising a rack, a multi-joint mechanical arm capable of moving in a double-axis mode is arranged on the rack, a first magnetic suction table and a clamping frame are installed on the multi-joint mechanical arm, a first visual probe is fixedly arranged under the clamping frame, a vacuum pump is arranged on the clamping frame, two positioning frames with the adjustable positions are installed on the clamping frame, and two vacuum suction cups with the adjustable distance are arranged on each positioning frame. The negative pressure generating end of the vacuum pump communicates with the vacuum suction cup, a lead screw lifting mechanism is installed on the clamping frame, a lifting frame is in transmission connection with the lead screw lifting mechanism, and a magnetic suction roller driven by a transmission motor is rotationally installed on the lifting frame. The carton stacking device has the beneficial effects that on the basis of a traditional stacking device, a counterweight positioning and constraining structure for stacking cartons is additionally arranged, and after the cartons are stacked, the positioning stability of the stacked cartons is guaranteed through a double-linkage scheme of physical pressing and intelligent binding belts.

Description

Technical Field

[0001] This invention relates to the field of carton palletizing technology, specifically to a carton palletizing device for carton production. Background Technology

[0002] In the field of cardboard box production and logistics packaging, cardboard box palletizing is a crucial link between production and warehousing, and its efficiency and stability directly affect the smoothness of the overall production process. Currently, most mainstream cardboard box palletizing devices use mechanical clamping or vacuum adsorption methods for handling and stacking cardboard boxes, but these methods still have many technical limitations in practical applications: 1. Traditional palletizing devices have fixed clamping or adsorption components, making it difficult to flexibly adjust them to fit cartons of different sizes and specifications. When handling cartons with significant differences in length, width, and height, manual replacement or adjustment of the tooling is required, which not only increases operation time but also easily leads to unstable carton clamping and misalignment due to improper adjustment. 2. During the stacking of cartons, there is a lack of effective auxiliary positioning and clamping mechanisms. Cartons are prone to tipping over due to vibration during handling or shift of the stacking center of gravity. Although some devices use straps for reinforcement, the release and retraction control of the straps is not precise, and problems such as strap loosening, falling off or tangling are likely to occur, affecting the overall stability of the palletizing. 3. Existing devices rely on manual positioning or simple sensors for rough detection to identify the position and posture of cartons, making it difficult to achieve high-precision automated gripping and stacking. At the same time, the binding and recycling process of the strapping lacks closed-loop control, which can easily lead to increased secondary processing costs due to uneven strapping tension and weak adhesion. Based on this, the present invention provides a carton palletizing device for carton production to solve the problems mentioned in the background art. Summary of the Invention

[0003] This invention adds a counterweight positioning and restraint structure to the traditional palletizing device. After the carton is stacked, the positioning stability of the palletized carton is guaranteed by a dual linkage scheme of physical pressing and intelligent strapping.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A carton palletizing device for carton production includes a frame, on which a multi-joint robotic arm capable of dual-axis movement is provided. A first magnetic suction platform and a clamping frame are respectively installed on the multi-joint robotic arm. A first vision probe is fixedly installed directly below the clamping frame. A vacuum pump is provided on the clamping frame and two position-adjustable positioning frames are installed. Each positioning frame is provided with two vacuum suction cups with adjustable spacing. The negative pressure generating end of the vacuum pump is connected to the vacuum suction cups. A screw lifting mechanism is installed on the clamping frame. A lifting frame is driven by a lifting mechanism. A magnetic suction roller driven by a transmission motor is rotatably installed on the lifting frame. A strap is wound on the magnetic suction roller. The outer surface of the strap is provided with a hook and loop fastener. The inner surface of the strap is provided with a hook and loop fastener. Permanent magnets are embedded at both ends of the strap and inside the magnetic suction roller. An adjacent electric push rod and a second vision probe are installed at the bottom of the frame. An electromagnet that cooperates with the permanent magnet is installed at the movable end of the electric push rod. A second magnetic suction platform is installed at the top of the frame. A counterweight plate is magnetically attracted to the second magnetic suction platform.

[0005] The beneficial effects of this invention are: 1. This invention adds a counterweight positioning and restraint structure to the traditional palletizing device for the palletized cartons. After the cartons are stacked, a dual linkage scheme of physical pressing and intelligent strapping ensures the positioning stability of the palletized cartons. On the one hand, the cast iron counterweight plate is precisely picked up and placed by the second magnetic suction table, using gravity to press the top of the stacked cartons together, avoiding center of gravity shift during handling or strapping. The flat plate at the end of the positioning frame, together with the silicone pad, can automatically calibrate the posture of the cartons during the clamping stage, reducing stacking misalignment from the source. On the other hand, the strapping is made of elastic nylon material, combined with a double fixing structure of Velcro and permanent magnets. When the strapping is released, the magnetic attraction between the permanent magnet inside the magnetic roller and the permanent magnet at the end of the strapping ensures that it does not fall off during the release process. After binding, the Velcro is tightly adhered, and with the auxiliary positioning of the electromagnet, the strapping is prevented from loosening. This linkage design, which combines counterweight pressing, stacking alignment calibration, and coordinated fixation by magnetic attraction and adhesion, improves stacking stability compared to the traditional single strapping fixation method. It solves the problems of easy tipping and strapping entanglement after traditional carton stacking. In addition to realizing the function of carton binding and positioning, this device achieves automatic release and retrieval of the strapping through the coordinated control of the magnetic roller and the electromagnet, thereby effectively reducing the operating cost of this palletizing device.

[0006] 2. This invention solves the problems of fixed position and poor adaptability of traditional clamping and adsorption components by using an adjustable positioning component and a multi-joint robotic arm mechanism. Specifically, the first lead screw on the clamping frame drives the two positioning frames to move closer or further apart synchronously through forward and reverse threads. The second lead screw on each positioning frame then adjusts the distance between the vacuum suction cups through forward and reverse threads, achieving precise adjustment of the vacuum suction cups in two dimensions. This allows for flexible adaptation to cartons of different lengths and widths, from small to large. Simultaneously, the axial lead screw drive module and longitudinal lead screw drive module on the frame, in conjunction with the multi-joint robotic arm, and the angle adjustment of the joint adjustment push rods, enable the robotic arm to have a wide range of movement and high-precision positioning capabilities in three-dimensional space. This linkage design of adjustable components and multi-dimensional robotic arm movement eliminates the need for manual tooling changes, automatically adapting to different cartons. Compared to the fixed components of traditional devices, this improves efficiency and avoids the problem of unstable clamping caused by manual adjustments, achieving full-size adaptive clamping of cartons of different sizes by the palletizing device.

[0007] 3. This invention solves the problems of traditional devices relying on manual positioning and lacking closed-loop control through a system collaborative design of visual recognition, microcontroller centralization, and multi-component feedback. The first visual probe scans the size and position of the carton in real time, the second visual probe monitors the status of the strapping, and the air pressure probe provides real-time feedback on the negative pressure of the vacuum suction cup. All three data are transmitted to the microcontroller, forming a closed loop of recognition, calculation, and execution. The microcontroller automatically plans the movement trajectory of the robotic arm and the strapping binding path based on the visual data, adjusts the vacuum pump output based on the air pressure data to prevent the suction nozzle from falling off, and controls the release and retrieval rhythm of the magnetic suction roller based on the strapping position data. During the strapping retrieval stage, the magnetic cooperation between the permanent magnet in the magnetic suction roller and the permanent magnet at the end of the strapping, combined with the gear transmission of the drive motor, achieves accurate retrieval and reuse of the strapping. This fully automated closed-loop design, compared with the traditional manual-assisted positioning mode, not only improves the palletizing accuracy but also reduces manual intervention, significantly reducing secondary costs caused by positioning deviations or improper strapping handling.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] As a preferred technical solution of the present invention, a hanging frame is slidably installed on the top of the frame, and two axial screw drive modules are installed on the frame. Both axial screw drive modules are connected to the hanging frame. A longitudinal screw drive module is installed on the hanging frame, and a moving platform is connected to the longitudinal screw drive module. The moving platform is slidably connected to the hanging frame, and the bottom surface of the moving platform is connected to the multi-joint robotic arm.

[0010] As a preferred technical solution of the present invention, the multi-joint robotic arm includes an electric rotary table mounted on a transfer platform. A rotating seat is mounted on the rotating surface of the electric rotary table. A first curved arm is hinged to the rotating seat. A second curved arm is hinged to the end of the first curved arm. A third curved arm is hinged to the end of the second curved arm. A set of joint adjustment push rods are hinged between the first curved arm and the rotating seat, between the second curved arm and the first curved arm, and between the third curved arm and the second curved arm. The third curved arm is fixedly connected to the clamping frame. The first magnetic suction platform is fixedly connected to the first curved arm.

[0011] As a preferred technical solution of the present invention, a first lead screw driven by a first motor is rotatably mounted on the clamping frame. The first lead screw is provided with a first positive thread section and a first negative thread section. The first positive thread section and the second negative thread section are respectively connected to two positioning frames. A second lead screw driven by a second motor is rotatably mounted on each positioning frame. The second lead screw is provided with a second positive thread section and a second negative thread section. The second positive thread section and the second negative thread section are respectively connected to two vacuum suction cups on the positioning frame.

[0012] As a preferred technical solution of the present invention, the negative pressure generating end of the vacuum pump is connected to a multi-port hose, each vacuum suction cup is connected to the multi-port hose, a pressure probe is fixedly installed at the connection between the vacuum pump and the multi-port hose, a microcontroller is installed on the end face of the frame, and the data ends of the pressure probe, the first vision probe and the second vision probe are all connected to the microcontroller.

[0013] As a preferred technical solution of the present invention, transmission gears are installed on the output shaft end of the transmission motor and the magnetic roller, the two transmission gears mesh with each other, a stacking platform is provided at the bottom of the frame, and a forklift slot is provided on the frame and at the position corresponding to the bottom of the stacking platform.

[0014] As a preferred technical solution of the present invention, the magnetism of the permanent magnets at both ends of the strap is opposite to that of the permanent magnet inside the magnetic roller, and the magnetic attraction between the permanent magnet inside the magnetic roller and the permanent magnet on the strap is 1.2 to 3 times the adhesive force between the hook side and the loop side of the hook and loop fastener.

[0015] As a preferred technical solution of the present invention, the counterweight plate is made of cast iron, the magnetism of the electromagnet after being energized is opposite to that of the permanent magnet, and the magnetic attraction force between the electromagnet and the permanent magnet is 1.4 to 4 times the traction force of the magnetic roller on the strap during carton packaging.

[0016] As a preferred technical solution of the present invention, the strap is made of elastic nylon material, a flat plate is installed at the end of the positioning frame, and a silicone pad is fixedly provided on the surface of the flat plate.

[0017] As a preferred technical solution of the present invention, the first magnetic stage, the second magnetic stage, and the electromagnet are all electromagnets, and the electrical control terminals of the first magnetic stage, the second magnetic stage, and the electromagnet are all electrically connected to the microcontroller. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a cardboard box palletizing device used in cardboard box production. Figure 2 This is a schematic diagram of the structure of the second magnetic suction platform and the counterweight plate. Figure 3 for Figure 2 A magnified schematic diagram of the local structure at point A; Figure 4 This is a structural diagram of the moving platform and lifting frame; Figure 5 This is a schematic diagram of the clamping frame and vacuum pump. Figure 6 for Figure 5 A schematic diagram of the structure from an upward perspective; Figure 7 for Figure 6 A magnified view of the structure at point B in the middle; Figure 8 This is an exploded structural diagram of the drive motor and belt; Figure 9 This is a schematic diagram of the moving stage and rotating base; Figure 10 This is a schematic diagram of the cross-sectional structure of the belt.

[0019] The attached diagram lists the components represented by each number as follows: 1. Frame; 2. First magnetic suction platform; 3. Clamping frame; 4. First vision probe; 5. Vacuum pump; 6. Positioning frame; 7. Vacuum suction cup; 8. Screw lifting mechanism; 9. Lifting frame; 10. Drive motor; 11. Magnetic suction roller; 12. Strap; 13. Hook and loop fastener; 14. Hook and loop fastener; 15. Electric actuator; 16. Second vision probe; 17. Permanent magnet; 18. Electromagnet; 19. Second magnetic suction platform; 20. 21. Counterweight plate; 22. Lifting frame; 23. Axial screw drive module; 24. Longitudinal screw drive module; 25. Moving platform; 26. Electric rotary table; 27. Rotary seat; 28. First curved arm; 29. ​​Second curved arm; 30. Third curved arm; 31. Joint adjustment push rod; 32. First screw; 33. Second screw; 34. Multi-way flexible hose; 35. Microcontroller; 36. Transmission gear; 37. Palletizing table; 38. Flat plate. Detailed Implementation

[0020] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0021] The present invention provides the following preferred embodiments. like Figure 1-10 As shown, a carton palletizing device for carton production includes a frame 1, on which a multi-joint robotic arm capable of dual-axis movement is mounted. A lifting frame 21 is slidably mounted on the top of the frame 1. Two axial screw drive modules 22 are mounted on the frame 1. Both axial screw drive modules 22 are connected to the lifting frame 21. A longitudinal screw drive module 23 is mounted on the lifting frame 21. A moving platform 24 is connected to the longitudinal screw drive module 23. The moving platform 24 is slidably connected to the lifting frame 21. The bottom surface of the moving platform 24 is connected to the multi-joint robotic arm. The multi-joint robotic arm includes an electric rotary table 25 mounted on a moving platform 24. A rotating seat 26 is mounted on the rotating surface of the electric rotary table 25. A first curved arm 27 is hinged to the rotating seat 26. A second curved arm 28 is hinged to the end of the first curved arm 27. A third curved arm 29 is hinged to the end of the second curved arm 28. A set of joint adjustment push rods 30 are hinged between the first curved arm 27 and the rotating seat 26, between the second curved arm 28 and the first curved arm 27, and between the third curved arm 29 and the second curved arm 28. The third curved arm 29 is fixedly connected to the clamping frame 3. The first magnetic suction platform 2 is fixedly connected to the first curved arm 27. Two axial screw drive modules 22 synchronously drive the lifting frame 21 to slide along the axis of the frame 1. At the same time, the longitudinal screw drive module 23 on the lifting frame 21 drives the moving table 24 to slide longitudinally. Combined with the rotation and joint adjustment of the multi-joint robotic arm itself, the multi-joint robotic arm can move in a wide range and with high precision in three-dimensional space. This structure solves the technical problems of limited movement range and insufficient flexibility of traditional palletizing devices, which are difficult to adapt to different sizes of cartons and diverse palletizing positions. Through the coordination of dual-axis screw drive and multi-joint robotic arm, the degree of freedom of movement and positioning accuracy of the robotic arm are greatly improved. It can flexibly meet the needs of clamping, handling and stacking cartons of different sizes, and expand the application range of the device. In actual operation, a continuous conveyor for cardboard boxes is placed on the side of frame 1, and a multi-joint robotic arm stacks and grabs the cardboard boxes conveyed by the continuous conveyor. The multi-joint robotic arm is equipped with a first magnetic suction platform 2 and a clamping frame 3, and a first vision probe 4 is fixed directly below the clamping frame 3. The first vision probe 4 is used for positioning and recognition when picking up and picking up cartons. A flat plate 37 is installed at the end of the positioning frame 6, and a silicone pad strip is fixedly provided on the surface of the flat plate 37. The clamping frame 3 is equipped with a vacuum pump 5 and two position-adjustable positioning frames 6. Each positioning frame 6 is equipped with two vacuum suction cups 7 with adjustable spacing. The negative pressure generating end of the vacuum pump 5 is connected to the vacuum suction cup 7. A first lead screw 31 driven by a first motor is rotatably mounted on the clamping frame 3. The first lead screw 31 is provided with a first positive thread section and a first negative thread section. The first positive thread section and the second negative thread section are respectively connected to two positioning frames 6. A second lead screw 32 driven by a second motor is rotatably mounted on each positioning frame 6. The second lead screw 32 is provided with a second positive thread section and a second negative thread section. The second positive thread section and the second negative thread section are respectively connected to two vacuum suction cups 7 on the positioning frame 6. The negative pressure generating end of the vacuum pump 5 is connected to a multi-port hose 33. Each vacuum suction cup 7 is connected to the multi-port hose 33. A pressure probe is fixedly installed at the connection between the vacuum pump 5 and the multi-port hose 33. A microcontroller 34 is installed on the end face of the frame 1. The electric rotary table 25 drives the rotating seat 26 to rotate to adjust the overall direction. The joint adjustment push rods 30 between the first curved arm 27 and the rotating seat 26, the second curved arm 28 and the first curved arm 27, and the third curved arm 29 and the second curved arm 28 extend and retract, respectively driving the first curved arm 27, the second curved arm 28 and the third curved arm 29 to rotate, thereby precisely controlling the spatial posture of the first magnetic suction table 2 and the clamping frame 3. This structure solves the problem of rigid joint adjustment in traditional robotic arms, which makes it impossible to accurately control the gripping angle and stacking posture, resulting in the easy tilting and misalignment of cartons. The innovative technical effect is reflected in the multi-joint collaborative adjustment mechanism, which enables the robotic arm to have flexible posture adjustment capabilities, ensuring that the cartons remain stable during gripping, handling and stacking, significantly reducing the risk of cartons being misaligned or tipped over, and improving the stacking quality. The first motor drives the first lead screw 31 to rotate, and the first positive thread section and the first negative thread section drive the two positioning frames 6 to move closer or further away synchronously, adapting to cartons of different widths. The second motor drives the second lead screw 32, which adjusts the distance between the two vacuum suction cups 7 on the same positioning frame 6 through the second positive thread section and the second negative thread section, to adapt to cartons of different lengths. The vacuum pump 5 provides negative pressure to the vacuum suction cup 7 through the multi-port hose 33. The air pressure probe monitors the air pressure in real time and feeds it back to the microcontroller 34 to ensure a stable suction state. This structure solves the problems of the traditional vacuum suction cup 7 having a fixed position, being unable to adapt to various sizes of cardboard boxes, and lacking suction state monitoring, which can easily cause the cardboard box to fall off. The above structure enables bidirectional adjustable spacing of the vacuum suction cup 7, making it compatible with various sizes of cartons. At the same time, the air pressure monitoring is linked with the microcontroller 34 to form a closed-loop control, which greatly improves the stability and reliability of the gripping process. A screw lifting mechanism 8 is installed on the clamping frame 3. A lifting frame 9 is connected to the screw lifting mechanism 8. A magnetic suction roller 11 driven by a transmission motor 10 is rotatably installed on the lifting frame 9. The output shaft end of the drive motor 10 and the magnetic roller 11 are both equipped with drive gears 35. The two drive gears 35 mesh with each other. The bottom of the frame 1 is provided with a stacking platform 36. A forklift slot is provided on the frame 1 and at the position corresponding to the stacking platform 36 below it. The drive motor 10 drives the magnetic roller 11 to rotate through the meshing drive gears 35, precisely controlling the release length or retraction speed of the belt 12; The palletizing table 36 carries the stacked cartons, and the forklift slot makes it easy for forklifts to insert and move the whole stack of cartons. This structure solves the technical problems of traditional belt drive 12 being easy to slip, having low control precision, and being inconvenient to move the whole stack after palletizing. The high stability of the gear transmission ensures precise control of the release and retraction of the belt 12, avoiding waste of the belt 12 or unstable binding caused by slippage; The design of the forklift bay simplifies the handling process after palletizing and improves overall operational efficiency; A strap 12 is wound on the magnetic roller 11. The outer surface of the strap 12 is provided with a hook and loop surface 13, and the inner surface of the strap 12 is provided with a hook and loop surface 14. Permanent magnets 17 are embedded at both ends of the strap 12 and inside the magnetic roller 11. The strap 12 is made of elastic nylon. The magnetism of the permanent magnets 17 at both ends of the strap 12 is opposite to that of the permanent magnets 17 inside the magnetic roller 11, and the magnetic attraction between the permanent magnets 17 inside the magnetic roller 11 and the permanent magnets 17 on the strap 12 is 1.3 times the adhesive force between the hook and loop side 13 and the loop side 14. At the bottom of the frame 1, there are adjacent electric push rods 15 and second vision probes 16. The movable end of the electric push rod 15 is equipped with an electromagnet 18 that cooperates with the permanent magnet 17. At the top of the frame 1, there is a second magnetic suction platform 19, and a counterweight plate 20 is magnetically attracted to the second magnetic suction platform 19. Before the strapping belt 12 is used to package or bind the stacked cartons, the counterweight plate 20 is used to limit the weight of the stacked cartons from the top of the stacked cartons. The multi-joint robotic arm pulls the magnetic roller 11 to move along the set trajectory, so that the strapping belt 12 can bind and limit the cartons from the outside of the whole cartons. Furthermore, the strap 12 can be recycled and reused via the magnetic roller 11; The data terminals of the barometric probe, the first visual probe 4, and the second visual probe 16 are all connected to the microcontroller 34. The counterweight plate 20 is made of cast iron. The magnetism of the electromagnet 18 after being energized is opposite to that of the permanent magnet 17, and the magnetic attraction between the electromagnet 18 and the permanent magnet 17 is 1.5 times the traction force of the magnetic roller 11 on the strap 12 during carton packaging. The first magnetic stage 2, the second magnetic stage 19, and the electromagnet 18 are all electromagnets, and the electrical control terminals of the first magnetic stage 2, the second magnetic stage 19, and the electromagnet 18 are all electrically connected to the microcontroller 34.

[0022] After the cartons are stacked on the palletizing station 36, the positioning and securing process of the straps 12 is achieved through the coordinated action of multiple components. The specific steps are as follows: The first vision probe 4 scans the entire carton on the palletizing station 36 to obtain its external dimensions, stacking height and edge position data, and transmits the information to the microcontroller 34. The microcontroller 34 calculates the optimal path for the strapping 12 to be tightened based on the data. The microcontroller 34 controls the flat plate 37 to adjust and align the offset parts of the carton; Subsequently, the first magnetic suction table 2 on the first curved arm 27 picks up the counterweight plate 20. After the first magnetic suction table 2 on the first curved arm 27 picks up the counterweight plate 20, the counterweight plate 20 is placed on the top of the carton. Under the action of gravity, the counterweight plate 20 presses down on the top of the carton to prevent the carton from shifting, stacking and deforming during the binding process. Subsequently, driven by the axial screw drive module 22 and the longitudinal screw drive module 23, the multi-joint robotic arm moves the clamping frame 3 to a preset position next to the carton. The screw lifting mechanism 8 on the clamping frame 3 is activated, and the height of the lifting frame 9 is adjusted so that the magnetic suction roller 11 is aligned with the position of the carton to be tied. The drive motor 10 drives the magnetic suction roller 11 to rotate in the forward direction through the meshing drive gear 35, releasing the wound elastic nylon strap 12. When the elastic nylon strap 12 is released, the microcontroller 34 controls the electric push rod 15 at the bottom of the frame 1 to extend, push the electromagnet 18 at the movable end to approach the end of the strap 12, and complete the limiting of the head end of the strap 12 on the outer surface of the carton. Afterwards, the magnetic roller 11 moves along the set trajectory. When the magnetic roller 11 moves, the packaging and fixing of the entire carton is completed. When the strap 12 is packaged and fixed, the hook and loop fastener 13 on the outer surface of the strap 12 and the hook and loop fastener 14 on the inner surface are bonded together. When the strap 12 on the magnetic roller 11 is completely released, that is, when the strap 12 is separated from the magnetic roller 11, the release process of the strap 12 is completed. After the strap 12 is disengaged from the magnetic roller 11, the electric push rod 15 is reset and the electromagnet 18 is de-energized. When a carton with strap 12 is fed into the device and needs to be re-stacking, the magnetic roller 11 retracts the strap 12 as follows: After the carton is transported to the working area of ​​the device, the first vision probe 4 at the bottom of the clamping frame 3 identifies the strap 12 on the surface of the carton, obtains the position of the strap 12 and the orientation data of the end permanent magnet 17, and transmits it to the microcontroller 34. The microcontroller 34 controls the multi-joint robotic arm to adjust its posture, driving the clamping frame 3 to move directly above the strap 12. The screw lifting mechanism 8 drives the lifting frame 9 to descend, so that the magnetic roller 11 approaches the strap 12. The permanent magnet 17 inside the magnetic roller 11 has the opposite magnetism to the permanent magnet 17 at the end of the belt 12. When the magnetic roller 11 approaches the belt 12, the two generate a magnetic attraction force, which attracts the end of the belt 12 to the surface of the magnetic roller 11. At the same time, the microcontroller 34 controls the electric push rod 15 at the bottom of the frame 1 to retract the electromagnet 18 and cut off the power, thereby releasing the potential attraction force of the electromagnet 18 on the belt 12 and avoiding interference with recycling. Subsequently, the drive motor 10 starts, driving the magnetic roller 11 to rotate in the opposite direction. The resulting traction force causes the hook and loop surfaces 13 and hook and loop surfaces 14 at both ends of the strap 12 to separate. Under the rotational traction of the magnetic roller 11, the strap 12 is gradually straightened, releasing its elastic potential energy, and then orderly wound onto the surface of the magnetic roller 11. When the drive motor 10 rotates in the reverse direction, the multi-joint robotic arm drives the magnetic roller 11 to move along the arrangement trajectory of the belt 12; Once it is confirmed that the strap 12 has completely detached from the carton and is neatly wound, the microcontroller 34 controls the drive motor 10 to stop, the multi-joint robotic arm drives the magnetic roller 11 to return to the initial position, and at the same time the first vision probe 4 scans the carton again to confirm that the strap 12 has been completely retracted, in preparation for subsequent palletizing. The workflow and system linkage of the carton palletizing device are as follows: First, the axial screw drive module 22 and longitudinal screw drive module 23 on the frame 1 drive the lifting frame 21 and the moving table 24 to drive the multi-joint robotic arm to achieve dual-axis movement. The multi-joint robotic arm adjusts its posture through the electric rotary table 25 and the joint adjustment push rod 30, and coordinates with the first vision probe 4 to position the carton on the conveyor. After receiving the size data from the first vision probe 4, the microcontroller 34 controls the first motor on the clamping frame 3 to drive the first screw 31 to adjust the distance between the two positioning frames 6. At the same time, it controls the second motor on each positioning frame 6 to drive the second screw 32 to adjust the distance between the vacuum suction cups 7 to adapt to different specifications of carton. Subsequently, vacuum pump 5 provides negative pressure to vacuum suction cup 7 through multi-port hose 33, and air pressure probe monitors air pressure in real time and feeds it back to microcontroller 34 to ensure suction tightness. Multi-joint robotic arm transports carton to palletizing station 36. After palletizing, the first vision probe 4 scans the entire carton, the microcontroller 34 calculates the binding path of the strap 12, and the multi-joint robotic arm takes the cast iron counterweight plate 20 from the second magnetic suction table 19 through the first magnetic suction table 2 and presses it on the top of the carton to prevent deformation during binding. Next, the screw lifting mechanism 8 on the clamping frame 3 adjusts the height of the lifting frame 9 so that the magnetic suction roller 11 is aligned with the position of the carton to be bound. The drive motor 10 drives the magnetic suction roller 11 to release the elastic nylon strap 12 through the meshing gear. The electric push rod 15 pushes the electromagnet 18 to attract and position the end of the strap 12. The multi-joint robotic arm drives the magnetic suction roller 11 to move along the preset path. The hook and loop fastener 13 on the outer surface of the strap 12 is bonded to the rough surface on the inner surface to complete the binding. After that, the electromagnet 18 is de-energized and the electric push rod 15 is reset. When retrieving the strap 12, the first vision probe 4 and the second vision probe 16 work together to identify the position of the strap 12. The microcontroller 34 controls the multi-joint robotic arm to move the magnetic roller 11. The permanent magnet 17 inside the magnetic roller 11 attracts the end of the strap 12. The drive motor 10 rotates in the opposite direction to retrieve the strap 12. At the same time, the multi-joint robotic arm moves along the trajectory of the strap 12 to ensure neat retrieval.

[0023] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cardboard box palletizing device for cardboard box production, comprising a frame (1), characterized in that, The frame (1) is equipped with a multi-joint robotic arm that can move on two axes. The multi-joint robotic arm is equipped with a first magnetic suction table (2) and a clamping frame (3). A first vision probe (4) is fixed directly below the clamping frame (3). The clamping frame (3) is equipped with a vacuum pump (5) and two position-adjustable positioning frames (6). Each positioning frame (6) is equipped with two vacuum suction cups (7) with adjustable spacing. The negative pressure generating end of the vacuum pump (5) is connected to the vacuum suction cups (7). The clamping frame (3) is equipped with a screw lifting mechanism (8). The screw lifting mechanism (8) is connected to a lifting frame (9). The lifting frame (9) is rotatably equipped with a drive motor (10). A magnetic roller (11) is driven, and a strap (12) is wound on the magnetic roller (11). The outer surface of the strap (12) is provided with a hook and loop surface (13), and the inner surface of the strap (12) is provided with a hook and loop surface (14). Permanent magnets (17) are embedded at both ends of the strap (12) and inside the magnetic roller (11). An adjacent electric push rod (15) and a second vision probe (16) are installed at the bottom of the frame (1). An electromagnet (18) that cooperates with the permanent magnet (17) is installed at the movable end of the electric push rod (15). A second magnetic platform (19) is installed at the top of the frame (1). A counterweight plate (20) is magnetically attracted on the second magnetic platform (19).

2. The cardboard box palletizing device for cardboard box production according to claim 1, characterized in that, A hanging frame (21) is slidably mounted on the top of the frame (1). Two axial screw drive modules (22) are mounted on the frame (1). Both axial screw drive modules (22) are connected to the hanging frame (21) in a drive connection. A longitudinal screw drive module (23) is mounted on the hanging frame (21). A moving platform (24) is connected to the longitudinal screw drive module (23) in a drive connection. The moving platform (24) is slidably connected to the hanging frame (21). The bottom surface of the moving platform (24) is connected to the multi-joint robotic arm.

3. The cardboard palletizing device for cardboard box production according to claim 1, characterized in that, The multi-joint robotic arm includes an electric rotary table (25) mounted on a moving platform (24). A rotating seat (26) is mounted on the rotating surface of the electric rotary table (25). A first curved arm (27) is hinged to the rotating seat (26). A second curved arm (28) is hinged to the end of the first curved arm (27). A third curved arm (29) is hinged to the end of the second curved arm (28). A set of joint adjustment push rods (30) are hinged between the first curved arm (27) and the rotating seat (26), between the second curved arm (28) and the first curved arm (27), and between the third curved arm (29) and the second curved arm (28). The third curved arm (29) is fixedly connected to the clamping frame (3). The first magnetic suction table (2) is fixedly connected to the first curved arm (27).

4. A carton palletizing device for carton production according to claim 1, characterized in that, The clamping frame (3) is rotatably mounted with a first lead screw (31) driven by a first motor. The first lead screw (31) is provided with a first positive thread section and a first negative thread section. The first positive thread section and the second negative thread section are respectively connected to two positioning frames (6). Each positioning frame (6) is rotatably mounted with a second lead screw (32) driven by a second motor. The second lead screw (32) is provided with a second positive thread section and a second negative thread section. The second positive thread section and the second negative thread section are respectively connected to two vacuum suction cups (7) on the positioning frame (6).

5. A carton palletizing device for carton production according to claim 1, characterized in that, The negative pressure generating end of the vacuum pump (5) is connected to a multi-port hose (33), and each vacuum suction cup (7) is connected to the multi-port hose (33). A pressure probe is fixedly installed at the connection between the vacuum pump (5) and the multi-port hose (33). A microcontroller (34) is installed on the end face of the frame (1). The data terminals of the pressure probe, the first vision probe (4), and the second vision probe (16) are all connected to the microcontroller (34).

6. A carton palletizing device for carton production according to claim 1, characterized in that, The output shaft end of the drive motor (10) and the magnetic roller (11) are both equipped with drive gears (35), the two drive gears (35) mesh with each other, the bottom of the frame (1) is provided with a palletizing platform (36), and a forklift slot is provided on the frame (1) and at the position corresponding to the palletizing platform (36).

7. A carton palletizing device for carton production according to claim 1, characterized in that, The magnetism of the permanent magnets (17) at both ends of the strap (12) is opposite to that of the permanent magnets (17) inside the magnetic roller (11), and the magnetic attraction between the permanent magnets (17) inside the magnetic roller (11) and the permanent magnets (17) on the strap (12) is 1.2 to 3 times the adhesive force between the hook and loop fastener (13) and the loop fastener (14).

8. A carton palletizing device for carton production according to claim 1, characterized in that, The counterweight plate (20) is made of cast iron. The magnetism of the electromagnet (18) after being energized is opposite to that of the permanent magnet (17). The magnetic attraction between the electromagnet (18) and the permanent magnet (17) is 1.4 to 4 times the traction force of the magnetic roller (11) on the strap (12) during carton packaging.

9. A carton palletizing device for carton production according to claim 1, characterized in that, The strap (12) is made of elastic nylon, and a flat plate (37) is installed at the end of the positioning frame (6). A silicone pad is fixedly provided on the surface of the flat plate (37).

10. A carton palletizing device for carton production according to claim 1, characterized in that, The first magnetic stage (2), the second magnetic stage (19) and the electromagnet (18) are all electromagnets, and the electrical control terminals of the first magnetic stage (2), the second magnetic stage (19) and the electromagnet (18) are all electrically connected to the microcontroller (34).

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