Automatic boxing and stacking mechanism

Abstract

The utility model provides an automatic boxing and stacking mechanism which enables products to be quickly transferred to a stacking station to be stacked after the products are full of packaging boxes, enables operation efficiency to be high, and reduces equipment cost due to the fact that multi-axis mechanical arms for transferring the products and transferring the packaging boxes are the same multi-axis mechanical arms. The station enclosure frame is enclosed to form two groups of stations, the front ends of the two stations are open and are used for feeding, one of the two groups of stations is an empty packaging box feeding station, and the other group of stations is a packaging box stacking station; and the multi-axis mechanical arm assembly comprises a multi-axis mechanical arm and a clamping jaw containing rack, a product clamping jaw and a packaging box transferring clamping jaw are arranged on the clamping jaw containing rack, the multi-axis mechanical arm comprises an X-axis module, and the product clamping jaw and the packaging box transferring clamping jaw are rapidly switched at the output end of the tail end of the multi-axis mechanical arm.

Description

Technical Field

[0001] This utility model relates to the technical field of product packaging, specifically to an automatic packaging and palletizing mechanism. Background Technology

[0002] After assembly, the products need to be placed in packaging boxes, which are then stacked. These boxes are then transferred to the warehouse area using other transport equipment. Currently, both packing and palletizing are done at separate workstations, requiring different operators for each task. This process necessitates two separate transport mechanisms for both product loading and box palletizing, requiring two multi-axis robotic arms, which results in relatively high equipment costs. Furthermore, the existing packing and palletizing workstations are generally far apart, leading to low operational efficiency and impacting overall product transport efficiency. Utility Model Content

[0003] To address the aforementioned issues, this utility model provides an automatic boxing and palletizing mechanism that allows products to be quickly transferred to the palletizing station after the packaging box is full, resulting in high operational efficiency. Furthermore, the multi-axis robotic arms used for transferring products and packaging boxes are the same, reducing equipment costs.

[0004] An automatic boxing and palletizing mechanism, characterized in that it comprises:

[0005] The workstation enclosure forms two sets of workstations. The front of each workstation is open for material feeding. One set of workstations is for loading empty packaging boxes, and the other set of workstations is for stacking packaging boxes.

[0006] And a multi-axis robotic arm assembly, which includes a multi-axis robotic arm and a gripper placement platform. The gripper placement platform is equipped with product grippers and packaging box transfer grippers. The multi-axis robotic arm includes an X-axis module. The end output of the multi-axis robotic arm can quickly switch between product grippers and packaging box transfer grippers.

[0007] The rear end face of the workstation frame is fixed with an X-axis module of a multi-axis robot. When the end output of the multi-axis robot is loaded with a product gripper, the multi-axis robot moves to move the product to the empty product position of the packaging box at the empty packaging box loading station until the upper packaging box is full of products. Then, the end output of the multi-axis robot switches to a packaging box transfer gripper to transfer the packaging box full of products at the empty packaging box loading station to the packaging box stacking station on the side, where the packaging boxes are stacked.

[0008] Its further features are:

[0009] It also includes a transfer trolley, which includes a base, four corner wheels, and a forward-protruding handle drive mechanism. The bottom of the rear end of the base is also provided with an upper concave positioning groove, and the bottom of the bottom panel of the corresponding workstation is provided with a pneumatic locking mechanism. The pneumatic locking mechanism locks the upper concave positioning groove after the transfer trolley is fully pushed into the workstation.

[0010] The pneumatic locking mechanism includes a lower protrusion. The bottom of the lower protrusion is pivotally connected to a transmission rod via a lower protrusion connecting rod. One end of the transmission rod is located below the upper concave positioning groove of the transport trolley in position. A locking block is fixedly mounted on the upper part of one end of the transmission rod. The other end of the transmission rod is pivotally connected to the lower output end of the locking cylinder. When the lower output end of the locking cylinder moves downward, it drives the locking block to be embedded in the upper concave positioning groove at the corresponding position, thereby ensuring the reliable locking of the transport trolley.

[0011] The stack height of each workstation is the height of two sets of packaging boxes. On the upper surface of the two side frames of each workstation, there are pairs of stack height sensors. The number of stack height sensors is set according to the maximum number of stacked packaging boxes. Each stack height corresponds to a stack height sensor. The height area of ​​the side frame is simultaneously equipped with the first stack height sensor and the second stack height sensor, which enables precise control of the stack height of the packaging boxes in the two workstations.

[0012] Each workstation has front stop components and side stop components on both sides corresponding to the bottom packaging boxes, which ensure that the position of the first packaging box is stable and reliable during stacking.

[0013] With this invention, the empty packaging box loading station places stacked empty packaging boxes, which are transported by a transfer trolley. Each empty packaging box has multiple product placement positions, and the products placed in their positions do not exceed the height of the packaging box. The packaging box stacking station is equipped with a transfer trolley, which has no packaging boxes on its surface. When the end effector of the multi-axis robot is equipped with a product gripper, the multi-axis robot moves the product to the empty product position of the packaging box at the empty packaging box loading station until the upper packaging box is full of products. Afterward, the end effector of the multi-axis robot switches to a packaging box transfer gripper to transfer the full packaging box at the empty packaging box loading station to the side. On the transfer trolley at the box-packing and palletizing station, a multi-axis robot sequentially transfers products and stacks boxes until they reach the set height. At this point, all the boxes at the empty box loading station have been transferred to the box-packing and palletizing station. Then, external equipment transfers the palletized boxes away via the transfer trolley, while the empty transfer trolley is transferred to other stations to load empty stacked boxes. This cycle continues, ensuring that products are quickly transferred to the palletizing station after being filled with boxes. This results in high operational efficiency, and the same multi-axis robot is used for both product and box transfers, reducing equipment costs. Attached Figure Description

[0014] Figure 1 The three-dimensional representation of this utility model Figure 1 (Both workstations are packaged in boxes);

[0015] Figure 2 The three-dimensional representation of this utility model Figure 2 (Neither workstation had a packaging box);

[0016] Figure 3 This is a partially enlarged structural schematic diagram of the bottom-view perspective of this utility model;

[0017] Figure 4 A perspective view of the multi-axis robot loading product gripper of this utility model;

[0018] Figure 5 A perspective view of the multi-axis robot loading and packaging box transfer gripper of this utility model;

[0019] The names corresponding to the serial numbers in the diagram are as follows:

[0020] 10. Workstation enclosure, 101. Empty packaging box loading station, 102. Packaging box palletizing station, 11. Side frame, 12. Front stop assembly, 13. Side stop assembly, 20. Multi-axis robot assembly, 21. Multi-axis robot, 211. X-axis module, 22. Gripper placement platform, 23. Product gripper, 24. Packaging box transfer gripper, 30. Product, 40. Packaging box, 50. Transfer trolley, 51. Base, 52. Wheel, 53. Handle drive mechanism, 54. Upper concave positioning groove, 60. Pneumatic locking mechanism, 61. Lower convex seat, 62. Lower convex connecting rod, 63. Transmission rod, 64. Locking block, 65. Locking cylinder;

[0021] First layer height sensor 1, second layer height sensor 2, third layer height sensor 3, fourth layer height sensor 4, fifth layer height sensor 5. Detailed Implementation

[0022] An automatic boxing and palletizing mechanism, see Figures 1-5 It includes a workstation enclosure 10, a multi-axis robotic arm assembly 20, and a transfer trolley 50;

[0023] The work station frame 10 encloses two sets of work stations. The front of the two work stations is open for feeding materials. One set of work stations is the empty packaging box feeding work station 101, and the other set of work stations is the packaging box stacking work station 102.

[0024] A multi-axis robotic arm assembly 20 includes a multi-axis robotic arm 21 and a gripper placement platform 22 (the figure is only for illustration and can be set in the corresponding position according to the requirements). The gripper placement platform 22 is equipped with a product gripper 23 and a packaging box transfer gripper 24. The multi-axis robotic arm 21 includes an X-axis module 211. The end output of the multi-axis robotic arm 21 can quickly switch between the product gripper 23 and the packaging box transfer gripper 24.

[0025] The X-axis module 211 of the multi-axis robot 21 is fixed in the height area of ​​the rear end face of the workstation frame 10. When the end output end of the multi-axis robot 21 is loaded with product gripper 23, the multi-axis robot 21 moves to transport the product 30 to the empty product position of the packaging box 40 in the empty packaging box loading station 101 until the upper packaging box 40 is full of products. Then the end output end of the multi-axis robot 21 switches to the packaging box transfer gripper 24 to transfer the packaging box 40 full of products in the empty packaging box loading station 101 to the packaging box stacking station 102 on the side, and the packaging boxes 40 are stacked.

[0026] In practice, the transfer trolley 50 includes a base 51, four wheels 52 at the corners, and a forward-protruding handle drive mechanism 53. The bottom of the rear end of the base 51 is also provided with an upward-recessed positioning groove 54. The bottom of the bottom panel of the corresponding workstation is provided with a pneumatic locking mechanism 60. The pneumatic locking mechanism 60 locks the upward-recessed positioning groove 54 after the transfer trolley is fully pushed into the workstation.

[0027] In a specific embodiment, the pneumatic locking mechanism 60 includes a lower protrusion 61. The bottom of the lower protrusion 61 is pivotally connected to a transmission rod 63 via a lower protrusion connecting rod 62. One end of the transmission rod 63 is located below the upper recessed positioning groove 54 of the transport trolley 50 that has traveled to the position. A locking block 64 is fixedly provided on the upper part of one end of the transmission rod 63. The other end of the transmission rod 63 is pivotally connected to the lower output end of the locking cylinder 65. When the lower output end of the locking cylinder 65 moves downward, it drives the locking block 64 to be embedded in the upper recessed positioning groove 54 at the corresponding position, thereby ensuring the reliable locking of the transport trolley 50.

[0028] In practice, the height of each workstation is the height of two sets of packaging boxes. On the upper surface of the two side frames 11 of each workstation, there are pairs of layer height sensing sensors. The number of layer height sensing sensors is set according to the maximum number of stacked packaging boxes 40. Each layer of packaging box corresponds to a set of layer height sensing sensors. The first layer height sensing sensor 1 and the second layer height sensing sensor 2 are set in the height area of ​​the side frame 11 at the same time, which makes the stacking height of the packaging boxes in the two workstations accurately controlled.

[0029] Each workstation's two side frames 11 are also equipped with a front stop assembly 12 and a side stop assembly 13 corresponding to the bottom packaging box, which ensures that the position of the first packaging box 40 is stable and reliable during stacking.

[0030] In a specific embodiment, the two workstations are the same workstations. The empty packaging box loading workstation 101 and the packaging box stacking workstation 102 can be set according to actual needs.

[0031] In a specific embodiment, the maximum number of packaging boxes set for each workstation is five, that is, each workstation is equipped with five pairs of layer height sensing sensors, namely, first layer height sensing sensor 1, second layer height sensing sensor 2, third layer height sensing sensor 3, fourth layer height sensing sensor 4, and fifth layer height sensing sensor 5.

[0032] Its working principle is as follows: Empty packaging boxes are stacked at the empty packaging box loading station. These boxes are transported by a transfer trolley. Each empty box has multiple product placement positions; the product placement position should not exceed the height of the box. A transfer trolley is located at the packaging box stacking station, with no boxes on its surface. When the end effector of the multi-axis robot is equipped with a product gripper, the robot moves the product to the empty product position on the upper packaging box at the empty packaging box loading station until the upper packaging box is full. Afterward, the end effector of the multi-axis robot switches... The packaging box transfer gripper transfers the empty packaging box loading station's full-filled packaging boxes to the transfer trolley at the adjacent packaging box stacking station. Then, the multi-axis robot sequentially transfers the products and stacks the packaging boxes until the packaging boxes at the packaging box stacking station are stacked to the set height. At this point, all the packaging boxes at the empty packaging box loading station have been transferred to the packaging box stacking station. Afterward, external equipment transfers the stacked packaging boxes away via the transfer trolley, while the empty transfer trolley is transferred again to other stations for loading empty stacked packaging boxes, and then the operation is repeated in a cycle.

[0033] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0034] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An apparatus for automatic boxing and palletizing, characterized by, It includes: The work station frame encloses two sets of work stations. The front of each work station is open for feeding materials. One set of work stations is for loading empty packaging boxes, and the other set of work stations is for stacking packaging boxes. And a multi-axis robotic arm assembly, which includes a multi-axis robotic arm and a gripper placement platform. The gripper placement platform is equipped with product grippers and packaging box transfer grippers. The multi-axis robotic arm includes an X-axis module. The end output of the multi-axis robotic arm can quickly switch between product grippers and packaging box transfer grippers. The rear end face of the workstation frame is fixed with an X-axis module of a multi-axis robot. When the end output of the multi-axis robot is loaded with a product gripper, the multi-axis robot moves to move the product to the empty product position of the packaging box at the empty packaging box loading station until the upper packaging box is full of products. Then, the end output of the multi-axis robot switches to a packaging box transfer gripper to transfer the packaging box full of products at the empty packaging box loading station to the packaging box stacking station on the side, where the packaging boxes are stacked.

2. The mechanism for automatic binning and palletizing according to claim 1, characterized in that: It also includes a transfer trolley, which includes a base, four corner wheels, and a forward-protruding handle drive mechanism. The bottom of the rear end of the base is also provided with an upward-recessed positioning groove, and the bottom of the bottom panel of the corresponding workstation is provided with a pneumatic locking mechanism. The pneumatic locking mechanism locks the upward-recessed positioning groove after the transfer trolley is fully pushed into the workstation.

3. The mechanism for automatic boxing and palletizing according to claim 2, characterized in that: The pneumatic locking mechanism includes a lower protrusion. The bottom of the lower protrusion is pivotally connected to a transmission rod via a lower protrusion connecting rod. One end of the transmission rod is located below the upper concave positioning groove of the transport trolley that has traveled to its position. A locking block is fixedly mounted on the upper part of one end of the transmission rod. The other end of the transmission rod is pivotally connected to the lower output end of the locking cylinder. When the lower output end of the locking cylinder moves downward, it drives the locking block to be embedded in the upper concave positioning groove at the corresponding position.

4. The mechanism for automatic binning and palletizing according to claim 1, characterized in that: The height of each workstation is the height of two sets of packaging boxes. Pairs of layer height sensors are installed on the upper surface of both side frames of each workstation. The number of layer height sensors is set according to the pre-set maximum number of layers of palletized packaging boxes. Each layer of packaging box corresponds to a set of layer height sensors. The height area of ​​the side frame is simultaneously equipped with a first layer height sensor and a second layer height sensor.

5. The mechanism for automatic binning and palletizing according to claim 4, characterized in that: Each workstation has a front stop assembly and a side stop assembly on each side frame corresponding to the bottom packaging box.

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