WO2020224059A1 - Plate piling device and plate stacking equipment - Google Patents

Plate piling device and plate stacking equipment Download PDF

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Publication number
WO2020224059A1
WO2020224059A1 PCT/CN2019/097678 CN2019097678W WO2020224059A1 WO 2020224059 A1 WO2020224059 A1 WO 2020224059A1 CN 2019097678 W CN2019097678 W CN 2019097678W WO 2020224059 A1 WO2020224059 A1 WO 2020224059A1
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WO
WIPO (PCT)
Prior art keywords
alignment
plate
conveying
palletizing
platform
Prior art date
Application number
PCT/CN2019/097678
Other languages
French (fr)
Chinese (zh)
Inventor
杨正辉
Original Assignee
科达制造股份有限公司
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Filing date
Publication date
Application filed by 科达制造股份有限公司 filed Critical 科达制造股份有限公司
Publication of WO2020224059A1 publication Critical patent/WO2020224059A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • B65G57/32Stacking of articles characterised by stacking during transit
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • the invention relates to the field of plate stacking, in particular to a plate stacking device and plate stacking equipment.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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.
  • 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.
  • 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 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.
  • 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
  • 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.
  • the vertical limiting portion of the second alignment plate is provided with a through slot for the first alignment plate to pass through.
  • 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.
  • 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.
  • 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.
  • 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. ⁇ Threaded fasteners.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • the through slot is provided on the second alignment plate to make the structure of the alignment mechanism compact and reduce interference.
  • 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.
  • 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;
  • FIG. 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.
  • FIG. 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.
  • Embodiment 8 is a schematic diagram of the structure of the alignment mechanism in Embodiment 2 of the present invention.
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • the jacking mechanism 14 includes a jacking drive 141 and a jacking platform 142.
  • the jacking drive 141 is a telescopic cylinder
  • 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
  • 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.
  • 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.
  • 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.
  • 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. .
  • the alignment mechanisms 13 there are at least two sets of alignment mechanisms 13.
  • 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.
  • 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 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.
  • 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
  • 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
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 ⁇ , and the two sides guide wheel sets 16
  • the front-end guide surface is located at the feeding end of the conveying mechanism 12.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • the other end of the second link is hinged with the rotating platform 42 is hinged
  • the fixed end of the tilt driving member 451 is hinged with the rotating platform 42.
  • 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.
  • the anti-collision detection element 49 is a photoelectric sensor.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • the flexible pad 3423 is a rubber pad.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the contact Block 3621 is a glue block.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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 is
  • 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.
  • 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).
  • 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.
  • the supporting component may also be a plurality of universal balls.
  • 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.
  • 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.
  • 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°.
  • 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.

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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

一种板材叠放装置以及板材码垛装备Plate stacking device and plate stacking equipment 技术领域Technical field
本发明涉及板材码垛领域,具体涉及一种板材叠放装置以及板材码垛装备。The invention relates to the field of plate stacking, in particular to a plate stacking device and plate stacking equipment.
背景技术Background technique
在板材的加工生产领域中,比如瓷砖等石板材,在板材成型后,瓷砖装入装包纸箱后进入仓库存放,从生产线上下线并包装好的瓷砖,俗称砖包,现有技术中,为了节省空间并提高码垛的效率,常采用的码垛工艺路线为:首先,进入叠放工序,将两个砖包以上、下的方式对齐叠放,然后,将叠放后的瓷砖输送至夹取工位待夹取,接着,由机器人或人工的方式将夹取工位内叠放的砖包转移至指定的码垛位置,完成砖包入库。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.
现有公开的专利中,公布号为CN 206529058 U的中国实用新型专利公开了一种便于翻转砖包的码垛机,包括进砖机构、叠包机构、翻转机构以及机械手,叠包机构包括叠包机架、升降驱动装置、叠包夹持装置、导向连接管和夹持装置安装板,其中,升降驱动装置设置于叠包机架的上方,并驱动夹持安装板沿竖直方向升降,叠包夹持装置安装于夹持装置安装板上,叠包夹持装置包括叠包夹持驱动装置以及夹持板,通过叠包价值驱动装置驱动夹持板移动实现对砖包的夹持和叠放。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. .
该码垛机还包括接转机构,接砖机构包括承载架以及对齐装置,对齐装置设置多个,并设置于承载架的外侧,对齐装置使叠放后的砖包对齐后再向前输送。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.
该实用新型的对齐工序与叠包工序位于同一条流水线上,且对齐工序位于叠包工序的下游位置,该实用新型虽然能够实现对砖包的叠放以及对齐的功能,但是,这种码垛机需要设置的输送机构长度较长,存在题占用空间较大的问题,因此需要进行改进。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.
发明内容Summary of the invention
为了解决上述技术问题,本发明的目的在于提供一种板材叠放装置,其包括叠放机架、输送机构、对齐机构以及顶升机构,该装置通过顶升机构以及对齐机构配合,将输送机构上的板材进行叠放,节省了输送机构的输送距离,具有节省空间、叠放效率高的优点。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.
为实现上述发明目的,本发明采取的技术方案如下:To achieve the above-mentioned purpose of the invention, the technical solutions adopted by the present invention are as follows:
一种板材叠放装置,包括叠放机架、输送机构、对齐机构,所述对齐机构设置于所述叠放机架上,所述对齐机构至少设置两组且两组所述对齐机构对称设置于输送机构的两侧,其中,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,
叠放装置还包括设置于叠放机架的顶升机构,所述顶升机构包括顶升驱动件以及顶升平台,所述顶升驱动件驱动所述顶升平台沿竖直方向升降;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;
所述输送机构设置两组,两组输送机构分别位于所述顶升机构的两侧;There are two sets of conveying mechanisms, and the two sets of conveying mechanisms are located on both sides of the jacking mechanism;
所述输送机构沿输送方向的末端设置有对齐限位件,所述对齐限位件高于所述输送机构的输送平面;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;
所述对齐机构位于所述输送机构的上方,所述对齐机构包括第一对齐组件以及第二对齐组件,所述第一对齐组件位于所述第二对齐组件的上方;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;
所述第一对齐组件包括第一对齐驱动件以及第一对齐板,所述第一对齐驱动件驱动所述第一对齐板沿垂直于所述输送机构的输送方向移动,所述第二对齐组件包括第二对齐驱动件以及第二对齐板,所述第二对齐驱动件驱动所述第二对齐板沿垂直于所述输送机构的输送方向移动;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;
所述第一对齐板与第二对齐板均包括竖直限位部以及与竖直限位部连接的水平承托部,所述第一对齐板与到所述第二对齐板的竖直间距大于或等于所述输送机构上所输送的待叠放物件的厚度。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.
通过这样设置,首先,两组输送机构将待叠放的物件(譬如瓷砖包)输送至顶升平台的上方,瓷砖包沿垂直于输送方向的侧面与对齐限位件抵接,对齐限位件对瓷砖包进行沿输送方向的限位对齐,通过顶升驱动件驱动顶升平台竖直升高,直到瓷砖包的下沿与第一对齐板的水平承托部的上表面平齐,两侧的对齐机构的第一对齐驱动件同时动作,驱动两侧的第一对齐板相向运动,直到两侧的第一对齐板的竖直限位部与板件的侧面均抵接,将第一块板件夹持并对瓷砖包进行沿垂直于输送方向的限位,然后,顶升驱动件驱动顶升平台下降,输送机构继续运转,将下一个板件输送至顶升平台的上方,直到瓷砖包与对齐限位件抵接,完成沿输送方向的限位对齐,顶升驱动件再次驱动顶升平台竖直升高,直到瓷砖包的下沿与第二对齐板的水平承托部的上表面平齐,两侧的对齐机构的第二对齐驱动件同时动作,驱动两侧的第二对齐板相向运动,直到两侧的第一对齐板的竖直限位部与板件的侧面均抵接,将第二块板件夹持并完成沿垂直于输送方向的限位对齐,接着,两侧的第 一对齐驱动件驱动两侧的第一对齐板相互远离运动,使得第一块板件放置于第一块板件的上方,完成叠放的操作,等待下一步转移;顶升驱动件驱动顶升平台下降,输送机构继续运转,将下一板件输送至顶升平台的上方,等待下一轮的叠放操作,相比于现有的方式,因待转移的叠放完成的瓷砖包位于输送机构的上方,所以在叠放好的瓷砖包在等待转移的过程中,另一个板件在输送带上等待顶升,减少了一个板件的输送长度,缩短了输送机构所需的长度,减小了占用空间,有利于提高叠放以及后续码垛的效率。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.
作为优选,所述第二对齐板的竖直限位部上开设有供所述第一对齐板穿过的通槽。Preferably, the vertical limiting portion of the second alignment plate is provided with a through slot for the first alignment plate to pass through.
通过这样设置,使得对齐机构的整体结构紧凑,减少第一对齐组件与第二对齐组件出现相互干涉的可能。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.
作为优选,所述第一对齐板的水平承托部与所述第二对齐板的水平承托部的竖直间距可调。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.
通过这样设置,当输送机构上所输送的待叠放物件的厚度尺寸不同时,通过调整第一对齐板的水平承托部与第二对齐板的水平承托部的竖直间距,从而适应不同厚度尺寸的待叠放物件,增强叠放装置的使用适应性。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.
作为优选,所述第二对齐板的水平承托部沿竖直方向与竖直限位部滑动连接,所述第二对齐板的水平承托部上螺纹连接有若干与竖直限位部连接的螺纹固定件。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.
通过这样设置,当需要调整第一对齐板的水平承托部与第二对齐板的水平承托部的竖直间距,将螺纹固定件拧松,沿竖直方向调整第二对齐板的水平承托部至合适位置,再将螺纹固定件拧紧,从而达到第一对齐板的水平承托部与第二对齐板的水平承托部的竖直间距可调的目的。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.
作为优选,所述第一对齐板的水平承托部的下表面到所述第二对齐板的水平承托部的上表面的竖直间距等于所述输送机构上所输送的待叠放物件的厚度。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.
通过这样设置,将第一对齐板的水平承托不的下表面到第二对齐板的水平承托不的上表面的竖直间距调整等于输送机构上所输送的待叠放物件的厚度,从而当第一对齐板相互远离,将上层待叠放物件放置于第二对齐板上承托的另一待叠放物件上时,减少上层待叠放物件因为竖直方向的存在较大落差而与下层的待叠放物件碰撞而造成损坏,使得叠放的过程更加平稳,并有利于上层待叠放物件与下层待叠放物件对齐。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.
作为优选,所述第一对齐组件与第二对齐组件均对应设置一导向杆组,所述导向杆组 包括至少两个导杆以及对应每一导杆设置的导向套,所述导杆均沿垂直于所述输送机构的输送方向与所述导向套滑动连接。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.
通过这样设置,当第一对齐驱动件驱动第一对齐板或第二对齐驱动件驱动第二对齐板沿垂直于输送机构的输送方向移动时,导杆沿导向套滑动,使得第一对齐板或第二对齐板的移动更加平稳。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.
作为优选,所述第一对齐驱动件与所述第二对齐驱动件均为伸缩气缸,所述第一对齐驱动件与所述第二对齐驱动件的伸缩端均连接一浮动连接头,所述第一对齐板的竖直限位部与所述第一对齐驱动件的伸缩端固定,所述第二对齐板的竖直限位部与所述第二对齐驱动件的伸缩端固定。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.
通过这样设置,通过伸缩气缸达到驱动第一对齐板过第二对齐板移动的目的,通过设置浮动连接头可补偿第一对齐驱动件与第一对齐板的安装误差或第二对齐驱动件与第二对齐板的安装误差,使得第一对齐驱动件与第二对齐驱动件的驱动可靠、稳定。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.
作为优选,所述对齐限位件包括两个限位板,两个所述限位板均竖直设置且与所述叠放机架固定连接,两个所述限位板间隔设置,且其间距小于所述输送机构上所输送的待叠放物件沿垂直于输送方向的尺寸。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.
通过这样设置,通过两个限位板与输送机构上所输送的待叠放物件沿垂直于输送方向的侧面抵接,达到对待叠放物件沿垂直于输送方向的限位的目的,结构简单,便于安装。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.
作为优选,所述对齐限位件与所述输送机构上所输送的待叠放物件接触的面上固定设置有缓冲块。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.
通过这样设置,缓冲块可缓冲待叠放物件与对齐限位件接触时的冲击力,减少待叠放物件与对齐限位件产生刚性碰撞而损坏待叠放物件的情况发生。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.
基于同一发明构思,本发明的第二目的在于提供一种板材码垛装备,包括上述的板材叠放装置、工业机器人、抓取机构以及板材码垛辅助机构,所述板材码垛辅助机构设置若干个,所述板材码垛辅助机构设置于所述板材叠放装置的侧方,所述抓取机构设置于所述工业机器人的末端执行器上。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.
通过这样设置,采用上述的板材叠放装置,对待叠放的物件进行叠放操作,节省了占用空间,提高了叠放的效率,工业机器人将抓取机构移动至指定的抓取位置,通过抓取机构将已叠放的物件进行抓取,再通过工业机器人将抓取的物件转移至板材码垛辅助机构上 的指定位置,完成码垛的整个过程,提高码垛的效率,并且整体码垛装备的占用空间小,有利于在智能码垛领域内的推广运用。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.
作为优选,所述板材码垛辅助机构包括底座、码垛辅助平台、倾斜驱动组件、旋转平台、旋转驱动组件,所述旋转平台水平转动设置于底座上,所述旋转驱动组件设置于所述底座上并驱动所述旋转平台旋转,所述码垛辅助平台铰接于所述旋转平台上,所述倾斜驱动组件驱动所述码垛辅助平台发生倾角变化,所述底座与旋转平台之间设置有若干支撑组件,所述支撑组件支撑所述旋转平台。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.
通过这样设置,通过旋转驱动组件驱动旋转平台旋转,从而达到驱动放置于码垛辅助平台上的人字架旋转的目的,便于当人字架的一面码满后将人字架旋转的目的,便于码放,此板材码垛辅助机构还可适用于木箱码垛方式,通过倾斜驱动组件驱动码垛辅助平台倾斜,从而将放置于码垛辅助平台上的木箱倾斜,便于码垛,兼用性提高。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 .
作为优选,所述支撑组件包括多个支撑轮,所述支撑轮包括支架以及滚轮,所述支架与底座固定,所述滚轮与所述旋转平台的底面抵接。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.
通过这样设置,通过支撑轮对旋转平台进行支撑,既能起到支撑的作用,又能减少支撑轮与旋转平台的摩擦。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.
作为优选,所述支撑组件包括多个支撑轮,所述支撑轮包括支架以及滚轮,所述支架与支撑平台的底面固定,所述底座上设置有圆形的导轨,所述滚轮与所述导轨的顶面抵接。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.
通过这样设置,采用一种替代的方式便于支撑轮的安装,便于生产、加工。Through this arrangement, an alternative method is adopted to facilitate the installation of the support wheel, and facilitate production and processing.
相对于现有技术,本发明取得了有益的技术效果:Compared with the prior art, the present invention has achieved beneficial technical effects:
1、提供一种板材叠放装置,通过将对齐机构设置于输送方向的上方,通过顶升机构与对齐机构的配合实现叠放的操作,缩短了运输待叠放物件的所需的输送长度,减小占用空间,并且有利于提高叠放的效率。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、通过设置在第二对齐板上开设通槽,使得对齐机构的结构紧凑,减少干涉的情况。2. The through slot is provided on the second alignment plate to make the structure of the alignment mechanism compact and reduce interference.
3、通过设置第一对齐板的水平承托部与第二对齐板的水平承托部的竖直间距可调,使得叠放装置适用于不同厚度的物件的叠放。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、提供一种板材码垛装备,占用空间小,码垛效率高。4. Provide a plate palletizing equipment, which takes up small space and has high palletizing efficiency.
5、将码垛辅助机构进行改进,能够兼容倾斜和旋转的需求,兼容性提高。5. Improve the palletizing auxiliary mechanism to be compatible with tilt and rotation requirements and improve compatibility.
附图说明Description of the drawings
图1是本发明实施例1的结构示意图;Fig. 1 is a schematic structural diagram of Embodiment 1 of the present invention;
图2是图1中A部的放大图;Figure 2 is an enlarged view of part A in Figure 1;
图3是图1中B部的放大图;Figure 3 is an enlarged view of part B in Figure 1;
图4是本发明实施例1中抓取机构的结构示意图;4 is a schematic diagram of the structure of the grasping mechanism in Embodiment 1 of the present invention;
图5是图4中C部的放大图;Figure 5 is an enlarged view of part C in Figure 4;
图6是本发明实施例1中抓取机构在俯视方向的连接示意图;6 is a schematic diagram of the connection of the grasping mechanism in the top view direction in Embodiment 1 of the present invention;
图7是本发明实施例1中板材码垛辅助机构的安装示意图;Figure 7 is a schematic diagram of the installation of the plate stacking auxiliary mechanism in embodiment 1 of the present invention;
图8是本发明实施例2中对齐机构的结构示意简图;8 is a schematic diagram of the structure of the alignment mechanism in Embodiment 2 of the present invention;
图9是本发明实施例3中板材码垛辅助机构运用木箱码垛的工作状态示意图;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;
图10是本发明实施例3中板材码垛辅助机构运用人字架码垛的工作状态示意图;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;
图11是本发明实施例5的结构示意图。Fig. 11 is a schematic structural diagram of Embodiment 5 of the present invention.
其中,各附图标记所指代的技术特征如下:Among them, the technical features referred to by the reference signs are as follows:
1、板材叠放装置;11、叠放机架;12、输送机构;121、传送带;122、带轮;123、链条链轮组件;124、传动轴;13、对齐机构;131、第一对齐组件;1311、第一对齐驱动件;1312、第一对齐板;132、第二对齐组件;1321、第二对齐驱动件;1322、第二对齐板;133、竖直限位部;1331、滑槽;134、水平承托部;135、通槽;136、导向杆组;1361、导杆;1362、导向套;137、浮动连接头;14、顶升机构;141、顶升驱动件;142、顶升平台;15、对齐限位件;151、限位板;152、缓冲块;16、导向轮组;161、导轮;2、工业机器人;3、抓取机构;31、抓取安装架;311、主安装架;3111、连接通孔;312、连接梁;313、安装梁;314、夹板固定组件;3141、夹板;3142、夹板连接件;32、抓取伸缩驱动件;33、抓取连杆机构;331、驱动连杆;332、联动连杆;3321、平行部;3322、倾斜连接部;34、取料爪;341、爪体;3411、铰接孔;3412、第一连接孔;3413、第二连接孔;342、抓取板;3421、竖直连接部;3422、水平部;3423、柔性垫;35、组合杆;351、通孔;36、推砖组件;361、推砖气缸;362、推板;3621、接触块;4、板材码垛辅助机构;41、底座;411、导轨;42、旋转平台;421、吊耳;43、旋转驱动组件;431、旋转驱动电机;432、减速器;433、减速传动组件;4331、第二级链轮;4332、传动链条;44、码垛辅助平台;45、倾斜驱动组件;451、倾斜驱动件;452、二连杆机构;46、支撑组件;461、 支撑轮;4611、支架;4612、滚轮;47、档杆;48、定位架;49、防撞检测件;5、控制台;6、地坑;7、待叠放物件;8、木箱;9、人字架。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.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合实施例对本发明进行进一步详细说明,但本发明要求保护的范围并不局限于下述具体实施例。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.
实施例1Example 1
参考图1,本实施例公开了一种板材码垛装置,包括板材叠放装置1、工业机器人2、抓取机构3以及板材码垛辅助机构4,板材辅助机构设置两组,两组板材辅助机构对称设置于板材叠放装置1的两侧,抓取机构3设置与工业机器人2的末端执行器上。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.
参考图1,板材码垛装置还包括控制台5,控制台5用于监控或直接控制板材叠放装置1、工业机器人2、抓取装置以及板材码垛辅助机构4。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.
参考图1、图2以及图3,板材叠放装置1包括叠放机架11、输送机构12、对齐机构13以及顶升机构14,输送机构12设置于叠放机架11上,输送机构12设置两组,两组输送机构12平行设置且两输送机构12同步运转向前输送待叠放的物件;本实施例中,待叠放的物件为包装完成后的瓷砖,俗称瓷砖包,待叠放的物件还可以是其他包装后的板材。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.
参考图1以及图2,两组输送机构12分别位于顶升机构14的两侧,本实施例中,输送机构12为包括传送带121、带轮122以及驱动传送带121转动的传送驱动件(图中未标注),传送带121套于带轮122上,传送驱动件包括驱动电机(图中未示出)以及链条链轮组件123,驱动电机与叠放机架11固定,驱动电机设置于两组输送机构12的中间并且位于传送带121的下方,链条链轮组件123包括与驱动电机的转轴固定的第一链轮(图中未示出)以及第二链轮(图中未标注),第二链轮同轴固定有一传动轴124,该传动轴124的两端分别与两组输送机构12的带轮122同轴固定,从而驱动两组输送机构12同步运转,结构简单。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.
参考图2,顶升机构14包括顶升驱动件141以及顶升平台142,本实施例中,顶升驱动件141为伸缩气缸,顶升驱动件141竖直与叠放机架11固定并位于传送带121的输送平面的下方,顶升平台142水平固定于顶升驱动件141的伸缩端上,顶升驱动件141驱动顶升平台142竖直升降,使得顶升平台142高于传送带121的输送平面之上将传送带121上 的待叠放物件顶起或收纳于传送带121的下方。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.
参考图2,叠放机架11上还设置有对齐限位件15,对齐限位件15设置于传送带121沿输送方向的末端处,且对齐限位件15高于传送带121的输送平面,本实施例中,对齐限位件15包括两个限位板151,两个限位板151均竖直设置且与叠放机架11固定连接,两个限位板151间隔设置,且其间距小于输送机构12上所输送的待叠放物件沿垂直于输送方向的尺寸。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.
参考图2,对齐限位件15与输送机构12上所输送的待叠放物件接触的面上固定设置有缓冲块152,缓冲块152为橡胶块或硅胶块或其他柔性材料制成的块件。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. .
参考图1,对齐机构13至少设置两组,本实施例中,对齐机构13设置四组,四组对齐机构13对称设置于输送机构12的两侧,位于输送机构12同一侧的两组对齐机构13的间距小于待叠放物件沿输送方向的尺寸,若待叠放物件以其长度方向与输送方向平行的方式放置于输送机构12上,则位于输送机构12同一侧的两组对齐机构13的间距小于待叠放物件的长度。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.
参考图1、图2以及图3,对齐机构13设置于输送机构12的上方,对齐机构13包括第一对齐组件131以及第二对齐组件132,第一对齐组件131位于第二对齐组件132的上方,第一对齐组件131包括第一对齐驱动件1311以及第一对齐板1312,第二对齐组件132包括第二对齐驱动件1321以及第二对齐板1322,第一对齐驱动件1311、第二对齐驱动件1321分别驱动第一对齐板1312、第二对齐板1322沿垂直于输送机构12的输送方向移动。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.
参考图3,第一对齐板1312与第二对齐板1322的结构相似,均包括竖直限位部133以及水平承托部134,水平承托部134连接于竖直限位部133的下端,第一对齐板1312的竖直限位部133与第二对齐板1322的竖直限位部133平行设置,第一对齐板1312的水平承托部134与第二对齐板1322的水平承托部134平行设置,第一对齐板1312的水平承托部134的下表面到第二对齐板1322的水平承托部134的上表面的竖直间距大于或等于待叠放物件的厚度,本实施例中,待叠放物件为瓷砖包,瓷砖包的厚度为15mm~25mm,第一对齐板1312的水平承托部134的下表面到第二对齐板1322的水平承托部134的上表面的竖直间距为25mm。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.
本实施例中,第一对齐板1312、第二对齐板1322的竖直限位部133与水平承托部134一体形成。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.
参考图3,第二对齐板1322的竖直限位部133中部开设有供第二对齐板1322穿过的通 槽135。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.
参考图3,每一对齐组件的第一对齐组件131与第二对齐组件132均对应设置一组导向杆组136,导向杆组136包括至少两个导杆1361以及对应每一导杆1361设置的导向套1362,导向套1362套于导杆1361外,导杆1361与导杆1361滑动配合,导杆1361的滑动方向垂直于输送机构12的输送方向。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.
参考图3,第一对齐驱动件1311与第二对齐驱动件1321均为伸缩气缸,第一对齐驱动件1311的伸缩端与第一对齐板1312连接,第二对齐驱动件1321的伸缩端与第二对齐板1322连接,第一对齐驱动件1311与第二对齐驱动件1321的伸缩端上均连接有一浮动连接头137,即第一对齐驱动件1311的伸缩端与第一对齐板1312之间、第二对齐驱动件1321的伸缩端与第二对齐板1322之间均连接一浮动连接头137,通过浮动连接头137补偿第一对齐驱动件1311的伸缩端与第一对齐板1312、第二对齐驱动件1321的伸缩端与第二对齐板1322的安装误差。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.
参考图1以及图2,叠放机架11上还设置有导向轮组16,导向轮组16设置两组,两组导向轮组16对称设置于输送机构12的两侧,导向轮组16位于输送机构12的输送平面之上且位于对齐机构13的下方。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.
参考图1,每一导向轮组16均包括若干导轮161,若干导轮161的轴线均竖直设置,若干导轮161的轴线连接成一导向面(图中未标注),导向面包括前端导面(图中未标注)以及平行导面(图中未标注),平行导面与输送机构12的输送方向平行,前端导面与平行导面成的一夹角α,两侧导向轮组16的前端导面位于输送机构12进料的一端,沿输送方向,两组导向轮组16的前端导面逐渐靠近,从而导向轮组16将待叠放物料进行导向调整,使得待叠放物料的边沿与输送方向平行。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.
参考图1以及图7,板材码垛辅助机构4包括底座41、旋转平台42、旋转驱动组件43、码垛辅助平台44以及倾斜驱动组件45,旋转平台42转动设置于底座41上且其转动轴线为竖直设置,从而旋转平台42可在水平旋转;码垛装备工作区域内的地面上设置有地坑6,板材码垛辅助机构4安装于地坑6内,使得旋转平台42与地面平齐,底座41与旋转平台42之间设置有若干用于支撑旋转平台42的支撑组件46。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.
参考图7,水平旋转驱动组件43设置于旋转平台42的下方,水平旋转驱动组件43包括旋转驱动电机431、减速器432以及减速传动组件433,驱动电机固定于底座41上,减速器432与旋转驱动电机431的输出轴同轴固定连接,减速传动组件433为链传动组件(图 中未标注),链传动组件包括第一级链轮(图中未示出)、第二级链轮4331以及连接第一级链轮与第二级链轮4331的传动链条4332,第一级链轮与减速器432的输出轴同轴固定连接,第二级链轮4331与旋转平台42同轴固定连接并位于旋转平台42的下方。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.
参考图7,支撑组件46包括多个支撑轮461,多个支撑轮461绕旋转平台42的旋转中心均布,支撑轮461包括支架4611以及转动设置于支架4611上的滚轮4612,本实施例中,支架4611与底座41固定,滚轮4612朝上,滚轮4612与旋转平台42的下表面抵接以支撑旋转平台42,多个支撑轮461的支架4611布设于同一圆形轨迹上,滚轮4612的侧面沿此圆形轨迹的切线方向设置。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.
参考图7,码垛辅助平台44铰接于旋转平台42上,倾斜驱动组件45包括倾斜驱动件451以及二连杆机构452,二连杆机构452包括第一连杆(图中未标注)以及第二连杆(图中未标注),第一连杆与第二连杆铰接连接,倾斜驱动件451为伸缩气缸,倾斜驱动件451的伸缩端与第一连杆和第二连杆的连接处连接,倾斜驱动件451的伸缩端与第一连杆、第二连杆均铰接,第一连杆的另一端与码垛辅助平台44的下表面铰接,第二连杆的另一端与旋转平台42铰接,倾斜驱动件451的固定端与旋转平台42铰接。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.
参考图7,底座41上设置有若干防撞检测件49,若干防撞检测件49卷位于旋转平台42的下方,本实施例中,防撞检测件49为光电传感器,在其他实施例中,防撞检测件49还可以是超声波传感器或红外传感器;防撞检测件49预设一设定值,即在预设的范围内检测到障碍物,当防撞检测件49在预设的范围内检测到障碍物,防撞检测件49输出报警信号,旋转驱动组件43以及倾斜驱动组件45断电,停止工作,从而保障靠近码垛辅助平台44的现场工作人员的安全。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.
参考图1以及图7,旋转平台42上固定有若干吊耳421,便于吊运码垛辅助平台44,便于安装。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.
参考图1、图2,抓取机构3包括抓取安装架31、抓取伸缩驱动件32、抓取连杆机构33以及取料爪34,抓取安装架31与工业机器人2的末端执行件固定,抓取伸缩驱动件32与抓取连杆机构33均设置于抓取安装架31上。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.
参考图1、图2、图4、图5以及图6,取料爪34至少设置一组,对应每组取料爪34设置一抓取伸缩驱动件32以及一组抓取连杆机构33,本实施例中,取料爪34设置两组,两组取料爪34对称设置于抓取安装架31沿宽度方向的两侧。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.
每组取料爪34均包括两个爪体341,两个爪体341分别铰接于抓取安装架31沿长度方 向的两端,爪体341的中部与抓取安装架31铰接,抓取伸缩驱动件32为伸缩气缸,每组抓取连杆机构33包括一驱动连杆331以及一联动连杆332,抓取伸缩驱动件32的一端与其中一爪体341的上端铰接,另一端与驱动连杆331固定连接,驱动连杆331远离抓取伸缩驱动件32的一端与另一爪体341的上端铰接,本实施例中,抓取伸缩驱动件32的固定端与爪体341的上端铰接,抓取伸缩驱动件32的伸缩端与驱动连杆331固定连接。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.
取料爪34还包括固定于爪体341的下端的抓取板342,抓取板342呈L形,包括竖直连接部3421以及水平部3422,水平部3422固定于竖直连接部3421的下端,同一组取料爪34的水平部3422相向设置,竖直连接部3421与爪体341的下端通过螺纹连接件(图中未标注)可拆卸固定连接。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).
抓取板342上设置有柔性垫3423,本实施中,柔性垫3423为胶垫。A flexible pad 3423 is provided on the grab board 342. In this embodiment, the flexible pad 3423 is a rubber pad.
参考图4,爪体341的中部开设有供爪体341与抓取安装架31连接的铰接孔3411,爪体341上位于铰接孔3411的两侧分别开设有等大的第一连接孔3412与第二连接孔3413,第一连接孔3412、第二连接孔3413以及铰接孔3411沿爪体341的长度方向设置,第一连接孔3412与第二连接孔3413关于铰接孔3411的中心对称设置,其中,第二连接孔3413位于靠近抓取板342的一侧。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.
联动连杆332的两端分别与同一组取料爪34的两爪体341铰接,联动连杆332的一端连接于其中一爪体341的第一连接孔3412,另一端连接于另一爪体341的第二连接孔3413,本实施例中,联动连杆332与靠近抓取伸缩驱动件32的爪体341的第一连接孔3412连接。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.
通过一抓取伸缩驱动件32驱动连杆331移动从而使得取料爪34绕铰接处摆动,而联动连杆332的设置使得两侧的取料爪34同步向中靠拢或同时背离中心转动。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.
参考图4,抓取安装架31包括主安装架311、连接梁312以及安装梁313,主安装架311与工业机器人2的末端执行器固定连接,连接梁312至少设置两根,两根连接梁312分别与主安装架311连接,两连接梁312的端部到主安装架311中心的距离相等,安装梁313在两连接梁312的端部各设置一个,爪体341与安装梁313铰接。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.
参考图4以及图5,两安装梁313沿连接梁312长度方向的间距可调,主安装架311上设置有供连接梁312穿过的连接通孔3111,连接梁312上的套设有夹板固定组件314,夹板固定组件314包括两夹板3141以及夹板连接件3142,其中一夹板3141与主安装架311固定,另一夹板3141活动设置,夹板连接件3142将两夹板3141固定,夹板连接件3142为螺栓螺母组件。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.
通过拧动夹板连接件3142,从而可调整连接梁312在主安装架311上的位置,达到两安装梁313沿连接梁312长度方向的间距可调的目的。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.
参考图2以及图6,驱动连杆331与联动连杆332的长度均设置为可调,驱动连杆331与联动连杆332均包括若干组合杆35,组合杆35上沿其杆身方向开设有若干通孔351,根据需要的长度,通过螺栓或螺钉穿过通孔351将组合杆35连接形成驱动连杆331或联动连杆332。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.
参考图2以及图4,抓取机构3还包括若干设置于抓取安装架31底部的推砖组件36,推砖组件36包括推砖气缸361以及推板362,推砖气缸361的伸缩方向垂直于抓取安装架31的下表面,推板362固定于推砖气缸361的伸缩端,推板362背向推砖气缸361的面上上固定有柔性的接触块3621,本实施例中,接触块3621为胶块。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.
参考图9以及图10,当采用木箱8或人字架9进行码放时,物件在木箱8或人字架9上为相对于地面倾斜的方式码放,从而为减少物件之间的码放间隙,在码放时,通过推砖气缸361驱动推板362移动,将物件推离抓取安装架31,使得推离的物件与目标位置上的物件贴合的更加紧密。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.
实施例2Example 2
参考图8,本实施例公开了另一种一种板材码垛装备,基于实施例1,并与实施例1区别的地方在于,第一对齐板1312的水平承接部与第二对齐板1322的水平承接部竖直间距设置为可调式,在本实施例中,第一对齐板1312的竖直限位部133与水平承接部一体形成,第二对齐板1322的水平承托部134沿竖直方向与第二对齐板1322的竖直限位部133滑动连接,第二对齐板1322的竖直限位部133上沿竖直方向开设有供水平承托部134滑动的滑槽1331,第二对齐板1322的水平对齐板上穿设有与第二对齐板1322的竖直限位部133连接的螺纹固定件(图中未标注),本实施例中,螺纹固定件为螺钉,从而当拧松螺纹固定件,沿竖直滑动水平承托部134,达到调节第一对齐板1312的水平承托部134与第二对齐板1322的水平承托部134的竖直间距的目的。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.
在其他实施例中,还可以设置第二对齐板的竖直限位部与水平承接部一体形成,第一对齐板的水平承托部沿竖直方向与第一对齐板的竖直限位部滑动连接,第一对齐板的竖直限位部上沿竖直方向开设有供水平承托部滑动的滑槽,第一对齐板的水平对齐板上穿设有与第一对齐板的竖直限位部连接的螺纹固定件,但是,应该保证第一对齐板在最大尺寸下 能穿过通槽,同样达到使得第一对齐板的水平承托部与第二对齐板的水平承托部的竖直间距可调的目的。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.
实施例3Example 3
参考图9,本实施例公开了另一种板材码垛装备,基于上述实施例,并与上述实施例区别的地方在于,本实施例中,多个支撑轮461均以滚轮4612朝下的方向设置,支撑轮461的支架4611与旋转平台42的下表面固定,底座41上水平设置有一圆形的导轨411,滚轮4612与导轨411的上表面抵接,滚轮4612沿导轨411的切线方向设置,即导轮161的侧面与导轨411的切线方向设置,此种设置方式方便支撑轮461的安装,方便加工生产。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.
参考图9以及图10,码垛辅助平台44远离二连杆机构452一侧面设置有档杆47,档杆47通过螺纹连接件(图中未标注)与码垛辅助平台44可拆卸连接,当使用木箱8对待叠放物件7进行码垛时,将档杆47通过螺纹连接件安装于码垛辅助平台44上,再将木箱8放置于码垛辅助平台44上。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.
码垛辅助平台44还可设置有定位架48,定位架48通过螺纹连接件固定,用于采用人字架9进行码垛的情形,定位架48对人字架9进行定位。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.
实施例4Example 4
基于上述实施例,作为一种替代方案,支撑组件还可以是多个万向球,现有技术中,万向球一般包括固定座以及转动设置于固定座上的球体,万向球的固定座与底座固定,万向球球体的球面与旋转平台的下表面抵接,在其他实施例中,万向球还可设置为:万向球的固定座与旋转平台固定固定,万向球的球体朝下设置,底座上设置有供球体运行的圆形轨道,球体的球面与圆形轨道的表面接触。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.
实施例5Example 5
参考图11,基于上述实施例,作为一种替代方案,本实施例中的联动连杆332呈“Z”字形,包括平行设置的平行部3321以及连接两平行部3321的倾斜连接部3322,倾斜连接部3322与平行部3321成120°~135°的夹角,本实施例中,倾斜连接部3322与平行部3321所成的夹角为135°,倾斜连接部3322与两平行部3321的端部分别固定连接,通过这样设置,便于确定抓取伸缩驱动件32的行程、驱动连杆331与联动连杆332的长度,另外,联 动连杆332与驱动连杆331可平行安装,便于组装。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.
根据上述说明书的揭示和教导,本发明所属领域的技术人员还可以对上述实施方式进行变更和修改。因此,本发明并不局限于上面揭示和描述的具体实施方式,对发明的一些修改和变更也应当落入本发明的权利要求的保护范围内。此外,尽管本说明书中使用了一些特定的术语,但这些术语只是为了方便说明,并不对发明构成任何限制。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 (10)

  1. 一种板材叠放装置,包括叠放机架(11)、输送机构(12)、对齐机构(13),所述对齐机构(13)设置于所述叠放机架(11)上,所述对齐机构(13)至少设置两组且两组所述对齐机构(13)对称设置于输送机构(12)的两侧,其特征在于,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:
    叠放装置还包括设置于叠放机架(11)的顶升机构(14),所述顶升机构(14)包括顶升驱动件(141)以及顶升平台(142),所述顶升驱动件(141)驱动所述顶升平台(142)沿竖直方向升降;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;
    所述输送机构(12)设置两组,两组输送机构(12)分别位于所述顶升机构(14)的两侧;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);
    所述输送机构(12)沿输送方向的末端设置有对齐限位件(15),所述对齐限位件(15)高于所述输送机构(12)的输送平面;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);
    所述对齐机构(13)位于所述输送机构(12)的上方,所述对齐机构(13)包括第一对齐组件(131)以及第二对齐组件(132),所述第一对齐组件(131)位于所述第二对齐组件(132)的上方;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);
    所述第一对齐组件(131)包括第一对齐驱动件(1311)以及第一对齐板(1312),所述第一对齐驱动件(1311)驱动所述第一对齐板(1312)沿垂直于所述输送机构(12)的输送方向移动,所述第二对齐组件(132)包括第二对齐驱动件(1321)以及第二对齐板(1322),所述第二对齐驱动件(1321)驱动所述第二对齐板(1322)沿垂直于所述输送机构(12)的输送方向移动;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);
    所述第一对齐板(1312)与第二对齐板(1322)均包括竖直限位部(133)以及与竖直限位部(133)连接的水平承托部(134),所述第一对齐板(1312)与到所述第二对齐板(1322)的竖直间距大于或等于所述输送机构(12)上所输送的待叠放物件(7)的厚度。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).
  2. 根据权利要求1所述的一种板材叠放装置,其特征在于,所述第二对齐板(1322)的竖直限位部(133)上开设有供所述第一对齐板(1312)穿过的通槽(135)。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).
  3. 根据权利要求1或2所述的一种板材叠放装置,其特征在于,所述第一对齐板(1312)的水平承托部(134)与所述第二对齐板(1322)的水平承托部(134)的竖直间距可调。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.
  4. 根据权利要求3所述的一种板材叠放装置,其特征在于,所述第二对齐板(1322)的水平承托部(134)沿竖直方向与竖直限位部(133)滑动连接,所述第二对齐板(1322)的水平承托部(134)上螺纹连接有若干与竖直限位部(133)连接的螺纹固定件。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).
  5. 根据权利要求1、2或4任一项所述的一种板材叠放装置,其特征在于,所述第一对齐组件(131)与第二对齐组件(132)均对应设置一导向杆组(136),所述导向杆组(136)包括至少两个导杆(1361)以及对应每一导杆(1361)设置的导向套(1362),所述导杆(1361)均沿垂直于所 述输送机构(12)的输送方向与所述导向套(1362)滑动连接。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).
  6. 根据权利要求5所述的一种板材叠放装置,其特征在于,所述第一对齐驱动件(1311)与所述第二对齐驱动件(1321)均为伸缩气缸,所述第一对齐驱动件(1311)与所述第二对齐驱动件(1321)的伸缩端均连接一浮动连接头(137),所述第一对齐板(1312)的竖直限位部(133)与所述第一对齐驱动件(1311)的伸缩端固定,所述第二对齐板(1322)的竖直限位部(133)与所述第二对齐驱动件(1321)的伸缩端固定。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).
  7. 一种板材码垛装备,其特征在于,包括权利要求1-6任一项所述的板材叠放装置、工业机器人(2)、抓取机构(3)以及板材码垛辅助机构(4),所述板材码垛辅助机构(4)设置若干个,所述板材码垛辅助机构(4)设置于所述板材叠放装置的侧方,所述抓取机构(3)设置于所述工业机器人(2)的末端执行器上。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.
  8. 根据权利要求7所述的一种板材码垛装备,其特征在于,所述板材码垛辅助机构(4)包括底座(41)、码垛辅助平台(44)、倾斜驱动组件(45)、旋转平台(42)、旋转驱动组件(43),所述旋转平台(42)水平转动设置于底座(41)上,所述旋转驱动组件(43)设置于所述底座(41)上并驱动所述旋转平台(42)旋转,所述码垛辅助平台(44)铰接于所述旋转平台(42)上,所述倾斜驱动组件(45)驱动所述码垛辅助平台(44)发生倾角变化,所述底座(41)与旋转平台(42)之间设置有若干支撑组件(46),所述支撑组件(46)支撑所述旋转平台(42)。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).
  9. 根据权利要求8所述的一种板材码垛装备,其特征在于,所述支撑组件(46)包括多个支撑轮(461),所述支撑轮(461)包括支架(4611)以及滚轮(4612),所述支架(4611)与底座(41)固定,所述滚轮(4612)与所述旋转平台(42)的底面抵接。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).
  10. 根据权利要求8所述的一种板材码垛装备,其特征在于,所述支撑组件(46)包括多个支撑轮(461),所述支撑轮(461)包括支架(4611)以及滚轮(4612),所述支架(4611)与支撑平台的底面固定,所述底座(41)上设置有圆形的导轨(411),所述滚轮(4612)与所述导轨(411)的顶面抵接。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) .
PCT/CN2019/097678 2019-05-08 2019-07-25 Plate piling device and plate stacking equipment WO2020224059A1 (en)

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