CN115535631A - Stacking robot and material taking and placing method thereof - Google Patents
Stacking robot and material taking and placing method thereof Download PDFInfo
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- CN115535631A CN115535631A CN202211052240.7A CN202211052240A CN115535631A CN 115535631 A CN115535631 A CN 115535631A CN 202211052240 A CN202211052240 A CN 202211052240A CN 115535631 A CN115535631 A CN 115535631A
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- stacking
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 238000006073 displacement reaction Methods 0.000 claims abstract description 41
- 238000007599 discharging Methods 0.000 claims abstract description 38
- 238000000926 separation method Methods 0.000 claims abstract description 11
- 230000007306 turnover Effects 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 238000005192 partition Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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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
- B65G57/005—Stacking of articles by using insertions or spacers between the stacked layers
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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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
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
- B65H29/24—Delivering or advancing articles from machines; Advancing articles to or into piles by air blast or suction apparatus
- B65H29/241—Suction devices
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pile Receivers (AREA)
Abstract
The invention relates to the technical field of stacking, in particular to a stacking robot and a material taking and placing method thereof, wherein the stacking robot comprises a displacement device, a bearing frame, a discharging mechanism arranged on one side of the bearing frame and a paper taking mechanism arranged on the other side of the bearing frame, the paper taking mechanism is used for taking and placing paper partitions, the displacement device is used for driving the bearing frame to move in a reciprocating manner, and the discharging mechanism is used for pushing materials of the bearing frame out to a stacking station; the material taking and placing method comprises the following steps of S1, moving a material discharging mechanism and opening a bearing frame; s2, driving the bearing frame to move to a material receiving station by the displacement device, taking separation paper by the paper taking mechanism, and simultaneously pushing the material to the bearing frame by the external feeding device; s3, driving the bearing frame to move to a stacking station by the displacement device; s4, putting down the separation paper by the paper taking mechanism; and S5, pushing the materials on the bearing frame to a paper partition of a stacking station by the discharging mechanism. The stacking device improves stacking efficiency, reduces multiple picking and placing strokes, and is convenient to transport.
Description
Technical Field
The invention relates to the technical field of stacking, in particular to a stacking robot and a material taking and placing method thereof.
Background
At present, domestic books and periodicals are still in a state of manual carrying; after printed, the books and periodicals are typically stacked together and then bundled or wrapped into stacks for shipping. The stacked stacks (mainly the upper stack and the lower stack) are separated by paper separation to improve the stability of the stacks and facilitate transportation. However, existing pile up neatly equipment on the market, when getting the material, all separately get the paper that separates, separately get the material, so increased the equipment stroke, in addition, get the material device and get the paper that separates device and all independently control, occupy equipment volume and space, be unfavorable for the transportation.
Disclosure of Invention
The invention provides a stacking robot and a material taking and placing method thereof, aiming at the problems in the prior art, the stacking robot is ingenious in design, achieves the purposes of taking and placing separation paper and taking and placing materials, further achieves automatic stacking, reduces the labor participation cost, achieves the integrated automation of a plurality of functional structures, improves the convenience, further improves the stacking efficiency, reduces the multiple taking and placing strokes, reduces the equipment volume and the occupied space of equipment, and is convenient to transport.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a stacking robot which comprises a displacement device, a bearing frame, a discharging mechanism arranged on one side of the bearing frame and a paper taking mechanism arranged on the other side of the bearing frame, wherein the paper taking mechanism is used for taking and placing paper partitions, the displacement device is used for driving the bearing frame to reciprocate, and the discharging mechanism is used for pushing materials of the bearing frame out of a stacking station.
The discharging mechanism comprises a turnover driving component and a turnover push plate in driving connection with the turnover driving component;
bases are arranged on two sides of the top of the turnover push plate, a connecting block is rotatably arranged on one side of each base, and a first guide sliding block is rotatably arranged on the other side of each base;
the two sides of the top of the bearing frame are provided with first guide rails, and the first guide sliding blocks are connected with the first guide rails in a sliding manner;
the overturning driving assembly comprises a discharging driving piece and a first synchronizing shaft, the discharging driving piece is used for driving the first synchronizing shaft to rotate, the first synchronizing shaft is rotatably arranged on the bearing frame, and the discharging driving piece is arranged at the top of the bearing frame;
sliding guide frames are arranged on two sides of the top of the bearing frame, first driven sprockets are arranged at the rear ends of the sliding guide frames in a rotating mode, two ends of a first synchronizing shaft are connected with the front ends of the two sliding guide frames in a rotating mode respectively, and first driving sprockets are arranged at two ends of the first synchronizing shaft; a first synchronous belt is wound between the first driving chain wheel and the first driven chain wheel;
the connecting block is connected with the first synchronous belt.
And the sliding guide frame is also rotatably provided with a pressing wheel, and the pressing wheel is abutted against the first synchronous belt.
The rear end of the bearing frame is provided with a sliding baffle in a sliding mode, and the rear end of the bearing frame is further provided with a baffle driving piece used for driving the baffle to move up and down.
The paper taking mechanism comprises a paper taking driving piece and a paper taking strip block connected with the paper taking driving piece in a driving mode, and a plurality of suction nozzles are arranged at the bottom of the paper taking strip block in a row at equal intervals.
The displacement device comprises a displacement rack, a lifting driving assembly is arranged on the displacement rack, the lifting driving assembly is connected with a lifting table, a horizontal supporting rod is arranged on the lifting table, two sides of the bearing frame are slidably arranged on the horizontal supporting rod, a front driving assembly and a rear driving assembly are further arranged on the bearing frame, and a horizontal chain is arranged at the top end of the horizontal supporting rod;
the front and rear driving components comprise a front and rear driving part and a second synchronizing shaft, the second synchronizing shaft is rotatably arranged on the bearing frame, second driving sprockets are arranged at two ends of the second synchronizing shaft, and the second driving sprockets are in meshed driving connection with the horizontal chains.
The invention also provides a material taking and placing method of the palletizing robot, which comprises the following steps:
s1, moving a discharging mechanism and opening a bearing frame;
s2, driving the bearing frame to move to a material receiving station by the displacement device, taking separation paper by the paper taking mechanism, and pushing the material to the bearing frame from an opening on one side of the bearing frame by the external feeding device;
s3, driving the bearing frame to move to a stacking station by the displacement device;
s4, putting down the separation paper by the paper taking mechanism;
and S5, pushing the materials on the bearing frame out of an opening on the other side of the bearing frame to a paper partition of a stacking station by the discharging mechanism.
The invention has the beneficial effects that:
the automatic stacking machine has the advantages that the structure is novel, the design is ingenious, in operation, after the bearing frame is driven by the displacement device to move to the corresponding material receiving position, the external feeding device pushes materials onto the bearing frame, meanwhile, the paper taking mechanism is used for picking up the paper separating, then the displacement device drives the bearing frame to move to the stacking station, the paper separating is put down to the stacking station through the paper taking mechanism, then the materials on the bearing frame are pushed out to the paper separating of the stacking station through the discharging mechanism, the paper separating and the materials are taken and placed, automatic stacking is achieved, labor participation cost is reduced, the discharging mechanism and the paper taking mechanism are combined at the front end and the rear end of the bearing frame, the positions of the bearing frame, the discharging mechanism and the paper taking mechanism are synchronously controlled by the displacement device, integrated automation of a plurality of functional structures is achieved, convenience is improved, stacking efficiency is improved, multiple taking and placing strokes are reduced, the size of equipment and the occupied space of the equipment are reduced, and transportation is facilitated.
Drawings
Fig. 1 is a schematic structural diagram of a palletizing robot according to the present invention.
Fig. 2 is a schematic structural diagram of the displacement device of the present invention.
Fig. 3 is a schematic structural diagram of the cooperation among the bearing frame, the discharging mechanism, the paper taking mechanism, the horizontal support rod and the horizontal chain.
Fig. 4 is a schematic structural view of the displacement device of the present invention after being hidden.
FIG. 5 is a schematic view of another embodiment of the displacement device according to the present invention.
Fig. 6 is a partial structural schematic diagram of fig. 6.
Fig. 7 is a schematic view of fig. 6 from another perspective.
The reference numerals in fig. 1 to 7 include:
1. a displacement device; 2. a carrier; 3. a discharging mechanism; 4. a paper taking mechanism; 5. turning over the push plate; 6. a base; 7. connecting blocks; 8. a first guide slider; 9. a first guide rail; 10. a discharge driving member; 11. a first synchronizing shaft; 12. a sliding guide frame; 13. a first drive sprocket; 14. a first synchronization belt; 15. pressing the wheel; 16. a sliding baffle; 17. a baffle drive member; 18. a paper-taking driving member; 19. taking a paper strip block; 20. a suction nozzle; 21. a displacement frame; 22. a lift drive assembly; 23. a lifting platform; 24. a horizontal support bar; 25. a horizontal chain; 26. a front and rear driving member; 27. a second synchronizing shaft; 28. a second drive sprocket.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention is further described below with reference to the following examples and the accompanying drawings, which are not intended to limit the present invention. The present invention is described in detail below with reference to the attached drawings.
Example 1
The embodiment 1 provides a palletizing robot, as shown in fig. 1 to 7, the palletizing robot includes a displacement device 1, a bearing frame 2, a discharging mechanism 3 disposed on one side of the bearing frame 2, and a paper taking mechanism 4 disposed on the other side of the bearing frame 2, where the paper taking mechanism 4 is configured to take and place a paper separator, the displacement device 1 is configured to drive the bearing frame 2 to reciprocate, and the discharging mechanism 3 is configured to push out a material of the bearing frame 2 to a palletizing station.
Specifically, this embodiment novel structure, and design benefit, in operation, displacement device 1 orders about and bears frame 2 and remove to the material receiving position that corresponds after, outside loading attachment pushes away the material to bearing frame 2, and simultaneously, utilize paper taking mechanism 4 to pick up the paper, then bear frame 2 by displacement device 1 drive and move to the pile up neatly station, put down the paper through paper taking mechanism 4 and separate paper to the pile up neatly station, then release the material that bears frame 2 through discharge mechanism 3 and to the paper that separates of pile up neatly station, realize getting and put the paper and get and put the material and realize automatic pile up neatly, reduce artifical participation cost, discharge mechanism 3 and paper taking mechanism 4 merge both ends around bearing frame 2, displacement device 1 synchro control bears frame 2, discharge mechanism 3 and the position of paper taking mechanism 4, realize the integrative automation of a plurality of functional structure, improve the convenience, and then improve pile up neatly efficiency, reduce and get many times and put the stroke, reduce the occupation space of equipment volume and equipment, be convenient for transportation.
In this embodiment, the discharging mechanism 3 includes a turnover driving component and a turnover pushing plate 5 in driving connection with the turnover driving component;
the two sides of the top of the bearing frame 2 are both provided with a first guide rail 9, and the first guide slide block 8 is connected with the first guide rail 9 in a sliding manner; the first guide slide block 8 moves along the first guide rail 9, so that the turnover push plate 5 is conveniently driven to linearly move along the first guide rail 9, and the material is conveniently pushed;
the overturning driving assembly comprises a discharging driving piece 10 and a first synchronizing shaft 11, the discharging driving piece 10 is used for driving the first synchronizing shaft 11 to rotate, the first synchronizing shaft 11 is rotatably arranged on the bearing frame 2, and the discharging driving piece 10 is arranged at the top of the bearing frame 2;
sliding guide frames 12 are arranged on two sides of the top of the bearing frame 2, a first driven sprocket is rotatably arranged at the rear ends of the sliding guide frames 12, two ends of a first synchronizing shaft 11 are rotatably connected with the front ends of the two sliding guide frames 12 respectively, and a first driving sprocket 13 is arranged at two ends of the first synchronizing shaft 11; the first driving sprocket 13 is located at the front end of the sliding guide 12; a first synchronous belt 14 is wound between the first driving sprocket 13 and the first driven sprocket; the connecting block 7 is connected with the first synchronous belt 14; with the arrangement, the turnover pushing plate 5 is conveniently driven to rotate and turn up along the first driving chain wheel 13.
Specifically, the discharging mechanism 3 is used for pushing the materials on the bearing frame 2 to a stacking station when working; when the discharging mechanism 3 works, the discharging driving piece 10 drives the first synchronizing shaft 11 to rotate, the first driving chain wheels 13 at two ends are driven to rotate, the first synchronizing belt 14 is driven to rotate, and the overturning push plate 5 is driven to move by the rotation of the first synchronizing belt 14; when an external feeding device needs to push materials to the bearing frame 2, the turnover push plate 5 is driven to move and the connecting block 7 is driven to bypass the first driving sprocket 13, so that the turnover push plate 5 is driven to turn up at the front end of the slide rail guide frame, and then the external feeding device can conveniently push the materials to the bearing frame 2; after the external feeding device pushes the material to the bearing frame 2, the discharging driving part 10 drives the first synchronizing shaft 11 to rotate to drive the connecting block 7 to move and reset, and then drives the turnover push plate 5 to push the material on the bearing frame 2, so that the material can be shifted to be abducted on one hand, so that the next group of material enters the bearing frame 2, and on the other hand, the material can also be pushed out of the bearing frame 2 to a stacking station.
Wherein, the top both sides of upset push pedal 5 all are provided with base 6, and one side of base 6 is rotated and is provided with connecting block 7, and the opposite side of base 6 is rotated and is provided with first slider 8 of leading, and under this setting, first slider 8 and the connecting block 7 homoenergetic of leading for base 6 rotates, makes things convenient for the upset and the removal of upset push pedal 5, guarantees the smoothness nature when upset push pedal 5 overturns and removes.
Further, in this embodiment, a sliding baffle 16 is slidably disposed at the rear end of the carrier 2, and a baffle driving member 17 for driving the baffle to move up and down is further disposed at the rear end of the carrier 2; the paper taking mechanism 4 comprises a paper taking driving part 18 and a paper taking strip block 19 in driving connection with the paper taking driving part 18, and a plurality of suction nozzles 20 are arranged at the bottom of the paper taking strip block 19 at equal intervals in a row; further, the paper taking bar block 19 is arranged on the sliding baffle 16 in a vertically sliding manner; the paper-taking driving member 18 is mounted on the slide shutter 16.
Specifically, the sliding baffle 16 is located at the rear end of the bearing frame 2, the material enters the bearing frame 2 from the front end of the bearing frame 2, the sliding baffle 16 plays a role in blocking, the material pushing mechanism is prevented from falling when pushing the material onto the bearing frame 2, and the working reliability is improved.
Wherein, get the integrated equipment of paper mechanism 4 on sliding baffle 16, when baffle driving piece 17 drove sliding baffle 16 and shifts up, can drive and get paper mechanism 4 and move up on the whole, when displacement device 1 drove and bears frame 2 and remove, can drive and get paper mechanism 4 and 3 whole synchronous motion of discharge mechanism, be favorable to realizing the integrative automation of a plurality of functional structure, improve the convenience, reduce the occupation space of equipment volume and equipment, novel structure, design benefit.
In this embodiment, the sliding guide 12 is further rotatably provided with a pressing wheel 15, and the pressing wheel 15 is abutted against the first synchronous belt 14. Specifically, with this arrangement, the tension of the first timing belt 14 is increased, the loosening thereof is prevented, and the operational stability and reliability thereof are improved.
In this embodiment, the displacement device 1 includes a displacement frame 21, a lifting driving assembly 22 is disposed on the displacement frame 21, the lifting driving assembly 22 is connected to a lifting table 23, a horizontal support rod 24 is disposed on the lifting table 23, two sides of the bearing frame 2 are slidably disposed on the horizontal support rod 24, a front driving assembly and a rear driving assembly are further disposed on the bearing frame 2, and a horizontal chain 25 is disposed at a top end of the horizontal support rod 24; a protective fence is arranged on the periphery of the displacement frame 21 to play a role in enclosure and improve safety;
specifically, when the displacement device 1 works, the lifting driving assembly 22 drives the lifting platform 23 to move up and down, so as to drive the horizontal supporting rod 24 to move up and down, further drive the bearing frame 2 to move up and down, facilitate the bearing frame 2 to move to a position corresponding to an external feeding device for receiving materials, and facilitate the bearing frame 2 to be transferred to a stacking station for blanking;
the front and rear driving assembly comprises a front and rear driving member 26 and a second synchronizing shaft 27, the second synchronizing shaft 27 is rotatably arranged on the bearing frame 2, the two ends of the second synchronizing shaft 27 are respectively provided with a second driving sprocket 28, and the second driving sprocket 28 is in meshing driving connection with the horizontal chain 25.
Specifically, the front and rear driving member 26 drives the second synchronizing shaft 27 to rotate, so as to drive the second driving sprocket 28 to rotate, and the second driving sprocket 28 moves along the horizontal chain 25, so as to drive the bearing frame 2 to move back and forth along the horizontal chain 25.
Example 2
The embodiment 2 further provides a material taking and placing method of the palletizing robot, which includes the following steps:
step S1, the discharging mechanism 3 moves and opens the bearing frame 2;
s2, driving the bearing frame 2 to move to a material receiving station by the displacement device 1, taking the partition paper by the paper taking mechanism 4, and simultaneously pushing the material to the bearing frame 2 from the opening on one side of the bearing frame by the external feeding device;
s3, driving the bearing frame 2 to move to a stacking station by the displacement device 1;
s4, putting down the paper separating by the paper taking mechanism 4;
and S5, pushing the materials on the bearing frame 2 out of the opening on the other side of the bearing frame to paper separation of a stacking station by the discharging mechanism 3.
Specifically, according to the material taking and placing method, when an external feeding device needs to push materials to the bearing frame 2, the displacement device 1 drives the bearing frame 2 to move to a corresponding material receiving position, the external feeding device pushes the materials to the bearing frame 2, meanwhile, the paper separating mechanism 4 is used for picking up paper separating, the displacement device 1 drives the bearing frame 2 to move to a stacking station, the paper separating mechanism 4 puts down the paper separating to the stacking station, then the discharging mechanism 3 pushes the materials on the bearing frame 2 out to the paper separating of the stacking station, the paper separating and the material taking are achieved, automatic stacking is achieved, labor participation cost is reduced, the discharging mechanism 3 and the paper taking mechanism 4 can move synchronously, the displacement device 1 controls the positions of the bearing frame 2, the discharging mechanism 3 and the paper taking mechanism 4 synchronously, integrated automation of a plurality of functional structures is achieved, convenience is improved, stacking efficiency is improved, multiple times of taking and placing strokes are reduced, the occupied space of equipment is reduced, and transportation is facilitated.
The discharging mechanism 3 is driven to move, opened and turned up, and then an external feeding device is convenient to push the material out of the bearing frame 2; after the external feeding device pushes the materials to the bearing frame 2, the discharging mechanism 3 moves and resets to further push the materials on the bearing frame 2, so that the materials can be shifted to be abducted on one hand, and the next group of materials can enter the bearing frame 2, and on the other hand, the materials can also be pushed to a stacking station from the bearing frame 2.
Wherein, in this embodiment, can make the material get into from one side of bearing frame 2, then release from the opposite side of bearing frame 2 again and carry out the unloading to the pile up neatly station on for automatic pile up neatly order is clear, possesses the transition, improves the stability and the quality of pile up neatly.
Although the present invention has been described with reference to the above preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A palletizing robot is characterized in that: the paper taking mechanism is used for taking and placing the separation paper, the displacement device is used for driving the bearing frame to move in a reciprocating mode, and the discharging mechanism is used for pushing materials of the bearing frame out to a stacking station.
2. Palletizing robot according to claim 1, characterized in that: the discharging mechanism comprises a turnover driving component and a turnover push plate in driving connection with the turnover driving component;
bases are arranged on two sides of the top of the turnover push plate, a connecting block is rotatably arranged on one side of each base, and a first guide sliding block is rotatably arranged on the other side of each base;
the two sides of the top of the bearing frame are provided with first guide rails, and the first guide sliding blocks are connected with the first guide rails in a sliding manner;
the turnover driving assembly comprises a discharge driving piece and a first synchronous shaft, the discharge driving piece is used for driving the first synchronous shaft to rotate, the first synchronous shaft is rotatably arranged on the bearing frame, and the discharge driving piece is arranged at the top of the bearing frame;
sliding guide frames are arranged on two sides of the top of the bearing frame, first driven sprockets are arranged at the rear ends of the sliding guide frames in a rotating mode, two ends of a first synchronizing shaft are connected with the front ends of the two sliding guide frames in a rotating mode respectively, and first driving sprockets are arranged at two ends of the first synchronizing shaft; a first synchronous belt is wound between the first driving chain wheel and the first driven chain wheel;
the connecting block is connected with the first synchronous belt.
3. Palletizing robot according to claim 2, characterized in that: and the sliding guide frame is also rotatably provided with a pressing wheel, and the pressing wheel is abutted against the first synchronous belt.
4. Palletizing robot according to claim 1, characterized in that: the rear end of the bearing frame is provided with a sliding baffle in a sliding mode, and the rear end of the bearing frame is further provided with a baffle driving piece used for driving the baffle to move up and down.
5. Palletizing robot according to claim 1, characterized in that: get paper mechanism including get paper driving piece and with get paper driving piece drive and be connected get paper stick piece, the bottom of getting paper stick piece is arranged in a row at equal intervals and is provided with a plurality of suction nozzles.
6. Palletizing robot according to claim 1, characterized in that: the displacement device comprises a displacement rack, a lifting driving assembly is arranged on the displacement rack, the lifting driving assembly is connected with a lifting table, a horizontal supporting rod is arranged on the lifting table, two sides of the bearing frame are slidably arranged on the horizontal supporting rod, a front driving assembly and a rear driving assembly are further arranged on the bearing frame, and a horizontal chain is arranged at the top end of the horizontal supporting rod;
the front and rear driving components comprise a front and rear driving part and a second synchronizing shaft, the second synchronizing shaft is rotatably arranged on the bearing frame, second driving sprockets are arranged at two ends of the second synchronizing shaft, and the second driving sprockets are in meshed driving connection with the horizontal chains.
7. A material taking and placing method of a palletizing robot is characterized by comprising the following steps:
s1, moving a discharging mechanism and opening a bearing frame;
s2, driving the bearing frame to move to a material receiving station by the displacement device, taking separation paper by the paper taking mechanism, and pushing the material to the bearing frame from an opening on one side of the bearing frame by the external feeding device;
s3, driving the bearing frame to move to a stacking station by the displacement device;
s4, putting down the separation paper by the paper taking mechanism;
and S5, pushing the materials on the bearing frame out of the opening on the other side of the bearing frame to paper separation of the stacking station by the discharging mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211052240.7A CN115535631A (en) | 2022-08-31 | 2022-08-31 | Stacking robot and material taking and placing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211052240.7A CN115535631A (en) | 2022-08-31 | 2022-08-31 | Stacking robot and material taking and placing method thereof |
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| CN115535631A true CN115535631A (en) | 2022-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211052240.7A Pending CN115535631A (en) | 2022-08-31 | 2022-08-31 | Stacking robot and material taking and placing method thereof |
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2022
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|---|---|---|---|---|
| GB805433A (en) * | 1956-02-23 | 1958-12-03 | Cliff Vale Engineering Works L | Mechanism for feeding material to vehicles or containers or conveyors |
| SU1579874A1 (en) * | 1987-06-10 | 1990-07-23 | Уральский лесотехнический институт им.Ленинского комсомола | Arrangement for placing flat articles into packages |
| CN105347046A (en) * | 2015-12-01 | 2016-02-24 | 孟永江 | High-speed automatic loading and stacking machine |
| JP2017127312A (en) * | 2017-03-08 | 2017-07-27 | 井関農機株式会社 | Stacking equipment |
| CN208394307U (en) * | 2018-04-28 | 2019-01-18 | 惠州市德赛西威汽车电子股份有限公司 | A kind of Multifunctional material turnover rack |
| CN111453439A (en) * | 2020-04-21 | 2020-07-28 | 深圳市安耐节科技有限公司 | Stacking machine |
| CN213264668U (en) * | 2020-07-23 | 2021-05-25 | 深圳劲嘉集团股份有限公司 | Automatic boxing and stacking production line and multifunctional clamp thereof |
| CN215515826U (en) * | 2021-02-24 | 2022-01-14 | 深圳市美格包装设备有限公司 | Stacking device and loading and unloading system |
| CN113277324A (en) * | 2021-06-18 | 2021-08-20 | 东莞市迈高自动化机械有限公司 | Three-shaft stacker crane |
| CN113955506A (en) * | 2021-10-22 | 2022-01-21 | 艾密(上海)科技有限公司 | Automatic pick-up system |
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