Cooperative stacker crane

Abstract

The utility model discloses a cooperation stacker crane which comprises a mechanical arm, a platform and a roller conveyor, a lifting device is arranged at the bottom end of the mechanical arm, a suction cup is arranged at the top end of the mechanical arm, a light sensation controller is arranged at the top end of the lifting device, and the platform comprises two symmetrically-arranged installation plates. A longitudinal baffle is arranged on one side of the mounting plate, a supporting block is arranged on the other side of the mounting plate, an electric telescopic rod and a discharging sensor are arranged on the top of the supporting block, an AGV used for taking and placing trays is arranged on one side of the platform, the roller conveyor is arranged on one side of the mechanical arm, and a finished product box is arranged on the top of the roller conveyor. And an electric cabinet is arranged on one side of the roller conveyor. The cooperative stacker crane is advanced in design, compact in structure and convenient to use, direct butt joint of a finished product outlet and the AGV trolley is achieved, the finished product output efficiency is greatly improved, the phenomenon that the stacker crane stops due to the fact that finished products cannot be finished in time is avoided, and then the working efficiency of the stacker crane is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizers, and in particular relates to a cooperative palletizer. Background Art

[0002] The collaborative palletizer is a high-tech product integrating machinery and electronics. The medium and low-level palletizers can meet the production needs of medium and low output. They can complete the palletizing of various products such as bags, rubber blocks, boxes, etc. according to the required grouping method and number of layers. The optimized design can make the stacking shape compact and neat. The material warehouse collaborative palletizer can stack the cartons loaded with finished products on pallets and pallets (wood, plastic) in a certain arrangement, and automatically stack them. It can stack multiple layers and then push them out to facilitate forklift transportation to the warehouse for storage.

[0003] Most of the existing collaborative palletizers have empty pallet entrances and finished product exits on the left and right sides of the manipulator. Since the finished product exit cannot be directly connected to the AGV (Automated Guided Vehicle) cart, third-party employees can only transfer the finished products to the designated area, which is inefficient. The failure to deliver the finished products in time will cause the palletizer to stop, which in turn limits the working efficiency of the palletizer. Therefore, it is urgent to design a material warehouse collaborative palletizer to solve the above problems. Utility Model Content

[0004] The utility model aims to provide a cooperative palletizer to solve the problem.

[0005] To achieve the above purpose, the utility model provides the following technical solution: a collaborative palletizer, comprising:

[0006] A manipulator, wherein a lifting device is provided at the bottom end of the manipulator and a suction cup is provided at the top end, the lifting device is fixed to the top of the base, and a light sensing controller is provided at the top end of the lifting device;

[0007] A platform, wherein two platforms are provided, and the two platforms are symmetrically arranged about the base, and the platform comprises two symmetrically arranged mounting plates, one side of the mounting plate is provided with a longitudinal baffle and the other side is provided with a support block, the top of the support block is provided with an electric telescopic rod and a drop sensor, and one side of the platform is provided with an AGV trolley for picking up and placing pallets;

[0008] A roller conveyor is arranged on one side of the manipulator, a finished product box is arranged on the top of the roller conveyor, and an electric cabinet is arranged on one side of the roller conveyor.

[0009] Preferably, the lifting device adopts a hydraulic fully automatic lifting column, and the hydraulic fully automatic lifting column includes a hydraulic power source system and a hydraulic actuating rod.

[0010] Preferably, there are two light sensing controllers in total, which are respectively arranged on both sides of the top end of the hydraulic action rod and respectively face the corresponding side of the platform.

[0011] Preferably, there are eight electric telescopic rods in total, which are respectively arranged at two ends of the tops of four support blocks, the eight electric telescopic rods have the same size, and the four electric telescopic rods located on the same platform operate synchronously.

[0012] Preferably, there are four material drop sensors in total, and the four material drop sensors are respectively arranged at the center of the tops of four support blocks, and the material drop sensors and the top of the AGV trolley are located in the same horizontal plane.

[0013] Preferably, the roller conveyor comprises a mounting frame, rollers, a drive motor and a chain, and a transverse baffle is fixed to one end of the mounting frame.

[0014] The electric cabinet is electrically connected to the manipulator, the lifting device, the suction cup, the light sensing controller, the electric telescopic rod, the material dropping sensor and the roller conveyor respectively.

[0015] The technical effects and advantages of the utility model are as follows: the collaborative palletizer is advanced in design, compact in structure and easy to use. By setting up two platforms, both platforms can be used as an empty pallet entrance and a finished product exit, thereby improving the finished product output efficiency. In addition, by setting up an electric telescopic rod, the pallet on the AGV trolley can be lifted up. When the AGV trolley drives away, the electric telescopic rod places the pallet on the support block, thereby realizing direct docking between the finished product exit and the AGV trolley, greatly improving the finished product output efficiency, avoiding the shutdown of the palletizer due to the failure of the finished product to be delivered in time, and thus greatly improving the working efficiency of the palletizer. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 It is the front view of the utility model;

[0018] Figure 3 It is a right view of the utility model;

[0019] Figure 4 It is a partial structural schematic diagram of the platform of the utility model.

[0020] In the figure: 100, robot; 101, base; 102, lifting device; 103, suction cup; 104, light sensor controller; 200, platform; 201, mounting plate; 202, longitudinal baffle; 203, support block; 204, electric telescopic rod; 205, drop sensor; 206, pallet; 207, AGV trolley; 300, roller conveyor; 301, finished product box; 302, electric cabinet; 303, horizontal baffle. DETAILED DESCRIPTION

[0021] 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.

[0022] The utility model provides Figure 1-4 A collaborative palletizer shown includes:

[0023] A manipulator 100, wherein a lifting device 102 is provided at the bottom end of the manipulator 100 and a suction cup 103 is provided at the top end. The lifting device 102 is fixed to the top of the base 101 by bolts. A light sensing controller 104 is provided at the top end of the lifting device 102. The light sensing controller 104 works by using a photosensitive element (such as a photoresistor or a photodiode) as a sensing element. Different light reflections are sensed and different reactions occur in the measuring circuit, thereby controlling the manipulator 100 to produce different actions. That is, when the light sensing controller 104 detects that the tray 206 is empty, the manipulator 100 absorbs and grabs the finished product box 301 on the roller conveyor 300 and places it on the tray 206. When the light sensing controller 104 detects that there is a layer of finished product boxes 301 on the tray 206, the lifting device 102 drives the manipulator 100 to move upward. After the upward movement is completed, the manipulator 100 absorbs and grabs the finished product box 301 on the roller conveyor 300 and places it on the first layer of finished product boxes 301.

[0024] The platform 200 is provided with two platforms in total. The two platforms 200 are symmetrically arranged about the base 101. The platform 200 includes two symmetrically arranged mounting plates 201. A longitudinal baffle 202 is provided on one side of the mounting plate 201 and a support block 203 is provided on the other side. The longitudinal baffle 202 can limit the position of the tray 206. The support block 203 can support the tray 206. An electric telescopic rod 204 and a drop sensor 205 are provided on the top of the support block 203. 204 can lift up the tray 206 so that the tray 206 is separated from the AGV trolley 207. The material drop sensor 205 can determine whether the finished product box 301 is placed on the tray 206 and whether the finished product box 301 is full by monitoring the gravity change of the tray 206. An AGV trolley 207 for taking and placing the tray 206 is provided on one side of the platform 200, which is convenient for placing an empty tray 206 on the support block 203 and for taking away a tray 206 full of finished product boxes 301.

[0025] The roller conveyor 300 is arranged on one side of the manipulator 100 , and a finished product box 301 is arranged on the top of the roller conveyor 300 , so as to facilitate continuous conveyance of several finished product boxes 301 to one side of the manipulator 100 , so as to facilitate grabbing by the manipulator 100 , and an electric cabinet 302 is arranged on one side of the roller conveyor 300 .

[0026] In addition, the lifting device 102 adopts a hydraulic fully automatic lifting column, which includes a hydraulic power source system and a hydraulic actuating rod. The hydraulic power source system adopts a micro motor connected to a gear pump and an oil tank through a connecting block with an integrated valve, and then assembled with an integrated hydraulic cylinder to form a complete micro hydraulic system. The system is installed inside the lifting device 102 through structural parts, completing the complete conversion process from electrical energy to mechanical energy and then to hydraulic energy, truly realizing the integration of micromachine, electricity and liquid. The hydraulic power source system can drive the hydraulic actuating rod to move in the vertical direction, thereby driving the manipulator 100 to perform lifting movement, making it convenient for the manipulator 100 to place the grabbed finished product box 301 on the pallet 206.

[0027] Specifically, there are two light sensor controllers 104, which are respectively arranged on both sides of the top of the hydraulic action rod and respectively face the corresponding side of the platform 200. The hydraulic action rod can drive the light sensor controller 104 to move up and down, and then monitor whether there is a second layer of finished product boxes 301 on the pallet 206.

[0028] It is worth mentioning that there are eight electric telescopic rods 204, which are respectively arranged at the two ends of the top of the four support blocks 203. The eight electric telescopic rods 204 have the same size, and the four electric telescopic rods 204 located on the same platform 200 operate synchronously, which makes it convenient to lift the pallet 206 on the platform 200 smoothly, so that the AGV trolley 207 is separated from the pallet 206. When the manipulator 100 stacks the pallet 206, the AGV trolley 207 can be put into other work, which is conducive to reducing costs and increasing efficiency.

[0029] Specifically, there are four drop material sensors 205, which are respectively arranged at the center of the top of the four support blocks 203. The drop material sensors 205 and the top of the AGV trolley 207 are located in the same horizontal plane, so that the electric telescopic rod 204 only needs to be extended a very short distance (1 to 2 mm) to separate the pallet 206 from the AGV trolley 207. After the pallet 206 is separated from the AGV trolley 207, the electric telescopic rod 204 is retracted until the top of the electric telescopic rod 204 is lower than the drop material sensor 205, and the pallet 206 can be placed on the drop material sensor 205.

[0030] It cannot be ignored that the roller conveyor 300 includes a mounting frame, rollers, a drive motor and a chain. The drive motor drives the rollers to rotate through the chain, thereby being able to continuously convey the finished product boxes. The working principle of the roller conveyor 300 is the existing technology and will not be elaborated here. A transverse baffle 303 is fixed at one end of the mounting frame, which can limit the finished product box 301 and stop the finished product box 301 on the roller conveyor 300 close to the end of the manipulator 100 to facilitate the manipulator 100 to grab it.

[0031] Specifically, the electrical cabinet 302 is electrically connected to the manipulator 100, the lifting device 102, the suction cup 103, the light controller 104, the electric telescopic rod 204, the falling material sensor 205 and the roller conveyor 300, respectively, so as to provide power support for the operation of the above-mentioned electrical appliances, and also has the functions of overload protection and leakage protection to ensure the safety of electricity use.

[0032] Working principle: When the collaborative palletizer is used, the AGV trolley 207 first transports the pallet 206 to the platform 200, and then the electric telescopic rod 204 extends to lift the pallet 206. At this time, the AGV trolley 207 drives away from the platform 200 to separate from the pallet 206. After the light sensor controller 104 detects that there is no finished product box 301 on the pallet 206, the manipulator 100 grabs the finished product box 301 on the roller conveyor 300 through the suction cup 103 and stacks it on the pallet 206. When the light sensor controller 104 detects that there are finished product boxes 301 on the first layer of the pallet 206, the lifting device 102 drives the manipulator 100 to rise up and repeats the above action to perform second-layer palletizing. After palletizing is completed, the electric telescopic rod 204 extends to lift the pallet 206, and the AGV trolley 207 drives into the platform 200. The electric telescopic rod 204 shrinks to the shortest position, so that the pallet 206 falls on the AGV trolley 207, and the finished product pallet can be delivered by the AGV trolley 207. The collaborative palletizer has an advanced design, compact structure and is easy to use. By setting up two platforms 200, both platforms 200 can be used as empty pallet entrances and finished product exits, thereby improving the finished product output efficiency. In addition, by setting up an electric telescopic rod 204, the pallet 206 on the AGV trolley 207 can be lifted up. When the AGV trolley 207 drives away, the electric telescopic rod 204 places the pallet 206 on the support block 203, thereby realizing direct docking between the finished product exit and the AGV trolley 207, greatly improving the finished product output efficiency, avoiding the palletizer shutdown caused by the failure to deliver the finished products in time, and thus greatly improving the working efficiency of the palletizer.

[0033] Finally, it should be noted that the above is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A collaborative palletizer, characterized in that: include: A manipulator (100), wherein a lifting device (102) is provided at the bottom end of the manipulator (100) and a suction cup (103) is provided at the top end, the lifting device (102) is fixed to the top of the base (101), and a light sensing controller (104) is provided at the top end of the lifting device (102); A platform (200), wherein two platforms (200) are provided, and the two platforms (200) are symmetrically arranged with respect to the base (101), and the platform (200) comprises two symmetrically arranged mounting plates (201), one side of the mounting plate (201) is provided with a longitudinal baffle (202) and the other side is provided with a support block (203), the top of the support block (203) is provided with an electric telescopic rod (204) and a drop sensor (205), and one side of the platform (200) is provided with an AGV trolley (207) for picking up and placing a pallet (206); A roller conveyor (300) is provided on one side of the robot (100), a finished product box (301) is provided on the top of the roller conveyor (300), and an electric cabinet (302) is provided on one side of the roller conveyor (300).

2. A collaborative palletizer according to claim 1, characterized in that: The lifting device (102) adopts a hydraulic fully automatic lifting column, and the hydraulic fully automatic lifting column comprises a hydraulic power source system and a hydraulic actuating rod.

3. A collaborative palletizer according to claim 2, characterized in that: Two light sensing controllers (104) are provided in total. The two light sensing controllers (104) are respectively arranged on both sides of the top end of the hydraulic action rod and are respectively facing the side of the platform (200) corresponding thereto.

4. The collaborative palletizer according to claim 1, characterized in that: A total of eight electric telescopic rods (204) are provided. The eight electric telescopic rods (204) are respectively arranged at two ends of the tops of four support blocks (203). The eight electric telescopic rods (204) have the same size, and the four electric telescopic rods (204) located on the same platform (200) operate synchronously.

5. The collaborative palletizer according to claim 1, characterized in that: There are four material drop sensors (205) in total. The four material drop sensors (205) are respectively arranged at the center of the tops of four support blocks (203). The material drop sensors (205) and the top of the AGV trolley (207) are located on the same horizontal plane.

6. The collaborative palletizer according to claim 1, characterized in that: The roller conveyor (300) comprises a mounting frame, rollers, a driving motor and a chain, and a transverse baffle (303) is fixed to one end of the mounting frame.

7. The collaborative palletizer according to claim 1, characterized in that: The electric cabinet (302) is electrically connected to the manipulator (100), the lifting device (102), the suction cup (103), the light sensing controller (104), the electric telescopic rod (204), the material drop sensor (205) and the roller conveyor (300) respectively.

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