A mobile bidirectional palletizing device

Abstract

The present invention discloses a mobile bidirectional stacking device, comprising a mobile gantry, a first conveyor belt fixed on the ground is provided on the side of the mobile gantry; the transmission end of the first conveyor belt is connected with a second conveyor belt; the mobile bidirectional stacking device also includes: a lifting frame, which is arranged on the mobile gantry, and a third conveyor belt and a plurality of mobile rotating clamping mechanisms are arranged on the lifting frame; a lifting mechanism, which is arranged on the mobile gantry, and the lifting end of the lifting mechanism is fixedly connected to the lifting frame; a lifting mechanism, which is arranged at the junction of the second conveyor belt and the third conveyor belt; the lifting mechanism has a conveying chain connected end to end, and a plurality of fork plates are arranged on the conveying chain. On the one hand, the present invention increases the transportation distance of materials, reduces the relative position of materials and the stacking position, and is convenient for handling; on the other hand, it reduces the running stroke of the stacking components and improves the stacking efficiency.

Description

Technical Field

[0001] The invention relates to a palletizing device, in particular to a mobile bidirectional palletizing device, belonging to the technical field of palletizers. Background Art

[0002] The palletizer is an efficient automated equipment, which is specially used to neatly stack materials or goods of various shapes and sizes according to a predetermined pattern, and is widely used in manufacturing, logistics, warehousing and other industries. For example, the Chinese invention patent with the publication number CN111689247A discloses a new type of palletizing device and palletizing method, and specifically discloses a palletizing module for grabbing products for stacking; a product stacking module, which includes a number of palletizing stations, located below the palletizing module, for stacking and palletizing products; a stacking station, which is set at a corner of the palletizing module; a stacking station, which is set on one side of the stacking station and connected with the stacking station; a control module, which is electrically connected to the stacking module, the stacking station and the stacking station, and the control module communicates data with the external enterprise production management system and / or warehouse management system. Although this solution can realize automatic palletizing, the solution has the following problems: 1. The square frame of the solution is fixed to the bottom surface and cannot be moved. All work is performed by controlling the movement of the mechanical arm, which makes the palletizing process increase the moving distance of the mechanical arm as the material position changes. 2. The feeding and feeding structure of this solution is not compatible with the robot arm. The robot arm is required to move the materials from the stacking station to the product stacking module, or from the product stacking module to the unloading station. This method also increases the time required for the robot arm to move a single material. 3. If the stacking height is high, the lifting and moving distance required by the robot arm is large, which affects the stacking efficiency. Summary of the invention

[0003] The object of the present invention is to provide a mobile bidirectional palletizing device. The present invention increases the transportation distance of materials, reduces the relative position between materials and the palletizing position, and facilitates handling. On the other hand, it reduces the running stroke of the palletizing components and improves the palletizing efficiency.

[0004] The technical solution of the present invention is: a mobile bidirectional stacking device, comprising a mobile gantry, a first conveyor belt fixed on the ground is provided on the side of the mobile gantry; a second conveyor belt is connected to the transmission end of the first conveyor belt; the mobile bidirectional stacking device also includes:

[0005] A lifting frame is arranged on the mobile gantry, and a third conveyor belt and a plurality of mobile rotating clamping mechanisms are arranged on the lifting frame; the mobile rotating clamping mechanisms are used to stack materials on the third conveyor belt on the ground or to move materials on the ground to the third conveyor belt;

[0006] A lifting mechanism is arranged on the mobile gantry, and a lifting end of the lifting mechanism is fixedly connected to the lifting frame; the lifting mechanism is used to adjust the height of the lifting frame so that the mobile rotating clamping mechanism and the third conveyor belt reach a suitable height;

[0007] A lifting mechanism is arranged at the junction of the second conveyor belt and the third conveyor belt; the lifting mechanism has a conveyor chain connected end to end, and a plurality of fork plates are arranged on the conveyor chain; the lifting mechanism is used to drive the fork plates to run and pass through the second conveyor belt and the third conveyor belt through the conveyor chain when there is a height difference between the second conveyor belt and the third conveyor belt, so as to realize the transportation of materials between the second conveyor belt and the third conveyor belt.

[0008] The above-mentioned mobile bidirectional stacking device, the mobile gantry includes a first frame body and a mobile guide rail; the first frame body is respectively provided with a first mounting seat at the four corners of the bottom, and a plurality of first rollers are rotatably connected in the first mounting seat; a first motor is provided on the side of the first mounting seat, the output end of the first motor is connected to a first worm gear reducer, and the output end of the first worm gear reducer is connected to the first roller; the mobile guide rail is arranged on the bottom surface, and the first roller is rollingly fitted in the mobile guide rail.

[0009] The aforementioned mobile bidirectional stacking device, the mobile rotating clamping mechanism includes an X-axis moving beam, a Y-axis moving seat, a Z-axis moving rod and a clamping assembly; the front and rear sides of the upper end of the lifting frame are respectively provided with first slide rails, and the inner side of the first slide rail is provided with a first rack; the two ends of the X-axis moving beam are respectively provided with a plurality of first sliders, and the first slider is slidably connected to the first slide rail; the X-axis moving beam is provided with a second motor, and the output end of the second motor is connected to a first gear, and the first gear is connected to the first rack and is externally meshed.

[0010] The aforementioned mobile bidirectional palletizing device, the X-axis moving beam is provided with a second slide rail, and the lower side of the second slide rail is provided with a second rack; the Y-axis moving seat is provided with a plurality of second sliders, and the second sliders cooperate with the second slide rail; the Y-axis moving seat is provided with a third motor, the output end of the third motor is connected to a second gear, and the second gear is connected to the second rack and is externally meshed.

[0011] The aforementioned mobile bidirectional palletizing device has a third slide rail symmetrically arranged on the Z-axis moving rod, and a third rack is arranged on the inner side of the third slide rail; a fourth motor is arranged on the Y-axis moving seat, and the output end of the fourth motor is connected to a third gear, and the third gear is connected to the third rack and is externally meshed; a plurality of third sliders are arranged on the Y-axis moving seat, and the third sliders cooperate with the third slide rail.

[0012] The aforementioned mobile bidirectional palletizing device, the end of the Z-axis moving rod is provided with a steering motor, and the output end of the steering motor is fixedly connected to the gripping assembly; the gripping assembly includes a second frame, and the two sides of the second frame are respectively rotatably connected with clamping arms, and the ends of the rotating shafts of the clamping arms are connected with the first bevel gear; the front end of the second frame is provided with a fifth motor, and the output end of the fifth motor is downwardly arranged and passes through the second frame to be connected with the second bevel gear; the front end of the second frame is rotatably connected with a rotating shaft, and the two ends of the rotating shaft are connected with third bevel gears, and the third bevel gear is connected with the first bevel gear and meshed externally; the middle part of the rotating shaft is fixedly connected with a fourth bevel gear, and the fourth bevel gear is connected with the second bevel gear and meshed externally; the first cylinder is symmetrically arranged inside the second frame, and the output end of the first cylinder is connected with a connecting seat, and a fourth slider is arranged on the connecting seat; the second frame is symmetrically provided with a fourth slide rail, and the fourth slide rail cooperates with the fourth slider; a mounting plate is connected between the connecting seats, and an air suction box is arranged at the lower end of the mounting plate, and a suction cup is arranged below the air suction box; the air suction end of the air suction box is connected to the inside of the suction cup.

[0013] The aforementioned mobile bidirectional stacking device, the lifting mechanism includes counterweight blocks symmetrically arranged on both sides of the mobile gantry and multiple roller groups on the upper end of the lifting frame, the counterweight block is slidably connected to the mobile gantry; the upper end of the counterweight block is connected to a rope, and the rope is fixedly connected to the lifting frame through the roller group; the upper end of the mobile gantry is symmetrically provided with a sixth motor and multiple rotating shaft seats, and the rotating shaft of the rotating shaft seat is fixedly connected to the fourth gear; the output end of the sixth motor is fixedly connected to the fifth gear; the counterweight block is connected to the fifth gear of the sixth motor through a chain via the fourth gear.

[0014] The aforementioned mobile bidirectional palletizing device, the lifting mechanism includes a third frame, and a seventh motor is respectively provided at the upper and lower ends of the rear side of the third frame, the output end of the seventh motor is connected to the second worm gear reducer, the output end of the second worm gear reducer is connected to the driving gear plate, the driving gear plates are connected via a transmission chain, a plurality of second mounting seats are distributed on the transmission chain, the second mounting seats are rotatably connected to a connecting shaft, and the front end of the connecting shaft is connected to the fork plate.

[0015] In the aforementioned mobile bidirectional palletizing device, the third conveyor belt is of roller type; the rear end of the second conveyor belt is of roller type; the fork teeth of the fork plate pass through the gap between the rollers of the third conveyor belt and the second conveyor belt.

[0016] The aforementioned mobile bidirectional stacking device, the rear end of the third frame is respectively provided with a first track and a second track; the rear end of the connecting shaft is respectively fixedly connected with a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are perpendicular to each other; the two ends of the first connecting rod are respectively connected with second rollers, and the second rollers cooperate with the first track; the two ends of the second connecting rod are respectively connected with third rollers, and the third rollers cooperate with the second track.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In the present invention, during the stacking operation, the materials are delivered to the third conveyor belt by connecting the first conveyor belt and the second conveyor belt. The third conveyor belt always moves together with the lifting frame and is matched with the mobile rotating grabbing and clamping mechanism, thereby reducing the grabbing stroke of the mobile rotating grabbing and clamping mechanism. The mobile rotating grabbing and clamping mechanism grabs the materials on the third conveyor belt and stacks them on the ground in an orderly manner. When the material stacking height is high, the lifting mechanism lifts the lifting frame to a suitable height. At this time, there is a height difference between the second conveyor belt and the third conveyor belt. The lifting mechanism is used to realize the material conveyance from the second conveyor belt to the third conveyor belt. At the same time, due to the lifting of the lifting frame, the moving stroke of the mobile rotating grabbing and clamping mechanism in the vertical direction is reduced, thereby reducing the time for grabbing and stacking materials and improving the stacking efficiency. When the ground is full of materials or the stacking area is far from the mobile rotating clamping mechanism, the mobile gantry drives the lifting mechanism, the second conveyor belt, the lifting frame and the lifting mechanism to move together, and the second conveyor belt always slides on the upper surface of the first conveyor belt, ensuring that the materials can be normally transported from the first conveyor belt to the third conveyor belt. At the same time, the movement of the mobile gantry reduces the moving stroke of the mobile rotating clamping mechanism. When it is necessary to transport materials to the outside, the above steps can be reversed.

[0019] 2. In the present invention, the first gear is driven to rotate by the second motor, and the first gear is meshed and rotated with the first rack, so that the X-axis moving beam moves on the first slide rail through the first slider, thereby controlling the movement of the mobile rotating clamping mechanism in the X-axis direction; the second gear is driven to rotate by the third motor, and the second gear is meshed and rotated with the second rack, so that the Y-axis moving seat moves on the second slide rail through the second slider, thereby controlling the movement of the mobile rotating clamping mechanism in the Y-axis direction; the third gear is driven to rotate by the fourth motor, and the third gear is meshed and rotated with the third rack, so that the Z-axis moving rod moves on the third slide rail through the third slider, thereby controlling the movement of the mobile rotating clamping mechanism in the Z-axis direction; the gripping assembly is controlled to rotate by the steering motor, so that the stacked materials can be stacked vertically between adjacent upper and lower layers; the gripping The component has three ways to grab materials. The first is to grab by the clamping arm, move the second frame to the top of the material to be grabbed, the fifth motor controls the second gear to rotate, the second bevel gear drives the rotating shaft to rotate through the fourth bevel gear, the rotating shaft is meshed with the first bevel gear on the clamping arm rotating shaft through the third bevel gears at both ends, driving the clamping arm to rotate, so that the clamping arm gathers inward to grab the material; the second is to grab the material through the suction cup, move the second frame to the top of the material to be grabbed, and through the extension and contraction of the first cylinder, the connecting seat moves on the fourth slide rail through the fourth slider, thereby adjusting the position of the suction cup to ensure full contact between the suction cup and the material, and then the suction box extracts the air in the suction cup, and the material is adsorbed by the suction cup to achieve transportation; the third is to grab the material through the joint action of the clamping arm and the suction cup.

[0020] 3. In the present invention, when there is a height difference between the second conveyor belt and the third conveyor belt, and the material cannot be directly transported from the second conveyor belt to the third conveyor belt, the lifting mechanism drives the second worm gear reducer to operate through the seventh motor, and the second worm gear reducer causes the driving toothed disc to rotate, and the driving toothed disc drives the conveyor chain to rotate, so that the second mounting seat on the conveyor chain moves, and when stacking inward, the fork plate moves upward from the bottom of the second conveyor belt and moves downward from the top of the third conveyor belt; when conveying materials outward, the fork plate moves upward from the bottom of the third conveyor belt and moves downward from the top of the second conveyor belt, so as to realize forward or reverse conveying between the second conveyor belt and the third conveyor belt. During the movement of the fork plate, the first connecting rod at the rear end of the connecting shaft slides on the first track through the second roller, and the second connecting rod slides on the second track through the third roller, so that the torque on the toothed disc can be transmitted to the third frame, so that the toothed disc moves more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 yes Figure 1The structural diagram of the other side;

[0023] Figure 3 It is a structural diagram of the lifting frame;

[0024] Figure 4 It is a structural schematic diagram of a mobile rotating gripping mechanism;

[0025] Figure 5 yes Figure 4 The structural diagram of the other side;

[0026] Figure 6 This is a schematic diagram of the structure of the Y-axis moving seat;

[0027] Figure 7 is a top view of the mobile rotating gripping mechanism;

[0028] Figure 8 It is a structural diagram of the lifting mechanism;

[0029] Fig. 9 It is a schematic diagram of the rear structure of the lifting mechanism;

[0030] Fig.10 It is a structural schematic diagram of a second mounting base.

[0031] The markings in the attached drawings are: 1-mobile door frame, 2-first conveyor belt, 3-second conveyor belt, 4-lifting frame, 5-lifting mechanism, 6-lifting mechanism, 7-third conveyor belt, 8-mobile rotating clamping mechanism, 11-first frame, 12-first mounting seat, 13-first roller, 14-first motor, 15-first worm gear reducer, 16-mobile guide rail, 21-counterweight block, 22-roller group, 23-rope, 24-sixth motor , 25-rotating shaft seat, 26-fourth gear, 27-fifth gear, 31-third frame, 32-seventh motor, 33-second worm gear reducer, 34-driving gear plate, 35-transmission chain, 36-second mounting seat, 37-connecting shaft, 38-fork plate, 39-first track, 40-second track, 41-first connecting rod, 42-second connecting rod, 43-second roller, 44-third roller, 810-X axis moving beam, 8 11-Y axis moving seat, 812-Z axis moving rod, 813-gripping assembly, 814-first slide rail, 815-first rack, 816-first slider, 817-second motor, 818-first gear, 819-second slide rail, 820-second rack, 821-second slider, 822-third motor, 823-second gear, 824-third slide rail, 825-third rack, 826-fourth motor, 827-third gear Wheel, 828-third slider, 829-steering motor, 830-second frame, 831-clamping arm, 832-first bevel gear, 833-fifth motor, 834-second bevel gear, 835-rotating shaft, 836-third bevel gear, 837-fourth bevel gear, 838-first cylinder, 839-connecting seat, 840-fourth slider, 841-fourth slide rail, 842-mounting plate, 843-suction box, 844-suction cup. DETAILED DESCRIPTION

[0032] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0033] Embodiment: A mobile bidirectional palletizing device, comprising: Figure 1-10 As shown, it includes a mobile gantry 1, and a first conveyor belt 2 fixed to the ground is provided on the side of the mobile gantry 1; a second conveyor belt 3 is fixedly connected to the side of the mobile gantry 1, and the transmission end of the second conveyor belt 3 is connected to the first conveyor belt 2; the mobile bidirectional stacking device also includes:

[0034] Lifting frame 4, such as Figure 1-3As shown, it is arranged on the mobile gantry 1, and the lifting frame 4 is provided with a third conveyor belt 7 and two mobile rotating clamping mechanisms 8 located above the third conveyor belt 7; the mobile rotating clamping mechanism 8 is used to stack the materials on the third conveyor belt 7 on the ground or to move the materials on the ground to the third conveyor belt 7; the lifting frame 4 is used to lift the mobile rotating clamping mechanism 8 and the third conveyor belt 7 to a suitable height when the materials are stacked to a higher place, so as to reduce the longitudinal moving distance of the mobile rotating clamping mechanism 8; as shown Figure 4-7As shown, the movable rotating clamping mechanism includes an X-axis movable crossbeam 810, a Y-axis movable seat 811, a Z-axis movable rod 812 and a clamping assembly 813; the front and rear sides of the upper end of the lifting frame 4 are respectively provided with a first slide rail 814, and the inner side of the first slide rail 814 is provided with a first rack 815; the two ends of the X-axis movable crossbeam 810 are respectively provided with a plurality of first sliders 816, and the first sliders 816 are slidably connected to the first slide rail 814; the X-axis movable crossbeam 810 is provided with a second motor 817, and the output end of the second motor 817 is connected to a first gear 818, and the first gear 818 is connected to the first rack 815 and is externally meshed; the X-axis movable crossbeam 810 is provided with a second slide rail 819, and the lower side of the second slide rail 819 is provided with a second rack 8 20; The Y-axis moving seat 811 is provided with a plurality of second sliders 821, and the second sliders 821 cooperate with the second slide rails 819; The Y-axis moving seat 811 is provided with a third motor 822, and the output end of the third motor 822 is connected to a second gear 823, and the second gear 823 is connected to the second rack 820 and meshes externally; The Z-axis moving rod 812 is symmetrically provided with a third slide rail 824, and the inner side of the third slide rail 824 is provided with a third rack 825; The Y-axis moving seat 811 is provided with a fourth motor 826, and the output end of the fourth motor 826 is connected to a third gear 827, and the third gear 827 is connected to the third rack 825 and meshes externally; The Y-axis moving seat 811 is provided with a plurality of third sliders 828, and the third The slider 828 cooperates with the third slide rail 824; a steering motor 829 is provided at the end of the Z-axis moving rod 812, and the output end of the steering motor 829 is fixedly connected to the clamping assembly 813; the clamping assembly 813 includes a second frame 830, and the two sides of the second frame 830 are rotatably connected to clamping arms 831, and the ends of the rotating shafts of the clamping arms 831 are connected to the first bevel gear 832; the front end of the second frame 830 is provided with a fifth motor 833, and the output end of the fifth motor 833 is downwardly arranged and passes through the second frame 830 to be connected to the second bevel gear 834; the front end of the second frame 830 is rotatably connected to a rotating shaft 835, and the two ends of the rotating shaft 835 are connected to the third bevel gear 836, and the third bevel gear 836 is connected to the first The bevel gear 832 is connected and externally meshed; the middle part of the rotating shaft 835 is fixedly connected with a fourth bevel gear 837, and the fourth bevel gear 837 is connected and externally meshed with the second bevel gear 834; the first cylinder 838 is symmetrically arranged inside the second frame 830, and the output end of the first cylinder 838 is connected with a connecting seat 839, and the connecting seat 839 is provided with a fourth slider 840; the second frame 830 is symmetrically provided with a fourth slide rail 841, and the fourth slide rail 841 cooperates with the fourth slider 840; a mounting plate 842 is connected between the connecting seats 839, and an air suction box 843 is provided at the lower end of the mounting plate 842, and a suction cup 844 is provided below the air suction box 843; the suction end of the suction box 843 is connected with the inside of the suction cup 844;The first gear 818 is driven to rotate by the second motor 817, and the first gear 818 is engaged and rotated with the first rack 815, so that the X-axis moving beam 810 moves on the first slide rail 814 through the first slider 816, thereby controlling the movement of the mobile rotating clamping mechanism 8 in the X-axis direction; the second gear 823 is driven to rotate by the third motor 822, and the second gear 823 is engaged and rotated with the second rack 820, so that the Y-axis moving seat 811 moves on the second slide rail 819 through the second slider 821, thereby controlling the movement of the mobile rotating clamping mechanism 8 in the Y-axis direction; the third gear 827 is driven to rotate by the fourth motor 826, and the third gear 827 is engaged and rotated with the third rack 825, so that the Z-axis moving rod 812 moves on the third slide rail 824 through the third slider 828, thereby controlling the movement of the mobile rotating clamping mechanism 8 in the Z-axis direction; the gripping assembly 813 is controlled to rotate by the steering motor 829, so that the stacked materials can be stacked vertically between adjacent upper and lower layers; the gripping assembly 813 has three types The first method of grabbing materials is to grab by the clamping arm 831, move the second frame 830 to the top of the material to be grabbed, and the fifth motor 833 controls the second gear 823 to rotate. The second bevel gear 834 drives the rotating shaft 835 to rotate through the fourth bevel gear 837. The rotating shaft 835 is meshed with the first bevel gear 832 on the rotating shaft of the clamping arm 831 through the third bevel gears 836 at both ends, driving the clamping arm 831 to rotate, so that the clamping arm 831 gathers inward to grab the material; the second method is to The material is grabbed by the suction cup 844, the second frame 830 is moved to the top of the material to be grabbed, and the first cylinder 838 is extended and retracted to make the connecting seat 839 move on the fourth slide rail 841 through the fourth slider 840, so as to adjust the position of the suction cup 844 to ensure that the suction cup 844 is in full contact with the material, and then the suction box 843 extracts the air in the suction cup 844, and the suction cup 844 absorbs the material to realize transportation; the third method is to grab the material by the joint action of the clamping arm 831 and the suction cup 844;

[0035] Lifting mechanism 5, such as Figure 1 and 2As shown, it is arranged on the mobile gantry 1, and the lifting end of the lifting mechanism 5 is fixedly connected to the lifting frame 4; the lifting mechanism 5 is used to adjust the height of the lifting frame 4 so that the mobile rotating clamping mechanism 8 and the third conveyor belt 7 reach a suitable height; the lifting mechanism 5 includes counterweights 21 symmetrically arranged on both sides of the mobile gantry 1 and a plurality of roller groups 22 at the upper end of the lifting frame 4, and the counterweight 21 is slidably connected to the mobile gantry 1; a rope 23 is connected to the upper end of the counterweight 21, and the rope 23 is fixedly connected to the lifting frame 4 through the roller group 22; a sixth motor 24 and a plurality of rotating shaft seats 25 are symmetrically arranged on the upper end of the mobile gantry 1, and a fourth gear 26 is fixedly connected to the rotating shaft of the rotating shaft seat 25; a fifth gear 27 is fixedly connected to the output end of the sixth motor 24; the counterweight 21 is connected to the fifth gear 27 of the sixth motor 24 through a chain via the fourth gear 26;

[0036] Lifting mechanism 6, such as Figure 8-10As shown, it is arranged at the junction of the second conveyor belt 3 and the third conveyor belt 7; the lifting mechanism 6 has a conveyor chain 35 connected end to end, and a plurality of fork plates 38 are arranged on the conveyor chain 35; the lifting mechanism 6 is used to drive the fork plates 38 to run and pass through the second conveyor belt 3 and the third conveyor belt 7 through the conveyor chain 35 when there is a height difference between the second conveyor belt 3 and the third conveyor belt 7, so as to realize the transportation of materials between the second conveyor belt 3 and the third conveyor belt 7. The lifting mechanism 6 includes a third frame 31, and a seventh motor 32 is respectively provided at the upper and lower ends of the rear side of the third frame 31. The output end of the seventh motor 32 is connected to the second worm gear reducer 33, and the output end of the second worm gear reducer 33 is connected to the driving toothed disc 34. The driving toothed discs 34 are connected via a conveying chain 35. A plurality of second mounting seats 36 are distributed on the conveying chain 35. A connecting shaft 37 is rotatably connected to the second mounting seat 36, and the front end of the connecting shaft 37 is connected to a fork plate 38; the third conveyor belt 7 adopts a roller type; the rear end of the second conveyor belt 3 adopts a roller type; the fork teeth of the fork plate 38 pass through the gap between the rollers of the third conveyor belt 7 and the second conveyor belt 3; when there is a height difference between the second conveyor belt 3 and the third conveyor belt 7, and the material cannot be directly transported from the second conveyor belt 3 to the third conveyor belt 7, the lifting mechanism 6 drives the second worm gear reducer 33 to operate through the seventh motor 32, and the second worm gear reducer 33 causes the driving toothed disc 34 to rotate, and the driving toothed disc 34 drives the conveying chain 35 to The second mounting seat 36 on the conveyor chain 35 is rotated so that the second mounting seat 36 on the conveyor chain 35 moves; when stacking inward, the fork plate 38 moves upward from the bottom of the second conveyor belt 3, and the fork teeth of the fork plate 38 pass through the gap of the second conveyor belt 3, which will lift the material on the second conveyor belt 3, and then with the operation of the conveyor chain 35, the fork plate 38 moves to the top of the third conveyor belt 7, and then the fork teeth of the fork plate 38 pass through the gap of the third conveyor belt 7 and move downward, at this time, the material on the fork plate 38 is transported to the third conveyor belt 7; when transporting materials outward, the fork plate 38 moves upward from the bottom of the third conveyor belt 7, and the fork teeth of the fork plate 38 pass through the gap of the third conveyor belt 7, which will lift the material on the third conveyor belt 7, and then with the operation of the conveyor chain 35, the fork plate 38 moves to the top of the second conveyor belt 3, and then the fork teeth of the fork plate 38 pass through the gap of the second conveyor belt 3 and move downward, at this time, the material on the fork plate 38 is transported to the second conveyor belt 3, thereby realizing the material transmission between the second conveyor belt 3 and the third conveyor belt 7 when there is a height difference. The rear end of the third frame 31 is respectively provided with a first track 39 and a second track 40; the rear end of the connecting shaft 37 is respectively fixedly connected with a first connecting rod 41 and a second connecting rod 42, and the first connecting rod 41 and the second connecting rod 42 are perpendicular to each other; the two ends of the first connecting rod 41 are respectively connected with second rollers 43, and the second rollers 43 cooperate with the first track 39; the two ends of the second connecting rod 42 are respectively connected with third rollers 44, and the third rollers 44 cooperate with the second track 40.During the movement of the fork plate 38, the first connecting rod 41 at the rear end of the connecting shaft 37 slides on the first track 39 through the second roller 43, and the second connecting rod 42 slides on the second track 40 through the third roller 44. The torque on the gear plate can be transmitted to the third frame 31, so that the gear plate can move more smoothly.

[0037] Preferably, if Figure 1 and 2 As shown, the mobile gantry 1 includes a first frame 11 and a mobile guide rail 16; the first mounting seats 12 are respectively provided at the four corners of the bottom of the first frame 11, and a plurality of first rollers 13 are rotatably connected in the first mounting seats 12; a first motor 14 is provided on the side of the first mounting seat 12, and the output end of the first motor 14 is connected to a first worm gear reducer 15, and the output end of the first worm gear reducer 15 is connected to the first roller 13; the mobile guide rail 16 is set on the ground, and the first roller 13 rolls in the mobile guide rail 16. When the materials on the ground are fully stacked, the first motor 14 drives the first worm gear reducer 15 to operate, and the first worm gear reducer 15 makes the first roller 13 roll on the mobile guide rail 16, thereby driving the first frame 11 to move, so that the first frame 11 and the components fixed on the first frame 11 are moved to the empty ground together, and the stacking work starts again.

[0038] Working principle:

[0039] When the present invention is performing the stacking operation, the materials are delivered to the third conveyor belt 7 by connecting the first conveyor belt 2 and the second conveyor belt 3, and then the rotating grasping and clamping mechanism 8 is moved to grasp the materials and stack them in order on the ground. When the material stacking height is high, the lifting mechanism 5 lifts the lifting frame 4 to a suitable height. At this time, there is a height difference between the second conveyor belt 3 and the third conveyor belt 7. The lifting mechanism 6 is used to realize the conveying of materials from the second conveyor belt 3 to the third conveyor belt 7. At the same time, because the lifting frame 4 is raised, the vertical movement stroke of the moving rotating grasping and clamping mechanism 8 is reduced, thereby reducing the time for grasping and stacking materials and improving the stacking efficiency. When the ground is full of materials, the mobile gantry 1 drives the lifting frame 4 and the lifting mechanism 6 to move and stack the materials on other vacant ground. When it is necessary to transport materials to the outside, the above steps can be reversed.

Claims

1. A mobile bidirectional palletizing device, comprising a mobile gantry (1), wherein a first conveyor belt (2) fixed to the ground is provided on the side of the mobile gantry (1); a second conveyor belt (3) is connected to the transmission end of the first conveyor belt (2); and the device is characterized in that: The movable gantry (1) comprises a first frame body (11) and a movable guide rail (16); first mounting seats (12) are respectively provided at the four corners of the bottom of the first frame body (11), and a plurality of first rollers (13) are rotatably connected in the first mounting seats (12); a first motor (14) is provided on the side of the first mounting seat (12), the output end of the first motor (14) is connected to a first worm gear reducer (15), and the output end of the first worm gear reducer (15) is connected to the first roller (13); the movable guide rail (16) is arranged on the bottom surface, and the first roller (13) is rollingly matched in the movable guide rail (16); the movable bidirectional stacking device further comprises: A lifting frame (4) is arranged on a movable gantry (1); a third conveyor belt (7) and a plurality of movable rotating gripping mechanisms (8) are arranged on the lifting frame (4); the movable rotating gripping mechanisms (8) are used to stack materials on the third conveyor belt (7) on the ground or to move materials on the ground to the third conveyor belt (7); the movable rotating gripping mechanisms (8) include an X-axis movable crossbeam (810), a Y-axis movable seat (811), a Z-axis movable rod (812) and a gripping assembly (813); the lifting frame ( 4) A first slide rail (814) is provided at the front and rear sides of the upper end respectively, and a first rack (815) is provided inside the first slide rail (814); a plurality of first sliders (816) are provided at both ends of the X-axis moving beam (810), and the first sliders (816) are slidably connected to the first slide rail (814); the X-axis moving beam (810) is provided with a second motor (817), and the output end of the second motor (817) is connected to a first gear (818), and the first gear (818) is connected to the first rack (815) and is externally meshed; A lifting mechanism (5) is arranged on the movable gantry (1), and a lifting end of the lifting mechanism (5) is fixedly connected to the lifting frame (4); the lifting mechanism (5) is used to adjust the height of the lifting frame (4) so ​​that the movable rotating clamping mechanism (8) and the third conveyor belt (7) reach a suitable height; the lifting mechanism (5) comprises a counterweight block (21) symmetrically arranged on both sides of the movable gantry (1) and a plurality of roller groups (22) at the upper end of the lifting frame (4); the counterweight block (21) is slidably connected to the movable gantry (1); the counterweight block The upper end of the movable gantry (21) is connected to a rope (23), and the rope (23) is fixedly connected to the lifting frame (4) through a roller group (22); the upper end of the movable gantry (1) is symmetrically provided with a sixth motor (24) and a plurality of rotating shaft seats (25), and a fourth gear (26) is fixedly connected to the rotating shaft of the rotating shaft seat (25); the output end of the sixth motor (24) is fixedly connected to a fifth gear (27); the counterweight (21) is connected to the fifth gear (27) of the sixth motor (24) through a chain via the fourth gear (26); A lifting mechanism (6) is arranged at the junction of the second conveyor belt (3) and the third conveyor belt (7); the lifting mechanism (6) has a conveyor chain (35) connected end to end, and a plurality of fork plates (38) are arranged on the conveyor chain (35); the lifting mechanism (6) is used to drive the fork plates (38) to run and pass through the second conveyor belt (3) and the third conveyor belt (7) through the conveyor chain (35) when there is a height difference between the second conveyor belt (3) and the third conveyor belt (7), so as to realize the transportation of materials between the second conveyor belt (3) and the third conveyor belt (7); the lifting mechanism The structure (6) comprises a third frame (31), wherein the upper and lower ends of the rear side of the third frame (31) are respectively provided with a seventh motor (32), the output end of the seventh motor (32) is connected to a second worm gear reducer (33), the output end of the second worm gear reducer (33) is connected to a driving toothed disc (34), the driving toothed discs (34) are connected via a transmission chain (35), a plurality of second mounting seats (36) are distributed on the transmission chain (35), a connecting shaft (37) is rotatably connected to the second mounting seat (36), and the front end of the connecting shaft (37) is connected to a fork plate (38).

2. The mobile bidirectional palletizing device according to claim 1, characterized in that: The X-axis moving crossbeam (810) is provided with a second slide rail (819), and a second rack (820) is provided at the lower side of the second slide rail (819); the Y-axis moving seat (811) is provided with a plurality of second sliders (821), and the second sliders (821) cooperate with the second slide rail (819); the Y-axis moving seat (811) is provided with a third motor (822), and the output end of the third motor (822) is connected to a second gear (823), and the second gear (823) is connected to the second rack (820) and is externally meshed.

3. The mobile bidirectional palletizing device according to claim 1, characterized in that: The Z-axis moving rod (812) is symmetrically provided with a third slide rail (824), and a third rack (825) is provided on the inner side of the third slide rail (824); the Y-axis moving seat (811) is provided with a fourth motor (826), and the output end of the fourth motor (826) is connected to a third gear (827), and the third gear (827) is connected to the third rack (825) and is externally meshed; the Y-axis moving seat (811) is provided with a plurality of third sliders (828), and the third sliders (828) cooperate with the third slide rail (824).

4. The mobile bidirectional palletizing device according to claim 1, characterized in that: A steering motor (829) is provided at the end of the Z-axis moving rod (812), and the output end of the steering motor (829) is fixedly connected to the gripping assembly (813); the gripping assembly (813) comprises a second frame (830), and the two sides of the second frame (830) are rotatably connected to clamping arms (831), and the ends of the rotating shafts of the clamping arms (831) are connected to the first bevel gear (832); a fifth motor (833) is provided at the front end of the second frame (830), and the output end of the fifth motor (833) is arranged downward and passes through the second frame (830) and is connected to the second bevel gear (834); the front end of the second frame (830) is rotatably connected to a rotating shaft (835), and the two ends of the rotating shaft (835) are connected to third bevel gears (836), and the third bevel gear (836) is connected to the first bevel gear (832) and is externally connected to the first bevel gear (832). meshing; a fourth bevel gear (837) is fixedly connected to the middle of the rotating shaft (835), and the fourth bevel gear (837) is connected to and externally meshed with the second bevel gear (834); a first cylinder (838) is symmetrically arranged inside the second frame (830), and the output end of the first cylinder (838) is connected to a connecting seat (839), and a fourth slider (840) is arranged on the connecting seat (839); fourth slide rails (841) are symmetrically arranged on the second frame (830), and the fourth slide rails (841) match the fourth slider (840); a mounting plate (842) is connected between the connecting seats (839), and an air suction box (843) is arranged at the lower end of the mounting plate (842), and a suction cup (844) is arranged below the air suction box (843); the air suction end of the air suction box (843) is connected to the inside of the suction cup (844).

5. The mobile bidirectional palletizing device according to claim 1, characterized in that: The third conveyor belt (7) is of roller type; the rear end of the second conveyor belt (3) is of roller type; the fork teeth of the fork plate (38) pass through the gap between the rollers of the third conveyor belt (7) and the second conveyor belt (3).

6. The mobile bidirectional palletizing device according to claim 1, characterized in that: The rear end of the third frame (31) is respectively provided with a first track (39) and a second track (40); the rear end of the connecting shaft (37) is respectively fixedly connected with a first connecting rod (41) and a second connecting rod (42), and the first connecting rod (41) and the second connecting rod (42) are perpendicular to each other; the two ends of the first connecting rod (41) are respectively connected with second rollers (43), and the second rollers (43) cooperate with the first track (39); the two ends of the second connecting rod (42) are respectively connected with third rollers (44), and the third rollers (44) cooperate with the second track (40).

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