CN111331579A - Automatic stacking robot and automatic stacking system - Google Patents
Automatic stacking robot and automatic stacking system Download PDFInfo
- Publication number
- CN111331579A CN111331579A CN202010142339.0A CN202010142339A CN111331579A CN 111331579 A CN111331579 A CN 111331579A CN 202010142339 A CN202010142339 A CN 202010142339A CN 111331579 A CN111331579 A CN 111331579A
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- CN
- China
- Prior art keywords
- guide rod
- pallet
- cylinder
- automatic
- mounting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003825 pressing Methods 0.000 claims abstract description 17
- 238000007599 discharging Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/06—Hand moving equipment, e.g. handle bars
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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
Abstract
The invention discloses an automatic stacking robot which comprises a transfer arm, a mounting plate, a vacuum suction tool and pallet clamps, wherein the mounting plate is fixed on the transfer arm, the vacuum suction tool is arranged at the lower side of the mounting plate, and the pallet clamps are arranged at two ends of the mounting plate; the pallet clamp comprises a first guide rod-taking cylinder, a second guide rod-taking cylinder and a pressing plate, the first guide rod-taking cylinder is fixed on the mounting plate, the output end of the first guide rod-taking cylinder is horizontally arranged outwards, the second guide rod-taking cylinder is fixed at the output end of the first guide rod-taking cylinder, the output end of the first guide rod-taking cylinder is vertically arranged downwards, and the pressing plate is connected with the output end of the second guide rod-taking cylinder. The automatic stacking robot has the advantages of automatic and rapid stacking, high working efficiency, reduction in production cost and effective guarantee of the personal safety of workers. In addition, the invention also discloses an automatic stacking system.
Description
Technical Field
The invention relates to stacking equipment, in particular to an automatic stacking system which can automatically and quickly stack, has high working efficiency and low production cost and effectively ensures the personal safety of workers.
Background
The existing large-size air conditioners are basically stacked manually during production, the large-size air conditioners are large in appearance and heavy, generally more than 25 kilograms and 75 kilograms, and can stack the large-size air conditioner external units by at least 2 people, stacking time is not controlled, and the large-size air conditioners are generally overlong in spending, so that manpower is wasted, working efficiency is low, and production cost is high. Moreover, the manual operation is unsafe, and the machine is easy to fall or the workers are easy to hurt by injure, so that the potential safety hazard of production exists. However, at present, there is no automatic stacking device which can replace manual stacking, and manual stacking is an inexhaustible way.
Disclosure of Invention
The invention aims to provide an automatic stacking robot which can automatically and quickly stack, has high working efficiency, reduces the production cost and effectively ensures the personal safety of workers.
The invention also aims to provide an automatic stacking system which can automatically and quickly stack, has high working efficiency, reduces the production cost and effectively ensures the personal safety of workers.
In order to achieve the purpose, the automatic stacking robot provided by the invention comprises a transfer arm, a mounting plate, a vacuum suction tool and a pallet clamp, wherein the mounting plate is fixed on the transfer arm, the vacuum suction tool is arranged at the lower side of the mounting plate, and the pallet clamp is arranged at two ends of the mounting plate; the pallet clamp comprises a first guide rod-taking cylinder, a second guide rod-taking cylinder and a pressing plate, the first guide rod-taking cylinder is fixed on the mounting plate, the output end of the first guide rod-taking cylinder is horizontally arranged outwards, the second guide rod-taking cylinder is fixed at the output end of the first guide rod-taking cylinder, the output end of the first guide rod-taking cylinder is vertically arranged downwards, and the pressing plate is connected with the output end of the second guide rod-taking cylinder.
Compared with the prior art, the vacuum suction tool and the pallet clamp are arranged on the transfer arm through the mounting plate, the pallet is grabbed by driving the pressing plate through the first cylinder with the guide rod and the second cylinder with the guide rod of the pallet clamp, and the pallet is transferred through the transfer arm, so that the purpose of loading the pallet is achieved. And the products are sucked and paid in vacuum by using the vacuum suction tool and then transferred by the transfer arm, so that the aims of transferring and stacking the products on the pallet are fulfilled. The whole process is realized by the guide rod gas rods, the vacuum equipment and the joint motors on the transfer arms, and all positions are set during stacking without manual operation, so that the automatic quick stacking machine can realize automatic quick stacking, has high working efficiency, can avoid accidents of falling or crushing caused by operation errors during manual stacking, effectively ensures the safety of products and the personal safety of workers, and reduces the production cost.
Preferably, the device further comprises a third cylinder with a guide rod, the third cylinder with a guide rod is fixed at the output end of the second cylinder with a guide rod, the output end of the third cylinder with a guide rod is vertically arranged downwards, and the pressing plate is horizontally fixed at the output end of the third cylinder with a guide rod. Through setting up the third area guide arm cylinder can make the lift altitude range of clamp plate is bigger to make automatic pile up neatly machine people can be applicable to and snatch different environment, not unidimensional product.
Preferably, a mounting seat is fixed between the transfer arm and the mounting plate.
Specifically, fixing plates are arranged between the first cylinder with the guide rod and the mounting plate, between the second cylinder with the guide rod and the output end of the first cylinder with the guide rod, and between the third cylinder with the guide rod and the output end of the second cylinder with the guide rod. By utilizing the fixing plate, the guide rod cylinders can be more conveniently mounted and dismounted.
Preferably, the lower side of the mounting plate is fixedly provided with a beam, and the vacuum suction tool is connected with the beam through a fixed angle seat.
An automatic stacking system comprises a feeding device, a discharging device, a pallet supply device and an automatic stacking robot; the pallet supply device is used for providing a pallet for bearing products, and the loading device is used for providing the products; the automatic stacking robot is used for transferring the pallet on the pallet supplying device to the blanking device and stacking a plurality of products on the loading device on the pallet on the blanking device; the blanking device is used for blanking the stacked products.
Preferably, the pallet supply device is a mobile trolley.
Specifically, the pallet supply device includes gyro wheel, frame, handrail and gag lever post, the gyro wheel set up in the bottom of frame, the handrail set up in one side of frame, the gag lever post set up in order to be spacing to the pallet that is the superpose on the frame. The pallet can be conveniently transferred by utilizing the movable trolley, so that the pallet can be quickly supplemented, and the working efficiency is improved.
Specifically, at least one of the rollers is provided with a brake device.
Preferably, the loading device and the unloading device are arranged in front of the automatic palletizing robot, and the pallet supplying devices are respectively located at the left side and the right side of the automatic palletizing robot.
Drawings
Fig. 1 is a front view of an automatic palletizing system according to the present invention.
Fig. 2 is a side view of the automatic palletizing system of the present invention.
Fig. 3 is a top view of the automatic palletizing system of the present invention.
Fig. 4 is a block diagram of the automatic palletizing robot according to the present invention.
Fig. 5 is a block diagram of the pallet supply of the automatic palletizing system of the present invention.
Detailed Description
In order to explain technical contents, structural features, and effects achieved by the present invention in detail, the following detailed description is given with reference to the embodiments and the accompanying drawings.
As shown in fig. 1 to 3, the automatic palletizing system 100 of the present invention includes an automatic palletizing robot 1, a loading device 2, a discharging device 3 and a pallet supplying device 4; the pallet supply device 4 is used for providing a pallet 300 carrying products 200, the loading device 2 is used for providing the products 200, the loading device 2 is a conveyor belt, and the products 200 are conveyed to the front of the automatic palletizing robot 1 in sequence; the automatic palletizing robot 1 is configured to transfer a pallet 300 on the pallet supplying device 4 to the unloading device 3, and palletize a plurality of products 200 on the loading device 2 to the pallet 300 on the unloading device 3; the blanking device 3 is used for blanking the stacked products 200, and the blanking device 3 is also a conveyor belt and conveys the stacked products 200 away. The loading device 2 and the unloading device 3 are arranged in front of the automatic palletizing robot 1, and the pallet supply device 4 is respectively arranged on the left side and the right side of the automatic palletizing robot 1. The stacked products 200 are large-sized air conditioner external units, and of course, other products 200 with large sizes can be used without limitation; in particular, the amount of the solvent to be used,
referring to fig. 4, the automatic palletizing robot 1 includes a transferring arm 11, a mounting plate 12, a vacuum suction tool 13 and a pallet clamp 14, wherein the transferring arm 11 is a multi-joint manipulator, such as a six-axis manipulator. The mounting plate 12 is fixed on the transfer arm 11; the transfer arm 11 and the mounting plate 12 are fixed by a mounting seat 15. The vacuum suction device 13 is arranged on the lower side of the mounting plate 12, a beam 121 is fixedly arranged on the lower side of the mounting plate 12, and the vacuum suction device 13 is connected with the beam 121 through a fixed angle seat. The pallet clamp 14 is arranged at two ends of the mounting plate 12; the pallet clamp 14 comprises a first guide rod taking cylinder 141, a second guide rod taking cylinder 142 and a pressing plate 144, the first guide rod taking cylinder 141 is fixed on the mounting plate 12, the output end of the first guide rod taking cylinder 141 is horizontally arranged outwards, the second guide rod taking cylinder 142 is fixed on the output end of the first guide rod taking cylinder 141, the output end of the second guide rod taking cylinder 142 is vertically arranged downwards, and the pressing plate 144 is connected with the output end of the second guide rod taking cylinder 142.
Referring to fig. 4, the automatic palletizing robot 1 further includes a third cylinder with guide rod 143, the third cylinder with guide rod 143 is fixed to the output end of the second cylinder with guide rod 142, the output end of the third cylinder with guide rod 143 is disposed vertically downward, and the pressing plate 144 is horizontally fixed to the output end of the third cylinder with guide rod 143. Through the third cylinder 143 with the guide rod, the lifting height range of the pressing plate 144 can be larger, so that the automatic palletizing robot 1 can be suitable for grabbing products 200 in different environments and sizes.
Referring to fig. 4, a fixing plate 145 is disposed between the first cylinder 141 with guide bar and the mounting plate 12, between the second cylinder 142 with guide bar and the output end of the first cylinder 141 with guide bar, and between the third cylinder 143 with guide bar and the output end of the second cylinder 142 with guide bar. The fixing plate 145 allows the guide rod cylinders to be easily mounted and dismounted.
Referring to fig. 5, the pallet supplying apparatus 4 is a mobile cart. Specifically, the pallet supplying device 4 includes a roller 41, a frame 42, a handrail 43 and a limiting rod 44, wherein the roller 41 is disposed at the bottom of the frame 42, the handrail 43 is disposed at one side of the frame 42, and the limiting rod 44 is disposed on the frame 42 to limit the pallet 300 which is stacked. The pallet 300 can be transferred more conveniently by using the movable trolley, so that the pallet 300 can be supplemented quickly, and the working efficiency is improved. At least one of the rollers 41 is provided with a brake device 45.
In view of the above, the palletizing process of the automatic palletizing system 100 of the present invention is described in detail as follows:
first, the transfer arm 11 is transferred to the upper side of either the left or right pallet supplying apparatus 4, then the output end of the first air cylinder 141 with guide rods located at both ends of the mounting plate 12 horizontally extends out, and the output ends of the second air cylinder 142 with guide rods and the third air cylinder 143 with guide rods coordinate with each other to realize the downward movement of the pressing plate 144, so as to reach the pallet 300, and the two pressing plates 144 can clamp the pallet 300 under the combined action. Then, the transfer arm 11 transfers the pallet 300 to the unloading device 3, and the first, second and third air cylinders 141, 142 and 143 drive the pressing plate 144 to release the pallet 300, so that the pallet is loaded on the unloading device 3. Then, the transferring arm 11 transfers to the loading device 2 and drives the vacuum suction device 13 to approach the surface of the product 200, and then the vacuum suction device 13 sucks the product 200 through negative pressure, at this time, the transferring arm 11 can transfer the product 200 to the pallet 300 of the unloading device 3, so as to transfer a plurality of products 200 to the same pallet 300 and stack them. After the stacking is completed, the blanking device 3 is started to move the stacked products 200 away. At this time, the blanking position of the blanking device 3 is left vacant, and the transfer arm 11 continues to place a pallet 300 therein, so as to perform a plurality of times of stacking. When the pallet supply apparatus 4 is empty of the pallet 300, the pallet supply apparatus 4 can be reset after being pushed away and reloaded with the pallet 300. By analogy, the products 200 may be continuously palletized.
Compared with the prior art, in the invention, the vacuum suction device 13 and the pallet clamp 14 are arranged on the transfer arm 11 through the mounting plate 12, the pallet 300 is grabbed by driving the pressing plate 144 through the first air cylinder 141 with guide rods and the second air cylinder 142 with guide rods of the pallet clamp 14, and the pallet 300 is transferred through the transfer arm 11, so that the purpose of loading the pallet 300 is achieved. The vacuum suction device 13 is used for sucking and paying the products 200 in vacuum, and the transfer arm 11 is used for transferring the products 200, so that the purposes of transferring the products 200 and stacking the products on the pallet 300 are achieved. The whole process is realized by the guide rod gas rods, the vacuum equipment and the joint motors on the transfer arm 11, and each position is set during stacking, so that manual operation is not needed, the automatic quick stacking machine can realize automatic quick stacking, the working efficiency is high, accidents of falling or smashing caused by operation errors during manual stacking can be avoided, the safety of the product 200 and the personal safety of workers are effectively ensured, and the production cost is reduced.
The above disclosure is only a preferred embodiment of the present invention, and certainly should not be taken as limiting the scope of the present invention, which is therefore intended to cover all equivalent changes and modifications within the scope of the present invention.
Claims (10)
1. An automatic pile up neatly machine people which characterized in that: the device comprises a transfer arm, a mounting plate, a vacuum suction tool and a pallet clamp, wherein the mounting plate is fixed on the transfer arm, the vacuum suction tool is arranged at the lower side of the mounting plate, and the pallet clamp is arranged at two ends of the mounting plate; the pallet clamp comprises a first guide rod-taking cylinder, a second guide rod-taking cylinder and a pressing plate, the first guide rod-taking cylinder is fixed on the mounting plate, the output end of the first guide rod-taking cylinder is horizontally arranged outwards, the second guide rod-taking cylinder is fixed at the output end of the first guide rod-taking cylinder, the output end of the first guide rod-taking cylinder is vertically arranged downwards, and the pressing plate is connected with the output end of the second guide rod-taking cylinder.
2. The automatic palletizing robot as claimed in claim 1, wherein: the pressing plate is horizontally fixed at the output end of the third cylinder with the guide rod.
3. The automatic palletizing robot as claimed in claim 1, wherein: and a mounting seat is fixed between the transfer arm and the mounting plate.
4. The automatic palletizing robot as claimed in claim 2, wherein: and fixing plates are arranged between the first cylinder with the guide rod and the mounting plate, between the second cylinder with the guide rod and the output end of the first cylinder with the guide rod, and between the third cylinder with the guide rod and the output end of the second cylinder with the guide rod.
5. The automatic palletizing robot as claimed in claim 1, wherein: the lower side of the mounting plate is fixedly provided with a beam, and the vacuum suction tool is connected with the beam through a fixed angle seat.
6. An automatic pile up neatly system which characterized in that: comprises a feeding device, a discharging device, a pallet supply device and the automatic palletizing robot as claimed in any one of claims 1 to 5; the pallet supply device is used for providing a pallet for bearing products, and the loading device is used for providing the products; the automatic stacking robot is used for transferring the pallet on the pallet supplying device to the blanking device and stacking a plurality of products on the loading device on the pallet on the blanking device; the blanking device is used for blanking the stacked products.
7. The automatic palletizing system according to claim 6, wherein: the pallet supply device is a mobile trolley.
8. The automatic palletizing system according to claim 7, wherein: the pallet supply device comprises a roller, a frame, a handrail and a limiting rod, wherein the roller is arranged at the bottom of the frame, the handrail is arranged at one side of the frame, and the limiting rod is arranged on the frame to limit the pallet which is superposed.
9. The automatic palletizing system according to claim 8, wherein: and a brake device is arranged on at least one roller.
10. The automatic palletizing system according to claim 6, wherein: the loading device and the unloading device are arranged in front of the automatic stacking robot, and the pallet supply devices are respectively positioned on the left side and the right side of the automatic stacking robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010142339.0A CN111331579A (en) | 2020-03-04 | 2020-03-04 | Automatic stacking robot and automatic stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010142339.0A CN111331579A (en) | 2020-03-04 | 2020-03-04 | Automatic stacking robot and automatic stacking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111331579A true CN111331579A (en) | 2020-06-26 |
Family
ID=71175980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010142339.0A Pending CN111331579A (en) | 2020-03-04 | 2020-03-04 | Automatic stacking robot and automatic stacking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111331579A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923489A (en) * | 2012-10-22 | 2013-02-13 | 南通通用机械制造有限公司 | Four-station compact robotic stacking system |
| CN104647373A (en) * | 2014-12-19 | 2015-05-27 | 广州达意隆包装机械股份有限公司 | Carrying system of robot palletizer and carrying method of robot palletizer |
| CN206172564U (en) * | 2016-08-12 | 2017-05-17 | 湖北周黑鸭食品工业园有限公司 | Pile up neatly system of robot |
| CN209142162U (en) * | 2018-10-14 | 2019-07-23 | 苏州森众汽车部件有限公司 | A kind of online utensil of seat support assembly |
| CN210102954U (en) * | 2019-05-07 | 2020-02-21 | 惠州市南方智能制造产业研究院 | Stacking equipment |
-
2020
- 2020-03-04 CN CN202010142339.0A patent/CN111331579A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923489A (en) * | 2012-10-22 | 2013-02-13 | 南通通用机械制造有限公司 | Four-station compact robotic stacking system |
| CN104647373A (en) * | 2014-12-19 | 2015-05-27 | 广州达意隆包装机械股份有限公司 | Carrying system of robot palletizer and carrying method of robot palletizer |
| CN206172564U (en) * | 2016-08-12 | 2017-05-17 | 湖北周黑鸭食品工业园有限公司 | Pile up neatly system of robot |
| CN209142162U (en) * | 2018-10-14 | 2019-07-23 | 苏州森众汽车部件有限公司 | A kind of online utensil of seat support assembly |
| CN210102954U (en) * | 2019-05-07 | 2020-02-21 | 惠州市南方智能制造产业研究院 | Stacking equipment |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20200626 |