Truss stacker crane capable of picking up various materials

Abstract

The invention relates to the technical field of logistics transportation equipment, and provides a truss stacker crane capable of picking up various materials, which comprises a support frame, a mounting rod arranged on the support frame, a mounting seat arranged at the bottom of the mounting rod, a grabbing device arranged on the mounting seat, and a driving device arranged on the support frame; the grabbing device comprises two mounting parts and shovel plates, the mounting parts are arranged at the bottom of the mounting base, the shovel plates are rotationally arranged on the sides, close to each other, of the mounting base, and a driving assembly is arranged on the mounting base and used for driving the two mounting parts to move in the direction close to each other or away from each other; a rotating assembly is arranged on the mounting part and used for driving the shovel plate to rotate, and fixing pieces are arranged at the two ends of the mounting part. The application range of the grabbing device can be widened, various materials can be picked up, and meanwhile the stability of the whole device in the material transferring and carrying process is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of logistics and transportation equipment, in particular to a truss palletizing device capable of picking up a variety of materials. Background Art

[0002] The palletizer is the product of the combination of machinery and computer programs. It has the advantages of flexible and precise operation, fast and efficient operation, and high stability. The palletizer effectively saves labor. In the field of logistics and transportation, the palletizer has a wide range of application scenarios and can quickly and accurately pick up and carry a variety of materials.

[0003] A palletizer usually includes a base and a gripping device, which picks up materials and transfers and transports the picked up materials, thereby saving the labor of the staff. However, the gripping device of the existing palletizer can usually only grab materials of the same type, such as boxes, oil drums or plates, coffins, etc. If different materials need to be grabbed and transported, the gripping device needs to be replaced. In addition, if the weight of the grabbed material is heavy, due to the long arm length of the gripping device, when the material is grabbed and transferred and transported, when the gripping device stops at the predetermined position, the inertia that the entire device needs to overcome is large, which makes it very easy for the center of gravity of the entire device to shift and thus lead to instability. Summary of the invention

[0004] In order to solve the above-mentioned problems of the prior art, the present invention provides a truss palletizer that can pick up a variety of materials, which can improve the application range of the gripping device, pick up a variety of materials, and at the same time ensure the stability of the entire device during the process of transferring and transporting materials.

[0005] A truss palletizer capable of picking up a variety of materials comprises a support frame, a mounting rod is arranged on the support frame, a mounting seat is arranged at the bottom of the mounting rod, a grabbing device is arranged on the mounting seat, and a driving device is arranged on the support frame, and the driving device is used to drive the mounting seat to move within the spatial range of the support frame; the grabbing device comprises a mounting part and a shovel plate, and the mounting parts are provided with two, and the mounting parts are arranged at the bottom of the mounting seat, and the shovel plate is rotatably arranged on the side of the mounting seat close to each other, and a driving assembly is arranged on the mounting seat, and the driving assembly is used to drive the two mounting parts to move in a direction of approaching or moving away from each other, and a rotating assembly is arranged on the mounting part, and the rotating assembly is used to drive the shovel plate to rotate, and fixings are arranged at both ends of the mounting part.

[0006] In some possible embodiments, the rotating assembly includes a driving rod and a rotating shaft, and a receiving groove is opened on the side of the mounting portion that is close to each other. The rotating shaft is rotatably arranged in the receiving groove, and the rotating shaft is connected to the shovel plate to drive the shovel plate to deflect. The driving rod is arranged on the mounting portion, and a connecting rod is arranged on the mounting portion. One end of the connecting rod is rotatably connected to the rotating shaft, and the other end is rotatably connected to the driving rod. A driving member for driving the driving rod to move is arranged on the mounting portion.

[0007] In some possible embodiments, the fixing member is configured as a fixing claw, the end of the rotating shaft passes through the mounting portion, a driving gear is provided coaxially with the fixing sleeve at the end of the rotating shaft, a mounting shaft is rotatably provided on the mounting portion along the axial direction of the rotating shaft, the fixing claw is provided on the mounting shaft, a driven gear is provided coaxially with the fixing sleeve on the mounting shaft, and the driven gear is meshed with the driving gear.

[0008] In some possible embodiments, the fixed jaw is arranged in an arc shape, the convex surface of the fixed jaw is arranged toward the shovel plate, the end of the fixed jaw is arranged with a rounded corner, and picking fingers are evenly arranged at the end of the shovel plate along the length direction of the shovel plate. The picking fingers on the two shovel plates are arranged alternately at intervals, and the spacing between adjacent picking fingers is adapted to the width of the picking fingers.

[0009] In some possible embodiments, the driving assembly includes a driving motor and a screw, a connecting seat is provided at the bottom of the mounting seat, the screw is rotatably inserted into the connecting seat, the driving motor is fixedly provided at the bottom of the mounting seat, the output shaft of the driving motor is transmission-connected to the screw, spiral grooves with opposite rotation directions are respectively provided at both ends of the screw, a sliding block is provided on the mounting portion, and the sliding block is threadedly sleeved on the screw.

[0010] In some possible embodiments, a guide groove is provided at the bottom of the mounting seat along the length direction of the lead screw, a guide block is slidably provided in the guide groove, and the guide block is fixedly connected to the top of the mounting portion; two guide grooves are provided, and the two guide grooves are symmetrically provided on both sides of the lead screw along the axial direction of the lead screw, and a guide block is slidably provided in each guide groove.

[0011] In some possible embodiments, a buffer sleeve is fixedly provided on the shovel plate, the buffer sleeve is arranged through, a buffer block is fixedly provided on the rotating shaft, the rotating shaft is passed through the buffer sleeve, the buffer block is slidably connected with the buffer sleeve, a buffer reset part is arranged in the buffer sleeve, and the buffer reset part is used to maintain the position of the buffer block in the buffer sleeve.

[0012] In some possible embodiments, the buffer return member is configured as a buffer roller, a fixed frame is provided in the buffer sleeve, the buffer roller is rotatably provided on the fixed frame, a buffer groove is opened on the top of the buffer block, the buffer groove is arranged in an arc shape, the concave surface of the buffer groove is arranged toward the buffer roller, and the buffer roller is in rolling contact with the buffer groove.

[0013] In some possible embodiments, there are multiple buffer rollers, which are evenly arranged along the axial direction of the rotating shaft, and there are two buffer sleeves, which are symmetrically arranged on both sides of the connecting rod, and a buffer block is arranged in each buffer sleeve.

[0014] In some possible embodiments, the driving member is configured as a driving cylinder, a cylinder barrel of the driving cylinder is disposed on the mounting portion, and the driving rod is disposed at an end of an output shaft of the driving cylinder.

[0015] The beneficial effects of the present invention are embodied in that:

[0016] Through the design of the shovel plate and the picking finger, it is possible to achieve stable grasping of different types of materials such as plates, boxes, oil drums, pipes, etc., thereby improving the overall applicability of the device; during the grasping process, the fixed claws can ensure that both ends of the material are firmly fixed, which can effectively prevent the material from sliding or losing during transportation; by setting up buffer rollers and buffer grooves, the buffer rollers and buffer grooves cooperate with each other, which can effectively consume the inertial kinetic energy when the grasping device stops and reduce the impact force, thereby avoiding the overall instability of the device due to excessive weight of the material, and improving the stability and reliability of the device during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0018] Figure 2 It is a structural schematic diagram of a grabbing device and a driving assembly according to an embodiment of the present invention;

[0019] Figure 3 is a schematic structural diagram of a driving member according to an embodiment of the present invention;

[0020] Figure 4 is a cross-sectional view of a guide groove according to an embodiment of the present invention;

[0021] Figure 5 is a cross-sectional view of a buffer sleeve according to an embodiment of the present invention;

[0022] Figure 6 for Figure 5 A magnified view of part A in FIG.

[0023] Figure 7 It is a structural schematic diagram of an X-axis drive group according to an embodiment of the present invention;

[0024] Figure 8 Schematic diagram of the structure of the Y-axis drive group and the Z-axis drive group according to an embodiment of the present invention.

[0025] Figure numerals: 1, support frame; 11, driving device; 12, sliding rod; 13, fixed bracket; 2, mounting rod; 21, mounting seat; 3, grasping device; 31, mounting portion; 32, shovel plate; 33, fixing member; 34, picking finger; 35, mounting groove; 36, elastic abutment layer; 4, driving assembly; 41, driving motor; 42, lead screw; 43, connecting seat; 5, rotating assembly; 51, driving rod; 52, rotating shaft; 53, containing groove; 54, connecting rod; 55, driving member; 56, I-beam frame; 57. Driving gear; 58. Driven gear; 6. Guide groove; 61. Guide block; 7. Buffer sleeve; 71. Buffer block; 72. Buffer reset member; 73. Fixed frame; 74. Buffer groove; 81. X-axis drive group; 811. First gear; 812. First rack; 813. First motor; 82. Y-axis drive group; 821. Second gear; 822. Second rack; 823. Second motor; 83. Z-axis drive group; 831. Third gear; 832. Third rack; 833. Third motor. DETAILED DESCRIPTION

[0026] 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.

[0027] The following reference Figures 1 to 8 The present invention is described in further detail.

[0028] Reference Figure 1 A truss palletizer capable of picking up a variety of materials comprises a support frame, a mounting rod is arranged on the support frame, a mounting seat is arranged at the bottom of the mounting rod, a grabbing device is arranged on the mounting seat, and a driving device is arranged on the support frame, and the driving device is used to drive the mounting seat to move within the space range of the support frame.

[0029] Reference Figure 2 and Figure 3 The grabbing device includes a mounting part and a shovel plate. Two mounting parts are provided. The mounting part is arranged at the bottom of the mounting seat. The shovel plate is rotatably arranged on the side of the mounting seat close to each other. A driving assembly is arranged on the mounting seat. The driving assembly is used to drive the two mounting parts to move in a direction close to or away from each other. A rotating assembly is arranged on the mounting part. The rotating assembly is used to drive the shovel plate to rotate. Fixing parts are arranged at both ends of the mounting part.

[0030] Reference Figure 2 and Figure 3 The rotating assembly includes a driving rod and a rotating shaft. A receiving groove is opened on one side of the mounting portion close to each other. The rotating shaft is rotatably arranged in the receiving groove. The rotating shaft is connected to the shovel plate to drive the shovel plate to deflect. The driving rod is arranged on the mounting portion. A connecting rod is arranged on the mounting portion. One end of the connecting rod is rotatably connected to the rotating shaft, and the other end is rotatably connected to the driving rod. A driving member for driving the driving rod to move is arranged on the mounting portion.

[0031] Reference Figure 3 The driving member is configured as a driving cylinder, the cylinder barrel of the driving cylinder is arranged on the mounting portion, and the driving rod is arranged at the end of the output shaft of the driving cylinder. As an embodiment of the present invention, an I-beam is arranged on the top of the mounting portion, and the cylinder barrel of the driving cylinder is penetrated and installed on the I-beam.

[0032] Reference Figure 2 and Figure 3 The fixing member is configured as a fixing claw, the end of the rotating shaft passes through the mounting portion, a driving gear is coaxially provided on the end of the rotating shaft and a fixing sleeve is provided, a mounting shaft is rotatably provided on the mounting portion along the axial direction of the rotating shaft, the fixing claw is provided on the mounting shaft, a driven gear is coaxially provided on the mounting shaft and the driven gear is meshed with the driving gear.

[0033] As an embodiment of the present invention, refer to Figure 3 The fixed clamp is arranged in an arc shape, the convex surface of the fixed clamp is arranged toward the shovel plate, the end of the fixed clamp is arranged with a rounded corner, and the picking fingers are evenly arranged at the end of the shovel plate along the length direction of the shovel plate. The picking fingers on the two shovel plates are arranged alternately at intervals, and the spacing between adjacent picking fingers is adapted to the width of the picking fingers.

[0034] Reference Figure 2 As an embodiment of the present invention, the driving assembly includes a driving motor and a lead screw. A connecting seat is provided at the bottom of the mounting seat. The lead screw is rotatably inserted into the connecting seat. The driving motor is fixedly provided at the bottom of the mounting seat. The output shaft of the driving motor is connected to the lead screw by transmission. Spiral grooves with opposite rotation directions are respectively provided at both ends of the lead screw. A sliding block is provided on the mounting portion. The sliding block is threadedly sleeved on the lead screw. When the driving motor is started, the driving motor drives the lead screw to rotate. As the lead screw rotates, the two mounting portions can be driven to move synchronously in a direction of approaching or moving away from each other.

[0035] Reference Figure 4 A guide groove is provided at the bottom of the mounting seat along the length direction of the lead screw, a guide block is slidably arranged in the guide groove, and the guide block is fixedly connected to the top of the mounting portion. Two guide grooves are provided, and the two guide grooves are symmetrically arranged on both sides of the lead screw along the axis direction of the lead screw, and a guide block is slidably arranged in each guide groove.

[0036] As an embodiment of the present invention, refer to Figure 4 The guide groove is opened as a T-shaped groove, and the corresponding guide block is set as a T-shaped block adapted to the guide groove; as another possible embodiment of the present invention, the guide groove can also be opened as a dovetail groove, and the corresponding guide block is set as a dovetail block adapted to the guide groove.

[0037] Reference Figure 5 and Figure 6 A buffer sleeve is fixedly arranged on the shovel plate, the buffer sleeve is penetrated, a buffer block is fixedly arranged on the rotating shaft, the rotating shaft is penetrated in the buffer sleeve, the buffer block is slidingly connected with the buffer sleeve, a buffer reset piece is arranged in the buffer sleeve, and the buffer reset piece is used to maintain the position of the buffer block in the buffer sleeve.

[0038] Reference Figure 6 The buffer reset member is configured as a buffer roller, a fixed frame is arranged in the buffer sleeve, the buffer roller is rotatably arranged on the fixed frame, a buffer groove is opened on the top of the buffer block, the buffer groove is arranged in an arc shape, the concave surface of the buffer groove is arranged toward the buffer roller, and the buffer roller is in rolling contact with the buffer groove.

[0039] As an embodiment of the present invention, refer to Figure 6 A plurality of buffer rollers are provided, and the plurality of buffer rollers are evenly arranged along the axial direction of the rotating shaft. Two buffer sleeves are provided, and the two buffer sleeves are symmetrically arranged on both sides of the connecting rod. A buffer block is provided in each buffer sleeve.

[0040] When the material is transported to the designated position, the device stops. At this time, the shovel plate is allowed to move a certain distance in the horizontal direction to consume the kinetic energy brought by inertia. At this time, the buffer roller rolls in the buffer groove along the trajectory of the buffer groove, thereby driving the shovel plate and the material on the shovel plate to move. At this time, the buffer roller produces a certain displacement in the vertical direction along the path of the buffer groove, converting the kinetic energy in the horizontal direction into potential energy, thereby achieving the effect of consuming the kinetic energy generated by inertia, and finally the buffer roller will lose kinetic energy under the effects of gravity and friction and gradually fall back to the lowest point of the buffer groove, which is the designated position, so there is no need to worry about the misalignment of the shovel plate position and the designated stacking position of the material, which has good practicality.

[0041] In addition, refer to Figure 5 As an embodiment of the present invention, a mounting groove is opened on the top of the shovel plate, and an elastic abutment layer is arranged in the mounting groove. When the pipe is grabbed and transported, the elastic abutment layer can have a certain wrapping effect on the pipe, thereby improving the stability of grabbing the pipe.

[0042] Reference Figure 7 and Figure 8As an embodiment of the present invention, the driving device includes an X-axis driving group, a Y-axis driving group and a Z-axis driving group. Figure 1 and Figure 7 As shown, a sliding rod is provided at the top of the support frame for sliding in the horizontal direction, the X-axis driving group includes a first gear and a first rack, a first motor is fixedly provided at the end of the sliding rod, the first gear is provided on the output shaft of the first motor, the first rack is fixedly installed at the top of the support frame in the horizontal direction, and the first gear is meshed with the first rack.

[0043] like Figure 8 As shown, the Y-axis drive group includes a second gear and a second rack fixedly provided with a fixed bracket on the mounting rod, the fixed bracket is sleeved on the mounting rod, a second motor is provided on the fixed bracket, the second gear is provided on the output shaft of the second motor, the second rack is fixedly provided on the sliding rod along the length direction of the sliding rod, and the second gear is meshed with the second rack.

[0044] like Figure 8 As shown, the Z-axis drive group includes a third gear and a third rack, a third motor is arranged on the fixed bracket, the third gear is arranged on the output shaft of the third motor, the third rack is fixedly arranged on the mounting rod along the vertical direction, and the third gear is meshed with the third rack.

[0045] In actual use, when grabbing plates, boxes or similar materials, the shovel plates are placed in a horizontal state, and the drive assembly is started to move the two shovel plates toward each other until the picking fingers of the two shovel plates are cross-staggered in a horizontal state, and the two shovel plates form a horizontal grasping state. At this time, the fixed claws on both sides of the mounting part abut against the side wall surfaces of the material, thereby forming a fixing effect at both ends of the material to prevent the material from slipping during transportation.

[0046] When grabbing pipes, oil drums or similar materials, the shovel plate is driven to tilt downward by the rotating assembly, and then the two shovel plates are driven to move closer to each other by the driving assembly until the picking fingers of the two shovel plates are staggered and crossed in the tilted state. At this time, the grabbed materials (pipes, oil drums, etc.) will be squeezed and rubbed against each other in the limited picking area formed by the shovel plates. This friction movement refers to Figure 1 A truss palletizer capable of picking up a variety of materials comprises a support frame 1, a mounting rod 2 is arranged on the support frame 1, a mounting seat 21 is arranged at the bottom of the mounting rod 2, a grabbing device 3 is arranged on the mounting seat 21, and a driving device 11 is arranged on the support frame 1, and the driving device 11 is used to drive the mounting seat 21 to move within the spatial range of the support frame 1.

[0047] Reference Figure 2 and Figure 3The grabbing device 3 includes a mounting portion 31 and a shovel plate 32. Two mounting portions 31 are provided. The mounting portion 31 is arranged at the bottom of the mounting seat 21. The shovel plate 32 is rotatably arranged on the side of the mounting seat 21 close to each other. A driving component 4 is arranged on the mounting seat 21. The driving component 4 is used to drive the two mounting portions 31 to move in a direction close to or away from each other. A rotating component 5 is arranged on the mounting portion 31. The rotating component 5 is used to drive the shovel plate 32 to rotate. Fixing members 33 are arranged at both ends of the mounting portion 31.

[0048] Reference Figure 2 and Figure 3 The rotating assembly 5 includes a driving rod 51 and a rotating shaft 52. A receiving groove 53 is provided on the side of the mounting portion 31 that is close to each other. The rotating shaft 52 is rotatably arranged in the receiving groove 53. The rotating shaft 52 is connected with the shovel plate 32 to drive the shovel plate 32 to deflect. The driving rod 51 is arranged on the mounting portion 31. A connecting rod 54 is arranged on the mounting portion 31. One end of the connecting rod 54 is rotatably connected with the rotating shaft 52, and the other end is rotatably connected with the driving rod 51. A driving member 55 for driving the driving rod 51 to move is arranged on the mounting portion 31.

[0049] Reference Figure 3 The driving member 55 is configured as a driving cylinder, the cylinder barrel of the driving cylinder is arranged on the mounting portion 31, and the driving rod 51 is arranged at the end of the output shaft of the driving cylinder. As an embodiment of the present invention, an I-beam frame 56 is arranged on the top of the mounting portion 31, and the cylinder barrel of the driving cylinder is penetrated and installed on the I-beam frame 56.

[0050] Reference Figure 2 and Figure 3 The fixing member 33 is configured as a fixing claw, the end of the rotating shaft 52 passes through the mounting portion 31, and a driving gear 57 is coaxially fixedly sleeved on the end of the rotating shaft 52. A mounting shaft is rotatably provided on the mounting portion 31 along the axial direction of the rotating shaft 52, and the fixing claw is provided on the mounting shaft. A driven gear 58 is coaxially fixedly sleeved on the mounting shaft, and the driven gear 58 is meshed with the driving gear 57.

[0051] As an embodiment of the present invention, refer to Figure 3 The fixed clamp is arranged in an arc shape, the convex surface of the fixed clamp is arranged toward the shovel plate 32, the end of the fixed clamp is arranged with a rounded corner, and the picking fingers 34 are evenly arranged at the end of the shovel plate 32 along the length direction of the shovel plate 32. The picking fingers 34 on the two shovel plates 32 are arranged alternately at intervals, and the spacing between adjacent picking fingers 34 is adapted to the width of the picking fingers 34.

[0052] Reference Figure 2As an embodiment of the present invention, the driving assembly 4 includes a driving motor 41 and a lead screw 42. A connecting seat 43 is provided at the bottom of the mounting seat 21. The lead screw 42 is rotatably inserted into the connecting seat 43. The driving motor 41 is fixedly provided at the bottom of the mounting seat 21. The output shaft of the driving motor 41 is transmission-connected with the lead screw 42. Spiral grooves with opposite rotation directions are respectively provided at both ends of the lead screw 42. A sliding block is provided on the mounting portion 31. The sliding block is threadedly sleeved on the lead screw 42. When the driving motor 41 is started, the driving motor 41 drives the lead screw 42 to rotate. As the lead screw 42 rotates, the two mounting portions 31 can be driven to move synchronously in a direction of approaching or moving away from each other.

[0053] Reference Figure 4 A guide groove 6 is provided at the bottom of the mounting seat 21 along the length direction of the lead screw 42, a guide block 61 is slidably provided in the guide groove 6, and the guide block 61 is fixedly connected to the top of the mounting portion 31. Two guide grooves 6 are provided, and the two guide grooves 6 are symmetrically provided on both sides of the lead screw 42 along the axial direction of the lead screw 42, and a guide block 61 is slidably provided in each guide groove 6.

[0054] As an embodiment of the present invention, refer to Figure 4 The guide groove 6 is provided as a T-shaped groove, and the corresponding guide block 61 is provided as a T-shaped block adapted to the guide groove 6; as another possible embodiment of the present invention, the guide groove 6 can also be provided as a dovetail groove, and the corresponding guide block 61 is provided as a dovetail block adapted to the guide groove 6.

[0055] Reference Figure 5 and Figure 6 A buffer sleeve 7 is fixedly provided on the shovel plate 32, and the buffer sleeve 7 is penetrated. A buffer block 71 is fixedly provided on the rotating shaft 52, and the rotating shaft 52 is penetrated in the buffer sleeve 7. The buffer block 71 is slidingly connected with the buffer sleeve 7. A buffer reset member 72 is provided in the buffer sleeve 7, and the buffer reset member 72 is used to maintain the position of the buffer block 71 in the buffer sleeve 7.

[0056] Reference Figure 6 The buffer reset member 72 is configured as a buffer roller, a fixing frame 73 is provided in the buffer sleeve 7, the buffer roller is rotatably provided on the fixing frame 73, a buffer groove 74 is provided on the top of the buffer block 71, the buffer groove 74 is arranged in an arc shape, the concave surface of the buffer groove 74 is arranged toward the buffer roller, and the buffer roller is in rolling contact with the buffer groove 74.

[0057] As an embodiment of the present invention, refer to Figure 6 There are multiple buffer rollers, which are evenly arranged along the axial direction of the rotating shaft 52. There are two buffer sleeves 7, which are symmetrically arranged on both sides of the connecting rod 54. A buffer block 71 is arranged in each buffer sleeve 7.

[0058] When the material is transported to the designated position, the device stops. At this time, the shovel plate 32 is allowed to move a certain distance in the horizontal direction to achieve the purpose of consuming the kinetic energy brought by inertia. At this time, the buffer roller rolls in the buffer groove 74 along the trajectory of the buffer groove 74, thereby driving the shovel plate 32 and the material on the shovel plate 32 to move. At this time, the buffer roller produces a certain displacement in the vertical direction along the path of the buffer groove 74, converting the kinetic energy in the horizontal direction into potential energy, thereby achieving the effect of consuming the kinetic energy generated by inertia, and finally the buffer roller will lose kinetic energy under the effects of gravity and friction and gradually fall back to the lowest point of the buffer groove 74, that is, the designated position, so there is no need to worry about the position of the shovel plate 32 and the designated stacking position of the material, which has good practicality.

[0059] In addition, refer to Figure 5 As an embodiment of the present invention, a mounting groove 35 is provided on the top of the shovel plate 32, and an elastic abutment layer 36 is provided in the mounting groove 35. When the pipe is grabbed and transported, the elastic abutment layer 36 can have a certain wrapping effect on the pipe, thereby improving the stability of grabbing the pipe.

[0060] Reference Figure 7 and Figure 8 As an embodiment of the present invention, the driving device 11 includes an X-axis driving group 81, a Y-axis driving group 82 and a Z-axis driving group 83. Figure 1 and Figure 7 As shown, a sliding rod 12 is provided at the top of the support frame 1 for sliding in the horizontal direction, the X-axis driving group 81 includes a first gear 811 and a first rack 812, a first motor 813 is fixedly provided at the end of the sliding rod 12, the first gear 811 is provided on the output shaft of the first motor 813, the first rack 812 is fixedly installed at the top of the support frame 1 in the horizontal direction, and the first gear 811 is meshed with the first rack 812.

[0061] like Figure 8 As shown, the Y-axis driving group 82 includes a second gear 821 and a second rack 822, and a fixed bracket 13 is fixedly provided on the mounting rod 2. The fixed bracket 13 is sleeved on the mounting rod 2, and a second motor 823 is provided on the fixed bracket 13. The second gear 821 is provided on the output shaft of the second motor 823, and the second rack 822 is fixedly provided on the sliding rod 12 along the length direction of the sliding rod 12, and the second gear 821 is meshed with the second rack 822.

[0062] like Figure 8As shown, the Z-axis driving group 83 includes a third gear 831 and a third rack 832. A third motor 833 is arranged on the fixed bracket 13. The third gear 831 is arranged on the output shaft of the third motor 833. The third rack 832 is fixedly arranged on the mounting rod 2 in the vertical direction, and the third gear 831 is meshed with the third rack 832.

[0063] In actual use, when grabbing plates, boxes or similar materials, the shovel plates 32 are placed in a horizontal state, and the drive assembly 4 is started to move the two shovel plates 32 toward each other until the picking fingers 34 of the two shovel plates 32 are cross-staggered in a horizontal state, and the two shovel plates 32 form a horizontal grasping state. At this time, the fixed claws on both sides of the mounting portion 31 abut against the side wall surface of the material, thereby forming a fixing effect at both ends of the material to prevent the material from slipping during transportation.

[0064] When grabbing pipes, oil drums or similar materials, the shovel plate 32 is driven to be in a downward tilted state by the rotating component 5, and then the two shovel plates 32 are driven to approach each other by the driving component 4 until the picking fingers 34 of the two shovel plates 32 are staggered and crossed in the tilted state. At this time, the grabbed materials (pipes, oil drums, etc.) will be squeezed and rubbed against each other in the limited picking area formed by the shovel plates 32. This friction movement helps to form multiple pipes to fill the gaps, thereby automatically forming a relatively stable state. At the same time, the elastic abutment layer 36 wraps the materials. , which can improve the fixation. In this state, a diamond-shaped closed loop is formed between the picking finger 34 of the shovel plate 32 and the fixed clamp. The two ends of the material are fixed by the fixed clamp, which can prevent the material from falling off. It helps to prompt multiple pipes to fill the gap, thereby automatically forming a relatively stable state. At the same time, the material is wrapped by the elastic abutment layer, which can improve the fixation. In this state, a diamond-shaped closed loop is formed between the picking finger 34 of the shovel plate and the fixed clamp. The two ends of the material are fixed by the fixed clamp, which can prevent the material from falling off.

[0065] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "top", "bottom", "inside", "outside", "inner side", "outer side" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Among them, "inside" refers to an internal or enclosed area or space. "Periphery" refers to the area surrounding a specific component or a specific area.

[0066] In the description of the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", and "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0067] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", and "assemble" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] In the description of the embodiments of the present invention, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0069] In the description of the embodiments of the present invention, it is to be understood that "-" and "~" represent the range between two values, and the range includes the endpoints. For example: "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0070] In the description of the embodiments of the present invention, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein generally indicates that the associated objects before and after are in an "or" relationship.

[0071] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A truss palletizer capable of picking up a variety of materials, characterized in that: It comprises a support frame (1), a mounting seat (2) is arranged on the support frame (1), and a grabbing device (3) is arranged on the mounting seat (2); The gripping device (3) comprises a mounting portion (31) and a shovel plate (32), wherein two mounting portions (31) are provided, wherein the mounting portion (31) is provided at the bottom of a mounting seat (21), wherein the shovel plate (32) is rotatably provided on the mounting seat (21), wherein a driving assembly (4) is provided on the mounting seat (21), wherein the driving assembly (4) is used for driving the two mounting portions (31) to move in a direction of approaching or moving away from each other, and wherein a rotating assembly (5) is provided on the mounting portion (31), wherein the rotating assembly (5) is used for driving the shovel plate (32) to rotate.

2. A truss palletizer capable of picking up multiple materials according to claim 1, characterized in that: The rotating assembly (5) comprises a driving rod (51) and a rotating shaft (52), wherein the rotating shaft (52) is rotatably arranged on the mounting portion (31), the rotating shaft (52) is connected to the shovel plate (32) to drive the shovel plate (32), the driving rod (51) is arranged on the mounting portion (31), a connecting rod (54) is arranged on the mounting portion (31), one end of the connecting rod (54) is rotatably connected to the rotating shaft (52), and the other end is rotatably connected to the driving rod (51), and a driving member (55) for driving the driving rod (51) to move is arranged on the mounting portion (31).

3. A truss palletizer capable of picking up multiple materials according to claim 2, characterized in that: Fixing members (33) are provided at both ends of the mounting portion (31), and the fixing members (33) are configured as fixed clamping claws. The end of the rotating shaft (52) passes through the mounting portion (31), and a driving gear (57) is fixedly sleeved on the rotating shaft (52). A mounting shaft is rotatably provided on the mounting portion (31), and the fixing clamping claws are provided on the mounting shaft. A driven gear (58) is fixedly sleeved on the mounting shaft, and the driven gear (58) is meshed with the driving gear (57).

4. A truss palletizer capable of picking up multiple materials according to claim 3, characterized in that: The fixed clamp is arranged in an arc shape, and the convex surface of the fixed clamp is arranged toward the shovel plate (32). Pickup fingers (34) are evenly arranged at the end of the shovel plate (32) along the length direction of the shovel plate (32). The picking fingers (34) on the two shovel plates (32) are arranged alternately at intervals, and the spacing between adjacent picking fingers (34) is adapted to the width of the picking fingers (34).

5. The truss palletizer capable of picking up multiple materials according to claim 1, characterized in that: The driving assembly (4) comprises a driving motor (41) and a lead screw (42). A connecting seat (43) is arranged at the bottom of the mounting seat (21). The lead screw (42) is rotatably inserted into the connecting seat (43). The driving motor (41) is fixedly arranged at the bottom of the mounting seat (21). The output shaft of the driving motor (41) is transmission-connected with the lead screw (42). Spiral grooves with opposite rotation directions are respectively provided at both ends of the lead screw (42). A sliding block is arranged on the mounting portion (31), and the sliding block is threadedly sleeved on the lead screw (42).

6. A truss palletizer capable of picking up multiple materials according to claim 5, characterized in that: A guide groove (6) is provided at the bottom of the mounting seat (21) along the length direction of the lead screw (42), and a guide block (61) is slidably arranged in the guide groove (6), wherein the guide block (61) is fixedly connected to the top of the mounting portion (31).

7. The truss palletizer capable of picking up multiple materials according to claim 2, characterized in that: A buffer sleeve (7) is fixedly arranged on the shovel plate (32), the buffer sleeve (7) is arranged through, a buffer block (71) is fixedly arranged on the rotating shaft (52), the rotating shaft (52) is arranged inside the buffer sleeve (7), the buffer block (71) is slidably connected with the buffer sleeve (7), a buffer reset member (72) is arranged inside the buffer sleeve (7), and the buffer reset member (72) is used to maintain the position of the buffer block (71) inside the buffer sleeve (7).

8. The truss palletizer capable of picking up multiple materials according to claim 7, characterized in that: The buffer reset member (72) is configured as a buffer roller. A fixing frame (73) is provided in the buffer sleeve (7). The buffer roller is rotatably provided on the fixing frame (73). A buffer groove (74) is provided on the top of the buffer block (71). The buffer groove (74) is arranged in an arc shape. The concave surface of the buffer groove (74) is arranged toward the buffer roller. The buffer roller is in rolling contact with the buffer groove (74).

9. A truss palletizer capable of picking up multiple materials according to claim 8, characterized in that: A plurality of buffer rollers are provided, and the plurality of buffer rollers are evenly arranged along the axial direction of the rotating shaft (52). Two buffer sleeves (7) are provided, and the two buffer sleeves (7) are symmetrically arranged on both sides of the connecting rod (54). A buffer block (71) is provided in each buffer sleeve (7).

10. The truss palletizer capable of picking up multiple materials according to claim 2, characterized in that: The driving member (55) is configured as a driving cylinder, the cylinder barrel of the driving cylinder is disposed on the mounting portion (31), and the driving rod (51) is disposed at the end of an output shaft of the driving cylinder.

Images