CN215515826U - Stacking device and loading and unloading system - Google Patents

Abstract

The stacking device and the loading and unloading system have the advantages that the box pushing mechanism and the box pressing mechanism are arranged on the stacking gripper, so that the stacking gripper can simultaneously grip a plurality of boxes, the box pressing mechanism prevents the boxes from falling off from the stacking gripper, the box pushing mechanism is convenient for pushing the boxes out of the stacking gripper and stacking the boxes, and stacking efficiency is improved; on the other hand can directly pile up neatly on removing the frame with the case through setting up mobilizable removal frame, and the case of being convenient for will accomplishing the pile up neatly transports the inside to the transportation carriage, is not convenient for when solving pile up neatly machine people and directly transporting the carriage inside, further improves pile up neatly efficiency.

Description

Stacking device and loading and unloading system

Technical Field

The application belongs to the technical field of stacking devices, and particularly relates to a stacking device and a loading and unloading system.

Background

In the workshop production process, the produced products are usually boxed, and after the products are boxed, the goods are often required to be palletized and loaded by means of a palletizing robot, so that subsequent transportation is facilitated.

Pile up neatly machine people snatchs the case usually through fixing the tongs on its arm, then carries out the pile up neatly, and current pile up neatly machine people is when snatching box goods, and when the single snatched a plurality of cases, the case drops from the tongs easily, and the pile up neatly of not being convenient for, consequently at pile up neatly in-process, and the tongs single only snatchs a case usually and puts things in good order, and pile up neatly efficiency still remains to be improved.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a pile up neatly device and handling system to solve the pile up neatly efficiency that exists among the prior art and still need the technical problem who improves.

To achieve the above object, a first aspect of the present invention provides a palletizing device, characterized in that: the box stacking device comprises a stacking gripper, a box pushing mechanism and a box pressing mechanism;

the stacking gripper comprises a fixed plate and a supporting part, the supporting part is arranged below the fixed plate in a sliding mode and used for supporting a product, and the fixed plate is used for being fixedly connected with an arm of a robot;

the box pressing mechanism 300 is movably arranged on the fixing plate to enable the product on the supporting part to be compressed in the vertical direction, and the box pushing mechanism is movably arranged on the fixing plate to enable the product on the supporting part to be compressed in the horizontal direction.

Optionally, the box pushing mechanism comprises:

the fixed end of the first driving piece is fixed below the fixed plate;

the movable baffle is fixedly connected with the driving end of the first driving piece;

the sliding plate is connected below the fixed plate in a sliding manner, and the movable baffle is fixedly connected with the sliding plate; the pressure case mechanism includes:

the lifting driving piece is arranged along the vertical direction, and the fixed end of the lifting driving piece is fixed on the sliding plate;

and the pressing plate is fixedly connected with the driving end of the lifting driving piece and is positioned between the fixing plate and the supporting part.

Optionally, the supporting part comprises a grapple and a movable clamping plate, the grapple is fixedly connected with the lower end of the movable clamping plate, and the upper end of the movable clamping plate is slidably connected with the fixed plate.

Optionally, a second driving element arranged along the horizontal direction is fixed below the fixing plate, a fixed end of the second driving element is fixed below the fixing plate, and the movable clamping plate is fixedly connected with a driving end of the second driving element.

A second aspect of the present invention provides a handling system characterized by: the stacking device is fixedly connected with an arm of the robot, and the moving frame is used for placing goods grabbed by the stacking device; the driving mechanism drives the movable frame to move along a preset direction; the stacking device is the stacking device.

Optionally, the driving mechanism includes a driving motor, a driving shaft, a chain wheel, a chain and a push-pull support, the chain wheel is disposed at two ends of the driving shaft, the chain is engaged with the chain wheel, the driving motor is used for driving the driving shaft to rotate, the push-pull support is fixedly connected with the chain, and the push-pull support is detachably connected with the movable frame.

Optionally, the push-pull bracket further comprises oppositely arranged channel steel guide rails, and the push-pull bracket is slidably connected between the two channel steel guide rails.

Optionally, an electromagnet is fixed on the push-pull support, and the movable frame is made of magnetic metal and is connected with the movable frame through the electromagnet.

Optionally, a guide wheel is arranged at the edge part of the moving frame, and the guide wheel is used for guiding between the moving frame and the inner wall of the carriage; a plurality of rollers are arranged below the movable frame.

Optionally, the robot further comprises a supporting platform and a fixing frame, wherein the supporting platform is used for supporting the fixing frame and the driving mechanism, and the robot is fixed on the fixing frame.

The utility model provides a pile up neatly device and handling system's beneficial effect lies in: compared with the prior art, the stacking device and the loading and unloading system have the advantages that the stacking gripper can grip a plurality of boxes simultaneously, the box pressing mechanism is arranged on the stacking gripper to prevent the boxes from falling off from the stacking gripper, and meanwhile, the box pushing mechanism is arranged on the stacking gripper to facilitate the boxes to be pushed out from the stacking gripper and stacked simultaneously, so that the stacking efficiency is improved; on the other hand can directly carry out the pile up neatly on removing the frame with the case through setting up mobilizable removal frame inside the transportation carriage, the pile up neatly tongs, is convenient for transport the case of accomplishing the pile up neatly to the inside of transportation carriage, is not convenient for directly when the transportation carriage is inside with the case solving pile up neatly machine people, further improves pile up neatly efficiency.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a first schematic structural diagram of an embodiment of the present application;

FIG. 2 is a second schematic structural diagram according to an embodiment of the present disclosure;

fig. 3 is a first schematic structural diagram of a stacking gripper provided in an embodiment of the present application;

fig. 4 is a second schematic structural diagram of the stacking gripper provided in the embodiment of the present application;

FIG. 5 is a schematic side view of the stacking gripper provided by the embodiment of the application;

FIG. 6 is a cross-sectional view of a palletising gripper provided in embodiments of the present application;

FIG. 7 is a schematic structural diagram of a driving mechanism provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of a mobile rack according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a positioning pin provided in an embodiment of the present application.

Reference numerals: 100. stacking grippers; 110. a fixing plate; 111. a driving member seat plate; 112. a guide rail; 113. A first sliding seat; 114. a second sliding seat; 115. a second driving member; 120. a holding section; 121. a grapple; 122. a movable splint; 200. a box pushing mechanism; 210. a first driving member; 220. a movable baffle; 230. A slide plate; 300. a box pressing mechanism; 310. a lifting drive member; 320. pressing a plate; 400. a robot; 410. a fixed mount; 500. a movable frame; 510. a guide wheel; 520. a roller; 530. a connecting plate; 540. connecting holes; 550. A limiting hole; 600. a drive mechanism; 610. a drive motor; 620. a drive shaft; 630. a sprocket; 640. pushing and pulling the bracket; 641. an electromagnet; 650. a channel steel guide rail; 700. a carrying carriage; 800. a support platform; 900. And a positioning pin.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The palletizing device and the loading and unloading system provided by the utility model are described in detail by combining specific embodiments.

Referring to fig. 1 to 6 together, a description will now be given of a palletizing apparatus according to an embodiment of the present application.

The stacking device comprises a stacking gripper 100, a box pushing mechanism 200 and a box pressing mechanism 300;

the stacking gripper 100 comprises a fixing plate 110 and a supporting part 120, the supporting part 120 is arranged below the fixing plate 110 in a sliding manner, the supporting part 120 is used for supporting a product, and the fixing plate 110 is used for being fixedly connected with an arm of the robot 400;

the box pressing mechanism 300 is movably disposed on the fixing plate 110 to press the product on the supporting portion 120 in a vertical direction, and the box pushing mechanism 200 is movably disposed on the fixing plate 110 to press the product on the supporting portion 120 in a horizontal direction.

In this embodiment, the number of boxes in a row of boxes that are grabbed by the stacking gripper 100 is determined according to the size of the stacking gripper 100 and the size of the boxes at each time, after the stacking gripper 100 grabs a row of cartons, the box pressing mechanism 300 moves downward to clamp the boxes together with the supporting part 120, so as to compress the boxes in the vertical direction, prevent the boxes from falling off from the stacking gripper 100, when the stacking gripper 100 reaches the stacking position, at this time, the box pressing mechanism 300 moves upward, the box pressing mechanism 300 is separated from the boxes, the box pushing mechanism 200 moves in the horizontal direction, the boxes are pushed to move from the stacking gripper 100 to the stacking position, and one stacking operation is completed.

In this embodiment, a plurality of boxes can be grabbed simultaneously to the pile up neatly tongs 100, prevents through pressing case mechanism 300 on pile up neatly tongs 100 that a plurality of boxes from coming off from pile up neatly tongs 100, sets up on pile up neatly tongs 100 simultaneously and pushes away case mechanism 200, is convenient for release and pile up neatly a plurality of boxes from pile up neatly tongs 100 simultaneously, improves pile up neatly efficiency.

Referring to fig. 3 to 6, in the present embodiment, the box pushing mechanism 200 includes a first driving member 210, a movable baffle 220, and a sliding plate 230, a driving member seat plate 111 is fixed below the fixing plate 110, a fixed end of the first driving member 210 is fixed on the driving member seat plate 111, and the first driving member 210 is disposed along a horizontal direction; the movable baffle 220 is fixedly connected with the driving end of the first driving piece 210; guide rails 112 are fixed to the lower surfaces of both sides of the fixing plate 110 in the longitudinal direction, and the cross-sectional shape of the guide rails 112 is circular. The number of the sliding plates 230 is two, the upper surfaces of the two sliding plates 230 are slidably connected with the guide rail 112 by adopting the first sliding seat 113, the first sliding seat 113 is provided with a fixing groove with the same section shape as that of the guide rail 112, the fixing groove is matched and slidably connected with the guide rail 112, and the upper end of the movable baffle 220 is fixedly connected with the lower surface of the sliding plate 230.

The box pressing mechanism 300 comprises a lifting driving member 310 and a pressing plate 320, wherein the lifting driving member 310 is arranged along the vertical direction, and the fixed end of the lifting driving member 310 is fixed on the sliding plate 230; the pressing plate 320 is fixedly connected with the driving end of the lifting driving member 310, and the pressing plate 320 is located between the fixing plate 110 and the supporting portion 120.

In this embodiment, pile up neatly tongs 100 has snatched the case after, drives clamp plate 320 through lift driving piece 310 and moves downwards in vertical direction, realizes the centre gripping to the case with holding portion 120 jointly to the realization is tight to the clamp of case, prevents that the case from droing, treats that pile up neatly tongs 100 arrives the pile up neatly position, and clamp plate 320 rebound and case separation this moment, and first driving piece 210 drives adjustable fender 220 and moves at the horizontal direction, promotes the case and moves to the pile up neatly position from pile up neatly tongs 100, accomplishes a pile up neatly operation.

Referring to fig. 3 to fig. 6, in the present embodiment, the supporting portion 120 includes a grapple 121 and a movable clamp plate 122, the grapple 121 is fixedly connected to a lower end of the movable clamp plate 122, an upper end of the movable clamp plate 122 is slidably connected to the guide rail 112 by a second sliding seat 114, and the second sliding seat 114 and the first sliding seat 113 have the same structure. The driving member seat plate 111 is further fixed with a second driving member 115 arranged along the horizontal direction, the moving direction of the second driving member 115 is opposite to the moving direction of the first driving member 210, and the movable clamp plate 122 is fixedly connected with the driving end of the second driving member 115.

In this embodiment, in the process that the movable baffle 220 pushes the box to separate from the grapple 121, the second driving member 115 drives the movable clamp plate 122 to drive the grapple 121 to move in the opposite direction of the movable baffle 220, so as to accelerate the separation of the box from the grapple 121, thereby reducing the stacking time and improving the stacking efficiency.

In another aspect, with continued reference to fig. 1 and fig. 2, the present invention provides a loading and unloading system, which includes a palletizing device, a robot 400, a moving frame 500 and a driving mechanism 600, wherein the palletizing device is fixedly connected to an arm of the robot 400, and the moving frame 500 is used for placing goods grabbed by the palletizing device; the driving mechanism 600 drives the moving frame 500 to move along a preset direction; the stacking device is the stacking device in the above embodiment.

In this embodiment, the box that the pile up neatly device snatched is placed on removing frame 500, then will accomplish the removal frame 500 of pile up neatly and remove to the delivery carriage 700 in through drive arrangement, when solving pile up neatly robot 400 and not being convenient for directly the box inside the transport carriage 700, further improve pile up neatly efficiency.

Referring to fig. 1, 2 and 7, in the present embodiment, the driving mechanism 600 includes a driving motor 610, a driving shaft 620, a chain wheel 630, chains, two channel-section guide rails 640 and channel-section guide rails 650, the chain wheel 630 is disposed at two ends of the driving shaft 620, the chains are engaged with the chain wheel 630, the driving motor 610 is used for driving the driving shaft 620 to rotate, chain fixing clips are disposed on lower surfaces of the two channel-section guide rails 640, the two channel-section guide rails 650 are fixedly connected to the chain through the chain fixing clips, the two channel-section guide rails 650 are disposed opposite to each other, the two channel-section guide rails 640 are slidably connected between the two channel-section guide rails 650, an electromagnet 641 capable of being opened or closed is fixed on the two channel-section guide rails 640, the movable frame 500 is made of magnetic metal, the two channel-section guide rails 640 are connected to the movable frame 500 through the electromagnet 641, the connection and separation between the push-pull bracket 640 and the moving frame 500 is achieved by the opening or closing of the electromagnet 641.

In this embodiment, the driving shaft 620 is driven to rotate by the forward and reverse rotation of the driving motor 610, so that the chain wheel 630 drives the chain to drive the push-pull bracket 640 to slide back and forth between the two channel steel guide rails 650 along the length direction of the channel steel guide rails 650, when the electromagnet 641 is powered on and opened, the push-pull bracket 640 drives the movable frame 500 to move back and forth along the preset direction, the movable frame 500 which is not palletized is moved to the lower part of the palletizing device by the push-pull bracket 640, and the movable frame 500 which completes palletizing is transported to the carrying carriage 700.

In the present embodiment, referring to fig. 8, the edge of the moving frame 500 is provided with a guide wheel 510 for guiding the moving frame 500 and the inner wall of the transport vehicle 700, so that the moving frame 500 can move in the transport vehicle 700; a plurality of rollers 520 are disposed below the moving frame 500 to facilitate the rolling of the moving frame 500.

In another embodiment of the present application, referring to fig. 8, the number of the movable frames 500 is several, the front and rear ends of each movable frame 500 along the moving direction thereof are respectively provided with a connecting plate 530, the connecting plates 530 at the front and rear ends of the movable frame 500 are respectively provided with a connecting hole 540, and the connecting plates 530 at the front and rear ends of the movable frame 500 are arranged in a staggered manner in the horizontal direction. The connection holes 540 of the connection plate 530 at the front end of the movable frame 500 are aligned with the connection holes 540 of the connection plate 530 at the rear end of the adjacent movable frame 500, and then are fixedly connected by using a pin.

In another embodiment, with continued reference to fig. 1 and 2, the handling system has a supporting platform 800 and a fixing frame 410, the supporting platform 800 is used for supporting the fixing frame 410 and the driving mechanism 600, and the robot 400 is fixed on the fixing frame 410. In the driving mechanism 600, the driving motor 610, the driving shaft 620 and the channel steel guide rail 650 are all fixed on the supporting platform 800, the box is stacked on the movable frame 500 by the stacking device on the robot 400, the channel steel guide rail 650 is fixed below the fixed frame 410, the push-pull support 640 is convenient to move the movable frame 500 which is not stacked to the stacking device for subsequent stacking, and the movable frame 500 which completes stacking is transported to the carrying carriage 700.

In another embodiment, please continue to refer to fig. 9, the movable frame 500 is provided with a limiting hole 550, a detachable positioning pin 900 is provided at the rear portion of the transportation compartment 700, and the positioning pin 900 is inserted into and matched with the limiting hole 550. Preventing the movement from moving back and forth within the transport compartment 700.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims (10)

1. A palletizing device, characterized in that: comprises a stacking gripper (100), a box pushing mechanism (200) and a box pressing mechanism (300);

the stacking gripper (100) comprises a fixing plate (110) and a supporting part (120), the supporting part (120) is arranged below the fixing plate (110) in a sliding mode, the supporting part (120) is used for supporting products, and the fixing plate (110) is used for being fixedly connected with an arm of a robot (400);

the box pressing mechanism (300) is movably arranged on the fixing plate (110) so as to enable the product on the supporting part (120) to be compressed in the vertical direction, and the box pushing mechanism (200) is movably arranged on the fixing plate (110) so as to enable the product on the supporting part (120) to be compressed in the horizontal direction.

2. The palletizing device according to claim 1, characterized in that said box pushing mechanism (200) comprises:

the first driving part (210) is arranged along the horizontal direction, and the fixed end of the first driving part (210) is fixed below the fixing plate (110);

the movable baffle (220) is fixedly connected with the driving end of the first driving piece (210);

the sliding plate (230) is connected below the fixed plate (110) in a sliding mode, and the movable baffle plate (220) is fixedly connected with the sliding plate (230); the box pressing mechanism (300) includes:

the lifting driving piece (310) is arranged along the vertical direction, and the fixed end of the lifting driving piece (310) is fixed on the sliding plate (230);

and the pressing plate (320) is fixedly connected with the driving end of the lifting driving piece (310) and is positioned between the fixing plate (110) and the supporting part (120).

3. The palletizing device as in claim 1, wherein: the supporting part (120) comprises a grapple (121) and a movable clamping plate (122), the grapple (121) is fixedly connected with the lower end of the movable clamping plate (122), and the upper end of the movable clamping plate (122) is slidably connected with the fixing plate (110).

4. The palletizing device as in claim 3, wherein; a second driving piece (115) arranged along the horizontal direction is fixed below the fixing plate (110), the fixed end of the second driving piece (115) is fixed below the fixing plate (110), and the movable clamping plate (122) is fixedly connected with the driving end of the second driving piece (115).

5. A handling system, characterized by: the stacking device is fixedly connected with an arm of the robot (400), and the moving frame (500) is used for placing goods grabbed by the stacking device; the driving mechanism (600) drives the moving frame (500) to move along a preset direction; the palletising device as claimed in claims 1 to 4.

6. The handling system of claim 5, wherein: the driving mechanism (600) comprises a driving motor (610), a driving shaft (620), a chain wheel (630), a chain and a push-pull support (640), wherein the chain wheel (630) is arranged at two ends of the driving shaft (620), the chain is meshed with the chain wheel (630), the driving motor (610) is used for driving the driving shaft (620) to rotate, the push-pull support (640) is fixedly connected with the chain, and the push-pull support (640) is detachably connected with the moving frame (500).

7. The handling system of claim 6, further comprising oppositely disposed channel rails (650), wherein the push-pull bracket (640) is slidably connected between the two channel rails (650).

8. The handling system of claim 7, wherein: an electromagnet (641) is fixed on the push-pull support (640), and the movable frame (500) is made of magnetic metal and is connected with the movable frame (500) through the electromagnet (641).

9. The handling system of claim 5, wherein: the edge part of the moving frame (500) is provided with a guide wheel (510), and the guide wheel (510) is used for guiding between the moving frame (500) and the inner wall of the carrying compartment (700); a plurality of rollers (520) are arranged below the movable frame (500).

10. The handling system of claim 5, wherein; the robot is characterized by further comprising a supporting platform (800) and a fixed frame (410), wherein the supporting platform (800) is used for supporting the fixed frame (410) and the driving mechanism (600), and the robot (400) is fixed on the fixed frame (410).

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