Integrated stacker crane
By installing six-axis robotic arms, sliders and anti-slip gaskets on the palletizer, the problems of poor portability and cargo damage by the robotic arm palletizer are solved, and a more stable and beautiful cargo palletizing effect is achieved.
Patent Information
- Application Number
- CN202420769083.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-15
- Publication Date
- 2025-01-14
- Estimated Expiration
- 2034-04-15
AI Technical Summary
The existing robotic arm palletizers have poor portability and are prone to damage when palletizing goods with edges and edges, affecting the aesthetics of goods.
An integrated palletizer is designed, using a six-axis robotic arm to be installed on the mobile car, and a sliding part and an anti-slip gasket are provided in the jaws. The optimal clamping angle is automatically found between the jaws and the cargo through the slides. , reduce direct contact, increase clamping stability and provide buffer zone.
It improves the portability of the palletizer and the stable clamping of goods, reduces the damage to the edges and corners of the goods, and improves the aesthetics of the goods.
Smart Images
Figure CN222348186U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of handling equipment, in particular to an integrated palletizer. Background Art
[0002] Automatic palletizer is a high-tech product integrating machinery and electricity. The medium and low position palletizer can meet the production needs of medium and low output. It can complete the palletizing of various products such as bags, rubber blocks, boxes, etc. according to the required grouping method and number of layers.
[0003] Most palletizers palletize goods through mechanical arms, but most existing mechanical arms are fixed at designated positions and can only palletize goods at designated positions, with poor portability. In addition, when palletizers palletize goods with edges such as cartons, they are prone to damage the edges and corners, affecting the appearance of the goods. Utility Model Content
[0004] The purpose of the utility model is to provide an integrated palletizer to solve the above-mentioned deficiencies in the prior art.
[0005] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: an integrated palletizer, comprising: a mobile trolley, a six-axis mechanical arm is arranged on the top of the mobile trolley, a clamping mechanism is installed at the end of the six-axis mechanical arm, the clamping mechanism comprises a fixed frame, the fixed frame is fixedly connected to the end of the six-axis mechanical arm, two symmetrical clamping claws are rotatably connected at both ends of the fixed frame, a sliding member is slidably arranged on the inner side of the clamping claw, and a plurality of anti-slip pads are fixedly arranged on the inner side of the sliding member.
[0006] Furthermore, a slide groove is provided in the clamping jaw, and the sliding member is slidably connected in the slide groove.
[0007] Furthermore, a backing plate is fixedly connected to the clamping jaw, the fixing frame and the backing plate are connected via a telescopic rod, and the base of the telescopic rod is rotatably arranged on the fixing frame, and the piston rod on the telescopic rod is rotatably arranged on the backing plate.
[0008] Furthermore, two symmetrical groups of supporting mechanisms are arranged on the side of the mobile trolley, and the supporting mechanisms include fixed legs, which are fixedly connected to the chassis of the mobile trolley, and movable legs are slidably connected inside the fixed legs, and leg plates are arranged at the ends of the movable legs.
[0009] Furthermore, a lifting cylinder is installed on the movable leg, and a piston rod on the lifting cylinder is fixedly connected to the leg plate.
[0010] Furthermore, the supporting mechanism is fixedly mounted on both sides of the wheels of the mobile vehicle.
[0011] In the above technical solution, the integrated palletizer provided by the utility model has the following beneficial effects:
[0012] The utility model installs the six-axis mechanical arm on the mobile trolley to facilitate the movement of the palletizer and improve the practicability of the palletizer. By slidingly arranging a sliding piece on the clamping claw, when the clamping claw clamps the goods, the sliding piece can be driven to slide in the clamping claw, so as to automatically find the best clamping angle between the goods and the sliding piece, thereby improving the stability of the clamping claw clamping the goods. At the same time, by arranging the anti-slip gasket, direct contact between the clamping claw and the vertical edge of the goods is avoided, and a buffer zone is provided between the vertical edge of the goods and the clamping claw, thereby reducing the damage at the edges and corners of the goods and improving the aesthetics of the goods.
[0013] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
[0014] This application document provides an overview of various implementations or examples of the technology described in the present disclosure, and is not a comprehensive disclosure of the entire scope or all features of the disclosed technology. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.
[0016] Figure 1 A schematic diagram of the structure provided for an embodiment of the utility model;
[0017] Figure 2 A schematic diagram of the structure of the clamping mechanism provided in an embodiment of the utility model;
[0018] Figure 3 The embodiment of the utility model provides Figure 1 Enlarged view of point A.
[0019] Description of reference numerals:
[0020] 1. Mobile trolley; 2. Six-axis robotic arm; 3. Clamping mechanism; 31. Fixed frame; 32. Clamping claw; 321. Abutment plate; 322. Slide groove; 33. Sliding part; 331. Anti-slip pad; 34. Telescopic rod; 4. Support mechanism; 41. Fixed outrigger; 42. Movable outrigger; 43. Lifting cylinder; 44. Outrigger plate. DETAILED DESCRIPTION
[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.
[0022] Please refer to 1-3, an integrated palletizer, including: a mobile cart 1, a six-axis robot arm 2 is arranged on the top of the mobile cart 1, a clamping mechanism 3 is installed at the end of the six-axis robot arm 2, the clamping mechanism 3 includes a fixed frame 31, the fixed frame 31 is fixedly connected to the end of the six-axis robot arm 2, two symmetrical clamping claws 32 are rotatably connected at both ends of the fixed frame 31, a sliding member 33 is slidably arranged on the inner side of the clamping claw 32, and a plurality of anti-slip pads 331 are fixedly arranged on the inner side of the sliding member 33.
[0023] Specifically, the anti-skid pad 331 is made of soft rubber, and the anti-skid pad 331 is provided with anti-skid patterns. The wiring diagram of the six-axis robot 2 belongs to the common knowledge in the field, and its working principle is a well-known technology. The model is selected according to the actual use, so the control method and wiring arrangement of the six-axis robot 2 are no longer explained. The utility model is convenient for the movement of the palletizer by installing the six-axis robot 2 on the mobile trolley 1, and the practicality of the palletizer is improved. The sliding member 33 is slidably arranged on the clamping jaw 32, so that when the clamping jaw 32 clamps the goods, the sliding member 33 can be driven to slide in the clamping jaw 32, so as to automatically find the best clamping angle between the goods and the sliding member 33, thereby improving the stability of the clamping jaw 32 clamping the goods. At the same time, by setting the anti-skid pad 331, the direct contact between the clamping jaw 32 and the vertical edge of the goods is avoided, and a buffer zone is provided between the vertical edge of the goods and the clamping jaw 32, thereby reducing the damage at the edges and corners of the goods and improving the aesthetics of the goods.
[0024] Furthermore, a sliding groove 322 is defined in the clamping jaw 32 , and the sliding member 33 is slidably connected in the sliding groove 322 .
[0025] Specifically, the sliding groove 322 limits the sliding range of the sliding member 33 , so that the sliding member 33 is more stable when sliding in the sliding groove 322 .
[0026] Furthermore, a butt plate 321 is fixedly connected to the clamp 32 , and the fixed frame 31 and the butt plate 321 are connected via a telescopic rod 34 , and a base of the telescopic rod 34 is rotatably disposed on the fixed frame 31 , and a piston rod on the telescopic rod 34 is rotatably disposed on the butt plate 321 .
[0027] Specifically, refer to Figure 2The two clamping claws 32 are rotatably connected to both sides of the fixing frame 31. When the telescopic rod 34 is extended, the clamping claws 32 are pushed so that the two clamping claws 32 clamp the goods toward the middle.
[0028] Furthermore, two symmetrical groups of supporting mechanisms 4 are arranged on the side of the mobile trolley 1, and the supporting mechanism 4 includes a fixed leg 41, which is fixedly connected to the chassis of the mobile trolley 1, and a movable leg 42 is slidably connected inside the fixed leg 41, and a leg plate 44 is arranged at the end of the movable leg 42, and a lifting cylinder 43 is installed on the movable leg 42, and the piston rod on the lifting cylinder 43 is fixedly connected to the leg plate 44.
[0029] Specifically, the four supporting mechanisms 4 increase the supporting base of the mobile trolley 1, reduce the burden on the tires, improve the anti-overturning stability of the mobile trolley 1, and provide protection for the palletizer to transport goods.
[0030] Furthermore, the supporting mechanism 4 is fixedly mounted on both sides of the wheels of the moving vehicle 1 .
[0031] Specifically, refer to Figure 1 By arranging the supporting mechanism 4 on both sides of the wheels, the supporting base of the mobile trolley 1 is increased, thereby improving the stability of the palletizer.
[0032] In this utility model, reference is made to Figures 1 to 3 First, drive the palletizer to the specified position, then slide the movable leg 42 out of the fixed leg 41, and then drive the lifting cylinder 43 so that the piston rod of the lifting cylinder 43 drives the leg plate 44 to contact the ground. After all four support mechanisms 4 are installed, the operation can be carried out.
[0033] In the present invention, the telescopic rod 34 and the lifting cylinder 43 are both powered by hydraulic oil. The connection method of the hydraulic oil pipeline and its working principle are common knowledge to those skilled in the art and will not be explained in detail here.
[0034] The above only describes some exemplary embodiments of the present invention by way of illustration. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.
Claims
1. An integrated palletizer, comprising: A mobile trolley (1), characterized in that: a six-axis mechanical arm (2) is arranged on the top of the mobile trolley (1), a clamping mechanism (3) is installed at the end of the six-axis mechanical arm (2), the clamping mechanism (3) comprises a fixed frame (31), the fixed frame (31) is fixedly connected to the end of the six-axis mechanical arm (2), two symmetrical clamping claws (32) are rotatably connected at both ends of the fixed frame (31), a sliding member (33) is slidably arranged inside the clamping claw (32), and a plurality of anti-slip pads (331) are fixedly arranged on the inner side of the sliding member (33).
2. The integrated palletizer according to claim 1, characterized in that: A sliding groove (322) is provided in the clamping jaw (32), and the sliding member (33) is slidably connected in the sliding groove (322).
3. The integrated palletizer according to claim 1, characterized in that: The clamping jaw (32) is fixedly connected to a support plate (321); the fixing frame (31) and the support plate (321) are connected via a telescopic rod (34); a base of the telescopic rod (34) is rotatably disposed on the fixing frame (31); and a piston rod on the telescopic rod (34) is rotatably disposed on the support plate (321).
4. The integrated palletizer according to claim 1, characterized in that: Two symmetrical groups of support mechanisms (4) are arranged on the side of the moving trolley (1), and the support mechanism (4) comprises a fixed leg (41), the fixed leg (41) is fixedly connected to the chassis of the moving trolley (1), a movable leg (42) is slidably connected inside the fixed leg (41), and a leg plate (44) is arranged at the end of the movable leg (42).
5. The integrated palletizer according to claim 4, characterized in that: A lifting cylinder (43) is installed on the movable support leg (42), and a piston rod on the lifting cylinder (43) is fixedly connected to the support leg plate (44).
6. The integrated palletizer according to claim 4, characterized in that: The support mechanism (4) is fixedly mounted on both sides of the wheels of the mobile vehicle (1).