Stacking mechanism of stacker crane
By using an electromagnetic hook mechanism in the palletizer, inserting the gaps of the wooden frame or wooden box and forming multiple reliable connections, the problem that existing palletizers are difficult to lift the wooden frame or wooden box is solved, and the effect of stable handling is achieved.
Patent Information
- Application Number
- CN202422020093.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-20
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-08-20
AI Technical Summary
Existing palletizers are difficult to lift porous frame structures such as wooden frames or wooden boxes stably, and the jaws or suction cups cannot generate sufficient friction or negative pressure.
The electromagnetic hook claw mechanism is used to insert the gaps of the wooden frame or wooden box through the telescopic hook claws to form a reliable lifting point, and through the combination of multiple sets of electromagnetic hook claws, multiple reliable connections with the wooden frame or wooden box are achieved.
The palletizing robot can stabilize the porous frame structures such as wooden frames or wooden boxes, and solve the difficulties in lifting wooden frames or wooden boxes in the prior art.
Smart Images
Figure CN223032386U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of palletizers, in particular to a palletizing mechanism of a palletizer. Background Art
[0002] A palletizer is an automated mechanical equipment that is mainly used to stack cartons, woven bags, barrels and other items that have been loaded into containers vertically on pallets or stacks according to preset stacking patterns and rules. It performs multi-layer automatic stacking and then pushes them out for forklift transportation to warehouses for storage. In addition to cartons, bags and other storage containers, wooden boxes or wooden frames are also used to store items. Wooden boxes, wooden frames and other containers have regular shapes and high strength, which can provide good protection for internal items and are also easy to stack.
[0003] Existing stacking mechanisms usually use clamps or suction cups to lift items and then transport them to designated locations for stacking. However, the above lifting measures are not suitable for wooden boxes, wooden frames, etc. Since wood is usually porous and the box frame structure usually has joint gaps, the suction cup cannot generate enough negative pressure to lift it. Similarly, since the box frame structure usually has joint gaps or even slots that are too large in size, it is difficult for the clamp to generate enough friction with the box frame structure. In addition, the surface of the wooden box frame structure usually has outward-warped wood fibers, and the clamp is prone to slipping when clamped thereon. Therefore, a stacking mechanism of a palletizer is proposed to address the above problems. Utility Model Content
[0004] The technical problem to be solved by the utility model is to provide a palletizing mechanism of a palletizer, wherein the electromagnetic hook in the palletizer can be inserted into the gap of a wooden frame or a wooden box by extending the telescopic hook therein, and then when the wooden frame or the wooden box is lifted, the telescopic hook can be pressed against the local structure of the wooden frame or the wooden box to form a reliable lifting point, and then under the combined action of multiple groups of electromagnetic hooks, the frame hook mechanism as a whole can generate multiple reliable connections with the wooden frame or the wooden box, so that the palletizing robot can stably carry the frame structure such as the wooden frame or the wooden box, thereby solving the technical problem in the prior art that the clamping claws or suction cups of the palletizer are difficult to stably lift the porous frame structure such as the wooden frame or the wooden box.
[0005] The technical solution adopted by the embodiment of the present application to solve the technical problem is:
[0006] A palletizing mechanism of a palletizer includes a palletizing robot for driving a frame hook mechanism installed thereon to move, wherein the frame hook mechanism includes a mounting plate, slide rails are provided on both sides of the mounting plate, a sliding connecting plate is slidably provided in the slide rails, a claw frame is fixedly connected to the bottom end of the sliding connecting plate, a plurality of electromagnetic hooks are slidably suspended on the claw frame through a sliding suspension rod, the electromagnetic hooks include a claw sleeve, a telescopic hook is slidably provided in the claw sleeve, and an electromagnet is installed at the rear end of the claw sleeve through a mounting frame.
[0007] With the above structural form, the electromagnetic hook can insert its telescopic hook into the gap of the wooden frame or wooden box by extending the telescopic hook. Then, when lifting the wooden frame or wooden box, the telescopic hook can resist against the local structure of the wooden frame or wooden box to form a reliable lifting point. Finally, under the combined action of multiple groups of electromagnetic hooks, multiple reliable connections can be generated between the frame hook mechanism as a whole and the wooden frame or wooden box, enabling the palletizing robot to stably carry porous frame structures such as wooden frames or wooden boxes. In addition, since the claw holder can slide along the slide rail and the electromagnetic hook can slide along the claw holder, the anchoring distance between the oppositely arranged electromagnetic hooks and the distribution of the electromagnetic hooks on the same side can be adjusted according to the specific situation of the object to be carried, which has strong applicability.
[0008] In a possible implementation manner, a connecting ear is fixedly arranged on the side surface of the claw sleeve, a guide rod is fixedly arranged between the mounting bracket and the connecting ear, and a magnetic attraction piece fixedly connected to the end of the telescopic hook is slidably arranged on the guide rod.
[0009] With the above structural form, since the magnetic attraction piece slides along the guide rod, the telescopic hook can only slide along the guide rod during telescoping, ensuring that it will not deviate during the telescoping process.
[0010] In a possible implementation manner, a return spring sleeved outside the guide rod is arranged between the connecting ear and the magnetic attraction piece, and both ends of the return spring are fixedly connected to the connecting ear and the magnetic attraction piece respectively.
[0011] With the above structural form, when the electromagnet works to generate a magnetic attraction force on the magnetic attraction piece, causing it to drive the telescopic hook to move backward, the return spring will be pulled to become longer and accumulate elastic potential energy. When lifting items such as wooden frames or wooden racks, the electromagnet stops working. At this time, the telescopic hook will pop out under the pulling force of the return spring to achieve connection with items such as wooden frames or wooden racks.
[0012] In a possible implementation manner, when the magnetic attraction piece moves to a position close to the claw sleeve, the return spring is still in a stretched state.
[0013] With the above structural form, it can ensure that the return spring always provides a pulling force, so that the telescopic hook can always be in a fully extended state without external force, ensuring that it can have sufficient contact area with items such as wooden frames and wooden racks.
[0014] In a possible implementation manner, a width adjustment groove is provided on the slide rail, and sliding blocks are fixedly connected to both sides of the sliding connection plate. Among them, the sliding blocks are slidably arranged in the width adjustment groove, and the cross section of the sliding blocks is a rounded rectangle.
[0015] Through the above-mentioned structural form, the sliding connection between the sliding connection plate and the sliding rail can be realized by the sliding block, and because the cross section of the sliding block is a rounded rectangle, the sliding connection plate will not rotate during the sliding process.
[0016] In a possible implementation, a centrally arranged fastening screw is fixedly provided on the outer side surface of the sliding block, and a fastening wheel is threadedly connected to the fastening screw.
[0017] With the above-mentioned structural form, when the clamping wheel is tightened, it can generate significant friction with the slide rail, thereby limiting the sliding of the sliding block by means of friction force, so as to fix the current position of the sliding connecting plate.
[0018] In a possible implementation, a spacing adjustment groove is provided on the claw frame, and the sliding suspension rod includes a vertical sliding rod slidably set in the spacing adjustment groove, and two limiting plates are fixedly set on the vertical sliding rod, and the two limiting plates are respectively in sliding contact with the upper and lower end surfaces of the claw frame.
[0019] Through the above-mentioned structural form, the sliding connection between the sliding suspension rod and the claw frame can be achieved, and because the sliding suspension rod is provided with a limiting piece, it will not fall off from the spacing adjustment groove.
[0020] In a possible implementation, the limiting plate on the lower side is a circular plate structure, a side wall of which is provided with threads, and a locking wheel is threadedly connected thereto.
[0021] Through the above-mentioned structural form, when the locking wheel is tightened, it can work together with the upper limiting plate to clamp the claw frame, and then rely on friction to limit the sliding of the sliding boom to fix its current position.
[0022] In summary, the utility model includes the following beneficial technical effects:
[0023] The electromagnetic hook can extend the telescopic hook to insert it into the gap of the wooden frame or wooden box, so that when the wooden frame or wooden box is lifted, the telescopic hook can resist the local structure of the wooden frame or wooden box to form a reliable lifting point. Finally, under the combined action of multiple groups of electromagnetic hooks, the frame hook mechanism as a whole can form multiple reliable connections with the wooden frame or wooden box, so that the palletizing robot can stably carry the porous frame structure such as the wooden frame or wooden box;
[0024] In addition, since the claw frame can slide along the slide rail and the electromagnetic hook can slide along the claw frame, the anchoring distance between the oppositely arranged electromagnetic hooks and the distribution of the electromagnetic hooks on the same side can be adjusted according to the specific conditions of the object to be transported, which has strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The accompanying drawings are used to provide a further understanding of the present utility model and form a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model. In the drawings:
[0026] Figure 1 is a schematic diagram of the overall structure of the present utility model;
[0027] Figure 2 is a schematic diagram of the frame claw mechanism structure of the present utility model;
[0028] Figure 3 is a schematic diagram of the electromagnetic claw structure of the present utility model;
[0029] Figure 4 is a schematic diagram of the partial structure of the frame claw mechanism of the present utility model.
[0030] In the figure: 1. Palletizing robot; 2. Frame claw mechanism; 21. Mounting plate; 22. Slide rail; 221. Width adjustment groove; 23. Sliding connection plate; 231. Sliding block; 232. Tightening screw; 233. Tightening wheel; 24. Claw frame; 241. Spacing adjustment groove; 25. Sliding suspension rod; 251. Vertical slide bar; 252. Limiting piece; 253. Locking wheel; 26. Electromagnetic claw; 261. Claw sleeve; 262. Telescopic claw; 263. Mounting frame; 264. Electromagnet; 265. Guide rod; 266. Magnetic sheet; 267. Reset tension spring. Detailed implementation manners
[0031] The technical solutions in the embodiments of the present application are to solve the problems in the above-mentioned background technology, and the general idea is as follows:
[0032] Such as Figure 1 - Figure 3As shown, the present embodiment provides a palletizing mechanism of a palletizer, including a palletizing robot 1, which is used to drive a frame hook mechanism 2 installed thereon to move, wherein the frame hook mechanism 2 includes a mounting plate 21, and slide rails 22 are provided on both sides of the mounting plate 21. A sliding connecting plate 23 is slidably provided in the slide rail 22, and a claw frame 24 is fixedly connected to the bottom end of the sliding connecting plate 23. A plurality of electromagnetic hook claws 26 are slidably suspended on the claw frame 24 through a sliding suspension rod 25. The electromagnetic hook claw 26 includes a claw sleeve 261, and a telescopic hook claw 262 is slidably provided in the claw sleeve 261, and the rear end of the claw sleeve 261 The electromagnet 264 is installed through the mounting frame 263. Through the above-mentioned structural form, the electromagnetic hook 26 can be inserted into the gap of the wooden frame or wooden box by extending the telescopic hook 262 therein, and then when the wooden frame or wooden box is lifted, the telescopic hook 262 can be pressed against the local structure of the wooden frame or wooden box to form a reliable lifting point. Finally, under the combined action of multiple groups of electromagnetic hooks 26, the frame hook mechanism 2 as a whole can generate multiple reliable connections with the wooden frame or wooden box, so that the stacking robot 1 can stably carry porous frame structures such as wooden frames or wooden boxes.
[0033] In addition, since the claw frame 24 can slide along the slide rail 22 and the electromagnetic hook 26 can slide along the claw frame 24, the anchoring distance between the oppositely arranged electromagnetic hooks 26 and the distribution of the electromagnetic hooks 26 on the same side can be adjusted according to the specific conditions of the object to be transported, and it has strong applicability.
[0034] like Figure 3 As shown, a connecting ear is fixedly provided on the side of the claw sleeve 261, and a guide rod 265 is fixedly provided between the mounting frame 263 and the connecting ear. A magnetic sheet 266 fixedly connected to the end of the telescopic hook 262 is slidably provided on the guide rod 265. Through the above-mentioned structural form, since the magnetic sheet 266 slides along the guide rod 265, the telescopic hook 262 can only move along the guide rod 265 when telescoping, ensuring that it will not deviate during the telescoping process.
[0035] In addition, a reset spring 267 is provided between the connecting ear and the magnetic sheet 266 and is sleeved on the outside of the guide rod 265, and the two ends of the reset spring 267 are respectively fixedly connected to the connecting ear and the magnetic sheet 266. Through the above-mentioned structural form, when the electromagnet 264 works to generate a magnetic attraction force on the magnetic sheet 266 so that it moves backward with the telescopic hook 262, it will pull the reset spring 267 to become longer and accumulate elastic potential energy. When it is necessary to lift objects such as wooden frames or wooden racks, the electromagnet 264 stops working. At this time, the telescopic hook 262 will pop out under the pulling force of the reset spring 267, thereby realizing the connection with objects such as wooden frames or wooden racks.
[0036] Specifically, when the magnetic attraction piece 266 moves to a position close to the claw sleeve 261, the reset tension spring 267 is still in a stretched state. Through the above structural form, it can ensure that the reset tension spring 267 always provides a pulling force, so that under the action of no external force, the telescopic claw 262 can always be in a fully extended state, ensuring that it can generate a sufficient contact area with items such as wooden frames and wooden racks.
[0037] As Figure 4 shown, a width adjustment groove 221 is formed on the slide rail 22. Sliding blocks 231 are fixedly connected to both sides of the sliding connection plate 23. Among them, the sliding blocks 231 are slidably arranged in the width adjustment groove 221, and the cross section of the sliding blocks 231 is a rounded rectangle. Through the above structural form, the sliding connection between the sliding connection plate 23 and the slide rail 22 can be realized by the sliding blocks 231, and since the cross section of the sliding blocks 231 is a rounded rectangle, the sliding connection plate 23 will not rotate during the sliding process.
[0038] Among them, a fastening screw rod 232 arranged in the middle is fixedly arranged on the outer side surface of the sliding block 231, and a fastening wheel 233 is threadedly connected to the fastening screw rod 232. Through the above structural form, when the fastening wheel 233 is tightened, it can generate a significant frictional effect with the slide rail 22, and then rely on the frictional force to limit the sliding of the sliding block 231 to fix the current position of the sliding connection plate 23.
[0039] As Figure 4 shown, a spacing adjustment groove 241 is formed on the claw frame 24. The sliding suspension rod 25 includes a vertical sliding rod 251 slidably arranged in the spacing adjustment groove 241. Two limiting pieces 252 are fixedly arranged on the vertical sliding rod 251, and the two limiting pieces 252 are respectively in sliding contact with the upper and lower end surfaces of the claw frame 24. Through the above structural form, the sliding connection between the sliding suspension rod 25 and the claw frame 24 can be realized, and since the sliding suspension rod 25 is provided with the limiting pieces 252, it will not fall off from the spacing adjustment groove 241.
[0040] Among them, the lower limiting piece 252 is a circular sheet structure, the side wall thereof is provided with threads, and a locking wheel 253 is threadedly connected thereto. Through the above structural form, when the locking wheel 253 is tightened, it can cooperate with the upper limiting piece 252 to clamp the claw frame 24, and then rely on the frictional force to limit the sliding of the sliding suspension rod 25 to fix its current position.
[0041] The working principle and working process of the present utility model:
[0042] The palletizing robot 1 drives the frame claw mechanism 2 to move so that it contacts the item to be palletized. Subsequently, the electromagnetic claw 26 can insert the telescopic claw 262 therein into the gap of the wooden frame or wooden box. Then, when lifting the wooden frame or wooden box, the telescopic claw 262 can resist against the local structure of the wooden frame or wooden box to form a reliable lifting point. Finally, under the combined action of multiple groups of electromagnetic claws 26, multiple reliable connections can be generated between the frame claw mechanism 2 as a whole and the wooden frame or wooden box, enabling the palletizing robot 1 to stably carry porous frame structures such as wooden frames or wooden boxes.
[0043] During the above process, under normal conditions, the electromagnet 264 is in the working state to generate a magnetic attraction force on the magnetic attraction piece 266, causing it to drive the telescopic claw 262 to move backward and retract. Synchronously, the reset tension spring 267 will be pulled to become longer and accumulate elastic potential energy. When it is necessary to lift items such as wooden frames or wooden racks, the electromagnet 264 stops working. At this time, the telescopic claw 262 will pop out under the pulling force of the reset tension spring 267 to achieve connection with items such as wooden frames or wooden racks.
[0044] In addition, since the claw holder 24 can slide along the slide rail 22 and the electromagnetic claw 26 can slide along the claw holder 24, the anchoring distance between the oppositely arranged electromagnetic claws 26 and the distribution of the electromagnetic claws 26 on the same side can be adjusted according to the specific situation of the object to be carried, having strong applicability.
[0045] Finally, it should be noted that: Obviously, the above embodiments are merely examples given for clearly illustrating the present invention and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.
Claims
1. A palletizing mechanism of a palletizer, characterized in that: include: A palletizing robot (1) is used to drive a frame hook mechanism (2) installed thereon to move; The frame hook mechanism (2) comprises a mounting plate (21), slide rails (22) are arranged on both sides of the mounting plate (21), a sliding connection plate (23) is slidably arranged in the slide rail (22), a claw frame (24) is fixedly connected to the bottom end of the sliding connection plate (23), and a plurality of electromagnetic hooks (26) are slidably suspended on the claw frame (24) through a sliding suspension rod (25); The electromagnetic hook claw (26) comprises a claw sleeve (261), a telescopic hook claw (262) is slidably arranged in the claw sleeve (261), and an electromagnet (264) is installed at the rear end of the claw sleeve (261) through a mounting frame (263).
2. The palletizing mechanism of a palletizer according to claim 1, characterized in that: A connecting ear is fixedly provided on the side of the claw sleeve (261), a guide rod (265) is fixedly provided between the mounting frame (263) and the connecting ear, and a magnetic attraction sheet (266) fixedly connected to the end of the telescopic hook claw (262) is slidably provided on the guide rod (265).
3. The palletizing mechanism of a palletizer according to claim 2, characterized in that: A reset spring (267) sleeved outside the guide rod (265) is provided between the connecting ear and the magnetic attraction sheet (266), and two ends of the reset spring (267) are respectively fixedly connected to the connecting ear and the magnetic attraction sheet (266).
4. The palletizing mechanism of a palletizer according to claim 3, characterized in that: When the magnetic attraction sheet (266) moves to a position close to the claw sleeve (261), the reset tension spring (267) is still in a stretched state.
5. The palletizing mechanism of a palletizer according to claim 1, characterized in that: The slide rail (22) is provided with a width adjustment groove (221), and sliding blocks (231) are fixedly connected to both sides of the sliding connection plate (23), wherein the sliding block (231) is slidably arranged in the width adjustment groove (221), and the cross section of the sliding block (231) is a rounded rectangle.
6. The palletizing mechanism of a palletizer according to claim 5, characterized in that: A centrally arranged fastening screw (232) is fixedly provided on the outer side surface of the sliding block (231), and a fastening wheel (233) is threadedly connected to the fastening screw (232).
7. The palletizing mechanism of a palletizer according to claim 1, characterized in that: The claw frame (24) is provided with a spacing adjustment groove (241), and the sliding suspension rod (25) comprises a vertical sliding rod (251) slidably arranged in the spacing adjustment groove (241), and two limiting plates (252) are fixedly arranged on the vertical sliding rod (251), and the two limiting plates (252) are in sliding contact with the upper and lower end surfaces of the claw frame (24) respectively.
8. The palletizing mechanism of a palletizer according to claim 7, characterized in that: The lower limiting plate (252) is a circular plate structure, a side wall of which is provided with threads, and a locking wheel (253) is threadedly connected thereto.