Vertical stacking device

Abstract

The invention relates to the technical field of stacking devices, and discloses a vertical stacking device which comprises a table top, a clamping device is arranged at the top of the table top, a grabbing table is arranged at the top of the table top, a lubricating device is arranged on the outer wall of the grabbing table, a conveying table is arranged at the top of the table top, and a lifting device is arranged on the conveying table. A guide device is arranged at the top of the conveying table; the clamping device comprises a motor, a reciprocating lead screw, a clamping plate, a sliding rail, a first supporting plate, an L-shaped guide plate, a first T-shaped plate, a first spring, a second supporting plate and a concave plate, the clamping plate moves to drive a carton grabbed by the mechanical arm on the grabbing table to be placed on the table top, the material carton is clamped and fixed through the clamping plate, paper is prevented from shaking, and the clamping device is convenient to use. The cartons on each layer are arranged in order, the whole stacking shape is regular, and space utilization and overall management are better facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing devices, and in particular to a vertical palletizing device. Background Art

[0002] Products are mainly grabbed by mechanical arms, conveyor belts or suction cups. In some food packaging industries, when products such as biscuit boxes are transferred from the production line, the suction cup vertical palletizing device uses vacuum cups to absorb the surface of the biscuit box by generating negative pressure, thereby lifting it from the conveyor belt. Then, the moving path of the grabbing device is controlled by a precise control system to place the product in a pre-set palletizing position. This control system is usually composed of computer programs and sensors. The sensors can detect information such as the position, shape and size of the product. The computer program directs the mechanical arm or other grabbing device to perform accurate stacking operations based on this information and the preset palletizing mode.

[0003] The patent with announcement number CN221821264U relates to the field of film roll packaging technology, and discloses a vertical film roll stacking device, including two symmetrically arranged vertical frames, a transverse slide arranged across the two vertical frames, a front and rear drive assembly, a longitudinal slide, a left and right drive assembly, a lifter, and a stacking gripper. A stacking area is formed between the two vertical frames, and the stacking area includes two rows of pallet placement areas and an aisle between the two rows of pallet placement areas. The near-ground area in the aisle is detected by a first safety grating to see if there are any objects. When pedestrians break into the aisle, objects are placed on the aisle and are not cleaned up in time, and the stacking gripper releases the film roll during transportation, causing the film roll to fall to the ground, the first safety grating will feedback a signal to the film roll packaging control system, and the film roll packaging control system will immediately control the vertical film roll stacking device to stop, so as to prevent the stacking gripper from continuing to move and causing a collision.

[0004] During use, the above device does not position the materials delivered by the robot during palletizing. During the palletizing process, if the carton is in an unstable or shaking state, it is likely to cause the overall structure of the palletizing to be unstable, and the pallet may collapse in the future, affecting the neat stacking of the materials and the safety of storage and transportation. Therefore, a vertical palletizing device is proposed to solve the above problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a vertical palletizing device in view of the deficiencies in the above-mentioned prior art.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a vertical stacking device, including a table top, a clamping device is arranged on the top of the table top, a grabbing table is arranged on the top of the table top, a lubricating device is arranged on the outer wall of the grabbing table, a conveying table is arranged on the top of the table top, and a guide device is arranged on the top of the conveying table; the clamping device includes a motor, a reciprocating screw rod, a clamping plate, a slide rail, a support plate 1, an L-shaped guide plate, a T-shaped plate 1, a spring 1, a support plate 2, and a concave plate, the support plate 1 is fixedly connected to the top of the table top, the The motor is fixedly connected to the front part of the support plate, the reciprocating screw is fixedly connected to the output end of the motor, and the clamping plate is movably connected to the circumferential surface of the reciprocating screw. The clamping plate moves to drive the carton grabbed by the manipulator on the grabbing table and put it on the table. The material carton is clamped and fixed by the clamping plate to prevent the paper from shaking. During the stacking process, if the carton is in an unstable and shaking state, it is likely to cause the overall structure of the stacking to be unstable, and the subsequent collapse of the stack will easily occur, affecting the neat stacking of materials and the safety of storage and transportation. Maintaining the position accurately can ensure that the carton is in the predetermined position The first support plate is fixedly connected to the rear of the first support plate, the second support plate is fixedly connected to the right side of the first support plate, the second support plate is fixedly connected to the right side of the first support plate, the second support plate is fixedly connected to the right side of the first support plate, the third support plate is fixedly connected to the rear of the first support plate, the second support plate is fixedly connected to the right side of the first support plate, the third support plate is fixedly connected to the right side of the first support plate, the third support plate is fixedly connected to the right side of the first support plate, and the fourth support plate is fixedly connected to the right side of the first support plate. The top of the table top is in contact with the top of the concave plate, the circumferential surface of the reciprocating screw is rotatably connected to the inner wall of the support plate 1, the bottom of the clamping plate is rotatably connected to the inner wall of the slide rail, and the top of the table top is in contact with the clamping plate. When the T-plate 1 quickly and stably pushes the material to the predetermined stacking area, the time for manual or other equipment to wait for the material to be in place is reduced, making the entire stacking process more compact and efficient. In the automated production line, each fast and accurate push of the material can save precious seconds of time for subsequent stacking, which accumulates little by little and greatly increases the number of stacking per unit time, thereby improving production efficiency.

[0007] Preferably, the lubricating device includes an oil barrel, a roller, a rotating rod, a movable plate, and a fixed plate 1, wherein the fixed plate 1 is fixedly connected to the movable end of the grabbing platform, the oil barrel is fixedly connected to the inner wall of the fixed plate 1, the roller contacts the grabbing platform, the rotating rod is fixedly connected to the left side of the roller, and the movable plate is fixedly connected to the bottom of the fixed plate 1, the lubricating device also includes a cam, an L-shaped plate 1, an L-shaped plate 2, a brush plate, and a spring 2, the cam is fixedly connected to the circumferential surface of the rotating rod, the bottom of the L-shaped plate 1 contacts the inner wall of the oil barrel, and the L-shaped plate 2 is fixedly connected to the bottom of the fixed plate 1, and the L-shaped plate 1 moves so that the lubricating oil in the oil barrel indirectly drops into the oil outlet pipe, and the oil outlet pipe drips the lubricating oil into the sliding groove of the grabbing platform, and oil absorbing cotton is arranged inside the oil outlet pipe. In the sliding groove of the grabbing platform, when the lubricating oil drips, its most important function is to reduce friction. During the operation of the platform, components such as the grabbing device may move frequently in the sliding groove. If there is no lubricating oil, dry friction will occur between these components and the sliding groove. Dry friction will cause increased wear on the surface of the components, reduce the accuracy of the components, and shorten their service life. The brush plate is fixedly connected to the rear of the L-shaped plate 2, and the spring 2 is fixedly connected to the rear of the L-shaped plate 1. The rear of the spring 2 is fixedly connected to the inner wall of the oil drum. The moving plate contacts the front of the grabbing platform, and the rear of the brush plate contacts the moving end of the grabbing platform. The inner wall of the moving plate is rotatably connected to the circumferential surface of the rotating rod, and the circumferential surface of the rotating rod is rotatably connected to the inner wall of the oil drum. The cam contacts the L-shaped plate 1. Through the uniform application of the brush plate, it can be ensured that there is an appropriate layer of lubricating oil in the entire moving groove, so that the grabbing device can be well lubricated when moving at any position, ensuring its smoothness and stability of movement.

[0008] The cam is fixedly connected to the bottom of the movable plate, the spring is fixedly connected to the inner wall of the grabbing platform, the T-plate is fixedly connected to the top of the spring, the vertical plate is fixedly connected to the front of the T-plate, the hinged rod is hinged to the inner wall of the vertical plate, and the slide is fixedly connected to the inner wall of the hinged rod through a connecting rod. The movement of the slide drives the cross plate to move, and the transported material is pushed to the U-shaped guide plate, which cooperates with the U-shaped guide plate on the conveying platform of this device to prevent the material from not moving to the guiding position of the U-guide plate, but moving in a straight line. The cross plate pushes the subsequent stacking, which facilitates the subsequent cylinder to push the carton that has been loaded with materials out of the conveying platform for stacking. The guide device also includes a cross plate, a sliding platform, a hinged rod, a fixed plate and a supporting plate. The cross plate is fixedly connected to the front of the slide, the sliding platform is fixedly connected to the top of the table, and the hinged rod is hinged to the conveying platform through a torsion spring. The top of the delivery platform, the fixed plate 2 is fixedly connected to the top of the conveying platform, the support plate 3 is fixedly connected to the front of the fixed plate 2, the bottom of the support plate 3 is fixedly connected to the top of the conveying platform, the outer wall of the T-plate 2 is fixedly connected to the inner wall of the grabbing platform, the outer wall of the slide plate is slidably connected to the inner wall of the slide, the bottom of the cross plate contacts the top of the slide, and the movement of the cross plate drives the articulated rod 2 to move, and the articulated rod 2 moves and cooperates with the fixed plate 2 to block the subsequent materials, so that the manipulator can grab the material cartons in sequence. By blocking the subsequent materials, the order in which the materials enter the grabbing area can be limited, so that the material cartons appear one by one in the position that the manipulator can grab. In this way, the manipulator faces a single and clear target each time, avoiding the chaos caused by multiple materials pouring into the grabbing range at the same time, thereby greatly improving the accuracy of grabbing, ensuring that the manipulator can accurately grab each material carton, and reducing the occurrence of grabbing errors, such as grabbing empty or wrong grabbing.

[0009] The present invention adopts the above technical solution to bring the following beneficial effects: 1. The vertical palletizing device cooperates with the motor, reciprocating screw, clamping plate, slide rail, support plate 1, L-shaped guide plate, T-shaped plate 1, spring 1, support plate 2, and concave plate. The clamping plate moves to drive the carton that has been grabbed by the manipulator on the grabbing table and put it on the table. The material carton is clamped and fixed by the clamping plate to prevent the paper from shaking. During the palletizing process, if the carton is in an unstable and shaking state, it is likely to cause the overall structure of the palletizing to be unstable, and the subsequent collapse of the pallet is likely to occur, affecting the neat stacking of materials and the safety of storage and transportation, etc., to maintain accurate position, It can ensure that the cartons are in the predetermined position, which is convenient for subsequent palletizing operations according to rules and sequence, so that each layer of cartons is arranged neatly, and the entire palletizing shape is regular, which is more conducive to space utilization and overall management. When the T-plate quickly and stably pushes the material to the predetermined palletizing area, it reduces the time for manpower or other equipment to wait for the material to be in place, making the entire palletizing process more compact and efficient. In the automated production line, each fast and accurate push of the material can save precious seconds for the subsequent palletizing. The accumulation of small amounts can greatly increase the number of palletizing per unit time, thereby improving production efficiency.

[0010] 2. The vertical stacking device cooperates with each other through the oil barrel, roller, rotating rod, moving plate, fixed plate 1, cam, L-shaped plate 1, L-shaped plate 2, brush plate and spring 2. The L-shaped plate 1 moves so that the lubricating oil in the oil barrel indirectly drops into the oil outlet pipe. The oil outlet pipe drips the lubricating oil into the sliding groove of the grabbing platform. Oil-absorbing cotton is arranged inside the oil outlet pipe. In the sliding groove of the grabbing platform, when the lubricating oil drips, its most important function is to reduce friction. During the operation of the grabbing platform, the grabbing device and other components may move frequently in the sliding groove. If there is no lubricating oil, dry friction will occur between these components and the sliding groove. The dry friction will cause the wear of the component surface to increase, the accuracy of the component will be reduced, and its service life will be shortened. Through the uniform application of the brush plate, it can be ensured that there is an appropriate lubricating oil layer in the entire moving groove, so that the grabbing device can be well lubricated when moving at any position, ensuring the smoothness and stability of its movement.

[0011] 3. The vertical palletizing device cooperates with each other through the pressing plate, the second T-shaped plate, the vertical plate, the third spring, the first hinged rod, the sliding plate, the horizontal plate, the sliding table, the second hinged rod, the second fixed plate, and the third support plate. The movement of the sliding plate drives the movement of the horizontal plate to push the transported materials to the U-shaped guide plate, which cooperates with the U-shaped guide plate on the conveying table of this device to prevent the materials from moving in a straight line instead of moving to the guide position of the U-shaped guide plate. The horizontal plate pushes the subsequent palletizing so that the subsequent cylinder can push the carton that has been loaded with materials out of the conveying table for palletizing. The movement of the horizontal plate drives the movement of the hinged rod 2, and the hinged rod The second moving plate cooperates with the fixed plate to block the subsequent materials, so that the robot can grab the material cartons in sequence. By blocking the subsequent materials, the order in which the materials enter the grabbing area can be limited, and the material cartons appear one by one in the position where the robot can grab. In this way, the robot faces a single and clear target each time, avoiding the chaos caused by multiple materials rushing into the grabbing range at the same time, thereby greatly improving the accuracy of grabbing, ensuring that the robot can accurately grab each material carton, and reducing the occurrence of grabbing errors, such as empty grabbing, wrong grabbing, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a cross-sectional view of the overall structure of the present invention; Figure 3 It is a schematic diagram of the clamping device of the present invention; Figure 4 It is a schematic diagram of the lubrication device of the present invention; Figure 5 For the present invention Figure 4 Schematic diagram of the structure at A in the middle; Figure 6 It is a schematic diagram of the guide device of the present invention; Figure 7 For the present invention Figure 6 Schematic diagram of the structure at point B in the middle.

[0013] In the figure: 1, table; 2, clamping device; 201, motor; 202, reciprocating screw; 203, clamping plate; 204, slide rail; 205, support plate 1; 206, L-shaped guide plate; 207, T-shaped plate 1; 208, spring 1; 209, support plate 2; 210, concave plate; 3, lubrication device; 301, oil drum; 302, roller; 303, rotating rod; 304, moving plate; 305, fixed plate 1; 3 06. Cam; 307. L-shaped plate one; 308. L-shaped plate two; 309. Brush plate; 310. Spring two; 4. Guide device; 401. Press plate; 402. T-shaped plate two; 403. Vertical plate; 404. Spring three; 405. Articulated rod one; 406. Slide plate; 407. Horizontal plate; 408. Slide table; 409. Articulated rod two; 410. Fixed plate two; 411. Support plate three; 5. Grabbing table; 6. Conveying table. DETAILED DESCRIPTION

[0014] 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.

[0015] See also Figure 1-Figure 7One embodiment of the present invention is: a vertical palletizing device, comprising a table top 1, a clamping device 2 is arranged on the top of the table top 1, a grabbing table 5 is arranged on the top of the table top 1, a lubricating device 3 is arranged on the outer wall of the grabbing table 5, a conveying table 6 is arranged on the top of the table top 1, and a guide device 4 is arranged on the top of the conveying table 6;The clamping device 2 includes a motor 201, a reciprocating screw rod 202, a clamping plate 203, a slide rail 204, a support plate 205, an L-shaped guide plate 206, a T-shaped plate 207, a spring 208, a support plate 209, and a concave plate 210. The support plate 205 is fixedly connected to the top of the table 1, the motor 201 is fixedly connected to the front of the support plate 205, the reciprocating screw rod 202 is fixedly connected to the output end of the motor 201, and the clamping plate 203 is movably connected to the circumferential surface of the reciprocating screw rod 202. The reciprocating screw rod 202 is driven to rotate by the motor 201, and the clamping plate 203 is driven to move by the cross spiral groove on the reciprocating screw rod 202. The cartons grabbed by the robot on the grabbing table 5 are placed on the table 1, and the material cartons are clamped and fixed by the clamping plate 203 to prevent the paper from shaking. During the stacking process, if the cartons are in an unstable and shaking state, it is likely to cause the overall structure of the stacking to be unstable, and the subsequent collapse of the stacking will affect the neat stacking of materials and the safety of storage and transportation. Maintaining the position accurately can ensure that the cartons are in the predetermined position, which is convenient for subsequent stacking operations according to rules and sequence, so that each layer of cartons is arranged neatly, and the entire stacking shape is regular, which is more conducive to space utilization and overall management. The slide rail 204 is fixedly connected to the rear of the support plate 205, and the L-shaped guide plate 206 is fixedly connected On the right side of the clamping plate 203, there are two clamping plates 203, and the two clamping plates 203 are symmetrically distributed between the support plate 1 205, the concave plate 210 is fixedly connected to the top of the table 1, the T-plate 1 207 contacts the concave plate 210, the spring 1 208 is fixedly connected to the right side of the T-plate 1 207, the support plate 209 is fixedly connected to the right side of the spring 1 208, the bottom of the L-shaped guide plate 206 contacts the top of the concave plate 210, the circumferential surface of the reciprocating screw rod 202 is rotatably connected to the inner wall of the support plate 1 205, the bottom of the clamping plate 203 is rotatably connected to the inner wall of the slide rail 204, the top of the table 1 contacts the clamping plate 203, and the clamping plate 203 is moved The L-shaped guide plate 206 is driven to move, and the guide chute on the L-shaped guide plate 206 makes the T-shaped plate 207 move forward, and the spring 208 is reset, and the T-shaped plate 207 moves forward, pushing the material forward, so that the device can stack the material later. When the T-shaped plate 207 pushes the material to the predetermined stacking area quickly and stably, the time for manual or other equipment to wait for the material to be in place is reduced, making the entire stacking process more compact and efficient. In the automated production line, each fast and accurate push of the material can save precious seconds for the subsequent stacking, which greatly increases the number of stacking per unit time and thus improves production efficiency.

[0016] The lubricating device 3 includes an oil barrel 301, a roller 302, a rotating rod 303, a movable plate 304, and a fixed plate 305. The fixed plate 305 is fixedly connected to the movable end of the grabbing platform 5. The oil barrel 301 is fixedly connected to the inner wall of the fixed plate 305. The roller 302 contacts the grabbing platform 5. The rotating rod 303 is fixedly connected to the left side of the roller 302. The movable plate 304 is fixedly connected to the bottom of the fixed plate 305. The lubricating device 3 also includes a cam 306, an L-shaped plate 307, an L-shaped plate 308, a brush plate 309, and a spring 310. The cam 306 is fixedly connected to the circumferential surface of the rotating rod 303. The bottom of the L-shaped plate 307 contacts the inner wall of the oil barrel 301. The L-shaped plate 308 is fixedly connected to the bottom of the fixed plate 305. The grabbing platform 5 moves up and down to drive the fixed plate 305 to move, and the fixed plate 305 moves to drive the roller 302 to move, so that the roller 302 contacts the outer wall of the grabbing platform 5, so that the roller 302 rotates through the friction force, and the rotation of the roller 302 drives the rotating rod 303 to rotate, and the rotation of the rotating rod 303 drives the cam 306 to rotate, and the rotation of the cam 306 drives the L-shaped plate 307 to move, and the movement of the L-shaped plate 307 causes the lubricating oil in the oil barrel 301 to indirectly fall into the oil outlet pipe, and the oil outlet pipe drips the lubricating oil into the sliding groove of the grabbing platform 5. The oil outlet pipe is provided with oil absorbing cotton inside. In the sliding groove of the grabbing platform 5, when the lubricating oil drips, its most important function is to reduce the friction force. During the working process of the grabbing platform 5, the grabbing device Components such as the positioning device may move frequently in the sliding groove. If there is no lubricating oil, dry friction will occur between these components and the sliding groove. Dry friction will cause increased wear on the surface of the components, reduce the accuracy of the components, and shorten their service life. The oil film formed by the lubricating oil can separate the two friction surfaces, turning dry friction into fluid friction or mixed friction, greatly reducing the friction force, thereby reducing the wear of the components. For example, some grasping devices that move through rails or sliders will cause scratches, abrasions and other damages on the surfaces of the rails and sliders due to friction during long-term operation. The presence of lubricating oil can effectively prevent this from happening and ensure that the grasping device can move smoothly in the sliding groove. The brush plate 309 is fixedly connected to the rear of the L-shaped plate 308. The spring The second spring 310 is fixedly connected to the rear part of the L-shaped plate 1 307, the rear part of the spring 2 310 is fixedly connected to the inner wall of the oil drum 301, the movable plate 304 contacts the front part of the grabbing platform 5, the rear part of the brush plate 309 contacts the moving end of the grabbing platform 5, the inner wall of the movable plate 304 is rotationally connected to the circumferential surface of the rotating rod 303, the circumferential surface of the rotating rod 303 is rotationally connected to the inner wall of the oil drum 301, the cam 306 contacts the L-shaped plate 1 307, and the L-shaped plate 2 308 is driven to move by the movement of the fixed plate 1 305, and the brush plate 309 is driven to move by the movement of the L-shaped plate 2 308, so as to evenly smear the inside of the moving groove of the grabbing platform 5. When the lubricating oil drips into the inside of the moving groove of the grabbing platform 5, its distribution may not be uniform, and the L-shaped plate 2 308 drives the brush plate 309 to move.The lubricating oil can be evenly distributed in the moving groove. If the lubricating oil is locally accumulated and other parts lack lubricating oil, the friction force of different parts will be too different when the grabbing device moves in the moving groove, which may cause the grabbing device to tilt, jam, etc., affecting its normal operation. The brush plate 309 can be evenly applied to ensure that there is an appropriate lubricating oil layer in the entire moving groove, so that the grabbing device can be well lubricated when moving at any position, ensuring the smoothness and stability of its movement.

[0017] Working principle: When the device is started, the motor 201 drives the reciprocating screw 202 to rotate, and the cross spiral groove on the reciprocating screw 202 drives the clamping plate 203 to move. The clamping plate 203 moves, driving the carton that has been grabbed by the robot on the grabbing table 5 to be placed on the table 1, and the material carton is clamped and fixed by the clamping plate 203 to prevent the paper from shaking. During the stacking process, if the carton is in an unstable and shaking state, it is likely to cause the overall structure of the stacking to be unstable, and it is easy to collapse the stack later, affecting the neat stacking of materials and the safety of storage and transportation. Maintaining the position accurately can ensure that the carton is in the predetermined position, which is convenient for the subsequent stacking operation according to rules and sequence, so that the cartons on each layer are arranged neatly and the shape of the entire stacking is regular. The whole is more conducive to space utilization and overall management. The movement of the clamping plate 203 drives the L-shaped guide plate 206 to move. The guide inclined groove on the L-shaped guide plate 206 allows the T-shaped plate 207 to move forward, and is reset by the spring 208. The T-shaped plate 207 moves forward to push the material forward, which is convenient for the subsequent palletizing of the material by the device. When the T-shaped plate 207 quickly and stably pushes the material to the predetermined palletizing area, the time for manual or other equipment to wait for the material to be in place is reduced, making the entire palletizing process more compact and efficient. In the automated production line, each rapid and accurate pushing of the material can save precious seconds of time for subsequent palletizing, which accumulates little by little and greatly increases the number of palletizing per unit time, thereby improving production efficiency.

[0018] The grabbing platform 5 moves up and down to drive the fixed plate 305 to move, and the fixed plate 305 moves to drive the roller 302 to move, so that the roller 302 contacts the outer wall of the grabbing platform 5, so that the roller 302 rotates through friction, and the rotation of the roller 302 drives the rotating rod 303 to rotate, and the rotation of the rotating rod 303 drives the cam 306 to rotate, and the rotation of the cam 306 drives the L-shaped plate 307 to move, and the movement of the L-shaped plate 307 causes the lubricating oil in the oil barrel 301 to indirectly fall into the oil outlet pipe, and the oil outlet pipe drips the lubricating oil into the sliding groove of the grabbing platform 5 In the oil outlet pipe, oil absorbing cotton is arranged inside. In the sliding groove of the grabbing platform 5, when lubricating oil drips, its most important function is to reduce friction. During the operation of the grabbing platform 5, the grabbing device and other parts may move frequently in the sliding groove. If there is no lubricating oil, dry friction will occur between these parts and the sliding groove. Dry friction will cause the wear of the surface of the parts to increase, the accuracy of the parts will decrease, and their service life will be shortened. The oil film formed by the lubricating oil can separate the two friction surfaces, changing the dry friction into fluid friction or mixed friction, greatly reducing the friction, thereby reducing Less wear on parts. For example, some grabbing devices that move through rails or sliders will have scratches, abrasions and other damage on the surface of the rails and sliders due to friction during long-term operation. The presence of lubricating oil can effectively prevent this from happening, ensuring that the grabbing device can move smoothly in the sliding groove. The movement of the fixed plate 1 305 drives the movement of the L-shaped plate 2 308, and the movement of the L-shaped plate 2 308 drives the movement of the brush plate 309 to evenly apply the inside of the moving groove of the grabbing table 5. When the lubricating oil drips into the inside of the moving groove of the grabbing table 5, its distribution may be It is not uniform. The L-shaped plate 308 drives the brush plate 309 to move, so that the lubricating oil can be evenly distributed in the moving groove. If the lubricating oil accumulates locally and other parts lack lubricating oil, the friction between different parts of the grasping device will be too different when it moves in the moving groove. This may cause the grasping device to tilt, get stuck, etc., affecting its normal operation. Through the uniform application of the brush plate 309, it can be ensured that there is an appropriate layer of lubricating oil in the entire moving groove, so that the grasping device can be well lubricated when moving at any position, ensuring its smoothness and stability of movement.

[0019] See also Figure 1-Figure 7On the basis of the above embodiment, in another embodiment of the present invention, the guide device 4 includes a pressing plate 401, a T-shaped plate 402, a vertical plate 403, a spring 404, a hinged rod 405, and a slide plate 406. The pressing plate 401 is fixedly connected to the bottom of the moving plate 304, the spring 404 is fixedly connected to the inner wall of the grabbing platform 5, the T-shaped plate 402 is fixedly connected to the top of the spring 404, the vertical plate 403 is fixedly connected to the front of the T-shaped plate 402, the hinged rod 405 is hinged to the inner wall of the vertical plate 403, and the slide plate 406 is fixedly connected to the inner wall of the hinged rod 405 through a connecting rod. The moving plate 304 drives the pressing plate 401 to move. When the pressing plate 401 moves, it will contact the T-plate 2 402, so that the T-plate 2 402 moves downward, and the movement of the T-plate 2 402 drives the vertical plate 403 to move, and the movement of the vertical plate 403 drives the slide plate 406 to move, and the movement of the slide plate 406 drives the cross plate 407 to move, so that the transported materials are pushed to the U-shaped guide plate, and cooperate with the U-shaped guide plate on the conveying platform 6 of this device to prevent the materials from not moving to the guide position of the U-guide plate, but moving in a straight line. When the cross plate 407 pushes, it is convenient for the subsequent cylinder to push the carton that has been loaded with materials out of the conveying platform 6 for palletizing. The guide device 4 also includes a cross plate 407, a slide table 408, The hinged rod 2 409, the fixed plate 2 410, the support plate 3 411, the cross plate 407 is fixedly connected to the front of the slide plate 406, the slide 408 is fixedly connected to the top of the table 1, the hinged rod 2 409 is hinged to the top of the conveying table 6 through a torsion spring, the fixed plate 2 410 is fixedly connected to the top of the conveying table 6, the support plate 3 411 is fixedly connected to the front of the fixed plate 2 410, the bottom of the support plate 3 411 is fixedly connected to the top of the conveying table 6, the outer wall of the T-shaped plate 2 402 is fixedly connected to the inner wall of the grabbing table 5, the outer wall of the slide plate 406 is slidably connected to the inner wall of the slide 408, the bottom of the cross plate 407 contacts the top of the slide 408, and the cross plate 408 is connected to the top of the conveying table 6. 7 moves to drive the articulated rod 2 409 to move, and the articulated rod 2 409 moves and cooperates with the fixed plate 2 410 to block the subsequent materials, so that the manipulator can grab the material cartons in sequence. By blocking the subsequent materials, the order in which the materials enter the grabbing area can be limited, and the material cartons can appear one by one in the position where the manipulator can grab. In this way, the manipulator faces a single and clear target each time, avoiding the chaos caused by multiple materials rushing into the grabbing range at the same time, thereby greatly improving the accuracy of grabbing, ensuring that the manipulator can accurately grab each material carton, and reducing the occurrence of grabbing errors, such as grabbing empty or wrong grabbing.

[0020] Working principle: The moving plate 304 drives the pressing plate 401 to move. When the pressing plate 401 moves, it will contact the T-plate 2 402, so that the T-plate 2 402 moves downward, and the vertical plate 403 is driven to move by the movement of the T-plate 2 402. The vertical plate 403 drives the slide plate 406 to move. The slide plate 406 drives the cross plate 407 to move, and the transported materials are pushed to the U-shaped guide plate, which cooperates with the U-shaped guide plate on the conveying platform 6 of this device to prevent the materials from moving in a straight line instead of the guide position of the U-shaped guide plate. The cross plate 407 pushes the subsequent cylinder to push the cartons loaded with materials out of the conveying platform 6 for palletizing during subsequent stacking. The movement of the cross plate 407 drives the articulated rod 2 409 to move, and the movement of the articulated rod 2 409 cooperates with the fixed plate 2 410 to block the subsequent materials, so that the robot can grab the material cartons in sequence. By blocking the subsequent materials, the order in which the materials enter the grasping area can be limited, and the material cartons can appear one by one in the position where the robot can grasp them. In this way, the robot faces a single and clear target each time, avoiding the chaos caused by multiple materials rushing into the grasping range at the same time, thereby greatly improving the accuracy of grasping, ensuring that the robot can accurately grasp each material carton, and reducing the occurrence of grasping errors, such as grasping empty or wrong grasping.

[0021] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vertical palletizing device, comprising a table (1), characterized in that: A clamping device (2) is provided on the top of the table top (1), a grabbing platform (5) is provided on the top of the table top (1), a lubrication device (3) is provided on the outer wall of the grabbing platform (5), a conveying platform (6) is provided on the top of the table top (1), and a guide device (4) is provided on the top of the conveying platform (6); The clamping device (2) comprises a motor (201), a reciprocating screw (202), a clamping plate (203), a slide rail (204), a support plate (205), an L-shaped guide plate (206), a T-shaped plate (207), a spring (208), a support plate (209), and a concave plate (210), wherein the support plate (205) is fixedly connected to the top of the table (1), the motor (201) is fixedly connected to the front of the support plate (205), the reciprocating screw (202) is fixedly connected to the output end of the motor (201), and the clamping plate (203) is movably connected to the reciprocating screw (202). The slide rail (204) is fixedly connected to the rear of the support plate (205), the L-shaped guide plate (206) is fixedly connected to the right side of the clamping plate (203), the number of the clamping plates (203) is two, and the two clamping plates (203) are symmetrically distributed between the support plates (205), the concave plate (210) is fixedly connected to the top of the table (1), the T-shaped plate (207) is in contact with the concave plate (210), the spring (208) is fixedly connected to the right side of the T-shaped plate (207), and the support plate (209) is fixedly connected to the right side of the spring (208).

2. A vertical palletizing device according to claim 1, characterized in that: The bottom of the L-shaped guide plate (206) contacts the top of the concave plate (210), and the circumferential surface of the reciprocating screw rod (202) is rotatably connected to the inner wall of the first support plate (205).

3. A vertical palletizing device according to claim 2, characterized in that: The bottom of the clamping plate (203) is rotatably connected to the inner wall of the slide rail (204), and the top of the table top (1) is in contact with the clamping plate (203).

4. A vertical palletizing device according to claim 3, characterized in that: The lubricating device (3) comprises an oil barrel (301), a roller (302), a rotating rod (303), a movable plate (304), and a fixed plate (305); the fixed plate (305) is fixedly connected to the movable end of the grabbing platform (5); the oil barrel (301) is fixedly connected to the inner wall of the fixed plate (305); the roller (302) is in contact with the grabbing platform (5); the rotating rod (303) is fixedly connected to the left side of the roller (302); and the movable plate (304) is fixedly connected to the bottom of the fixed plate (305).

5. A vertical palletizing device according to claim 4, characterized in that: The lubricating device (3) further comprises a cam (306), an L-shaped plate 1 (307), an L-shaped plate 2 (308), a brush plate (309), and a spring 2 (310); the cam (306) is fixedly connected to the circumferential surface of the rotating rod (303); the bottom of the L-shaped plate 1 (307) contacts the inner wall of the oil barrel (301); the L-shaped plate 2 (308) is fixedly connected to the bottom of the fixed plate 1 (305); the brush plate (309) is fixedly connected to the rear of the L-shaped plate 2 (308); and the spring 2 (310) is fixedly connected to the rear of the L-shaped plate 1 (307).

6. A vertical palletizing device according to claim 5, characterized in that: The rear portion of the second spring (310) is fixedly connected to the inner wall of the oil barrel (301), and the movable plate (304) is in contact with the front portion of the grabbing platform (5).

7. A vertical palletizing device according to claim 6, characterized in that: The rear portion of the brush plate (309) contacts the moving end of the grabbing platform (5), the inner wall of the moving plate (304) is rotatably connected to the circumferential surface of the rotating rod (303), the circumferential surface of the rotating rod (303) is rotatably connected to the inner wall of the oil barrel (301), and the cam (306) contacts the L-shaped plate 1 (307).

8. A vertical palletizing device according to claim 7, characterized in that: The guide device (4) comprises a pressure plate (401), a second T-shaped plate (402), a vertical plate (403), a third spring (404), a first hinged rod (405), and a slide plate (406); the pressure plate (401) is fixedly connected to the bottom of the movable plate (304); the third spring (404) is fixedly connected to the inner wall of the grabbing platform (5); the second T-shaped plate (402) is fixedly connected to the top of the third spring (404); the vertical plate (403) is fixedly connected to the front of the second T-shaped plate (402); the first hinged rod (405) is hinged to the inner wall of the vertical plate (403); and the slide plate (406) is fixedly connected to the inner wall of the first hinged rod (405) via a connecting rod.

9. A vertical palletizing device according to claim 8, characterized in that: The guide device (4) also includes a transverse plate (407), a slide (408), a second hinged rod (409), a second fixed plate (410), and a third support plate (411). The transverse plate (407) is fixedly connected to the front of the slide plate (406), the slide (408) is fixedly connected to the top of the table (1), the second hinged rod (409) is hinged to the top of the conveying platform (6) through a torsion spring, the second fixed plate (410) is fixedly connected to the top of the conveying platform (6), and the third support plate (411) is fixedly connected to the front of the second fixed plate (410).

10. A vertical palletizing device according to claim 9, characterized in that: The bottom of the support plate three (411) is fixedly connected to the top of the conveying platform (6), the outer wall of the T-shaped plate two (402) is fixedly connected to the inner wall of the grabbing platform (5), the outer wall of the slide plate (406) is slidably connected to the inner wall of the slide platform (408), and the bottom of the cross plate (407) is in contact with the top of the slide platform (408).

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