CN108116899A - A kind of palletizing apparatus and its forming method - Google Patents
A kind of palletizing apparatus and its forming method Download PDFInfo
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- CN108116899A CN108116899A CN201711439407.4A CN201711439407A CN108116899A CN 108116899 A CN108116899 A CN 108116899A CN 201711439407 A CN201711439407 A CN 201711439407A CN 108116899 A CN108116899 A CN 108116899A
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- driver
- clamp hand
- pass
- palletizing apparatus
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 230000001360 synchronised effect Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000007493 shaping process Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
The present invention relates to a kind of palletizing apparatus and its forming methods, including stent, planar movement system, vertically move system, mechanical clamp hand, control system；The planar movement system is arranged on stent, and the planar movement system includes moving left and right device and moves back and forth device, it is described vertically move system and be arranged on move left and right on device, the machinery clamp hand is arranged in the system of vertically moving；The palletizing apparatus can make mechanical clamp hand reach any position in stent by control system control, and object is captured by mechanical clamp hand, completion palletization operations, and the pressure head in the machinery clamp hand can carry out quick-replaceable according to by the shape shape of folder article.
Description
【Technical field】
The present invention relates to palletizing apparatus, and in particular to a kind of palletizing apparatus and its forming method.
【Background technology】
With the development of society, also increasing to the consumption of commodity per capita, the vanning or stacking of extensive stock make all kinds of lifes
It produces industrial corporation or loglstics enterprise puzzlement endlessly, is 6 currently on the market there are many Palletizer that industrial robot is formed
A degree of freedom equipment, it is expensive, it is not suitable for the use of small processing enterprise or small-sized logistics post, and in many cases,
The equipment of 4 degree of freedom is only needed with regard to stacking or vanning to article can be met.
Therefore a kind of palletizing apparatus and its forming method are needed, the palletizing apparatus can make machine by control system control
Tool clamp hand reaches any position in stent, and object is captured by mechanical clamp hand, completes palletization operations, the machinery clamp hand
In pressure head can according to by folder article shape shape carry out quick-replaceable.
【The content of the invention】
The technical problem to be solved in the present invention is, currently on the market there are many Palletizer that industrial robot is formed, is
6 degree of freedom equipment, it is expensive, it is not suitable for the use of small processing enterprise or small-sized logistics post, and in many cases,
The equipment of 4 degree of freedom is only needed with regard to stacking or vanning to article can be met, in view of the above problems, proposing a kind of stacking dress
It puts and its forming method.
The technical solution adopted by the present invention to solve the technical problems is：Including stent, planar movement system, vertically move
System, mechanical clamp hand, control system；The planar movement system is arranged on stent, and the planar movement system includes left and right
Mobile device with moving back and forth device, it is described vertically move system and be arranged on move left and right on device, the machinery clamp hand is set
On system is vertically moved.
In a kind of palletizing apparatus of the present invention and its forming method, the device that moves left and right includes synchronizing wheel, same
Walk band, linking axes, driver, driving wheel, driving band, synchronous strip connecting plate；The driving wheel is with driving wheel by driving band even
It connects, driving wheel and linking axes, the both ends of the connecting shaft and connecting shaft are connected respectively at synchronizing wheel with synchronizing wheel, the synchronizing wheel
With synchronizing wheel by synchronous band connection, the synchronizing wheel passes through synchronous band connection, the synchronous belt and synchronous belt point with synchronizing wheel
It is not fixedly connected on and is moved back and forth on device by fixed block and fixed block, by the driving of driver, the linking axes passes through
Synchronous belt driving moves back and forth device and moves left and right, and due to the kind of drive using synchronizing wheel and synchronous belt, kinematic accuracy is high.
In a kind of palletizing apparatus of the present invention and its forming method, the back-and-forth motion device includes driver, passes
Dynamic device, convex slideway, spill sliding slot, link；The back-and-forth motion device both sides are respectively equipped with convex slideway and spill
Sliding slot and convex slideway and spill sliding slot, the convex slideway are connected with spill sliding slot, pass through the driving of the driver
And under the action of transmission device, the link can move back and forth.
In a kind of palletizing apparatus of the present invention and its forming method, the system that vertically moves includes telescopic drive
Device, rotating driver, rotating driver output wheel, rotating disk；The system that vertically moves is arranged on back-and-forth motion device
On link, the driver that turns is arranged on telescopic driver, output terminal and the driver output wheel of the rotating driver
Connection, the rotating driver output wheel engage connection for two with rotating disk, can be realized and moved up and down by telescopic driver, lead to
The effect of the rotating driver is crossed, it can be achieved that the rotation of rotating disk.
In a kind of palletizing apparatus of the present invention and its forming method, the machinery clamp hand, which includes mechanical clamp hand, to be fixed
Frame, mechanical clamp hand driver, gear, turbine, connection transmission shaft, worm screw, four circumferentially distributed mobile handgrips；The handgrip bag
Include rack, connection channel, square pole, telescopic rod, pressure head；The handgrip is connected to described by rack and rack respectively with handgrip
Gear mesh can enable handgrip and handgrip constant speed direction movement simultaneously, similarly, by rotating gear to both sides by rotating gear
Can enabling handgrip, constant speed direction is moved simultaneously with handgrip；The driver output shaft is connected simultaneously with worm screw and gear, described
Worm screw is connected with turbine, and the turbine is connected by connecting shaft with gear, can by the driving of driver and the transmission of turbine and worm
Gear is made to be rotated simultaneously with gear, moves inward or is displaced outwardly simultaneously so as to fulfill four handgrips, realize to object
Clamping or unloading.
In a kind of palletizing apparatus of the present invention and its forming method, the palletizing apparatus realizes machine by control system
Accurate movement of the tool clamp hand in stent realizes the clamping to object with four pressure heads on machinery clamp hand, while by vertical
Rotating driver in mobile device can realize the flexible rotating of mechanical clamp hand in the horizontal plane, to adapt to different angles in plane
The crawl for the article placed is spent, the pressure head is according to the shape and size fast changeable by folder object, by mechanical clamp hand
Position and pressure head control, it can be achieved that article quick stacking shaping.
Implement a kind of palletizing apparatus and its forming method of the present invention, have the advantages that：The palletizing apparatus
By control system control mechanical clamp hand can be made to reach any position in stent, object is captured by mechanical clamp hand,
Complete palletization operations, the pressure head in the machinery clamp hand can carry out quick-replaceable according to by the shape shape of folder article, to adapt to pair
The crawl of the commodity of different size shape can simultaneously realize stacking.
【Description of the drawings】
Fig. 1 is the stereogram of palletizing apparatus of the present invention.
Fig. 2 is the stereogram of palletizing apparatus machinery clamp hand of the present invention.
Fig. 3 is the top view of palletizing apparatus machinery clamp hand of the present invention.
【Specific embodiment】
As shown in Figs. 1-3, in a kind of palletizing apparatus of the present invention and its forming method preferred embodiment, including stent
（100）, planar movement system, vertically move system, mechanical clamp hand, control system；The planar movement system is arranged on stent
（100）On, the planar movement system includes moving left and right device and back-and-forth motion device, and the system that vertically moves is arranged on
It moves left and right on device, the machinery clamp hand is arranged in the system of vertically moving.
In a kind of palletizing apparatus of the present invention and its forming method preferred embodiment, the device that moves left and right includes
Synchronizing wheel（202、208、211、213）, synchronous belt（200、201）, linking axes（203、212）, driver（204）, driving wheel
（205、206）, driving band（208）, synchronous strip connecting plate（209、210）；The driving wheel（205）With driving wheel（206）Pass through
Drive band（208）Connection, driving wheel（206）With linking axes（203）, the connecting shaft（203）With connecting shaft（212）Both ends point
Not in synchronizing wheel（202、208）With synchronizing wheel（211、213）Connection, the synchronizing wheel（202）With synchronizing wheel（211）Pass through synchronization
Band（200）Connection, the synchronizing wheel（208）With synchronizing wheel（213）Pass through synchronous belt（201）Connection, the synchronous belt（200）With
Synchronous belt（201）Pass through fixed block respectively（209）With fixed block（210）It is fixedly connected on and moves back and forth on device, pass through driving
Device（204）Driving, the linking axes（203）Pass through synchronous belt（200、201）Driving moves back and forth device and moves left and right, due to
Using synchronizing wheel and the kind of drive of synchronous belt, kinematic accuracy is high.
In a kind of palletizing apparatus of the present invention and its forming method preferred embodiment, the back-and-forth motion device includes
Driver（300）, transmission device（301）, convex slideway（302、304）, spill sliding slot（303、306）, link（305）；Institute
It states and moves back and forth device both sides respectively equipped with convex slideway（302）And spill sliding slot（303）With convex slideway（304）And spill
Sliding slot（306）, the convex slideway（302、304）With spill sliding slot（303、306）It is connected, passes through the driver
（300）Driving and transmission device（301）Under the action of, the link（305）It can move back and forth.
In a kind of palletizing apparatus of the present invention and its forming method preferred embodiment, the system that vertically moves includes
Telescopic driver（400）, rotating driver（401）, rotating driver output wheel（402）, rotating disk（403）；The vertical shifting
Dynamic system is arranged on the link moved back and forth on device（305）On, it is described to turn driver（401）It is arranged on telescopic driver
（400）On, the rotating driver（401）Output terminal and driver output wheel（402）Connection, the rotating driver output
Wheel（402）With rotating disk（403）Two engagement connections, pass through telescopic driver（400）It can be achieved to move up and down, pass through the rotation
Turn driver（401）Effect, it can be achieved that rotating disk（403）Rotation.
In a kind of palletizing apparatus of the present invention and its forming method preferred embodiment, the machinery clamp hand includes machinery
Clamp hand fixed frame（500）, mechanical clamp hand driver（501）, gear（503、506）, turbine（504）, connection transmission shaft（505）、
Worm screw（502）, four circumferentially distributed mobile handgrips（510、520、530、540）；The handgrip（510、520、530、540）Bag
Include rack（511、521、531、541）, connection channel（512、522、532、542）, square pole（513、523、533、543）, stretch
Contracting bar（514、524、534、544）, pressure head（515、525、535、545）；The handgrip（510）With handgrip（520）Pass through respectively
Rack（511）With rack（521）It is connected to the gear（503）To both sides, by rotating gear（503）It can make handgrip
（510）With handgrip（520）It can move in constant speed direction simultaneously, similarly, by rotating gear（506）It can make handgrip（530）With grabbing
Hand（540）It being capable of constant speed direction movement simultaneously；The driver（501）Output shaft while and worm screw（502）And gear（503）Even
It connects, the worm screw（502）With turbine（504）Connection, the turbine（504）Pass through connecting shaft（505）With gear（506）Connection is led to
It overdrives device（501）Driving and turbine（504）Worm screw（502）Transmission, gear can be made（503）With gear（506）Turn simultaneously
It is dynamic, so as to fulfill four handgrips（510、520、530、540）It moves inward or is displaced outwardly simultaneously, realize to object
Clamping or unloading.
In a kind of palletizing apparatus of the present invention and its forming method preferred embodiment, the palletizing apparatus passes through control
System realizes mechanical clamp hand in stent（100）Interior accurate movement, with four pressure heads on machinery clamp hand（515、525、535、
545）It realizes the clamping to object, while passes through the rotating driver on vertical movement apparatus（401）Machinery clamp hand can be achieved to exist
Flexible rotating in horizontal plane, to adapt to the crawl for the article placed to different angle in plane, the pressure head（515、525、
535、545）According to by the shape of folder object and size fast changeable, pass through the position to mechanical clamp hand and pressure head（515、
525、535、545）Control, it can be achieved that article quick stacking shaping.
In a kind of palletizing apparatus of the present invention and its forming method preferred embodiment, the palletizing apparatus passes through control
System control can make mechanical clamp hand reach any position in stent, and object is captured by mechanical clamp hand, complete stacking
It operates, the pressure head in the machinery clamp hand can carry out quick-replaceable according to by the shape shape of folder article, to adapt to different size
The crawl of the commodity of shape can simultaneously realize stacking, and the palletizing apparatus is simple in structure, the operation is stable, can realize to the fast of article
Fast stacking shaping.
As described above, is only presently preferred embodiments of the present invention, when the scope implemented of the present invention cannot be limited with this,
The simple equivalent changes and modifications made generally according to scope of the present invention patent and description, all still belongs to patent of the present invention
In the range of covering.
Claims (6)
1. a kind of palletizing apparatus and its forming method, which is characterized in that including stent（100）, planar movement system, vertically move
System, mechanical clamp hand, control system；The planar movement system is arranged on stent（100）On, the planar movement system includes
Move left and right device and move back and forth device, it is described vertically move system and be arranged on move left and right on device, the machinery clamp hand
It is arranged in the system of vertically moving.
2. a kind of palletizing apparatus and its forming method according to claim 1, which is characterized in that described to move left and right device bag
Include synchronizing wheel（202、208、211、213）, synchronous belt（200、201）, linking axes（203、212）, driver（204）, driving wheel
（205、206）, driving band（208）, synchronous strip connecting plate（209、210）；The driving wheel（205）With driving wheel（206）Pass through
Drive band（208）Connection, driving wheel（206）With linking axes（203）, the connecting shaft（203）With connecting shaft（212）Both ends point
Not in synchronizing wheel（202、208）With synchronizing wheel（211、213）Connection, the synchronizing wheel（202）With synchronizing wheel（211）Pass through synchronization
Band（200）Connection, the synchronizing wheel（208）With synchronizing wheel（213）Pass through synchronous belt（201）Connection, the synchronous belt（200）With
Synchronous belt（201）Pass through fixed block respectively（209）With fixed block（210）It is fixedly connected on and moves back and forth on device, pass through driving
Device（204）Driving, the linking axes（203）Pass through synchronous belt（200、201）Driving moves back and forth device and moves left and right, due to
Using synchronizing wheel and the kind of drive of synchronous belt, kinematic accuracy is high.
3. a kind of palletizing apparatus and its forming method according to claim 1, which is characterized in that the back-and-forth motion device bag
Include driver（300）, transmission device（301）, convex slideway（302、304）, spill sliding slot（303、306）, link（305）；
The back-and-forth motion device both sides are respectively equipped with convex slideway（302）And spill sliding slot（303）With convex slideway（304）It is and recessed
Shape sliding slot（306）, the convex slideway（302、304）With spill sliding slot（303、306）It is connected, passes through the driver
（300）Driving and transmission device（301）Under the action of, the link（305）It can move back and forth.
4. a kind of palletizing apparatus and its forming method according to claim Isosorbide-5-Nitrae, which is characterized in that described to vertically move system
Including telescopic driver（400）, rotating driver（401）, rotating driver output wheel（402）, rotating disk（403）；It is described to hang down
Straight mobile system is arranged on the link moved back and forth on device（305）On, it is described to turn driver（401）It is arranged on telescopic drive
Device（400）On, the rotating driver（401）Output terminal and driver output wheel（402）Connection, the rotating driver are defeated
Go out wheel（402）With rotating disk（403）Two engagement connections, pass through telescopic driver（400）It can be achieved to move up and down, by described
Rotating driver（401）Effect, it can be achieved that rotating disk（403）Rotation.
5. a kind of palletizing apparatus and its forming method according to claim Isosorbide-5-Nitrae, which is characterized in that the machinery clamp hand includes
Mechanical clamp hand fixed frame（500）, mechanical clamp hand driver（501）, gear（503、506）, turbine（504）, connection transmission shaft
（505）, worm screw（502）, four circumferentially distributed mobile handgrips（510、520、530、540）；The handgrip（510、520、530、
540）Including rack（511、521、531、541）, connection channel（512、522、532、542）, square pole（513、523、533、
543）, telescopic rod（514、524、534、544）, pressure head（515、525、535、545）；The handgrip（510）With handgrip（520）Point
Rack is not passed through（511）With rack（521）It is connected to the gear（503）To both sides, by rotating gear（503）It can make to grab
Hand（510）With handgrip（520）It can move in constant speed direction simultaneously, similarly, by rotating gear（506）It can make handgrip（530）With
Handgrip（540）It being capable of constant speed direction movement simultaneously；The driver（501）Output shaft while and worm screw（502）And gear（503）
Connection, the worm screw（502）With turbine（504）Connection, the turbine（504）Pass through connecting shaft（505）With gear（506）Connection,
Pass through driver（501）Driving and turbine（504）Worm screw（502）Transmission, gear can be made（503）With gear（506）Simultaneously
It rotates, so as to fulfill four handgrips（510、520、530、540）It moves inward or is displaced outwardly simultaneously, realize to object
Clamping or unloading.
6. a kind of palletizing apparatus and its forming method according to claim Isosorbide-5-Nitrae, which is characterized in that the palletizing apparatus passes through
Control system realizes mechanical clamp hand in stent（100）Interior accurate movement, with four pressure heads on machinery clamp hand（515、525、
535、545）It realizes the clamping to object, while passes through the rotating driver on vertical movement apparatus（401）Machinery folder can be achieved
The flexible rotating of hand in the horizontal plane, to adapt to the crawl for the article placed to different angle in plane, the pressure head（515、
525、535、545）According to by the shape of folder object and size fast changeable, pass through the position to mechanical clamp hand and pressure head
（515、525、535、545）Control, it can be achieved that article quick stacking shaping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439407.4A CN108116899B (en) | 2017-12-27 | 2017-12-27 | Stacking device and forming method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439407.4A CN108116899B (en) | 2017-12-27 | 2017-12-27 | Stacking device and forming method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108116899A true CN108116899A (en) | 2018-06-05 |
| CN108116899B CN108116899B (en) | 2020-08-14 |
Family
ID=62231974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711439407.4A Active CN108116899B (en) | 2017-12-27 | 2017-12-27 | Stacking device and forming method thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN108116899B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132585A (en) * | 2018-10-09 | 2019-01-04 | 长春知和智能包装设备有限公司 | A kind of stacking machine integrates pawl tool and grasping means |
| CN110216620A (en) * | 2019-07-05 | 2019-09-10 | 国家电网有限公司 | A kind of high-tension fuse dismounting pincers |
| CN111531571A (en) * | 2020-06-08 | 2020-08-14 | 公安部第一研究所 | High-precision multi-dimensional manipulator grabbing mechanism |
| CN114434480A (en) * | 2022-02-11 | 2022-05-06 | 济南昊中自动化有限公司 | Automatic change press line end effector and change device |
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| CN105014683A (en) * | 2015-08-25 | 2015-11-04 | 西安银马实业发展有限公司 | Transfer robot end effector comprising electromechanical servo system |
| CN106584494A (en) * | 2016-12-22 | 2017-04-26 | 六安力达生产力促进中心有限公司 | Self-centering grabbing mechanism for manipulator |
| CN107199621A (en) * | 2017-07-14 | 2017-09-26 | 南京永顺机械有限公司 | A kind of automatic finisher of section of jurisdiction concrete |
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| CN204322094U (en) * | 2014-12-22 | 2015-05-13 | 济南东普机器制造有限公司 | A kind of industrial robot pneumatic gripping device |
| CN105014683A (en) * | 2015-08-25 | 2015-11-04 | 西安银马实业发展有限公司 | Transfer robot end effector comprising electromechanical servo system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132585A (en) * | 2018-10-09 | 2019-01-04 | 长春知和智能包装设备有限公司 | A kind of stacking machine integrates pawl tool and grasping means |
| CN110216620A (en) * | 2019-07-05 | 2019-09-10 | 国家电网有限公司 | A kind of high-tension fuse dismounting pincers |
| CN111531571A (en) * | 2020-06-08 | 2020-08-14 | 公安部第一研究所 | High-precision multi-dimensional manipulator grabbing mechanism |
| CN114434480A (en) * | 2022-02-11 | 2022-05-06 | 济南昊中自动化有限公司 | Automatic change press line end effector and change device |
| CN114434480B (en) * | 2022-02-11 | 2023-12-15 | 济南昊中自动化有限公司 | Automatic change punching press line end effector and change device |
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|---|---|
| CN108116899B (en) | 2020-08-14 |
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Effective date of registration: 20200723 Address after: 044000 Xishe Industrial Park, Jishan County, Yuncheng City, Shanxi Province (north of Renyi Village) Applicant after: Shanxi weishiteng rock wool Co., Ltd Address before: 250000 No. 1254 Shengli Street, Shizhong District, Shandong, Ji'nan Applicant before: Gao Fei |
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