An empty pallet supply and recycling device for a depalletizing robot

Abstract

The present application discloses an empty pallet supply and recycling device for a palletizing and depalletizing robot, which includes a base and a rotating seat rotatably arranged on the base. Two pallet rack positioning areas are symmetrically arranged on the rotating seat, and each pallet rack positioning area is used to position a supporting component. The supporting component includes a pallet rack, and the pallet rack is used to place pallets. One of the pallet racks is for the use of the palletizing and depalletizing robot, and the other pallet rack is for the use of the automated guided vehicle. The present application switches the empty pallet and the pallet with materials through the rotation of the rotating seat, so that after the palletizing or depalletizing is completed by the palletizing and depalletizing robot, the automated guided vehicle can timely take away the pallet, realizing the supply and recycling of the pallet at the same time. All conveyors and their electric control devices around the robot are cancelled, greatly simplifying the layout, and also simplifying the control and scheduling of this area. At the same time, the investment cost and the use and maintenance costs of the system are greatly reduced, and it is also convenient for equipment fault handling, repair and maintenance.

Description

Technical Field

[0001] The present application relates to the field of logistics technology, and more specifically, to an empty pallet supply and recovery device for a palletizing robot. Background Art

[0002] At present, empty pallets around the depalletizing and stacking robots are basically transported by conveyors. The empty pallets required for finished product stacking and the empty pallets generated after depalletizing are centrally distributed or stacked at fixed locations and transported to the target location by conveyors. Therefore, in the traditional layout mode, the depalletizing and stacking robots are surrounded by a large number of conveying equipment, the process layout is relatively complex, there are many control points, the equipment is intensive, and the investment cost is high.

[0003] In addition, if the same depalletizing robot performs palletizing and depalletizing operations at the same time, it needs to supply and recycle empty pallets, but the conveyor line adopts a one-way conveying method, so it is difficult to realize the supply and recycling of pallets on the same conveyor line. Summary of the invention

[0004] The present application provides an empty pallet supply and recovery device for a palletizing robot. By rotating a rotating seat, an empty pallet and a pallet with materials are switched, so that the pallet can be promptly taken away by an automatic guided vehicle (AGV) after the depalletizing or palletizing is completed, and the supply and recovery of the pallet are realized at the same time. All conveyors and their electronic control devices around the robot are eliminated, so that the layout is greatly simplified, and the control and scheduling of the area are further simplified. At the same time, the investment cost and the use and maintenance cost of the system are greatly reduced, and the fault handling, repair and maintenance of the equipment are also convenient.

[0005] The present application provides an empty pallet supply and recovery device for a palletizing robot, comprising a base, a rotating seat rotatably arranged on the base, two pallet rack positioning areas symmetrically arranged on the rotating seat, each pallet rack positioning area is used to position a supporting component, the supporting component comprises a pallet rack, and the pallet rack is used to place the pallet;

[0006] One of the pallet racks is used by the depalletizing robot, and the other pallet rack is used by the automatic guided vehicle.

[0007] Preferably, two strip-shaped positioning grooves are symmetrically provided on the rotating seat;

[0008] The supporting assembly also includes support rod assemblies respectively arranged at the four corners of the pallet frame, and the two support rod assemblies on the same side are respectively positioned at the two ends of the positioning grooves on the same side.

[0009] Preferably, two positioning rods parallel to the positioning grooves are fixed on the top surface of the rotating seat, and the inner side walls of the positioning rods are coplanar with the outer side walls of the corresponding positioning grooves.

[0010] Preferably, wedge-shaped surfaces for guiding the support rod assembly into the positioning groove are respectively provided at both ends of the positioning rod.

[0011] Preferably, the support rod assembly includes a support rod fixed to the corners on the bottom surface of the tray rack, and a magnetic support foot below the support rod. The magnetic support foot is slidably connected to the support rod;

[0012] A bar magnet is provided in the positioning groove.

[0013] Preferably, the support rod is provided with a central hole, and the central hole includes a large-hole section close to the tray rack and a small-hole section close to the magnetic support foot;

[0014] On the top surface of the magnetic support foot, a guide rod and a limit plate are sequentially provided. The guide rod is matched with the aperture of the small-hole section, and the diameter of the limit plate is larger than the diameter of the small-hole section and smaller than the diameter of the large-hole section.

[0015] Preferably, a return spring is provided between the top surface of the limit plate and the top surface of the large-hole section.

[0016] Preferably, the base is circular, and a circular support ring is provided on the top surface of the edge of the base;

[0017] The rotating seat has two straight edges parallel to the positioning rod and two arc-shaped edges between the two straight edges. The arc-shaped edges are matched with the inner wall of the support ring;

[0018] A cover plate is provided in the gap between the straight edge and the support ring. The thickness of the cover plate is smaller than that of the rotating seat, and the top surface of the cover plate is coplanar with the top surface of the rotating seat.

[0019] Preferably, a concentric annular groove is provided on the base, and a plurality of balls are provided in the annular groove;

[0020] Two arc-shaped grooves with both ends open are symmetrically provided on the bottom surface of the rotating seat, and the arc-shaped grooves are opposite to the annular groove.

[0021] Preferably, a coaxial driven gear groove and a driving gear groove communicating with the driven gear groove are provided on the top surface of the base. The driving gear groove communicates with the motor groove below. A motor is provided in the motor groove, and the motor shaft of the motor is fixedly connected to a horizontal driving gear provided in the driving gear groove;

[0022] A coaxial driven gear is provided on the bottom surface of the rotating seat, and the driven gear is received in the driven gear groove and meshes with the driving gear.

[0023] Other features and advantages of the present application will become clear through the following detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings. Description of the Drawings

[0024] The drawings incorporated in and forming a part of the specification illustrate embodiments of the present application and, together with the description thereof, are used to explain the principles of the present application.

[0025] Figure 1 A perspective view of the empty pallet supply and recycling device for the depalletizing robot provided for the present application;

[0026] Figure 2 A front view of the empty pallet supply and recycling device for the depalletizing robot provided for the present application (no pallet on the pallet rack);

[0027] Figure 3 is Figure 1 a top view of;

[0028] Figure 4 is Figure 3 a schematic view of A-A in;

[0029] Figure 5 is Figure 3 a schematic view of B-B in;

[0030] Figure 6 is Figure 4 a schematic view of C-C in;

[0031] Figure 7 is Figure 5 a schematic view of D-D in;

[0032] Figure 8 is Figure 5 a schematic view of E-E in;

[0033] Figure 9 is Figure 4 a partially enlarged schematic view of the support rod assembly on the right side in;

[0034] Figure 10 is Figure 6 a schematic view of F-F in;

[0035] Figure 11 is Figure 5 a partially enlarged schematic view of the left side of the pallet rack in.

[0036] The labels in the figure are as follows:

[0037] 1 - Ball 10 - Base 11 - Pallet 12 - Rotating seat

[0038] 13 - Support rod 14 - Support ring 15 - Cover plate 16 - Slide plate

[0039] 17 - Positioning rod 18 - Arc groove 19 - Bar magnet 20 - Driven gear

[0040] 21 - Driven gear groove 22 - Motor groove 23 - Motor 24 - Driving gear

[0041] 25 - Driving gear groove 26 - Motor shaft 27 - Positioning groove 28 - Arc spring piece

[0042] 29 - Slide plate cavity 30 - Return spring 31 - Guide rod 32 - Magnetic support foot

[0043] 33 - Limit plate 34 - Central hole 35 - Guide groove 36 - Guide block 37 - Tray rack Detailed implementation mode

[0044] Now, various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present application.

[0045] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation on the present application or its application or use.

[0046] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and devices should be regarded as part of the specification.

[0047] In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0048] The present application provides an empty pallet supply and recovery device for a depalletizing and palletizing robot. By rotating the rotating seat, the empty pallet and the pallet with materials are switched, so that after the depalletizing or palletizing is completed, the automatic guided vehicle (AGV) can timely pick up the pallet, realizing the supply and recovery of the pallet at the same time. All conveyors and their electric control devices around the robot are cancelled, greatly simplifying the layout, and also simplifying the control and scheduling of this area. At the same time, the investment cost, the use and maintenance cost of the system are greatly reduced, and it is also convenient for equipment fault handling, repair and maintenance.

[0049] As Figures 1-3 shown, the empty pallet supply and recovery device for a depalletizing and palletizing robot provided by the present application includes a base 10 and a rotating seat 12 rotatably arranged on the base 10. Two pallet rack positioning areas are symmetrically arranged on the rotating seat 12, and each pallet rack positioning area is used to position a supporting component. The supporting component includes a tray rack 37 and support rod components respectively arranged at the four corners of the tray rack 37. The tray rack 37 is used to place the pallet 11.

[0050] During the working state, one of the pallet racks is used by the depalletizing robot, and the other pallet rack is used by an Automated Guided Vehicle (AGV).

[0051] As shown in Figure 1 , the base 10 is circular, and a circular support ring 14 is provided on the top surface of the edge of the base 10. The rotating seat 12 rotates within the support ring 14.

[0052] As an embodiment, in combination with Figure 1 and 7 shown, the rotating seat 12 has two straight edges and two arc-shaped edges between the two straight edges. The arc-shaped edges cooperate with the inner wall of the support ring 14. A cover plate 15 is provided in the gap between the straight edge and the support ring 14. The thickness of the cover plate 15 is less than that of the rotating seat 12, and the top surface of the cover plate 15 is coplanar with the top surface of the rotating seat 12.

[0053] In combination with Figure 7 and 10 shown, a concentric annular groove is provided on the base 10, and a plurality of balls 1 are provided in the annular groove. Two arc-shaped grooves 18 with openings at both ends are symmetrically provided on the bottom surface of the rotating seat 12. The arc-shaped grooves 18 face the annular groove, so that the balls 1 roll in the gap between the arc-shaped grooves and the annular groove to reduce the rotation difficulty of the rotating seat 12.

[0054] In combination with Figure 5 and 10 shown, a coaxial driven gear groove 21 and a driving gear groove 25 communicating with the driven gear groove 21 are provided on the top surface of the base 10. The driving gear groove 25 communicates with the motor groove 22 below. A motor 23 is provided in the motor groove 22, and a horizontal driving gear 24 provided in the driving gear groove 25 is fixedly connected to the motor shaft 26 of the motor 23. A coaxial driven gear 20 is provided on the bottom surface of the rotating seat 12. The driven gear 20 is received in the driven gear groove 21 and meshes with the driving gear 24. Thus, by starting the motor 23, the rotating seat 12 and the supporting assembly above it can be driven to rotate relative to the base 10.

[0055] As shown in Figure 4 and 6 , two strip-shaped positioning grooves 27 are symmetrically provided on the rotating seat 12; two support rod assemblies on the same side below the pallet rack 37 are respectively positioned at the two ends of the positioning groove 27 on the same side.

[0056] Preferably, as shown in Figure 1 , 6 , two positioning rods 17 parallel to the positioning grooves 27 are fixed on the top surface of the rotating seat 12. The inner side wall of the positioning rod 17 is coplanar with the outer side wall of the corresponding positioning groove 27, and the outer side wall of the positioning rod 17 is coplanar with the corresponding straight edge.

[0057] On this basis, preferably, wedge surfaces for guiding the support rod assembly into the positioning groove 27 are respectively provided at both ends of the positioning rod 17.

[0058] As an embodiment, as Figure 9 shown, the support rod assembly includes a support rod 13 fixed to the corner of the bottom surface of the tray rack 37, and a magnetic support foot 32 below the support rod 13. The magnetic support foot 32 is slidably connected to the support rod 13. In this embodiment, a bar magnet 19 is provided in the positioning groove 27, as Figure 6 shown.

[0059] Specifically, as Figure 9 shown, the support rod 13 is provided with a central hole 34. The central hole 34 includes a large hole section close to the tray rack 37 and a small hole section close to the magnetic support foot 32. A guide rod 31 and a limit plate 33 are sequentially provided on the top surface of the magnetic support foot 32. The guide rod 31 is matched with the aperture of the small hole section, and the diameter of the limit plate 33 is larger than the diameter of the small hole section and smaller than the diameter of the large hole section. Thus, under the action of the limit plate 33 and the guide rod 31, the magnetic support foot 32 moves up and down relative to the central hole 34 but does not disengage from each other. A return spring 30 is provided between the top surface of the limit plate 33 and the top surface of the large hole section.

[0060] As Figure 8 and 11 shown, rectangular sliding plate cavities 29 with openings downward are respectively provided in the tray rack 37. Two sliding plates 16 are slidably fitted in the two sliding plate cavities 29. Guide grooves 35 parallel to the positioning groove 27 are respectively provided on the left and right sides of the sliding plate cavities 29. Guide blocks 36 are respectively fixed to the left and right end faces of the sliding plate 16. The guide blocks 36 are respectively slidably fitted with the corresponding guide grooves 35. An arc-shaped spring piece 28 is provided in the gap between the side wall of the sliding plate cavity 29 without a guide groove and the side wall of the sliding plate 16 opposite thereto. The two ends of the arc-shaped spring piece 28 are respectively abutted against the side wall of the sliding plate 16. When the support assembly is located on the AGV, the sliding plate 16 is connected to the AGV by a snap-in lamp method, and the two are relatively stationary.

[0061] The working process of this application is as follows:

[0062] The empty pallet supply and recycling device is arranged on the right side of the palletizing and depalletizing robot. The support ring 14 and the base 10 are buried underground, and the upper end surface of the support ring 14 is flush with the ground. The rotating seat 12 faces the palletizing and depalletizing robot.

[0063] The support assembly with an empty pallet 11 is placed on the rotating seat 12, and the four support rod assemblies on its lower side are snapped into the corresponding positioning grooves 27. At this time, the palletizing and depalletizing robot stacks the goods onto the empty pallet 11.

[0064] During the palletizing process of the unpacking and palletizing robot, another supporting component is placed on the LGV. Since the sum of the lengths of the support rod 13 and the magnetic support foot 32 is less than the height of the LGV, the magnetic support foot 32 does not touch the ground when the LGV moves. The LGV carries another set of empty pallets 11 and pallet racks 37 and travels along a preset route to the upper side of the rotating seat 12.

[0065] During the process of the two support rod assemblies near the rotating seat 12 entering between the positioning rods 17, the wedge-shaped ends of the positioning rods 17 can guide the movement of the support rod assemblies to align them with the corresponding positioning slots 27. During this period, the sliding plate 16 overcomes the elastic force of the arc-shaped spring piece 28 and has a relative displacement with the pallet rack 37, and the sliding plate 16 remains stationary relative to the LGV.

[0066] When the support rod 13 moves to the upper side of the positioning slot 27, since the bar magnet 19 attracts the corresponding magnetic support foot 32, the corresponding magnetic support foot 32 moves downward against the pulling force of the return spring 30 thereon, so that the magnetic support foot 32 enters the positioning slot 27, and the LGV drives the magnetic support foot 32 to slide in the positioning slot 27 on the corresponding side until the pallet rack 37 abuts against the pallet rack 37 with the palletizing completed. At this time, the LGV places the pallet rack 37 with the empty pallet on the rotating seat.

[0067] Then the motor 23 is started, causing the motor shaft 26 to rotate, thereby driving the driving gear 24 to rotate, which in turn causes the driven gear 20 to rotate, and further drives the rotating seat 12 to rotate 180 degrees, so that the two pallets 11 are swapped in position. Then the motor 23 is turned off, and the unpacking and palletizing robot stacks the goods on the pallet 11 closest to it. At the same time, the LGV moves to the lower side of the pallet rack 37 with the palletizing completed and jacks up the pallet rack 37 with the palletizing completed, thereby driving the four magnetic support feet 32 on its lower side to move upward to the upper side of the rotating seat 12.

[0068] Then, the LGV transports the pallet rack 37 with the palletizing completed to the designated position. After unloading, the LGV re-carries the empty pallet 11 and travels to the right side of the pallet rack 37 with the second palletizing completed.

[0069] In this way, the supply and recycling of pallets are achieved simultaneously.

[0070] When the unpacking and palletizing robot de-palletizes, the principle of the empty pallet supply and recycling device is the same.

[0071] Although some specific embodiments of the present application have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. An empty pallet supply and recycling device for a depalletizing robot, characterized in that, It includes a base and a rotating seat rotatably arranged on the base. Two tray rack positioning areas are symmetrically arranged on the rotating seat, and each tray rack positioning area is used to position a supporting component. The supporting component includes a tray rack, and the tray rack is used to place trays; One of the tray racks is for the use of the depalletizing robot, and the other tray rack is for the use of the automated guided vehicle; Two strip-shaped positioning grooves are symmetrically arranged on the rotating seat; The supporting component further includes support rod components respectively arranged at the four corners of the tray rack. The two support rod components on the same side are respectively positioned at the two ends of the positioning groove on the same side; The support rod component includes a support rod fixed to the corner on the bottom surface of the tray rack, and a magnetic support foot below the support rod. The magnetic support foot is slidably connected to the support rod; Bar magnets are arranged in the positioning grooves.

2. The empty pallet supply and recycling device for the de-palletizing robot according to claim 1, characterized in that Two positioning rods parallel to the positioning grooves are fixed on the top surface of the rotating seat, and the inner side walls of the positioning rods are coplanar with the outer side walls of the corresponding positioning grooves.

3. The empty pallet supply and recycling device for the de-palletizing robot according to claim 2, characterized in that, Wedge-shaped surfaces for guiding the support rod components into the positioning grooves are respectively arranged at both ends of the positioning rods.

4. The empty pallet supply and recycling device for the de-palletizing robot according to claim 1, characterized in that, The support rod is provided with a central hole, and the central hole includes a large hole section close to the tray rack and a small hole section close to the magnetic support foot; A guide rod and a limit plate are sequentially arranged on the top surface of the magnetic support foot. The guide rod is matched with the aperture of the small hole section, and the diameter of the limit plate is larger than the diameter of the small hole section and smaller than the diameter of the large hole section.

5. The empty pallet supply and recycling device for the depalletizing robot according to claim 4, characterized in that A return spring is arranged between the top surface of the limit plate and the top surface of the large hole section.

6. The empty pallet supply and recycling device for the de-palletizing robot according to claim 2, characterized in that, The base is circular, and a circular support ring is arranged on the top surface of the edge of the base; The rotating seat has two straight edges parallel to the positioning rods and two arc-shaped edges between the two straight edges. The arc-shaped edges are matched with the inner wall of the support ring; A cover plate is arranged in the gap between the straight edge and the support ring. The thickness of the cover plate is smaller than that of the rotating seat, and the top surface of the cover plate is coplanar with the top surface of the rotating seat.

7. The empty pallet supply and recovery device for the de-palletizing robot according to claim 6, characterized in that, A concentric annular groove is arranged on the base, and a plurality of balls are arranged in the annular groove; Two arc-shaped grooves with both ends open are symmetrically arranged on the bottom surface of the rotating seat, and the arc-shaped grooves are opposite to the annular groove.

8. The empty pallet supply and recycling device for the de-palletizing robot according to claim 1, characterized in that, A driven gear groove coaxial with the base and a driving gear groove communicating with the driven gear groove are arranged on the top surface of the base. The driving gear groove communicates with a motor groove below, and a motor is arranged in the motor groove. The motor shaft of the motor is fixedly connected with a horizontal driving gear arranged in the driving gear groove; A driven gear is arranged on the bottom surface of the rotating seat coaxially, and the driven gear is accommodated in the driven gear groove and meshes with the driving gear.

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