WO2020224059A1

WO2020224059A1 - Plate piling device and plate stacking equipment

Info

Publication number: WO2020224059A1
Application number: PCT/CN2019/097678
Authority: WO
Inventors: 杨正辉
Original assignee: 科达制造股份有限公司
Priority date: 2019-05-08
Filing date: 2019-07-25
Publication date: 2020-11-12
Also published as: CN109987419B; CN109987419A

Abstract

Disclosed are a plate piling device and a piece of plate stacking equipment. The plate stacking equipment comprises the plate piling device (1), an industrial robot (2), a grabbing mechanism (3) and a plate stacking auxiliary mechanism (4), wherein the grabbing mechanism (3) is arranged on an end effector of the industrial robot (2); and the plate piling device (1) comprises a piling rack (11), a conveying mechanism (12), an aligning mechanism (13) and a jacking mechanism (14), and the aligning mechanism (13) is located above the conveying mechanism (12). The plate stacking auxiliary mechanism (4) is improved, such that the requirements for inclination and rotation are compatible, and the compatibility is thus improved; and the plate piling device (1) achieves a piling operation by means of the cooperation of the jacking mechanism (14) and the aligning mechanism (13), the length needed for conveying an object (7) to be piled is shortened, the amount of space occupied is reduced, and the piling efficiency is advantageously improved.

Description

Plate stacking device and plate stacking equipment

Technical field

The invention relates to the field of plate stacking, in particular to a plate stacking device and plate stacking equipment.

Background technique

In the field of plate processing and production, such as stone plates such as ceramic tiles, after the plate is formed, the tiles are put into the packaging carton and then stored in the warehouse. The packaged tiles are offline from the production line, commonly known as brick packages. In the prior art, To save space and improve stacking efficiency, the commonly used stacking process route is: first, enter the stacking process, align the two brick packages above and below, and then transport the stacked tiles to the folder The picking station is waiting to be clamped, and then the brick packs stacked in the picking station are transferred to the designated stacking position by robot or manually to complete the brick pack storage.

Among the existing published patents, the Chinese utility model patent with publication number CN 206529058 U discloses a palletizing machine that is convenient for turning over brick packages, including a brick feeding mechanism, a stacking mechanism, a turning mechanism and a manipulator. The stacking mechanism includes stacking The package frame, the lifting drive device, the stacking clamping device, the guide connecting pipe and the clamping device mounting plate, wherein the lifting drive device is arranged above the stacking frame and drives the clamping mounting plate to move up and down in the vertical direction, and stacking The clamping device is installed on the clamping device mounting plate. The stacking clamping device includes a stacking clamping drive device and a clamping plate. The stacking value drive device drives the clamping plate to move to realize the clamping and stacking of the bricks. .

The palletizer also includes a connecting mechanism. The brick connecting mechanism includes a supporting frame and an aligning device. A plurality of aligning devices are arranged on the outer side of the supporting frame. The aligning device aligns the stacked brick packages before conveying forward.

The alignment process of the utility model and the stacking process are located on the same assembly line, and the alignment process is located at the downstream position of the stacking process. Although the utility model can realize the function of stacking and aligning the bricks, this stacking The length of the conveying mechanism that the machine needs to be installed is long, and there is a problem that the problem takes up a lot of space, so improvement is needed.

Summary of the invention

In order to solve the above technical problems, the object of the present invention is to provide a sheet stacking device, which includes a stacking frame, a conveying mechanism, an alignment mechanism, and a jacking mechanism. The device cooperates with the jacking mechanism and the alignment mechanism to combine the conveying mechanism The upper plates are stacked, which saves the conveying distance of the conveying mechanism, and has the advantages of saving space and high stacking efficiency.

To achieve the above-mentioned purpose of the invention, the technical solutions adopted by the present invention are as follows:

A sheet stacking device includes a stacking frame, a conveying mechanism, and an alignment mechanism. The alignment mechanism is provided on the stacking frame. At least two sets of alignment mechanisms are provided, and the two sets of alignment mechanisms are symmetrically provided On both sides of the conveying mechanism, among them,

The stacking device further includes a jacking mechanism arranged on the stacking frame, the jacking mechanism includes a jacking drive member and a jacking platform, the jacking drive member drives the jacking platform to rise and fall in a vertical direction;

There are two sets of conveying mechanisms, and the two sets of conveying mechanisms are located on both sides of the jacking mechanism;

The end of the conveying mechanism along the conveying direction is provided with an alignment limiter, and the alignment limiter is higher than the conveying plane of the conveying mechanism;

The alignment mechanism is located above the conveying mechanism, the alignment mechanism includes a first alignment component and a second alignment component, and the first alignment component is located above the second alignment component;

The first alignment assembly includes a first alignment drive member and a first alignment plate, the first alignment drive member drives the first alignment plate to move in a conveying direction perpendicular to the conveying mechanism, and the second alignment assembly Comprising a second alignment drive member and a second alignment plate, the second alignment drive member drives the second alignment plate to move in a conveying direction perpendicular to the conveying mechanism;

The first alignment plate and the second alignment plate each include a vertical limiting portion and a horizontal supporting portion connected to the vertical limiting portion, and the vertical distance between the first alignment plate and the second alignment plate It is greater than or equal to the thickness of the object to be stacked conveyed on the conveying mechanism.

Through this arrangement, firstly, two sets of conveying mechanisms convey the objects to be stacked (for example, a tile bag) to the top of the lifting platform, and the tile bag abuts against the alignment limiter along the side perpendicular to the conveying direction to align the limiter Limit the alignment of the tile package along the conveying direction, and drive the jacking platform to rise vertically by the jacking drive member until the lower edge of the tile package is flush with the upper surface of the horizontal support part of the first alignment plate, and both sides The first alignment driving members of the alignment mechanism act simultaneously to drive the first alignment plates on both sides to move toward each other until the vertical limiting portions of the first alignment plates on both sides abut the sides of the plates, and the first The plate is clamped and the tile package is limited in the direction perpendicular to the conveying direction. Then, the jacking driving member drives the jacking platform down, and the conveying mechanism continues to run to transport the next plate to the top of the jacking platform until the tile The bag abuts with the alignment limiter to complete the limit alignment along the conveying direction, and the jacking drive member again drives the jacking platform to rise vertically until the lower edge of the tile bag is on the upper side of the horizontal supporting part of the second alignment plate. The surface is flush, the second alignment driving members of the alignment mechanism on both sides act at the same time, driving the second alignment plates on both sides to move toward each other, until the vertical limit parts of the first alignment plates on both sides and the side surfaces of the plate are both abutted Then, the second plate is clamped and aligned along the limit perpendicular to the conveying direction. Then, the first alignment driving members on both sides drive the first alignment plates on both sides to move away from each other, so that the first plate Place it on the top of the first plate, complete the stacking operation, and wait for the next transfer; the jacking driver drives the jacking platform down, and the conveying mechanism continues to run to transport the next plate to the top of the jacking platform, waiting In the next round of stacking operation, compared to the existing method, the stacked tile package to be transferred is located above the conveying mechanism, so while the stacked tile package is waiting to be transferred, another board The pieces are waiting to be lifted on the conveyor belt, which reduces the conveying length of a plate, shortens the length required by the conveying mechanism, reduces the occupied space, and helps to improve the efficiency of stacking and subsequent stacking.

Preferably, the vertical limiting portion of the second alignment plate is provided with a through slot for the first alignment plate to pass through.

Through this arrangement, the overall structure of the alignment mechanism is compact, and the possibility of mutual interference between the first alignment component and the second alignment component is reduced.

Preferably, the vertical distance between the horizontal supporting portion of the first alignment plate and the horizontal supporting portion of the second alignment plate is adjustable.

With this arrangement, when the thickness of the objects to be stacked on the conveying mechanism is different, the vertical distance between the horizontal supporting portion of the first alignment plate and the horizontal supporting portion of the second alignment plate is adjusted to adapt to the difference. The thickness size of the objects to be stacked enhances the adaptability of the stacking device.

Preferably, the horizontal supporting portion of the second alignment plate is slidably connected to the vertical limiting portion along the vertical direction, and the horizontal supporting portion of the second alignment plate is threadedly connected with a plurality of vertical limiting portions.的Threaded fasteners.

With this arrangement, when it is necessary to adjust the vertical distance between the horizontal support portion of the first alignment plate and the horizontal support portion of the second alignment plate, loosen the threaded fixing member and adjust the horizontal support of the second alignment plate in the vertical direction. The supporting part is at a proper position, and then the screw fixing member is tightened, so that the vertical distance between the horizontal supporting part of the first alignment plate and the horizontal supporting part of the second alignment plate can be adjusted.

Preferably, the vertical distance from the lower surface of the horizontal support portion of the first alignment plate to the upper surface of the horizontal support portion of the second alignment plate is equal to that of the object to be stacked conveyed on the conveying mechanism thickness.

With this arrangement, the vertical distance from the lower surface of the horizontal support of the first alignment plate to the upper surface of the horizontal support of the second alignment plate is adjusted to be equal to the thickness of the object to be stacked on the conveying mechanism, thereby When the first alignment plates are far away from each other, and the upper object to be stacked is placed on another object to be stacked supported by the second alignment plate, it is reduced that the upper object to be stacked is caused by a large vertical drop. The objects to be stacked on the lower layer collide and cause damage, which makes the stacking process more stable and facilitates the alignment of the objects to be stacked on the upper layer and the objects to be stacked on the lower layer.

Preferably, the first alignment component and the second alignment component are provided with a guide rod group corresponding to each other. The guide rod group includes at least two guide rods and a guide sleeve corresponding to each guide rod. The conveying direction perpendicular to the conveying mechanism is slidably connected with the guide sleeve.

With this arrangement, when the first alignment drive member drives the first alignment plate or the second alignment drive member drives the second alignment plate to move in the conveying direction perpendicular to the conveying mechanism, the guide rod slides along the guide sleeve so that the first alignment plate or The movement of the second alignment plate is more stable.

Preferably, the first alignment driving member and the second alignment driving member are both telescopic cylinders, and the telescopic ends of the first alignment driving member and the second alignment driving member are both connected to a floating connector, and The vertical limiting portion of the first alignment plate is fixed to the telescopic end of the first alignment driving member, and the vertical limiting portion of the second alignment plate is fixed to the telescopic end of the second alignment driving member.

Through this arrangement, the purpose of driving the first alignment plate to move through the second alignment plate is achieved by the telescopic cylinder, and the installation error of the first alignment driving member and the first alignment plate or the installation error of the second alignment driving member and the The installation error of the second alignment plate makes the driving of the first alignment driving part and the second alignment driving part reliable and stable.

Preferably, the alignment limiter includes two limit plates, the two limit plates are both vertically arranged and fixedly connected to the stacking frame, the two limit plates are arranged at intervals, and The distance is smaller than the size of the objects to be stacked conveyed on the conveying mechanism along the direction perpendicular to the conveying direction.

Through this arrangement, the two limit plates abut the objects to be stacked on the conveying mechanism along the sides perpendicular to the conveying direction, so as to achieve the purpose of limiting the objects to be stacked in the direction perpendicular to the conveying direction. The structure is simple. Easy to install.

Preferably, a buffer block is fixedly arranged on the surface of the alignment limiting member that contacts the object to be stacked on the conveying mechanism.

Through this arrangement, the buffer block can buffer the impact force when the object to be stacked contacts the alignment limiter, and reduce the occurrence of rigid collisions between the object to be stacked and the alignment limiter and damage the object to be stacked.

Based on the same inventive concept, the second object of the present invention is to provide a plate palletizing equipment, including the above-mentioned plate stacking device, industrial robot, grabbing mechanism and plate palletizing auxiliary mechanism, the plate palletizing auxiliary mechanism is provided with several One, the plate stacking auxiliary mechanism is arranged on the side of the plate stacking device, and the grasping mechanism is arranged on the end effector of the industrial robot.

Through this arrangement, the above-mentioned plate stacking device is used to stack the objects to be stacked, which saves space and improves stacking efficiency. The industrial robot moves the grasping mechanism to the specified grasping position, and The pickup mechanism grabs the stacked objects, and then transfers the grabbed objects to the designated position on the plate palletizing auxiliary mechanism through the industrial robot, completing the entire palletizing process, improving the efficiency of palletizing, and palletizing the entire The equipment occupies a small space, which is conducive to the promotion and application in the field of intelligent palletizing.

Preferably, the plate stacking auxiliary mechanism includes a base, a stacking auxiliary platform, a tilt drive assembly, a rotating platform, and a rotating drive assembly. The rotating platform is horizontally rotatably arranged on the base, and the rotating drive assembly is arranged on the base. And drive the rotating platform to rotate, the palletizing auxiliary platform is hinged to the rotating platform, the tilt drive assembly drives the palletizing auxiliary platform to change the inclination angle, and a number of sets are arranged between the base and the rotating platform A supporting component, the supporting component supporting the rotating platform.

Through this arrangement, the rotating platform is driven to rotate by the rotating drive assembly, so as to drive the herringbone to rotate on the palletizing auxiliary platform, which is convenient for the purpose of rotating the herringbone when one side of the herringbone is full. For palletizing, this board palletizing auxiliary mechanism is also suitable for wooden box palletizing. The palletizing auxiliary platform is driven to incline by the tilt driving component, so that the wooden boxes placed on the palletizing auxiliary platform are tilted, which is convenient for palletizing and improves compatibility .

Preferably, the support assembly includes a plurality of support wheels, the support wheels include a bracket and a roller, the bracket is fixed to the base, and the roller abuts against the bottom surface of the rotating platform.

With this arrangement, the rotating platform is supported by the supporting wheels, which not only plays a supporting role, but also reduces the friction between the supporting wheels and the rotating platform.

Preferably, the support assembly includes a plurality of support wheels, the support wheels include a bracket and a roller, the bracket is fixed to the bottom surface of the support platform, a circular guide rail is provided on the base, and the roller and the guide rail The top surface abuts.

Through this arrangement, an alternative method is adopted to facilitate the installation of the support wheel, and facilitate production and processing.

Compared with the prior art, the present invention has achieved beneficial technical effects:

1. Provide a plate stacking device, by arranging the alignment mechanism above the conveying direction, the stacking operation is realized through the cooperation of the jacking mechanism and the alignment mechanism, and the conveying length required for transporting the objects to be stacked is shortened. Reduce the occupied space and help improve the stacking efficiency.

2. The through slot is provided on the second alignment plate to make the structure of the alignment mechanism compact and reduce interference.

3. The vertical distance between the horizontal supporting portion of the first alignment plate and the horizontal supporting portion of the second alignment plate is adjustable, so that the stacking device is suitable for stacking objects of different thicknesses.

4. Provide a plate palletizing equipment, which takes up small space and has high palletizing efficiency.

5. Improve the palletizing auxiliary mechanism to be compatible with tilt and rotation requirements and improve compatibility.

Description of the drawings

Fig. 1 is a schematic structural diagram of Embodiment 1 of the present invention;

Figure 2 is an enlarged view of part A in Figure 1;

Figure 3 is an enlarged view of part B in Figure 1;

4 is a schematic diagram of the structure of the grasping mechanism in Embodiment 1 of the present invention;

Figure 5 is an enlarged view of part C in Figure 4;

6 is a schematic diagram of the connection of the grasping mechanism in the top view direction in Embodiment 1 of the present invention;

Figure 7 is a schematic diagram of the installation of the plate stacking auxiliary mechanism in embodiment 1 of the present invention;

8 is a schematic diagram of the structure of the alignment mechanism in Embodiment 2 of the present invention;

9 is a schematic diagram of the working state of the board stacking auxiliary mechanism using wooden box stacking in Embodiment 3 of the present invention;

Figure 10 is a schematic diagram of the working state of the plate stacking auxiliary mechanism using herringbone stacking in embodiment 3 of the present invention;

Fig. 11 is a schematic structural diagram of Embodiment 5 of the present invention.

Among them, the technical features referred to by the reference signs are as follows:

1. Plate stacking device; 11. Stacking frame; 12. Conveying mechanism; 121. Conveyor belt; 122. Pulley; 123. Chain sprocket assembly; 124. Drive shaft; 13. Alignment mechanism; 131. First alignment Components; 1311, first alignment drive member; 1312, first alignment plate; 132, second alignment assembly; 1321, second alignment drive member; 1322, second alignment plate; 133, vertical limit part; 1331 Groove; 134, horizontal support part; 135, through groove; 136, guide rod group; 1361, guide rod; 1362, guide sleeve; 137, floating connector; 14, jacking mechanism; 141, jacking drive; 142 , Lifting platform; 15. Alignment limiter; 151, limit plate; 152, buffer block; 16, guide wheel group; 161, guide wheel; 2, industrial robot; 3. grasping mechanism; 31, grasping and installation Frame; 311, main mounting frame; 3111, connecting through hole; 312, connecting beam; 313, mounting beam; 314, splint fixing assembly; 3141, splint; 3142, splint connector; 32, grasping telescopic drive part; 33, Grasping link mechanism; 331, driving link; 332, linkage link; 3321, parallel part; 3322, inclined connecting part; 34, reclaiming claw; 341, claw body; 3411, hinge hole; 3412, first connection Hole; 3413, second connection hole; 342, grabbing plate; 3421, vertical connection part; 3422, horizontal part; 3423, flexible pad; 35, combination rod; 351, through hole; 36, push brick assembly; 361, Brick pushing cylinder; 362, pushing plate; 3621, contact block; 4. plate stacking auxiliary mechanism; 41, base; 411, guide rail; 42, rotating platform; 421, lifting lugs; 43, rotating drive assembly; 431, rotating drive Motor; 432, reducer; 433, reduction drive assembly; 4331, second-stage sprocket; 4332, drive chain; 44, palletizing auxiliary platform; 45, tilt drive assembly; 451, tilt drive; 452, two connecting rod Mechanism; 46. Support component; 461. Support wheel; 4611. Bracket; 4612. Roller; 47. Gear lever; 48. Positioning frame; 49. Anti-collision detection parts; 5. Control console; 6. Pit; 7. Wait Stacking objects; 8, wooden boxes; 9, herringbone.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with embodiments, but the scope of protection claimed by the present invention is not limited to the following specific embodiments.

Example 1

With reference to Figure 1, this embodiment discloses a plate palletizing device, which includes a plate stacking device 1, an industrial robot 2, a grasping mechanism 3, and a plate palletizing auxiliary mechanism 4. There are two sets of plate auxiliary mechanisms, and two sets of plate auxiliary The mechanism is symmetrically arranged on both sides of the plate stacking device 1, and the grasping mechanism 3 is arranged on the end effector of the industrial robot 2.

1, the plate palletizing device further includes a console 5, which is used to monitor or directly control the plate stacking device 1, the industrial robot 2, the grabbing device and the plate palletizing auxiliary mechanism 4.

1, 2 and 3, the sheet stacking device 1 includes a stacking frame 11, a conveying mechanism 12, an alignment mechanism 13, and a jacking mechanism 14. The conveying mechanism 12 is arranged on the stacking frame 11, and the conveying mechanism 12 Two sets of conveying mechanisms 12 are arranged in parallel, and the two conveying mechanisms 12 are synchronously operated to convey the objects to be stacked forward; in this embodiment, the objects to be stacked are the tiles after the packaging is completed, commonly known as the tile package, which is to be stacked. The objects placed can also be other packaged plates.

1 and 2, two sets of conveying mechanisms 12 are respectively located on both sides of the jacking mechanism 14. In this embodiment, the conveying mechanism 12 includes a conveyor belt 121, a pulley 122, and a transmission driving member that drives the conveyor belt 121 to rotate (in the figure (Not marked), the conveyor belt 121 is sleeved on the pulley 122, and the transmission drive includes a drive motor (not shown in the figure) and a chain sprocket assembly 123. The drive motor is fixed to the stacking frame 11, and the drive motor is arranged in two groups of conveying In the middle of the mechanism 12 and below the conveyor belt 121, the chain sprocket assembly 123 includes a first sprocket (not shown in the figure) and a second sprocket (not shown in the figure) fixed to the shaft of the drive motor. The second chain The wheels are coaxially fixed with a transmission shaft 124, and both ends of the transmission shaft 124 are coaxially fixed with the pulleys 122 of the two groups of conveying mechanisms 12, so as to drive the two groups of conveying mechanisms 12 to operate synchronously, and the structure is simple.

Referring to Figure 2, the jacking mechanism 14 includes a jacking drive 141 and a jacking platform 142. In this embodiment, the jacking drive 141 is a telescopic cylinder, and the jacking drive 141 is vertically fixed to the stacking frame 11 and located Below the conveying plane of the conveyor belt 121, the jacking platform 142 is horizontally fixed on the telescopic end of the jacking driving member 141, and the jacking driving member 141 drives the jacking platform 142 to go up and down vertically, so that the jacking platform 142 is higher than the conveying belt 121 The objects to be stacked on the conveyor belt 121 are lifted or stored under the conveyor belt 121 above the plane.

2, the stacking frame 11 is also provided with an alignment limiter 15, the alignment limiter 15 is arranged at the end of the conveyor belt 121 along the conveying direction, and the alignment limiter 15 is higher than the conveying plane of the conveyor belt 121. In the embodiment, the alignment limiter 15 includes two limit plates 151, both of which are arranged vertically and fixedly connected to the stacking frame 11, and the two limit plates 151 are arranged at intervals and the distance between them is smaller than The size of the objects to be stacked on the conveying mechanism 12 perpendicular to the conveying direction.

Referring to FIG. 2, a buffer block 152 is fixedly arranged on the surface of the alignment limiter 15 that contacts the object to be stacked on the conveying mechanism 12, and the buffer block 152 is a block made of rubber, silica gel or other flexible materials. .

1, there are at least two sets of alignment mechanisms 13. In this embodiment, four sets of alignment mechanisms 13 are set. The four sets of alignment mechanisms 13 are symmetrically arranged on both sides of the conveying mechanism 12, and two sets of alignment mechanisms are located on the same side of the conveying mechanism 12 13 is smaller than the size of the objects to be stacked in the conveying direction. If the objects to be stacked are placed on the conveying mechanism 12 in such a way that their length direction is parallel to the conveying direction, the two sets of alignment mechanisms 13 on the same side of the conveying mechanism 12 The spacing is smaller than the length of the objects to be stacked.

1, 2 and 3, the alignment mechanism 13 is disposed above the conveying mechanism 12. The alignment mechanism 13 includes a first alignment component 131 and a second alignment component 132, the first alignment component 131 is located above the second alignment component 132 , The first alignment assembly 131 includes a first alignment drive 1311 and a first alignment plate 1312, the second alignment assembly 132 includes a second alignment drive 1321 and a second alignment plate 1322, the first alignment drive 1311 and a second alignment drive The components 1321 respectively drive the first alignment plate 1312 and the second alignment plate 1322 to move along the conveying direction perpendicular to the conveying mechanism 12.

3, the first alignment plate 1312 and the second alignment plate 1322 are similar in structure, and both include a vertical limiting portion 133 and a horizontal supporting portion 134, the horizontal supporting portion 134 is connected to the lower end of the vertical limiting portion 133, The vertical limiting portion 133 of the first alignment plate 1312 and the vertical limiting portion 133 of the second alignment plate 1322 are arranged in parallel, the horizontal supporting portion 134 of the first alignment plate 1312 and the horizontal supporting portion of the second alignment plate 1322 134 are arranged in parallel, and the vertical distance from the lower surface of the horizontal supporting portion 134 of the first alignment plate 1312 to the upper surface of the horizontal supporting portion 134 of the second alignment plate 1322 is greater than or equal to the thickness of the object to be stacked, this embodiment Among them, the object to be stacked is a tile package, the thickness of the tile package is 15mm-25mm, and the vertical distance from the lower surface of the horizontal support portion 134 of the first alignment plate 1312 to the upper surface of the horizontal support portion 134 of the second alignment plate 1322 The straight spacing is 25mm.

In this embodiment, the vertical limiting portion 133 of the first alignment plate 1312 and the second alignment plate 1322 and the horizontal supporting portion 134 are integrally formed.

Referring to Fig. 3, the vertical limiting portion 133 of the second alignment plate 1322 is provided with a through slot 135 through which the second alignment plate 1322 passes.

3, the first alignment component 131 and the second alignment component 132 of each alignment component are provided with a set of guide rod groups 136 correspondingly. The guide rod group 136 includes at least two guide rods 1361 and corresponding to each guide rod 1361. The guide sleeve 1362, the guide sleeve 1362 is sleeved outside the guide rod 1361, the guide rod 1361 and the guide rod 1361 are slidingly matched, and the sliding direction of the guide rod 1361 is perpendicular to the conveying direction of the conveying mechanism 12.

3, the first alignment drive member 1311 and the second alignment drive member 1321 are telescopic cylinders, the telescopic end of the first alignment drive member 1311 is connected to the first alignment plate 1312, and the telescopic end of the second alignment drive member 1321 is connected to the first alignment plate 1312. The two alignment plates 1322 are connected, and the telescopic ends of the first alignment driver 1311 and the second alignment driver 1321 are both connected to a floating connector 137, that is, between the telescopic end of the first alignment driver 1311 and the first alignment plate 1312, A floating connector 137 is connected between the telescopic end of the second alignment driver 1321 and the second alignment plate 1322. The floating connector 137 compensates for the telescopic end of the first alignment driver 1311 and the first alignment plate 1312. The installation error between the telescopic end of the driving member 1321 and the second alignment plate 1322.

1 and 2, the stacking frame 11 is also provided with a guide wheel set 16, two guide wheel sets 16 are provided with two sets, two sets of guide wheel sets 16 are symmetrically arranged on both sides of the conveying mechanism 12, and the guide wheel sets 16 are located The conveying mechanism 12 is above the conveying plane and located below the alignment mechanism 13.

1, each guide wheel set 16 includes a plurality of guide wheels 161, the axes of the plurality of guide wheels 161 are vertically arranged, and the axes of the plurality of guide wheels 161 are connected to form a guide surface (not marked in the figure), and the guide surface includes a front guide The parallel guide surface (not marked in the figure) and the parallel guide surface (not marked in the figure), the parallel guide surface is parallel to the conveying direction of the conveying mechanism 12, the front end guide surface and the parallel guide surface form an angle α, and the two sides guide wheel sets 16 The front-end guide surface is located at the feeding end of the conveying mechanism 12. Along the conveying direction, the front-end guide surfaces of the two groups of guide wheels 16 gradually approach, so that the guide wheel group 16 guides and adjusts the material to be stacked, so that the material to be stacked is The edge is parallel to the conveying direction.

1 and 7, the sheet stacking auxiliary mechanism 4 includes a base 41, a rotating platform 42, a rotating drive assembly 43, a stacking auxiliary platform 44, and a tilting drive assembly 45. The rotating platform 42 is rotatably arranged on the base 41 and has a rotation axis. It is arranged vertically, so that the rotating platform 42 can rotate horizontally; a pit 6 is provided on the ground in the working area of the palletizing equipment, and the plate stacking auxiliary mechanism 4 is installed in the pit 6, so that the rotating platform 42 is flush with the ground A number of support assemblies 46 for supporting the rotating platform 42 are provided between the base 41 and the rotating platform 42.

7, the horizontal rotation drive assembly 43 is disposed under the rotating platform 42, the horizontal rotation drive assembly 43 includes a rotation drive motor 431, a reducer 432 and a reduction transmission assembly 433, the drive motor is fixed on the base 41, the reducer 432 and the rotating The output shaft of the driving motor 431 is coaxially fixedly connected. The reduction transmission assembly 433 is a chain transmission assembly (not shown in the figure). The chain transmission assembly includes a first stage sprocket (not shown in the figure), a second stage sprocket 4331 and The transmission chain 4332 connecting the first-stage sprocket and the second-stage sprocket 4331, the first-stage sprocket and the output shaft of the reducer 432 are coaxially fixedly connected, and the second-stage sprocket 4331 is coaxially and fixedly connected with the rotating platform 42 Located below the rotating platform 42.

7, the support assembly 46 includes a plurality of support wheels 461, the plurality of support wheels 461 are evenly distributed around the center of rotation of the rotating platform 42, the support wheels 461 include a bracket 4611 and a roller 4612 rotatably arranged on the bracket 4611, in this embodiment , The bracket 4611 is fixed to the base 41, the roller 4612 faces upward, and the roller 4612 abuts against the lower surface of the rotating platform 42 to support the rotating platform 42. The supports 4611 of the multiple supporting wheels 461 are arranged on the same circular track. The side of the roller 4612 Set along the tangent direction of this circular track.

7, the palletizing auxiliary platform 44 is hinged on the rotating platform 42, the tilt drive assembly 45 includes a tilt drive 451 and a two link mechanism 452, the two link mechanism 452 includes a first link (not marked in the figure) and a second link Two connecting rods (not marked in the figure), the first connecting rod is hingedly connected with the second connecting rod, the tilt driving member 451 is a telescopic cylinder, and the telescopic end of the tilt driving member 451 is connected to the first connecting rod and the second connecting rod Connected, the telescopic end of the tilt driving member 451 is hinged with the first link and the second link, the other end of the first link is hinged with the lower surface of the stacking auxiliary platform 44, and the other end of the second link is hinged with the rotating platform 42 is hinged, and the fixed end of the tilt driving member 451 is hinged with the rotating platform 42.

Referring to FIG. 7, a number of anti-collision detection elements 49 are provided on the base 41, and a number of anti-collision detection elements 49 are placed under the rotating platform 42. In this embodiment, the anti-collision detection element 49 is a photoelectric sensor. In other embodiments, The anti-collision detection element 49 can also be an ultrasonic sensor or an infrared sensor; the anti-collision detection element 49 is preset with a set value, that is, an obstacle is detected within a preset range, when the anti-collision detection element 49 is within the preset range When an obstacle is detected, the anti-collision detector 49 outputs an alarm signal, and the rotary drive assembly 43 and the tilt drive assembly 45 are powered off and stop working, thereby ensuring the safety of on-site workers close to the palletizing auxiliary platform 44.

1 and 7, a number of lifting lugs 421 are fixed on the rotating platform 42 to facilitate the lifting and transport of the palletizing auxiliary platform 44 and to facilitate installation.

1 and 2, the grasping mechanism 3 includes a grasping mounting frame 31, a grasping telescopic drive 32, a grasping linkage mechanism 33, and a reclaiming claw 34, the grasping mounting frame 31 and the end effector of the industrial robot 2 Fixed, the grabbing telescopic drive 32 and the grabbing link mechanism 33 are both set on the grabbing mounting frame 31.

Referring to Figure 1, Figure 2, Figure 4, Figure 5 and Figure 6, at least one set of reclaiming claws 34 is provided, corresponding to each set of reclaiming claws 34, a grabbing telescopic drive 32 and a group of grabbing link mechanisms 33 are provided. In this embodiment, there are two sets of reclaiming claws 34, and the two sets of reclaiming claws 34 are symmetrically arranged on both sides of the grabbing mounting frame 31 in the width direction.

Each group of reclaiming claws 34 includes two claws 341, the two claws 341 are respectively hinged to the two ends of the grasping mounting frame 31 along the length direction, and the middle part of the claws 341 is hinged to the grasping mounting frame 31, and the grasping and retracting The driving member 32 is a telescopic cylinder. Each group of grabbing link mechanisms 33 includes a driving link 331 and a linkage link 332. One end of the grabbing telescopic driving member 32 is hinged with the upper end of one of the claws 341, and the other end is connected to the driving The connecting rod 331 is fixedly connected, and the end of the driving connecting rod 331 away from the grasping telescopic driving member 32 is hinged to the upper end of the other claw body 341. In this embodiment, the fixed end of the grasping telescopic driving member 32 is hinged to the upper end of the claw body 341 , The telescopic end of the grasping telescopic driving member 32 is fixedly connected with the driving link 331.

The reclaiming claw 34 also includes a grabbing plate 342 fixed to the lower end of the claw body 341. The grabbing plate 342 is L-shaped and includes a vertical connecting portion 3421 and a horizontal portion 3422. The horizontal portion 3422 is fixed to the lower end of the vertical connecting portion 3421. The horizontal portions 3422 of the same set of taking claws 34 are arranged opposite to each other, and the vertical connection portion 3421 is detachably fixedly connected to the lower end of the claw body 341 through a threaded connection piece (not marked in the figure).

A flexible pad 3423 is provided on the grab board 342. In this embodiment, the flexible pad 3423 is a rubber pad.

4, the middle part of the claw body 341 is provided with a hinge hole 3411 for connecting the claw body 341 with the grasping mounting frame 31, and the claw body 341 is provided with a first connection hole 3412 of equal size on both sides of the hinge hole 3411. The second connecting hole 3413, the first connecting hole 3412, the second connecting hole 3413 and the hinge hole 3411 are arranged along the length of the claw body 341, and the first connecting hole 3412 and the second connecting hole 3413 are arranged symmetrically about the center of the hinge hole 3411, Among them, the second connecting hole 3413 is located on a side close to the grabbing plate 342.

The two ends of the linkage link 332 are respectively hinged to the two claw bodies 341 of the same set of reclaiming claws 34, one end of the linkage link 332 is connected to the first connecting hole 3412 of one of the claw bodies 341, and the other end is connected to the other claw body The second connecting hole 3413 of the 341, in this embodiment, the linkage link 332 is connected to the first connecting hole 3412 of the claw body 341 close to the gripping telescopic driving member 32.

The connecting rod 331 is driven to move by a grabbing and telescopic driving member 32 so that the reclaiming pawl 34 swings around the hinge, and the arrangement of the linkage connecting rod 332 makes the reclaiming pawls 34 on both sides move toward the center synchronously or rotate away from the center at the same time.

4, the grasping and mounting frame 31 includes a main mounting frame 311, a connecting beam 312, and a mounting beam 313. The main mounting frame 311 is fixedly connected to the end effector of the industrial robot 2. At least two connecting beams 312 are provided, and two connecting beams 312 is connected to the main mounting frame 311 respectively, the distance between the ends of the two connecting beams 312 and the center of the main mounting frame 311 is equal, the mounting beam 313 is provided at each end of the two connecting beams 312, and the claw body 341 is hinged to the mounting beam 313.

4 and 5, the distance between the two mounting beams 313 along the length of the connecting beam 312 is adjustable, the main mounting frame 311 is provided with a connecting through hole 3111 for the connecting beam 312 to pass through, and the connecting beam 312 is sleeved with a splint The fixing assembly 314, the splint fixing assembly 314 includes two splints 3141 and a splint connector 3142. One splint 3141 is fixed to the main mounting frame 311, and the other splint 3141 is movably arranged. The splint connector 3142 fixes the two splints 3141, and the splint connector 3142 It is a bolt and nut assembly.

By screwing the splint connector 3142, the position of the connecting beam 312 on the main mounting frame 311 can be adjusted, so that the distance between the two mounting beams 313 along the length of the connecting beam 312 can be adjusted.

2 and 6, the lengths of the drive link 331 and the linkage link 332 are set to be adjustable, the drive link 331 and the linkage link 332 each include a plurality of combination rods 35, the combination rod 35 is opened along the shaft direction There are a number of through holes 351, and the combined rod 35 is connected to form a driving link 331 or a linkage link 332 through the through holes 351 by bolts or screws according to the required length.

2 and 4, the grabbing mechanism 3 also includes a number of brick pushing assemblies 36 arranged at the bottom of the grabbing mounting frame 31. The pushing brick assembly 36 includes a brick pushing cylinder 361 and a pushing plate 362. The direction of expansion and contraction of the brick pushing cylinder 361 is vertical. To grasp the lower surface of the mounting frame 31, the push plate 362 is fixed to the telescopic end of the brick pushing cylinder 361, and a flexible contact block 3621 is fixed on the surface of the push plate 362 facing away from the brick pushing cylinder 361. In this embodiment, the contact Block 3621 is a glue block.

Referring to Figures 9 and 10, when a wooden box 8 or a herringbone 9 is used for stacking, the objects are stacked on the wooden box 8 or herringbone 9 in an inclined manner relative to the ground, thereby reducing the stacking gap between the objects During stacking, the push plate 362 is driven to move by the push brick cylinder 361 to push the object away from the grasping mounting frame 31, so that the pushed object is more closely attached to the object at the target position.

Example 2

With reference to Figure 8, this embodiment discloses another plate palletizing equipment, which is based on Embodiment 1, and differs from Embodiment 1 in that the horizontal receiving portion of the first alignment plate 1312 is the same as that of the second alignment plate 1322. The vertical spacing of the horizontal receiving portions is adjustable. In this embodiment, the vertical limiting portion 133 of the first alignment plate 1312 and the horizontal receiving portion are integrally formed, and the horizontal receiving portion 134 of the second alignment plate 1322 is vertically aligned. The vertical limiting portion 133 of the second alignment plate 1322 is slidably connected to the vertical limiting portion 133 of the second alignment plate 1322. The vertical limiting portion 133 of the second alignment plate 1322 is provided with a sliding groove 1331 for the horizontal supporting portion 134 to slide along the vertical direction. The horizontal alignment plate of the alignment plate 1322 is provided with threaded fixing parts (not marked in the figure) connected to the vertical limiting portion 133 of the second alignment plate 1322. In this embodiment, the threaded fixing parts are screws, so when screwing The loose screw fixing member slides the horizontal supporting portion 134 vertically to achieve the purpose of adjusting the vertical distance between the horizontal supporting portion 134 of the first alignment plate 1312 and the horizontal supporting portion 134 of the second alignment plate 1322.

In other embodiments, the vertical limiting portion of the second alignment plate and the horizontal receiving portion may be integrally formed, and the horizontal receiving portion of the first alignment plate is vertically aligned with the vertical limiting portion of the first alignment plate. Sliding connection, the vertical limit part of the first alignment plate is provided with a sliding groove along the vertical direction for the horizontal support part to slide, and the horizontal alignment plate of the first alignment plate is penetrated with the vertical alignment plate. The threaded fixing part connected with the limit part, however, should ensure that the first alignment plate can pass through the through slot under the maximum size, and also achieves the same goal as the horizontal support part of the first alignment plate and the horizontal support part of the second alignment plate. The purpose of vertical spacing adjustable.

Example 3

Referring to FIG. 9, this embodiment discloses another plate palletizing equipment. Based on the above embodiment, and the difference from the above embodiment is that in this embodiment, the plurality of support wheels 461 are all in the downward direction of the roller 4612 The bracket 4611 of the supporting wheel 461 is fixed to the lower surface of the rotating platform 42, and a circular guide rail 411 is horizontally arranged on the base 41. The roller 4612 abuts on the upper surface of the guide rail 411, and the roller 4612 is arranged along the tangential direction of the guide rail 411. That is, the side surface of the guide wheel 161 is arranged in the tangential direction of the guide rail 411. This arrangement is convenient for the installation of the support wheel 461 and facilitates processing and production.

9 and 10, the palletizing auxiliary platform 44 is provided with a gear rod 47 on one side away from the two link mechanism 452, and the gear rod 47 is detachably connected to the palletizing auxiliary platform 44 through a threaded connector (not marked in the figure). When the wooden box 8 is used to stack the objects 7 to be stacked, the stop rod 47 is installed on the stacking auxiliary platform 44 through a threaded connection, and then the wooden box 8 is placed on the stacking auxiliary platform 44.

The palletizing auxiliary platform 44 may also be provided with a positioning frame 48 which is fixed by threaded connectors and is used in the case of using the herringbone 9 for palletizing. The positioning frame 48 positions the herringbone 9.

Example 4

Based on the above-mentioned embodiment, as an alternative, the supporting component may also be a plurality of universal balls. In the prior art, the universal ball generally includes a fixed seat and a sphere that is rotatably arranged on the fixed seat. The fixed seat of the universal ball It is fixed to the base, and the spherical surface of the universal ball abuts against the lower surface of the rotating platform. In other embodiments, the universal ball can also be configured as: the fixed seat of the universal ball and the rotating platform are fixed and fixed, and the ball of the universal ball It is arranged downward, the base is provided with a circular orbit for the sphere to run, and the spherical surface of the sphere is in contact with the surface of the circular orbit.

Example 5

11, based on the above embodiment, as an alternative, the linkage link 332 in this embodiment is in a "Z" shape, and includes a parallel portion 3321 arranged in parallel and an inclined connecting portion 3322 connecting the two parallel portions 3321. The connecting portion 3322 and the parallel portion 3321 form an angle of 120° to 135°. In this embodiment, the angle between the inclined connecting portion 3322 and the parallel portion 3321 is 135°, and the inclined connecting portion 3322 and the ends of the two parallel portions 3321 The parts are respectively fixedly connected. Through this arrangement, it is convenient to determine the stroke of grasping the telescopic drive member 32 and the length of the drive link 331 and the linkage link 332. In addition, the linkage link 332 and the drive link 331 can be installed in parallel for easy assembly.

Based on the disclosure and teaching of the foregoing specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the foregoing embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the invention should also fall within the protection scope of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for convenience of description and do not constitute any limitation to the invention.

Claims

A sheet stacking device includes a stacking frame (11), a conveying mechanism (12), and an alignment mechanism (13). The alignment mechanism (13) is arranged on the stacking frame (11). At least two sets of alignment mechanisms (13) are provided, and the two sets of alignment mechanisms (13) are symmetrically arranged on both sides of the conveying mechanism (12), characterized in that:

The stacking device also includes a jacking mechanism (14) arranged on the stacking frame (11). The jacking mechanism (14) includes a jacking drive (141) and a jacking platform (142). The driving member (141) drives the lifting platform (142) to move up and down in a vertical direction;

Two sets of the conveying mechanism (12) are arranged, and the two sets of conveying mechanisms (12) are respectively located on both sides of the jacking mechanism (14);

The end of the conveying mechanism (12) along the conveying direction is provided with an alignment limiting member (15), and the alignment limiting member (15) is higher than the conveying plane of the conveying mechanism (12);

The alignment mechanism (13) is located above the conveying mechanism (12). The alignment mechanism (13) includes a first alignment assembly (131) and a second alignment assembly (132). The first alignment assembly (131) ) Is located above the second alignment component (132);

The first alignment assembly (131) includes a first alignment driving member (1311) and a first alignment plate (1312), and the first alignment driving member (1311) drives the first alignment plate (1312) to be perpendicular to The conveying direction of the conveying mechanism (12) moves, the second alignment assembly (132) includes a second alignment drive (1321) and a second alignment plate (1322), the second alignment drive (1321) drives The second alignment plate (1322) moves along the conveying direction perpendicular to the conveying mechanism (12);

The first alignment plate (1312) and the second alignment plate (1322) both include a vertical limiting portion (133) and a horizontal supporting portion (134) connected to the vertical limiting portion (133). The vertical distance between an alignment plate (1312) and the second alignment plate (1322) is greater than or equal to the thickness of the object (7) conveyed by the conveying mechanism (12).
The plate stacking device according to claim 1, characterized in that the vertical limiting portion (133) of the second alignment plate (1322) is provided with the first alignment plate (1312) to pass through. Pass through the slot (135).
The plate stacking device according to claim 1 or 2, wherein the horizontal support portion (134) of the first alignment plate (1312) and the horizontal support portion (134) of the second alignment plate (1322) are The vertical spacing of the supporting parts (134) is adjustable.
The plate stacking device according to claim 3, wherein the horizontal support portion (134) of the second alignment plate (1322) is slidably connected to the vertical limit portion (133) in the vertical direction A plurality of threaded fixing members connected with the vertical limiting portion (133) are screwed on the horizontal supporting portion (134) of the second alignment plate (1322).
A sheet stacking device according to any one of claims 1, 2 or 4, wherein the first alignment component (131) and the second alignment component (132) are both provided with a guide rod group ( 136), the guide rod group (136) includes at least two guide rods (1361) and a guide sleeve (1362) corresponding to each guide rod (1361), and the guide rods (1361) are all along the The conveying direction of the conveying mechanism (12) is slidingly connected with the guide sleeve (1362).
The plate stacking device according to claim 5, wherein the first alignment driving part (1311) and the second alignment driving part (1321) are both telescopic cylinders, and the first alignment driving part The telescopic ends of the second alignment driving member (1311) and the second alignment driving member (1321) are both connected to a floating connector (137), and the vertical limiting portion (133) of the first alignment plate (1312) is connected to the The telescopic end of an alignment driving member (1311) is fixed, and the vertical limiting portion (133) of the second alignment plate (1322) is fixed to the telescopic end of the second alignment driving member (1321).
A plate palletizing equipment, characterized by comprising the plate stacking device according to any one of claims 1-6, an industrial robot (2), a grasping mechanism (3) and a plate palletizing auxiliary mechanism (4), There are several plate palletizing auxiliary mechanisms (4), the plate palletizing auxiliary mechanisms (4) are arranged on the side of the plate stacking device, and the grasping mechanism (3) is arranged on the industrial robot (2) on the end effector.
The plate palletizing equipment according to claim 7, wherein the plate palletizing auxiliary mechanism (4) includes a base (41), a palletizing auxiliary platform (44), a tilt drive assembly (45), and A platform (42), a rotary drive assembly (43), the rotary platform (42) is horizontally rotatably arranged on a base (41), and the rotary drive assembly (43) is arranged on the base (41) and drives the The rotating platform (42) rotates, the palletizing auxiliary platform (44) is hinged to the rotating platform (42), and the tilt drive assembly (45) drives the palletizing auxiliary platform (44) to change inclination, so A number of supporting components (46) are arranged between the base (41) and the rotating platform (42), and the supporting components (46) support the rotating platform (42).
The plate palletizing equipment according to claim 8, characterized in that the supporting assembly (46) comprises a plurality of supporting wheels (461), and the supporting wheels (461) comprise a bracket (4611) and a roller (4612). ), the bracket (4611) is fixed to the base (41), and the roller (4612) abuts against the bottom surface of the rotating platform (42).
The plate palletizing equipment according to claim 8, characterized in that the supporting assembly (46) comprises a plurality of supporting wheels (461), and the supporting wheels (461) comprise a bracket (4611) and a roller (4612). ), the bracket (4611) is fixed to the bottom surface of the supporting platform, the base (41) is provided with a circular guide rail (411), and the roller (4612) abuts against the top surface of the guide rail (411) .