Rod stacking device of stacker crane

Abstract

The invention discloses a bar stacking device of a stacker crane, and belongs to the technical field of stackers. The device mainly comprises a conveyor; the rear baffle is arranged on one side of the conveyor; the grabbing tool is arranged on one side of the conveyor and comprises a support, the support is arranged on one side of the conveyor, and a track is arranged on the support. The driving equipment is mounted on the rail in a sliding manner; the clamping device is installed at the bottom of the driving device and comprises an upper supporting plate, and the upper supporting plate is arranged at the bottom of the driving device. The bar stacking device of the stacker crane is provided with the conveyor, the grabbing tool, the clamping plate, the buffer plate, the connecting rod and the limiting groove, when the bar stacking device grabs materials, unqualified materials short in length are screened out in a pre-clamping mode, the unqualified materials are prevented from being mixed into stacked material piles, and the qualification rate of the materials is increased.

Description

Technical Field

[0001] The present application relates to the technical field of palletizers, and in particular to a palletizer bar stacking device. Background Art

[0002] A palletizer is an automated device used to stack goods or products on a production line for more efficient packaging, shipping or storage. This machine typically uses sensors and control systems to identify the location and shape of the goods and then stacks them according to a pre-set program. A palletizer bar is usually a metal or plastic bar of a specific shape and size, and the palletizer bar device is a component used to help the machine accurately position and stack goods.

[0003] For example, the patent with authorization publication number CN212502901U discloses an aluminum short bar stacking machine, which is equipped with a chain conveyor, a gripper beam, a screw, a left gripper and a right gripper. During stacking, the sawn short bars are clamped from both ends by the left gripper and the right gripper, lifted and translated to the chain conveyor, thereby realizing mechanically assisted stacking and piling of the short bars.

[0004] Although the above device realizes the palletizing operation of the palletizer, since the palletizer is usually used on the production line, and the materials stacked on the production line are usually palletized in batches, among the many materials that need to be palletized, it is inevitable that there will be materials of different lengths. In the subsequent use of the materials, the longer materials can be reworked through secondary cutting, but the shorter materials can only be treated as waste. If the shorter unqualified materials cannot be screened, the qualified rate of the materials will be greatly affected. Therefore, it is necessary to provide a palletizer bar stacking device to solve the above problems.

[0005] It should be noted that the above information disclosed in this background technology section is only for understanding the background technology of the present application concept, and therefore, it may contain information that does not constitute the prior art. Summary of the invention

[0006] Based on the above problems existing in the prior art, the problem to be solved by the present application is: to provide a palletizer bar stacking device, which solves the problem that the bar stacking device cannot screen out unqualified materials with shorter lengths, thus affecting the material qualification rate.

[0007] The technical solution adopted by the present application to solve its technical problems is: a palletizer bar stacking device, including a conveyor; a rear baffle, which is arranged on one side of the conveyor; a grabbing tool, which is arranged on one side of the conveyor, and the grabbing tool includes: a bracket, which is arranged on one side of the conveyor, and a track is arranged on the bracket; a driving device, which is slidably installed with the track; a clamping device, which is installed at the bottom of the driving device, and the clamping device includes: an upper support plate, which is arranged at the bottom of the driving device; a clamping cylinder, which is installed at the bottom of the upper support plate; a clamping plate, which is arranged on both sides of the upper support plate, and the output end of the clamping cylinder is fixedly installed with the clamping plate; a buffer plate, which is arranged on the inner side of the clamping plate on one side, and a spring is installed between the buffer plate and the clamping plate on one side; wherein: the clamping cylinder drives the clamping plate to approach or move away to clamp the material, and the buffer plate is suitable for moving under the movement of the clamping plate to adapt to the clamping of materials of different lengths.

[0008] Furthermore, a lower support plate is fixedly installed on the bottom of the upper support plate, and a limiting groove is provided on the inner surface of the clamping plate on the other side, and a connecting rod is movably installed on the side of the lower support plate corresponding to the clamping plate on the other side, and the limiting groove includes a first channel provided on the surface of the clamping plate, and a hooking portion is provided on the side of the connecting rod away from the lower support plate, and the hooking portion is placed in the first channel, and a second channel is provided at a position of the first channel away from the hooking portion, and a first stationary point is provided at the connection between the first channel and the second channel.

[0009] Furthermore, the conveyor is provided with a PLC control system, a lower support plate is fixedly installed on the bottom of the upper support plate, the connecting rod is hinged to the lower support plate on the side away from the clamping plate, the rear baffle is signal-connected with the PLC control system, a contact switch is provided at the first stationary position, the contact switch is signal-connected with the PLC control system, the contact switch is electrically connected with the rear baffle, and the contact switch has a certain delay.

[0010] Furthermore, the bottom position of the first channel is higher than the bottom position of the second channel.

[0011] Furthermore, blowers are provided on both sides of the conveyor near the rear baffle, and the blowers are electrically connected to the PLC control system. A bar switch is provided in the first channel, and when the bar switch is in a bar shape, the bar switch is signal-connected to the PLC control system.

[0012] Furthermore, a third channel is provided at the end of the second channel, a second stagnation point is provided at the connection between the third channel and the second channel, and a groove bottom position of the second channel is higher than a groove bottom position of the third channel.

[0013] Furthermore, a fourth channel is provided at the end of the third channel, a third stagnation point is provided at the connection between the fourth channel and the third channel, and a groove bottom position of the third channel is higher than a groove bottom position of the fourth channel.

[0014] Furthermore, a transition slope is provided at the end of the fourth channel, and the highest position of the transition slope is higher than the groove bottom position of the first channel to form a transition step.

[0015] Furthermore, a first waypoint and a second waypoint are sequentially arranged on the first channel in a direction away from the lower support plate, and a height position of the second stationary point is on the same horizontal line as the second waypoint.

[0016] Furthermore, clamping rods are movably installed on both sides of the upper support plate, servo cylinders are fixedly installed on both sides of the bottom of the upper support plate, the servo cylinders are connected to the PLC control system signals, the output of the servo cylinders is fixedly installed to the clamping rods, a push plate is fixedly installed on the clamping rods, a control switch is provided at the second stationary position, the control switch is electrically connected to the servo cylinder, and the servo cylinders are connected to the PLC control system signals.

[0017] The beneficial effect of the present application is that the present application provides a palletizer bar stacking device, which is provided with a conveyor, a grabbing tooling, a clamping plate, a buffer plate, a connecting rod and a limit groove. When the bar stacking device grabs the material, it screens out unqualified materials with shorter lengths by pre-clamping, thereby avoiding unqualified materials from being mixed into the stacking material pile and improving the qualified rate of the materials.

[0018] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 This is an overall schematic diagram of a palletizer bar stacking device in the present application; Figure 2 for Figure 1 The overall schematic diagram of the grabbing tooling structure; Figure 3 for Figure 2Exploded view of the overall structure; Figure 4 for Figure 3 Schematic diagram of the overall structure of the clamping device; Figure 5 for Figure 4 Bottom view of the overall structure after removing the bar structure; Figure 6 for Figure 5 A magnified view of the structure of the middle A area; Figure 7 for Figure 1 Schematic diagram of the overall structure of the conveyor; Figure 8 for Figure 7 A magnified view of the structure of the middle B region; Figure 9-10 for Figure 1 Schematic diagram of the stacking method of different shapes of yard sticks and the structure of the clamping device used to clamp the yard sticks.

[0020] Among them, the reference numerals in the figure are: 1. Conveyor; 2. Grabbing tooling; 3. Palletizing tooling; 4. Bracket; 5. Driving equipment; 6. Clamping device; 61. Connecting part; 62. Upper support plate; 63. Connecting plate; 64. Clamping plate; 65. Clamping cylinder; 66. Servo cylinder; 67. Clamping rod; 68. Push plate; 69. Lower support plate; 610. Bar stock; 611. Buffer plate; 7. Limiting groove; 71. First channel; 72. Second channel; 73. Third channel; 74. Fourth channel; 75. First stationary point; 76. Second stationary point; 77. Third stationary point; 78. Transition slope; 79. First waypoint; 710. Second waypoint; 8. Connecting rod; 81. Hooking part. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0023] The present application provides a palletizer bar stacking device, such as Figure 1-Figure 6As shown, it mainly comprises a conveyor 1, a stacking tool 3 arranged on one side of the conveyor 1, and a grabbing tool 2 for conveying the stacking rods, and a clamping device 6 is installed on the grabbing tool 2, and the clamping device 6 is mainly used to clamp the stacking rods; The palletizing device of the palletizer introduced in the present application can transport and palletize various shapes of pallets, and is mainly used for palletizing round and square pallets, such as Figure 1 as well as Fig. 9 As shown, when palletizing square stacking bars, a regularizing device needs to be installed on the palletizing tool 3 to arrange the circular stacking bars in a regular manner, and the arrangement is a regular hexagon when viewed from the side; Continue to refer Figure 7-Figure 8 When stacking the round stacking bars, a lifting device is also installed on the side of the conveyor 1 close to the clamping device 6, which is mainly used to lift the round stacking bars temporarily left on the conveyor 1 so that the subsequent clamping device 6 can clamp them; When palletizing square bars, Fig.10 As shown, the square yard sticks are stacked in a square shape, and no regularizing device is required, and the gripper of the clamping device 6 is also different, mainly because the side surfaces of the directional yard sticks and the circular yard sticks are in different shapes, and when clamping the yard sticks of different shapes, it is necessary to replace them with the corresponding clamping devices 6, and the square yard sticks also include flat yard sticks, which are similar in shape to the square yard sticks and are stacked in the same way, which will not be described in detail here; Since the stacking processes of stacking bars of different shapes are mostly the same, in this application, the stacking process of circular stacking bars is mainly described in detail. The following is an introduction to the stacking process of circular stacking bars; Embodiment 1: This embodiment mainly describes the basic structure and working principle of the palletizer bar stacking device, specifically: like Figure 1 As shown, the present application provides a palletizing device, including a conveyor 1 for conveying materials, the conveyor 1 is an existing production line assembly line equipment, the two ends of the conveyor 1 are respectively a starting end where the material enters the conveyor 1, and an end away from the starting end position, the material on the conveyor 1 moves from the starting end position to the end position, so as to facilitate the subsequent grabbing and palletizing of the material; In order to facilitate the grabbing of materials at the end of the conveyor 1, a rear baffle (not shown in the figure) is provided at the end of the conveyor 1 to block the forward movement of materials. When the materials roll on the conveyor 1 to the end, they come into contact with the rear baffle and cannot move forward. The subsequent rolling materials will gradually stop at the rear baffle position, so as to facilitate the grabbing of the batch of materials. Continue to refer Figure 1A front baffle (not shown in the figure) is arranged at the middle section of the conveyor 1, and a PLC control system is arranged on the conveyor 1, and the front baffle is connected to the PLC control system by signal, and an infrared sensor for monitoring the amount of material accumulation is arranged near the rear baffle on the conveyor 1, and the infrared sensor is connected to the PLC control system by signal; In the initial state, the front baffle is in a horizontal position and does not affect the rolling of the material. When the material at the rear baffle is accumulated to a certain length, the infrared sensor sends a signal to the PLC control system, and the PLC control system controls the front baffle to rise to prevent the subsequent rolling of the material. After the material grabbing device grabs the material at the rear baffle, the infrared sensor senses that the material has been grabbed and sends a signal to the PLC control system, and the PLC control system controls the front baffle to return to the horizontal position, and the material at the front baffle continues to roll toward the rear baffle. like Figure 1-Figure 2 As shown, a grabbing fixture 2 for grabbing and transporting materials is provided on one side of the conveyor 1, and the grabbing fixture 2 includes a support bracket 4, and a horizontal track (not shown in the figure) is provided on the bracket 4, and a driving device 5 is provided on the track. A plurality of motor wheels (not shown in the figure) are provided on both sides of the driving device 5, and the motor wheels are slidably mounted on the track. When the motor wheels are started, the driving device 5 is suitable for reciprocating in the horizontal direction on the track driven by the motor wheels. At the same time, a clamping device 6 for clamping materials is installed at the bottom of the driving device 5, and the materials are clamped by the clamping device 6 and then transported by the driving device 5; A palletizing tool 3 for stacking and palletizing materials is provided on one side of the grabbing tool 2. The palletizing tool 3 is composed of a palletizing line (not shown in the figure) and a palletizing truck (not shown in the figure) arranged on the palletizing line. When performing the palletizing operation, the grabbing tool 2 is suitable for grabbing the stagnant materials on the conveyor 1, and then lifting and translating the grabbed materials, and then lowering and placing them on the palletizing truck for palletizing. Finally, the palletizing truck is transported away by the palletizing line. The above is the prior art of the palletizing device for the palletizer, which will not be described in detail here. like Figure 3-Figure 4 As shown, the clamping device 6 includes a connecting portion 61 for connecting with the driving device 5, an upper support plate 62 is fixedly installed at the bottom of the connecting portion 61, and multiple groups of hinges (not shown in the figure) are installed on the upper support plate 62. At the same time, connecting plates 63 are arranged on both sides of the upper support plate 62. The connecting plate 63 is composed of multiple groups of vertical rods and horizontal plates penetrating the vertical rods. The vertical rods correspond to the hinges one by one and are movably connected. When subjected to external force, the connecting plate 63 is suitable for circular motion with the hinge as the center. A clamping cylinder 65 is fixedly installed on both sides of the bottom of the upper support plate 62. The output end of the clamping cylinder 65 is fixedly installed with the connecting plate 63. When the clamping cylinder 65 is started, the connecting plates 63 are suitable for moving away from or approaching each other. At the same time, a clamping plate 64 for clamping the two ends of the material is fixedly installed on the corresponding side of the connecting plate 63. The corresponding side of the clamping plate 64 forms a clamping cavity (not marked in the figure), and in order to adapt to the transportation of materials of different lengths, an integrated support plate (not marked in the figure) is provided on the corresponding side of the clamping plate 64. The combination of the support plate and the clamping plate 64 is similar to the existing shovel structure. When the clamping plate 64 clamps the material, both ends of the material are subjected to partial support force. When clamping the material, the driving device 5 first drives the clamping device 6 to move down to the height position where the stagnant material is located. This height position can be defined as the clamping height. At this time, the material has entered the clamping cavity. Then the staff starts the clamping cylinder 65 to drive the connecting plate 63 to move, and the clamping plate 64 moves synchronously to clamp the two ends of the material to achieve the clamping of the material. After the clamping is completed, the driving device 5 drives the clamping device 6 to move up, and then moves horizontally to the stacking tool 3 to stack the clamped material in the stacking truck. In order to screen out unqualified materials with shorter lengths, an infrared distance sensor (not shown in the figure) is installed at the bottom of the upper support plate 62, and a signal light (not shown in the figure) is installed on the upper support plate 62. The infrared distance sensor and the signal light are both connected to the PLC control system signal. After the clamping device 6 clamps a batch of materials, the infrared distance sensor emits an infrared light beam to measure the distance between the two ends of the materials. When the distance measurement data is less than the standard data, it means that there are unqualified materials with shorter lengths in the batch of materials. At this time, the infrared distance sensor will send a signal to the PLC control system, and the PLC system will transmit the signal to the signal light. The signal light starts to flash. The staff can clearly see whether there are unqualified materials in the batch of materials by observing the signal light. When the clamping device 6 places the batch of materials on the palletizing tooling 3, the staff can check and screen the batch of materials.

[0024] Embodiment 2: In the stacking process of the above materials, the infrared distance measuring sensor is electronically controlled to realize the distance measurement detection of each batch of clamped materials. However, in the subsequent screening of materials, it is still necessary to screen out manually. When the qualified rate of the batch of materials is low, the labor intensity of the staff will be greatly increased. In addition, the infrared distance measuring sensor will inevitably have errors or failures in the case of long-term use, resulting in inaccurate material qualified rate verification; In order to solve this problem, the present embodiment improves the structure of the clamping plate 64 on the original clamping device 6 and adds a pre-clamping process. Specifically: like Figure 4-Figure 6As shown, for the convenience of explanation, in this embodiment, the material mentioned above is changed to a bar stock 610, and a buffer plate 611 is provided on the inner side of the clamping plate 64 on one side. When clamping the bar stock 610, one end of the bar stock 610 contacts the buffer plate 611, and a spring (not shown in the figure) is provided on the side of the buffer plate 611 corresponding to the clamping plate 64. When the clamping plate 64 clamps the bar stock 610, the spring is suitable for compression. The buffer plate 611 and the spring form a buffer structure so that the clamping plate 64 can adapt to the bar stock 610 of different lengths. A lower support plate 69 is fixedly mounted at the bottom of the upper support plate 62, and the height position of the lower support plate 69 is flush with the height position of the upper end of the clamping plate 64, and a limiting groove 7 for changing the movement trajectory of the clamping plate 64 on the other side is opened on the inner surface of the clamping plate 64 on the other side, and a connecting rod 8 used in conjunction with the limiting groove 7 is hinged on the side of the lower support plate 69 corresponding to the side clamping plate 64, and the connecting rod 8 is suitable for horizontal swinging at the position connected to the lower support plate 69; like Figure 6 As shown, the limiting groove 7 includes a first channel 71 opened on the surface of the clamping plate 64, and a hooking portion 81 is provided on the side of the connecting rod 8 away from the lower support plate 69. In the initial state, the hooking portion 81 is located in the first channel 71, and this position is defined as the initial position of the first channel 71. It should be noted that the initial position is set close to the position where the lower support plate 69 is located, and the side of the first channel 71 away from the initial position (i.e., the end position) is set at a position away from the lower support plate 69, so that when the clamping plate 64 is clamping the bar 610, the end of the first channel 71 is constantly close to the lower support plate 69, and as the clamping plate 64 moves, the limiting groove 7 moves synchronously, so that the hooking portion 81 is suitable for sliding in the first channel 71; In order to improve the neatness of the bar stock 610, a bar switch (not shown in the figure) is arranged in the first channel 71, and the bar switch is connected to the PLC control system signal. The bar switch is a bar type, and its length covers the first channel 71 but does not cover the initial position of the first channel 71 and the end of the first channel 71. At the same time, a blower (not shown in the figure) is arranged at the position close to the rear baffle on both sides of the conveyor 1. The blower is electrically connected to the PLC control system. When the hook holding part 81 leaves the initial position and slides in the first channel 71, the blower starts to blow the accumulated bar stock 610 on the rear baffle to blow out the debris on the surface of the bar stock 610. When the hook holding part 81 reaches the end position of the first channel 71, the blower stops operating. In order to conveniently explain the states of the bars 610 of different lengths when the clamping plates 64 are close to clamp the bars 610, two sets of points, a first waypoint 79 and a second waypoint 710, are respectively provided in the first channel 71 in a direction away from the lower support plate 69. The states of the bars 610 corresponding to the two sets of points are described in detail below. The end of the first channel 71 is provided with a second channel 72, and the end of the second channel 72 is provided at a side close to the lower support plate 69, but the length of the second channel 72 is shorter than that of the first channel 71, and a first stationary point 75 is formed at the connection between the first channel 71 and the second channel 72, and at the same time, the groove bottom position of the first channel 71 is higher than the groove bottom position of the second channel 72, and when the hooking portion 81 passes through the first channel 71 and enters the second channel 72, it cannot return to the first channel 71 from the second channel 72; In order to eliminate the need for manual screening of the bars 610 of unqualified length, in this embodiment, the rear baffle is connected to the PLC control system signal to control the removal or retention of the bars 610 on the conveyor 1, and a contact switch (not shown in the figure) for controlling the descent and ascent of the rear baffle is provided at the first stationary point 75. The contact switch is electrically connected to the PLC control system, and the contact switch has a certain delay function. The contact switch is a point switch. When the hook holding portion 81 reaches the first stationary point 75, the contact switch delays the control of the rear baffle to descend. When the hook holding portion 81 is separated from the contact switch, the contact switch delays the control of the rear baffle to ascend back to the initial state, so that the rear baffle can be controlled to descend or ascend by whether the hook holding portion 81 contacts the contact switch. When the clamping device 6 clamps the bar 610, first, the clamping cylinder 65 retracts to control the clamping plates 64 on both sides to move closer, and the bar 610 in the clamping cavity is clamped. When the clamping plates 64 move closer to each other, the spring is suitable for compression, and the buffer plate 611 continuously approaches the clamping plate 64 on the adjacent side. As the clamping plate 64 on the other side moves, the limiting groove 7 synchronously continuously approaches the lower support plate 69, and the hooking portion 81 is located at the initial position. As the limiting groove 7 moves, the hooking portion 81 slides in the first channel 71, and driven by the clamping cylinder 65, the hooking portion 81 moves from the initial position to the end position of the first channel 71. When the hooking portion 81 moves from the initial position to the end position in the first channel 71, it passes through the first waypoint 79 and the second waypoint 710 in sequence. When the hooking portion 81 reaches the first waypoint 79, there is still a distance between the clamping plate 64 and the lower support plate 69, and the clamping plate 64 begins to clamp the bar 610, and the longest bar 610 in the batch begins to contact the buffer plate 611. When the hooking portion 81 reaches the second waypoint 710, the distance between the clamping plate 64 and the lower support plate 69 is shortened, and the longer bar 610 contacts the buffer plate 611 and due to the clamping force of the clamping plate 64, the buffer plate 611 moves toward the position of the clamping plate 64 but the distance is small, at this time the spring is compressed, and the longer bar 610 can be displaced and will not fall under the clamping of the buffer plate 611 and the clamping plate 64, while the normal length bar 610 is also clamped, but the clamping is slightly looser than the longer bar 610, and is also in a state where it can be displaced and will not fall, but the shorter bar 610 cannot be clamped by the clamping plate 64; When the hooking portion 81 reaches the first stationary point 75, the longer bar 610 and the normal-length bar 610 are both in a clamped state and cannot move. The buffer plate 611 cannot move backward any further, and the spring is subjected to a greater compression force, but the shorter bar 610 still cannot be clamped. Then the driving device 5 controls the clamping device 6 to rise. At this time, the clamping plate 64 has completely clamped the long and normal length bars 610, and the short bars 610 that cannot be clamped are left on the conveyor 1. At the same time, the hooking portion 81 reaches the first stationary point 75 and contacts the contact switch to trigger the delayed descending rear baffle. When the driving device 5 drives the clamping device 6 to rise, the rear baffle descends, so that the short unqualified bars 610 can slide freely off the conveyor 1, so as to complete the screening of the unqualified bars 610. After a batch of bars 610 are screened, when the qualified bars 610 are initially clamped, there will inevitably be gaps where the unqualified bars 610 cannot be clamped. Facing the gaps, the clamped bars 610 will have the risk of sliding. Secondly, since the clamping plate 64 is controlled and clamped by a group of clamping cylinders 65, the clamping force of the middle part of the clamping plate 64, i.e., the side close to the clamping cylinders 65, will be greater than the clamping force of the two sides of the clamping plate 64. Therefore, the bars 610 clamped on both sides of the clamping plate 64 will have the risk of falling off during the translation and transportation process. To solve this problem, Figure 4-Figure 5 As shown, clamping rods 67 for adjusting the bar stock 610 are movably installed on both sides of the upper support plate 62, and servo cylinders 66 are fixedly installed on both sides of the bottom of the upper support plate 62. The servo cylinders 66 are connected to the PLC control system signal, and the output end of the servo cylinder 66 is fixedly installed with the clamping rod 67, and a push plate 68 is fixedly installed on the clamping rod 67. When the servo cylinder 66 is started, the clamping rod 67 is suitable for moving closer, and the push plate 68 is in contact with the bar stock 610, so as to move the bar stock 610 from both sides to the middle. like Figure 6As shown, a third channel 73 is provided at the end of the second channel 72. The third channel 73 is similar to the first channel 71. The side of the third channel 73 away from the second channel 72 is provided at a position away from the lower support plate 69. The height of the end position of the third channel 73 is consistent with the height of the end position of the first channel 71. The connection between the third channel 73 and the second channel 72 forms a second stationary point 76. The height position of the second stationary point 76 is on the same horizontal line as the second waypoint 710. At the same time, the groove bottom position of the second channel 72 is higher than the groove bottom position of the third channel 73. When the hooking portion 81 slides from the second channel 72 into the third channel 73, it cannot return from the third channel 73 to the second channel 72. A fourth channel 74 is provided at the end of the third channel 73. The end of the fourth channel 74 is connected to the first channel 71. The position where the third channel 73 and the fourth channel 74 are connected forms a third stationary point 77. Meanwhile, the groove bottom position of the third channel 73 is higher than the groove bottom position of the fourth channel 74. When the hooking portion 81 enters the fourth channel 74 from the third channel 73, it cannot return to the third channel 73 from the fourth channel 74. In order to facilitate the use of the push plate 68, Figure 6 As shown, a control switch (not shown in the figure) for controlling the start and stop of the servo cylinder 66 is arranged at the second stationary point 76. The control switch is connected to the PLC control system signal. The control switch is a point switch. The control switch is divided into a start end and a close end. The start end of the control switch is arranged at the second stationary point 76. When the hook holding portion 81 reaches the second stationary point 76 and contacts the control switch, the servo cylinder 66 is started, and the control push plate 68 is moved closer from both sides to adjust the position of the bar 610. The close end of the control switch is arranged at a position close to the third stationary point 77. When the hook holding portion 81 reaches the third stationary point 77 and contacts the close end of the control switch, the servo cylinder 66 is closed. Continue to refer Figure 6 A transition slope 78 is provided at the end of the fourth channel 74. The highest position of the transition slope 78 is higher than the bottom position of the first channel 71 and forms a transition step. Therefore, when the hooking portion 81 slides in the first channel 71, it will not enter the fourth channel 74 through the transition slope 78, but the hooking portion 81 can enter the first channel 71 through the transition slope 78; After the clamping device 6 removes the bar 610 of unqualified length, the position of the clamped bar 610 needs to be adjusted for the second time, so that the clamping cylinder 65 needs to start the telescopic end to rise, so that the clamping plate 64 releases the bar 610, but the bar 610 will not be completely released. Driven by the clamping cylinder 65, the limit groove 7 moves away from the lower support plate 69, and the hooking portion 81 leaves the first stationary point 75 and enters the second channel 72 to reach the second stationary point 76; After the hooking portion 81 leaves the first stationary point 75, the contact switch delays the control of the rear baffle to rise. After reaching the second stationary point 76, since the height position of the second stationary point 76 is on the same horizontal line as the second waypoint 710, the longer bar 610 and the normal length bar 610 are both in a state where they will not fall and can be adjusted. At the same time, the hooking portion 81 contacts the start end of the control switch, and the control switch controls the servo cylinder 66 to start. The servo cylinder 66 drives the push plate 68 to move closer, and the bar 610 clamped by the clamping plate 64 is moved closer to the middle and the gap is eliminated, so as to reduce the risk of the clamped bar 610 falling off. After the position of the bar 610 is adjusted for the second time, the bar 610 needs to be clamped again. At this time, the clamping cylinder 65 starts again to control the clamping plate 64 to move closer. As the clamping plate 64 moves, the limit groove 7 approaches the lower support plate 69 again, and the hook holding part 81 also enters the third channel 73 from the second stationary point 76 and reaches the third stationary point 77. When the hook holding part 81 reaches the third stationary point 77, the bar 610 is in a clamped state and can be translated and transported. At the same time, the hook holding part 81 contacts the closing end of the contact switch, the servo cylinder 66 is closed, and the push plate 68 returns to the initial state. When the bar 610 is transported to the position of the stacking tool 3, the clamping plate 64 is required to release the bar 610. At this time, the clamping cylinder 65 starts to extend to control the clamping plate 64 to move away from each other. As the clamping plate 64 moves, the limit groove 7 moves away from the lower support plate 69, and the hooking portion 81 also enters the fourth channel 74 from the third stationary point 77 and returns to the first channel 71 through the transition slope 78, and the clamping device 6 returns to the initial state; In summary: through the coordinated use of the limit groove 7 and the connecting rod 8, the movement trajectory of the clamping plate 64 is changed, and the pre-clamping of the bar 610 is achieved. While screening out unqualified bar 610, the position of the bar 610 can be adjusted for the second time to avoid the risk of the bar 610 falling off and sliding during transportation, thereby making the stacking operation of the bar 610 more efficient.

[0025] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A palletizer bar stacking device, characterized in that: include: Conveyor (1); A rear baffle, the rear baffle being arranged on one side of the conveyor (1); A grabbing tool (2), the grabbing tool (2) being arranged on one side of the conveyor (1), the grabbing tool (2) comprising: A support (4), the support (4) being arranged on one side of the conveyor (1), and a track being arranged on the support (4); A driving device (5), the driving device (5) being slidably mounted on the track; A clamping device (6), the clamping device (6) being installed at the bottom of the driving device (5), the clamping device (6) comprising: An upper support plate (62), the upper support plate (62) being arranged at the bottom of the driving device (5); A clamping cylinder (65) installed at the bottom of the upper support plate (62); A clamping plate (64), the clamping plate (64) being arranged on both sides of the upper support plate (62), and the output end of the clamping cylinder (65) being fixedly mounted on the clamping plate (64); A buffer plate (611), the buffer plate (611) being arranged on the inner side of the clamping plate (64) on one side, and a spring being installed between the buffer plate (611) and the clamping plate (64) on one side; The clamping cylinder (65) drives the clamping plate (64) to move closer or further away to clamp the material, and the buffer plate (611) is adapted to move under the movement of the clamping plate (64) to adapt to the clamping of materials of different lengths.

2. A palletizer bar stacking device according to claim 1, characterized in that: A lower support plate (69) is fixedly mounted on the bottom of the upper support plate (62); a limiting groove (7) is provided on the inner surface of the clamping plate (64) on the other side; a connecting rod (8) is movably mounted on a side of the lower support plate (69) corresponding to the clamping plate (64) on the other side; the limiting groove (7) comprises a first channel (71) provided on the surface of the clamping plate (64); a hooking portion (81) is provided on a side of the connecting rod (8) away from the lower support plate (69); the hooking portion (81) is placed in the first channel (71); a second channel (72) is provided at a position of the first channel (71) away from the hooking portion (81); and a first stationary point (75) is provided at a connection point between the first channel (71) and the second channel (72).

3. A palletizer bar stacking device according to claim 2, characterized in that: The conveyor (1) is provided with a PLC control system, a lower support plate (69) is fixedly mounted on the bottom of the upper support plate (62), the connecting rod (8) is hinged to the lower support plate (69) on a side away from the clamping plate (64), the rear baffle is connected to the PLC control system signal, a contact switch is provided at the first stationary point (75), the contact switch is connected to the PLC control system signal, the contact switch is electrically connected to the rear baffle, and the contact switch has a certain delay.

4. A palletizer bar stacking device according to claim 3, characterized in that: The groove bottom position of the first channel (71) is higher than the groove bottom position of the second channel (72).

5. A palletizer bar stacking device according to claim 4, characterized in that: Blowers are provided on both sides of the conveyor (1) near the rear baffle, and the blowers are electrically connected to the PLC control system. A bar switch is provided in the first channel (71), and when the bar switch is in a bar shape, the bar switch is signal-connected to the PLC control system.

6. A palletizer bar stacking device according to claim 5, characterized in that: A third channel (73) is provided at the end of the second channel (72), a second stagnation point (76) is provided at the connection between the third channel (73) and the second channel (72), and the groove bottom position of the second channel (72) is higher than the groove bottom position of the third channel (73).

7. A palletizer bar stacking device according to claim 6, characterized in that: A fourth channel (74) is provided at the end of the third channel (73), a third stagnation point (77) is provided at the connection between the fourth channel (74) and the third channel (73), and the groove bottom position of the third channel (73) is higher than the groove bottom position of the fourth channel (74).

8. A palletizer bar stacking device according to claim 7, characterized in that: A transition slope (78) is provided at the end of the fourth channel (74), and the highest position of the transition slope (78) is higher than the groove bottom position of the first channel (71) to form a transition step.

9. A palletizer bar stacking device according to claim 8, characterized in that: A first waypoint (79) and a second waypoint (710) are sequentially arranged on the first channel (71) in a direction away from the lower support plate (69), and the height position of the second stationary point (76) is on the same horizontal line as the second waypoint (710).

10. A palletizer bar stacking device according to claim 9, characterized in that: Clamping rods (67) are movably mounted on both sides of the upper support plate (62), servo cylinders (66) are fixedly mounted on both sides of the bottom of the upper support plate (62), the servo cylinder (66) is connected to the PLC control system signal, the output of the servo cylinder (66) is fixedly mounted to the clamping rod (67), a push plate (68) is fixedly mounted on the clamping rod (67), a control switch is provided at the second stationary point (76), the control switch is electrically connected to the servo cylinder (66), and the servo cylinder (66) is connected to the PLC control system signal.

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