Grabbing device of stacker crane

Abstract

The utility model provides a grabbing device of a stacking machine, and relates to the technical field of stacking machine grabbing. The number of the driving devices is two, and the driving devices are detachably installed at the top of the center assembly; the plurality of sliding parts are transversely arranged on the outer side of the driving device in a sleeving manner, and are driven by the driving device to slide; the clamping piece is fixed at the bottom of the sliding piece and is obliquely arranged; the number of the bearing pieces is multiple; the carton can be clamped and fixed through the clamping pieces located at the two ends, the clamping piece on the side making contact with an originally-placed carton is folded firstly in the placing process, the clamping piece releases clamping of the carton, the clamping piece on the other side can push the carton to move, the carton is pushed by the clamping pieces to make contact with the originally-placed carton, and the carton can be placed conveniently. And a gap between the two cartons is avoided, so that the stability of carton stacking is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizer mechanical equipment, in particular to a grabbing device of a palletizer. Background Art

[0002] The palletizer is a high-tech product integrating machinery and electricity. It is a device that automatically stacks bags, cartons or other packaging materials delivered by the conveyor into stacks according to the working method required by the customer's process, and transports the stacked materials. It can be arranged in a certain way, on pallets, pallets (wood, plastic), and can be stacked in multiple layers, and then pushed out to facilitate forklift transportation to the warehouse for storage, which can greatly reduce labor and labor intensity. When transporting and discharging cartons, the palletizer will automatically perform box feeding operations and sorting work, using a mechanical arm to flexibly locate and grab cartons and place them in designated locations.

[0003] The structural design of the palletizer's robotic arm often has certain physical limitations, such as joint range of motion, length, etc. When it is necessary to place cartons between multiple rows, these physical limitations of the robotic arm may hinder its accurate placement of cartons, especially cartons in the middle.

[0004] Therefore, when placing cartons and the stacking is set to multiple rows, after the existing palletizer's robotic arm grabs the cartons, the structure of the palletizer's robotic arm will cause certain obstacles to the placement of the cartons. When the cartons are placed according to the preset positions, there may be a certain gap between the middle carton and the adjacent cartons, and the remaining gap will affect the stability of the carton stacking, which may cause the stacked cartons to fall over, making it inconvenient to use. Utility Model Content

[0005] In view of the shortcomings of the prior art, the utility model proposes a grabbing device for a palletizer to solve the technical problem that when the mechanical arm in the prior art grabs the cartons, the physical limitations caused by its own structure may cause certain obstacles to the placement of the cartons, so that there will be a certain gap between the carton in the middle and the cartons next to it, affecting the stability of the stacking of the cartons and may even cause the stacked cartons to fall over.

[0006] The technical solution adopted by the utility model is a grasping device of a palletizer, comprising: a central component; a driving device, two of which are provided and detachably mounted on the top of the central component; a sliding member, a plurality of which are provided and are laterally arranged and sleeved on the outer side of the driving device and slide under the drive of the driving device; a clamping member, which is fixed to the bottom of the sliding member and is tilted; a receiving member, a plurality of which are provided and installed between two sliding members; a telescopic rod, two ends of which are respectively hinged to the sliding member and the clamping member, and drive the clamping member to deform and clamp the carton when telescoping; and a pressing device, two of which are provided and are respectively installed on both sides of the bottom of the central component.

[0007] Further, the central assembly includes: a top plate;

[0008] a first motor, which is detachably mounted on the top of the top plate and mounted on the palletizer;

[0009] There are two guide through holes, which are respectively arranged at two ends of the top plate.

[0010] Furthermore, the driving device comprises:

[0011] A support plate, wherein two support plates are provided and are respectively located at two ends of the guide through hole;

[0012] A threaded rod, the threaded rod being rotatably mounted between two support plates;

[0013] A second motor, wherein an output end of the second motor is connected to the threaded rod and is detachably fixed to the top of the top plate.

[0014] Furthermore, the sliding member includes:

[0015] A sliding head, which is sleeved on the outside of the threaded rod and slides along the guide through hole, and the rearmost sliding head is threadedly connected to the threaded rod;

[0016] A receiving plate, the receiving plate being detachably fixed to the bottom of the sliding head;

[0017] The first articulated frame is fixed to one end of the bottom of the receiving plate, and the first articulated frame is hinged to the top of the telescopic rod.

[0018] Furthermore, the clamping member comprises:

[0019] A deformation plate, wherein the deformation plate is detachably fixed to the other end of the bottom of the receiving plate;

[0020] A non-deformable plate, wherein the non-deformable plate is fixed to the bottom of the deformable plate;

[0021] a second articulated frame, the second articulated frame being fixed to the non-deformable plate and being articulated to the telescopic rod;

[0022] A roller, the roller being rotatably mounted on the bottom of the non-deformable plate;

[0023] Friction lines are arranged on the outer surface of the roller.

[0024] Furthermore, the receiving member includes:

[0025] Pull rope;

[0026] The threaded heads are provided with two and are respectively fixed on the two ends of the pull rope, and the threaded heads are detachably mounted on the receiving plate.

[0027] Furthermore, the pressing device comprises:

[0028] Compression springs, two of which are provided and respectively fixed at two ends of the bottom of the top plate;

[0029] A lower pressing plate, the lower pressing plate being fixed to the bottom of the compression spring;

[0030] A rubber pad is detachably bonded to the bottom of the lower pressing plate.

[0031] It can be seen from the above technical solution that the beneficial technical effects of the utility model are as follows:

[0032] The utility model provides a grabbing device of a palletizer, which can clamp and fix cartons through clamping pieces at both ends, and when placing, first fold the clamping piece on one side that contacts the previously placed cartons to release the clamping piece from the cartons, and the clamping piece on the other side will push the cartons to move, so that the cartons are pushed by the clamping pieces to contact the previously placed cartons, avoiding a gap between the two cartons, so as to ensure the stability of the cartons stacking; through the arrangement of telescopic rods, external force can be applied to the clamping piece, and the clamping piece can be driven to deform during telescoping to clamp or release the cartons, so as to solve the technical problem that the mechanical arm in the prior art may cause certain obstacles to the placement of cartons due to the physical limitations caused by its own structure when grabbing cartons, so that there will be a certain gap between the carton located in the middle and the cartons next to it, affecting the stability of the cartons stacking, and may cause the stacked cartons to topple over. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the specific implementation or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0034] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0035] Figure 2 This is a schematic diagram of the structure of the receiving member of the utility model;

[0036] Figure 3 This is a schematic diagram of the structure of the pressing device of the utility model;

[0037] Figure 4 This is a schematic diagram of the structure of the clamping member of the utility model.

[0038] Figure markings: 100-central component; 110-top plate; 120-first motor; 130-guide hole; 200-driving device; 210-support plate; 220-threaded rod; 230-second motor; 300-sliding member; 310-sliding head; 320-supporting plate; 330-first articulated frame; 400-clamping member; 410-deformation plate; 420-non-deformation plate; 430-second articulated frame; 440-roller; 450-friction pattern; 500-supporting member; 510-pull rope; 520-threaded head; 600-telescopic rod; 700-pressing device; 710-compression spring; 720-pressing plate; 730-rubber pad. DETAILED DESCRIPTION

[0039] The following embodiments of the technical solution of the utility model are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and are therefore only used as examples, and cannot be used to limit the protection scope of the utility model.

[0040] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which the utility model belongs.

[0041] In order to solve the technical problem that the mechanical arm in the prior art may cause certain obstacles to the placement of cartons due to the physical limitations caused by its own structure when grabbing cartons, so that there will be a certain gap between the carton in the middle and the carton next to it, affecting the stability of the carton stacking, and may cause the stacked cartons to fall, this embodiment provides a grabbing device for a palletizer, such as Figures 1 to 4 As shown, including:

[0042] Central component 100;

[0043] A driving device 200, wherein two driving devices 200 are provided and are detachably mounted on the top of the central assembly 100;

[0044] A plurality of sliding members 300 are provided and are arranged transversely and sleeved on the outer side of the driving device 200, and slide under the drive of the driving device 200;

[0045] A clamping member 400, the clamping member 400 is fixed to the bottom of the sliding member 300 and is tilted;

[0046] A receiving member 500, wherein a plurality of receiving members 500 are provided and installed between two sliding members 300;

[0047] The telescopic rod 600 has two ends connected with the sliding member 300 and the clamping member 400 respectively, and drives the clamping member 400 to deform and clamp the carton when it is extended and retracted;

[0048] The pressing device 700 is provided with two pressing devices 700, and is respectively installed on both sides of the bottom of the central component 100.

[0049] That is, this embodiment provides a grabbing device of a palletizer, which can clamp and fix cartons through the clamping pieces 400 at both ends, and when placing, the clamping piece 400 on one side that is in contact with the previously placed carton is first folded to release the clamping piece 400 from the carton, and the clamping piece 400 on the other side will push the carton to move, so that the carton is pushed by the clamping piece 400 to contact with the previously placed carton, avoiding a gap between the two cartons, so as to ensure the stability of the carton stacking;

[0050] By setting the telescopic rod, an external force can be applied to the clamping member 400, and the clamping member 400 can be deformed when extended and retracted to clamp or release the carton. As a preferred solution, the telescopic rod 600 can also be set as an elastic structure (such as a spring, metal sheet, rubber, etc.) to apply a clamping force to the clamping member 400, while also ensuring the normal operation of the device.

[0051] In some embodiments of the present invention, referring to Figure 2 and Figure 3 As shown, the central component 100 includes:

[0052] Top plate 110;

[0053] A first motor 120, which is detachably mounted on the top of the top plate 110 and mounted on the palletizer;

[0054] The guide through holes 130 are provided with two guide through holes 130 , and are respectively provided at two ends of the top plate 110 .

[0055] Among them, the first motor 120 is connected to the lifting platform of the palletizer, and is driven by the lifting platform to adjust the height (such as a grabbing device of a palletizer disclosed in application No. 201921800744.6). When the first motor 120 is started, it will drive the top plate 110 to rotate and adjust the placement position and direction of the carton. At the same time, the first motor 120 is provided with a reducer to reduce the rotation speed;

[0056] The guide through hole 130 serves as a guide for the sliding of the sliding member 300 .

[0057] In some embodiments of the present invention, referring to Figure 2 and Figure 3 As shown, the driving device 200 includes:

[0058] Support plates 210, two support plates 210 are provided and are respectively located at two ends of the guide through hole 130;

[0059] A threaded rod 220, the threaded rod 220 is rotatably mounted between the two support plates 210;

[0060] The second motor 230 has an output end connected to the threaded rod 220 and is detachably fixed to the top of the top plate 110 .

[0061] The support plate 210 is provided to support the threaded rod 220 and ensure the stability of the threaded rod 220 without affecting the rotation of the threaded rod 220;

[0062] The second motor 230 and the threaded rod 220 are matched to each other to drive the sliding member 300 to slide by rotation after starting, thereby adjusting the position of the sliding member 300.

[0063] As a preferred solution of this embodiment, refer to Figure 2 and Figure 4 As shown, the sliding member 300 includes:

[0064] The sliding head 310 is sleeved on the outer side of the threaded rod 220 and slides along the guide through hole 130, and the sliding head 310 is threadedly connected with the threaded rod 220 at the rear end;

[0065] A receiving plate 320, the receiving plate 320 is detachably fixed to the bottom of the sliding head 310;

[0066] The first articulated frame 330 is fixed to one end of the bottom of the receiving plate 320 , and the first articulated frame 330 is hinged to the top of the telescopic rod 600 .

[0067] The sliding head 310 is connected to the threaded rod 220 so that the sliding head 310 can slide under the drive of the threaded rod 220 and can slide normally under the restriction and guidance of the guide through hole 130 and will not rotate with the threaded rod 220.

[0068] The installation and fixation of the first hinge frame 330 and the clamping member 400 can be ensured by the provision of the receiving plate 320 .

[0069] In some embodiments of the present invention, referring to Figure 2 and Figure 3 As shown, the clamping member 400 includes:

[0070] The deformation plate 410 is detachably fixed to the other end of the bottom of the receiving plate 320;

[0071] A non-deformable plate 420, wherein the non-deformable plate 420 is fixed to the bottom of the deformable plate 410;

[0072] A second articulated frame 430, the second articulated frame 430 is fixed on the non-deformable plate 420 and is hinged to the telescopic rod 600;

[0073] A roller 440, the roller 440 is rotatably mounted on the bottom of the non-deformable plate 420;

[0074] The friction pattern 450 is disposed on the outer surface of the roller 440 .

[0075] Among them, the setting of the deformable plate 410 can drive the roller 440 to move outward through deformation, so that the carton can be normally moved between the rollers 440 on both sides, and the carton is clamped and fixed under the deformation force of the deformable plate 410;

[0076] The non-deformable plate 420 is provided to ensure the normal installation of the roller 440, and the cooperation of the second articulated frame 430 and the first articulated frame 330 can ensure the normal installation and use of the telescopic rod 600;

[0077] Among them, through the setting of the roller 440, the carton can be normally detached by rolling, releasing the clamping of the carton by the roller 440, and at the same time, with the cooperation of the friction pattern 450, the carton can be prevented from sliding downward to ensure the stability of the carton clamping.

[0078] In some embodiments of the present invention, referring to Figure 2 and Figure 3 As shown, the receiving member 500 includes:

[0079] Pull rope 510;

[0080] The threaded heads 520 are provided with two and are respectively fixed on the two ends of the pull rope 510 , and the threaded heads 520 are detachably mounted on the receiving plate 320 .

[0081] Among them, two adjacent sliding members 300 can be connected through the coordinated setting of the pull rope 510 and the threaded head 520, so that the sliding member 300 on the rear side can drive the sliding member 300 on the front side to move when driven by the threaded rod 220. At the same time, the coordinated setting of the threaded head 520 can ensure the normal installation and disassembly of the pull rope 510.

[0082] In some embodiments of the present invention, referring to Figure 2 and Figure 3 As shown, the pressing device 700 includes:

[0083] Compression springs 710, two compression springs 710 are provided and are respectively fixed at two ends of the bottom of the top plate 110;

[0084] A lower pressing plate 720, the lower pressing plate 720 is fixed to the bottom of the compression spring 710;

[0085] The rubber pad 730 is detachably bonded to the bottom of the lower pressing plate 720 .

[0086] The compression spring 710 can be arranged to enable the lower pressing plate 720 to rise normally, and at the same time, the lower pressing plate 720 can ensure the stability of the carton and prevent the carton from tilting under the action of external force;

[0087] Among them, the matching setting of the rubber pad 730 can reduce the collision force and friction force between the lower pressure plate 720 and the carton.

[0088] Working method of the utility model:

[0089] When in use, the second motor 230 is started, so that the second motor 230 drives the threaded rod 220 to rotate, so that the threaded rod 220 drives the rearmost sliding head 310 to move under the action of the thread, so that when the sliding head 310 slides, the front sliding head 310 is driven to move under the pull of the pull rope 510, and the distance between the two sliding heads 310 is the same as the length of the pull rope 510;

[0090] During clamping, the telescopic rod 600 can be started to drive the two ends of the non-deformable plate 420 to move, so that the non-deformable plate 420 drives the deformable plate 410 to deform, and the carton is relatively moved between the rollers 440 at the two ends, and then the telescopic rod 600 is started again, so that the telescopic rod 600 drives the non-deformable plate 420 to move toward the carton, so that the non-deformable plate 420 drives the rollers 440 to clamp the carton, and drives the device and the carton to move to the specified position through the stacker, and the carton is stacked, and then the second motor 230 that contacts the end of the carton that was originally placed is started, so that the sliding head 310 on the rear side squeezes the sliding head 310 on the front side, so that the sliding head 310 drives the roller 440 to break contact with the carton, and then the telescopic rod 600 is started, so that the telescopic rod 600 pushes the carton through the non-deformable plate 420 and the roller 440 to contact the carton that was originally placed;

[0091] When the telescopic rod 600 is set to an elastic structure, when the sliding head 310 moves, the roller 440 and the carton will squeeze each other, so that the roller 440 moves toward the outer end under the squeezing of the carton, so that the roller 440 drives the deformation plate 410 to deform and squeeze the elastic structure, so that the roller 440 clamps the carton under the stress of the elastic structure and the deformation plate 410. After the carton is placed, the second motor 230 at the end in contact with the previously placed carton is started, so that the sliding head 310 on the rear side squeezes the sliding head 310 on the front side, so that the sliding head 310 drives the roller 440 to break contact with the carton, and the roller 440 at the other end pushes the carton to contact with the previously placed carton under the elastic force of the non-deformation plate 420 and the elastic structure.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model, and they should all be included in the scope of the claims and specification of the utility model.

Claims

1. A grabbing device for a palletizer, characterized in that: It includes: a central component (100); A driving device (200), wherein two driving devices (200) are provided and are detachably mounted on the top of the central component (100); A sliding member (300), wherein a plurality of sliding members (300) are provided and are arranged transversely and sleeved on the outside of the driving device (200), and slide under the drive of the driving device (200); A clamping member (400), wherein the clamping member (400) is fixed to the bottom of the sliding member (300) and is arranged obliquely; A receiving member (500), wherein a plurality of receiving members (500) are provided and installed between two sliding members (300); A telescopic rod (600), wherein both ends of the telescopic rod (600) are respectively hinged to the sliding member (300) and the clamping member (400), and when telescopic, the clamping member (400) is driven to deform to clamp the carton; and The pressing device (700) is provided with two pressing devices (700) and is respectively installed on both sides of the bottom of the central component (100).

2. The grabbing device of the palletizer according to claim 1, characterized in that: The central assembly (100) comprises: a top plate (110); A first motor (120), the first motor (120) being detachably mounted on the top of the top plate (110) and mounted on the palletizer; Two guide through holes (130) are provided, and are respectively provided at two ends of the top plate (110).

3. The grabbing device of the palletizer according to claim 2, characterized in that: The driving device (200) comprises: A support plate (210), wherein two support plates (210) are provided and are respectively located at two ends of the guide through hole (130); A threaded rod (220), wherein the threaded rod (220) is rotatably mounted between the two support plates (210); A second motor (230), wherein the output end of the second motor (230) is connected to the threaded rod (220) and is detachably fixed to the top of the top plate (110).

4. The grabbing device of the palletizer according to claim 3, characterized in that: The sliding member (300) comprises: A sliding head (310), wherein the sliding head (310) is sleeved on the outer side of the threaded rod (220) and slides along the guide through hole (130), and the rear sliding head (310) is threadedly connected to the threaded rod (220); A receiving plate (320), wherein the receiving plate (320) is detachably fixed to the bottom of the sliding head (310); A first articulated frame (330), wherein the first articulated frame (330) is fixed to one end of the bottom of the receiving plate (320), and the first articulated frame (330) is articulated to the top of the telescopic rod (600).

5. The grabbing device of the palletizer according to claim 4, characterized in that: The clamping member (400) comprises: A deformation plate (410), wherein the deformation plate (410) is detachably fixed to the other end of the bottom of the receiving plate (320); A non-deformable plate (420), wherein the non-deformable plate (420) is fixed to the bottom of the deformable plate (410); A second articulated frame (430), the second articulated frame (430) being fixed on the non-deformable plate (420) and being articulated with the telescopic rod (600); A roller (440), wherein the roller (440) is rotatably mounted on the bottom of the non-deformable plate (420); Friction lines (450), wherein the friction lines (450) are arranged on the outer surface of the roller (440).

6. The grabbing device of the palletizer according to claim 4, characterized in that: The receiving member (500) comprises: Pull rope (510); The threaded heads (520) are provided with two and are respectively fixed at two ends of the pull rope (510), and the threaded heads (520) are detachably mounted on the receiving plate (320).

7. The grabbing device of the palletizer according to claim 1, characterized in that: The pressing device (700) comprises: Compression springs (710), two of which are provided and are respectively fixed at two ends of the bottom of the top plate (110); A lower pressing plate (720), wherein the lower pressing plate (720) is fixed to the bottom of the compression spring (710); The rubber pad (730) is detachably bonded to the bottom of the lower pressing plate (720).

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