Code disc machine

Abstract

The invention relates to a disc stacking machine, and relates to the technical field of automatic logistics equipment, the disc stacking machine comprises a first side frame and a second side frame, the first side frame and the second side frame are arranged in a spaced mode in the horizontal direction, and carrying devices are arranged on the opposite sides of the first side frame and the second side frame; the opposite sides of the first side frame and the second side frame are each provided with a plurality of alignment roller sets, and alignment spaces for containing trays are formed among the multiple alignment roller sets. The aligning roller set comprises a fixing plate, a first roller and a second roller, the first roller and the second roller are arranged in the vertical direction and connected with the fixing plate, and the first roller and the second roller are arranged in the horizontal direction in a spaced mode and form an insertion space. A synchronous driving device is arranged on the fixing plate, the fixing plate is rotationally connected with the synchronous driving device, and the synchronous driving device is arranged on the corresponding first side frame or the second side frame. Stacked trays can be arranged, the possibility that the trays topple over is reduced, and the working efficiency of an automatic logistics system is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automated logistics equipment, and in particular to a palletizing machine. Background Art

[0002] At present, in the automated logistics system, the coordination of pallets, AGVs and palletizers plays an important role. Specifically, the coordination of AGVs and pallets can realize the fully automatic transportation of goods in the warehouse and can deliver the goods to the designated location. When the pallet needs to be recovered, the AGV automatically moves to the lower side of the palletizer, and the palletizer recovers the pallet on the AGV. Therefore, the setting of the palletizer is of great help to the automated logistics system.

[0003] The existing palletizer mainly includes a mounting frame and two transport devices, which are relatively mounted on the mounting frame. The transport devices include transport claws, a clamping drive and a lifting drive. The two clamping drives cooperate to allow the two relative transport claws to move closer to or farther from each other, and the lifting drive is used to drive the transport claws to move in the vertical direction.

[0004] When the AGV with the pallet enters the palletizer, the palletizer places the stacked pallets between the two handling claws on the pallet carried by the AGV, and then the handling claws fix the pallet carried by the AGV and lift it upward. Through this method, the stacking and recycling function of multiple pallets is realized.

[0005] Regarding the above-mentioned related technologies, the palletizer can recycle pallets from the AGV and can stack several pallets in the palletizer. However, since the handling claws only fix the bottom pallet and the other pallets are naturally stacked, when there are too many pallets, the stacked pallets are prone to tilt, which can easily cause the stacked pallets to tilt or even fall, which will affect the working efficiency of the automated logistics system. Summary of the invention

[0006] The present application provides a palletizer, the purpose of which is to align and sort stacked pallets during the process of pallet stacking and recovery, thereby reducing the possibility of pallet tipping over and thereby reducing the impact on the working efficiency of an automated logistics system.

[0007] The present application provides a coding machine that adopts the following technical solution: A palletizer, comprising: a first side frame and a second side frame, wherein the first side frame and the second side frame are arranged at intervals in a horizontal direction, and a handling device is arranged on opposite sides of the first side frame and the second side frame; A plurality of alignment roller groups are disposed on opposite sides of the first side frame and the second side frame, and an alignment space for accommodating a tray is formed between the plurality of alignment roller groups; The alignment roller group includes a fixed plate, a first roller and a second roller, the first roller and the second roller are both arranged in a vertical direction and connected to the fixed plate, the first roller and the second roller are arranged in a horizontal direction with an interval and form an insertion space for accommodating the insertion of the edge of the tray; The fixed plate is provided with a synchronous driving device for driving the fixed plate to move toward the alignment space. The fixed plate is rotationally connected to the synchronous driving device, and the synchronous driving device is provided on the corresponding first side frame or the second side frame.

[0008] By adopting the above technical solution, firstly, the first side frame and the second side frame are arranged at an interval from each other, so that a passage for accommodating the passage of the AGV is formed between the first side frame and the second side frame.

[0009] Secondly, a transport device is provided on the opposite side of the first side frame and the second side frame, so the pallets can be stacked and installed on the AGV trolley through the cooperation of the two transport devices.

[0010] An alignment roller group is disposed on the opposite side of the first side frame and the second side frame, and an alignment space is formed between the plurality of alignment roller groups, and the alignment space is used to accommodate the pallet. The alignment roller group includes a fixed plate, a first roller and a second roller, and the first roller and the second roller are both connected to the fixed plate, and an insertion space is formed between the first roller and the second roller.

[0011] Based on this structure, when alignment is required, the synchronous drive device drives the alignment roller group to move toward the direction of the pallet, and inserts the corner of the pallet into the corresponding insertion space, wherein the first roller will first contact one side of the pallet, and under the continued drive of the synchronous drive device, the fixed plate rotates, and then the second roller contacts the other side of the pallet. With the cooperation of several alignment roller groups, several stacked pallets can be aligned.

[0012] Therefore, through the cooperation of several alignment roller groups and synchronous drive devices, it is possible to sort the stacked pallets after they are stacked, reduce the possibility of pallet tipping, and improve the working efficiency of the automated logistics system.

[0013] Optionally, a first connecting frame is provided on the first side frame, and the first connecting frame is slidably connected to the first side frame; a second connecting frame is provided on the second side frame, and the second connecting frame is slidably connected to the second side frame; The plurality of alignment roller groups are respectively arranged on the corresponding first connecting frame and the corresponding second connecting frame, and the fixing plate is rotatably connected to the corresponding first connecting frame or the corresponding second connecting frame; The first connecting frame and the second connecting frame are both connected to the synchronous driving device, and the synchronous driving device drives the first connecting frame and the second connecting frame to move toward or away from each other.

[0014] By adopting the above technical solution, the first connecting frame and the second connecting frame are arranged so that the alignment roller groups on the first side frame can all be installed on the first connecting frame, and similarly, the alignment roller groups on the second side frame can all be installed on the second connecting frame, and then through a synchronous drive device, all the alignment roller groups can be moved toward the direction of the alignment space, thereby realizing the alignment and sorting of the stacked pallets.

[0015] Optionally, it further includes a cross frame, the length direction of which is arranged along the spacing direction of the first side frame and the second side frame, and the two ends of the cross frame in the length direction are respectively connected to the first side frame and the second side frame.

[0016] By adopting the above technical solution, the setting of the cross frame can connect the first side frame and the second side frame, thereby forming a stable support frame structure.

[0017] Optionally, the synchronous driving device includes a synchronous reversing assembly and a synchronous driving member, and the synchronous reversing assembly includes a first connecting rod, a second connecting rod and an intermediate rod; The middle portion of the intermediate rod is rotatably connected to the cross frame, the two ends of the intermediate rod are rotatably connected to the first connecting rod and the second connecting rod respectively, the end of the first connecting rod away from the intermediate rod is rotatably connected to the first connecting frame, and the end of the second connecting rod away from the intermediate rod is rotatably connected to the second connecting frame; The driving direction of the synchronous driving member is arranged along the length direction of the horizontal frame, and two ends of the synchronous driving member are respectively connected to the horizontal frame and the second connecting frame.

[0018] By adopting the above technical solution, firstly, through the arrangement of the first connecting rod, the intermediate rod and the second connecting rod, when the first connecting frame moves toward the second connecting frame, the second connecting frame will move toward the first connecting frame through the conversion of the first connecting rod, the intermediate rod and the second connecting rod; similarly, when the first connecting frame moves in a direction away from the second connecting frame, the second connecting frame will move in a direction away from the first connecting frame. Secondly, the synchronous driving member is used to drive the second connecting frame to move toward the first connecting frame or away from the first connecting frame.

[0019] Therefore, the synchronous movement of the first connecting frame and the second connecting member can be achieved through the synchronous reversing assembly and the synchronous driving member, thereby achieving the synchronous movement of a plurality of alignment roller groups.

[0020] Optionally, the length directions of the first connecting frame and the second connecting frame are both perpendicular to the spacing direction of the first side frame and the second side frame; Both ends of the first connecting frame and the second connecting frame in the length direction are connected with vertical frames, and the vertical frames are slidably connected with the corresponding first side frame or the second side frame along the spacing direction between the first side frame and the second side frame; The vertical frames are arranged in one-to-one correspondence with the alignment roller groups, and the fixing plates are rotatably connected with the corresponding vertical frames.

[0021] By adopting the above technical solution, the vertical frame is set to realize the installation of the alignment roller group and the corresponding first connecting frame or the corresponding second connecting frame. The four vertical frames correspond to four alignment roller groups. Therefore, the setting of the four alignment roller groups makes the pallet encoder of the present application suitable for rectangular or square pallets.

[0022] Optionally, a synchronization shaft is provided on the vertical frame, the synchronization shaft is provided along the vertical direction, and the synchronization shaft is rotationally connected to the vertical frame; The synchronization shaft is coaxially connected with a synchronization gear, the synchronization gear is meshed with a synchronization rack, the length direction of the synchronization rack is arranged along the sliding direction of the vertical frame, and the synchronization rack is connected to the corresponding first side frame or the second side frame.

[0023] By adopting the above technical solution, when the first connecting frame or the second connecting frame drives the corresponding vertical frame to move, the synchronous gear engages with the synchronous rack, so that the synchronous gear moves on the synchronous rack along the length direction of the synchronous rack. Therefore, through the cooperation of the synchronous shaft, the synchronous gear and the synchronous rack, the stability of the vertical frame movement can be provided.

[0024] Optionally, the alignment roller group further includes a fixed roller, the fixed roller is arranged in a vertical direction, the fixed plate is rotationally connected to the fixed roller, and the synchronous drive device is connected to the fixed roller; A torsion spring is sleeved on the fixed roller, one end of the torsion spring is connected to the fixed roller, and the other end is connected to the fixed plate.

[0025] By adopting the above technical solution, since the fixed roller and the fixed plate are rotatably connected, and the fixed roller is connected to the synchronous driving device, the synchronous driving device can drive the alignment roller group to work normally.

[0026] After the alignment roller group has completed the alignment of the pallet, the synchronous drive device drives the alignment roller group to separate from the corresponding pallet. At this time, under the action of the torsion spring, the fixed plate is reset, thereby resetting the first roller and the second roller. Therefore, the setting of the torsion spring can ensure that the direction of the insertion space is always consistent, ensuring the normal operation of the alignment roller group.

[0027] Optionally, the transport device includes a transport claw and a lifting frame, and the lifting frame is slidably connected to the corresponding first side frame or the second side frame in a vertical direction; The lifting frame is provided with a lifting driving member for driving the lifting frame to move in a vertical direction; The transport claw is slidably connected to the lifting frame along the spacing direction between the first side frame and the second side frame; The transport claw is provided with a clamping driving member for driving the transport claw to move along the spacing direction between the first side frame and the second side frame.

[0028] By adopting the above technical solution, the lifting frame is provided to install the transport claws and the clamping drive member, and the transport and stacking function of the pallet can be realized through the cooperation of the clamping drive member, the lifting drive member and the transport claws.

[0029] Optionally, the transport device also includes an installation component, which includes a sliding plate, the sliding plate is rotatably connected to the clamping drive member, the sliding plate is slidably connected to the lifting frame along the spacing direction between the first side frame and the second side frame, and a fine-tuning drive member is arranged between the sliding plate and the lifting frame, and the fine-tuning drive member is used to adjust the position of the sliding plate along the first side frame and the second side frame.

[0030] By adopting the above technical solution, since the clamping drive is connected to the sliding plate, and the sliding plate is slidably connected to the lifting frame, the position of the sliding plate can be adjusted under the action of the fine-tuning drive, which is convenient for the installation of the clamping drive.

[0031] Optionally, the alignment roller group is slidably connected to the corresponding first side frame or the second side frame, and the sliding direction of the alignment roller group is set along the horizontal direction; the alignment roller group is provided with a horizontal adjustment member for driving the alignment roller group to slide along the horizontal direction, and the horizontal adjustment member is set on the corresponding first side frame or the second side frame.

[0032] By adopting the above-mentioned technical solution, since a horizontal adjustment member is provided between the alignment roller group and the corresponding first side frame or second side frame, it is possible to adjust the position of the alignment roller group on the first side frame and the second side frame, and change the size of the alignment space formed by several alignment roller groups, so that several alignment roller groups can realize the alignment and sorting of pallets of different sizes, thereby improving the applicability of the encoding machine of the present application.

[0033] In summary, the present application includes at least one of the following beneficial technical effects: 1. The present application can collect and stack the pallets on the AGV trolley by setting up the transport device, and can also install the stacked pallets on the corresponding AGV trolley in sequence.

[0034] 2. This application can realize the sorting of stacked pallets after they are stacked, reduce the possibility of pallet tipping, and improve the working efficiency of the automated logistics system.

[0035] 3. The present application can adjust the position of the alignment roller group, thereby enabling the palletizer of the present application to be used for the alignment and sorting of pallets of different sizes, thereby improving the applicability of the palletizer of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of the encoder machine of Example 1 of the present application.

[0037] Figure 2 It is a schematic diagram of the overall structure of the first side frame of Example 1 of the present application.

[0038] Figure 3 It is a schematic diagram of the overall structure of the lifting frame of Example 1 of the present application.

[0039] Figure 4 yes Figure 3 Schematic diagram of the local enlarged structure of part B.

[0040] Figure 5 It is a schematic diagram of the overall structure of the synchronous drive device, the first connecting frame, the second connecting frame and several vertical frames of Example 1 of the present application.

[0041] Figure 6 yes Figure 2 Schematic diagram of the local enlarged structure of part A.

[0042] Figure 7 It is a schematic diagram of the overall structure of the alignment roller group of Example 1 of the present application.

[0043] Figure 8 It is a schematic diagram of the overall structure of the mounting rod of Example 2 of the present application.

[0044] Fig. 9 It is a schematic diagram of the overall structure of the encoder machine of Example 3 of the present application.

[0045] Fig.10 It is a schematic diagram of the overall structure of the first side frame of Example 3 of the present application.

[0046] In the figure, 1, mounting frame; 11, first side frame; 12, second side frame; 13, clearance space; 14, first connecting frame; 15, second connecting frame; 16, horizontal frame; 17, vertical frame; 171, synchronization shaft; 172, synchronization gear; 173, synchronization rack; 18, adjustment assembly; 181, adjustment frame; 182, horizontal adjustment member; 183, vertical drive member; 2. Carrying device; 21. Carrying claw; 211. Mounting plate; 212. Plug-in tooth plate; 22. Clamping drive member; 23. Lifting drive member; 231. Driving gear; 232. Driven gear; 233. Driving belt; 234. Driving source; 235. Transmission shaft; 24. Lifting frame; 241. Clearance hole; 25. Mounting assembly; 251. Mounting rod; 2511. First rod; 2512. Second rod; 2513. Length adjustment hole; 252. Sliding plate; 253. Fine-tuning drive member; 2531. Fixed plate; 2532. Adjusted plate; 2533. Adjusting bolt; 2534. Nut; 254. Length fixing member; 2541. Fixing bolt; 2542. First hole; 3. Alignment device; 31. Alignment roller group; 311. Fixed plate; 3111. First long plate; 3112. Second long plate; 312. First roller; 313. Second roller; 314. Insertion space; 315. Fixed roller; 316. Torsion spring; 32. Alignment space; 4. Synchronous drive device; 41. Synchronous reversing assembly; 411. First connecting rod; 412. Second connecting rod; 413. Intermediate rod; 42. Synchronous drive member. DETAILED DESCRIPTION

[0047] The following is combined with Figure 1 -Attached Fig.10 , further details of this application are given.

[0048] Embodiment 1: A coder, referring to Figure 1 , including a mounting frame 1, the mounting frame 1 includes a first side frame 11 and a second side frame 12, the first side frame 11 and the second side frame 12 are arranged at intervals in the horizontal direction, and a clearance space 13 is formed between the first side frame 11 and the second side frame 12, and the clearance space 13 is used to provide a passage for the AGV vehicle to pass through the mounting frame 1.

[0049] Reference Figure 1 A cross frame 16 is disposed between the first side frame 11 and the second side frame 12, and the length direction of the cross frame 16 is disposed along the spacing direction of the first side frame 11 and the second side frame 12, and both ends of the length direction of the cross frame 16 are respectively fixedly connected to the first side frame 11 and the second side frame 12. The cross frame 16 can connect the first side frame 11 and the second side frame 12 into a whole, thereby improving the strength of the mounting frame 1.

[0050] Reference Figure 1 and Figure 2 , a transport device 2 is disposed on each side of the first side frame 11 and the second side frame 12. This embodiment is described by taking the transport device 2 on the first side frame 11 as an example.

[0051] Specifically, refer to Figure 2 and Figure 3 The carrying device 2 includes a carrying claw 21, a clamping drive member 22, a lifting drive member 23 and a lifting frame 24. The carrying claw 21 is located at the lower side of the horizontal frame 16 in the vertical direction. The carrying claw 21 is slidably connected to the lifting frame 24 along the spacing direction between the first side frame 11 and the second side frame 12. The clamping drive member 22 adopts a hydraulic cylinder or a pneumatic cylinder, and the driving direction of the clamping drive member 22 is set along the spacing direction between the first side frame 11 and the second side frame 12. One end of the clamping drive member 22 is rotatably connected to the lifting frame 24, and the other end is rotatably connected to the carrying claw 21. Since both ends of the clamping drive member 22 are rotatably connected, this reduces the installation accuracy requirement of the clamping drive member 22.

[0052] Reference Figure 2 and Figure 3 The lifting frame 24 is slidably connected to the first side frame 11 along the vertical direction, and the lifting driving member 23 is connected to the lifting frame 24. Under the drive of the lifting driving member 23, the transport claw 21 can be lifted and lowered in the vertical direction.

[0053] When the pallets need to be stacked, the transport claws 21 of the first side frame 11 and the second side frame 12 move closer to each other under the drive of the corresponding clamping drive 22 to clamp the pallets. On this basis, under the drive of the corresponding lifting drive 23, the two transport claws 21 move in the vertical direction to lift the pallets.

[0054] Through such a setting, the pallet on the AGV can be separated from the AGV, or the pallet can be placed on the AGV; the pallets can also be stacked.

[0055] Reference Figure 2 and Figure 3 The transport claw 21 includes a mounting plate 211 and a plurality of splicing tooth plates 212. The length direction of the mounting plate 211 is arranged in the horizontal direction and is perpendicular to the spacing direction between the first side frame 11 and the second side frame 12. The plurality of splicing tooth plates 212 are located on the side of the mounting plate 211 facing the second side frame 12, and the plurality of splicing tooth plates 212 are sequentially spaced along the length direction of the mounting plate 211. The mounting plate 211 is rotatably connected to one end of the clamping driving member 22. When the transport device 2 transports a pallet, the splicing tooth plates 212 can support the pallet.

[0056] Reference Figure 2 and Figure 3 A linear sliding guide mechanism is provided between both ends of the mounting plate 211 in the length direction and the lifting frame 24, and the length direction of the linear sliding guide mechanism is arranged along the driving direction of the clamping drive 22. The linear sliding guide mechanism can improve the stability of the movement of the transport claw 21.

[0057] Reference Figure 3 and Figure 4The lifting frame 24 is provided with a mounting assembly 25, which includes a mounting rod 251 and a sliding plate 252. The mounting rod 251 is axially arranged along the driving direction of the clamping drive 22, and the mounting rod 251 is fixedly connected to the lifting frame 24. The upper side of the sliding plate 252 is slidably connected to the mounting rod 251, and the sliding direction is arranged along the axial direction of the mounting rod 251. The lower side of the sliding plate 252 is rotatably connected to one end of the clamping drive 22. This enables the sliding plate 252 to fine-tune its position in the axial direction of the mounting rod 251, which is mainly convenient for the installation of the clamping drive 22.

[0058] Reference Figure 3 and Figure 4 , fine-tuning driving members 253 are provided on both sides of the width direction of the mounting rod 251. The fine-tuning driving member 253 includes a fixed plate 2531 and an adjusted plate 2532, the fixed plate 2531 is fixedly connected to one side of the mounting rod 251 in the width direction, the adjusted plate 2532 is fixedly connected to the sliding plate 252, and the fixed plate 2531 and the adjusted plate 2532 are arranged opposite to each other along the axial direction of the mounting rod 251.

[0059] Reference Figure 3 and Figure 4 The fine-tuning driving member 253 also includes an adjusting bolt 2533, the axial direction of which is parallel to the axial direction of the mounting rod 251. A first through hole is provided on the fixed plate 2531, and a second through hole is provided on the adjusted plate 2532, and the first through hole is connected to the second through hole. The adjusting bolt 2533 is plug-fitted with the first through hole and the corresponding second through hole, and the adjusting bolt 2533 is slidably connected with the inner wall of the first through hole and the second through hole along its own axial direction. The adjusting bolt 2533 is arranged in this way to guide the sliding of the sliding plate 252.

[0060] Reference Figure 3 and Figure 4 , a plurality of nuts 2534 are sleeved on the adjusting bolt 2533, and the nuts 2534 are connected to the adjusting bolt 2533 by threads. There are two nuts 2534 located on both sides of the fixed plate 2531. The two nuts 2534 realize the locking of the position of the adjusted plate 2532. The fixed plate 2531 is located between the nut of the adjusting bolt 2533 and the adjacent nut 2534, and the cooperation between the nut 2534 and the nut realizes the position locking of the fixed plate 2531. Furthermore, by setting the adjusting nut 2534, after the fine-tuning sliding plate 252 is used to realize the installation of the clamping drive 22, the clamping drive 22 and the lifting frame 24 can be locked.

[0061] Reference Figure 2 and Figure 3The lifting drive member 23 includes a driving gear 231, a driven gear 232 and a driving belt 233. The driving gear 231 and the driven gear 232 are both rotatably connected to the first side frame 11, and the driving gear 231 is located on the upper side of the driven gear 232 in the vertical direction. The driving belt 233 is sleeved on the outside of the driving gear 231 and the driven gear 232, and the driving gear 231 and the driven gear 232 are both meshed with the driving belt 233. The driving gear 231 is coaxially connected to a driving source 234, and the driving source 234 adopts a motor.

[0062] Reference Figure 2 and Figure 3 The lifting frame 24 is located between the driving gear 231 and the driven gear 232 in the vertical direction. A clearance hole 241 is provided on the lifting frame 24 in the vertical direction, and one side of the driving belt 233 passes through the clearance hole 241. The other side of the driving belt 233 is connected to the lifting frame 24.

[0063] When the driving gear 231 of the driving source 234 rotates, one side of the driving belt 233 can rise and fall in the vertical direction in the clearance hole 241, and synchronously, the other side of the driving belt 233 will drive the lifting frame 24 to move in the vertical direction, thereby driving the carrying claw 21 in the vertical direction.

[0064] Reference Figure 2 and Figure 3 A plurality of linear sliding guide mechanisms are also arranged between the lifting frame 24 and the first side frame 11, and the length direction of the linear sliding guide mechanism is arranged along the vertical direction. The linear sliding guide mechanism can improve the stability of the lifting frame 24 in the vertical direction.

[0065] Reference Figure 1 and Figure 2 The driving gear 231 on the first side frame 11 and the driving gear 231 on the second side frame 12 are arranged opposite to each other, and a transmission shaft 235 is arranged between the two driving gears 231, and the driving gears 231 corresponding to the two ends of the transmission shaft 235 are coaxially connected. Therefore, only one driving source 234 can drive the two transport claws 21 to rise and fall synchronously.

[0066] Reference Figure 1 and Figure 5 A first connecting frame 14 is provided on the first side frame 11, and the first connecting frame 14 is slidably connected to the first side frame 11 along the spacing direction between the first side frame 11 and the second side frame 12; a second connecting frame 15 is provided on the second side frame 12, and the second connecting frame 15 is slidably connected to the second side frame 12 along the spacing direction between the first side frame 11 and the second side frame 12.

[0067] Reference Figure 1 and Figure 5A linear sliding guide mechanism is provided between the first connecting frame 14 and the first side frame 11 and between the second connecting frame 15 and the second side frame 12, and the length direction of the linear sliding guide mechanism is provided along the spacing direction of the first side frame 11 and the second side frame 12. Therefore, the linear sliding guide mechanism can guide the sliding of the first connecting frame 14 and the second connecting frame 15 and improve the sliding stability between the first connecting frame 14 and the second connecting frame 15.

[0068] Reference Figure 1 and Figure 5 A synchronous driving device 4 is arranged between the first connecting frame 14 and the second connecting frame 15, and the synchronous driving device 4 includes a synchronous reversing component 41. The synchronous reversing component 41 includes an intermediate rod 413, and the intermediate rod 413 is located between the first connecting frame 14 and the second connecting frame 15, and the middle part of the intermediate rod 413 is rotatably connected to the cross frame 16. A first connecting rod 411 is arranged between the intermediate rod 413 and the first connecting frame 14, and the two ends of the first connecting rod 411 are respectively rotatably connected to the first connecting frame 14 and the intermediate rod 413. A second connecting rod 412 is arranged between the intermediate rod 413 and the second connecting frame 15, and the two ends of the second connecting rod 412 are respectively rotatably connected to the second connecting frame 15 and the intermediate rod 413, and the first connecting rod 411 and the second connecting rod 412 are respectively located at the two ends of the length direction of the intermediate rod 413.

[0069] When the first connecting frame 14 moves in a direction away from the second connecting frame 15, the second connecting frame 15 moves synchronously in the direction of the first connecting frame 14 through the cooperation of the first connecting rod 411, the intermediate rod 413 and the second connecting rod 412. Similarly, when the first connecting frame 14 moves in a direction away from the second connecting frame 15, the second connecting frame 15 moves synchronously in a direction away from the first connecting frame 14.

[0070] Reference Figure 1 and Figure 5 The synchronous drive device 4 also includes a synchronous drive member 42, which adopts a cylinder or a hydraulic cylinder. The two ends of the synchronous drive member 42 are respectively rotatably connected to the cross frame 16 and the second connecting frame 15, and the driving direction of the synchronous drive member 42 is set along the spacing direction between the first connecting frame 14 and the second connecting frame 15.

[0071] When the synchronous driving member 42 drives the first connecting frame 14 to move, the first connecting frame 14 and the second connecting frame 15 can move closer to or away from each other.

[0072] Reference Figure 1 and Figure 5The length direction of the first connecting frame 14 is arranged along the horizontal direction and is perpendicular to the spacing direction of the first side frame 11 and the second side frame 12. The length directions of the first connecting frame 14 and the second connecting frame 15 are parallel to each other. Both ends of the length direction of the first connecting frame 14 and the second connecting frame 15 are provided with vertical frames 17.

[0073] Reference Figure 1 and Figure 5 , vertical frames 17 are provided at both ends of the length direction of the first connecting frame 14, and the length direction of the vertical frames 17 is arranged in the vertical direction. The handling device 2 on the first side frame 11 is located between the two vertical frames 17, and the upper ends of the two vertical frames 17 are connected to the first connecting frame 14, and the vertical frames 17 are slidably connected to the first side frame 11 along the spacing direction between the first side frame 11 and the second side frame 12. This enables the first connecting frame 14 to drive the vertical frames 17 at both ends to move synchronously.

[0074] Reference Figure 5 and Figure 6 A linear sliding guide mechanism is provided between the upper end of the vertical frame 17 and the first side frame 11 and between the lower end of the vertical frame 17 and the first side frame 11. The length direction of the linear sliding guide mechanism is arranged along the sliding direction of the corresponding vertical frame 17, which can improve the stability of the vertical frame 17 sliding on the first side frame 11.

[0075] Reference Figure 5 and Figure 6 A synchronization shaft 171 is provided on the side of the two vertical frames 17 that are away from each other. The synchronization shaft 171 is provided in the vertical direction, and the synchronization shaft 171 is rotationally connected to the corresponding vertical frame 17. The upper end and the lower end of the synchronization shaft 171 are coaxially connected to a synchronization gear 172. A plurality of synchronization racks 173 are provided on the first side frame 11, and the synchronization racks 173 are provided in a one-to-one correspondence with the synchronization gears 172. The synchronization racks 173 are meshed with the corresponding synchronization gears 172, and the length direction of the synchronization racks 173 is provided along the spacing direction between the first side frame 11 and the second side frame 12.

[0076] When the first connecting frame 14 drives the vertical frame 17 to move, the synchronous rack 173 and the synchronous gear 172 cooperate to improve the stability of the movement of the synchronous shaft 171, thereby improving the stability of the movement of the vertical frame 17. The vertical frames 17 at both ends of the first connecting frame 14 are provided with synchronous shafts 171, synchronous gears 172 and synchronous racks 173, so that the synchronous movement of the two vertical frames 17 can be achieved, thereby improving the stability and reliability of the movement of the entire structure.

[0077] Reference Figure 1 and Figure 2The length direction of the second connecting frame 15 is parallel to the length direction of the first connecting frame 14, and a vertical frame 17 is also provided in the length direction of the second connecting frame 15. Therefore, the vertical frame 17 on the first side frame 11 and the vertical frame 17 on the second side frame 12 have the same structure, function and technical effect.

[0078] Reference Figure 1 and Figure 5 The palletizer further includes an alignment device 3, which includes a plurality of alignment roller groups 31. The alignment roller groups 31 are arranged one by one with the vertical frame 17, and the alignment roller groups 31 are installed on the side of the vertical frame 17 facing the clearance space 13. Thus, a rectangular alignment space 32 for accommodating the pallet to enter is formed between the four alignment roller groups 31.

[0079] Reference Figure 5 and Figure 7 The alignment roller set 31 includes a fixed roller 315 , which is arranged in a vertical direction and is fixedly connected to the corresponding vertical frame 17 .

[0080] Reference Figure 5 and Figure 7 Two fixing plates 311 are arranged on the fixing roller 315, and the fixing plates 311 are arranged at intervals in the vertical direction. A fixing hole is penetrated through the fixing plate 311, and the fixing shaft is plugged into the fixing hole, and a bearing is arranged between the fixing shaft and the inner wall of the fixing hole, so as to realize the rotation connection between the fixing plate 311 and the fixing shaft.

[0081] Reference Figure 5 and Figure 7 The fixing plate 311 is provided with a first long plate 3111 and a second long plate 3112. One end of the first long plate 3111 is connected to the fixing plate 311, and the other end is extended in a direction away from the fixing plate 311. One end of the second long plate 3112 is connected to the fixing plate 311, and the other end is extended in a direction away from the fixing plate 311. An angle is formed between the first long plate 3111 and the second long plate 3112, and the opening of the angle faces the alignment space 32.

[0082] Reference Figure 5 and Figure 7 A first roller 312 and a second roller 313 are disposed between the two fixed plates 311. The first roller 312 and the second roller 313 are both disposed in the vertical direction, and both ends of the first roller 312 are rotatably connected to the corresponding first long plate 3111, and both ends of the second roller 313 are rotatably connected to the corresponding second long plate 3112. The first roller 312 and the second roller 313 are disposed at intervals in the horizontal direction, and an insertion space 314 is formed between the first roller 312 and the second roller 313, and the insertion space 314 is disposed toward the alignment space 32.

[0083] When the pallet is located in the alignment space 32, the synchronous drive device 4 drives the alignment roller set 31 to move toward the pallet, and the corresponding corner of the pallet is inserted into the insertion space 314. Then, the first roller 312 will first contact one side wall of the pallet, and the alignment roller set 31 is continuously driven to move toward the pallet, so that the fixed plate 311 rotates and makes the second roller 313 contact the other adjacent side wall of the pallet. Through the cooperation of the four alignment roller sets 31, several pallets can be arranged and aligned.

[0084] Reference Figure 5 and Figure 7 A torsion spring 316 is sleeved on the upper end of the fixed roller 315 , and one end of the torsion spring 316 is connected to the uppermost fixed plate 311 , and the other end is connected to the fixed roller 315 .

[0085] After the alignment roller set 31 aligns the pallet, the alignment roller set 31 is separated from the pallet under the drive of the synchronous drive device 4 . At this time, under the action of the torsion spring 316 , the fixing plate 311 drives the first roller 312 and the second roller 313 to automatically reset.

[0086] The implementation principle of the embodiment of the present application is: stacking of trays: First, when the AGV carrying the pallet enters the clearance space 13, the two carrying claws 21 move towards each other under the action of their respective clamping drive members 22, and the carrying claws 21 are inserted into the side holes of the pallet or into the bottom side of the pallet. At this time, under the action of the two lifting drive members 23, the carrying claws 21 drive the pallet to move upward, thereby realizing the separation of the pallet and the AGV.

[0087] Secondly, when the next AGV carrying a pallet enters the clearance space 13, the pallet fixed on the two carrying claws 21 is lowered and placed on the pallet carried by the AGV to achieve pallet stacking, and then the two carrying claws 21 fix the lowermost pallet and move it upward until the AGV is separated from the pallet.

[0088] Repeat the above steps to stack pallets in the palletizer.

[0089] To allocate the pallets: The AGV is moved into the clearance space 13, and the two transport claws 21 place all the stacked pallets on the AGV. Then the transport claws 21 fix the second pallet from the bottom up and move it upward. At this time, the lowermost pallet is placed on the AGV, and the other pallets are still stacked in the palletizer.

[0090] By repeating the above steps, the stacked pallets can be installed on the corresponding AGV carts from bottom to top in sequence to achieve pallet distribution.

[0091] During the process of stacking and distributing pallets, the stacked pallets need to be aligned and sorted after each operation is completed. Specifically, the synchronous drive device 4 moves the plurality of alignment roller groups 31 toward the pallet, each corner of the pallet corresponds to an alignment roller group 31, and the corner of the pallet is inserted into the insertion space 314 of the corresponding alignment roller group 31. During this process, the first roller 312 will first contact one side wall of the pallet, and the synchronous drive device 4 continues to push the alignment roller group 31, then the first roller 312 will cause the fixed plate 311 to rotate, and then the second roller 313 will contact the other side of the pallet, and then with the cooperation of the four alignment roller groups 31, the plurality of stacked pallets can be sorted and aligned.

[0092] Embodiment 2: A code disk machine. The difference between this embodiment and embodiment 1 is: Figure 2 and Figure 8 The mounting rod 251 includes a first rod 2511 and a second rod 2512 . The first rod 2511 and the second rod 2512 are coaxially arranged, and the axial direction of the first rod 2511 is arranged along the driving direction of the clamping driving member 22 .

[0093] Reference Figure 2 and Figure 8 The second rod 2512 is located along the axial direction of the first rod 2511 at an end of the first rod 2511 away from the corresponding carrying claw 21, and a length adjustment hole 2513 is penetrated through the end of the second rod 2512 facing the first rod 2511. The first rod 2511 is plug-fitted with the length adjustment hole 2513, and the first rod 2511 is slidably connected to the inner wall of the length adjustment hole 2513 along its own axial direction.

[0094] Reference Figure 2 and Figure 8 The sliding plate 252 is slidably connected to the second rod 2512 along the axial direction of the second rod 2512, and the fixed plate 2531 is fixedly connected to the outer side of the second rod 2512. Since the driving distance of the clamping driving member 22 is fixed, the initial position of the clamping driving member 22 can be changed by sliding the position of the second rod 2512, thereby changing the initial position of the carrying claw 21. This arrangement enables the carrying device 2 to be used for carrying pallets of different sizes.

[0095] Reference Figure 2 and Figure 8A length fixing member 254 is provided between the second rod 2512 and the first rod 2511, and the length fixing member 254 includes a fixing bolt 2541. A fixing hole is provided through the first rod 2511, and a plurality of first holes 2542 are provided through the second rod 2512. The plurality of first holes 2542 are arranged in sequence and spaced along the axial direction of the second rod 2512, and there is a first hole 2542 connected to the fixing hole, and the fixing bolt 2541 is plugged in and matched with the fixing hole and the corresponding first hole 2542. Therefore, after adjusting the position of the second rod 2512, the position of the second rod 2512 can be fixed by inserting the fixing bolt 2541.

[0096] The implementation principle of the embodiment of the present application is: since the clamping drive 22 is connected to the second rod 2512, and the position of the second rod 2512 is adjustable, the position of the carrying claw 21 can be adjusted, so that the carrying device 2 can fix pallets of different sizes, which makes the palletizer able to be used for the carrying and stacking functions of pallets of different sizes.

[0097] Embodiment 3: A disc encoder. The difference between this embodiment and embodiment 2 is that: Fig. 9 and Fig.10 An adjustment assembly 18 is disposed on one side of the first side frame 11 and the other side of the second side frame 12. This embodiment is described by taking the adjustment assembly 18 on the first side frame 11 as an example.

[0098] Reference Fig. 9 and Fig.10 The adjustment assembly 18 includes an adjustment frame 181, the length direction of the adjustment frame 181 is arranged in the horizontal direction and perpendicular to the spacing direction of the first side frame 11 and the second side frame 12, and the two ends of the adjustment frame 181 are respectively connected to the corresponding vertical frame 17, and the corresponding alignment roller groups 31 on the vertical frame 17 are all arranged on the side of the adjustment frame 181 away from the vertical frame 17, and the two alignment roller groups 31 are spaced apart along the length direction of the adjustment frame 181. Therefore, the adjustment frame 181 realizes the connection between the alignment roller group 31 and the vertical frame 17.

[0099] Reference Fig. 9 and Fig.10 The fixed roller 315 is slidably connected to the adjusting frame 181 along the length direction of the adjusting frame 181, and a horizontal adjustment member 182 is provided between the fixed roller 315 and the adjusting frame 181, and the horizontal adjustment member 182 adopts a linear module driven by a servo motor. This can adjust the distance between the two alignment roller groups 31 on the first side frame 11.

[0100] Reference Fig. 9 and Fig.10The adjusting frame 181 is slidably connected with the vertical frame 17 in the vertical direction, and a vertical driving member 183 is provided between the adjusting frame 181 and the vertical frame 17. The vertical driving member 183 adopts a linear module driven by a servo motor. This enables the adjusting frame 181 to move in the vertical direction under the drive of the vertical driving member 183, thereby causing the alignment roller group 31 to move in the vertical direction, thereby preventing the adjusting frame 181 from interfering with the pallets stacked on the transport claw 21.

[0101] The implementation principle of the embodiment of the present application is as follows: under the action of the adjustment assembly 18 of the first side frame 11, the two alignment roller groups 31 on the first side frame 11 can move closer to or away from each other. Similarly, the two alignment roller groups 31 on the second side frame 12 move synchronously with the two alignment roller groups 31 on the first side frame 11 under the action of the corresponding adjustment assembly 18. Thus, a plurality of alignment roller groups 31 can align and sort pallets of different sizes.

[0102] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A disc encoder, characterized in that: include: A first side frame (11) and a second side frame (12), wherein the first side frame (11) and the second side frame (12) are arranged with a spacing therebetween in a horizontal direction, and a transport device (2) is provided on opposite sides of the first side frame (11) and the second side frame (12); A plurality of alignment roller groups (31) are provided on opposite sides of the first side frame (11) and the second side frame (12), and an alignment space (32) for accommodating a tray is formed between the plurality of alignment roller groups (31); The alignment roller group (31) comprises a fixed plate (311), a first roller (312) and a second roller (313); the first roller (312) and the second roller (313) are both arranged in a vertical direction and connected to the fixed plate (311); the first roller (312) and the second roller (313) are arranged at intervals in a horizontal direction and form an insertion space (314) for accommodating the insertion of a corner of a tray; The fixed plate (311) is provided with a synchronous drive device (4) for driving the fixed plate (311) to move toward the alignment space (32); the fixed plate (311) is rotationally connected to the synchronous drive device (4); and the synchronous drive device (4) is provided on the corresponding first side frame (11) or the second side frame (12).

2. A disc encoder according to claim 1, characterized in that: A first connecting frame (14) is provided on the first side frame (11), and the first connecting frame (14) is slidably connected to the first side frame (11); a second connecting frame (15) is provided on the second side frame (12), and the second connecting frame (15) is slidably connected to the second side frame (12); The plurality of alignment roller groups (31) are respectively arranged on the corresponding first connecting frame (14) and the corresponding second connecting frame (15), and the fixing plate (311) is rotatably connected to the corresponding first connecting frame (14) or the second connecting frame (15); The first connecting frame (14) and the second connecting frame (15) are both connected to the synchronous driving device (4), and the synchronous driving device (4) drives the first connecting frame (14) and the second connecting frame (15) to move toward or away from each other.

3. A disc encoder according to claim 2, characterized in that: It also comprises a cross frame (16), wherein the length direction of the cross frame (16) is arranged along the spacing direction of the first side frame (11) and the second side frame (12), and the two ends of the cross frame (16) in the length direction are respectively connected to the first side frame (11) and the second side frame (12).

4. A disc encoder according to claim 3, characterized in that: The synchronous drive device (4) comprises a synchronous reversing assembly (41) and a synchronous drive member (42); the synchronous reversing assembly (41) comprises a first connecting rod (411), a second connecting rod (412) and an intermediate rod (413); The middle portion of the intermediate rod (413) is rotatably connected to the cross frame (16); the two ends of the intermediate rod (413) are respectively rotatably connected to the first connecting rod (411) and the second connecting rod (412); the end of the first connecting rod (411) away from the intermediate rod (413) is rotatably connected to the first connecting frame (14); and the end of the second connecting rod (412) away from the intermediate rod (413) is rotatably connected to the second connecting frame (15); The driving direction of the synchronous driving member (42) is arranged along the length direction of the cross frame (16), and two ends of the synchronous driving member (42) are respectively connected to the cross frame (16) and the second connecting frame (15).

5. A disc encoder according to claim 2, characterized in that: The length directions of the first connecting frame (14) and the second connecting frame (15) are both perpendicular to the spacing direction of the first side frame (11) and the second side frame (12); Both ends of the first connecting frame (14) and the second connecting frame (15) in the length direction are connected to vertical frames (17), and the vertical frames (17) are slidably connected to the corresponding first side frame (11) or the second side frame (12) along the spacing direction of the first side frame (11) and the second side frame (12); The vertical frames (17) and the alignment roller groups (31) are arranged in one-to-one correspondence, and the fixed plate (311) is rotatably connected to the corresponding vertical frame (17).

6. A disc encoder according to claim 5, characterized in that: A synchronization shaft (171) is provided on the vertical frame (17), the synchronization shaft (171) is arranged along the vertical direction, and the synchronization shaft (171) is rotationally connected to the vertical frame (17); The synchronization shaft (171) is coaxially connected to a synchronization gear (172), the synchronization gear (172) is meshed with a synchronization rack (173), the length direction of the synchronization rack (173) is arranged along the sliding direction of the vertical frame (17), and the synchronization rack (173) is connected to the corresponding first side frame (11) or the second side frame (12).

7. A disc encoder according to claim 1, characterized in that: The alignment roller group (31) further comprises a fixed roller (315), the fixed roller (315) being arranged in a vertical direction, the fixed plate (311) being rotationally connected to the fixed roller (315), and the synchronous drive device (4) being connected to the fixed roller (315); A torsion spring (316) is sleeved on the fixed roller (315); one end of the torsion spring (316) is connected to the fixed roller (315), and the other end is connected to the fixed plate (311).

8. A disc encoder according to claim 1, characterized in that: The transport device (2) comprises a transport claw (21) and a lifting frame (24), wherein the lifting frame (24) is slidably connected to the corresponding first side frame (11) or the second side frame (12) in a vertical direction; The lifting frame (24) is provided with a lifting driving member (23) for driving the lifting frame (24) to move in a vertical direction; The transport claw (21) is slidably connected to the lifting frame (24) along the spacing direction between the first side frame (11) and the second side frame (12); The transport claw (21) is provided with a clamping driving member (22) for driving the transport claw (21) to move along the spacing direction between the first side frame (11) and the second side frame (12).

9. A disc encoder according to claim 8, characterized in that: The transport device (2) further comprises an installation component (25), wherein the installation component (25) comprises a sliding plate (252), wherein the sliding plate (252) is rotatably connected to the clamping drive member (22), wherein the sliding plate (252) is slidably connected to the lifting frame (24) along the spacing direction between the first side frame (11) and the second side frame (12), and a fine-tuning drive member (253) is arranged between the sliding plate (252) and the lifting frame (24), wherein the fine-tuning drive member (253) is used to adjust the position of the sliding plate (252) along the first side frame (11) and the second side frame (12).

10. A disc encoder according to claim 9, characterized in that: The alignment roller group (31) is slidably connected to the corresponding first side frame (11) or the second side frame (12), and the sliding direction of the alignment roller group (31) is arranged along the horizontal direction; the alignment roller group (31) is provided with a horizontal adjustment member (182) for driving the alignment roller group (31) to slide along the horizontal direction, and the horizontal adjustment member (182) is arranged on the corresponding first side frame (11) or the second side frame (12).

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