CN220948758U - Small box loading and large box stacking device based on mechanical arm - Google Patents

Abstract

The utility model discloses a small box loading and large box stacking device based on a mechanical arm, which comprises a carton unpacking machine, a large box empty box discharging roller line, a box supporting guide mechanism, a box sealing machine, a small box finished product collecting roller line, a small box arranging mechanism, a mechanical grabbing and stacking mechanism, a large box finished product collecting roller line, a first pushing mechanism, a second pushing mechanism, a stacking roller line and a tray, wherein the large box empty box is supported by the box supporting guide mechanism, the small box arranging mechanism is used for orderly arranging small box finished products, the small box is loaded into the large box empty box by the mechanical grabbing and stacking mechanism, the large box on the large box empty box discharging roller line is pushed to the large box finished product collecting roller line to seal a box, and finally the large box finished product collecting roller line is pushed to the stacking roller line by the second pushing mechanism, and is grabbed and stacked to the tray by the mechanical grabbing and stacking mechanism. The utility model has little dependence on environment, convenient and quick operation and high automation degree.

Description

A device for packing large boxes with small boxes and stacking large boxes based on a robotic arm

Technical Field

The utility model belongs to the technical field of PPR pipe fitting packaging, and in particular relates to a small box packing large box and large box palletizing device based on a mechanical arm.

Background technique

In the packaging process of PPR pipe fittings, large boxes are currently sealed manually, and small boxes of finished products are loaded into empty large boxes, and then the large boxes are sealed, and finally the large boxes of finished products are stacked on pallets. On the one hand, the work efficiency is low, and on the other hand, the labor intensity is high, which causes great harm to the operator's body.

Chinese patent CN102689708B discloses a palletizing packaging machine, which transports the once-packaged products that have been packaged by the original packaging machine to the palletizing turret via a combing conveyor belt, collects multiple once-packaged products vertically in a palletizing clamp through palletizing, and then performs secondary packaging, which replaces manual packaging, can greatly improve work efficiency and reduce labor intensity. At present, there are many mechanical devices for packaging and palletizing, but there are few automated devices for packing small boxes in large boxes.

Utility Model Content

In view of the above problems, the purpose of the utility model is to provide a small box packing large box and large box palletizing device based on a robot arm.

The specific technical solutions are as follows:

A device for loading large boxes with small boxes and stacking large boxes based on a mechanical arm, comprising a carton unpacking machine, a large empty box discharging roller line, a box supporting and guiding mechanism, a carton sealing machine, a small box finished product receiving roller line, a small box arranging mechanism, a mechanical grabbing and stacking mechanism, a large box finished product receiving roller line, a first pushing mechanism, a second pushing mechanism, a stacking roller line and a pallet,

The carton opener is located at the initial end of the large box and empty box discharging roller line, the box supporting guide mechanism for supporting the opening of the large box is located at the end of the large box and empty box discharging roller line, the small box finished product receiving roller line is located on one side of the large box and empty box discharging roller line, a carton sealing machine is provided above its initial end, and a small box arranging mechanism is provided on the side of its end, the initial end of the large box finished product receiving roller line is adjacent to the end of the large box and empty box discharging roller line, and is arranged perpendicular to the large box and empty box discharging roller line, the first pushing mechanism for pushing the box from the large box and empty box discharging roller line to the large box finished product receiving roller line is provided on one side of the end of the large box and empty box discharging roller line, a carton sealing machine is provided above the initial end of the large box finished product receiving roller line, and a second pushing mechanism for pushing the box to the stacking roller line is provided above the end, and the mechanical grabbing and stacking mechanism is used to put the small box finished products into the large box and stack the large box finished products into the pallet.

Furthermore, a 90° flip wheel is provided on one side of the large-box empty box discharging roller line, and guide limit plates are provided on both sides of the end of the large-box empty box discharging roller line, so as to ensure the stability of packing after the large box enters the packing station.

Furthermore, the box-supporting guide mechanism includes a guide frame, a guide plate, a fixed frame, a box-supporting displacement cylinder, a first guide shaft and a first fixed plate. The first guide shaft is located on both sides of the box-supporting displacement cylinder. The lower ends of the box-supporting displacement cylinder and the first guide shaft are fixed on the fixed frame. Linear bearings are provided at both ends of the first fixed plate. The upper end of the first guide shaft passes through the linear bearing and is connected to one side of the guide frame. The push rod of the box-supporting displacement cylinder passes through the first fixed plate and is connected to one side of the guide frame. The guide plates are arranged around the guide frame and extend vertically downward. On the one hand, the guide plates provide guidance for the entry of small box finished products, and on the other hand, they improve the stability of packing.

Furthermore, the small box arranging mechanism includes an arranging cylinder, a second fixed plate, an arranging base plate, an arranging push plate, a second guide shaft and a buffer spring. The second fixed plate is fixed to one side of the end of the small box finished product receiving roller line, and the arranging cylinder is fixed on the second fixed plate. The push rod of the arranging cylinder passes through the second fixed plate and is fixedly connected to the arranging base plate. Linear bearings are installed on the four corners of the arranging base plate. The second guide shaft passes through the linear bearing, is sleeved with a buffer spring and is connected to the arranging push plate. The setting of the buffer spring and the second guide shaft enables the arranging push plate to have a certain displacement buffering capacity. On the one hand, the arranging structure will not damage the surface of the small box due to violent movements when pushing the small box finished product, and at the same time increase the service life of the arranging cylinder.

Furthermore, the mechanical grasping and stacking mechanism includes a mechanical arm, a bidirectional movable screw servo module, a first clamping plate, a second clamping plate and a suction cup. The bidirectional movable screw servo module is arranged at the upper end of the mechanical arm, the first clamping plate and the second clamping plate are respectively arranged at the lower ends of the bidirectional movable screw servo module, and the suction cup is located between the first clamping plate and the second clamping plate.

Furthermore, the first pushing mechanism includes a pushing cylinder, a third fixed plate and a nylon push plate. The third fixed plate is fixed to one side of the end of the large empty box discharging roller line and is located directly below the guide frame. The pushing cylinder is fixed on the third fixed plate, and the pushing rod of the pushing cylinder is connected to the nylon push plate, and the nylon push plate faces the large finished product receiving roller line.

Furthermore, the large-box finished product receiving roller line is arranged in parallel with the stacking roller line, and the end of the large-box finished product receiving roller line is adjacent to the initial end of the stacking roller line.

Furthermore, the second pushing mechanism includes a U-shaped fixed frame, a fixed connection structure, a pushing cylinder, a push plate and a single-axis manipulator. The U-shaped fixed frame is arranged downward, and its two ends are respectively arranged at the end of the large-box finished product receiving roller line and the initial end of the stacking roller line, and the U-shaped fixed frame is perpendicular to the large-box finished product receiving roller line. The single-axis manipulator is arranged on the lower surface of the upper end of the U-shaped fixed frame, and the movable block under the single-axis manipulator is connected to the fixed connection structure. Pushing cylinders are arranged on both sides of the fixed connection structure. The push rod of the pushing cylinder is connected to the push plate, and the push plate is arranged vertically downward.

Furthermore, a pallet limit seat is provided on the outside of the pallet for limiting the position, so as to ensure the accurate placement of the pallet, thereby improving the reliability of palletizing. Two pallets and their pallet limit seats can be set at the same time for the cache circulation of palletized finished products and empty pallets. After the robot arm palletizes one pallet, it can continue to palletize on another pallet. After the palletized large box of finished products is transported away together with the pallet, a new empty pallet will be replaced for the next palletizing, thus avoiding the waiting of the robot arm and improving the packaging efficiency.

Furthermore, a first limiting plate is provided at the end of the small box finished product receiving roller line and the end of the stacking roller line.

The beneficial effects of the utility model are:

The utility model has the functions of arranging small boxes of finished products, grabbing them and loading them into large boxes and finally palletizing the large boxes of finished products. The robotic arm can not only load small boxes into large boxes, but also palletize large boxes of finished products. One machine has two uses, saving equipment development costs. At the same time, the device has extremely low dependence on the environment, is convenient and fast to operate, and has a high degree of automation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the main three-dimensional structure of the utility model;

Figure 2 is an enlarged view of the details at A;

Figure 3 is an enlarged view of the details at B;

FIG4 is a schematic side view of the three-dimensional structure of the utility model;

Figure 5 is an enlarged view of the details at C;

Figure 6 is an enlarged view of the details at D;

Figure 7 is an enlarged view of the details at E;

FIG8 is a top view of the utility model.

In the figure: 1. Carton unpacking machine; 2. Large empty box discharging roller line; 3. Box support guide mechanism; 31. Guide frame; 32. Guide plate; 33. Fixed frame; 34. Box support displacement cylinder; 35. First guide shaft; 36. First fixed plate; 4. Carton sealing machine; 5. Small finished product receiving roller line; 6. Small box arranging mechanism; 61. Arrangement cylinder; 62. Second fixed plate; 63. Arrangement bottom plate; 64. Arrangement push plate; 65. Second guide shaft; 66. Buffer spring; 7. Mechanical grabbing and stacking mechanism; 71. Mechanical arm; 72. Two-way movement Screw servo module; 73, first clamping plate; 74, second clamping plate; 75, suction cup; 8, large box finished product receiving roller line; 9, first pushing mechanism; 91, pushing cylinder; 92, third fixed plate; 93, nylon push plate; 10, second pushing mechanism; 101, U-shaped fixing frame; 102, fixed connection structure; 103, pushing cylinder; 104, push plate; 105, single-axis manipulator; 11, stacking roller line; 12, pallet; 121, pallet limit seat; 13, 90° flip wheel; 14, guide limit plate; 15, first limit plate.

Detailed ways

The utility model is further described below in conjunction with the drawings in the specification, but the protection scope of the utility model is not limited thereto.

As shown in Figures 1, 4 and 8, a small-box-to-large-box and large-box palletizing device based on a robotic arm includes a carton unpacking machine 1, a large-box empty box discharging roller line 2, a box supporting and guiding mechanism 3, a carton sealing machine 4, a small-box finished product receiving roller line 5, a small-box arranging mechanism 6, a mechanical grabbing and palletizing mechanism 7, a large-box finished product receiving roller line 8, a first pushing mechanism 9, a second pushing mechanism 10, a palletizing roller line 11 and a pallet 12. The carton unpacking machine 1 is located at the initial end of the large box empty box discharging roller line 2, the small box finished product receiving roller line 5 is located on one side of the large box empty box discharging roller line 2, and a sealing machine 4 is provided above the initial end of the small box finished product receiving roller line 5 and the initial end of the large box finished product receiving roller line 8. The initial end of the large box finished product receiving roller line 8 is close to the end of the large box empty box discharging roller line 2 and is vertically arranged with the large box empty box discharging roller line 2. The large box finished product receiving roller line 8 is arranged in parallel with the stacking roller line 11, and the end of the large box finished product receiving roller line 8 is adjacent to the initial end of the stacking roller line 11. Guide limit plates 14 are provided on both sides of the end of the large box empty box discharging roller line 2, and the end of the small box finished product receiving roller line 5 and the end of the stacking roller line 11 are provided with a first limit plate 15. The outside of the pallet 12 is provided with a pallet limit seat 121 for limiting, and the pallet limit seat 121 is fixed on the ground.

As shown in FIG5 , a 90° turning wheel 13 is provided on one side of the large-box and empty-box discharging roller line 2 .

As shown in Figure 6, the box-supporting guide mechanism 3 includes a guide frame 31, a guide plate 32, a fixed frame 33, a box-supporting displacement cylinder 34, a first guide shaft 35 and a first fixed plate 36. The two first guide shafts 35 are located on both sides of the box-supporting displacement cylinder 34. The lower ends of the box-supporting displacement cylinder 34 and the first guide shaft 35 are fixed on the fixed frame 33. The fixed frame 33 is located at the end of the large-box and empty-box discharging roller line 2. Linear bearings are provided at both ends of the first fixed plate 36. The upper end of the first guide shaft 35 passes through the linear bearing and is connected to one side of the guide frame 31. The push rod of the box-supporting displacement cylinder 34 passes through the first fixed plate 36 and is connected to one side of the guide frame 31. The four guide plates 32 are respectively arranged around the guide frame 31 and extend vertically downward. The guide frame 31 is located directly above the end of the large-box and empty-box discharging roller line 2.

The first pushing mechanism 9 includes a pushing cylinder 91, a third fixed plate 92 and a nylon pushing plate 93. The third fixed plate 92 is fixed to one side of the end of the large empty box discharging roller line 2 and is located directly below the guide frame 31. The pushing cylinder 91 is fixed on the third fixed plate 92, and the pushing rod of the pushing cylinder 91 is connected to the nylon pushing plate 93. The nylon pushing plate 93 faces the large finished product receiving roller line 8.

As shown in Figure 3, the small box arranging mechanism 6 includes an arranging cylinder 61, a second fixed plate 62, an arranging bottom plate 63, an arranging push plate 64, a second guide shaft 65 and a buffer spring 66. The second fixed plate 62 is fixed to one side of the end of the small box finished product receiving roller line 5. The arranging cylinder 61 is fixed on the second fixed plate 62. The push rod of the arranging cylinder 61 passes through the second fixed plate 62 and is fixedly connected to the arranging bottom plate 63. Linear bearings are installed on the four corners of the arranging bottom plate 63. The second guide shaft 65 passes through the linear bearing, is sleeved with a buffer spring 66 and is connected to the arranging push plate 64.

As shown in Figure 2, the mechanical grasping and stacking mechanism 7 includes a mechanical arm 71, a bidirectional movable screw servo module 72, a first clamping plate 73, a second clamping plate 74 and a suction cup 75. The bidirectional movable screw servo module 72 is arranged at the upper end of the mechanical arm 71, the first clamping plate 73 and the second clamping plate 74 are respectively vertically arranged at the lower ends of the bidirectional movable screw servo module 72, and the suction cup 75 is located between the first clamping plate 73 and the second clamping plate 74.

As shown in Figure 7, the second pushing mechanism 10 includes a U-shaped fixed frame 101, a fixed connection structure 102, a pushing cylinder 103, a push plate 104 and a single-axis manipulator 105. The U-shaped fixed frame 101 is arranged downward, and its two ends are respectively arranged at the end of the large-box finished product receiving roller line 8 and the initial end of the stacking roller line 11, and the U-shaped fixed frame 101 is perpendicular to the large-box finished product receiving roller line 8. The single-axis manipulator 105 is arranged on the lower surface of the upper end of the U-shaped fixed frame 101, and the movable block under the single-axis manipulator 105 is connected to the fixed connection structure 102. Pushing cylinders 103 are arranged on both sides of the fixed connection structure 102. The push rod of the pushing cylinder 103 is connected to the push plate 104, and the push plate 104 is arranged vertically downward.

An operation process of a small box loading large box and large box palletizing device based on a robotic arm includes the following steps:

At the beginning of production, the front-end packaging equipment is used for production. The carton opening machine 1 opens the large empty box, and the large empty box is conveyed along the large empty box discharging roller line 2. After being turned over by the 90° turning wheel 13, the large empty box is horizontally rotated 90 degrees in the counterclockwise direction and continues to be conveyed forward. After being guided by the guide limit plate 14, the large empty box is conveyed to the bottom of the box supporting guide mechanism 3, and the large empty box discharging roller line 2 stops running. The box supporting displacement cylinder 34 drives the guide frame 31 to move downward, and the guide plate 32 opens the opening of the large empty box.

After the finished small box with pipe fittings is sealed by the carton sealing machine 4, it is transported to the end along the finished small box receiving roller line 5. The first limit plate 15 limits it, and the arranging cylinder 61 pushes out the arranging push plate 64, pushes the finished small box at the end to the front and resets it. After the next small box is delivered to the place, the second small box is pushed to the front and returns to its original position next to the first small box. The mechanical arm 71 drives the suction cup 75 to suck the two small boxes at the same time, and the bidirectional moving screw servo module 72 drives the first clamping plate 73 and The second clamping plate 74 clamps and limits the edges of the two small boxes of finished products to improve the stability of suction, and then the robot arm 71 drives the two small boxes of finished products to move to the top of the guide frame 31, and releases the two small boxes of finished products by loosening the first clamping plate 73 and the second clamping plate 74 and releasing the suction of the suction cup 75. The two small boxes of finished products slide along the guide plate 32 of the guide frame 31 into the large empty box, and the robot arm 71 continues to grab the two small boxes of finished products and drop them into the large box along the guide frame 31. After the large box is packed, the robot arm 71 returns to its original position and waits.

The box-supporting displacement cylinder 34 drives the guide frame 31 to move upward, and the pushing cylinder 91 pushes the nylon push plate 93, thereby pushing the large box loaded with small box finished products into the large box finished product receiving roller line 8, and the sealing machine 4 seals it, and the box-supporting guide mechanism 3 waits for the next large box empty box to arrive and prepare for the next packing. The sealed large box finished product is transported by the large box finished product receiving roller line 8 to the bottom of the second pushing mechanism 10, and the large box finished product receiving roller line 8 stops running, and the pushing cylinder 103 pushes the push plate 104 to move downward, and the single-axis manipulator 105 drives the push plate 104 to move, thereby pushing the large box finished product to At the initial end of the stacking roller line 11, the single-axis manipulator 105 is reset, the push plate 104 is reset, the stacking roller line 11 drives the large box of finished products to the end and then stops running, the first limit plate 15 is limited, and the mechanical grabbing and stacking mechanism 7 grabs the large box of finished products and places it on the pallet 12 for stacking. When a pallet 12 has stacked the large box of finished products, the mechanical grabbing and stacking mechanism 7 turns to another pallet 12 for stacking, and the next AGV forklift handling device transports the stacked large box of finished products together with the pallet 12, puts them into storage and places another empty pallet 12 for the next stacking.

Claims (10)

1. The small box loading and large box stacking device based on the mechanical arm is characterized by comprising a carton unpacking machine (1), a large box empty box discharging roller line (2), a box supporting guide mechanism (3), a box sealing machine (4), a small box finished product collecting roller line (5), a small box arranging mechanism (6), a mechanical grabbing and stacking mechanism (7), a large box finished product collecting roller line (8), a first pushing mechanism (9), a second pushing mechanism (10), a stacking roller line (11) and a tray (12),

The carton unpacking machine (1) is located the initial end of big empty case ejection of compact cylinder line (2), be used for propping open-ended the box guiding mechanism (3) of big empty case and be located the end of big empty case ejection of compact cylinder line (2), little case finished product receipts material cylinder line (5) are located one side of big empty case ejection of compact cylinder line (2), its initial end top is equipped with sealing machine (4), its terminal side is equipped with little case arrangement mechanism (6), the initial end of big case finished product receipts material cylinder line (8) is close to the end of big empty case ejection of compact cylinder line (2), and set up perpendicularly with big empty case ejection of compact cylinder line (2), be used for pushing the case from big empty case ejection of compact cylinder line (2) to big empty case ejection of compact cylinder line (8) first pushing mechanism (9) are located big empty case ejection of compact cylinder line (2) end one side, big case finished product receipts material cylinder line (8) initial end top is equipped with sealing machine (4), terminal top is equipped with and is used for pushing the second mechanism (10) to push the finished product to big case in the stack tray (12) of big finished product stack machine.

2. The small box loading and large box stacking device based on the mechanical arm as claimed in claim 1, wherein a 90-degree turning wheel (13) is arranged on one side of the large box empty box discharging roller line (2), and guide limiting plates (14) are arranged on two sides of the tail end of the large box empty box discharging roller line (2).

3. The small box loading and large box stacking device based on the mechanical arm as claimed in claim 2, wherein the box supporting guide mechanism (3) comprises a guide frame (31), a guide plate (32), a fixing frame (33), a box supporting shifting cylinder (34), first guide shafts (35) and first fixing plates (36), the first guide shafts (35) are positioned on two sides of the box supporting shifting cylinder (34), the lower ends of the box supporting shifting cylinder (34) and the first guide shafts (35) are fixed on the fixing frame (33), linear bearings are arranged at two ends of the first fixing plates (36), the upper ends of the first guide shafts (35) penetrate through the linear bearings to be connected with one side of the guide frame (31), pushing rods of the box supporting shifting cylinders (34) penetrate through the first fixing plates (36) to be connected with one side of the guide frame (31), and the guide plates (32) are arranged on the periphery of the guide frame (31) and vertically extend downwards.

4. A small-box-loading large-box stacking device based on a mechanical arm as claimed in claim 3, wherein the small-box arranging mechanism (6) comprises an arranging cylinder (61), a second fixing plate (62), an arranging bottom plate (63), an arranging push plate (64), a second guide shaft (65) and a buffer spring (66), the second fixing plate (62) is fixed on one side of the tail end of a small-box finished product receiving roller line (5), the arranging cylinder (61) is fixed on the second fixing plate (62), a push rod of the arranging cylinder (61) penetrates through the second fixing plate (62) to be fixedly connected with the arranging bottom plate (63), linear bearings are arranged on four corners of the arranging bottom plate (63), and the second guide shaft (65) penetrates through the linear bearings, is sleeved with the buffer spring (66) and is connected with the arranging push plate (64).

5. The small-box large-box and large-box stacking device based on the mechanical arm according to claim 4, wherein the mechanical grabbing stacking mechanism (7) comprises a mechanical arm (71), a bidirectional moving screw servo module (72), a first clamping plate (73), a second clamping plate (74) and a sucker (75), the bidirectional moving screw servo module (72) is arranged at the upper end of the mechanical arm (71), the first clamping plate (73) and the second clamping plate (74) are respectively arranged at two ends below the bidirectional moving screw servo module (72), and the sucker (75) is arranged between the first clamping plate (73) and the second clamping plate (74).

6. A small-box-in-large-box and large-box stacking device based on a mechanical arm as claimed in claim 3, wherein the first pushing mechanism (9) comprises a pushing cylinder (91), a third fixing plate (92) and a nylon pushing plate (93), the third fixing plate (92) is fixed on one side of the tail end of the large-box empty-box discharging roller line (2) and is located under the guide frame (31), the pushing cylinder (91) is fixed on the third fixing plate (92), a pushing rod of the pushing cylinder (91) is connected with the nylon pushing plate (93), and the nylon pushing plate (93) faces the large-box finished product collecting roller line (8).

7. A small-bin large-bin and large-bin stacking device based on a mechanical arm as claimed in claim 5, wherein the large-bin finished product receiving roller line (8) is arranged in parallel with the stacking roller line (11), and the tail end of the large-bin finished product receiving roller line (8) is adjacent to the initial end of the stacking roller line (11).

8. The small-box-and-large-box stacking device based on the mechanical arm is characterized in that the second pushing mechanism (10) comprises a U-shaped fixing frame (101), a fixed connection structure (102), pushing cylinders (103), pushing plates (104) and a single-shaft mechanical arm (105), the U-shaped fixing frame (101) is arranged downwards, two ends of the U-shaped fixing frame are respectively arranged at the tail end of a large-box finished product collecting roller line (8) and the initial end of a stacking roller line (11), the U-shaped fixing frame (101) is perpendicular to the large-box finished product collecting roller line (8), the single-shaft mechanical arm (105) is arranged on the lower surface of the upper end of the U-shaped fixing frame (101), movable blocks below the single-shaft mechanical arm (105) are connected with the fixed connection structure (102), pushing cylinders (103) are arranged on two sides of the fixed connection structure (102), pushing rods of the pushing cylinders (103) are connected with the pushing plates (104), and the pushing plates (104) are arranged vertically downwards.

9. A small-case-loading large-case stacking device based on a mechanical arm as claimed in claim 1, wherein a tray limiting seat (121) for limiting is arranged outside the tray (12).

10. The small-box large-box and large-box stacking device based on the mechanical arm according to claim 8, wherein the tail end of the small-box finished product collecting roller line (5) and the tail end of the stacking roller line (11) are respectively provided with a first limiting plate (15).