一种码垛装置及码垛方法
By using the omnidirectional movement and rotation mechanism of the palletizing device in the loading and unloading operations of container ships in ports, the problem of low space utilization in the palletizing area of the locking pin tray has been solved, and flexible and efficient palletizing of the locking pin tray has been achieved.
CN117023173BActive Publication Date: 2026-07-17SHANGHAI ZHENHUA HEAVY IND
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Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI ZHENHUA HEAVY IND
- Filing Date
- 2023-08-16
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
In port container ship loading and unloading operations, the palletizing method using locking pins results in low space utilization in the palletizing area, and existing palletizing robots occupy a large space, which limits palletizing efficiency.
Method used
The palletizing device, which includes a palletizing rack assembly, a lateral movement mechanism, a longitudinal movement mechanism, a lifting mechanism, a rotating mechanism, and a gripping mechanism, avoids collisions of the locking pins by using omnidirectional movement and the rotating mechanism, thus achieving flexible palletizing.
Benefits of technology
It improves the space utilization and palletizing efficiency of the palletizing area, reduces the palletizing height, and avoids collisions between locking pins.
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Figure CN117023173B_ABST
Abstract
本发明提供一种码垛装置及码垛控制方法。其中，码垛装置包括：码垛架组件，包括码垛盘和两组对称设置在所述码垛盘上的支撑架，所述码垛盘内设置有多个用于码垛锁销盘的码垛区；两组横向移动机构，分别设置在两组所述支撑架上，并可沿所述支撑架运动，两组所述横向移动机构之间设置有连接梁；纵向移动机构，设置在所述连接梁上，并可沿所述连接梁运动；起升机构，与所述纵向移动机构连接，包括起升伺服电机和与所述起升伺服电机连接的起升轴；旋转机构，与所述起升轴连接；抓取机构，与所述旋转机构连接，用于抓取所述锁销盘。本发明实施例的码垛装置及码垛控制方法，通过将上下相邻的两组呈相反方向叠放码垛，可以有效降低占用空间。
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