CN207618609U - Soft pallet intelligent stacking system - Google Patents

Soft pallet intelligent stacking system Download PDF

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Publication number
CN207618609U
CN207618609U CN201721431001.7U CN201721431001U CN207618609U CN 207618609 U CN207618609 U CN 207618609U CN 201721431001 U CN201721431001 U CN 201721431001U CN 207618609 U CN207618609 U CN 207618609U
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China
Prior art keywords
pallet
soft
lead screw
upper frame
conveyor
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CN201721431001.7U
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Chinese (zh)
Inventor
柳先知
徐龙朝
韩振德
高同绪
冯硕
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Qingdao Haikejia Intelligent Equipment Technology Co.,Ltd.
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Qingdao Haikejia Electronic Equipment Manufacturing Co Ltd
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Priority to CN201721431001.7U priority Critical patent/CN207618609U/en
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Abstract

A kind of soft pallet intelligent stacking system, including soft pallet Feeder Manipulator, soft tray library, multi-axis robot, chain scraper conveyor and Conveyor, it is respectively equipped with soft tray library and multi-axis robot in the both sides of chain scraper conveyor one end, it is equipped with soft pallet Feeder Manipulator in the soft tray library, Conveyor is equipped on the side of multi-axis robot.The utility model has the advantages that:The system is soft pallet twin shaft transport conveyor constructions in length and breadth, it is simple and easy for installation, the transport for being conducive to machine itself is composed of multiple independent devices, it puts at the scene and more flexible is conducive to in-site installation, live confusion phenomena will not be caused by reducing fork truck usage amount simultaneously, it occupies little space, reduces production cost.

Description

Soft pallet intelligent stacking system
Technical field
The utility model is related to a kind of soft pallet smart tray library systems, belong to stacking, technical field of conveying machinery.
Background technology
At present in process of producing product, client needs to utilize soft pallet within the scope of certain space(Plastic material)Dress Load, stacking convey the product of oneself, and are reasonably placed to product, thus existing many producers can utilize fork truck into Row transport causes labor intensity high, and human cost is high;Fork truck frequently transports, and causes environmental pollution, transfer efficiency low;This is to visitor Great inconvenience is caused in process of production in family.
In addition, country's material stacking at present carries material using metal tray, client in a certain range, with robot and Handgrip captures the product of front end pipeline conveying, and is placed on pallet as required, and tray library automatically feeds pallet, forklift transport The material of pallet and code full tray, because pallet is metal structure, weight is excessive, yielding, high failure rate, of high cost, and equipment It takes up a large area.
Invention content
The purpose of this utility model is just to provide a kind of soft pallet smart tray library system, to solve current product stacking The problems such as workshop utilization rate present in journey is low, manpower and pallet are of high cost, and after pallet deformation, and equipment operation failure rate is high, Customer organization is facilitated to produce, rational deployment production space simultaneously improves production efficiency.
The technical solution of the utility model is:A kind of soft pallet intelligent stacking system, which is characterized in that supplied including soft pallet Expect manipulator, soft tray library, multi-axis robot, chain scraper conveyor and Conveyor, the both sides point in chain scraper conveyor one end Not She You soft tray library and multi-axis robot, in the soft tray library be equipped with soft pallet Feeder Manipulator, in multi-axis robot Side is equipped with Conveyor;The soft pallet Feeder Manipulator adsorbs pallet from soft tray library, raising and lateral transfer to To transferring on chain scraper conveyor above chain scraper conveyor and by pallet;Multi-axis robot is with its composite mechanical handgrip by product Pallet is piled up, the product after then chain scraper conveyor will be fully stacked is transported to the other end and is total to fork truck transhipment.
The utility model has the advantages that:The system is soft pallet twin shaft transport conveyor constructions in length and breadth, simple and easy for installation, It is composed of the transport for being conducive to machine itself multiple independent devices, puts more flexible be conducive to live peace at the scene It fills, while reducing fork truck usage amount to cause live confusion phenomena, occupies little space, reduce production cost.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model entirety;
Fig. 2 is the stereochemical structure signal of the soft pallet Feeder Manipulator of the utility model;
Fig. 3 is the side structure schematic diagram of Fig. 2;
Fig. 4 is the vertical view of Fig. 3;
Fig. 5 is the side structure signal of the soft tray library of the utility model;
Fig. 6 is the vertical view of Fig. 5;
Fig. 7 is the A-A sectional views of Fig. 5;
Fig. 8 is the stereochemical structure signal of the soft tray library of the utility model.
Specific implementation mode
Referring to Fig. 1-Fig. 8, a kind of soft pallet intelligent stacking system of the utility model, including it is soft pallet Feeder Manipulator 1, soft Tray library 2, multi-axis robot 3, chain scraper conveyor 5 and Conveyor 6 are respectively equipped in the both sides of 5 one end of chain scraper conveyor Soft tray library 2 and multi-axis robot 3 are equipped with soft pallet Feeder Manipulator 1, on the side of multi-axis robot 3 in the soft tray library 2 Side is equipped with Conveyor 6.When work, the soft pallet Feeder Manipulator 1 is simultaneously horizontal from the absorption of soft tray library 2, raising by pallet To being delivered to the top of chain scraper conveyor 5 and by pallet to transferring on chain scraper conveyor 5;Its combined type machine of multi-axis robot 3 Product code is put into pallet by tool handgrip 4, and the product after then chain scraper conveyor 5 will be fully stacked is transported to the other end and is total to fork truck transhipment. Label 41 is isolation aperture plate in Fig. 1.
Referring to Fig. 2-Fig. 4, the soft pallet Feeder Manipulator 1 includes body frame 115, n shapes frame 116, fixed arm 112, moves The first both ends of swing arm 106, moving arm driving device and pallet grabbing device, horizontally disposed fixed arm 112 are connected to On body frame 115 and n shapes frame 116, the head end of horizontally disposed moving arm 106 is slidably connected at fixed arm 112 by connecting plate 107 Tail end, equipped with for driving moving arm 106 to be moved along what fixed arm 112 moved back and forth on body frame 115 and fixed arm 112 Arm driving device is equipped with pallet grabbing device in the tail end of the moving arm 106.
The moving arm driving device includes motor 114, the linear guide 110, synchronous belt 108, driven synchronous pulley 109 With active synchronization belt wheel 113, the linear guide 110, the connecting plate 107 and the straight line are installed on the fixed arm 112 Guide rail 110 is slidably connected;Motor 114 is mounted on the top of body frame 115, and active synchronization belt wheel is installed on the top of body frame 115 113, on the tail end of the moving arm 106 be equipped with driven synchronous pulley 109, synchronous belt 108 be looped around driven synchronous pulley 109 with Between active synchronization belt wheel 113, the axis connection of the output shaft and the active synchronization belt wheel 113 of the motor 114;Described is same Step band 108, driven synchronous pulley 109 and active synchronization belt wheel 113 are replaced with chain-drive mechanism.
The pallet grabbing device includes sucker 101, sucker elasticity extension bar 102, lifting support 103, longitudinal sliding motion group Part 104 and cylinder 105, at least provided with four crawl points on lifting support 103, in each crawl point respectively by being inhaled by one Disk elasticity extension bar 102 connects a sucker 101;Institute is connected to by a longitudinal sliding motion component 104 on the top of lifting support 103 State the tail end of moving arm 106;On the longitudinal sliding motion component 104 install cylinder 105, the bottom end piston rod of the cylinder 105 with should The top of lifting support 103 connects.
The longitudinal sliding motion component 104 is made of fixed plate 141, longitudinal rail 142, sliding slot 143 and movable plate 144, Fixed plate 141 is connected to the tail end of the moving arm 106, and mutually sliding is connected between the fixed plate 141 and movable plate 144 and is matched The longitudinal rail 142 and sliding slot 143 of conjunction, the cylinder 105 are mounted in the fixed plate 141, the lifting support 103 Top is connected on the movable plate 144.
Referring to Fig. 5-Fig. 8, the soft tray library 2 includes chassis 12, linkage 21, upper frame 23, pallet positioning plate 28 With upper frame lifting drive, linkage 21 is installed in the upper surface of chassis 12, upper frame is installed in the upper surface of the linkage 21 23, pallet positioning plate 28 is housed on the periphery of upper frame 23;Upper frame lifting drive is housed on the linkage 21.
The upper frame lifting drive includes motor 13, lead screw 14, movable support seat 15 and the linear guide 17, motor 13 are mounted on by motor fixing seat 29 on the chassis 12, and the output shaft of motor 13 is sequentially connected with one end of lead screw 14, 14 other end of lead screw is rotatably installed in by bearing block 30 on chassis 12;Movable support seat 15 is threadedly attached in lead screw On 14, the bottom of movable support seat 15 is slidably connected at by sliding block 16 in the linear guide 17, which also passes through Short axle 20 and one end of 21 bottom end of linkage are hinged, and the other end of 21 bottom end of linkage passes through the lower hinge in fixed seat 33 Spindle 32 is hinged on chassis 12;The one end on 21 top of linkage is hinged on by upper articulated shaft 22 below upper frame 23, The other end on 21 top of linkage is slidably connected with upper frame 23;It is respectively equipped with the next induction of lifting on 17 side of the linear guide Switch 18 and lift upper inductive switch 19;Side above upper frame 23 is equipped with top pallet sensors in place 9.
The pallet positioning plate 28 positions tunable arrangement by a pallet and is connected on the upper frame 23, and the pallet is fixed Position tunable arrangement include:Double helix lead screw 24, optical axis 27, handwheel 35, screw support 25, optical axis bearing 26 and lead screw bearing 36, The opposite both sides of the upper frame 23 of rectangle middle part respectively with the both ends of a 36 rotational support double helix lead screw 24 of lead screw bearing, One end of the double helix lead screw 24 is equipped with handwheel 35;It is respectively provided with an optical axis 27, the optical axis in the both sides of the double helix lead screw 24 27 both ends are connected between the opposite both sides of upper frame 23;Spiral shell is housed in the middle part of the bottom surface of two opposite pallet positioning plates 28 The screw hole of circumflex branch seat 25, the screw support 25 is mounted on double helix lead screw 24;Spiral shell in each 28 bottom surface of pallet positioning plate Respectively there are one optical axis bearings 26, the through-hole of the optical axis bearing 26 to be slidably mounted on optical axis 27 for dress for 25 both sides of circumflex branch seat;Pass through hand Wheel 35 drives double helix lead screw 24 to rotate, and double helix lead screw 24 drives two opposite pallet positioning plates 28 by screw support 25 It relatively moves simultaneously, optical axis 27 play the guiding role.
Above-mentioned soft pallet Feeder Manipulator 1, soft tray library 2, chain scraper conveyor 5 and Conveyor 6 is symmetrical arranged two Set, shares a multi-axis robot 3, and the crawl stacking of composition dicode stack position, conveying device increase storing position, reduce multi-axis machine The stand-by period of people 3 can more smoothly realize stacking, transport.
The course of work of the utility model is:Soft pallet is adsorbed simultaneously from soft tray library 2 by soft pallet Feeder Manipulator 1 Raising then by soft 1 lateral transfer of pallet Feeder Manipulator to the top of chain scraper conveyor 5, and is delivered to chain vertically downward On plate conveyer 5(Stacking position A), after photoelectric sensor 8 senses soft pallet 2 in place, soft pallet Feeder Manipulator 1 resets;It connects After tactile switch 10 senses the product D on crawl position C in place, the Conveyor 6 for capturing position C is out of service, multi-axis robot 3 Composite mechanical handgrip 4 is driven to capture the product D stackings on crawl position C, when the induction of contact-making switch 10 is less than product, roller conveying Machine 6, which starts, continues conveying products;After contact-making switch 10 senses product, multi-axis robot 3 drives composite mechanical handgrip 4 again Crawl, stacking, such cycle operation, after fully stacked, 3 output signal of multi-axis robot starts chain scraper conveyor 5 by fully stacked soft support Disk 2 and product D are transported to from stacking position A forks a B waitings position transhipment.Meanwhile multi-axis robot 3 drives composite mechanical handgrip 4 reset and wait for, and fork after a photoelectric sensor 11 senses the product for forking a B, chain scraper conveyor 5 is out of service, starts report It is alert, prompt fork truck to fork;After chain scraper conveyor 5 is out of service, soft pallet Feeder Manipulator 1 restores supply tray 2, in repetition State the course of work.
The preferable specific implementation mode of the above, only the utility model, these specific implementation modes are all based on this Different realization methods under utility model general idea, and the scope of protection of the utility model is not limited thereto, it is any ripe Know those skilled in the art within the technical scope disclosed by the utility model, the change or replacement that can be readily occurred in, all It should cover and be within the protection scope of the utility model.Therefore, the scope of protection of the utility model should be with claims Subject to protection domain.

Claims (9)

1. a kind of soft pallet intelligent stacking system, which is characterized in that including soft pallet Feeder Manipulator(1), soft tray library(2)、 Multi-axis robot(3), chain scraper conveyor(5)And Conveyor(6), in chain scraper conveyor(5)The both sides of one end is respectively equipped with Soft tray library(2)And multi-axis robot(3), in the soft tray library(2)It is equipped with soft pallet Feeder Manipulator(1), in multiaxis machine Device people(3)Side be equipped with Conveyor(6).
2. soft pallet intelligent stacking system according to claim 1, which is characterized in that the soft pallet Feeder Manipulator (1)Including body frame(115), n shape framves(116), fixed arm(112), moving arm(106), moving arm driving device and pallet crawl Device, horizontally disposed fixed arm(112)The first both ends be connected to body frame(115)With n shape framves(116)On, level is set The moving arm set(106)Head end pass through connecting plate(107)It is slidably connected at fixed arm(112)Tail end, in body frame(115)With Fixed arm(112)It is upper to be equipped with for driving moving arm(106)Along fixed arm(112)The moving arm driving device of reciprocating movement, In the moving arm(106)Tail end be equipped with pallet grabbing device.
3. soft pallet intelligent stacking system according to claim 2, which is characterized in that the moving arm driving device packet Include motor(114), the linear guide(110), synchronous belt(108), driven synchronous pulley(109)And active synchronization belt wheel(113), The fixed arm(112)Upper installation the linear guide(110), the connecting plate(107)With the linear guide(110)Sliding connects It connects;Motor(114)Mounted on body frame(115)Top, in body frame(115)Top install active synchronization belt wheel(113), at this Moving arm(106)Tail end on be equipped with driven synchronous pulley(109), synchronous belt(108)It is looped around driven synchronous pulley(109)With Active synchronization belt wheel(113)Between, the motor(114)Output shaft and the active synchronization belt wheel(113)Axis connection;Institute The synchronous belt stated(108), driven synchronous pulley(109)And active synchronization belt wheel(113)Or it is replaced with chain-drive mechanism.
4. soft pallet intelligent stacking system according to claim 2, which is characterized in that the pallet grabbing device includes Sucker(101), sucker elasticity extension bar(102), lifting support(103), longitudinal sliding motion component(104)And cylinder(105), lifting Holder(103)On at least provided with four crawl points, in each crawl point respectively by passing through a sucker elasticity extension bar(102)Connection One sucker(101);In lifting support(103)Top pass through a longitudinal sliding motion component(104)It is connected to the moving arm (106)Tail end;In the longitudinal sliding motion component(104)Upper installation cylinder(105), the cylinder(105)Bottom end piston rod with should Lifting support(103)Top connection.
5. soft pallet intelligent stacking system according to claim 4, which is characterized in that the longitudinal sliding motion component (104)By fixed plate(141), longitudinal rail(142), sliding slot(143)And movable plate(144)Composition, fixed plate(141)It is connected to The moving arm(106)Tail end, in the fixed plate(141)With movable plate(144)Between be connected with the longitudinal direction being mutually slidably matched Guide rail(142)And sliding slot(143), the cylinder(105)Mounted on the fixed plate(141)On, the lifting support(103) Top be connected to the movable plate(144)On.
6. soft pallet intelligent stacking system according to claim 1, which is characterized in that the soft tray library(2)Including Chassis(12), linkage(21), upper frame(23), pallet positioning plate(28)With upper frame lifting drive, in chassis(12)'s Linkage installed above(21), in the linkage(21)The upper surface of installation upper frame(23), in upper frame(23)Periphery be equipped with Pallet positioning plate(28);In the linkage(21)It is upper that upper frame lifting drive is housed.
7. soft pallet intelligent stacking system according to claim 6, which is characterized in that the upper frame lifting drive Including motor(13), lead screw(14), movable support seat(15)And the linear guide(17), motor(13)Pass through motor fixing seat(29) Mounted on the chassis(12)On, motor(13)Output shaft and lead screw(14)One end be sequentially connected, the lead screw(14)Separately One end passes through bearing block(30)It is rotatably installed in chassis(12)On;Movable support seat(15)It is threadedly attached in lead screw(14) On, movable support seat(15)Bottom pass through sliding block(16)It is slidably connected at the linear guide(17)On, the movable support seat(15) Also pass through short axle(20)With linkage(21)One end of bottom end is hinged, the linkage(21)The other end of bottom end passes through fixation Seat(33)On lower articulated shaft(32)It is hinged on chassis(12)On;The linkage(21)The one end on top passes through upper articulated shaft (22)It is hinged on upper frame(23)Below, the linkage(21)The other end and upper frame on top(23)It is slidably connected;In straight line Guide rail(17)Side is respectively equipped with the next inductive switch of lifting(18)With the upper inductive switch of lifting(19);In upper frame(23)Top Side be equipped with top pallet sensors in place(9).
8. soft pallet intelligent stacking system according to claim 6, which is characterized in that the pallet positioning plate(28)It is logical It crosses pallet positioning tunable arrangement and is connected to the upper frame(23)On, pallet positioning tunable arrangement includes:Double helix lead screw (24), optical axis(27), handwheel(35), screw support(25), optical axis bearing(26)With lead screw bearing(36), in the upper frame of rectangle (23)Opposite both sides middle part respectively with a lead screw bearing(36)Rotational support double helix lead screw(24)Both ends, in double spiral shells Revolve lead screw(24)One end be equipped with handwheel(35);In the double helix lead screw(24)Both sides be respectively provided with an optical axis(27), the light Axis(27)Both ends be connected to upper frame(23)Opposite both sides between;Two opposite pallet positioning plates(28)Bottom surface in Portion is equipped with screw support(25), the screw support(25)Screw hole be mounted on double helix lead screw(24)On;It is fixed in each pallet Position plate(28)The screw support of bottom surface(25)Respectively there are one optical axis bearings for dress for both sides(26), the optical axis bearing(26)Through-hole sliding Mounted on optical axis(27)On;Pass through handwheel(35)Drive double helix lead screw(24)Rotation, double helix lead screw(24)Pass through spiral branch Seat(25)Drive two opposite pallet positioning plates(28)It relatively moves simultaneously, optical axis(27)It play the guiding role.
9. soft pallet intelligent stacking system according to claim 5, which is characterized in that the soft pallet Feeder Manipulator (1), soft tray library(2), chain scraper conveyor(5)And Conveyor(6)Two sets are symmetrical arranged, a multi-axis robot is shared (3), the crawl stacking of composition dicode stack position, conveying device increase storing position, reduce multi-axis robot(3)Stand-by period, can be more Smoothly realize stacking, transport.
CN201721431001.7U 2017-11-01 2017-11-01 Soft pallet intelligent stacking system Active CN207618609U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108974931A (en) * 2018-07-25 2018-12-11 会稽山绍兴酒股份有限公司 A kind of flat-pushing blanking partition transfer equipment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108974931A (en) * 2018-07-25 2018-12-11 会稽山绍兴酒股份有限公司 A kind of flat-pushing blanking partition transfer equipment

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Address after: 266112 No. 88, Longteng Road, Chengyang District, Shandong, Qingdao

Patentee after: Qingdao Haikejia Intelligent Equipment Technology Co.,Ltd.

Address before: 266112 No. 88, Longteng Road, Chengyang District, Shandong, Qingdao

Patentee before: Qingdao HKJ Packaging Machinery Co.,Ltd.