A palletizing device and a warehousing system

Abstract

The embodiment of the application provides a turnover box stacking device and a warehousing system, which comprise a mounting seat. A plurality of clamping assemblies are arranged circumferentially on the mounting seat, and the plurality of clamping assemblies jointly clamp a plurality of turnover boxes of an entire layer. Compared with the prior art in which a mechanical hand can only grab one turnover box at a time, the turnover box transfer efficiency is greatly improved. In addition, each clamping assembly is provided with a position adjusting assembly, and the position adjusting assembly is used for adjusting the position of a lower turnover box. Before the plurality of clamping assemblies grab the turnover boxes of the entire layer and are placed, the position adjusting assembly can clamp the turnover box of the topmost layer, so that gaps between the turnover boxes are avoided, and it is ensured that the lower edge of the grabbed turnover boxes of the entire layer can be accurately placed in the turnover box of the top layer, and the stability of the turnover box stack is ensured.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics conveying equipment technology, and in particular to a turnover box palletizing device and warehousing system. Background Technology

[0002] Turnover boxes are components in a warehousing system used for the turnover and storage of goods.

[0003] In related technologies, such as Figure 1 As shown, five turnover boxes are stacked in a layer on a pallet. When goods are received, the designated goods are placed in the turnover boxes, and the conveyor line then transports the turnover boxes to the designated storage location, where a robotic arm stacks the turnover boxes onto the pallet in sequence.

[0004] To improve the efficiency of tote bag stacking, a robotic arm uses a stacking gripper to grab an entire layer of tote bags at a time and place them on a pallet. During stacking, the lower edge of the upper tote bag must be secured to the tote bag below it. However, when the tote bag stack is high, different parts of the stack tend to tilt outwards, creating gaps between some adjacent tote bags. This means that when the robotic arm places an entire layer of tote bags, it cannot ensure that all tote bags are secured to the tote bags below. Utility Model Content

[0005] This application provides a turnover box palletizing device and warehousing system for grabbing and palletizing entire layers of turnover boxes.

[0006] In a first aspect, embodiments of this application provide a palletizing device for turnover boxes, comprising:

[0007] Mounting base,

[0008] The mounting base is circumferentially arranged with multiple clamping components, which together clamp multiple turnover boxes on the entire layer.

[0009] Each clamping component is equipped with a position adjustment component, which is used to adjust the position of the lower turnover box so as to accurately place the entire layer of turnover boxes clamped by the multiple clamping components.

[0010] In one feasible implementation, the clamping assembly includes a clamping drive assembly, a clamping guide assembly, and a clamping part;

[0011] The clamping part is disposed on the mounting base via a clamping guide assembly. The clamping drive assembly connects the mounting base to the clamping part. The clamping drive assembly is used to drive the clamping part to move so as to selectively clamp the entire layer of turnover boxes.

[0012] In one feasible implementation, the position adjustment component includes an adjustment drive component and a position adjustment part, the position adjustment part being connected to the clamping part, and the adjustment drive component being disposed on the clamping part and connected to the position adjustment part.

[0013] The adjustment drive assembly selectively drives the position adjustment part to bypass the lower end of the clamping part and clamp it onto the topmost turnover box in the turnover box stack.

[0014] In one feasible implementation, the position adjustment component includes an adjustment drive component, a position adjustment part, a sliding component, and a position adjustment guide part;

[0015] The sliding component is disposed on the clamping part, the position adjustment guide is disposed on the clamping part, the position adjustment part is connected to the position adjustment guide, one end of the adjustment drive component is hinged to the clamping part, and the other end is hinged to the position adjustment part;

[0016] When the adjustment drive assembly drives the position adjustment part to move downward, the position adjustment part moves inward synchronously under the action of the position adjustment guide part, and finally clamps onto the topmost turnover box of the turnover box stack.

[0017] In one feasible implementation, the position adjustment part includes a position adjustment rod and a connecting rod;

[0018] The position adjustment rod is arranged along the length direction of the clamping part, and its two ends are fixedly connected to one end of the connecting rod. The other end of the connecting rod is hinged to the sliding assembly. A slider is provided in the middle of the connecting rod. The slider is connected to the slide groove in the position adjustment guide part. The driving end of the adjustment drive assembly is hinged to the position adjustment rod.

[0019] In one feasible implementation, the connecting rod is provided with a plurality of mating holes evenly distributed thereon, and the slider can be mated in the mating holes.

[0020] In one feasible implementation, the clamping part is configured as a clamping plate with a through hole. A photoelectric detection sensor is provided on the side of the clamping plate facing away from the turnover box. The photoelectric detection sensor detects whether the turnover box clamped by the clamping assembly has fallen off through the through hole.

[0021] In one feasible implementation, the clamping guide assembly is configured as a linear slide rail;

[0022] And / or, the sliding component is configured as a linear guide rail.

[0023] In one feasible implementation, the clamping drive assembly is configured as a cylinder, electric cylinder, hydraulic cylinder, or lead screw and nut linear drive assembly.

[0024] And / or, the adjustment drive assembly is configured as a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

[0025] Secondly, embodiments of this application provide a warehousing system, including a robotic arm, a turnover box conveyor line, a turnover box placement pallet, and a turnover box palletizing device as described in any of the first aspects;

[0026] The turnover box palletizing device is mounted on the robotic arm. The robotic arm uses the turnover box palletizing device to move multiple turnover boxes in an entire layer from the turnover box conveyor line to the turnover box placement tray.

[0027] Firstly, this application provides a turnover box palletizing device, including a mounting base. The mounting base is circumferentially arranged with multiple clamping components, which together clamp multiple turnover boxes in a single layer. Compared to existing robotic arms that can only grasp one turnover box at a time, this significantly improves the turnover box transfer efficiency. Furthermore, each clamping component is equipped with a position adjustment component, which is used to adjust the position of the lower layer of turnover boxes. Before the entire layer of turnover boxes grasped by the multiple clamping components is placed down, the position adjustment component can clamp the top layer of turnover boxes, preventing gaps between turnover boxes. This ensures that the lower edge of the grasped entire layer of turnover boxes can be accurately placed in the top layer of turnover boxes, guaranteeing the stability of the turnover box stack.

[0028] Secondly, embodiments of this application provide a warehousing system, including a robotic arm, a tote box conveyor line, a tote box placement pallet, and a tote box palletizing device as described in any of the first aspects. The tote box palletizing device is mounted on the robotic arm, which uses the tote box de-palletizing device to move multiple tote boxes in an entire layer from the tote box conveyor line to the tote box placement pallet. Since this warehousing system includes the tote box palletizing device in any of the above-described technical solutions, it possesses all the beneficial effects of the tote box palletizing device in any of the above-described technical solutions, which will not be elaborated further here. Attached Figure Description

[0029] The accompanying drawings, which are provided to further illustrate the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present application, and do not constitute an undue limitation of the present invention.

[0030] In the attached diagram:

[0031] Figure 1 This is a schematic diagram of the placement of turnover boxes in existing technology;

[0032] Figure 2This is a schematic diagram of the overall structure of a turnover box palletizing device provided in an embodiment of this application;

[0033] Figure 3 yes Figure 1 A schematic diagram of the turnover box palletizing device after removing the mounting base;

[0034] Figure 4 This is a first schematic diagram of the clamping assembly and the position adjustment assembly provided in one embodiment of this application after assembly;

[0035] Figure 5 yes Figure 4 The second schematic diagram shows the assembled clamping component and the position adjustment component.

[0036] Explanation of reference numerals in the attached figures:

[0037] a-Turning box;

[0038] 100 - Mounting base; 200 - Clamping assembly; 300 - Position adjustment assembly; 400 - Photoelectric detection sensor;

[0039] 210-Clamping drive assembly; 220-Clamping guide assembly; 230-Clamping part; 310-Adjustment drive assembly; 320-Position adjustment part; 330-Sliding assembly; 340-Position adjustment guide part;

[0040] 321 - Position adjustment rod; 322 - Connecting rod; 323 - Slider;

[0041] 3221 - Fitting hole. Detailed Implementation

[0042] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0043] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] Turnover boxes are components in a warehousing system used for the turnover and storage of goods.

[0047] In related technologies, such as Figure 1 As shown, five turnover boxes 'a' are stacked in a single layer on a pallet. When goods are received, the designated goods are placed in turnover boxes 'a', and the conveyor line then transports the turnover boxes 'a' to the designated storage location, where a robotic arm places these turnover boxes 'a' onto the pallet in sequence.

[0048] To improve the efficiency of tote bag stacking, a robotic arm uses a stacking gripper to grab an entire layer of tote bags at a time and place them on a pallet. During stacking, the lower edge of the upper tote bag must be secured to the tote bag below it. However, when the tote bag stack is high, different parts of the stack tend to tilt outwards, creating gaps between some adjacent tote bags. This means that when the robotic arm places an entire layer of tote bags, it cannot ensure that all tote bags are secured to the tote bags below.

[0049] To address the aforementioned problems, this application provides a turnover box palletizing device. The solution provided by this application will be described in detail below with reference to the accompanying drawings.

[0050] Figure 2 This is a schematic diagram of the overall structure of a turnover box palletizing device provided in an embodiment of this application; Figure 3 yes Figure 1 A schematic diagram of the turnover box palletizing device after removing the mounting base 100.

[0051] Reference Figure 2 and Figure 3 As shown in the figure, this application embodiment provides a turnover box palletizing device, including a mounting base 100. The mounting base 100 is circumferentially arranged with multiple clamping components 200, which together clamp multiple turnover boxes in a single layer. Compared to existing robotic arms that can only grasp one turnover box at a time, this greatly improves the turnover box transfer efficiency. In addition, each clamping component 200 is provided with a position adjustment component 300, which is used to adjust the position of the lower layer of turnover boxes. Before the entire layer of turnover boxes grasped by the multiple clamping components 200 is placed down, the position adjustment component 300 can clamp the top layer of turnover boxes in the stack, ensuring that adjacent turnover boxes are close together and preventing gaps between them. This ensures that the lower edge of the grasped entire layer of turnover boxes can be accurately placed in the top layer of turnover boxes, guaranteeing the stability of the turnover box stack.

[0052] Since the entire layer of turnover boxes is rectangular, the overall outline of the mounting base 100 is set to rectangular. Clamping components 200 are provided on all four sides of the mounting base 100. The four clamping components 200 can be closed together to clamp the four sides of the entire layer of turnover boxes, thereby enabling the gripping of the entire layer of turnover boxes. (Refer to...) Figure 2 and Figure 3 As shown, in some examples, the clamping assembly 200 includes a clamping drive assembly 210, a clamping guide assembly 220, and a clamping portion 230. The clamping guide assembly 220 is fixedly mounted on the mounting base 100 perpendicular to its side surface. The clamping portion 230 is connected to the clamping guide assembly 220, i.e., it is connected to the mounting base 100 via the clamping guide assembly 220. The clamping portion 230 can move along a direction perpendicular to the side surface of the mounting base 100 via the clamping guide assembly 220 to selectively clamp onto the side surface of the turnover box. The clamping drive assembly 210 connects the mounting base 100 and the clamping portion 230, and can drive the clamping portion 230 to move so as to clamp the turnover box.

[0053] For example, the clamping drive assembly 210 is fixedly mounted on the mounting base 100, and its movable part is connected to the clamping part 230. The clamping drive assembly 210 drives its movable part to move, thereby moving the clamping part 230. In other examples, the clamping drive assembly 210 is fixedly mounted on the clamping part 230, and its movable end is connected to the mounting base 100. During operation, the clamping drive assembly 210 drives the clamping part 230 to move relative to the mounting base 100.

[0054] Preferably, a clamping guide component 220 is provided on each side of the clamping drive component 210 to ensure that the clamping part 230 can move stably when the clamping drive component 210 drives the clamping part 230 to move.

[0055] For example, the clamping drive assembly 210 can be a cylinder, electric cylinder, or lead screw and nut drive assembly. It is understood that the clamping drive assembly 210 only needs to be a linear drive assembly; this is merely an example. The mounting base 100 can be a fixed mounting plate, with a component on its top for fixed connection with the robot arm. This connection component is prior art and will not be described in detail here. The clamping guide assembly 220 can be a linear guide rail or linear guide rod assembly, both of which are prior art and will not be described in detail here. The clamping guide assembly 220 can be configured as a linear slide rail.

[0056] The position adjustment assembly 300 includes an adjustment drive assembly 310 and a position adjustment part 320. The position adjustment part 320 is connected to the clamping part 230. The adjustment drive assembly 310 is disposed on the clamping part 230 and connected to the position adjustment part 320. The adjustment drive assembly 310 selectively drives the position adjustment part 320 to bypass the lower end of the clamping part 230 and clamp it onto the uppermost turnover box in the turnover box stack.

[0057] For example, in some examples, the adjustment drive assembly 310 is configured as a drive motor, and the position adjustment part 320 is configured as a linkage mechanism with an adjustment end, which is disposed on the clamping part 230. One end of the linkage mechanism opposite to the adjustment end is connected to the output end of the drive motor. When the turnover boxes are stacked, the drive motor rotates and drives the adjustment end to rotate through the linkage mechanism. The adjustment end passes around the lower end of the clamping part 230 and abuts against the turnover box, so that the turnover boxes in this layer are tightly pressed together, which facilitates the locking of the lower edge of the stacked turnover boxes into the turnover boxes in this layer.

[0058] Figure 4 This is a first schematic diagram of the clamping assembly 200 and the position adjustment assembly 300 after assembly according to an embodiment of this application; Figure 5 yes Figure 4 The second schematic diagram shows the assembled clamping component 200 and the position adjustment component 300.

[0059] Reference Figures 2 to 5As shown, in some other examples, the position adjustment assembly 300 includes an adjustment drive assembly 310, a position adjustment part 320, a sliding assembly 330, and a position adjustment guide part 340. The sliding assembly 330 is vertically fixed to the outer surface of the clamping part 230. A position adjustment guide part 340 is provided at each end of the clamping part 230, and both position adjustment guide parts 340 are vertically mounted on the surface of the clamping part 230. The position adjustment part 320 is connected to the position adjustment guide part 340 and is also connected to the sliding assembly 330, allowing it to move up and down via the sliding assembly 330. One end of the adjustment drive assembly 310 is hinged to the clamping part 230, and the other end is hinged to the position adjustment part 320. When the adjustment drive assembly 310 drives the position adjustment part 320 to move downwards, under the action of the position adjustment guide part 340, the position adjustment part 320 moves inwards synchronously, ultimately clamping onto the topmost turnover box in the turnover box stack.

[0060] For example, the position adjustment part 320 includes a position adjustment rod 321 and a connecting rod 322. The position adjustment rod 321 is arranged along the length direction of the clamping part 230, and its length is shorter than the length of the clamping part 230. Both ends of the rod 321 are fixedly connected to one end of the connecting rod 322, and the other end of the connecting rod 322 is hinged to the sliding assembly 330. A slider 323 is provided in the middle of the connecting rod 322, and the slider 323 is engaged with a groove in the position adjustment guide part 340. The driving end of the adjustment drive assembly 310 is hinged to the middle of the position adjustment rod 321, such as... Figure 3 and Figure 4 As shown, when the driving position adjusting rod 321 of the adjusting drive assembly 310 moves downward, under the limiting and guiding action of the position adjusting guide part 340, the position adjusting rod 321 moves inward and finally abuts against the side wall of the turnover box. It should be noted that the length direction of the clamping part 230 can be referenced... Figure 1 As shown in the x-direction. It is understood that the position adjustment rod 321 can also be set as other forms of adjustment components, such as position adjustment blocks, but the position adjustment rod 321 can contact the entire side of the turnover box, which is a line contact. Compared with point contact, it can smoothly push the turnover box and avoid the turnover box from tilting due to concentrated force.

[0061] like Figure 4 As shown, for example, the connecting rod 322 is provided with a plurality of mating holes 3221 evenly distributed, and the slider 323 can be selected to be mated to which mating hole 3221. By adjusting the position of the slider 323, the swing amplitude of the position adjusting rod 321 is adjusted, thereby making the position adjusting rod 321 adapt to turnover boxes of different sizes.

[0062] To ensure sufficient contact area between the clamping part 230 and the side of the turnover box and improve the clamping effect, the clamping part 230 can be configured as a clamping plate. For example, the inner surface of the clamping plate may also be provided with clamping blocks or anti-slip protrusions to prevent the turnover box from slipping when clamped.

[0063] like Figures 1 to 3 As shown, in some examples, the clamping plate has a through hole, and a photoelectric detection sensor 400 is provided on the side of the clamping plate facing away from the turnover box. The detection signal of the photoelectric detection sensor 400 can pass through the clamping plate through the through hole, thereby detecting whether the turnover box held by the clamping assembly 200 has fallen off. If the photoelectric detection sensor 400 detects that the turnover box has fallen off, the photoelectric detection sensor 400 sends a stop signal to the control system.

[0064] For example, the sliding component 330 can be configured as a linear guide rail. The adjustment drive component 310 is configured as a linear drive component such as a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

[0065] At the turnover box conveyor line, the clamping drive assembly 210 of the turnover box palletizing device drives the clamping part 230 to clamp the entire layer of turnover boxes. When the entire layer of turnover boxes is moved above the turnover box stack for stacking, the drive assembly 310 is adjusted and the position adjustment part 320 is driven to operate. The position adjustment part 320 clamps the entire layer of turnover boxes. Then, the clamping drive assembly 210 drives the clamping part 230 to move outward, accurately stacking the entire layer of turnover boxes on top of the turnover box stack.

[0066] Secondly, embodiments of this application provide a warehousing system, including a robotic arm, a tote box conveyor line, a tote box placement pallet, and a tote box palletizing device as described in any of the first aspects. The tote box palletizing device is mounted on the robotic arm, which uses the tote box de-palletizing device to move multiple tote boxes in an entire layer from the tote box conveyor line to the tote box placement pallet. Since this warehousing system includes the tote box palletizing device in any of the above-described technical solutions, it possesses all the beneficial effects of the tote box palletizing device in any of the above-described technical solutions, which will not be elaborated further here.

[0067] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0068] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A turnover box palletizing device, characterized in that, include: Mounting base (100), The mounting base (100) is circumferentially arranged with multiple clamping components (200), and the multiple clamping components (200) together clamp multiple turnover boxes on the entire layer; Each clamping component (200) is provided with a position adjustment component (300), which is used to adjust the position of the lower turnover box so as to accurately place the entire layer of turnover boxes clamped by the multiple clamping components (200).

2. The turnover box palletizing device according to claim 1, characterized in that, The clamping assembly (200) includes a clamping drive assembly (210), a clamping guide assembly (220), and a clamping part (230); The clamping part (230) is disposed on the mounting base (100) via the clamping guide assembly (220). The clamping drive assembly (210) connects the mounting base (100) to the clamping part (230). The clamping drive assembly (210) is used to drive the clamping part (230) to move so as to selectively clamp the entire layer of turnover boxes.

3. The turnover box palletizing device according to claim 2, characterized in that, The position adjustment assembly (300) includes an adjustment drive assembly (310) and a position adjustment part (320). The position adjustment part (320) is connected to the clamping part (230). The adjustment drive assembly (310) is disposed on the clamping part (230) and connected to the position adjustment part (320). The adjustment drive assembly (310) selectively drives the position adjustment part (320) to bypass the lower end of the clamping part (230) and clamp it on the topmost turnover box of the turnover box stack.

4. The turnover box palletizing device according to claim 3, characterized in that, The position adjustment assembly (300) includes an adjustment drive assembly (310), a position adjustment part (320), a sliding assembly (330), and a position adjustment guide part (340); The sliding component (330) is disposed on the clamping part (230), the position adjustment guide part (340) is disposed on the clamping part (230), the position adjustment part (320) is connected to the position adjustment guide part (340), one end of the adjustment drive component (310) is hinged to the clamping part (230), and the other end is hinged to the position adjustment part (320); When the adjustment drive assembly (310) drives the position adjustment part (320) to move downward, the position adjustment part (320) moves inward synchronously under the action of the position adjustment guide part (340), and finally clamps onto the topmost turnover box of the turnover box stack.

5. The turnover box palletizing device according to claim 4, characterized in that, The position adjustment part (320) includes a position adjustment rod (321) and a connecting rod (322); The position adjustment rod (321) is arranged along the length direction of the clamping part (230), and its two ends are fixedly connected to one end of the connecting rod (322). The other end of the connecting rod (322) is hinged to the sliding assembly (330). The middle part of the connecting rod (322) is provided with a slider (323). The slider (323) is connected to the groove in the position adjustment guide part (340). The driving end of the adjustment drive assembly (310) is hinged to the position adjustment rod (321).

6. The turnover box palletizing device according to claim 5, characterized in that, The connecting rod (322) is provided with a plurality of mating holes (3221) evenly distributed, and the slider (323) can be mated in the mating holes (3221).

7. The turnover box palletizing device according to claim 2, characterized in that, The clamping part (230) is configured as a clamping plate, the clamping plate is provided with a through hole, and a photoelectric detection sensor (400) is provided on the side of the clamping plate facing away from the turnover box. The photoelectric detection sensor (400) detects whether the turnover box clamped by the clamping assembly (200) has fallen off through the through hole.

8. The turnover box palletizing device according to claim 4, characterized in that, The clamping guide assembly (220) is configured as a linear slide rail; And / or, the sliding component (330) is configured as a linear slide rail.

9. The turnover box palletizing device according to claim 4, characterized in that, The clamping drive assembly (210) is configured as a cylinder, electric cylinder, hydraulic cylinder or lead screw and nut linear drive assembly; And / or, the adjustment drive assembly (310) is configured as a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

10. A warehousing system, characterized in that, Includes a robotic arm, a turnover box conveyor line, a turnover box placement pallet, and a turnover box palletizing device as described in any one of claims 1-9; The turnover box palletizing device is mounted on the robotic arm. The robotic arm uses the turnover box palletizing device to move multiple turnover boxes in an entire layer from the turnover box conveyor line to the turnover box placement tray.

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