Stacking machine based on gantry structure

Abstract

The invention relates to a stacker crane based on a gantry structure. The stacker crane comprises a stand column. Z-axis driving assemblies are mounted at the tops of the stand columns, and lifting tables are slidably connected to the inner sides of the stand columns. By arranging the balancing weight assembly, the balancing weight counteracts the load of the lifting platform in the reverse direction through the chain, the motor only needs to provide net load force (total load-balancing weight), energy consumption is reduced, the service life of the motor is prolonged, the balancing weight moves along the inner wall of the stand column, and the stand column limits the moving path of the balancing weight; the first rubber coating wheel set and the second rubber coating wheel set are additionally arranged, so that the balancing weight can make linear reciprocating motion in the stand column more stably; in order to prolong the service life of the rubber coating wheels, the guide wheel module adopts a seesaw framework, the first rubber coating wheel and the second rubber coating wheel are connected through a rotating shaft and arranged on the inner side of the movable seat, it can be guaranteed that the stress of the two wheels is consistent, meanwhile, the force borne by each wheel is reduced by half, and the service life of the first rubber coating wheel and the service life of the second rubber coating wheel are prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of automated logistics equipment, and specifically to a gantry-structured palletizer used for transporting and stacking goods in industrial scenarios. Background Art

[0002] As the core equipment for cargo handling and stacking, palletizers are widely used in industrial production, warehousing and logistics and other scenarios. Traditional palletizers mostly adopt a fixed structure or single-axis drive design, which has many shortcomings in the handling process: First, the existing equipment has a complex structure and occupies a large area, making it difficult to adapt to the layout requirements of compact industrial scenarios; second, the drive system mostly relies on a single motor or a high-energy transmission mechanism, resulting in low operating efficiency and high energy consumption, and long-term operation is prone to motor overheating or component wear; third, the mechanical claw design lacks adaptability to the characteristics of the carton, and rigid clamping can easily cause deformation or surface damage of the paper tube, especially for paper tubes of different sizes and weights. The clamping stability and flexible adjustment capabilities are insufficient, affecting the stacking accuracy.

[0003] Furthermore, the existing counterweight system is crudely designed and fails to effectively balance the lifting load, resulting in poor Z-axis stability and prone to wobble during vertical handling. Furthermore, the lack of precision in the fit between the guide wheels and the guide rails makes positioning deviations common during multi-axis linkage, further exacerbating the misalignment of stacked cartons. These issues severely restrict palletizing efficiency and operational reliability, particularly when handling lightweight, fragile goods like cartons. Summary of the Invention

[0004] 1. Technical problems solved In order to solve the above technical problems, the present invention provides a palletizer based on a gantry structure.

[0005] (2) Technical solution Based on this, the present invention provides the following technical solution: a palletizer based on a gantry structure, comprising a column; A Z-axis drive assembly is installed on the top of the column, a lifting platform is slidably connected to the inner side of the column, guide wheel groups are relatively arranged on the left and right sides of the lifting platform, an X-axis drive assembly is installed on the bottom of the lifting platform, and the guide wheel group is provided with a Y-axis drive assembly; A drag chain is provided at the right end of the column, the bottom of the drag chain is fixed to the guide wheel assembly, the drag chain is slidably fitted with the inner side of the right end of the column, and counterweight assemblies are slidably provided at both the left and right ends of the interior of the column; The counterweight block assembly includes a counterweight block, a rubber-coated wheel group 1, and a rubber-coated wheel group 2. The counterweight block slides along the inner wall of the column. The front and rear ends of the top and bottom of the counterweight block are provided with a rubber-coated wheel group 1. The left and right sides of the top and bottom of the counterweight block are provided with a rubber-coated wheel group 2. The bottom of the rubber-coated wheel group 1 is connected to the counterweight block with bolts, and the bottom of the rubber-coated wheel group 2 is connected to the counterweight block with bolts.

[0006] Preferably, the Z-axis drive assembly includes a crossbeam, a motor, a sprocket module 1, a transmission shaft 1, a chain 1, a bevel gear set 1, a drive shaft, a bevel gear set 2, a transmission shaft 2, and a chain 2. The bottom of the crossbeam is fixed to the column, the bottom of the motor is bolted to the crossbeam, the output end of the motor is transmission-connected to the right end sprocket of the sprocket module 1, the left end sprocket of the sprocket module 1 is transmission-connected to the transmission shaft 1, the transmission shaft 1 is movably connected to the left end of the crossbeam, the rear end of the transmission shaft 1 is provided with a bevel gear set 1, the bevel gear set 1 is transmission-connected to the left end of the drive shaft, and the right end of the drive shaft It is connected to the bevel gear set 2 for transmission, and the bevel gear set 2 is connected to the rear end of the transmission shaft 2 for transmission, and the transmission shaft 2 is movably connected to the right end of the crossbeam, and the transmission shaft 2 adopts the sprocket to engage with the top of the chain 2 for transmission, and the transmission shaft 1 adopts the sprocket to engage with the top of the chain 1 for transmission, one end of the chain 1 is connected to the left end of the lifting platform, and the other end of the chain 1 is connected to the counterweight block at the left end of the column, one end of the chain 2 is connected to the right end of the lifting platform, and the other end of the chain 2 is connected to the counterweight block at the right end of the column, and the crossbeam is used to serve as a horizontal supporting structure, and is usually made of high-strength steel or aluminum alloy.

[0007] Preferably, protective covers are arranged on the left and right sides of the top of the beam, and the motor, sprocket module 1, transmission shaft 1, chain 1, and bevel gear group 1 are arranged in the left end protective cover, and the bevel gear group 2, transmission shaft 2, and chain 2 are arranged in the segmented protective cover, so as to protect the motor, sprocket module 1, transmission shaft 1, chain 1, bevel gear group 1 and the bevel gear group 2, transmission shaft 2, and chain 2 respectively.

[0008] Preferably, the guide wheel group includes a moving seat, a movable seat, a guide wheel seat, a rubber-coated wheel 1, a rubber-coated wheel 2, a rubber-coated wheel group 3, and a rubber-coated wheel group 4. The guide wheel group slides with the right end of the column, the moving seat is fixed to the bottom of the movable seat, and the movable seat is movably connected to the middle of the guide wheel seat. The rubber-coated wheel 1 and the rubber-coated wheel 2 are relatively arranged on the upper and lower sides of the guide wheel seat. There are four groups of rubber-coated wheel group 3, and the three rubber-coated wheel groups form a group of twos, which are relatively arranged along the upper and lower sides of the left end of the moving seat. There are four groups of rubber-coated wheel group 4, and the four rubber-coated wheel groups form a group of twos, which are relatively arranged along the upper and lower sides of the right end of the moving seat.

[0009] Preferably, the movable seat, guide wheel seat, rubber-coated wheel one and rubber-coated wheel two constitute a guide wheel module. There are four groups of guide wheel modules, which are arranged relatively along the four inner corners of the movable seat and adopt a "seesaw" structure. The rubber-coated wheel one and the rubber-coated wheel two are connected by a rotating shaft and are arranged on the inner side of the movable seat. This can ensure that the two wheels are subjected to consistent force. At the same time, the force borne by each wheel is reduced by half, thereby extending the service life of the rubber-coated wheel one and the rubber-coated wheel two.

[0010] Preferably, the X-axis drive assembly includes a clamping mechanism, a motor 1, a movable frame, a driving gear 1, a driven gear 1, a movable arm, a motor 2, and a driven gear 2. The movable frame is installed at the right end of the interior of the lifting platform, the bottom of the motor 1 is bolted to the movable frame, the output end of the motor 1 is transmission-connected with the driving gear 1, the driving gear 1 is meshed with the right end of the driven gear 1 for transmission, the driven gear 1 is movably connected to the interior of the movable frame, the bottom of the driven gear 1 is transmission-connected with the movable arm, the movable arm is bolted to the bottom of the motor 2, the bottom output shaft of the motor 2 is provided with a driving gear 2, the driving gear 2 is meshed with the driven gear 2 for transmission, the top of the driven gear 2 is movably connected to the movable arm, and the bottom of the driven gear 2 is transmission-connected with the clamping mechanism.

[0011] Preferably, the clamping mechanism includes a cylinder, a movable left clamping arm, a fixed right clamping arm, cargo, and an elastic buffer block. The top of the cylinder is transmission-connected to the second driven gear, the cylinder is fixed to the right end of the movable left clamping arm, and the cylinder is bolted to the top of the fixed right clamping arm.

[0012] Preferably, the movable left clamping arm and the fixed right clamping arm are symmetrically arranged with each other, and the movable left clamping arm and the fixed right clamping arm clamp the goods in the middle part, and the lower ends of the movable left clamping arm and the fixed right clamping arm are provided with elastic buffer blocks to facilitate the protection of the clamped goods.

[0013] Preferably, the Y-axis driving assembly includes a guide rail, a rack, a rubber-coated wheel group five, a fixed frame, a gear one, a gear two, a motor three, a rubber-coated wheel group six, a rubber-coated wheel group seven, a connecting rod, and a gear three. The rear end of the guide rail is fixed to the guide wheel group, the guide rail is bolted to the rear end of the rack, the top of the fixed frame is fixed to the lifting platform, the rubber-coated wheel group five is bolted to the right end of the fixed frame, the front top of the fixed frame is bolted to the motor three, the output end of the motor three is connected to the gear two for transmission, the gear two is meshed with the top of the gear one for transmission, the left end of the gear one is movably connected to the fixed frame, the bottom of the gear one is meshed with the rack for transmission, the left end of the rubber-coated wheel group six is ​​bolted to the lifting platform, the bottom of the rubber-coated wheel group six is ​​slidably matched with the guide rail, the rubber-coated wheel group five is slidably matched with the front end of the guide rail, the left end of the rubber-coated wheel group seven is bolted to the fixed frame, the top of the rubber-coated wheel group seven is slidably matched with the guide rail, and the gear one is connected to the middle of the gear three for transmission using a connecting rod.

[0014] Preferably, the guide rail, rack, rubber-coated wheel group five, fixed frame, rubber-coated wheel group six, and rubber-coated wheel group seven constitute a linkage module, which is arranged at the left end of the lifting platform, and the gear three is engaged with the rack in the linkage module at the left end of the lifting platform for transmission.

[0015] (3) Beneficial effects Compared with the prior art, the present invention provides a palletizer based on a gantry structure, which has the following beneficial effects: 1. This gantry-structured palletizer is equipped with a counterweight assembly. The counterweight offsets the load of the lifting platform through a chain, so that the motor only needs to provide a net load force (total load minus counterweight), reducing energy consumption and extending motor life. The counterweight moves along the inner wall of the column, and the column defines the movement path of the counterweight. The addition of rubber-coated wheel group 1 and rubber-coated wheel group 2 allows the counterweight to perform a more stable linear reciprocating motion in the column.

[0016] 2. This palletizer based on the gantry structure is equipped with a guide wheel group, which is located on the left and right sides of the lifting platform. Guide wheel modules, rubber-coated wheel group three, and rubber-coated wheel group four are provided on the four sides of the moving seat, which effectively reduces the friction between the column and the moving seat and limits the position of the moving seat (XY axis orientation), so that the lifting platform can move more smoothly and stably along the column (Z axis direction) without shaking or instability. In order to extend the life of the rubber-coated wheels, the guide wheel module adopts a "seesaw" structure. The rubber-coated wheel one and the rubber-coated wheel two are connected by a rotating shaft and are arranged on the inner side of the movable seat. This can ensure that the two wheels are subjected to the same force. At the same time, the force borne by each wheel is reduced by half, thereby extending the life of the rubber-coated wheel one and the rubber-coated wheel two. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the column of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the counterweight assembly of the present invention; Figure 4 This is a schematic diagram of the three-dimensional structure of the Z-axis drive assembly of the present invention; Figure 5 This is a schematic diagram of the top view of the Z-axis drive assembly of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of the guide wheel assembly of the present invention; Figure 7 This is a schematic diagram of the three-dimensional structure of the guide wheel module of the present invention; Figure 8 This is a front view structural diagram of the X-axis drive assembly of the present invention; Figure 9 This is a schematic diagram of the partial three-dimensional structure of the X-axis drive assembly of the present invention; Figure 10 This is a schematic diagram of the front view of the clamping mechanism of the present invention; Figure 11 This is a schematic diagram of the three-dimensional structure of the Y-axis drive assembly of the present invention; Figure 12 It is a schematic diagram of the planar structure of the Y-axis drive assembly of the present invention.

[0018] In the figure: 1. Column, 2. Z-axis drive assembly, 3. Lifting platform, 4. Guide wheel assembly, 5. X-axis drive assembly, 6. Y-axis drive assembly, 11. Drag chain, 12. Counterweight assembly, 121. Counterweight, 122. Rubber wheel assembly 1, 123. Rubber wheel assembly 2; 21. Beam, 22. Motor, 23. Sprocket module 1, 24. Drive shaft 1, 25. Chain 1, 26. Bevel gear set 1, 27. Drive shaft, 28. Bevel gear set 2, 29. Drive shaft 2, 210. Chain 2; 41. Moving seat, 42. Movable seat, 43. Guide wheel seat, 44. Rubber-coated wheel 1, 45. Rubber-coated wheel 2, 46. Rubber-coated wheel group 3, 47. Rubber-coated wheel group 4; 51. Clamping mechanism, 52. Motor 1, 53. Movable frame, 54. Driving gear 1, 55. Driven gear 1, 56. Movable arm, 57. Motor 2, 58. Driven gear 2, 511. Cylinder, 512. Movable left clamping arm, 513. Fixed right clamping arm, 514. Cargo, 515. Elastic buffer block; 61. Guide rail, 62. Rack, 63. Rubber-coated wheel group five, 64. Fixed bracket, 65. Gear one, 66. Gear two, 67. Motor three, 68. Rubber-coated wheel group six, 69. Rubber-coated wheel group seven, 610. Connecting rod, 611. Gear three. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] See also Figure 1-Figure 3 A palletizer based on a gantry structure includes a column 1; a Z-axis drive assembly 2 is installed on the top of the column 1, a lifting platform 3 is slidably connected to the inner side of the column 1, and guide wheel groups 4 are relatively arranged on the left and right sides of the lifting platform 3, an X-axis drive assembly 5 is installed on the bottom of the lifting platform 3, and a Y-axis drive assembly 6 is arranged on the guide wheel group 4; a drag chain 11 is provided at the right end of the column 1, the bottom of the drag chain 11 is fixed to the guide wheel group 4, the drag chain 11 is slidably matched with the inner side of the right end of the column 1, and the left and right ends of the interior of the column 1 are slidable. A counterweight assembly 12 is provided; the counterweight assembly 12 includes a counterweight 121, a rubber-coated wheel group 1 122, and a rubber-coated wheel group 2 123. The counterweight 121 slides along the inner wall of the column 1. The front and rear ends of the top and bottom of the counterweight 121 are provided with a rubber-coated wheel group 122. The left and right sides of the top and bottom of the counterweight 121 are provided with a rubber-coated wheel group 2 123. The bottom of the rubber-coated wheel group 122 is bolted to the counterweight 121, and the bottom of the rubber-coated wheel group 2 123 is bolted to the counterweight 121.

[0021] In some embodiments, the counterweight 121 offsets the load of the lifting platform 3 through the chain, so that the motor 22 only needs to provide a net load force (total load - counterweight), reducing energy consumption and extending the life of the motor 22. The counterweight 121 moves along the inner wall of the column 1. The column 1 limits the movement path of the counterweight. The addition of rubber-coated wheel group 1 122 and rubber-coated wheel group 2 123 allows the counterweight 121 to make a more stable linear reciprocating motion in the column 1. The drag chain 11 is used to protect the power supply cable in frequent bending scenarios.

[0022] See also Figure 4-Figure 5A palletizer based on a gantry structure, the Z-axis drive assembly 2 includes a crossbeam 21, a motor 22, a sprocket module 23, a transmission shaft 24, a chain 25, a bevel gear set 26, a drive shaft 27, a bevel gear set 28, a transmission shaft 29, and a chain 210. The bottom of the crossbeam 21 is fixed to the column 1, the bottom of the motor 22 is bolted to the crossbeam 21, the output end of the motor 22 is connected to the right end sprocket of the sprocket module 23, the left end sprocket of the sprocket module 23 is connected to the transmission shaft 24, the transmission shaft 24 is movably connected to the left end of the crossbeam 21, the rear end of the transmission shaft 24 is provided with a bevel gear set 26, the bevel gear set 26 is connected to the left end of the drive shaft 27, the drive shaft The right end of the driving shaft 27 is connected to the bevel gear set 28 for transmission, and the bevel gear set 28 is connected to the rear end of the transmission shaft 29 for transmission. The transmission shaft 29 is movably connected to the right end of the beam 21. The transmission shaft 29 adopts the top meshing transmission of the sprocket and the chain 2 210. The transmission shaft 1 24 adopts the top meshing transmission of the sprocket and the chain 1 25. One end of the chain 1 25 is connected to the left end of the lifting platform 3, and the other end of the chain 1 25 is connected to the counterweight block 121 located at the left end of the column 1. One end of the chain 2 210 is connected to the right end of the lifting platform 3, and the other end of the chain 2 210 is connected to the counterweight block 121 located at the right end of the column 1. The beam 21 is used to serve as a horizontal supporting structure, and is usually made of high-strength steel or aluminum alloy.

[0023] In some embodiments, protective covers are provided on the left and right sides of the top of the crossbeam 21, and the motor 22, sprocket module 1 23, transmission shaft 1 24, chain 1 25, bevel gear set 1 26 are provided in the left end protective cover, and bevel gear set 2 28, transmission shaft 2 29, chain 2 210 are provided in the segmented protective cover, so as to protect the motor 22, sprocket module 1 23, transmission shaft 1 24, chain 1 25, bevel gear set 1 26 and bevel gear set 2 28, transmission shaft 2 29, chain 2 210 respectively. The structure of the sprocket module 23 is consistent with that of the bevel gear set 26. Both the sprocket module 23 and the bevel gear set 26 are composed of two groups of two groups, coordinated with a group of transmission chain. The structure of the bevel gear set 26 is consistent with that of the bevel gear set 28. It is a transmission mechanism composed of two teams of bevel gears, which is used for power transmission between intersecting axes (usually with an angle of 90 degrees). Power transmission is achieved through mutually meshing bevel gear pairs. The apexes of the pitch cones of the two gears coincide, and the motion is equivalent to the pure rolling of a pair of friction cones.

[0024] See also Figure 6-Figure 7A palletizer based on a gantry structure, the guide wheel group 4 includes a moving seat 41, a movable seat 42, a guide wheel seat 43, a rubber-coated wheel 1 44, a rubber-coated wheel 2 45, a rubber-coated wheel group 3 46, and a rubber-coated wheel group 4 47. The guide wheel group 4 slides with the right end of the column 1, the moving seat 41 is fixed to the bottom of the movable seat 42, and the movable seat 42 is movably connected to the middle of the guide wheel seat 43. The upper and lower sides of the guide wheel seat 43 are relatively provided with rubber-coated wheels 1 44 and 2 45. There are four groups of rubber-coated wheel groups 3 46 in total, and the rubber-coated wheel groups 3 46 form a group in pairs, which are relatively arranged along the upper and lower sides of the left end of the moving seat 41. There are four groups of rubber-coated wheel groups 47 in total, and the rubber-coated wheel groups 4 47 form a group in pairs, which are relatively arranged along the upper and lower sides of the right end of the moving seat 41.

[0025] In some embodiments, the movable seat 42, the guide wheel seat 43, the rubber-coated wheel 1 44, and the rubber-coated wheel 2 45 constitute a guide wheel module. There are four groups of guide wheel modules, which are arranged relatively along the four inner corners of the movable seat 41 and adopt a "seesaw" structure. The rubber-coated wheel 1 44 and the rubber-coated wheel 2 45 are connected by a rotating shaft and are arranged on the inner side of the movable seat 42. This can ensure that the two wheels are subjected to consistent force. At the same time, the force borne by each wheel is reduced by half, thereby extending the service life of the rubber-coated wheel 1 44 and the rubber-coated wheel 2 45, effectively reducing the friction between the column 1 and the movable seat 41 and limiting the position of the movable seat 41 (XY axis orientation), so that the lifting platform 3 can move more smoothly and stably along the column 1 (Z axis direction), and the lifting platform 1 will not shake or become unstable.

[0026] See also Figures 8-10 , a palletizer based on a gantry structure, the X-axis drive assembly 5 includes a clamping mechanism 51, a motor 52, a movable frame 53, a driving gear 54, a driven gear 55, a movable arm 56, a motor 2 57, and a driven gear 2 58. The movable frame 53 is installed at the right end of the interior of the lifting platform 3, the bottom of the motor 1 52 is bolted to the movable frame 53, the output end of the motor 1 52 is connected to the driving gear 1 54 for transmission, the driving gear 1 54 is meshed with the right end of the driven gear 1 55 for transmission, the driven gear 1 55 is movably connected to the interior of the movable frame 53, the bottom of the driven gear 1 55 is connected to the movable arm 56 for transmission, the movable arm 56 is bolted to the bottom of the motor 2 57, the bottom output shaft of the motor 2 57 is provided with a driving gear 2, the driving gear 2 is meshed with the driven gear 2 58 for transmission, the top of the driven gear 2 58 is movably connected to the movable arm 56, and the bottom of the driven gear 2 58 is connected to the clamping mechanism 51 for transmission.

[0027] In the present application, the clamping mechanism 51 includes a cylinder 511, a movable left clamping arm 512, a fixed right clamping arm 513, a cargo 514, and an elastic buffer block 515. The top of the cylinder 511 is connected to the driven gear 2 58 by transmission. The cylinder 511 is fixed to the right end of the movable left clamping arm 512. The cylinder 511 is connected to the top of the fixed right clamping arm 513 by bolts. The movable left clamping arm 512 and the fixed right clamping arm 513 are mutually connected. The movable left clamping arm 512 and the fixed right clamping arm 513 are symmetrically arranged, and the middle part of the movable left clamping arm 512 and the fixed right clamping arm 513 clamp the goods 514. The lower ends of the movable left clamping arm 512 and the fixed right clamping arm 513 are provided with elastic buffer blocks 515 to protect the clamped goods 514. The movable left clamping arm 512 adopts a double-plate composite structure, and the elastic buffer blocks 515 can effectively balance the contact stress and realize lateral flexibility adjustment at the same time. The cylinder 511 controls the lateral movement of the movable left clamping arm 512, and can flexibly clamp according to the size of the clamped cargo 514. The cylinder 511 is a cylinder with adjustable stroke, which can be a servo electric cylinder. The servo electric cylinder integrates a servo motor and an encoder, digitally controls the stroke, and has an accuracy of up to ±0.02mm, supporting programming of complex movements. The elastic buffer block 515 can be a polyurethane buffer block or EPDM rubber. The polyurethane buffer block has excellent wear resistance (wear <0.05cm / 1.61km), a wide hardness range (yellow 65A, blue 75A, red 85A), and an applicable temperature of -40~100℃. EPDM rubber is resistant to aging and high and low temperature (-40~100℃), with a standard thickness of 8mm (tolerance ±0.5mm), which is not limited here. The driving gear 54 and the driven gear 55 realize power transmission, speed conversion and torque control through meshing.

[0028] See also Figure 11-12A palletizer based on a gantry structure, the Y-axis drive assembly 6 includes a guide rail 61, a rack 62, a rubber-coated wheel group 5 63, a fixed frame 64, a gear 1 65, a gear 2 66, a motor 3 67, a rubber-coated wheel group 68, a rubber-coated wheel group 7 69, a connecting rod 610, and a gear 3 611. The rear end of the guide rail 61 is fixed to the guide wheel group 4, the guide rail 61 is bolted to the rear end of the rack 62, the top of the fixed frame 64 is fixed to the lifting platform 3, the rubber-coated wheel group 5 63 is bolted to the right end of the fixed frame 64, and the front top of the fixed frame 64 is bolted to the motor 3 67. The output of the motor 3 67 The left end of the rubber-coated wheel group 68 is connected to the lifting platform 3 by bolts, the bottom of the rubber-coated wheel group 68 is slidably matched with the guide rail 61, the rubber-coated wheel group 5 63 is slidably matched with the front end of the guide rail 61, the left end of the rubber-coated wheel group 7 69 is bolted to the fixing frame 64, the top of the rubber-coated wheel group 7 69 is slidably matched with the guide rail 61, and the gear 1 65 is connected to the middle part of the gear 3 611 by a connecting rod 610.

[0029] In some embodiments, the guide rail 61, the rack 62, the rubber-coated wheel group five 63, the fixing frame 64, the rubber-coated wheel group six 68, and the rubber-coated wheel group seven 69 constitute a linkage module, which is arranged at the left end of the lifting platform 3. The gear three 611 is engaged with the rack 62 in the linkage module at the left end of the lifting platform 3 for transmission. By setting the rubber-coated wheel group five 63, the rubber-coated wheel group six 68, and the rubber-coated wheel group seven 69, the three parts of the rubber-coated wheel group work together to enable the clamping mechanism 51 fixed on the lifting platform 3 to stably move back and forth along the Y direction.

[0030] To sum up, the overall workflow and specific steps are as follows: Step 1: Cargo positioning and grabbing The X / Y axis drive assembly is linked, and the driving gear 1 54 is driven by the motor 1 52 to transmit, so that the driving gear 1 54 drives the movable arm 65 to swing through the driven gear 1 55, which can adjust the gripping position of the clamping mechanism 51. Similarly, the motor 2 57 drives the driving gear 2 to transmit, so that the driving gear 2 drives the clamping mechanism 51 to rotate through the driven gear 2 58, which facilitates the clamping of the placed goods 514. At the same time, motor three 67 drives gear two 66 for transmission, and gear two 66 drives gear one 65 to mesh and rotate, so that gear one 65 and rack 62 mesh with each other, and the left and right ends of the connecting rod 610 are respectively connected to gear three 611 and gear one 65, which can synchronously transmit the drive generated by motor three 67 on the right to the left, so that the lifting platform 3 can move back and forth along the rack 62, and the clamping claw mechanism 51 can move along the Y-axis direction, and the mechanical claw is moved along the X-axis and Y-axis to just above the pickup point; The Z-axis drive assembly 2 is activated, and motor 22 rotates forward. This drives drive shaft 1 24 through sprocket module 1 23, causing drive shaft 24 to rotate synchronously with drive shaft 27 through bevel gear set 1 26. Drive shaft 27 then drives drive shaft 2 29 through bevel gear set 2 28. Drive shaft 1 24 and drive shaft 2 29, respectively, drive chain 1 25 and chain 2 210, which are simultaneously driven. One end of the chain is connected to the lifting platform 3, and the other end is connected to the counterweight 121. The counterweight 121 counteracts the load of the lifting platform 3 through the chain, allowing motor 22 to provide only the net load force (total load minus the counterweight), reducing energy consumption and extending the life of motor 22. This drives the gripper mechanism 51 vertically down to the gripping height. The pneumatic cylinder 511 of the gripper mechanism 51 is activated, and compressed air drives the movable left gripper arm 512 (a double-plate composite structure) to move laterally, cooperating with the fixed right gripper arm 513 to clamp the cargo 514. Step 2: Move the goods to the palletizing station The motor 22 of the Z-axis drive assembly 2 reverses, and the chain pulls the lifting platform 3 up to a safe height. The Y-axis drive assembly 6 starts, driving the lifting platform 3 to move along the guide rail 61 to the target stacking station. The X-axis drive assembly 5 synchronously adjusts the lateral position of the clamping mechanism 51, and precise positioning is achieved through the X-axis drive assembly 5. Step 3: Accurate stacking and release The Z-axis drive assembly 2 controls the lifting platform 3 to descend to the current pallet layer height (Z3), the cylinder 511 is depressurized, the movable left clamping arm 512 is elastically reset, and the goods 514 are stably placed on the designated position of the pallet; Step 4: Cycle operation Through the three-axis linkage of the Z-axis drive component 2, the X-axis drive component 5, and the Y-axis drive component 6, the lifting platform 3 returns to the initial position and prepares for the next round of grasping.

[0031] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A palletizer based on a gantry structure, characterized by: including a column (1); A Z-axis drive assembly (2) is installed on the top of the column (1), a lifting platform (3) is slidably connected to the inner side of the column (1), guide wheel groups (4) are relatively arranged on the left and right sides of the lifting platform (3), an X-axis drive assembly (5) is installed on the bottom of the lifting platform (3), and a Y-axis drive assembly (6) is arranged on the guide wheel group (4); A drag chain (11) is provided at the right end of the column (1), the bottom of the drag chain (11) is fixed to the guide wheel assembly (4), the drag chain (11) is slidably engaged with the inner side of the right end of the column (1), and counterweight block assemblies (12) are slidably provided at both left and right ends of the interior of the column (1); The counterweight assembly (12) includes a counterweight (121), a rubber-coated wheel group 1 (122), and a rubber-coated wheel group 2 (123). The counterweight (121) is slidably fitted along the inner wall of the column (1). The front and rear ends of the top and bottom of the counterweight (121) are both provided with the rubber-coated wheel group 1 (122). The left and right sides of the top and bottom of the counterweight (121) are provided with the rubber-coated wheel group 2 (123). The bottom of the rubber-coated wheel group 1 (122) is bolted to the counterweight (121), and the bottom of the rubber-coated wheel group 2 (123) is bolted to the counterweight (121).

2. The gantry-structured palletizer according to claim 1, characterized in that: The Z-axis drive assembly (2) comprises a crossbeam (21), a motor (22), a sprocket module (23), a transmission shaft (24), a chain (25), a bevel gear set (26), a drive shaft (27), a bevel gear set (28), a transmission shaft (29), and a chain (210). The bottom of the crossbeam (21) is fixed to the column (1). The bottom of the motor (22) is bolted to the crossbeam (21). The output end of the motor (22) is transmission-connected to the right sprocket of the sprocket module (23). The left sprocket of the sprocket module (23) is transmission-connected to the transmission shaft (24). The transmission shaft (24) is movably connected to the left end of the crossbeam (21). The rear end of the transmission shaft (24) is provided with a bevel gear set (26). The bevel gear set (26) is connected to the drive shaft (21). The left end of the shaft (27) is connected for transmission, the right end of the drive shaft (27) is connected for transmission with the bevel gear set 2 (28), the bevel gear set 2 (28) is connected for transmission with the rear end of the transmission shaft 2 (29), the transmission shaft 2 (29) is movably connected with the right end of the crossbeam (21), the transmission shaft 2 (29) adopts the top meshing transmission of the sprocket and the chain 2 (210), the transmission shaft 1 (24) adopts the top meshing transmission of the sprocket and the chain 1 (25), one end of the chain 1 (25) is connected to the left end of the lifting platform (3), the other end of the chain 1 (25) is connected to the counterweight (121) located at the left end of the column (1), one end of the chain 2 (210) is connected to the right end of the lifting platform (3), and the other end of the chain 2 (210) is connected to the counterweight (121) located at the right end of the column (1).

3. The palletizer based on a gantry structure according to claim 1, characterized in that: Protective covers are provided on the left and right sides of the top of the crossbeam (21), and the motor (22), sprocket module 1 (23), transmission shaft 1 (24), chain 1 (25), and bevel gear group 1 (26) are provided in the left end protective cover, and bevel gear group 2 (28), transmission shaft 2 (29), and chain 2 (210) are provided in the segmented protective cover.

4. The palletizer based on a gantry structure according to claim 1, characterized in that: The guide wheel group (4) includes a movable seat (41), a movable seat (42), a guide wheel seat (43), a rubber-coated wheel 1 (44), a rubber-coated wheel 2 (45), a rubber-coated wheel group 3 (46), and a rubber-coated wheel group 4 (47). The guide wheel group (4) is slidably matched with the right end of the column (1). The movable seat (41) is fixed to the bottom of the movable seat (42). The movable seat (42) is movably connected to the middle of the guide wheel seat (43). The guide wheel seat (43) is provided with rubber-coated wheel 1 (44) and rubber-coated wheel 2 (45) on the upper and lower sides thereof. The rubber-coated wheel group 3 (46) is provided with four groups in total, and the rubber-coated wheel group 3 (46) is provided in pairs and is provided in pairs along the upper and lower sides of the left end of the movable seat (41). The rubber-coated wheel group 4 (47) is provided with four groups in total, and the rubber-coated wheel group 4 (47) is provided in pairs and is provided in pairs along the upper and lower sides of the right end of the movable seat (41).

5. The palletizer based on the gantry structure according to claim 4, characterized in that: The movable seat (42), the guide wheel seat (43), the first rubber-coated wheel (44), and the second rubber-coated wheel (45) mutually constitute a guide wheel module. There are four groups of guide wheel modules, which are arranged opposite to each other along the four inner corners of the movable seat (41).

6. The palletizer based on a gantry structure according to claim 1, characterized in that: The X-axis driving assembly (5) includes a clamping mechanism (51), a motor 1 (52), a movable frame (53), a driving gear 1 (54), a driven gear 1 (55), a movable arm (56), a motor 2 (57), and a driven gear 2 (58). The movable frame (53) is installed at the right end of the interior of the lifting platform (3). The bottom of the motor 1 (52) is bolted to the movable frame (53). The output end of the motor 1 (52) is transmission-connected to the driving gear 1 (54). The driving gear 1 (54) is connected to the right end of the driven gear 1 (55). Meshing transmission, the driven gear 1 (55) is movably connected to the inside of the movable frame (53), the bottom of the driven gear 1 (55) is transmission-connected to the movable arm (56), the movable arm (56) is bolted to the bottom of the motor 2 (57), the bottom output shaft of the motor 2 (57) is provided with a driving gear 2, the driving gear 2 is meshed with the driven gear 2 (58), the top of the driven gear 2 (58) is movably connected to the movable arm (56), and the bottom of the driven gear 2 (58) is transmission-connected to the clamping mechanism (51).

7. The gantry-structured palletizer according to claim 6, characterized in that: The clamping mechanism (51) includes a cylinder (511), a movable left clamping arm (512), a fixed right clamping arm (513), cargo (514), and an elastic buffer block (515). The top of the cylinder (511) is transmission-connected to the second driven gear (58). The cylinder (511) is fixed to the right end of the movable left clamping arm (512). The cylinder (511) is bolted to the top of the fixed right clamping arm (513).

8. The gantry-structured palletizer according to claim 7, characterized in that: The movable left clamping arm (512) and the fixed right clamping arm (513) are symmetrically arranged with each other, and the middle parts of the movable left clamping arm (512) and the fixed right clamping arm (513) clamp goods (514), and the lower ends of the movable left clamping arm (512) and the fixed right clamping arm (513) are both provided with elastic buffer blocks (515).

9. The palletizer based on a gantry structure according to claim 1, characterized in that: The Y-axis driving assembly (6) includes a guide rail (61), a rack (62), a rubber-coated wheel group five (63), a fixing frame (64), a gear one (65), a gear two (66), a motor three (67), a rubber-coated wheel group six (68), a rubber-coated wheel group seven (69), a connecting rod (610), and a gear three (611). The rear end of the guide rail (61) is fixed to the guide wheel group (4). The guide rail (61) is bolted to the rear end of the rack (62). The top of the fixing frame (64) is fixed to the lifting platform (3). The rubber-coated wheel group five (63) is bolted to the right end of the fixing frame (64). The front top of the fixing frame (64) is bolted to the motor three (67). The output end of the motor three (67) is connected to the gear two ( 66) transmission connection, the gear 2 (66) is meshed with the top of the gear 1 (65) for transmission, the left end of the gear 1 (65) is movably connected to the fixed frame (64), the bottom of the gear 1 (65) is meshed with the rack (62) for transmission, the left end of the rubber-coated wheel group 6 (68) is bolted to the lifting platform (3), the bottom of the rubber-coated wheel group 6 (68) is slidably matched with the guide rail (61), the rubber-coated wheel group 5 (63) is slidably matched with the front end of the guide rail (61), the left end of the rubber-coated wheel group 7 (69) is bolted to the fixed frame (64), the top of the rubber-coated wheel group 7 (69) is slidably matched with the guide rail (61), and the gear 1 (65) adopts a connecting rod (610) to transmit the middle part of the gear 3 (611).

10. The gantry-structured palletizer according to claim 9, characterized in that: The guide rail (61), the rack (62), the rubber-coated wheel group five (63), the fixing frame (64), the rubber-coated wheel group six (68), and the rubber-coated wheel group seven (69) mutually constitute a linkage module, and the linkage module is arranged at the left end of the lifting platform (3). The gear three (611) is meshed with the rack (62) in the linkage module at the left end of the lifting platform (3) for transmission.

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