Multi-station stacking workstation

Abstract

The utility model relates to the technical field of industrial production, and discloses a multi-station stacking work station which comprises an empty tray station, a partition plate station, two stacking stations, a six-axis robot, a mechanical claw, a paper box positioning rolling line, a packaging paper box, a latent AGV (automatic guided vehicle), a grating and a safety guardrail. A plurality of empty trays are placed on the top of the submarine AGV, and a plurality of partition plates are placed on the tops of the tray supports on the partition plate stations. Feeding and discharging are carried out through the latent AGV, packaging cartons, empty trays and partition plates are grabbed and placed through cooperation of the six-axis robot and the mechanical claw, the packaging cartons can be rapidly stacked on the stacking station, and the problems that in a traditional product carrying and stacking mode, a forklift needs to be used for stacking the packaging cartons to a designated area, and the stacking efficiency is high are solved. And the working process of the forklift needs to be repeated continuously, so that the time consumed for carrying and stacking the products is too long, and the carrying and stacking efficiency of the products is low.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial production, in particular to a multi-station palletizing workstation. Background Art

[0002] The palletizing robot is the product of the organic combination of machinery and computer programs. The palletizing robot system adopts a patented coordinate robot with flexible and compact installation space, which can make the concept of building an efficient and energy-saving fully automatic block forming machine production line a reality within a smaller footprint.

[0003] The traditional method of product handling and palletizing requires the use of a forklift to directly pick up panels from the production line, and then have the forklift palletize them in a designated area for stacking. The forklift's working process needs to be repeated continuously, resulting in the product handling and palletizing taking too long and being inefficient.

[0004] Currently, no effective solution has been proposed for the problems in the related technologies. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a multi-station palletizing workstation, which loads and ships materials through a latent AGV, and grabs and places packaging cartons, empty pallets and partitions through the cooperation of a six-axis robot and a mechanical claw, and can quickly palletize packaging cartons at the palletizing station, solving the problem of traditional product handling and palletizing methods, which require a forklift to directly fork the panels from the production line, and then have the forklift palletize them in a designated area for stacking, and the forklift's working process needs to be repeated continuously, resulting in the problem of too long time spent on product handling and palletizing, and low efficiency in product handling and palletizing.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0007] A multi-station palletizing workstation comprises an empty pallet station, a partition station, two palletizing stations, a six-axis robot, a mechanical claw, a paper box positioning roller line, a packaging paper box, a latent AGV, a grating and a safety guardrail. Pallet brackets are placed on the empty pallet station, the partition station and the two palletizing stations. The latent AGV is arranged at the bottom of the pallet bracket. A plurality of empty pallets are placed on the top of the latent AGV. A plurality of partitions are placed on the top of the pallet bracket on the partition station. The mechanical claw comprises a mechanical plate, a pallet clamp arranged on the mechanical plate and a vacuum suction device.

[0008] Preferably, a master control is fixedly installed in the safety fence, the master control is electrically connected to the six-axis robot, a connecting flange is fixedly installed on the top of the mechanical claw, and the six-axis robot is fixedly connected to the mechanical claw via the connecting flange.

[0009] Preferably, the vacuum suction device includes a vacuum suction cup, a vacuum generator and a vacuum breaker. The vacuum suction cup is fixedly installed on the bottom of the mechanical plate. A one-way valve is fixedly installed in the vacuum suction cup. The vacuum generator and the vacuum breaker are both fixedly connected to the vacuum suction cup.

[0010] Preferably, the pallet clamp comprises a plurality of clamping pieces, a bearing seat is fixedly mounted on the mechanical plate, a main shaft is rotatably connected to the bearing seat via a bearing, both ends of the main shaft are fixedly connected with a keyless tensioning sleeve, the clamping piece is fixedly connected to the main shaft via the keyless tensioning sleeve, a connecting rod is installed between the two clamping pieces, both ends of the connecting rod are rotatably connected to the clamping pieces respectively, a clamping cylinder is fixedly mounted on the mechanical plate, a movable rod is hinged on the outer periphery of one of the main shafts, and the output end of the clamping cylinder is fixedly connected to the movable rod.

[0011] Preferably, a vacuum negative pressure display meter and a solenoid valve are fixedly connected to the mechanical board, and the solenoid valve is electrically connected to the gripper cylinder, the vacuum generator and the vacuum breaker.

[0012] Preferably, a movable pallet positioning frame is fixedly connected to the top of the tray bracket, a beam-2 sensor is installed on the top of one side of the tray bracket, a beam-1 sensor is installed on the top of the tray bracket, and a beam-3 sensor is fixedly installed on the bottom of one side of the tray bracket, and the beam-1 sensor, the beam-2 sensor, and the beam-3 sensor are all electrically connected to the six-axis robot.

[0013] Preferably, a lifting bracket is fixedly connected to the top of the latent AGV.

[0014] Compared with the prior art, the utility model provides a multi-station palletizing workstation, which has the following beneficial effects:

[0015] The utility model uses a latent AGV to load and ship materials, and a six-axis robot and a mechanical claw to grab and place packaging cartons, empty pallets and partitions, so that the packaging cartons can be quickly stacked at the palletizing station, which solves the problem of traditional product handling and palletizing methods, which require a forklift to directly fork the panels from the production line, and then have the forklift stack them in a designated area for stacking, and the forklift working process needs to be repeated continuously, resulting in the problem of long time spent on product handling and palletizing, and low product handling and palletizing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is one of the overall structural diagrams of the utility model;

[0017] Figure 2 This is the second schematic diagram of the overall structure of the utility model;

[0018] Figure 3This is a schematic diagram of the front structure of the mechanical claw of the utility model;

[0019] Figure 4 This is a schematic diagram of the connection structure between the mechanical claw and the packaging carton of the utility model;

[0020] Figure 5 This is a schematic diagram of the connection structure between the mechanical claw and the empty pallet of the utility model;

[0021] Figure 6 This is a schematic diagram of the structure of the tray support of the utility model;

[0022] Figure 7 It is a schematic diagram of the jacking bracket structure of the utility model.

[0023] In the figure: 1. Empty pallet station; 2. Partition station; 3. Palletizing station; 4. Six-axis robot; 5. Mechanical claw; 6. Carton positioning roller line; 7. Packing carton; 8. Lurking AGV; 9. Grating; 10. Safety guardrail; 11. Pallet bracket; 12. Empty pallet; 13. Partition; 51. Mechanical board; 52. Pallet gripper; 53. Vacuum suction device; 14. Master control; 15. Connecting flange; 531. Vacuum suction cup; 532. Vacuum suction cup Air generator; 533, vacuum breaker; 534, one-way valve; 521, clamping claw; 522, bearing seat; 523, main shaft; 524, keyless tension sleeve; 525, connecting rod; 526, clamping claw cylinder; 527, movable rod; 16, vacuum negative pressure display meter; 17, solenoid valve; 18, movable pallet positioning frame; 19, through-beam-2 sensor; 20, through-beam-1 sensor; 21, through-beam-3 sensor; 22, lifting bracket. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] As introduced in the background technology, there are deficiencies in the prior art. In order to solve the above technical problems, the present application proposes a multi-station palletizing workstation.

[0026] See also Figure 1-7A multi-station palletizing workstation includes an empty pallet station 1, a partition station 2, two palletizing stations 3, a six-axis robot 4, a mechanical claw 5, a carton positioning roller line 6, a packaging carton 7, a latent AGV 8, a grating 9 and a safety guardrail 10. A pallet bracket 11 is placed on the empty pallet station 1, the partition station 2 and the two palletizing stations 3. The latent AGV 8 is arranged at the bottom of the pallet bracket 11. A plurality of empty pallets 12 are placed on the top of the latent AGV 8. A plurality of partitions 13 are placed on the top of the pallet bracket 11 on the partition station 2. The mechanical claw 5 includes a mechanical plate 51, a pallet clamp 52 and a vacuum suction device 53 arranged on the mechanical plate 51.

[0027] Specifically, after the production line is cleared, the latent AGV8 transports the whole empty pallet 12 to the pallet support 11 on the empty pallet station 1, completes the loading and exits the guardrail, completes the loading of the empty pallet 12, and then the latent AGV8 transports the whole pallet partition 13 to the pallet support 11 on the partition station 2, completes the loading and exits the guardrail, completes the loading of the partition 13, and then the six-axis robot 4 is started, the pallet gripper 52 is fully opened, and it moves to the empty pallet station 1, closes the pallet gripper 52, and grabs an empty pallet 12 to one of them. On the palletizing station 3, repeat the above actions, and place an empty pallet 12 on another palletizing station 3. After the empty pallet 12 is transported, the packaging carton 7 is transported to the positioning point through the roller line. After receiving the signal, the six-axis robot 4 starts the vacuum suction device 53 to suck the carton and moves it to one of the palletizing stations 3 for palletizing. Repeat the palletizing. After each layer is completed, the vacuum suction device 53 sucks the partition 13 and places it on the carton of one of the palletizing stations 3 until all the palletizing stations 3 are completed. Then, the latent AGV 8 is arranged to pick up the material.

[0028] By using the latent AGV 8 to load and ship materials, and the cooperation of the six-axis robot 4 and the mechanical claw 5 to grab and place the packaging cartons, empty pallets 12 and partitions 13, the packaging cartons can be quickly stacked on the stacking station 3, which solves the problem of traditional product handling and stacking methods, which requires the use of a forklift to directly fork the panels from the production line, and then the forklift to stack them in the designated area. The forklift's working process needs to be repeated continuously, resulting in the product handling and stacking taking too long and the product handling and stacking efficiency being low.

[0029] Furthermore, for the above-mentioned six-axis robot 4, a master control 14 is fixedly installed in the safety fence 10, the master control 14 is electrically connected to the six-axis robot 4, a connecting flange 15 is fixedly installed on the top of the mechanical claw 5, and the six-axis robot 4 is fixedly connected to the mechanical claw 5 through the connecting flange 15;

[0030] Specifically, the stacking mode of the six-axis robot 4 is set by the master control 14 .

[0031] Further, for the above-mentioned vacuum suction device 53, the vacuum suction device 53 includes a vacuum suction cup 531, a vacuum generator 532 and a vacuum breaker 533. The vacuum suction cup 531 is fixedly installed at the bottom of the mechanical plate 51. A one-way valve 534 is fixedly installed in the vacuum suction cup 531. The vacuum generator 532 and the vacuum breaker 533 are both fixedly connected to the vacuum suction cup 531.

[0032] Specifically, the vacuum suction device 53 uses multiple vacuum suction cups 531, each of which contains a one-way valve 534 to automatically protect the vacuum in case of leakage. The vacuum suction cups 531 are used to suck the packaging box 7 through the vacuum generator 532, and the vacuum suction cups 531 are separated from the packaging box 7 through the vacuum breaker 533.

[0033] Further, for the above-mentioned pallet clamp 52, the pallet clamp 52 includes a plurality of clamp pieces 521, a bearing seat 522 is fixedly installed on the mechanical plate 51, a main shaft 523 is rotatably connected in the bearing seat 522 through a bearing, keyless tension sleeves 524 are fixedly connected at both ends of the main shaft 523, the clamp piece 521 is fixedly connected to the main shaft 523 through the keyless tension sleeve 524, a connecting rod 525 is installed between the two clamp pieces 521, and both ends of the connecting rod 525 are rotatably connected to the clamp pieces 521, a clamp cylinder 526 is fixedly installed on the mechanical plate 51, a movable rod 527 is hinged on the outer periphery of one of the main shafts 523, and the output end of the clamp cylinder 526 is fixedly connected to the movable rod 527;

[0034] Specifically, the opening and closing of the pallet clamp 52 are both achieved by the clamp cylinder 526 driving one of the main shafts 523 to rotate, thereby driving the clamp piece 521 on one side to rotate, and the clamp piece 521 on the other side transmits power through the connecting rod 525 to achieve the simultaneous opening and closing of the clamp. Each clamp piece 521 is connected to the main shaft 523 using a keyless tensioning sleeve 524 to achieve simultaneous fixation of the inside and outside of the clamp piece 521.

[0035] Furthermore, for the mechanical gripper 5, a vacuum negative pressure display meter 16 and a solenoid valve 17 are fixedly connected to the mechanical board 51, and the solenoid valve 17 is electrically connected to the gripper cylinder 526, the vacuum generator 532 and the vacuum breaker 533;

[0036] Specifically, the solenoid valve 17 controls the extension and retraction of the clamping jaw cylinder 526 , the opening of the vacuum generator 532 , and the opening of the vacuum breaker 533 .

[0037] Further, for the above-mentioned pallet bracket 11, a movable pallet positioning frame 18 is fixedly connected to the top of the pallet bracket 11, a beam-2 sensor 19 is installed on the top of one side of the pallet bracket 11, a beam-1 sensor 20 is installed on the top of the pallet bracket 11, and a beam-3 sensor 21 is fixedly installed on the bottom of one side of the pallet bracket 11, and the beam-1 sensor 20, the beam-2 sensor 19, and the beam-3 sensor 21 are all electrically connected to the six-axis robot 4;

[0038] Specifically, the opposing-1 sensor 20 on the tray bracket 11 detects whether there is a signal from the tray, the opposing-2 sensor 19 on the tray bracket 11 detects whether there is a signal from the tray, and the opposing-3 sensor 21 on the tray bracket 11 detects whether there is a signal from the latent AGV 8.

[0039] Further, for the above-mentioned latent AGV8, a jacking bracket 22 is fixedly connected to the top of the latent AGV8;

[0040] Specifically, the support is provided by a jacking bracket 22 .

[0041] Working principle: When in use, after the production line is cleared, the latent AGV8 transports the whole empty pallet 12 to the pallet support 11 on the empty pallet station 1, completes the loading and exits the guardrail, completes the loading of the empty pallet 12, and then the latent AGV8 transports the whole pallet partition 13 to the pallet support 11 on the partition station 2, completes the loading and exits the guardrail, completes the loading of the partition 13, and then the six-axis robot 4 is started, the pallet gripper 52 is fully opened, and moves to the empty pallet station 1, closes the pallet gripper 52, grabs an empty pallet 12 to its The above actions are repeated on one of the palletizing stations 3, and an empty pallet 12 is also placed on another palletizing station 3. After the empty pallet 12 is transported, the packaging carton 7 is transported to the positioning point through the roller line. After receiving the signal, the six-axis robot 4 starts the vacuum suction device 53 to suck the carton and moves it to one of the palletizing stations 3 for palletizing. The palletizing is repeated. After each layer is completed, the vacuum suction device 53 sucks the partition 13 and places it on the carton of one of the palletizing stations 3 until the palletizing of all the palletizing stations 3 is completed, and then the latent AGV 8 is arranged to pick up the material.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-station palletizing workstation, comprising an empty pallet station (1), a partition station (2), two palletizing stations (3), a six-axis robot (4), a mechanical claw (5), a carton positioning roller line (6), a packaging carton (7), a latent AGV (8), a grating (9) and a safety guardrail (10), characterized in that: The empty pallet station (1), the partition station (2), and the two palletizing stations (3) are all provided with a pallet support (11); the latent AGV (8) is arranged at the bottom of the pallet support (11); a plurality of empty pallets (12) are placed on the top of the latent AGV (8); a plurality of partitions (13) are placed on the top of the pallet support (11) on the partition station (2); and the mechanical claw (5) comprises a mechanical plate (51), a pallet clamp (52) arranged on the mechanical plate (51), and a vacuum suction device (53).

2. A multi-station palletizing workstation according to claim 1, characterized in that: A master control (14) is fixedly installed inside the safety guardrail (10), and the master control (14) is electrically connected to the six-axis robot (4). A connecting flange (15) is fixedly installed on the top of the mechanical claw (5), and the six-axis robot (4) is fixedly connected to the mechanical claw (5) via the connecting flange (15).

3. A multi-station palletizing workstation according to claim 2, characterized in that: The vacuum suction device (53) comprises a vacuum suction cup (531), a vacuum generator (532) and a vacuum breaker (533); the vacuum suction cup (531) is fixedly installed at the bottom of the mechanical plate (51); a one-way valve (534) is fixedly installed in the vacuum suction cup (531); and the vacuum generator (532) and the vacuum breaker (533) are both fixedly connected to the vacuum suction cup (531).

4. A multi-station palletizing workstation according to claim 3, characterized in that: The pallet clamp (52) comprises a plurality of clamping jaws (521). A bearing seat (522) is fixedly mounted on the mechanical plate (51). A main shaft (523) is rotatably connected to the bearing seat (522) via a bearing. Both ends of the main shaft (523) are fixedly connected with keyless tension sleeves (524). The clamping jaws (521) are fixedly connected to the main shaft (523) via the keyless tension sleeves (524). A connecting rod (525) is mounted between two clamping jaws (521). Both ends of the connecting rod (525) are rotatably connected to the clamping jaws (521). A clamping jaw cylinder (526) is fixedly mounted on the mechanical plate (51). A movable rod (527) is hinged on the outer periphery of one of the main shafts (523). The output end of the clamping jaw cylinder (526) is fixedly connected to the movable rod (527).

5. A multi-station palletizing workstation according to claim 4, characterized in that: The mechanical plate (51) is fixedly connected with a vacuum negative pressure display meter (16) and a solenoid valve (17), and the solenoid valve (17) is electrically connected with the gripper cylinder (526), ​​the vacuum generator (532) and the vacuum breaker (533).

6. The multi-station palletizing workstation according to claim 1, characterized in that: A movable pallet positioning frame (18) is fixedly connected to the top of the pallet support (11); a beam-2 sensor (19) is installed on the top of one side of the pallet support (11); a beam-1 sensor (20) is installed on the top of the pallet support (11); and a beam-3 sensor (21) is fixedly installed on the bottom of one side of the pallet support (11); the beam-1 sensor (20), the beam-2 sensor (19), and the beam-3 sensor (21) are all electrically connected to the six-axis robot (4).

7. The multi-station palletizing workstation according to claim 1, characterized in that: A lifting bracket (22) is fixedly connected to the top of the latent AGV (8).

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