Bagged material double-robot tray stacking device and control method thereof

Abstract

The invention relates to the technical field of bagged material tray stacking, in particular to a bagged material double-robot tray stacking device which comprises a bottom frame, a first sliding rail is arranged at the rear end of the bottom frame, material moving mechanisms are arranged on the two sides of the bottom frame, and a transferring mechanism is arranged at the front end of the bottom frame. According to the bagged material double-robot tray stacking device, a bottom frame and a grabbing roller way are arranged among a first supporting frame, a first stacking mechanical arm, a second supporting frame and a second stacking mechanical arm, a conveying belt is connected to a steel platform connected to the outer end of the first supporting frame, and one end of the conveying belt is connected with the grabbing roller way; bagged materials are conveniently transferred to the grabbing roller way, and the first stacking mechanical arm and the second stacking mechanical arm are used for clamping and stacking. The chain RGV slides between the two sets of first chain conveyors so that empty palletizing trays can be conveniently distributed to the first chain conveyors to move to the palletizing areas on the roller conveyors.

Description

Technical Field

[0001] The invention relates to the technical field of bagged material pallet stacking, and in particular to a double-robot pallet stacking device for bagged materials. Background Art

[0002] The bagged material palletizing robot is a machine device that can automatically perform palletizing work. It can automatically stack the materials in the bag on pallets or pallets in a certain arrangement according to a pre-arranged program or principles established by artificial intelligence technology, and can stack multiple layers. This robot is designed to assist or replace humans in repetitive work at the back end of the production line, in warehouses and in the logistics industry to improve production efficiency and reduce labor costs.

[0003] The above device does not have the structure of double robot assembly line palletizing and double assembly line automatic lifting when in use, so that most of the existing bagged material palletizing robots are single-line single-robot palletizing when in use, and the palletizing speed is slow. If the assembly line or robot is increased in speed, the palletizing speed cannot be met or the pallet positioning is more difficult, and the transfer of pallets requires manual delivery and retrieval, which requires more manpower and is more laborious. Based on the deficiencies of the existing technology, the present invention designs a double robot pallet palletizing device for bagged materials. Summary of the invention

[0004] The present invention provides a double-robot palletizing device for bagged materials, which has the advantages of double-robot assembly line palletizing and double-assembly line automatic palletizing.

[0005] The present invention provides the following technical solution: a double robot palletizing device for bagged materials, comprising a base frame, a first slide rail is arranged at the rear end of the base frame, material moving mechanisms are arranged on both sides of the base frame, and a transfer mechanism is arranged at the front end of the base frame;

[0006] A grabbing roller is arranged above the base frame, a first support frame is fixedly connected to one side of the base frame, a first palletizing robot arm is fixedly installed on the upper surface of the first support frame, a second support frame is fixedly connected to the other side of the base frame, a second palletizing robot arm is fixedly installed on the upper surface of the second support frame, a steel platform is fixedly connected to one side of the first support frame, and a conveyor belt is arranged on the upper surface of the steel platform;

[0007] The transfer mechanism includes a palletizer, a stacking pallet, a second conveyor frame, a second material baffle plate, a second chain conveyor, a second slide rail and a chain RGV. The palletizer is arranged at the rear of the steel platform, the stacking pallet is arranged inside the palletizer, the second conveyor frame is arranged through one side of the palletizer, the second material baffle plate is fixedly connected to the upper surface of the second conveyor frame, the second chain conveyor is fixedly installed on the second conveyor frame, the second slide rail is fixedly connected to one side of the second conveyor frame, and the chain RGV is slidably installed on the second slide rail.

[0008] As a preferred technical solution of the present invention, a material moving mechanism includes a side frame, a roller conveyor, a first conveying frame, a first chain conveyor, a first material baffle plate, a side fixed frame and a dust hood, the top of the side frame is fixedly provided with a roller conveyor, the rear end of the roller conveyor is fixedly connected to the first conveying frame, the first conveying frame is fixedly installed with a first chain conveyor, the top two sides of the first chain conveyor are fixedly connected with a first material baffle plate, the outer side of the side frame is fixedly connected with a side fixed frame, the side fixed frame is fixedly connected with a dust hood, and the dust collector is arranged throughout the interior of the dust hood.

[0009] As a preferred technical solution of the present invention, the upper surface of the first slide rail is slidably connected with a roller RGV.

[0010] As a preferred technical solution of the present invention, the facing ends of the grabbing roller and the conveyor belt are connected through the first support frame, and the front ends of the first stacking robot arm and the second stacking robot arm are provided with grippers, and the grippers are movably arranged above the grabbing roller.

[0011] As a preferred technical solution of the present invention, the side frames are arranged on both sides of the base frame, and the dust suction port at the bottom of the dust removal hood is arranged above the roller conveyor.

[0012] As a preferred technical solution of the present invention, the first chain conveyor is arranged at one end of the roller conveyor.

[0013] As a preferred technical solution of the present invention, the roller RGV is arranged at the rear end of the material transfer mechanism, and the roller RGV is slidably connected between the two groups of material transfer mechanisms.

[0014] As a preferred technical solution of the present invention, the palletizing pallet is slidably connected to the second conveyor frame, the palletizing pallet on the second conveyor frame is driven by the second chain conveyor, the palletizing pallet is arranged on the chain RGV, the palletizing pallet is slidably connected to the first chain conveyor, the palletizing pallet is slidably connected to the roller conveyor, and the palletizing pallet is slidably connected to the roller RGV.

[0015] As a preferred technical solution of the present invention, the second slide rail is arranged between the second conveying frame and the first conveying frame, and the chain RGV is slidably connected between the two groups of first chain conveyors and the second chain conveyors.

[0016] As a preferred technical solution of the present invention, the following steps are included:

[0017] S1: First, the bagged materials are moved to the grab roller via the conveyor belt, and the stacking trays installed on the roller conveyors on both sides of the chassis arrive at the predetermined position;

[0018] S2: Then the first palletizing robot arm and the second palletizing robot arm grab the bagged materials on the grab roller and palletize them on the palletizing trays placed on the roller conveyors on both sides of the chassis. After palletizing on one side is completed, palletizing on the other side is performed in a circular manner.

[0019] S3: Finally, the fully loaded pallet is moved to the roller RGV via the roller conveyor and transported to the next workstation, while the empty pallet in the pallet remover is moved to the chain RGV via the second chain conveyor and distributed to the first chain conveyor on the left and right sides, and then transferred to the roller conveyor via the first chain conveyor to be palletized by the robot.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. A double-robot pallet stacking device for bagged materials uses a pallet remover to move the stacking pallets one by one through the second chain conveyor and move them to the top of the chain RGV under the limit of the second material baffle plate, and the stacking pallet is moved to the first chain conveyor on the right through the chain RGV. At this time, the first chain conveyor on the right is started to drive the upper stacking pallet to move under the limit of the first material baffle plate and push it to the top of the roller conveyor, and the roller conveyor moves the empty stacking pallet to the stacking area. After the right stacking pallet is distributed, the chain RGV picks up the empty stacking pallet from the second chain conveyor, and uses the second slide rail to drive the stacking pallet to move to the front end of the first chain conveyor on the left, and moves the empty stacking pallet to the stacking area via the first chain conveyor and the roller conveyor. The device is convenient for distributing the stacking pallets to two roller conveyors.

[0022] 2. This double-robot pallet palletizing device for bagged materials, after the two pallets on one side are moved to the predetermined palletizing position on the roller conveyor, the bagged materials are moved to the grab roller via the conveyor belt, and the grab roller moves the bagged materials to the clamping position. At this time, the first palletizing robot arm and the second palletizing robot arm clamp the bagged materials one by one and stack them on the palletizing pallet on one side. After the palletizing of the two pallets on one side is completed, the two pallets on the roller conveyor on the other side are also transferred to the position according to the steps, the first palletizing robot arm and the second palletizing robot arm are switched to the other side for cyclic palletizing operation, and the fully loaded pallet is moved to the roller RGV via the roller conveyor and transported to the next workstation. The device can quickly palletize the bagged materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the connection structure of the grabbing roller and the double stacking robot arm of the present invention;

[0025] Figure 3 For the present invention Figure 1 A magnified schematic diagram of the roller RGV connection structure at center A;

[0026] Figure 4 It is a structural schematic diagram of the material transfer mechanism of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the transfer mechanism of the present invention.

[0028] In the figure: 1, base frame; 101, grab roller; 102, first support frame; 103, first palletizing robot arm; 104, second support frame; 105, second palletizing robot arm; 106, steel platform; 107, conveyor belt; 2, first slide rail; 201, roller RGV; 3, material transfer mechanism; 301, side frame; 302, roller conveyor; 303, first conveyor frame; 304, first chain conveyor; 305, first material baffle plate; 306, side fixed frame; 307, dust cover; 308, dust collector; 4, transfer mechanism; 401, pallet dismantling machine; 402, palletizing pallet; 403, second conveyor frame; 404, second material baffle plate; 405, second chain conveyor; 406, second slide rail; 407, chain RGV. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-5 A double-robot pallet stacking device for bagged materials comprises a base frame 1, a first slide rail 2 is arranged at the rear end of the base frame 1, material shifting mechanisms 3 are arranged on both sides of the base frame 1, a transfer mechanism 4 is arranged at the front end of the base frame 1, a grabbing roller 101 is arranged above the base frame 1, a first support frame 102 is fixedly connected to one side of the base frame 1, a first stacking robot arm 103 is fixedly installed on the upper surface of the first support frame 102, a second support frame 104 is fixedly connected to the other side of the base frame 1, a second stacking robot arm 105 is fixedly installed on the upper surface of the second support frame 104, a steel platform 106 is fixedly connected to one side of the first support frame 102, a conveyor belt 107 is arranged on the upper surface of the steel platform 106, the facing ends of the grabbing roller 101 and the conveyor belt 107 penetrate the first support frame 102 and are connected, and grippers are arranged at the front ends of the first stacking robot arm 103 and the second stacking robot arm 105, and the grippers are movably arranged above the grabbing roller 101.

[0031] By setting up a grabbing roller 101 and a conveyor belt 107, the bagged materials can be transferred between the first palletizing robot arm 103 and the second palletizing robot arm 105. By setting up the first palletizing robot arm 103 and the second palletizing robot arm 105, they can work simultaneously to palletize the bagged materials on the grabbing roller 101 onto the palletizing tray 402 placed on the material transfer mechanism 3.

[0032] See also Figure 5, the transfer mechanism 4 includes a depalletizer 401, a stacking pallet 402, a second conveyor frame 403, a second material blocking plate 404, a second chain conveyor 405, a second slide rail 406 and a chain RGV407. The depalletizer 401 is arranged behind the steel platform 106, the stacking pallet 402 is arranged inside the depalletizer 401, the second conveyor frame 403 is arranged on one side of the depalletizer 401, the second material blocking plate 404 is fixedly connected to the upper surface of the second conveyor frame 403, the second chain conveyor 405 is fixedly installed on the second conveyor frame 403, the second slide rail 406 is fixedly connected to one side of the second conveyor frame 403, and the chain RGV407 is slidably installed. Installed on the second slide rail 406, the palletizing pallet 402 is slidably connected to the second conveyor frame 403, the palletizing pallet 402 on the second conveyor frame 403 is driven by the second chain conveyor 405, the palletizing pallet 402 is set on the chain RGV407, the palletizing pallet 402 is slidably connected to the first chain conveyor 304, the palletizing pallet 402 is slidably connected to the roller conveyor 302, the palletizing pallet 402 is slidably connected to the roller RGV201, the second slide rail 406 is set between the second conveyor frame 403 and the first conveyor frame 303, the chain RGV407 is slidably connected between the two groups of first chain conveyors 304 and the second chain conveyor 405.

[0033] By setting up a depalletizer 401, a stacking pallet 402, a second conveyor frame 403, a second material baffle plate 404 and a second chain conveyor 405, it is possible to store multiple stacking pallets 402 while taking out the stacking pallets 402 in the depalletizer 401 one by one and send them to two groups of material transfer mechanisms 3 via the second slide rail 406 and the chain RGV407 to wait for stacking.

[0034] See also Figure 4 , the material shifting mechanism 3 includes a side frame 301, a roller conveyor 302, a first conveying frame 303, a first chain conveyor 304, a first material baffle plate 305, a side fixed frame 306 and a dust cover 307. The roller conveyor 302 is fixedly arranged on the top of the side frame 301, the first conveying frame 303 is fixedly connected to the rear end of the roller conveyor 302, the first chain conveyor 304 is fixedly installed on the first conveying frame 303, the first material baffle plate 305 is fixedly connected to both sides of the top of the first chain conveyor 304, the side fixed frame 306 is fixedly connected to the outer side of the side frame 301, the dust cover 307 is fixedly connected to the side fixed frame 306, and the dust cover 307 is penetrated by a dust collector 308. The side frames 301 are arranged on both sides of the base frame 1, the dust suction port at the bottom of the dust cover 307 is arranged above the roller conveyor 302, and the first chain conveyor 304 is arranged at one end of the roller conveyor 302.

[0035] The first conveying frame 303, the first chain conveyor 304 and the first material baffle 305 are provided to receive the empty palletizing pallet 402 transferred on the chain RGV407; the side frame 301 and the roller conveyor 302 are provided to transfer the empty palletizing pallet 402 on the first chain conveyor 304 to the palletizing area to wait for palletizing and to move the fully loaded palletizing pallet 402 to the roller RGV201 to the next workstation; the side fixed frame 306 and the dust removal hood 307 are provided to remove the dust generated during the palletizing of bagged materials to prevent the dust from spreading and affecting the operation of the equipment or being inhaled by the staff.

[0036] See also Figure 3 The upper surface of the first slide rail 2 is slidably connected with a roller RGV201 , the roller RGV201 is arranged at the rear end of the material transfer mechanism 3 , and the roller RGV201 is slidably connected between the two sets of material transfer mechanisms 3 .

[0037] By setting the first slide rail 2, the position of the roller RGV201 can be moved and switched between the two sets of material transfer mechanisms 3. By setting the roller RGV201, the fully loaded stacking pallets 402 on the two sets of material transfer mechanisms 3 can be received and the fully loaded stacking pallets 402 can be transferred to the next workstation.

[0038] See also Figure 1-5 , a control method for a double-robot palletizing device for bagged materials, comprising the following steps:

[0039] S1: First, the bagged material is moved to the grab roller 101 via the conveyor belt 107, and the stacking tray 402 set on the roller conveyor 302 on both sides of the chassis 1 arrives at the predetermined position;

[0040] S2: Then the first palletizing robot arm 103 and the second palletizing robot arm 105 grab the bagged materials on the grab roller 101 and palletize them on the palletizing trays 402 placed on the roller conveyors 302 on both sides of the chassis 1. After palletizing on one side, they are palletized on the other side, and the palletizing is cyclically performed.

[0041] S3: Finally, the fully loaded pallet 402 is moved to the roller RGV201 via the roller conveyor 302 and transported to the next workstation, while the empty pallet 402 in the palletizer 401 is moved to the chain RGV407 via the second chain conveyor 405 and distributed to the first chain conveyor 304 on the left and right sides, and then transferred to the roller conveyor 302 via the first chain conveyor 304 to be palletized by the robot.

[0042] Working principle: when a double robot palletizing device for bagged materials is used, in the initial state, the base frame 1 and the grabbing roller 101 are arranged between the first support frame 102, the first palletizing robot arm 103, the second support frame 104 and the second palletizing robot arm 105, and a conveyor belt 107 is connected to the steel platform 106 connected to the outer end of the first support frame 102, and one end of the conveyor belt 107 is connected to the grabbing roller 101, so as to facilitate the transfer of bagged materials to the grabbing roller 101 and the first palletizing robot arm 103 and the second palletizing robot arm 105 to grasp and stack, and the side frames 301 and the roller conveyors 302 arranged on both sides of the base frame 1 are connected to the first conveyor frame. 303 is connected to the first chain conveyor 304, and a dust cover 307 and a dust collector 308 are installed on the side fixed frame 306 set at the side frame 301, so as to transfer the stacking pallet 402 to the stacking area for stacking and remove the dust generated during stacking, and a chain RGV407 is arranged between the second conveying frame 403 and the second chain conveyor 405 arranged behind the single group of first chain conveyors 304, and the chain RGV407 slides between the two groups of first chain conveyors 304, so as to distribute the empty stacking pallet 402 to the first chain conveyor 304 and move it to the stacking area on the roller conveyor 302;

[0043] When it is necessary to distribute the stacking pallets 402 to the two roller conveyors 302, the second chain conveyor 405 first uses the pallet remover 401 to move the stacking pallets 402 one by one under the limit of the second baffle plate 404 to the top of the chain RGV407, and then the stacking pallet 402 is transferred to the first chain conveyor 304 on the right side through the chain RGV407. At this time, the first chain conveyor 304 on the right side starts to drive the upper stacking pallet 402 to move under the limit of the first baffle plate 305 and push it onto the roller conveyor 302. On the other hand, the roller conveyor 302 moves the empty palletizing pallet 402 to the palletizing area. After the palletizing pallet 402 on the right is delivered, the chain RGV407 takes the empty palletizing pallet 402 from the second chain conveyor 405, and uses the second slide rail 406 to drive the palletizing pallet 402 to move to the front end of the first chain conveyor 304 on the left, and moves the empty palletizing pallet 402 to the palletizing area via the first chain conveyor 304 and the roller conveyor 302. This device facilitates the delivery of the palletizing pallet 402 to the two roller conveyors 302.

[0044] When it is necessary to quickly stack the bagged materials, first, after the two stacking pallets 402 on one side move to the predetermined stacking position on the roller conveyor 302, the bagged materials are moved to the grab roller 101 through the conveyor belt 107, and the grab roller 101 moves the bagged materials to the clamping position. At this time, the first stacking robot arm 103 and the second stacking robot arm 105 clamp the bagged materials one by one and stack them on the stacking pallet 402 on one side. After the two stacking pallets 402 on one side are stacked, the two stacking pallets 402 on the roller conveyor 302 on the other side are also transferred to the position according to the steps, and the first stacking robot arm 103 and the second stacking robot arm 105 are switched to the other side for cyclic stacking operations, and the fully loaded stacking pallet 402 is moved to the roller RGV201 via the roller conveyor 302 and transported to the next workstation. The device can quickly stack the bagged materials.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A double robot palletizing device for bagged materials, comprising a base frame (1), characterized in that: A first slide rail (2) is provided at the rear end of the base frame (1), material shifting mechanisms (3) are provided on both sides of the base frame (1), and a conveying mechanism (4) is provided at the front end of the base frame (1); A grabbing roller (101) is arranged above the base frame (1); a first support frame (102) is fixedly connected to one side of the base frame (1); a first palletizing robot arm (103) is fixedly installed on the upper surface of the first support frame (102); a second support frame (104) is fixedly connected to the other side of the base frame (1); a second palletizing robot arm (105) is fixedly installed on the upper surface of the second support frame (104); a steel platform (106) is fixedly connected to one side of the first support frame (102); a conveyor belt (107) is arranged on the upper surface of the steel platform (106); A transfer mechanism (4), the transfer mechanism (4) comprising a palletizer (401), a stacking pallet (402), a second conveying frame (403), a second material baffle plate (404), a second chain conveyor (405), a second slide rail (406) and a chain RGV (407), the palletizer (401) being arranged at the rear of the steel platform (106), the palletizer (402) being arranged inside the palletizer (401), the second conveying frame (403) being arranged through one side of the palletizer (401), the second material baffle plate (404) being fixedly connected to the upper surface of the second conveying frame (403), the second chain conveyor (405) being fixedly installed on the second conveying frame (403), the second slide rail (406) being fixedly connected to one side of the second conveying frame (403), and the chain RGV (407) being slidably installed on the second slide rail (406).

2. A double robot palletizing device for bagged materials according to claim 1, characterized in that: A material shifting mechanism (3), the material shifting mechanism (3) comprising a side frame (301), a roller conveyor (302), a first conveying frame (303), a first chain conveyor (304), a first material baffle plate (305), a side fixed frame (306) and a dust cover (307), the roller conveyor (302) being fixedly arranged on the top of the side frame (301), the first conveying frame (303) being fixedly connected at the rear end of the roller conveyor (302), the first chain conveyor (304) being fixedly installed on the first conveying frame (303), the first material baffle plate (305) being fixedly connected on both sides of the top of the first chain conveyor (304), the side fixed frame (306) being fixedly connected on the outer side of the side frame (301), the dust cover (307) being fixedly connected on the side fixed frame (306), and a dust collector (308) being arranged through the inside of the dust cover (307).

3. The double-robot palletizing device for bagged materials according to claim 1, characterized in that: The upper surface of the first slide rail (2) is slidably connected to a roller RGV (201).

4. The double-robot palletizing device for bagged materials according to claim 1, characterized in that: The facing ends of the grabbing roller (101) and the conveyor belt (107) penetrate the first support frame (102) and are connected; the front ends of the first stacking robot arm (103) and the second stacking robot arm (105) are provided with grippers, and the grippers are movably arranged above the grabbing roller (101).

5. The double-robot palletizing device for bagged materials according to claim 2, characterized in that: The side frames (301) are arranged on both sides of the base frame (1), and the dust suction port at the bottom of the dust removal cover (307) is arranged above the roller conveyor (302).

6. The double-robot palletizing device for bagged materials according to claim 2, characterized in that: The first chain conveyor (304) is arranged at one end of the roller conveyor (302).

7. The double-robot palletizing device for bagged materials according to claim 3, characterized in that: The roller RGV (201) is arranged at the rear end of the material transfer mechanism (3), and the roller RGV (201) is slidably connected between the two groups of material transfer mechanisms (3).

8. The double-robot palletizing device for bagged materials according to claim 1, characterized in that: The stacking pallet (402) is slidably connected to the second conveying frame (403), the stacking pallet (402) on the second conveying frame (403) is driven by the second chain conveyor (405), the stacking pallet (402) is set on the chain RGV (407), the stacking pallet (402) is slidably connected to the first chain conveyor (304), the stacking pallet (402) is slidably connected to the roller conveyor (302), and the stacking pallet (402) is slidably connected to the roller RGV (201).

9. The double-robot palletizing device for bagged materials according to claim 1, characterized in that: The second slide rail (406) is arranged between the second conveying frame (403) and the first conveying frame (303), and the chain RGV (407) is slidably connected between the two groups of first chain conveyors (304) and the second chain conveyor (405).

10. A control method for a double-robot palletizing device for bagged materials, characterized in that: The following steps are involved: S1: First, the bagged material is moved to the grab roller (101) via the conveyor belt (107), and the stacking tray (402) arranged on the roller conveyors (302) on both sides of the base frame (1) arrives at a predetermined position; S2: Then the first palletizing robot arm (103) and the second palletizing robot arm (105) grab the bagged materials on the grab roller (101) and stack them on the palletizing trays (402) placed on the roller conveyors (302) on both sides of the base frame (1). After palletizing on one side is completed, they are palletized on the other side, and the palletizing is cyclically performed; S3: Finally, the fully loaded pallet (402) is moved to the roller RGV (201) via the roller conveyor (302) and transported to the next workstation, while the empty pallet (402) in the pallet dismantling machine (401) is moved to the chain RGV (407) via the second chain conveyor (405) and distributed to the first chain conveyors (304) on the left and right sides, and then transferred to the roller conveyor (302) via the first chain conveyor (304) to be palletized by the robot.

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