Palletizing and loading device dedicated to barrels

Abstract

The present application discloses a palletizing and loading device dedicated to barrel-shaped objects, which includes a palletizing manipulator, a conveyor line, a main body of the loading machine, a push plate assembly, a gantry bracket, and a multi-directional movement assembly. The conveyor line is arranged in parallel with the main body of the loading machine. The palletizing manipulator is arranged at one end of the conveyor line. A servo motor and a gear are arranged at the bottom of the palletizing manipulator. A rack is arranged along the conveying direction of the conveyor line. The palletizing manipulator realizes the movement relative to the conveyor line through the driving of the servo motor and the transmission of the gear and rack. The push plate assembly is installed on the main body of the loading machine. A propulsion chain is installed on the main body of the loading machine. The push plate assembly can act along the propulsion chain. The multi-directional movement assembly is installed at the bottom of the main body of the loading machine. The gantry bracket is installed at one end of the main body of the loading machine and is located at the same end as the palletizing manipulator.

Description

Technical Field

[0001] The present invention is a palletizing and loading device dedicated to barrel-shaped objects, belonging to the technical field of cargo handling. Background Art

[0002] To solve problems such as labor shortage, workers' occupational health and safety, enterprise environmental protection, high social pressure, and high enterprise costs, many modern enterprises now use automatic loading machines to replace manual loading operations. Automatic loading machines can be widely applied to the loading of products with batch specifications, mainly including bagged, boxed, barreled, etc., and are automated equipment required to transfer / load into containers or trucks. It can palletize and load materials in a relatively harsh working environment, replace traditional equipment and manual labor with robots, eliminate dangerous and non-environmentally friendly work content, reduce the labor intensity of workers, and at the same time improve labor productivity and facilitate the adjustment of production capacity.

[0003] For example, the patent application number "201710513016.6" discloses an automatic palletizing device for barrels, including: a pallet storage unit, a pallet conveyor line unit arranged on one side of the pallet storage unit, a barrel storage unit arranged on one side of the pallet conveyor line unit, and a manipulator. Among them, the pallet storage unit includes a storage rack and a receiving plate conveyor line located below the storage rack. The pallet conveyor line unit includes a first conveyor line adjacent to the receiving plate conveyor line, a second conveyor line arranged in parallel with the first conveyor line, and a third conveyor line connecting the first conveyor line and the second conveyor line. A receiving unit is installed below the first conveyor line and the second conveyor line respectively. The present invention can quickly and efficiently palletize different barrels as needed, effectively reducing the labor intensity of workers, improving the work efficiency and accuracy of barrel palletizing, but it still has the following disadvantages:

[0004] 1. It cannot align the position of the barrel and cannot ensure that the manipulator can accurately grasp it;

[0005] 2. The width of the pallet cannot be adjusted and cannot be applied to the shipment of goods with different widths;

[0006] 3. It cannot move in multiple directions and cannot accurately align with the transport vehicle;

[0007] 4. It only singlely realizes the function of barrel palletizing and does not realize the function of loading. It cannot continue to load after palletizing is completed. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide a palletizing and loading device specially designed for barrel-shaped objects in view of the above shortcomings. The palletizing robot can realize the grabbing and stacking of wine barrels in all directions along the track direction, ensure the alignment of the upper and lower wine barrels, and realize accurate grabbing and placement of wine barrels. The width of the push plate can be automatically adjusted and can be suitable for the shipment of goods of different widths. It has a multi-directional motion component and can simultaneously and fully automatically realize the movement of the loader in four directions: lifting, front and back, left and right, and rotation, so as to meet the applicability of the loader in different situations during the alignment process. The loader pushes the plate to push the goods into the van, and the loading function can be completed after the palletizing is completed.

[0009] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0010] The palletizing and loading device for barrel-shaped objects comprises a palletizing manipulator, a conveyor line, a loader body, a push plate assembly, a gantry frame and a multi-directional motion assembly. The conveyor line is arranged in parallel with the loader body. The palletizing manipulator is arranged at one end of the conveyor line. A servo motor and a gear are arranged at the bottom of the palletizing manipulator. A rack is arranged along the conveying direction of the conveyor line. The palletizing manipulator realizes movement relative to the conveyor line by means of a servo motor drive and a gear rack transmission. The push plate assembly is installed on the loader body. A propulsion chain is installed on the loader body. The push plate assembly can move along the propulsion chain. The multi-directional motion assembly is installed at the bottom of the loader body. The gantry frame is installed at one end of the loader body and is located at the same end as the palletizing manipulator.

[0011] The palletizing robot is used to grab the wine barrel and place the wine barrel on the push plate assembly to complete the palletizing operation of the wine barrel;

[0012] The push plate assembly is used to carry the cargo and cooperate with the loader to transport the cargo into the compartment of the van to complete the loading operation;

[0013] The conveyor line is used to convey the wine barrels to the palletizing robot and align them to ensure smooth grasping operation of the gripper;

[0014] The loader body provides power for the movement of the push plate assembly;

[0015] The gantry stop frame is used to push the goods into the van after the push plate assembly pushes the goods into the van. During the process of the push plate assembly returning, the gantry stop frame pushes the goods to facilitate the return of the push plate assembly. At the same time, the forward propulsion device will press the loaded goods tightly.

[0016] The multi-directional motion component is responsible for the movement of the loader and the van during the docking and alignment process. With the cooperation of various sensors, the loader and the van are accurately aligned, and the loader can simultaneously and automatically realize the four-directional movement of lifting, front and back, left and right, and rotation.

[0017] Further, an alignment component is installed on the conveyor line for linearly aligning the wine barrels in a column before the palletizing robot grabs them. The alignment component includes a first main frame, an alignment mechanism, and a blocking mechanism. The first main frame includes a U-shaped aluminum profile frame and a terminal block. The terminal block is used to position the maximum travel position of the wine barrel, i.e., the stop position. The alignment mechanism consists of a pushing cylinder, a guiding mechanism, and a push plate. Two sets of alignment mechanisms are installed on each side of the first main frame. The pushing cylinders on both sides of the first main frame move simultaneously to ensure the central position of the wine barrel. A blocking mechanism is installed on each side of the first main frame. The blocking mechanism includes a pushing cylinder and a baffle. The baffle can extend from the push plate, and the pushing cylinder is used to push the baffle to achieve the extension and retraction of the baffle.

[0018] Further, the palletizing robot includes a palletizing robot and a gripper mechanism. The palletizing robot is connected to the gripper mechanism through a first connecting plate. The gripper mechanism includes a cross beam. The top of the cross beam is connected to the first connecting plate, and the bottom of the cross beam is installed with a gripper connecting part. The gripper connecting part is connected to a wine barrel gripper. The wine barrel gripper includes a power part, a grasping part, and a guiding and buffering part. The power part includes a cylinder and a connecting rod for providing the movement power of the grasping part. The grasping part consists of a central rotating shaft and four clamping jaws. The central rotating shaft is connected to a gear, and one end of each of the four clamping jaws is provided with a gear pair that cooperates with the gear of the central rotating shaft to produce linkage. The guiding and buffering part includes a guiding shaft, a guiding ball, and a buffer spring. Each part is connected in series in a line to buffer the impact generated when the gripper descends and touches the ground through linear motion. At the same time, the rigid guiding shaft plays a role in positioning the wine barrel to ensure the alignment of the upper and lower wine barrels and achieve accurate grasping and placement of the wine barrel.

[0019] Further, the push plate assembly includes a push plate platform for carrying goods, including a walking guide rail, a push plate panel, a nylon slide bar, and a connecting tail seat. The walking guide rail is composed of a T-shaped guide rail, a C-shaped guide rail, and a guiding bearing. The C-shaped guide rail is installed at the bottom of the push plate panel, and the T-shaped guide rail and the guiding bearing are installed on the loading machine main body. The C-shaped guide rail is sleeved on the bearing of the T-shaped guide rail. When moving forward and backward, the guiding bearing plays an upper and lower positioning role to control the up and down guiding of the push plate assembly during the traveling process. The push plate panel is made of metal plate and serves as the main support of the push plate assembly. All accessories are installed on the push plate panel. The nylon slide bar is made of nylon strips and is installed on the upper surface of the push plate panel. The connecting tail seat consists of connecting wire seats at both ends and a connecting plate in the middle of the connecting wire seats, and is welded to the push plate panel as a whole. When the push plate assembly travels, it is connected to the propulsion chain of the loading machine main body to provide propulsion power for the advancement of the push plate.

[0020] Further, the push plate assembly further includes a walking wheel mechanism, which is installed at the bottom of the push plate platform and is responsible for the forward and backward movement of the overall device. It includes a walking wheel groove, a walking wheel pair, and a walking wheel groove rib plate. The walking wheel groove is integrally bent from a steel plate and then welded to the push plate panel to ensure the strength of the overall structure and the straightness of each row of walking wheels. The walking wheel pair includes two sets of walking wheels and a walking wheel bracket, which are installed on the walking wheel groove by a central shaft. The walking wheel groove rib plate is bent from a steel plate and is welded to the push plate panel in cooperation with the walking wheel groove.

[0021] Further, the push plate assembly further includes a width adjustment mechanism, which is used to automatically adjust the overall width of the push plate assembly to suit the loading of goods with different widths. It includes a movable push plate, universal wheels, a guiding mechanism, a linkage mechanism, a telescopic power source, and a telescopic connecting rod. The universal wheels are welded to the movable push plate to complete the movement support in both the horizontal and vertical directions. The guiding mechanism consists of linear guide rails to control the linearity of the telescopic movement of the movable push plate. The linkage mechanism is installed on the three movable push plates to achieve the linkage of the telescopic movement. The telescopic power source consists of a telescopic cylinder, a guide rail, a power motor, and a power connecting rod. Through the power motor and the power connecting rod, it is connected to the telescopic connecting rod to achieve the translational movement of the movable push plate. The telescopic connecting rod consists of a telescopic frame and a lead screw component, which are respectively connected to the telescopic power source and the movable push plate to achieve the automatic adjustment of the push plate width. A transmission shaft is installed inside the power motor, and the power motor is installed on the guide rail, and the guide rail is connected to the telescopic cylinder. Under the pneumatic action, the motor reciprocates to achieve the engagement and disengagement of the transmission shaft and the rotating shaft of the linkage mechanism.

[0022] Further, the multi-directional movement assembly includes a front-back movement assembly, a lifting movement assembly, a left-right movement assembly, a rotational movement assembly, and a third main frame;

[0023] The front-back movement assembly, the lifting movement assembly, the left-right movement assembly, and the rotational movement assembly are all assembled on the third main frame. When assembling the movement assemblies in each direction, a hierarchical assembly method is adopted. From the top layer to the bottom layer, they are the lifting movement assembly, the left-right movement assembly, the front-back movement assembly, and the rotational movement assembly.

[0024] Further, the lifting movement assembly is at the top layer and consists of lifting electric cylinders at the four corners and guiding and connecting components. The guiding and connecting components are connected upward to the main body of the loading machine, and the lifting movement of the loading machine is achieved through the synchronous movement of the lifting electric cylinders;

[0025] The left-right movement assembly is at the second layer and consists of two mobile electric cylinders at the front and rear ends and left-right moving chutes. The main body of the loading machine and the lifting movement assembly are installed in the left-right moving chutes, and the overall left-right propulsion movement is achieved by the movement of the mobile electric cylinders. The contact surfaces in the left-right moving chutes adopt a sliding friction movement method, and guiding nylon sliding strips are provided on the left and right.

[0026] Located on the third layer is the front-back movement component, which consists of two mobile electric cylinders at each of the front and back ends and a front-back moving slide plate. The left-right moving chutes are assembled on the front-back moving slide plate. Driven by the front-back mobile electric cylinders, the overall front-back propulsion is achieved. At the same time, the front-back moving slide plate is welded to the third main frame as a whole;

[0027] Located on the lowest layer is the rotational movement component, which consists of rotational slide plates at the front and back ends, two mobile electric cylinders, and a rotation center. The rotational slide plates and the mobile electric cylinders are respectively fixed on the equipment foundation ground. The overall equipment is placed on the rotational slide plates. At the same time, the third main frame is assembled on the rotation center. Driven by the movement of the mobile electric cylinders, the whole is pushed to rotate around the rotation center.

[0028] Furthermore, the gantry rack includes a lifting transmission system, a second main frame, and a propulsion component. The lifting transmission system consists of a power motor, a transmission device, and a lift. By driving the lifts on both sides with the power motor, the function of raising or lowering the gantry rack at an appropriate time is realized; The second main frame is composed of bent steel plates and forms a closed structure after being assembled with the loading machine; The propulsion component mainly consists of a telescopic push plate, a lifting frame, and a propulsion electric cylinder. The lifting frame is installed in the second main frame through roller slides and is connected to the lift to realize the lifting movement. The telescopic push plate is installed on the propulsion electric cylinder, and at the same time, guiding structures are installed on both sides. A screw jack is installed in the middle of the second main frame. The lifts on both sides are connected to the motor in the middle through connecting rods and a commutator. The motor drives the screw jack to rotate synchronously. Two nut sleeves are respectively installed on the screws on the left and right sides of the gantry rack, and the lifting function is realized synchronously with the screw hoist.

[0029] The present invention adopts the above technical solutions. Compared with the prior art, it has the following technical effects:

[0030] The palletizing manipulator can realize the grasping and palletizing of wine barrels in all directions along the track direction, ensure the alignment of the upper and lower wine barrels, realize the accurate grasping and placing of wine barrels, and each gripper is controlled separately to realize the flexible adjustment of the number of grasped wine barrels. Cooperating with the actions of the robot, the palletizing operation of wine barrels is completed.

[0031] The overall structure of the push plate component is flat and stable, the surface is smooth and wear-resistant, the whole machine runs smoothly, and it can automatically adjust the size according to the width of the goods to be suitable for the shipment of goods with different widths.

[0032] An alignment mechanism is installed on the conveyor line to align and straighten the wine barrels in a line before the robot gripper grasps the wine barrels in a column to ensure the accuracy of grasping. At the same time, in cooperation with the movement of the robot on the waiting-to-be-grasped line, the position of the wine barrels on the conveyor line is synchronously adjusted to reduce the impact force of the wine barrels on the robot base.

[0033] The multi-directional movement component can simultaneously and fully automatically realize the movement forms in four directions of lifting, front-back, left-right, and rotation of the loading machine, so as to meet the applicability of different situations during the alignment process of the loading machine.

[0034] After the pusher plate of the loading machine pushes the goods into the van, during the process of the pusher plate retracting, the goods are pushed and blocked by this gantry frame to facilitate the retraction of the pusher plate. At the same time, the forward propulsion device will press the loaded goods to achieve the purpose of stable transportation. Brief Description of the Drawings

[0035] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts do not necessarily draw to scale.

[0036] Figure 1 and Figure 2 is a schematic structural diagram of the palletizing and loading device in the present invention;

[0037] Figure 3 and Figure 4 is a schematic structural diagram of the palletizing manipulator in the present invention;

[0038] Figure 5 and Figure 6 is a schematic structural diagram of the pusher plate assembly in the present invention;

[0039] Figure 7 and Figure 8 is a schematic structural diagram of the alignment assembly in the present invention;

[0040] Figure 9 and Figure 10 is a schematic structural diagram of the multi-directional movement component in the present invention;

[0041] Figures 11 to 12 is a schematic structural diagram of the gantry frame in the present invention. Detailed Embodiments

[0042] Example 1, as Figure 1 and Figure 2As shown in the figure, the palletizing and loading device for barrels includes a palletizing manipulator 1, a conveyor line 2, a main body 3 of the loading machine, a push plate assembly 4, a gantry baffle 5, and a multi-directional movement assembly 6. The conveyor line 2 is arranged in parallel with the main body 3 of the loading machine. The palletizing manipulator 1 is arranged at one end of the conveyor line 2. A servo motor and a gear are provided at the bottom of the palletizing manipulator 1. A rack is arranged along the conveying direction of the conveyor line 2. The palletizing manipulator 1 realizes the movement relative to the conveyor line 2 through the driving of the servo motor and the transmission of the gear and rack. The push plate assembly 4 is installed on the main body 3 of the loading machine. A propulsion chain is installed on the main body 3 of the loading machine. The push plate assembly 4 can act along the propulsion chain. The multi-directional movement assembly 6 is installed at the bottom of the main body 3 of the loading machine. The gantry baffle 5 is installed at one end of the main body 3 of the loading machine and is located at the same end as the palletizing manipulator 1.

[0043] The palletizing manipulator 1 is used to grab the wine barrels and place the wine barrels on the push plate assembly 4 to complete the palletizing operation of the wine barrels.

[0044] The push plate assembly 4 is used to carry the goods and cooperate with the loading machine to transport the goods into the carriage of the van to complete the loading operation. The overall structure is flat and stable, the surface is smooth and wear-resistant, the whole machine runs smoothly, and the size can be automatically adjusted according to the width of the goods to be suitable for the shipment of goods with different widths.

[0045] The conveyor line 2 is used to convey the wine barrels to the palletizing manipulator and align them to ensure the smooth grasping operation of the gripper.

[0046] The main body 3 of the loading machine is a key component of the loading machine that connects the upper and lower parts, and at the same time provides power for the movement of the push plate to ensure the overall stability of the system.

[0047] The gantry baffle 5 is used to push and block the goods by the gantry baffle during the process of the push plate assembly 4 retracting after the push plate assembly 4 pushes the goods into the van, so as to facilitate the retraction of the push plate assembly 4. At the same time, the forward propulsion device will press the loaded goods to achieve the purpose of stable transportation.

[0048] The multi-directional movement assembly 6 is responsible for the movement during the docking and alignment process between the loading machine and the van. With the cooperation of various sensors, the loading machine and the van are accurately aligned. It can simultaneously and fully automatically realize the four movement forms of the loading machine: lifting, forward and backward, left and right, and rotation, to meet the applicability of different situations during the alignment process of the loading machine, so as to ensure that the push plate and the goods are smoothly pushed into the van to complete the loading operation.

[0049] As Figure 7 and Figure 8As shown in the figure, an alignment component is installed on the conveyor line 2, which is used to align and straighten the wine barrels in a row before the palletizing robot grabs them, so as to ensure the accuracy of grasping. At the same time, it cooperates with the movement process of the palletizing robot on the line to be grabbed, and synchronously adjusts the position of the wine barrels on the conveyor line to reduce the impact force of the wine barrels on the robot base. The alignment component includes a first main frame 21, an alignment mechanism 22 and a blocking mechanism 23. The first main frame 21 includes a U-shaped aluminum profile frame and a terminal block. The aluminum profile is used to reduce the weight and ensure the structural stability. The terminal block is used to locate the maximum stroke position of the wine barrels, that is, the stop position. The alignment mechanism 22 is composed of a pushing cylinder, a guiding mechanism and a pushing plate. Two groups of alignment mechanisms 22 are installed on each side of the first main frame 21, which can simultaneously align the centers of 8-10 wine barrels. The pushing cylinders on both sides of the first main frame 21 move simultaneously to ensure the central position of the wine barrels. A blocking mechanism 23 is installed on each side of the first main frame 21. The blocking mechanism 23 includes a pushing cylinder and a baffle. The baffle can extend out of the pushing plate, and the pushing cylinder is used to push the baffle to realize the extension and retraction of the baffle. It is pushed out at an appropriate time point during the walking process of the robot to block the advancing position of the wine barrels and avoid the blocking of the wine barrels on the terminal of the robot base when the robot moves forward.

[0050] As Figure 3 and Figure 4 As shown in the figure, the palletizing robot 1 includes a palletizing robot 11 and a gripper mechanism 12. The palletizing robot 11 is connected to the gripper mechanism 12 through a first connecting plate 13. The gripper mechanism 12 includes a cross beam 14. The top of the cross beam 14 is connected to the connecting plate 13. A gripper connecting part is installed at the bottom of the cross beam 14. The gripper connecting part is connected to a wine barrel gripper 15. The gripper connecting part includes a second connecting plate, a connecting shaft and a buffer spring. The top of the second connecting plate is fixed on the cross beam 14. The buffer spring is sleeved on the connecting shaft to buffer the uneven impact force generated due to different heights of the wine barrels during the grasping process. The connecting shaft is connected to the second connecting plate and the wine barrel gripper part respectively to guide and correct the grasping action. The wine barrel gripper 15 includes a power part, a grasping part 16 and a guiding and buffering part 17. The power part includes a cylinder and a connecting rod, which are used to provide the movement power for the grasping part. The grasping part 16 is composed of a central rotating shaft and four jaws. The central rotating shaft is connected to a gear. One end of each of the four jaws is provided with a gear pair, which cooperates with the gear of the central rotating shaft to produce linkage. A soft rubber block is installed at the end of the jaw to expand the contact area and increase the friction force when contacting the inner edge of the wine barrel. The guiding and buffering part 17 includes a guiding shaft, a guiding ball and a buffer spring. Each part is connected in series in a line to buffer the impact generated when the gripper descends due to contacting the ground through linear motion. At the same time, the rigid guiding shaft plays a role in positioning the wine barrels to ensure the alignment of the upper and lower wine barrels, and realizes the accurate grasping and placing of the wine barrels. Each gripper is controlled separately to flexibly adjust the number of wine barrels grasped, and cooperate with the robot movement to complete the palletizing operation of the wine barrels.

[0051] As Figure 5 and Figure 6 shown, the push plate assembly 4 includes a push plate platform, a walking wheel mechanism, and a width adjustment mechanism. The push plate platform is used to carry goods and includes a walking guide rail 41, a push plate panel 42, a nylon slide bar 43, and a connecting tail seat 44. The walking guide rail 41 is composed of a T-shaped rail, a C-shaped rail, and a guide bearing. The C-shaped rail is installed at the bottom of the push plate panel 42, and the T-shaped rail and the guide bearing are installed on the loading machine main body 3. The C-shaped rail is sleeved on the bearing of the T-shaped rail. When moving forward and backward, the guide bearing plays a role in vertical positioning to control the vertical guiding of the push plate assembly during the traveling process and reduce the risk of the push plate tilting forward and backward due to the offset of the goods. The push plate panel 42 is made of metal plate and serves as the main support of the push plate assembly 4, and all accessories are installed on the push plate panel 42. The nylon slide bar 43 is made of nylon strips and is installed on the upper surface of the push plate panel 42, directly contacting the goods, reducing the relative friction during the process of pushing the goods, and at the same time, it must ensure wear resistance and reliability. The connecting tail seat 44 is composed of connecting wire seats at both ends and a connecting plate located in the middle of the connecting wire seats, and is welded to the push plate panel 42 as a whole. When the push plate assembly travels, it is connected to the propulsion chain of the loading machine main body to provide propulsion power for the traveling of the push plate.

[0052] The walking wheel mechanism is installed at the bottom of the push plate platform and is responsible for the forward and backward movement of the overall device. It includes a walking wheel groove 45, a walking wheel pair 46, and a walking wheel groove rib plate 47. The walking wheel groove 45 is integrally bent from a steel plate and welded to the push plate panel 42 to ensure the strength of the overall structure and at the same time ensure the straightness of each row of walking wheels. The walking wheel pair 46 includes two sets of walking wheels and a walking wheel bracket, which are installed on the walking wheel groove 45 by a central shaft. In this way, while the two sets of walking wheels rotate on their own axes, they can rotate relative to the central shaft to adapt to the unevenness of the bottom plates of different van trucks. The walking wheels are made of nylon material to reduce the overall weight while ensuring the wear resistance and reliability of the wheels. The walking wheel groove rib plate 47 is bent from a steel plate and is welded to the push plate panel 42 in cooperation with the walking wheel groove 45 to ensure the strength of the overall structure.

[0053] The width adjustment mechanism is used to automatically adjust the overall width of the push plate assembly to suit the loading of goods with different widths. It includes a movable push plate 48, universal wheels 49, a guiding mechanism 410, a linkage mechanism 411, a telescopic power source 412, and a telescopic connecting rod 413. The movable push plate 48 is made by bending a steel plate to ensure the overall structural strength, and baffles of appropriate height are installed on the sides. The universal wheels 49 are welded to the movable push plate 48 to complete the moving support in both the horizontal and vertical directions. The guiding mechanism 410 consists of linear guide rails to control the linearity of the telescopic movement of the movable push plate 48. The linkage mechanism 411 is installed on the three movable push plates 48 to achieve the linkage of the telescopic movement. The telescopic power source 412 consists of a telescopic cylinder, a guide rail, a power motor, and a power connecting rod. Through the power motor and the power connecting rod, it is connected to the telescopic connecting rod 413 to achieve the translational movement of the movable push plate 48. The telescopic connecting rod consists of a telescopic frame and a lead screw component, which are respectively connected to the telescopic power source 412 and the movable push plate 48 to achieve the automatic adjustment of the push plate width. A transmission shaft is installed in the power motor, and the power motor is installed on the guide rail, and the guide rail is connected to the telescopic cylinder. Under the pneumatic action, the motor reciprocates to achieve the engagement and disengagement of the transmission shaft and the rotating shaft of the linkage mechanism. When engaged, the power motor is pneumatically actuated, the transmission shaft drives the rotating shaft of the linkage to rotate, and the relative movement of the lead screw nut structure on the rotating shaft drives the width adjustment mechanisms on both sides of the push plate to move, achieving the width adjustment.

[0054] As Figure 9 and Figure 10 shown, the multi-directional movement assembly 6 includes a front-back movement assembly 61, a lifting movement assembly 62, a left-right movement assembly 63, a rotational movement assembly 64, and a third main frame 65.

[0055] The front-back movement assembly 61, the lifting movement assembly 62, the left-right movement assembly 63, and the rotational movement assembly 64 are all assembled on the third main frame 65. To ensure that the movements in all directions do not interfere with each other, a layered assembly method is adopted during the assembly of the movement assemblies in all directions. From the top layer to the bottom layer, they are the lifting movement assembly 62, the left-right movement assembly 63, the front-back movement assembly 61, and the rotational movement assembly 64.

[0056] The lifting movement assembly 62 at the top layer consists of lifting electric cylinders located at the four corners and guiding and connecting components. The guiding and connecting components are connected upward to the main body of the loading machine, and the lifting movement of the loading machine is achieved through the synchronous movement of the lifting electric cylinders.

[0057] The left-right movement assembly 63 at the second layer consists of two mobile electric cylinders located at the front and rear ends and left-right moving chutes. The main body of the loading machine and the lifting movement assembly 62 are installed in the left-right moving chutes, and the overall left-right propulsion movement is achieved by the movement of the mobile electric cylinders. The contact surfaces in the left-right moving chutes adopt a sliding friction movement mode, and guiding nylon sliding strips are provided on the left and right.

[0058] Located on the third layer is the front-back movement component 61, which is composed of two mobile electric cylinders at each of the front and back ends and a front-back moving slide plate. The left-right moving chute is assembled on the front-back moving slide plate. Driven by the front-back mobile electric cylinders, the overall front-back propulsion is achieved. At the same time, the front-back moving slide plate is welded to the third main body frame 65 as a whole.

[0059] Located on the lowest layer is the rotational movement component 64, which is composed of rotational slide plates at the front and back ends, two mobile electric cylinders, and a rotation center. The rotational slide plates and the mobile electric cylinders are respectively fixed on the equipment foundation ground. The whole equipment is placed on the rotational slide plates. At the same time, the third main body frame 65 is assembled on the rotation center. Driven by the movement of the mobile electric cylinders, the whole rotates around the rotation center.

[0060] As Figures 11 to 12 shown, the gantry rack 5 includes a lifting transmission system 51, a second main body frame 52, and a propulsion component 53. The gantry rack is used in cooperation with the box truck push-type loading machine. When in use, this gantry rack device is installed at the front end of the loading machine to play a role. The lifting transmission system 51 includes a power motor, a transmission device, and a lift. By driving the lifts on both sides through the power motor, the function of raising or lowering the gantry rack at an appropriate time is achieved; the second main body frame 52 is formed by bending steel plates and forms a closed structure after being assembled with the loading machine to ensure the overall stability; the propulsion component 53 is mainly composed of a telescopic push plate, a lifting frame, and a propulsion electric cylinder. The lifting frame is installed in the main body frame through roller slides and is connected to the lift to achieve lifting movement. The telescopic push plate is installed on the propulsion electric cylinder, and at the same time, guiding structures are installed on both sides to ensure the linearity of the movement of the telescopic push plate. At the same time, movement structures and propulsion cylinders are installed at both ends of the telescopic push plate to achieve the adjustment of the width of the telescopic push plate to adapt to trucks or goods of different widths. A screw jack is installed in the middle of the two columns of the gantry. The lifts on both sides are connected to the motor in the middle through connecting rods and a commutator. The motor drives the screw jacks to rotate synchronously. Two nut sleeves are respectively installed on the screws on the left and right sides of the gantry rack and are lifted synchronously with the screw hoist to achieve the lifting function. While lifting, the two front-back mobile electric cylinders on the gantry rack can drive the baffle of the gantry rack to move back and forth to achieve the functions of pushing and blocking the goods.

[0061] The description of the present invention is given for purposes of illustration and description, and is not intended to be exhaustive or to limit the invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to best explain the principles of the invention and its practical application, and to enable those of ordinary skill in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. Palletizing and loading device dedicated to barrels, characterized in that: It includes a palletizing manipulator (1), a conveyor line (2), a loading machine main body (3), a push plate assembly (4), a gantry baffle (5) and a multi-directional movement assembly (6). The conveyor line (2) is arranged in parallel with the loading machine main body (3). The palletizing manipulator (1) is arranged at one end of the conveyor line (2). A servo motor plus a gear is arranged at the bottom of the palletizing manipulator (1). A rack is arranged along the conveying direction of the conveyor line (2). The palletizing manipulator (1) realizes the movement relative to the conveyor line (2) by means of servo motor drive and gear-rack transmission. The push plate assembly (4) is installed on the loading machine main body (3). A propulsion chain is installed on the loading machine main body (3). The push plate assembly (4) can act along the propulsion chain. The multi-directional movement assembly (6) is installed at the bottom of the loading machine main body (3). The gantry baffle (5) is installed at one end of the loading machine main body (3) and is located at the same end as the palletizing manipulator (1). The palletizing manipulator (1) is used to grab wine barrels and place the wine barrels on the push plate assembly (4) to complete the palletizing operation of the wine barrels. The push plate assembly (4) is used to carry goods and cooperate with the loading machine to transport the goods into the carriage of the van to complete the loading operation. The conveyor line (2) is used to convey wine barrels to the palletizing manipulator and align them to ensure smooth gripping operation by the gripper. The loading machine main body (3) provides power for the movement of the push plate assembly (4). The gantry baffle (5) is that after the push plate assembly (4) pushes the goods into the van, during the process of the push plate assembly (4) retracting, the gantry baffle pushes and blocks the goods to facilitate the retraction of the push plate assembly (4). At the same time, the forward propulsion device will press the loaded goods. The multi-directional movement assembly (6) is responsible for the movement during the docking and alignment process between the loading machine and the van. With the cooperation of various sensors, it accurately aligns the loading machine and the van, and can simultaneously and fully automatically realize the movement of the loading machine in four directions: lifting, front-back, left-right and rotation. The push plate assembly (4) includes a push plate platform. The push plate platform is used to carry goods and includes a walking guide rail (41), a push plate panel (42), a nylon slide bar (43) and a connecting tail seat (44). The walking guide rail (41) is composed of a T-shaped guide rail, a C-shaped guide rail and a guide bearing. The C-shaped guide rail is installed at the bottom of the push plate panel (42). The T-shaped guide rail and the guide bearing are installed on the loading machine main body (3). The C-shaped guide rail is sleeved on the bearing of the T-shaped guide rail. When moving back and forth, the guide bearing plays a role in vertical positioning to control the vertical guidance of the push plate assembly during the traveling process. The push plate panel (42) is a metal plate and serves as the main support of the push plate assembly (4). All accessories are installed on the push plate panel (42). The nylon slide bar (43) is made of nylon strips and is installed on the upper surface of the push plate panel (42). The connecting tail seat (44) is composed of connecting wire seats at both ends and a connecting plate located in the middle of the connecting wire seats, and is welded to the push plate panel (42) as a whole. When the push plate assembly travels, it is connected to the propulsion chain of the loading machine main body to provide propulsion power for the advancement of the push plate. The push plate assembly further includes a width adjustment mechanism for automatically adjusting the overall width of the push plate assembly to accommodate goods loading of different widths. The width adjustment mechanism includes a movable push plate (48), universal wheels (49), a guiding mechanism (410), a linkage mechanism (411), a telescopic power source (412), and a telescopic connecting rod (413). The universal wheels (49) are welded to the movable push plate (48) to support its movement in both horizontal and vertical directions. The guiding mechanism (410) consists of linear guide rails to control the linearity of the telescopic movement of the movable push plate (48). The linkage mechanism (411) is installed on the three-piece movable push plate (48) to achieve the linkage of its telescopic movement. The telescopic power source (412) consists of a telescopic cylinder, guide rails, a power motor, and a power connecting rod. Through the power motor and the power connecting rod, it is connected to the telescopic connecting rod (413) to achieve the translational movement of the movable push plate (48). The telescopic connecting rod is composed of a telescopic frame and a lead screw component, which are respectively connected to the telescopic power source (412) and the movable push plate (48) to achieve automatic adjustment of the push plate width. A transmission shaft is installed in the power motor, and the power motor is installed on the guide rails, which are connected to the telescopic cylinder. Under the pneumatic action, the motor reciprocates to achieve the engagement and disengagement of the transmission shaft and the rotating shaft of the linkage mechanism. The multi-directional movement assembly (6) includes a front-back movement assembly (61), a lifting movement assembly (62), a left-right movement assembly (63), a rotational movement assembly (64), and a third main frame (65). The front-back movement assembly (61), the lifting movement assembly (62), the left-right movement assembly (63), and the rotational movement assembly (64) are all assembled on the third main frame (65). When assembling each directional movement assembly, a layered assembly method is adopted. From the top layer to the bottom layer, they are the lifting movement assembly (62), the left-right movement assembly (63), the front-back movement assembly (61), and the rotational movement assembly (64).

2. The palletizing and loading device dedicated to the barrel-shaped object according to claim 1, characterized in that: An alignment assembly is installed on the conveyor line (2) for straight alignment before the palletizing robot grabs a row of barrels. The alignment assembly includes a first main frame (21), an alignment mechanism (22), and a blocking mechanism (23). The first main frame (21) includes a U-shaped aluminum profile frame and a terminal block, and the terminal block is used to locate the maximum travel position of the barrel, that is, the stop position. The alignment mechanism (22) consists of a pushing cylinder, a guiding mechanism, and a push plate. Two sets of alignment mechanisms (22) are installed on each side of the first main frame (21). The pushing cylinders on both sides of the first main frame (21) move simultaneously to ensure the central position of the barrel. A blocking mechanism (23) is installed on each side of the first main frame (21). The blocking mechanism (23) includes a pushing cylinder and a baffle. The baffle can extend from the push plate, and the pushing cylinder is used to push the baffle to achieve the extension and retraction of the baffle.

3. The palletizing and loading device for the special barrel-shaped object, characterized in that: The palletizing manipulator (1) includes a palletizing robot (11) and a gripper mechanism (12). The palletizing robot (11) is connected to the gripper mechanism (12) through a first connecting plate (13). The gripper mechanism (12) includes a cross beam (14). The top of the cross beam (14) is connected to the first connecting plate (13). A gripper connecting part is installed at the bottom of the cross beam (14). The gripper connecting part is connected to a barrel gripper (15). The barrel gripper (15) includes a power part, a gripping part (16), and a guiding and buffering part (17). The power part includes a cylinder and a connecting rod, which is used to provide the driving force for the gripping part. The gripping part (16) consists of a central rotating shaft and four jaws. The central rotating shaft is connected to a gear. One end of each of the four jaws is provided with a gear pair, which cooperates with the gear of the central rotating shaft to produce linkage. The guiding and buffering part (17) includes a guiding shaft, guiding balls, and buffer springs. Each part is connected in series in a line. When the gripper descends, the linear motion buffers the impact generated by contacting the ground. At the same time, the rigid guiding shaft plays a role in positioning the barrel, ensuring that the upper and lower barrels are aligned, and realizing accurate gripping and placing of the barrel.

4. The palletizing and loading device for the special barrel-shaped object as described in claim 1, wherein: The push plate assembly further includes a walking wheel mechanism. The walking wheel mechanism is installed at the bottom of the push plate platform and is responsible for the forward and backward movement of the overall device. It includes a walking wheel groove (45), a walking wheel pair (46), and a walking wheel groove rib plate (47). The walking wheel groove (45) is integrally bent from a steel plate and then welded to the push plate panel (42), ensuring the strength of the overall structure and the straightness of each row of walking wheels at the same time. The walking wheel pair (46) includes two sets of walking wheels and a walking wheel bracket, which are installed on the walking wheel groove (45) by a central shaft. The walking wheel groove rib plate (47) is bent from a steel plate and is welded to the push plate panel (42) in cooperation with the walking wheel groove (45).

5. The palletizing and loading device for the special barrel-shaped object, characterized in that: The uppermost layer is the lifting motion assembly (62), which consists of lifting electric cylinders and guiding connection components located at the four corners. The guiding connection components are connected upward to the main body of the loading machine. The lifting motion of the loading machine is realized through the synchronous movement of the lifting electric cylinders. The second layer is the left-right motion assembly (63), which consists of two moving electric cylinders located at the front and rear ends and left-right moving sliding grooves. The main body of the loading machine and the lifting motion assembly (62) are installed in the left-right moving sliding grooves. The overall left-right propulsion movement is realized by the movement of the moving electric cylinders. The contact surfaces in the left-right moving sliding grooves adopt a sliding friction motion mode, and guiding nylon sliding strips are provided on the left and right. The third layer is the front-back motion assembly (61), which consists of two moving electric cylinders at each of the front and rear ends and a front-back moving sliding plate. The left-right moving sliding grooves are assembled on the front-back moving sliding plate. The overall front-back propulsion is realized by the push of the front-back moving electric cylinders. At the same time, the front-back moving sliding plate is welded to the third main body frame (65) as a whole. The lowermost layer is the rotational motion assembly (64), which consists of rotating sliding plates, two moving electric cylinders, and a rotation center located at the front and rear ends. The rotating sliding plates and the moving electric cylinders are respectively fixed on the equipment foundation ground. The overall equipment is placed on the rotating sliding plates. At the same time, the third main body frame (65) is assembled on the rotation center. The overall rotation around the rotation center is promoted by the movement of the moving electric cylinders.

6. The palletizing and loading device dedicated to the barrel-shaped object as described in claim 1, characterized in that: The gantry rack (5) includes a lifting drive system (51), a second main frame (52) and a propulsion assembly (53). The lifting drive system (51) consists of a power motor, a transmission device and a lift. The power motor drives the lifts on both sides to move, so as to realize the function of raising or lowering the gantry rack at an appropriate time. The second main frame (52) is formed by bending steel plates and forms a closed structure after being assembled with the loading machine. The propulsion assembly (53) consists of a telescopic push plate, a lifting frame and a propulsion electric cylinder. The lifting frame is installed in the second main frame (52) through roller slides and is connected to the lift to realize lifting movement. The telescopic push plate is installed on the propulsion electric cylinder, and guiding structures are installed on both sides. A screw lift is installed in the middle of the second main frame (52). The lifts on both sides are connected to the motor in the middle through connecting rods and a commutator. The motor drives the screw lift to rotate synchronously. Two nut sleeves are respectively installed on the screws on the left and right sides of the gantry rack, and the lifting function is realized synchronously with the screw hoist.

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