Stacking and carrying equipment

Abstract

The utility model discloses a palletizing and carrying device which comprises a gripper assembly which comprises two grippers used for clamping pallets and two gripper driving units used for driving the two grippers to be opened or closed. The Z-direction moving assembly comprises a longitudinal beam connected with the gripper assembly and a longitudinal driving unit for driving the longitudinal beam to move in the Z-axis direction; the Y-direction moving assembly is used for driving the Z-direction moving assembly to move in the Y-axis direction and comprises a first fixing base connected with the longitudinal driving unit, a first horizontal driving unit for driving the first fixing base to move in the Y-axis direction and a horizontal connecting plate, and the first horizontal driving unit is fixed to the horizontal connecting plate; the X-direction moving assembly is used for driving the Y-direction moving assembly to move in the X-axis direction and comprises a second horizontal driving unit connected with the horizontal connecting plate; the X-direction moving assembly is fixed to the top of the support. The material bag conveying device can achieve automatic conveying of material bags, and is simple and compact in structure and convenient to maintain in the later period.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a palletizing and handling equipment. Background Art

[0002] Kitchen waste, commonly known as swill, swill, or swill, is a general term for restaurant waste and kitchen waste. It is mainly domestic waste generated by residents in the process of daily consumption. It is the most important type of food waste, including food processing scraps (kitchen waste) and edible residues (swill) from families, schools, canteens, and the catering industry. Its composition is complex, mainly a mixture of oil, water, fruit peels, vegetables, rice, fish, meat, bones, as well as waste tableware, plastic, paper towels and other substances. The characteristics of kitchen waste are that it is easy to rot and deteriorate, emits a foul odor, and spreads bacteria and viruses.

[0003] Organic materials such as fruit peels, vegetables, rice and flour in kitchen waste can be recycled and reused to form organic fertilizer, thus realizing resource recycling. In the process of converting kitchen waste into organic fertilizer, the fertilizer packaging line at the end usually adopts manual handling after automatic bagging, and the efficiency of manual handling and palletizing is low. There are also robots for handling. For example, the Chinese utility model patent with publication number CN215401661U discloses a handling and palletizing robot. The use of a handling and palletizing robot for handling can improve the handling efficiency and reduce the dependence on manual labor. However, this handling and palletizing robot has a complex structure and is expensive. It needs to be repaired by professionals in the later stage, resulting in high maintenance costs in the later stage. At the same time, the turning radius of this handling and palletizing robot is large, resulting in space waste. Utility Model Content

[0004] In order to solve at least one technical problem of the prior art, the utility model provides a palletizing and handling device which can automatically complete the handling of pallets.

[0005] In order to achieve the above-mentioned utility model object, the technical solution adopted by the utility model is: a palletizing and handling device, including: a gripper assembly, including two grippers for clamping material bags and two gripper driving units for driving the two grippers to open or close;

[0006] A Z-direction moving assembly, used for driving the gripper assembly to move along the Z-axis direction, comprising a longitudinal beam connected to the gripper assembly and a longitudinal driving unit driving the longitudinal beam to move along the Z-axis direction;

[0007] A Y-axis moving assembly, used to drive the Z-axis moving assembly to move along the Y-axis direction, comprising a first fixing seat connected to the longitudinal driving unit, a first horizontal driving unit driving the first fixing seat to move along the Y-axis direction, and a horizontal connecting plate, wherein the first horizontal driving unit is fixed to the horizontal connecting plate;

[0008] An X-axis moving assembly, used for driving the Y-axis moving assembly to move along the X-axis direction, comprising a second horizontal driving unit connected to the horizontal connecting plate; and

[0009] The bracket has the X-axis moving component fixed on the top of the bracket.

[0010] In certain embodiments, the gripper assembly further includes two second connecting plates fixed to the bottom of the longitudinal beam;

[0011] The two gripper drive units are respectively fixed on the two second connecting plates, and the gripper drive unit includes a starting actuator, a push plate and a rotating shaft, the rotating shaft is rotatably arranged below the second connecting plate, the starting actuator is fixed above the second connecting plate, the push plate is a triangular plate, a connection hinge of the push plate is rotatably connected to the starting actuator, and a connection hinge of the push plate is fixedly connected to the rotating shaft;

[0012] The gripper is fixedly connected to the rotating shaft.

[0013] In some embodiments, the gripper includes a first fixed plate, two connecting arms fixedly connected to the first fixed plate and extending from the upper end of the first fixed plate, and a plurality of clamping portions fixedly connected to the first fixed plate and extending from the lower end of the first fixed plate, the clamping portions being in a "〈" or "〉" shape, and the connecting arms being fixedly connected to the gripper drive unit.

[0014] In some embodiments, the longitudinal drive unit includes a rack, a gear and a first drive motor, the rack is fixed on the longitudinal beam and extends along the length direction of the longitudinal beam, the gear is fixed on the output shaft of the first drive motor and meshes with the rack, and the first drive motor is fixed on the first fixed seat.

[0015] In some embodiments, the Z-axis moving assembly also includes a linear guide and a drag chain, the linear guide includes a guide rail and a slider, the guide rail is fixedly connected to the first fixed seat, the slider is slidably connected to the longitudinal beam, and one end of the drag chain is fixedly connected to the longitudinal beam and the other end is connected to the first fixed seat.

[0016] In some embodiments, the first horizontal drive unit includes a second drive motor, a first driving wheel, a first driven wheel and a first synchronous belt, the second drive motor and the first driven wheel are respectively arranged at two ends of the horizontal connecting plate, the first driving wheel is fixed on the output shaft of the second drive motor and is connected to the first driven wheel through the first synchronous belt, and the first synchronous belt is fixedly connected to the first fixed seat.

[0017] In some embodiments, the Y-axis moving assembly further includes two first slideways fixed on the horizontal connecting plate and two first sliders respectively slidably connected to the two first slideways, and the upper ends of the first sliders are fixedly connected to the first fixing seat;

[0018] The first synchronous belt is arranged between two first slideways.

[0019] In some embodiments, the second horizontal drive unit includes a third drive motor, a second driving wheel, a second driven wheel and a second synchronous belt, the third drive motor and the second driven wheel are respectively arranged at both ends of the bracket in the X direction, the second driving wheel is fixed to the output shaft of the third drive motor and is connected to the second driven wheel through the second synchronous belt, and the second driven wheel is fixedly connected to the horizontal connecting plate.

[0020] In some embodiments, the X-axis moving assembly also includes two second slides and two second sliders respectively slidably connected to the two second slides, the two second slides are respectively fixed at both ends of the bracket in the Y direction, and the second sliders are fixed below the horizontal connecting plate.

[0021] In some embodiments, the palletizing and handling equipment also includes a motor conveying assembly, which is partially disposed on the bracket, and the motor conveying assembly includes a conveying bracket, two roller support seats fixed on the top of the conveying bracket, a plurality of rollers disposed between the two roller support seats and rotatably connected to the roller support seats, a plurality of driven sprockets fixed on the rollers, a third motor fixed on the conveying bracket, a driving sprocket disposed on the output shaft of the third motor, and a chain connecting the driven sprocket and the driving sprocket.

[0022] The beneficial effects of the utility model are:

[0023] The utility model grabs the material bag by the gripper assembly, and drives the gripper assembly to move by the Z-moving assembly, the Y-moving assembly and the X-moving assembly to complete the automatic transportation of the material bag. The utility model has good flexibility, simple and compact structure, convenient later maintenance without the need for professional personnel, low prevention and maintenance costs, and high space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The overall structure of a palletizing and handling device of the utility model is schematically shown;

[0025] Figure 2 A schematic diagram of the partial structure of a palletizing and handling device of the utility model Figure 1 ;

[0026] Figure 3A schematic diagram of the partial structure of a palletizing and handling device of the utility model Figure 2 . DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] In this application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the utility model and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0030] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this utility model can be understood according to specific circumstances.

[0031] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0032] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] Reference Figures 1 to 3 The utility model provides a palletizing and handling device, including a bracket 1, an X-axis moving component 2 fixed on the top of the bracket 1, a Y-axis moving component 3 connected to the X-axis moving component 2, a Z-axis moving component 4 connected to the Y-axis moving component 3, and a gripper component 5 connected to the Z-axis moving component 4, wherein the gripper component 5 is used to grab a material bag, the Z-axis moving component 4 is used to drive the gripper component 5 to move along the Z-axis direction, the Y-axis moving component 3 is used to drive the Z-axis moving component 4 to move along the Y-axis direction, and the X-axis moving component 2 is used to drive the Y-axis moving component 3 to move along the X-axis direction.

[0034] In some embodiments, the bracket 1 includes four vertically arranged support columns 11, and two first support beams 12 and two second support beams 13 fixed on the top of the four support columns 11, wherein the first support beam 12 extends along the Y-axis direction and the second support beam 13 extends along the X-axis direction.

[0035] Furthermore, the bracket 1 also includes two enclosures 14, the upper sides of the two enclosures 14 are fixedly connected to the two first support beams 12, and the two side sides of the two enclosures 14 are connected to the two support columns 11. The enclosures are used to block people from entering the bracket 1, to prevent people from entering the bracket 1 and affecting the operation of the stacking and handling equipment, and to prevent the stacking and handling equipment from causing harm to people who accidentally enter the bracket 1 during operation.

[0036] As a preferred embodiment, the palletizing and handling equipment also includes two pairs of infrared mutual beam fences 8 and an alarm 9. The two pairs of infrared mutual beam fences 8 are respectively fixed to the outside of four support columns 11 through four mounting brackets 15. The infrared mutual beam fences 8 are used to detect whether there is a person approaching the bracket 1 when the palletizing and handling equipment is running. When the infrared mutual beam fences 8 detect that a person is approaching the bracket 1, the alarm 9 sounds an alarm. The infrared mutual beam fences 8 and the alarm 9 can further improve the safety of the palletizing and handling equipment.

[0037] In some embodiments, the gripper assembly 5 includes two grippers 50 for clamping material bags, two gripper drive units 53 for driving the two grippers 50 to open or close, and two second connecting plates 52, and the gripper drive units 53 are respectively fixed on the two second connecting plates 52.

[0038] Specifically, the second connecting plate 52 is provided with an active through slot 520 penetrating the second connecting plate 52 in the thickness direction, and the active through slot 520 is in the shape of an elongated strip. The gripper driving unit 53 includes a starting actuator 531, a push plate 532, and a rotating shaft 533, wherein the rotating shaft 533 is rotatably arranged below the second connecting plate 52, the starting actuator 531 is fixed above the second connecting plate 52, the push plate 532 is in the shape of an elongated cam, the push plate 532 is movably arranged in the active through slot 520 and exposed from the upper and lower surfaces of the second connecting plate 52, a connection hinge of the push plate 532 is rotatably connected to the starting actuator 531, and a connection hinge of the push plate 532 is fixedly connected to the rotating shaft 533. The gripper 50 is fixedly connected to the rotating shaft 533, and the push plate 532 is driven to rotate along the axis of the rotating shaft 533 by starting the actuator 531, thereby driving the rotating shaft 533 to rotate around its axis, and then driving the gripper 50 to rotate, so that the two grippers 50 are closed or opened to complete the grabbing and releasing of the material bag. The actuator 531 can be a cylinder.

[0039] Furthermore, the gripper 50 includes a first fixed plate 502, two connecting arms 501 fixedly connected to the first fixed plate 502 and extending from the upper end of the first fixed plate 502, and a plurality of clamping portions 503 fixedly connected to the first fixed plate 502 and extending from the lower end of the first fixed plate 502, the clamping portions 503 are in a "〈" or "〉" shape, and the connecting arms 501 are rotatably connected to the gripper drive unit 53.

[0040] In some embodiments, the gripper assembly 5 further includes two parallel first connecting plates 51, which are fixedly connected to the Z-direction moving assembly 4. The second connecting plate 52 is fixed below the two first connecting plates 51, and the two second connecting plates 52 are respectively disposed at both ends of the first connecting plate 51.

[0041] In some embodiments, the gripper assembly 5 further includes two electric cylinders 54 respectively fixed on the two second connecting plates 52 and two pressing plates 55 respectively connected to the two electric cylinders 54, and the two electric cylinders 54 are arranged between the two grippers 50. When grabbing a material bag, the electric cylinder 54 can drive the pressing plate 55 to press the material bag clamped by the gripper 50 to prevent the material bag from deforming upward and being loosely grasped.

[0042] In some embodiments, the Z-axis moving assembly 4 includes a longitudinal beam 42 connected to two first connecting plates 51 and a longitudinal driving unit 43 driving the longitudinal beam to move along the Z-axis direction.

[0043] The longitudinal drive unit 43 includes a rack 433, a gear 432 and a first drive motor 431. The rack 433 is fixed on the longitudinal beam 42 and extends along the length direction of the longitudinal beam 42. The gear 432 is fixed on the output shaft of the first drive motor 431 and meshes with the rack 433. The first drive motor 431 is fixed on the first fixed seat 35.

[0044] In some embodiments, the Z-axis moving component 4 also includes a linear guide 41 and a drag chain 36, the linear guide 41 includes a guide rail and a slider, the guide rail is fixedly connected to the first fixed seat 35, the slider is slidably connected to the longitudinal beam 42, one end of the drag chain 36 is fixedly connected to the longitudinal beam 42 and the other end is connected to the first fixed seat 35.

[0045] Preferably, an anti-slip stopper is provided at the lower end of the guide rail to prevent the longitudinal beam 42 from escaping from the guide rail.

[0046] In some embodiments, the Y-axis moving component 3 includes a first fixed base 35 connected to the longitudinal driving unit 43, a first horizontal driving unit 34 driving the first fixed base 35 to move along the Y-axis direction, and a horizontal connecting plate 31, and the first horizontal driving unit 34 is fixed on the horizontal connecting plate 31.

[0047] The first horizontal driving unit 34 includes a second driving motor 341, a first driving wheel 342, a first driven wheel 343 and a first synchronous belt 344. The second driving motor 341 and the first driven wheel 343 are respectively arranged at two ends of the horizontal connecting plate 31. The first driving wheel 342 is fixed on the output shaft of the second driving motor 341 and is connected to the first driven wheel 343 through the first synchronous belt 344. The first synchronous belt 344 is fixedly connected to the first fixed seat 35.

[0048] In some embodiments, the Y-axis moving component 3 also includes two first slides 32 fixed on the horizontal connecting plate 31 and two first sliders 33 respectively slidably connected to the two first slides 32, and the upper end of the first slider 33 is fixedly connected to the first fixed seat 35; the first synchronous belt 344 is arranged between the two first slides 32.

[0049] In some embodiments, the X-axis moving assembly 2 includes a second horizontal driving unit 23 connected to the horizontal connecting plate 31 .

[0050] The second horizontal driving unit 23 includes a third driving motor 231, a second driving wheel 232, a second driven wheel 233 and a second synchronous belt 234. The third driving motor 231 and the second driven wheel 233 are respectively arranged at two ends of a second support beam 13. The second driving wheel 232 is fixed on the output shaft of the third driving motor 231 and is connected to the second driven wheel 233 through the second synchronous belt 234. The second driven wheel 233 is fixedly connected to the horizontal connecting plate 31.

[0051] In some embodiments, the X-axis moving assembly 2 also includes two second slides 21 and two second sliders 22 respectively slidably connected to the two second slides 21, the two second slides 21 are respectively fixed on the two first support beams 12 of the bracket, and the second sliders 22 are fixed under the horizontal connecting plate 31.

[0052] In some embodiments, the palletizing and handling equipment also includes a motor conveying assembly 6, which is partially disposed on the bracket 1. The motor conveying assembly 6 includes a conveying bracket 61, two roller support seats 62 fixed on the top of the conveying bracket 61, a plurality of rollers 63 disposed between the two roller support seats 62 and rotatably connected to the roller support seats 62, a plurality of driven sprockets 64 fixed on the rollers 63, a third motor fixed on the conveying bracket 61, a driving sprocket disposed on the output shaft of the third motor, and a chain connecting the driven sprocket 64 and the driving sprocket.

[0053] In some embodiments, the palletizing and handling equipment further comprises a grid plate 7 for placing material packages.

[0054] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to the above embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the above embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A palletizing and handling equipment, characterized in that: include: A gripper assembly (5), comprising two grippers (50) for gripping a material bag and two gripper drive units (53) for driving the two grippers (50) to open or close; A Z-direction moving assembly (4) is used to drive the gripper assembly (5) to move along the Z-axis direction, comprising a longitudinal beam (42) connected to the gripper assembly (5) and a longitudinal driving unit (43) for driving the longitudinal beam to move along the Z-axis direction; A Y-direction moving assembly (3) is used to drive the Z-direction moving assembly (4) to move along the Y-axis direction, comprising a first fixed seat (35) connected to the longitudinal driving unit (43), a first horizontal driving unit (34) driving the first fixed seat (35) to move along the Y-axis direction, and a horizontal connecting plate (31), wherein the first horizontal driving unit (34) is fixed on the horizontal connecting plate (31); An X-direction moving assembly (2), used for driving the Y-direction moving assembly (3) to move along the X-axis direction, comprising a second horizontal driving unit (23) connected to the horizontal connecting plate (31); as well as A bracket (1), wherein the X-axis moving component (2) is fixed on the top of the bracket (1).

2. The palletizing and handling equipment according to claim 1, characterized in that: The gripper assembly (5) further comprises two second connecting plates (52) for fixing the bottom of the longitudinal beam (42); The two gripper drive units (53) are respectively fixed on the two second connecting plates (52), and the gripper drive unit (53) comprises a starting actuator (531), a pushing plate (532) and a rotating shaft (533), wherein the rotating shaft (533) is rotatably arranged below the second connecting plate (52), the starting actuator (531) is fixed above the second connecting plate (52), a connecting hinge of the pushing plate (532) is rotatably connected to the starting actuator (531), and a connecting hinge of the pushing plate (532) is fixedly connected to the rotating shaft (533); The gripper (50) is fixedly connected to the rotating shaft (533).

3. The palletizing and handling equipment according to claim 1, characterized in that: The gripper (50) comprises a first fixing plate (502), two connecting arms (501) fixedly connected to the first fixing plate (502) and extending from the upper end of the first fixing plate (502), and a plurality of clamping portions (503) fixedly connected to the first fixing plate (502) and extending from the lower end of the first fixing plate (502), wherein the clamping portions (503) are in a "〈" or "〉" shape, and the connecting arms (501) are fixedly connected to the gripper drive unit (53).

4. The palletizing and handling equipment according to claim 1, characterized in that: The longitudinal drive unit (43) comprises a rack (433), a gear (432) and a first drive motor (431); the rack (433) is fixed on the longitudinal beam (42) and extends along the length direction of the longitudinal beam (42); the gear (432) is fixed on the output shaft of the first drive motor (431) and meshes with the rack (433); and the first drive motor (431) is fixed on the first fixing seat (35).

5. The palletizing and handling equipment according to claim 4, characterized in that: The Z-axis moving assembly (4) further comprises a linear guide rail (41) and a drag chain (36), wherein the linear guide rail (41) comprises a guide rail and a slider, wherein the guide rail is fixedly connected to the first fixed seat (35), the slider is slidably connected to the longitudinal beam (42), and one end of the drag chain (36) is fixedly connected to the longitudinal beam (42) and the other end is connected to the first fixed seat (35).

6. The palletizing and handling equipment according to claim 1, characterized in that: The first horizontal driving unit (34) comprises a second driving motor (341), a first driving wheel (342), a first driven wheel (343) and a first synchronous belt (344); the second driving motor (341) and the first driven wheel (343) are respectively arranged at two ends of the horizontal connecting plate (31); the first driving wheel (342) is fixed on the output shaft of the second driving motor (341) and connected to the first driven wheel (343) via the first synchronous belt (344); the first synchronous belt (344) is fixedly connected to the first fixing seat (35).

7. The palletizing and handling equipment according to claim 6, characterized in that: The Y-direction moving assembly (3) further comprises two first slideways (32) fixed on the horizontal connecting plate (31) and two first sliding blocks (33) respectively slidably connected to the two first slideways (32), and the upper ends of the first sliding blocks (33) are fixedly connected to the first fixing seat (35); The first synchronous belt (344) is arranged between the two first slideways (32).

8. The palletizing and handling equipment according to claim 1, characterized in that: The second horizontal driving unit (23) comprises a third driving motor (231), a second driving wheel (232), a second driven wheel (233) and a second synchronous belt (234); the third driving motor (231) and the second driven wheel (233) are respectively arranged at two ends of the bracket (1) in the X direction; the second driving wheel (232) is fixed on the output shaft of the third driving motor (231) and connected to the second driven wheel (233) via the second synchronous belt (234); and the second driven wheel (233) is fixedly connected to the horizontal connecting plate (31).

9. The palletizing and handling equipment according to claim 1, characterized in that: The X-direction moving assembly (2) further comprises two second slideways (21) and two second sliders (22) respectively slidably connected to the two second slideways (21); the two second slideways (21) are respectively fixed at two ends of the bracket (1) in the Y direction; and the second sliders (22) are fixed below the horizontal connecting plate (31).

10. The palletizing and handling equipment according to any one of claims 1 to 9, characterized in that: The stacking and handling equipment further comprises a motor conveying assembly (6), wherein the motor conveying assembly (6) is partially arranged on the bracket (1), and the motor conveying assembly (6) comprises a conveying bracket (61), two roller support seats (62) fixed on the top of the conveying bracket (61), a plurality of rollers (63) arranged between the two roller support seats (62) and rotatably connected to the roller support seats (62), a plurality of driven sprockets (64) fixed on the rollers (63), a third motor fixed on the conveying bracket (61), a driving sprocket arranged on the output shaft of the third motor, and a chain connecting the driven sprocket (64) and the driving sprocket.

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