Spinning cake stacking machine

Abstract

The utility model relates to the field of stacking machines, and discloses a spinning cake stacking machine which comprises a main body frame, a carton conveying belt and a stacking mechanical arm, the carton conveying belt is used for conveying cartons, the stacking mechanical arm is used for grabbing spinning cakes, the carton conveying belt is rotationally connected with a carton shifting cover plate, and when the carton conveying belt conveys the cartons into the main body frame, the carton shifting cover plate is used for shifting the spinning cakes. According to the spinning cake stacker crane, the automatic boxing function of the spinning cakes is achieved through the cooperation of the carton conveying belt, the stacking mechanical arm and the carton shifting cover plate, the automatic boxing and stacking operation of the spinning cakes can be effectively executed, the automation degree is high, the automation degree is high, and the automation degree is high. The automatic operation efficiency of the spinning cake packaging production line is improved, and meanwhile the hardware input cost and the labor cost of an enterprise are effectively saved.

Description

Technical Field

[0001] This utility model relates to the field of palletizing machine technology, and more specifically, to a silk cake palletizing machine. Background Technology

[0002] A silk cake refers to a cake-shaped object formed by winding silk threads, with an overall cylindrical shape. The main function of a silk cake palletizing machine is to automatically pack silk cakes transported by the silk cake conveyor line into boxes and add upper and lower partitions to ensure the packaging quality of the silk cakes. Currently, the domestic chemical fiber production industry mostly uses manual packing or six-axis robotic arms for silk cake packing operations. The former is inefficient and affects the overall operating cycle of silk cake packaging; the latter requires expensive six-axis robotic arms and still needs to be equipped with matching clamps, increasing the company's equipment investment costs.

[0003] There is a need for a silk cake palletizing machine designed for the above-mentioned silk cake packing process, which can effectively perform automatic packing and palletizing of silk cakes, improve the automation efficiency of the silk cake packaging production line, and effectively save the enterprise's hardware investment costs and labor costs. Utility Model Content

[0004] To address at least one of the aforementioned problems, this utility model first provides a wire cake palletizing machine, comprising a main frame, a carton conveyor belt, and a palletizing robot. The carton conveyor belt is used to transport cartons, and the palletizing robot is used to grasp wire cakes. A carton cover plate is rotatably connected to the carton conveyor belt. When the carton conveyor belt transports a carton into the main frame, the carton cover plate rotates to open the top cover of the carton, and the palletizing robot grasps the wire cake and loads it into the carton.

[0005] Optionally, the carton conveyor belt is provided with a first connecting rod, a second connecting rod, and a first cylinder. The carton cover plate is installed on the side wall of the first connecting rod. The two ends of the second connecting rod are rotatably connected to the first connecting rod and the first cylinder, respectively. The first cylinder drives one end of the second connecting rod to move up and down, and the other end of the second connecting rod drives the first connecting rod to rotate back and forth, so that the carton cover plate rotates and opens the top cover of the carton.

[0006] Optionally, a traveling trolley is connected to the palletizing robot arm, and the traveling trolley is movably connected to the main frame to drive the palletizing robot arm to move.

[0007] Optionally, the traveling trolley is provided with a traveling frame, the traveling frame is provided with traveling rollers and a traveling reduction motor, the traveling reduction motor is connected to a synchronous pulley, the main frame is provided with a synchronous belt that is connected to the synchronous pulley, the traveling frame is equipped with an anti-collision mechanism, and the main frame is provided with limit blocks. The anti-collision mechanism and the limit blocks cooperate to limit the movement position of the traveling trolley.

[0008] Optionally, the walking frame is connected to a lifting robot and a lifting reduction motor. The lifting reduction motor is connected to a flat pulley, and a flat belt is driven onto the flat pulley. The palletizing robot includes a wire-grabbing robot for gripping wire cakes. The end of the flat belt is connected to the wire-grabbing robot. The wire-grabbing robot is connected to a first lifting frame. The lifting reduction motor drives the first lifting frame to move up and down. An anti-collision mechanism is installed on the first lifting frame to limit the descent position of the lifting robot.

[0009] Optionally, the wire-grabbing robot arm is connected to a wire-grabbing robot arm mounting frame, a first gripper, a second gripper, and a third gripper. The wire-grabbing robot arm mounting frame and the second gripper are fixedly connected. The wire-grabbing robot arm mounting frame is equipped with a plurality of first linear guide rails extending along the Y-axis. The first gripper and the third gripper are both slidably connected to the first linear guide rails along the Y-axis direction.

[0010] Optionally, the wire-grabbing manipulator mounting frame is equipped with several second linear guides extending along the X-axis, and the wire-grabbing manipulator is provided with a gripper moving frame, which is slidably connected to the second linear guides along the X-axis direction; the wire-grabbing manipulator is provided with a fourth gripper, a fifth gripper, and a sixth gripper, which are all movably connected to the gripper moving frame along the Y-axis direction.

[0011] Optionally, the first gripper includes an interconnected pneumatic gripper mounting bracket and a pneumatic gripper, the pneumatic gripper including circumferentially evenly distributed teeth, the teeth being radially extended and retracted by a cylinder.

[0012] Optionally, the system also includes a partition warehouse for storing partitions, and the palletizing robot includes a vertically moving partition suction robot for picking up partitions and loading them into cartons.

[0013] Optionally, the suction cup robot includes a second lifting frame. A suction cup, a vacuum generator, and a vertically movable partition separation plate are installed below the second lifting frame. The suction cup is connected to the vacuum generator. When the vacuum generator blows air, the suction cup can pick up the partition. When the vacuum generator stops blowing air, the suction cup stops picking up the partition, and the partition separation plate moves downward and presses the partition, so that the partition and the suction cup are separated.

[0014] Compared with existing technologies, the paper cake palletizing machine of this utility model realizes the automatic paper cake packing function through the cooperation of carton conveyor belt, palletizing robot and box cover plate. It can effectively perform automatic paper cake packing and palletizing operations, improve the automation efficiency of paper cake packaging production line, and effectively save enterprises' hardware investment costs and labor costs. Attached Figure Description

[0015] Figure 1 This is a front view of the silk cake palletizing machine according to an embodiment of the present utility model;

[0016] Figure 2 This is a structural diagram of the main frame of an embodiment of the present utility model;

[0017] Figure 3 This is a structural diagram of the carton conveyor belt according to an embodiment of the present utility model;

[0018] Figure 4 This is a structural diagram of a partition warehouse according to an embodiment of the present utility model;

[0019] Figure 5 This is a structural diagram of the palletizing robot according to an embodiment of the present utility model;

[0020] Figure 6 The structure of the wire-grabbing robot according to an embodiment of this utility model Figure 1 ;

[0021] Figure 7 The structure of the wire-grabbing robot according to an embodiment of this utility model Figure 2 .

[0022] Explanation of reference numerals in the attached figures:

[0023] 1. Main frame; 11. Frame body; 12. Synchronous belt; 13. Limit stop; 14. First pneumatic control assembly; 15. First cable chain;

[0024] 2. Carton conveyor belt; 21. Bottom frame; 22. Upper frame; 23. Cylinder hinge seat; 24. First cylinder; 25. First connecting rod; 251. Second connecting rod; 26. Carton cover plate; 27. Carton conveyor line; 28. First proximity switch; 29. ​​Second pneumatic control assembly;

[0025] 3. Partitioned warehouse; 31. Base; 32. Protective plate; 33. Guide rod;

[0026] 4. Palletizing robot; 41. Traveling trolley; 411. Traveling frame; 412. Traveling rollers; 413. Traveling geared motor; 414. Anti-collision mechanism; 415. Guide wheel; 416. Second proximity switch; 417. First limit switch; 418. Synchronous belt pulley; 419. Synchronous belt pulley;

[0027] 42. Lifting robot arm; 421. First lifting frame; 422. Second cable chain; 423. Lifting geared motor; 424. Flat pulley; 425. Flat belt; 426. Third proximity switch; 427. First guide roller;

[0028] 43. Suction-operated manipulator for partitions; 430. Third cable chain; 431. Second lifting frame; 432. Second cylinder; 433. Suction cup; 434. Second guide roller; 435. Vacuum generator; 436. Third cylinder; 437. Partition separator; 438. Photoelectric sensor; 439. Third pneumatic control assembly;

[0029] 44. Wire-gripping robot; 440. Gripper moving frame; 441. Wire-gripping robot mounting frame; 442. Fourth cylinder; 443. Fourth proximity switch; 444. Fifth cylinder; 445. First linear guide; 446. Fourth cable chain; 447. Second linear guide; 448. Fourth pneumatic control assembly; 449. Fifth cable chain;

[0030] 45. First gripper; 451. Pneumatic gripper mounting bracket; 452. Grip teeth; 453. Pneumatic gripper; 454. Fifth proximity switch; 46. Second gripper; 47. Third gripper; 48. Fourth gripper; 49. Fifth gripper; 50. Sixth gripper. Detailed Implementation

[0031] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0032] The accompanying drawings of the embodiments of this utility model provide a coordinate system XYZ, where the positive direction of the X-axis represents the left and the negative direction of the X-axis represents the right, the positive direction of the Y-axis represents the front and the negative direction of the Y-axis represents the back, the positive direction of the Z-axis represents the top and the negative direction of the Z-axis represents the bottom.

[0033] This utility model embodiment provides a silk cake palletizing machine, combined with Figure 1-7 As shown, the system includes a main frame 1, a carton conveyor belt 2, and a palletizing robot 4. The carton conveyor belt 2 is used to transport cartons, and the palletizing robot 4 is used to pick up shredded cakes. A carton cover plate 26 is rotatably connected to the carton conveyor belt 2. When the carton conveyor belt 2 transports the carton into the main frame 1, the carton cover plate 26 rotates to open the top cover of the carton, and the palletizing robot 4 picks up the shredded cakes and puts them into the carton.

[0034] Optionally, the carton conveyor belt 2 is provided with a first connecting rod 25, a second connecting rod 251, and a first cylinder 24. The carton cover plate 26 is installed on the side wall of the first connecting rod 25. The two ends of the second connecting rod 251 are rotatably connected to the first connecting rod 25 and the first cylinder 24, respectively. The first cylinder 24 drives one end of the second connecting rod 251 to move up and down, and the other end of the second connecting rod 251 drives the first connecting rod 25 to rotate back and forth, so that the carton cover plate 26 rotates to open the top cover of the carton.

[0035] Optionally, a traveling trolley 41 is connected to the palletizing robot 4, and the traveling trolley 41 is movably connected to the main frame 1 to drive the palletizing robot 4 to move.

[0036] Optionally, the traveling trolley 41 is provided with a traveling frame 411, the traveling frame 411 is provided with traveling rollers 412 and a traveling reduction motor 413, the traveling reduction motor 413 is connected to the synchronous belt 12 pulley, the main frame 1 is provided with a synchronous belt 12 that is connected to the synchronous belt 12 pulley, the traveling frame 411 is equipped with an anti-collision mechanism 414, and the main frame 1 is provided with a limit stop 13. The anti-collision mechanism 414 and the limit stop 13 cooperate to limit the movement position of the traveling trolley 41.

[0037] Optionally, the walking frame 411 is connected to a lifting robot 42 and a lifting reduction motor 423. The lifting reduction motor 423 is connected to a flat pulley 424, and a flat belt 425 is driven to the flat pulley 424. The palletizing robot 4 includes a wire-grabbing robot 44 for gripping wire cakes. The end of the flat belt 425 is connected to the wire-grabbing robot 44. The wire-grabbing robot 44 is connected to a first lifting frame 421. The lifting reduction motor 423 drives the first lifting frame 421 to move up and down. An anti-collision mechanism 414 is installed on the first lifting frame 421. The anti-collision mechanism 414 is used to limit the descent position of the lifting robot 42.

[0038] Optionally, the wire-grabbing robot 44 is connected to a wire-grabbing robot mounting frame 441, a first gripper 45, a second gripper 46, and a third gripper 47. The wire-grabbing robot mounting frame 441 and the second gripper 46 are fixedly connected. The wire-grabbing robot mounting frame 441 is equipped with a plurality of first linear guide rails 445 extending along the Y-axis. The first gripper 45 and the third gripper 47 are both slidably connected to the first linear guide rails along the Y-axis direction.

[0039] Optionally, the wire-grabbing manipulator mounting frame 441 is equipped with a plurality of second linear guide rails 447 extending along the X-axis, and the wire-grabbing manipulator 44 is provided with a gripper moving frame 440, which is slidably connected to the second linear guide rails 447 along the X-axis direction; the wire-grabbing manipulator 44 is provided with a fourth gripper 48, a fifth gripper 49, and a sixth gripper 50, which are all movably connected to the gripper moving frame 440 along the Y-axis direction.

[0040] Optionally, the first gripper 45 includes an interconnected pneumatic gripper mounting bracket 451 and a pneumatic gripper 453. The pneumatic gripper 453 includes circumferentially evenly distributed claw teeth 452, which are radially extended and retracted by a cylinder.

[0041] Optionally, it also includes a partition warehouse 3 for storing partitions, and the palletizing robot 4 includes a vertically moving partition suction robot 43 for picking up partitions and loading them into cartons.

[0042] Optionally, the suction cup manipulator 43 includes a second lifting frame 431. A suction cup 433, a vacuum generator 435, and a vertically movable partition separation plate 437 are installed below the second lifting frame 431. The suction cup 433 and the vacuum generator 435 are connected. When the vacuum generator 435 blows air, the suction cup 433 can pick up the partition. When the vacuum generator 435 stops blowing air, the suction cup 433 stops picking up the partition, and the partition separation plate 437 moves downward and presses the partition, so that the partition and the suction cup 433 are separated.

[0043] Compared with the existing technology, the silk cake palletizing machine of this utility model realizes the automatic boxing function of silk cake through the cooperation of carton conveyor belt 2, palletizing robot 4 and box cover plate 26. It can effectively perform automatic boxing and palletizing of silk cake, improve the automation efficiency of silk cake packaging production line, and effectively save the enterprise's hardware investment cost and labor cost.

[0044] Silk cake palletizer Figure 1 As shown, its main structure includes: main frame 1, carton conveyor belt 2, partition warehouse 3, and palletizing robot 4.

[0045] Main framework 1 as Figure 2 As shown, the main components include: frame body 11, timing belt 12, limit stop 13, first pneumatic control assembly 14, first drag chain 15.

[0046] Cardboard box conveyor belt 2 Figure 3 As shown, the main components include: bottom frame 21, upper frame 22, cylinder hinge seat 23, first cylinder 24, first connecting rod 25, second connecting rod 251, carton cover plate 2, carton conveyor line 27, first proximity switch 28, and second pneumatic control assembly 29.

[0047] Palletizing robot 4 Figure 5 As shown, the main components include: a traveling trolley 41, a lifting robot 42, a suction partition robot 43, and a wire-grabbing robot 44.

[0048] The main components of the traveling trolley 41 include: a traveling frame 411, traveling rollers 412, a traveling geared motor 413, an anti-collision mechanism 414, a guide wheel 415, a second proximity switch 416, a first limit switch 417, a synchronous belt pulley 418, and a synchronous belt pulley 419.

[0049] The lifting manipulator 42 mainly consists of: a first lifting frame 421, a second drag chain 422, a lifting reduction motor 423, a flat pulley 424, a flat belt 425, a third proximity switch 426, a first guide roller 427, and an anti-collision mechanism 414.

[0050] The main components of the suction plate manipulator 43 include: a second lifting frame 431, a second cylinder 432, a suction cup 433, a second guide roller 434, a vacuum generator 435, a third cylinder 436, a plate separation plate 437, a photoelectric sensor 438, a third pneumatic control component 439, a third drag chain 430, and an anti-collision mechanism 414.

[0051] 44-inch wire-grabbing robotic arm Figure 6 and Figure 7 As shown, the main components include: wire-grabbing manipulator mounting frame 441, fourth cylinder 442, fourth proximity switch 443, fifth cylinder 444, first linear guide rail 445, fourth cable chain 446, second linear guide rail 447, fourth pneumatic control assembly 448, fifth cable chain 449, gripper moving frame 440, first gripper 45, second gripper 46, third gripper 47, fourth gripper 48, fifth gripper 49, and sixth gripper 50.

[0052] The first gripper 45 to the sixth gripper 50, each gripper group includes three sets of pneumatic gripper mounting brackets 451, gripper teeth 452, pneumatic gripper 453, and a fifth proximity switch 454.

[0053] The main frame 1 is the main structure of the wire cake palletizer. The carton conveyor belt 2 and the partition warehouse 3 are located below the main frame 1. The main function of the carton conveyor belt 2 is to transport the carton to the designated area of ​​the wire cake palletizer. The partition warehouse 3 is a partition temporary storage device. The palletizing robot 4 can move back and forth in a straight line on the main frame 1. The internal partition suction robot 43 and wire grabbing robot 44 can be raised and lowered to perform partition suction and placement actions and wire cake grabbing and placement actions.

[0054] The frame 11 is the main load-bearing structure of the wire cake palletizer, and its upper surface serves as the walking surface for the palletizing robot 4. The first pneumatic control component 14 is the air source processing device for the entire wire cake palletizer, providing air supply for each pneumatic component of the palletizing robot 4. The two ends of the first drag chain 15 are fixed to the frame 11 and the walking frame 411, respectively, and the cables of the palletizing robot 4 are installed inside. One end of the first drag chain 15 can move horizontally with the traveling trolley 41, providing protection for the cables of the palletizing robot 4.

[0055] The upper frame 22 is mounted above the bottom frame 21, and the cylinder hinge seat 23 is mounted on the upper frame 22. The tail of the first cylinder 24 is connected to the cylinder hinge seat 23, and the front end of the first cylinder 24 is connected to the first connecting rod 25. The dial cover plate 2 is mounted on the first connecting rod 25. Two sets of first proximity switches 28 are installed near the front end of each first cylinder 24 to detect whether the extension and retraction of the first cylinder 24 has reached the set position.

[0056] The carton conveyor line 27 is installed below the upper frame 22, and its main function is to transport cartons. The second pneumatic control assembly 29 is installed on the upper frame 22, and its main function is to control the extension and retraction of the first cylinder 24.

[0057] The guard plate 32 and guide rod 33 are mounted on the base 31. Their main function is to fix the position of the internally stored partitions and ensure that the palletizing robot 4 picks up the partitions accurately.

[0058] The traveling trolley 41 provides power for the horizontal movement of the palletizing robot 4. Traveling rollers 412 are mounted on the traveling frame 411. A geared motor mounting plate is provided on the traveling frame 411 to fix the traveling geared motor 413. A synchronous pulley 419 is mounted on the output shaft of the traveling geared motor 413, and the synchronous pulley 419 meshes with the synchronous belt 12 mounted on the main frame 1. An anti-collision mechanism 414 is installed on the traveling frame 411, and the anti-collision mechanism 414 and the limit stop 13 simultaneously serve as hard limit devices for the horizontal movement of the traveling trolley 41. Guide wheels 415 are installed on the traveling frame 411 to guide the horizontal movement of the traveling trolley 41. Two sets of second proximity switches 416 and one set of first limit switches 417 are installed on each of the front and rear sides of the traveling frame 411, whose main function is to trigger the traveling trolley 41 to decelerate and stop.

[0059] The lifting robot 42 is mounted on the traveling frame 411. The traveling frame 411 has a geared motor mounting plate for fixing the lifting geared motor 423. A flat pulley 424 is mounted on the output shaft of the lifting geared motor 423, and a flat belt 425 is wound around the flat pulley 424. The end of the flat belt 425 is connected to the wire-grabbing robot 44. The first lifting frame 421 is connected to the wire-grabbing robot mounting frame 441. On the traveling frame 411, around the first lifting frame 421, a set of first guide rollers 427 are installed at both the top and bottom to guide the vertical movement of the first lifting frame 421 and the wire-grabbing robot 44. Third proximity switches 426 are installed at both ends of the flat belt 425. If the connection between the flat belt 425 and the wire-grabbing robot 44 becomes loose, the third proximity switches 426 are triggered, and the control system displays a corresponding warning message. The second drag chain 422 is fixed at both ends to the walking frame 411 and the wire-grabbing robot mounting frame 441, respectively. The cable of the lifting robot 42 is installed inside. One end of the second drag chain 422 can move up and down with the first lifting frame 421 to provide protection for the cable of the lifting robot 42.

[0060] Two sets of anti-collision mechanisms 414 are installed on the first lifting frame 421 as hard limit devices for the descent of the lifting robot arm 42.

[0061] The wire-grabbing manipulator 44 is fixedly connected to the lower part of the first lifting frame 421 and is driven by the lifting reduction motor 423 to move up and down with the first lifting frame 421. The main structure of the wire-grabbing manipulator 44 is the wire-grabbing manipulator mounting frame 441, which is fixedly connected to the second gripper 46. Four sets of first linear guide rails 445 are mounted on the wire-grabbing manipulator mounting frame 441. The sliders of every two sets of first linear guide rails 445 are respectively connected to the first gripper 45 and the third gripper 47, allowing the first gripper 45 and the third gripper 47 to move along... Figure 6 The linear motion in the Y direction is provided for guidance. Two sets of fifth cylinders 444 are mounted on the wire-grabbing manipulator mounting frame 441. The piston rods of the fifth cylinders 444 are connected to the first gripper 45 and the third gripper 47, respectively. The fifth cylinders 444 extend and retract, pushing the first gripper 45 and the third gripper 47 along... Figure 6 It moves in a straight line in the Y direction as shown.

[0062] Two sets of second linear guides 447 are mounted on the wire-grabbing manipulator mounting frame 441. The sliders of the second linear guides 447 are connected to the gripper moving frame 440, allowing the gripper moving frame 440 to move along... Figure 6 The X-direction is shown as a guide for linear motion. A fourth cylinder 442 is mounted on the wire-grabbing manipulator mounting bracket 441. The piston rod of the fourth cylinder 442 is connected to the gripper moving frame 440. The fourth cylinder 442 extends and retracts, pushing the gripper moving frame 440 along... Figure 6 It moves in a straight line in the X direction as shown.

[0063] The gripper moving frame 440 is fixedly connected to the fifth gripper 49. Four sets of first linear guide rails 445 are installed on the gripper moving frame 440. The sliders of every two sets of first linear guide rails 445 are respectively connected to the fourth gripper 48 and the sixth gripper 50, allowing the fourth gripper 48 and the sixth gripper 50 to move along... Figure 6 The linear motion in the Y direction is provided for guidance. Two sets of fifth cylinders 444 are mounted on the gripper moving frame 440. The piston rods of the fifth cylinders 444 are connected to the fourth gripper 48 and the sixth gripper 50, respectively. The fifth cylinders 444 extend and retract, pushing the fourth gripper 48 and the sixth gripper 50 along... Figure 6 It moves in a straight line in the Y direction as shown.

[0064] The first gripper 45 to the sixth gripper 50 have a main structure of a pneumatic gripper mounting frame 451. Pneumatic grippers 453 are mounted on the mounting frame 451. Each set of pneumatic grippers 453 includes three sets of cylinders equidistantly distributed around the circumference. Each set of cylinders has teeth 452 mounted on it. The cylinders drive the teeth 452 to extend and retract radially along the gripper 453. A fifth proximity switch 454 is mounted on each set of pneumatic gripper mounting frames 451, serving as a detection device for the teeth 452 extending into position as the gripper 453 extends.

[0065] Two sets of fourth drag chains 446 are installed on the wire-gripping robot mounting frame 441 near the first gripper 45 and the third gripper 47. The other ends of the two sets of fourth drag chains 446 are respectively connected to the pneumatic gripper mounting frames 451 inside the first gripper 45 and the third gripper 47. The air pipes and cables of the first gripper 45 and the third gripper 47 are respectively installed on the two sets of drag chains 446, and one end follows the first gripper 45 and the third gripper 47 along... Figure 6 The device moves in a straight line in the Y direction as shown, providing protection for the air pipes and cables of the first gripper 45 and the third gripper 47.

[0066] The fourth pneumatic control component 448 is installed on the wire-grabbing robot mounting frame 441. Its main function is to control the pneumatic movements of each cylinder and gripper inside the wire-grabbing robot 44.

[0067] A fifth cable chain 449 is mounted on the wire-grabbing robot mounting frame 441. The other end of the fifth cable chain 449 is connected to the gripper moving frame 440 and moves along the gripper moving frame 440. Figure 6 The fifth drag chain 449 moves in a straight line in the X direction. The air pipes and cables of the fourth gripper 48, the fifth gripper 49, and the sixth gripper 50 are installed inside the fifth drag chain 449, which provides protection for the air pipes and cables of the three sets of grippers.

[0068] Two sets of fourth drag chains 446 are installed on the gripper moving frame 440 near the fourth gripper 48 and the sixth gripper 50. The other ends of the two sets of fourth drag chains 446 are respectively connected to the pneumatic gripper mounting brackets 451 inside the fourth gripper 48 and the sixth gripper 50. The air pipes and cables of the fourth gripper 48 and the sixth gripper 50 are respectively installed on the two sets of drag chains, and one end follows the fourth gripper 48 and the sixth gripper 50. Figure 6 The device moves in a straight line in the Y direction as shown, providing protection for the air pipes and cables of the fourth gripper 48 and the sixth gripper 50.

[0069] The main structure of the suction-grip manipulator 43 is a second lifting frame 431, which is connected to the end of the piston rod of a second cylinder 432. The second cylinder 432 is mounted on a traveling frame 411. A set of second guide rollers 434 are installed on the traveling frame 411, around the second lifting frame 431, at both the top and bottom, to guide the vertical movement of the second lifting frame 431. Two cable chains 430 are fixed at both ends to the traveling frame 411 and the second lifting frame 431, respectively, and move up and down with the second lifting frame 431, providing protection for the cables of the suction-grip manipulator 43.

[0070] Two sets of anti-collision mechanisms 414 are installed on the second lifting frame 431 as hard limit devices for the descent of the suction plate robot arm 43.

[0071] A suction cup 433 and a vacuum generator 435 are installed below the second lifting frame 431. A third pneumatic control component 439 is installed on the side of the second lifting frame 431. The third pneumatic control component 439 is connected to the vacuum generator 435, and the vacuum generator 435 is connected to the suction cup 433. The third pneumatic control component 439 controls the extension and retraction of the piston rod of the second cylinder 432 to drive the overall rise and fall of the suction plate manipulator 43. The third pneumatic control component 439 controls the vacuum generator 435 to blow air and stop blowing air, so that the suction cup 433 can pick up the partition or stop picking up the partition.

[0072] A third cylinder 436 is installed at the lower center of the second lifting frame 431. A partition separation plate 437 is installed at the end of the piston rod of the third cylinder 436. When the suction cup 433 stops picking up the partition, the third cylinder 436 extends to drive the partition separation plate 437 to press down the partition, effectively disengaging the partition from the suction cup 433. A photoelectric sensor 438 is installed near the third cylinder 436 at the lower part of the second lifting frame 431 to detect whether a partition is being picked up below the partition suction robot 43.

[0073] The working principle is as follows:

[0074] After receiving the palletizing instruction from the upper system, the carton conveyor 27 transports the carton to the upper frame 22. The carton conveyor 27 stops operating, the first cylinder 24 extends, pushes the first connecting rod 25 to rotate, and the carton cover plate 2 opens the top cover of the carton to ensure that the partition and the silk cake can be smoothly loaded into the carton.

[0075] After the carton is delivered to the position and the top plate is opened, the walking reduction motor 413 drives the synchronous pulley 419 to rotate, driving the palletizing robot 4 to move on the main frame 1. The walking roller 412 moves on the upper surface of the frame 11, and the guide wheel 415 provides guidance for the walking trolley 41 to move.

[0076] When the suction robot 43, along with the trolley 41, moves directly above the partition warehouse 3, the second cylinder 432 extends to drive the second lifting frame 431 to descend. The suction cup 433 contacts the partition, and the third pneumatic control component 439 controls the vacuum generator 435 to blow air. A negative pressure area is formed in the contact cavity between the suction cup 433 and the partition, and the partition is lifted upward by the suction cup 433. At this time, the photoelectric sensor 438 detects that the partition is in place and feeds back to the control system. The second cylinder 432 retracts and drives the second lifting frame 431 to rise.

[0077] After the suction partition robot 43 picks up the partition and rises, it returns to the top of the carton conveyor belt 2 with the traveling trolley 41. The second cylinder 432 pushes out to drive the second lifting frame 431 to descend. The suction partition robot 43, together with the partition, descends to the bottom of the carton. The third pneumatic control component 439 controls the vacuum generator 435 to stop blowing air, and the negative pressure between the suction cup 433 and the partition is eliminated. The third cylinder 436 pushes out, and the partition separation plate 437 separates the partition from the suction cup 433. The partition falls to the bottom of the carton.

[0078] After the bottom partition of the carton is placed, the travel reduction motor 413 drives the traveling trolley 41, and the wire-grabbing robot 44 moves with the traveling trolley 41 to the top of the wire cake tray transported from the wire cake conveyor line. The lifting reduction motor 423 drives the flat pulley 424 to rotate, and the flat belt 425 wound on the flat pulley 424 drives the first lifting frame 421 and the wire-grabbing robot 44 to descend simultaneously. At this time, the pneumatic grippers of the six grippers on the wire-grabbing robot 44 are all in a retracted state. After the 451 claw teeth on the wire-grabbing robot 44 enter the inner diameter of the wire cake paper tube, the 452 pneumatic grippers in the six grippers extend radially, and the three sets of 451 claw teeth on each gripper grab the wire cake. The lifting reduction motor 423 drives the first lifting frame 421 and the wire-grabbing robot 44 to rise to the set height.

[0079] After the wire-grabbing robot 44 finishes grabbing the wire cake and rises to the set height, the walking reduction motor 413 drives the walking trolley 41. The wire-grabbing robot 44 moves with the walking trolley 41 to the top of the carton conveyor belt 2. The lifting reduction motor 423 drives the first lifting frame 421 and the wire-grabbing robot 44 to descend into the carton. The 452 pneumatic grippers in the six grippers retract radially and place the six wire cakes on the bottom partition inside the carton.

[0080] After the wire-grabbing robot 44 completes the wire cake placement action, the lifting reduction motor 423 drives the first lifting frame 421 and the wire-grabbing robot 44 to rise to the set height. The walking reduction motor 413 drives the walking trolley 41 to move. The partition suction robot 43 moves with the walking trolley 41 to directly above the partition warehouse 3. The second cylinder 432 extends to drive the second lifting frame 431 to descend. The suction cup 433 picks up the partition. The second cylinder 432 retracts to drive the second lifting frame 431 to rise.

[0081] After the suction partition robot 43 picks up the partition and rises, it returns to the top of the carton conveyor belt 2 with the traveling trolley 41. The second cylinder 432 pushes out to drive the second lifting frame 431 to descend. The suction partition robot 43, together with the partition, descends to the top of the carton. The third pneumatic control component 439 controls the vacuum generator 435 to stop blowing air, and the negative pressure between the suction cup 433 and the partition is eliminated. The third cylinder 436 pushes out, and the partition separation plate 437 separates the partition from the suction cup 433. The partition is then lowered to the top of the six silk cakes inside the carton, completing the upper partition placement action.

[0082] Of the six grippers on the wire-grabbing robotic arm 44, the second gripper 46 is fixed in position, while the first gripper 45 and the third gripper 47 can be extended and retracted by two sets of fifth cylinders 444 to adjust their relationship with the second gripper 46. Figure 6 The center distance in the Y direction is shown. The three sets of grippers, the fourth gripper 48, the fifth gripper 49, and the sixth gripper 50, can be extended and retracted by the fourth cylinder 442, and their relationship with the second gripper 46 is as follows. Figure 6 The center distance in the X direction shown is such that the fourth gripper 48 and the sixth gripper 50 can be adjusted by the extension and retraction of the fifth cylinder 444, respectively, relative to the fifth gripper 49. Figure 6 The center distance in the Y direction is shown. That is, the six grippers on the wire-grabbing robot 44 can be adjusted to different center distances in the X and Y directions to adapt to the stacking of wire cakes of different specifications.

[0083] After the suction partition robot 43 completes the action of placing the partition above the silk cake, the carton conveyor line 27 resumes operation, transporting the carton with the partition and silk cake stacked to the next process. At the same time, the silk cake palletizer repeats the next silk cake palletizing task.

[0084] Similarly, the components included in the "components," "mechanisms," and "devices" of this disclosure can also be flexibly combined. They can be modularly produced according to actual needs and assembled as an independent module; or they can be assembled separately to form a module in this device. The division of the above-mentioned components in this disclosure is only one embodiment for ease of reading and is not intended to limit the scope of protection of this disclosure. Any technical solution that includes the above-mentioned components and has the same function should be understood as an equivalent technical solution of this disclosure.

[0085] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0086] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0087] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0088] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0089] It should be noted that when a component is referred to as "fixed to," "set on," "fixed to," or "mounted on" another component, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected to another component," it can be directly connected to the other component or there may be an intervening component. Furthermore, when a component is considered to be "fixedly connected" to another component, the connection can be detachable or non-detachable, such as through socketing, snap-fitting, integral molding, welding, etc., which are achievable in conventional technologies and will not be elaborated upon here.

[0090] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] The above embodiments are merely illustrative of several implementation methods of this disclosure, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept of this disclosure, and these modifications and improvements all fall within the protection scope of this disclosure.

Claims

1. A wire cake palletizing machine, characterized in that, The system includes a main frame (1), a carton conveyor belt (2), and a palletizing robot (4). The carton conveyor belt (2) is used to transport cartons, and the palletizing robot (4) is used to grab shredded cakes. A carton cover plate (26) is rotatably connected to the carton conveyor belt (2). When the carton conveyor belt (2) transports the carton into the main frame (1), the carton cover plate (26) rotates to open the top cover of the carton, and the palletizing robot (4) grabs the shredded cakes and puts them into the carton.

2. The wire cake palletizing machine according to claim 1, characterized in that, The carton conveyor belt (2) is provided with a first connecting rod (25), a second connecting rod (251), and a first cylinder (24). The carton cover plate (26) is installed on the side wall of the first connecting rod (25). The two ends of the second connecting rod (251) are rotatably connected to the first connecting rod (25) and the first cylinder (24) respectively. The first cylinder (24) drives one end of the second connecting rod (251) to move up and down, and the other end of the second connecting rod (251) drives the first connecting rod (25) to rotate back and forth, so that the carton cover plate (26) rotates and opens the top cover of the carton.

3. The wire cake palletizing machine according to claim 1, characterized in that, The palletizing robot (4) is connected to a traveling trolley (41), which is movably connected to the main frame (1) to drive the palletizing robot (4) to move.

4. The silk cake palletizing machine according to claim 3, characterized in that, The traveling trolley (41) is provided with a traveling frame (411), the traveling frame (411) is provided with traveling rollers (412) and a traveling speed reduction motor (413), the traveling speed reduction motor (413) is connected to a synchronous belt (12) pulley, the main frame (1) is provided with a synchronous belt (12) that is connected to the synchronous belt (12) pulley, the traveling frame (411) is provided with an anti-collision mechanism (414), the main frame (1) is provided with a limit stop (13), the anti-collision mechanism (414) and the limit stop (13) cooperate to limit the movement position of the traveling trolley (41).

5. The silk cake palletizing machine according to claim 4, characterized in that, The walking frame (411) is connected to a lifting robot (42) and a lifting reduction motor (423). The lifting reduction motor (423) is connected to a flat pulley (424). A flat belt (425) is connected to the flat pulley (424). The palletizing robot (4) includes a wire-grabbing robot (44) for grabbing wire cakes. The end of the flat belt (425) is connected to the wire-grabbing robot (44). The wire-grabbing robot (44) is connected to a first lifting frame (421). The lifting reduction motor (423) drives the first lifting frame (421) to move up and down. An anti-collision mechanism (414) is installed on the first lifting frame (421). The anti-collision mechanism (414) is used to limit the descent position of the lifting robot (42).

6. The silk cake palletizing machine according to claim 5, characterized in that, The wire-grabbing manipulator (44) is connected to a wire-grabbing manipulator mounting frame (441), a first gripper (45), a second gripper (46), and a third gripper (47). The wire-grabbing manipulator mounting frame (441) and the second gripper (46) are fixedly connected. The wire-grabbing manipulator mounting frame (441) is equipped with several first linear guides (445) extending along the Y-axis. The first gripper (45) and the third gripper (47) are slidably connected to the first linear guides along the Y-axis.

7. The silk cake palletizing machine according to claim 6, characterized in that, The wire-grabbing manipulator mounting frame (441) is equipped with several second linear guide rails (447) extending along the X-axis. The wire-grabbing manipulator (44) is provided with a gripper moving frame (440), which is slidably connected to the second linear guide rails (447) along the X-axis. The wire-grabbing manipulator (44) is provided with a fourth gripper (48), a fifth gripper (49), and a sixth gripper (50), which are all movably connected to the gripper moving frame (440) along the Y-axis.

8. The silk cake palletizing machine according to claim 6, characterized in that, The first gripper (45) includes an interconnected pneumatic gripper mounting bracket (451) and a pneumatic gripper (453). The pneumatic gripper (453) includes circumferentially evenly distributed claw teeth (452), which are radially extended and retracted by a cylinder.

9. The silk cake palletizing machine according to any one of claims 1-8, characterized in that, It also includes a partition warehouse (3) for storing partitions, and the palletizing robot (4) includes a vertically moving partition suction robot (43) for picking up partitions and loading them into cartons.

10. The silk cake palletizing machine according to claim 9, characterized in that, The suction cup manipulator (43) includes a second lifting frame (431). A suction cup (433), a vacuum generator (435), and a vertically movable partition separation plate (437) are installed below the second lifting frame (431). The suction cup (433) and the vacuum generator (435) are connected. When the vacuum generator (435) blows air, the suction cup (433) can pick up the partition. When the vacuum generator (435) stops blowing air, the suction cup (433) stops picking up the partition, and the partition separation plate (437) moves downward and presses the partition, so that the partition and the suction cup (433) are separated.

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