CN109178958B - Integrated stacker crane and stacking method thereof - Google Patents

Abstract

The invention provides an integrated stacker crane and a stacking method thereof, wherein the integrated stacker crane comprises an electrical control system, a barrel feeding roller way, a tray warehouse, a transfer loading device, a stacking bracket and a stacker crane integrated claw; the barrel feeding roller way is arranged in the middle of the base of the transfer device, and is driven by a motor to rotate by a group of rollers and used for conveying a material barrel; the tray warehouse is arranged at one end of the base of the transfer device and is used for storing trays; the stacking support is arranged at the other end of the base of the transfer device and used for placing trays which are stacked, and the trays are taken away by a forklift after stacking; the electric control system is arranged beside the tray warehouse and used for controlling the stacker crane, and the stacker crane integrated claw is arranged on the transfer device and used for grabbing the tray and the material barrel and realizing stacking of the material barrel. The invention adopts an integral structure form, effectively simplifies the structure of the tray library, reduces the cost and reduces the occupied area.

Description

An integrated palletizer and its palletizing method

technical field

The invention relates to the technical field of automatic filling equipment, in particular to an integrated palletizer and a palletizing method thereof.

Background technique

At present, according to incomplete statistics of the products of more than 5,000 enterprises in my country's petroleum, chemical, fuel, and pharmaceutical industries, there are more than 6,000 varieties of products that are highly corrosive, flammable and explosive, and the on-site work equipment must meet the requirements of anti-combustion, anti-corrosion and operation Mandatory level standards for personal protection of personnel.

With the advancement of science and technology and the improvement of technological innovation, many enterprises, especially the liquid material filling industry, have adopted automated assembly lines to achieve large-scale batch production. At the same time, materials need to be packaged or filled. The loaded materials also need to be palletized.

Most of the domestic enterprises that produce highly corrosive and flammable and explosive products almost adopt the palletizing method of manual handling of materials. It will seriously endanger human health and affect work efficiency.

Patent No. 201310289664.X, "A Fully Automatic 200L Steel Drum Transfer-type Palletizing System and Its Transfer-Palletizing Method", Application No. 201410395487.8 "A 4×200L Drum Double-Group Transfer-Type Explosion-proof Palletizer and Its Palletizing method" The structure of the palletizing machine product previously applied for is composed of two parts, that is, the stacking bucket is one part, and the split pallet is another part. The disadvantage is that if a complete set of palletizing machine is formed, it will occupy an area of Big and costly.

However, the above-mentioned transfer device in the prior art can only realize the transfer of the bucket, and cannot operate the pallet, and has a relatively simple function. If the pallet needs to be split, it needs to be realized by adding a pallet warehouse, and the cost is relatively high, and the floor space is relatively large.

The claws in the prior art (Application No. 201210127946.5 "A Group Loading Palletizing Fixture", Application No. 201220185841.0 "A Group Loading Palletizing Fixture") can only grasp material barrels, but not pallets. Restricted, if you need to split the pallet, you need to increase the pallet library. The cost is relatively high and the floor area is relatively large.

Contents of the invention

The purpose of the present invention is to provide an integrated palletizer and its palletizing method, which solves the problems of the prior art that only can transfer barrels, cannot operate pallets, has relatively single functions, occupies a large area, and costs high ; The integrated palletizer adopts an integral structure, which effectively simplifies the structure of the pallet warehouse, reduces the cost, and reduces the occupied area. After the palletizing is completed, it can The venue can flexibly adjust the direction in which the heavy drum pallet is taken from the pallet or the direction in which the pallet is output, and it can be output in three directions without changing the structure.

The purpose of the present invention is achieved in this way, an integrated palletizer, which includes an electrical control system, a barrel-feeding roller table, a pallet warehouse, a load transfer device, a palletizing bracket and a palletizer integrated claw The barrel-feeding roller table is installed in the middle of the base of the transfer device, and the barrel-feeding roller table is driven by a motor to rotate a group of rollers for conveying material barrels; the pallet warehouse is installed at one end of the base of the transfer device, and the pallet The warehouse is used to store pallets; the palletizing bracket is installed on the other end of the base of the transfer device, and the palletizing bracket is used to place pallets that have been palletized, and will be taken away by a forklift after palletizing; the electrical control system is installed on the pallet Next to the warehouse, it is used to control the palletizer. The integrated claw of the palletizer is set on the transfer device for grabbing pallets and material barrels to realize the stacking of material barrels.

The transfer device includes a translation chain, a base, palletizer integrated claws, a door-shaped frame, a transfer drive motor, a lifting chain and a claw lifting motor, and the door-shaped frame is a door-shaped frame structure supported by four columns. The bottoms of every two columns are installed on the same connecting seat, and the connecting seat is connected to the base through a linear guide rail slider. The transfer driving motor is arranged on the base, and the translation chain is arranged between the transferring driving motor and the connecting seat. The frame can be moved horizontally on the base by the translation chain driven by the transfer drive motor; there are four lifting chains on the four corners of the door-shaped frame, and the integrated claws of the palletizer are installed at the lower ends of the four lifting chains. The claw lifting motor installed on the top of the frame drives the lifting chain to drive the lower palletizer to integrate the claws for lifting movement.

The integrated gripper includes a frame, a pallet gripper, a bucket gripper and a solenoid valve. The integrated gripper of the palletizer has a set of pallet grippers and two sets of bucket grippers. The frame is The frame structure welded by steel pipes is used to support and connect other parts; each set of bucket grabs is composed of a set of bucket grab synchronization mechanism and two grab bucket grabs; the grab tray grab consists of two sets of grab trays The hand synchronization mechanism and four pallet grippers are composed, and each set of pallet gripper synchronization mechanism is connected with two opposite pallet grippers; the solenoid valves are installed on the frame respectively, and the solenoid valves control four sets of synchronous The extension and retraction of the cylinders (barrel grab cylinder, pallet grab cylinder, etc.) in the mechanism (two sets of grab pallet grab hand synchronous mechanism, bucket grab hand synchronous mechanism). In terms of space arrangement, the bucket grabbing claws are installed below the frame, and two sets of bucket grabbing claws are arranged horizontally adjacent to each other; the pallet grabbing claws are installed directly above the two sets of bucket grabbing claws on the top of the frame.

The synchronous mechanism of the bucket grab hand includes a bucket grab cylinder, a bucket rack and a bucket gear. The two grab bucket racks are horizontally parallel and symmetrically arranged on both sides of the bucket gear and meshed with the bucket gear. The two ends of the grab bucket cylinder are respectively fixedly connected with the two grab bucket racks (so that the two grab bucket racks can move under the push of the bucket cylinder), and drive the two grab bucket racks to move horizontally back and forth in opposite directions. , the bucket gear is fixedly connected to the middle position of the first connecting seat, and the first limiting wheels are respectively arranged on both sides of the bucket gear on the first connecting seat to ensure the positioning of the bucket rack and the bucket gear. Reliable meshing and simultaneous vertical and lateral positioning of the grab bucket racks, each toothed end of the grab bucket racks is arranged between the grab bucket gear and the first limit wheel.

The end of each bucket rack is connected with a bucket grab handle, and the bucket grab handle synchronization mechanism is fixedly connected with the frame through the first connection seat thereon, and the bucket grab handle synchronization mechanism is at an angle of 45° The inclined setting ensures that the two grab handles close to the inner side are exactly located in the tangential center spaces of the four cylinders, which avoids the interference of the position of the material barrel on the grab handles and saves space.

The synchronous mechanism for grasping the pallet includes an upper pallet gear, a lower pallet gear, a vertical pallet rack, a horizontal pallet rack, a vertical pallet cylinder, and a horizontal pallet cylinder; the upper pallet gear and the lower pallet gear The rotation centers of the tray gears overlap and are arranged adjacent to each other, and they rotate independently; the two vertical grab tray racks are symmetrically arranged on both ends of the upper grab tray gear and meshed with the upper grab tray gear, and one end of the vertical grab tray cylinder It is connected to the second connecting seat, and the other end is fixedly connected to the grabbing handle connected to the rack for vertically grabbing the pallet. On the gripper of the tray rack; the upper gripping tray gear is fixedly connected to the middle position of the second connection seat, and the two sides of the upper gripping tray gear on the second connection seat are respectively provided with second limit wheels It is used to ensure the reliable meshing of the vertical grab tray rack and the upper grab tray gear, and at the same time realize the vertical and lateral limit of the vertical grab tray rack. The toothed end of each vertical grab tray rack It is arranged between the upper grabbing tray gear and the vertical grabbing tray rack; the lower grabbing tray gear is fixedly connected to the bottom of the grabbing tray gear at the middle position of the second connecting seat, and the lower grabbing tray gear on the second connecting seat There are also second limit wheels on both sides to ensure the reliable meshing of the horizontal grab tray rack and the lower grab tray gear, and at the same time realize the vertical and lateral limit of the horizontal grab tray rack. The toothed end of the horizontally grasping tray rack is arranged between the lower grasping tray gear and the transversely grasping tray rack.

Each of the vertical pallet racks and the horizontal pallet racks is connected to the pallet gripper, the pallet gripper synchronization mechanism is fixedly connected with the frame through the second connection seat on it, and the pallet gripper The hand synchronization mechanism is set at the center of the frame.

The present invention has the following advantages and positive effects:

1. The palletizer of the present invention uses integrated claws to solve the problem of large footprint and high cost in the prior art, and the pallet can only be output from one direction after palletizing is completed; the integrated claw is used as the core component of the palletizer The function of stacking barrels and splitting pallets can be realized, and the structure is compact and the cost is low.

2. The present invention combines the bucket claw and the pallet claw into one, which can simplify the structure of the pallet warehouse, reduce the cost, and reduce the floor area at the same time. After the palletizing is completed, it can be flexibly adjusted according to the logistics direction and the user's site The heavy drum pallet can be output in three directions from the pallet direction or the pallet output direction without changing the structure.

3. The integrated claw and grabbing method of the present invention can ensure that there is no deviation after the material bucket or pallet is placed in place, and has an automatic centering mechanism, which can automatically correct to the center of the claw when grabbing the bucket or pallet, ensuring that the placement position is correct. Making other mechanical devices can save costs.

5. Due to the adoption of the synchronous mechanism, the palletizer integrated claws of the present invention can be automatically compatible with buckets or pallets within a certain size range without changing the structure or making manual adjustments, which overcomes the fact that only material buckets of a specific size can be used in the prior art Or the pallet, if the size of the material bucket or pallet changes, only the claws can be replaced or manually adjusted.

6. In order to grasp both the bucket and the pallet, the present invention integrates two kinds of claws on one part, and solves the interference problem of the two sets of claws in the space at the same time, and handles the space of the two sets of claws reasonably in terms of structural design The positional relationship, the structure is as compact as possible, and the floor space is reduced; in addition, both types of grippers include an automatic centering structure, which automatically aligns the center of the bucket or pallet when grabbing the bucket or pallet.

7. The integrated claw used in the integrated palletizer of the present invention significantly simplifies the structure, realizes the functions that need to be realized by two parts in the past through one part, and reduces the occupied area at the same time. In order to further take advantage of this advantage, the integrated palletizer has innovated the structural form, arranging the position of grabbing the pallet, the position of the bucket, and the stacking position in a straight line, and the arrangement is tight, occupying a very small space.

8. The transfer device of the present invention can not only transfer material barrels but also transfer trays, and has more functions and a compact structure. Applying the present invention to the integrated palletizer solves the problems of large occupied area and high cost in the prior art, and has compact structure and low cost.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the integrated palletizer of the present invention.

Fig. 2 is a top view of Fig. 1 of the present invention.

Fig. 3 is a left side view of Fig. 1 of the present invention.

Fig. 4 is a schematic diagram of the overall structure of the transfer device of the present invention.

Fig. 5 is a top view of Fig. 4 of the present invention.

Fig. 6 is a left side view of Fig. 4 of the present invention.

Fig. 7 is a schematic structural view of the integrated gripper of the present invention.

Fig. 8 is a top view of Fig. 7 of the present invention.

Fig. 9 is a left side view of Fig. 7 of the present invention.

Fig. 10 is a structural schematic diagram of the synchronous mechanism for grabbing buckets and grips of the present invention.

Fig. 11 is a top view of Fig. 10 of the present invention.

Fig. 12 is a left side view of Fig. 10 of the present invention.

Fig. 13 is a structural schematic diagram of the synchronous mechanism for gripping pallets according to the present invention.

Fig. 14 is a top view of Fig. 13 of the present invention.

Fig. 15 is a left side view of Fig. 13 of the present invention.

Among them: 1-Electrical control system, 2-Roller table for barrel feeding, 3-Pallet, 4-Pallet storage, 5-Material barrel, 6-Transfer device, 7-Full barrel pallet, 8-Palletizing support, 9-Translation Chain, 10-base, 11-palletizer integrated claw, 12-door frame, 13-transfer drive motor, 14-lifting chain, 15-claw lifting motor, 16-frame, 17-grab pallet Claw, 18-grab bucket claw, 19-grab bucket grip synchronization mechanism, 20-grab tray grip synchronization mechanism, 21-solenoid valve, 22-grab bucket cylinder, 23-grab bucket rack, 24-grab bucket gear , 25-grab the pallet gear, 26-grab the pallet rack, 27-grab the pallet cylinder, 28-the first connection seat, 29-the first limit wheel, 30-the second connection seat, 31-the second limit wheel, 32-catch bucket grab handle, 33-catch pallet grab handle.

Detailed ways

The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings, and this implementation manner at least realizes a specific embodiment of the technical solution of the present invention.

As shown in attached drawings 1, 2, and 3: an integrated palletizer, the integrated palletizer includes an electrical control system 1, a barrel feeding roller table 2, a pallet warehouse 4, a transfer device 6, and a palletizing support 8 Integrate claws 11 with the palletizer; the barrel-feeding roller table 2 is installed in the middle of the base 10 of the transfer device 6, and the barrel-feeding roller table 2 is driven by a motor to rotate a group of rollers for conveying material barrels; The pallet storehouse 4 is installed on one end of the base 10 of the transfer device 6, and the pallet storehouse 4 is used for storing pallets; The pallet is taken away by a forklift after the palletizing is completed; the electrical control system 1 is installed next to the pallet warehouse 4 for controlling the palletizer, and the integrated claw 11 of the palletizer is arranged on the transfer device 6 , used to grab pallets and material barrels to realize the stacking of material barrels.

As shown in accompanying drawings 4, 5, and 6: the transfer device includes a translation chain 9, a base 10, a palletizer integrated claw 11, a door-shaped frame 12, a transfer drive motor 13, a lifting chain 14, and a claw lift The motor 15, the door-shaped frame 12 is a door-shaped frame structure supported by four columns 12-1, the bottom of every two columns 12-1 is installed on the same connecting seat 12-2, and the connecting seat 12-2 slides through the linear guide rail The block 12-3 is connected to the base 10, the transfer drive motor 13 is arranged on the base 10, the translation chain 9 is arranged between the transfer drive motor 13 and the connection seat 12-2, and the gate frame 12 can be driven by transfer The motor 13 drives the translation chain 9 to move horizontally on the base; there are four lift chains 14 on the four corners of the gate frame 12, and the palletizer integrated claws 11 are installed on the lower ends of the four lift chains 14. 12. Under the driving of the lifting chain 14 driven by the claw lifting motor 15 installed on the top, the palletizing machine integrates the claw 11 to perform lifting motion.

As shown in accompanying drawings 7, 8, and 9: the palletizer integrated gripper 11 includes a frame 16, a pallet gripper 17, a bucket gripper 18 and a solenoid valve 21, and the palletizer integrated gripper 11 is equipped with a set of grab pallet grab claws 17 and two sets of bucket grab claws 18, and the frame 16 is a frame structure welded by steel pipes for supporting and connecting other parts; each set of grab bucket grab claws 18 consists of a set of grab bucket grab claws. The grip synchronization mechanism 19 is composed of two bucket grippers 32; the pallet gripper 17 is composed of two tray gripper synchronization mechanisms 20 and four tray grippers 33, each set of tray gripper synchronization mechanisms 20 is connected to the two opposing pallet grippers 33; the solenoid valves 21 are installed on the frame 16 respectively, and the solenoid valves 21 control four sets of synchronous mechanisms (two sets of pallet gripper synchronous mechanisms 20, bucket grippers The extension and retraction of the cylinders (grab the bucket cylinder 22, grab the tray cylinder 27) in the synchronous mechanism 19). In terms of space arrangement, the bucket grab claws 18 are installed under the frame 16, and two sets of bucket grab claws 18 are arranged horizontally adjacent to each other; the pallet grab claws 17 are installed on the frame 16. Just above the claw 18.

As shown in accompanying drawings 10, 11, and 12: the bucket grab hand synchronous mechanism 19 includes a bucket grab cylinder 22, a bucket rack 23 and a bucket gear 24, and the two bucket racks 23 are horizontally parallel and symmetrically arranged On both sides of the bucket gear 24 and meshed with the bucket gear 24, the two ends of the bucket cylinder 22 are fixedly connected with two bucket racks 23 respectively (so that two bucket racks 23 can be caught in the bucket) Cylinder 22 to push the movement), drive the two bucket racks 23 to move back and forth horizontally in the opposite direction, the bucket gear 24 is fixedly connected to the middle position of the first connecting seat 28, grabbing on the first connecting seat 28 Both sides of the bucket gear 24 are also respectively provided with first limiting wheels 29 to ensure the reliable meshing of the bucket rack 23 and the bucket gear 24, and to realize the vertical and lateral positioning of the bucket rack 23 at the same time. The toothed end of each bucket rack 23 is arranged between the bucket gear 24 and the first limiting wheel 29 .

The end of each bucket rack 23 is connected with a bucket grab claw 18, and the bucket grab hand synchronization mechanism 19 is fixedly connected with the frame 16 through the first connection seat 28 thereon, and the bucket grab handle The hand synchronization mechanism 19 is inclined at an angle of 45°, so that it can be ensured that the two bucket grab handles 32 near the inside are just in the central space of the four cylinders tangent, avoiding the position of the material bucket 5 for grabbing the bucket grab handles 32 interference, saving space.

As shown in accompanying drawings 13, 14, and 15: the pallet grabbing synchronous mechanism 20 includes an upper grabbing tray gear 25-1, a lower grabbing tray gear 25-2, a vertical grabbing tray rack 26-1, and a horizontal grabbing tray gear. Rack 26-2, vertical pallet cylinder 27-1, horizontal pallet cylinder 27-2; pallet gear 25-1 and pallet gear 25-2 center of rotation overlapping and adjacent to each other are arranged independently. The two vertical pallet racks 26-1 are symmetrically arranged on both ends of the upper pallet gear 25-1 and meshed with the upper pallet gear 25-1, and one end of the vertical pallet cylinder 27-1 is connected to On the second connecting seat 30, the other end is fixedly connected to the grabbing pallet gripper 17 connected to the vertical pallet rack 26-1, and one end of the horizontal grabbing pallet cylinder 27-2 is connected to the second connecting seat 30, The other end is fixedly connected on the grabbing pallet gripper 17 connecting the horizontal grabbing pallet rack 26-2; The two sides of the upper grasping tray gear 25-1 are respectively provided with second limit wheels 31 to ensure the reliable meshing of the vertical grasping tray rack 26-1 and the upper grasping tray gear 25-1, and at the same time, the vertical grasping The pallet rack 26-1 realizes the up-down direction and the lateral limit, and each toothed end of the vertical pallet rack 26-1 is arranged on the upper pallet gear 25-1 and the vertical pallet rack 26. Between -1; the under-grip tray gear 25-2 is fixedly connected to the middle position of the second connection seat 30 below the catch tray gear 25-1, and the under-grab tray gear 25-2 on the second connection seat 30 The two sides of the two sides are also respectively provided with second limiting wheels 31 to ensure the reliable meshing of the horizontal grabbing tray rack 26-2 and the lower grabbing tray gear 25-2, and simultaneously realize the vertical direction of the horizontal grabbing tray rack 26-2. And the lateral limit, the tooth-shaped end of each said lateral grab pallet rack 26-2 is arranged between the lower grab pallet gear 25-2 and the lateral grab pallet rack 26-2.

Each of the vertical pallet racks 26-1 and the horizontal pallet racks 26-2 are connected to the pallet handle 33, and the pallet handle synchronization mechanism 20 is connected to the machine through the second connecting seat 30 on it. The frame 16 is fixedly connected, and the synchronization mechanism 20 for grabbing the pallet grip is arranged at the center of the frame 16 .

As shown in accompanying drawings 1, 2, and 3: before the operation of the integrated palletizer, pallets 3 are manually put into the pallet warehouse 4 to complete the preparatory work; when the integrated palletizer is running, under the control of the electrical control system 1 , the transfer device 6 moves horizontally to the pallet warehouse 4 position, and takes the pallet 3; then the transfer device 6 moves to the palletizing bracket 8 position, and puts the pallet 3 on the palletizing bracket 8; then the transfer device 6 moves to the barrel The position of the roller table 2; when the two material barrels 5 are in place, the transfer device 6 takes the material barrel 5; then the transfer device 6 moves to the position of the palletizing support 8, and puts the material barrel 5 on the pallet 3 on the palletizing support 8 Step 2: Repeat the above steps to put the other two material buckets 5 yards on the pallet 3, and then manually remove the full bucket pallet 7 to complete a working cycle.

Shown by accompanying drawing 1,10,11,12: when needing to grasp material barrel 5, after two material barrels 5 put in place, two sets of grasping barrel cylinders 22 in the synchronous mechanism 19 of grabbing the barrel grips are controlled by solenoid valve 21. Retract simultaneously down, drive and grab bucket rack 23 actions, grab bucket rack 23 and keep synchronously under the limitation of grabbing bucket gear 24. Grab the bucket grab handle 32 that is connected with the bucket rack 23 and move to the direction of the material bucket 5 synchronously and grasp the material bucket 5 after being put in place. When the 5 yards of the material bucket were put in place, the bucket cylinder 22 in the two sets of bucket grab hand synchronization mechanisms 19 stretched out simultaneously under the control of the electromagnetic valve 21, driving the bucket rack 23 to move, and the bucket rack 23 connected with the bucket rack 23. The barrel gripper 32 moves synchronously to the direction away from the material barrel 5 and releases the material barrel 5 after it is put in place.

Shown by accompanying drawing 1,13,14,15: when needing to grasp pallet 3, grasp the pallet cylinder 27-1 vertically in the pallet grip synchronous mechanism 20, the horizontal pallet cylinder 27-2 in the control of solenoid valve 21 The bottom is retracted at the same time, and the vertical pallet rack 26-1 and the horizontal pallet rack 26-2 are driven to move. The vertical pallet rack 26-1 and the horizontal pallet rack 26-2 are on the upper pallet gear 25 -1. Keep synchronous under the restriction of the lower grab tray gear 25-2. Catch the pallet gripper 33 that is connected on the pallet rack 26-1 and the horizontal pallet rack 26-2 vertically and grasp the pallet 3 after moving to the direction of the pallet 3 synchronously. When reaching the position of placing the pallet 3, the vertical pallet grabbing cylinder 27-1 and the horizontal pallet grabbing cylinder 27-2 in the pallet gripper synchronous mechanism 20 are simultaneously stretched out under the control of the solenoid valve 21 to drive the vertical pallet grabbing rack 26-1, the horizontal pallet rack 26-2 moves, and the pallet grab handle 33 connected with the vertical pallet rack 26-1 and the horizontal pallet rack 26-2 moves synchronously in a direction away from the pallet 3 and is in place Let go of tray 3.

As shown in the accompanying drawings: a palletizing method of an integrated palletizer, the method includes the following steps:

Step 1: Before the operation of the integrated palletizer, manually put the pallet 3 into the pallet warehouse 4 to complete the preparatory work;

Step 2: Control the transfer device 6 to move horizontally to the top of the pallet warehouse 4 through the electrical control system 1;

Step 3: Lower the palletizer integrated claw 11 to a predetermined position above the pallet 3;

Step 4: The vertical pallet grabbing cylinder 27-1 and the horizontal pallet grabbing cylinder 27-2 in the synchronous mechanism 20 are retracted at the same time through the control of the solenoid valve 21, driving the vertical pallet grabbing rack 26-1 and the horizontal pallet grabbing rack 26-1 Catch pallet rack 26-2 action, vertical grab pallet rack 26-1 and horizontal catch pallet rack 26-2 keep synchronously under the limitation of grabbing pallet gear 25-1 and following pallet gear 25-2, with Grab the pallet gripper 33 connected to the pallet rack 26-1 vertically and the pallet rack 26-2 horizontally to move synchronously to the pallet 3 and grasp the pallet 3;

Step 5: Lift the palletizer integrated gripper 11 to a predetermined position;

Step 6: horizontally move the transfer device 6 directly above the palletizing support 8;

Step 7: Lower the integrated claw 11 of the palletizer to a predetermined position above the palletizing bracket 8;

Step 8: Control the vertical pallet grabbing cylinder 27-1 and the horizontal pallet grabbing cylinder 27-2 in the synchronous mechanism 20 through the solenoid valve 21 to extend out simultaneously, and drive the vertical pallet grabbing rack 26-1 and the horizontal grabbing pallet rack 26-1 The pallet rack 26-2 moves, and the pallet gripper 33 connected to the pallet rack 26-1 vertically and the pallet rack 26-2 horizontally moves synchronously to the direction away from the pallet 3 and releases the pallet 3. The pallet 3 is placed on the stacking support 8;

Step 9: Lift the palletizer integrated claw 11 to a predetermined position;

Step 10: Move the transfer device 6 to the position directly above the barrel feeding roller table 2, and wait for the two material barrels 5 to be in place;

Step 11: After the two material barrels 5 are in place, lower the palletizer integrated claw 11 to a predetermined position above the material barrel 5;

Step 12: Control the bucket cylinders 22 in the two sets of bucket grab hand synchronization mechanisms 19 to retract simultaneously through the solenoid valve 21, drive the bucket rack 23 to move, and the bucket rack 23 is kept in sync under the restriction of the bucket gear 24 , the bucket grab handle 32 connected to the bucket rack 23 moves synchronously to the direction of the material bucket 5 and grasps the material bucket 5;

Step 13: Lift the palletizer integrated claw 11 to a predetermined position;

Step 14: horizontally move the transfer device 6 directly above the palletizing support 8;

Step 15: Lower the integrated claw 11 of the palletizer to a predetermined position above the palletizing bracket 8;

Step 16: Control the bucket cylinders 22 in the two sets of bucket grab hand synchronous mechanisms 19 to extend simultaneously through the solenoid valve 21, drive the bucket rack 23 to move, and the bucket grab handle 32 connected to the bucket rack 23 to move synchronously Release the material barrel 5 after moving in the direction away from the material barrel 5;

Step 17: Lift the palletizer integrated gripper 11 to a predetermined position;

Step 18: Repeat steps 10 to 17, put the other two material barrels 5 yards on the pallet 3;

Step 19: Manually remove the full bucket pallet 7 to complete a working cycle.

Claims (4)

1. An integrated palletizer, characterized in that: the integrated palletizer includes an electrical control system (1), a barrel feeding roller table (2), a pallet warehouse (4), a transfer device (6), a code The stacking bracket (8) and the integrated claw (11) of the palletizer; the barrel-feeding roller table (2) is installed in the middle of the base (10) of the transfer device (6), and the barrel-feeding roller table (2) is driven by the motor Drive a group of rollers to rotate for conveying material barrels; the pallet warehouse (4) is installed at one end of the base (10) of the transfer device (6), and the pallet warehouse (4) is used to store pallets; the palletizing bracket (8) Installed on the other end of the base (10) of the transfer device (6), the stacking bracket is used to place the pallets that have been stacked, and will be taken away by a forklift after the stacking is completed; the electrical control system (1) is installed on Next to the pallet warehouse (4), it is used to control the palletizer. The integrated claw (11) of the palletizer is set on the transfer device (6), and is used to grab the pallet and the material barrel to realize the material barrel code release; The palletizer integrated gripper (11) includes a frame (16), a pallet gripper (17), a barrel gripper (18) and a solenoid valve (21), and the palletizer integrated gripper (11 ) with a set of grabbing pallet claws (17) and two sets of bucket grabbing claws (18), the frame (16) is a frame structure welded by steel pipes, used to support and connect other parts; each set of bucket grabbing claws (18) consists of a set of bucket grabbing hand synchronization mechanism (19) and two bucket grabbing hands (32); the pallet grabbing claw (17) consists of two sets of pallet grabbing hand synchronization mechanisms (20) and four Each set of grabbing pallet grippers (33), each set of pallet grabbing hand synchronization mechanism (20) is connected to two opposite pallet grabbing grippers (33); the solenoid valves (21) are installed on the frame (16) respectively. , the electromagnetic valve (21) controls the extension and retraction of the cylinders in the synchronization mechanism (20) and the synchronization mechanism (19) of the pallet gripper (19), and the gripper (18) is installed on the machine Under the frame (16), two sets of bucket grab claws (18) are arranged horizontally adjacent to each other; above; The end of each bucket rack (23) on the bucket grab synchronization mechanism (19) is connected with a bucket grip (32), and the bucket grab synchronization mechanism (19) passes through the first A connection seat (28) is fixedly connected with the frame (16), and the bucket grabbing hand synchronizing mechanism (19) is inclined at an angle of 45°, so as to ensure that the two bucket grabbing hands (32) close to the inner side are just at the The tangent central space of the four cylinders avoids the interference of the position of the material barrel (5) on the gripper (32) of the barrel, saving space; The synchronization mechanism (20) for grasping the pallet includes an upper pallet gear (25-1), a lower pallet gear (25-2), a vertical pallet rack (26-1), a horizontal pallet rack ( 26-2), vertical grabbing pallet cylinder (27-1), horizontal grabbing pallet cylinder (27-2); the upper grabbing tray gear (25-1) and the lower grabbing tray gear (25-2) coincide and are adjacent to each other Arranged and rotate independently; the two vertical racks (26-1) are symmetrically arranged on both ends of the upper grabbing tray gear (25-1) and meshed with the upper grabbing tray gear (25-1), One end of the vertical pallet grab cylinder (27-1) is connected to the second connection seat (30), and the other end is fixedly connected to the pallet grab handle (33) connected to the vertical pallet rack (26-1) , one end of the horizontal pallet grab cylinder (27-2) is connected to the second connecting seat (30), and the other end is fixedly connected to the pallet grab handle (33) connected to the horizontal pallet rack (26-2); The upper grasping tray gear (25-1) is fixedly connected to the middle position of the second connecting seat (30), and the two sides of the upper grasping tray gear (25-1) on the second connecting seat (30) are also respectively set There is a second limit wheel (31) to ensure the reliable engagement of the vertical pallet rack (26-1) and the upper pallet gear (25-1), and at the same time to vertically grab the pallet rack (26-1). To achieve the upper and lower direction and lateral limit, the toothed end of each vertical grab tray rack (26-1) is set on the upper grab tray gear (25-1) and the vertical grab tray rack (26-1) 1) between; the lower catch pallet gear (25-2) is fixedly connected to the middle position of the second connecting seat (30) below the catch pallet gear (25-1), on the second connecting seat (30) The two sides of the lower grabbing tray gear (25-2) are also respectively provided with second limit wheels (31) to ensure that the horizontal grabbing tray rack (26-2) and the lower grabbing tray gear (25-2) Reliable meshing and simultaneous vertical and lateral positioning of the horizontal gripping pallet rack (26-2), the toothed end of each horizontal gripping pallet rack (26-2) is arranged on the lower gripping pallet gear (25-2) -2) and between the horizontal grab pallet rack (26-2). 2. An integrated palletizer according to claim 1, characterized in that: the transfer device (6) includes a translation chain (9), a base (10), a palletizer integrated claw (11) , a door-shaped frame (12), a transfer drive motor (13), a lift chain (14) and a claw lifting motor (15), the door-shaped frame (12) is a door-shaped frame supported by four columns (12-1) Frame structure, the bottoms of every two columns (12-1) are installed on the same connecting seat (12-2), and the connecting seat (12-2) is connected with the base (10) through the linear guide rail slider (12-3), The transfer drive motor (13) is arranged on the base (10), the translation chain (9) is arranged between the transfer drive motor (13) and the connecting seat (12-2), and the door-shaped frame (12) can be formed by The transfer drive motor (13) drives the translation chain (9) to move horizontally on the base; there are four lifting chains (14) on the four corners of the gate frame (12), and the integrated claws (11) of the palletizer are installed At the lower ends of the four lifting chains (14), the claw lifting motor (15) installed on the top of the portal frame (12) drives the lifting chain (14) to drive the lower stacker integrated claw (11) to do lifting motion. 3. An integrated palletizer according to claim 1, characterized in that: each vertical pallet rack (26-1) and horizontal pallet rack (26-1) on the pallet grab synchronization mechanism (20) The racks (26-2) are all connected to the pallet gripper (33), and the pallet gripper synchronization mechanism (20) is fixedly connected to the frame (16) through the second connecting seat (30) thereon, and the Grab the tray gripper synchronous mechanism (20) to be arranged at the center position of the frame (16). 4. The palletizing method of a kind of integrated palletizer according to claim 1, characterized in that: the method comprises the following steps: Step 1: Before the operation of the integrated palletizer, manually put the pallet (3) into the pallet warehouse (4) to complete the preparation work; Step 2: Control the transfer device (6) to move horizontally to the top of the pallet warehouse (4) through the electrical control system (1); Step 3: Lower the palletizer integrated claw (11) to the predetermined position above the pallet (3); Step 4: The vertical pallet grab cylinder (27-1) and the horizontal pallet grab cylinder (27-2) in the pallet grab synchronous mechanism (20) retract simultaneously through the control of the solenoid valve (21), driving the vertical grab The pallet rack (26-1) and the horizontal pallet rack (26-2) act, the vertical pallet rack (26-1) and the horizontal pallet rack (26-2) are on the upper pallet gear (25 -1) is synchronized with the limit of the lower pallet gear (25-2), and the pallet gripper ( 33) Grasp the pallet (3) after synchronously moving in the direction of the pallet (3); Step 5: Lift the palletizer integrated claw (11) to the predetermined position; Step 6: Horizontally move the transfer device (6) directly above the palletizing support (8); Step 7: Lower the integrated claw (11) of the palletizer to the predetermined position above the palletizing bracket (8); Step 9: Raise the integrated claw (11) of the palletizer to the predetermined position; Step 10: Move the transfer device (6) directly above the position of the barrel feeding roller (2), and wait for the two material barrels (5) to be in place; Step 11: After the two material barrels (5) are in place, lower the palletizer integrated claw (11) to the predetermined position above the material barrel (5); Step 12: Control the bucket cylinders (22) in the two sets of bucket grab hand synchronization mechanisms (19) to retract simultaneously through the solenoid valve (21), driving the bucket rack (23) to move, and the bucket rack (23) Keep synchronously under the limitation of the bucket gear (24), and grab the bucket grab handle (32) connected to the bucket rack (23) to move synchronously to the direction of the bucket (5) and grab the bucket (5); Step 13: Lift the palletizer integrated claw (11) to the predetermined position; Step 14: Horizontally move the transfer device (6) directly above the palletizing support (8); Step 15: Lower the palletizer integrated claw (11) to the predetermined position above the palletizing bracket (8); Step 16: Control the bucket cylinders (22) in the two sets of bucket grab hand synchronization mechanisms (19) to extend simultaneously through the solenoid valve (21), and drive the bucket rack (23) to move, and the bucket rack (23) ) The connected bucket gripper (32) moves synchronously in a direction away from the material bucket (5) and releases the material bucket (5); Step 17: Lift the palletizer integrated claw (11) to the predetermined position; Step 18: Repeat steps (10) to (17), put the other two material barrels (5) on the pallet (3); Step 19: Manually remove the full bucket pallet (7) to complete a working cycle.