Double-robot double-side rail car stacking device and control method thereof

Abstract

The invention relates to the technical field of robot stacking conveying lines, in particular to a double-robot double-side rail car stacking device which comprises a bearing conveying line, two sets of robot bodies are arranged at one end of the bearing conveying line and above the bearing conveying line correspondingly, and rail stacking mechanisms facilitating reciprocating stacking and bag conveying are arranged on the two sides of the bearing conveying line. The track supports are arranged on the left side and the right side of the bearing conveying line, the two track bodies are fixedly connected to the two ends of the upper surfaces of the track supports, and the limiting baffles are fixedly connected to the upper surfaces of the track supports. According to the double-robot double-side rail car stacking device, two sets of rail car bodies, bearing frames and supporting plates are slidably connected to rail supports and rail bodies arranged on the two sides of a bearing conveying line, and the rail car bodies are connected with an external driving mechanism through connecting side frames; and meanwhile, the rail car body on the two sides of the bearing conveying line, the bearing frame and the supporting plate alternately reciprocate so that stacking operation can be conducted alternately in a reciprocating mode.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic palletizing conveyor lines, and particularly to a dual-robot dual-side rail car palletizing device. Background Art

[0002] With the continuous development of the manufacturing industry and the improvement of automation technology, the degree of automation of production lines is getting higher and higher. As a key component in automated production lines, palletizing systems have been widely used. Most existing automated palletizing systems use robots to complete the operations of material grasping, handling, and stacking. In recent years, dual-robot palletizing systems have gradually become the mainstream in the market. By using two robots, they can improve the operation efficiency, reduce the need for manual operations, and thus enhance the overall efficiency of the production line.

[0003] Although dual-robot systems can improve efficiency, in traditional systems, the stacking and handling of materials often rely on pallet and conveyor line systems. Although such systems can complete certain operation tasks, for high-frequency and rapidly changing production requirements, the existing dual-robot two-side pallet palletizing systems have efficiency bottlenecks and are difficult to further improve the operation speed and the overall efficiency of the production line. Based on the existing technical deficiencies, the present invention designs a dual-robot dual-side rail car palletizing device. Summary of the Invention

[0004] The present invention provides a dual-robot dual-side rail car palletizing device, which has the advantages of high space utilization rate and high operation efficiency.

[0005] The present invention provides the following technical solution: A dual-robot dual-side rail car palletizing device includes a supporting conveyor line. At one end and above the supporting conveyor line, two groups of robot bodies are respectively arranged. On both sides of the supporting conveyor line, there are rail palletizing mechanisms facilitating reciprocating palletizing and bag feeding.

[0006] Rail palletizing mechanism: The rail palletizing mechanism includes a rail support, a rail main body, a limit baffle, a rail car main body, a bearing frame, a pallet, a connecting side frame, and a drive chain U-shaped rail. The rail supports are arranged on the left and right sides of the supporting conveyor line. Two rail main bodies are fixedly connected to the two ends of the upper surface of the rail support. The limit baffle is fixedly connected to the upper surface of the rail support. Two groups of rail car main bodies are slidably connected to the rail main bodies. The bearing frame is fixedly connected to the upper surface of the rail car main body. The pallet is fixedly connected to the top of the bearing frame. Two groups of connecting side frames are fixedly connected to the opposite sides of the two groups of rail car main bodies. Two groups of drive chain U-shaped rails are fixedly connected to the outer sides of the two rail main bodies.

[0007] As a preferred technical solution of the present invention, a first support leg is fixedly connected to the lower surface of the supporting conveyor line. A blank incoming conveyor line is provided at the blank incoming end of the supporting conveyor line. A conveyor belt is provided on the blank incoming conveyor line. A driving motor is fixedly provided on one side of the blank incoming conveyor line. A guiding plate is fixedly connected to the upper surface of the blank incoming conveyor line. A second support leg is fixedly connected to the lower surface of the blank incoming conveyor line.

[0008] As a preferred technical solution of the present invention, a robot base is fixedly connected to the bottom of the robot main body. A base fixing plate is fixedly connected to the bottom of the robot base. A gripper frame is provided at the front end of the robot main body. A gripper cylinder is provided on the gripper frame. A gripper main body is provided at the bottom of the gripper frame.

[0009] As a preferred technical solution of the present invention, two sets of track car bodies, a carrier and a pallet are slidably connected to the single-sided track main body, and the limit baffle is in contact with one side of the track car body.

[0010] As a preferred technical solution of the present invention, the connecting side frame is connected to an external chain push-pull unit, and the transmission chain of the chain push-pull unit is arranged in the transmission chain U-shaped rail.

[0011] As a preferred technical solution of the present invention, the track car body, the carrier and the pallet are slidably connected to both sides of the two robot main bodies and the supporting conveyor line.

[0012] As a preferred technical solution of the present invention, the gripper cylinder is pneumatically connected to the gripper main body, and the gripper cylinder is connected to an external air supply device.

[0013] As a preferred technical solution of the present invention, the gripper main body is movably arranged above the supporting conveyor line, and the gripper main body is movably arranged above the pallet.

[0014] As a preferred technical solution of the present invention, the two robot bases are respectively arranged at one end of the supporting conveyor line and sleeved at one end of the blank incoming conveyor line close to the supporting conveyor line.

[0015] A control method for a double-robot double-sided track car palletizing device includes the following steps:

[0016] S1: First, the package is placed on the blank incoming conveyor line and transported by the conveyor belt. When the package is about to reach the supporting conveyor line, the guiding plate is used to center-align the position of the package. The aligned package is transferred to the supporting conveyor line and waits to be grabbed and palletized.

[0017] S2: Then the robot main body moves the position of the gripper main body, moves the unfolded gripper main body to both sides of the package on the supporting conveyor line, the external air supply device controls the gripper main body to close through the gripper cylinder to grab the package, and uses the robot main body to move the gripper main body and the package to the pallet and then releases the gripper main body to place the package on the pallet for palletizing;

[0018] S3: Finally, the external device pushes the two sets of rail car main bodies that have completed single-sided palletizing to move in the direction of the limit baffle for unpacking, and the two sets of empty pallet rail car main bodies on the other side move to the other side of the robot main body and the gripper main body under the traction of the external device for packing and palletizing.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. For this double-robot double-sided rail car palletizing device, the package is transported on the incoming package conveyor line by the conveyor belt. When the package is about to reach the supporting conveyor line, the guide plate is used to center-align the position of the package. The aligned package is transferred to the supporting conveyor line and waits to be grabbed and palletized. Then the robot main body moves the position of the gripper main body, moves the unfolded gripper main body to both sides of the package on the supporting conveyor line, the external air supply device controls the gripper main body to close through the gripper cylinder to grab the package, and uses the robot main body to move the gripper main body and the package to the pallet and then releases the gripper main body to place the package on the pallet for palletizing. This device is convenient for using the double sets of robot main bodies to grab and palletize the packages.

[0021] 2. For this double-robot double-sided rail car palletizing device, the external device pushes the two sets of rail car main bodies that have completed single-sided palletizing to move in the direction of the limit baffle for unpacking, and the two sets of empty pallet rail car main bodies on the other side move to the other side of the robot main body and the gripper main body under the traction of the external device for packing and palletizing. This device is convenient for using the two sets of robots to alternately grab, palletize and deliver the packages. Description of the Drawings

[0022] Figure 1 is the overall structural schematic diagram of the present invention;

[0023] Figure 2 is the connection structure schematic diagram of the incoming package conveyor line and the robot gripper of the present invention;

[0024] Figure 3 is the connection structure schematic diagram of the robot and the gripper of the present invention;

[0025] Figure 4 is the main body structure schematic diagram of the rail palletizing mechanism of the present invention.

[0026] In the figure: 1. Supporting conveyor line; 101. First support leg; 102. Incoming package conveyor line; 103. Conveyor belt; 104. Driving motor; 105. Guide plate; 106. Second support leg; 2. Robot main body; 201. Robot base; 202. Base fixing plate; 203. Claw holder; 204. Claw cylinder; 205. Claw main body; 3. Rail palletizing mechanism; 301. Rail support; 302. Rail main body; 303. Limit baffle; 304. Rail car main body; 305. Bearing frame; 306. Pallet; 307. Connecting side frame; 308. Transmission chain U-shaped rail. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] Please refer to Figures 1-4 , a double-robot double-sided rail car palletizing device, including a supporting conveyor line 1. Two groups of robot main bodies 2 are respectively arranged at one end and above the supporting conveyor line 1. Rail palletizing mechanisms 3 for facilitating reciprocating palletizing and package delivery are arranged on both sides of the supporting conveyor line 1. A first support leg 101 is fixedly connected to the lower surface of the supporting conveyor line 1. An incoming package conveyor line 102 is arranged at the incoming package end of the supporting conveyor line 1. A conveyor belt 103 is arranged on the incoming package conveyor line 102. A driving motor 104 is fixedly arranged on one side of the incoming package conveyor line 102. A guide plate 105 is fixedly connected to the upper surface of the incoming package conveyor line 102. A second support leg 106 is fixedly connected to the lower surface of the incoming package conveyor line 102.

[0029] Please refer to Figure 3 , a robot base 201 is fixedly connected to the bottom of the robot main body 2. A base fixing plate 202 is fixedly connected to the bottom of the robot base 201. A claw holder 203 is arranged at the front end of the robot main body 2. A claw cylinder 204 is arranged on the claw holder 203. A claw main body 205 is arranged at the bottom of the claw holder 203. The claw cylinder 204 is pneumatically connected to the claw main body 205. The claw cylinder 204 is connected to an external air supply device. The claw main body 205 is movably arranged above the supporting conveyor line 1 and above the pallet 306. Two groups of robot bases 201 are respectively arranged at one end of the supporting conveyor line 1 and sleeved at one end of the incoming package conveyor line 102 close to the supporting conveyor line 1.

[0030] Please refer to Figure 4, the orbital palletizing mechanism 3 includes an orbital support 301, an orbital main body 302, a limit baffle 303, an orbital vehicle main body 304, a carrier 305, a pallet 306, a connecting side frame 307, and a drive chain U-shaped rail 308. The orbital supports 301 are arranged on the left and right sides of the supporting conveyor line 1. Two orbital main bodies 302 are fixedly connected to the two ends of the upper surface of the orbital support 301. The limit baffle 303 is fixedly connected to the upper surface of the orbital support 301. Two sets of orbital vehicle main bodies 304 are slidably connected to the orbital main body 302. The carrier 305 is fixedly connected to the upper surface of the orbital vehicle main body 304. The pallet 306 is fixedly connected to the top of the carrier 305. Two sets of connecting side frames 307 are fixedly connected to the opposite sides of the two sets of orbital vehicle main bodies 304. Two sets of drive chain U-shaped rails 308 are fixedly connected to the outer sides of the two orbital main bodies 302. Two sets of orbital vehicle main bodies 304, carriers 305, and pallets 306 are slidably connected to one side of the orbital main body 302, and the limit baffle 303 is in contact with one side of the orbital vehicle main body 304. The connecting side frame 307 is connected to an external chain push-pull unit, and the drive chain of the chain push-pull unit is arranged in the drive chain U-shaped rail 308. The orbital vehicle main body 304, the carrier 305, and the pallet 306 are slidably connected to both sides of the two robot main bodies 2 and the supporting conveyor line 1.

[0031] By providing the orbital support 301, the orbital main body 302, and the limit baffle 303, and the three are respectively arranged on both sides of the supporting conveyor line 1 and the robot main body 2, so as to facilitate the palletizing process of the supporting conveyor line 1 and the robot main body 2 to alternate left and right. By arranging two sets of orbital vehicle main bodies 304, carriers 305, and pallets 306 on one side of the orbital main body 302, and the orbital vehicle main bodies 304, carriers 305, and pallets 306 on the left and right sides move alternately on both sides of the supporting conveyor line 1 and the robot main body 2, so that when the palletizing of the orbital vehicle main body 304, the carrier 305, and the pallet 306 on one side is completed, the package can be unloaded by moving out along the orbital main body 302, while the orbital vehicle main body 304, the carrier 305, and the pallet 306 on the other side can move from the unloading area to the palletizing area beside the supporting conveyor line 1 and the robot main body 2 for palletizing operations, so as to achieve alternating palletizing and unloading processes.

[0032] Please refer to Figures 1-4 , a control method for a double-robot double-sided orbital vehicle palletizing device, includes the following steps:

[0033] S1: First, the package is placed on the incoming package conveyor line 102 and transported by the conveyor belt 103. When the package is about to reach the supporting conveyor line 1, the position of the package is centered and aligned by the guiding plate 105. The aligned package is transferred to the supporting conveyor line 1 and waits to be grabbed and palletized;

[0034] S2: Then, the robot main body 2 moves the position of the gripper main body 205, moves the unfolded gripper main body 205 to both sides of the package on the supporting conveyor line 1. The external air supply device controls the gripper main body 205 to close through the gripper cylinder 204 to grab the package, and uses the robot main body 2 to move the gripper main body 205 and the package to the pallet 306 and then releases the gripper main body 205 to place the package on the pallet 306 for palletizing;

[0035] S3: Finally, the external device pushes the two sets of rail vehicle main bodies 304 that have completed single-sided palletizing to move in the direction of the limit baffle 303 for unpacking treatment, while the two sets of empty pallet rail vehicle main bodies 304 on the other side move to the other side of the robot main body 2 and the gripper main body 205 under the traction of the external device for packing and palletizing treatment.

[0036] Working principle: When a double-robot double-sided rail vehicle palletizing device is in use, in the initial state, the supporting conveyor line 1 is arranged at the package output end of the incoming package conveyor line 102. The first support leg 101 and the second support leg 106 are respectively arranged at the bottoms of the supporting conveyor line 1 and the incoming package conveyor line 102 for support. And a set of robot main body 2 and gripper main body 205 are respectively arranged above the supporting conveyor line 1 and the incoming package conveyor line 102 to facilitate the grabbing and palletizing of the packages on the supporting conveyor line 1 and the incoming package conveyor line 102. Two sets of rail vehicle main bodies 304, carrier frames 305 and pallets 306 are slidably connected to the rail supports 301 and rail main bodies 302 arranged on both sides of the supporting conveyor line 1. And the rail vehicle main body 304 is connected to the external driving mechanism through the connecting side frame 307. At the same time, the rail vehicle main bodies 304, carrier frames 305 and pallets 306 on both sides of the supporting conveyor line 1 perform alternating reciprocating motions to facilitate alternating reciprocating palletizing operations;

[0037] When it is necessary to use two groups of robots for reciprocating and alternating bag grabbing, palletizing, and bag delivering, first, the package is placed on the incoming package conveyor line 102 and transported by the conveyor belt 103. When the package is about to reach the supporting conveyor line 1, the guiding plate 105 is used to center-align the position of the package. The aligned package is transferred to the supporting conveyor line 1 and waits to be grabbed and palletized. Then, the robot body 2 is used to move the position of the gripper body 205, and the unfolded gripper body 205 is moved to both sides of the package on the supporting conveyor line 1. The external air supply device controls the gripper body 205 to close through the gripper cylinder 204 to grab the package, and the robot body 2 moves the gripper body 205 and the package to the pallet 306 and then releases the gripper body 205 to place the package on the pallet 306 for palletizing. Finally, the external device pushes the two sets of railcar bodies 304 with single-sided palletizing completed towards the direction of the limit baffle 303 for bag unloading, and the two sets of empty pallet railcar bodies 304 on the other side are moved to the other side of the robot body 2 and the gripper body 205 under the traction of the external device for bag loading and palletizing. This device is convenient for using two groups of robots for reciprocating and alternating bag grabbing, palletizing, and bag delivering.

[0038] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0039] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A double-robot double-side rail vehicle palletizing device, comprising a supporting conveyor line (1), characterized in that: At one end and above the supporting conveyor line (1), two sets of robot bodies (2) are respectively arranged, and on both sides of the supporting conveyor line (1), there is an orbital palletizing mechanism (3) facilitating reciprocating palletizing and bag feeding; Orbital palletizing mechanism (3), the orbital palletizing mechanism (3) includes an orbital support (301), an orbital body (302), a limit baffle (303), an orbital vehicle body (304), a bearing frame (305), a pallet (306), a connecting side frame (307) and a drive chain U-shaped rail (308). The orbital support (301) is arranged on the left and right sides of the supporting conveyor line (1). Two of the orbital bodies (302) are fixedly connected to both ends of the upper surface of the orbital support (301). The limit baffle (303) is fixedly connected to the upper surface of the orbital support (301). Two sets of the orbital vehicle bodies (304) are slidably connected to the orbital body (302). The bearing frame (305) is fixedly connected to the upper surface of the orbital vehicle body (304). The pallet (306) is fixedly connected to the top of the bearing frame (305). Two sets of the connecting side frames (307) are fixedly connected to the opposite sides of the two sets of orbital vehicle bodies (304). Two sets of the drive chain U-shaped rails (308) are fixedly connected to the outer sides of the two orbital bodies (302).

2. The double-robot double-side rail vehicle palletizing device according to claim 1, wherein: The lower surface of the supporting conveyor line (1) is fixedly connected with a first support leg (101). At the incoming-bag end of the supporting conveyor line (1), there is an incoming-bag conveyor line (102). On the incoming-bag conveyor line (102), there is a conveyor belt (103). On one side of the incoming-bag conveyor line (102), there is a driving motor (104) fixedly arranged. The upper surface of the incoming-bag conveyor line (102) is fixedly connected with a guiding plate (105). The lower surface of the incoming-bag conveyor line (102) is fixedly connected with a second support leg (106).

3. A double-robot bilateral rail vehicle palletizing device according to claim 1, characterized in that: The bottom of the robot body (2) is fixedly connected with a robot base (201). The bottom of the robot base (201) is fixedly connected with a base fixing plate (202). At the front end of the robot body (2), there is a jaw frame (203). On the jaw frame (203), there is a jaw cylinder (204). At the bottom of the jaw frame (203), there is a jaw body (205).

4. A double-robot bilateral rail car palletizing device according to claim 1, characterized in that: On one side of the orbital body (302), two sets of the orbital vehicle bodies (304), the bearing frame (305) and the pallet (306) are slidably connected, and the limit baffle (303) is in contact with one side of the orbital vehicle body (304).

5. A double-robot double-side rail vehicle palletizing device according to claim 1, characterized in that: The connecting side frame (307) is connected to an external chain push-pull unit, and the drive chain of the chain push-pull unit is arranged inside the drive chain U-shaped rail (308).

6. The double-robot double-side rail vehicle palletizing device according to claim 1, characterized in that: The orbital vehicle body (304), the bearing frame (305) and the pallet (306) are slidably connected to both sides of the two sets of robot bodies (2) and the supporting conveyor line (1).

7. A double-robot bilateral rail car palletizing device according to claim 3, characterized in that: The jaw cylinder (204) is pneumatically connected to the jaw body (205), and the jaw cylinder (204) is connected to an external air supply device.

8. A double-robot bilateral rail car palletizing device according to claim 3, characterized in that: The gripper body (205) is movably arranged above the supporting conveyor line (1), and the gripper body (205) is movably arranged above the pallet (306).

9. A double-robot double-side rail vehicle palletizing device according to claim 3, characterized in that: The two sets of robot bases (201) are respectively arranged at one end of the supporting conveyor line (1) and sleeved at one end of the incoming package conveyor line (102) close to the supporting conveyor line (1).

10. A control method for a double-robot bilateral rail vehicle palletizing device, characterized in that, It includes the following steps: S1: First, the package is placed on the incoming package conveyor line (102) and transported by the conveyor belt (103). When the package is about to reach the supporting conveyor line (1), the guide plate (105) is used to center-align the position of the package. The aligned package is transferred to the supporting conveyor line (1) and waits to be grasped and palletized; S2: Then, the robot body (2) moves the position of the gripper body (205), moves the unfolded gripper body (205) to both sides of the package on the supporting conveyor line (1). The external air supply device controls the gripper body (205) to close through the gripper cylinder (204) to perform the grasping operation on the package, and uses the robot body (2) to move the gripper body (205) and the package to the pallet (306) and then releases the gripper body (205) to place the package on the pallet (306) for palletizing; S3: Finally, the external device pushes the two sets of rail car bodies (304) with single-sided palletizing completed towards the direction of the limit baffle (303) for package unloading, and the two sets of empty pallet rail car bodies (304) on the other side are moved to the other side of the robot body (2) and the gripper body (205) under the traction of the external device for package loading and palletizing.

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