A box turning and conveying device used in automatic palletizing equipment

Abstract

The utility model provides a box flipping conveying device applied to automatic palletizing equipment, which can identify boxes of different products through a visual detection module, and realize automatic adjustment and stacking of the box posture. It includes a box conveyor belt and a box stacking area arranged on one side of the box conveyor belt. The box stacking area includes a box identification unit arranged across the box conveyor belt, an auxiliary conveyor belt arranged on one side of the box conveyor belt corresponding to the box identification unit, and a plurality of automatic stacking units arranged along the auxiliary conveyor belt. The automatic stacking unit includes a keel material transfer manipulator arranged above the auxiliary conveyor belt, a plurality of stacking stations symmetrically arranged on both sides of the auxiliary conveyor belt, a horizontal rotation module and a vertical rotation module. The stacking station is within the coverage of the keel material transfer manipulator, and the horizontal rotation module and the vertical rotation module are arranged on the auxiliary conveyor belt. The utility model is applicable to the technical field of material palletizing.

Description

Technical Field

[0001] The utility model relates to the technical field of material palletizing, in particular to a box overturning and conveying device applied to automatic palletizing equipment. Background Art

[0002] The palletizer arranges the box containers filled with products on the pallet in a certain arrangement and automatically stacks them in layers, so that they can be transported to the warehouse by forklift for storage. In large-scale warehouses, different types of products need to be stored comprehensively. However, the specifications of the loading boxes of different types of products are different. In order to maximize the storage rate of the warehouse, the placement of the boxes often needs to be adjusted before stacking. Traditional stacking is generally adjusted semi-automatically, that is, after manually judging the boxes of different models of products, the horizontal and vertical placement of the boxes are adjusted, and then stacked and stored through the palletizing equipment. This method has low efficiency and high labor intensity. In addition, when large boxes cannot be adjusted manually, additional turning equipment is required, which increases production costs. The boxes are also prone to bumps and extrusions when transported back and forth between different equipment, which can damage the boxes. Utility Model Content

[0003] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a box turning and conveying device applied to automatic palletizing equipment, which can identify boxes of different products through a visual detection module and realize automatic adjustment and stacking of the box posture.

[0004] The technical solution adopted by the utility model is as follows: the utility model comprises a box conveyor belt and a box stacking area arranged on one side of the box conveyor belt, the box stacking area comprises a box identification unit straddling the box conveyor belt, an auxiliary conveyor belt corresponding to the box identification unit and arranged on one side of the box conveyor belt, and a plurality of automatic stacking units arranged along the auxiliary conveyor belt, the automatic stacking unit comprises a keel material shifting manipulator arranged above the auxiliary conveyor belt, a plurality of stacking stations symmetrically arranged on both sides of the auxiliary conveyor belt, a horizontal rotation module and a vertical rotation module, the stacking station is within the coverage range of the keel material shifting manipulator, and the horizontal rotation module and the vertical rotation module are arranged on the auxiliary conveyor belt.

[0005] Furthermore, the box identification unit includes an identification frame arranged on the box conveyor belt, a pushing assembly and a stopping assembly arranged on the identification frame, and an identification camera; the pushing assembly includes a pushing cylinder fixedly arranged on the top of the identification frame and a pushing block drivingly connected to the pushing cylinder, the pushing block can reciprocate in the extension direction of the auxiliary conveyor belt, the stopping assembly includes a vertical cylinder fixedly arranged on the discharge end of the identification frame and a stopping plate drivingly connected to the vertical cylinder, and the identification camera is coaxially arranged on the other side of the box conveyor belt with the auxiliary conveyor belt through a connecting bracket.

[0006] Furthermore, the keel material moving robot includes an X-axis material moving frame symmetrically arranged on both side ends of the auxiliary conveyor belt, a Y-axis material moving frame horizontally arranged between the two groups of the X-axis material moving frames, and a Z-axis material moving frame slidably matched with the Y-axis material moving frame. A clamping robot is connected to the bottom of the Z-axis material moving frame through a rotating motor, and the Y-axis material moving frame slidably cooperates with the two groups of the X-axis material moving frames.

[0007] Furthermore, the material clamping robot includes a connecting frame, a first cylinder and a second cylinder symmetrically fixed at the lower end of the connecting frame, and a first clamping plate and a second clamping plate respectively drivingly connected to the output end of the first cylinder and the output end of the second cylinder. The connecting frame is drivingly connected to the rotating motor, and a plurality of pneumatic suction heads are also arranged on the connecting frame at the lower ends of the first cylinder and the second cylinder.

[0008] Furthermore, the vertical rotation module includes vertical brackets symmetrically arranged on both sides of the auxiliary conveyor belt, a vertical movable frame connected between the two groups of the vertical brackets, and a first material rotating robot and a second material rotating robot mirror-imaged on the vertical movable frame. A vertical cylinder is arranged on the inner side surface of the vertical bracket, the vertical movable frame is drivingly connected to the two groups of the vertical cylinders, and a transverse cylinder is arranged on the vertical movable frame. The first material rotating robot and the second material rotating robot slide in cooperation with the vertical movable frame through the transverse cylinder.

[0009] Furthermore, the first material rotating robot and the second material rotating robot have the same structure, and both include a sliding seat, a second rotating motor fixedly mounted on the sliding seat, a rotating plate drivingly connected to the second rotating motor, and auxiliary positioning components arranged at various corners of the rotating plate. The sliding seat is straddled on the vertical movable frame and is driven by the horizontal cylinder. The auxiliary positioning component includes a positioning cylinder, an articulated seat and a swing arm. The articulated seat is fixedly mounted on the outer side of the rotating plate, the end of the swing arm is drivingly connected to the positioning cylinder, the middle end is rotatably connected to the articulated seat, and the front end extends into the inner side of the rotating plate.

[0010] Furthermore, the horizontal rotation module includes a guide roller assembly driven by the auxiliary conveyor belt, a lifting cylinder arranged at the bottom of the guide roller assembly, a horizontal rotation motor driven by the lifting cylinder, and a cross support frame driven by the horizontal rotation motor. The guide roller assembly includes a first guide roller group and a second guide roller group symmetrically arranged, with a gap between the first guide roller group and the second guide roller group. The cross support frame realizes reciprocating movement in the vertical direction through the gap under the drive of the lifting cylinder.

[0011] Finally, adjustment modules are provided at the front ends of the box identification unit, the horizontal rotation module and the vertical rotation module. The adjustment modules include a fixed plate and an adjustment push plate symmetrically arranged at corresponding positions of the box conveyor belt or the auxiliary conveyor belt. A push cylinder is provided on one side of the adjustment push plate, and the adjustment push plate is drivingly connected to the push cylinder.

[0012] Compared with the prior art, the beneficial effect of the utility model is as follows: the utility model identifies the product boxes conveyed by the box conveyor belt through the identification camera, and compares the placement postures of the products of different types and specifications preset in the system, and finally confirms the mode in which the box needs to be adjusted, and finally adjusts the posture of the box accordingly through the horizontal rotation module and the vertical rotation module, and uses the keel material transfer manipulator to move the box to the corresponding stacking station for stacking, so as to realize the automatic identification of different box stacking, automatic adjustment of the horizontal and vertical placement postures, and improve the efficiency of stacking. Therefore, the utility model identifies different product boxes through the visual detection module, and realizes the automatic adjustment and stacking of the box posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic top view of the overall structure of the utility model;

[0014] Figure 2 is a structural schematic diagram of the box identification unit;

[0015] Figure 3 is a structural schematic diagram of the keel material moving manipulator;

[0016] Figure 4 is a structural schematic diagram of the clamping manipulator;

[0017] Figure 5 is a structural schematic diagram of the vertical rotation module;

[0018] Figure 6 is a schematic diagram of the mechanism of the first material rotating manipulator and the second material rotating manipulator;

[0019] Figure 7 is a schematic structural diagram of the horizontal rotating module part of the auxiliary conveyor belt;

[0020] Figure 8 is a structural schematic diagram of the horizontal rotation module;

[0021] Fig. 9 is a structural diagram of the adjustment module. DETAILED DESCRIPTION

[0022] like Figures 1 to 9 As shown, the utility model includes a box conveyor belt 1 and a box stacking area arranged on one side of the box conveyor belt 1, the box stacking area includes a box identification unit 2 arranged across the box conveyor belt 1, an auxiliary conveyor belt 3 arranged on one side of the box conveyor belt 1 corresponding to the box identification unit 2, and a plurality of automatic stacking units arranged along the auxiliary conveyor belt 3, the automatic stacking unit includes a keel material transfer robot 4 arranged above the auxiliary conveyor belt 3, a plurality of stacking stations 5 symmetrically arranged on both sides of the auxiliary conveyor belt 3, a horizontal rotation module 6 and a vertical rotation module 7, the stacking station 5 is within the coverage range of the keel material transfer robot 4, and the horizontal rotation module 6 and the vertical rotation module 7 are arranged on the auxiliary conveyor belt 3. An adjustment module 8 is provided at the front end of the box identification unit 2, the horizontal rotation module 6 and the vertical rotation module 7. The adjustment module 8 includes a fixing plate 80 and an adjustment push plate 81 symmetrically arranged at the corresponding position of the box conveyor belt 1 or the auxiliary conveyor belt 3. A push cylinder 82 is provided on one side of the adjustment push plate 81, and the adjustment push plate 81 is drivingly connected to the push cylinder 82. The box conveyed in the box conveyor belt 1 is adjusted in its horizontal position by the adjustment module 8, that is, it is ensured to be flat when entering the corresponding box identification unit 2, the horizontal rotation module 6 and the vertical rotation module 7, so as to provide a reference for the subsequent rotation adjustment.

[0023] In the utility model, the box identification unit 2 includes an identification frame 20 arranged on the box conveyor belt 1, a pushing assembly and a stopping assembly arranged on the identification frame 20, and an identification camera 21, the pushing assembly includes a pushing cylinder 22 fixedly arranged on the top of the identification frame 20 and a pushing block 23 driven and connected to the pushing cylinder 22, the pushing block 23 can reciprocate in the extension direction of the auxiliary conveyor belt 3, the stopping assembly includes a vertical cylinder 24 fixedly arranged on the discharge end of the identification frame 20 and a stopping plate 25 driven and connected to the vertical cylinder 24, the identification camera 21 is coaxially arranged on the other side of the box conveyor belt 1 with the auxiliary conveyor belt 3 through a connecting bracket 26. The box is photographed by the recognition camera 21 and compared with the information preset in the system to confirm the type, specification and other information of the product and determine its appropriate stacking posture, and send the step commands that need to be adjusted to the horizontal rotation module 6 and the vertical rotation module 7 to ensure that the box can be correctly placed in the end, replacing the traditional manual visual judgment process and improving the efficiency and accuracy of stacking.

[0024] In the present utility model, the keel material moving manipulator 4 includes an X-axis material moving frame 40 symmetrically arranged on both side ends of the auxiliary conveyor belt 3, a Y-axis material moving frame 41 horizontally arranged between the two groups of the X-axis material moving frames 40, and a Z-axis material moving frame 42 slidably matched with the Y-axis material moving frame 41, and a material clamping manipulator 44 is connected to the bottom of the Z-axis material moving frame 42 through a rotating motor 43, and the Y-axis material moving frame 41 slidably cooperates with the two groups of the X-axis material moving frames 40. The material clamping manipulator 44 includes a connecting frame 440, a first cylinder 441 and a second cylinder 442 symmetrically fixedly arranged at the lower end of the connecting frame 440, and a first clamping plate 443 and a second clamping plate 444 respectively connected to the output end of the first cylinder 441 and the output end of the second cylinder 442, the connecting frame 440 is connected to the rotating motor 43, and a plurality of pneumatic suction heads 445 are also arranged on the connecting frame 440 at the lower end positions of the first cylinder 441 and the second cylinder 442. With the cooperation of the X-axis material moving rack 40, the Y-axis material moving rack 41 and the Z-axis material moving rack 42, the clamping robot 44 can accurately move the box from the horizontal rotation module 6 and the vertical rotation module 7 to the corresponding stacking station 5 for stacking. The utility model adopts a plurality of pneumatic suction heads 445 arranged in an arranged manner to perform pneumatic adsorption on the box, thereby effectively avoiding damage to the surface of the box while ensuring the adsorption force. The rotating motor 43 can make the final adjustment to the placement posture of the box.

[0025] In the utility model, the vertical rotation module 7 includes vertical brackets 70 symmetrically arranged on both sides of the auxiliary conveyor belt 3, a vertical movable frame 71 connected between the two groups of the vertical brackets 70, and a first material rotating manipulator 72 and a second material rotating manipulator 73 mirror-imaged on the vertical movable frame 71. A vertical cylinder 74 is arranged on the inner side surface of the vertical bracket 70, and the vertical movable frame 71 is drivingly connected to the two groups of the vertical cylinders 74. A transverse cylinder 75 is arranged on the vertical movable frame 71, and the first material rotating manipulator 72 and the second material rotating manipulator 73 slideably cooperate with the vertical movable frame 71 through the transverse cylinder 75. The first rotating material manipulator 72 and the second rotating material manipulator 73 have the same structure, both of which include a sliding seat 700, a second rotating motor 701 fixedly arranged on the sliding seat 700, a rotating plate 702 drivingly connected to the second rotating motor 701, and auxiliary positioning components arranged at various corners of the rotating plate 702. The sliding seat 700 is straddled on the vertical movable frame 71 and is driven by the horizontal cylinder 75. The auxiliary positioning component includes a positioning cylinder 703, an articulated seat 704 and a swing arm 705. The articulated seat 704 is fixedly arranged on the outer surface of the rotating plate 702. The end of the swing arm 705 is drivingly connected to the positioning cylinder 703, the middle end is rotatably connected to the articulated seat 704, and the front end extends into the inner surface of the rotating plate 702. When the box needs to be adjusted to be placed vertically or flipped, the first rotating material manipulator 72 and the second rotating material manipulator 73 clamp the box and move upward under the drive of the vertical moving frame 71 to make enough space for flipping and allow the next box to continue to be transported on the auxiliary conveyor belt 3 to the next automatic stacking unit. During the clamping process, the positioning cylinder 703 drives the swing arm 705 to rotate and presses its front end toward the box for auxiliary clamping. At this time, the two groups of the second rotating motors 701 are driven simultaneously and in the same direction to drive the box to flip.

[0026] In the utility model, the horizontal rotation module 6 includes a guide roller assembly connected to the auxiliary conveyor belt 3, a lifting cylinder 60 arranged at the bottom of the guide roller assembly, a horizontal rotation motor 61 connected to the lifting cylinder 60, and a cross support frame 62 connected to the horizontal rotation motor 61. The guide roller assembly includes a first guide roller group 63 and a second guide roller group 64 symmetrically arranged. There is a gap between the first guide roller group 63 and the second guide roller group 64. The cross support frame 62 realizes reciprocating movement in the vertical direction through the gap under the drive of the lifting cylinder 60. When the box body that needs to be adjusted in the horizontal direction moves to the position of the guide roller assembly, the lifting cylinder 60 is started and drives the cross support frame 62 to lift upward until the box body is separated from the auxiliary conveyor belt 3. The horizontal rotation motor 61 is started and drives the box body to realize self-rotation in the horizontal direction. After adjusting to the required angle, the lifting cylinder 60 is reset, and the box body falls back into the auxiliary conveyor belt 3 and continues to be transported to the rear station.

[0027] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A box turning and conveying device for automatic palletizing equipment, comprising a box conveyor belt (1) and a box palletizing area arranged on one side of the box conveyor belt (1), characterized in that: The box stacking area comprises a box identification unit (2) arranged across the box conveyor belt (1), an auxiliary conveyor belt (3) arranged on one side of the box conveyor belt (1) corresponding to the box identification unit (2), and a plurality of automatic stacking units arranged along the auxiliary conveyor belt (3); the automatic stacking unit comprises a keel material transfer robot (4) arranged above the auxiliary conveyor belt (3), a plurality of stacking stations (5) symmetrically arranged on both sides of the auxiliary conveyor belt (3), a horizontal rotation module (6) and a vertical rotation module (7); the stacking station (5) is within the coverage range of the keel material transfer robot (4), and the horizontal rotation module (6) and the vertical rotation module (7) are arranged on the auxiliary conveyor belt (3).

2. According to claim 1, a box turning and conveying device for automatic palletizing equipment is characterized in that: The box identification unit (2) comprises an identification frame (20) arranged on the box conveyor belt (1), a pushing assembly and a stopping assembly arranged on the identification frame (20), and an identification camera (21); the pushing assembly comprises a pushing cylinder (22) fixedly arranged on the top of the identification frame (20) and a pushing block (23) drivingly connected to the pushing cylinder (22); the pushing block (23) can reciprocate in the extension direction of the auxiliary conveyor belt (3); the stopping assembly comprises a vertical cylinder (24) fixedly arranged on the discharge end of the identification frame (20) and a stopping plate (25) drivingly connected to the vertical cylinder (24); the identification camera (21) is coaxially arranged on the other side of the box conveyor belt (1) with the auxiliary conveyor belt (3) via a connecting bracket (26).

3. According to claim 1, a box turning and conveying device for automatic palletizing equipment is characterized in that: The keel material moving manipulator (4) comprises an X-axis material moving frame (40) symmetrically arranged on both side ends of the auxiliary conveyor belt (3), a Y-axis material moving frame (41) horizontally arranged between two groups of the X-axis material moving frames (40), and a Z-axis material moving frame (42) slidably matched with the Y-axis material moving frame (41), a material clamping manipulator (44) is connected to the bottom of the Z-axis material moving frame (42) via a rotating motor (43), and the Y-axis material moving frame (41) slidably matches with the two groups of the X-axis material moving frames (40).

4. The box turning and conveying device for automatic palletizing equipment according to claim 3 is characterized in that: The material clamping robot (44) comprises a connecting frame (440), a first cylinder (441) and a second cylinder (442) symmetrically fixedly arranged at the lower end of the connecting frame (440), and a first clamping plate (443) and a second clamping plate (444) respectively drivingly connected to the output ends of the first cylinder (441) and the second cylinder (442). The connecting frame (440) is drivingly connected to the rotating motor (43), and a plurality of pneumatic suction heads (445) are also arranged on the connecting frame (440) at the lower ends of the first cylinder (441) and the second cylinder (442).

5. The box turning and conveying device for automatic palletizing equipment according to claim 1 is characterized in that: The vertical rotation module (7) comprises vertical brackets (70) symmetrically arranged on both sides of the auxiliary conveyor belt (3), a vertical movable frame (71) connected between two groups of the vertical brackets (70), and a first material rotating manipulator (72) and a second material rotating manipulator (73) mirror-image-arranged on the vertical movable frame (71); a vertical cylinder (74) is arranged on the inner side surface of the vertical bracket (70); the vertical movable frame (71) is drivingly connected to the two groups of the vertical cylinders (74); a transverse cylinder (75) is arranged on the vertical movable frame (71); the first material rotating manipulator (72) and the second material rotating manipulator (73) are slidably matched with the vertical movable frame (71) via the transverse cylinder (75).

6. The box turning and conveying device for automatic palletizing equipment according to claim 5, characterized in that: The first material rotating manipulator (72) and the second material rotating manipulator (73) have the same structure, and both include a sliding seat (700), a second rotating motor (701) fixedly mounted on the sliding seat (700), a rotating plate (702) drivingly connected to the second rotating motor (701), and auxiliary positioning components arranged at various corners of the rotating plate (702). The sliding seat (700) is straddled on the vertical movable frame (71) and driven by the horizontal cylinder (75). The auxiliary positioning component includes a positioning cylinder (703), an articulated seat (704) and a swing arm (705). The articulated seat (704) is fixedly mounted on the outer surface of the rotating plate (702). The end of the swing arm (705) is drivingly connected to the positioning cylinder (703), the middle end is rotationally connected to the articulated seat (704), and the front end extends into the inner surface of the rotating plate (702).

7. The box turning and conveying device for automatic palletizing equipment according to claim 1 is characterized in that: The horizontal rotation module (6) comprises a guide roller assembly connected to the auxiliary conveyor belt (3), a lifting cylinder (60) arranged at the bottom of the guide roller assembly, a horizontal rotation motor (61) connected to the lifting cylinder (60), and a cross support frame (62) connected to the horizontal rotation motor (61). The guide roller assembly comprises a first guide roller group (63) and a second guide roller group (64) which are symmetrically arranged. A gap is left between the first guide roller group (63) and the second guide roller group (64). The cross support frame (62) realizes reciprocating movement in the vertical direction through the gap under the drive of the lifting cylinder (60).

8. The box turning and conveying device for automatic palletizing equipment according to claim 1 is characterized in that: An adjustment module (8) is arranged at the front end of the box identification unit (2), the horizontal rotation module (6) and the vertical rotation module (7), and the adjustment module (8) comprises a fixing plate (80) and an adjustment push plate (81) symmetrically arranged at a corresponding position of the box conveyor belt (1) or the auxiliary conveyor belt (3), and a push cylinder (82) is arranged on one side of the adjustment push plate (81), and the adjustment push plate (81) is drivingly connected to the push cylinder (82).

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