An automatic cartoning mechanism with adaptive paperboard height

Abstract

This utility model discloses an automatic box-packing mechanism that adapts to the height of cardboard, relating to the field of automatic box-packing equipment. It includes a cardboard conveyor for transporting cartons, with a cardboard conveying mechanism mounted above it for transporting stacks of cardboard. A box-packing robotic arm is used to clamp and transfer the stacks of cardboard conveyed by the cardboard conveying mechanism into the cartons conveyed by the box-packing mechanism. A conveyor belt is rotatably mounted on the cardboard conveying mechanism, and partitions are evenly spaced on the conveyor belt, forming a conveying space between adjacent partitions. This utility model achieves real-time transmission of height information by incorporating a laser distance detection mechanism. Personnel loading cardboard no longer need to check the number of cards; as long as they are within the height range, they can grasp them. Adding or removing cardboard midway through loading does not affect the operation of the box-packing robotic arm.

Description

Technical Field

[0001] This utility model relates to the field of automatic packing equipment technology, and in particular to an automatic packing mechanism that adapts to the height of cardboard. Background Technology

[0002] The automated cardboard packing process uses a packing robot arm to automatically clamp and pack cardboard into cartons. Each stack of cardboard contains a fixed number of 50 sheets. Current technology calculates the offset by multiplying the robot's count by the cardboard thickness. For example, if the cardboard thickness is 3mm, the robot will shift the position of the next cardboard pick-up by 3mm after each sheet is removed. Cardboard at the robot's pick-up position cannot be removed or added by humans because the robot's pick-up position is fixed each time; otherwise, it will cause a collision.

[0003] Furthermore, operators need to check the quantity. If the quantity is incorrect, it will lead to abnormal placement, missing cardboard in the box, or cardboard remaining after the robot has picked up 50 sheets. In this case, the movement of the cardboard conveyor belt will cause the cardboard sensor to malfunction, and the cardboard behind will not reach the designated position, resulting in a chain reaction where the robot cannot pick up the cardboard. Checking the cardboard quantity requires a high degree of care from the operators, and the corresponding labor intensity will also increase.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0005] The purpose of this invention is to provide an automatic packing mechanism that adapts to the height of cardboard, enabling real-time transmission of height information. Personnel loading cardboard no longer need to check the number of cardboard sheets; as long as they are within the height range, they can grab the cardboard. Adding or removing cardboard midway through the process no longer affects the operation of the packing robot arm.

[0006] To achieve the above objectives, this utility model provides an automatic packing mechanism that adapts to the height of cardboard, including a cardboard conveyor for conveying cardboard boxes, and a cardboard conveying mechanism mounted above the cardboard conveyor for conveying stacks of cardboard. The cardboard stack consists of multiple stacks of cardboard. Both the cardboard conveyor and the cardboard conveying mechanism are belt conveyors. The length of the cardboard conveying mechanism is shorter than that of the cardboard conveyor. By mounting the cardboard conveying mechanism on the cardboard conveyor, the movement path of the packing robot arm for packing operations can be reduced, thereby improving packing efficiency.

[0007] A packing robot arm is used to clamp and transfer stacks of cardboard conveyed on a cardboard conveying mechanism into cartons conveyed on a carton conveying mechanism. The packing robot arm is an existing automatic packing robot arm device, such as a SCARA robot arm.

[0008] The cardboard conveying mechanism is equipped with a conveyor belt that rotates on the conveyor belt, and partitions are evenly spaced on the conveyor belt, forming a conveying space between two adjacent partitions. By forming a conveying space on the conveyor belt through multiple partitions, the cardboard stacks are placed separately, which makes it easier for the packing robot arm to grip and pack them. At the same time, the partitions can support the cardboard stacks during transport to prevent them from tipping over.

[0009] A laser distance detection mechanism is installed at the outlet end of the cardboard conveying mechanism. This mechanism detects the height of the cardboard stack and acquires the height data via Modbus RTU communication. The data is then transmitted to the packing robot arm via Modbus TCP communication. The packing robot arm performs calculations and references to move and pick up the cardboard. By setting up the laser distance detection mechanism, real-time transmission of height information is achieved. Personnel loading the cardboard no longer need to check the number of cardboard sheets; as long as they are within the height range, they can pick them up. Adding or removing cardboard sheets midway does not affect the operation of the packing robot arm. Linkage adjustment components are installed on the conveyor belt within each conveying space. When the conveyor belt transports the cardboard stack to the outlet end of the cardboard conveying mechanism, the laser distance detection mechanism automatically collects the cardboard height information and transmits it to the controller of the packing robot arm. The linkage adjustment components then drive the laser distance detection mechanism to deflect and avoid obstacles. Furthermore, since the laser distance detection mechanism needs to vertically measure the height information of the cardboard stack from above, it ends up located in the area above the cardboard stack after measurement, affecting the packing operation of the packing robot arm. By setting up a linkage adjustment component, after the laser distance detection mechanism has collected the height information of the cardboard stack, the linkage adjustment component drives the laser distance detection mechanism to deflect and avoid it, so that the laser distance detection mechanism deflects and avoids the space above the cardboard stack, making it easier for the packing robot arm to operate, improving work efficiency, and preventing the packing robot arm from accidentally colliding with the laser distance detection mechanism and causing damage.

[0010] In one embodiment of this utility model, the laser distance detection mechanism includes an L-shaped mounting frame and an adjusting toothed disc. The bottom of the vertical section of the L-shaped mounting frame is rotatably connected to the outside of the cardboard conveying mechanism. A laser distance sensor is installed at the top of the horizontal section of the L-shaped mounting frame. That is, the L-shaped mounting frame can be rotated and adjusted through the bottom of its vertical section. When the L-shaped mounting frame is rotated to a vertical state, the laser distance sensor is located directly above the currently detected stack of cardboard. When the L-shaped mounting frame is rotated to an inclined state, the L-shaped mounting frame avoids the space above the currently detected stack of cardboard. The adjusting toothed disc is rotatably connected to the inside of the cardboard conveying mechanism, and the adjusting toothed disc is connected to the bottom of the vertical section of the L-shaped mounting frame through a connecting shaft.

[0011] In one embodiment of this utility model, the linkage adjustment component includes a blank section and a rack section disposed on one side of the conveyor belt at each conveying space. Along the conveying direction of the conveyor belt, the blank section is located in front of the rack section. When the conveyor belt conveys the cardboard stack to the outlet end of the cardboard conveying mechanism, it corresponds to the blank section and the adjusting rack. At this time, the laser distance sensor on the laser distance detection mechanism is located directly above the currently detected cardboard stack and collects the height information of the cardboard stack. The conveyor belt continues to convey the cardboard stack, and then enters the rack section. The rack section meshes with the adjusting rack to drive the adjusting rack to rotate. When the adjusting rack drives the L-shaped mounting bracket to rotate into an inclined state through the connecting shaft, the L-shaped mounting bracket avoids the space above the currently detected cardboard stack.

[0012] In one embodiment of this utility model, the bottom end of the L-shaped mounting bracket is connected to an automatic reset mechanism, which is used to drive the L-shaped mounting bracket to automatically reset to a vertical state.

[0013] In one embodiment of this utility model, the automatic reset mechanism includes a connecting frame fixedly connected to the bottom end of the L-shaped mounting frame, and a fixed seat is connected to one side of the connecting frame via a tension spring. The fixed seat is fixed to the outside of the cardboard conveying mechanism. When a stack of cardboard is packed into a box by the cardboard conveying mechanism, and the conveyor belt on the cardboard conveying mechanism continues to convey the stack of cardboard, the tension spring, in conjunction with the connecting frame, drives the L-shaped mounting frame to rotate and reset to a vertical state.

[0014] In one embodiment of this utility model, a photoelectric sensor is embedded in the side wall of the outlet end of the cardboard conveying mechanism, and the output end of the photoelectric sensor is electrically connected to the controller of the cardboard conveying mechanism. The photoelectric sensor is responsible for sensing the stack of cardboard. When the stack of cardboard is conveyed forward by the conveyor belt, it blocks the photoelectric sensor, and the photoelectric sensor transmits a signal to the controller of the cardboard conveying mechanism. At this time, the controller controls the cardboard conveying mechanism to stop.

[0015] Compared with the prior art, the automatic packing mechanism for adaptive cardboard height according to this utility model realizes the real-time transmission of height information by setting up a laser distance detection mechanism. The personnel loading the cardboard no longer need to check how many cardboards there are, as long as they are within the height range, the grabbing can be realized. Adding and removing cardboard in the middle will no longer affect the operation of the packing robot arm.

[0016] By setting up a linkage adjustment component, after the laser distance detection mechanism has collected the height information of the cardboard stack, the linkage adjustment component drives the laser distance detection mechanism to deflect and avoid it, so that the laser distance detection mechanism deflects and avoids the space above the cardboard stack, which facilitates the operation of the packing robot arm, improves work efficiency, and prevents the packing robot arm from accidentally colliding with the laser distance detection mechanism and causing damage. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an automatic packing mechanism that adapts to the height of cardboard according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the installation of a laser distance detection mechanism in an automatic packing mechanism for adaptive cardboard height according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a cardboard conveying mechanism in an automatic packing mechanism for adaptive cardboard height according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of a laser distance detection mechanism in an automatic packing mechanism for adaptive cardboard height according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the automatic reset mechanism in an automatic packing mechanism for adaptive cardboard height according to an embodiment of the present invention.

[0022] Reference numerals: 1. Carton conveyor; 2. Cardboard conveying mechanism; 3. Conveyor belt; 31. Partition; 32. Linkage adjustment assembly; 33. Blank section; 34. Rack section; 4. Photoelectric sensor; 5. Laser distance detection mechanism; 51. Connecting shaft; 52. L-shaped mounting bracket; 53. Laser distance sensor; 54. Adjusting gear plate; 55. Connecting frame; 56. Tension spring; 57. Fixed base; 6. Packing robot arm. Detailed Implementation

[0023] The following is in conjunction with the appendix Figure 1 - Appendix Figure 5 The specific embodiments of this utility model are described in detail below, but it should be understood that the scope of protection of this utility model is not limited to the specific embodiments.

[0024] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0025] like Figure 1As shown, an automatic packing mechanism with adaptive cardboard height according to a preferred embodiment of the present invention includes: a cardboard conveyor 1 for conveying cardboard boxes, and a cardboard conveying mechanism 2 mounted above the cardboard conveyor 1 for conveying cardboard stacks; the cardboard stacks are composed of multiple cardboard stacks, wherein both the cardboard conveying mechanism 1 and the cardboard conveying mechanism 2 are belt conveyors, and the length of the cardboard conveying mechanism 2 is less than that of the cardboard conveying mechanism 1. By mounting the cardboard conveying mechanism 2 on the cardboard conveying mechanism 1, the movement path of the packing robot arm 6 for packing operations can be reduced, thereby improving packing efficiency;

[0026] The packing robot arm 6 is used to clamp and transfer the stack of cardboard conveyed on the cardboard conveying mechanism 2 into the carton conveyed on the carton conveying mechanism 1. The packing robot arm 6 is an automatic packing robot arm device in the prior art, such as a SCARA robot arm.

[0027] The cardboard conveying mechanism 2 is rotatably equipped with a conveyor belt 3, and partitions 31 are evenly spaced on the conveyor belt 3, forming a conveying space between two adjacent partitions 31. By forming a conveying space on the conveyor belt 3 through multiple partitions 31, the cardboard stacks are placed separately, which makes it easier for the packing robot arm 6 to clamp and pack them. At the same time, the partitions 31 can support the cardboard stacks during conveying, preventing them from tipping over.

[0028] A laser distance detection mechanism 5 is installed at the outlet end of the cardboard conveying mechanism 2. The laser distance detection mechanism 5 is used to detect the height of the cardboard stack and obtain the cardboard height data through Modbus RTU communication. Then, it transmits the data to the packing robot arm 6 through Modbus TCP communication. The packing robot arm 6 moves and picks up the cardboard by calculation and reference. By setting up the laser distance detection mechanism 5, the height information is transmitted in real time. The cardboard loading personnel no longer need to check how many cardboards there are. As long as they are within the height range, they can pick them up. Adding and removing cardboard in the middle will not affect the operation of the packing robot arm 6. The conveyor belt 3 is equipped with a linkage adjustment component 32 located inside each conveying space. When the conveyor belt 3 conveys the cardboard stack to the outlet end of the cardboard conveying mechanism 2, the laser distance detection mechanism 5 automatically collects the cardboard height information and transmits it to the controller of the packing robot arm 6. The linkage adjustment component 32 drives the laser distance detection mechanism 5 to deflect and avoid the cardboard stack. Furthermore, since the laser distance detection mechanism 5 needs to vertically measure and collect the height information of the cardboard stack from above, it is located in the area above the cardboard stack after measurement, which affects the packing operation of the packing robot arm 6. By setting the linkage adjustment component 32, after the laser distance detection mechanism 5 has collected the height information of the cardboard stack, the linkage adjustment component 32 drives the laser distance detection mechanism 5 to deflect and avoid it, so that the laser distance detection mechanism 5 deflects and avoids the space above the cardboard stack, which facilitates the operation of the packing robot arm 6, improves work efficiency, and prevents the packing robot arm 6 from accidentally colliding with the laser distance detection mechanism 5 and causing it to be damaged.

[0029] Specifically, such as Figure 2-4 As shown, in this embodiment, the laser distance detection mechanism 5 includes an L-shaped mounting frame 52 and an adjusting toothed disc 54. The bottom of the vertical section of the L-shaped mounting frame 52 is rotatably connected to the outside of the cardboard conveying mechanism 2. A laser distance sensor 53 is installed at the top of the horizontal section of the L-shaped mounting frame 52. That is, the L-shaped mounting frame 52 can be rotated and adjusted through the bottom of its vertical section. When the L-shaped mounting frame 52 is rotated to a vertical state, the laser distance sensor 53 is located directly above the currently detected cardboard stack. When the L-shaped mounting frame 52 is rotated to an inclined state, the L-shaped mounting frame 52 avoids the space above the currently detected cardboard stack. The adjusting toothed disc 54 is rotatably connected to the inside of the cardboard conveying mechanism 2, and the adjusting toothed disc 54 is connected to the bottom of the vertical section of the L-shaped mounting frame 52 through a connecting shaft 51.

[0030] The linkage adjustment component 32 includes a blank section 33 and a rack section 34 located on one side of each conveying space of the conveyor belt 3. Along the conveying direction of the conveyor belt 3, the blank section is located in front of the rack section 34. When the conveyor belt 3 conveys the cardboard stack to the outlet end of the cardboard conveying mechanism 2, it corresponds to the blank section and the adjusting rack 54. At this time, the laser distance sensor 53 on the laser distance detection mechanism 5 is located directly above the currently detected cardboard stack and collects the height information of the cardboard stack. When the conveyor belt 3 continues to convey the cardboard stack, it enters the rack section 34. The rack section 34 meshes with the adjusting rack 54 to drive the adjusting rack 54 to rotate. When the adjusting rack 54 drives the L-shaped mounting bracket 52 to rotate into an inclined state through the connecting shaft 51, the L-shaped mounting bracket 52 avoids the space above the currently detected cardboard stack.

[0031] Specifically, such as Figure 5 As shown, in this embodiment, the bottom end of the L-shaped mounting bracket 52 is connected to an automatic reset mechanism, which drives the L-shaped mounting bracket 52 to automatically reset to a vertical state. The automatic reset mechanism includes a connecting frame 55 fixedly connected to the bottom end of the L-shaped mounting bracket 52, and a fixing seat 57 is connected to one side of the connecting frame 55 via a tension spring 56. The fixing seat 57 is fixed to the outside of the cardboard conveying mechanism 2. When a stack of cardboard is packed into a box by the cardboard conveying mechanism 2, and the conveyor belt 3 on the cardboard conveying mechanism 2 continues to convey the stack of cardboard, the tension spring 56, in conjunction with the connecting frame 55, drives the L-shaped mounting bracket 52 to rotate and reset to a vertical state.

[0032] Specifically, such as Figure 1 As shown, in this embodiment, a photoelectric sensor 4 is embedded in the side wall of the outlet end of the cardboard conveying mechanism 2, and the output end of the photoelectric sensor 4 is electrically connected to the controller of the cardboard conveying mechanism 2. The photoelectric sensor 4 is responsible for sensing the cardboard stack. When the cardboard stack is conveyed forward by the conveyor belt 3, it blocks the photoelectric sensor 4, and the photoelectric sensor 4 transmits the signal to the controller of the cardboard conveying mechanism 2. At this time, the controller controls the cardboard conveying mechanism 2 to stop.

[0033] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the present invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the present invention, as well as various different choices and variations. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. An automatic case packing mechanism that adapts to the height of the paperboard, characterized by, It includes: A carton conveyor (1) for conveying cartons, wherein a cardboard conveying mechanism (2) is mounted above the carton conveyor (1) and the cardboard conveying mechanism (2) is used to convey stacks of cardboard. Packing robot arm (6) is used to clamp and transfer the cardboard stacks conveyed on the cardboard conveying mechanism (2) into the carton conveying mechanism (1); The cardboard conveying mechanism (2) is rotatably provided with a conveyor belt (3), and partitions (31) are provided at equal intervals on the conveyor belt (3), forming a conveying space between two adjacent partitions (31); The cardboard conveying mechanism (2) is equipped with a laser distance detection mechanism (5) at its outlet end. The conveyor belt (3) is equipped with a linkage adjustment component (32) located inside each conveying space. When the conveyor belt (3) conveys the cardboard stack to the outlet end of the cardboard conveying mechanism (2), the laser distance detection mechanism (5) automatically collects the cardboard height information and transmits it to the controller of the packing robot arm (6), and drives the laser distance detection mechanism (5) to deflect and avoid obstacles through the linkage adjustment component (32).

2. An automatic case packing mechanism that self-adapts to the height of the paperboard according to claim 1, characterized in that, The laser distance detection mechanism (5) includes an L-shaped mounting bracket (52) and an adjusting toothed disc (54). The bottom of the vertical section of the L-shaped mounting bracket (52) is rotatably connected to the outside of the cardboard conveying mechanism (2). A laser distance sensor (53) is installed at the top of the horizontal section of the L-shaped mounting bracket (52). The adjusting toothed disc (54) is rotatably connected to the inside of the cardboard conveying mechanism (2), and the adjusting toothed disc (54) is connected to the bottom of the vertical section of the L-shaped mounting bracket (52) through a connecting shaft (51).

3. An automatic case packing mechanism that self-adapts to the height of the paperboard according to claim 2, characterized in that, The linkage adjustment component (32) includes a blank section (33) and a rack section (34) located on one side of each conveying space of the conveyor belt (3). Along the conveying direction of the conveyor belt (3), the blank section is located in front of the rack section (34).

4. An automatic case packing mechanism that self-adapts to the height of the paperboard according to claim 2, characterized in that, The bottom end of the L-shaped mounting bracket (52) is connected to an automatic reset mechanism, which is used to drive the L-shaped mounting bracket (52) to automatically reset to a vertical state.

5. An automatic case packing mechanism that self-adapts to the height of the paperboard according to claim 4, characterized in that, The automatic reset mechanism includes a connecting frame (55) fixedly connected to the bottom of the L-shaped mounting bracket (52), and a fixed seat (57) is connected to one side of the connecting frame (55) by a tension spring (56). The fixed seat (57) is fixed to the outside of the cardboard conveying mechanism (2).

6. An automatic case packing mechanism that self-adapts to the height of the paperboard according to claim 1, characterized in that, A photoelectric sensor (4) is embedded in the side wall of the outlet end of the cardboard conveying mechanism (2), and the output end of the photoelectric sensor (4) is electrically connected to the controller of the cardboard conveying mechanism (2).

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