CN208603364U - Robot palletizer - Google Patents
Robot palletizer Download PDFInfo
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- CN208603364U CN208603364U CN201821212872.4U CN201821212872U CN208603364U CN 208603364 U CN208603364 U CN 208603364U CN 201821212872 U CN201821212872 U CN 201821212872U CN 208603364 U CN208603364 U CN 208603364U
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- 230000007246 mechanism Effects 0.000 claims abstract description 207
- 230000007306 turnover Effects 0.000 claims abstract description 56
- 238000007599 discharging Methods 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 description 11
- 238000001514 detection method Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model provides a kind of robot palletizer, including the first pipeline, pipeline driving mechanism, lifting body, main support and the turnover mechanism being sequentially arranged along the direction of transfer of the first pipeline, feeding distribution mechanism and directly pushes away positioning mechanism.First pipeline supports the first pipeline for conveying material, main support, directly pushes away positioning mechanism for pushing material to predeterminated position, pipeline driving mechanism drives the first pipeline mobile.Turnover mechanism includes turnover bracket and clamping device, and turnover mechanism is located at the discharge end of the first pipeline, and the first end and main support of turnover bracket are hinged, and the second end of turnover bracket is arranged in clamping device.Lifting body supports the first pipeline close to one end of feeding distribution mechanism, and lifting body is used to adjust the first pipeline close to the height of the one end for directly pushing away positioning mechanism.Robot palletizer can make full use of railway carriage space and work efficiency is high, labor intensive is at low cost.
Description
Technical field
The utility model relates to Palletizer fields, specifically, being to be related to a kind of robot palletizer.
Background technique
It is existing that rectangle object (such as carton, plastic box rectangular package) is loaded into flat car or lorry body or packaging
The entrucking mode of case is full manual handling entrucking, puts preparatory heap well rectangle object by fork truck and is deposited into vehicle or uses transmission belt
Rectangular article is transferred to descendant's fixture vehicle on vehicle.The prior art has the following disadvantages: firstly, existing entrucking mode is required to
Different degrees of manual handling, stacking, most of Item Weights are big, and labor intensity of workers is big；Secondly, also being needed with the mode of fork truck
Snap-gauge and other items is attached on vehicle, cabin space is occupied.
Utility model content
The main purpose of the utility model be to provide one kind can make full use of railway carriage space and work efficiency is high, expend people
Power robot palletizer at low cost.
To realize above-mentioned main purpose, the utility model provides a kind of robot palletizer, which includes first
It pipeline, pipeline driving mechanism, lifting body, main support and is turned over along what the direction of transfer of the first pipeline was sequentially arranged
Rotation mechanism, feeding distribution mechanism and directly push away positioning mechanism.First pipeline supports the first pipeline for conveying material, main support, directly
Positioning mechanism is pushed away for pushing material to predeterminated position, pipeline driving mechanism drives the first pipeline mobile.Turnover mechanism packet
Turnover bracket and clamping device are included, turnover mechanism is located at the discharge end of the first pipeline, the first end and main support of turnover bracket
Hingedly, the second end of turnover bracket is arranged in clamping device.Lifting body the first pipeline of bearing is close directly to push away positioning mechanism
One end, lifting body are used to adjust the first pipeline close to the height of the one end for directly pushing away positioning mechanism.
It is finally defeated by above scheme as it can be seen that the material of the first pipeline conveying successively passes through turnover mechanism, feeding distribution mechanism
It send to directly pushing away on positioning mechanism, directly pushes away positioning mechanism for material and push to predeterminated position in compartment, the driving of pipeline driving mechanism
First pipeline is mobile, while directly pushing away positioning mechanism movement and pushing material mobile, so that how fixed robot palletizer realization is
Point stacks, and is accurately positioned to each material.In addition, turnover mechanism can change the placement direction of material, thus sufficiently
Utilize interior space.Lifting body is when directly pushing away positioning mechanism fixed point push material, as the height of stacking rises, jacking
Mechanism jacks one end of the first pipeline connection feeding distribution mechanism, so that robot palletizer is well adapted for the height stacked.This
The robot palletizer of utility model can convey material automatically, and be accurately positioned to each material, to make full use of
Interior space, and working efficiency can be effectively improved, reduce the labor intensity of worker.
One Preferable scheme is that, directly pushing away positioning mechanism includes adapting table, adapting table mounting base, X to moving drive mechanism
With Z-direction moving drive mechanism, adapting table mounting base is located at the discharge end of feeding distribution mechanism and is arranged perpendicular to the first pipeline, accepts
Platform is arranged in adapting table mounting base and is parallel to the first pipeline, and Z-direction moving drive mechanism drives adapting table along adapting table
Mounting base is mobile, and X is moved to moving drive mechanism driving adapting table mounting base along the first pipeline width direction.
It can be seen that X is moved to moving drive mechanism driving adapting table mounting base along the first pipeline width direction, from
And adapting table is driven to move along the first pipeline width direction, Z-direction moving drive mechanism driving adapting table is pacified along adapting table
It is mobile to fill seat, in addition, since pipeline driving mechanism is for driving the first pipeline mobile, adapting table can be in three-dimensional
It is flexibly moved in space, to realize the accurate positioning to material stowed location.
Further embodiment is that directly to push away positioning mechanism further include straight push piece and Y-direction moving drive mechanism, and straight push piece setting exists
On adapting table, Y-direction moving drive mechanism drives straight push piece to move along the direction that the first pipeline moves is parallel to.
It can be seen that Y-direction moving drive mechanism drives straight push piece when adapting table is moved to the default stowed location of material
It is moved along the direction that the first pipeline moves is parallel to, so that material is pushed to preset stowed location.
Further scheme is that the quantity at least two of straight push piece, multiple straight push pieces are connected, multiple straight push piece edges
The width direction of adapting table be sequentially arranged, the guiding that multiple length directions along adapting table extend is offered on adapting table
Slot, a straight push piece are mounted in a guide groove, and Y-direction moving drive mechanism drives straight push piece to move along guide groove.
It can be seen that the setting of multiple straight push pieces may make material stress equalization, to be accurately placed to preset stacking
At position.
Further embodiment is that adapting table mounting base is provided with moving track, moving track close to the side of feeding distribution mechanism
It is parallel to the width direction setting of the first pipeline, the first side of moving track is provided with rail portion, second side of moving track
The second tooth-strip part, rail portion and the second tooth-strip part are provided with backwards to setting.The discharge end of feeding distribution mechanism is provided with idler wheel and gear,
Idler wheel and gear are separately positioned on the two sides of moving track, and idler wheel can be moved along rail portion, and gear can be along the second tooth-strip part
It is mobile.
It can be seen that passing through the rotation of idler wheel and gear, drive moving track mobile, to drive adapting table mounting base edge
Be parallel to first pipeline width direction it is mobile.The mobile mechanism that idler wheel, gear and moving track match, can
It improves the movement speed of bearing platform and the stability of mobile mechanism's entirety can be improved.
One Preferable scheme is that, the quantity for directly pushing away positioning mechanism is two, and two directly to push away positioning mechanism defeated along first
The width direction of line sending is arranged.
It can be seen that two directly push away positioning mechanism take turns to operate be greatly improved robot palletizer stack material speed.
One Preferable scheme is that, robot palletizer further includes steering mechanism, steering mechanism's setting turnover mechanism with point
Expect mechanism between, steering mechanism include the first conveyer belt and pushing mechanism, the first conveyer belt along the first pipeline sender
To extension, pushing mechanism is located at the side of the first conveyer belt, and pushing mechanism includes the promotion drive of push rod and driving push rod movement
Motivation structure, the extending direction of push rod are parallel to the width direction of the first conveyer belt, push driving mechanism driving push rod along parallel
It is mobile in the width direction of the first conveyer belt.
It can be seen that since the first pipeline is very long, material may shift in moving process, moreover, material passes through
It crosses after the overturning of turnover mechanism it can also happen that deviating, the push rod of pushing mechanism is for pushing the material to shift to be turned
To preventing the material of offset from continuing forward so that material forwards along the conveying direction under the driving force of the first transfer tape
It falls or cannot enter on feeding distribution mechanism from the first conveyer belt when transmission.In addition, setting steering mechanism also can avoid into
Pedestrian's work turns to, to improve working efficiency.
One Preferable scheme is that, turnover mechanism further includes turnover driving mechanism, and turnover driving mechanism setting is in overturning branch
The first end of frame, turnover driving mechanism drive turnover bracket rotation.Turnover bracket includes articulated shaft and is arranged in articulated shaft two
Hold and perpendicular to the linking arm of articulated shaft, for articulated shaft across the first pipeline, the free end of linking arm is arranged in clamping device.Folder
Tight device includes clamping drive mechanism and at least two clamping elements, and multiple clamping elements are located on two linking arms, clamps and drives
Motivation structure drive multiple clamping elements close to or far from.
It can be seen that clamping drive mechanism drives clamping element close when material needs to overturn, to clamp material, connect
, turnover driving mechanism drives turnover bracket to rotate around articulated shaft, after turning to certain angle, clamping drive mechanism driving folder
Tight part is separate, and material is placed on the first conveyer belt and continues to move along the first transfer tape.Turnover mechanism can incite somebody to action
Material overturns the direction placed to needs, to make full use of interior space, improves Room utilization rate.
One Preferable scheme is that, robot palletizer further includes at least two front auxiliary strut mechanisms, it is multiple before auxiliary branch
Support mechanism is arranged at main support close to directly pushing away one end of positioning mechanism and be located at the two sides of main support, front auxiliary strut machine
Structure is used to support main support close to the one end for directly pushing away positioning mechanism.
It can be seen that front auxiliary strut mechanism is used for when main support enters compartment, front auxiliary strut mechanism is in compartment
Bottom support main support, increase a fulcrum, generate main support since the cantilever of main support is too long during the work time
Impact and vibration reduce, to guarantee that equipment steadily works.
Detailed description of the invention
Fig. 1 is state diagram when the utility model robot palletizer embodiment conveys material to compartment.
Fig. 2 is the structural schematic diagram of the utility model robot palletizer embodiment.
Fig. 3 is lifting body, turnover mechanism, steering mechanism, feeding distribution mechanism in the utility model robot palletizer embodiment
Directly push away the structural schematic diagram of positioning mechanism.
Fig. 4 is the structural schematic diagram of turnover mechanism in the utility model robot palletizer embodiment.
Fig. 5 is the partial enlarged view in Fig. 3 at A.
Fig. 6 is the structural schematic diagram that positioning mechanism is directly pushed away in the utility model robot palletizer embodiment.
Fig. 7 is the structural exploded view that position mechanism section component is directly estimated in the utility model robot palletizer embodiment.
Fig. 8 is the structural schematic diagram of the section components of the utility model robot palletizer embodiment.
Fig. 9 is the structural schematic diagram of front auxiliary strut mechanism in the utility model robot palletizer embodiment.
Figure 10 is the work flow diagram of the utility model robot palletizer embodiment.
The following is a further explanation of the present invention with reference to the accompanying drawings and embodiments.
Specific embodiment
In order to which components relative positional relationship each in embodiment and operation relationship are clearly described, the utility model
The three-dimensional system of coordinate unified shown in the drawings of direction out of the ordinary, it is intended to when showing the visual angle difference of components in each figure, table
The components reached still have unified coordinate direction, and quote in the following description.In addition, it is contemplated that drawing size limits,
Ratio is unified not to the utmost in various figures for same components, is only more clearly to be illustrated to the utility model.
Referring to Fig. 1 and Fig. 2, the robot palletizer of the present embodiment includes the first pipeline 1, the second pipeline 9, pipeline drive
Motivation structure 2, lifting body 3, main support 4, side positioning mechanism 41, front auxiliary strut mechanism 42 and along the first pipeline 1
The turnover mechanism 5 that is sequentially arranged of direction of transfer, steering mechanism 6, feeding distribution mechanism 7 and two directly push away positioning mechanism 8.First conveying
Line 1 is for conveying material, and main support 4 is used to support the first pipeline 1, and the first pipeline 1 is arranged in pipeline driving mechanism 2
Lower section simultaneously drives the first pipeline 1 mobile.Positioning mechanism 8 is directly pushed away for pushing material to predeterminated position, two directly push away localization machine
Structure 8 is arranged along the width direction of the first pipeline 1.First pipeline of the bearing of lifting body 31 is close directly to push away positioning mechanism 8
One end, lifting body 3 jack the discharge end of the first pipeline 1, and lifting body 3 is for adjusting the first pipeline 1 close to straight presumption
The height of one end of position mechanism 8.
Side positioning mechanism 41 includes auxiliary stand 411, auxiliary stand 412, auxiliary stand 413 and auxiliary stand 414,
In, auxiliary stand 411 and auxiliary stand 412 are separately positioned on the two sides of main support 4, and are respectively positioned on close to the second pipeline 9
On the position of discharge end, auxiliary stand 413 and auxiliary stand 414 are separately positioned on the two sides of main support 4, and are respectively positioned on jack
The two sides of structure 3, each auxiliary stand abut against the main support supported on both sides 4 of main support, therefore side positioning mechanism with main support 4
41 can offset the vibration that main support 4 generates in Forward and the course of work in the left and right sides of the main support 4, to make stacking
Robot can steadily work.
First pipeline 1 includes the transmission tape drive mechanism of the first transmission belt 11 and driving the first transmission belt 11 rotation,
Second pipeline 9 and the first pipeline 1 are arranged in parallel and are arranged in the top of the first pipeline 1, the discharge end of the second pipeline 9
It is connect by the conveyer belt being obliquely installed with the first pipeline.Material on second pipeline 9 is displaced downwardly on the first pipeline 1,
It can be improved the transfer efficiency of the first pipeline 1, while can also accelerate the sub-material efficiency of feeding distribution mechanism 7.First pipeline 1 with
Mountable on second pipeline 9 to have product space inductor, such as infrared sensor, product space inductor for adjusting automatically
The conveying speed of two strip transmission lines is saved, and the transmission speed between two strip transmission lines needs to cooperate, is convenient for the second pipeline 9
On product fall into the gap between 1 product of the first pipeline.Fixed bracket 91 is provided on the second pipeline 9, it is fixed
The side of bracket 91 towards the second pipeline 9 is provided with infrared sensor.
Referring to Fig. 3 and Fig. 4, turnover mechanism 5 includes turnover bracket 51, clamping device 52 and turnover driving mechanism 53, overturning
Mechanism 5 is located at the discharge end of the first pipeline 1, and the first end and main support 4 of turnover bracket 51 are hinged, and the setting of clamping device 52 exists
The second end of turnover bracket 51.The first end of turnover bracket 51 is arranged in turnover driving mechanism 53, and turnover driving mechanism 53 drives
Turnover bracket 51 rotates.Turnover bracket 51 includes articulated shaft 511 and is arranged at 511 both ends of articulated shaft and perpendicular to articulated shaft
The free end of linking arm 512 is arranged in across the first pipeline 1, clamping device 52 in 511 linking arm 512, articulated shaft 511.Folder
Tight device 52 includes two clamping drive mechanisms 521 and two clamping elements 522, and two clamping elements 522 are located at two connections
On arm 512, a clamping drive mechanism 521 drives a clamping element 522 mobile, two cooperation drivings of clamping drive mechanism 521
Two clamping elements 522 close to or far from.
Referring to Fig. 3 and Fig. 5, steering mechanism 6 is arranged between turnover mechanism 5 and feeding distribution mechanism 7, and steering mechanism 6 includes the
One conveyer belt 61 and pushing mechanism, the first conveyer belt 61 extend along the direction of transfer of the first pipeline 1, and pushing mechanism is located at the
The side of one conveyer belt 61, pushing mechanism include the promotion driving mechanism 622 of push rod 621 and the movement of driving push rod 621, push rod
621 extending direction is parallel to the width direction of the first conveyer belt 61, and the first tooth-strip part 6211 is provided on push rod 621, pushes
Driving mechanism 622 includes 621 motor of push rod and the first gear 623 being connected in the drive shaft of 621 motor of push rod, the first tooth
Wheel 623 is engaged with the first tooth-strip part 6211.Push 622 driving push rod 621 of driving mechanism along being parallel to the first conveyer belt 61
Width direction is mobile.
Referring to Fig. 3, Fig. 6 and Fig. 7, directly pushing away positioning mechanism 8 includes adapting table 81, straight push piece 82, adapting table mounting base 83, X
To moving drive mechanism 84, Y-direction moving drive mechanism 85 and Z-direction moving drive mechanism 86.Straight push piece 82 is arranged in adapting table 81
On, adapting table mounting base 83 is located at the discharge end of feeding distribution mechanism 7 and is arranged perpendicular to the first pipeline 1, and the setting of adapting table 81 exists
In adapting table mounting base 83 and be parallel to the first pipeline 1, X to moving drive mechanism 84 drive adapting table mounting base 83 along
First pipeline, 1 width direction is mobile, i.e. X drives adapting table mounting base 83 along X in Fig. 6 to shifting to moving drive mechanism 84
Dynamic, Z-direction moving drive mechanism 86 drives adapting table 81 to move along adapting table mounting base 83, i.e., Z-direction moving drive mechanism 86 drives
Dynamic adapting table 81 is moved along Z-direction in Fig. 6, and Y-direction moving drive mechanism 85 drives straight push piece 82 along being parallel to the first pipeline 1
Mobile direction is mobile, i.e., Y-direction moving drive mechanism 85 drives straight push piece 82 to move along Y-direction in Fig. 6.
The quantity at least two of straight push piece 82, multiple straight push pieces 82 are connected, and multiple straight push pieces 82 are along adapting table 81
Width direction be sequentially arranged, adapting table 81 includes upper cover and lower cover, and upper cover and lower cover surround accommodating space, the mobile driving of Y-direction
Mechanism 85 is located in accommodating space, and connecting plate 821 is additionally provided in the accommodating space, and the first end of straight push piece 82 is hinged on connection
On plate 821, the drive shaft of Y-direction moving drive mechanism 85 is fixedly connected with connecting plate 821, and the upper cover of adapting table 81 offers multiple
Along the guide groove 811 that the length direction of adapting table 81 extends, a straight push piece 82 is mounted in a guide groove 811 and directly pushes away
The second end of part 82 is stretched out from guide groove 811, and Y-direction moving drive mechanism 85 drives straight push piece 82 to move along guide groove 811.
Adapting table mounting base 83 is provided with tooth-strip part 832 close to 81 side of adapting table, and tooth-strip part 832 is in adapting table mounting base
83 move along Z-direction, and the bottom of adapting table 81 is provided with motor, and the drive shaft of motor is fixed with the tooth engaged with tooth-strip part 832
Wheel, motor-driven gear rotation, so that adapting table 81 be driven to move along tooth-strip part 832.
There are two moving tracks 831 disposed in parallel close to the setting of the side of feeding distribution mechanism 7 for adapting table mounting base 83, mobile
Track 831 is parallel to the width direction setting of the first pipeline 1, and the first side of moving track 831 is provided with rail portion 8311, moves
The second side in dynamic rail road 831 is provided with the second tooth-strip part 8312, and rail portion 8311 and the second tooth-strip part 8312 are backwards to setting.Sub-material
The discharge end of mechanism 7 is provided with idler wheel 87 and gear 88, and idler wheel 87 and gear 88 are separately positioned on the two sides of moving track 831,
Idler wheel 87 can be moved along rail portion 8311, and gear 88 can be moved along the second tooth-strip part 8312.The of two moving tracks 831
Two tooth-strip parts 8312 are oppositely arranged.
Referring to Fig. 3, Fig. 8 and Fig. 9, robot palletizer further includes Liang Ge front auxiliary strut mechanism 42, two front auxiliary struts
Mechanism 42 is arranged at main support 4 close to directly pushing away one end of positioning mechanism 8 and being located at the two sides of main support 4, and preceding auxiliary is propped up
Support mechanism 42 is used to support main support 4 close to the one end for directly pushing away positioning mechanism 8.Front auxiliary strut mechanism 42 includes fixed bracket
420, height regulating rod 421, motor 422 and two back-up roller wheels 423, fixed bracket 420 are fixedly mounted on main support 4, Gu
Fixed rack 420 is set in outside height regulating rod 421, and height regulating rod 421 extends in vertical direction, and is set on fixed bracket 420
Multiple directive wheels 4201 are equipped with, directive wheel 4201 is contacted with height regulating rod 421 and for steering level adjusting rod 421 vertical
It is moved on direction, two back-up roller wheels 423 are mounted on the first end of height regulating rod 421, are arranged on height regulating rod 421 with teeth
Item portion 4211, tooth-strip part 4211 extend to the second end of height regulating rod 421 from the middle part of height regulating rod 421, part of
Directive wheel 4201 is separately positioned on the two sides of tooth-strip part 4211, and the drive shaft of motor 422 is fixed with to be engaged with tooth-strip part 4211
Gear, 422 sliding tooth wheel of motor rotation, to drive height regulating rod 421 to move along vertical direction, so that height regulating rod
The state of bottom that back-up roller wheel 423 on 421 is at collapsed state or is supported in compartment.In other embodiments
In, the quantity of back-up roller wheel 423 can be changed as needed, alternatively, it is also possible to using height regulating rod 421 and main support 4
Hinged mode is in collapsed state or holding state to control back-up roller wheel 423.
The effect of front auxiliary strut mechanism 42 is when main support 4 enters compartment, and front auxiliary strut mechanism 42 is in compartment
Bottom support main support 4, increase a fulcrum, produce main support 4 since the cantilever of main support 4 is too long during the work time
Raw vibration reduces, to guarantee that equipment steadily works.
Referring to Fig. 1 and Figure 10, robot palletizer further includes parking sensor, detection device and control device, parking sensing
Device for detect vehicle whether parking, detection device for detect vehicle and to control device transmit information of vehicles, control
Device determines entrucking mode according to information of vehicles and issues working signal to executing agency, and executing agency includes pipeline driving machine
Structure 2, lifting body 3, turnover mechanism 5, steering mechanism 6 and directly push away positioning mechanism 8.
The working method of robot palletizer includes the following steps.
Firstly, executing step S1, parking sensor, which detects, to stop after vehicle enters parking stall to control device transmission vehicle
Vehicle enters a signal.
Then, step S2 is executed, control device, which receives vehicle parking and enters, sends detection vehicle to detection device after a signal
Signal；
Then, step S3 is executed, detection device detects vehicle and transmits information of vehicles to control device.For example, detection dress
The type information of detection vehicle is set, detection vehicle is flat car, general wagon or motor van.And detection device can be examined
Survey the information such as the physical location that car sizes and compartment are parked.
Then, step S4 is executed, control device is according to the size sum number of information of vehicles and the rectangle material of storage inside
Amount is to determine whether can be in a manner of entrucking and determining entrucking.If step S5 and step S7, control dress can be executed with entrucking
It sets to executing agency's output services signal, specifically, control device transmits pipeline working signal to pipeline driving mechanism 2,
Pipeline driving mechanism 2 drives the first pipeline 1 to be moved in compartment according to pipeline working signal；Control device is to jack
Structure 3 transmits 3 working signal of lifting body, and lifting body 3 drives the first pipeline 1 close to straight according to 3 working signal of lifting body
The one end for pushing away positioning mechanism 8 moves up and down.When material needs to overturn, control device transmits energizing signal to turnover mechanism 5, turns over
Rotation mechanism 5 overturns material according to energizing signal.Control device transmits entrucking signal to positioning mechanism 8 is directly pushed away, straight to estimate
Material is pushed to predeterminated position by position mechanism 8.If cannot entrucking, S6 is thened follow the steps, using artificial treatment.
Finally, after entrucking, driver drives away vehicle.
Therefore first the material of pipeline conveying successively pass through turnover mechanism, feeding distribution mechanism, be finally transported to straight
It pushes away on positioning mechanism, directly pushes away positioning mechanism for material and push to predeterminated position in compartment, the driving first of pipeline driving mechanism is defeated
Line sending is mobile, while directly pushing away positioning mechanism movement and pushing material mobile, so that robot palletizer realizes more fixed point stackings,
And each material is accurately positioned.In addition, turnover mechanism can change the placement direction of material, to make full use of compartment
Inner space.Lifting body is when directly pushing away positioning mechanism fixed point push material, and as the height of stacking rises, lifting body is by the
One pipeline connects one end jacking of feeding distribution mechanism, so that robot palletizer is well adapted for the height stacked.The utility model
Robot palletizer can convey material automatically, and each material is accurately positioned, to make full use of interior
Space, and working efficiency can be effectively improved, reduce the labor intensity of worker.The robot palletizer of the utility model can be certainly
The size in dynamic detection compartment, and the mode of stacking is calculated automatically, it can more sufficiently and reasonably utilize the space in compartment.
Claims (9)
1. robot palletizer, it is characterised in that: including the first pipeline, pipeline driving mechanism, lifting body, main support and
The turnover mechanism that is sequentially arranged along the direction of transfer of first pipeline, feeding distribution mechanism and directly push away positioning mechanism；
For first pipeline for conveying material, the main support supports first pipeline, described directly to push away positioning mechanism
For pushing material to predeterminated position, the pipeline driving mechanism drives first pipeline mobile；
The turnover mechanism includes turnover bracket and clamping device, and the turnover mechanism is located at the discharging of first pipeline
End, the first end of the turnover bracket and the main support are hinged, and the second of the turnover bracket is arranged in the clamping device
End；
The lifting body supports first pipeline close to described one end for directly pushing away positioning mechanism, and the lifting body is used for
First pipeline is adjusted close to the height of described one end for directly pushing away positioning mechanism.
2. robot palletizer according to claim 1, it is characterised in that:
The positioning mechanism that directly pushes away includes adapting table, adapting table mounting base, X to moving drive mechanism and Z-direction moving drive mechanism,
The adapting table mounting base is located at the discharge end of the feeding distribution mechanism and is arranged perpendicular to first pipeline, the adapting table
It is arranged in the adapting table mounting base and is parallel to first pipeline, is held described in the Z-direction moving drive mechanism driving
Consecutive to move along the adapting table mounting base, the X drives the adapting table mounting base along described to moving drive mechanism
The width direction of first pipeline is mobile.
3. robot palletizer according to claim 2, it is characterised in that:
The positioning mechanism that directly pushes away further includes straight push piece and Y-direction moving drive mechanism, and the straight push piece is arranged in the adapting table
On, the Y-direction moving drive mechanism drives the straight push piece to move along the direction that first pipeline moves is parallel to.
4. robot palletizer according to claim 3, it is characterised in that:
The quantity at least two of the straight push piece, multiple straight push pieces are connected, and multiple straight push pieces are held along described
Consecutive width direction is sequentially arranged, and leading for multiple length directions extensions along the adapting table is offered on the adapting table
To slot, a straight push piece is mounted in the guide groove, and the Y-direction moving drive mechanism drives the straight push piece edge
The guide groove it is mobile.
5. robot palletizer according to claim 2, it is characterised in that:
The adapting table mounting base is provided with moving track close to the side of the feeding distribution mechanism, and the moving track is parallel to institute
The width direction setting of the first pipeline is stated, the first side of the moving track is provided with rail portion, and the of the moving track
Two sides are provided with the second tooth-strip part, the rail portion and second tooth-strip part backwards to setting；
The discharge end of the feeding distribution mechanism is provided with idler wheel and gear, and the idler wheel and the gear are separately positioned on the movement
The two sides of track, the idler wheel can be moved along the rail portion, and the gear can be moved along second tooth-strip part.
6. robot palletizer according to any one of claims 1 to 5, it is characterised in that:
The quantity for directly pushing away positioning mechanism is two, and two described directly to push away positioning mechanism along the width of first pipeline
Direction arrangement.
7. robot palletizer according to any one of claims 1 to 5, it is characterised in that:
The robot palletizer further includes steering mechanism, and the steering mechanism is arranged in the turnover mechanism and the feeding distribution mechanism
Between, the steering mechanism includes the first conveyer belt and pushing mechanism, and first conveyer belt is along first pipeline
Direction of transfer extends, and the pushing mechanism is located at the side of first conveyer belt, and the pushing mechanism includes push rod and drive
The mobile promotion driving mechanism of the push rod is moved, the extending direction of the push rod is parallel to the width side of first conveyer belt
To the promotion driving mechanism drives the push rod to move along the width direction for being parallel to first conveyer belt.
8. robot palletizer according to any one of claims 1 to 5, it is characterised in that:
The turnover mechanism further includes turnover driving mechanism, and the first of the turnover bracket is arranged in the turnover driving mechanism
End, the turnover driving mechanism drive the turnover bracket rotation；
The turnover bracket includes articulated shaft and the articulated shaft both ends is arranged in and perpendicular to the linking arm of the articulated shaft,
The free end of the linking arm is arranged in across first pipeline, the clamping device in the articulated shaft；
The clamping device includes clamping drive mechanism and at least two clamping elements, and multiple clamping elements are located at two institutes
State on linking arm, the clamping drive mechanism drive multiple clamping elements close to or far from.
9. robot palletizer according to any one of claims 1 to 5, it is characterised in that:
The robot palletizer further includes at least two front auxiliary strut mechanisms, and multiple front auxiliary strut mechanisms are arranged at
The main support is close to the two sides for directly pushing away one end of positioning mechanism and be located at the main support, the front auxiliary strut
Mechanism is used to support the main support close to described one end for directly pushing away positioning mechanism.
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| CN201821212872.4U CN208603364U (en) | 2018-07-27 | 2018-07-27 | Robot palletizer |
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| CN201821212872.4U CN208603364U (en) | 2018-07-27 | 2018-07-27 | Robot palletizer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109205326A (en) * | 2018-07-27 | 2019-01-15 | 朱建民 | Robot palletizer and its working method |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109205326A (en) * | 2018-07-27 | 2019-01-15 | 朱建民 | Robot palletizer and its working method |
| CN109205326B (en) * | 2018-07-27 | 2024-01-16 | 朱建民 | Palletizing robot and working method thereof |
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