Flexible dense stacking system for multi-standard box type materials

Abstract

The utility model discloses a flexible dense stacking system for multi-standard box-type materials, which comprises a truss manipulator, a plurality of box stacking positions, a plurality of box stacking devices, a plurality of box stacking devices, a plurality of box stacking devices, a plurality of box stacking devices, a plurality of box stacking devices, a plurality of box stacking devices and a plurality of box stacking devices, the tray connection position is arranged below the truss mechanical arm and located on one side of the stacking area, and the tray connection position is used for storing empty trays in a transition mode or storing solid trays with stacked piece boxes in a transition mode; empty trays are placed at the corresponding part box stacking positions through the truss mechanical arms, and stacked solid trays are placed at the tray connection positions through the truss mechanical arms. The incoming material conveying line is arranged on the outer side of the truss mechanical arm, and a part box taking position is arranged on one side of the end of the incoming material conveying line. The truss manipulator conveys the piece boxes to the corresponding stacking trays according to the piece box incoming material information; the computer system is in electric signal connection with the truss mechanical arm, the supplied material conveying line and the AGV and can analyze the piece box information and the number information, the multiple SKU piece box materials can be efficiently sorted and stacked, and the stacking space utilization rate is increased.

Description

Technical Field

[0001] The utility model belongs to the technical field of box-type material sorting and palletizing, and in particular relates to a flexible and intensive palletizing system for box-type materials of multiple specifications. Background Art

[0002] In order to meet people's diversified and personalized needs for goods; the types of goods produced / distributed by enterprises are becoming more and more abundant, and they are increasingly inclined to customized production. This requires enterprises to produce more and more types of products, and the simultaneous palletizing of multiple SKUs of such materials has also become a problem that customized production companies urgently need to solve. At present, the palletizing operation mode of customized production companies for unit materials of different SKUs is: 1 pallet palletizes 1 SKU material, the robot only grabs the box, and the pallet is transported by RGV or conveyor. Due to the large space occupied by the conveying equipment and the large area occupied by the single box palletizing position, the equipment flow line is complicated, which greatly increases the equipment cost, and the utilization rate of the palletizing space is extremely low.

[0003] Therefore, how to provide a flexible and dense palletizing system for multi-standard box-type materials is an urgent problem that technical personnel in this field need to solve. Utility Model Content

[0004] In view of this, the utility model provides a flexible and dense palletizing system for multi-standard box materials, which can automatically palletize and store multi-SKU box materials efficiently, and SKU is the inventory entry and exit measurement unit.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solution: a flexible intensive palletizing system for multi-standard box-type materials, which includes:

[0006] A truss manipulator, wherein a stacking area is provided below the truss manipulator, and a plurality of box stacking positions are marked in the stacking area according to coordinate numbers;

[0007] A pallet docking position, which is arranged below the truss manipulator and located on one side of the palletizing area, and is used for transitional storage of empty pallets or transitional storage of pallets that have been stacked in boxes; the empty pallets are placed by the truss manipulator at the corresponding box stacking position and used for box stacking, and the stacked pallets are placed by the truss manipulator at the pallet docking position and subsequently transferred out by the AGV;

[0008] An incoming material conveying line, the incoming material conveying line is arranged outside the truss manipulator, and a box pickup position is arranged at one end of the incoming material conveying line, and the box pickup position temporarily stores incoming materials from the box;

[0009] The truss manipulator delivers the incoming material information of the box to the corresponding stacking pallet;

[0010] The computer system connects the truss manipulator, the material conveying line and the AGV through electrical signals and can analyze the box information and number information.

[0011] The beneficial effects of the utility model are as follows: the truss manipulator can operate accurately according to the coordinates, the spatial area below the truss manipulator is the stacking area, which provides stacking space, the stacking area is divided into multiple piece box stacking positions according to the numbers, the pallet docking position is the transition parking area for the transition of empty pallets and real pallets, the transportation of empty pallets and the transportation of real pallets for stacking piece boxes are both realized by AGV, the empty pallet is placed on the piece box stacking position by the manipulator to provide a stacking basis, according to the piece box incoming materials delivered by the incoming material conveyor line, the truss manipulator stacks the piece boxes marked with different SKUs on the piece box stacking position pallets with corresponding numbers, and realizes the sorting and stacking of multi-item and specification piece boxes, the real pallets of the stacked piece boxes are placed by the manipulator on the pallet docking position and wait for subsequent transfer, the utility model can efficiently sort and stack multi-item and specification piece boxes according to the predetermined design, has a simple structure, saves equipment space, and has low operating costs.

[0012] Preferably, the gripping end of the truss manipulator comprises a pallet clamp for gripping an empty pallet or a full pallet and a box gripper for gripping a box.

[0013] The resulting technical effect is that the truss manipulator has two sets of clamps, one set is specifically used to grab pallets (including empty pallets and full pallets), and the other set is specifically used to grab boxes, with strong specialization.

[0014] Preferably, the pallet docking positions include a plurality of empty pallet docking positions and a plurality of real pallet docking positions, the empty pallet docking positions are used to place empty pallets transported by AGV, and the real pallet docking positions are used to place real pallets delivered by pallet clamps and delivered to the target position by AGV.

[0015] The resulting technical effect is: the pallet docking position is used for transitional storage of empty pallets and full pallets loaded with boxes. The empty pallets are transported to the pallet docking position by the AGV, and then the robot grabs them and places them at the box stacking position waiting for the box to be stacked. The full pallets that have been stacked are also grabbed by the robot and placed at the pallet docking position, waiting to be transported to the target position by the AGV.

[0016] Preferably, there are one or more incoming material conveying lines, and each incoming material conveying line is provided with one or more piece box picking positions.

[0017] The resulting technical effect is: the incoming material conveyor line is used to transport upstream incoming materials, the box picking position temporarily stores the boxes, and the box picking position is also the position where the robot picks up materials, thereby improving the efficiency of feeding and picking up materials.

[0018] Preferably, a commodity code is provided on the outer wall of the incoming box material, and the truss robot is provided with a code reader to obtain the incoming material information based on the commodity code. The code reader is connected to the computer system and controls the truss robot to deliver the incoming box material to the corresponding box stacking position pallet.

[0019] The resulting technical effect is: based on the precise classification of product code information, the robot can sort and code the boxes and place them on the pallet with the corresponding coordinate number.

[0020] Preferably, the truss manipulator includes a structural frame, a crossbeam, a translation platform, a pallet clamp and a piece box gripper. The crossbeam is slidably connected to the top of the structural frame and is controlled by a crossbeam driver to move back and forth on the structural frame. The translation platform is horizontally slidably connected to the crossbeam and is controlled by a translation platform driver to move back and forth on the crossbeam. The pallet clamp and the piece box gripper are respectively slidably connected to the translation platform up and down.

[0021] The resulting technical effect is that the truss manipulator can operate according to the coordinate position, the pallet clamp is used to clamp the pallet, and the box gripper is used to grab the box.

[0022] Preferably, a lifting frame is installed on the top of the piece box gripper, and the lifting frame is installed on the translation platform through a lifting servo motor, and the piece box gripper is a suction cup gripper.

[0023] The resulting technical effect is that the suction cup gripper is convenient for grabbing the parcel box, and the parcel box gripper can be raised and lowered under the action of the lifting frame to complete the stacking of the parcel boxes.

[0024] Preferably, a lifting cylinder is vertically fixedly connected to the outer bottom of the lifting frame, and the lifting end of the lifting cylinder is connected to a base frame. The pallet clamp includes two groups of splints and a splint cylinder. The splints are slidably connected to the base frame, and the splint cylinder is fixed to the base frame and controls the opening and closing of the two groups of splints. The suction cup gripper is located between the two groups of opened and closed splints.

[0025] The resulting technical effect is that the pallet clamp can move up and down relative to the box gripper. When grabbing a pallet, the position of the clamp moves downward relatively. At this time, the box suction cup is located above the real pallet or the empty pallet, which will not affect the grabbing of the pallet. When grabbing a box, the position of the clamp rises relatively, which will not affect the grabbing and stacking of the box. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a plan view of a flexible and dense stacking system for multi-standard box-type materials of the utility model;

[0027] Figure 2 This is a schematic diagram of a grabbing box of a flexible dense stacking system for multi-standard box-type materials of the utility model;

[0028] Figure 3 This is a schematic diagram of grabbing an empty pallet in a flexible dense stacking system for multi-standard box-type materials of the utility model;

[0029] Figure 4 It is a schematic diagram of grabbing a solid pallet in a flexible dense stacking system for multi-standard box-type materials of the utility model.

[0030] 1 truss manipulator, 11 structural frame, 12 crossbeam, 13 translation platform, 14 pallet clamp, 15 box gripper, 16 lifting frame, 17 base frame, 2 pallet docking position, 3 incoming material conveyor line, 31 box picking position, 4 AGV, 5 box stacking position, 6 empty pallets, 7 full pallets. DETAILED DESCRIPTION

[0031] 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.

[0032] See the attached Figures 1 to 4 According to an embodiment of the utility model, a flexible intensive palletizing system for multi-standard box-type materials includes:

[0033] A truss manipulator 1, a stacking area is provided below the truss manipulator 1, and a plurality of box stacking positions 5 are arranged in the stacking area according to coordinate numbers;

[0034] Pallet docking position 2, which is arranged below the truss manipulator 1 and located on one side of the palletizing area, is used for transitional storage of empty pallets 6 or transitional storage of pallets 7 that have been stacked in boxes; the empty pallets 6 are placed by the truss manipulator 1 at the corresponding box stacking position 5 and used for box stacking, and the stacked pallets 7 are placed by the truss manipulator 1 at the pallet docking position 2 and subsequently transferred out by the AGV 4;

[0035] The incoming material conveying line 3 is arranged outside the truss manipulator 1. A box pickup position 31 is arranged at one end of the incoming material conveying line 3. The box pickup position 31 temporarily stores the incoming material in the box.

[0036] Truss robot 1 delivers the incoming material information of the box to the corresponding stacking pallet;

[0037] The computer system connects the truss manipulator 1, the material conveying line 3 and the AGV 4 with electrical signals and can analyze the box information and number information.

[0038] In other embodiments, the gripping end of the truss manipulator 1 includes a pallet clamp 14 for gripping an empty pallet 6 or a full pallet 7 and a box gripper 15 for gripping a box. The gripping end has two sets of clamps, one set for specifically gripping pallets and the other set for specifically gripping boxes.

[0039] In other specific embodiments, the pallet docking position 2 includes multiple empty pallet docking positions and multiple real pallet docking positions, allowing the AGV to pick up and place pallets in parallel. The empty pallet docking position is used to place the empty pallet 6 transported by the AGV, and the real pallet docking position is used to place the real pallet delivered by the pallet clamp 14 and is delivered to the target position by the AGV.

[0040] In some other embodiments, there are one or more incoming material conveying lines 3 , and each incoming material conveying line 3 is provided with one or more piece box picking positions 31 .

[0041] In some other specific embodiments, a commodity code is provided on the outer wall of the incoming box materials, a code reader is provided on the truss robot 1 and the incoming material information is obtained based on the commodity code, the code reader is connected to the computer system and controls the truss robot 1 to deliver the incoming box materials to the corresponding box stacking position pallet.

[0042] In other embodiments, the truss manipulator 1 includes a structural frame 11, a crossbeam 12, a translation platform 13, a pallet clamp 14 and a piece box gripper 15. The crossbeam 12 is slidably connected to the top of the structural frame 11 and is controlled by a crossbeam driver to reciprocate on the structural frame 11. The translation platform 13 is horizontally slidably connected to the crossbeam 12 and is controlled by a translation platform driver to reciprocate on the crossbeam 12. The pallet clamp 14 and the piece box gripper 15 are respectively connected to the translation platform 13 by sliding up and down.

[0043] In some other embodiments, a lifting frame 16 is installed on the top of the box gripper 15, and the lifting frame 16 is installed on the translation platform 13 through a lifting servo motor, and the box gripper 15 is a suction cup gripper. The suction cup gripper and the tray clamp can be relatively far away from each other without interference.

[0044] In other embodiments, a lifting cylinder is vertically fixedly connected to the outer bottom of the lifting frame 16, and the lifting end of the lifting cylinder is connected to the base frame 17. The pallet clamp 14 includes two groups of splints and a splint cylinder. The splints are slidably connected to the base frame 17. The splint cylinder is fixed on the base frame and controls the opening and closing of the two groups of splints. The suction cup gripper is located between the two groups of opened and closed splints. When the pallet clamp is working, the pallet clamp falls to a low position to avoid position interference between the package box and the suction cup gripper. When the package box is grabbed, the pallet clamp rises to a high position, which will not affect the grabbing and stacking process of the package box gripper.

[0045] Specific working process:

[0046] AGV moves a single empty pallet to the empty pallet docking position in advance, and the truss manipulator uses the pallet clamp to place the empty pallet on the box stacking position; during stacking, the incoming material on the material conveyor line, the manipulator uses the box gripper to grab the box and put it on the corresponding empty pallet for stacking. When the stacking is completed, the pallet clamp grabs the real pallet to the real pallet docking position, and then the AGV transports it to the target position. The system can realize automatic stacking of multiple SKU box materials at the same time, and greatly reduce the channel space required for pallet handling.

[0047] The types of AGVs that can be selected only need to meet the pallet handling needs. The box stacking positions are arranged in a queue to facilitate recording of coordinate information and numbers. There is no need to set up ground handling channels for the box stacking positions. They can be arranged densely, leaving space for the robot to grab.

[0048] As for the device and the method of use disclosed in the embodiment, since they correspond to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0049] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible and dense palletizing system for multi-format box-type materials, characterized in that: include: A truss manipulator (1), wherein a stacking area is provided below the truss manipulator (1), and a plurality of box stacking positions (5) are marked in the stacking area according to coordinate numbers; A pallet docking position (2), the pallet docking position (2) being arranged below the truss robot (1) and located on one side of the palletizing area, the pallet docking position (2) being used for transitional storage of empty pallets (6) or transitional storage of full pallets (7) that have been stacked into boxes; the empty pallets (6) are placed by the truss robot (1) at the corresponding box stacking position (5) and used for box stacking, and the full pallets (7) that have been stacked are placed by the truss robot (1) at the pallet docking position (2) and subsequently transferred out by the AGV (4); An incoming material conveying line (3), the incoming material conveying line (3) being arranged outside the truss manipulator (1), a box pickup position (31) being arranged at one end of the incoming material conveying line (3), the box pickup position (31) temporarily storing the incoming material from the box; The truss manipulator (1) delivers the incoming material information of the box to the corresponding stacking pallet; A computer system, wherein the computer system connects the truss manipulator (1), the incoming material conveyor line (3) and the AGV (4) with electrical signals and can analyze the box information and number information.

2. The flexible intensive palletizing system for multi-format box-type materials according to claim 1 is characterized in that: The gripping end of the truss manipulator (1) comprises a pallet clamp (14) for gripping an empty pallet (6) or a full pallet (7) and a box gripper (15) for gripping a box.

3. The flexible intensive palletizing system for multi-format box-type materials according to claim 2 is characterized in that: The pallet docking position (2) includes a plurality of empty pallet docking positions and a plurality of real pallet docking positions. The empty pallet docking positions are used to place empty pallets (6) transported by the AGV, and the real pallet docking positions are used to place real pallets delivered by the pallet clamp (14). The real pallets are delivered to the target position by the AGV.

4. The flexible intensive palletizing system for multi-format box-type materials according to claim 1 is characterized in that: The incoming material conveying line (3) is one or more, and each incoming material conveying line (3) is provided with one or more piece box picking positions (31).

5. The flexible intensive palletizing system for multi-format box-type materials according to claim 1 is characterized in that: The outer wall of the incoming box material is provided with a commodity code, the truss manipulator (1) is provided with a code reader and obtains the incoming material information according to the commodity code, the code reader is connected to the computer system and controls the truss manipulator (1) to deliver the incoming box material to the corresponding box stacking position pallet.

6. The flexible intensive palletizing system for multi-format box-type materials according to claim 1 is characterized in that: The truss manipulator (1) comprises a structural frame (11), a crossbeam (12), a translation platform (13), a pallet clamp (14) and a piece box gripper (15); the crossbeam (12) is slidably connected to the top of the structural frame (11) and is controlled by a crossbeam driver to reciprocate on the structural frame (11); the translation platform (13) is horizontally slidably connected to the crossbeam (12) and is controlled by a translation platform driver to reciprocate on the crossbeam (12); the pallet clamp (14) and the piece box gripper (15) are respectively slidably connected to the translation platform (13) up and down.

7. The flexible intensive palletizing system for multi-standard box-type materials according to claim 6 is characterized in that: A lifting frame (16) is installed on the top of the piece box gripper (15); the lifting frame (16) is installed on the translation platform (13) through a lifting servo motor; and the piece box gripper (15) is a suction cup gripper.

8. The flexible intensive palletizing system for multi-format box-type materials according to claim 7 is characterized in that: The outer bottom of the lifting frame (16) is vertically fixedly connected to a lifting cylinder, and the lifting end of the lifting cylinder is connected to a base frame (17). The pallet clamp (14) includes two groups of clamps and a clamp cylinder. The clamps are slidably connected to the base frame (17). The clamp cylinder is fixed to the base frame and controls the opening and closing of the two groups of clamps. The suction cup gripper is located between the two groups of clamps.

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