Full-automatic stacker crane for full-automatic cold roll forming line photovoltaic bracket

Abstract

According to the full-automatic stacking machine for the full-automatic cold roll forming line photovoltaic support, the turnover mechanism is arranged, steel is attracted through a fixing electromagnet, the purpose of fixing the steel is achieved, multiple pieces of steel can synchronously rotate along with a turnover tool under the condition that a turnover shaft rotates, and the function of turning over the multiple pieces of steel at a time is achieved; the efficiency is effectively improved; two guiding mechanisms are arranged, when steel passes through the position between a first side plate and a base plate, a second mounting plate is pushed to be close to the steel through a first electric telescopic rod, according to different placing positions, the extending lengths of the two guiding mechanisms are different, the steel can be conveniently placed side by side, the steel corresponds to a fixed electromagnet of a turnover mechanism, and unified turnover is facilitated; and furthermore, the steel stacks are rapidly packaged through the ribbon output mechanism, and finally the purpose of improving the stacking efficiency is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic bracket production, and particularly to a fully automatic palletizer for photovoltaic brackets on a fully automatic cold bending forming line. Background Art

[0002] Photovoltaic modules (solar modules) are the core components of a solar power generation system. By encapsulating and integrating photovoltaic cells, solar energy is converted into direct current electrical energy. Usually, C-shaped steel or channel steel is used as a photovoltaic bracket. After the C-shaped steel or channel steel is processed, it needs to be palletized by a palletizer, and after palletizing, it needs to be manually tied with a zip tie. Existing palletizers generally include a robotic arm, a fixture, and a conveyor. The steel is transported under the robotic arm through the conveyor. The fixture generally selects the magnetic form of an electric magnet. The robotic arm operates the fixture to adsorb the steel and then transports the steel to a forklift rack or a storage rack;

[0003] When the existing palletizer is in use, in order to increase the palletizing space, the steel usually needs to be flipped. The existing flipping structure can only flip one piece of steel at a time, and multiple flips are required, resulting in low efficiency. Summary of the Invention

[0004] In view of the above defects or deficiencies in the prior art, a fully automatic palletizer for photovoltaic brackets on a fully automatic cold bending forming line is expected to be provided.

[0005] The fully automatic palletizer for photovoltaic brackets on a fully automatic cold bending forming line provided by the present invention includes:

[0006] A palletizer main body including a gantry;

[0007] A transmission mechanism including a substrate provided on one side of the gantry. A plurality of transmission rollers arranged along a first direction are provided on the side of the substrate away from the gantry. The axial extension direction of each transmission roller is a second direction. A first side plate and a second side plate are arranged along the first direction on the side of each transmission roller away from the gantry. The transmission mechanism further includes a first driving part for driving each transmission roller to rotate self;

[0008] A flipping mechanism including a transfer plate provided on one side of the second side plate. A rotating shaft is provided above the transfer plate. The axial extension direction of the rotating shaft is the first direction. A plurality of flipping toolings are arranged along the first direction on the rotating shaft. Each flipping tooling is located between adjacent transmission rollers. The flipping tooling is used for fixing and separating the steel. The flipping mechanism further includes a driving component for driving the rotating shaft to rotate, driving the flipping tooling and the steel to flip above the transfer plate;

[0009] Two guiding mechanisms are respectively provided on the first side plate and the substrate for guiding the steel to be arranged along the second direction.

[0010] Preferably, the guide mechanism includes a first mounting plate arranged on the first side plate or the base plate, the first mounting plate is provided with a plurality of first electric telescopic rods along the first direction away from the other side of the guide mechanism, the telescopic ends of each of the first electric telescopic rods pass through the first mounting plate and are installed with a second mounting plate, each of the second mounting plates, the second mounting plates are provided with a plurality of second springs along the first direction away from the first mounting plate side, each of the second springs is connected to a concave strip plate at the end away from the second mounting plate, the opening side of the concave strip plate faces the side away from the second mounting plate, the opening end of the concave strip plate is provided with a rotatable guide wheel, the axis extension direction of each of the guide wheels is a third direction, the concave strip plate is provided with a plurality of limit openings along the first direction, the second mounting plate is provided with a plurality of guide columns passing through the limit openings, and the end surface of each guide column is covered with a second rubber pad.

[0011] Preferably, the flipping tooling includes an adsorption box connected to the flipping axis, the adsorption box having an adsorption end and a back end, and when the adsorption box is located between adjacent transmission rollers, a plurality of fixed electromagnets are provided inside the adsorption end along the second direction, and a positioning structure is also provided inside the adsorption box, and the positioning structure is used to adjust the position of the steel along the second direction.

[0012] Preferably, the positioning structure includes several groups of positioning parts, each positioning part includes two pointed flat plates arranged at the adsorption end and distributed on both sides of the fixed electromagnet along the second direction, and a positioning opening is provided on the adsorption box corresponding to the position of the pointed flat plate, and a synchronous driving part is also provided inside the adsorption box, and the synchronous driving part is used to drive each of the pointed flat plates to move upward synchronously and extend out of the adsorption box through the positioning opening, and the tip of each pointed flat plate synchronously pushes the steel to move along the second direction.

[0013] Preferably, the synchronous drive part includes an upper limit frame arranged inside the adsorption end and corresponding to the positioning opening position, and a lower limit frame arranged inside the back end and corresponding to the position of the upper limit frame; the bottom of the pointed flat plate is rotatably connected with a stud, and the outside of the stud is connected with a synchronous worm gear through a thread, and the top and bottom ends of the synchronous worm gear are respectively fitted with the bottom end of the upper limit frame and the top end of the lower limit frame; a synchronous motor is also provided inside the adsorption box, and a synchronous shaft is provided at the output end of the synchronous motor, and a synchronous worm sleeve is provided at the position of the synchronous shaft corresponding to the synchronous worm gear, and the synchronous worm sleeve is meshingly connected with the synchronous worm gear.

[0014] Preferably, mounting end plates are provided at both ends of the transfer plate along the first direction, and the turning shaft is installed through the two mounting end plates; the driving assembly includes a turning motor provided on one mounting end plate, a driving worm sleeve is provided at the output end of the turning motor, a mounting seat is further provided on the mounting end plate, a transmission shaft is rotatably connected to the mounting seat, a transmission worm sleeve and a transmission worm gear are sleeved on the transmission shaft, and a driven worm gear is provided on one side of the turning shaft corresponding to the transmission worm sleeve; the driving worm sleeve is meshed and connected with the transmission worm gear, and the transmission worm sleeve is meshed and driven to connect with the driven worm gear.

[0015] Preferably, a protection mechanism is detachably installed between the end of the second side plate away from the first side plate and the base plate. The protection mechanism includes a baffle between the detachable second side plate and the base plate. A third rubber pad is provided on the side of the baffle close to the first side plate; steel areas are provided at positions corresponding to each steel on the third rubber pad, and a number of top columns are provided in each steel area. A linkage plate is provided on the side of the baffle away from the third rubber pad. The linkage plate is connected to one end of the top column. A ball is embedded at one end of the top column, and a number of second electric telescopic rods are provided between the linkage plate and the baffle.

[0016] Preferably, a support frame is provided at the bottom of the transfer plate, and a number of tie output mechanisms are provided at the bottom of the support frame along the first direction. The tie output mechanism is used to output tying straps to the side of the steel stack.

[0017] Preferably, the tie output mechanism includes:

[0018] A storage box, a central rotating shaft is provided inside the storage box, a tying strap is wound around the central rotating shaft, and an avoidance door is provided at the end of the storage box close to the steel stack;

[0019] An outfeed driving part, which is arranged inside the storage box and is used to drive the tying strap to be horizontally and laterally conveyed outwards;

[0020] A first direction-changing part, which includes an upper arc-shaped plate provided above the avoidance door corresponding to the storage box, and a lower arc-shaped plate provided below the avoidance door;

[0021] A second direction-changing part, which is used to guide the tying strap passing through the outfeed driving part to move downwards, and after contacting the inner surface of the lower arc-shaped plate, it is changed into a horizontal direction;

[0022] A steering driving part, which is arranged between the lower arc-shaped plate and the second direction-changing part, can drive the tying strap to move up or down, and can drive the tying strap to move up and contact the inner surface of the upper arc-shaped plate and then be changed into a horizontal direction;

[0023] A cutting part, which is arranged between the outfeed driving part and the second direction-changing part and is used to cut the tying strap;

[0024] The door opening and closing assembly is arranged on one side of the storage box and is used to drive the avoidance door to leave and reset between the steel pile and the strapping belt.

[0025] Preferably, the second changing portion includes a guide roller arranged on the avoidance door, a guide arc plate arranged below the guide roller, and a guide straight plate arranged inside the storage box and below the guide arc plate. After the strapping belt passes through the discharging drive portion, it contacts the lower half of the guide roller along a horizontal direction, and contacts the guide arc plate obliquely downward after being separated from the guide roller, and contacts the guide straight plate obliquely downward after being separated from the guide arc plate.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. The present invention is provided with a flipping mechanism, which achieves the purpose of fixing the steel by fixing the electromagnet to absorb the steel. When the flip shaft rotates, multiple steels can rotate synchronously with the flipping tooling, realizing the function of flipping multiple steels at a time, effectively improving efficiency;

[0028] 2. Two guiding mechanisms are provided. When the steel passes between the first side plate and the base plate, the second mounting plate is pushed close to the steel by the first electric telescopic rod. The two guiding mechanisms extend to different lengths according to different placement positions, which is convenient for placing the steel side by side and corresponding to the fixed electromagnet of the flipping mechanism, so as to facilitate unified flipping;

[0029] 3. A positioning structure is also provided inside the adsorption box to adjust the position of the steel along the second direction. The multiple pointed flat plates move upward synchronously, and the steel moves along the oblique side of the pointed flat plates to achieve the purpose of adjusting the position of the steel, ensuring that the steel is positioned more accurately, which is more convenient for subsequent stacking and placement, and avoiding the situation where the steel interferes with each other during stacking due to inaccurate positioning;

[0030] 4. A protective mechanism is set at the tail end of the transmission mechanism. The third rubber pad is used to reduce the impact force of the steel on the baffle to avoid damage to the baffle and reduce the displacement of the steel caused by the impact between the two. Furthermore, the second electric telescopic rod pushes the top column and the ball. On the basis of accurate positioning of the steel, the ball is pressed against the surface of the steel, so that the mechanical arm can stably and fixedly grab upward or the turning tool can stably drive the steel to turn over, avoiding scratches caused by contact between the end of the steel and the third rubber pad, ensuring that the third rubber pad has a long-term and effective protective effect;

[0031] 5. There is a tie output mechanism. When in use, the binding tape moves horizontally along the driving roller, moves left and down towards the side of the guiding arc plate after contacting the bottom of the guiding roller, moves right and down towards the guiding straight plate after detaching from the guiding arc plate, and finally moves vertically down along the moving straight plate, passes through the deflecting roller and contacts the lower arc plate, and finally extends out from under the steel stack. When the length is sufficient, the binding tape is cut off by the cutting knife. The deflecting roller first drives the binding tape to move downwards, then drives the binding tape to move upwards, extends out from above the steel stack after passing through the upper arc plate, and finally opens the avoidance door, and the user can use the end binding tape for bundling, greatly reducing the time for manually bypassing the steel stack and improving the bundling efficiency;

[0032] In summary, the steel is positioned through the guiding mechanism and the positioning structure, which facilitates the synchronous flipping of multiple steels by the fixed electromagnet, improves the flipping efficiency, and further quickly packs the steel stack through the tie output mechanism, ultimately achieving the purpose of improving the palletizing efficiency.

[0033] It should be understood that the content described in the "Summary of the Invention" section is not intended to limit the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Brief Description of the Drawings

[0034] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more obvious:

[0035] Figure 1 It is a schematic structural diagram of the full-automatic palletizer for photovoltaic bracket of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0036] Figure 2 is Figure 1 a partial enlarged structural diagram of area A in;

[0037] Figure 3 It is a schematic structural diagram of the transmission motor in the full-automatic palletizer for photovoltaic bracket of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0038] Figure 4 It is a schematic structural diagram of the flipping mechanism in the full-automatic palletizer for photovoltaic bracket of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0039] Figure 5 It is a schematic cross-sectional structural diagram of the adsorption box in the full-automatic palletizer for photovoltaic bracket of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0040] Figure 6 is Figure 5 a partial enlarged structural diagram of area B in;

[0041] Figure 7 is Figure 5 a partial enlarged structural schematic diagram of area C in

[0042] Figure 8 a structural schematic diagram of the pointed flat plate in the full-automatic palletizing machine for photovoltaic brackets of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0043] Figure 9 a structural schematic diagram of the guiding mechanism in the full-automatic palletizing machine for photovoltaic brackets of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0044] Figure 10 is Figure 9 a partial enlarged structural schematic diagram of area D in

[0045] Figure 11 a structural schematic diagram of the installation of the baffle in the full-automatic palletizing machine for photovoltaic brackets of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0046] Figure 12 a structural schematic diagram of the installation of the ball in the full-automatic palletizing machine for photovoltaic brackets of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0047] Figure 13 is Figure 12 a partial enlarged structural schematic diagram of area E in

[0048] Figure 14 a structural schematic diagram of the cable tie output mechanism in the full-automatic palletizing machine for photovoltaic brackets of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0049] Figure 15 a sectional structural schematic diagram of the storage box in the full-automatic palletizing machine for photovoltaic brackets of the full-automatic cold bending forming line provided by the embodiment of the present application;

[0050] Figure 16 a structural schematic diagram of the installation of the binding belt in the full-automatic palletizing machine for photovoltaic brackets of the full-automatic cold bending forming line provided by the embodiment of the present application.

[0051] Reference numerals in the figure:

[0052] 1. Palletizing machine main body; 11. Gantry; 12. Manipulator; 13. Adsorption tooling;

[0053] 2. Transmission mechanism; 21. Substrate; 22. Mounting shaft; 23. Sprocket; 24. Chain; 25. Transmission motor; 26. First side plate; 27. Second side plate; 28. Transmission roller; 29. Transmission belt;

[0054] 3. Inversion mechanism; 31. Support frame; 32. Transfer plate; 33. First rubber pad; 34. Installation end plate; 35. Driving assembly; 36. Inversion shaft; 37. Inversion tooling; 38. Positioning assembly; 381. First positioner; 382. Second positioner;

[0055] 351. Driven worm gear; 352. Transmission shaft; 353. Transmission worm gear sleeve; 354. Transmission worm gear; 355. Driving worm gear sleeve; 356. Inversion motor; 357. Mounting seat;

[0056] 371. Adsorption box; 372. Fixed electromagnet; 373. Positioning opening; 374. Upper limit frame; 375. Lower limit frame; 376. Pointed flat plate; 377. Stud; 378. Synchronous worm gear; 379. Synchronous motor; 3710. Synchronous shaft; 3711. Synchronous worm gear sleeve; 3712. Card slot; 3713. First spring; 3714. Triangular support block;

[0057] 4. Guiding mechanism; 41. First mounting plate; 42. First electric telescopic rod; 43. Second mounting plate; 44. Second spring; 45. Concave strip plate; 46. Guide wheel; 47. Limit opening; 48. Guide post; 49. Second rubber pad;

[0058] 5. Protection mechanism; 51. Baffle; 52. Third rubber pad; 53. Steel area; 54. Top column; 55. Linking plate; 56. Ball; 57. Second electric telescopic rod;

[0059] 6. Cable tie output mechanism; 61. Storage box; 62. Central rotating shaft; 63. Binding strap; 64. Driving roller; 65. First pressing roller; 66. Third electric telescopic rod; 67. Cutting plate; 68. Avoidance door; 69. First avoidance window; 610. Guide roller; 611. Turning roller; 612. Direction-changing roller; 613. Second pressing roller; 614. Second avoidance window; 615. Upper arc plate; 616. Lower arc plate; 617. Driving motor; 618. Direction-changing motor; 619. Guide straight plate; 620. Guide arc plate; 621. Cutting knife;

[0060] 7. Door opening and closing assembly; 71. First fixed shaft; 72. Fourth electric telescopic rod; 73. Second fixed shaft; 74. Door opening rod; 75. Connecting shaft. Detailed implementation manners

[0061] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Additionally, it should be noted that for the convenience of description, only the parts related to the invention are shown in the drawings.

[0062] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0063] Please refer to Figures 1 to 16 , an embodiment of the present invention provides a full-automatic palletizing machine for photovoltaic brackets of a full-automatic cold bending forming line, including:

[0064] The palletizing machine main body 1, including a gantry 11; wherein, the gantry 11 is composed of two columns and a cross column, and a robotic arm 12 is installed on the gantry 11. An adsorption tooling 13 is arranged at the execution end of the robotic arm 12. Generally, an electromagnet is selected as the adsorbent. After being energized, it generates magnetism, can adsorb steel, and drives the steel for transportation. In addition, both the robotic arm 12 and the adsorption tooling 13 are controlled by the main control system of the palletizing machine main body 1. This is the prior art and will not be elaborated later;

[0065] The transmission mechanism 2, including a substrate 21 arranged on one side of the gantry 11. A plurality of transmission rollers 28 arranged along a first direction are provided on the side of the substrate 21 away from the gantry 11. The extending direction of the axis of each transmission roller 28 is a second direction. A first side plate 26 and a second side plate 27 are arranged along the first direction on the side of each transmission roller 28 away from the gantry 11. The transmission mechanism 2 further includes a first driving part for driving each transmission roller 28 to rotate; wherein, the first direction is Figure 1 the left-right direction in Figure 1 , and the second direction is Figure 1 the front-back direction in Figure 3 . Referring to

[0066] Further, referring to Figure 1 , several transmission rollers 28 corresponding to the first side plate 26 are used to receive the transported steel, and the length of the second side plate 27 in the vertical direction is half of that of the first side plate 26. It is used to support the installation shaft 22 corresponding to the transmission roller 28 to avoid subsequent interference with the flipping mechanism 3. Optionally, transmission belts 29 are sleeved on each transmission roller 28 corresponding to the first side plate 26 to improve the stability of the receiving and transportation;

[0067] The flipping mechanism 3 includes a transfer plate 32 provided on one side of the second side plate 27. Above the transfer plate 32, there is a flipping shaft 36. The extending direction of the axis of the flipping shaft 36 is the first direction. Along the first direction on the flipping shaft 36, there are a number of flipping tooling 37. Each flipping tooling 37 is located between adjacent conveying rollers 28. The flipping tooling 37 is used for fixing and separating steel materials. The flipping mechanism 3 further includes a driving assembly 35. The driving assembly 35 is used to drive the flipping shaft 36 to rotate, driving the flipping tooling 37 and the steel materials to flip above the transfer plate 32;

[0068] Two guiding mechanisms 4 are respectively provided on the first side plate 26 and the base plate 21, and are used to guide the steel materials to be arranged along the second direction;

[0069] In the present invention, the steel materials are fixed by the flipping tooling 37, so that multiple steel materials are synchronously flipped with the flipping shaft 36. After flipping is completed, the steel materials are separated from the flipping tooling 37 and placed on the transfer plate 32, realizing the function of flipping multiple steel materials at a time, effectively improving the efficiency; further, two guiding mechanisms 4 are provided. When the steel materials pass between the first side plate 26 and the base plate 21, the guiding mechanisms 4 guide the positions of the steel materials in the front-rear direction, so that after the steel materials enter the second side plate 27, several steel materials can be arranged in the front-rear direction, facilitating unified flipping; optionally, a first rubber pad 33 is provided on the transfer plate 32 to improve the stability after the steel materials are placed.

[0070] In some embodiments, the guiding mechanism 4 includes a first mounting plate 41 provided on the first side plate 26 or the base plate 21. Along the first direction on the side of the first mounting plate 41 away from the other guiding mechanism 4, there are a number of first electric telescopic rods 42. The telescopic ends of each first electric telescopic rod 42 penetrate through the first mounting plate 41 and are installed with a second mounting plate 43. For each second mounting plate 43, along the first direction on the side of the second mounting plate 43 away from the first mounting plate 41, there are a number of second springs 44. The ends of each second spring 44 away from the second mounting plate 43 are connected with a concave strip plate 45. The opening side of the concave strip plate 45 faces away from the side of the second mounting plate 43. At the opening end of the concave strip plate 45, there are rotatable guiding wheels 46. The extending direction of the axis of each guiding wheel 46 is the third direction. Along the first direction on the concave strip plate 45, there are a number of limiting openings 47. On the second mounting plate 43, there are a number of guiding columns 48 penetrating through the limiting openings 47. The end faces of each guiding column 48 are covered with a second rubber pad 49;

[0071] As Figure 4 、 Figure 9 and Figure 10As shown, when the steel passes between the first side plate 26 and the base plate 21, the second mounting plate 43 is pushed close to the steel by the first electric telescopic rod 42. According to different placement positions, the extended lengths of the first electric telescopic rods 42 of the two guiding mechanisms 4 are different. Taking the arrangement of five steels as an example, there are five placement positions. The second mounting plate 43 of one guiding mechanism 4 remains stationary, and the second mounting plate 43 of the other guiding mechanism 4 moves four units to the other side. The second mounting plate 43 pushes the steel to the first placement position to complete the guiding of the first steel. After the guiding is completed, each first electric telescopic rod 42 resets. When the second steel passes, the second mounting plate 43 of one guiding mechanism 4 moves one unit, and the second mounting plate 43 of the other guiding mechanism 4 moves three units to push the second steel to the second placement position to complete the guiding of the second steel, and so on to achieve the placement of five steels;

[0072] As Figure 9 and Figure 10 shown, a movable concave strip plate 45 is installed on the second mounting plate 43. During the guiding process, it contacts the side surface of the steel through the guiding wheel 46 and will not interfere with the normal transportation of the steel during the pushing process. Further, during the flipping operation, the first electric telescopic rods 42 of the two guiding mechanisms 4 can be made to squeeze the steel, causing the second spring 44 to contract, and the guiding column 48 to extend from the limiting port 47. The second rubber pad 49 abuts against the surface of the steel to prevent the steel from continuing to move forward through static friction, realizing the temporary stop of the steel and avoiding interfering with the normal operation of the flipping operation.

[0073] In some embodiments, the flipping tooling 37 includes an adsorption box 371 connected to the flipping shaft 36. The adsorption box 371 has an adsorption end and a back end. When the adsorption box 371 is located between adjacent transmission rollers 28, a number of fixed electromagnets 372 are provided inside the adsorption end along the second direction. A positioning structure is also provided inside the adsorption box 371, and the positioning structure is used to adjust the position of the steel along the second direction;

[0074] As Figure 1 、 Figure 4 、 Figure 5 and Figure 6 shown, in terms of the Figure 1 position description, after being guided by the guiding mechanism 4, the steels are arranged in the front - rear direction. However, due to reasons such as transmission, some positions may shift. At this time, accurate adjustment is carried out through the positioning structure to achieve accurate positioning and avoid the situation where the flipped steels cannot be stacked alternately with another batch of steels due to the position shift of the steels. Further, after positioning, by charging the fixed electromagnets 372, the fixed electromagnets 372 accurately attract the steels, improving the stability of the attraction; optionally, the end face of the adsorption end is flush with the top cut surface of the transmission roller 28 to ensure a stable adsorption effect.

[0075] In some embodiments, the positioning structure includes a plurality of positioning parts, each positioning part includes two pointed flat plates 376 disposed at the adsorption end and distributed on both sides of the fixed electromagnet 372 along the second direction, and a positioning opening 373 is provided on the adsorption box 371 at a position corresponding to the pointed flat plates 376, and a synchronous driving part is further provided inside the adsorption box 371, and the synchronous driving part is used to drive each pointed flat plate 376 to move upward synchronously and pass through the positioning opening 373 to extend out of the adsorption box 371, and the pointed tip of each pointed flat plate 376 synchronously pushes the steel material to move along the second direction;

[0076] like Figure 1 , Figures 4 to 8 As shown, Figure 1 Position description, the pointed flat plate 376 has two inclined surfaces along the front-to-back direction. When the pointed flat plate 376 moves upward, the inclined surfaces push the steel materials on both sides to move forward or backward respectively. The spacing between two adjacent pointed flat plates 376 is the width of the steel materials. Therefore, when the pointed flat plates 376 are fully extended, the forward and backward movement of the steel materials can be stably restricted, ensuring the purpose of accurate positioning. Further, optionally, a slot 3712 is formed on the front and back stacks of the top of the pointed flat plate 376, and a first spring 3713 is arranged inside the slot 3712. A triangular support block 3714 is arranged at the other end of the first spring 3713. The cross-section of block 3714 is triangular, and its hypotenuse is set downward. After the pointed flat plate 376 is extended, the first spring 3713 pops out of the slot 3712, and supports the steel through the top surface of the triangular support block 3714, so that there is a small gap between the steel and the transmission roller 28, so as to avoid the situation where the position of the steel is repeatedly changed due to the rolling transmission roller 28. In addition, when the pointed flat plate 376 moves downward, the inclined surface of the triangular support block 3714 contacts the top surface of the adsorption box 371, the first spring 3713 contracts, and the triangular support block 3714 contracts back into the slot 3712, which will not interfere with the smooth extension and retraction of the pointed flat plate 376.

[0077] In some embodiments, the synchronous drive unit includes an upper limit frame 374 arranged inside the adsorption end and corresponding to the position of the positioning opening 373, and a lower limit frame 375 arranged inside the back end and corresponding to the position of the upper limit frame 374; a stud 377 is rotatably connected to the bottom of the pointed flat plate 376, and a synchronous worm gear 378 is threadedly connected to the outside of the stud 377, and the top and bottom ends of the synchronous worm gear 378 are respectively fitted with the bottom end of the upper limit frame 374 and the top end of the lower limit frame 375; a synchronous motor 379 is also arranged inside the adsorption box 371, and a synchronous shaft 3710 is arranged at the output end of the synchronous motor 379, and a synchronous worm sleeve 3711 is arranged at the position of the synchronous shaft 3710 corresponding to the synchronous worm gear 378, and the synchronous worm sleeve 3711 is meshed and driven with the synchronous worm gear 378;

[0078] like Figure 1 , Figures 4 to 8 As shown, Figure 1Position description: The synchronous shaft 3710 is driven to rotate by the synchronous motor 379, and the synchronous worm gear sleeve 3711 installed on the synchronous shaft 3710 drives the synchronous worm wheel 378 to rotate. However, due to the limiting effects of the upper limit frame 374 and the lower limit frame 375 on the synchronous worm wheel 378, the synchronous worm wheel 378 will not move upward or downward. At this time, since the middle part of the synchronous worm wheel 378 is connected to the stud 377 through a thread, the stud 377 will move upward or downward in a spiral manner, achieving the purpose of synchronously rising and falling of the pointed flat plate 376. In addition, the upper limit frame 374 restricts the synchronous rotation of the pointed flat plate 376 with the stud 377, realizing the stable up and down movement of the pointed flat plate 376.

[0079] In some embodiments, mounting end plates 34 are provided at both ends of the transfer plate 32 along the first direction, and the turning shaft 36 is installed through the two mounting end plates 34; the driving assembly 35 includes a turning motor 356 provided on one mounting end plate 34. A driving worm gear sleeve 355 is provided at the output end of the turning motor 356. A mounting seat 357 is further provided on the mounting end plate 34. A transmission shaft 352 is rotatably connected to the mounting seat 357. A transmission worm gear sleeve 353 and a transmission worm wheel 354 are sleeved on the transmission shaft 352. A driven worm wheel 351 is provided on the turning shaft 36 corresponding to one side of the transmission worm gear sleeve 353; the driving worm gear sleeve 355 is meshed and connected with the transmission worm wheel 354, and the transmission worm gear sleeve 353 is meshed and driven to connect with the driven worm wheel 351;

[0080] As Figure 1 、 Figures 4 to 8 shown, by driving the turning shaft 36 to rotate through the turning motor 356, considering the high speed and small torque, the turning motor 356 first drives the transmission worm wheel 354 and the transmission shaft 352 to rotate through the driving worm gear sleeve 355, and then drives the driven worm wheel 351 and the turning shaft 36 to rotate through the transmission shaft 352 and the transmission worm gear sleeve 353. Through two sets of worm and gear combinations, the purpose of reducing the speed and increasing the torque is achieved, ensuring that the turning shaft 36 can stably drive the adsorption box 371 and the steel to rotate.

[0081] In some embodiments, a protection mechanism 5 is detachably installed between the end of the second side plate 27 away from the first side plate 26 and the base plate 21. The protection mechanism 5 includes a baffle 51 between the detachable second side plate 27 and the base plate 21. A third rubber pad 52 is provided on the side of the baffle 51 close to the first side plate 26; a steel area 53 is provided at each position corresponding to the steel on the third rubber pad 52. A number of top columns 54 are provided in each steel area 53. A linkage plate 55 is provided on the side of the baffle 51 away from the third rubber pad 52. The linkage plate 55 is connected to one end of the top column 54. A ball 56 is embedded at one end of the top column 54. A number of second electric telescopic rods 57 are provided between the linkage plate 55 and the baffle 51;

[0082] As Figure 11 、 Figure 12 and Figure 13As shown in the figure, the impact force of the steel on the baffle 51 is reduced by the third rubber pad 52, which avoids the damage of the baffle 51 and also reduces the situation where the impact between the two causes the displacement of the steel position. Further, each top column 54 in a steel area 53 corresponds to a steel. Before the turning mechanism 3 turns the steel, the second electric telescopic rod 57 is used to push the top column 54 and the ball 56. On the basis of accurate positioning of the steel, the ball 56 abuts against the surface of the steel, so that the robotic arm 12 can stably and fixedly grasp upward or the turning tooling 37 can stably drive the steel to turn, avoiding the scratch caused by the contact between the end of the steel and the third rubber pad 52, and ensuring that the third rubber pad 52 has a long-term and effective protective effect.

[0083] In some embodiments, the turning mechanism 3 further includes a positioning component 38, which includes a second positioner 382 provided on the substrate 21 and a first positioner 381 on the first side plate 26. The position of the adsorption box 371 is determined by the positioning component 38 to ensure that the adsorption box 371 can stably adsorb or separate. Optionally, the first positioner 381 and the second positioner 382 can be selected as distance measuring sensors, and the adsorption box 371 is located above the first positioner 381 and the second positioner 382 before and after turning. Furthermore, the distance measuring sensor can measure the distance from the adsorption box 371 to achieve the purpose of positioning.

[0084] In some embodiments, a support frame 31 is provided at the bottom end of the transfer plate 32, and a plurality of tie output mechanisms 6 are provided at the bottom of the support frame 31 along the first direction. The tie output mechanism 6 is used to output the tying belt 63 to the side of the steel stack; as Figure 1 and Figure 14 shown in the figure, compared with the situation where the tying belt 63 is bypassed from below the steel stack and from the back side of the steel stack manually, the tying belt 63 is output by the tie output mechanism 6, which effectively improves the placement efficiency of the tying belt 63, and further improves the tying efficiency.

[0085] In some embodiments, the tie output mechanism 6 includes:

[0086] A storage box 61, inside which a central rotating shaft 62 is provided, and a tying belt 63 is wound around the central rotating shaft 62. An avoidance door 68 is provided at the end of the storage box 61 close to the steel stack;

[0087] A discharging driving part, which is provided inside the storage box 61 and is used to drive the tying belt 63 to be horizontally and laterally conveyed outwards; wherein, the discharging driving part is formed by combining a driving roller 64, a first pressing roller 65 and a driving motor 617. The tying belt 63 passes between the driving roller 64 and the first pressing roller 65, and the driving motor 617 drives the driving roller 64 to rotate, so as to realize the state that the tying belt 63 is output horizontally and laterally to the left;

[0088] The first deflecting part includes an upper arc-shaped plate 615 provided above the avoidance door 68 corresponding to the storage box 61, and a lower arc-shaped plate 616 provided below the avoidance door 68. Wherein, second avoidance windows 614 are provided above and below the avoidance door 68 corresponding to the storage box 61, facilitating the installation of the lower arc-shaped plate 616 and the upper arc-shaped plate 615 and avoiding subsequent interference with the use of the bundling belt 63.

[0089] The second deflecting part is used to guide the bundling belt 63 passing through the discharging driving part to move downward, and after contacting the inner surface of the lower arc-shaped plate 616, it is transformed into a horizontal direction. Wherein, the second deflecting part includes a guiding roller 610 provided on the avoidance door 68, a guiding arc-shaped plate 620 provided below the guiding roller 610, and a guiding straight plate 619 provided inside the storage box 61 below the guiding arc-shaped plate 620. After the bundling belt 63 passes through the discharging driving part, it contacts the lower half of the guiding roller 610 along the horizontal direction, contacts the guiding arc-shaped plate 620 obliquely downward after leaving the guiding roller 610, and contacts the guiding straight plate 619 obliquely downward after leaving the guiding arc-shaped plate 620. Since the end of the bundling belt 63 contacts the lower half of the guiding roller 610, oblique transportation can be realized. After being deflected by the guiding arc-shaped plate 620, the guiding straight plate 619 guides the bundling belt 63 to move vertically downward.

[0090] The steering driving part is provided between the lower arc-shaped plate 616 and the second deflecting part, and can drive the bundling belt 63 to move upward or downward, and can drive the bundling belt 63 to move upward and contact the inner surface of the upper arc-shaped plate 615 and then be transformed into a horizontal direction. Wherein, it includes a deflecting roller 612 provided inside the storage box 61, a second pressing roller 613 provided on the avoidance door 68, and a deflecting motor 618 provided on the storage box 61. By driving the deflecting roller 612 to rotate through the deflecting motor 618 and cooperating with the second pressing roller 613, the bundling belt 63 is driven to move upward and downward.

[0091] The cutting part is provided between the discharging driving part and the second deflecting part, and is used to cut the bundling belt 63. Wherein, the cutting part includes a third electric telescopic rod 66 provided inside the storage box 61, a cutting knife 621 is provided at the top of the third electric telescopic rod 66, the cutting knife 621 is located on one side of the bundling belt 63, and a cutting plate 67 is provided on the other side of the bundling belt 63. By extending the third electric telescopic rod 66, the cutting knife 621 presses the bundling belt 63 against the cutting plate 67 for cutting.

[0092] The door opening and closing assembly 7 is provided on one side of the storage box 61, and is used to drive the avoidance door 68 to leave and reset from between the steel stack and the bundling belt 63. Wherein, after the avoidance door 68 leaves, it will not interfere with the normal use of the bundling belt 63.

[0093] Such as Figure 14 、 Figure 15 And Figure 16As shown, during use, the strapping band 63 moves horizontally along the driving roller 64. After contacting the bottom of the guiding roller 610, it moves towards the guiding arc plate 620 side in the lower left direction. After detaching from the guiding arc plate 620, it moves towards the guiding straight plate 619 in the lower right direction. Finally, it moves vertically downward along the guiding straight plate 619, passes through the deflecting roller 612 and contacts the lower arc plate 616, and finally extends out from under the steel stack. When the length is sufficient, the strapping band 63 is cut by the cutting knife 621. After cutting, the deflecting roller 612 first drives the strapping band 63 to continue moving downward. When the strapping band 63 rebounds, it drives the strapping band 63 to move upward. After passing through the upper arc plate 615, it extends out from above the steel stack. Finally, the avoidance door 68 is opened, so that the guiding roller 610, the guiding arc plate 620 serving as a guide, and the second pressing roller 613 do not block the strapping band 63, and the user can use the end strapping band 63 for bundling, greatly reducing the time for manually bypassing the steel stack and improving the bundling efficiency. A first avoidance window 69 is provided on the avoidance door 68 to ensure that the strapping band 63 can pass through the avoidance door 68 and contact each guiding structure.

[0094] In some embodiments, in order to prevent the output strapping band 63 from contacting the guiding straight plate 619, a turning roller 611 is provided on the guiding straight plate 619 to improve the running stability of the strapping band 63.

[0095] In some embodiments, as Figure 1 and Figure 14 shown, the door opening and closing assembly 7 includes a first fixed shaft 71 provided in the middle of the storage box 61, and a second fixed shaft 73 provided on the storage box 61 on the side corresponding to the avoidance door 68. Both the first fixed shaft 71 and the second fixed shaft 73 can rotate on their own. A fourth electric telescopic rod 72 is connected to the middle of the first fixed shaft 71. A door opening rod 74 passes through the middle of the second fixed shaft 73. One end of the door opening rod 74 is connected to the side surface of the avoidance door 68, and a connecting shaft 75 is provided at the other end. The end of the fourth electric telescopic rod 72 away from the first fixed shaft 71 is rotatably connected to the connecting shaft 75. Thus, after the fourth electric telescopic rod 72 contracts, it drives the connecting shaft 75 to move towards the first fixed shaft 71 side, drives the door opening rod 74 and the first fixed shaft 71 to rotate, and then drives the avoidance door 68 at the other end of the door opening rod 74 to swing. After the avoidance door 68 swings open, the guiding roller 610, the guiding arc plate 620 serving as a guide, and the second pressing roller 613 do not block the strapping band 63. Optionally, shaft seats are provided at both ends of the first fixed shaft 71 and the second fixed shaft 73. The shaft seats are installed on the storage box 61, and the first fixed shaft 71 and the second fixed shaft 73 are rotatably installed in the shaft holes of the shaft seats to ensure their stable rotation on their own.

[0096] In addition, it should be noted that the main control system of the palletizer body 1 can not only control the operation of the robotic arm 12 and the adsorption tooling 13, but also the input ends of the above-mentioned electronic control devices such as the fixed electromagnet 372, the flipping motor 356, the first electric telescopic rod 42 and the second electric telescopic rod 57 are electrically connected to the output end of the main control system, so as to achieve the purpose of comprehensive control by the main control system.

[0097] In the description of this specification, the terms "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0098] In the description of this specification, the descriptions of the terms "one embodiment", "some embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0099] The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. The full-automatic palletizer for photovoltaic brackets of the full-automatic cold bending forming line is characterized in that, Including: The palletizing machine main body (1), including a gantry (11); The transmission mechanism (2), including a base plate (21) provided on one side of the gantry (11). A number of transmission rollers (28) arranged along a first direction are provided on the side of the base plate (21) away from the gantry (11). The extending direction of the axis of each transmission roller (28) is a second direction. A first side plate (26) and a second side plate (27) are arranged along the first direction on the side of each transmission roller (28) away from the gantry (11). The transmission mechanism (2) further includes a first driving part, and the first driving part is used to drive each transmission roller (28) to rotate self - sufficiently. The flipping mechanism (3), including a transfer plate (32) provided on one side of the second side plate (27). A flipping shaft (36) is provided above the transfer plate (32). The extending direction of the axis of the flipping shaft (36) is the first direction. A number of flipping tooling (37) are provided along the first direction on the flipping shaft (36). Each flipping tooling (37) is located between adjacent transmission rollers (28). The flipping tooling (37) is used for fixing and separating steel. The flipping mechanism (3) further includes a driving component (35), and the driving component (35) is used to drive the flipping shaft (36) to rotate, driving the flipping tooling (37) and the steel to flip above the transfer plate (32). Two guiding mechanisms (4) are respectively provided on the first side plate (26) and the base plate (21) for guiding the steel to be arranged along the second direction.

2. The fully automatic palletizer for photovoltaic brackets of the fully automatic cold bending forming line according to claim 1, characterized in that, The guiding mechanism (4) includes a first mounting plate (41) provided on the first side plate (26) or the base plate (21). A number of first electric telescopic rods (42) are arranged along the first direction on the side of the first mounting plate (41) away from the other guiding mechanism (4). The telescopic end of each first electric telescopic rod (42) penetrates through the first mounting plate (41) and is installed with a second mounting plate (43). A number of second springs (44) are arranged along the first direction on the side of each second mounting plate (43) away from the first mounting plate (41). The end of each second spring (44) away from the second mounting plate (43) is connected with a concave strip plate (45). The opening side of the concave strip plate (45) faces away from the second mounting plate (43). A rotatable guiding wheel (46) is provided at the opening end of the concave strip plate (45). The extending direction of the axis of each guiding wheel (46) is a third direction. A number of limiting openings (47) are arranged along the first direction on the concave strip plate (45). A number of guiding columns (48) penetrating through the limiting openings (47) are provided on the second mounting plate (43). The end face of each guiding column (48) is covered with a second rubber pad (49).

3. The fully automatic palletizer for photovoltaic brackets of the fully automatic cold bending forming line according to claim 1, characterized in that The turning tool (37) comprises an adsorption box (371) connected to the turning shaft (36), wherein the adsorption box (371) has an adsorption end and a back end. When the adsorption box (371) is located between adjacent transmission rollers (28), a plurality of fixed electromagnets (372) are arranged inside the adsorption end along the second direction. A positioning structure is also arranged inside the adsorption box (371), and the positioning structure is used to adjust the position of the steel material along the second direction.

4. The fully automatic palletizer for photovoltaic brackets of the fully automatic cold bending forming line according to claim 3, characterized in that, The positioning structure includes a plurality of positioning parts, each positioning part includes two pointed flat plates (376) arranged at the adsorption end and distributed on both sides of the fixed electromagnet (372) along the second direction. A positioning opening (373) is provided on the adsorption box (371) at a position corresponding to the pointed flat plate (376). A synchronous driving part is also provided inside the adsorption box (371). The synchronous driving part is used to drive each of the pointed flat plates (376) to move upward synchronously and pass through the positioning opening (373) to extend out of the adsorption box (371). The pointed tips of each of the pointed flat plates (376) synchronously push the steel to move along the second direction.

5. The fully automatic palletizer for photovoltaic brackets of the fully automatic cold bending forming line according to claim 4, characterized in that, The synchronous drive part comprises an upper limit frame (374) arranged inside the adsorption end and corresponding to the position of the positioning opening (373), and a lower limit frame (375) arranged inside the back end and corresponding to the position of the upper limit frame (374); the bottom of the pointed flat plate (376) is rotatably connected with a stud (377), and the stud (377) is externally connected with a synchronous worm gear (378) through a thread, and the top and bottom ends of the synchronous worm gear (378) are respectively in contact with the bottom end of the upper limit frame (374) and the top end of the lower limit frame (375); the adsorption box (371) is also provided with a synchronous motor (379), and the output end of the synchronous motor (379) is provided with a synchronous shaft (3710), and the synchronous shaft (3710) is provided with a synchronous worm sleeve (3711) at the position corresponding to the synchronous worm gear (378), and the synchronous worm sleeve (3711) is meshingly connected with the synchronous worm gear (378).

6. The fully automatic palletizer for photovoltaic brackets of the fully automatic cold bending forming line according to claim 1, characterized in that, The transfer plate (32) is provided with mounting end plates (34) at both ends along the first direction, and the flip shaft (36) is installed through the two mounting end plates (34); the driving assembly (35) comprises a flip motor (356) arranged on one mounting end plate (34); an active worm sleeve (355) is provided at the output end of the flip motor (356); a mounting seat (357) is also provided on the mounting end plate (34); a transmission shaft (352) is rotatably connected to the mounting seat (357); a transmission worm sleeve (353) and a transmission worm wheel (354) are sleeved on the transmission shaft (352); a driven worm wheel (351) is provided on one side of the flip shaft (36) corresponding to the transmission worm sleeve (353); the active worm sleeve (355) is meshingly connected with the transmission worm wheel (354), and the transmission worm sleeve (353) is meshingly connected with the driven worm wheel (351).

7. The full-automatic palletizer for photovoltaic brackets of the full-automatic cold bending forming line according to claim 1, wherein, A protective mechanism (5) is detachably installed between the end of the second side plate (27) away from the first side plate (26) and the base plate (21). The protective mechanism (5) includes a baffle (51) between the detachable second side plate (27) and the base plate (21). A third rubber pad (52) is provided on the side of the baffle (51) close to the first side plate (26); a steel material area (53) is provided at each position corresponding to the steel materials on the third rubber pad (52). A number of ejector posts (54) are provided in each steel material area (53). A linkage plate (55) is provided on the side of the baffle (51) away from the third rubber pad (52). The linkage plate (55) is connected to one end of the ejector post (54). A ball (56) is embedded at one end of the ejector post (54). A number of second electric telescopic rods (57) are provided between the linkage plate (55) and the baffle (51).

8. The fully automatic palletizer for photovoltaic brackets of the fully automatic cold bending forming line according to claim 1, characterized in that, A support frame (31) is provided at the bottom of the transfer plate (32). A number of tie output mechanisms (6) are provided at the bottom of the support frame (31) along the first direction. The tie output mechanism (6) is used to output tie straps (63) to the side of the steel material stack.

9. The fully automatic palletizing machine for photovoltaic brackets of the fully automatic cold bending forming line according to claim 8, characterized in that, The tie output mechanism (6) includes: A storage box (61). A central rotating shaft (62) is provided inside the storage box (61). A tie strap (63) is wound around the central rotating shaft (62). An avoidance door (68) is provided at the end of the storage box (61) close to the steel material stack; A discharging driving part, which is provided inside the storage box (61) and is used to drive the tie strap (63) to be horizontally and laterally conveyed outwards; A first direction-changing part, which includes an upper arc-shaped plate (615) provided above the avoidance door (68) corresponding to the storage box (61), and a lower arc-shaped plate (616) provided below the avoidance door (68); A second direction-changing part, which is used to guide the tie strap (63) passing through the discharging driving part to move downwards, and after contacting the inner surface of the lower arc-shaped plate (616), it is changed into a horizontal direction; A steering driving part, which is provided between the lower arc-shaped plate (616) and the second direction-changing part, can drive the tie strap (63) to move upwards or downwards, and can drive the tie strap (63) to move upwards and contact the inner surface of the upper arc-shaped plate (615) and then be changed into a horizontal direction; A cutting part, which is provided between the discharging driving part and the second direction-changing part and is used to cut the tie strap (63); A door opening and closing assembly (7), which is provided on one side of the storage box (61) and is used to drive the avoidance door (68) to leave and reset between the steel material stack and the tie strap (63).

10. The fully automatic palletizer for photovoltaic brackets of the fully automatic cold bending forming line according to claim 9, characterized in that, The second direction-changing part includes a guiding roller (610) provided on the avoidance door (68), a guiding arc-shaped plate (620) provided below the guiding roller (610), and a guiding straight plate (619) provided inside the storage box (61) below the guiding arc-shaped plate (620). After the tie strap (63) passes through the discharging driving part, it contacts the lower half of the guiding roller (610) along the horizontal lateral direction, and after leaving the guiding roller (610), it contacts the guiding arc-shaped plate (620) obliquely downwards, and after leaving the guiding arc-shaped plate (620), it contacts the guiding straight plate (619) obliquely downwards.

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