Full-automatic carton packing and stacking machine

Abstract

This invention discloses a fully automatic carton packaging palletizing machine, relating to the field of carton palletizing technology. It includes a robotic arm, a conveying device, and cartons. The conveying device is mounted on one side of the robotic arm, and a pallet assembly is placed on the conveying device. When the pallet assembly is used cyclically and has not yet reached the conveying device, the fan remains on. The fan generates airflow at the vents, preventing dust and other particles from falling onto the upper surface of the pallet, thus avoiding the formation of a particulate "lubricating layer." This maintains normal friction between the carton and the pallet, preventing slippage when the carton falls onto the pallet, which could lead to stack misalignment, row and column displacement, and shift of the entire stack's center of gravity. During pallet assembly startup, sudden stops, turns, and forklift handling, the stack is highly susceptible to collapse, causing product damage and equipment damage, posing a certain safety hazard.

Description

Technical Field

[0001] This invention relates to the field of carton palletizing technology, and specifically to a fully automatic carton packaging palletizing machine. Background Technology

[0002] With the rapid development of modern manufacturing and e-commerce logistics, fully automatic carton packaging palletizers have become an indispensable core piece of equipment in production lines of industries such as food and beverage, pharmaceuticals and chemicals, and home appliances and electronics. Their main function is to automatically load finished, inner-packaged products into cartons, seal them, and then neatly stack them onto standard pallets according to preset stacking rules. The fully loaded pallets are then transported to the storage area or loading area via a roller conveyor line, achieving fully automated product flow from production line to warehousing and logistics, significantly reducing manual labor intensity and improving production and logistics efficiency.

[0003] Standard plastic pallets, as the core carrier for palletizing operations, are circulated among production workshops, warehouses, and transport vehicles using a cyclical reuse model. During long-term cyclical use, dust and other solid particles inevitably accumulate on the surface of the pallets.

[0004] When a layer of solid particles covers the surface of a pallet, it forms a "lubricating layer" between the pallet and the bottom cartons, significantly reducing the static friction coefficient. When the robotic arm lowers the cartons, the bottom cartons are prone to slipping, leading to skewed stacks and misaligned rows. This not only affects subsequent automatic wrapping and warehousing operations but also shifts the center of gravity of the entire stack. During pallet start-up, sudden stops, turns, and forklift handling, the stack is highly susceptible to collapse, causing product damage and equipment breakage, posing a safety hazard. Therefore, this application proposes a fully automatic carton packaging palletizer to solve the above problems. Summary of the Invention

[0005] This invention provides a fully automatic carton packaging and palletizing machine to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A fully automatic carton packaging and palletizing machine includes a robotic arm, a conveying device, and cartons. The conveying device is mounted on one side of the robotic arm, and a pallet assembly is placed on the conveying device.

[0007] The tray assembly includes a tray body, with two bottom supports fixedly connected to the bottom of the tray body. Multiple air vents are provided through the tray body. A plate cover is fixedly connected to the bottom of the tray body, and a conveying pipe is fixedly connected to the plate cover. A fan is fixedly connected to one end of the conveying pipe, and the fan is installed on the side wall of the bottom supports.

[0008] Multiple cartons are stacked on the tray by a robotic arm, and the cartons cover multiple air vents. The conveying device is equipped with an electrostatic elimination mechanism on the side near the tray assembly to eliminate static electricity carried on the tray and cartons.

[0009] A further improvement of the technical solution of the present invention is that: the static elimination mechanism includes an ion air bar, a connecting air duct is fixedly connected to the back of the ion air bar, ear plates are fixedly connected to both sides of the ion air bar, and a lifting component is provided on the conveying device, the lifting component being connected to the ion air bar through the ear plates.

[0010] A further improvement of the technical solution of the present invention is that: when the tray assembly is placed on the conveying device, the height of the output end of the ion air bar is adapted to the height of the tray body.

[0011] The robotic arm stacks multiple cartons on the tray, and the ion air bar gradually rises through the lifting component, so that the output height of the ion air bar matches the height of the stacked cartons.

[0012] A further improvement of the technical solution of the present invention is that: the lifting assembly includes a mounting frame fixedly connected to the conveying device, and two drive rods are connected between the conveying device and the mounting frame, one drive rod being threadedly connected to one ear plate, and the other drive rod being movably connected to the other ear plate.

[0013] A further improvement of the technical solution of the present invention is that: a weighing component is provided in the adjacent sections of the conveying device, and four weighing sensors are installed at the four corners of the weighing component.

[0014] When the pallet assembly with stacked cartons moves onto the weighing assembly, the weighing assembly stops driving and weighs the contents using load cells at the four corners.

[0015] A further improvement of the technical solution of the present invention is that: an alignment mechanism is provided in the adjacent sections of the weighing component, a control cabinet is provided on one side of the alignment mechanism, the alignment mechanism includes two side plates arranged opposite to each other and in parallel, a central baffle is provided in the middle position between the two side plates, and four independently driven roller alignment components are provided between the two side plates and the central baffle.

[0016] When the pallet assembly with stacked cartons moves onto the alignment mechanism, and the two base supports of the pallet assembly span the four roller alignment components, the position of the pallet assembly is adjusted by adjusting the rotation speed of the roller alignment components at different positions.

[0017] A further improvement of the technical solution of the present invention is that: each of the roller correction components includes multiple correction rollers that are movably connected to the side plate and the middle baffle. The side plate is provided with a second driving device to drive the multiple correction rollers in the same roller correction component to rotate simultaneously.

[0018] A further improvement of the technical solution of the present invention is that the frictional force between the correction roller and the bottom support is greater than the frictional force between the disc and the carton.

[0019] A further improvement of the technical solution of the present invention is that the fan is a bidirectional axial flow fan.

[0020] When the pallet assembly is on the conveyor or weighing assembly, the fan is in suction mode, generating negative pressure, which increases the friction between the carton and the pallet.

[0021] When the pallet assembly spans the four roller alignment components, the fan is in a blowing state. The airflow is blown out through the air outlet and acts on the stacked cartons, generating an upward force, which reduces the friction between the cartons and the pallet.

[0022] Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows: 1. This invention provides a fully automatic carton packaging palletizing machine. When the pallet assembly is used repeatedly and has not yet reached the conveying device, the fan remains on. The fan generates airflow at the vents, preventing dust and other particles from falling onto the upper surface of the pallet. This avoids the formation of a "lubricating layer" of particles, ensuring normal friction between the carton and the pallet. It also prevents the carton from slipping when it falls onto the pallet, which could lead to stack misalignment, row and column misalignment, affecting subsequent automatic wrapping and warehousing operations. Furthermore, it can cause the center of gravity of the entire stack to shift, making it extremely easy for the stack to break apart during pallet assembly startup, emergency stop, turning, and forklift handling, resulting in product damage and equipment damage, posing certain safety hazards.

[0023] 2. This invention provides a fully automatic carton packaging and palletizing machine. By setting up an electrostatic elimination mechanism, electrostatic elimination treatment is performed on the surface of the tray and the surface of the carton. This avoids the problem that the adjacent contact surfaces between the tray and the carton carry a lot of static charge, resulting in low friction between the adjacent contact surfaces and affecting the stacking stability.

[0024] 3. This invention provides a fully automatic carton packaging palletizer. When the pallet assembly, after being weighed by the weighing component, is conveyed to the correction mechanism, if the center of gravity of the stack does not shift, the four independently driven roller correction components on the correction mechanism move synchronously, and the rotation speed is consistent with the rotation speed of the drive roller on the conveying device, ensuring the conveying of the stack. If the weighing component detects a shift in the center of gravity of the stack, the four independently driven roller correction components exert different forces on the stack in different directions through different rotation speeds, restoring it to its original position. This avoids problems such as the stack running off course, scraping, jamming, or even tipping over due to uneven center of gravity during the conveying process. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a structural schematic diagram of the present invention from another angle; Figure 3 This is a schematic diagram of the structure of the tray assembly of the present invention; Figure 4 This is a structural schematic diagram of the tray assembly of the present invention from another angle; Figure 5 This is a schematic diagram of the structure of the ion air bar of the present invention when it rises together with the stacked cardboard boxes; Figure 6 This is a schematic diagram of the structure of the ion wind bar of the present invention; Figure 7 This is a schematic diagram of the planar structure of the four roller correction components of the present invention; Figure 8 This is a schematic diagram of the pallet assembly of the present invention during lateral movement; Figure 9 This is a schematic diagram of the structure of the pallet assembly of the present invention during longitudinal movement; Figure 10 This is a structural diagram showing the multiple sets of weighing components and correction mechanisms provided in this invention.

[0026] In the diagram: 1. Robotic arm; 2. Conveying device; 3. Pan; 4. Weighing assembly; 5. Ionizing air bar; 6. Connecting duct; 7. Ear plate; 8. Drive rod; 9. Mounting frame; 10. Drive device one; 11. Base support; 12. Air outlet; 13. Cover; 14. Conveying pipe; 15. Fan; 16. Carton; 17. Side plate; 18. Central baffle; 19. Correcting roller; 20. Control cabinet; 21. Telescopic rod; 22. Drive device two. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to embodiments: Example

[0028] like Figure 1-10 As shown, the present invention provides a fully automatic carton packaging and palletizing machine, including a robotic arm 1, a conveying device 2, and carton 16. Both the robotic arm 1 and the conveying device 2 are existing technologies. The robotic arm 1 is used to stack the carton 16 onto a pallet assembly. The conveying device 2 includes a frame, support legs, drive rollers, transmission chains, transmission belts and other transmission mechanisms, as well as a motor, reducer and other drive structures, used to drive the pallet assembly of stacked carton 16 to move. The conveying device 2 is matched and arranged on one side of the robotic arm 1, and the pallet assembly is placed on the conveying device 2.

[0029] The pallet assembly includes a pallet body 3. Two bottom supports 11 are fixedly connected to the bottom of the pallet body 3. The bottom supports 11 are movably connected to the drive roller on the conveying device 2. When the drive roller rotates, the friction between the drive roller and the bottom supports 11 drives the pallet assembly and the stacked cartons 16 on it to move together. Multiple air vents 12 are opened through the pallet body 3. A cover 13 is fixedly connected to the bottom of the pallet body 3. The air vents 12 located at the bottom opening of the pallet body 3 are all covered by the cover 13. A conveying pipe 14 is fixedly connected to the cover 13. A fan 15 is fixedly connected to one end of the conveying pipe 14. A valve is provided between the conveying pipe 14 and the fan 15. The valve is prior art. In this application, an electrically controlled valve can be selected to control the opening and closing of the fan 15. The fan 15 is installed on the side wall of the bottom support 11.

[0030] The blower 15 is existing technology. In this application, the blower 15 is a bidirectional axial flow blower. The bidirectional axial flow blower adopts a bidirectional airflow design, blowing air in the forward direction and sucking air in the reverse direction. It can still maintain high aerodynamic efficiency and safety when reversing. When the tray assembly is used repeatedly and has not reached the conveying device 2, the blower 15 remains on. If the blower 15 is in the blowing state, the airflow flows out through multiple air vents 12 opened on the tray 3. After the airflow flows out of the air vents 12, it diffuses near the air vents 12, so that an outward blowing airflow that almost completely covers the surface of the tray 3 is formed, so that dust and other particles cannot fall onto the upper surface of the tray 3. If the blower 15 is in the sucking state, the dust and other particles fall onto the surface of the tray 3 through the air vents 12. During the process, the airflow blown into the tray 13 enters the tray 13 through the air vent 12. A filter screen can be installed in the tray 13 to filter the airflow and prevent dust and other particles from falling directly onto the surface of the tray 3, thus avoiding the formation of a particulate "lubricating layer". This ensures that the friction between the carton 16 and the tray 3 remains normal, preventing slippage when the robotic arm 1 drives the carton 16 onto the tray 3, which would cause the stack to become skewed or misaligned, affecting subsequent automatic wrapping and warehousing operations. It would also cause the center of gravity of the entire stack to shift, making it very easy for the stack to fall apart when the pallet assembly starts, stops suddenly, turns, or is picked up and transported by forklift, resulting in product damage and equipment damage, posing certain safety hazards.

[0031] Multiple cartons 16 are stacked on the tray 3 by the robotic arm 1. The cartons 16 cover multiple air vents 12. The conveying device 2 is provided with an electrostatic elimination mechanism on the side near the tray assembly to eliminate static electricity carried on the tray 3 and the cartons 16.

[0032] In actual operation, the disc body 3 and the bottom support 11 are mostly made of plastic. The disc body 3, the bottom support 11, the cardboard box 16, and the wrapping film on the outside of the cardboard box 16 are all high-insulation materials. Once the charge is generated, it cannot be dissipated through its own conduction and will accumulate on the surface for a period of time.

[0033] The rolling of cartons 16 on the drive rollers of the conveyor 2, the gripping and release by the robotic arm 1, the contact and separation between cartons 16 and lower cartons 16 or pallets 3 during stacking, the stacking and separation of pallets 3 in the pallet warehouse, the friction during transportation and handling, and the high-speed friction during the stretching and wrapping of the stretch film all cause pallets 3 and cartons 16 to carry a large amount of static charge. Moreover, the distribution of static charge on each contact surface is extremely uneven. There will be a certain attraction between opposite charges in positive and negative charge regions. However, in an industrial environment, the negative impact of dust adsorption far outweighs the positive impact of charge adsorption. Furthermore, the attraction between opposite charges is local and uneven, which will lead to uneven force on the entire stack and make it more prone to local slippage. The following two situations will occur: 1. When the regions of the same charge on two adjacent contact surfaces approach each other, an electrostatic repulsive force perpendicular to the contact surface is generated, which reduces the friction between the contact surfaces. Second, the charged disc 3 and the cardboard box 16 will act like magnets, strongly attracting tiny particles such as dust, fibers, and paper scraps from the air. These particles will form a loose "ball bearing" type lubricating layer between the two contact surfaces, greatly reducing the coefficient of friction and decreasing the friction between the contact surfaces.

[0034] When the friction between the contact surfaces decreases, the stacking stability deteriorates, making it easy for the entire stack and the cardboard box 16 to slide, shift, tilt, or tip over. To solve this problem, this application sets up an electrostatic elimination mechanism to perform electrostatic elimination treatment on the surfaces of the tray 3 and the cardboard box 16, avoiding the problem that the adjacent contact surfaces between the tray 3 and the cardboard box 16 carry a lot of static charge, resulting in low friction between the adjacent contact surfaces and affecting the stacking stability.

[0035] The control cabinet 20 is existing technology and includes a PLC control system and other related equipment. It is electrically connected to each electrical control device in this application to ensure the real-time performance and accuracy of control commands and to adapt to the continuous operation requirements of each structure in this application.

[0036] Furthermore, the static electricity elimination mechanism includes an ionizing air bar 5, which is existing technology. The ionizing air bar 5 ionizes air molecules into a large number of positive and negative ions through corona discharge. A connecting duct 6 is fixedly connected to the back of the ionizing air bar 5 for connecting the fan and the duct. Ear plates 7 are fixedly connected to both sides of the ionizing air bar 5. A lifting component is provided on the conveying device 2, and the lifting component is connected to the ionizing air bar 5 through the ear plates 7.

[0037] When the ion bar 5 generates a large number of positive and negative ions, the connecting duct 6, which connects to the fan and duct, blows the generated positive and negative ions toward the surface of objects carrying static charges, forming an ion wind, including the surfaces of the disc 3 and the cardboard box 16. The negatively charged object surface will attract positive ions from the air, and the positively charged object surface will attract negative ions from the air. The excess charge is gradually neutralized, so that the object surface is restored to electrical neutrality. Moreover, the ion bar 5 can work continuously to neutralize newly generated static electricity in real time, ensuring that the object surface is always in a low potential state, avoiding the problem that the contact surface of the disc 3 and the cardboard box 16 carries a lot of static charge, resulting in low friction and affecting the stacking stability.

[0038] Most industrial-grade ion bar 5 are equipped with independent control switches for discharge and fan. When the discharge switch is turned off and the fan is kept on, the ion bar 5 only has a blowing effect and does not have the effect of generating positive and negative ions. At this time, the ion bar 5 can be used alone as a fan to blow air onto the surface of the disc 3 and the cardboard box 16, thereby reducing the particulate matter attached to the surface of the disc 3 and the cardboard box 16.

[0039] Furthermore, when the tray assembly is placed on the conveyor 2, the height of the output end of the ion air bar 5 is adapted to the height of the tray body 3.

[0040] The robotic arm 1 stacks multiple cardboard boxes 16 on the tray 3. The ion air bar 5 gradually rises through the lifting component, so that the output height of the ion air bar 5 matches the height of the stacked cardboard boxes 16. The ion air bar 5 can gradually increase in height as the cardboard boxes 16 are stacked, so that the ion air bar 5 can generate ion air at different heights to neutralize and eliminate the surface of cardboard boxes 16 at different heights.

[0041] Furthermore, the lifting assembly includes a mounting frame 9 fixedly connected to the conveying device 2. Two drive rods 8 are connected between the conveying device 2 and the mounting frame 9. One drive rod 8 is threadedly connected to one ear plate 7, and the other drive rod 8 is movably connected to the other ear plate 7. A drive device 10 is mounted on the mounting frame 9. One end of the drive rod 8 threadedly connected to the ear plate 7 is fixedly connected to the output shaft of the drive device 10. The drive device 10 is existing technology and includes equipment such as a motor and related accessories. The drive device 10 drives the drive rod 8 to rotate, causing the ear plate 7 and the ion air bar 5 to rise or fall along the drive rod 8 to adapt to the height of the tray 3 or the stacked cartons 16. This allows the ion air blown by the ion air bar 5 to fall on the surface of the tray 3 and cartons 16 of different heights to perform static electricity elimination treatment on the surface.

[0042] Furthermore, a weighing assembly 4 is installed in the adjacent section of the conveying device 2. The overall structure of the weighing assembly 4 is basically the same as that of the conveying device 2. Both include a frame, legs, drive rollers, transmission chains, transmission belts and other transmission mechanisms, as well as motors, reducers and other drive structures. Four weighing sensors are installed at the four corners of the weighing assembly 4. The four weighing sensors are respectively installed on the four legs connected to the weighing assembly 4.

[0043] When the pallet assembly with stacked cartons 16 moves onto the weighing assembly 4, the weighing assembly 4 stops driving and weighs the contents using the weighing sensors at the four corners.

[0044] When the center of gravity of the stacked cartons 16 on the pallet 3 is not collinear with the center of gravity of the pallet assembly, the pallet assembly and the conveyor 2 are in a state of uneven force. As the pallet assembly and the cartons 16 move together, the contact pressure between the two sides of the stack and the drive rollers on the conveyor 2 is uneven, which causes the stack to gradually deviate to the side with greater force. When the deviation is serious, the edge of the stack will scrape and get stuck with the guardrail of the conveyor 2, and may even overturn at high speed or at turning points, causing product damage, production line shutdown, and posing a great safety hazard.

[0045] First, with the pallet assembly unloaded, the pallet assembly is moved onto the weighing assembly 4. The drive roller on the weighing assembly 4 stops working, and the unloaded pallet assembly is weighed by four weighing sensors. The initial center of gravity distribution of the pallet assembly is recorded. Then, the pallet assembly loaded with multiple cartons 16 is weighed, and the overall center of gravity distribution of the stack is recorded. Without considering the vertical distance of the center of gravity, the initial center of gravity distribution is compared with the overall center of gravity distribution of the stack to determine the offset of the stack on the conveying plane of the conveying device 2 and the weighing assembly 4.

[0046] Furthermore, a correction mechanism is provided in the adjacent section of the weighing component 4. A control cabinet 20 is provided on one side of the correction mechanism. The correction mechanism includes two side plates 17 that are facing each other and arranged in parallel. A middle baffle 18 is provided in the middle position between the two side plates 17. Four independently driven roller correction components are provided between the two side plates 17 and the middle baffle 18. Multiple roller correction components can be set according to the actual situation.

[0047] When the pallet assembly with stacked cartons 16 moves onto the correction mechanism, and the two bottom supports 11 of the pallet assembly span the four roller correction assemblies, the position of the pallet assembly is adjusted by adjusting the rotation speed of the roller correction assemblies at different positions.

[0048] When the pallet assembly weighed by the weighing component 4 is conveyed to the correction mechanism, if the center of gravity of the stack does not shift, the four independently driven roller correction components on the correction mechanism move synchronously, and the rotation speed is consistent with the rotation speed of the drive roller on the conveying device 2, ensuring the conveying of the stack. If the weighing component 4 detects a shift in the center of gravity of the stack, the four independently driven roller correction components exert different forces on the stack in different directions through different rotation speeds, so as to restore it to its original position, avoiding problems such as the stack running off course, scraping, jamming, or even tipping over due to uneven center of gravity during the conveying process.

[0049] Furthermore, each roller correction assembly includes multiple correction rollers 19 that are movably connected to the side plate 17 and the central baffle 18. A drive device 22 is provided on the outside of the side plate 17 to drive the multiple correction rollers 19 in the same roller correction assembly to rotate simultaneously. The friction between the correction rollers 19 and the bottom support 11 is greater than the friction between the tray 3 and the carton 16.

[0050] The second drive device 22 is existing technology, including a motor, gears, transmission chain or transmission belt and other structures and related accessories. The rotation of the second drive device 22 drives multiple correction rollers 19 in the same roller correction assembly to rotate together. A telescopic rod 21 is fixedly connected to the bottom of the second drive device 22. The output end of the telescopic rod 21 is connected to the second drive device 22. The telescopic rod 21 drives the second drive device 22 to rise and fall to different heights, so that the transmission chain or transmission belt is at different tension levels, in order to adapt to more usage scenarios and driving requirements.

[0051] The number of correction rollers 19 in the same roller correction assembly satisfies the following condition: when the pallet assembly spans four roller correction assemblies, the movement time of the pallet assembly across the four roller correction assemblies is sufficient to complete the position correction of the pallet assembly that has deviated or gone astray.

[0052] like Figure 7-9 As shown, the pallet assembly is conveyed longitudinally, and the vertical conveying direction is transverse. Along this direction, the multiple correction rollers 19 in the correction mechanism are divided into four roller correction components, namely the left front, right front, left rear, and right rear areas. The number, material, diameter, and other data of the correction rollers 19 in each roller correction component are exactly the same. When the rotation speed of the multiple correction rollers 19 in the correction mechanism is the same, the pallet assembly is conveyed at a uniform speed in the correction mechanism.

[0053] By comparing the weighing detection of weighing component 4, it can be seen that there are three types of possible deviations in the pallet assembly on the correction mechanism: 1. If only lateral offset occurs, the pallet assembly needs to cover both the left and right halves simultaneously. If only lateral offset occurs, the corrective mechanism must ensure that the pallet assembly is only subjected to lateral forces and not longitudinal forces in order to achieve lateral adjustment. The movement of the multiple corrective rollers 19 on the four roller corrective assemblies is as follows: the rotation speed of all corrective rollers 19 on the two roller corrective assemblies on the left is consistent, and the rotation speed of all corrective rollers 19 on the two roller corrective assemblies on the right is consistent. When the rotation speeds of the corrective rollers 19 on the left and right sides are different, only lateral forces are generated, causing the pallet assembly to move laterally. One side of the corrective roller 19 rotates faster, generating greater sliding friction, while the other side rotates slower, generating less sliding friction, creating a differential turning effect. The pallet assembly will then move towards the side with the slower rotation speed. When the pallet assembly returns to its original position, the speeds of the corrective rollers 19 on the four roller corrective assemblies are adjusted to be consistent, driving the pallet assembly to be conveyed at a uniform speed. 2. If only longitudinal offset occurs, the pallet assembly needs to cover both the front and rear halves simultaneously. If only longitudinal offset occurs, the corrective mechanism ensures that the pallet assembly is only subjected to longitudinal force. The movement of the multiple corrective rollers 19 on the four roller corrective assemblies is as follows: the rotation speed of all corrective rollers 19 in the two front roller corrective assemblies is consistent, the rotation speed of all corrective rollers 19 in the two rear roller corrective assemblies is consistent, and when the rotation speeds of the corrective rollers 19 on the front and rear sides are different, only longitudinal force will be generated, causing the pallet assembly to move longitudinally. The front side straightening roller 19 rotates faster, generating a greater forward pulling force on the front end of the pallet assembly, while the rear side straightening roller 19 rotates slower, generating a smaller forward pulling force on the rear end of the pallet. The resultant force of the two is forward, so the pallet moves forward as a whole. When the rear straightening roller 19 rotates faster, it generates a greater forward pulling force on the rear end of the pallet assembly, while the front straightening roller 19 rotates slower, generating a smaller forward pulling force on the front end of the pallet assembly. At this time, the rear end of the pallet assembly moves faster than the front end, which is equivalent to the rear end pulling the front end backward. The resultant force of the two is backward, so the pallet assembly moves backward as a whole.

[0054] Third, if lateral and longitudinal offsets occur simultaneously, the pallet assembly needs to cover all four half-zones: left front, right front, left rear, and right rear. This combines situations one and two, using different rotational speed combinations across the four zones to synthesize a resultant force and torque in any direction, simultaneously correcting the lateral and longitudinal offsets of the pallet assembly.

[0055] The aforementioned lateral correction, longitudinal correction, and simultaneous lateral and longitudinal correction amounts, i.e., the correction displacement of the pallet assembly, can all be controlled by the rotation time of the correction roller 19 corresponding to the speed difference. By comparing the weighing of the weighing component 4, the center of gravity offset difference between the pallet assembly and the overall stack can be clearly determined. Furthermore, the rotation speed adjustment of the correction roller 19 among the four roller correction components is a fixed value during the correction process. Thus, based on the rotation speed of the correction roller 19, it can be determined how long the multiple correction rollers 19 of the four roller correction components with speed differences need to run to complete the correction.

[0056] During the above-mentioned correction process, the speed of the correction roller 19 is adjusted gradually to avoid rapid acceleration or deceleration, which could lead to large inertia and cause instability in the stacked cartons 16.

[0057] During this alignment process, the friction between the alignment roller 19 and the base support 11 is greater than the friction between the tray body 3 and the stacked cartons 16 on it. Because the friction between the alignment roller 19 and the base support 11 is greater than the friction between the tray body 3 and the stacked cartons 16 on it, when multiple alignment rollers 19 exert forces on the pallet assembly in different directions due to speed differences, the stacked cartons 16 remain stationary, only causing the pallet assembly to shift. That is, the center of gravity of the stacked cartons 16 does not change. By adjusting the position of the pallet assembly, the center of gravity of the pallet assembly and the center of gravity of the stacked cartons 16 are aligned... In the case of vertical collinearity, after the correction is completed, the pallet assembly and the stacked cartons 16 on it can still maintain a stable conveying state without deviation. If the friction between the correction rollers 19 and the bottom support 11 is less than the friction between the pallet body 3 and the stacked cartons 16 on it, then when multiple correction rollers 19 exert forces on the pallet assembly in different directions due to the difference in rotation speed, the stacked cartons 16 will move with the pallet assembly. However, the center of gravity of the stacked cartons 16 is still different from the center of gravity of the pallet assembly, which will cause the stack to gradually deviate during subsequent conveying.

[0058] Furthermore, fan 15 is a bidirectional axial flow fan.

[0059] When the pallet assembly is on the conveyor 2 or the weighing assembly 4, the fan 15 is in a suction state, generating negative pressure, which increases the friction between the carton 16 and the pallet 3, allowing the carton 16 stacked on the pallet 3 to maintain a relatively stable state.

[0060] When the pallet assembly spans the four roller alignment components, the fan 15 is in a blowing state. The airflow is blown out through the air outlet 12 and acts on the stacked cartons 16, generating an upward force. This reduces the friction between the cartons 16 and the pallet body 3, making it easier for the pallet assembly to align.

[0061] Furthermore, such as Figure 10 As shown, in this application, multiple weighing components 4 and correction mechanisms can be arranged at intervals in the entire conveying device 2 to facilitate the monitoring of the conveying status and position correction of the pallet assembly and the cartons 16 stacked on it, thereby ensuring the stability of its conveying status.

Claims

1. A fully automatic carton packaging and palletizing machine, comprising a robotic arm (1), a conveying device (2), and cartons (16), wherein the conveying device (2) is configured on one side of the robotic arm (1), characterized in that: A pallet assembly is placed on the conveying device (2); The tray assembly includes a tray body (3), with two bottom supports (11) fixedly connected to the bottom of the tray body (3). Multiple air vents (12) are provided through the tray body (3). A plate cover (13) is fixedly connected to the bottom of the tray body (3). A conveying pipe (14) is fixedly connected to the plate cover (13). A fan (15) is fixedly connected to one end of the conveying pipe (14). The fan (15) is installed on the side wall of the bottom support (11). Multiple cartons (16) are stacked on the tray (3) by a robotic arm (1). The cartons (16) cover multiple air vents (12). The conveying device (2) is provided with an electrostatic elimination mechanism on the side near the tray assembly to eliminate static electricity carried on the tray (3) and the cartons (16).

2. The fully automatic carton packaging and palletizing machine according to claim 1, characterized in that: The static elimination mechanism includes an ion air bar (5), a connecting air pipe (6) is fixedly connected to the back of the ion air bar (5), and ear plates (7) are fixedly connected to both sides of the ion air bar (5). The conveying device (2) is equipped with a lifting component, which is connected to the ion air bar (5) through the ear plates (7).

3. The fully automatic carton packaging and palletizing machine according to claim 2, characterized in that: When the tray assembly is placed on the conveyor (2), the height of the output end of the ion air bar (5) is matched with the height of the tray body (3); The robotic arm (1) stacks multiple cartons (16) on the tray (3), and the ion air bar (5) gradually rises through the lifting assembly, so that the height of the output end of the ion air bar (5) matches the height of the stacked cartons (16).

4. The fully automatic carton packaging and palletizing machine according to claim 2, characterized in that: The lifting assembly includes a mounting bracket (9) fixedly connected to the conveying device (2). Two drive rods (8) are connected between the conveying device (2) and the mounting bracket (9). One drive rod (8) is threadedly connected to one ear plate (7), and the other drive rod (8) is movably connected to the other ear plate (7).

5. The fully automatic carton packaging and palletizing machine according to claim 1, characterized in that: The adjacent sections of the conveying device (2) are equipped with weighing components (4), and four weighing sensors are installed at the four corners of the weighing components (4). When the pallet assembly with stacked cartons (16) moves onto the weighing assembly (4), the weighing assembly (4) stops driving and is weighed by the weighing sensors at the four corners.

6. The fully automatic carton packaging and palletizing machine according to claim 5, characterized in that: The adjacent sections of the weighing component (4) are provided with a correction mechanism. A control cabinet (20) is provided on one side of the correction mechanism. The correction mechanism includes two side plates (17) that are facing each other and arranged in parallel. A middle baffle (18) is provided in the middle position between the two side plates (17). Four independently driven roller correction components are provided between the two side plates (17) and the middle baffle (18). When the pallet assembly with stacked cartons (16) moves onto the correction mechanism, and the two bottom supports (11) of the pallet assembly span the four roller correction assemblies, the position of the pallet assembly is adjusted by adjusting the rotation speed of the roller correction assemblies at different positions.

7. The fully automatic carton packaging and palletizing machine according to claim 6, characterized in that: Each of the roller correction components includes multiple correction rollers (19) movably connected to the side plate (17) and the central baffle (18). The side plate (17) is provided with a second driving device (22) to drive the multiple correction rollers (19) in the same roller correction component to rotate simultaneously.

8. The fully automatic carton packaging and palletizing machine according to claim 8, characterized in that: The friction between the correction roller (19) and the bottom support (11) is greater than the friction between the disc (3) and the carton (16).

9. A fully automatic carton packaging and palletizing machine according to claim 6, characterized in that: The fan (15) is a bidirectional axial flow fan; When the pallet assembly is on the conveying device (2) or the weighing assembly (4), the fan (15) is in a suction state, generating negative pressure, which increases the friction between the carton (16) and the pallet body (3). When the pallet assembly spans the four roller alignment components, the fan (15) is in a blowing state. The airflow is blown out through the air outlet (12) and acts on the stacked cartons (16), generating an upward force, which reduces the friction between the cartons (16) and the pallet (3).

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