CN107473151B - Stacking device capable of realizing turn-over operation - Google Patents
Stacking device capable of realizing turn-over operation Download PDFInfo
- Publication number
- CN107473151B CN107473151B CN201710879588.6A CN201710879588A CN107473151B CN 107473151 B CN107473151 B CN 107473151B CN 201710879588 A CN201710879588 A CN 201710879588A CN 107473151 B CN107473151 B CN 107473151B
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- Prior art keywords
- sucker
- palletizing
- platform
- transfer platform
- seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a stacking device capable of realizing turn-over operation, which comprises a sucker assembly and a transfer platform. The sucking disc subassembly sets up in pile up neatly machine people's head, including plane frame fixed subassembly, sucking disc seat and sucking disc. The sucker assembly is driven by the palletizing robot to move up and down, stretch and rotate relative to the center platform. The suckers are arranged in parallel along the length direction of the sucker seat. The transfer platform comprises a plurality of strip-shaped sections which are arranged in parallel, gaps are reserved between adjacent sections, and the transfer platform is comb-tooth-shaped. The sucker assembly can be interacted with the transfer platform, the sucker array of the sucker assembly can pass through a gap of the table top of the transfer platform under the driving of the palletizing robot, and the operation below the table top can be completed, so that the turning operation of an object is completed.
Description
Technical Field
The invention relates to a stacking device, in particular to a stacking device capable of realizing turning operation.
Background
In an automated production process, a large number of products and raw materials need to be handled and palletized. Utilize the palletizing robot to realize the automatic transport to the product, pile up neatly, can use manpower sparingly and expense greatly, improve production efficiency. The palletizing robot has the advantages of compact structure, mature technology, convenient control, agile action and the like, and is widely applied to different fields of automobiles, logistics, household appliances, medicines, food and beverage and the like. The stacking manipulator is arranged at the head of the robot to finish the taking and placing of the box body. At present, the stacking device is used for solving the problems of carrying and stacking, namely carrying from one place to the other place to realize stacking, and the stacking manipulator is in a claw shape, so that the sheet-shaped product can be flexibly turned over.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a stacking device capable of flexibly and conveniently overturning sheet products on a transfer platform.
In order to achieve the above purpose, the present invention provides the following technical solutions: a stacking device capable of realizing turn-over operation comprises a sucker assembly and a transfer platform;
the sucker assembly is arranged at the head of the stacking robot;
the sucker assembly comprises a plane frame fixing assembly, a sucker seat and a sucker;
the plane frame fixing component is connected with the head of the palletizing robot and driven by the palletizing robot to move, and meanwhile drives the whole sucker component to move relative to the transfer platform;
the sucking disc seats are arranged in parallel along the width direction of the planar frame fixing assembly, and a first gap is formed between any two sucking disc seats;
the sucking discs are arranged along the length direction of the sucking disc seat and protrude relative to the surface of the sucking disc seat;
the transfer platform comprises a plurality of strip-shaped first sectional materials which are arranged in parallel, and a second gap is reserved between two adjacent first sectional materials and is in a comb shape;
the width of the first gap is an integral multiple of the distance between two adjacent first sections on the transfer platform, the width of the second gap can enable the sucker to pass through, and the height of the sucker is larger than the thickness of the first sections of the transfer platform.
As a further improvement of the invention, the plane frame fixing component comprises a flange seat, a profile seat and a profile frame, wherein the flange seat is connected with the head of the stacking manipulator and can drive the sucker component to move up and down or rotate under the driving of the flange seat, the profile seat is fixedly connected with the flange seat, the profile frame is fixedly connected with the profile seat, and the profile frame is a square frame formed by vertically and horizontally staggered connection of a plurality of second profiles.
As a further improvement of the invention, the sucker comprises a sucker connecting rod and a sucker body which are fixedly connected with each other, and the sucker connecting rod is fixedly connected with the sucker seat.
As a further improvement of the invention, the sucker bases are arranged in parallel along the length direction of the profile frame and are arranged on two sides of the profile base.
As a further improvement of the invention, the table top of the transfer platform is higher at one side close to the palletizing robot and lower at one side far away from the palletizing robot, so as to form an inclined table top.
As a further improvement of the invention, a transverse third section bar is arranged at the lower end of the table top of the transfer platform, penetrates through the table top and is perpendicular to other parallel first section bars, and a bulge is formed on the table top.
As a further improvement of the invention, the palletizing device further comprises a laser platform and a laser platform, wherein the laser platform is positioned at one side of the palletizing robot within the movable range and is used for placing objects to be packaged.
As a further improvement of the invention, the robot palletizer further comprises a palletizing platform, wherein the palletizing platform is positioned at the other side in the movable range of the palletizing robot, and a gap is reserved below the plane of the palletizing platform.
Compared with the prior art, the invention has the beneficial effects that:
according to the stacking device capable of realizing the turn-over operation, the sucker assembly with the sucker is driven by the stacking robot to do up-and-down, left-and-right, telescopic and rotary motions relative to the transfer platform, the sucker assembly can interactively work on the comb-shaped stacking transfer platform, the sucker assembly is enabled to face upwards through contraction and rotation and then extend below the transfer platform, the sucker penetrates through a gap of the table top of the transfer platform, objects on the transfer platform are sucked, and then the objects are turned over and put back to the transfer platform through contraction and rotation. The operation is more convenient and flexible.
Drawings
FIG. 1 is a palletizing apparatus including a palletizing platform;
FIG. 2 is an enlarged view of the suction cup assembly and suction cup;
FIG. 3 is a perspective view of a transfer platform;
fig. 4 is a side view of the palletizing robot and the transfer platform with the suction cup assembly.
Detailed Description
The invention will be further described in detail with reference to examples of embodiments shown in the drawings.
Referring to fig. 1, the whole palletizing device comprises a sucker assembly 1, a transfer platform 2, a laser platform 3, a palletizing platform 4, a palletizing robot 5, a terminal 6 and a teaching machine 7. The sucker assembly 1 is arranged at the head of the palletizing robot 5, is driven by the palletizing robot, and performs up-down, left-right, telescopic and rotary actions relative to the transfer platform. The palletizing robot 5 drives the sucker assembly 1 to suck objects from the laser platform 3, conveys the objects to the transfer platform 2, completes the turning operation of products, then sucks the surfaces of the objects, conveys the objects to the palletizing platform for palletizing, and is used for the objects to be carried away by the whole stack. The terminal 6 and the teaching machine 7 can control the palletizing robot 5 to work.
In order to realize the turning operation on the objects in the above actions, the embodiment provides a stacking device capable of realizing the turning operation, which mainly comprises a sucker assembly 1 and a transfer platform 2; the sucker assembly 1 and the transfer platform 2 are structured so that they can cooperate to realize flexible turning of objects.
Wherein the suction cup assembly 1 is arranged at the head of the palletizing robot. Realize getting the effect of putting the object through the sucking disc.
Referring to fig. 2, the suction cup assembly 1 includes a planar frame fixing assembly 11, a suction cup base 12, and a suction cup 13. The plane frame fixing component 11 is fixedly connected with the sucker seat 12, and the sucker seat 12 is fixedly connected with the sucker 13.
Based on the above structure, referring to fig. 2, the planar frame fixing assembly 11 is connected to the head of the palletizing robot and is driven by the palletizing robot to move up and down, rotate, and simultaneously drive the whole suction cup assembly 1 to move up and down, stretch and rotate relative to the transfer platform 2.
Referring to fig. 2, the suction cup holders 12 are elongated, a plurality of suction cup holders 12 are arranged in parallel in a width direction of the planar frame fixing assembly 11, and a first gap is formed between any two suction cup holders 12.
The plurality of suction cups 13 are arranged in parallel along the length direction of the suction cup holder 12 and protrude with respect to the surface of the suction cup holder 12. As can be inferred from the above, the suction cups 13 are distributed in a rectangular array and are in the shape of rakes.
The transfer platform 2 comprises a plurality of strip-shaped first profiles 211 which are arranged in parallel, and a second gap is reserved between two adjacent first profiles 211 and is in a comb shape. The structure and the rake shape of the suction cup assembly can be combined with each other to interwork.
The width of the first gap is an integral multiple of the distance between two adjacent first profiles 211 on the transfer platform 2, so that each suction cup seat 12 on the suction cup assembly 1 can be inserted into the gap of the table top 21 of the bucket transfer platform 2. The width in second clearance can make sucking disc 13 pass through, and the height of sucking disc 13 is greater than the thickness of the first section bar 211 of transfer platform 2, can guarantee sucking disc subassembly 1 when wearing to insert with the transfer platform, and sucking disc 13 of sucking disc subassembly 1 can be totally from the gap protrusion of transfer platform 2, when sucking disc subassembly 1 works in transfer platform 2 below, does benefit to sucking disc 13 of sucking disc subassembly 1 and contacts the surface of the object on mesa 21. When the sucker assembly 1 completes up-and-down movement, telescopic movement and rotary movement relative to the transfer platform 2 under the operation of the palletizing robot, the object can be flexibly and freely taken and placed above or below the table top 21 of the transfer platform 2.
As a modified embodiment, the planar frame fixing assembly 11 includes a flange seat 111, a profile seat 112 and a profile frame 113, where the flange seat 111 is connected to the head of the stacking manipulator and is driven by the flange seat to drive the suction cup assembly 1 to move up and down or rotate. The section bar seat 112 is fixedly connected with the flange seat 111, the section bar frame 113 is fixedly connected with the section bar seat 112, and the section bar frame 113 is a square frame structure formed by vertically and horizontally staggering a plurality of second section bars. This way of attachment provides a stable attachment frame for the suction cup 13, so that the suction cup 13 is arranged in a dispersed manner over a certain area, with a wider contact range with the object to be handled.
Referring to fig. 2, as a modified embodiment, the suction cup 13 includes a suction cup connecting rod 131 and a suction cup body 132, the suction cup 13 is fixedly connected with the suction cup seat 12 through the suction cup connecting rod 131, so that the suction cup body 132 protrudes relative to the surface of the suction cup seat 12, and the suction cup assembly 1 can pass through the lower part of the table top 21 of the middle transfer platform 2 through the suction cup 13 to contact the surface of an object through the middle transfer platform 2.
Referring to fig. 2, as a modified embodiment, the suction cup holders 12 are distributed along the length of the profile frame 113 in a dispersed manner. Therefore, when the object is sucked and placed, the stress on the surface of the object is distributed to two sides, and the whole stress is more uniform.
Referring to fig. 3 and 4, as a modified embodiment, the table top 21 of the transfer platform 2 is higher on the side closer to the palletizing robot and lower on the side farther from the robot, and is formed in an inclined shape of the table top 21. The structure is more favorable for the palletizing robot to operate under the table top 21, so that the palletizing robot can go deep under the table top 21 of the transfer platform 2 without declining by a large angle, objects are sucked through the sucking disc, and the palletizing robot drives the table top 21 of the relative transfer platform 2 to shrink, turn over, stretch again and put back above the table top of the transfer platform 2.
Referring to fig. 3, as a modified embodiment, a transverse third profile 212 is provided at the lower end of the table top 21 of the transfer platform 2, penetrating the table top and being perpendicular to the other juxtaposed first profiles 211. A protrusion is formed on the table top 21 to function as a baffle so that an object on the table top 21 does not slip to the ground due to the inclination of the table top.
Referring to fig. 1, the stacking device capable of realizing the turning operation further comprises a laser platform 3, wherein the laser platform 3 is positioned at one side of the movable range of the stacking robot and is used for placing objects to be packaged. The palletizing robot sucks the objects processed on the laser platform 3, and puts the objects on the transfer platform 2 for further processing.
Referring to fig. 1, the stacking device capable of realizing the turning operation further comprises a stacking platform 4, wherein the stacking platform 4 is positioned at the other side in the moving range of the stacking robot, and a gap is reserved below the plane of the stacking platform 4. The stacking platform 4 is used for carrying the objects processed on the transfer platform 2 to the stacking platform 4 by the stacking robot, so that stacking is realized. A gap is reserved below the plane of the stacking platform 4, so that objects after stacking can be conveniently carried by equipment such as a forklift.
Referring to fig. 1, the palletizing device capable of realizing the turning operation further comprises a terminal machine 6 and a teaching machine 7, and can well control the palletizing robot.
In conclusion, the stacking device with the sucker can turn over an object on the transfer platform with the comb teeth shape and high side and low side through the sucker component under the driving of the stacking robot, and the inclined transfer platform table top enables the stacking robot to operate without declining by a larger angle. The operation is more convenient and quicker.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (7)
1. Can realize pile up neatly device of turn-over operation, its characterized in that: comprises a sucker assembly (1) and a transfer platform (2);
the sucker assembly (1) is arranged at the head of the palletizing robot;
the sucker assembly (1) comprises a plane frame fixing assembly (11), a sucker seat (12) and a sucker (13); the plane frame fixing assembly (11) is connected with the head of the palletizing robot and driven by the palletizing robot to move, and meanwhile drives the whole sucker assembly (1) to move relative to the middle rotating platform (2);
the sucking disc seats (12) are arranged in parallel along the width direction of the planar frame fixing assembly (11), and a first gap is formed between any two sucking disc seats (12);
a plurality of suction cups (13) are arranged along the length direction of the suction cup seat (12) and protrude relative to the surface of the suction cup seat (12);
the transfer platform (2) comprises a plurality of strip-shaped first sectional materials (211) which are arranged in parallel, and a second gap is reserved between two adjacent first sectional materials (211) and is in a comb shape;
the width of the first gap is an integral multiple of the distance between two adjacent first profiles (211) on the transfer platform (2), the width of the second gap can enable the sucker (13) to pass through, and the height of the sucker (13) is larger than the thickness of the first profiles (211) of the transfer platform (2);
the table top (21) of the transfer platform (2) is higher on the side close to the palletizing robot and lower on the side far away from the palletizing robot, so that the table top (21) is inclined.
2. Palletizing device capable of realizing a turning operation according to claim 1, characterized in that: the plane frame fixing assembly (11) comprises a flange seat (111), a profile seat (112) and a profile frame (113), wherein the flange seat (111) is connected with the head of the palletizing robot and can drive the sucker assembly (1) to move up and down or rotate under the driving of the flange seat (111), the profile seat (112) is fixedly connected with the flange seat (111), the profile frame (113) is fixedly connected with the profile seat (112), and the profile frame (113) is a square frame formed by vertically and horizontally staggered connection of a plurality of second profiles.
3. Palletizing device capable of realizing a turning operation according to claim 1, characterized in that: the sucker (13) comprises a sucker connecting rod (131) and a sucker body (132) which are fixedly connected with each other, and the sucker connecting rod (131) is fixedly connected with the sucker seat (12).
4. Palletizing device capable of realizing a turning operation according to claim 2, characterized in that: the sucker bases (12) are arranged in parallel along the length direction of the section frame (113) and are arranged on two sides of the section base (112).
5. Palletizing device capable of realizing a turning operation according to claim 1, characterized in that: a transverse third section bar (212) penetrates through the table top (21) and is perpendicular to other parallel first section bars (211) at the lower end of the table top (21) of the transfer platform (2), and a bulge is formed on the table top (21).
6. Palletizing device capable of realizing a turning operation according to claim 1, characterized in that: the device further comprises a laser platform (3), wherein the laser platform (3) is positioned at one side of the movable range of the palletizing robot and is used for placing objects to be packaged.
7. Palletizing device capable of realizing a turning operation according to claim 1, characterized in that: the robot palletizer further comprises a palletizing platform (4), wherein the palletizing platform (4) is positioned at the other side in the movable range of the palletizing robot, and a gap is reserved below the plane of the palletizing platform (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710879588.6A CN107473151B (en) | 2017-09-26 | 2017-09-26 | Stacking device capable of realizing turn-over operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710879588.6A CN107473151B (en) | 2017-09-26 | 2017-09-26 | Stacking device capable of realizing turn-over operation |
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| Publication Number | Publication Date |
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| CN107473151A CN107473151A (en) | 2017-12-15 |
| CN107473151B true CN107473151B (en) | 2023-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710879588.6A Active CN107473151B (en) | 2017-09-26 | 2017-09-26 | Stacking device capable of realizing turn-over operation |
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| CN (1) | CN107473151B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108766195A (en) * | 2018-06-08 | 2018-11-06 | 无锡商业职业技术学院 | A kind of equipment to the multi-faceted simulating cutting of workpiece |
| CN110902340B (en) * | 2019-11-11 | 2021-08-13 | 东莞市鸿仁自动化设备科技有限公司 | Sheet overturning device and sheet overturning method |
| CN110902341A (en) * | 2019-11-11 | 2020-03-24 | 东莞市鸿仁自动化设备科技有限公司 | Thin plate turnover device and using method thereof |
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| JPH05338793A (en) * | 1992-06-10 | 1993-12-21 | Sekisui Chem Co Ltd | Molding reversing device |
| JP2004051114A (en) * | 2002-07-16 | 2004-02-19 | Fuji Photo Film Co Ltd | Producing/packaging system for sheet member |
| JP2004238104A (en) * | 2003-02-03 | 2004-08-26 | Central Glass Co Ltd | Automatically casting system of glass sheet into bending furnace |
| CN106938764A (en) * | 2017-04-28 | 2017-07-11 | 浙江硕和机器人科技有限公司 | A kind of guide plate reciprocating conveying mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH03236757A (en) * | 1990-02-15 | 1991-10-22 | Sanyo Shokuhin Kk | Device for inverting bean curd |
| CN202423355U (en) * | 2011-12-23 | 2012-09-05 | 常州天华新能源科技有限公司 | On-line appearance detector for laminated solar cell panel |
| CN203006471U (en) * | 2012-12-03 | 2013-06-19 | 四川长虹电器股份有限公司 | Manual turnover device for liquid crystal panel |
| CN203983224U (en) * | 2014-06-24 | 2014-12-03 | 王赛君 | A kind of lamp tube powder coating device |
| CN107098146B (en) * | 2017-06-02 | 2018-09-11 | 福建海源新材料科技有限公司 | A kind of automatic transferring and its conveyer method of carbon fibre composite production line |
| CN106994787B (en) * | 2017-06-02 | 2023-06-16 | 福建海源新材料科技有限公司 | Preparation device and method for double-layer bonded carbon fiber composite material |
| CN107020757B (en) * | 2017-06-02 | 2023-02-24 | 江西海源复合材料科技股份有限公司 | Carbon fiber composite material production line and production method |
| CN207209916U (en) * | 2017-09-26 | 2018-04-10 | 浙江硕和机器人科技有限公司 | A kind of palletizing apparatus of achievable turn-over operation |
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2017
- 2017-09-26 CN CN201710879588.6A patent/CN107473151B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05338793A (en) * | 1992-06-10 | 1993-12-21 | Sekisui Chem Co Ltd | Molding reversing device |
| JP2004051114A (en) * | 2002-07-16 | 2004-02-19 | Fuji Photo Film Co Ltd | Producing/packaging system for sheet member |
| JP2004238104A (en) * | 2003-02-03 | 2004-08-26 | Central Glass Co Ltd | Automatically casting system of glass sheet into bending furnace |
| CN106938764A (en) * | 2017-04-28 | 2017-07-11 | 浙江硕和机器人科技有限公司 | A kind of guide plate reciprocating conveying mechanism |
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| CN107473151A (en) | 2017-12-15 |
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