Stacking robot for placing bagged cement

Abstract

The invention belongs to the technical field of stacking equipment, particularly relates to a stacking robot for placing bagged cement, and provides the following scheme for solving the problem that lifting linkage of a tray containing structure and stacking in existing bagged stacking cannot be achieved: the stacking robot comprises a fixed base plate, a stacking circular truncated cone is fixed to the top of the fixed base plate through bolts, and the stacking circular truncated cone is fixed to the bottom of the fixed base plate through bolts; a tray bottom box is fixed to one end of the fixed base plate, a stacking circular truncated cone rotating groove is formed in the top of the stacking circular truncated cone, a rotating top table is installed at the top of the stacking circular truncated cone, and the rotating top table is rotationally installed in the stacking circular truncated cone rotating groove. In the cement layer-by-layer stacking process, the tray at the top gradually descends through rotation of the first moving lead screw, after stacking is completed, the top of the tray base is flush with the ground, cement stacking is completed, the tray at the bottom can ascend and descend to be in linkage with a stacking clamping jaw structure, and therefore the equipment size can be reduced, and the equipment cost can be reduced. And the stacking efficiency can also be improved.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing equipment, and in particular to a palletizing robot for placing bagged cement. Background Art

[0002] The bag stacking palletizer is a device specially used to stack and place bag-shaped materials. It is widely used in many industries such as chemical industry, food, feed, building materials, etc. The bags are transported to the shaping mechanism through the conveying mechanism for shape adjustment, and then enter the stratification mechanism for stratification processing. The stacking mechanism grabs the bags one by one and places them on the pallet according to the instructions of the control system and the set stacking mode.

[0003] The Chinese patent with publication number CN221543232U discloses a cement stacker device, including a fixed seat and a rotating seat, the upper end surface of the fixed seat is installed with a ground rail, the upper end of the ground rail is provided with a mounting groove, a threaded rod is rotatably installed in the mounting groove, a movable block is threadedly installed on the threaded rod, the rotating seat is installed at the upper end of the movable block, a mechanical arm is rotatably installed on the upper end of the rotating seat, a mechanical small arm is rotatably installed at the end of the mechanical arm, a fixed plate is rotatably installed at the end of the mechanical small arm, a mounting plate distributed in an array is installed at the lower end of the fixed plate, a cylinder is installed at the side end of the mounting plate, a clamping claw is installed at the end of the piston rod of the cylinder, and a total of three groups of clamping claws are provided, a limiting slide groove is provided on the lower end of the fixed plate, a limiting slider is installed on the upper end of the clamping claw, and the limiting slider is slidably installed in the limiting slide groove.

[0004] The second-generation cement palletizer disclosed in the above patent has the following problems: its palletizing method is relatively simple, and in the process of stacking cement, the lifting and dropping of cement to the pallet can only be achieved by relying on various arm structures. Therefore, the stroke for releasing cement to the pallet is relatively large, and the layout of the entire equipment is also relatively large. Since the structure of the pallet and the stacking cannot achieve lifting and lowering linkage stacking, and the existing technology is not easy to solve such problems, there is an urgent need for a stacking robot for bagged cement placement to solve the above problems. Summary of the invention

[0005] Based on the technical problem that the structure of the tray containing the current bagged cement palletizing cannot be linked with the palletizing to achieve lifting, the present invention proposes a palletizing robot for placing bagged cement.

[0006] The present invention provides a palletizing robot for placing bagged cement, comprising a fixed base plate, a palletizing truncated platform is fixed to the top of the fixed base plate by bolts, a pallet bottom box is fixed to one end of the fixed base plate, a palletizing truncated platform rotation groove is provided on the top of the palletizing truncated platform, a rotating top platform is installed on the top of the palletizing truncated platform, the rotating top platform is rotatably installed inside the palletizing truncated platform rotation groove, a vertically arranged lifting and fixing frame is fixed to the top of the rotating top platform by bolts, and a lifting and fixing frame slide groove is provided inside the lifting and fixing frame A lifting side fixing frame is slidably installed in the sliding groove of the lifting fixing frame, a clamping fixing arm is fixed to one end of the lifting side fixing frame by bolts, a clamping sliding arm is slidably installed on the side wall of the clamping fixing arm, a clamping claw sliding seat is installed at the bottom of the clamping sliding arm, a clamping claw swivel seat is installed at the bottom of the clamping claw sliding seat, two clamping claw fixing plates are hingedly installed at the bottom of the clamping claw swivel seat, an electric push rod is installed between the two clamping claw fixing plates and the bottom of the clamping claw swivel seat, and a clamping claw is installed at one end of the clamping claw fixing plate.

[0007] Preferably, two sets of scissor-type lifting assemblies are installed at the bottom of the pallet bottom box, a pallet base is installed on the top of the two scissor-type lifting assemblies, the scissor-type lifting assemblies include scissor-type brackets installed at the bottom of the pallet bottom box, and a scissor-type bracket slide is installed at the bottom of the pallet bottom box.

[0008] Preferably, a scissor-type bracket slider is slidably installed inside the scissor-type bracket slide, and the scissor-type bracket slider is installed with the bottom of the scissor-type bracket. A first movable screw is fixed inside the scissor-type bracket slide through a bearing, and a threaded sleeve is installed between the first movable screw and the scissor-type bracket slider. A tray base fixing frame is installed on the top of the scissor-type bracket, and scissor-type bracket side sliding grooves are opened on both sides of the tray base fixing frame, and bearings sleeved with the scissor-type bracket side sliding grooves are installed on the top of the scissor-type bracket.

[0009] Preferably, clamping slide side grooves are provided on both sides of the clamping and fixing arm, a clamping slide top groove is provided on the top of the clamping slide, a sliding sleeve is installed between the clamping and fixing arm and the clamping slide, a first driving motor is installed inside the clamping and fixing arm, a clamping slide driving gear is installed on the output shaft of the first driving motor, a tooth plate is installed on the side wall of the clamping slide located at the clamping slide top groove, and the tooth plate is meshed with the clamping slide driving gear.

[0010] Preferably, a second lifting screw rod is installed between the top and bottom of the lifting and fixing frame slide groove through a bearing, and the second lifting screw rod is threadedly installed between the lifting side fixing frame, and a first limiting sliding rod is fixed inside the lifting and fixing frame slide groove, and the first limiting sliding rod is slidably installed between the lifting side fixing frame.

[0011] Preferably, a lifting drive motor is installed on the top of the rotating top platform, and the output shaft of the lifting drive motor is fixed with a second lifting screw driving gear, the second lifting screw driving gear is located inside the rotating top platform, and a second lifting screw fixing gear is fixed at the bottom of the second lifting screw, the second lifting screw fixing gear is located inside the rotating top platform, and the second lifting screw driving gear and the second lifting screw fixing gear are meshed and installed.

[0012] Preferably, a rotating top platform gear is fixed at the bottom circumferential position of the rotating top platform, a second drive motor is installed inside the stacking circular platform, a rotating top platform drive gear is fixed to the output shaft of the second drive motor, and the rotating top platform drive gear is meshed with the rotating top platform gear.

[0013] Preferably, second limit slide bars are slidably installed on both sides of the clamping claw fixing plate, and the two second limit slide bars are fixed to the clamping claw, a third movable tooth plate is fixed at the middle position of the clamping claw, a third drive motor is installed inside the clamping claw fixing plate, a worm is fixed on the output shaft of the third drive motor, and the worm and the third movable tooth plate are installed in a matching manner.

[0014] Preferably, two clamping claw slide grooves are provided at the bottom of the clamping slide arm, and two clamping claw slide blocks are fixed on the top of the clamping claw slide. The two clamping claw slide blocks are respectively slidably engaged with the two clamping claw slide grooves, and a fourth movable screw rod is installed inside one of the clamping claw slide grooves through a bearing, and the fourth movable screw rod is threadedly sleeved with the clamping claw slide block in the corresponding clamping claw slide groove.

[0015] Preferably, a steering gear is installed inside the clamping claw sliding seat, and the output shaft of the steering gear is fixedly installed with the rotating shaft of the clamping claw rotating seat.

[0016] The beneficial effects of the present invention are:

[0017] 1. The palletizing robot for placing bagged cement, during the process of stacking cement layer by layer, the rotation of the first moving screw gradually lowers the top pallet until the top of the pallet base is flush with the ground after the palletizing is completed, and the pallet at the bottom can be raised and lowered to realize linkage with the palletizing clamping claw structure, thereby reducing the size of the equipment and improving the efficiency of palletizing.

[0018] 2. The palletizing robot for placing bagged cement has different sizes and specifications during the palletizing process. By controlling the length of the third movable tooth plate, the distance between the two clamping claws can be adjusted to adapt to the palletizing of cement of different specifications.

[0019] 3. The stacking robot for placing bagged cement, the first moving screw is driven to raise the scissor-type bracket and the pallet. In the process of stacking the cement, the top platform is rotated to deflect the top clamping slide arm, so that the bottom clamping claw moves to the cement discharge position, and the electric push rod is extended and retracted to control the clamping claw to grab the cement. After grabbing the cement, the lifting drive motor drives the lifting and lowering of the clamping slide arm, and the servo drives the rotation of the clamping claw swivel to place the cement on the top of the pallet. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a palletizing robot for placing bagged cement proposed by the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of a pallet base of a palletizing robot for placing bagged cement proposed by the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of a gripping sliding arm of a palletizing robot for placing bagged cement proposed by the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the gripping claw of a palletizing robot for placing bagged cement proposed by the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of a lifting and driving mechanism of a palletizing robot for placing bagged cement proposed by the present invention;

[0025] Figure 6 This is a schematic diagram of the driving structure of the clamping slide arm of a palletizing robot for placing bagged cement proposed by the present invention.

[0026] In the figure: 1, pallet bottom box; 2, scissor bracket slide; 3, scissor bracket; 4, stacking round table; 5, fixed base plate; 6, rotating top table; 7, lifting drive motor; 8, lifting fixed frame; 9, lifting side fixed frame; 10, clamping fixed arm; 11, clamping slide arm; 12, clamping claw; 13, pallet base; 14, first moving screw rod; 15, scissor bracket side slide groove; 16, scissor bracket slider; 17, pallet base fixed frame; 18, second lifting screw rod; 19, first limit slide rod; 20, clamping slide Arm side slide; 21, clamping claw slide; 22, clamping claw fixed plate; 23, second limit slide; 24, third movable tooth plate; 25, electric push rod; 26, clamping claw swivel seat; 27, clamping claw slide slider; 28, stacking round table swivel slot; 29, rotating top table gear; 30, second lifting screw drive gear; 31, lifting fixed frame slide; 32, second lifting screw fixed gear; 33, fourth movable screw; 34, clamping claw slide slide; 35, clamping slide arm top slot; 36, clamping slide arm drive gear. DETAILED DESCRIPTION

[0027] Reference Figure 1-Figure 6 A palletizing robot for placing bagged cement comprises a fixed base plate 5, a palletizing truncated platform 4 is fixed to the top of the fixed base plate 5 by bolts, a pallet bottom box 1 is fixed to one end of the fixed base plate 5, a palletizing truncated platform 4 is provided with a palletizing truncated platform rotating groove 28, a rotating top platform 6 is installed on the top of the palletizing truncated platform 4, the rotating top platform 6 is rotatably installed inside the palletizing truncated platform rotating groove 28, a vertically arranged lifting and fixing frame 8 is fixed to the top of the rotating top platform 6 by bolts, a lifting and fixing frame slide groove 31 is provided inside the lifting and fixing frame slide groove 31, and a lifting and fixing frame slide groove 32 is provided inside the lifting and fixing frame slide groove 33. 1 is slidably mounted with a lifting side fixing frame 9, one end of which is fixed with a clamping fixing arm 10 by bolts, a clamping sliding arm 11 is slidably mounted on the side wall of the clamping fixing arm 10, a clamping claw sliding seat 21 is mounted at the bottom of the clamping claw sliding seat 11, a clamping claw rotating seat 26 is mounted at the bottom of the clamping claw rotating seat 21, two clamping claw fixing plates 22 are hingedly mounted at the bottom of the clamping claw rotating seat 26, an electric push rod 25 is mounted between the two clamping claw fixing plates 22 and the bottom of the clamping claw rotating seat 26, and a clamping claw 12 is mounted at one end of the clamping claw fixing plate 22.

[0028] Furthermore, two sets of scissor-type lifting assemblies are installed at the bottom of the pallet bottom box 1, and a pallet base 13 is installed on the top of the two scissor-type lifting assemblies. The scissor-type lifting assemblies include a scissor-type bracket 3 installed at the bottom of the pallet bottom box 1, and a scissor-type bracket slide 2 is installed at the bottom of the pallet bottom box 1.

[0029] Furthermore, a scissor-type bracket slider 16 is slidably installed inside the scissor-type bracket slide 2, and the scissor-type bracket slider 16 is installed with the bottom of the scissor-type bracket 3. A first movable screw rod 14 is fixed inside the scissor-type bracket slide 2 through a bearing, and a threaded sleeve is installed between the first movable screw rod 14 and the scissor-type bracket slider 16. A tray base fixing frame 17 is installed on the top of the scissor-type bracket 3, and scissor-type bracket side slide grooves 15 are opened on both sides of the tray base fixing frame 17, and a bearing sleeved with the scissor bracket side slide grooves 15 is installed on the top of the scissor-type bracket 3.

[0030] Furthermore, clamping slide side grooves 20 are provided on both sides of the clamping and fixing arm 10, and a clamping slide top groove 35 is provided on the top of the clamping slide 11. The clamping and fixing arm 10 and the clamping slide 11 are slidably mounted therebetween. A first driving motor is installed inside the clamping and fixing arm 10, and a clamping slide driving gear 36 is installed on the output shaft of the first driving motor. A tooth plate is installed on the side wall of the clamping slide 11 located at the clamping slide top groove 35, and the tooth plate is meshed with the clamping slide driving gear 36.

[0031] Furthermore, a second lifting screw rod 18 is installed between the top and bottom of the lifting fixed frame slide groove 31 through a bearing, and the second lifting screw rod 18 is threadedly installed between the lifting side fixed frame 9. A first limiting slide rod 19 is fixed inside the lifting fixed frame slide groove 31, and the first limiting slide rod 19 is slidably installed between the lifting side fixed frame 9.

[0032] Furthermore, a lifting drive motor 7 is installed on the top of the rotating top platform 6, and a second lifting screw driving gear 30 is fixed to the output shaft of the lifting drive motor 7. The second lifting screw driving gear 30 is located inside the rotating top platform 6. A second lifting screw fixing gear 32 is fixed to the bottom of the second lifting screw 18. The second lifting screw fixing gear 32 is located inside the rotating top platform 6, and the second lifting screw driving gear 30 and the second lifting screw fixing gear 32 are meshed and installed.

[0033] Furthermore, a rotating top platform gear 29 is fixed at the bottom circumferential position of the rotating top platform 6, a second drive motor is installed inside the stacking circular platform 4, and a rotating top platform drive gear is fixed to the output shaft of the second drive motor, and the rotating top platform drive gear is meshed with the rotating top platform gear 29.

[0034] Furthermore, second limit slide bars 23 are slidably installed on both sides of the clamping claw fixing plate 22, and the two second limit slide bars 23 are fixed to the clamping claw 12. A third movable tooth plate 24 is fixed at the middle position of the clamping claw 12. A third drive motor is installed inside the clamping claw fixing plate 22. A worm is fixed on the output shaft of the third drive motor, and the worm and the third movable tooth plate 24 are matched and installed.

[0035] Furthermore, two clamping claw slide grooves 34 are provided at the bottom of the clamping slide arm 11, and two clamping claw slide blocks 27 are fixed to the top of the clamping claw slide 21. The two clamping claw slide blocks 27 are respectively slidably engaged with the two clamping claw slide grooves 34, and a fourth movable screw rod 33 is installed inside one of the clamping claw slide grooves 34 through a bearing. The fourth movable screw rod 33 is threadedly installed with the clamping claw slide block 27 in the corresponding clamping claw slide groove 34.

[0036] Furthermore, a steering gear is installed inside the clamping claw slide 21 , and the output shaft of the steering gear is fixedly installed with the rotating shaft of the clamping claw rotating seat 26 .

[0037] When the present invention is used: the entire palletizing robot equipment is installed, the pallet bottom box 1 is embedded in the ground for installation, the fixed base plate 5 and the top of the pallet base 13 are horizontal and kept flush with the ground, the pallet that needs to be palletized with cement is placed on the top of the pallet base 13, the first movable screw rod 14 is driven to raise the scissor-type bracket 3, and the pallet is raised. In the process of palletizing the cement, the top platform 6 is rotated to deflect the top clamping slide arm 11, so that the bottom clamping claw 12 moves to the cement discharging position, and the electric push rod 25 is telescopically controlled to grab the cement by the clamping claw 12, and the cement is grabbed. Afterwards, the lifting drive motor 7 drives the lifting and lowering of the clamping slide arm 11, and the servo drive drives the rotation of the clamping claw swivel 26 to place the cement on the top of the pallet. In the process of stacking the cement layer by layer, the rotation of the first movable screw 14 gradually lowers the top pallet until the top of the pallet base 13 is flush with the ground after the stacking is completed, and the stacked cement pallet is removed by a forklift. In the process of stacking, the sizes of the cement bags are different. By controlling the length of the third movable tooth plate 24, the distance between the two clamping claws 12 can be adjusted to adapt to the stacking of cement of different specifications.

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A palletizing robot for placing bagged cement, comprising a fixed base plate (5), a palletizing truncated platform (4) being fixed to the top of the fixed base plate (5) by bolts, characterized in that: A pallet bottom box (1) is fixed at one end of the fixed base plate (5); a palletizing truncated platform (4) is provided with a palletizing truncated platform rotation groove (28) on the top of the palletizing truncated platform (4); a rotating top platform (6) is installed on the top of the palletizing truncated platform (4); the rotating top platform (6) is rotatably installed inside the palletizing truncated platform rotation groove (28); a vertically arranged lifting and fixing frame (8) is fixed to the top of the rotating top platform (6) by bolts; a lifting and fixing frame slide groove (31) is provided inside the lifting and fixing frame slide groove (31); a lifting side fixing frame (9) is slidably installed in the lifting and fixing frame slide groove (31); the lifting side fixing frame One end of (9) is fixed with a clamping fixed arm (10) by bolts, and a clamping slide arm (11) is slidably mounted on the side wall of the clamping fixed arm (10), and a clamping claw slide seat (21) is mounted at the bottom of the clamping claw slide seat (21), and a clamping claw rotating seat (26) is mounted at the bottom of the clamping claw rotating seat (26), and two clamping claw fixing plates (22) are hingedly mounted at the bottom of the clamping claw rotating seat (26), and an electric push rod (25) is mounted between the two clamping claw fixing plates (22) and the bottom of the clamping claw rotating seat (26), and a clamping claw (12) is mounted at one end of the clamping claw fixing plate (22).

2. A palletizing robot for placing bagged cement according to claim 1, characterized in that: Two sets of scissor-type lifting assemblies are installed at the bottom of the pallet bottom box (1), and a pallet base (13) is installed on the top of the two scissor-type lifting assemblies. The scissor-type lifting assemblies include a scissor-type bracket (3) installed at the bottom of the pallet bottom box (1), and a scissor-type bracket slide (2) is installed at the bottom of the pallet bottom box (1).

3. A palletizing robot for placing bagged cement according to claim 2, characterized in that: A scissor-type bracket slider (16) is slidably installed inside the scissor-type bracket slide (2), and the scissor-type bracket slider (16) is installed with the bottom of the scissor-type bracket (3). A first movable screw rod (14) is fixed inside the scissor-type bracket slide (2) through a bearing, and the first movable screw rod (14) and the scissor-type bracket slider (16) are threadedly installed. A tray base fixing frame (17) is installed on the top of the scissor-type bracket (3), and scissor-type bracket side sliding grooves (15) are provided on both sides of the tray base fixing frame (17), and a bearing sleeved with the scissor-type bracket side sliding grooves (15) is installed on the top of the scissor-type bracket (3).

4. A palletizing robot for placing bagged cement according to claim 1, characterized in that: A clamping slide arm side slide groove (20) is provided on both sides of the clamping slide arm (10), a clamping slide arm top groove (35) is provided on the top of the clamping slide arm (11), the clamping slide arm (10) and the clamping slide arm (11) are slidably mounted between them, a first drive motor is installed inside the clamping slide arm (10), a clamping slide arm drive gear (36) is installed on the output shaft of the first drive motor, and a toothed plate is installed on the side wall of the clamping slide arm (11) located at the clamping slide arm top groove (35), and the toothed plate is meshed with the clamping slide arm drive gear (36).

5. A palletizing robot for placing bagged cement according to claim 1, characterized in that: A second lifting screw rod (18) is installed between the top and bottom of the lifting fixed frame slide groove (31) via a bearing, and the second lifting screw rod (18) is threadedly sleeved on the lifting side fixed frame (9). A first limiting slide rod (19) is fixed inside the lifting fixed frame slide groove (31), and the first limiting slide rod (19) is slidably sleeved on the lifting side fixed frame (9).

6. A palletizing robot for placing bagged cement according to claim 5, characterized in that: A lifting drive motor (7) is installed on the top of the rotating top platform (6); a second lifting screw drive gear (30) is fixed to the output shaft of the lifting drive motor (7); the second lifting screw drive gear (30) is located inside the rotating top platform (6); a second lifting screw fixing gear (32) is fixed to the bottom of the second lifting screw (18); the second lifting screw fixing gear (32) is located inside the rotating top platform (6); and the second lifting screw drive gear (30) and the second lifting screw fixing gear (32) are meshed and installed.

7. A palletizing robot for placing bagged cement according to claim 1, characterized in that: A rotating top platform gear (29) is fixed at a bottom circumferential position of the rotating top platform (6), a second drive motor is installed inside the stacking circumferential platform (4), a rotating top platform drive gear is fixed to the output shaft of the second drive motor, and the rotating top platform drive gear is meshed with the rotating top platform gear (29).

8. The palletizing robot for placing bagged cement according to claim 1, characterized in that: Second limiting slide bars (23) are slidably mounted on both sides of the clamping claw fixing plate (22), and the two second limiting slide bars (23) are fixed to the clamping claw (12). A third movable tooth plate (24) is fixed at the middle position of the clamping claw (12). A third driving motor is mounted inside the clamping claw fixing plate (22), and a worm is fixed to the output shaft of the third driving motor. The worm and the third movable tooth plate (24) are matched and mounted.

9. A palletizing robot for placing bagged cement according to claim 1, characterized in that: Two clamping claw slide grooves (34) are provided at the bottom of the clamping slide arm (11), and two clamping claw slide blocks (27) are fixed on the top of the clamping claw slide (21). The two clamping claw slide blocks (27) are respectively slidably engaged with the two clamping claw slide grooves (34), and a fourth movable screw rod (33) is installed inside one of the clamping claw slide grooves (34) through a bearing. The fourth movable screw rod (33) is threadedly sleeved with the clamping claw slide block (27) in the corresponding clamping claw slide groove (34).

10. The palletizing robot for placing bagged cement according to claim 1, characterized in that: A steering gear is installed inside the clamping claw sliding seat (21), and an output shaft of the steering gear is fixedly installed with a rotating shaft of the clamping claw rotating seat (26).

Images