CN112811200B

CN112811200B - Automatic carton stacking system

Info

Publication number: CN112811200B
Application number: CN202110154430.9A
Authority: CN
Inventors: 席林
Original assignee: Yinan Huaxing Packaging And Printing Co ltd
Current assignee: Yinan Huaxing Packaging And Printing Co ltd
Priority date: 2021-02-04
Filing date: 2021-02-04
Publication date: 2025-05-27
Anticipated expiration: 2041-02-04
Also published as: CN112811200A

Abstract

The present application relates to an automatic carton stacking system, which includes a carton conveying device, a pallet conveying device, a carton handling device and a PLC controller. The PLC controller controls the operation of the automatic carton stacking system. The pallet conveying device is located below the carton conveying device. The carton handling device carries the carton on the carton conveying device to the pallet on the pallet conveying device. The carton conveying device includes a first transport component and a carton shaping component. The first transport component transports the carton, and the carton shaping component can be used to adjust the position of the carton. The pallet conveying device includes a storage rack, a feeding component and a second transport component. The storage rack is located above one end of the second transport component. The pallet is stored on the storage rack. The feeding component releases the pallet to the second transport component. The second transport component transports the pallet to the loading position. The carton handling device carries and stacks the carton. The present application has the advantages of improving the space utilization rate in the carton stacking process and saving production costs.

Description

Automatic stacking system for cartons

Technical Field

The application relates to the technical field of carton stacking, in particular to an automatic carton stacking system.

Background

At present, after carton packaging is completed, in order to reduce the workload of workers and to submit work efficiency, the packaged cartons are often placed on a tray to be stacked by using a production line, and after stacking is completed, the trays are inserted and taken to a designated position through a forklift, such as a factory warehouse and a loading area.

The carton stacking assembly line comprises a carton conveying line for packaging cartons, a carton carrying device and a tray conveying line. And generally, the carton conveying line is arranged side by side or opposite to the tray conveying line, after stacking a plurality of cartons at the tail part of the carton conveying line, a plurality of cartons are taken and placed once through the carton carrying device, the cartons are placed on one layer of the tray, and after stacking multiple layers on the tray, the cartons are inserted into a designated area through a forklift.

Therefore, the carton stacking assembly line causes a large amount of space occupying the factory building, and the production cost is greatly increased due to unreasonable use of the space of the places because the gold renting of the places in some cities is expensive.

Disclosure of Invention

In order to improve the space utilization rate in the carton stacking process and save the production cost, the application provides an automatic carton stacking system.

The application provides an automatic stacking system for cartons, which adopts the following technical scheme:

the automatic stacking system for the cartons comprises a carton conveying device, a tray conveying device, a carton conveying device and a PLC (programmable logic controller), wherein the PLC is electrically connected with the carton conveying device, the tray conveying device and the carton conveying device, the tray conveying device is positioned below the carton conveying device, and the carton conveying device conveys the cartons conveyed by the carton conveying device to the trays conveyed by the tray conveying device;

The carton conveying device comprises a first conveying assembly and a carton shaping assembly, wherein the first conveying assembly is used for conveying cartons, and the carton shaping assembly can be used for adjusting the positions of the cartons to form a group of cartons with a transverse and vertical structure;

The tray conveying device comprises a storage rack, a discharging assembly and a second conveying assembly, wherein the storage rack is positioned above one end of the second conveying assembly, the storage rack stores trays conveyed by a forklift, the discharging assembly releases the trays to the second conveying assembly one by one, and the second conveying assembly conveys the trays to an upper material level;

the carton carrying device comprises a triaxial robot and a sucker, wherein the sucker is fixed at the end part of the triaxial robot, the sucker is used for taking and placing cartons, and the triaxial robot is used for carrying the cartons and stacking the cartons.

According to the technical scheme, in actual work, the trays are fully placed in the storage cavity in advance, then the trays are placed on the second conveying assembly one by one under the combined action of the lifting air cylinder and the tray dividing air cylinder, the trays are conveyed to the upper material level through the second conveying assembly, meanwhile, the position of the cartons can be adjusted under the action of the carton shaping assembly in the process of moving on the first conveying assembly, the maximum placement amount of the cartons on the trays is achieved, then the cartons are transferred to the trays on the upper material level for stacking under the action of the three-axis robot and the sucking disc, and the space occupied by an automatic stacking system of the cartons is reduced and the production cost is reduced through the arrangement of the tray conveying device under the carton conveying device.

Preferably, the carton shaping device comprises an adjusting piece capable of adjusting the position of the carton, a pushing piece for pushing the carton and a transfer platform for bearing the carton;

The adjusting piece is arranged on the first conveying assembly and can be used for adjusting the angles of the cartons at equal intervals by 90 degrees;

The pushing piece and the transferring platform are respectively positioned at two sides of the width direction of the first transporting assembly and are arranged on the first transporting assembly, and after the pushing piece pushes a group of unadjusted/or adjusted cartons, the pushing piece pushes a group of adjusted/unadjusted/or unadjusted cartons onto the transferring platform.

According to the technical scheme, in actual use, if the maximum placement amount of each layer of cartons on the tray is even, the adjusting piece is not started, if the maximum placement amount of each layer of cartons on the tray is odd, the adjusting piece is operated, the cartons rotate by 90 degrees under the action of the adjusting piece, a row of carton structures are formed at the end part of the first conveying assembly and are pushed onto the conveying platform by the pushing piece, a row of carton structures are formed at the end part of the first conveying assembly without the action of the adjusting piece, then the cartons are pushed onto the conveying platform by the pushing piece, and a group of cartons which are distributed transversely and longitudinally are formed on the conveying platform. Simultaneously, the carton carrying device is used for transversely and longitudinally staggering the cartons on the tray, so that the stability of the cartons on the tray is improved.

Preferably, the adjusting part comprises a guide cylinder and a first infrared sensor which are electrically connected with the PLC, the guide cylinder and the first infrared sensor are all installed on the first transportation assembly, the first infrared sensor detects the conveyed paper box and transmits data information to the PLC, the PLC controls the operation of the guide cylinder, when a piston rod of the guide cylinder stretches, the piston rod of the guide cylinder is abutted to one corner of the conveyed paper box, and the guide cylinder is matched with the first transportation assembly to enable the paper box to be separated from the guide cylinder after 90-degree rotation of the paper box.

Through adopting above-mentioned technical scheme, in the in-service use, first infrared inductor detects the carton that transport comes on the first transportation subassembly, if the maximum volume of putting of each layer on the tray is the odd number, the biggest volume of putting of completion carton on the tray is put to the biggest volume of putting on the tray after the contact of a plurality of cartons of guide cylinder equidistant 90 position adjustment, guide cylinder and carton one corner, because first transportation subassembly orders about the carton to continue to move, then carton takes place 90 rotation along with guide cylinder contact point department, finally.

Preferably, the second transportation assembly comprises a first underframe, a first gear set, a first shipping chain, a first motor and a first guide rail, wherein the first underframe is installed on the ground, the first gear set can be arranged into a plurality of groups, the first gear set is rotatably installed at two ends of the first underframe, each group of first gear set is wound with one first shipping chain, the first guide rail is installed on the first underframe, the first guide rail is used for supporting the first shipping chain, and the first motor is installed on the first underframe and drives the first gear set to rotate.

Through adopting above-mentioned technical scheme, in the in-service use, first motor drive first gear train rotates, drives the operation of first chain on the first gear train, because friction force between first chain and the tray, drives the operation of tray and goes up material level department, accomplishes the transportation operation of tray.

Preferably, the blanking assembly comprises a lifting cylinder and a tray dividing cylinder, wherein the lifting cylinder is arranged on the first chassis and is positioned below the storage rack, the tray dividing cylinder is arranged outside the storage rack, a piston rod of the tray dividing cylinder can extend into the storage rack, the lifting cylinder pushes the tray to move upwards, the piston rod of the tray dividing cylinder is inserted between two trays at the lowest position, the tray dividing cylinder supports the tray at the upper part of the piston rod of the tray dividing cylinder, the lifting cylinder is retracted, and the tray on the lifting cylinder falls onto the first supporting chain.

Through adopting above-mentioned technical scheme, in the in-service use, through the cooperation operation of lifting cylinder and branch dish cylinder, put the tray in the storage rack on the first delivery chain one by one, guarantee the tray normal transportation to the material loading position department of second transportation subassembly, guarantee the stable of carton stacking operation and go on.

Preferably, the tray conveying device further comprises a third conveying assembly which is arranged on the ground side by side with the second conveying assembly and used for conveying the tray, a tray transferring device is arranged between the third conveying assembly and the second conveying assembly and is electrically connected with the PLC, the tray transferring device moves the tray on the second conveying assembly to the third conveying assembly, a gear assembly used for limiting is arranged at the end parts of the second conveying assembly and the third conveying assembly, and the gear assembly is used for limiting the tray on the feeding position.

By adopting the technical scheme, in actual use, the PLC controls the tray transfer device to transfer the tray on the second conveying device to the third conveying assembly to finish the feeding work of the tray on the third conveying assembly, and the double feeding levels can seamlessly connect the material taking work after the completion of the carton stacking, and the cartons on the feeding levels can be timely or not timely taken and placed after the completion of the carton stacking, so that the work can not be interrupted, and the normal work is ensured.

Preferably, the tray transfer device comprises a transfer frame, a transfer gear set, a transfer chain, a moving plate, a transfer motor and a transfer sliding rail, wherein two ends of the transfer frame are respectively arranged above the second transport assembly and the third transport assembly, the transfer gear set is respectively arranged at two ends of the transfer frame, the transfer chain is wound on the transfer gear set, the moving plate is fixed on the transfer chain, the transfer motor is fixed on the transfer frame and drives the transfer gear set to rotate, the transfer sliding rail is arranged between the second transport assembly and the third transport assembly, and the moving plate is used for driving the tray on the second transport assembly to enter the third transport assembly along the transfer sliding rail.

Through adopting above-mentioned technical scheme, in the in-service use, transfer motor drive shifts the gear train rotation, drives and shifts the chain operation for the movable plate removes along the length direction who shifts the frame, drives the tray on the second transportation subassembly and enters into on the third transportation subassembly along shifting the track, has guaranteed the transfer of tray to the third transportation subassembly through tray transfer device, has accomplished the material loading of tray on the third transportation subassembly.

Preferably, the gear assembly comprises a linkage rod, a stop rod and a driving piece, the stop rod is fixed on the linkage rod, the driving piece is electrically connected with the PLC, the driving piece drives the linkage rod to rotate on the second transportation assembly or the third transportation assembly, and the cartons stacked on the tray are released.

By adopting the technical scheme, in actual use, after the stop lever is in conflict with the tray, the position of the tray is not changed in the operation of the first delivery chain, so that the stacking of cartons on the tray is facilitated, after the stacking of cartons on the tray is completed, the PLC controller controls the driving piece to drive the linkage lever to rotate, and after the stop lever is separated from the tray, the tray is released, so that the tray is conveniently taken and placed at the designated position.

Preferably, the tray conveying device further comprises two fourth conveying components, the two fourth conveying components are located along the direction of the second conveying component and the direction of the third conveying component for conveying the tray, the fourth conveying components convey cartons stacked on the trays released by the second conveying component and the third conveying component, sensing devices for detecting the trays are arranged at the end parts of the fourth conveying components, the sensing devices are electrically connected with the PLC, the sensing devices sense the trays and send signals to the PLC, and the PLC sends out instructions for stopping operation to the fourth conveying components, and the fourth conveying components stop operation.

Through the technical scheme, in actual use, if the situation that the stacking of the cartons on the trays is complete is not reached, the production efficiency can be affected, the fourth transportation assembly is arranged, the trays of the two stacking cartons can be stored, the normal operation is ensured to be stably carried out, the production efficiency is ensured, whether the trays on the fourth transportation assembly are taken away or not can be determined through the sensing device, and the PLC can send out instructions for carrying the trays on the corresponding fourth transportation assembly.

Preferably, the carton handling device further comprises a pressure sensor arranged on the sucker, the pressure sensor is electrically connected with the PLC, and when the triaxial robot carries the carton stacking, the numerical value of the pressure sensor changes and transmits a signal to the PLC, and the PLC controls the sucker to release the carton.

Through adopting above-mentioned technical scheme, in the in-service use, when pressure sensor's numerical value changed, the carton of triaxial robot transport had been placed on the tray and has been piled up, and after the sucking disc released the carton, the carton of triaxial robot carried out next round was got and is put the operation, effectively avoided getting and put the carton in-process, the carton damage problem that causes.

In summary, the present application includes at least one of the following beneficial technical effects:

The tray is fully placed in the storage cavity in advance, and the trays are placed on the second conveying assembly one by one under the action of the blanking assembly and are conveyed to the feeding position; meanwhile, the cartons are transported on the first transport assembly, and the cartons can reach the maximum placement amount on the trays under the action of the carton shaping assembly; then, under the action of the carton carrying device, stacking operation is carried out on the trays, and the tray conveying device is arranged below the carton conveying device, so that the space occupied by an automatic carton stacking system is reduced, and the production cost is reduced;

Otherwise, the cartons can rotate by 90 degrees under the action of the adjusting piece to realize the arrangement of one row of cartons transversely and one row of cartons longitudinally on the transfer platform, thereby realizing the maximum placement amount of the cartons on the tray;

The tray transfer device completes the second transport assembly to transport the tray to the third transport assembly, the tray is transported to the third transport assembly, then a second carton stacking station is formed, the continuation of carton stacking operation is guaranteed, the production efficiency is improved, the fourth transport assembly is arranged, the trays of two stacking cartons can be stored, the stable performance of stacking operation is further guaranteed, and the production efficiency is guaranteed.

Drawings

FIG. 1 is a schematic overall structure of an embodiment of the present application;

fig. 2 is a schematic view of a carton conveying device according to an embodiment of the present application;

FIG. 3 is an enlarged schematic view of portion A of FIG. 2;

FIG. 4 is a schematic view of a tray conveying apparatus according to an embodiment of the present application;

FIG. 5 is a schematic view of a third transport assembly according to an embodiment of the present application;

FIG. 6 is an enlarged schematic view of portion B of FIG. 4;

FIG. 7 is a schematic view of a fourth transport assembly, a sensing device, and a bumper according to an embodiment of the present application;

Fig. 8 is a schematic structural view of a tray transferring device in an embodiment of the present application;

FIG. 9 is a schematic structural view of a second limiting assembly according to an embodiment of the present application;

Fig. 10 is a schematic view of a carton carrier in accordance with an embodiment of the application;

FIG. 11 is a schematic diagram of the overall structure with a protective structure according to an embodiment of the present application.

Reference numerals illustrate 1, carton conveying device;

11. The first conveying assembly comprises 111, conveying rollers, 112, a supporting frame, 113 and a driving motor;

12. The first limiting assembly, 121, a first limiting plate, 1211, a chute, 122, a first guide rod, 1221, a sliding plate, 123, a column, 1231, a sliding hole, 124 and a handle bolt;

13. the carton shaping assembly, 131, an adjusting piece, 1311, a guide cylinder, 1312, a first infrared sensor, 132, a pushing piece, 1321, a pushing cylinder, 1322, a push plate, 1323, a reinforcing frame, 1324, a tripod, 1325, a guide rod, 133, a transfer platform, 1331, a transfer frame, 1332 and a baffle;

2. a tray conveying device;

21. a storage rack; 211, vertical plates 212, a storage cavity;

22. the device comprises a blanking assembly, a lifting cylinder, a 222 split disc cylinder, a 223, a mounting plate, a 224, a lifting frame, a 225, a telescopic rod, a 226 and a support;

23. Second transport assembly, 231, first chassis, 232, first gear set, 233, first shipping chain, 234, first motor, 235, first guide rail, 236, guide plate, 237, guide frame, 2371, guide rail plate, 2372, press plate, 238, second guide bar;

24. The third transportation assembly, 241, a second underframe, 242, a second gear set, 243, a second shipping chain, 244, a second motor, 245, a second guide rail;

25. gear component 251, linkage rod 252, stop rod 253 and driving piece;

26. Fourth transport assembly 261, third underframe 262, third gear set 263, third delivery chain 264, third motor 265, third guide rail 266, orientation plate;

27. the device comprises a second limiting component, a limiting bracket, a limiting cylinder, a limiting plate, a guide rod and a guide rod, wherein the limiting bracket comprises a limiting plate, a limiting plate and a limiting rod;

3. a carton handling device;

31. a three-axis robot; 32, sucking disc, 33, pressure sensor;

34. 341, fixed plate 342, movable plate;

4. a tray transfer device; 41, a transfer frame, 42, a transfer gear set, 43, a transfer chain, 44, a moving plate, 45, a transfer motor, 46 and a transfer slide rail;

5. an induction device; 51, a second infrared sensor, 52, a sensing frame;

6. an anti-collision frame, 7, a protective frame, 8, a protective net and 9, a warning lamp.

Detailed Description

The application is described in further detail below with reference to fig. 1-11.

The embodiment of the application discloses an automatic stacking system for cartons.

As shown in fig. 1, the automatic stacking system of the cartons comprises a carton conveying device 1, a tray conveying device 2, a carton conveying device 3 and a PLC (programmable logic controller), wherein the PLC is electrically connected with the carton conveying device 1, the tray conveying device 2 and the carton conveying device 3, the tray conveying device 2 is located below the carton conveying device 1, the packaged cartons are conveyed to the other end of the carton conveying device 1 through one end of the carton conveying device 1, empty trays are conveyed to the other end of the tray conveying device 2 through one end of the tray conveying device 2, the cartons conveyed by the carton conveying device 3 are orderly stacked on the conveyed trays, automatic stacking of the cartons is completed, and working efficiency is improved.

As shown in fig. 2, the carton conveyor 1 includes a first transport assembly 11 that transports cartons. The first transporting assembly 11 comprises a transporting roller 111, a supporting frame 112 for installing the transporting roller 111 and a driving motor 113 for driving the transporting roller 111 to rotate, wherein the transporting roller 111 is installed on the supporting frame 112 in an equidistant rotating mode, the transporting rollers 111 are transmitted through a chain, the driving motor 113 is fixedly installed at the conveying starting end of the supporting frame 112 through a bolt, and the driving motor 113 is connected with one transporting roller 111 through a chain.

As shown in fig. 2, the carton conveyor 1 further includes a first stop assembly 12 that stops the cartons. The first limiting assembly 12 comprises a first limiting plate 121 for limiting the carton, a first guide rod 122 connected with the first limiting plate 121, and a stand column 123 which is adjustably arranged with the first guide rod 122, wherein the stand column 123 is fixed at the top of the supporting frame 112 through a bolt.

As shown in fig. 3, specifically, a sliding hole 1231 that is slidably matched with the first guide rod 122 along the width direction of the support frame 112 is formed in the upright post 123, a handle bolt 124 is screwed on the top of the upright post 123, and the end of the handle bolt penetrates into the sliding hole 1231 to tightly support the first guide rod 122 in the sliding hole 1231, so that the first guide rod 122 and the upright post 123 are adjusted.

Meanwhile, in order to facilitate the installation of the first limiting component 12, a sliding groove 1211 extending along the length direction of the first limiting plate 121 and being in a T shape is formed in one side of the first limiting plate 121, and a sliding plate 1221 in sliding fit with the sliding groove 1211 is formed at one end of the first guide rod 122, so that the installation difficulty of the first limiting component 12 is reduced.

As shown in fig. 2, in order to improve the handling efficiency of the cartons and maximize the placement of the cartons on the trays, the carton conveying device 1 further includes a carton shaping assembly 13 for steering the cartons. Specifically, the carton shaping assembly 13 includes an adjusting member 131 for adjusting the direction of the carton, a pushing member 132 for pushing the carton, and a transfer platform 133 for carrying the carton. The adjusting member 131 is mounted on one side of the top of the supporting frame 112 in the width direction, and the transferring platform 133 and the pushing member 132 are located on two opposite sides of the top of the conveying tail end of the supporting frame 112.

When the carton tray is used, if the maximum placement amount of each layer of cartons on the tray is even, the adjusting piece 131 does not work, and the pushing piece 132 pushes groups of cartons onto the transfer platform. If the maximum placement amount of each layer of cartons on the tray is odd, the adjusting parts 131 can perform 90 ° angle adjustment on the plurality of cartons at equal intervals, and the pushing parts 132 push a group of unadjusted/or adjusted cartons to the transferring platform 133, and then push a plurality of unadjusted/or adjusted cartons to the transferring platform 133 to form a group of transverse and longitudinal cartons. By the arrangement, the maximum placement amount of the cartons on the trays is realized.

The actual stacking operation of the cartons, the distribution of the cartons on the trays, i.e., the distribution of the cartons on the transfer platform 133, is determined by the size of the cartons. In this embodiment, if the maximum placement amount of each layer of cartons on the tray is five. The cartons need to be formed with two cartons arranged laterally and three cartons arranged longitudinally on the transfer platform 133. If the length direction of the cartons is along the conveying direction of the first conveying assembly 11, two cartons are directly conveyed to the transferring platform 133 through the first conveying assembly 11 and are directly conveyed to the transferring platform 133 by the conveying member 132, then the conveying member 132 returns to the initial state, and after the other three cartons are rotated by 90 degrees through the adjusting member 131 and are directly conveyed to the transferring platform by the conveying member 132, the cartons form a whole layer structure capable of being stacked on the tray on the transferring platform 133, so that the cartons are placed in the largest quantity on the tray, and the efficiency of conveying the cartons is improved.

Correspondingly, if the width direction of the cartons is along the conveying direction of the first conveying assembly 11, the direction of the two cartons is adjusted by the adjusting piece 131 every three cartons at intervals, so that the cartons are distributed on the transferring platform, and the maximum placement amount on the tray is achieved.

As further shown in fig. 2, in the present embodiment, the regulator 131 includes a guide cylinder 1311 and a first infrared sensor 1312. The first infrared sensor 1312 and the guiding cylinder 1311 are both installed on the supporting frame 112, and the guiding cylinder 1311 is disposed near the conveying tail of the supporting frame 112. The guiding cylinder 1311 and the first infrared sensor 1312 are electrically connected with the PLC, the first infrared sensor 1312 detects the conveyed cartons and transmits data to the PLC, the PLC sends out instructions of operation and reset of the guiding cylinder 1311 according to the detected quantity of the cartons, the operation of the guiding cylinder 1311 is controlled, after the guiding cylinder 1311 stretches, one corner of each carton in transportation is abutted against a piston rod of the guiding cylinder 1311, the cartons are driven by the conveying roller 111 and rotate along the end of the piston rod of the guiding cylinder 1311 until the cartons rotate 90 degrees to be separated from the piston rod of the guiding cylinder 1311, and the cartons continue to be transported along with the conveying roller 111.

Specifically, the pushing member 132 includes a pushing cylinder 1321 and a pushing plate 1322, the pushing cylinder 1321 is fixed at the conveying tail of the supporting frame 112, the pushing cylinder 1321 is disposed along the width direction of the supporting frame 112, and the pushing plate 1322 is fixed on a piston rod of the pushing cylinder 1321. The pushing member 132 further comprises a reinforcing frame 1323, the reinforcing frame 1323 is fixed on the supporting frame 112, the pushing cylinder 1321 is fixed on the reinforcing frame 1323, and a tripod 1324 arranged along the length direction of the pushing cylinder 1321 is fixed on the reinforcing frame 1323, and the tripod 1324 improves the stability of the pushing cylinder 1321. The both ends of reinforcement frame 1323 are slided respectively and are cooperated with the guide bar 1325 that sets up along push cylinder 1321 length direction, and the tip and the push pedal 1322 of guide bar 1325 are fixed, improve the stability of push pedal 1322 operation.

As further shown in fig. 2, in this embodiment, the transferring platform 133 includes a transferring frame 1331, the transferring frame 1331 is welded at the conveying tail of the supporting frame 112, and the conveying roller 111 located at the conveying tail of the supporting frame 112 passes through the supporting frame 112 to be in running fit with the transferring frame 1331, and a baffle 1332 for blocking the carton is fixedly installed on the transferring frame 1331.

As shown in fig. 4, in the present embodiment, the tray conveying device 2 includes a magazine 21 storing trays, a blanking assembly 22 releasing the trays, and a second transport assembly 23 transporting the trays. Wherein the storage rack 21 is located right below the conveying tail end of the supporting rack 112. The storage rack 21 comprises two L-shaped vertical plates 211, a storage cavity 212 for storing the trays is formed, and the end parts of the two vertical plates 211 are oppositely bent, so that the trays can be placed in the storage cavity 212 by a forklift.

As further shown in fig. 4, in particular, the second transporting assembly 23 includes a first chassis 231 disposed below the riser 211, a first gear set 232 rotatably disposed on the first chassis 231, a first shipping chain 233 sleeved on the first gear set 232, and a first motor 234 for driving the first gear set 232 to rotate. The first motor 234 is fixed on the first chassis 231, the first gear sets 232 are divided into three groups, and the three groups are respectively disposed at two ends of the first chassis 231, and a first shipping chain 233 is wound on each group of the first gear sets 232. The first guide rail 235 carrying the first shipping chain 233 is mounted on the first chassis 231, the tray is mounted on the first shipping chain 233, the first motor 234 is started, and the tray on the first shipping chain 233 is driven to move to a supporting carton (feeding position) to stop, namely the other end of the first chassis 231.

In the present embodiment, each of the first gear sets 232 includes a driving gear and a driven gear, which are rotatably mounted at both ends of the first chassis 231, respectively. The three driving gears are equal in size and coaxially fixed through the rotating shaft, meanwhile, the three driving gears are equidistantly distributed in the width direction of the first chassis 231, and the first motor 234 drives the rotating shaft on the driving gears to rotate through the transmission chain.

As further shown in fig. 4, the blanking assembly 22 includes a lifting cylinder 221 for lifting the tray and a tray separating cylinder 222 for separating the tray. Wherein, the lifting cylinder 221 is located directly below the storage cavity 212, and the bottom of the first chassis 231 is welded with a mounting plate 223, and the lifting cylinder 221 is fixed on the mounting plate 223. In order to facilitate stability of the lifting tray, a lifting frame 224 is fixed on a piston rod of the lifting cylinder 221, the lifting frame 224 can penetrate through the first underframe 231, telescopic rods 225 are respectively arranged at four corners of the lifting frame 224, and two ends of each telescopic rod 225 are respectively fixed with the lifting frame 224 and the mounting plate 223. The tray dividing cylinder 222 is fixed on the outer side of the vertical plate 211, a support 226 is fixed on the vertical plate 211, the tray dividing cylinder 222 is fixed on the support 226, and one end of a piston rod of the tray dividing cylinder 222 can extend into the storage cavity 212.

When the trays are discharged, the lifting air cylinder 221 lifts the trays to a specific position in advance (namely, the two lowest trays are positioned at two sides of the tray separating air cylinder 222), the piston rod of the tray separating air cylinder 222 stretches into the material storage cavity 212 and is positioned between the two lowest trays to play a role of supporting the tray above the piston rod, and after the piston rod of the lifting air cylinder 221 contracts, the separated tray falls on the first delivery chain 233 and moves to the feeding position along with the first delivery chain 233. When the next tray needs to be separated, the piston rod of the lifting cylinder 221 extends until the tray is lifted, the piston rod of the tray dividing cylinder 222 contracts, then the lifting cylinder 221 lowers the height of one tray, the piston rod of the tray dividing cylinder 222 extends between the trays, and the lifting cylinder 221 moves downwards until the trays are placed on the first delivery chain 233 one by one.

As further shown in fig. 4, in this embodiment, in order to ensure stable transportation of the pallet, a guide plate 236 for guiding the pallet is fixed to the top of the first chassis 231, and the ends of the guide plate 236 are all chamfered. The guide plate 236 is adjustably disposed on the first chassis 231, wherein the first chassis 231 is fixedly mounted with a guide frame 237 by bolts, the guide plate 236 is welded with a second guide rod 238, and the second guide rod 238 is locked and disposed on the guide frame 237.

Specifically, the guide frame 237 includes a guide rail plate 2371 and a groove-shaped pressing plate 2372 covered with the guide rail plate 2371, the pressing plate 2372 is matched with the second guide rod 238, the guide rail plate 2371 is fixed on the first chassis 231, the pressing plate 2372 is fixed on the guide rail plate 2371 by bolts, and a rubber pad is arranged between the pressing plate 2372 and the second guide rod 238 to ensure the stability of fixing the second guide rod 238.

As shown in fig. 1, after stacking cartons on the trays at the feeding position, the trays need to be taken down by using a forklift in time, the cartons are transported to a warehouse, and in the process, the cartons need to be taken and placed by the forklift for a certain time, so that the working efficiency is reduced. To ensure working efficiency, in this embodiment, two loading levels are provided side by side, a tray transfer device 4 is connected to the middle of the first chassis 231, the other end of the tray transfer device 4 is connected to a third transport assembly 24, the tray transfer device 4 moves the tray on the first transport assembly 11 onto the third transport assembly 24, and the third transport assembly 24 transports the tray to another loading level.

As shown in fig. 5, in particular, the third transporting assembly 24 includes a second chassis 241, a second gear set 242 rotatably disposed on the second chassis 241, a second shipping chain 243 sleeved on the second gear set 242, and a second motor 244 driving the second gear set 242 to rotate. In the present embodiment, the structure of the third transport assembly 24 is the same as that of the second transport assembly 23, and will not be described here. Correspondingly, a guide plate 236 for guiding the pallet is also mounted on the second chassis 241 to facilitate stable operation of the pallet on the third transport assembly 24.

As shown in fig. 4 and 6, since the second transport assembly 23 and the third transport assembly 24 are both operated during the process of transferring the pallet, in order to avoid the pallet at the loading position from being operated, the end parts of the second transport assembly 23 and the third transport assembly 24 are both provided with a gear assembly 25 for limiting the pallet. The structure and function of the two gear assemblies 25 are the same, and the gear assembly 25 on the second transportation assembly 23 will be described as an example, where the gear assembly 25 includes a linkage rod 251 rotating on the first chassis 231, a stop lever 252 fixed on the linkage rod 251, and a driving member 253 driving the linkage rod 251 to rotate. In this embodiment, the driving member 253 may be configured as an air cylinder, and both ends of the air cylinder are hinged to the link 251 and the first chassis 231, respectively. In the initial state, the stop lever 252 is in a vertical state, and limits the tray.

Correspondingly, the gear assembly 25 is arranged on the third transportation assembly 24, the linkage rod 251 on the gear assembly 25 is rotatably arranged on the second chassis 241, and the driving piece 253 is hinged with the linkage rod 251 and the second chassis 241.

As shown in fig. 7, in the present embodiment, the ends of the second transport assembly 23 and the third transport assembly 24 are each provided with a fourth transport assembly 26, the fourth transport assembly 26 is disposed along the direction in which the second transport assembly 23 and the third transport assembly 24 transport the trays, and the fourth transport assembly 26 transports the trays filled with cartons. Specifically, the fourth transporting assembly 26 includes a third chassis 261, a third gear set 262 rotatably provided on the third chassis 261, a third shipping chain 263 sleeved on the third gear set 262, and a third motor 264 driving the third gear set 262 to rotate.

The structure of the fourth transport assembly 26 is the same as that of the second transport assembly 23 and will not be described here. The second transportation assembly 23 and the third transportation assembly 24 release the trays stacked with intact cartons to enter the fourth transportation assembly 26, and the trays are transported to a discharging position (namely, the end part of the fourth transportation assembly 26) under the action of the third delivery chain 263, an induction device 5 electrically connected with a PLC controller is arranged at the discharging position, when the induction device 5 detects the trays, a signal is sent to the PLC controller, and the PLC controller controls the third motor 264 to stop running.

As further shown in fig. 7, specifically, the sensing device 5 includes a second infrared sensor 51 electrically connected to the PLC controller and a sensing frame 52 to which the second infrared sensor 51 is mounted, and the sensing frame 52 is mounted on the ground. When the second infrared sensor 51 detects the pallet, information is sent to the PLC, the PLC sends out an instruction for stopping the fourth motor, so that the fourth motor stops running, an instruction for unloading the pallet is sent out, and a worker starts the forklift to unload the pallet.

As further shown in fig. 7, in this embodiment, to ensure stable operation of the pallet on the fourth transport assembly 26, the third chassis 261 is mounted with a guide plate 266 for guiding the pallet, and the structure of the guide plate 266 is identical to that of the guide plate 236 described above, which will not be described herein.

Continuing to refer to fig. 7, during the unloading of the pallet by the forklift, the forklift is likely to touch the fourth transporting assembly 26. In order to avoid this, the fourth transport assembly 26 is protected, the crash frame 6 is fixed on the ground, and the pallet is inserted by placing the pallet fork of the forklift on the crash frame 6.

As shown in fig. 8, in the present embodiment, the tray transfer device 4 includes a transfer rack 41, a transfer gear set 42, a transfer chain 43, a moving plate 44, a transfer motor 45, and a transfer slide rail 46. Specifically, both ends of the transfer frame 41 are mounted on the first chassis 231 and the second chassis 241 by bolts, respectively. The two sets of transfer gear sets 42 can be arranged at two ends of the transfer frame 41 in a coaxial rotation mode respectively, a transfer chain 43 is wound on each transfer gear set 42, a moving plate 44 is fixedly arranged on the transfer chain 43, and the moving plate 44 is in sliding fit with the transfer frame 41. A transfer motor 45 is fixedly installed at the top of the transfer frame 41 and drives the transfer gear set 42 to rotate. The transfer slide rail 46 is installed between the first chassis 231 and the second chassis 241, and the transfer motor 45 drives the transfer gear set 42 to rotate, so as to drive the moving plate 44 on the transfer chain 43 to move along the length direction of the transfer chain 43, drive the tray to enter the transfer slide rail 46, and convey the tray to the second delivery chain 243.

In the present embodiment, each of the transfer gear sets 42 includes a driving gear and a driven gear, which are rotatably mounted at both ends of the transfer frame 41, respectively. The two driving gears are coaxially fixed through the rotating shaft and are equidistantly distributed in the width direction of the transfer frame 41, the two driven gears are coaxially fixed through the rotating shaft, and the transfer motor 45 drives the rotating shaft on the driving gears to rotate through the transmission chain.

As shown in fig. 8 and 9, in order to ensure that the pallet smoothly enters the transfer rail 46, the end of the transfer rail 46 is turned outwards. And a second limiting assembly 27 limiting the tray is mounted on the second chassis 241. The second limiting assembly 27 includes a limiting bracket 271, a limiting cylinder 272, and a second limiting plate 273. Specifically, the limiting bracket 271 is fixed on the first chassis 231 through a bolt, the limiting cylinder 272 is fixed on the limiting bracket 271 through a bolt, and the second limiting plate 273 is fixed on a piston rod of the limiting cylinder 272. The limiting cylinder 272 drives the second limiting plate 273 to block the tray, so that the tray is prevented from moving along with the first conveying chain.

In order to ensure the stability of the second limiting plate 273 in operation, a guide rod 274 slidably engaged with the limiting bracket 271 is fixed to the second limiting plate 273 by a bolt.

As shown in fig. 10, in the present embodiment, the carton transporting device 3 includes a three-axis robot 31 and a suction cup 32 located at an end of the three-axis robot 31, and both the three-axis robot 31 and the suction cup 32 are electrically connected to a PLC controller. The three-axis robot 31 and the suction cup 32 are both of the prior art, and are not described here too much. The three-axis robot 31 drives the sucking disc 32 to suck a group of cartons on the transferring platform 133, the three-axis robot 31 drives the cartons to move right above the upper material position tray and drives the cartons to move right below until the cartons contact with foreign matters, and the sucking disc 32 releases the cartons. The triaxial robot 31 drives the suction cup 32 to suck and release the next group of cartons until the cartons are stacked on the trays, and the stacking operation of the cartons on the trays at the next feeding position is performed.

As further shown in fig. 10, to facilitate release of the carton by the suction cup 32, a pressure sensor 33 is mounted on the bottom of the suction cup 32, and the pressure sensor 33 is electrically connected to the PLC controller. When the cartons on the suckers 32 are placed on the trays, the pressure value measured by the pressure sensor 33 changes, the pressure sensor 33 transmits information to the PLC, and the PLC controls the suckers 32 to release the cartons and controls the triaxial robot 31 to move to suck the next group of cartons.

As further shown in fig. 10, in the present embodiment, in order to avoid the influence of the operation of the three-axis robot 31 on the pipe on the suction cup 32, a gripping assembly 34 for gripping the pipe is fixed to the arm of the three-axis robot 31. Specifically, the clamping assembly 34 includes a fixed plate 341 and a movable plate 342 that are arc-shaped, the fixed plate 341 is fixed on the mechanical arm through a connecting rod, and the pipe is clamped in a cylindrical cavity formed by the fixed plate 341 and the movable plate 342. Both ends of the fixed plate 341 and the movable plate 342 are fixed through bolts, and in the same way, one ends of the fixed plate 341 and the movable plate 342 are rotatably connected, and the other ends of the fixed plate 341 and the movable plate 342 are fixed through bolts.

As shown in fig. 11, in this embodiment, a protection frame 7 is fixed on the peripheral side of the automatic stacking system for cartons, and a protection net 8 is mounted on the protection frame 7 through bolts, and the protection net 8 and the protection frame 7 play a role in safety protection.

The protection frame 7 is provided with a warning lamp 9, and the warning lamp 9 is electrically connected with the PLC. When the automatic stacking system of the cartons works normally, the warning lamp 9 emits green light, and if the automatic stacking system of the cartons works abnormally, the warning lamp 9 emits red light and sounds an alarm.

The implementation principle of the automatic stacking system for the cartons provided by the embodiment of the application is as follows:

when the automatic stacking system of the cartons runs, trays are fully filled in the storage cavity 212 in advance, then the trays are placed on the second conveying assembly 23 one by one under the combined action of the lifting air cylinder 221 and the tray dividing air cylinder 222, the trays run on the second conveying assembly 23 and can be directly conveyed to the first feeding position, and the trays can also be conveyed to the third conveying assembly 24 under the action of the tray transferring device 4 until being conveyed to the second feeding position.

Meanwhile, in the process that the cartons run on the first transport assembly 11, the cartons are subjected to position adjustment under the action of the carton shaping assembly 13 and are placed on the transfer platform 133 in groups. Subsequently, the cartons are transferred to trays at the loading positions for stacking under the action of the three-axis robot 31 and the suction cups 32, and after the stacking operation is completed, the trays at the corresponding loading positions are released to the corresponding fourth conveying assemblies 26 and conveyed to the unloading positions, and the trays are taken and placed to the designated areas through forklift trucks.

The automatic stacking system for the cartons is reasonably designed, the occupied space of the automatic stacking system for the cartons is reduced, the degree of automation is improved, the orderly stacking operation of the cartons on the trays is completed, and the working efficiency is improved.

The above embodiments are not intended to limit the scope of the application, so that the equivalent changes of the structure, shape and principle of the application are covered by the scope of the application.

Claims

1. The automatic stacking system for the cartons is characterized by comprising a carton conveying device (1), a tray conveying device (2), a carton conveying device (3) and a PLC (programmable logic controller), wherein the PLC is electrically connected with the carton conveying device (1), the tray conveying device (2) and the carton conveying device (3), the tray conveying device (2) is positioned below the carton conveying device (1), and the carton conveying device (3) conveys the completed cartons conveyed by the carton conveying device (1) to the trays conveyed by the tray conveying device (2);

The carton conveying device (1) comprises a first conveying assembly (11) and a carton shaping assembly (13), wherein the first conveying assembly (11) is used for conveying cartons, and the carton shaping assembly (13) can be used for adjusting the positions of the cartons to form a group of cartons with a transverse and vertical structure;

The tray conveying device (2) comprises a storage rack (21), a blanking component (22) and a second conveying component (23), wherein the storage rack (21) is positioned above one end of the second conveying component (23), the storage rack (21) stores trays carried by a forklift, the blanking component (22) releases the trays to the second conveying component (23) one by one, and the second conveying component (23) conveys the trays to the upper material level;

The carton carrying device (3) comprises a triaxial robot (31) and a sucker (32), the sucker (32) is fixed at the end part of the triaxial robot (31), the sucker (32) is used for taking and placing cartons, and the triaxial robot (31) is used for carrying and stacking the cartons;

The tray conveying device (2) further comprises a third conveying assembly (24) which is arranged side by side with the second conveying assembly (23) and used for conveying the trays on the ground, a tray transferring device (4) is arranged between the third conveying assembly (24) and the second conveying assembly (23), the tray transferring device (4) is used for transferring the trays on the second conveying assembly (23) to the third conveying assembly (24), a stop component (25) used for limiting is arranged at the end parts of the second conveying assembly (23) and the third conveying assembly (24), and the stop component (25) is used for limiting the trays on the upper material level;

the tray conveying device (2) further comprises two fourth conveying assemblies (26), the two fourth conveying assemblies (26) are respectively arranged along the direction of conveying the trays by the second conveying assembly (23) and the third conveying assembly (24), and the fourth conveying assemblies (26) are used for conveying cartons stacked on the trays released by the second conveying assembly (23) and the third conveying assembly (24);

The carton shaping assembly (13) comprises an adjusting piece (131) capable of adjusting the positions of cartons, a pushing piece (132) for pushing the cartons and a transfer platform (133) for bearing the cartons, wherein the adjusting piece (131) is arranged on the first conveying assembly (11), the adjusting piece (131) can conduct 90-degree angle adjustment on a plurality of cartons at equal intervals, the pushing piece (132) and the transfer platform (133) are respectively arranged on two sides of the width direction of the first conveying assembly (11) and are arranged on the first conveying assembly (11), and after a group of unadjusted or adjusted cartons are pushed by the pushing piece (132), a group of adjusted or unadjusted cartons are pushed onto the transfer platform (133).

2. The automatic stacking system for cartons according to claim 1, wherein the adjusting piece (131) comprises a guide cylinder (1311) and a first infrared sensor (1312), wherein the guide cylinder (1311) and the first infrared sensor (1312) are electrically connected with the PLC, the first infrared sensor (1312) is installed on the first conveying assembly (11), the first infrared sensor (1312) detects the conveyed cartons and transmits data information to the PLC, the PLC controls the operation of the guide cylinder (1311), when a piston rod of the guide cylinder (1311) stretches, the guide cylinder (1311) is abutted against one corner of the conveyed cartons, and the guide cylinder (1311) is matched with the first conveying assembly (11) to enable the cartons to rotate 90 degrees and then separate from the guide cylinder (1311).

3. The automatic stacking system for cartons according to claim 1, wherein the second transporting assembly (23) comprises a first underframe (231), a first gear set (232), a first delivery chain (233), a first motor (234) and first guide rails (235), the first underframe (231) is installed on the ground, the first gear sets (232) can be arranged into a plurality of groups, the first gear sets (232) are rotatably installed at two ends of the first underframe (231), one first delivery chain (233) is wound on each first gear set (232), the first guide rails (235) are installed on the first underframe (231), the first guide rails (235) are used for supporting the first delivery chain (233), and the first motor (234) is installed on the first underframe (231) and drives the first gear sets (232) to rotate.

4. An automatic stacking system for cartons according to claim 3, characterized in that the blanking assembly (22) comprises a lifting cylinder (221) and a tray dividing cylinder (222), the lifting cylinder (221) is mounted on the first chassis (231) and is located below the storage rack (21), the tray dividing cylinder (222) is mounted on the outer portion of the storage rack (21), a piston rod of the tray dividing cylinder (222) can extend into the storage rack (21), the lifting cylinder (221) pushes the tray to move upwards, the piston rod of the tray dividing cylinder (222) is inserted between two trays at the bottom, the tray dividing cylinder (222) supports the tray at the upper portion of the piston rod of the tray dividing cylinder (222), the lifting cylinder (221) is retracted, and the tray on the lifting cylinder (221) falls onto the first conveying chain (233).

5. The automated stacking system for cartons as claimed in claim 4 wherein the pallet transfer device (4) is electrically connected to the PLC controller.

6. The automatic stacking system for cartons according to claim 5, wherein the tray transferring device (4) comprises a transferring frame (41), a transferring gear set (42), a transferring chain (43), a moving plate (44), a transferring motor (45) and a transferring sliding rail (46), two ends of the transferring frame (41) are respectively arranged above the second transporting assembly (23) and the third transporting assembly (24), the transferring gear set (42) is respectively arranged at two ends of the transferring frame (41), the transferring chain (43) is wound on the transferring gear set (42), the moving plate (44) is fixed on the transferring chain (43), the transferring motor (45) is fixed on the transferring frame (41) and drives the transferring gear set (42) to rotate, and the transferring sliding rail (46) is arranged between the second transporting assembly (23) and the third transporting assembly (24) and is used for the moving plate (44) to drive the tray on the second transporting assembly (23) to enter the third transporting assembly (24) along the transferring sliding rail (46).

7. The automatic stacking system for cartons according to claim 5 wherein the gear assembly (25) comprises a linkage rod (251), a stop rod (252) and a driving member (253), wherein the stop rod (252) is fixed on the linkage rod (251), the driving member (253) is electrically connected with the PLC, and the driving member (253) drives the linkage rod (251) to rotate on the second conveying assembly (23) or the third conveying assembly (24) so as to release the cartons stacked on the tray.

8. The automatic stacking system for cartons according to claim 7, wherein an induction device (5) for detecting the tray is arranged at the end of the fourth transporting assembly (26), the induction device (5) is electrically connected with the PLC, the induction device (5) inducts the tray and sends a signal to the PLC, the PLC sends an instruction for stopping operation to the fourth transporting assembly (26), and the fourth transporting assembly (26) stops operation.

9. The automatic stacking system for cartons according to claim 1, wherein the carton conveying device (3) further comprises a pressure sensor (33) arranged on the sucker (32), the pressure sensor (33) is electrically connected with the PLC, and when the triaxial robot (31) conveys cartons to be stacked, the numerical value of the pressure sensor (33) changes and transmits a signal to the PLC, and the PLC controls the sucker (32) to release the cartons.