A palletizing system

Abstract

The present invention provides a palletizing system, comprising a processing module and a handling module, wherein the processing module comprises a processing part, a loading and conveying part and a unloading and conveying part; the loading and conveying part and the unloading and conveying part are arranged on the same side of the processing part; the loading and conveying part is used to convey unprocessed workpieces into the processing part; the processing part is used to process the workpieces located inside it; the unloading and conveying part is used to convey the processed workpieces to the outside of the processing part; the handling module is used to place the unprocessed workpieces on the loading and conveying part, and is also used to take out the processed workpieces and stack them, and the handling of the unprocessed workpieces and the processed workpieces of the palletizing system is integrated into the handling module, so as to facilitate the maintenance of the palletizing system.

Description

Technical Field

[0001] The invention belongs to the technical field of transporting and palletizing, and more specifically, relates to a palletizing system. Background Art

[0002] The palletizing system usually stacks the processed workpieces together. The palletizing system includes a loading module, a handling module, a processing module and a unloading module. The loading module stacks the unprocessed workpieces together. The handling module is used to transport the workpieces on the loading module to the processing module one by one. The processing module then transports the processed workpieces to one side of the unloading module. The unloading module takes out the processed workpieces and stacks them in a preset area. The handling module and the unloading module need to be maintained separately, so the maintenance of the palletizing system is very troublesome. Summary of the invention

[0003] The object of the present invention is to provide a palletizing system to solve the technical problem of maintaining the palletizing system in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a palletizing system, including a processing module and a handling module, wherein the processing module includes a processing part, a loading and conveying part, and a unloading and conveying part;

[0005] The loading conveying part and the unloading conveying part are arranged on the same side of the processing part;

[0006] The loading and conveying part is used to convey the unprocessed workpiece into the processing part;

[0007] The processing part is used to process the workpiece located inside the processing part;

[0008] The unloading and conveying part is used to convey the processed workpiece to the outside of the processing part;

[0009] The handling module is used to place the unprocessed workpiece on the loading and conveying part, and is also used to take out the processed workpiece and stack it.

[0010] Furthermore, the loading and conveying part is arranged above the unloading and conveying part.

[0011] Furthermore, the processing module also includes a material shortage sensing component, which is arranged on the loading and conveying part, and is used to detect whether there are unprocessed workpieces on the loading and conveying part, and send a first working signal when it is detected that there are unprocessed workpieces on the loading and conveying part; send a second working signal when it is detected that there are no unprocessed workpieces on the loading and conveying part.

[0012] Furthermore, the processing module also includes a full-material sensing component, which is arranged on the unloading conveying part and is used to detect whether there is a processed workpiece on the loading conveying part, and sends a third working signal when it is detected that there is a processed workpiece on the unloading conveying part; and sends a fourth working signal when it is detected that there is no processed workpiece on the loading conveying part.

[0013] Furthermore, the palletizing system also includes a safety protection module, which includes a protection net assembly and a protection door. The loading and conveying part, the unloading and conveying part and the handling module are located in the protection net assembly, and the processing part is located on the outside of the protection net assembly. The protection net assembly is provided with an entrance and exit, and the protection door is arranged on the protection net assembly, and the protection door is used to open or close the entrance and exit.

[0014] Furthermore, the palletizing system further comprises a loading pallet assembly, on which a preset position is provided, and the preset position is used to stack the unprocessed workpieces;

[0015] The loading pallet assembly includes a first loading pallet, a second loading pallet and a third loading pallet. The first loading pallet and the second loading pallet are arranged opposite to each other and are respectively fixed at two ends of the third loading pallet.

[0016] Furthermore, the loading pallet assembly also includes a first in-place detection assembly, which is arranged on the loading pallet assembly and is used to detect whether the workpiece is located at the preset position, and sends a first in-place signal when it is detected that the workpiece is located at the preset position, and sends a second in-place signal when it is detected that the workpiece is not located at the preset position.

[0017] Furthermore, the palletizing system further comprises a blanking pallet assembly, on which a placement position is provided, and the placement position is used to stack the processed workpieces;

[0018] The blanking pallet assembly includes a first blanking pallet, a second blanking pallet and a third blanking pallet. The first blanking pallet and the second blanking pallet are arranged opposite to each other and are respectively fixed at two ends of the third blanking pallet.

[0019] Furthermore, the unloading pallet assembly also includes a second in-place detection assembly, which is arranged on the unloading pallet assembly and is used to detect whether the processed workpiece is located at the placement position, and sends a third in-place signal when it is detected that the workpiece is located at the placement position, and sends a fourth in-place signal when it is detected that the workpiece is not located at the placement position.

[0020] Furthermore, the handling module includes a multi-axis robotic arm and a clamp;

[0021] The clamp comprises a sponge suction cup structure; the sponge suction cup structure comprises a mounting piece and a sponge suction cup assembly;

[0022] The mounting piece is mounted on a movable part fixed to the multi-axis robotic arm;

[0023] The sponge suction cup assembly comprises a fixing part and a sponge suction cup part, wherein the sponge suction cup part is arranged on the fixing part, and the fixing part is arranged on the mounting part.

[0024] Furthermore, the fixture further comprises a material drop detection structure, which is used to detect a workpiece that is separated from the suction space of the sponge suction cup;

[0025] The material drop detection structure includes a mounting bracket, a material drop detection sensor and a controller;

[0026] The mounting bracket is arranged on the fixing member, and the controller is electrically connected to the material drop detection sensor;

[0027] The material drop detection sensor is arranged on the mounting bracket.

[0028] Furthermore, the sponge suction cup assembly also includes an adjusting part, which includes a fixed part and an adjusting part arranged on the fixed part, the fixed part is arranged on the mounting bracket, the material drop detection sensor is fixed on the adjusting part, and the adjusting part is used to drive the material drop detection sensor away from or close to one side of the suction space.

[0029] Furthermore, the sponge suction cup assembly also includes an air blowing device, the air blowing part of the air blowing device is installed on the fixing member, and the air blowing end of the air blowing device faces the suction space.

[0030] Furthermore, the clamp further comprises a buffer mechanism, the buffer mechanism comprises a guide mechanism and an elastic member, and the guide mechanism is fixed to the fixing member or to the mounting member;

[0031] When the guide mechanism is fixed on the fixing member, the guide mechanism is slidably arranged on the mounting member;

[0032] When the guide mechanism is fixed on the mounting member, the guide mechanism is slidably arranged on the fixing member;

[0033] The elastic member is arranged between the fixing member and the mounting member, and is used for providing a buffer between the mounting member and the fixing member.

[0034] Furthermore, the sponge suction cup structure also includes a first vacuum control device, which is arranged on the sponge suction cup structure and avoids the suction space. The first vacuum control device includes a first vacuum air-controlled valve and a first electric control box. The first vacuum air-controlled valve is connected to the suction hole of the sponge suction cup, and the first vacuum air hole valve is electrically connected to the first electric control box. The first vacuum control device is used to control the opening or closing of the suction hole.

[0035] Furthermore, the sponge suction cup assembly is provided with at least two, the sponge suction cup structure also includes a second vacuum control device, the second vacuum control device is arranged on the sponge suction cup structure and avoids the suction space, the second vacuum control device includes a connecting pipe, a second vacuum air-controlled valve and a second electric control box, the connecting pipe is simultaneously connected to the suction holes of all the sponge suction cup components, any of the sponge suction cup components is provided with a connecting hole, the connecting hole is connected to the ventilation end of the second vacuum air-controlled valve, and the second vacuum air-controlled valve is electrically connected to the second electric control box.

[0036] Furthermore, the palletizing system also includes an emergency module, which includes a detection device and an alarm device. The processing module, the handling module and the alarm device are electrically connected to the detection device. The detection device is used to detect whether the processing module and / or the handling module are in an abnormal state. If the processing module and / or the handling module are detected to be in an abnormal state, the alarm device is turned on; if the processing module and / or the handling module are detected to be in no abnormal state, the alarm device is turned off.

[0037] Furthermore, the palletizing system also includes a reservation production module, which includes a reservation device, a reservation start device and a reservation emergency stop device. The processing module, the handling module, the reservation start device and the reservation emergency stop device are electrically connected to the reservation device. The reservation device is used to send reservation information to the processing module and the handling module, the reservation start device is used to control the reservation device to send the reservation information, and the reservation emergency stop device is used to send emergency stop information to the processing module and the handling module.

[0038] The beneficial effect of a palletizing system provided by the present invention is that, compared with the prior art, one transport module can be used to load and unload materials to a processing module, and the transport module can also stack the removed workpieces. The palletizing system does not require multiple transport modules to work simultaneously, which reduces the number of transport modules and facilitates maintenance of the transport modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 A schematic diagram of a palletizing system provided in an embodiment of the present invention Figure 1 ;

[0041] Figure 2 A schematic diagram of the local structure of a palletizing system provided in an embodiment of the present invention Figure 1 ;

[0042] Figure 3 A schematic diagram of the local structure of a palletizing system provided in an embodiment of the present invention Figure 2 ;

[0043] Figure 4 A schematic diagram of the local structure of a palletizing system provided in an embodiment of the present invention Figure 3 ;

[0044] Figure 5 A schematic diagram of the local structure of a palletizing system provided in an embodiment of the present invention Figure 4 ;

[0045] Figure 6 A schematic diagram of the local structure of a palletizing system provided in an embodiment of the present invention Figure 5 ;

[0046] Figure 7 A schematic diagram of the local structure of a palletizing system provided in an embodiment of the present invention Figure 6 ;

[0047] Figure 8 A schematic diagram of the local structure of a palletizing system provided in an embodiment of the present invention Figure 7 .

[0048] Among them, the reference numerals in the figure are:

[0049] 1. Handling module; 11. Sponge suction cup structure; 111. Mounting piece; 112. Sponge suction cup assembly; 1121. Fixing piece; 1122. Sponge suction cup piece; 11221. Suction space; 11222. Adjusting piece; 11223. Air extraction hole; 11224. Connecting hole; 12. Material drop detection structure; 121. Mounting bracket; 122. Material drop detection sensor; 13. Multi-axis robot arm; 131. Active part; 14. Buffer mechanism; 15. Second vacuum control device; 151. Connecting pipe; 152. Second vacuum air-controlled valve; 153. Second electric control box; 16. Vacuum blower assembly; 161. Vacuum blower; 162. Air suction pipe; 163. Filter device; 2. Processing mold block; 21, processing part; 22, loading and conveying part; 23, unloading and conveying part; 3, emergency module; 31, detection device; 32, alarm device; 4, appointment production module; 41, appointment device; 42, appointment start device; 43, appointment emergency stop device; 5, safety protection module; 51, protection net assembly; 52, protection door; 53, entrance and exit; 6, loading pallet assembly; 61, preset position; 62, first loading pallet; 63, second loading pallet; 64, third loading pallet; 65, first in-place detection assembly; 7, unloading pallet assembly; 71, placement position; 72, first unloading pallet; 73, second unloading pallet; 74, third unloading pallet; 75, second in-place detection assembly. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0051] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0052] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0054] See also Figure 1 Now, a palletizing system provided by the present invention is described. A palletizing system includes a processing module 2 and a handling module 1, wherein the processing module 2 includes a processing part 21, a loading and conveying part 22, and a unloading and conveying part 23;

[0055] The loading and conveying part 22 and the unloading and conveying part 23 are arranged on the same side of the processing part 21;

[0056] The loading and conveying part 22 is used to convey the unprocessed workpiece into the processing part 21;

[0057] The processing part 21 is used to process the workpiece located therein;

[0058] The material unloading and conveying part 23 is used to convey the processed workpiece to the outside of the processing part 21;

[0059] The handling module 1 is used to place unprocessed workpieces on the loading conveying part 22 , and is also used to take out processed workpieces and stack them.

[0060] Compared with the prior art, the present invention provides a palletizing system that uses only one transport module 1 to load and retrieve materials from a processing module 2. The transport module 1 can also stack the retrieved workpieces. The palletizing system does not require multiple transport modules 1 to work simultaneously, which reduces the number of transport modules 1 and facilitates maintenance of the transport modules 1.

[0061] Specifically, two processing modules 2 are provided. In this scenario, the handling module 1 is used to place the unprocessed workpieces on the two processing modules 2 on the corresponding loading and conveying parts 22, and is also used to take out and stack the processed workpieces on the two processing modules 2, so that multiple processing modules 2 can work simultaneously, thereby improving the production efficiency of the palletizing system.

[0062] For further information, see Figure 1 As a specific embodiment of a palletizing system provided by the present invention, the loading conveying part 22 is arranged above the unloading conveying part 23, so that the handling module 1 can place the unprocessed workpiece on the loading conveying part 22, and can take out and stack the processed workpiece; and reduce the area occupied by the loading conveying part 22 and the unloading conveying part 23 on the horizontal plane.

[0063] For further information, see Figure 1 As a specific embodiment of a palletizing system provided by the present invention, the processing module 2 also includes a material shortage sensing component (not shown in the figure), which is arranged on the loading and conveying part 22, and is used to detect whether there are unprocessed workpieces on the loading and conveying part 22, and send a first working signal when it is detected that there are unprocessed workpieces on the loading and conveying part 22; and send a second working signal when it is detected that there are no unprocessed workpieces on the loading and conveying part 22.

[0064] When it is detected that there are unprocessed workpieces on the loading and conveying part 22, a first working signal is sent, and the user can control the handling module 1 to stop loading according to the first working signal; when it is detected that there are no unprocessed workpieces on the loading and conveying part 22, a second working signal is sent, and the user can control the handling module 1 to load according to the second working signal.

[0065] Specifically, the material shortage sensor assembly is electrically connected to the handling module 1 .

[0066] Specifically, the material shortage sensing assembly includes a material shortage connecting piece and a material shortage sensor, wherein the material shortage connecting piece is fixed on the feeding conveying part 22, the material shortage sensor is fixed on the feeding conveying part 22, and the sensing surface of the material shortage sensor faces the conveying surface of the feeding conveying part 22. Preferably, the material shortage sensor is a photoelectric sensor.

[0067] Specifically, the loading and conveying part 22 is a conveyor belt device.

[0068] Further, see Figure 1 As a specific embodiment of a palletizing system provided by the present invention, the processing module 2 also includes a full material sensing component (not shown in the figure), which is arranged on the unloading conveying part 23 and is used to detect whether there are processed workpieces on the loading conveying part 22, and send a third working signal when it is detected that there are processed workpieces on the unloading conveying part 23; send a fourth working signal when it is detected that there are no processed workpieces on the loading conveying part 22.

[0069] When it is detected that there are processed workpieces on the unloading conveying part 23, a third working signal is sent, and the user can control the handling module 1 to pick up the material according to the third working signal; when it is detected that there are no processed workpieces on the loading conveying part 22, a fourth working signal is sent, and the user can control the handling module 1 to stop picking up the material according to the fourth working signal.

[0070] Specifically, the full material sensor assembly is electrically connected to the handling module 1 .

[0071] Specifically, the full material sensing assembly includes a full material connection piece and a full material sensor, the full material connection piece is fixed on the material feeding conveying part 23, the full material sensor is fixed on the material feeding conveying part 23, and the sensing surface of the full material sensor faces the conveying surface of the material feeding conveying part 23. Preferably, the full material sensor is a photoelectric sensor.

[0072] Specifically, the unloading conveying part 23 is a conveyor belt device.

[0073] For further information, see Figure 1 and Figure 2 As a specific embodiment of a palletizing system provided by the present invention, the palletizing system also includes a safety protection module 5, the safety protection module 5 includes a protection net assembly 51 and a protection door 52, the loading and conveying part 22, the unloading and conveying part 23 and the handling module 1 are located in the protection net assembly 51, the processing part 21 is located on the outside of the protection net assembly 51, the protection net assembly 51 is provided with an entrance and exit 53, the protection door 52 is arranged on the protection net assembly 51, and the protection door 52 is used to open or close the entrance and exit 53.

[0074] The safety protection module 5 ensures that the loading and conveying part 22 , the unloading and conveying part 23 and the handling module 1 operate normally.

[0075] Specifically, the protective door 52 is hinged on the protective net assembly 51 .

[0076] Specifically, three entrances and exits 53 are provided, and three protective doors 52 are provided, and the protective doors 52 correspond to the entrances and exits 53 one by one.

[0077] For further information, see Figure 1 and Figure 3 As a specific embodiment of a palletizing system provided by the present invention, the palletizing system further includes a loading pallet assembly 6, on which a preset position 61 is provided, and the preset position 61 is used to stack unprocessed workpieces;

[0078] The loading pallet assembly 6 includes a first loading pallet 62 , a second loading pallet 63 and a third loading pallet 64 . The first loading pallet 62 and the second loading pallet 63 are arranged opposite to each other and are fixed at two ends of the third loading pallet 64 , respectively.

[0079] The loading pallet assembly 6 is convenient for stacking unprocessed workpieces, and the loading pallet assembly 6 prevents the unprocessed workpieces from directly contacting the ground, thereby protecting the unprocessed workpieces. The loading pallet assembly 6 has a simple structure and is very practical.

[0080] Specifically, the user can use a transport vehicle to transport the loading pallet assembly 6 .

[0081] Further, see Figure 3As a specific embodiment of a palletizing system provided by the present invention, the loading pallet assembly 6 also includes a first in-place detection assembly 65, which is arranged on the loading pallet assembly 6 and is used to detect whether the workpiece is located at a preset position 61, and sends a first in-place signal when it is detected that the workpiece is located at the preset position 61, and sends a second in-place signal when it is detected that the workpiece is not located at the preset position 61.

[0082] The user can determine whether the unprocessed workpiece on the loading pallet assembly 6 is at the preset position 61 according to the first in-place signal and the second in-place signal, thereby ensuring the neatness of the stacking of the unprocessed workpieces and preventing the stacked unprocessed workpieces from tipping over.

[0083] Specifically, the first in-place detection assembly 65 includes three first in-place detection sensors, and the sensing ends of the first in-place detection sensors are arranged upward, wherein one first in-place detection sensor is fixed on the first loading card plate 62, and two first in-place detection sensors are fixed on the second loading card plate 63. When the workpiece is located at the preset position 61, the sensing ends of the first in-place detection sensors are not facing the workpiece located at the preset position 61; when the workpiece is not located at the preset position 61, the sensing end of at least one first in-place detection sensor is facing the workpiece located at the preset position 61.

[0084] For further information, see Figure 1 and Figure 4 As a specific embodiment of a palletizing system provided by the present invention, the palletizing system further includes a blanking pallet assembly 7, on which a placement position 71 is provided, and the placement position 71 is used to stack the processed workpieces;

[0085] The blanking pallet assembly 7 includes a first blanking pallet 72 , a second blanking pallet 73 and a third blanking pallet 74 . The first blanking pallet 72 and the second blanking pallet 73 are arranged opposite to each other and are fixed at two ends of the third blanking pallet 74 , respectively.

[0086] The unloading pallet assembly 7 facilitates stacking of processed workpieces, and the loading pallet assembly 6 prevents the processed workpieces from directly contacting the ground, thereby protecting the processed workpieces. The loading pallet assembly 6 has a simple structure and is very practical.

[0087] Specifically, the user can use a transport vehicle to transport the blanking pallet assembly 7 .

[0088] For further information, see Figure 4As a specific embodiment of a palletizing system provided by the present invention, the unloading pallet assembly 7 also includes a second in-place detection assembly 75, which is arranged on the unloading pallet assembly 7, and is used to detect whether the processed workpiece is located at the placement position 71, and sends a third in-place signal when it is detected that the workpiece is located at the placement position 71, and sends a fourth in-place signal when it is detected that the workpiece is not located at the placement position 71.

[0089] The user can determine whether the processed workpiece on the blanking pallet assembly 7 is in the placement position 71 according to the third in-place signal and the fourth in-place signal, thereby ensuring the neatness of the stacking of the processed workpieces and preventing the stacked processed workpieces from tipping over.

[0090] Specifically, the second in-place detection assembly 75 includes three second in-place detection sensors, and the sensing ends of the second in-place detection sensors are arranged upward, wherein one second in-place detection sensor is fixed on the first unloading card plate 72, and two second in-place detection sensors are fixed on the second unloading card plate 73. When the workpiece is located at the placement position 71, the sensing ends of the second in-place detection sensors are not facing the workpiece located at the placement position 71; when the workpiece is not located at the placement position 71, the sensing end of at least one second in-place detection sensor is facing the workpiece located at the placement position 71.

[0091] Specifically, the second in-place detection sensor is wirelessly connected to the handling module 1 to control the operation of the handling module 1 according to the third in-place signal and the fourth in-place signal. Preferably, the second in-place detection sensor is wirelessly connected to the multi-axis robotic arm 13 to control the activity of the multi-axis robotic arm 13 according to the third in-place signal and the fourth in-place signal.

[0092] For further information, see Figure 1 and Figure 5 , as a specific embodiment of a palletizing system provided by the present invention, the handling module 1 includes a multi-axis robotic arm 13 and a clamp;

[0093] The fixture includes a sponge suction cup structure 11; the sponge suction cup structure 11 includes a mounting member 111 and a sponge suction cup assembly 112;

[0094] The mounting member 111 is mounted on a movable portion 131 fixed to the multi-axis robot arm 13;

[0095] The sponge suction cup assembly 112 includes a fixing member 1121 and a sponge suction cup member 1122 . The sponge suction cup member 1122 is disposed on the fixing member 1121 , and the fixing member 1121 is disposed on the mounting member 111 .

[0096] When the sponge suction cup structure 11 is working, the sponge suction cup member 1122 contacts the workpiece, and the sponge suction cup member 1122 absorbs the workpiece on its surface, and the absorbed workpiece is located in the absorption space 11221. The fixing member 1121 plays the role of installing the sponge suction cup member 1122. When the fixing member 1121 is installed on the mounting member 111, the sponge suction cup member 1122 can be installed on the mounting member 111, which plays the role of facilitating the installation of the sponge suction cup member 1122.

[0097] For further information, see Figure 5 and Figure 6 , as a specific implementation of a palletizing system provided by the present invention, the fixture further includes a material drop detection structure 12;

[0098] The material drop detection structure 12 includes a mounting bracket 121, a material drop detection sensor 122 and a controller (not shown);

[0099] The mounting bracket 121 is disposed on the fixing member 1121 , and the controller is electrically connected to the material drop detection sensor 122 ;

[0100] The material drop detection sensor 122 is disposed on the mounting bracket 121 , and a detection end of the material drop detection sensor 122 is used to detect a workpiece located in the suction space 11221 of the sponge suction cup 1122 .

[0101] When the sponge suction cup structure 11 is working, the sponge suction cup member 1122 contacts the workpiece, and the sponge suction cup member 1122 absorbs the workpiece on its surface, and the absorbed workpiece is located in the absorption space 11221. The fixing member 1121 plays the role of installing the sponge suction cup member 1122. When the fixing member 1121 is installed on the mounting member 111, the sponge suction cup member 1122 can be installed on the mounting member 111, which plays the role of facilitating the installation of the sponge suction cup member 1122. The material drop detection sensor 122 is installed on the fixing member 1121 through the mounting bracket 121, which improves the convenience of installing the material drop detection sensor 122 on the fixing member 1121. When the workpiece is adsorbed on the sponge suction cup 1122, the user can turn on the material drop detection sensor 122. At this time, the sensing end of the material drop detection sensor 122 is located on one side of the workpiece. If the workpiece is detached from the sponge suction cup 1122, that is, the sponge suction cup 1122 is detached from the suction space 11221, the detached workpiece passes through the material drop detection sensor 122, and the material drop detection sensor 122 sends a drop signal and sends it to the controller. The controller receives the drop signal to remind the user, thereby achieving the effect of reminding the user when the workpiece falls from the sponge suction cup 1122. If the workpiece does not detach from the sponge suction cup 1122 after the material drop detection sensor 122 is turned on, the material drop detection sensor 122 does not send a drop signal.

[0102] Specifically, the controller is a single chip microcomputer or MCU.

[0103] Specifically, the clamp further includes an alarm device 32 (not shown), and the alarm device 32 is electrically connected to the controller. Preferably, the alarm device 32 and the controller are fixed on the fixing member 1121.

[0104] Specifically, the sponge suction cup member 1122 is screwed to the fixing member 1121 , and the fixing member 1121 is screwed to the mounting member 111 .

[0105] Specifically, the mounting bracket 121 is screwed to the fixing piece 1121 , and the material drop detection sensor 122 is screwed to the mounting bracket 121 .

[0106] Specifically, the workpiece is a strip.

[0107] Specifically, the workpiece is a metal piece or a wooden piece.

[0108] For further information, see Figure 5 and Figure 6 As a specific embodiment of a palletizing system provided by the present invention, the sponge suction cup assembly 112 also includes an adjusting member 11222, the adjusting member 11222 includes a fixed part and an adjusting part arranged on the fixed part, the fixed part is arranged on the mounting bracket 121, the material drop detection sensor 122 is fixed on the adjusting part, and the adjusting part is used to drive the material drop detection sensor 122 away from or close to one side of the suction space 11221.

[0109] When the material drop detection sensor 122 needs to be used, the adjusting member 11222 drives the material drop detection sensor 122 to move to one side of the suction space 11221. When the material drop detection sensor 122 is not needed, the adjusting member 11222 drives the material drop detection sensor 122 away from one side of the suction space 11221. When the workpiece is long, the adjusting member 11222 drives the material drop detection sensor 122 away from one side of the suction space 11221, thereby enlarging the suction space 11221.

[0110] Specifically, the adjusting member 11222 is a pneumatic cylinder or an electric cylinder.

[0111] For further information, see Figure 5 and Figure 6 As a specific embodiment of a palletizing system provided by the present invention, the sponge suction cup assembly 112 also includes a blowing device (not shown in the figure), the blowing part of the blowing device is installed on the fixing member 1121, and the blowing end of the blowing device faces the suction space 11221.

[0112] When the workpiece is a wooden piece, the air blowing device blows away the wood chips and dust on the wooden piece. When the workpiece is a metal piece, the air blowing device blows away the dust on the workpiece. The air blowing device cleans the surface of the workpiece, which facilitates the workpiece to be adsorbed on the sponge suction cup 1122 and ensures the stability of the workpiece being adsorbed on the sponge suction cup 1122.

[0113] Specifically, the blowing device includes a fixed bracket, an air nozzle, a ventilation pipe and a blower, wherein the fixed bracket is fixed to the fixing member 1121, the air nozzle is fixed to the fixed bracket, the end of the air nozzle is connected to one end of the ventilation pipe, and the other end of the ventilation pipe is connected to the blower. The blowing part of the blowing device includes the fixed bracket and the air nozzle.

[0114] For further information, see Figure 5 and Figure 6 As a specific embodiment of a palletizing system provided by the present invention, the fixture further includes a buffer mechanism 14, the buffer mechanism 14 includes a guide mechanism and an elastic member, and the guide mechanism is fixed to the fixing member 1121 or fixed to the mounting member 111;

[0115] When the guide mechanism is fixed on the fixing member 1121, the guide mechanism is slidably arranged on the mounting member 111;

[0116] When the guide mechanism is fixed on the mounting member 111, the guide mechanism is slidably mounted on the fixing member 1121;

[0117] The elastic member is disposed between the fixing member 1121 and the mounting member 111 , and is used for providing a buffer between the mounting member 111 and the fixing member 1121 .

[0118] When the sponge suction cup component 1122 contacts the workpiece, the sponge suction cup component 1122 will drive the mounting component 111 to move toward the fixing component 1121. The guide mechanism ensures that the sponge suction cup component 1122 moves in a straight line. The elastic component plays a role in buffering the sponge suction cup assembly 112, protecting the sponge suction cup assembly 112, and increasing the service life of the sponge suction cup assembly 112.

[0119] Specifically, the elastic member is sleeved on the guide mechanism.

[0120] Specifically, a plurality of guide mechanisms are provided, and the plurality of guide mechanisms ensure that the fixing member 1121 is stably slidably arranged on the mounting member 111 .

[0121] Specifically, the guide mechanism is a guide rod.

[0122] For further information, see Figure 5 and Figure 6As a specific embodiment of a palletizing system provided by the present invention, the sponge suction cup structure 11 also includes a first vacuum control device (not shown in the figure), which is arranged on the sponge suction cup structure 11 and avoids the suction space 11221. The first vacuum control device includes a first vacuum air-controlled valve and a first electric control box. The first vacuum air-controlled valve is connected to the suction hole 11223 of the sponge suction cup member 1122, the first vacuum air hole valve is electrically connected to the first electric control box, and the first vacuum control device is used to control the opening or closing of the suction hole 11223.

[0123] The opening or closing of the air suction hole 11223 is controlled by the cooperation of the first vacuum air-controlled valve and the first electric control box. When the air suction hole 11223 is opened, the user can use the adsorption hole of the sponge suction cup 1122 to adsorb the workpiece; when the air suction hole 11223 is closed, the user cannot use the adsorption hole of the sponge suction cup 1122 to adsorb the workpiece.

[0124] Specifically, the user controls the opening or closing of the first vacuum air-controlled valve through the first electric control box.

[0125] For further information, see Figure 5 and Figure 6 As a specific embodiment of a palletizing system provided by the present invention, at least two sponge suction cup assemblies 112 are provided, and the sponge suction cup structure 11 also includes a second vacuum control device 15, which is arranged on the sponge suction cup structure 11 and avoids the suction space 11221. The second vacuum control device 15 includes a connecting pipe 151, a second vacuum air-controlled valve 152 and a second electric control box 153. The connecting pipe 151 is simultaneously connected to the suction holes 11223 of all sponge suction cup components 1122. Any sponge suction cup component 1122 is provided with a connecting hole 11224, and the connecting hole 11224 is connected to the ventilation end of the second vacuum air-controlled valve 152. The second vacuum air-controlled valve 152 is electrically connected to the second electric control box 153.

[0126] The connecting pipe 151 connects the sponge suction cups 1122. When the connecting hole 11224 is open, the user can use the suction holes of all the sponge suction cups 1122 to absorb the workpiece at the same time; when the air extraction hole 11223 is closed, the user cannot use the suction holes of each sponge suction cup 1122 to absorb the workpiece. Through the cooperation of a second vacuum air-controlled valve 152 and a second electric control box 153, it is possible to achieve simultaneous absorption or non-operation of each sponge suction cup 1122.

[0127] For further information, see Figure 5 and Figure 6As a specific embodiment of a palletizing system provided by the present invention, the clamp also includes a check valve assembly (not shown in the figure), which is arranged on the sponge suction cup structure 11 and avoids the suction space 11221. The check valve assembly includes a plurality of check valves, and the check valves correspond one by one to the plurality of suction holes of the sponge suction cup member 1122. The check valves are used to control the opening or closing of the corresponding suction holes.

[0128] The check valve is used to close the adsorption hole of the sponge suction cup 1122 that has not sucked the workpiece or is leaking, to prevent insufficient vacuum pressure in the sponge suction cup 1122 due to leakage of the sponge suction cup 1122; the check valve automatically opens or closes the adsorption hole by gravity and does not require electrical control.

[0129] Specifically, the check valve is disposed in the sponge suction cup member 1122 .

[0130] For further information, see Figure 5 and Figure 6 As a specific embodiment of a palletizing system provided by the present invention, the palletizing system also includes a vacuum blowing assembly 16, the vacuum blowing assembly 16 includes a vacuum blower 161 and a suction pipe 162, the end of the suction pipe 162 is connected to the sponge suction cup structure 11, and the other end of the suction pipe 162 is connected to the exhaust end of the vacuum blowing assembly 16, and the vacuum blower 161 exhausts the sponge suction cup structure 11 through the suction pipe 162.

[0131] The sponge suction cup 1122 generates suction or loses suction through the vacuum blowing assembly 16, ensuring that the sponge suction cup 1122 can absorb or release the workpiece.

[0132] For further information, see Figure 5 and Figure 6 As a specific embodiment of a palletizing system provided by the present invention, the vacuum blowing assembly 16 also includes a filtering device 163, and the end of the suction pipe 162 away from the sponge suction cup 1122 is connected to the suction end of the vacuum blowing assembly 16 through the filtering device 163.

[0133] When the sponge suction cup 1122 generates suction through the vacuum blowing assembly 16, dust, wood chips and debris on the workpiece or in the environment will be sucked into the suction pipe 162. The filtering device 163 prevents the dust, wood chips and debris in the suction pipe 162 from entering the vacuum blower 161, thereby protecting the vacuum blower 161.

[0134] Specifically, the filtering device 163 and the vacuum blower 161 are disposed on one side of the multi-axis robot arm 13 .

[0135] For further information, see Figure 7As a specific embodiment of a palletizing system provided by the present invention, the palletizing system further includes an emergency module 3, which includes a detection device 31 and an alarm device 32. The processing module 2, the handling module 1 and the alarm device 32 are electrically connected to the detection device 31. The detection device 31 is used to detect whether the processing module 2 or / and the handling module 1 is in an abnormal state. If the processing module 2 or / and the handling module 1 is detected to be in an abnormal state, the alarm device 32 is turned on. If the processing module 2 or / and the handling module 1 is detected to be not in an abnormal state, the alarm device 32 is turned off, thereby improving the safety of the palletizing system. When the processing module 2 and the handling module 1 are in an abnormal state, the user is notified in time, so that the user can quickly maintain the palletizing system.

[0136] The abnormal conditions detected by the detection device 31 include temperature abnormality, current abnormality and voltage abnormality.

[0137] Specifically, the emergency module 3 is arranged on the safety protection module 5. Preferably, the alarm device 32 is arranged on the top of the protection net assembly 51. The emergency module 3 is arranged on the protection net assembly 51 or on the protection door 52, and more preferably, the alarm device 32 is at least one of a warning light and an emergency alarm.

[0138] For further information, see Figure 8 As a specific embodiment of a palletizing system provided by the present invention, the palletizing system also includes a reservation production module 4, the reservation production module 4 includes a reservation device 41, a reservation start device 42 and a reservation emergency stop device 43, the processing module 2, the handling module 1, the reservation start device 42 and the reservation emergency stop device 43 are electrically connected to the reservation device 41, the reservation device 41 is used to send reservation information to the processing module 2 and the handling module 1, the reservation start device 42 is used to control the reservation device 41 to send the reservation information, and the reservation emergency stop device 43 is used to send the emergency stop information to the processing module 2 and the handling module 1, so that the processing module 2 and the handling module 1 work according to the reservation information. When the processing module 2 and the handling module 1 working according to the reservation information do not need to work, the processing module 2 and the handling module 1 working according to the reservation information are quickly stopped by the reservation emergency stop device 43.

[0139] Specifically, the reservation device 41 is a computer or a server. The reservation start device 42 is a reservation terminal or a start button device. The reservation emergency stop device 43 is a reservation emergency stop terminal or an emergency stop button device.

[0140] Specifically, the reservation information is a reservation signal or reservation data. The emergency stop information is an emergency stop signal or emergency stop data.

[0141] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A palletizing system, characterized in that: It includes a processing module and a handling module, wherein the processing module includes a processing part, a loading and conveying part, and a unloading and conveying part; The loading conveying part and the unloading conveying part are arranged on the same side of the processing part; The loading and conveying part is used to convey the unprocessed workpiece into the processing part; The processing part is used to process the workpiece located inside the processing part; The unloading and conveying part is used to convey the processed workpiece to the outside of the processing part; The handling module is used to place the unprocessed workpiece on the loading and conveying part, and is also used to take out the processed workpiece and stack it; The loading conveying part is arranged above the unloading conveying part; The processing module further comprises a material shortage sensing component, which is arranged on the feeding and conveying part and is used to detect whether there is an unprocessed workpiece on the feeding and conveying part, and sends a first working signal when it is detected that there is an unprocessed workpiece on the feeding and conveying part; and sends a second working signal when it is detected that there is no unprocessed workpiece on the feeding and conveying part; The processing module also includes a full-material sensing component, which is arranged on the unloading conveying part and is used to detect whether there is a processed workpiece on the loading conveying part. When a processed workpiece is detected on the unloading conveying part, a third working signal is sent; when a processed workpiece is detected on the loading conveying part, a fourth working signal is sent.

2. The palletizing system according to claim 1, characterized in that: The palletizing system also includes a safety protection module, which includes a protection net assembly and a protection door. The loading and conveying part, the unloading and conveying part and the handling module are located in the protection net assembly, and the processing part is located on the outside of the protection net assembly. The protection net assembly is provided with an entrance and exit, and the protection door is arranged on the protection net assembly, and the protection door is used to open or close the entrance and exit.

3. The palletizing system according to claim 1, characterized in that: The palletizing system further comprises a loading pallet assembly, on which a preset position is provided, and the preset position is used to stack the unprocessed workpieces; The loading pallet assembly includes a first loading pallet, a second loading pallet and a third loading pallet. The first loading pallet and the second loading pallet are arranged opposite to each other and are respectively fixed at two ends of the third loading pallet.

4. The palletizing system according to claim 3, characterized in that: The loading pallet assembly also includes a first in-place detection assembly, which is arranged on the loading pallet assembly and is used to detect whether the workpiece is located at the preset position. When it is detected that the workpiece is located at the preset position, a first in-place signal is sent, and when it is detected that the workpiece is not located at the preset position, a second in-place signal is sent.

5. The palletizing system according to claim 1, characterized in that: The palletizing system further comprises a blanking pallet assembly, on which a placement position is provided, and the placement position is used to stack the processed workpieces; The blanking pallet assembly includes a first blanking pallet, a second blanking pallet and a third blanking pallet. The first blanking pallet and the second blanking pallet are arranged opposite to each other and are respectively fixed at two ends of the third blanking pallet.

6. The palletizing system according to claim 5, characterized in that: The unloading pallet assembly also includes a second in-place detection assembly, which is arranged on the unloading pallet assembly and is used to detect whether the processed workpiece is located at the placement position, and sends a third in-place signal when it is detected that the workpiece is located at the placement position, and sends a fourth in-place signal when it is detected that the workpiece is not located at the placement position.

7. The palletizing system according to claim 1, characterized in that: The handling module includes a multi-axis robotic arm and a fixture; The clamp comprises a sponge suction cup structure; the sponge suction cup structure comprises a mounting piece and a sponge suction cup assembly; The mounting piece is mounted on a movable part fixed to the multi-axis robotic arm; The sponge suction cup assembly comprises a fixing part and a sponge suction cup part, wherein the sponge suction cup part is arranged on the fixing part, and the fixing part is arranged on the mounting part.

8. The palletizing system according to claim 7, characterized in that: The fixture further comprises a material drop detection structure, which is used to detect a workpiece that is separated from the suction space of the sponge suction cup; The material drop detection structure includes a mounting bracket, a material drop detection sensor and a controller; The mounting bracket is arranged on the fixing member, and the controller is electrically connected to the material drop detection sensor; The material drop detection sensor is arranged on the mounting bracket.

9. The palletizing system according to claim 8, characterized in that: The sponge suction cup assembly also includes an adjusting part, which includes a fixed part and an adjusting part arranged on the fixed part, the fixed part is arranged on the mounting bracket, the material drop detection sensor is fixed on the adjusting part, and the adjusting part is used to drive the material drop detection sensor away from or close to one side of the suction space.

10. The palletizing system according to claim 8, characterized in that: The sponge suction cup assembly also includes an air blowing device, a blowing part of the air blowing device is installed on the fixing member, and a blowing end of the air blowing device faces the suction space.

11. The palletizing system according to claim 7, characterized in that: The clamp further comprises a buffer mechanism, the buffer mechanism comprises a guide mechanism and an elastic member, and the guide mechanism is fixed to the fixing member or to the mounting member; When the guide mechanism is fixed on the fixing member, the guide mechanism is slidably arranged on the mounting member; When the guide mechanism is fixed on the mounting member, the guide mechanism is slidably arranged on the fixing member; The elastic member is arranged between the fixing member and the mounting member, and is used for providing a buffer between the mounting member and the fixing member.

12. The palletizing system according to claim 8, characterized in that: The sponge suction cup structure also includes a first vacuum control device, which is arranged on the sponge suction cup structure and avoids the suction space. The first vacuum control device includes a first vacuum air-controlled valve and a first electric control box. The first vacuum air-controlled valve is connected to the suction hole of the sponge suction cup, and the first vacuum air hole valve is electrically connected to the first electric control box. The first vacuum control device is used to control the opening or closing of the suction hole.

13. The palletizing system according to claim 8, characterized in that: The sponge suction cup assembly is provided with at least two, the sponge suction cup structure also includes a second vacuum control device, the second vacuum control device is arranged on the sponge suction cup structure and avoids the suction space, the second vacuum control device includes a connecting pipe, a second vacuum air-controlled valve and a second electric control box, the connecting pipe is simultaneously connected to the suction holes of all the sponge suction cup components, any of the sponge suction cup components is provided with a connecting hole, the connecting hole is connected to the ventilation end of the second vacuum air-controlled valve, and the second vacuum air-controlled valve is electrically connected to the second electric control box.

14. The palletizing system according to claim 1, characterized in that: The palletizing system further includes an emergency module, which includes a detection device and an alarm device. The processing module, the handling module and the alarm device are electrically connected to the detection device. The detection device is used to detect whether the processing module and / or the handling module are in an abnormal state. If the processing module and / or the handling module are detected to be in an abnormal state, the alarm device is turned on; if the processing module and / or the handling module are detected to be in no abnormal state, the alarm device is turned off.

15. The palletizing system according to claim 1, characterized in that: The palletizing system also includes a reservation production module, which includes a reservation device, a reservation start device and a reservation emergency stop device. The processing module, the conveying module, the reservation start device and the reservation emergency stop device are electrically connected to the reservation device. The reservation device is used to send reservation information to the processing module and the conveying module. The reservation start device is used to control the reservation device to send the reservation information. The reservation emergency stop device is used to send emergency stop information to the processing module and the conveying module.

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