A gantry palletizer capable of picking up a variety of materials

Abstract

The present application relates to the technical field of logistics transportation equipment, and provides a truss palletizer capable of picking up various materials, which comprises a supporting frame, a mounting rod is arranged on the supporting 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 supporting frame; the grabbing device comprises mounting parts and a shovel plate, two mounting parts are arranged, the mounting parts are arranged at the bottom of the mounting seat, the shovel plate is rotationally 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 for driving the two mounting parts to move towards the direction of approaching or moving away from each other, a rotating assembly is arranged on the mounting part, the rotating assembly is used for driving the shovel plate to rotate, and fixing pieces are arranged at the two ends of the mounting part, the present application can improve the application range of the grabbing device, pick up various materials, and ensure the stability of the device during the process of transferring and carrying materials.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics transportation equipment, and particularly relates to a truss palletizer capable of picking up various materials. BACKGROUND

[0002] The palletizer is a product combined with a machine and a computer program, has the advantages of flexible and accurate operation, rapidness, high efficiency and high stability, effectively saves labor, and has a wide application scenario in the field of logistics transportation and can rapidly and accurately pick up and carry various materials.

[0003] The palletizer usually comprises a base and a grabbing device, the grabbing device is used for picking up materials and transferring and carrying the picked materials, so as to save the labor of workers, but the grabbing device of the existing palletizer can usually only pick up materials of the same type, such as boxes, oil drums or plates, pipes and the like, if different materials need to be picked up and carried, the grabbing device needs to be replaced, in addition, when the weight of the picked material is heavy, the arm length of the grabbing device is relatively long, when the grabbing device reaches the designated position and stops after completing the picking up and transferring of the material, the inertia of the whole device needs to be overcome, so that the whole device is prone to have a center of gravity deviation and instability. SUMMARY

[0004] To solve the above technical problems, the present application provides a truss palletizer capable of picking up various materials, which can improve the application range of the grabbing device, pick up various materials, and ensure the stability of the whole device during the transferring and carrying of the materials.

[0005] The truss palletizer capable of picking up various 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, a driving device is arranged on the support frame, and the driving device is used for driving the mounting seat to move within the space range of the support frame; the grabbing device comprises a mounting part and a shovel plate, two mounting parts are arranged, the mounting parts are arranged at the bottom of the mounting seat, the shovel plate is rotationally 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 for driving the two mounting parts to move towards each other or away from each other, a rotating assembly is arranged on the mounting part, the rotating assembly is used for driving the shovel plate to rotate, and a fixing piece is arranged at the two ends of the mounting part.

[0006] In some possible embodiments, the rotating assembly comprises a driving rod and a rotating shaft, and a receiving groove is formed on one side of the mounting portion where the mounting portion is close to the other mounting portion; the rotating shaft is rotationally arranged in the receiving groove; the rotating shaft is connected with 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 rotationally connected with the rotating shaft, and the other end of the connecting rod is rotationally connected with the driving rod; and a driving piece for driving the driving rod to move is arranged on the mounting portion.

[0007] In some possible embodiments, the fixing piece is a fixing clamp jaw; an end of the rotating shaft penetrates through the mounting portion; a driving gear is coaxially fixed on the end of the rotating shaft; a mounting shaft is rotationally arranged on the mounting portion along the axis direction of the rotating shaft; the fixing clamp jaw is arranged on the mounting shaft; a driven gear is coaxially fixed on the mounting shaft; and the driven gear is engaged with the driving gear.

[0008] In some possible embodiments, the fixing clamp jaw is arranged in an arc shape; the convex surface of the fixing clamp jaw faces the shovel plate; the end of the fixing clamp jaw is provided with a rounded corner; the pickup fingers are uniformly arranged on the end of the shovel plate along the length direction of the shovel plate; the pickup fingers on the two shovel plates are arranged in an interlaced manner; and the spacing between adjacent pickup fingers is adapted to the width of the pickup fingers.

[0009] In some possible embodiments, the driving assembly comprises a driving motor and a lead screw; a connecting seat is arranged on the bottom of the mounting base; the lead screw rotationally penetrates through the connecting seat; the driving motor is fixedly arranged on the bottom of the mounting base; the output shaft of the driving motor is in transmission connection with the lead screw; the lead screw is provided with helical grooves with opposite rotation directions on two ends thereof; and a sliding block is arranged on the mounting portion and is threadedly sleeved on the lead screw.

[0010] In some possible embodiments, a guide groove is formed on the bottom of the mounting base 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 with the top of the mounting portion; the guide groove is provided with two guide grooves which are symmetrically arranged on the two sides of the lead screw along the axis direction of the lead screw; and a guide block is slidably arranged in each guide groove.

[0011] In some possible embodiments, a buffer sleeve is fixedly arranged on the shovel plate and penetrates through the rotating shaft; a buffer block is fixedly arranged on the rotating shaft and penetrates through the buffer sleeve; the rotating shaft penetrates through the buffer sleeve; the buffer block is in sliding connection with the buffer sleeve; and a buffer reset piece is arranged in the buffer sleeve and is used to keep the position of the buffer block in the buffer sleeve.

[0012] In some possible embodiments, the buffer reset member is arranged as a buffer roller, a fixing frame is arranged in the buffer sleeve, the buffer roller is rotationally arranged on the fixing frame, a buffer groove is arranged on the top of the buffer block, the buffer groove is arranged in an arc shape, and the concave surface of the buffer groove faces the buffer roller and is in rolling contact with the buffer roller.

[0013] In some possible embodiments, the buffer roller is arranged in plurality, the plurality of buffer rollers are uniformly arranged along the axis direction of the rotation shaft, the buffer sleeve is arranged in two, the two buffer sleeves are symmetrically arranged on the two sides of the connecting rod, and the buffer block is arranged in each buffer sleeve.

[0014] In some possible embodiments, the driving member is arranged 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.

[0015] The beneficial effects of the present application are embodied in,

[0016] Through the design of the shovel plate and the pickup finger, stable grabbing of different types of materials such as plates, boxes, oil drums and pipes can be realized, and the application range of the device as a whole is improved. In the process of grabbing, the two ends of the material can be firmly fixed through the fixed clamping jaw, and the sliding or loss of the material during transportation can be effectively avoided. Through the arrangement of the buffer roller and the buffer groove, the buffer roller and the buffer groove cooperate with each other, the inertial kinetic energy when the grabbing device stops can be effectively consumed, the impact force can be reduced, the overall instability of the device caused by the material being too heavy can be avoided, and the stability and reliability of the device during operation are improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the structure of the grabbing device and the driving assembly of the embodiment of the present application.

[0019] Figure 3 It is a schematic diagram of the structure of the driving member of the embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the structure of the guide groove of the embodiment of the present application.

[0021] Figure 5 It is a schematic diagram of the structure of the buffer sleeve of the embodiment of the present application.

[0022] Figure 6 It is an enlarged view of part A in Figure 5

[0023] Figure 7 ​Structure schematic view of X-axis driving group of the embodiment of the present application;

[0024] Figure 8 Structure schematic view of Y-axis driving group and Z-axis driving group of the embodiment of the present application.

[0025] Fig. 1, support frame; 11, driving device; 12, sliding rod; 13, fixed support; 2, mounting rod; 21, mounting seat; 3, grabbing device; 31, mounting part; 32, shovel plate; 33, fixing piece; 34, picking finger; 35, mounting groove; 36, elastic abutting layer; 4, driving assembly; 41, driving motor; 42, lead screw; 43, connecting seat; 5, rotating assembly; 51, driving rod; 52, rotating shaft; 53, accommodating groove; 54, connecting rod; 55, driving piece; 56, I-shaped frame; 57, driving gear; 58, driven gear; 6, guide groove; 61, guide block; 7, buffer sleeve; 71, buffer block; 72, buffer reset piece; 73, fixed frame; 74, buffer groove; 81, X-axis driving group; 811, first gear; 812, first rack; 813, first motor; 82, Y-axis driving group; 821, second gear; 822, second rack; 823, second motor; 83, Z-axis driving group; 831, third gear; 832, third rack; 833, third motor. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

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

[0028] The following refers to Figure 1 A truss palletizer capable of picking up various materials, comprising 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, 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] The following refers to Figure 2 and Figure 3The grabbing device comprises mounting portions and a shovel plate. The mounting portions are provided in pairs and arranged at the bottom of the mounting base. The shovel plate is rotatably arranged at the side of the mounting base close to each other. A driving assembly is arranged on the mounting base and used to drive the two mounting portions to move towards each other or away from each other. A rotating assembly is arranged on the mounting portion and used to drive the shovel plate to rotate. Fixing members are arranged at the two ends of the mounting portion.

[0030] With reference to Figure 2 and Figure 3 , the rotating assembly comprises a driving rod and a rotating shaft. The mounting portion is provided with a receiving groove at the side close to each other. The rotating shaft is rotatably arranged in the receiving groove. The rotating shaft is connected with the shovel plate to drive the shovel plate to deflect. The driving rod is arranged on the mounting portion. The mounting portion is provided with a connecting rod. One end of the connecting rod is rotatably connected with the rotating shaft. The other end of the connecting rod is rotatably connected with the driving rod. The mounting portion is provided with a driving member used to drive the driving rod to move.

[0031] With reference to Figure 3 , the driving member is a driving cylinder. The cylinder barrel of the driving cylinder is arranged on the mounting portion. The driving rod is arranged at the end of the output shaft of the driving cylinder. As an embodiment of the present application, an I-shaped frame is arranged at the top of the mounting portion. The cylinder barrel of the driving cylinder is arranged on the I-shaped frame.

[0032] With reference to Figure 2 and Figure 3 , the fixing member is a fixing clamp jaw. The end of the rotating shaft penetrates through the mounting portion. A driving gear is coaxially arranged on the end of the rotating shaft. An installation shaft is rotatably arranged on the mounting portion along the axis of the rotating shaft. The fixing clamp jaw is arranged on the installation shaft. A driven gear is coaxially arranged on the installation shaft. The driven gear is engaged with the driving gear.

[0033] As an embodiment of the present application, with reference to Figure 3 , the fixing clamp jaw is arranged in an arc shape. The convex surface of the fixing clamp jaw faces the shovel plate. The end of the fixing clamp jaw is provided with a rounded corner. The picking fingers are uniformly arranged on the end of the shovel plate along the length direction of the shovel plate. The picking fingers on the two shovel plates are arranged in an alternating manner. The spacing between the adjacent picking fingers is adapted to the width of the picking fingers.

[0034] With reference to Figure 2 , as an embodiment of the present application, the driving assembly comprises a driving motor and a lead screw. A connecting base is arranged at the bottom of the mounting base. The lead screw is rotatably arranged in the connecting base. The driving motor is fixedly arranged at the bottom of the mounting base. The output shaft of the driving motor is in transmission connection with the lead screw. The lead screw is provided with helical grooves with opposite rotation directions at the two ends. A sliding block is arranged on the mounting portion. The sliding block is threadedly arranged on the lead screw. The driving motor is started. The driving motor drives the lead screw to rotate. With the rotation of the lead screw, the two mounting portions can be synchronously moved towards each other or away from each other.

[0035] With reference to Figure 4 The guiding groove is provided with two guiding grooves, and the two guiding grooves are symmetrically arranged on both sides of the screw along the axis direction of the screw, and the guiding block is slidably arranged in each guiding groove.

[0036] As an embodiment of the present application, with reference to Figure 4 The guiding groove is provided as a T-shaped groove, and the corresponding guiding block is provided as a T-shaped block matched with the guiding groove.

[0037] With reference to Figure 5 And Figure 6 The buffer sleeve is fixedly arranged on the shovel plate and penetrates through, the buffer block is fixedly arranged on the rotating shaft and penetrates through the buffer sleeve, the buffer block is slidably connected with the buffer sleeve, the buffer reset member is arranged in the buffer sleeve and is used to keep the position of the buffer block in the buffer sleeve.

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

[0039] As an embodiment of the present application, with reference to Figure 6 The buffer roller is provided as a plurality of buffer rollers, the plurality of buffer rollers are uniformly arranged along the axis direction of the rotating shaft, the buffer sleeve is provided as two buffer sleeves, and the two buffer sleeves are symmetrically arranged on both sides of the connecting rod.

[0040] When the material is carried to the specified position, the device stops, at this time, the shovel plate is allowed to move in the horizontal direction by a certain distance to consume the kinetic energy caused by inertia, at this time, the buffer roller rolls in the buffer groove along the track of the buffer groove, thereby driving the shovel plate and the material on the shovel plate to move, at this time, the buffer roller generates a certain displacement in the vertical direction along the path of the buffer groove, converts the kinetic energy in the horizontal direction into potential energy, thereby achieving the effect of consuming the kinetic energy caused by inertia, and finally the buffer roller gradually falls to the lowest point of the buffer groove, i.e. the specified position, under the effect of gravity and friction, so that the position of the shovel plate and the specified stacking position of the material are not dislocated, and the device has good practicability.

[0041] In addition, with reference to Figure 5As an embodiment of the present application, a mounting groove is formed on the top of the shovel plate, and an elastic abutting layer is arranged in the mounting groove. When the pipe is grabbed and transferred, the elastic abutting layer can wrap the pipe to some extent, thereby improving the stability of grabbing the pipe.

[0042] With reference to Figure 7 and Figure 8 , as an embodiment of the present application, the driving device comprises an X-axis driving group, a Y-axis driving group and a Z-axis driving group. As shown in Figure 1 and Figure 7 , a sliding rod is arranged on the top of the support frame in a horizontal direction, the X-axis driving group comprises a first gear and a first rack, a first motor is fixedly arranged at the end of the sliding rod, the first gear is arranged on the output shaft of the first motor, the first rack is fixedly installed on the top of the support frame in a horizontal direction, and the first gear is engaged with the first rack.

[0043] As shown in Figure 8 , the Y-axis driving group comprises a second gear and a second rack, a fixed support is fixedly arranged on the mounting rod, the fixed support is sleeved on the mounting rod, a second motor is arranged on the fixed support, the second gear is arranged on the output shaft of the second motor, the second rack is fixedly arranged on the sliding rod in the length direction of the sliding rod, and the second gear is engaged with the second rack.

[0044] As shown in Figure 8 , the Z-axis driving group comprises a third gear and a third rack, a third motor is arranged on the fixed support, the third gear is arranged on the output shaft of the third motor, the third rack is fixedly arranged on the mounting rod in a vertical direction, and the third gear is engaged with the third rack.

[0045] In actual use, when the plate, box or similar material is grabbed, the shovel plate is in a horizontal state, and the driving assembly is started to move the two shovel plates towards each other until the picking fingers of the two shovel plates are crossed and misaligned in a horizontal state, and the two shovel plates form a horizontal grabbing state. At this time, the fixed clamping jaws on both sides of the mounting portion abut against the side wall of the material, thereby forming a fixing effect at both ends of the material to prevent the material from slipping during transportation.

[0046] When the pipe, oil drum or similar material is grabbed, the shovel plate is brought to a downward inclined state by the rotating assembly, and then the two shovel plates are brought closer to each other by the driving assembly until the picking fingers of the two shovel plates are misaligned and crossed in an inclined state. At this time, the grabbed materials (pipes, oil drums, etc.) are squeezed and move against each other in the limited picking area formed by the shovel plates. This friction movement is used to Figure 1The present application discloses a truss palletizer capable of picking up various materials, which comprises a support frame 1, a mounting rod 2 arranged on the support frame 1, a mounting base 21 arranged at the bottom of the mounting rod 2, a grabbing device 3 arranged on the mounting base 21, and a driving device 11 arranged on the support frame 1 and used to drive the mounting base 21 to move within the space range of the support frame 1.

[0047] With reference to Figure 2 and Figure 3 , the grabbing device 3 comprises two mounting parts 31 arranged at the bottom of the mounting base 21 and a shovel plate 32 rotatably arranged on the side of the mounting base 21 close to each other, a driving assembly 4 arranged on the mounting base 21 and used to drive the two mounting parts 31 to move towards each other or away from each other, a rotating assembly 5 arranged on the mounting part 31 and used to drive the shovel plate 32 to rotate, and a fixing clamp 33 arranged at the two ends of the mounting part 31.

[0048] With reference to Figure 2 and Figure 3 , the rotating assembly 5 comprises a driving rod 51 and a rotating shaft 52, the rotating shaft 52 is rotatably arranged in a receiving groove 53 formed on the side of the mounting part 31 close to each other, 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 part 31, a connecting rod 54 is arranged on the mounting part 31, one end of the connecting rod 54 is rotatably connected with the rotating shaft 52, the other end of the connecting rod 54 is rotatably connected with the driving rod 51, and a driving member 55 for driving the driving rod 51 to move is arranged on the mounting part 31.

[0049] With reference to Figure 3 , the driving member 55 is a driving cylinder, the cylinder barrel of the driving cylinder is arranged on the mounting part 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 application, an I-shaped frame 56 is arranged on the top of the mounting part 31, and the cylinder barrel of the driving cylinder is arranged on the I-shaped frame 56.

[0050] With reference to Figure 2 and Figure 3 , the fixing clamp 33 is a fixed clamp jaw, the end of the rotating shaft 52 penetrates through the mounting part 31, a driving gear 57 is coaxially arranged on the end of the rotating shaft 52, an installation shaft is rotatably arranged on the mounting part 31 along the axis direction of the rotating shaft 52, the fixed clamp jaw is arranged on the installation shaft, a driven gear 58 is coaxially arranged on the installation shaft, and the driven gear 58 is engaged with the driving gear 57.

[0051] As an embodiment of the present application, with reference to Figure 3The fixed clamping jaw is arranged in an arc shape, the convex surface of the fixed clamping jaw faces the shovel plate 32, the end of the fixed clamping jaw is provided with a rounded corner, the pickup fingers 34 are uniformly arranged on the end of the shovel plate 32 along the length direction of the shovel plate 32, the pickup fingers 34 on the two shovel plates 32 are arranged in an interlaced manner, and the spacing between adjacent pickup fingers 34 is matched with the width of the pickup finger 34.

[0052] With reference to Figure 2 As an embodiment of the present application, 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 arranged in 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 in transmission connection with the lead screw 42, opposite helical grooves are arranged 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. Starting the driving motor 41, the driving motor 41 drives the lead screw 42 to rotate, and with the rotation of the lead screw 42, the two mounting portions 31 can be synchronously moved towards each other or away from each other.

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

[0054] As an embodiment of the present application, with reference to Figure 4 The guide groove 6 is arranged as a T-shaped groove, and the corresponding guide block 61 is arranged as a T-shaped block matched with the guide groove 6; as another possible embodiment of the present application, the guide groove 6 can also be arranged as a dovetail groove, and the corresponding guide block 61 is arranged as a dovetail block matched with the guide groove 6.

[0055] With reference to Figure 5 and Figure 6 The buffer sleeve 7 is fixedly arranged on the shovel plate 32 and penetrates through, the buffer block 71 is fixedly arranged on the rotating shaft 52 and penetrates through the buffer sleeve 7, the buffer block 71 is in sliding connection with the buffer sleeve 7, the buffer reset member 72 is arranged in the buffer sleeve 7 and is used for keeping the position of the buffer block 71 in the buffer sleeve 7.

[0056] With reference to Figure 6The buffer reset part 72 is arranged as a buffer roller, a fixing frame 73 is arranged in the buffer sleeve 7, the buffer roller is rotatably arranged on the fixing frame 73, a buffer groove 74 is arranged 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 faces the buffer roller, and the buffer roller is in rolling contact with the buffer groove 74.

[0057] As an embodiment of the present application, referring to Figure 6 The buffer roller is arranged in multiple numbers, the multiple buffer rollers are uniformly arranged along the axial direction of the rotating shaft 52, the buffer sleeve 7 is arranged in two cylinders, the two buffer sleeve 7 cylinders are symmetrically arranged on the two sides of the connecting rod 54, and the buffer block 71 is arranged in each buffer sleeve 7 cylinder.

[0058] When the material is transported to the designated position, the device stops, at this time, the shovel plate 32 is allowed to move in the horizontal direction by a certain distance to achieve the purpose of consuming the kinetic energy caused by inertia, at this time, the buffer roller rolls in the buffer groove 74 along the track 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, converts the kinetic energy in the horizontal direction into potential energy, thereby achieving the effect of consuming the kinetic energy caused by inertia, and finally the buffer roller gradually falls to the lowest point of the buffer groove 74, i.e. the designated position, under the effect of gravity and friction, so that the position of the shovel plate 32 and the designated stacking position of the material are not dislocated, and the device has good practicability.

[0059] In addition, referring to Figure 5 As an embodiment of the present application, the mounting groove 35 is arranged on the top of the shovel plate 32, and the elastic abutting layer 36 is arranged in the mounting groove 35, when the pipe is grabbed and transported, the elastic abutting layer 36 can wrap the pipe to a certain extent, thereby improving the stability of grabbing the pipe.

[0060] Referring to Figure 7 and Figure 8 As an embodiment of the present application, the driving device 11 includes an X-axis driving group 81, a Y-axis driving group 82 and a Z-axis driving group 83, as shown in Figure 1 and Figure 7 The sliding rod 12 is slidably arranged on the top of the support frame 1 in the horizontal direction, the X-axis driving group 81 includes a first gear 811 and a first rack 812, the first motor 813 is fixedly arranged on the end of the sliding rod 12, the first gear 811 is arranged on the output shaft of the first motor 813, the first rack 812 is fixedly installed on the top of the support frame 1 in the horizontal direction, and the first gear 811 is in engagement with the first rack 812.

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

[0062] As shown in the figure, Figure 8 As shown, the Z-axis drive group 83 includes a third gear 831 and a third rack 832, and the 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 along the vertical direction, and the third gear 831 is engaged with the third rack 832.

[0063] In actual use, when grabbing plates, boxes or similar materials, the shovel plate 32 is in a horizontal state, and the drive assembly 4 is started to move the two shovel plates 32 towards each other until the picking fingers 34 of the two shovel plates 32 are crossed and misaligned in a horizontal state, and the two shovel plates 32 form a horizontal grabbing state, at this time the fixed clamping jaws on both sides of the mounting part 31 abut against the side wall of the material, thereby forming a fixing effect at both ends of the material, avoiding the material from falling off during transportation.

[0064] When grabbing pipes, oil drums or similar materials, the turning assembly 5 drives the shovel plate 32 to be in a downward inclined state, and then the drive assembly 4 drives the two shovel plates 32 to approach each other until the picking fingers 34 of the two shovel plates 32 are misaligned and crossed in an inclined state, at this time the grabbed materials (pipes, oil drums, etc.) will be squeezed and move frictionally in the limited picking area formed by the shovel plate 32, which helps to promote the filling of gaps between multiple pipes, thereby automatically forming a relatively stable state, at the same time, the material is wrapped by the elastic abutting layer 36, which can improve the fixing effect, in this state, the picking fingers 34 of the shovel plate 32 and the fixed clamping jaws form a closed loop similar to a rhombus, and the material at both ends is fixed by the fixed clamping jaws, which can prevent the material from falling off.

[0065] In the description of the embodiments of the present application, it needs to be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "top", "bottom", "inner", "outer", "inner side", "outer side" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. Among them, "inside" refers to the inside or enclosed area or space. "Periphery" refers to the area around a particular component or a particular area.

[0066] In the description of the embodiments of the present application, the terms "first", "second", "third", "fourth" are only used for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", "third", "fourth" can be explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0067] In the description of the embodiments of the present application, it needs to be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "assembling" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

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

[0069] In the description of the embodiments of the present application, it needs to be understood that "-" and "~" represent the range of the same of two numerical values, and the range includes the endpoints. For example: "A-B" 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 application, the term "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents that the front and rear associated objects have an "or" relationship.

[0071] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A gantry palletizer capable of picking up multiple materials, characterized in that: Including support frame (1), be provided with mounting rod (2) on support frame (1), be provided with mounting seat (21) on the bottom of mounting rod (2), be provided with grabbing device (3) on mounting seat (21); The grabbing device (3) includes two installation parts (31) and a shovel plate (32), the installation part (31) is provided with two, the installation part (31) is arranged on the bottom of the mounting seat (21), the shovel plate (32) is rotatably arranged on the mounting seat (21), a driving assembly (4) is arranged on the mounting seat (21), the driving assembly (4) is used to drive two installation parts (31) to move towards each other or away from each other, a rotating assembly (5) is arranged on the installation part (31), and the rotating assembly (5) is used to drive the shovel plate (32) to rotate; The rotating assembly (5) includes a driving rod (51) and a rotating shaft (52), the rotating shaft (52) is rotatably arranged on the installation part (31), the rotating shaft (52) is connected with the shovel plate (32) to drive the shovel plate (32), the driving rod (51) is arranged on the installation part (31), a connecting rod (54) is arranged on the installation part (31), one end of the connecting rod (54) is rotatably connected with the rotating shaft (52), the other end is rotatably connected with the driving rod (51), and a driving piece (55) for driving the driving rod (51) to move is arranged on the installation part (31); Fixed pieces (33) are arranged at both ends of the installation part (31), the fixed pieces (33) are arranged as fixed clamping jaws, the end of the rotating shaft (52) penetrates out of the installation part (31), a driving gear (57) is fixedly sleeved on the rotating shaft (52), a mounting shaft is rotatably arranged on the installation part (31), the fixed clamping jaws are arranged 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); A buffer sleeve (7) is fixedly arranged on the shovel plate (32), the buffer sleeve (7) is through arranged, a buffer block (71) is fixedly arranged on the rotating shaft (52), the rotating shaft (52) penetrates into the buffer sleeve (7), the buffer block (71) is slidably connected with the buffer sleeve (7), and a buffer reset piece (72) is arranged in the buffer sleeve (7), the buffer reset piece (72) is used to keep the position of the buffer block (71) in the buffer sleeve (7).

2. The gantry palletizer of claim 1, wherein: The fixed clamping jaws are arranged in an arc shape, the convex surfaces of the fixed clamping jaws are arranged towards the shovel plate (32), pickup fingers (34) are uniformly arranged on the ends of the shovel plate (32) along the length direction of the shovel plate (32), the pickup fingers (34) on the two shovel plates (32) are arranged in an interlaced manner, and the spacing between adjacent pickup fingers (34) is matched with the width of the pickup fingers (34).

3. The gantry palletizer of claim 1, wherein: The driving assembly (4) comprises a driving motor (41) and a lead screw (42), a connecting base (43) is arranged at the bottom of the mounting base (21), the lead screw (42) is rotatably arranged in the connecting base (43), the driving motor (41) is fixedly arranged at the bottom of the mounting base (21), the output shaft of the driving motor (41) is in transmission connection with the lead screw (42), opposite helical grooves are arranged 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).

4. The gantry palletizer of claim 3, wherein: A guide groove (6) is arranged at the bottom of the mounting base (21) along the length direction of the lead screw (42), and a guide block (61) is slidably arranged in the guide groove (6), and the guide block (61) is fixedly connected with the top of the mounting portion (31).

5. The gantry palletizer of claim 1, wherein: The buffer reset member (72) is arranged as a buffer roller, a fixing frame (73) is arranged in the buffer sleeve (7), the buffer roller is rotatably arranged on the fixing frame (73), a buffer groove (74) is arranged at 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) faces the buffer roller, and the buffer roller is in rolling contact with the buffer groove (74).

6. The gantry palletizer of claim 5, wherein: The buffer roller is arranged in plurality, the plurality of buffer rollers are uniformly arranged along the axis direction of the rotating shaft (52), the buffer sleeve (7) is arranged in two, the two buffer sleeves (7) are symmetrically arranged on both sides of the connecting rod (54), and the buffer block (71) is arranged in each buffer sleeve (7).

7. The gantry palletizer of claim 1, wherein: The driving member (55) is arranged 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.

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