CN220563795U - Cantilever type palletizing robot and loading palletizing system - Google Patents

Abstract

The utility model discloses a cantilever type palletizing robot and a loading palletizing system, wherein the cantilever type palletizing robot comprises a rotating seat, a stand column, a cross arm, a transverse travelling mechanism, a lifting rod, a rotating mechanism and a clamp, wherein the stand column is fixed on the rotating seat, a sliding groove is fixed on the side edge of the stand column, the cross arm is vertically limited in the sliding groove, the transverse travelling mechanism is arranged on the cross arm in a embracing manner and can self-travel along the cross arm by being driven by a lifting drum at the top of the stand column, the lifting rod passes through the transverse travelling mechanism and is parallel to the stand column, the transverse travelling mechanism can drive the lifting rod to move up and down, and the clamp is arranged at the bottom of the lifting rod by the rotating mechanism. This cantilever type pile up neatly machine people is through grabbing the mode of packing area of packing box and is put the getting of packing box, adopts modularized equipment, has replaced traditional artificial mode to realize the high-efficient pile up neatly of packing box, can effectively reduce cost in business.

Description

Cantilever type palletizing robot and loading palletizing system

Technical Field

The utility model relates to the technical field of truck stacking, in particular to a cantilever type stacking robot and a truck loading stacking system.

Background

At present, loading and unloading of trucks mainly rely on manual work to carry, and not only intensity of labour is big, and is inefficiency to high altitude construction risk is big, and not only workman's personal safety has hidden danger, because the recruitment cost is high higher and higher, leads to the production operation pressure of enterprise also to be greater and greater. Along with the bringing of the intelligent age, more and more fields in our life are gradually replaced by intelligent equipment, and intelligent stacking through mechanical equipment becomes a technical problem which needs to be solved and realized in the industry.

Disclosure of Invention

According to the cantilever type palletizing robot and the loading palletizing system, the cantilever type palletizing robot picks and places the container in a manner of grabbing packing belts of the container, modularized equipment is adopted, efficient palletizing of the container is realized in a manner of replacing a traditional manual mode, and enterprise cost can be effectively reduced.

A cantilever palletizing robot, characterized in that: including roating seat, stand, xarm, horizontal running gear, lifter, rotary mechanism and anchor clamps, the stand is fixed in on the roating seat, the stand side is fixed with the sliding tray, the xarm is spacing in the sliding tray perpendicularly, and the promotion reel drive through the stand top is along the sliding tray vertical slip, horizontal running gear embraces dress on the xarm, can walk certainly along the xarm, the lifter passes horizontal running gear, with stand parallel arrangement, horizontal running gear can drive the lifter and reciprocate, anchor clamps pass through rotary mechanism and install in the lifter bottom.

As the preference of above-mentioned technical scheme, anchor clamps include rotating turret, locating rack, shutter, clamping jaw, locating frame and compression spring, rotating turret and rotary mechanism synchronous rotation, the clamping jaw hoist and mount on the montant of rotating turret, be equipped with the U-shaped groove I that supplies the clamping jaw to reciprocate on the montant of rotating turret, be fixed with a horizontal locating lever on the rotating turret, the locating rack hoist and mount are on horizontal locating lever, the shutter is fixed in horizontal locating lever bottom, just right shutter is fixed with upper lifting plate and lower floor trigger plate on the locating rack, just right shutter's rotating head is equipped with U type hole two on the lifting plate, the periphery of clamping jaw is equipped with the locating frame, the locating frame is articulated with the cross arm of clamping jaw, and the locating frame is articulated with the locating rack through compression spring all around.

As the optimization of the technical scheme, the bottom of the positioning frame is vertically fixed with a limiting column.

As the preference of above-mentioned technical scheme, rotary mechanism includes link, motor and gear train, the link is fixed in the anchor clamps top, the link is connected with lifter bottom rotation, motor and gear train are installed on the link, the motor passes through drive gear train and drives anchor clamps round lifter axial rotation.

As the optimization of the technical scheme, the relative movement of the transverse travelling mechanism and the cross arm and the relative movement of the cross arm and the lifting rod are realized through the meshing transmission of the gear and the rack.

As the optimization of the technical scheme, a group of linear guide rail pairs are arranged on the cross arm and the lifting rod in parallel.

The loading and stacking system comprises a sliding rail, a conveying line and a loading mechanism, wherein the sliding rail and the conveying line are arranged in parallel, a rotating seat is arranged on the sliding rail and can automatically walk on the sliding rail, and the loading mechanism is in butt joint with a feeding port of the conveying line.

As a preferable mode of the technical scheme, the cantilever palletizing robot is provided with one or more groups.

The utility model has the beneficial effects that:

1. adopt modularized design, can carry out nimble transportation according to the change of use scene, assemble simple and convenient swiftly.

2. The packing belt of the container is grabbed to take and put the container, so that the upper container is not affected by the position of the container when the container is taken and put, and the container can be taken and put from the container under special conditions, thereby meeting the special taking and putting requirements.

3. Compared with the traditional manual stacking mode, the automatic stacking device is high in efficiency and can greatly reduce labor cost of enterprises.

Drawings

Fig. 1 is a schematic structural view of a cantilever palletizing robot.

Fig. 2 is a schematic structural view of the jig.

Fig. 3 is a schematic view of the structure of the clamp in the open state of the jaws.

Fig. 4 is a schematic structural view of the clamp in a clamping state of the clamping jaw.

Fig. 5 is a schematic structural view of the palletizing system.

Fig. 6 is a schematic view of the use of the palletizing system.

The reference numerals are as follows: 1-rotating seat, 2-upright post, 3-cross arm, 4-transverse traveling mechanism, 5-lifting rod, 6-rotating mechanism, 601-connecting frame, 602-motor, 603-gear set, 7-clamp, 701-rotating frame, 702-positioning frame, 703-shutter, 704-clamping jaw, 705-positioning frame, 706-compression spring, 8-sliding groove, 9-lifting reel, 10-U-shaped groove I, 11-transverse positioning rod, 12-lifting plate, 13-triggering plate, 14-U-shaped hole II, 15-limiting column, 16-linear guide rail pair, 17-sliding rail, 18-conveying line and 19-loading mechanism.

Detailed Description

The technical scheme of the utility model is clearly and completely described below with reference to the accompanying drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to fall within the scope of the utility model.

A cantilever palletizing robot as shown in fig. 1 and 2, characterized in that: including roating seat 1, stand 2, xarm 3, horizontal running gear 4, lifter 5, rotary mechanism 6 and anchor clamps 7, stand 2 is fixed in on the roating seat 1, stand 2 side is fixed with sliding tray 8, xarm 3 limit is located sliding tray 8 perpendicularly, and the drive of the lifting drum 9 through stand 2 top is along sliding tray 8 sliding up and down, horizontal running gear 4 embraces dress on xarm 3, can walk certainly along xarm 3, lifter 5 passes horizontal running gear 4, with stand 2 parallel arrangement, horizontal running gear 4 can drive lifter 5 reciprocates, anchor clamps 7 are installed in lifter 5 bottom through rotary mechanism 6.

In this embodiment, the fixture 7 includes a rotating frame 701, a positioning frame 702, a shutter 703, a clamping jaw 704, a positioning frame 705 and a compression spring 706, where the rotating frame 701 rotates synchronously with the rotating mechanism 6, the clamping jaw 704 is lifted on a vertical rod of the rotating frame 701, a U-shaped groove 10 for the clamping jaw 704 to move up and down is provided on the vertical rod of the rotating frame 701, a transverse positioning rod 11 is fixed on the rotating frame 701, the positioning frame 702 is lifted on the transverse positioning rod 11, the shutter 703 is fixed at the bottom of the transverse positioning rod 11, an upper lifting plate 12 and a lower triggering plate 13 are fixed on the positioning frame 702 opposite to the shutter 703, a U-shaped hole two 14 is provided on the lifting plate 12 opposite to the rotating head of the shutter 703, a positioning frame 705 is provided on the periphery of the clamping jaw 704, the positioning frame 705 is hinged with a cross arm of the positioning frame 704, and the periphery of the positioning frame 705 is hinged with the positioning frame 702 through the compression spring 706.

In this embodiment, a limiting post 15 is vertically fixed at the bottom of the positioning frame 702. The stop post 15 serves to prevent the jaw 704 from being excessively compressed, and protects the jaw 704.

In this embodiment, the rotating mechanism 6 includes a connecting frame 601, a motor 602 and a gear set 603, the connecting frame 601 is fixed at the top of the fixture 7, the connecting frame 601 is rotationally connected with the bottom of the lifting rod 5, the motor 602 and the gear set 603 are mounted on the connecting frame 601, and the motor 602 drives the fixture 7 to axially rotate around the lifting rod 5 through driving the gear set 603.

In this embodiment, the relative movement of the transverse travelling mechanism 4 and the cross arm 3 and the relative movement of the cross arm 3 and the lifting rod 5 are realized through the meshing transmission of a gear and a rack.

In this embodiment, a set of linear guide pairs 16 are disposed on the cross arm 3 and the lifting rod 5 in parallel.

The working principle of the cantilever type palletizing robot is as follows.

The rotary seat 1 is used for driving the upright post 2 to axially rotate, namely driving the upper structure of the rotary seat 1 to integrally rotate, the cross arm 3 is driven to lift through the lifting drum 9, the transverse traveling mechanism 4 can drive the lifting rod 5 to transversely move along the cross arm 3 and vertically move up and down along the cross arm 3, the clamp 7 is driven to axially rotate along the lifting rod 5 through the rotary mechanism 6, the motion realizes the flexible movement of the clamp 7 in multiple degrees of freedom, and the motion process of the clamp 7 is as follows: the clamping jaw 704 is in an open state before the packing belt is grabbed, the rotating head at the end part of the shutter 703 is inserted into the second U-shaped hole 14 and is arranged at an angle of 90 degrees with the second U-shaped hole 14, at this time, the lifting plate 12 plays a role in limiting the rotating head, as shown in fig. 3, after the clamping jaw 7 is moved to the position right above the packing box, the compression spring 706 is further compressed after the clamping jaw 704 contacts the packing box, the clamping jaw 704 slides upwards along the first U-shaped hole, during the process, the rotating head of the shutter 703 rotates 90 degrees clockwise to be flush with the second U-shaped hole 14 in the process of abutting against the triggering plate 13, at this time, the shutter 703 releases the limitation on the positioning frame 702, the clamping jaw 704 can rapidly form a clamping state under the action of the compression spring 706 in the lifting process, and the packing belt is clamped by the clamping jaw 704, as shown in fig. 4, and the packing box can be lifted; after the cantilever type palletizing robot transfers the container to the designated position, the clamp 7 can slightly push down the container, the clamping jaw 704 can be fully opened in the pushing down process, the rotating head of the shutter 703 can pass through the U-shaped hole II 14 and rotate 90 degrees again in the process of pressing the trigger plate 13, at this time, the shutter 703 limits the positioning frame 702, the clamp 7 is restored to the state as shown in fig. 3, the clamping jaw 704 is kept in the opened state, and the next grabbing command is waited.

The loading and stacking system adopting the cantilever type stacking robot shown in fig. 5 and 6 comprises a sliding rail 17, a conveying line 18 and a loading mechanism 19, wherein the sliding rail 17 and the conveying line 18 are arranged in parallel, the rotating seat 1 is arranged on the sliding rail 17, the self-walking on the sliding rail 17 can be realized, and the loading mechanism 19 is in butt joint with a feeding hole of the conveying line 18.

In this embodiment, the cantilever palletizing robot is provided with one or more groups.

The loading stacking system is based on the cantilever type stacking robot, and by arranging the sliding rail 17, the cantilever type stacking robot is parallel to the conveying line 18 and can automatically walk, so that the loading and unloading efficiency is further improved, multiple groups of cantilever type stacking robots can be arranged, and the boxcar can be divided into multiple areas for synchronous operation. In this embodiment, go up the combination form that goods mechanism adopted fixed fork truck structure and fixed transfer chain, fixed fork truck structure was used for realizing the lift of fixed transfer chain, and fixed transfer chain is docked with above-mentioned transfer chain 18 for realize the packing box to the automatic transmission on transfer chain 18 or automatic accept the packing box of carrying and sending from transfer chain 18.

The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (8)

1. A cantilever palletizing robot, characterized in that: including roating seat, stand, xarm, horizontal running gear, lifter, rotary mechanism and anchor clamps, the stand is fixed in on the roating seat, the stand side is fixed with the sliding tray, the xarm is spacing in the sliding tray perpendicularly, and the promotion reel drive through the stand top is along the sliding tray vertical slip, horizontal running gear embraces dress on the xarm, can walk certainly along the xarm, the lifter passes horizontal running gear, with stand parallel arrangement, horizontal running gear can drive the lifter and reciprocate, anchor clamps pass through rotary mechanism and install in the lifter bottom.

2. Cantilever palletizing robot according to claim 1, characterized in that: the fixture comprises a rotating frame, a locating frame, a shutter, clamping jaws, a locating frame and a compression spring, wherein the rotating frame and the rotating mechanism synchronously rotate, the clamping jaws are hung on a vertical rod of the rotating frame, a U-shaped groove I for the clamping jaws to move up and down is formed in the vertical rod of the rotating frame, a transverse locating rod is fixed on the rotating frame, the locating frame is hoisted on the transverse locating rod, the shutter is fixed at the bottom of the transverse locating rod, an upper lifting plate and a lower triggering plate are fixed on the locating frame opposite to the shutter, a U-shaped hole II is formed in a rotating head opposite to the shutter on the lifting plate, the periphery of the clamping jaws is provided with a locating frame, and the locating frame is hinged to cross arms of the clamping jaws.

3. Cantilever palletizing robot according to claim 2, characterized in that: and a limiting column is vertically fixed at the bottom of the positioning frame.

4. Cantilever palletizing robot according to claim 1, characterized in that: the rotating mechanism comprises a connecting frame, a motor and a gear set, wherein the connecting frame is fixed at the top of the clamp, the connecting frame is rotationally connected with the bottom of the lifting rod, the motor and the gear set are arranged on the connecting frame, and the motor drives the clamp to rotate around the axial direction of the lifting rod through a driving gear set.

5. Cantilever palletizing robot according to claim 1, characterized in that: the relative movement of the transverse travelling mechanism and the cross arm and the relative movement of the cross arm and the lifting rod are realized through the meshing transmission of a gear and a rack.

6. The cantilever palletizing robot of claim 5, wherein: a group of linear guide rail pairs are arranged on the cross arm and the lifting rod in parallel.

7. A palletizing system employing the cantilever palletizing robot of claim 1, characterized in that: including slide rail, transfer chain and shipment mechanism, slide rail and transfer chain parallel arrangement, the roating seat is installed on the slide rail, can realize walking on the slide rail by oneself, the feed inlet butt joint setting of shipment mechanism and transfer chain.

8. The palletizing system as in claim 7, wherein: the cantilever type palletizing robot is provided with one group or a plurality of groups.