CN110255205B - Remove pile up neatly machine people system - Google Patents
Remove pile up neatly machine people system Download PDFInfo
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- CN110255205B CN110255205B CN201910629495.7A CN201910629495A CN110255205B CN 110255205 B CN110255205 B CN 110255205B CN 201910629495 A CN201910629495 A CN 201910629495A CN 110255205 B CN110255205 B CN 110255205B
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- 238000007493 shaping process Methods 0.000 claims abstract description 88
- 238000004806 packaging method and process Methods 0.000 claims description 31
- 230000007246 mechanism Effects 0.000 claims description 30
- 238000013519 translation Methods 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 11
- 230000007306 turnover Effects 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims 15
- 238000012856 packing Methods 0.000 description 20
- 230000009471 action Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- 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
- B65G57/00—Stacking of articles
- B65G57/32—Stacking of articles characterised by stacking during transit
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to a mobile palletizing robot system which comprises a mobile platform, wherein a first conveying line and a second conveying line are arranged on the mobile platform in parallel, and grabbing equipment is arranged above the first conveying line and the second conveying line; the first conveying line comprises bag pouring equipment, shaping equipment and a grabbing conveyor which are sequentially arranged; the second conveying line comprises a tray conveyor, and a low-position tray disassembling machine is arranged on the output part of the tray conveyor; the mobile platform comprises a mobile base, a mobile assembly and a ground anchor supporting piece are arranged on the mobile base, the ground anchor supporting piece is adjustable up and down along the height direction of the mobile platform, the mobile assembly comprises a platform driving shaft and a platform driven shaft which are arranged on the base surface of the mobile base in a parallel mode, the platform driving shaft and the platform driven shaft are arranged in parallel, movable rollers are arranged at shaft ends of the platform driving shaft and the platform driven shaft, and a platform driving motor is arranged on the side of the platform driving shaft.
Description
Technical Field
The invention belongs to the technical field of palletizing equipment, and particularly relates to a mobile palletizing robot system.
Background
Along with the rapid development of modern industry, enterprises are gradually realizing mechanized production, wherein mechanical stacking is used for replacing manual stacking, most stacking equipment adopted by many enterprises at present is component distributed type flow stacking equipment in a factory building, the occupied area is large, the body quantity of mechanical components is large, and the efficient and energy-saving application of the factory building is not utilized. Therefore, the development of stacking equipment with high integration degree, small occupied area and high use efficiency becomes a research direction, and particularly, how the stacking equipment is matched with a conveyor belt in a workshop to realize automatic feeding becomes a design key point.
Disclosure of Invention
The invention aims to provide a mobile palletizing robot system which has a movable function, and can finish the conveying and arrangement of packaging bags, palletizing and tray dismantling on a moving platform of the mobile palletizing robot system; the device has the advantages of small occupied area, high integration, small volume, convenient installation and easy relocation, can be installed on site, and saves energy consumption when being actually used in workshops.
In order to achieve the above purpose, the invention adopts the following technical scheme: the mobile palletizing robot system comprises a mobile platform, wherein a first conveying line and a second conveying line are arranged on the mobile platform in parallel, and grabbing equipment is arranged above the first conveying line and the second conveying line; the first conveying line comprises bag pouring equipment, shaping equipment and a grabbing conveyor which are sequentially arranged; the second conveying line comprises a tray conveyor, and a low-position tray disassembling machine is arranged on the output part of the tray conveyor;
the mobile platform comprises a mobile base, a mobile assembly and a ground anchor support piece are arranged on the mobile base, the ground anchor support piece is adjustable up and down along the height direction of the mobile platform, the mobile assembly comprises a platform driving shaft and a platform driven shaft which are arranged on the base surface of the parallel mobile base, the platform driving shaft and the platform driven shaft are arranged in parallel, mobile rollers are arranged at the shaft ends of the platform driving shaft and the platform driven shaft, a platform driving motor is arranged at the side of the platform driving shaft, and the platform driving motor drives the platform driving shaft to rotate;
the bag pouring equipment comprises a bag holding translation device arranged at the output end of a conveyor belt in a factory building, the bag holding translation device comprises a bag pouring frame, the bag pouring frame is arranged at the output end of the conveyor belt in the factory building, a material conveying opening is arranged at the inner side of the bag pouring frame, and a bag pouring mechanism is arranged at the outer side of the bag pouring frame; the bag pouring conveyor belt is arranged in the vertical direction of the conveyor belt in the factory building below the bag pouring frame, the input end of the bag pouring conveyor belt is connected with the output end of the conveyor belt in the factory building, the conveying direction of the bag pouring conveyor belt is from the bag pouring mechanism to the material conveying opening, and the bag pouring conveyor belt and the conveyor belt in the factory building are positioned on the same plane or lower than the conveyor belt in the factory building; the height from the material conveying opening to the bag pouring conveyor belt is smaller than the height of the packaging bags to be stacked and is larger than the thickness of the packaging bags to be stacked;
the shaping equipment comprises a shaping conveyor arranged at the output end of the inverted bag conveyor belt, a shaping bag pressing assembly is arranged at the lower position of the input end of the shaping conveyor belt, the shaping bag pressing assembly comprises a bag pressing bracket arranged on the shaping conveyor belt in a vertical direction, a cantilever is hinged to the top of the bag pressing bracket in the conveying direction of the shaping conveyor belt, a bag pressing roller is arranged at the free end of the cantilever, the roller surface of the bag pressing roller is parallel to the belt surface of the shaping belt of the shaping conveyor belt, the roller length of the bag pressing roller is greater than or equal to the width of the shaping conveyor belt, a bag pressing limiting piece is arranged above the hinged end of the cantilever on the bag pressing bracket, a bag pressing spring is arranged between the bag pressing limiting piece and the cantilever, and when a bag pressing spring is in a natural state, the distance between the roller surface of the bag pressing roller and the belt surface of the shaping conveyor belt is equal to or smaller than the thickness to be stacked;
the output end of the shaping conveyor is provided with a grabbing conveyor, tray conveyors are arranged beside the grabbing conveyor in parallel, and the output end of the tray conveyor is provided with a low-position tray disassembling machine;
the low-position tray disassembling machine comprises a frame arranged on the mobile platform, a tray disassembling mechanism is arranged on the frame along the conveying direction of the tray, and limit baffles are arranged on two sides of the tray disassembling mechanism on the frame; the frame comprises a cross beam arranged above the tray dismounting mechanism, a cylinder limit stop is arranged below the cross beam, lifting guide rails are symmetrically arranged on two sides below the cylinder limit stop, and the lifting guide rails are fixed on the frame and are arranged perpendicular to the conveying direction of the tray; the tray disassembling mechanism comprises a lifting cylinder which is vertically arranged below the cross beam, a cylinder body of the lifting cylinder is arranged in a limit groove of a cylinder limit stop, a piston rod of the lifting cylinder is downwards arranged, a lifting connecting plate is arranged at the overhanging end of the piston rod of the lifting cylinder, the lifting connecting plate is perpendicular to the conveying direction of the tray, lifting sliding blocks are symmetrically arranged on two sides of the lifting connecting plate, and the lifting sliding blocks are arranged on the lifting guide rail and can move up and down freely along the arrangement direction of the lifting guide rail; the bottom of promoting the connecting plate is provided with tray jaw mechanism, tray jaw mechanism include the parallel tray direction of delivery's jaw slide rail of arranging, the parallel jaw slide rail of side of jaw slide rail has arranged the jaw cylinder, the cylinder body of jaw slide rail, jaw cylinder is fixed in the bottom of promoting the connecting plate, the piston rod of jaw cylinder is to the inboard flexible arrangement of frame, the free end of the piston rod of jaw cylinder sets up the jaw connecting plate, is connected with the jaw slider on the jaw connecting plate, the jaw slider arrange in the jaw slide rail on and follow the jaw slide rail arrange the direction and can freely remove.
The invention has the technical effects that: the movable palletizing robot system has a movable function, and can finish conveying and arranging, palletizing and disassembling of packaging bags on a movable platform of the movable palletizing robot system; the device has the advantages of small occupied area, high integration, small volume, convenient installation and easy relocation, can be installed on site, and saves energy consumption when being actually used in workshops.
Specifically, the parts of the whole set of system equipment are all integrated on the mobile platform, wherein the mobile roller of the mobile assembly is connected with the mobile base through the platform driving shaft and the platform driven shaft, and the mobile function is realized through the mobile roller. Further, the platform driving motor enables the platform driving shaft to rotate through chain transmission or other linkage, so that power is provided for the moving platform, and an automatic movable function is completed;
conveying and arranging (shaping) of packaging bags, stacking: the packaging bag is changed into a horizontally-arranged conveying state from a standing conveying state on a conveying belt in a factory building through bag inverting equipment, so that the packaging bag is conveniently conveyed to a shaping conveyor of shaping equipment, the shaping conveyor consists of a shaping driving roller, a shaping driven roller, a shaping motor and a shaping belt, the shaping belt is arranged on the shaping driving roller and the shaping driven roller which are arranged in parallel, the shaping driving roller is connected with the shaping motor through chain transmission or other linkage, and the shaping motor drives the shaping belt to move through driving the shaping driving roller to provide power for conveying the packaging bag; the shaping and packing assembly on the shaping conveyor is provided with a packing roller, the packing roller is arranged on a packing support under the pressure action of a packing spring, the packing support is arranged above the shaping conveyor, and the packing roller simultaneously extrudes the packing bag above the horizontally arranged packing bag to perform the flattening and shaping functions when the packing bag passes through the shaping conveyor; after passing through the shaping conveyor, the packaging bag is conveyed to a designated position by a grabbing conveyor to wait for grabbing by grabbing equipment to realize stacking;
and (3) disc disassembly: the low-position tray disassembling machine sequentially separates a stack of trays one by one to be placed on the tray conveyor, the tray conveyor is composed of tray conveying rollers, tray conveying motors and tray conveying racks, tray conveying motor chain wheels, tray conveying roller chain wheels and chains arranged between the tray conveying motor chain wheels and the tray conveying roller chain wheels, wherein the tray conveying rollers are fixed on the tray conveying racks, the tray conveying rollers are provided with the tray conveying chain wheels, the tray conveying motors drive the chains to rotate through the tray conveying motor chain wheels on the tray conveying rollers, the chains rotate to drive the tray conveying roller chain wheels to rotate, namely, the tray disassembled on the low-position tray disassembling machine is driven to be output by the tray conveyor, and then the tray disassembled by the low-position tray disassembling machine is conveyed to a designated position to wait for grabbing packaging bags of grabbing equipment to be piled on the disassembled tray.
In addition, the input end of the bag pouring conveyor belt is connected with the output end of the conveyor belt in the factory building, the bag pouring conveyor belt and the conveyor belt in the factory building are arranged on the same plane or lower than the conveyor belt in the factory building, and the packaging bag is arranged on the bag pouring conveyor belt and is conveniently conveyed from the material conveying opening, so that the bag pouring conveyor is ingenious in structure and high in conveying efficiency.
The low-position tray disassembling machine has simple structure and low manufacturing cost, can convey the disassembled trays at a lower height, greatly reduces the height of stacking equipment, and increases the number of trays accommodated by the tray disassembling machine.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a rear view block diagram of the present invention;
FIG. 3 is a bottom view of the present invention;
FIG. 4 is a perspective view of the bag inverting apparatus of the present invention, wherein A represents a conveyor belt in a factory building;
fig. 5 is a perspective view of the grabbing conveyor of the present invention.
Detailed Description
Referring to the drawings, a mobile palletizing robot system comprises a mobile platform 10, wherein a first conveying line and a second conveying line are arranged on the mobile platform 10 in parallel, and a grabbing device 20 is arranged above the first conveying line and the second conveying line; the first conveying line comprises a bag pouring device 30, a shaping device 40 and a grabbing conveyor 50 which are sequentially arranged; the second conveying line comprises a tray conveyor 60, and a low-position tray remover 70 is arranged on the output part of the tray conveyor 60;
the mobile platform 10 comprises a mobile base 11, a mobile assembly 12 and a ground support 13 are arranged on the mobile base 11, the ground support 13 is adjustable up and down along the height direction of the mobile platform 10, the mobile assembly 12 comprises a platform driving shaft and a platform driven shaft which are arranged on the seat surface of the mobile base 11 in parallel, the platform driving shaft and the platform driven shaft are arranged in parallel, movable idler wheels 12a are arranged at the shaft ends of the platform driving shaft and the platform driven shaft, a platform driving motor is arranged at the side of the platform driving shaft, and the platform driving motor drives the platform driving shaft to rotate;
the bag pouring equipment 30 comprises a bag holding translation device 31 arranged at the output end of a conveyor belt in a factory building, the bag holding translation device 31 comprises a bag pouring frame, the bag pouring frame is arranged at the output end of the conveyor belt in the factory building, a material conveying port 32 is arranged at the inner side of the bag pouring frame, and a bag pouring mechanism 33 is arranged at the outer side of the bag pouring frame; the bag pouring conveyor belt 34 is arranged in the vertical direction of the conveyor belt in the factory building below the bag pouring frame, the input end of the bag pouring conveyor belt 34 is connected with the output end of the conveyor belt in the factory building, the conveying direction of the bag pouring conveyor belt 34 is from the bag pouring mechanism 33 to the material conveying opening 32, and the bag pouring conveyor belt 34 and the conveyor belt in the factory building are positioned on the same plane or lower than the conveyor belt in the factory building; the height from the material conveying opening 32 to the bag pouring conveyor belt 34 is smaller than the height of the packaging bags to be stacked and larger than the thickness of the packaging bags to be stacked;
the shaping equipment 40 comprises a shaping conveyor 41 arranged at the output end of the inverted bag conveyor 34, a shaping bag pressing assembly 42 is arranged at the lower position of the input end of the shaping conveyor 41, the shaping bag pressing assembly 42 comprises a bag pressing bracket arranged on the shaping conveyor 41 in a vertical direction, a cantilever is hinged to the top of the bag pressing bracket in the conveying direction of the shaping conveyor 41, a bag pressing roller 43 is arranged at the free end of the cantilever, the roller surface of the bag pressing roller 43 is parallel to the belt surface of the shaping belt of the shaping conveyor 41, the roller length of the bag pressing roller 43 is larger than or equal to the width of the shaping conveyor 41, a bag pressing limiting piece is arranged above the hinged end of the cantilever on the bag pressing bracket, a bag pressing spring 44 is arranged between the bag pressing limiting piece and the cantilever, and when the bag pressing spring 44 is in a natural state, and the distance between the roller surface of the bag pressing roller 43 and the belt surface of the shaping belt of the shaping conveyor 41 is equal to or smaller than the thickness of a packaging bag to be palletized;
the output end of the shaping conveyor 41 is provided with a grabbing conveyor 50, a tray conveyor 60 is arranged beside the grabbing conveyor 50 in parallel, and the output end of the tray conveyor 60 is provided with a low-position tray dismounting machine 70;
the low-level disc removing machine 70 comprises a frame arranged on the mobile platform 10, a disc removing mechanism 71 is arranged on the frame along the conveying direction of the tray, and limit baffles are arranged on two sides of the disc removing mechanism 71 on the frame; the frame comprises a cross beam arranged above the arrangement position of the tray dismounting mechanism 71, a cylinder limit stop is arranged below the cross beam, lifting guide rails are symmetrically arranged on two sides below the cylinder limit stop, and the lifting guide rails are fixed on the frame and are arranged perpendicular to the conveying direction of the tray; the tray disassembling mechanism 71 comprises a lifting cylinder which is vertically arranged below the cross beam, a cylinder body of the lifting cylinder is arranged in a limit groove of a cylinder limit stop, a piston rod of the lifting cylinder is downwards arranged, a lifting connecting plate is arranged at the overhanging end of the piston rod of the lifting cylinder, the lifting connecting plate is vertical to the conveying direction of the tray, lifting sliding blocks are symmetrically arranged on two sides of the lifting connecting plate, and the lifting sliding blocks are arranged on the lifting guide rail and can move up and down freely along the arrangement direction of the lifting guide rail; the bottom of promoting the connecting plate is provided with tray jaw mechanism 72, tray jaw mechanism 72 include the parallel tray direction of delivery's jaw slide rail of arranging, the parallel jaw slide rail of side of jaw slide rail has arranged the jaw cylinder, jaw slide rail, the cylinder body of jaw cylinder is fixed in the bottom of promoting the connecting plate, the piston rod of jaw cylinder is to the inboard telescopic arrangement of frame, the free end of the piston rod of jaw cylinder sets up the jaw connecting plate, be connected with the jaw slider on the jaw connecting plate, the jaw slider arrange in the jaw slide rail on and follow the jaw slide rail arrange the direction and can freely move.
The movable palletizing robot system has a movable function, and can finish the conveying and sorting of packaging bags, palletizing and disk dismantling on a movable platform 10 of the movable palletizing robot system; the device has the advantages of small occupied area, high integration, small volume, convenient installation and easy relocation, can be installed on site, and saves energy consumption when being actually used in workshops.
Specifically, the components of the whole system equipment are all integrated on the mobile platform 10, wherein the mobile roller 12a of the mobile assembly 12 is connected with the mobile base 11 through a platform driving shaft and a platform driven shaft, and the mobile function is realized through the mobile roller 12 a. Further, the platform driving motor rotates the platform driving shaft through chain transmission or other linkage, so as to provide power for the mobile platform 10, thereby completing an automatic mobile function;
conveying and arranging (shaping) of packaging bags, stacking: the packaging bag is changed into a horizontally-arranged conveying state from a standing conveying state on a conveying belt in a factory building through bag pouring equipment 30, and then is conveniently conveyed to a shaping conveyor 41 of shaping equipment 40, wherein the shaping conveyor 41 is composed of a shaping driving roller, a shaping driven roller, a shaping motor and a shaping belt, the shaping belt is arranged on the shaping driving roller and the shaping driven roller which are arranged in parallel, the shaping driving roller is connected with the shaping motor through chain transmission or other linkage, and the shaping motor drives the shaping belt to move by driving the shaping driving roller to provide power for conveying the packaging bag; the shaping and packing assembly 42 on the shaping conveyor 41 is provided with a packing roller 43, the packing roller 43 is arranged on a packing support under the pressure action of a packing spring 44, the packing support is arranged above the shaping conveyor 41, and when a packing bag passes through the shaping conveyor 41, the packing roller 43 simultaneously presses the packing bag above the horizontally arranged packing bag to perform the flattening and shaping functions; after passing through the shaping conveyor 41, the packaging bag is conveyed to a designated position by the grabbing conveyor 50 to wait for grabbing by the grabbing device 20 to realize stacking;
and (3) disc disassembly: the tray conveying machine 70 sequentially separates a stack of trays one by one to be placed on the tray conveying machine 60, the tray conveying machine 60 is composed of tray conveying rollers, tray conveying motors and tray conveying frames, tray conveying motor chain wheels, tray conveying roller chain wheels and chains arranged between the tray conveying motor chain wheels and the tray conveying roller chain wheels, wherein the tray conveying rollers are fixed on the tray conveying frames, the tray conveying rollers are provided with the tray conveying chain wheels, the tray conveying motors drive the chains to rotate through the tray conveying motor chain wheels on the tray conveying rollers, the chains rotate to drive the tray conveying roller chain wheels to rotate, namely, the tray detached on the tray conveying machine 70 is driven to be output from the tray conveying machine 60, and then the tray detached by the tray conveying machine 70 is conveyed to a designated position to wait for the grabbing device 20 to grab packaging bags and pile up on the detached tray.
In addition, the input end of the bag pouring conveyer belt 34 is connected with the output end of the conveyer belt A in the factory building, the bag pouring conveyer belt 34 and the conveyer belt A in the factory building are positioned on the same plane or lower than the conveyer belt A in the factory building, and the packaging bags are positioned on the bag pouring conveyer belt 34 and conveniently finished to be poured and conveyed from the material conveying opening 32, so that the bag pouring machine is ingenious in structure and high in conveying efficiency.
The low-level tray remover 70 has simple structure and low manufacturing cost, can convey the removed trays at a lower height, greatly reduces the height of stacking equipment, and increases the number of trays accommodated by the tray remover.
Specifically, when the tray needs to be disassembled, the piston rod of the lifting cylinder stretches upwards, the lifting cylinder lifts the lifting connecting plate upwards, the jaw sliding blocks reaching the tray jaw mechanism 72 are aligned with the inserting holes of the second tray (here, the first tray is the tray to be transported on the conveyor belt of the tray, the second tray is the lowest tray of the whole stack of trays to be lifted, and the piston rod of the lifting cylinder is kept still at the position; the piston rod of jack catch cylinder stretches out and draws back the action to the frame inboard, jack catch connecting plate of jack catch cylinder's piston rod end stretches out and draws back the action to the frame inboard, jack catch connecting plate drives jack catch slider along jack catch slide rail arrangement direction and stretches out and draws back the action to the frame inboard, namely through driving jack catch cylinder stretching out and draws back the action, insert the jack catch slider into the jack of second piece tray, jack catch cylinder action is cut off, in the jack catch slider inserts the jack of second piece tray, promote the cylinder and continue to promote the action upwards, with whole buttress tray (namely second piece of remaining tray, third piece … …) under the spacing effect of tray limiting plate and backplate continues to promote upwards, accomplish the tear the dish function with first piece tray separation, first piece tray outputs to the pile up neatly position along the direction of delivery of tray again, snatch wrapping bag material loading, pile up neatly on the conveyer 50 by snatch equipment 20.
Further, the grabbing device 20 includes a gripper mounting seat 21 disposed above the surface areas of the shaping conveyor 41, the grabbing conveyor 50 and the tray conveyor 60, a right-angle stacker 22 is disposed on the gripper mounting seat 21, the right-angle stacker 22 is freely movable along the length direction and the width direction of the gripper mounting seat 21, the right-angle stacker 22 is movable up and down along the gripper mounting seat 21, a bag gripper 23 is downwardly suspended at the bottom of the right-angle stacker 22, and a rotary flange 24 is disposed between the bag gripper 23 and the right-angle stacker 22.
Specific stacking: after the packaging bag reaches a designated position, the bag gripper 23 of the gripping device 20 is waited to grip, the bag gripper 23 is connected with the right-angle stacker 22 through a rotary flange 24, the right-angle stacker 22 is driven by a servo motor to orderly move according to a set programming program, the packaging bag is gripped and stacked on a tray to realize stacking, the movement comprises the movement of the right-angle stacker 22 along the length direction and the width direction of the gripper mounting seat 21, the vertical expansion of the right-angle stacker 22 and the rotation of the rotary flange 24 driving the bag gripper 23.
Further, the inverted bag conveyer belt 34 and a conveyer belt in the factory building are positioned on the same plane;
the bag pouring mechanism 33 comprises a bag pouring back baffle arranged along the conveying direction of a conveying belt in a factory building, a sliding block is arranged on the front surface of the bag pouring back baffle and close to the output end of the conveying belt in the factory building, a sliding hole of the sliding block is arranged along the conveying direction of the conveying belt in the factory building, a guide rail is arranged on the sliding block, the guide rail is arranged along the conveying direction of the conveying belt in the factory building, the guide rail can freely slide along the sliding hole of the sliding block, a movable guardrail is fixedly arranged on the inner side surface of the guide rail in parallel with the bag pouring back baffle, the inner end of the movable guardrail is connected with a telescopic rod of a translation cylinder arranged on the bag pouring back baffle, the translation cylinder drives the movable guardrail to move back and forth along the arranging direction of the guide rail, a bag holding baffle is hinged to the outer end of the movable guardrail, the telescopic rod of the turnover cylinder is hinged with a connecting rod, the free end of the connecting rod is fixedly connected with the back surface of the bag holding baffle, and the telescopic rod of the turnover cylinder drives the connecting rod of the turnover cylinder to turn towards the material conveying port 32;
the material conveying opening 32 comprises a bag pouring front baffle plate which is arranged right above the surface of the bag pouring mechanism 33, and a material conveying entering area of the material conveying opening 32 is formed by a space below the bag pouring front baffle plate.
Still further, the two sides of the bag pouring conveyer belt 34 below the material conveying opening 32 are provided with guiding limiting plates along the conveying direction of the bag pouring conveyer belt 34, and the position of the guiding limiting plates right below the material conveying opening 32 is in a flaring shape which is opened to the side.
Here, the height from above the feed entry area to the bag inverting conveyor 34 is less than the height of the bag to be palletized and greater than the thickness of the bag to be palletized.
The bag holding translation device 31 is arranged at the feeding end of the movable palletizing robot system, the feeding end is arranged at the output end of a conveying belt A in a factory building, a packaging bag is conveyed to the bag holding translation device 31 by the conveying belt A in the factory building, the packaging bag is driven to the bag pouring frame through a bag holding baffle plate and a movable guardrail of the bag pouring mechanism 33, in particular, the packaging bag is conveyed to an initial state of the bag holding baffle plate at the stretched bag holding baffle plate, a telescopic driving connecting rod of a telescopic rod of a turnover cylinder pulls the turnover bag holding baffle plate, the bag holding baffle plate guides the packaging bag to the bag pouring frame, the telescopic rod of the translation cylinder stretches and drives the movable guardrail to move towards the extending direction of the output end of the conveying belt A in the factory building, namely, the input end of the bag pouring conveying belt 34 drives the packaging bag to be conveyed to the bag pouring frame material conveying opening 32, and the movable guardrail is connected with the bag pouring frame through a guide rail and a sliding block, and is further connected with the bag pouring rear baffle plate.
Further, the grabbing conveyor 50 includes a frame disposed on the mobile platform 10, where the frame includes a left baffle and a right baffle symmetrically disposed about the frame; a plurality of grabbing rollers 51 are arranged between the left baffle plate and the right baffle plate in parallel along the length direction of the frame; the same end of each grabbing roller 51 is provided with a plurality of first toothed flywheels in parallel, the first toothed flywheels form a first flywheel set, a second flywheel set with the same number as that of the toothed flywheels of the first flywheel set is arranged right below the same end of each grabbing roller 51, a third flywheel set with the same number as that of the toothed flywheels of the second flywheel set is arranged below the second flywheel set, a toothed disc with the same number as that of the toothed flywheels of the third flywheel set is arranged below the third flywheel set, a motor for driving the toothed disc to rotate is arranged below the grabbing roller 51, a winding chain 52 is meshed on the toothed disc, and the winding chain 52 sequentially passes through the third flywheel set, the adjacent second flywheel set and the first flywheel set to form a closed chain; the upper chain surface of the winding chain 52 is lower than the upper roller surface of the grip roller 51.
Still further, two first toothed flywheels are arranged in parallel at the right end of the grabbing roller 51; two winding chains 52 are sequentially arranged in parallel on the two first toothed flywheels, and the rotating surfaces of the two winding chains 52 are parallel to the diameter surface of the grabbing roller 51.
The grabbing conveyor 50 adopts a driving structure that a plurality of rows (the double rows can be used in actual use) of small-specification chains (with smaller thickness and width) are pulled up and down and synchronously rotated in parallel, so that the structural mode adopted by the grabbing conveying device of the existing stacking equipment is changed. The chain has smaller thickness, and the upper chain surface of the chain can be completely lower than the upper roller surface of the grabbing roller in actual use, so that the grabbing roller can be conveniently and smoothly conveyed. Compared with the existing single-row chain staggered arrangement structure design, the double-row small-specification chain arrangement structure design in actual use has smaller transverse temporary space, and the self height of the grabbing conveyor is longitudinally utilized, so that the volume design of the grabbing conveyor is smaller. The invention has simple structure, convenient transmission, convenient smooth conveying of the grabbing roller and suitability for miniaturized stacking equipment.
Claims (4)
1. A mobile palletizing robot system, characterized in that: the device comprises a mobile platform (10), wherein a first conveying line and a second conveying line are arranged on the mobile platform (10) in parallel, and a grabbing device (20) is arranged above the first conveying line and the second conveying line; the first conveying line comprises bag pouring equipment (30), shaping equipment (40) and a grabbing conveyor (50) which are sequentially arranged; the second conveying line comprises a tray conveyor (60), and a low-position tray disassembling machine (70) is arranged on the output part of the tray conveyor (60);
the movable platform (10) comprises a movable base (11), a movable assembly (12) and a ground support (13) are arranged on the movable base (11), the ground support (13) is adjustable up and down along the height direction of the movable platform (10), the movable assembly (12) comprises a platform driving shaft and a platform driven shaft which are arranged on the seat surface of the movable base (11) in parallel, the platform driving shaft and the platform driven shaft are arranged in parallel, movable rollers (12 a) are arranged at the shaft ends of the platform driving shaft and the platform driven shaft, and a platform driving motor is arranged at the side of the platform driving shaft and drives the platform driving shaft to rotate;
the bag pouring device (30) comprises a bag holding translation device (31) arranged at the output end of a conveyor belt in a factory building, the bag holding translation device (31) comprises a bag pouring frame, the bag pouring frame is arranged at the output end of the conveyor belt in the factory building, a material conveying opening (32) is arranged at the inner side of the bag pouring frame, and a bag pouring mechanism (33) is arranged at the outer side of the bag pouring frame; the bag pouring conveyor belt (34) is arranged in the vertical direction of the conveyor belt in the factory building below the bag pouring frame, the input end of the bag pouring conveyor belt (34) is connected with the output end of the conveyor belt in the factory building, the conveying direction of the bag pouring conveyor belt (34) is from the bag pouring mechanism (33) along the direction conveying opening (32), and the bag pouring conveyor belt (34) and the conveyor belt in the factory building are located on the same plane or are lower than the conveyor belt in the factory building; the height from the material conveying opening (32) to the bag pouring conveyor belt (34) is smaller than the height of the packaging bags to be stacked and larger than the thickness of the packaging bags to be stacked;
the shaping equipment (40) comprises a shaping conveyor (41) arranged at the output end of the inverted bag conveying belt (34), a shaping bag pressing component (42) is arranged at the lower position of the input end of the shaping conveyor (41), the shaping bag pressing component (42) comprises a bag pressing bracket arranged on the shaping conveyor (41), the top of the bag pressing bracket stretches to the conveying direction of the shaping conveyor (41) to be hinged with a cantilever, a bag pressing roller (43) is arranged at the free end of the cantilever, the roller surface of the bag pressing roller (43) is parallel to the belt surface of the shaping belt of the shaping conveyor (41), the roller length of the bag pressing roller (43) is larger than or equal to the width of the shaping conveyor (41), a bag pressing limiting piece is arranged above the hinged end of the cantilever on the bag pressing bracket, a bag pressing spring (44) is arranged between the bag pressing limiting piece and the cantilever, and the bag pressing spring (44) is arranged in the vertical direction, and when the bag pressing spring (44) is in a natural state, and the distance between the roller surface of the bag pressing roller (43) and the belt of the shaping conveyor (41) is smaller than or equal to the thickness of a packaging bag to the surface of the shaping belt;
the output end of the shaping conveyor (41) is provided with a grabbing conveyor (50), a tray conveyor (60) is arranged beside the grabbing conveyor (50) in parallel, and the output end of the tray conveyor (60) is provided with a low-position tray removing machine (70);
the low-position tray removing machine (70) comprises a frame arranged on the mobile platform (10), a tray removing mechanism (71) is arranged on the frame along the conveying direction of the tray, and limit baffles are arranged on two sides of the tray removing mechanism (71) on the frame; the frame comprises a cross beam arranged above a tray dismounting mechanism (71), a cylinder limit stop is arranged below the cross beam, lifting guide rails are symmetrically arranged on two sides below the cylinder limit stop, and the lifting guide rails are fixed on the frame and are arranged perpendicular to the conveying direction of the tray; the tray disassembling mechanism (71) comprises a lifting cylinder which is vertically arranged below the cross beam, a cylinder body of the lifting cylinder is arranged in a limit groove of a cylinder limit stop, a piston rod of the lifting cylinder is downwards arranged, a lifting connecting plate is arranged at the overhanging end of the piston rod of the lifting cylinder, the lifting connecting plate is perpendicular to the conveying direction of the tray, lifting sliding blocks are symmetrically arranged on two sides of the lifting connecting plate, and the lifting sliding blocks are arranged on the lifting guide rail and can move up and down freely along the arrangement direction of the lifting guide rail; the bottom of the lifting connecting plate is provided with a tray claw mechanism (72), the tray claw mechanism (72) comprises claw sliding rails which are arranged in parallel with the conveying direction of the tray, claw air cylinders are arranged on the parallel claw sliding rails at the sides of the claw sliding rails, the claw sliding rails and the cylinder bodies of the claw air cylinders are fixed at the bottom of the lifting connecting plate, piston rods of the claw air cylinders are arranged in a telescopic manner towards the inner side of the frame, the free ends of the piston rods of the claw air cylinders are provided with claw connecting plates, and the claw connecting plates are connected with claw sliding blocks which are arranged on the claw sliding rails and can move freely along the arrangement direction of the claw sliding rails;
the bag pouring conveyor belt (34) and a conveyor belt in the factory building are positioned on the same plane;
the bag pouring mechanism (33) comprises a bag pouring back baffle arranged along the conveying direction of a conveying belt in a factory building, a sliding block is arranged on the front surface of the bag pouring back baffle and close to the output end of the conveying belt in the factory building, a sliding hole of the sliding block is arranged along the conveying direction of the conveying belt in the factory building, a guide rail is arranged on the sliding block, the guide rail is arranged along the conveying direction of the conveying belt in the factory building, the guide rail can freely slide along the sliding hole of the sliding block, the inner side surface of the guide rail is parallel to the bag pouring back baffle, a movable guardrail is fixedly arranged on the inner end of the movable guardrail and connected with a telescopic rod of a translation cylinder arranged on the bag pouring back baffle, the translation cylinder drives the movable guardrail to move back and forth along the arranging direction of the guide rail, a bag holding baffle is hinged to the outer end of the movable guardrail, a turnover cylinder is arranged on the back surface of the movable guardrail along the moving direction of the movable guardrail, the telescopic rod end of the turnover cylinder is fixedly connected with the back surface of the bag holding baffle, and the telescopic rod of the turnover cylinder drives the connecting rod to turn over towards the material conveying opening (32);
the material conveying opening (32) comprises a bag pouring front baffle plate arranged right above the surface of the bag pouring mechanism (33), and a material conveying entering area of the material conveying opening (32) is formed by a space below the bag pouring front baffle plate;
the grabbing conveyor (50) comprises a rack arranged on the mobile platform (10), wherein the rack comprises a left baffle and a right baffle which are symmetrically arranged left and right; a plurality of grabbing rollers (51) are arranged between the left baffle plate and the right baffle plate in parallel along the length direction of the frame; a plurality of first flywheel teeth are arranged at the same end of each grabbing roller (51) in parallel, the first flywheel teeth form a first flywheel set, a second flywheel set with the same number as that of the flywheel teeth of the first flywheel set is arranged right below the same end of each grabbing roller (51), a third flywheel set with the same number as that of the flywheel teeth of the second flywheel set is arranged below the second flywheel set, a tooth disc with the same number as that of the flywheel teeth of the third flywheel set is arranged below the third flywheel set, a motor for driving the tooth disc to rotate is arranged below the grabbing rollers (51), a winding chain (52) is meshed on the tooth disc, and the winding chain (52) sequentially passes through the third flywheel set, the adjacent second flywheel set and the first flywheel set to form a closed chain; the winding chain (52) has a winding surface lower than the upper roller surface of the grip roller (51).
2. A mobile palletizing robot system as in claim 1, wherein: the grabbing device (20) comprises a gripper mounting seat (21) arranged above the surface areas of the shaping conveyor (41), the grabbing conveyor (50) and the tray conveyor (60), a right-angle stacker crane (22) is arranged on the gripper mounting seat (21), the right-angle stacker crane (22) is freely movable along the length direction and the width direction of the gripper mounting seat (21), the right-angle stacker crane (22) is movable up and down along the gripper mounting seat (21), a bag gripper (23) is downwards suspended at the bottom of the right-angle stacker crane (22), and a rotary flange (24) is arranged between the bag gripper (23) and the right-angle stacker crane (22).
3. A mobile palletizing robot system as in claim 1, wherein: the two sides of the bag pouring conveyer belt (34) below the material conveying opening (32) are provided with guide limiting plates along the conveying direction of the bag pouring conveyer belt (34), and the guide limiting plates are arranged right below the material conveying opening (32) and are in flaring shapes which are opened to the side surfaces.
4. A mobile palletizing robot system as in claim 1, wherein: two first tooth flywheels are arranged at the right end of the grabbing roller (51) in parallel; two winding chains (52) are sequentially arranged on the two first toothed flywheels in parallel, and the rotating surfaces of the two winding chains (52) are parallel to the diameter surface of the grabbing roller (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910629495.7A CN110255205B (en) | 2019-07-12 | 2019-07-12 | Remove pile up neatly machine people system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910629495.7A CN110255205B (en) | 2019-07-12 | 2019-07-12 | Remove pile up neatly machine people system |
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| CN110255205A CN110255205A (en) | 2019-09-20 |
| CN110255205B true CN110255205B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910629495.7A Active CN110255205B (en) | 2019-07-12 | 2019-07-12 | Remove pile up neatly machine people system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112794112A (en) * | 2021-01-13 | 2021-05-14 | 北京赛佰特科技有限公司 | Intelligent loading system |
| CN114194527B (en) * | 2021-11-27 | 2023-04-14 | 湖南省湘衡盐化有限责任公司 | Salt bag weight specification automatic identification snatchs screening system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5261781A (en) * | 1990-01-22 | 1993-11-16 | Bandy James H | Automated palletizer |
| CN106276275A (en) * | 2015-06-10 | 2017-01-04 | 河北省机电体化中试基地 | A kind of Full-automatic high-level palletizing apparatus |
| CN109533988A (en) * | 2018-12-24 | 2019-03-29 | 哈尔滨联科包装机械有限公司 | Three-dimensional row posture turntable high position palletizing system and palletizing method |
| CN210558049U (en) * | 2019-07-12 | 2020-05-19 | 安徽汇缔智能科技有限公司 | Mobile palletizing robot system |
-
2019
- 2019-07-12 CN CN201910629495.7A patent/CN110255205B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5261781A (en) * | 1990-01-22 | 1993-11-16 | Bandy James H | Automated palletizer |
| CN106276275A (en) * | 2015-06-10 | 2017-01-04 | 河北省机电体化中试基地 | A kind of Full-automatic high-level palletizing apparatus |
| CN109533988A (en) * | 2018-12-24 | 2019-03-29 | 哈尔滨联科包装机械有限公司 | Three-dimensional row posture turntable high position palletizing system and palletizing method |
| CN210558049U (en) * | 2019-07-12 | 2020-05-19 | 安徽汇缔智能科技有限公司 | Mobile palletizing robot system |
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