Clamping machine

Abstract

The utility model discloses a clamping machine which comprises a machine frame assembly, an X-axis moving assembly, a Z-axis lifting assembly and a clamp assembly, the X-axis moving assembly is arranged above the machine frame assembly, the Z-axis lifting assembly is arranged on the X-axis moving assembly, the top end of the clamp assembly is connected with the bottom end of the Z-axis lifting assembly, and the top end of the clamp assembly is connected with the bottom end of the Z-axis lifting assembly. The X-axis moving assembly can drive the clamp assembly and the Z-axis lifting assembly to move left and right in the X-axis direction, and the Z-axis lifting assembly can drive the clamp assembly to vertically ascend and descend. According to the clamping and embracing machine, the tray disassembling requirement of the tobacco bales and the trays can be met, automatic stacking of the empty trays can be achieved, the AGV only needs to carry the empty tray sets, the pressure of the AGV is relieved through the scheme, the requirement for the production capacity is met, and the transportation efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tobacco equipment, in particular to a clamping machine. Background Art

[0002] In modern industrial automation production, automated logistics systems play a vital role, especially in the process of material handling and product distribution. As an intelligent transportation tool, automated guided vehicles (AGVs) are widely used in automated logistics systems to transport objects or pallets. However, the existing AGVs have the following technical problems when executing the cigarette pallet feeding process:

[0003] AGV trolley transportation efficiency issues: Traditional AGV trolleys need to go through multiple steps when transporting cigarette pallets, including fork extension, platform lifting, pallet delivery, cigarette package clamping, empty pallet return, lifting platform lowering, and fork picking of empty pallets. This series of actions is not only complicated to operate, but also time-consuming, resulting in low efficiency of the AGV trolley during the waiting process. Height difference problem: In the existing logistics system, there is often a certain height difference between the lifting height of the AGV trolley and the height of the conveyor chain machine. This height difference brings additional difficulties and time consumption to the pallet handling work of the AGV trolley, especially in an automated production environment that requires precise docking and smooth transition. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a clamping machine, which improves the transportation efficiency of the AGV trolley, eliminates the transportation obstacles caused by the height difference, and improves the overall automation level.

[0005] The technical problem to be solved by the utility model is achieved through the following technical solutions:

[0006] A clamping machine comprises: a frame assembly, an X-axis moving assembly, a Z-axis lifting assembly and a clamp assembly, wherein the X-axis moving assembly is arranged above the frame assembly, the Z-axis lifting assembly is arranged on the X-axis moving assembly, the top end of the clamp assembly is connected to the bottom end of the Z-axis lifting assembly, the X-axis moving assembly can drive the clamp assembly and the Z-axis lifting assembly to move left and right along the X-axis direction, and the Z-axis lifting assembly can drive the clamp assembly to move vertically up and down, the clamp assembly comprises a top plate, and clamp arms are symmetrically arranged on the left and right sides of the lower side of the top plate, and clamping cylinders are respectively arranged at the left and right ends of the two clamp arms, and the clamping cylinders are used to drive the clamp arms on both sides to complete the clamping of cigarette packages, and a hook is arranged at the outer bottom end of the clamp arm, and the hook is connected to the hook cylinder, and the hook cylinder drives the hook to cooperate with the clamping cylinder to complete the clamping of the tray.

[0007] Preferably, the rack assembly includes: four vertical columns and four horizontal columns for connecting the vertical columns, wherein an on-off air source assembly for controlling the air intake of the equipment is arranged on the side of one of the vertical columns, and X-axis slide rails are respectively arranged on a symmetrical group of long horizontal columns, and an X-axis drag chain assembly is arranged on the side of one of the X-axis slide rails.

[0008] Preferably, the rack assembly further comprises a protective net and an adjusting screw group, wherein the protective net is arranged below a group of symmetrical short cross bars for safety protection of the equipment, and the adjusting screw group is used for adjusting the relative level of the rack assembly.

[0009] Preferably, the X-axis moving assembly includes: a first bracket and a second bracket, the first bracket is provided with a first servo motor and a first reducer for providing power in the X-axis direction, the first reducer is provided with a coupling, and first synchronous wheels are symmetrically provided at the left and right ends of the coupling, and the second bracket is provided with a second synchronous wheel corresponding to the first synchronous wheel, and the first synchronous wheel and the second synchronous wheel in relative position are connected by a synchronous belt.

[0010] Preferably, the X-axis moving assembly further comprises: a seat bearing and a synchronous belt tensioning mechanism, the seat bearing is connected to the synchronous wheel for supporting the synchronous wheel, and the synchronous belt tensioning mechanism is arranged at the end of the synchronous belt for tensioning the synchronous belt.

[0011] Preferably, the Z-axis lifting assembly includes: a quadrilateral frame, a group of opposite sides of the frame are respectively connected to the synchronous belt, and the other group of opposite sides are slidably connected to the X-axis slide rail through an X-axis slider arranged at the bottom, and a moving assembly is arranged in the vertical direction of the frame, and the moving assembly includes a rack, a gear and a Z-axis drag chain group, the gear and the rack are used to transmit power to ensure the up and down movement in the Z-axis direction, and the Z-axis drag chain group serves as the line of the Z-axis cable, and the three cooperate with each other to realize the up and down movement of the clamp assembly.

[0012] Preferably, the Z-axis lifting assembly further includes: a second servo motor and a second reducer, the second servo motor is connected to the second reducer, and the second reducer is connected to the moving assembly.

[0013] Preferably, the clamp assembly further comprises: a slide rail slider, and the clamp arm is moved left and right on the top plate through the slide rail slider.

[0014] Preferably, the two clamping cylinders are controlled by one solenoid valve, and the two hook cylinders are individually controlled by two solenoid valves.

[0015] The above technical solution of the utility model has the following beneficial effects:

[0016] The clamping machine of the present application can not only meet the requirements of unpacking cigarette packs and pallets, but also realize the automatic stacking of empty pallets. The AGV trolley only needs to carry the empty pallet group. The solution reduces the pressure on the AGV trolley, meets the requirements of production capacity, and greatly improves the transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present invention and, together with the description, serve to explain the principles of the present invention.

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the clamping machine with pallet stacking of the present application.

[0019] Figure 2 This is a schematic front view of a clamping machine with pallet stacking according to the present application.

[0020] Figure 3 This is a top view schematic diagram of the clamping machine with pallet stacking of the present application.

[0021] Figure 4 This is a test schematic diagram of the clamping machine with pallet stacking of this application.

[0022] Among them: 11-column, 12-cross column, 13-air source assembly, 14-X-axis slide rail, 15-X-axis drag chain assembly, 21-first bracket, 22-second bracket, 23-first servo motor, 24-first reducer, 25-coupling, 26-first synchronous wheel, 27-second synchronous wheel, 28-synchronous belt, 31-frame, 32-X-axis slider, 33-second servo motor, 36-rack, 37-Z-axis drag chain group, 41-top plate, 42-clamp arm, 43-clamp cylinder, 44-hook. DETAILED DESCRIPTION

[0023] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0024] The technical problem to be solved by the utility model is to provide a clamping machine, which improves the transportation efficiency of the AGV trolley, eliminates the transportation obstacles caused by the height difference, and improves the overall automation level.

[0025] As shown in the figure, the clamping machine with pallet stacking of the present application includes: a frame assembly, an X-axis moving assembly, a Z-axis lifting assembly and a clamp assembly. The X-axis moving assembly is arranged above the frame assembly, the Z-axis lifting assembly is arranged on the X-axis moving assembly, the top of the clamp assembly is connected to the bottom of the Z-axis lifting assembly, the X-axis moving assembly can drive the clamp assembly and the Z-axis lifting assembly to move left and right along the X-axis direction, and the Z-axis lifting assembly can drive the clamp assembly to move vertically up and down. The clamping machine is controlled by automation. The following is a detailed description:

[0026] The rack assembly includes: a column 11, an air source assembly 13, an X-axis slide rail 14, an X-axis drag chain assembly 15, etc. The rack assembly 1 is the main body of the entire device; the column 11 is the support of the entire device; the protective net is used for the safety protection of the equipment to avoid safety accidents; the air source assembly 13 is used for the total air intake of the entire device and controls the on and off of the air intake of the equipment; the X-axis slide rail 14 is used as a guide for movement in the X-axis direction; the X-axis drag chain assembly 15 is used as the line of the cable in the X-axis direction.

[0027] Specifically, the rack assembly includes: four columns 11 and four horizontal columns 12 for connecting the columns, one of which is provided with an on-off air source assembly 13 for controlling the air intake of the equipment on the side of one column, and a symmetrical set of long horizontal columns are respectively provided with X-axis slide rails 14, and an X-axis drag chain assembly 15 is provided on the side of one of the X-axis slide rails 14. The rack assembly also includes a protective net and an adjusting screw group. The protective net is provided under a symmetrical set of short horizontal columns for safety protection of the equipment, and the adjusting screw group is used to adjust the relative level of the rack assembly.

[0028] The X-axis moving assembly is used to drive the fixture and the Z-axis assembly to move back and forth between each station, and to the corresponding position according to the instructions of the upper system. It includes: a first servo motor 23, a first reducer 24, a synchronous wheel, a synchronous belt 28, a slide rail, a slider, etc. The X-axis moving assembly is used to drive the fixture and the Z-axis assembly to move horizontally back and forth between each station, and to the corresponding position according to the instructions of the upper system. Servo motor + reducer: the power source in the X-axis direction; coupling: used to connect the reducer and the connecting shaft to transmit power to the synchronous wheel; synchronous wheel, synchronous belt: transmit power to ensure horizontal movement in the X-axis direction; seat bearing: used to support the synchronous wheel to ensure smooth rotation of the synchronous wheel; synchronous belt tensioning mechanism: used to tension the synchronous belt, the installed synchronous belt needs to be tensioned for normal use.

[0029] Specifically, the X-axis moving assembly is arranged above the frame assembly, and includes: a first bracket 21 and a second bracket 22. The first bracket 21 is provided with a servo motor 23 and a reducer 24 for providing power in the X-axis direction. The reducer is provided with a coupling 25. The left and right ends of the coupling 25 are symmetrically provided with a first synchronous wheel 26. The second bracket 22 is provided with a second synchronous wheel 27 corresponding to the first synchronous wheel 26. The first synchronous wheel 26 and the second synchronous wheel 27 at relative positions are connected by a synchronous belt 28. The X-axis moving assembly also includes: a seat bearing and a synchronous belt tensioning mechanism. The seat bearing is connected to the synchronous wheel for supporting the synchronous wheel. The synchronous belt tensioning mechanism is provided at the end of the synchronous belt 28 for tensioning the synchronous belt 28.

[0030] The Z-axis lifting assembly is used to drive the fixture assembly to lift up and down vertically to reach different heights to pick up and place materials. It includes: frame 31, X-axis slider 32, second servo motor 33, second reducer, gear, rack 36, Z-axis drag chain group 37, proximity switch, seat bearing, Z-axis drag chain group, junction box, etc. The Z-axis lifting assembly is used to drive the fixture assembly to lift up and down vertically to reach different heights to pick up and place materials. The servo motor + reducer provides the power source in the Z-axis direction; gears and racks: transmit power to ensure the up and down movement in the Z-axis direction; Z-axis slide slider: as a guide for movement in the Z-axis direction; X-axis slider: as a guide for movement in the X-axis direction; proximity switch: used to feedback the movement position status of each axis; seat bearing: used to support the gear to ensure smooth rotation of the gear; Z-axis drag chain group: as a line for the cable in the Z-axis direction.

[0031] Specifically, the Z-axis lifting assembly 3 includes: a quadrilateral frame 31, a group of opposite sides of the frame 31 are respectively connected to the synchronous belt 28, and the other group of opposite sides are slidably connected to the X-axis slide rail 14 through the X-axis slider 32 arranged at the bottom. A moving assembly is arranged in the vertical direction of the frame 31, and the moving assembly includes a rack 36, a gear and a Z-axis drag chain group 37. The gear and the rack 36 are used to transmit power to ensure the up and down movement in the Z-axis direction. The Z-axis drag chain group 37 serves as the line of the Z-axis cable. The three cooperate with each other to realize the up and down movement of the clamp assembly.

[0032] The Z-axis lifting assembly further includes: a second servo motor 33 and a second reducer 34 . The second servo motor 33 is connected to the second reducer 34 , and the second reducer 34 is connected to the moving assembly.

[0033] The clamp assembly is used to clamp cigarette packs and trays. It is driven by a cylinder. The clamping cylinder cooperates with the slide rail slider to clamp the cigarette packs; the hook cylinder cooperates with the connecting rod hook to hook the tray.

[0034] The cigarette packs are clamped by two sets of clamping cylinders that drive the clamping arms on the left and right sides respectively, and are equipped with pneumatic clamping devices. When the clamping arms clamp the cigarette packs, the pneumatic clamping devices lock the connecting rods on the clamping arms to ensure that the clamping arms do not loosen. The pallets are clamped by the hook cylinder connecting rod mechanism on the clamping arms on both sides driving the hooks to cooperate with the clamping cylinders. When the pallet is not taken, the hooks are flipped upwards. When the pallet is taken, one side of the hook is lowered as a positioning reference, and then the clamping cylinder is retracted into place (the clamping arm is in the centered state at this time), and then the other hook cylinder is lowered to clamp the pallet. At this time, the pallet is centered, taken away and stacked.

[0035] The fixture assembly includes: a clamp arm 42, a clamp cylinder 43, a hook cylinder 45, a hook 44, a solenoid valve group, a gas block group, a slide rail, a bearing with a seat, etc. The clamp cylinder is used to clamp the cigarette package, divided into left and right clamp cylinders, and share a solenoid valve group. When clamping, the two cylinders act simultaneously; the hook cylinder is used to hook the tray, divided into left and right hook cylinders, and the left and right hook cylinders are controlled separately, each corresponding to a group of solenoid valve groups. When only clamping the cigarette package, the hook cylinder mechanism is turned up, which does not affect the clamping of the cigarette package. The hook is lowered when taking the tray; the hook is used to hook the tray and is used in conjunction with the hook cylinder; the solenoid valve group controls the two clamp cylinders and controls them together; the solenoid valve group controls the two hook cylinders and controls them separately; the slide rail: serves as a guide for the clamp arm; the bearing with a seat: supports the connecting rod mechanism of the hook cylinder to ensure smooth rotation.

[0036] Specifically, the clamp assembly includes: a top plate 41, clamp arms 42 are symmetrically arranged on the left and right sides of the lower side of the top plate 41, and clamp cylinders 43 are respectively arranged at the left and right ends of the two clamp arms 42. The clamp cylinders 43 are used to drive the clamp arms 42 on both sides to complete the clamping of the cigarette pack. A hook 44 is arranged at the outer bottom end of the clamp arm 42, and the hook 44 is connected to the hook cylinder. The hook cylinder drives the hook 44 to cooperate with the clamp cylinder 43 to complete the clamping of the tray. The clamp assembly also includes: a slide rail slider 46, and the clamp arm 42 can move left and right on the top plate 41 through the slide rail slider. The clamp cylinder 43 is controlled by a solenoid valve 47, and the two hook cylinders are controlled separately by two solenoid valves.

[0037] The present application also includes an electronic control device, which is composed of a motor, a reducer, a driver, a proximity switch, a cylinder magnetic switch, a solenoid valve, a beam sensor, a junction box, etc.

[0038] Here’s how this application works:

[0039] (1) Initial state before disassembly: The clamping mechanism is above the "supply station" and in the "high position", the clamping arm is open, and there is no material at the "supply station".

[0040] (2) The AGV releases the full pallet of cigarette packs to the "supply station". The lifting mechanism moves to lower the clamping mechanism to the "clamping height". The left and right clamping arms are synchronously retracted to clamp the cigarette packs. The lifting mechanism moves in the opposite direction to raise the clamping mechanism to the "translation height" and the cigarette packs fall off the pallet. The translation mechanism moves to drive the lifting mechanism, the clamping mechanism and the cigarette packs to translate to the "release station". The lifting mechanism moves again to lower the clamping mechanism to the "release height". The left and right clamping arms are synchronously released to release the cigarette packs. The cigarette packs are placed on the conveying surface of the roller conveyor. The translation mechanism moves in the opposite direction to drive the lifting mechanism and the clamping mechanism to translate to the "supply station". The cigarette packs are output to the "release station" via the roller conveyor, and the cigarette packs are unpacked and shipped out of the warehouse.

[0041] (3) The lifting mechanism is activated, causing the clamping mechanism to descend to the "empty pallet grabbing height". The left and right clamping arms are synchronously retracted to cooperate with the hook cylinder to grab the empty pallet and align the empty pallet front to back and left to right. The lifting mechanism is reversed and the clamping mechanism is raised to a certain height according to the material height of the "palletizing station". The translation mechanism is activated to drive the lifting mechanism, the clamping mechanism and the empty pallet to translate to the "palletizing station". The lifting mechanism is activated, causing the clamping mechanism to descend to the "empty pallet release height". The left and right clamping arms are synchronously released to release the empty pallet. The lifting mechanism is reversed and the clamping mechanism is raised to the "high position". The empty pallets are stacked, thus achieving empty pallet palletizing.

[0042] (4) The translation mechanism moves in the reverse direction, causing the lifting mechanism and the clamping mechanism to move to the "supply station" to wait for the next cigarette pallet unpacking and outbound operation.

[0043] (5) Empty pallets are stacked into empty pallet groups (6 empty pallets per group). The AGV cart moves the empty pallet groups out of the "palletizing station" and returns them to the high-bay warehouse for storage.

[0044] Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Any person skilled in the art can make various choices and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention is limited by the claims and their equivalents.

Claims

1. A clamping machine, characterized in that: include: A frame assembly, an X-axis moving assembly, a Z-axis lifting assembly and a fixture assembly, wherein the X-axis moving assembly is arranged above the frame assembly, the Z-axis lifting assembly is arranged on the X-axis moving assembly, the top end of the fixture assembly is connected to the bottom end of the Z-axis lifting assembly, the X-axis moving assembly can drive the fixture assembly and the Z-axis lifting assembly to move left and right along the X-axis direction, and the Z-axis lifting assembly can drive the fixture assembly to move up and down vertically, and the fixture assembly includes a top plate (41), the top Clamping arms (42) are symmetrically arranged on the left and right sides of the lower side of the plate (41), and clamping cylinders (43) are respectively arranged at the left and right ends of the two clamping arms (42). The clamping cylinders (43) are used to drive the clamping arms (42) on both sides to complete the clamping of cigarette packages. A hook (44) is arranged at the outer bottom end of the clamping arm (42), and the hook (44) is connected to the hook cylinder (45). The hook cylinder (45) drives the hook (44) to cooperate with the clamping cylinder (43) to complete the clamping of the tray.

2. The clamping machine according to claim 1, characterized in that: The rack assembly comprises: four upright posts (11) and four horizontal posts (12) for connecting the upright posts, wherein a side of one of the upright posts is provided with an on-off air source assembly (13) for controlling air intake of the equipment, and a group of symmetrical long horizontal posts are respectively provided with X-axis slide rails (14), wherein a side of one of the X-axis slide rails (14) is provided with an X-axis drag chain assembly (15).

3. The clamping machine according to claim 2, characterized in that: The rack assembly (1) further comprises a protective net and an adjusting screw group, wherein the protective net is arranged below a group of symmetrical short crossbars for safety protection of the equipment, and the adjusting screw group is used for adjusting the relative level of the rack assembly.

4. The clamping machine according to claim 2, characterized in that: The X-axis moving assembly comprises: a first bracket (21) and a second bracket (22); the first bracket (21) is provided with a first servo motor (23) and a first reducer (24) for providing power in the X-axis direction; the first reducer is provided with a coupling (25); the left and right ends of the coupling (25) are symmetrically provided with first synchronous wheels (26); the second bracket (22) is provided with a second synchronous wheel (27) corresponding to the first synchronous wheel (26); the first synchronous wheel (26) and the second synchronous wheel (27) at relative positions are connected by a synchronous belt (28).

5. The clamping machine according to claim 4, characterized in that: The X-axis moving assembly also includes: a seat bearing and a synchronous belt tensioning mechanism, the seat bearing is connected to the synchronous wheel and is used to support the synchronous wheel, and the synchronous belt tensioning mechanism is arranged at the end of the synchronous belt and is used to tension the synchronous belt.

6. The clamping machine according to claim 4, characterized in that: The Z-axis lifting assembly comprises: a quadrilateral frame (31), a group of opposite sides of the frame (31) are respectively connected to the synchronous belt (28), and the other group of opposite sides are slidably connected to the X-axis slide rail (14) through an X-axis slider (32) arranged at the bottom. A moving assembly is arranged in the vertical direction of the frame (31), and the moving assembly comprises a rack (36), a gear and a Z-axis drag chain group (37). The gear and the rack (36) are used to transmit power to ensure the up and down movement in the Z-axis direction. The Z-axis drag chain group (37) serves as the line of the Z-axis cable. The three cooperate with each other to realize the up and down movement of the clamp assembly.

7. The clamping machine according to claim 6, characterized in that: The Z-axis lifting assembly further comprises: a second servo motor (33) and a second reducer (34); the second servo motor (33) is connected to the second reducer (34); and the second reducer (34) is connected to the moving assembly.

8. The clamping machine according to claim 6, characterized in that: The clamp assembly further comprises a slide rail slider (46), and the clamp arm (42) is moved left and right on the top plate (41) via the slide rail slider (46).

9. The clamping machine according to claim 8, characterized in that: The two clamping cylinders (43) are controlled by one electromagnetic valve, and the two hook cylinders (45) are independently controlled by two electromagnetic valves.

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