Television box palletizing method

Abstract

Disclosed in the present invention is a television box palletizing method. In the present invention, a plurality of boxes form box units, four box units form one layer, and the box units in each layer are arranged perpendicular to each other so as to form a square ring-shaped structure, thus maximizing the extent to which the area of a pallet is used, and so allowing for the stacking of as many boxes as possible on one pallet, and the arrangement of the square ring-shaped structures of the box units is realized by means of a specifically configured grabbing mechanism and grabbing steps. The grabbing mechanism comprises a grabbing frame, wherein the grabbing frame is provided with a supporting plate, a clamping plate I and a clamping plate II, a side frame I and a side frame II, an opening and closing driving mechanism for driving the side frame I and the side frame II to open and close, and a telescopic driving unit for driving the supporting plate to extend and retract. The clamping plate I, the supporting plate and the telescopic driving unit are arranged on the side frame I, and the clamping plate II is arranged on the side frame II.

Description

A method for palletizing TV boxes ,

[0008] ,

[0007] , Technical field

[0001] The present invention relates to a palletizing method, in particular to a method for palletizing TV boxes. Background technology

[0002] For convenient transportation, after the TV is packed in a carton, it is grabbed onto a palletizing pallet by a manipulator after being conveyed from the production line to the transfer point. After being stacked neatly on the palletizing pallet, it is lifted by a forklift and loaded into a container.

[0003] However, the utilization rate of the palletizing pallet for the ordinary stacking structure is not high, and there is a layer of plastic packaging film outside the TV box. Therefore, using an ordinary suction cup structure for grabbing will cause the plastic packaging film to break. Thus, the applicant has designed a method for palletizing TV boxes, which not only improves the utilization rate of the palletizing pallet but also enables the grabbing of cartons. Technical solution

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a method for palletizing TV boxes.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0006] A method for palletizing TV boxes, including boxes, a palletizing pallet and a grabbing manipulator. The boxes are stacked into a box stack on the palletizing pallet. It is characterized in that: the box stack consists of several layers, each layer includes four groups of box units composed of several boxes. The box unit includes an inner end face, an outer end face and a bottom face. The box units are arranged perpendicular to each other and form a "hui" - shaped structure. The grabbing manipulator is connected with a grabbing mechanism. The grabbing mechanism includes a grabbing frame. On the grabbing frame, there are a support plate, a clamping plate one and a clamping plate two, a side frame one and a side frame two, an opening - and - closing driving mechanism for driving the side frame one and the side frame two to open and close, and a telescopic driving unit for driving the support plate to extend and retract. The clamping plate one, the support plate and the telescopic driving unit are arranged on the side frame one, and the clamping plate two is arranged on the side frame two. The grabbing steps are as follows:

[0007] S1: The manipulator drives the grabbing frame to move above the box unit and descend to the grabbing position. The opening - and - closing driving mechanism drives the clamping plate one and the clamping plate two to close. The clamping plate one contacts the outer end face of the box unit and the support plate simultaneously extends to support the bottom face of the box unit. The clamping plate two contacts the upper region of the inner end face of the box unit to achieve clamping. <00000?18>

[0008] S2: The manipulator drives the grabbing frame to move above the corresponding placement area on the palletizing pallet and descend to the safe height of this layer. The telescopic driving unit drives the support plate to retract, and then the opening - and - closing driving mechanism drives the clamping plate one and the clamping plate two to open, and the box unit can fall onto the corresponding area.

[0009] S3: Repeat the steps of S1 and S2 to complete the stacking of the "square frame" structure of this layer.

[0010] S4: Repeat the steps of S1 and S2 to complete the stacking of the next layer until the box stack is formed.

[0011] The box unit includes four such boxes. The four boxes are arranged side by side vertically, and the end faces of the boxes are flush.

[0012] The opening and closing drive mechanism includes an opening and closing motor, an opening and closing screw rod connected to the opening and closing motor, and two opening and closing nuts cooperating with the opening and closing screw rod. The first side frame and the second side frame are connected to the opening and closing nuts through corresponding connecting plates.

[0013] A hanging rod and a driving unit are provided on the second clamping plate. A hook plate is provided at the bottom end of the hanging rod, and the hanging rod is lifted and lowered by the driving of the driving unit.

[0014] A positioning block is provided on the hanging rod, and a limiting block capable of abutting against the positioning block is provided on the second clamping plate.

[0015] The driving unit is a cylinder. The end of the driving unit is hinged to the second clamping plate, and the piston end of the driving unit is hinged to the hanging rod.

[0016] A positioning plate is provided on the first side frame. The first clamping plate is located above the first side frame, and the positioning plate is located below the first side frame. Beneficial effects

[0017] In the present invention, several boxes are combined into a box unit, and four groups of box units form a layer. The box units of each layer are arranged perpendicular to each other and form a "square frame" structure, thereby maximizing the utilization of the area of the pallet, realizing stacking as many boxes as possible on one pallet, and achieving the arrangement of the "square frame" structure of the box unit through the specifically set grasping mechanism and grasping steps. Description of the drawings

[0018] The present invention will be further described below with reference to the drawings and embodiments.

[0019] FIG. 1 is a structural view of the grasping mechanism of the present invention.

[0020] FIG. 2 is a structural view of the grasping mechanism of the present invention in another direction.

[0021] FIG. 3 is a structural view of grasping the box unit.

[0022] FIG. 4 is a structural view of grasping the second box unit.

[0023] FIG. 5 is a structural view of grasping the third box unit.

[0024] Figure 6 is a structural view of the fourth box unit being grasped.

[0025] Figure 7 is a structural view of the gripping robot. The best embodiment of the present invention

[0026] The advantages and features of this disclosure, as well as its implementation methods, will be illustrated by the following embodiments described with reference to the accompanying drawings. However, this disclosure may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be comprehensive and complete, and will fully convey the scope of this disclosure to those skilled in the art. Furthermore, this disclosure is limited only by the scope of the claims.

[0027] The shapes, dimensions, scales, angles, and numbers disclosed in the accompanying drawings used to describe embodiments of this disclosure are merely examples, and therefore this disclosure is not limited to the details shown. Throughout this specification, the same reference numerals refer to the same elements. In the following description, detailed descriptions of relevant known functions or configurations will be omitted where it is determined that such detailed descriptions would unnecessarily obscure the focus of this disclosure. Where the terms “comprising,” “having,” and “including” are used in this specification, additional components may be added unless “only” is used. Unless otherwise indicated, singular terms may include plural forms.

[0028] When interpreting components, even if not explicitly described, the components are understood to include a range of tolerances.

[0029] When describing positional relationships, such as "on," "above," "below," and "adjacent to," one or more parts may be arranged between two other parts unless "immediately following" or "directly" is used.

[0030] When describing temporal relationships, such as when time sequence is described as “after,” “following,” “next,” and “before,” discontinuous cases may be included unless “exactly” or “directly” is used.

[0031] It should be understood that although the terms “first,” “second,” etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from other elements. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element, without departing from the scope of this disclosure.

[0032] As can be fully understood by those skilled in the art, the features of different embodiments of the present disclosure can be partially or fully coupled or combined with each other, and can cooperate with each other in various ways and be technically driven. The embodiments of the present disclosure can be executed independently of each other, or can be executed together in a mutually dependent relationship.

[0033] Referring to FIGS. 1 to 7, the present invention discloses a method for palletizing a TV box, including a box body 1, a palletizing pallet 2, and a gripping manipulator 3. The palletizing pallet 2 and the gripping manipulator 3 are both standard devices, so their specific structures will not be described in detail. The box bodies 1 are stacked into a box body stack on the palletizing pallet 2. The box body stack consists of several layers. Each layer includes four groups of box body units 8 composed of several box bodies 1. The box body unit 8 includes an inner end face 4, an outer end face 5, an inner side face 6, an outer side face 7, and a bottom face. In this application, the end faces and side faces adjacent to other box body units 8 are called the inner end face 4 and the inner side face 6; while the end faces and side faces facing the outside are called the outer end face 5 and the outer side face 7. The box body units 8 are arranged perpendicular to each other and are connected end to end to form a "square frame" structure. Specifically, the inner end face 4 of the box body unit 8 is adhered to the inner side face 6 of the adjacent box body unit 8; and the outer side face 7 of this box body unit 8 is flush with the outer end face 5 of the adjacent box body unit 8; and the inner end face 4 of another adjacent box body unit 8 is adhered to the inner side face 6 of this box body unit 8, and the outer side face of another adjacent box body unit 8 is flush with the outer end face 5 of this box body unit 8, thereby forming a neat "square frame" structure and realizing the maximum area utilization of the palletizing pallet 2.

[0034] As shown in the figure, the gripping manipulator 3 is connected to the gripping mechanism by screws. The gripping mechanism includes a gripping frame 9. A pallet 10, a first clamping plate 11, a second clamping plate 12, a first side frame 13, and a second side frame 14 are provided on the gripping frame 9. An opening and closing driving mechanism for driving the first side frame 13 and the second side frame 14 to open and close, and a telescopic driving unit 15 for driving the pallet 10 to extend and retract are provided. The first clamping plate 11, the pallet 10, and the telescopic driving unit 15 are arranged on the first side frame 13, and the second clamping plate 12 is arranged on the second side frame 14. The first clamping plate 11 is located above the pallet 10. The gripping steps are as follows:

[0035] S1: The manipulator drives the gripping frame 9 to move above the box body unit 8 and descend to the gripping position. The opening and closing driving mechanism drives the first clamping plate 11 and the second clamping plate 12 to close. The first clamping plate 11 contacts the outer end face 5 of the box body unit 8 and the pallet 10 simultaneously extends to support the bottom face of the box body unit 8; the second clamping plate 12 contacts the upper region of the inner end face 4 of the box body unit 8 to achieve clamping.

[0036] S2: The robotic arm moves the gripper 9 to the corresponding placement area above the pallet 2 and descends to the safe height of this layer. The telescopic drive unit 15 retracts the pallet 10, and then the opening and closing drive mechanism opens the clamping plates 11 and 12, allowing the box unit 8 to fall into the corresponding area.

[0037] S3: Repeat steps S1 and S2 in a clockwise or counterclockwise direction and at the predetermined placement position to grab the second box unit 8 and place it adjacent to the previous box unit 8. Then grab the third box unit 8 and place it adjacent to the second box unit 8. Finally, grab the fourth box unit 8 and place it adjacent to the third box unit 8 to complete the stacking of the "U" shaped structure in this layer.

[0038] S4: Repeat steps S1 and S2 to complete the stacking of the next layer until the box stack is formed.

[0039] Because the outer packaging film of the box 1 in this application is not available for suction cup gripping, a clamping method is required. However, to maximize the utilization efficiency of the pallet 2, the box 1 is assembled into box units 8, which are then arranged in a "U" shape. Since the "U" shape is a closed arrangement, the inner end face 4 of the last box unit 8 forming the "U" shape is in close contact with the inner side face 6 of the adjacent box unit 8, leaving no space for clamping. While there is space for clamping and operation if the box unit 8 is released from a higher position, releasing it too high and allowing it to fall freely could damage the products inside the box 1. Therefore, we designed a clamp 12 to clamp the box unit 8 on one side. The upper area of ​​the inner end face 4, while the outer end face 5 of the box unit 8 has a large space, can be clamped by clamping plate 11 with a support plate 10 below. Of course, in order to balance the clamping force, clamping plate 11 clamps the upper area of ​​the outer end face 5 of the box unit 8. When clamping the last box unit 8, we can lower the box unit 8 as much as possible until the lower edge of clamping plate 2 12 is flush with the top surface of the adjacent box unit 8. This position is the safe height for the box unit 8 to fall. Moreover, clamping plate 2 12 does not need to be inserted between the box units 8 and there is operating space. At this time, the telescopic drive unit 15 drives the support plate 10 to retract, and then the opening and closing drive mechanism drives clamping plate 11 and clamping plate 2 12 to open. The box unit 8 can then fall into the corresponding area with a low drop height. This ensures the safety of clamping as much as possible and also realizes the arrangement of the "U" shaped structure.

[0040] As shown in the figure, the preferred embodiment of this application is that the box unit 8 includes four boxes 1, which are arranged side by side with their end faces flat. The number of boxes 1 that make up the box unit 8 is determined by the size and shape of the pallet 2. Therefore, the above-mentioned number is only a preferred embodiment and does not constitute a limitation on this application.

[0041] As shown in the figure, the opening and closing drive mechanism includes an opening and closing motor 16, an opening and closing lead screw 17 connected to the opening and closing motor 16, and two opening and closing nuts 18 cooperating with the opening and closing lead screw 17. The first side frame 13 and the second side frame 14 are connected to the opening and closing nuts 18 through corresponding connecting plates 19. When the opening and closing motor 16 is started, the opening and closing nuts 18 are moved by the opening and closing lead screw 17, realizing the opening and closing of the first side frame 13 and the second side frame 14. Of course, the pallet 10 is set on the first side frame 13 through a linear guide rail assembly; while the first side frame 13 and the second side frame 14 are set on the gripping frame 9 through a linear guide rail assembly.

[0042] As shown in the figure, the clamping plate 12 is equipped with a hanging rod 20 and a drive unit 21. The bottom end of the hanging rod 20 is equipped with a hook plate 22. The hanging rod 20 is raised and lowered by the drive unit 21. Because this gripping mechanism sometimes needs to grip the pallet 2, after the drive unit 21 drives the hanging rod 20 to descend to the same height as the hook plate 22 and the support plate 10, the opening and closing drive mechanism is activated to close the hook plate 22 and the support plate 10. The hook plate 22 hooks one side of the bottom surface of the pallet 2, while the support plate 10 supports the other side of the bottom surface, thereby gripping the pallet 2. When not in use, the drive unit 21 drives the hanging rod 20 to rise and hide behind the clamping plate 12. Of course, the hanging rod 20 is set on the clamping plate 12 through a linear guide rail assembly.

[0043] As a further structural feature, since the pallet 2 is very heavy, a cylinder alone cannot safely support it. The hanging rod 20 is equipped with a positioning block 23, and the clamping plate 212 is equipped with a limiting block 24 that abuts against the positioning block 23. The limiting block 24 supports the positioning block 23, thus enabling the pallet 2 to be lifted.

[0044] Specifically, the drive unit 21 is a cylinder, the end of the drive unit 21 is hinged to the clamping plate 12, and the piston end of the drive unit 21 is hinged to the hanging rod 20 through a fisheye connector. The above structure is existing technology, so it will not be described in detail.

[0045] As shown in the figure, a positioning plate 25 is provided on the side frame 13. The clamping plate 11 is located above the side frame 13, and the positioning plate 25 is located below the side frame 13. When gripping the box unit 8 or the stacking pallet 2, the positioning plate 25 can block its side, which improves the safety of gripping and prevents the box unit 8 or the stacking pallet 2 from being tilted.

[0046] The above provides a detailed description of a television chassis stacking method provided by the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for stacking television cabinets, comprising cabinets, stacking pallets, and a gripping robot, wherein the cabinets are stacked on the stacking pallets to form a cabinet stack, characterized in that: The box stack is composed of several layers. Each layer includes four box units composed of several boxes. The box unit includes an inner end face, an outer end face and a bottom face. The box units are arranged perpendicular to each other and form a "hui" - shaped structure. The grasping manipulator is connected with a grasping mechanism. The grasping mechanism includes a grasping frame. On the grasping frame, there are a support plate, a clamping plate one and a clamping plate two, a side frame one and a side frame two, an opening - and - closing driving mechanism for driving the side frame one and the side frame two to open and close, and a telescopic driving unit for driving the support plate to extend and retract. The clamping plate one, the support plate and the telescopic driving unit are arranged on the side frame one, and the clamping plate two is arranged on the side frame two. The grasping steps are as follows: S1: The manipulator drives the grasping frame to move above the box unit and descend to the grasping position. The opening - and - closing driving mechanism drives the clamping plate one and the clamping plate two to close. The clamping plate one contacts the outer end face of the box unit and the support plate simultaneously extends to support the bottom face of the box unit. The clamping plate two contacts the upper area of the inner end face of the box unit to achieve clamping. S2: The manipulator drives the grasping frame to move to the corresponding placement area above the palletizing pallet and descend to the safe height of this layer. The telescopic driving unit drives the support plate to retract, and then the opening - and - closing driving mechanism drives the clamping plate one and the clamping plate two to open, and the box unit can fall onto the corresponding area. S3: Repeat the steps of S1 and S2 to complete the stacking of the "hui" - shaped structure of this layer. S4: Repeat the steps of S1 and S2 to complete the stacking of the next layer until the box stack is formed. On the clamping plate two, there are a hanging rod and a driving unit. At the bottom end of the hanging rod, there is a hook plate. The hanging rod is lifted and lowered by the driving of the driving unit. On the hanging rod, there is a positioning block, and on the clamping plate two, there is a limiting block that can abut against the positioning block. The driving unit is a cylinder. The end of the driving unit is hinged to the clamping plate two, and the piston end of the driving unit is hinged to the hanging rod.

2. The method for stacking television chassis according to claim 1, characterized in that: The box unit includes four boxes. The four boxes are arranged side - by - side upright, and the end faces of the boxes are flush.

3. The method for stacking television chassis according to claim 1, characterized in that: The opening - and - closing driving mechanism includes an opening - and - closing motor, an opening - and - closing screw rod connected to the opening - and - closing motor, and two opening - and - closing nuts cooperating with the opening - and - closing screw rod. The side frame one and the side frame two are connected to the opening - and - closing nuts through corresponding connecting plates.

4. The method for stacking television chassis according to claim 1, characterized in that: On the side frame one, there is a positioning plate. The clamping plate one is located above the side frame one, and the positioning plate is located below the side frame one.

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