Heavy rotary stacker

Abstract

The invention discloses a heavy rotary stacker, the stacker has three rotational degrees of freedom and two moving degrees of freedom, a connecting sleeve of a honeycomb structure is arranged between a carrying assembly and a lifting assembly for connection, and the connecting sleeve does not deform greatly when bearing a large load. The carrying assembly has two rotational degrees of freedom and is driven and controlled by a servo motor, and the movement and position precision is high. The lifting assembly has a moving automation degree, after being in transmission connection with the planetary reducer through the servo motor, the lifting assembly is output to the screw for transmission, the screw drives the connecting sleeve, and therefore the carrying assembly is driven to move up and down. The rotating moving assembly also has a rotating freedom degree, a servo motor is used for driving the whole carrying assembly to rotate, and the rotating angle can be accurately controlled. Movement freedom degrees exist between the rotary movement assembly and the track assembly, the rotary movement assembly and the track assembly are located on the horizontal plane, the other servo motor drives the whole stacking machine to move on the track, and the position of the stacking machine on the track can be accurately positioned and controlled.

Description

Technical Field

[0001] The invention relates to a transport or storage device, in particular to a conveyor with a rotary structure. Background Art

[0002] In smart factories, handling and warehousing related technologies are the key and core technologies in smart factories. In traditional production, the handling process is the bottleneck of the production process. The handling process between workstations or warehouses often requires large equipment for handling, which has low precision and requires more manual operation.

[0003] Most of the existing palletizers are mechanical arm structures, which are flexible enough, but they use a grasping method to transport materials, which has high requirements for the size of the materials and is difficult to transport larger materials. For example, the "self-rotating rotary arm palletizer" in announcement number CN110844613A has a suction cup structure at the end, and it is fixed on the ground or table and cannot be moved. It is difficult to transport materials between workstations or storage areas in different locations, and the use restrictions are large, and the accuracy is low, the degree of freedom is small, and the flexibility is poor. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the current stacker crane has low motion control and precision, large errors, and affects the production quality when carrying items. Another purpose of the present invention is to ensure the motion accuracy and positioning accuracy of the stacker crane during the handling process, while allowing the stacker crane to have multiple degrees of freedom and strong load capacity, thereby improving the flexibility of the working process. A further purpose of the present invention is to accurately control the motion of the stacker crane through a servo motor, with high precision, and to ensure the load-bearing strength of the stacker crane.

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] A heavy-duty rotary palletizer, characterized in that it comprises a transport component, a lifting component and a rotating moving component, wherein a connecting sleeve is provided between the transport component and the lifting component. The weight of the transport component is borne by the connecting sleeve, and the connecting sleeve and the lifting component are connected to a planetary reducer through a servo motor to drive a screw, thereby pushing the transport component to move up and down.

[0007] The connecting sleeve is rotatably connected to the transport assembly, the connecting sleeve is movably connected to the lifting assembly, and the connecting sleeve moves in a first direction.

[0008] The rotating moving assembly is rotatably connected to the lifting assembly, the rotating moving assembly is movably connected to the track assembly, and the rotating moving assembly moves in a second direction. The first direction and the second direction may be perpendicular or non-perpendicular, and the movement in the first direction may be an inclined movement.

[0009] Furthermore, the connection sleeve is composed of three layers of components, the part where the connection sleeve is connected to the transport component is the bearing part, one end of the bearing part is a ring-shaped cage-shaped transport connection part, and the other end is a semi-open installation opening. The semi-open installation opening is horseshoe-shaped on the upper and lower plates of the bearing part, and is provided with a plurality of through fixing holes, which can increase the connection strength between the semi-open installation opening and the screw.

[0010] Furthermore, the bearing portion is located near the semi-open mounting opening, and side mounting portions are vertically symmetrically provided on both sides of the bearing portion, the side mounting portions are connected to the slider mounting plate, and a second support and a third support are respectively provided between the side mounting portions and the upper and lower surfaces of the bearing portion.

[0011] Preferably, the upper and lower plates of the bearing part at one end of the transport connection part are supported by vertical plates arranged at intervals, and a sandwich plate is provided between the upper and lower plates at the other end of the bearing part.

[0012] The sandwich plate and the inner supports arranged parallel to each other between the upper and lower plates of the bearing part are perpendicular to each other, and the sandwich plate and the inner supports separate the bearing part into a plurality of chambers.

[0013] Preferably, the connecting sleeve is provided with an outer sleeve shell, a slider mounting plate and a bearing portion from the outside to the inside.

[0014] The slider mounting plate is in the shape of a plate, one side of which is triangular with a triangular opening in the middle, and the other side is rectangular and mounted on the bearing portion, a corner at the upper end of an outer end face of one side of the triangle and two sides of the corner are connected to the outer shell, a connecting sleeve slider is provided on the inner side of the slider mounting plate, and the connecting sleeve sliders are staggered in height.

[0015] Furthermore, the side plates of the outer shell are connected to the slider mounting plate, and the side plates at the connection position are respectively extended along two sides of the corners of the triangular upper end of the slider mounting plate, and the extended sides are fixedly connected to the slider mounting plate.

[0016] Preferably, an integral rotating assembly is provided between the lifting assembly and the rotating and moving assembly, and a driving pinion is provided in the integral rotating assembly. The driving pinion is transmission-connected to a rotating motor, and the rotating motor is fixedly mounted on the lifting assembly. A servo motor is vertically provided at the top of the lifting assembly, and the servo motor accurately controls the lifting and lowering of the transport assembly and locates the position of the transport assembly.

[0017] The integral rotating assembly is provided with a fixed gear disc, and the fixed gear disc is fixedly connected to the rotating moving assembly.

[0018] Furthermore, the rotating base of the lifting assembly is rotatably connected to the integral rotating assembly, and the fixed gear plate is mounted on the rotating guide plate.

[0019] A cavity is provided between the rotating base and the rotating guide disk, and a pancake-shaped supporting rolling wheel is provided at intervals at the bottom of the cavity. The side end annular surface of the supporting rolling wheel is tangent to the inner surface of the rotating base and the outer surface of the rotating guide disk.

[0020] Preferably, a movable slider is provided at the bottom of the rotating and moving assembly, and a displacement sensor is also provided on the rotating and moving assembly to measure the distance moved by the stacker and assist in locating the current position of the stacker.

[0021] The track assembly is provided with a guide rail, the movable slider is sleeved on the guide rail, and a plurality of position detection devices are provided at certain intervals on the outer side of the guide rail to detect the current position of the stacker and whether it has reached the designated position.

[0022] Preferably, the transport assembly is provided with a first-stage rotating part and a second-stage rotating part, a rotating connecting part is provided between the first-stage rotating part and the second-stage rotating part, and the second-stage rotating part is connected to the connecting sleeve.

[0023] A servo motor is provided on each rotating part of the transport component, and all servo motors are controlled by a control device provided in the stacker. An angular displacement sensor is installed on each rotating part, and data of the angular displacement sensor is transmitted to the control device in real time. The control device calculates the current position of the transport component and the loading end of the transport component.

[0024] The present invention has the following gain effects: On the one hand, although the stacker in the prior art can rotate and lift materials, the connection between the sliding arm and the swing arm is difficult to bear a large load. The stacker of the present invention is provided with a "honeycomb" structure connecting sleeve between the handling assembly and the lifting assembly, and the connection sleeve is firmly and reliably fixed to the handling assembly and the lifting assembly. The connecting sleeve can bear the entire weight of the handling assembly, does not undergo a large deformation when bearing a large load, and is light in weight, thereby ensuring the load capacity of the stacker and the reliability of the connection between the handling assembly and the lifting assembly.

[0025] On the other hand, the stacker of the present invention has three rotational degrees of freedom and two mobile degrees of freedom, and the handling component has two rotational degrees of freedom, which is highly flexible and has a large range of motion. The lifting component drives the connecting sleeve to drive the movement of the handling component. The lifting component has a degree of freedom of movement, which is perpendicular to the horizontal plane. The connecting sleeve and the lifting component are connected by a screw drive. The lifting component drives the connecting sleeve to move, and the connecting sleeve drives the handling component to move. The rotating and moving component also has a degree of freedom of rotation, which drives the overall rotation of the handling component. There is a degree of freedom of movement between the rotating and moving component and the track component, which is located on the horizontal plane and moves on the track.

[0026] In addition, the positioning accuracy of each degree of freedom of the stacker of the present invention is high, and the handling component has two rotational degrees of freedom and both are driven and controlled by a servo motor, with high motion and position accuracy. The movement of the handling component is driven by the lifting component to drive the connecting sleeve. The freedom of movement of the lifting component is connected to the planetary reducer by the servo motor, and then output to the screw drive, which can accurately lift the material to the corresponding height. The rotating moving component also has a rotational degree of freedom. The servo motor drives the rotation of the handling component as a whole, and can accurately control the rotation angle. The freedom of movement between the rotating moving component and the track component is driven by another servo motor to drive the stacker as a whole to move on the track, which can accurately locate and control the position of the stacker on the guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a cross-sectional view of the overall structure of the present invention.

[0028] Figure 2 For the present invention Figure 1 A partial enlarged view of part A.

[0029] Figure 3 It is a schematic diagram of the three-dimensional structure of the connecting sleeve of the present invention.

[0030] Figure 4 It is a side view of the connecting sleeve of the present invention.

[0031] Figure 5 It is a side cross-sectional view of the connecting sleeve of the present invention.

[0032] Figure 6 It is a front cross-sectional view of the connecting sleeve of the present invention.

[0033] Figure 7 It is a schematic diagram of the three-dimensional structure of the bearing part of the present invention.

[0034] Figure 8 It is a three-dimensional structural schematic diagram of the rotating moving assembly and the track assembly of the present invention.

[0035] Fig. 9 It is a top cross-sectional view of the rotary moving assembly and the track assembly of the present invention.

[0036] In the figure, 1-transport assembly, 11-first stage rotating part, 12-second stage rotating part, 13-rotating connection part, 14-connecting sleeve, 141-bearing part, 1411-side mounting part, 1412-first support, 1413-second support, 1414-transport connection part, 1415-sandwich plate, 1416-inner support, 1417-third support, 1418-semi-open mounting port, 142-slider mounting plate, 1421-connecting sleeve slider, 1422-opening, 143-outer shell, 2-lifting assembly, 21-rotating motor, 22-rotating base, 23-servo motor, 3-rotating moving assembly, 31-integral rotating assembly, 311-driving pinion, 312-fixed gear plate, 313-support rolling wheel, 314-enclosure, 315-rotating guide plate, 32-load platform, 33-moving motor, 34-moving slider, 4-track assembly, 41-rack, 42-guide rail. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0038] Embodiment 1: like Figures 1 to 9 As shown, the present invention discloses a heavy-duty rotary stacker, which can be divided into three components.

[0039] Handling component 1: responsible for handling materials, can rotate, has two parallel rotation axes, and is connected to the lifting component 2. The two rotation axes use precision RV reducers and precision servo motors to achieve high-precision control of the rotation angle.

[0040] Lifting assembly 2: Lifting assembly 2 is a columnar frame structure, which can raise or lower the transport assembly 1 as a whole. The base of lifting assembly 2 is installed on the rotating and moving assembly 3, and can rotate with the transport assembly 1 on the rotating and moving assembly 3. The rotating shaft here also uses a precision RV reducer and a precision servo motor, which can achieve high-precision control of the rotation angle.

[0041] Rotating and moving component 3: bears the entire weight of the transport component 1, the lifting component 2 and the materials. The lifting component 2 can rotate on the rotating and moving component 3. The rotating and moving component 3 can drive the heavy-duty rotary stacker including the transport component 1 and the lifting component 2 to move as a whole on the track component 4.

[0042] The transport component 1 and the lifting component 2 are connected by a connecting sleeve 14, and the connecting sleeve 14 is a "honeycomb" structure with the performance characteristics of high strength and small deflection. The connecting sleeve 14 and the transport component 1 are rotationally connected, and the rotation center of the second-stage rotating part 12 of the transport component 1 is located at the connection position between the connecting sleeve 14 and the transport component 1. At the connection between the connecting sleeve 14 and the lifting component 2, the connecting sleeve 14 is connected to the screw transmission provided on the lifting component 2, and the connecting sleeve 14 and the lifting component 2 are movably connected, and the connecting sleeve 14 can move in the first direction. The first direction is parallel to the axis of the screw, so the movement direction of the connecting sleeve 14 is related to the direction of the axis of the screw. The second movement direction can be in the vertical direction or can be inclined. In this embodiment, the vertical arrangement is vertical, so the first movement direction in this embodiment is the vertical direction.

[0043] A servo motor 23 is installed on the top of the lifting assembly 2. The servo motor 23 can accurately position and control the lifting height of the lifting assembly 2 by driving the rotation. The output of the servo motor 23 is connected to the planetary reducer to drive the screw to rotate. The planetary reducer greatly increases the torque transmitted to the screw, so that the screw can drive the heavier handling assembly 1 to move up and down.

[0044] The speed of the servo motor 23 is input to the planetary reducer, and the planetary reducer outputs a reduced speed to the screw. However, the planetary reducer amplifies the output torque of the servo motor 23 and outputs a larger torque to the screw, so that the screw can provide the lifting driving force for the transport component 1. At this time, the screw rotates to drive the transport component 1 to perform lifting motion.

[0045] The bottom of the lifting assembly 2 is connected and installed with the rotating and moving assembly 3, and the lifting assembly 2 can rotate on the rotating and moving assembly 3. The rotating and moving assembly 3 is movably connected with the track assembly 4, and the rotating and moving assembly 3 can slide on the track assembly 4 in the second direction.

[0046] The connecting member connecting sleeve 14 between the transport component 1 and the lifting component 2 is a three-layer structure. The main function of the connecting sleeve 14 is to bear the weight of the transport component 1 and to connect the lifting component 2 to the screw drive. The structure is the middle layer of the three-layer structure of the connecting sleeve 14, the bearing part 141, which is wrapped by the other two layers. The carrying connecting part 1414, where the bearing part 141 is connected to the transport component 1, is a two-layer circular ring structure, and the circular cavities in the centers of the upper and lower layers of the circular rings of the transport connecting part 1414 overlap.

[0047] The transport connection part 1414 is in the shape of an annular cage. At the position where the transport connection part 1414 contacts and connects with the transport assembly 1, the upper and lower layers of the transport connection part 1414 are provided with mounting holes of the same specifications at equal intervals, and the corresponding mounting holes of the upper and lower layers are located on the same axis, and the upper and lower layers of the transport connection part 1414 near the end of the bearing part 141 have vertical plates of the same specifications, which are arranged in a ring with equal arc intervals to connect the upper and lower layers. There is a mounting hole between two adjacent vertical plates. In this way, it can better bear the downward pressure applied to the transport connection part 1414 when the motor is installed on the transport connection part 1414 to pull the transport assembly 1 and the material.

[0048] At the other end of the bearing part 141, away from the end of the transport connection part 1414, the internal support structure of the upper and lower plates is completely different from the support structure of the transport connection part 1414. When the front of the connection sleeve 14 is cut open, it can be seen that a horizontal sandwich plate 1415 is provided on the outside between the upper and lower layers. On the inner side of the sandwich plate 1415, an inner support 1416 is provided in parallel between the upper and lower layers, wherein two inner supports 1416 are respectively connected to the sandwich plate 1415 and are perpendicular to the sandwich plate 1415, and two inner supports 1416 are symmetrically provided on the inner side to connect the upper and lower layers.

[0049] The sandwich plate 1415 and the inner support 1416 connected to the sandwich plate 1415 separate two smaller chambers between the upper and lower plates of the bearing part 141, and the adjacent inner supports 1416 on both sides separate two rectangular chambers. The two inner supports 1416 near the center separate a larger rectangular chamber. The space inside the end of the bearing part 141 away from the transport connection part 1414 is divided into these chamber shapes by the sandwich plate 1415 and the inner support 1416, and the shapes of these chambers are symmetrical.

[0050] Because when the bearing part 141 is subjected to force, the transport connection part 1414 is subjected to downward pressure, but the bearing part 141 is an integral component, so a bending moment will be generated, and the middle plate will be subjected to radial force as well as axial force. Therefore, a partition is arranged inside the end of the bearing part 141 away from the transport connection part 1414, so that the bending moment can be better resisted and the stress distribution can be more uniform. And while ensuring that the weight of the bearing part 141 is small, the bearing part 141 maintains a high structural strength, can resist large stress and only produce small deformation, and reduce the impact on the accuracy of the movement process.

[0051] On the bearing part 141, vertical plate side mounting parts 1411 are provided on both sides of the position where the bearing part 141 is connected with the lifting assembly 2. The height of the side mounting part 1411 is greater than the thickness of the bearing part 141. The side mounting part 1411 is connected to the upper and lower layers of the bearing part 141 and the sandwich plate 1415. The width of the connection position between the bearing part 141 and the side mounting part 1411 is relatively large. The width of the bearing part 141 between the side mounting part 1411 and the transport connection part 1414 is first inclined and narrowed, and then remains horizontal and is tangent to the transport connection part 1414.

[0052] The height of the side mounting portion 1411 protruding from the upper layer of the bearing portion 141 is equivalent to the thickness of the bearing portion 141 , and the height of the side mounting portion 1411 protruding from the upper layer of the bearing portion 141 is two to three times the height of the side mounting portion 1411 protruding from the lower layer of the bearing portion 141 .

[0053] The side mounting part 1411 is provided with three layers of second supports 1413 in the shape of horizontal plates arranged in parallel at equal intervals between the portion of the upper layer of the load-bearing part 141 that exceeds the upper layer of the load-bearing part 141. The second supports 1413 are connected to both the side mounting part 1411 and the load-bearing part 141. Two rows of holes are provided near the two sides of the outer side of the side mounting part 1411 for connecting with other parts of the connecting sleeve 14. At the positions of the side mounting parts 1411 on both sides near the transport connection part 1414, at the waist of the second supports 1413, perpendicular to the second supports 1413, and extending toward the transport connection part 1414, the first supports 1412 are provided, and the first supports 1412, the second supports 1413, and the side mounting parts 1411 are symmetrically distributed.

[0054] The first support can further improve the bending strength of the bearing part 141 and improve the stress bearing capacity of the bearing part 141. The side mounting part 1411 is also provided with three layers of third supports 1417 in the shape of horizontal plates arranged in parallel at equal intervals between the portion exceeding the lower layer of the bearing part 141 and the lower layer of the bearing part 141. The third supports 1417 are connected to both the side mounting part 1411 and the bearing part 141. Both the second support 1413 and the third support 1417 can effectively improve the connection strength between the side mounting part 1411 and the bearing part 141, optimize the stress distribution on the bearing part 141, and improve the load-bearing capacity and connection strength of the bearing part 141.

[0055] In order to accurately locate the stacker and determine the real-time position and working status of the stacker, the present embodiment also installs sensors or positioning devices on the main moving parts. A moving slider 34 is provided at the bottom of the rotating moving component 3, and a displacement sensor is also provided on the rotating moving component 3 to measure the distance moved by the stacker and assist in locating the current position of the stacker.

[0056] The track assembly 4 is provided with a guide rail 42, and the movable slider 34 is sleeved on the guide rail 42. A plurality of position detection devices are provided at certain intervals outside the guide rail 42 to detect the current position of the stacker and whether it has reached the designated position.

[0057] The transport assembly 1 is provided with a first-stage rotating portion 11 and a second-stage rotating portion 12 . A rotating connecting portion 13 is provided between the first-stage rotating portion 11 and the second-stage rotating portion 12 . The second-stage rotating portion 12 is connected to the connecting sleeve 14 .

[0058] Each level of the transport component is provided with a servo motor, and all servo motors are controlled by a control device provided in the stacker. An angular displacement sensor is installed on each level of the transport component, and the data of the angular displacement sensor is transmitted to the control device in real time. The control device calculates the current position of the transport component 1 and the loading end of the transport component 1. The loading end of the transport component 1 is located at the end platform of the first level of the transport component 11, and is responsible for carrying the transported materials.

[0059] Although the stacker in the prior art can rotate and lift materials, the connection between the sliding arm and the swing arm is difficult to bear a large load. The stacker of the present invention is provided with a "honeycomb" structure connecting sleeve 14 between the handling component 1 and the lifting component 2, and the connection between the connecting sleeve 14 and the handling component 1 and the lifting component 2 is firmly and reliably fixed. The connecting sleeve 14 can bear the entire weight of the handling component 1, does not undergo a large deformation when bearing a large load, and is light in weight, thereby ensuring the load capacity of the stacker and the reliability of the connection between the handling component 1 and the lifting component 2.

[0060] The stacker of the present invention also has three rotational degrees of freedom and two mobile degrees of freedom, and the handling component 1 has two rotational degrees of freedom, high flexibility and large range of motion. The lifting component 2 drives the connecting sleeve 14 to drive the movement of the handling component 1. The lifting component 2 has the freedom of movement, and is perpendicular to the horizontal plane. The connecting sleeve 14 is connected to the lifting component 2 by a screw drive. The lifting component 2 drives the connecting sleeve 14 to move, and the connecting sleeve 14 drives the handling component 1 to move. The rotating and moving component 3 also has a rotational degree of freedom to drive the overall rotation of the handling component 1. There is a degree of freedom of movement between the rotating and moving component 3 and the track component 4, which is located on the horizontal plane and moves on the guide rail 42.

[0061] In addition, the positioning accuracy of each degree of freedom of the stacker of the present invention is high. The handling component 1 has two rotational degrees of freedom and both are driven and controlled by a servo motor, with high motion and position accuracy. The connecting sleeve 14 is driven by the lifting component 2 to drive the movement of the handling component 1. The freedom of movement of the lifting component 2 is connected to the planetary reducer by the servo motor and then output to the screw drive, which can accurately lift the material to the corresponding height. The rotating moving component 3 also has a rotational degree of freedom. The servo motor drives the rotation of the handling component 1 as a whole, and can accurately control the rotation angle. The freedom of movement between the rotating moving component 3 and the track component 4 is driven by another servo motor to drive the stacker as a whole to move on the track, which can accurately locate and control the position of the stacker on the guide rail 42.

[0062] Embodiment 2: Based on the first embodiment, this embodiment further describes the connection method and function between the connecting sleeve and the lifting assembly.

[0063] like Figures 1 to 9 As shown, the transport assembly 1 and the lifting assembly 2 are connected by a connecting sleeve 14, and the connecting sleeve 14 and the transport assembly 1 are rotationally connected. The rotation center of the second-stage rotating part 12 of the transport assembly 1 is located at the connection position between the connecting sleeve 14 and the transport assembly 1. At the connection between the connecting sleeve 14 and the lifting assembly 2, the connecting sleeve 14 is connected to a screw provided on the lifting assembly 2, and the connecting sleeve 14 and the lifting assembly 2 are movably connected, and the connecting sleeve 14 can move in a first direction. The first direction is parallel to the axis of the screw, so the movement direction of the connecting sleeve 14 is related to the axis direction of the screw, and the second movement direction can be in the vertical direction or can be inclined. In this embodiment, the screw is arranged vertically, so the first movement direction in this embodiment is the vertical direction.

[0064] The bottom of the lifting assembly 2 is connected and installed with the rotating and moving assembly 3, and the lifting assembly 2 can rotate on the rotating and moving assembly 3. The rotating and moving assembly 3 is movably connected with the track assembly 4, and the rotating and moving assembly 3 can slide on the track assembly 4 in the second direction.

[0065] The connecting member connecting sleeve 14 between the transport component 1 and the lifting component 2 is a three-layer structure. The main function of the connecting sleeve 14 is to bear the weight of the transport component 1 and to connect the lifting component 2 to the screw drive. The structure is the middle layer of the three-layer structure of the connecting sleeve 14, the bearing part 141, which is wrapped by the other two layers. The carrying connecting part 1414, where the bearing part 141 is connected to the transport component 1, is a two-layer circular ring structure, and the circular cavities in the centers of the upper and lower layers of the circular rings of the transport connecting part 1414 overlap.

[0066] The transport connection part 1414 is in the shape of an annular cage. At the position where the transport connection part 1414 contacts and connects with the transport assembly 1, the upper and lower layers of the transport connection part 1414 are provided with mounting holes of the same specifications at equal intervals, and the corresponding mounting holes of the upper and lower layers are located on the same axis, and the upper and lower layers of the transport connection part 1414 near the end of the bearing part 141 have vertical plates of the same specifications, which are arranged in a ring with equal arc intervals to connect the upper and lower layers. There is a mounting hole between two adjacent vertical plates. In this way, it can better bear the downward pressure applied to the transport connection part 1414 when the motor is installed on the transport connection part 1414 to pull the transport assembly 1 and the material.

[0067] At the other end of the bearing part 141, away from the end of the transport connection part 1414, the internal support structure of the upper and lower plates is completely different from the support structure of the transport connection part 1414. When the front of the connection sleeve 14 is cut open, it can be seen that a horizontal sandwich plate 1415 is provided on the outside between the upper and lower layers. On the inner side of the sandwich plate 1415, an inner support 1416 is provided in parallel between the upper and lower layers, wherein two inner supports 1416 are respectively connected to the sandwich plate 1415 and are perpendicular to the sandwich plate 1415, and two inner supports 1416 are symmetrically provided on the inner side to connect the upper and lower layers.

[0068] The sandwich plate 1415 and the inner support 1416 connected to the sandwich plate 1415 separate two smaller chambers between the upper and lower plates of the bearing part 141, and the adjacent inner supports 1416 on both sides separate two rectangular chambers. The two inner supports 1416 near the center separate a larger rectangular chamber. The space inside the end of the bearing part 141 away from the transport connection part 1414 is divided into these chamber shapes by the sandwich plate 1415 and the inner support 1416, and the shapes of these chambers are symmetrical.

[0069] Because when the bearing part 141 is subjected to force, the transport connection part 1414 is subjected to downward pressure, but the bearing part 141 is an integral component, so a bending moment will be generated, and the middle plate will be subjected to radial force as well as axial force. Therefore, a partition is arranged inside the end of the bearing part 141 away from the transport connection part 1414, so that the bending moment can be better resisted and the stress distribution can be more uniform. And while ensuring that the weight of the bearing part 141 is small, the bearing part 141 maintains a high structural strength, can resist large stress and only produce small deformation, and reduce the impact on the accuracy of the movement process.

[0070] On the bearing part 141, vertical plate side mounting parts 1411 are provided on both sides of the position where the bearing part 141 is connected to the lifting assembly 2. The height of the side mounting part 1411 is greater than the thickness of the bearing part 141, and the top of the side mounting part 1411 has a boss-like structure facing outward, which can be stuck on the component connected to the side mounting part 1411. The side mounting part 1411 is connected to the upper and lower layers of the bearing part 141 and the sandwich plate 1415. The width of the position where the bearing part 141 is connected to the side mounting part 1411 is relatively large. The width of the bearing part 141 between the side mounting part 1411 and the transport connection part 1414 is first inclined and narrowed, and then kept horizontal and tangent to the transport connection part 1414.

[0071] The height of the side mounting portion 1411 protruding from the upper layer of the bearing portion 141 is equivalent to the thickness of the bearing portion 141 , and the height of the side mounting portion 1411 protruding from the upper layer of the bearing portion 141 is two to three times the height of the side mounting portion 1411 protruding from the lower layer of the bearing portion 141 .

[0072] The side mounting part 1411 is provided with three layers of second supports 1413 in the shape of horizontal plates arranged in parallel at equal intervals between the portion of the upper layer of the load-bearing part 141 that exceeds the upper layer of the load-bearing part 141. The second supports 1413 are connected to both the side mounting part 1411 and the load-bearing part 141. Two rows of holes are provided near the two sides of the outer side of the side mounting part 1411 for connecting with other parts of the connecting sleeve 14. At the positions of the side mounting parts 1411 on both sides near the transport connection part 1414, at the waist of the second supports 1413, perpendicular to the second supports 1413, and extending toward the transport connection part 1414, the first supports 1412 are provided, and the first supports 1412, the second supports 1413, and the side mounting parts 1411 are symmetrically distributed.

[0073] The first support can further improve the bending strength of the bearing part 141 and improve the stress bearing capacity of the bearing part 141. The side mounting part 1411 is also provided with three layers of third supports 1417 in the shape of horizontal plates arranged in parallel at equal intervals between the portion exceeding the lower layer of the bearing part 141 and the lower layer of the bearing part 141. The third supports 1417 are connected to both the side mounting part 1411 and the bearing part 141. Both the second support 1413 and the third support 1417 can effectively improve the connection strength between the side mounting part 1411 and the bearing part 141, optimize the stress distribution on the bearing part 141, and improve the load-bearing capacity and connection strength of the bearing part 141.

[0074] The connecting sleeve 14 is mainly composed of three layers from inside to outside, the innermost side is the bearing part 141, the middle layer is the slider mounting plate 142, and the outermost layer is the outer shell 143. The slider mounting plate 142 is in the shape of a plate, one side is triangular, and a triangular opening 1422 is provided in the middle, and the other side is rectangular, and the area of ​​the rectangle is equivalent to that of the side mounting part 1411, which is larger than that of the side mounting part 1411. Therefore, the rectangular part of the slider mounting plate 142 is connected and installed with the side mounting part 1411.

[0075] Because two side mounting parts 1411 are respectively provided on both sides of the bearing part 141. Correspondingly, two slider mounting plates 142 are also provided on both sides of the bearing part 141 to be mounted with the side mounting parts 1411. Two rows and two columns, a total of four connecting sleeve sliders 1421, are installed on the inner side of one side of the triangle of the slider mounting plate 142. One of the connecting sleeve sliders 1421 in one column is installed close to the top corner of one side of the triangle, and the other is installed on the bottom side of the triangle. The installation position of the connecting sleeve sliders 1421 in another column is close to the bearing part 141, located on both sides of one corner of the triangle, and the installation position height of the connecting sleeve sliders 1421 is staggered. Correspondingly, there is also a difference in the height of the two slide rails on the lifting assembly 2.

[0076] The outer shell 143 is in a U-shaped tube shape, and the two sides of the U-shape are connected and installed on a slider mounting plate 142 respectively, and the outer side of the slider mounting plate 142 is connected and installed with the two side plates of the outer shell 143. The connection position between the outer shell 143 and the slider mounting plate 142 is located at the top corner of the slider mounting plate 142, and the connection between the outer shell 143 and the slider mounting plate 142 extends along the two sides of the top corner of the slider mounting plate 142 on the outer shell 143, one side extends to half the length of the triangle, and the other side extends half the length of one side of the triangle and then extends along the rectangular part of the slider mounting plate 142 along the wide side of the rectangle, and the end of the extension section is flush with the rectangular end of the slider mounting plate 142.

[0077] There are two sections of contact connection between the outer shell 143 and the slider mounting plate 142, which makes the connection more firm and stable, and less likely to deform or fall off. The contact area for installation is larger, and it is easier to position and install. The connecting sleeve 14 adopts a three-layer assembly structure, which means that the force there is not very large. The main force-bearing part is the bearing part 141. The force on the bearing part 141 will be transmitted to the lifting assembly 2, and the screw of the lifting assembly 2 will be threaded with the connection position of the bearing part 141, and the force will be transmitted to the screw for support.

[0078] The portion on the bearing portion 141 that is connected to the screw of the lifting assembly 2 is a semi-open mounting port 1418. The semi-open mounting port 1418 is more convenient for installation with the lifting assembly 2, and the width of the opening of the semi-open mounting port 1418 is sufficient for the screw to pass through, but can be stuck on the nut on the screw that is precisely threaded with the screw. Therefore, the semi-open mounting port 1418 and the nut of the screw are fixedly installed, which is achieved through a circle of mounting holes around the semi-open mounting port 1418.

[0079] The transport assembly 1 is composed of a first-stage rotating part 11 and a second-stage rotating part 12 , which are connected via a shoe-shaped rotating connecting part 13 , and the second-stage rotating part 12 is connected to a transport connecting part 1414 of a connecting sleeve 14 .

[0080] Embodiment three: This embodiment, based on the first or second embodiment, describes how the lifting assembly 2 is connected to the rotating and moving assembly 3 , and how the lifting assembly 2 is rotated on the rotating and moving assembly 3 .

[0081] like Figures 1 to 9 As shown, the lifting assembly 2 and the rotating and moving assembly 3 are connected through an integral rotating assembly 31, and the integral rotating assembly 31 is connected and installed with the lifting assembly 2, and drives the lifting assembly 2 to rotate. A rotating base 22 is provided between the rotating and moving assembly 3 and the lifting assembly 2, and a rotating motor 21 is fixedly installed on the rotating base 22. The rotating motor 21 is in transmission connection with a driving pinion 311 in the integral rotating assembly 31, and the rotating motor 21 drives the driving pinion 311 to rotate.

[0082] A rotating guide disc 315 is provided in the integral rotating assembly 31. The rotating guide disc 315 is hollow. A columnar body is provided in the central cavity of the rotating guide disc. A fixed toothed disc 312 having a diameter much larger than that of the driving pinion 311 is provided at the upper end of the columnar body. The fixed toothed disc 312 is integrally processed with the columnar body. The columnar body is fixedly installed with the rotating guide disc 315, so the fixed toothed disc 312 does not rotate. The driving pinion 311 and the fixed toothed disc 312 are meshed with each other.

[0083] Through the meshing of the driving pinion 311 and the fixed gear disc 312, when the rotating motor 21 drives the driving pinion 311 to rotate, the driving pinion 311 will roll on the outer ring of the fixed gear disc 312, thereby driving the rotating base 22 to rotate relative to the overall rotating component 31. Because the lifting component 2 is fixedly mounted on the rotating base 22, the tooth profiles of the driving pinion 311 and the fixed gear disc 312 are preferably helical gears, which can effectively increase the contact area between the driving pinion 311 and the fixed gear disc 312, improve the torque transmission efficiency, and make the rotation of the lifting component 2 smoother and more stable.

[0084] There is a step surface between the rotating base 22 and the integral rotating assembly 31, and there is a cavity between the rotating base 22 and the rotating guide disk 315. The bottom of the cavity is the plane of the rotating guide disk 315. There are pancake-shaped support rolling wheels 313 at intervals at the bottom of the cavity. In this embodiment, there are three. The side end annular surface of the support rolling wheel 313 is tangent to the inner surface of the rotating base 22 and the outer surface of the rotating guide disk 315. The surface accuracy requirement of the side surface of the support rolling wheel 313 is relatively high, and the friction force of the support rolling wheel 313 when rolling between the inside of the rotating base 22 and the outer wall of the rotating guide disk 315 is required to be small.

[0085] When the rotating base 22 rotates, the driving pinion 311 does not provide centripetal force and is not the main force-bearing component. It relies on the supporting rolling wheel 313 to squeeze between the rotating base 22 and the rotating guide plate 315 to support the rotation of the rotating base 22. Because the movement form of the supporting rolling wheel 313 is rolling, the friction force is small and the mechanical effect is good. The lifting component 2 rotates smoothly with little vibration.

[0086] The integral rotating assembly 31 contacts eight enclosure plates 314 which are arranged in a circular shape with equal arc intervals on the load platform 32 of the rotating and moving assembly 3 , and the integral rotating assembly 31 is placed on the enclosure plates 314 .

[0087] A moving slider 34 is provided at the bottom of the rotating moving component 3. The moving slider 34 is sleeved on the guide rail of the track component 4. The track component 4 is provided with two guide rails 42. Therefore, two rows of moving sliders 34 are provided at the bottom of the rotating moving component 3. For equipment with a large load, the larger the contact area of ​​the bottommost moving component, the smoother its movement, the easier it is to drive, and the less likely it is to damage other components. Therefore, the larger the cross-sectional circumference of the moving slider 34 of the rotating moving component 3 is within a reasonable range, the better, and the more the number within a certain range, the better. However, the increase in the number and the increase in the cross-sectional circumference will require higher matching accuracy between the moving slider 34 and the guide rail 42, and higher processing costs.

[0088] A rack 41 is provided on the outer side of the guide rail 42 and is parallel to the guide rail 42. A moving motor 33 is installed at a corner of the rotating moving component 3. The moving motor drives the gear meshing with the rack 41 to drive the rotating moving component 3 to move with the lifting component 2 and the transport component 1 on the track component 4.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A heavy-duty rotary palletizer, characterized in that: It comprises a transport component (1), a lifting component (2) and a rotating moving component (3), wherein a connecting sleeve (14) is provided between the transport component (1) and the lifting component (2); The connecting sleeve (14) is rotatably connected to the transport assembly (1), the connecting sleeve (14) is movably connected to the lifting assembly (2), and the connecting sleeve (14) moves in a first direction; The rotating and moving component (3) is rotationally connected to the lifting component (2), the rotating and moving component (3) is movably connected to the track component (4), and the rotating and moving component (3) moves in the second direction.

2. A heavy-duty rotary palletizer according to claim 1, characterized in that: The connecting sleeve (14) is composed of three layers of components. The portion where the connecting sleeve (14) is connected to the transport component (1) is a bearing portion (141). One end of the bearing portion (141) is an annular cage-shaped transport connecting portion (1414), and the other end is a semi-open installation opening (1418).

3. A heavy duty rotary palletizer according to claim 2, characterized in that: The bearing portion (141) is located near the semi-open mounting opening (1418), and side mounting portions (1411) are vertically symmetrically arranged on both sides of the bearing portion (141); the side mounting portions (1411) are connected to the slider mounting plate (142); and a second support (1413) and a third support (1417) are respectively arranged between the side mounting portions (1411) and the upper and lower surfaces of the bearing portion (141).

4. A heavy-duty rotary palletizer according to claim 2, characterized in that: The load-bearing portion (141) at one end of the transport connection portion (1414) is supported by vertical plates arranged at intervals between the upper and lower plates, and a sandwich plate (1415) is provided between the upper and lower plates at the other end of the load-bearing portion (141); The sandwich plate (1415) and the inner supports (1416) arranged in parallel between the upper and lower plates of the bearing part (141) are perpendicular, and the sandwich plate (1415) and the inner supports (1416) separate the bearing part (141) into a plurality of chambers.

5. A heavy-duty rotary palletizer according to claim 1, 2, 3 or 4, characterized in that: The connecting sleeve (14) is provided with an outer sleeve shell (143), a slider mounting plate (142) and a bearing portion (141) from the outside to the inside. The slider mounting plate (142) is plate-shaped, one side of which is triangular in shape with a triangular opening (1422) in the middle, and the other side of which is rectangular and mounted on the bearing portion (141), a corner at the upper end of an outer end surface of one side of the triangle and two sides of the corner are connected to the outer shell (143), and a connecting sleeve slider (1421) is provided on the inner side of the slider mounting plate (142), and the connecting sleeve sliders (1421) are staggered in height.

6. A heavy duty rotary palletizer according to claim 5, characterized in that: The side plates of the outer shell (143) are connected to the slider mounting plate (142), and the side plates at the connection position are respectively extended along the two sides of the corners of the triangular upper end of the slider mounting plate (142), and the extended sides are fixedly connected to the slider mounting plate (142).

7. A heavy-duty rotary palletizer according to claim 1 or 2 or 3 or 4 or 6, characterized in that: An integral rotating assembly (31) is provided between the lifting assembly (2) and the rotating moving assembly (3), a driving pinion (311) is provided in the integral rotating assembly (31), the driving pinion (311) is in transmission connection with a rotating motor (21), the rotating motor (21) is fixedly mounted on the lifting assembly (2), a servo motor (23) is vertically provided at the top end of the lifting assembly (2), and the servo motor (23) is used to position and control the lifting and lowering of the transport assembly (1); The integral rotating assembly (31) is provided with a fixed toothed disc (312), and the fixed toothed disc (312) is fixedly connected to the rotating moving assembly (3).

8. The heavy-duty rotary palletizer according to claim 7, characterized in that: The rotating base (22) of the lifting assembly (2) is rotatably connected to the integral rotating assembly (31), and the fixed gear plate (312) is mounted on the rotating guide plate (315); A cavity is provided between the rotating base (22) and the rotating guide disk (315), and a pancake-shaped supporting rolling wheel (313) is provided at the bottom of the cavity, and the side end annular surface of the supporting rolling wheel (313) is tangent to the inner surface of the rotating base (22) and the outer surface of the rotating guide disk (315).

9. A heavy-duty rotary palletizer according to claim 1 or 2 or 3 or 4 or 6 or 8, characterized in that: A movable slider (34) is provided at the bottom of the rotating movable assembly (3), and a displacement sensor is also provided on the rotating movable assembly (3) to measure the distance moved by the stacker and assist in locating the current position of the stacker; The track assembly (4) is provided with a guide rail (42), the movable slider (34) is sleeved on the guide rail (42), and a plurality of position detection devices are provided at regular intervals outside the guide rail (42) to detect the current position of the stacker and whether the stacker has reached a designated position.

10. A heavy-duty rotary palletizer according to claim 1 or 2 or 3 or 4 or 6 or 8, characterized in that: The transport assembly (1) is provided with a first-stage rotating part (11) and a second-stage rotating part (12); a rotating connecting part (13) is provided between the first-stage rotating part (11) and the second-stage rotating part (12); and the second-stage rotating part (12) is connected to the connecting sleeve (14); Each rotating part of the transport component (1) is provided with a servo motor, and all the servo motors are controlled by a control device provided in the stacker. An angular displacement sensor is installed on each rotating part, and data from the angular displacement sensor is transmitted to the control device in real time. The control device calculates the current position of the transport component (1) and the loading end of the transport component (1).

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