C-shaped steel automatic stacking machine

Abstract

The utility model discloses an automatic C-shaped steel stacker crane, which relates to the field of storage and transportation equipment, and comprises a turnover mechanism and a transplanting mechanism, the turnover mechanism is arranged in the stroke range of the transplanting mechanism, the turnover mechanism comprises a rack support, a conveying module and a turnover module, the conveying module and the turnover module are arranged on the rack support, and the conveying module and the turnover module are arranged on the rack support. The overturning module is arranged on the peripheral side of the conveying module; the transplanting mechanism comprises a frame body, a mechanical arm assembly and a manipulator, the mechanical arm assembly is mounted on the frame body, and the manipulator is mounted on the mechanical arm assembly. Transportation and turnover of materials are achieved through the turnover mechanism, the mechanical arm assembly drives the mechanical arm to move transversely and longitudinally, the mechanical arm clamps and lifts the materials and transfers the materials to a stacking point, manual participation is reduced, and stacking efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of storage and transportation equipment, in particular to a C-shaped steel automatic palletizer. Background Art

[0002] The degree of automation control of traditional palletizers is not high, and manual cooperation is required in many places. The existing C-shaped steel stacking method mainly relies on manual work, and the C-shaped steel on the conveyor chain needs to be manually transferred to the stacking point. In this process, in order to save storage space and facilitate subsequent transportation, workers are also required to flip the C-shaped steel so that it can be staggered and stacked. The flipping process is time-consuming and labor-intensive, and the efficiency is low. Manual work is prone to fatigue and errors after long-term work, which creates operational risks.

[0003] In view of this, the present invention has been deeply conceived, and actively studied, improved and tried to develop and design the present invention. Utility Model Content

[0004] The utility model aims to provide a C-shaped steel automatic palletizer, which can turn over and transfer materials, save manpower and improve the palletizing efficiency.

[0005] In order to achieve the above purpose, the solution of the utility model is:

[0006] A C-shaped steel automatic palletizer, comprising a flipping mechanism and a transplanting mechanism, wherein the flipping mechanism is arranged within the travel range of the transplanting mechanism, the flipping mechanism comprises a frame support, a conveying module and a flipping module, wherein the conveying module and the flipping module are installed on the frame support, and the flipping module is arranged on the periphery of the conveying module;

[0007] The transplanting mechanism comprises a frame, a mechanical arm assembly and a mechanical hand, wherein the mechanical arm assembly is mounted on the frame, and the mechanical hand is mounted on the mechanical arm assembly;

[0008] The frame includes a bottom beam, a vertical beam and a cantilever beam, two ends of the vertical beam are respectively fixed to the bottom beam and the cantilever beam, and one end of the cantilever beam is extended in a direction away from the vertical beam;

[0009] The robotic arm assembly includes an X-axis module, a Y-axis module, an X-axis drive assembly and a Y-axis drive assembly. The X-axis module is movably mounted on the cantilever beam, and the Y-axis module is movably mounted on the X-axis module; the X-axis drive assembly is connected to the X-axis module to drive the X-axis module to move horizontally; the Y-axis drive assembly is connected to the Y-axis module to drive the Y-axis module to move longitudinally.

[0010] Furthermore, the cantilever beam is provided with a transverse guide rail;

[0011] The X-axis drive assembly includes a first drive motor, a first transmission shaft, a first driving sprocket assembly, a first driven sprocket assembly and a first chain, wherein the first drive motor is mounted on a frame, two ends of the first transmission shaft are respectively connected to an output end of the first drive motor and the first driving sprocket assembly, the first driving sprocket assembly is connected to the first driven sprocket assembly through a first chain, and the first driven sprocket assembly is fixed to the cantilever beam;

[0012] The X-axis module includes an X-axis cantilever, a transverse slider and a transverse connecting plate. The transverse slider is arranged on the side of the X-axis cantilever close to the cantilever beam, and the transverse slider is movably cooperated with the transverse guide rail; one end of the transverse connecting plate is fixed to the X-axis cantilever, and the other end is connected to the first chain.

[0013] Furthermore, a longitudinal sliding block is provided on the side of the X-axis module close to the Y-axis module;

[0014] The Y-axis driving assembly includes a second driving motor, a second transmission shaft, a second driving sprocket assembly, a second driven sprocket assembly and a second chain, wherein the second driving motor is mounted on the frame, and both ends of the second transmission shaft are respectively connected to the output end of the second driving motor and the second driving sprocket assembly, the second driving sprocket assembly is connected to the second driven sprocket assembly through the second chain, and the second driven sprocket assembly is mounted on the cantilever beam;

[0015] The Y-axis module includes a Y-axis cantilever, a first transmission sprocket, a second transmission sprocket, a third chain, two longitudinal tensioning wheels and a longitudinal guide rail. The longitudinal guide rail is arranged on the side of the Y-axis cantilever close to the X-axis module, and the longitudinal guide rail is movably cooperated with the longitudinal slider; the first transmission sprocket and the second transmission sprocket are coaxially arranged and installed on the X-axis module, the first transmission sprocket is connected to the second chain, and the second transmission sprocket is connected to the third chain; the two longitudinal tensioning wheels are installed on the X-axis module, and the two ends of the third chain are respectively passed around the two longitudinal tensioning wheels and then fixed to the two ends of the Y-axis cantilever.

[0016] Furthermore, it also includes a suspension beam, the two ends of which are respectively mounted on the two Y-axis modules, and the manipulator is mounted on the suspension beam;

[0017] The suspension beam is installed on the Y-axis module through a locking piece; the locking piece includes a locking seat and a clamp, the locking seat is installed on the bottom of the Y-axis module, and the clamp is sleeved on the suspension beam and fixed on the locking seat.

[0018] Further, the manipulator comprises a left hook assembly and a right hook assembly connected to each other, the left hook assembly comprises a left side plate, an upper and lower plate, a first driving cylinder and a first hook, the upper and lower plates are mounted on the left side plate; the first driving cylinder and the first hook are hinged to the upper and lower plates, and the first driving cylinder is connected to the first hook;

[0019] The right hook assembly includes a right side plate, a movable plate, a second driving cylinder, and a second hook. The movable plate is movably mounted on the right side plate, and the movable plate moves laterally relative to the right side plate. The second driving cylinder and the second hook are hinged to the movable plate, and the second driving cylinder is connected to the second hook.

[0020] Furthermore, the upper and lower plates are movably mounted on the left side plate, and the upper and lower plates move longitudinally relative to the left side plate; a first limit cylinder is mounted on the left side plate, and a piston rod of the first limit cylinder is connected to the upper and lower plates;

[0021] The upper and lower plates are longitudinally provided with a first clamping jaw slide rail, and the left side plate is provided with a first clamping jaw slider at a position corresponding to the first clamping jaw slide rail, and the first clamping jaw slide rail and the first clamping jaw slider cooperate with each other.

[0022] Furthermore, a second limiting cylinder is installed on the right side plate, a limiting plate is provided on the movable plate, and a piston rod of the second limiting cylinder is connected to the limiting plate;

[0023] The right side plate is laterally provided with a second clamping jaw slide rail, the movable plate is provided with a second clamping jaw slider at a position corresponding to the second clamping jaw slide rail, and the second clamping jaw slide rail and the second clamping jaw slider cooperate with each other.

[0024] Furthermore, the conveying module includes a channel beam, a partition, a plurality of sprocket rollers and a conveying motor, the two ends of the sprocket roller are respectively mounted on the channel beam and the partition, and the conveying motor is connected to the sprocket roller;

[0025] The flip module includes a lifting cylinder, a flip block and a support frame, wherein the support frame is mounted on a frame support, the flip block is rotatably mounted on the support frame, and the flip block is movably fitted between a plurality of sprocket rollers, the flip block is configured to rotate in a vertical direction, and the lifting cylinder is hinged to the flip block.

[0026] Furthermore, the flipping block includes a flipping arm, a pivot seat and a flipping block rotating seat, the flipping block rotating seat can be rotatably installed on the support frame, the lifting cylinder is connected to the pivot seat, and the flipping arm extends to the conveying module; the partition is provided with a recess corresponding to the flipping arm, the bottom of the recess is lower than the sprocket roller setting, and the flipping arm is movably fitted in the recess.

[0027] Furthermore, it also includes an adjustment module, the adjustment module includes an adjustment base plate and a base frame cylinder, the adjustment base plate is installed on the frame support, the frame support is provided with a horizontally arranged cylinder support, one end of the base frame cylinder is installed on the adjustment base plate, and the other end is connected to the cylinder support;

[0028] The adjustment bottom plate extends upward to form a plurality of height adjustment plates, the height adjustment plates are provided with a plurality of longitudinally arranged locking holes, and the rack support is installed on the height adjustment plates.

[0029] After adopting the above scheme, the palletizer of the utility model has the following advantages:

[0030] 1. The transplanting mechanism drives the X-axis module to move horizontally through the X-axis drive assembly, and drives the Y-axis module to move vertically through the Y-axis drive assembly; the robotic arm assembly drives the manipulator to move horizontally and vertically, and the manipulator lifts the material and transfers it to the stacking point, which is more time-saving and labor-saving than manual stacking. The entire material transfer process does not require manual participation, and the material is automatically transferred, which avoids the fatigue caused by long-term work of workers, and has higher production efficiency and lower error rate.

[0031] 2. The manipulator drives the first hook hinged to the upper and lower plates to rotate through the first driving cylinder, and drives the second hook hinged to the movable plate to rotate through the second driving cylinder. The first driving cylinder and the second driving cylinder extend, and the first hook and the second hook are hooked inward. The first driving cylinder and the second driving cylinder retract, and the first hook and the second hook are released outward, thereby realizing the function of clamping / releasing materials, replacing manual labor and improving efficiency.

[0032] 3. The flipping mechanism drives the sprocket roller to rotate through the conveying motor, and the material is transported through the sprocket roller; when the material passes through the flipping module, the lifting cylinder extends, the flipping block is lifted upward, and the material is flipped; after the material leaves, the lifting cylinder retracts, and the flipping block falls back to the initial position, avoiding the conveying module and continuing to transport the material. The flipping mechanism realizes the transportation and flipping of materials, reduces manual participation, and improves the stacking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 The three-dimensional structure of the preferred embodiment of the utility model Figure 1 ;

[0035] Figure 2 The three-dimensional structure of the preferred embodiment of the utility model Figure 2 ;

[0036] Figure 3 The structure of the transplanting mechanism in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0037] Figure 4 The structure of the transplanting mechanism in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0038] Figure 5 The structure of the transplanting mechanism in the preferred embodiment of the utility model is shown in FIG. Figure 3 ;

[0039] Figure 6 for Figure 5 A partial enlarged view of the middle A;

[0040] Figure 7 for Figure 5 A partial enlarged view of point B in the middle;

[0041] Figure 8 The structure of the transplanting mechanism in the preferred embodiment of the utility model is shown in FIG. Figure 4 ;

[0042] Fig. 9 for Figure 8 A partial enlarged view of point C in the middle;

[0043] Fig.10 The structure of the transplanting mechanism in the preferred embodiment of the utility model is shown in FIG. Figure 5 ;

[0044] Fig.11 for Fig.10 A partial enlarged view of point D in the middle;

[0045] Fig.12 The structure of the manipulator and cantilever in the preferred embodiment of the utility model is schematically shown. Figure 1 ;

[0046] Fig.13 The structure of the manipulator and cantilever in the preferred embodiment of the utility model is schematically shown. Figure 2 ;

[0047] Fig.14 The structure diagram of the left hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0048] Fig.15 The structure diagram of the left hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0049] Fig.16 The structure of the right hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0050] Fig.17 The structure of the right hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0051] Fig.18 The structure of the right hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 3 .

[0052] Fig.19 The structure diagram of the flip mechanism in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0053] Fig. 20 The structure diagram of the flip mechanism in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0054] Fig.21 for Fig. 20 A partial enlarged view of point E in the middle;

[0055] Fig. 22 It is a structural schematic diagram of the frame support and the adjustment module in the preferred embodiment of the utility model.

[0056] Description of the accompanying drawings: a, transplanting mechanism; 11a, bottom beam; 12a, vertical beam; 13a, cantilever beam; 14a, connecting crossbeam; 15a, strengthening oblique support; 16a, transverse guide rail; 21a, X-axis module; 211a, X-axis cantilever; 212a, transverse slider; 213a, transverse connecting plate; 214a, longitudinal slider; 22a, Y-axis module; 221a, Y-axis cantilever; 222a, first transmission sprocket; 223a, second transmission sprocket; 224a, third chain; 225a, longitudinal tensioning sprocket; 226a, transverse tensioning sprocket; 227a, chain fixing block; 228a, longitudinal guide rail; 229a, sprocket plate; 23a, X-axis drive assembly; 231a, first drive motor; 232a, First transmission shaft; 233a, first driving sprocket assembly; 2341a, X-axis fixing plate; 2342a, mounting plate; 2343a, X-axis driven sprocket; 2344a, stop block; 2345a, X-axis fixing block; 2346a, X-axis stop bolt; 234a, first driven sprocket assembly; 235a, first chain; 24a, Y-axis driving assembly; 241a, second driving motor; 242a, second transmission shaft; 243a, second driving sprocket assembly; 244a, second driven sprocket assembly; 2441a, Y-axis fixing plate; 2442a, flange bushing; 2443a, guide shaft; 2444a, sprocket tension plate; 2445a, bearing seat; 2446a, Y-axis driven sprocket; 2447a , Y-axis limiting bolt; 245a, second chain; 3a, manipulator; 31a, left hook assembly; 3101a, left side plate; 3102a, upper and lower plates; 3103a, left cylinder support; 3104a, first driving cylinder; 31051a, first hinged part; 31052a, first hook part; 3105a, first hook; 3106a, first gripper slide rail; 3107a, first gripper slider; 3108a, first limiting cylinder; 32a, right hook assembly; 3201a, right side plate; 3202a, movable plate; 3203a, right cylinder support; 3204a, second driving cylinder; 32051a, second hinged part; 32052a, second hook part; 3205a, second hook; 3 206a, second gripper slide rail; 3207a, second gripper slider; 3208a, second limit cylinder; 3209a, limit cylinder support; 3210a, limit plate; 3211a, limit slot; 3301a, left hook rotating seat; 3302a, right hook rotating seat; 4a, suspension beam; 51a, locking seat; 52a, hoop; b, flip mechanism; 1b, frame support; 2b, conveying module; 21b, slot beam; 22b, sprocket roller; 231b, notch; 232b, through hole; 23b, partition; 24b, conveying motor; 251b, groove; 25b, chain cover; 26b, cylinder fixing seat; 27b, push cylinder; 28b, scraper; 3b, flip module; 31b, lifting cylinder;32b, cylinder mounting seat; 331b, flip arm; 332b, pivot seat; 333b, shift block rotating seat; 33b, flip shift block; 34b, support frame; 4b, adjustment module; 41b, adjustment base plate; 42b, base frame cylinder; 43b, base plate cylinder support; 44b, height adjustment plate; 45b, lock hole. ; DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0059] like Figures 1 to 22 As shown, a preferred embodiment of the utility model is a C-shaped steel automatic palletizer, including a flip mechanism b and a transplanting mechanism a. The flip mechanism b is arranged within the travel range of the transplanting mechanism a. The flip mechanism b includes a frame support 1b, a conveying module 2b and a flip module 3b. The conveying module 2b and the flip module 3b are installed on the frame support 1b, and the flip module 3b is arranged on the side around the conveying module 2b.

[0060] like Figures 3 to 11 As shown, the transplanting mechanism a includes a frame, a robotic arm assembly and a robot 3a. The robotic arm assembly is installed on the frame, and the robot 3a is installed on the robotic arm assembly. The robot 3a is driven to move by the robotic arm assembly, and the material transported on the flipping mechanism b is transferred to the stacking point by the robot 3a.

[0061] Specifically, the frame includes a bottom beam 11a, a vertical beam 12a and a cantilever beam 13a, wherein both ends of the vertical beam 12a are respectively fixed to the bottom beam 11a and the cantilever beam 13a, and one end of the cantilever beam 13a is extended in a direction away from the vertical beam 12a; the robot arm assembly includes an X-axis module 21a, a Y-axis module 22a, an X-axis drive assembly 23a and a Y-axis drive assembly 24a, wherein the X-axis module 21a is movably mounted on the cantilever beam 13a, and the Y-axis module 22a is movably mounted on the X-axis module 21a; the X-axis drive assembly 23a is connected to the X-axis module 21a to drive the X-axis module 21a to move horizontally; the Y-axis drive assembly 24a is connected to the Y-axis module 22a to drive the Y-axis module 22a to move longitudinally.

[0062] In this embodiment, the frame includes two groups of bottom beams 11a, vertical beams 12a and cantilever beams 13a, and the frame also includes a connecting beam 14a. The left and right ends of the connecting beam 14a are respectively installed on the two vertical beams 12a, and the X-axis drive component 23a and the Y-axis drive component 24a are installed on the connecting beam 14a; a group of X-axis modules 21a and Y-axis modules 22a are provided on the left and right sides of the X-axis drive component 23a and the Y-axis drive component 24a.

[0063] The above-mentioned connecting beam 14a is connected between the two groups of bottom beams 11a, the vertical beams 12a and the cantilever beams 13a, and can play the role of a supporting frame 34b body; the X-axis drive assembly 23a and the Y-axis drive assembly 24a are both fixed in the middle of the connecting beam 14a, and the two groups of X-axis modules 21a are respectively arranged on the cantilever beams 13a on both sides of the X-axis drive assembly 23a, and the two groups of Y-axis modules 22a are respectively arranged on the X-axis drive assembly 23a on both sides of the Y-axis drive assembly 24a.

[0064] In this embodiment, a lateral guide rail 16a is provided on the side wall of the cantilever beam 13a;

[0065] The X-axis driving assembly 23a includes a first driving motor 231a, a first transmission shaft 232a, a first driving sprocket assembly 233a, a first driven sprocket assembly 234a and a first chain 235a. The first driving motor 231a is installed on the frame. The two ends of the first transmission shaft 232a are respectively connected to the output end of the first driving motor 231a and the first driving sprocket assembly 233a. The first driving sprocket assembly 233a is connected to the first driven sprocket assembly 234a through the first chain 235a. The first driven sprocket assembly 234a is fixed to the cantilever beam 13a.

[0066] The X-axis module 21a includes an X-axis cantilever 211a, a transverse slider 212a and a transverse connecting plate 213a. The transverse slider 212a is arranged on the side of the X-axis cantilever 211a close to the cantilever beam 13a, and the transverse slider 212a is movably cooperated with the transverse guide rail 16a; one end of the transverse connecting plate 213a is locked to the X-axis cantilever 211a, and the other end is connected to the first chain 235a.

[0067] Specifically, the two output ends of the first drive motor 231a are respectively connected to the first transmission shaft 232a through the couplings, and the first drive motor 231a is simultaneously connected to two first active sprocket assemblies 233a installed on the cantilever beam 13a through the two first transmission shafts 232a, and the first active sprocket group drives the first driven sprocket group to rotate through the first chain 235a; one end of the transverse connecting plate 213a can be connected to the first chain 235a through a pin, a sleeve bolt, a sleeve, etc., and the X-axis cantilever 211a can slide along the cantilever beam 13a through the mutual cooperation of the transverse slider 212a and the transverse guide rail 16a, and the X-axis cantilever 211a is driven by the transverse connecting plate 213a to move synchronously with the first chain 235a, thereby realizing the lateral movement of the machine manipulator 3a.

[0068] In this embodiment, a longitudinal sliding block 214a is provided on the side of the X-axis module 21a close to the Y-axis module 22a;

[0069] The Y-axis driving assembly 24a includes a second driving motor 241a, a second transmission shaft 242a, a second driving sprocket assembly 243a, a second driven sprocket assembly 244a and a second chain 245a. The second driving motor 241a is installed on the frame. The two ends of the second transmission shaft 242a are respectively connected to the output end of the second driving motor 241a and the second driving sprocket assembly 243a. The second driving sprocket assembly 243a is connected to the second driven sprocket assembly 244a through the second chain 245a. The second driven sprocket assembly 244a is installed on the cantilever beam 13a.

[0070] The Y-axis module 22a includes a Y-axis cantilever 221a, a first transmission sprocket 222a, a second transmission sprocket 223a, a third chain 224a, two longitudinal tensioning sprockets 225a and a longitudinal guide rail 228a. The longitudinal guide rail 228a is arranged on the side of the Y-axis cantilever 221a close to the X-axis module 21a, and the longitudinal guide rail 228a is movably matched with the longitudinal slider 214a; the first transmission sprocket 222a and the second transmission sprocket 223a are coaxially arranged and installed on the X-axis module 21a, the first transmission sprocket 222a is connected to the second chain 245a, and the second transmission sprocket 223a is connected to the third chain 224a; the two longitudinal tensioning sprockets 225a are installed on the X-axis module 21a, and the two ends of the third chain 224a are respectively passed around the two longitudinal tensioning sprockets 225a and then fixed to the two ends of the Y-axis cantilever 221a.

[0071] Specifically, the two output ends of the second drive motor 241a are respectively connected to the second transmission shaft 242a through the coupling, and the second drive motor 241a is simultaneously connected to two second active sprocket assemblies 243a installed on the cantilever beam 13a through the two second transmission shafts 242a, and the second chain 245a rotates around the second active sprocket assembly 243a and the second driven sprocket assembly 244a; the driving shafts of the first transmission sprocket 222a and the second transmission sprocket 223a are installed on the X-axis cantilever 211a through the T-shaped double bearing assembly, and the second chain 245a drives the first transmission sprocket 222a to rotate, thereby driving the second transmission sprocket 223a to rotate synchronously; the two longitudinal tensioning sprockets 22 5a is fixed to the X-axis cantilever 211a through a sprocket plate 229a, one end of the third chain 224a is fixed to a chain fixing block 227a arranged at the upper end of the Y-axis cantilever 221a after passing through a longitudinal tensioning sprocket 225a, and the other end of the third chain 224a is fixed to a chain fixing block 227a arranged at the lower end of the Y-axis cantilever 221a after passing through another longitudinal tensioning sprocket 225a. The Y-axis cantilever 221a can slide perpendicular to the cantilever beam 13a through the mutual cooperation of the longitudinal guide rail 228a and the longitudinal sliding block 214a, and the Y-axis cantilever 221a is driven by the third chain 224a to move synchronously with the second chain 245a, thereby realizing the longitudinal movement of the robot 3a.

[0072] Reinforced oblique supports 15a are provided between the bottom beam 11a and the vertical beam 12a, and between the vertical beam 12a and the cantilever beam 13a, so that the frame structure is more stable.

[0073] The transplanting mechanism a of the utility model also includes a suspension beam 4a, the two ends of which are respectively mounted on the two Y-axis modules 22a, and the manipulator 3a is mounted on the suspension beam 4a. In this embodiment, the manipulator 3a is mounted on the Y-axis cantilever 221a through the suspension beam 4a, and a plurality of manipulators 3a are mounted on the suspension beam 4a to jointly perform the action of clamping the material. The length of the suspension beam 4a and the number of manipulators 3a can be adjusted according to the material conditions.

[0074] Specifically, the suspension beam 4a is mounted on the Y-axis suspension arm 221a through a locking member. The locking member includes a locking seat 51a and a clamp 52a. The locking seat 51a is mounted on the bottom of the Y-axis suspension arm 221a. The clamp 52a is sleeved on the suspension beam 4a and fixed on the locking seat 51a.

[0075] like Fig. 9As shown, in order to improve the transmission stability, the first driven sprocket assembly 234a includes an X-axis fixed plate 2341a, a mounting plate 2342a, an X-axis driven sprocket 2343a, an X-axis fixed block 2345a and an X-axis limiting bolt 2346a, the X-axis fixed plate 2341a and the X-axis fixed block 2345a are fixedly arranged on the cantilever beam 13a; the mounting plate 2342a is movably connected to the X-axis fixed plate 2341a, and the mounting plate 2342a is provided with a limiting block 2344a at the corresponding X-axis fixed block 2345a, and the X-axis limiting bolt 2346a passes through the X-axis fixed block 2345a and abuts against the limiting block 2344a; the X-axis driven sprocket 2343a is installed on the mounting plate 2342a.

[0076] Specifically, the mounting plate 2342a is movably mounted in the slide groove on the X-axis fixing plate 2341a, and the X-axis fixing block 2345a is located between the X-axis driven sprocket 2343a and the first driving sprocket assembly 233a. After the mounting plate 2342a is pushed away from the X-axis fixing block 2345a by the X-axis limiting bolt 2346a until the first chain 235a has a suitable tension, the nut of the X-axis limiting bolt 2346a located between the limiting block 2344a and the X-axis fixing block 2345a is tightened to make it close to the X-axis fixing block 2345a, thereby locking the mounting plate 2342a.

[0077] In this embodiment, the Y-axis module 22a further includes a transverse tension sprocket 226a, which is mounted on the X-axis module 21a and connected to the second chain 245a, and the transverse tension sprocket 226a and the first transmission sprocket 222a are respectively located on the inner and outer sides of the second chain 245a. Specifically, the two transverse tension sprockets 226a are respectively arranged on both sides of the first transmission sprocket 222a, and the transverse tension sprocket 226a is locked to the X-axis cantilever 211a through the T-shaped guide shaft 2443a support.

[0078] like Fig.11 As shown, the second driven sprocket assembly 244a includes a Y-axis fixed plate 2441a, a flange bushing 2442a, a guide shaft 2443a, a sprocket tension plate 2444a, a bearing seat 2445a, a Y-axis driven sprocket 2446a and a Y-axis limiting bolt 2447a, and the Y-axis fixed plate 2441a is arranged at the end of the cantilever beam 13a; one end of the guide shaft 2443a is fixed to the sprocket tension plate 2444a, and the other end is movably installed on the Y-axis fixed plate 2441a through the flange bushing 2442a; the Y-axis limiting bolt 2447a passes through the sprocket tension plate 2444a and then abuts against the Y-axis fixed plate 2441a, and the Y-axis driven sprocket 2446a is installed on the sprocket tension plate 2444a through the bearing seat 2445a.

[0079] Specifically, the sprocket tension plate 2444a moves relative to the Y-axis fixed plate 2441a through the guide shaft 2443a, and the distance between the sprocket tension plate 2444a and the Y-axis fixed plate 2441a is adjusted until the second chain 245a has a suitable tension, and then the Y-axis limit bolt 2447a is tightened to tighten the nut between the sprocket tension plate 2444a and the Y-axis fixed block to make it close to the sprocket tension plate 2444a, thereby locking the sprocket tension plate 2444a.

[0080] like Figures 12 to 18 As shown, the manipulator 3a includes a left hook assembly 31a and a right hook assembly 32a connected to each other, the left hook assembly 31a includes a left side plate 3101a, an upper and lower plate 3102a, a first driving cylinder 3104a and a first hook 3105a, the upper and lower plates 3102a are installed on the left side plate 3101a; the first driving cylinder 3104a and the first hook 3105a are hinged to the upper and lower plates 3102a, and the first driving cylinder 3104a and the first hook 3105a are hinged to the upper and lower plates 3102a. 5a connection; the right hook assembly 32a includes a right side plate 3201a, a movable plate 3202a, a second driving cylinder 3204a, and a second hook 3205a. The movable plate 3202a is movably mounted on the right side plate 3201a, and the movable plate 3202a moves laterally relative to the right side plate 3201a; the second driving cylinder 3204a and the second hook 3205a are hinged to the movable plate 3202a, and the second driving cylinder 3204a is connected to the second hook 3205a.

[0081] In this embodiment, the left side plate 3101a and the right side plate 3201a are respectively locked on both sides of the suspension beam 4a. The left hook assembly 31a and the right hook assembly 32a are installed on the suspension beam 4a by screw locking, and the robot 3a can be conveniently connected to the robot arm assembly through the suspension beam 4a to cooperate with the stacking work.

[0082] During operation, the first driving cylinder 3104a drives the first hook 3105a hinged on the upper and lower plates 3102a to rotate, and the second driving cylinder 3204a drives the second hook 3205a hinged on the movable plate 3202a to rotate, the first driving cylinder 3104a and the second driving cylinder 3204a extend, the first hook 3105a and the second hook 3205a are hooked inward, the first driving cylinder 3104a and the second driving cylinder 3204a retract, and the first hook 3105a and the second hook 3205a are released outward, thereby realizing the function of clamping / releasing materials.

[0083] Furthermore, since the movable plate 3202a can move laterally relative to the right side plate 3201a, the movable plate 3202a can be moved away from / closer to the left hook assembly 31a, thereby adjusting the size of the clamping and lifting space between the movable plate 3202a and the upper and lower plates 3102a to facilitate clamping of materials.

[0084] In this embodiment, the upper and lower plates 3102a are movably installed on the left plate 3101a, and the upper and lower plates 3102a move longitudinally relative to the left plate 3101a; a first limiting cylinder 3108a is installed on the left plate 3101a, and the piston rod of the first limiting cylinder 3108a is connected to the upper and lower plates 3102a.

[0085] Specifically, the upper and lower plates 3102a are longitudinally provided with a first clamping claw slide rail 3106a, and the left side plate 3101a is provided with a first clamping claw slider 3107a at the position corresponding to the first clamping claw slide rail 3106a, and the first clamping claw slide rail 3106a and the first clamping claw slider 3107a cooperate with each other. The upper and lower plates 3102a are driven to slide on the left side plate 3101a by the first limiting cylinder 3108a, so as to adjust the working position of the first hook 3105a.

[0086] In this embodiment, a second limiting cylinder 3208a is installed on the right side plate 3201a, a limiting plate 3210a is provided on the movable plate 3202a, and a piston rod of the second limiting cylinder 3208a is connected to the limiting plate 3210a.

[0087] Specifically, a second clamping claw slide rail 3206a is disposed transversely at the bottom of the right side plate 3201a, and a second clamping claw slider 3207a is disposed at the top of the movable plate 3202a corresponding to the second clamping claw slide rail 3206a, and the second clamping claw slide rail 3206a and the second clamping claw slider 3207a cooperate with each other. The second limiting cylinder 3208a is also disposed transversely, and the limiting plate 3210a is located at the top of the movable plate 3202a and extends to the stroke range of the piston rod of the second limiting cylinder 3208a. The limiting plate 3210a is driven by the second limiting cylinder 3208a to drive the movable plate 3202a to slide on the right side plate 3201a, thereby adjusting the working position of the second hook 3205a.

[0088] In this embodiment, a limiting groove 3211a is provided at the bottom of the right side plate 3201a, and the second limiting cylinder 3208a is installed in the limiting groove 3211a through a limiting cylinder support 3209a.

[0089] Specifically, the opening direction of the limiting through slot 3211a is parallel to the direction of the second clamping jaw slide rail 3206a, and the second limiting cylinder 3208a is installed on the limiting cylinder support 3209a, and the limiting cylinder support 3209a is bolted above the limiting slot. This structure can conveniently adjust the installation position of the second limiting cylinder 3208a, and better adapt to the objects to be stacked of different sizes when the piston rod length of the second limiting cylinder 3208a is limited.

[0090] This embodiment also includes a left cylinder support 3103a installed on the upper and lower plates 3102a and a right cylinder support 3203a installed on the movable plate 3202a, the cylinder body of the first driving cylinder 3104a is hinged to the left cylinder support 3103a, and the piston rod of the first driving cylinder 3104a is hinged to the first hook 3105a; the cylinder body of the second driving cylinder 3204a is hinged to the right cylinder support 3203a, and the piston rod of the second driving cylinder 3204a is hinged to the second hook 3205a.

[0091] The above-mentioned first hook 3105a includes a first hinged portion 31051a and a first bent hook portion 31052a, a left hook rotating seat 3301a is provided on the upper and lower plates 3102a, and the first hinged portion 31051a is hinged to the left hook rotating seat 3301a; the second hook 3205a includes a second hinged portion 32051a and a second bent hook portion 32052a, a right hook rotating seat 3302a is provided on the movable plate 3202a, and the second hinged portion 32051a is hinged to the right hook rotating seat 3302a.

[0092] In this embodiment, the first hinged portion 31051a is located in the middle of the first hook 3105a, the first hook portion 31052a is located at the front end of the first hook 3105a, and the first driving cylinder 3104a is hinged to the rear end of the first hook 3105a; the second hinged portion 32051a is located in the middle of the second hook 3205a, the second hook portion 32052a is located at the front end of the second hook 3205a, and the second driving cylinder 3204a is hinged to the rear end of the second hook 3205a; the first hook portion 31052a and the second hook portion 32052a are used to contact materials.

[0093] In other embodiments, the first hinged portion 31051a may also be disposed at the rear end of the first hook 3105a, and the first driving cylinder 3104a may be connected to the middle of the first hook 3105a; the second driving cylinder 3204a may also be connected between the second hinged portion 32051a and the second hook portion 32052a of the second hook 3205a.

[0094] In this embodiment, the first driving cylinder 3104a and the first hook 3105a, and the second driving cylinder 3204a and the second hook 3205a are connected via a Y-shaped joint.

[0095] like Figures 19 to 22As shown, the conveying module 2b includes a groove beam 21b, a partition 23b, multiple sprocket rollers 22b and a conveying motor 24b, the two ends of the sprocket roller 22b are respectively installed on the groove beam 21b and the partition 23b, and the conveying motor 24b is connected to the sprocket roller 22b; the flip module 3b includes a lifting cylinder 31b, a flip block 33b and a support frame 34b, the support frame 34b is installed on the frame support 1b, the flip block 33b is rotatably installed on the support frame 34b, and the flip block 33b is movably fitted between the multiple sprocket rollers 22b, the flip block 33b is set to rotate in the vertical direction, and the lifting cylinder 31b is hinged to the flip block 33b.

[0096] In this embodiment, the trough beam 21b, the partition 23b and the conveying motor 24b are all installed on the frame support 1b, the sprocket roller 22b adopts a double-row sprocket roller 22b, the sprocket end of the sprocket roller 22b is connected to the trough beam 21b, the conveying motor 24b is arranged under the sprocket roller 22b, and the sprocket roller 22b and the conveying motor 24b are connected by a chain.

[0097] The flipping block 33b is arranged to rotate in the vertical direction. The part of the flipping block 33b used for flipping the material is lower than the horizontal plane of the upper end of the sprocket roller 22b when it is in the initial position. The cylinder end of the lifting cylinder 31b is hinged on the frame support 1b through the cylinder mounting seat 32b, and the piston rod of the lifting cylinder 31b is connected to the flipping block 33b through a fisheye joint.

[0098] During operation, the conveying motor 24b drives the sprocket roller 22b to rotate, and the sprocket roller 22b transports materials (such as C-shaped steel); when the material passes through the flip module 3b, the lifting cylinder 31b extends, and the flip block 33b is lifted upward to flip the material; after the material leaves, the lifting cylinder 31b retracts, and the flip block 33b falls back to the initial position, avoiding the conveying module 2b and continuing to transport the material. The flip mechanism b realizes the transportation and flipping of materials, reduces manual participation, and improves the stacking efficiency.

[0099] The above-mentioned flip module 3b also includes a chain cover plate 25b, which is installed above the sprocket of the sprocket roller 22b. The L-shaped chain cover plate 25b is arranged on the top of the beam groove, and the chain cover plate 25b covers the sprocket of the sprocket roller 22b as a barrier to reduce external interference with the sprocket roller 22b.

[0100] The above-mentioned conveying module 2b also includes a pushing cylinder 27b, a cylinder fixing seat 26b and a scraper 28b. The pushing cylinder 27b is installed on the trough beam 21b and the partition 23b through the cylinder fixing seat 26b. The pushing cylinder 27b is arranged parallel to the sprocket roller 22b; the scraper 28b is installed on the slider of the pushing cylinder 27b and the top of the scraper 28b is arranged higher than the sprocket roller 22b.

[0101] In this embodiment, the chain cover 25b is provided with a groove 251b at the corresponding scraper 28b, and the scraper 28b is movably fitted in the groove 251b. The scraper 28b can be moved into the groove 251b to avoid the material being transported.

[0102] The partition plate 23b is further provided with a through hole 232b at the position corresponding to the pushing cylinder 27b, and the slider of the pushing cylinder 27b is movably fitted in the through hole 232b, so that the scraper 28b can avoid on both sides of the sprocket roller 22b.

[0103] The above-mentioned flipping block 33b includes a flipping arm 331b, a pivot seat 332b and a flipping block rotating seat 333b. The flipping block rotating seat 333b can be rotatably installed on the support frame 34b by means of screws or the like. The lifting cylinder 31b is connected to the pivot seat 332b, and the flipping arm 331b extends to the conveying module 2b; the partition 23b is provided with a recess 231b corresponding to the flipping arm 331b, and the bottom of the recess 231b is lower than the sprocket roller 22b. The flipping arm 331b is movably fitted in the recess 231b for flipping materials.

[0104] In this embodiment, the pivot seat 332b is located in the middle of the flipping block 33b, and the block rotating seat 333b is located at the rear end of the flipping block 33b. In other embodiments, the block rotating seat 333b can also be arranged in the middle of the block rotating seat 333b, and the lifting cylinder 31b is connected to the rear end of the flipping block 33b.

[0105] The flip mechanism b of this embodiment also includes an adjustment module 4b, which includes an adjustment base plate 41b and a base cylinder 42b. The adjustment base plate 41b is installed on the frame support 1b. The frame support 1b is provided with a horizontally arranged base cylinder support 43b. One end of the base cylinder 42b is installed on the adjustment base plate 41b, and the other end is connected to the base cylinder support 43b. The base cylinder 42b pushes the base cylinder support 43b to lift the frame support 1b, thereby adjusting the height of the frame support 1b.

[0106] The adjustment bottom plate 41b in this embodiment extends upward to form a plurality of height adjustment plates 44b. The height adjustment plates 44b are provided with a plurality of longitudinally arranged locking holes 45b. The rack support 1b is mounted on the height adjustment plates 44b.

[0107] Specifically, when the height of the frame support 1b needs to be adjusted, the frame support 1b is first lifted by the base cylinder 42b, and then bolts are passed through the lock holes 45b below the frame support 1b to fix the frame support 1b at the corresponding height.

[0108] This specification uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core idea of ​​the utility model. At the same time, for those skilled in the art, according to the idea of ​​the utility model, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the utility model.

Claims

1. A C-shaped steel automatic palletizer, characterized in that: It includes a flipping mechanism and a transplanting mechanism, wherein the flipping mechanism is arranged within the travel range of the transplanting mechanism, and the flipping mechanism includes a frame support, a conveying module and a flipping module, wherein the conveying module and the flipping module are installed on the frame support, and the flipping module is arranged on the periphery of the conveying module; The transplanting mechanism comprises a frame, a mechanical arm assembly and a mechanical hand, wherein the mechanical arm assembly is mounted on the frame, and the mechanical hand is mounted on the mechanical arm assembly; The frame includes a bottom beam, a vertical beam and a cantilever beam, two ends of the vertical beam are respectively fixed to the bottom beam and the cantilever beam, and one end of the cantilever beam is extended in a direction away from the vertical beam; The robot arm assembly includes an X-axis module, a Y-axis module, an X-axis drive assembly and a Y-axis drive assembly, the X-axis module is movably mounted on the cantilever beam, and the Y-axis module is movably mounted on the X-axis module; The X-axis driving assembly is connected to the X-axis module to drive the X-axis module to move horizontally; the Y-axis driving assembly is connected to the Y-axis module to drive the Y-axis module to move vertically.

2. The C-shaped steel automatic palletizer according to claim 1, characterized in that: The cantilever beam is provided with a transverse guide rail; The X-axis drive assembly includes a first drive motor, a first transmission shaft, a first driving sprocket assembly, a first driven sprocket assembly and a first chain, wherein the first drive motor is mounted on a frame, two ends of the first transmission shaft are respectively connected to an output end of the first drive motor and the first driving sprocket assembly, the first driving sprocket assembly is connected to the first driven sprocket assembly through a first chain, and the first driven sprocket assembly is fixed to the cantilever beam; The X-axis module includes an X-axis cantilever, a transverse slider and a transverse connecting plate. The transverse slider is arranged on the side of the X-axis cantilever close to the cantilever beam, and the transverse slider is movably cooperated with the transverse guide rail; one end of the transverse connecting plate is fixed to the X-axis cantilever, and the other end is connected to the first chain.

3. The C-shaped steel automatic palletizer according to claim 1, characterized in that: The X-axis module is provided with a longitudinal sliding block on one side close to the Y-axis module; The Y-axis driving assembly includes a second driving motor, a second transmission shaft, a second driving sprocket assembly, a second driven sprocket assembly and a second chain, wherein the second driving motor is mounted on the frame, and both ends of the second transmission shaft are respectively connected to the output end of the second driving motor and the second driving sprocket assembly, the second driving sprocket assembly is connected to the second driven sprocket assembly through the second chain, and the second driven sprocket assembly is mounted on the cantilever beam; The Y-axis module includes a Y-axis cantilever, a first transmission sprocket, a second transmission sprocket, a third chain, two longitudinal tensioning wheels and a longitudinal guide rail. The longitudinal guide rail is arranged on the side of the Y-axis cantilever close to the X-axis module, and the longitudinal guide rail is movably cooperated with the longitudinal slider; the first transmission sprocket and the second transmission sprocket are coaxially arranged and installed on the X-axis module, the first transmission sprocket is connected to the second chain, and the second transmission sprocket is connected to the third chain; the two longitudinal tensioning wheels are installed on the X-axis module, and the two ends of the third chain are respectively passed around the two longitudinal tensioning wheels and then fixed to the two ends of the Y-axis cantilever.

4. The C-shaped steel automatic palletizer according to claim 1, characterized in that: It also includes a suspension beam, the two ends of which are respectively mounted on two Y-axis modules, and the manipulator is mounted on the suspension beam; The suspension beam is installed on the Y-axis module through a locking piece; the locking piece includes a locking seat and a clamp, the locking seat is installed on the bottom of the Y-axis module, and the clamp is sleeved on the suspension beam and fixed on the locking seat.

5. The C-shaped steel automatic palletizer according to claim 1, characterized in that: The manipulator comprises a left hook assembly and a right hook assembly connected to each other, the left hook assembly comprises a left side plate, an upper and lower plate, a first driving cylinder and a first hook, the upper and lower plates are mounted on the left side plate; the first driving cylinder and the first hook are hinged to the upper and lower plates, and the first driving cylinder is connected to the first hook; The right hook assembly includes a right side plate, a movable plate, a second driving cylinder, and a second hook. The movable plate is movably mounted on the right side plate, and the movable plate moves laterally relative to the right side plate. The second driving cylinder and the second hook are hinged to the movable plate, and the second driving cylinder is connected to the second hook.

6. The C-shaped steel automatic palletizer according to claim 5, characterized in that: The upper and lower plates are movably mounted on the left side plate, and the upper and lower plates move longitudinally relative to the left side plate; a first limit cylinder is mounted on the left side plate, and a piston rod of the first limit cylinder is connected to the upper and lower plates; The upper and lower plates are longitudinally provided with a first clamping jaw slide rail, and the left side plate is provided with a first clamping jaw slider at a position corresponding to the first clamping jaw slide rail, and the first clamping jaw slide rail and the first clamping jaw slider cooperate with each other.

7. The C-shaped steel automatic palletizer according to claim 5, characterized in that: A second limiting cylinder is installed on the right side plate, a limiting plate is provided on the movable plate, and a piston rod of the second limiting cylinder is connected to the limiting plate; The right side plate is laterally provided with a second clamping jaw slide rail, the movable plate is provided with a second clamping jaw slider at a position corresponding to the second clamping jaw slide rail, and the second clamping jaw slide rail and the second clamping jaw slider cooperate with each other.

8. The C-shaped steel automatic palletizer according to claim 1, characterized in that: The conveying module comprises a channel beam, a partition, a plurality of sprocket rollers and a conveying motor, the two ends of the sprocket roller are respectively mounted on the channel beam and the partition, and the conveying motor is connected to the sprocket roller; The flip module includes a lifting cylinder, a flip block and a support frame, wherein the support frame is mounted on a frame support, the flip block is rotatably mounted on the support frame, and the flip block is movably fitted between a plurality of sprocket rollers, the flip block is configured to rotate in a vertical direction, and the lifting cylinder is hinged to the flip block.

9. The C-shaped steel automatic palletizer according to claim 8, characterized in that: The flipping block includes a flipping arm, a pivot seat and a block rotating seat. The block rotating seat can be rotatably installed on the support frame. The lifting cylinder is connected to the pivot seat. The flipping arm extends to the conveying module. The partition is provided with a recess corresponding to the flipping arm. The bottom of the recess is lower than the sprocket roller. The flipping arm is movably fitted in the recess.

10. The C-shaped steel automatic palletizer according to claim 8, characterized in that: It also includes an adjustment module, the adjustment module includes an adjustment base plate and a base cylinder, the adjustment base plate is installed on the frame support, the frame support is provided with a horizontally arranged cylinder support, one end of the base cylinder is installed on the adjustment base plate, and the other end is connected to the cylinder support; The adjustment bottom plate extends upward to form a plurality of height adjustment plates, the height adjustment plates are provided with a plurality of longitudinally arranged locking holes, and the rack support is installed on the height adjustment plates.

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