Automatic stacking device with visual recognition function

Abstract

The utility model relates to the technical field of stacking, and discloses an automatic stacking device with visual identification, which comprises a mounting shell, a conveyor belt is arranged in the mounting shell, a stacking plate is fixedly connected to one side of the mounting shell, connecting frames are fixedly connected to two sides of the mounting shell, and a mounting frame is fixedly connected between the two connecting frames. An industrial camera is arranged on the lower surface of the mounting frame, a first stepping motor is fixedly mounted on one side of the mounting frame, and the output end of the first stepping motor is fixedly connected with a lead screw. The carton cargoes stacked to a certain height are effectively protected, the protective guard can be adjusted in a lifting mode according to the stacking height of the cargoes so as to be suitable for stacking of the cargoes with different heights, crashing accidents caused by cargo collapse due to mistaken collision of workers are effectively reduced, and when the stacked cargoes make contact with the cargo stacking plate, the cargoes can be effectively stacked on the cargo stacking plate. And the mounting plate is matched with the spring to form a double-buffering mechanism, so that the impact force between the goods and the buffering plate is absorbed.

Description

An automated palletizing device with visual recognition Technical Field

[0001] This utility model relates to the field of palletizing technology, and in particular to an automatic palletizing device with visual recognition. Background Technology

[0002] An automatic palletizing device is a machine that uses mechanical equipment and automation technology to automatically stack packaged products (such as boxes, bags, bottles, etc.) onto a pallet according to a preset arrangement. It is widely used in the food, beverage, chemical, pharmaceutical, and logistics industries to improve production efficiency, reduce labor intensity, improve palletizing accuracy, and ensure operational safety.

[0003] A search revealed that Chinese Patent CN210029278U discloses an automatic palletizing device. This device addresses the shortcomings of existing automatic palletizing devices, which lack stability when clamping round objects, leading to the tendency for objects to fall off. Furthermore, existing automatic palletizing devices often involve single-axis sliding during horizontal displacement after clamping, resulting in instability during axial movement and other defects. Therefore, this device can stably clamp round objects such as tires onto their outer surface, preventing them from easily falling off.

[0004] The aforementioned palletizing device facilitates stable clamping of objects. However, when palletizing cardboard boxes that are roughly the same width as the conveyor belt, if operators fail to remove goods that have been stacked to a certain height in time, these goods, which have been stacked for a long time, are easily bumped by workers as they walk around due to the lack of external protective railings. Because of the high stacking height, a collision could cause the entire stack of goods to collapse, which could not only injure nearby workers and cause personal injury accidents, but also damage the goods. This reduces the overall safety of the palletizing operation and increases the risk of damage to the goods. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an automatic palletizing device with visual recognition.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an automatic palletizing device with visual recognition, comprising a mounting shell, a conveyor belt disposed inside the mounting shell, a stacking plate fixedly connected to one side of the mounting shell, connecting frames fixedly connected to both sides of the mounting shell, a mounting frame fixedly connected between the two connecting frames, an industrial camera disposed on the lower surface of the mounting frame, a first stepper motor fixedly mounted on one side of the mounting frame, a lead screw fixedly connected to the output end of the first stepper motor, a movable frame threadedly connected to the external of the lead screw, a hydraulic cylinder fixedly mounted on the lower surface of the movable frame, two outer tubes fixedly connected to the lower surface of the movable frame, an inner rod slidably connected inside the outer tubes, a movable frame fixedly connected to the output end of the hydraulic cylinder, an electric servo push rod fixedly mounted on both sides of the inner wall of the movable frame, a clamping plate fixedly connected to the output end of the electric servo push rod, and a protective component disposed on the upper surface of the stacking plate.

[0007] As a further description of the above technical solution:

[0008] The protective assembly includes two screws, which are rotatably connected to the upper surface of the stacking plate. One end of one screw is fixedly connected to a driven toothed pulley, and one end of the other screw is fixedly connected to a driving toothed pulley. A connecting toothed pulley body is provided between the driving toothed pulley and the driven toothed pulley.

[0009] As a further description of the above technical solution:

[0010] A second stepper motor is fixedly installed on the lower surface of the stacking plate. The output end of the second stepper motor is fixedly connected to the middle of the lower surface of the drive toothed pulley. Multiple through holes are opened inside the stacking plate.

[0011] As a further description of the above technical solution:

[0012] The screw is connected to a protective railing via an external thread. Multiple protective rods are fixedly connected to the lower surface of the protective railing. The protective rods are slidably connected inside the through hole. A laser displacement sensor is fixedly installed on the upper surface of one of the protective railings.

[0013] As a further description of the above technical solution:

[0014] The lead screw is rotatably connected inside the mounting frame, the movable frame is slidably connected inside the mounting frame, the two outer tubes are arranged on both sides of the hydraulic cylinder, one end of the two inner rods is fixedly connected to the upper surface of the movable frame, the upper surface of the clamping plate is fixedly connected to a slider, the inner wall of the movable frame is provided with a sliding groove, the two sliders are slidably connected inside the sliding groove, and the upper surface of the mounting shell is fixedly connected to a blocking rod.

[0015] As a further description of the above technical solution:

[0016] The upper surface of the stacking plate is provided with a buffer assembly, the buffer assembly includes a mounting groove, the mounting groove is opened on the upper surface of the stacking plate, the inner wall of the mounting groove is fixedly connected to a limit frame, and the mounting plate is slidably connected inside the mounting groove.

[0017] As a further description of the above technical solution:

[0018] The lower surface of the mounting plate has multiple columnar grooves, and springs are fixedly connected inside the columnar grooves. Multiple springs are fixedly connected to the bottom of the inner wall of the mounting grooves. A buffer plate is fixedly connected to the upper surface of the mounting plate.

[0019] This utility model has the following beneficial effects:

[0020] 1. This utility model, through the setting of protective components, uses the cooperation of protective railings and protective rods to protect the cartons of goods stacked at a certain height in the automatic palletizing device. Moreover, as the screw drives the protective railing to rise, the height of the protective railing can be adjusted according to the height of the goods being stacked, thereby adapting to goods stacked at different heights. This reduces the possibility of goods collapsing due to accidental collisions by workers, which could lead to injuries to workers, and at the same time, it helps to protect the goods.

[0021] 2. By setting up a buffer component, this utility model utilizes the air pressure generated by the mounting plate pressing down inside the mounting groove and the connection of multiple springs to buffer the stacked goods when they come into contact with the stacking plate in the automatic palletizing device. This helps to absorb the impact force between the goods and the buffer plate to a certain extent, thereby reducing the phenomenon of damage to the bottom of the goods due to large impact forces. Attached Figure Description

[0022] Figure 1 is a schematic diagram of the overall structure proposed in this utility model;

[0023] Figure 2 is a schematic diagram of the connection structure of the connecting frame proposed in this utility model;

[0024] Figure 3 is a schematic diagram of the mounting frame structure proposed in this utility model;

[0025] Figure 4 is a schematic diagram of the mobile frame structure proposed in this utility model;

[0026] Figure 5 is a schematic diagram of the stacking plate structure proposed in this utility model;

[0027] Figure 6 is a schematic diagram of the limiting frame structure proposed in this utility model;

[0028] Figure 7 is a schematic cross-sectional view of the mounting plate proposed in this utility model.

[0029] Legend:

[0030] 1. Mounting housing; 2. Conveyor belt; 3. Stacking plate; 4. Connecting frame; 5. Mounting frame; 6. Industrial camera; 7. First stepper motor; 8. Lead screw; 9. Moving frame; 10. Hydraulic cylinder; 11. Outer tube; 12. Inner rod; 13. Moving frame; 14. Electric servo push rod; 15. Clamping plate; 16. Slider; 17. Slide groove; 18. Screw; 19. Driven toothed pulley; 20. Driving toothed pulley; 21. Connecting toothed pulley body; 22. Second stepper motor; 23. Through hole; 24. Guardrail; 25. Guard rod; 26. Laser displacement sensor; 27. Mounting slot; 28. Limiting frame; 29. ​​Mounting plate; 30. Columnar groove; 31. Spring; 32. Buffer plate; 33. Stop bar. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] As shown in Figures 1-6, one embodiment of this utility model provides an automatic palletizing device with visual recognition, comprising a mounting shell 1, a conveyor belt 2 disposed inside the mounting shell 1, a stacking plate 3 fixedly connected to one side of the mounting shell 1, connecting frames 4 fixedly connected to both sides of the mounting shell 1, a mounting frame 5 fixedly connected between the two connecting frames 4, an industrial camera 6 disposed on the lower surface of the mounting frame 5, a first stepper motor 7 fixedly mounted on one side of the mounting frame 5, a lead screw 8 fixedly connected to the output end of the first stepper motor 7, and a moving frame 9 threadedly connected to the external of the lead screw 8. A hydraulic cylinder 10 is fixedly installed on the lower surface of the moving frame 9. Two outer tubes 11 are fixedly connected to the lower surface of the moving frame 9. An inner rod 12 is slidably connected inside the outer tubes 11. A moving frame 13 is fixedly connected to the output end of the hydraulic cylinder 10. Electric servo push rods 14 are fixedly installed on both sides of the inner wall of the moving frame 13. A clamping plate 15 is fixedly connected to the output end of the electric servo push rod 14. A protective component is provided on the upper surface of the stacking plate 3. The conveyor belt 2 is used to transport goods. The moving frame 9 facilitates the movement of the goods clamped by the clamping plate 15, so that they move to the top of the stacking plate 3.

[0033] As shown in Figure 5, the protective assembly includes two screws 18, which are rotatably connected to the upper surface of the stacking plate 3. One end of one screw 18 is fixedly connected to a driven toothed pulley 19, and one end of the other screw 18 is fixedly connected to a driving toothed pulley 20. A connecting toothed pulley body 21 is provided between the driving toothed pulley 20 and the driven toothed pulley 19. A second stepper motor 22 is fixedly installed on the lower surface of the stacking plate 3. The output end of the second stepper motor 22 is fixedly connected to the middle of the lower surface of the driving toothed pulley 20. Multiple through holes 23 are opened inside the stacking plate 3. Under the action of the connecting toothed pulley body 21, the driving toothed pulley 20 and the driven toothed pulley 19 can facilitate the simultaneous rotation of the two screws 18.

[0034] As shown in Figure 1, a protective railing 24 is threaded onto the outside of the screw 18. Multiple protective rods 25 are fixedly connected to the lower surface of the protective railing 24. The protective rods 25 are slidably connected inside the through hole 23. A laser displacement sensor 26 is fixedly installed on the upper surface of one of the protective railings 24. A blocking rod 33 is fixedly connected to the upper surface of the mounting shell 1. The protective railing 24 and the protective rods 25 form a protective structure, thereby protecting the stacked goods from the outside. This ensures that even if the goods collapse, they will not fall on passing workers. The blocking rod 33 can effectively limit and block the conveyed goods.

[0035] As shown in Figure 3, the lead screw 8 is rotatably connected inside the mounting frame 5, the movable frame 9 is slidably connected inside the mounting frame 5, the two outer tubes 11 are set on both sides of the hydraulic cylinder 10, and one end of the two inner rods 12 is fixedly connected to the upper surface of the movable frame 13. The outer tubes 11 and inner rods 12 improve the stability when the output end of the hydraulic cylinder 10 drives the movable frame 13 to move downward.

[0036] As shown in Figure 4, a slider 16 is fixedly connected to the upper surface of the clamping plate 15, and a groove 17 is provided on the inner wall of the moving frame 13. The two sliders 16 are slidably connected inside the groove 17, which helps to improve the stability of the clamping plate 15 when it moves.

[0037] As shown in Figure 6, a buffer assembly is provided on the upper surface of the stacking plate 3. The buffer assembly includes a mounting groove 27, which is opened on the upper surface of the stacking plate 3. A limit frame 28 is fixedly connected to the inner wall of the mounting groove 27. The limit frame 28 helps to prevent the mounting plate 29 from sliding out of the interior of the mounting groove 27.

[0038] As shown in Figure 7, a mounting plate 29 is slidably connected inside the mounting groove 27. Multiple columnar grooves 30 are formed on the lower surface of the mounting plate 29. Springs 31 are fixedly connected inside the columnar grooves 30. Multiple springs 31 are fixedly connected to the bottom of the inner wall of the mounting groove 27. A buffer plate 32 is fixedly connected to the upper surface of the mounting plate 29. When the mounting plate 29 slides inside the mounting groove 27, air pressure is generated, which plays a buffering role. The springs 31 enhance the buffering force when the mounting plate 29 slides under its elastic force.

[0039] Working principle: In use, first place the carton of appropriate size on the conveyor belt 2, and then turn on the conveyor belt 2. When the conveyor belt 2 transports the goods, it will be recognized by the industrial camera 6. Then, the hydraulic cylinder 10 receives the instruction that the goods are being transported. After being turned on, its output end drives the moving frame 13 to move down, so that the moving frame 13 drives the two clamping plates 15 inside to move to both sides of the goods. Through the push of the electric servo push rod 14, the clamping plates 15 are driven to move closer to the goods. At this time, the slider 16 follows the movement of the clamping plates 15 and slides inside the slide groove 17 to clamp the goods. After the goods are clamped, the retraction of the output end of the hydraulic cylinder 10 causes the goods to be lifted. According to the start of the output end of the first stepper motor 7, the lead screw 8 is driven to rotate, thereby driving the moving frame 9 to slide inside the mounting frame 5, thereby moving it above the stacking plate 3. Then, the extension of the output end of the hydraulic cylinder 10 causes the clamped goods to move down. At this time, the retraction of the output ends of the two electric servo push rods 14 causes the clamping plates 15 on both sides to move away from each other, thereby releasing the goods from clamping.

[0040] At this time, the goods are placed on the upper surface of the buffer plate 32. When the monitoring port of the laser displacement sensor 26 is blocked by the side wall of the goods, the second stepper motor 22 will be started, and its output end will drive the active toothed pulley 20 to rotate. Under the connection of the toothed pulley body 21, it will drive the driven toothed pulley 19 to rotate, so that the active toothed pulley 20 and the driven toothed pulley 19 will drive the screw 18 to rotate. Under the action of the screw, the guardrail 24 will move upward. The guardrail 24 will drive multiple guard bars 25 to slide inside the through hole 23, so that it will stop after moving to the height of the currently stacked goods, and will flexibly rise with the stacking height of the goods, thereby protecting the outside of the goods. When it is necessary to take out the goods, the second stepper motor 22 will be started to reverse, and the guardrail 24 will be moved to the lowest position.

[0041] When the goods fall onto the buffer plate 32 under the action of gravity, they will be squeezed by the buffer plate 32 onto the mounting plate 29. The mounting plate 29 slides down inside the mounting groove 27 to generate air pressure, thereby producing a buffering effect. At the same time, under the elastic buffering effect of multiple springs 31, the pressure between the goods and the buffer plate 32 is buffered in a second layer, thus facilitating the absorption of the impact force when the goods fall to a certain extent.

[0042] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic palletizing device with visual recognition, comprising a mounting housing (1), characterized in that: The mounting housing (1) is equipped with a conveyor belt (2) inside. A stacking plate (3) is fixedly connected to one side of the mounting housing (1). Connecting frames (4) are fixedly connected to both sides of the mounting housing (1). A mounting frame (5) is fixedly connected between the two connecting frames (4). An industrial camera (6) is provided on the lower surface of the mounting frame (5). A first stepper motor (7) is fixedly installed on one side of the mounting frame (5). A lead screw (8) is fixedly connected to the output end of the first stepper motor (7). A movable screw (8) is threaded onto the outside of the lead screw (8). The frame (9) has a hydraulic cylinder (10) fixedly installed on its lower surface. Two outer tubes (11) are fixedly connected to the lower surface of the frame (9). An inner rod (12) is slidably connected inside the outer tube (11). A moving frame (13) is fixedly connected to the output end of the hydraulic cylinder (10). Electric servo push rods (14) are fixedly installed on both sides of the inner wall of the moving frame (13). A clamping plate (15) is fixedly connected to the output end of the electric servo push rod (14). A protective component is provided on the upper surface of the stacking plate (3).

2. The automatic stacking device with visual identification according to claim 1, characterized in that: The protective assembly includes two screws (18) rotatably connected to the upper surface of the stacking plate (3). One end of one screw (18) is fixedly connected to a driven toothed pulley (19), and one end of the other screw (18) is fixedly connected to a driving toothed pulley (20). A connecting toothed pulley body (21) is provided between the driving toothed pulley (20) and the driven toothed pulley (19).

3. The automatic palletizing device with visual recognition according to claim 1, characterized in that: A second stepper motor (22) is fixedly installed on the lower surface of the stacking plate (3). The output end of the second stepper motor (22) is fixedly connected to the middle of the lower surface of the drive toothed pulley (20). Multiple through holes (23) are opened inside the stacking plate (3).

4. The automatic palletizing device with visual recognition according to claim 1, characterized in that: The screw (18) is connected to a guardrail (24) by an external thread. Multiple guardrails (25) are fixedly connected to the lower surface of the guardrail (24). The guardrails (25) are slidably connected inside the through hole (23). A laser displacement sensor (26) is fixedly installed on the upper surface of one of the guardrails (24).

5. The automatic palletizing device with visual recognition according to claim 1, characterized in that: The lead screw (8) is rotatably connected inside the mounting frame (5), the movable frame (9) is slidably connected inside the mounting frame (5), the two outer tubes (11) are set on both sides of the hydraulic cylinder (10), one end of the two inner rods (12) is fixedly connected to the upper surface of the movable frame (13), the upper surface of the clamping plate (15) is fixedly connected to a slider (16), the inner wall of the movable frame (13) is provided with a groove (17), the two sliders (16) are slidably connected inside the groove (17), and the upper surface of the mounting shell (1) is fixedly connected to a blocking rod (33).

6. The automatic stacking device with visual identification according to claim 1, characterized in that: The upper surface of the stacking plate (3) is provided with a buffer assembly, which includes a mounting groove (27). The mounting groove (27) is opened on the upper surface of the stacking plate (3). A limit frame (28) is fixedly connected to the inner wall of the mounting groove (27). A mounting plate (29) is slidably connected inside the mounting groove (27).

7. The automatic stacking device with visual identification according to claim 6, characterized in that: The mounting plate (29) has multiple columnar grooves (30) on its lower surface. Springs (31) are fixedly connected inside the columnar grooves (30). Multiple springs (31) are fixedly connected to the bottom of the inner wall of the mounting groove (27). A buffer plate (32) is fixedly connected to the upper surface of the mounting plate (29).

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