CN212386758U - Stacking device for material stacking packaging line and material stacking packaging line - Google Patents
Stacking device for material stacking packaging line and material stacking packaging line Download PDFInfo
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- CN212386758U CN212386758U CN202020264919.2U CN202020264919U CN212386758U CN 212386758 U CN212386758 U CN 212386758U CN 202020264919 U CN202020264919 U CN 202020264919U CN 212386758 U CN212386758 U CN 212386758U
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Abstract
The utility model discloses a pile up neatly device and material pile up neatly baling line for with conveyor on wait that the buttress material shifts to appointed tray and pile up neatly device in proper order in order according to the predetermined order, include: moving the base; the universal mechanical arm is arranged at the upper end of the movable base; a pneumatic system to provide power; and the operating device is used for selecting or adjusting the working mode of the stacking device according to the parameters of the materials to be stacked and the stacking height. The beneficial effect of adopting above-mentioned technical scheme is: the structure is compact, the whole device is integrated, the whole device only needs to supply 220V electric power, and the application range is wide; the mobile platform is good in mobility, is suitable for application scenes of various client sites, can be flexibly scheduled, has multiple purposes, and effectively reduces purchasing cost and maintenance cost; in addition, the stacking requirements of stack types and stack height diversity can be met, and the stacking is more efficient.
Description
Technical Field
The utility model relates to a material pile up neatly packing, concretely relates to pile up neatly device and material pile up neatly baling line for material pile up neatly baling line.
Background
The robot is an automatic device integrating multiple disciplinary advanced technologies such as machinery, electronics, control, sensing, artificial intelligence and the like. In 1959, de wal and joseph engberg united manufactured a robot that was truly used in industry, and established the first robot manufacturing plant in the world. For a long time, when a traditional industrial robot works, due to safety considerations, enterprises often separate the robot from human activity areas in a protection net or a safety guardrail and the like, which is not ideal for the work which needs workers to intervene and cooperate, and under the technical background, the cooperative robot is produced.
The cooperation robot belongs to industrial robot's category, compares with traditional robot, has advantages such as with low costs, the flexibility is high and easily arrange, consequently receives the favor of enterprise more and more, especially the transportation of material, high repeatability work such as pile up neatly, and the cooperation robot is particularly suitable for.
In the prior art, most palletizing robots are configured and arranged in a one-to-one matching mode with a conveying device, the positions of the robots are fixed, a power system is always required to be configured independently, the height of a palletizing robot capable of adapting to the robots is relatively fixed, equipment configuration cost and later maintenance cost are large for enterprises, and in order to adapt to palletizing demands of different heights, particularly for the enterprises with large palletizing height range span and unfixed palletizing demand positions, whether the robots are configured reasonably or not affects the comprehensive cost of the enterprises more obviously. Therefore, the logistics industry of material stacking needs a stacking device which is strong in structural integrity, movable and efficient in work urgently.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a compact structure, it is convenient to remove, but the pile up neatly device of high-efficient just a tractor serves several purposes of work.
In order to achieve the above purpose, the technical solution of the present invention is as follows:
a palletizing device for a material palletizing and packaging line, for transferring materials to be palletized on a conveyor onto designated trays and palletizing them in sequence according to a predetermined order, comprising: the movable base is a bearing moving unit of the stacking device and comprises a platform, trundles and a lifting support frame, wherein the platform is rectangular, through unthreaded holes and through threaded holes are formed in different positions of the platform, the number of the trundles is consistent with that of the edge angles of the platform, the trundles are uniformly arranged on the lower surface of the platform, close to the edge angles of the platform, the lifting support frame is vertically fixed above the platform, and a pneumatic telescopic element is arranged in the lifting support frame; universal arm sets up remove the upper end of base, divide into initiating terminal and end, universal arm pass through the initiating terminal with the lift supports top is connected, includes: the universal mechanical arm comprises at least six joints, the joints are connected with one another through the driving assemblies, each driving assembly comprises a driving motor and a speed reducer, the robot hand is mounted at the tail end of the universal mechanical arm and comprises a supporting plate and suckers fixed on the supporting plate, one end of the supporting plate is fixedly connected with the tail end of the universal mechanical arm, the other end of the supporting plate is provided with perspective circular holes, and the suckers are arranged on the lower surface of the supporting plate and are uniformly distributed along the circumferential direction of the perspective circular holes; the pneumatic system comprises an air compressor for providing compressed air and an air pipe for conveying the compressed air, wherein the air compressor is a silent air compressor, is arranged on the platform of the movable base, and is used for providing lifting power for the lifting support frame and providing the lifting support frame with lifting power for a machine hand to take and place the required air; and the operating device is arranged on the platform of the movable base and used for selecting or adjusting the working mode of the stacking device according to the parameters of the materials to be stacked and the stacking height.
The beneficial effect of adopting above-mentioned technical scheme is: firstly, the stacking device in the technical scheme only uses compressed gas and electric power, and the power source and other components are arranged on a platform, so that the stacking device is compact in structure and self-integrated, the whole equipment only needs to supply 220V power, and the application range is wide; secondly, because the mute air compressor is arranged, the noise of the whole equipment is very small when the whole equipment works normally, and the whole noise decibel of a workshop is favorably controlled; thirdly, due to the arrangement of the trundles, the stacking device is good in mobility, is suitable for application scenes of various client sites, and can be flexibly dispatched to a corresponding production line for stacking when only one or two lines are produced on the client site, so that the advantage of mobility is more obvious; in addition, because the bracing piece has raising and lowering functions, can satisfy the pile up neatly demand of buttress type and high variety of buttress, adapt to the various types of buttress of customer scene. Therefore, the stacking device in the technical scheme is flexible to move, multipurpose, low in purchase cost and maintenance cost and more efficient in stacking.
As a further improvement, the lower platform surface of the mobile base is provided with lifting support legs, the number of the lifting support legs is consistent with the casters, and the lifting support legs are respectively arranged near the casters, the built-in telescopic pneumatic element of the lifting support legs and the bottom of the lifting support legs are provided with non-slip mats, when the length of the lifting support legs retracted to the shortest is less than the height of the casters, and the length of the lifting support legs extended to the longest is greater than the height of the casters.
The beneficial effect of adopting above-mentioned technical scheme is: the configuration of lift stabilizer blade helps improving the stability that equipment stopped, and in addition, the slipmat of lift stabilizer blade bottom both can the antiskid, can prevent again that the indentation of lift stabilizer blade to the terrace.
As the utility model discloses a further improvement again, be equipped with proximity switch and position sensor on the removal base, proximity switch sets up the platform towards conveyor direction of delivery's side middle part, position sensor with proximity switch is located the coplanar, and with proximity switch symmetrical arrangement.
The beneficial effect of adopting above-mentioned technical scheme is: under proximity switch's effect, the pile up neatly device can be accurate with the central line alignment of conveyer direction of transportation, under position sensor's effect, can keep moving base installation position sensor's side and being parallel with the tip of conveyer, is favorable to keeping the accuracy and the repeatability of pile up neatly device and conveyer relative position.
As a further improvement, the material pile up neatly baling line is including retrieving the dish, be equipped with weighing device and visual sensor on the robot hand of universal arm for screening weight is unusual, and the damaged material of outward appearance is transferred to retrieving the tray.
The beneficial effect of adopting above-mentioned technical scheme is: the weighing device and the visual sensor are arranged on the manipulator, so that materials with too light weight or overweight, damaged appearance and other problems can be identified, and the materials are timely picked out and transferred to the weighing recovery tray, so that the materials entering the tray stacking are all qualified materials with good packaging and weight within a preset range.
As a further improvement, the lifting support frame is the same with universal arm quantity and quantity is two sets, works as the pile up neatly device with when the conveyor centering stopped, two sets lifting support frame and universal arm are followed conveyor's direction of delivery symmetry.
The beneficial effect of adopting above-mentioned technical scheme is: when one set of universal mechanical arm carries out stacking work, the universal mechanical arm can be shifted to a tray to place in a preset position after picking up materials on a conveying device, the next material on the conveying device is in a state of waiting for picking up, and the stacking efficiency also has a lifting space.
As a further improvement, the platform of removal base with be equipped with tray location locking means on the side of tray contact, tray location locking means includes locating pin and centering clamping device, the locating pin sets up the middle part of platform side, corresponding position is equipped with waist type hole on the tray, the width size in waist type hole is greater than the external diameter of locating pin, just the length direction in waist type hole arranges along the horizontal direction, centering clamping device follows the locating pin symmetrical arrangement is in on the platform side, place in centering clamping device by place pneumatic telescoping device in the platform provides and presss from both sides tightly or loosen power, the inboard of centering clamping device's the tight tip of clamp has the trip that is less than 90 degrees, the relevant position of tray be equipped with trip assorted draw-in groove.
The beneficial effect of adopting above-mentioned technical scheme is: set up tray location locking means on the platform that removes the base and the side of tray contact, can guarantee that every tray is the same and centering with the universal arm relative position of pile up neatly device to under the condition of not unblock, the tray can not skew because of receiving external force yet, is favorable to controlling the material pile up neatly unanimously on every tray, keeps the stability of pile up neatly quality.
As a further improvement, the stacking device further comprises a positioning device, the positioning device is arranged at the center of the movable base for real-time detection of the position of the stacking device in the factory.
The beneficial effect of adopting above-mentioned technical scheme is: the positioning device can grasp the position of the stacking device in real time, is favorable for chain setting with transportation equipment, and can transfer among different stations in an optimal route, so that the transfer time is reduced, and the response rate is improved; on the other hand, the intelligent operation of the stacking device is facilitated, and labor cost is saved.
As a further improvement, the stacking device further comprises a radar sensor, the radar sensor is uniformly arranged on the side around the platform of the movable base, so as to sense the distance between the stacking device and the barrier.
The beneficial effect of adopting above-mentioned technical scheme is: the radar device is introduced, the distance between the stacking device and surrounding obstacles can be detected in real time, when the distance is smaller than a safe distance, an alarm is given in real time, and the collision risk of the stacking device and the obstacles is effectively prevented.
As the utility model discloses a further improvement again, the truckle is furnished with the removal driving motor, remove driving motor, the driving motor of air compressor machine and universal arm all contains wireless communication module, the pile up neatly device still includes: the control unit receives signals from the proximity switch, the position sensor, the positioning device and the radar sensor in real time and sends corresponding instructions to the air compressor, the movable driving motor and the driving motor of the universal mechanical arm according to the received signals; and when the stacking device cannot run to a preset centering position and the universal mechanical arm picks or places an abnormal action, the alarm receives an alarm signal of the control unit and gives an alarm.
The beneficial effect of adopting above-mentioned technical scheme is: the intelligent control of the station transfer, the position centering and each action of the stacking device provides conditions for the configuration of the control unit, the positioning device, the sensor and the like, an optimal route can be automatically selected according to different station positions, the station transfer is safer and more stable, the stacking is more rapid and efficient, and the labor cost caused by manual operation is saved.
As a further improvement, the stacking device comprises a stacking device according to any one of the technical schemes.
The beneficial effect of adopting above-mentioned technical scheme is: the stacking device in any technical scheme of the material stacking packaging line can solve the technical problems that the traditional stacking device is fixed in position and can only be configured with a conveying device in a one-to-one mode, the cost is high, the stacking height is limited, the application range is narrow, the practical value and the economic significance are high, and the industrial automation and intelligent era development requirements are met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is the utility model discloses a pile up neatly device work schematic diagram 1.
Fig. 2 is the structure schematic diagram of the stacking device of the present invention.
Fig. 3 is a schematic view of the tray locking of the present invention.
Fig. 4 is the working schematic diagram 2 of the stacking device of the present invention.
The corresponding part names indicated by the numbers in the figures are as follows:
a conveying device 01; a tray 02; a kidney-shaped hole 02.1; a card slot 02.2; a recovery tray 03; a mobile base 1; a platform 1.1; a caster 1.2; a lifting support frame 1.3; lifting support legs 1.4; 1.4.1 of the non-slip mat; a proximity switch 1.5; a position sensor 1.6; a pallet positioning and locking device 1.7; positioning pins 1.7.1; centering and clamping device 1.7.2; a mobile driving motor 1.8; a universal mechanical arm 2; 2.1 of joints; a connecting rod 2.2; a drive assembly 2.3; 2.4 of a robot arm; a support plate 2.4.1; 2.4.2 of a sucking disc; a weighing device 2.4.3; a vision sensor 2.4.4; a pneumatic system 3; an operating device 4; a positioning device 5; a radar sensor 6; a control unit 7; and an alarm 8.
Detailed Description
To facilitate understanding of the present invention, the present invention will be described more fully and specifically with reference to the accompanying drawings and preferred embodiments, but the scope of the present invention is not limited to the specific embodiments described below. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In order to realize the utility model discloses a purpose, the utility model provides a technical scheme does:
as shown in fig. 1-2, a palletizing device for a material palletizing and packaging line, for transferring materials to be palletized on a conveying device 01 to a designated tray 02 and sequentially palletizing the materials in a predetermined order, comprises: the movable base 1 is a bearing moving unit of the stacking device and comprises a platform 1.1, trundles 1.2 and a lifting support frame 1.3, wherein the platform 1.1 is rectangular, through unthreaded holes and through threaded holes are formed in different positions, the number of the trundles 1.2 is the same as that of the edges of the platform 1.1, the trundles are uniformly arranged on the lower surface of the platform 1.1, close to the edges of the platform 1.1, and the lifting support frame 1.3 is vertically fixed above the platform and is internally provided with a pneumatic telescopic element; universal arm 2 sets up in the upper end of moving base 1, divide into initiating terminal and end, and universal arm 2 passes through the initiating terminal to be connected with lift supports 1.3 top, include: the universal mechanical arm comprises joints 2.1, connecting rods 2.2, a driving assembly 2.3 and a robot arm 2.4, wherein the number of the joints 2.1 is at least six, the joints 2.1 are connected with the joints 2.1 and the joints 2.1 are connected with the connecting rods 2.2 through the driving assembly 2.3, the driving assembly 2.3 comprises a driving motor and a speed reducer, the robot arm 2.4 is installed at the tail end of the universal mechanical arm 2 and comprises a supporting plate 2.4.1 and sucking discs 2.4.2 fixed on the supporting plate 2.4.1, one end of the supporting plate 2.4.1 is fixedly connected with the tail end of the universal mechanical arm 2, the other end of the supporting plate is provided with perspective circular holes, and the sucking discs 2.4.2 are arranged on the lower surface of the supporting plate 2.4.1; the pneumatic system 3 comprises an air compressor for providing compressed air and an air pipe for conveying the compressed air, wherein the air compressor is a mute air compressor, is arranged on the platform of the movable base 2 and is used for providing lifting power for the lifting support frame 1.3 and providing gas required by taking and placing for the robot arm 2.4; and the operating device 4 is arranged on the platform of the movable base and used for selecting or adjusting the working mode of the stacking device according to the parameters of the materials to be stacked and the stacking height.
The beneficial effect of adopting above-mentioned technical scheme is: firstly, the stacking device in the technical scheme only uses compressed gas and electric power, and the power source and other components are arranged on a platform, so that the stacking device is compact in structure and self-integrated, the whole equipment only needs to supply 220V power, and the application range is wide; secondly, because the mute air compressor is arranged, the noise of the whole equipment is very small when the whole equipment works normally, and the whole noise decibel of a workshop is favorably controlled; thirdly, due to the arrangement of the trundles, the stacking device is good in mobility, is suitable for application scenes of various client sites, and can be flexibly dispatched to a corresponding production line for stacking when only one or two lines are produced on the client site, so that the advantage of mobility is more obvious; in addition, because the bracing piece has raising and lowering functions, can satisfy the pile up neatly demand of buttress type and high variety of buttress, adapt to the various types of buttress of customer scene. Therefore, the stacking device in the technical scheme is flexible to move, multipurpose, low in purchase cost and maintenance cost and more efficient in stacking.
In other embodiments of the present invention, as shown in fig. 2, the lower platform surface of the mobile base 1 is provided with lifting legs 1.4, the number of the lifting legs 1.4 is consistent with that of the casters 1.2, and the lifting legs are respectively arranged near the casters 1.2, the built-in telescopic pneumatic element of the lifting legs 1.4 is provided with a non-slip mat 1.4.1, the length of the lifting legs 1.4 when retracted to the shortest is less than the height of the casters 1.2, and the length when extended to the longest is greater than the height of the casters 1.2.
The beneficial effect of adopting above-mentioned technical scheme is: the configuration of lift stabilizer blade helps improving the stability that equipment stopped, and in addition, the slipmat of lift stabilizer blade bottom both can the antiskid, can prevent again that the indentation of lift stabilizer blade to the terrace.
In other embodiments of the present invention, as shown in fig. 4, a proximity switch 1.5 and a position sensor 1.6 are disposed on the movable base 1, the proximity switch 1.5 is disposed in the middle of the side surface of the platform 1.1 facing the conveying direction of the conveying device 01, and the position sensor 1.6 and the proximity switch 1.5 are disposed on the same plane and are symmetrically disposed with respect to the proximity switch 1.5.
The beneficial effect of adopting above-mentioned technical scheme is: under proximity switch's effect, the pile up neatly device can be accurate with the central line alignment of conveyer direction of transportation, under position sensor's effect, can keep moving base installation position sensor's side and being parallel with the tip of conveyer, is favorable to keeping the accuracy and the repeatability of pile up neatly device and conveyer relative position.
In other embodiments of the present invention, as shown in fig. 4, the material stacking line includes a recycling tray 03, and a weighing device 2.4.3 and a vision sensor 2.4.4 are disposed on a robot arm 2.4 of the universal robot arm to screen the abnormal weight, the damaged material in the appearance and transfer to the recycling tray 03.
The beneficial effect of adopting above-mentioned technical scheme is: the weighing device and the visual sensor are arranged on the manipulator, so that materials with too light weight or overweight, damaged appearance and other problems can be identified, and the materials are timely picked out and transferred to the weighing recovery tray, so that the materials entering the tray stacking are all qualified materials with good packaging and weight within a preset range.
In other embodiments of the present invention, as shown in fig. 4, the lifting support frames 1.3 are the same in number as the universal mechanical arms 2, and the number of the lifting support frames is two sets, and when the stacking device stops centering on the conveying device 01, the two sets of lifting support frames 1.3 and the universal mechanical arms 2 are symmetrical along the conveying direction of the conveying device 2.
The beneficial effect of adopting above-mentioned technical scheme is: when one set of universal mechanical arm carries out stacking work, the universal mechanical arm can be shifted to a tray to place in a preset position after picking up materials on a conveying device, the next material on the conveying device is in a state of waiting for picking up, and the stacking efficiency also has a lifting space.
In other embodiments of the present invention, as shown in fig. 3, a tray positioning locking device 1.7 is disposed on the side of the platform of the mobile base 1 contacting the tray 02, the tray positioning locking device 1.7 includes a positioning pin 1.7.1 and a centering clamping device 1.7.2, the positioning pin 1.7.1 is disposed in the middle of the side of the platform 1.1, a waist-shaped hole 02.1 is disposed at a corresponding position on the tray 02, the width of the waist-shaped hole 02.1 is greater than the outer diameter of the positioning pin 1.7.1, the length direction of the waist-shaped hole 02.1 is disposed along the horizontal direction, the centering clamping device 1.7.2 is disposed on the side of the platform 1.1 along the positioning pin 1.7.1, the centering clamping device 1.7.2 provides clamping or loosening power by a pneumatic expansion device disposed in the platform 1.1, the inner side of the clamping end of the centering clamping device 1.7.2 has a hook smaller than 90 degrees, and a corresponding position of the tray 02 is provided with a clamping groove 02.2 matching with the hook.
The beneficial effect of adopting above-mentioned technical scheme is: set up tray location locking means on the platform that removes the base and the side of tray contact, can guarantee that every tray is the same and centering with the universal arm relative position of pile up neatly device to under the condition of not unblock, the tray can not skew because of receiving external force yet, is favorable to controlling the material pile up neatly unanimously on every tray, keeps the stability of pile up neatly quality.
In other embodiments of the present invention, as shown in fig. 4, the stacking apparatus further includes a positioning device 5, the positioning device 5 is disposed at the center of the movable base 1 for detecting the position of the stacking apparatus in the factory in real time.
The beneficial effect of adopting above-mentioned technical scheme is: the positioning device can grasp the position of the stacking device in real time, is favorable for chain setting with transportation equipment, and can transfer among different stations in an optimal route, so that the transfer time is reduced, and the response rate is improved; on the other hand, the intelligent operation of the stacking device is facilitated, and labor cost is saved.
In other embodiments of the present invention, as shown in fig. 4, the stacking apparatus further includes a radar sensor 6, and the radar sensor 6 is uniformly disposed on the peripheral side of the platform of the mobile base 1 for sensing the distance between the stacking apparatus and the obstacle.
The beneficial effect of adopting above-mentioned technical scheme is: the radar device is introduced, the distance between the stacking device and surrounding obstacles can be detected in real time, when the distance is smaller than a safe distance, an alarm is given in real time, and the collision risk of the stacking device and the obstacles is effectively prevented.
The utility model discloses an in other embodiments, as shown in fig. 2,4, the truckle is furnished with and removes driving motor 1.8, and air compressor machine and universal arm 2's driving motor all contains wireless communication module, and the pile up neatly device still includes: the control unit 7 receives signals from the proximity switch 1.5, the position sensor 1.6, the positioning device 5 and the radar sensor 6 in real time, and sends corresponding instructions to the air compressor, the movable driving motor 1.8 and the driving motor of the universal mechanical arm 2 according to the received signals; and the alarm 8 receives an alarm signal of the control unit 7 and gives an alarm when the universal mechanical arm 2 picks up or places abnormal actions when the stacking device cannot run to a preset centering position.
The beneficial effect of adopting above-mentioned technical scheme is: the intelligent control of the station transfer, the position centering and each action of the stacking device provides conditions for the configuration of the control unit, the positioning device, the sensor and the like, an optimal route can be automatically selected according to different station positions, the station transfer is safer and more stable, the stacking is more rapid and efficient, and the labor cost caused by manual operation is saved.
As a further improvement, the stacking device comprises a stacking device according to any one of the technical schemes.
The beneficial effect of adopting above-mentioned technical scheme is: the stacking device in any technical scheme of the material stacking packaging line can solve the technical problems that the traditional stacking device is fixed in position and can only be configured with a conveying device in a one-to-one mode, the cost is high, the stacking height is limited, the application range is narrow, the practical value and the economic significance are high, and the industrial automation and intelligent era development requirements are met.
The above embodiments are only for illustrating the technical conception and the features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and the protection scope of the present invention can not be limited thereby, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.
Claims (10)
1. A palletizing device for a material palletizing and packaging line, for transferring materials to be palletized on a conveying device onto a designated tray and sequentially palletizing the materials in a predetermined order, comprising:
the movable base is a bearing moving unit of the stacking device and comprises a platform, trundles and a lifting support frame, wherein the platform is rectangular, through unthreaded holes and through threaded holes are formed in different positions of the platform, the number of the trundles is consistent with that of the edge angles of the platform, the trundles are uniformly arranged on the lower surface of the platform, close to the edge angles of the platform, the lifting support frame is vertically fixed above the platform, and a pneumatic telescopic element is arranged in the lifting support frame;
universal arm sets up remove the upper end of base, divide into initiating terminal and end, universal arm pass through the initiating terminal with the lift supports top is connected, includes: the universal mechanical arm comprises at least six joints, the joints are connected with one another through the driving assemblies, each driving assembly comprises a driving motor and a speed reducer, the robot hand is mounted at the tail end of the universal mechanical arm and comprises a supporting plate and suckers fixed on the supporting plate, one end of the supporting plate is fixedly connected with the tail end of the universal mechanical arm, the other end of the supporting plate is provided with perspective circular holes, and the suckers are arranged on the lower surface of the supporting plate and are uniformly distributed along the circumferential direction of the perspective circular holes;
the pneumatic system comprises an air compressor for providing compressed air and an air pipe for conveying the compressed air, wherein the air compressor is a silent air compressor, is arranged on the platform of the movable base, and is used for providing lifting power for the lifting support frame and providing the lifting support frame with lifting power for a machine hand to take and place the required air;
and the operating device is arranged on the platform of the movable base and used for selecting or adjusting the working mode of the stacking device according to the parameters of the materials to be stacked and the stacking height.
2. The palletizing device for a material palletizing packaging line according to claim 1, wherein the lower platform surface of the moving base is provided with lifting legs, the number of the lifting legs is consistent with that of the casters, the lifting legs are respectively arranged near the casters, the lifting legs are internally provided with telescopic pneumatic elements, the bottoms of the lifting legs are provided with anti-slip pads, the length of the lifting legs when the lifting legs are retracted to the shortest length is less than the height of the casters, and the length of the lifting legs when the lifting legs are extended to the longest length is greater than the height of the casters.
3. The palletizing device for a material palletizing packaging line according to claim 2, wherein a proximity switch and a position sensor are arranged on the movable base, the proximity switch is arranged in the middle of the side surface of the platform facing the conveying direction of the conveying device, and the position sensor and the proximity switch are positioned on the same plane and are symmetrically arranged.
4. The stacking device for material stacking packaging line as claimed in claim 3, wherein the material stacking packaging line comprises a recovery tray, and a weighing device and a visual sensor are arranged on a manipulator of the universal mechanical arm and used for screening materials with abnormal weight and damaged appearance and transferring the materials to the recovery tray.
5. The stacking device for material stacking and packaging line as claimed in claim 4, wherein the number of the lifting support frames and the number of the universal mechanical arms are the same, and the two sets of the lifting support frames and the universal mechanical arms are symmetrical along the conveying direction of the conveying device when the stacking device and the conveying device are stopped in alignment.
6. Palletising device for a material palletising packaging line according to claim 5, a tray positioning and locking device is arranged on the side surface of the platform of the movable base, which is contacted with the tray, the tray positioning and locking device comprises a positioning pin and a centering and clamping device, the positioning pin is arranged in the middle of the side surface of the platform, waist-shaped holes are arranged at corresponding positions on the tray, the width dimension of each waist-shaped hole is larger than the outer diameter of the positioning pin, the length direction of the waist-shaped hole is arranged along the horizontal direction, the centering and clamping devices are symmetrically arranged on the side surface of the platform along the positioning pin, the centering and clamping device is powered by a pneumatic telescopic device built in the platform to clamp or release, the inner side of the clamping end part of the centering and clamping device is provided with a clamping hook with the angle less than 90 degrees, and a clamping groove matched with the clamping hook is arranged at the corresponding position of the tray.
7. The palletizing device for a material palletizing packaging line according to claim 6, further comprising a positioning device, which is arranged at the center of the mobile base and is used for detecting the position of the palletizing device in a factory in real time.
8. The palletizing device for a material palletizing and packaging line as claimed in claim 7, further comprising radar sensors which are uniformly arranged on the peripheral side of the platform of the moving base and are used for sensing the distance between the palletizing device and an obstacle.
9. A palletizing device for a material palletizing and packaging line according to claim 8, wherein the caster is provided with a mobile driving motor, the air compressor and the driving motor of the universal mechanical arm all comprise wireless communication modules, and the palletizing device further comprises:
the control unit receives signals from the proximity switch, the position sensor, the positioning device and the radar sensor in real time and sends corresponding instructions to the air compressor, the movable driving motor and the driving motor of the universal mechanical arm according to the received signals;
and when the stacking device cannot run to a preset centering position and the universal mechanical arm picks or places an abnormal action, the alarm receives an alarm signal of the control unit and gives an alarm.
10. A material palletization packaging line, characterised in that it comprises a palletizing device according to any one of claims 1 to 9.
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| CN202020264919.2U CN212386758U (en) | 2020-03-06 | 2020-03-06 | Stacking device for material stacking packaging line and material stacking packaging line |
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| CN202020264919.2U CN212386758U (en) | 2020-03-06 | 2020-03-06 | Stacking device for material stacking packaging line and material stacking packaging line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114890132A (en) * | 2022-04-07 | 2022-08-12 | 深圳市华盛控科技有限公司 | Collaborative stacking equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114890132A (en) * | 2022-04-07 | 2022-08-12 | 深圳市华盛控科技有限公司 | Collaborative stacking equipment |
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