CN218319498U

CN218319498U - Books pile up neatly device

Info

Publication number: CN218319498U
Application number: CN202090001112.8U
Authority: CN
Inventors: 潘高峰; 许剑邦; 王小斌
Original assignee: Artron Art Group Co ltd; Shenzhen Gaodeng Equipment Co ltd
Current assignee: Artron Art Group Co ltd; Shenzhen Gaodeng Equipment Co ltd
Priority date: 2020-11-28
Filing date: 2020-11-28
Publication date: 2023-01-17
Anticipated expiration: 2030-11-28
Also published as: WO2022110082A1

Abstract

The utility model provides a book stacking device, which comprises a book conveying device and a stacking robot; the book conveying device conveys books to the positions where the mechanical arms of the stacking robot grab the books, and the stacking robot transfers the books of the book conveying device to the book stacking and stacking clamping plate. The utility model discloses in utilize the pile up neatly machine people to carry out the pile up neatly with the books on the conveyer, overcome the mode of present artifical pile up neatly and consume the not enough of manpower very much.

Description

Books pile up neatly device

Technical Field

The utility model relates to a books bind the field, especially an adopt robot to carry out books pile up neatly device of books pile up neatly.

Background

In the back-end processing of book printing, the last station on the binding linkage line is a book stacking station, and on the book stacking station, stacked books are generally stacked on a clamping plate by a worker and then are carried and dragged away by a forklift, so that the manual stacking mode consumes manpower, the back-end processing of the book printing not only is very tired on the body of the worker, but also has low production efficiency. If the enterprise needs to improve the yield, more workers need to be configured to ensure production, so that the labor and management cost of the enterprise is increased, and the economic benefit of the enterprise is reduced under the condition that the current labor cost is increased day by day, so that the requirements of the enterprise and the market cannot be well met. There is a need for a production mode that reduces manual labor instead of manual labor for book palletizing.

The pile up neatly machine people has fairly extensive application in trades such as commodity circulation, production line, supermarket, and chinese utility model patent is granted bulletin number CN 105645118B, and documents such as utility model patent application publication number CN 104493812A all have published a pile up neatly machine people, nevertheless in books pile up neatly process, have not used the robot to replace artifical pile up neatly, can not satisfy the needs in market.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the mode according to present artifical pile up neatly consumes the not enough of manpower very much, provides an adopt the robot to carry out books pile up neatly device of books pile up neatly.

The utility model discloses a technical scheme who adopts for realizing above technical requirement is: the book stacking device comprises a book conveying device and a stacking robot; the book conveying device conveys books to the positions where the mechanical arms of the stacking robot grab the books, and the stacking robot transfers the books of the book conveying device to the book stacking and stacking clamping plate.

Further, in the book palletizing device: the stacking robot comprises a six-axis robot and a clamp, wherein the clamp comprises a book supporting mechanism, a book pressing mechanism, a book blocking mechanism and a paper sucking mechanism which adopt a cylinder as power.

Further, in the book palletizing device described above: the book conveying device comprises a conveying mechanism for horizontally conveying books, a book pushing mechanism for pushing the books to the clamp of the palletizing robot after the books are aligned from the tail end of the conveying mechanism, a lifting mechanism for integrally lifting the books, and a book poking mechanism for beating the books from two sides of the books to enable the books to be tidy, wherein the book pushing mechanism is used for transversely pushing the books and the lifting mechanism is used for effectively avoiding the scratching of the book covers caused by the fact that the book pushing mechanism pushes the books.

Further, in the book palletizing device: the conveying mechanism is a belt-shaped drum-type conveying mechanism and comprises a rack and a drum conveying belt, wherein the drum conveying belt is arranged on the rack and consists of a group of drums driven by a motor, and the books are driven on the drum conveying belt; the side surface of the roller conveyor belt is vertically provided with a first book pushing plate, and the tail end of the roller conveyor belt is vertically provided with a second book pushing plate.

Further, in the book palletizing device described above: the book pushing mechanism comprises a first book pushing mechanism which is in charge of pushing books on the roller conveyor belt to the first book pushing plate to be aligned, and a second book pushing mechanism which is in charge of pushing the books which are arranged orderly before the second book pushing plate to the clamp of the palletizing robot, wherein the first book pushing mechanism and the second book pushing mechanism adopt cylinders as power.

Further, in the book palletizing device: the lifting mechanism comprises a first lifting mechanism matched with the first book pushing mechanism and a second lifting mechanism matched with the second book pushing mechanism, and is arranged at the lower side of the roller conveyor belt in the conveying mechanism; and the first lifting mechanism and the second lifting mechanism adopt cylinders as power.

Further, in the book palletizing device described above: the book poking mechanism comprises two parallel linear guide rails arranged above the side of the roller conveyor belt, a book poking cylinder sliding on the linear guide rails, and a book poking plate driven by the book poking cylinder.

The utility model discloses in utilize the pile up neatly machine people to carry out the pile up neatly with the books on the conveyer, overcome the mode of present artifical pile up neatly and consume the not enough of manpower very much.

The present invention will be further described with reference to the accompanying drawings and the detailed description.

Drawings

Fig. 1 is a schematic diagram of an overall structure of a book stacking device according to embodiment 1 of the present invention.

Fig. 2 is a book conveying device schematic diagram of the book stacking device according to embodiment 1 of the present invention.

Fig. 3 is a schematic view of a conveying mechanism of the book stacking device according to embodiment 1 of the present invention.

Fig. 4 is a schematic view of a book pushing mechanism of the book stacking device according to embodiment 1 of the present invention.

Fig. 5 is a schematic view of a lifting mechanism of a book stacking device according to embodiment 1 of the present invention.

Fig. 6 is a schematic view of a book shifting mechanism of the book stacking device according to embodiment 1 of the present invention.

Fig. 7 is a schematic view of a clamp of a robot in the book stacking apparatus according to embodiment 1 of the present invention.

Detailed Description

Embodiment 1, this embodiment is a book palletizing device that uses a palletizing robot to palletize books, and the book palletizing device is composed of a book conveying device 1000 and a palletizing robot 2000, as shown in fig. 1; the book conveyor 1000 sends the book to a position where the mechanical arm of the palletizing robot 2000 grasps the book, and the palletizing robot 2000 transfers the book of the book conveyor 1000 to the book stacking pallet 2001. In this embodiment, the book conveying device 1000 is disposed within a working radius of the book palletizing robot 2000, and the book conveying device 1000 conveys the book to a position where the book palletizing robot 2000 grabs the book, and then palletizes the book by the book palletizing robot 2000. As shown in fig. 1, the book conveying device 1000 and the book palletizing robot 2000 are generally connected to an output end of a finished book, and are disposed within a working radius of the book palletizing robot 2000, a book stacking pallet 2001 is disposed at each side of the book palletizing robot 2000, and a paper pad placing pallet 2002 is disposed behind the book stacking pallet 2001. As shown in fig. 1, the stacker pallet 2001 is used to stack books, and the grippers (robot arms) of the palletizing robot 2000 stack the books fed from the conveyor 1000 onto the stacker pallet 2001, and then the stacked books are carried away with the stacker pallet 2001. Cardboard 2002 is placed to packing paper and is used for placing packing paper, every pile up a layer books and need place a packing paper, the manipulator places cardboard 2002 from packing paper and takes off packing paper, fill up on the pile book pile pallet cardboard 2001, in this embodiment, there are two sets of pile book pile pallet cardboard 2001 and packing paper and place cardboard 2001, can raise the efficiency, it just changes another board to pile up a board, reduce the waste of time when changing the cardboard, in addition, as shown in fig. 6, what the outside was enclosed is the guardrail.

The palletizing robot 2000 in this embodiment includes a six-axis robot 2100 and a jig 2200, and the jig 2200 includes a book holding mechanism 2210, a book pressing mechanism 2220, a book blocking mechanism 2230, and a paper suction mechanism 2240 that use an air cylinder as power. As shown in fig. 7, a book holding mechanism 2210, a book pressing mechanism 2220, and a book blocking mechanism 2230 are provided at the front end of the jig 2200, and a paper suction mechanism 2240 is provided at the rear, all of which use an air cylinder as power. Other suitable palletizing robots may be used in other embodiments.

The book conveying device 1000 is shown in fig. 2: the book pushing mechanism comprises a conveying mechanism 1100 for horizontally conveying books, a book pushing mechanism 1200 for pushing the books onto a clamp 2200 of the palletizing robot 2000 after aligning the books from the tail end of the conveying mechanism 1100, a lifting mechanism 1300 for lifting the whole books and effectively avoiding scratching the book covers when the book pushing mechanism 1200 transversely pushes the books, and a book poking mechanism 1400 for beating the books from two sides of the books to make the books orderly in the book pushing process of the book pushing mechanism 1200. In this embodiment, the book conveying device 1000 is disposed within the working radius of the book palletizing robot 2000; the book conveying device 1000 includes a conveying mechanism 1100, a book pushing mechanism 1200, a lifting mechanism 1300, and a book shifting mechanism 1400, and the book pushing mechanism 1200, the lifting mechanism 1300, and the book shifting mechanism 1400 are all disposed on the conveying mechanism 1100.

As shown in fig. 3, the conveying mechanism 1100 is a belt-shaped roller conveying mechanism, and includes a frame 1101 and a roller conveyor 1102, which is arranged on the frame 1101, on which books are driven and is composed of a group of rollers driven by a motor; a first book pushing plate 1106 is vertically arranged on the side surface of the roller conveyor belt 1102, and a second book pushing plate 1107 is vertically arranged at the tail end of the roller conveyor belt 1102. In this embodiment, the conveying mechanism 1100 includes a rack 1101 and a roller conveyor belt 1102, in the roller conveyor belt 1102, rollers 1 to 7 are powered by a first motor 1103, rollers 7 to 14 are powered by a second motor 1104, rollers 15 to 29 are powered by a third motor 1105, and the conveying mechanism 1100 is provided with a first book blocking plate 1106 and a second book blocking plate 1107.

As shown in fig. 4, the book pushing mechanism 1200 includes a first book pushing mechanism 1210 for pushing the books on the roller conveyor 1102 to the first book pushing plate 1106 to align the books, a second book pushing mechanism 1220 for pushing the books aligned in front of the second book pushing plate 1107 to the clamp 2200 of the palletizing robot 2000, and the first book pushing mechanism 1210 and the second book pushing mechanism 1220 both use an air cylinder as power. In this embodiment, the book pushing mechanism 1200 includes a first book pushing mechanism 1210 and a second book pushing mechanism 1220, both the first book pushing mechanism 1210 and the second book pushing mechanism 1220 are disposed on the conveying mechanism 1100, the first book pushing mechanism 1210 is powered by a first book pushing cylinder 1211 to drive a first push plate 1212 to push the book onto a first book blocking plate 1106 to be aligned, and the second book pushing mechanism 1220 is powered by a second book pushing cylinder 1221 to drive a second push plate 1222 to push the book onto the clamp 2200 of the palletizing robot 2000.

The lifting mechanism 1300 includes a first lifting mechanism 1310 and a second lifting mechanism 1320, wherein the first lifting mechanism 1310 and the second lifting mechanism 1320 are arranged at the lower side of the roller conveyor belt 1102 in the conveying mechanism 1100, and are matched with the first book pushing mechanism 1210 and the second book pushing mechanism 1220; both the first lifting mechanism 1310 and the second lifting mechanism 1320 use air cylinders as power. In this embodiment, the lifting mechanism 1300 includes a first lifting mechanism 1310 and a second lifting mechanism 1320, the first lifting mechanism 1310 and the second lifting mechanism 1320 are disposed inside the conveying mechanism 1100, the power of the first lifting mechanism 1310 is provided by a first lifting cylinder 1311, and the power of the second lifting mechanism 1320 is provided by a second lifting cylinder 1321, which mainly functions to lift the book as a whole before the book pushing mechanism 1200 acts, so as to effectively avoid scratching the book cover when the book is pushed laterally.

As shown in fig. 6, the book-picking mechanism 1400 includes two parallel linear guide rails 1401 provided above the drum conveyor 1102, a book-picking cylinder 1403 sliding on the linear guide rails 1401, and a book-picking plate 1404 driven by the book-picking cylinder 1403. In this embodiment, the book-moving mechanism 1400 is disposed above the conveying mechanism 1100, the book-moving mechanism 1400 is provided with two parallel linear guide rails 1401, and the servo motor 1402 provides power, so that when the book-moving mechanism 1400 works, the book-moving cylinder 1403 acts to extend the book-moving plate 1404, and the servo motor 1402 drives the book-moving plate 1404 to move to align the books.

The working principle of the embodiment is as follows:

the first motor 1103 is conveyed to start and drive the rollers No. 1-7 to rotate to send the book 100 to the position of the first book pushing mechanism 1210, then the first lifting cylinder 1311 acts to lift the book integrally, so that the bottom surface of the book is not attached to the roller surface of the roller conveyor belt 1102, then the first book pushing cylinder 1211 acts to drive the first push plate 1212 to push the book to the first book blocking plate 1106 to align, then the second motor starts 1104 to drive the rollers No. 8-14 to send the book to the position of the second book pushing mechanism 1220, then the third motor starts 1105 to drive the rollers No. 15-29 to send the book to the position of the second book blocking plate 1106, the operations are repeated to send the book to the position, the book needing to be grabbed by the palletizing robot 2000 at one time can be simultaneously, the number of book blocks for grabbing 1107 at one time by the palletizing robot 2000 can be freely set according to actual requirements, then the book shifting cylinder 1403 acts to extend the book blocking plate 1404, the servo motor 1402 drives the book poking plate 1404 to move to make two adjacent books close to each other, then the second lifting cylinder 1321 operates to lift several orderly stacked books integrally, so that the bottom surface of each book is not attached to the roller surface, then the second book pushing cylinder 1221 operates to drive the second push plate 1222 to push the book onto the book supporting plate 2102 on the clamp 2200, then the book pressing cylinder 2201 operates to drive the book pressing plate 2202 to press the book tightly, then the book blocking cylinder 2301 operates to make the book blocking plate 2302 fall down, the six-axis robot 2100 drives the clamp 2200 to reach the paper cushion placing area, the paper suction cylinder 2401 operates to drive the suction nozzle 2402 to suck up the paper cushion, then the six-axis robot 2100 drives the clamp to reach the book stacking position, the suction nozzle 2402 releases to put down the paper cushion, the six-axis robot 2100 drives the clamp 2200 to adjust the position, then the book supporting cylinder 2101 operates to make the book supporting plate 2102 retract to put down, the book pressing cylinder 2201 acts to release the book pressing plate 2202, the book blocking cylinder 2301 acts to withdraw the book blocking plate 2302, and then the six-axis robot 2100 drives the clamp 2200 to return to the book conveying device 1000 to re-grab the book, so that the robot palletizing the book is realized by repeating all the actions.

Claims

1. A book palletizing device comprising a book conveying device (1000), characterized in that: further comprising a palletizing robot (2000); the book conveying device (1000) sends books to the positions where the mechanical arms of the palletizing robot (2000) grab the books, and the palletizing robot (2000) transfers the books of the book conveying device (1000) to the book stacking pallet (2001).

2. The book palletizing device according to claim 1, wherein: the stacking robot (2000) comprises a six-axis robot (2100) and a clamp (2200), wherein the clamp (2200) comprises a book supporting mechanism (2210), a book pressing mechanism (2220), a book blocking mechanism (2230) and a paper suction mechanism (2240) which adopt an air cylinder as power.

3. Book palletizing device according to claim 1 or 2, characterized in that: the book conveying device (1000) comprises a conveying mechanism (1100) for horizontally conveying books, a book pushing mechanism (1200) for pushing the books onto a clamp (2200) of the palletizing robot (2000) after the books are aligned from the tail end of the conveying mechanism (1100), a lifting mechanism (1300) for lifting the whole books so as to effectively avoid scratching the covers of the books when the book pushing mechanism (1200) pushes the books transversely, and a book poking mechanism (1400) for beating the books from two sides of the books during the book pushing process of the book pushing mechanism (1200) so as to enable the books to be tidy.

4. The book palletizing device according to claim 3, wherein: the conveying mechanism (1100) is a belt-shaped roller type conveying mechanism and comprises a rack (1101) and a roller conveyor belt (1102) which is arranged on the rack (1101) and is formed by a group of rollers driven by a motor and used for driving books on the rack; a first book pushing plate (1106) is vertically arranged on the side surface of the roller conveyor belt (1102), and a second book pushing plate (1107) is vertically arranged at the tail end of the roller conveyor belt (1102).

5. The book palletizing device according to claim 4, wherein: the book pushing mechanism (1200) comprises a first book pushing mechanism (1210) which is responsible for pushing the books on the roller conveyor belt (1102) to the first book pushing plate (1106) for alignment, and the first book pushing mechanism (1210) comprises a first book pushing cylinder (1211) and a first push plate (1212) driven by the first book pushing cylinder; and the second book pushing mechanism (1220) is used for pushing the books which are orderly arranged in front of the second book pushing plate (1107) to the clamp (2200) of the palletizing robot (2000), and the second book pushing mechanism (1220) comprises a second book pushing cylinder 1221 and a second pushing plate (1222) driven by the second book pushing cylinder 1221.

6. The book palletizing device according to claim 5, wherein: the lifting mechanism (1300) is arranged at the lower side of the roller conveyor belt (1102) in the conveying mechanism (1100) and comprises a first lifting mechanism (1310) matched with the first book pushing mechanism (1210) and a second lifting mechanism (1320) matched with the second book pushing mechanism (1220); the first lifting mechanism (1310) and the second lifting mechanism (1320) both adopt air cylinders as power.

7. The book palletizing device according to claim 6, wherein: the book poking mechanism (1400) comprises two parallel linear guide rails (1401) arranged above the side of the roller conveyor belt (1102), a book poking cylinder (1403) sliding on the linear guide rails (1401), and a book poking plate (1404) driven by the book poking cylinder (1403).