CN110255205A - A kind of mobile robot palletizer system - Google Patents
A kind of mobile robot palletizer system Download PDFInfo
- Publication number
- CN110255205A CN110255205A CN201910629495.7A CN201910629495A CN110255205A CN 110255205 A CN110255205 A CN 110255205A CN 201910629495 A CN201910629495 A CN 201910629495A CN 110255205 A CN110255205 A CN 110255205A
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- conveyer belt
- shaping
- mobile
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- 238000007493 shaping process Methods 0.000 claims abstract description 88
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 210000000078 claw Anatomy 0.000 claims description 51
- 238000004806 packaging method and process Methods 0.000 claims description 43
- 238000004804 winding Methods 0.000 claims description 8
- 230000001737 promoting effect Effects 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/32—Stacking of articles characterised by stacking during transit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention relates to a kind of mobile robot palletizer system, including mobile platform, the first pipeline, the second pipeline, the top setting capture apparatus of the first pipeline, the second pipeline are arranged in parallel on mobile platform；First pipeline includes the equipment of falling bag set gradually, shaping device, gripping conveyor；Second pipeline includes conveyor pallet, and setting low level tears disk machine open on the output section of conveyor pallet；The mobile platform includes mobile base, moving assembly and lower margin supporting element are provided in mobile base, the lower margin supporting element is adjustable above and below the short transverse of mobile platform, the moving assembly includes the platform driving shaft and platform driven shaft for moving in parallel the setting of pedestal seat surface, the platform driving shaft and platform driven shaft is arranged parallel to each other, the shaft end of platform driving shaft and platform driven shaft is provided with shifting roller, and platform driving motor is arranged in platform driving shaft side.
Description
Technical field
The invention belongs to Palletizer technical fields, and in particular to a kind of mobile robot palletizer system.
Background technique
With modernization industry fast development, mechanization production is just done step-by-step in enterprise, wherein replacing people with mechanical stacking
Work stacking is exactly a kind of trend, and the Palletizer that many enterprises use at present is mostly the member disperses formula procedure code in workshop
Pile equipment, land occupation is larger, also big using the mechanical component scale of construction, does not utilize efficient, energy-saving the application of workshop.Therefore, it opens
Issuing one kind, integration degree is high, take up little area, the Palletizer that service efficiency is high becomes research direction, and especially this stacking is set
The standby conveyer belt how matched in plant floor realizes that automation pan feeding becomes designing points.
Summary of the invention
It is an object of the present invention to provide a kind of mobile robot palletizer system, have the function of to move, and in mobile stacking machine
The conveying of packaging bag can be completed on the mobile platform of device people's system and arrangement, stacking and tear disk open；Take up little area, it is integrated it is high,
The scale of construction is small, live i.e. mountable and easy for installation, easy resettlement, practical to save energy consumption when using in workshop.
In order to achieve the goal above, the technical solution adopted by the present invention are as follows: a kind of mobile robot palletizer system, including move
Moving platform is arranged in parallel with the first pipeline, the second pipeline, the top of the first pipeline, the second pipeline on mobile platform
Capture apparatus is set；First pipeline includes the equipment of falling bag set gradually, shaping device, gripping conveyor；It is described
The second pipeline include conveyor pallet, setting low level tears disk machine open on the output section of conveyor pallet；
The mobile platform includes mobile base, and moving assembly and lower margin supporting element are provided in mobile base, described
Lower margin supporting element it is adjustable above and below the short transverse of mobile platform, the moving assembly includes moving in parallel pedestal seat surface to set
The platform driving shaft and platform driven shaft set, the platform driving shaft and platform driven shaft are arranged parallel to each other, and platform is actively
The shaft end of axis and platform driven shaft is provided with shifting roller, and platform driving motor, the platform is arranged in platform driving shaft side
The driving motor driving platform driving shaft rotation；
The equipment of falling bag includes armful bag translating device for the conveyer belt output end being set in workshop, and described embraces bag
Translating device includes the frame of falling bag, and the frame of falling bag mounts the output end of the conveyer belt in workshop, the frame of falling bag it is interior
Conveying mouth is arranged in side, and ladle-to-ladle mechanism is arranged in the outside for the frame of falling bag；The lower section for the frame of falling bag is located at hanging down for the conveyer belt in workshop
Histogram connects to the setting conveyer belt of falling bag, the input terminal for the conveyer belt of falling bag with the output end of the conveyer belt in workshop, the conveying of falling bag
From ladle-to-ladle mechanism along to conveying mouth, the conveyer belt of falling bag is generally aligned in the same plane the conveying direction of band with the conveyer belt in workshop
Or lower than the conveyer belt arrangement in workshop；The conveying mouth is less than the height of packaging bag to be palletized to the height for the conveyer belt of falling bag
Degree and the thickness for being greater than packaging bag to be palletized；
The shaping device include positioned at the conveyer belt of falling bag output end arrange shaping conveyer, shaping conveyer it is defeated
Enter the next setting shaping briquetting component at end, the shaping briquetting component includes the briquetting branch being placed on shaping conveyer
Frame, the conveying direction that shaping conveyer is stretched at the top of briquetting bracket are hinged with cantilever, and briquetting roller, pressure is arranged in the free end of cantilever
The zone face of the shaping belt of the parallel shaping conveyer of the roll surface of packet roller, and the roller of briquetting roller is long more than or equal to shaping conveyer
Width, briquetting locating part, the briquetting locating part is arranged in the top that the hinged end of cantilever is located on the briquetting bracket
Be provided with briquetting spring between cantilever, the briquetting spring up and down direction arrangement, when briquetting spring in the raw, institute
Spacing between the zone face of the shaping belt of the roll surface and shaping conveyer for the briquetting roller stated is equal to or less than packaging to be palletized
The thickness of bag；
Gripping conveyor, gripping conveyor side parallel arrangement conveyor pallet, support is arranged in the output end of shaping conveyer
Low level is set on the output end of disk conveyer and tears disk machine open；
It includes the frame being set on mobile platform that the low level, which tears disk machine open, is arranged on frame along the conveying direction of pallet
It tears disc mechanism open, the two sides setting postive stop baffle for tearing disc mechanism open is located on frame；The frame includes being located to tear disc mechanism arrangement open
Cylinder limited block is arranged in the crossbeam that position top is arranged, the lower section of crossbeam, and the two sides below cylinder limited block are symmetrically arranged with
Lift rail, the lift rail is fixed on frame and the conveying direction of vertical tray is arranged；Described tears disc mechanism packet open
It includes and is located at the lifting cylinder that below the crossbeam is vertically arranged, the cylinder body of lifting cylinder is placed in the limiting slot of cylinder limited block, promotes gas
The piston rod of cylinder arranges that downwards the projecting end of lifting cylinder piston rod is provided with promotion connecting plate, and the promotion connecting plate hangs down
The conveying direction arrangement of straight pallet, the two sides for promoting connecting plate are symmetrically arranged with promotion sliding block, and the promotion sliding block is placed in institute
It can freely up and down be moved in the lift rail stated and along the lift rail arranged direction；The bottom for promoting connecting plate is provided with
Pallet click-on mechanism, the pallet click-on mechanism include the claw sliding rail of parallel pallet conveying direction arrangement, claw sliding rail
The parallel claw sliding rail of side is disposed with claw cylinder, claw sliding rail, claw cylinder cylinder body be fixed on the bottom for promoting connecting plate,
The piston rod of claw cylinder arranges that claw connecting plate, card is arranged in the free end of the piston rod of claw cylinder to frame lateral expansion
Claw slide block is connected on pawl connecting plate, the claw slide block is placed on the claw sliding rail and along the claw sliding rail
Arranged direction can move freely.
The technical effects of the invention are that: a kind of mobile robot palletizer system of the invention has the function of to move, and
The conveying of packaging bag can be completed on the mobile platform of mobile robot palletizer system and arrangement, stacking and tear disk open；Land occupation
It is small, integrated it is high, the scale of construction is small, live i.e. mountable and easy for installation, easy resettlement, practical to save energy consumption when using in workshop.
Specifically, the components of whole system equipment are fully integrated on a mobile platform, wherein the mobile rolling of moving assembly
Wheel is connect by platform driving shaft and platform driven shaft with mobile base, realizes removable function by shifting roller.Further
, platform driving motor by chain conveyer or other link so that platform spindle rotation, to be provided for mobile platform dynamic
Power, to complete automatically removable function；
Conveying and arrangement (shaping), the stacking of packaging bag: packaging bag makes packaging bag by workshop by the equipment of falling bag
Standing transport status on conveyer belt becomes horizontal transport status, and then is easily delivered to the shaping conveyer of shaping device
On, shaping conveyer is made of shaping drive roll, shaping driven voller, shaping motor and shaping belt, and shaping belt is mounted on flat
On the shaping drive roll and shaping driven voller of row arrangement, shaping drive roll is connected by chain conveyer or other linkages with shaping motor
It connects, shaping motor drives shaping belt movement to provide power for the conveying of packaging bag by driving shaping drive roll rotation；Shaping
Briquetting roller is arranged in shaping briquetting component on conveyer, and briquetting roller is placed on briquetting bracket by the pressure effect of briquetting spring,
Briquetting bracket is above the shaping conveyer, and briquetting roller is simultaneously above the packaging bag of horizontal when packaging bag passes through shaping conveyer
Push-through packs bag plays the role of flattening shaping；Packaging bag is delivered to designated position by gripping conveyor after shaping conveyer
Capture apparatus crawl is waited to realize stacking；
Tear disk open: low level, which tears disk machine open and successively folds folded pallet for one and split one by one, to be placed on conveyor pallet, and pallet is defeated
Send machine by pallet conveying roll, pallet feeder motor, conveyor pallet frame, pallet feeder motor sprocket wheel, pallet conveying roll chain
Take turns and be set to the chain composition between pallet feeder motor sprocket wheel, pallet conveying roll sprocket wheel, wherein pallet conveying roll is solid
It is scheduled on conveyor pallet frame, pallet transportation sprocket is housed on pallet conveying roll, pallet feeder motor passes through pallet thereon
Feeder motor sprocket wheel drives chain rotation, and chain rotation drives the rotation of pallet conveying roll sprocket wheel, pallet conveying roll chain wheel belt
Dynamic pallet conveying roll rotation, i.e., low level is torn open the pallet removed on disk machine by exporting on conveyor pallet by driving, and then is made low
It tears the pallet that disk machine has been split open and is delivered to the support that designated position waits capture apparatus crawl packaging bag stacking to split in this in position
On disk.
In addition, the present invention is connected using the input terminal for the conveyer belt of falling bag with the output end of the conveyer belt in workshop, bag is defeated
It send band to be generally aligned in the same plane with the conveyer belt in workshop or lower than the conveyer belt arrangement in workshop, packaging bag is located at the conveying of falling bag
Take the ladle-to-ladle conveying that packaging bag is conveniently accomplished from conveying mouth, clever structure and transfer efficiency height.
It tears that disk machine structure is simple, and manufacturing cost is low open using low level of the invention, the pallet removed can be made with lower height
Conveying greatly reduces the height of Palletizer, and increases the quantity for tearing disk machine accommodating tray open.
Detailed description of the invention
Fig. 1 is three-dimensional structure diagram of the invention；
Fig. 2 is that back of the invention regards structure chart；
Fig. 3 is face upwarding assumption diagram of the invention；
Fig. 4 is the three-dimensional structure diagram of the equipment of falling bag of the invention, and A indicates the conveyer belt in workshop in figure；
Fig. 5 is the three-dimensional structure diagram of gripping conveyor of the invention.
Specific embodiment
Referring to attached drawing, a kind of mobile robot palletizer system, including mobile platform 10 is arranged in parallel on mobile platform 10
First pipeline, the second pipeline, the top setting capture apparatus 20 of the first pipeline, the second pipeline；Described first is defeated
Line sending includes the equipment of falling bag 30 set gradually, shaping device 40, gripping conveyor 50；Second pipeline includes pallet
Conveyer 60, setting low level tears disk machine 70 open on the output section of conveyor pallet 60；
The mobile platform 10 includes mobile base 11, and moving assembly 12 and lower margin support are provided in mobile base 11
Part 13, the lower margin supporting element 13 is adjustable above and below the short transverse of mobile platform 10, and the moving assembly 12 includes flat
The platform driving shaft and platform driven shaft of 11 seat surface of row mobile base setting, the platform driving shaft and platform driven shaft are each other
The shaft end of parallel arrangement, platform driving shaft and platform driven shaft is provided with shifting roller 12a, and platform is arranged in platform driving shaft side
Driving motor, the platform driving motor driving platform driving shaft rotation；
The equipment of falling bag 30 includes armful bag translating device 31 for the conveyer belt output end being set in workshop, described
Embracing bag translating device 31 includes the frame of falling bag, and the frame of falling bag mounts the output end of the conveyer belt in workshop, the frame of falling bag
Conveying mouth 32 is arranged in the inside of frame, and ladle-to-ladle mechanism 33 is arranged in the outside for the frame of falling bag；The lower section for the frame of falling bag is located in workshop
The conveyer belt of falling bag 34, the output end of the conveyer belt in the input terminal and workshop of the conveyer belt of falling bag 34 is arranged in the vertical direction of conveyer belt
Connect, the conveying direction of the conveyer belt of falling bag 34 is from ladle-to-ladle mechanism 33 along to conveying mouth 32, the conveyer belt of falling bag 34 and workshop
Interior conveyer belt is generally aligned in the same plane or lower than the conveyer belt arrangement in workshop；The conveying mouth 32 is to the conveyer belt of falling bag 34
Height be less than packaging bag to be palletized height and be greater than packaging bag to be palletized thickness；
The shaping device 40 includes the shaping conveyer 41 positioned at 34 output end of the conveyer belt of falling bag arrangement, shaping conveying
The next setting shaping briquetting component 42 of the input terminal of machine 41, the shaping briquetting component 42 includes being placed on shaping conveyer
Briquetting bracket on 41, the conveying direction that shaping conveyer 41 is stretched at the top of briquetting bracket are hinged with cantilever, the freedom of cantilever
End setting briquetting roller 43, the zone face of the shaping belt of the parallel shaping conveyer 41 of the roll surface of briquetting roller 43, and the roller of briquetting roller 43
Length is more than or equal to the width of shaping conveyer 41, and pressure is arranged in the top that the hinged end of cantilever is located on the briquetting bracket
Packet locating part is provided with briquetting spring 44,44 up and down direction of briquetting spring between the briquetting locating part and cantilever
Arrangement, when briquetting spring 44 in the raw, the shaping belt of the roll surface and shaping conveyer 41 of the briquetting roller 43
Spacing between zone face is equal to or less than the thickness of packaging bag to be palletized；
Gripping conveyor 50, the parallel arrangement pallet conveying of 50 side of gripping conveyor is arranged in the output end of shaping conveyer 41
Machine 60, setting low level tears disk machine 70 open on the output end of conveyor pallet 60；
It includes the frame that is set on mobile platform 10 that the low level, which tears disk machine 70 open, along the conveying direction of pallet on frame
Disc mechanism 71 is torn in setting open, and the two sides setting postive stop baffle for tearing disc mechanism 71 open is located on frame；The frame includes being located to tear disk open
Cylinder limited block, the two sides below cylinder limited block are arranged in the crossbeam being arranged above 71 cloth set of mechanism, the lower section of crossbeam
It is symmetrically arranged with lift rail, the lift rail is fixed on frame and the conveying direction of vertical tray is arranged；Described
Tearing disc mechanism 71 open includes the lifting cylinder being vertically arranged positioned at below the crossbeam, and the cylinder body of lifting cylinder is placed in the limit of cylinder limited block
In slot, the piston rod of lifting cylinder is arranged downwards, and the projecting end of lifting cylinder piston rod is provided with promotion connecting plate, and described mentions
The conveying direction arrangement of connecting plate vertical tray is risen, the two sides for promoting connecting plate are symmetrically arranged with promotion sliding block, the promotion
Sliding block is placed in the lift rail and can freely up and down move along the lift rail arranged direction；Promote connecting plate
Bottom is provided with pallet click-on mechanism 72, and the pallet click-on mechanism 72 includes that the claw of parallel pallet conveying direction arrangement is sliding
Rail, the parallel claw sliding rail of the side of claw sliding rail are disposed with claw cylinder, claw sliding rail, claw cylinder cylinder body be fixed on promotion
The piston rod of the bottom of connecting plate, claw cylinder arranges that the free end of the piston rod of claw cylinder is arranged to frame lateral expansion
Claw connecting plate is connected with claw slide block on claw connecting plate, and the claw slide block is placed on the claw sliding rail and edge
The claw sliding rail arranged direction can move freely.
A kind of mobile robot palletizer system of the invention has the function of to move, and in mobile robot palletizer system
The conveying of packaging bag can be completed on mobile platform 10 and arrangement, stacking and tear disk open；It takes up little area, integrated height, the scale of construction is small, shows
Field is mountable and easy for installation, easy resettlement, practical to save energy consumption when use in workshop.
Specifically, the components of whole system equipment are fully integrated on a mobile platform 10, wherein the shifting of moving assembly 12
Dynamic idler wheel 12a is connect by platform driving shaft and platform driven shaft with mobile base 11, is realized by shifting roller 12a removable
Function.Further, platform driving motor by chain conveyer or other link so that platform spindle rotation, thus for movement
Platform 10 provides power, to complete automatically removable function；
Conveying and arrangement (shaping), the stacking of packaging bag: packaging bag makes packaging bag by workshop by the equipment of falling bag 30
Conveyer belt on standing transport status become horizontal transport status, and then be easily delivered to the shaping conveying of shaping device 40
On machine 41, shaping conveyer 41 is made of shaping drive roll, shaping driven voller, shaping motor and shaping belt, shaping belt peace
On the shaping drive roll and shaping driven voller of parallel arrangement, shaping drive roll passes through chain conveyer or other linkages and shaping
Motor connection, shaping motor are provided by driving shaping drive roll rotation drive shaping belt movement for the conveying of packaging bag dynamic
Power；Briquetting roller 43 is arranged in shaping briquetting component 42 on shaping conveyer 41, and briquetting roller 43 is made by the pressure of briquetting spring 44
With being placed on briquetting bracket, briquetting bracket is mounted in 41 top of shaping conveyer, briquetting roller when packaging bag passes through shaping conveyer 41
43 simultaneously above the packaging bag of horizontal push-through packs bag play the role of flatten shaping；Packaging bag is after shaping conveyer 41
Being delivered to designated position by gripping conveyor 50 waits the crawl of capture apparatus 20 to realize stacking；
Tear disk open: low level, which tears disk machine 70 open and successively folds folded pallet for one and splits one by one, to be placed on conveyor pallet 60, support
Disk conveyer 60 is by pallet conveying roll, pallet feeder motor, conveyor pallet frame, pallet feeder motor sprocket wheel, pallet conveying
Roller sprocket wheel and the chain being set between pallet feeder motor sprocket wheel, pallet conveying roll sprocket wheel composition, wherein pallet conveying
Roller is fixed on conveyor pallet frame, pallet transportation sprocket is housed, pallet feeder motor is by thereon on pallet conveying roll
Pallet feeder motor sprocket wheel drive chain rotation, chain rotation drive pallet conveying roll sprocket wheel rotation, pallet conveying roll
Sprocket wheel drives the rotation of pallet conveying roll, i.e. low level is torn open the pallet removed on disk machine 70 by defeated on conveyor pallet 60 by driving
Out, so make low level tear open the pallet that disk machine 70 has been split be delivered to designated position wait capture apparatus 20 grab packaging bag stacking in
On this pallet split.
In addition, the present invention is connected using the input terminal of the conveyer belt of falling bag 34 with the output end of the conveyer belt A in workshop, bag
Conveyer belt A in conveyer belt 34 and workshop is generally aligned in the same plane or arranges lower than the conveyer belt A in workshop, and packaging bag is located to fall
The ladle-to-ladle conveying of packaging bag, clever structure and transfer efficiency height are conveniently accomplished on bag conveyer belt 34 from conveying mouth 32.
It tears that 70 structure of disk machine is simple, and manufacturing cost is low open using low level of the invention, the pallet removed can be made with lower height
Degree conveying greatly reduces the height of Palletizer, and increases the quantity for tearing disk machine accommodating tray open.
Specifically, the lift rail for promoting the frame that connecting plate tears disk machine open by promotion sliding block and low level is connect, work as needs
When splitting out pallet, the upward expanding-contracting action of the piston rod of lifting cylinder first, lifting cylinder is lifted up connecting plate is promoted, until support
The claw slide block of disk click-on mechanism 72 is aligned with the jack position of second piece of pallet (here, defines pallet sequence from the bottom up successively
For first piece, second piece, third block ..., first piece of pallet is pallet to be shipped on the conveyer belt of pallet, second piece of pallet
It is the nethermost pallet of whole pile pallet to be hoisted), at this point, the piston rod of lifting cylinder is remained stationary in this position；Card
The piston rod of pawl cylinder is acted to frame lateral expansion, and the claw of the tailpiece of the piston rod of the flexible drive claw cylinder of claw cylinder connects
Fishplate bar is acted to frame lateral expansion, and claw connecting plate drives claw slide block along claw sliding rail arranged direction to frame lateral expansion
Claw slide block is inserted into the jack of second piece of pallet, claw cylinder is dynamic by movement that is, by driving claw Telescopic-cylinder movement
When work ends, i.e., claw slide block is inserted into the jack of second piece of pallet, and lifting cylinder continues up enhancing action, is limited in pallet
Whole pile pallet (second piece, third block ... of i.e. remaining pallet) is continued up to mention under the position-limiting action of position plate and rear baffle
It rises, completion is separated with first piece of pallet and tears disk function open, first piece of pallet is exported along the conveying direction of pallet to stacking position, by grabbing again
Equipment 20 is taken to grab the packaging bag feeding on gripping conveyor 50, stacking.
Further, the capture apparatus 20 is defeated including being set to shaping conveyer 41, gripping conveyor 50 and pallet
The handgrip mounting base 21 above 60 face domain of machine is sent, right angle stacking machine 22, the right angle stacking are provided in handgrip mounting base 21
Machine 22 is freely removable along the length direction and width direction of handgrip mounting base 21, and right angle stacking machine 22 is in handgrip mounting base 21
Under it is removable, rotation is arranged in the bottom of right angle stacking machine 22 overhanging marsupial handgrip 23 downwards between bag handgrip 23 and right angle stacking machine 22
Turned flange 24.
Specific stacking: packaging bag waits the bag handgrip 23 of capture apparatus 20 to grab after reaching designated position, bag handgrip 23
It is to be connected by rotary flange 24 with right angle stacking machine 22, right angle stacking machine 22 is driven by its servo motor and programmed according to setting
Packaging bag crawl pile is realized stacking by the orderly movement of program on pallet, this movement includes right angle stacking machine 22 along grabbing
The length direction of hand mounting base 21 and the movement of width direction and the upper and lower of right angle stacking machine 22 itself stretch, and rotation
The rotation of the drive bag handgrip 23 of flange 24.
Further, the conveyer belt of falling bag 34 is generally aligned in the same plane with the conveyer belt in workshop；
The ladle-to-ladle mechanism 33 includes the rear baffle of falling bag of the direction of transfer arrangement of the conveyer belt in workshop, after bag
Sliding block, the biography of conveyer belt of the slide opening of sliding block in workshop is arranged in the output end of conveyer belt on the front of baffle in workshop
It send direction to arrange, guide rail, the direction of transfer arrangement of conveyer belt of the guide rail in workshop, the guide rail is set on sliding block
Slide opening along the sliding block is freely slidable, and the parallel rear baffle of falling bag is fixedly installed movement on the medial surface of guide rail
The inner end of guardrail, mobile guardrail is connect with the telescopic rod for the flat-removing air cyclinder being arranged on the rear baffle of falling bag, the flat-removing air cyclinder band
It moves the mobile guardrail to move back and forth along guide rail arranged direction, the outer end of mobile guardrail, which is hinged with, embraces bag baffle, mobile guardrail
The back side on be moved along it direction and be disposed with tumble cylinder, the flexible rod end of tumble cylinder is hinged with connecting rod, the connecting rod
Free end is connected with the back side for embracing bag baffle, and connecting rod described in the flexible drive of the telescopic rod of tumble cylinder is to 32 direction of conveying mouth
Overturning；
The conveying mouth 32 includes the front apron of falling bag arranged above ladle-to-ladle 33 right opposite of mechanism, the front apron of falling bag
Lower space constitute conveying mouth 32 conveying enter region.
Further, the conveyer belt of falling bag 34 is located at the conveying side of the two lateral edge conveyer belts of falling bag 34 of the lower section of conveying mouth 32
To guide and limit plate is provided with, the guide and limit plate is located at the flaring at the underface of conveying mouth 32 to open to side
Shape.
Here, i.e., the height that conveying enters overlying regions to the conveyer belt of falling bag 34 is less than the height of packaging bag to be palletized and big
In the thickness of packaging bag to be palletized.
The feed end that bag translating device 31 is set to mobile robot palletizer system is embraced, this feed end is set in workshop
Conveyer belt A output end, packaging bag by the conveyer belt A in workshop be sent to embrace a bag translating device 31, pass through ladle-to-ladle mechanism 33
Embrace bag baffle, mobile guardrail drives in packaging bag to the frame of falling bag, embraced at bag baffle specifically, packaging bag is transported to embracing for stretching, extension
Bag baffle is embraced in the flexible drive connecting rod traction overturning of the original state of bag baffle, the telescopic rod of tumble cylinder, and embracing bag baffle will wrap
It packs and is guided into the frame of falling bag, the output of conveyer belt A of from the mobile guardrail of the flexible drive of the telescopic rod of flat-removing air cyclinder to workshop
The extending direction at end is mobile, that is, the input terminal of the conveyer belt of falling bag 34, and the conveyer belt of falling bag 34 is to drive packaging bag to be delivered to down bag
At frame conveying mouth 32, here, mobile guardrail, which is connect by guide rail and sliding block with the frame of falling bag, to be kept off with after bag
Plate connection, in this way, the extending direction of the stable output end of the conveyer belt A in workshop of mobile guardrail moves, the rear baffle of falling bag,
Mobile guardrail and armful bag baffle form limit of the packaging bag in the frame of falling bag, and packaging bag is by the conveying below the front apron of falling bag
It falls down the next procedure for being transported to mobile robot palletizer system of horizontal, i.e. trimming into region.
Further, the gripping conveyor 50 includes the rack being set on mobile platform 10, the rack packet
Include left baffle and right baffle symmetrically arranged on the left and the right；Along the length direction parallel shelf of rack between the left baffle and right baffle
It is equipped with multiple crawl rollers 51；The same end of each crawl roller 51 is arranged in parallel with multiple first tooth flywheels, and multiple first tooth flies
Wheel constitutes the first flywheel group, and the underface between the same end of adjacent crawl roller 51 is provided with the tooth flywheel with the first flywheel group
Identical second flywheel group is counted, is provided with third flywheel identical with the tooth flywheel number of the second flywheel group below the second flywheel group
Group, teeth disk identical with the tooth flywheel number of third flywheel group is provided with below third flywheel group, and the lower section of crawl roller 51 is set
It is equipped with the motor of the driving teeth disk rotation, is engaged with winding chain 52, the winding chain on the teeth disk
52 successively constitute closed chain by third flywheel group and the second adjacent flywheel group, the first flywheel group；Wind chain 52
Upper roll surface of the cochain face lower than crawl roller 51.
Further, the right end for grabbing roller 51 is arranged in parallel there are two the first tooth flywheel；On two the first tooth flywheels according to
Secondary parallel arrangement has two winding chains 52, and the plane of rotation of two winding chains 52 is parallel with the crawl diametric plane of roller 51.
Gripping conveyor 50 uses multiple rows of (double in actual use) small dimension chain (thickness and width is smaller)
It pulls open up and down, the driving structure of parallel synchronous rotation, changes the structure that the crawl conveying device of existing Palletizer uses
Mode.This structure chain thickness of the present invention is smaller, and the cochain face of chain is fully able to upper lower than crawl roller in actual use
Roll surface facilitates the smooth delivery of power of crawl roller.And double small dimension chain arragement construction design is relatively existing in actual use
It is smaller that single strand chain alternating expression arragement construction designs lateral temporary space, and longitudinal direction itself is highly using gripping conveyor
Can, the volume design of such gripping conveyor is smaller.The configuration of the present invention is simple, transmission is convenient, facilitates the smooth delivery of power of crawl roller,
Palletizer suitable for miniaturization.
Claims (6)
1. a kind of mobile robot palletizer system, it is characterised in that: including mobile platform (10), mobile platform is set in parallel on (10)
It is equipped with the first pipeline, the second pipeline, top setting capture apparatus (20) of the first pipeline, the second pipeline；Described
First pipeline includes the equipment of falling bag (30) set gradually, shaping device (40), gripping conveyor (50)；Described second is defeated
Line sending includes conveyor pallet (60), and setting low level tears disk machine (70) open on the output section of conveyor pallet (60)；
The mobile platform (10) includes mobile base (11), and moving assembly (12) and lower margin are provided in mobile base (11)
Supporting element (13), the lower margin supporting element (13) is adjustable above and below the short transverse of mobile platform (10), and described mobile group
Part (12) include move in parallel pedestal (11) seat surface setting platform driving shaft and platform driven shaft, the platform driving shaft and
Platform driven shaft is arranged parallel to each other, and the shaft end of platform driving shaft and platform driven shaft is provided with shifting roller (12a), platform
Platform driving motor, the platform driving motor driving platform driving shaft rotation is arranged in driving shaft side；
The equipment of falling bag (30) includes armful bag translating device (31) for the conveyer belt output end being set in workshop, described
Embracing bag translating device (31) includes the frame of falling bag, and the frame of falling bag mounts the output end of the conveyer belt in workshop, bag
Conveying mouth (32) are arranged in the inside of frame, and ladle-to-ladle mechanism (33) is arranged in the outside for the frame of falling bag；The lower section for the frame of falling bag is located at factory
The conveyer belt of falling bag (34) are arranged in the vertical direction of conveyer belt in room, the transmission in the input terminal and workshop of the conveyer belt of falling bag (34)
The output end of band connects, and from ladle-to-ladle mechanism (33) along to conveying mouth (32), described falls the conveying direction of the conveyer belt of falling bag (34)
Conveyer belt in bag conveyer belt (34) and workshop is generally aligned in the same plane or arranges lower than the conveyer belt in workshop；The conveying
The height of mouth (32) to the conveyer belt of falling bag (34) is less than height of packaging bag to be palletized and is greater than the thickness of packaging bag to be palletized；
The shaping device (40) includes the shaping conveyer (41) positioned at the conveyer belt of falling bag (34) output end arrangement, and shaping is defeated
The next setting shaping briquetting component (42) of the input terminal of machine (41) is sent, the shaping briquetting component (42) is whole including being placed on
Briquetting bracket on shape conveyer (41), stretch at the top of briquetting bracket shaping conveyer (41) conveying direction be hinged with it is outstanding
Briquetting roller (43) are arranged in the free end of arm, cantilever, the shaping belt of the parallel shaping conveyer of roll surface (41) of briquetting roller (43)
Zone face, and the roller length of briquetting roller (43) is more than or equal to the width of shaping conveyer (41), is located on the briquetting bracket
Briquetting locating part is arranged in the top of the hinged end of cantilever, and briquetting spring is provided between the briquetting locating part and cantilever
(44), described briquetting spring (44) the up and down direction arrangement, when briquetting spring (44) in the raw, the briquetting roller
(43) spacing between the zone face of the shaping belt of roll surface and shaping conveyer (41) is equal to or less than packaging bag to be palletized
Thickness；
Gripping conveyor (50) are arranged in the output end of shaping conveyer (41), and gripping conveyor (50) side parallel arrangement pallet is defeated
It send machine (60), low level is set on the output end of conveyor pallet (60) and tears disk machine (70) open；
It includes the frame that is set on mobile platform (10) that the low level, which tears disk machine (70) open, along the conveying direction of pallet on frame
Setting is torn open disc mechanism (71), and the two sides setting postive stop baffle for tearing disc mechanism (71) open is located on frame；The frame includes being located at
Tear the crossbeam being arranged above disc mechanism (71) cloth set open, cylinder limited block, cylinder limited block lower section is arranged in the lower section of crossbeam
Two sides be symmetrically arranged with lift rail, the lift rail is fixed on frame and the conveying direction of vertical tray is arranged；
The disc mechanism (71) of tearing open includes the lifting cylinder being vertically arranged positioned at below the crossbeam, and the cylinder body of lifting cylinder is placed in cylinder limiting block
In the limiting slot of block, the piston rod of lifting cylinder is arranged downwards, and the projecting end of lifting cylinder piston rod is provided with promotion connecting plate,
The conveying direction arrangement of the promotion connecting plate vertical tray, the two sides for promoting connecting plate are symmetrically arranged with promotion sliding block, institute
The promotion sliding block stated is placed in the lift rail and can freely up and down move along the lift rail arranged direction；It is promoted
The bottom of connecting plate is provided with pallet click-on mechanism (72), and the pallet click-on mechanism (72) includes parallel pallet conveying direction
The claw sliding rail of arrangement, the parallel claw sliding rail of the side of claw sliding rail are disposed with claw cylinder, the cylinder of claw sliding rail, claw cylinder
Body is fixed on the bottom for promoting connecting plate, and the piston rod of claw cylinder is arranged to frame lateral expansion, the piston rod of claw cylinder
Free end claw connecting plate is set, claw slide block is connected on claw connecting plate, the claw slide block is placed in the card
It can move freely on pawl sliding rail and along the claw sliding rail arranged direction.
2. a kind of mobile robot palletizer system according to claim 1, it is characterised in that: the capture apparatus (20)
Including the handgrip mounting base being set to above shaping conveyer (41), gripping conveyor (50) and conveyor pallet (60) face domain
(21), it is provided with right angle stacking machine (22) in handgrip mounting base (21), the right angle stacking machine (22) is along handgrip mounting base
(21) length direction and width direction is freely removable, and right angle stacking machine (22) is removable up and down along handgrip mounting base (21), directly
Rotation is arranged in the bottom of corner brace stack machine (22) overhanging marsupial handgrip (23) downwards between bag handgrip (23) and right angle stacking machine (22)
Flange (24).
3. a kind of mobile robot palletizer system according to claim 1, it is characterised in that: the conveyer belt of falling bag
(34) it is generally aligned in the same plane with the conveyer belt in workshop；
The ladle-to-ladle mechanism (33) includes the rear baffle of falling bag of the direction of transfer arrangement of the conveyer belt in workshop, is kept off after bag
Sliding block, the transmission of conveyer belt of the slide opening of sliding block in workshop is arranged in the output end of conveyer belt on the front of plate in workshop
Direction is arranged, guide rail, the direction of transfer arrangement of conveyer belt of the guide rail in workshop, the guide rail edge are arranged on sliding block
The slide opening of the sliding block is freely slidable, and the parallel rear baffle of falling bag is fixedly installed mobile shield on the medial surface of guide rail
The inner end on column, mobile guardrail is connect with the telescopic rod for the flat-removing air cyclinder being arranged on the rear baffle of falling bag, and the flat-removing air cyclinder drives
The mobile guardrail moves back and forth along guide rail arranged direction, and the outer end of mobile guardrail, which is hinged with, embraces bag baffle, mobile guardrail
Be moved along it direction on the back side and be disposed with tumble cylinder, the flexible rod end of tumble cylinder is hinged with connecting rod, the connecting rod from
It is connected by holding with the back side of armful bag baffle, connecting rod described in the flexible drive of the telescopic rod of tumble cylinder is to conveying mouth (32) direction
Overturning；
The conveying mouth (32) includes the front apron of falling bag arranged above ladle-to-ladle mechanism (33) right opposite, the front apron of falling bag
Lower space constitute conveying mouth (32) conveying enter region.
4. a kind of mobile robot palletizer system according to claim 1, it is characterised in that: the gripping conveyor
It (50) include the rack being set on mobile platform (10), the rack includes right baffle-plate symmetrically arranged on the left and the right and right gear
Plate；Length direction parallel shelf between the left baffle and right baffle along rack is equipped with multiple crawl rollers (51)；Each crawl
The same end of roller (51) is arranged in parallel with multiple first tooth flywheels, and multiple first tooth flywheel constitutes the first flywheel group, adjacent
The underface grabbed between the same end of roller (51) is provided with the second flywheel group identical with the tooth flywheel number of the first flywheel group, the
It is provided with third flywheel group identical with the tooth flywheel number of the second flywheel group below two flywheel groups, is set below third flywheel group
It is equipped with teeth disk identical with the tooth flywheel number of third flywheel group, the driving teeth disk is provided with below crawl roller (51)
The motor of rotation, winding chain (52) is engaged on the teeth disk, and the winding chain (52) successively flies by third
Wheel group and the second adjacent flywheel group, the first flywheel group constitute closed chain；The cochain face of chain (52) is wound lower than crawl
The upper roll surface of roller (51).
5. a kind of mobile robot palletizer system according to claim 3, it is characterised in that: the conveyer belt of falling bag (34) is located at
The conveying direction of the two lateral edge conveyer belts of falling bag (34) of the lower section of conveying mouth (32) is provided with guide and limit plate, the guiding limit
Position plate is located at the flared at the underface of conveying mouth (32) to open to side.
6. a kind of mobile robot palletizer system according to claim 4, it is characterised in that: the right end of crawl roller (51) is flat
There are two the first tooth flywheels for row setting；Successively being arranged in parallel on two the first tooth flywheels has two winding chains (52), and this two
The plane of rotation for winding chain (52) is parallel with the crawl diametric plane of roller (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910629495.7A CN110255205B (en) | 2019-07-12 | 2019-07-12 | Remove pile up neatly machine people system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910629495.7A CN110255205B (en) | 2019-07-12 | 2019-07-12 | Remove pile up neatly machine people system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110255205A true CN110255205A (en) | 2019-09-20 |
| CN110255205B CN110255205B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910629495.7A Active CN110255205B (en) | 2019-07-12 | 2019-07-12 | Remove pile up neatly machine people system |
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| CN (1) | CN110255205B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112794112A (en) * | 2021-01-13 | 2021-05-14 | 北京赛佰特科技有限公司 | Intelligent loading system |
| CN114194527A (en) * | 2021-11-27 | 2022-03-18 | 湖南省湘衡盐化有限责任公司 | Salt bag weight specification automatic identification snatchs screening system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5261781A (en) * | 1990-01-22 | 1993-11-16 | Bandy James H | Automated palletizer |
| CN106276275A (en) * | 2015-06-10 | 2017-01-04 | 河北省机电体化中试基地 | A kind of Full-automatic high-level palletizing apparatus |
| CN109533988A (en) * | 2018-12-24 | 2019-03-29 | 哈尔滨联科包装机械有限公司 | Three-dimensional row posture turntable high position palletizing system and palletizing method |
| CN210558049U (en) * | 2019-07-12 | 2020-05-19 | 安徽汇缔智能科技有限公司 | Mobile palletizing robot system |
-
2019
- 2019-07-12 CN CN201910629495.7A patent/CN110255205B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5261781A (en) * | 1990-01-22 | 1993-11-16 | Bandy James H | Automated palletizer |
| CN106276275A (en) * | 2015-06-10 | 2017-01-04 | 河北省机电体化中试基地 | A kind of Full-automatic high-level palletizing apparatus |
| CN109533988A (en) * | 2018-12-24 | 2019-03-29 | 哈尔滨联科包装机械有限公司 | Three-dimensional row posture turntable high position palletizing system and palletizing method |
| CN210558049U (en) * | 2019-07-12 | 2020-05-19 | 安徽汇缔智能科技有限公司 | Mobile palletizing robot system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112794112A (en) * | 2021-01-13 | 2021-05-14 | 北京赛佰特科技有限公司 | Intelligent loading system |
| CN114194527A (en) * | 2021-11-27 | 2022-03-18 | 湖南省湘衡盐化有限责任公司 | Salt bag weight specification automatic identification snatchs screening system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110255205B (en) | 2024-01-30 |
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