Automatic equipment compatible with stacking of various box bodies

Abstract

The utility model discloses automatic equipment compatible with stacking of various boxes, which comprises an upper frame capable of being assembled with a mechanical arm; the fixed guardrail is vertically fixed with the upper frame; the movable guardrail is movably assembled with the upper frame, the movable guardrail has reciprocating translation freedom degrees close to or away from the fixed guardrail, the movable guardrail comprises a first plane guardrail and a second plane guardrail which are vertically fixed in an L shape, and the plane where the first plane guardrail is located is parallel to the plane where the fixed guardrail is located; wherein the fixed guardrail and the movable guardrail are located on the same side of the upper frame, and a limiting cavity capable of clamping a plurality of container boxes is formed between the fixed guardrail and the movable guardrail; the second plane guardrail comprises a plurality of bottom supporting strips which are arranged at intervals, and the length direction of the bottom supporting strips is perpendicular to the plane where the first plane guardrail is located. By the adoption of the device, a plurality of square container boxes can be grabbed and stacked in order in a unified mode.

Description

Technical Field

[0001] This utility model relates to the field of automated palletizing equipment, specifically to an automated equipment compatible with palletizing multiple types of boxes. Background Technology

[0002] The stacking of containers in a filling line is a crucial process connecting production and warehousing, and the industry currently widely uses robotic arms to perform this operation. If existing robotic arms use general-purpose grippers, they must grasp and position each container individually to complete the stacking. On the one hand, this process can only handle one container at a time, resulting in low efficiency and difficulty matching the production rhythm of high-speed filling lines. On the other hand, general-purpose grippers lack synchronous positioning and regularization structures for containers, making them prone to misalignment during stacking due to container posture deviations. This often requires manual adjustments, increasing operating costs and disrupting the continuity of automation, failing to meet the demands for efficient and precise stacking. Utility Model Content

[0003] The problem this invention aims to solve is to provide an automated equipment compatible with various types of box palletizing.

[0004] To solve the above problems, this utility model provides an automated device compatible with various types of box palletizing. To achieve the above objectives, the technical solution adopted by this utility model to solve its technical problems is as follows:

[0005] An automated palletizing device compatible with multiple types of containers includes: an upper frame capable of being assembled with a robotic arm; a fixed guardrail, vertically fixed to the upper frame; and a movable guardrail movably assembled with the upper frame. The movable guardrail has a reciprocating translational degree of freedom to move closer to or away from the fixed guardrail. The movable guardrail includes a first planar guardrail and a second planar guardrail, both vertically fixed in an L-shape. The plane of the first planar guardrail is parallel to the plane of the fixed guardrail. The fixed guardrail and the movable guardrail are located on the same side of the upper frame, and a limiting cavity capable of clamping multiple containers is formed between the fixed guardrail and the movable guardrail. The second planar guardrail includes multiple bottom support strips arranged with gaps between them, and the length direction of the bottom support strips is perpendicular to the plane of the first planar guardrail.

[0006] As a further improvement of this utility model, the fixed guardrail includes a first vertical bar and a first horizontal bar that are fixed perpendicularly to each other; the first planar guardrail includes a second vertical bar and a second horizontal bar that are fixed perpendicularly to each other; the first vertical bar and the second vertical bar are arranged parallel to each other, and the first horizontal bar and the second horizontal bar are arranged parallel to each other; the second horizontal bar is located at the junction of the first planar guardrail and the second planar guardrail.

[0007] As a further improvement of this utility model, the same end of several bottom support strips is fixed vertically to the second horizontal bar, and the thickness direction of the bottom support strips is parallel to the through direction of the limiting cavity.

[0008] As a further improvement of this utility model, the end of the bottom support strip that is fixed to the first planar guardrail has an inner rounded corner, and the end of the bottom support strip that is away from the first planar guardrail has a chamfer; the inner rounded corner and the chamfer are located on the same side of the bottom support strip, and the width of the bottom support strip at the location of the inner rounded corner is greater than the width of the bottom support strip at the location of the chamfer.

[0009] As a further improvement of this utility model, a horizontal linear drive cylinder is fixed to the upper frame, and the output rod of the horizontal linear drive cylinder is fixed to the first planar guardrail. The horizontal linear drive cylinder drives the movable guardrail to move closer to or away from the fixed guardrail. The movable guardrail is assembled with the upper frame through a guide rail slider mechanism.

[0010] As a further improvement of this utility model, the guide rail slider mechanism includes a linear guide rail and sliders. Each linear guide rail is movably equipped with several sliders. The movable guardrail is fixed to the sliders through rib plates. All sliders of the same linear guide rail are fixed to the same rib plate.

[0011] As a further improvement of this utility model, the upper frame includes several profiles that are fixed perpendicularly to each other, and the upper frame includes a fixing plate that is fixed to the profiles. The fixing plate is fixed with a flange, and the flange can be fixed to the end of the robotic arm.

[0012] As a further improvement of this utility model, the upper frame is equipped with a lower pressure plate, and the lower pressure plate has a linear reciprocating degree of freedom along a plane perpendicular to the upper frame.

[0013] As a further improvement of this utility model, the upper frame is fixed with a vertical linear drive cylinder, which drives the lower pressure plate to reciprocate linearly. The length direction of the lower pressure plate is parallel to the through direction of the limiting cavity.

[0014] As a further improvement of this utility model, the fixed guardrail is located between the lower pressure plate and the movable guardrail.

[0015] The beneficial technical effects of using the automated equipment compatible with multiple box palletizing methods described in this application are:

[0016] This structure has the freedom of reciprocating translation by moving the movable guardrail closer to or away from the fixed guardrail. The width of the limiting cavity between the fixed and movable guardrails can be flexibly adjusted, thus adapting to containers of different sizes and achieving compatible clamping of various containers. This solves the problem of traditional equipment having limited adaptability to container sizes.

[0017] The limiting cavity formed by the fixed guardrail and the movable guardrail can clamp several containers at the same time, which changes the traditional general gripper's operation mode of only being able to process a single container at a time, and significantly improves the efficiency of palletizing operations.

[0018] The movable guardrail uses an L-shaped, vertically fixed first and second plane guardrails. The first plane guardrail is parallel to the fixed guardrail to clamp the side wall of the box, and the bottom support strip of the second plane guardrail can support the bottom of the box. This not only achieves lateral restraint of the box, but also provides bottom support, effectively preventing the boxes from becoming misaligned due to posture deviation during stacking, reducing the need for manual secondary adjustments, and ensuring the continuity of automated stacking.

[0019] Fixed and movable guardrails, when assembled with a robotic arm via an upper frame, also constitute a palletizing robot. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a front view of one embodiment of the present invention;

[0022] Figure 2 This is a perspective view of one embodiment of the present utility model;

[0023] Figure 3 This is a perspective view of one embodiment of the present utility model;

[0024] Figure 4 This is a schematic diagram illustrating one embodiment of the present invention.

[0025] 1-Vertical linear drive cylinder; 2-Horizontal linear drive cylinder; 3-Upper frame; 4-Fixing plate; 5-Flange; 6-Linear guide rail; 7-Slider; 8-Corner seat; 9-Fixed guardrail; 901-First vertical rod; 902-First horizontal rod; 10-Modible guardrail; 1001-Second vertical rod; 1002-Second horizontal rod; 1003-Bottom support strip; 10031-Chamfer; 10032-Inner fillet; 11-Lower pressure plate; 12-Rib plate; 13-Limiting cavity; 14-Container body. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to specific embodiments:

[0027] In order to achieve the purpose of this utility model, such as Figures 1 to 4 As shown, an automated palletizing device compatible with various types of boxes includes: an upper frame 3, which can be assembled with a robotic arm; a fixed guardrail 9, which is vertically fixed to the upper frame 3; and a movable guardrail 10, which is movably assembled with the upper frame 3. The movable guardrail 10 has a reciprocating translational degree of freedom to move closer to or away from the fixed guardrail 9. The movable guardrail 10 includes a first plane guardrail and a second plane guardrail that are vertically fixed in an L-shape. The plane of the first plane guardrail is parallel to the plane of the fixed guardrail 9. The fixed guardrail 9 and the movable guardrail 10 are located on the same side of the upper frame 3. Figure 1 As shown, Figure 4 As shown, a limiting cavity 13 is formed between the fixed guardrail 9 and the movable guardrail 10, capable of clamping several container boxes 14. Figure 2 As shown, the second planar guardrail includes several bottom support strips 1003 arranged with gaps between them, and the length direction of the bottom support strips 1003 is perpendicular to the plane where the first planar guardrail is located.

[0028] like Figure 4 As shown, several container boxes 14 are arranged along the through direction of the limiting cavity 13. The first planar guardrail fits against the side wall of the container box 14, the second planar guardrail, i.e., the bottom support strip 1003, supports the bottom of the container box 14, and the fixed guardrail 9 fits against the side wall of the container box 14. The first planar guardrail of the movable guardrail 10 and the fixed guardrail 9 respectively contact the two sides of the outer wall of the container box 14.

[0029] During actual stacking, the first plane guardrail of the movable guardrail 10 and the fixed guardrail 9 move close to each other to align several messy containers 14 into a precise straight line. Once stacked at the designated location, the movable guardrail 10 is removed, allowing the containers 14 to be placed. The bottom support strip 1003 has low friction with the bottom of the containers 14, facilitating removal. Alternatively, during operation, the bottom support strip 1003 is slightly tilted, using the tilted component of the containers 14 to assist in removing the bottom support strip 1003 from the bottom of the containers 14.

[0030] The automated equipment compatible with multiple container palletizing uses a palletizing and inserting type, which can realize three palletizing methods for two types of container boxes 14. The length, width and height of the two types of container boxes 14 are 250*250*430 or 200*200*310 respectively. At the same time, it can grab five to six pieces at a time and can meet the needs of grabbing the container in both horizontal and vertical positions.

[0031] To facilitate the display of each component Figures 1 to 4 The accompanying robotic arm is not shown; any suitable model of robotic arm can be used. Furthermore... Figure 4 compared to Figures 1 to 3 , Figure 4The container box 14 is shown.

[0032] The beneficial effects of adopting the above technical solution are: the structure has the reciprocating translational freedom to move closer to or further away from the fixed guardrail 9 through the movable guardrail 10, and the width of the limiting cavity 13 between the two can be flexibly adjusted, thereby adapting to container boxes 14 of different sizes, realizing compatible clamping of various boxes, and improving the versatility and palletizing efficiency of the equipment.

[0033] In some other embodiments of this utility model, the fixed guardrail 9 includes a first vertical bar 901 and a first horizontal bar 902 fixed perpendicularly to each other. The first planar guardrail includes a second vertical bar 1001 and a second horizontal bar 1002 fixed perpendicularly to each other. The first vertical bar 901 and the second vertical bar 1001 are arranged parallel to each other, and the first horizontal bar 902 and the second horizontal bar 1002 are arranged parallel to each other. The second horizontal bar 1002 is located at the junction of the first planar guardrail and the second planar guardrail.

[0034] The beneficial effects of adopting the above technical solution are: by vertically fixing and parallelly arranging the first vertical bar 901, the first horizontal bar 902, the second vertical bar 1001, and the second horizontal bar 1002, the structural stability of the fixed guardrail 9 and the movable guardrail 10 is enhanced.

[0035] In one embodiment, the first vertical rod 901, the first horizontal rod 902, the second vertical rod 1001, and the second horizontal rod 1002 are all square tubes, while the bottom support strip 1003 is a solid metal plate.

[0036] In some other embodiments of this utility model, the same end of several bottom support strips 1003 is fixed vertically to the second horizontal bar 1002, and the thickness direction of the bottom support strips 1003 is parallel to the through direction of the limiting cavity 13.

[0037] The beneficial effects of adopting the above technical solution are: the contact area between the bottom support strip 1003 and the bottom of the container body 14 is small, similar to the contact form of an ice skate, and the length direction of the bottom support strip 1003 is the same as the direction in which the container body 14 is detached from it. Therefore, it provides stable bottom support and facilitates smooth removal after stacking, reducing friction interference with the bottom of the container body 14.

[0038] In some other embodiments of this utility model, the end of the bottom support strip 1003 that is fixed to the first planar guardrail has an inner rounded corner 10032, and the end of the bottom support strip 1003 that is away from the first planar guardrail has a chamfer 10031. The inner rounded corner 10032 and the chamfer 10031 are located on the same side of the bottom support strip 1003, and the width of the bottom support strip 1003 at the location of the inner rounded corner 10032 is greater than the width of the bottom support strip 1003 at the location of the chamfer 10031.

[0039] The beneficial effects of adopting the above technical solution are: the base of the bottom support strip 1003 is thick and the end is sharp, which helps to reduce resistance and wear during the insertion and withdrawal process, and improves the service life and smoothness of the bottom support strip 1003.

[0040] In some other embodiments of this utility model, a horizontal linear drive cylinder 2 is fixed to the upper frame 3. The output rod of the horizontal linear drive cylinder 2 is fixed to the first planar guardrail. The horizontal linear drive cylinder 2 drives the movable guardrail to move closer to or away from the fixed guardrail 9. The movable guardrail 10 is assembled with the upper frame 3 through a guide rail slider mechanism.

[0041] The beneficial effects of adopting the above technical solution are: the movable guardrail 10 is driven to move by the horizontal linear drive cylinder 2, and the smooth reciprocating motion is achieved by combining the guide rail slider mechanism.

[0042] In some other embodiments of this utility model, the guide rail slider mechanism includes a linear guide rail 6 and a slider 7. Each linear guide rail 6 is movably equipped with a plurality of sliders 7. The movable guardrail 10 is fixed to the sliders 7 by means of a rib plate 12. All sliders 7 of the same linear guide rail 6 are fixed to the same rib plate 12.

[0043] The beneficial effects of adopting the above technical solution are: the use of linear guide rail 6 and slider 7 in combination, and the connection of multiple sliders 7 to movable guardrail 10 through rib plate 12, enhances the rigidity and stability of the overall movement and avoids off-center loading or jamming.

[0044] In some other embodiments of this utility model, the upper frame 3 includes a plurality of profiles fixed perpendicularly to each other, and the upper frame 3 includes a fixing plate 4 fixed to the profiles. The fixing plate 4 is fixed with a flange 5, and the flange 5 can be fixed to the end of the robotic arm.

[0045] The beneficial effects of adopting the above technical solution are: the upper frame 3 adopts a profile structure and is equipped with a fixing plate 4 and a flange 5, which provides a stable installation base and a convenient robotic arm interface, which is conducive to the rapid assembly of the equipment and the overall rigidity guarantee.

[0046] like Figure 1 As shown, in one embodiment, the cylinder body of the horizontal linear drive cylinder 2 is fixed to the fixing plate 4 via the corner seat 8.

[0047] In some other embodiments of this utility model, the upper frame 3 is equipped with a lower pressure plate 11, and the lower pressure plate 11 has a linear reciprocating degree of freedom along the plane perpendicular to the upper frame 3.

[0048] The beneficial effects of adopting the above technical solution are: the pressure plate 11 adds additional functions, such as allowing the robotic arm to rotate approximately 90°, extending the pressure plate 11 horizontally forward to push some container boxes 14 flat. Alternatively, it can directly extend forward and press down, because some container boxes 14 have flexible hoses connected to their tops, and the pressure plate 11 pressing down helps to uniformly regulate the hoses, thereby avoiding interference between them.

[0049] In some other embodiments of this utility model, the upper frame 3 is fixed with a vertical linear drive cylinder 1, which drives the lower pressure plate 11 to reciprocate linearly. The length direction of the lower pressure plate 11 is parallel to the through direction of the limiting cavity 13.

[0050] Both the vertical linear drive cylinder 1 and the horizontal linear drive cylinder 2 are pneumatic linear cylinders.

[0051] In some other embodiments of this utility model, the fixed guardrail 9 is located between the lower pressure plate 11 and the movable guardrail 10.

[0052] The beneficial effects of adopting the above technical solution are: the fixed guardrail 9 is arranged between the lower pressure plate 11 and the movable guardrail 10, which makes the overall structural layout reasonable and is conducive to the coordinated operation of various functional components.

[0053] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. An automated equipment compatible with multiple types of box palletizing, characterized in that, include: The upper frame can be assembled with a robotic arm; The guardrail is fixed vertically to the upper frame; The movable guardrail is movably assembled with the upper frame. The movable guardrail has the freedom of reciprocating translation to move closer to or away from the fixed guardrail. The movable guardrail includes a first plane guardrail and a second plane guardrail that are vertically fixed in an L-shape. The plane where the first plane guardrail is located is parallel to the plane where the fixed guardrail is located. The fixed guardrail and the movable guardrail are located on the same side of the upper frame, and a limiting cavity is formed between the fixed guardrail and the movable guardrail to clamp several container boxes. The second planar guardrail includes several bottom support strips arranged with gaps between them, and the length direction of the bottom support strips is perpendicular to the plane where the first planar guardrail is located.

2. The automated palletizing equipment compatible with multiple box types according to claim 1, characterized in that: The fixed guardrail includes a first vertical bar and a first horizontal bar that are fixed perpendicularly to each other; The first planar guardrail includes a second vertical bar and a second horizontal bar that are fixed perpendicularly to each other; The first vertical bar and the second vertical bar are arranged parallel to each other, and the first horizontal bar and the second horizontal bar are arranged parallel to each other; The second horizontal bar is located at the junction of the first planar guardrail and the second planar guardrail.

3. The automated palletizing equipment compatible with multiple box types according to claim 1, characterized in that: Several bottom support strips are fixed vertically to the second horizontal bar at the same end, and the thickness direction of the bottom support strips is parallel to the through direction of the limiting cavity.

4. The automated palletizing equipment compatible with multiple box types according to claim 1, characterized in that: The end of the bottom support strip that is fixed to the first planar guardrail has an inner rounded corner, and the end of the bottom support strip that is away from the first planar guardrail has a chamfer. The inner rounded corner and the chamfer are located on the same side of the bottom support strip, and the width of the bottom support strip at the location of the inner rounded corner is greater than the width of the bottom support strip at the location of the chamfer.

5. The automated palletizing equipment compatible with multiple box types according to claim 1, characterized in that: The upper frame is fixed with a horizontal linear drive cylinder, the output rod of the horizontal linear drive cylinder is fixed to the first planar guardrail, and the horizontal linear drive cylinder drives the movable guardrail to move closer to or away from the fixed guardrail. The movable guardrail is assembled with the upper frame via a guide rail slider mechanism.

6. The automated palletizing equipment compatible with multiple box types according to claim 5, characterized in that: The guide rail slider mechanism includes a linear guide rail and sliders. Each linear guide rail is movably equipped with several sliders. The movable guardrail is fixed to the sliders by rib plates. All sliders of the same linear guide rail are fixed to the same rib plate.

7. The automated palletizing equipment compatible with multiple box types according to claim 1, characterized in that: The upper frame includes several profiles that are fixed perpendicularly to each other. The upper frame includes a fixing plate that is fixed to the profiles. The fixing plate is fixed with a flange that can be fixed to the end of the robotic arm.

8. The automated palletizing equipment compatible with multiple box types according to claim 1, characterized in that: The upper frame is equipped with a lower pressure plate, which has a linear reciprocating degree of freedom along a plane perpendicular to the upper frame.

9. The automated palletizing equipment compatible with multiple box types according to claim 8, characterized in that: The upper frame is fixed with a vertical linear drive cylinder, which drives the lower pressure plate to reciprocate linearly. The length direction of the lower pressure plate is parallel to the through direction of the limiting cavity.

10. The automated palletizing equipment compatible with multiple box types according to claim 8, characterized in that: The fixed guardrail is located between the lower pressure plate and the movable guardrail.

Images