Automatic stacker crane

Abstract

The utility model discloses an automatic stacker crane which comprises a machine frame, and a material conveying line extending into the machine frame is arranged on one side of the machine frame and used for continuously conveying materials. A tray is placed below the rack and is used for placing stacked materials; the automatic stacking device further comprises a mechanical claw, materials on the material conveying line are grabbed through the mechanical claw, the materials are stacked on the tray in a staggered mode, and the mechanical claw is further provided with a rotating assembly, an X-axis driving assembly, a Y-axis driving assembly and a Z-axis driving assembly. On the basis of X-axis movement, Y-axis movement and Z-axis movement, the R-axis rotating assembly is additionally arranged, the mechanical claw can be driven to rotate, the grabbing position and the placing position of the mechanical claw are adjusted, and full-automatic stacking can be achieved whether symmetric materials or asymmetric materials exist; meanwhile, the X-axis driving assembly, the Y-axis driving assembly and the Z-axis driving assembly of the automatic stacker crane all adopt belt pulley assemblies, and compared with most three-axis movement adopting gear and rack driving, the risks of gear lubrication and material contaminating do not exist.

Description

Technical Field

[0001] The utility model relates to the technical field of material palletizing equipment, and particularly relates to an automatic palletizer. Background Art

[0002] With the continuous development of industrial automation technology and the increasing labor cost, more and more manufacturing enterprises begin to seek to improve production efficiency and reduce operation costs through automated equipment. As an important part of the logistics automation system, the market demand for automatic palletizers has been increasing year by year.

[0003] The traditional manual palletizing method is not only inefficient, but also has a high labor intensity, is prone to errors, and is difficult to meet the requirements of modern production for high efficiency and precision. Therefore, the automatic palletizer came into being. It can replace manual labor to complete the stacking operation of goods, significantly improve production efficiency and accuracy, and reduce errors and potential safety hazards caused by manual operation.

[0004] At present, the automatic palletizers on the market mainly adopt structures such as robotic arms, conveyor belts, and fixtures, and cooperate with a three-axis motion control system to achieve automatic handling and stacking of materials. However, the three-axis motion has no problem for the handling and palletizing of symmetric materials, but for asymmetric materials, it is powerless when it is necessary to adjust the palletizing position of the materials during the grasping and placing processes. Even after palletizing, manual position adjustment is required, and automatic palletizing cannot be achieved. Summary of the Utility Model

[0005] The purpose of the utility model is to provide an automatic palletizer to solve the problem that the traditional palletizer cannot adjust the palletizing position of asymmetric materials, so that full-automatic palletizing cannot be achieved.

[0006] To solve the above technical problems, the utility model provides an automatic palletizer, which includes a frame. A material conveying line extending into the interior of the frame is arranged on one side of the frame for continuously conveying materials; a pallet is placed under the frame for placing the materials to be palletized;

[0007] It further includes a robotic arm, which grabs the materials on the material conveying line and stacks them on the pallet in a staggered manner;

[0008] The robotic arm is configured with a rotating component to drive the robotic arm to rotate for adjusting the grasping position and the placing position of the robotic arm;

[0009] The robotic arm is configured with an X-axis driving component to drive the robotic arm and the materials it grabs to move along the X-axis direction;

[0010] The robotic arm is configured with a Y-axis driving component to drive the robotic arm and the materials it grabs to move along the Y-axis direction;

[0011] The mechanical claw is configured with a Z-axis drive assembly for driving the mechanical claw and the material it grabs to move along the Z-axis direction.

[0012] Preferably, the mechanical claw includes two groups of symmetrically arranged clamping jaws, and the two groups of clamping jaws are slidably installed on the same clamping jaw track and approach each other along the clamping jaw track to grab the material located between the two groups of clamping jaws.

[0013] Preferably, each group of clamping jaws is configured with a clamping cylinder, and the corresponding clamping jaw is driven to move along the clamping jaw track by the clamping cylinder.

[0014] Preferably, the rotating assembly includes a rotating motor and a rotating disk, and the rotating disk is connected to the clamping jaw track. Under the action of the rotating motor, the mechanical claw is driven to rotate.

[0015] Preferably, the Z-axis drive assembly includes a lifting motor and a lifting pulley assembly. Under the action of the lifting motor, the mechanical claw is driven to lift by the lifting pulley assembly.

[0016] Preferably, a balance bar is further provided on one side of the Z-axis drive assembly. The balance bar is a balance cylinder, and a balancing force is applied to the Z-axis drive assembly through the telescopic rod of the balance cylinder to balance the weight of the material grabbed by the mechanical claw.

[0017] Preferably, the X-axis drive assembly includes an X-axis motor and an X-axis pulley assembly. The X-axis pulley assembly is connected to the Z-axis drive assembly. Under the action of the X-axis motor, the X-axis pulley assembly drives the Z-axis drive assembly and the mechanical claw to move along the X-axis direction.

[0018] Preferably, the Y-axis drive assembly includes a Y-axis motor and a Y-axis pulley assembly. The Y-axis pulley assembly is connected to the X-axis drive assembly. Under the action of the Y-axis motor, the Y-axis pulley assembly drives the X-axis drive assembly and the mechanical claw to move along the Y-axis direction.

[0019] Preferably, there are two groups of Y-axis drive assemblies symmetrically distributed at both ends of the X-axis drive assembly.

[0020] Compared with the prior art, the beneficial effects of the present utility model are:

[0021] Based on the X, Y, and Z-axis movements, the automatic palletizer of the present utility model is added with a rotating assembly on the R-axis, which can drive the mechanical claw to rotate to adjust the grasping position and placement position of the mechanical claw, enabling full-automatic palletizing of both symmetrical and asymmetrical materials; at the same time, the X, Y, and Z-axis drive assemblies of the automatic palletizer all adopt pulley assemblies, compared with most three-axis movements using gears and racks for driving, there is no risk of gear lubrication and material contamination. Brief Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of the automatic palletizer provided by the present utility model from the first perspective;

[0023] Figure 2 is a schematic structural diagram of the automatic palletizer provided by the present utility model from the second perspective;

[0024] Figure 3 is a front view of the automatic palletizer provided by the present utility model;

[0025] Figure 4 is a side view of the automatic palletizer provided by the present utility model;

[0026] Figure 5 is a partial schematic diagram of the automatic palletizer provided by the present utility model.

[0027] In the figure: 1, frame; 2, material conveyor line; 3, pallet; 4, mechanical claw; 5, rotating assembly; 6, X-axis drive assembly; 7, Y-axis drive assembly; 8, Z-axis drive assembly; 9, balance bar; 100, material; 401, jaw; 402, jaw track; 403, clamping cylinder; 501, rotating motor; 502, rotating disk. Detailed Description of the Embodiment

[0028] The following further detailed description of the present utility model is made in conjunction with the accompanying drawings and specific embodiments. According to the following description and claims, the advantages and features of the present utility model will be clearer. It should be noted that the accompanying drawings are all in very simplified forms and use non-precise scales, only for the purpose of facilitating and clearly assisting in explaining the embodiments of the present utility model.

[0029] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0030] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood through specific circumstances. Embodiment

[0031] The present utility model provides an automatic palletizing machine. Please refer to Figures 1-4 , which includes a frame 1. On one side of the frame 1, there is a material conveyor line 2 extending into the interior of the frame 1 for continuously conveying materials; below the frame 1, there is a pallet 3 for placing the materials to be palletized.

[0032] The automatic palletizing machine further includes a mechanical claw 4. The mechanical claw 4 grabs the material 100 on the material conveyor line 2 and stacks it in a staggered manner on the pallet 3; the mechanical claw 4 is configured with a rotating assembly 5 to drive the mechanical claw 4 to rotate for adjusting the grasping position and the placing position of the mechanical claw 4; the mechanical claw 4 is configured with an X-axis driving assembly 6 to drive the mechanical claw 4 and the material 100 it grabs to move along the X-axis direction; the mechanical claw 4 is configured with a Y-axis driving assembly 7 to drive the mechanical claw 4 and the material 100 it grabs to move along the Y-axis direction; the mechanical claw 4 is configured with a Z-axis driving assembly 8 to drive the mechanical claw 4 and the material 100 it grabs to move along the Z-axis direction.

[0033] Specifically, please refer to Figure 5, the mechanical claw 4 includes two sets of symmetrically arranged clamping jaws 401, and the two sets of clamping jaws 401 are slidably installed on the same clamping jaw track 402 and approach each other along the clamping jaw track 402 to grasp the material 100 located between the two sets of clamping jaws 401.

[0034] Furthermore, each set of clamping jaws 401 is equipped with a clamping cylinder 403, and the corresponding clamping jaw 401 is driven by the clamping cylinder 403 to move along the clamping jaw track 402.

[0035] Furthermore, the rotating assembly 5 includes a rotating motor 501 and a rotating disk 502. The rotating disk 502 is connected to the clamping jaw track 402, and under the action of the rotating motor 501, the mechanical claw 4 is driven to rotate.

[0036] Specifically, the Z-axis driving assembly 8 includes a lifting motor and a lifting pulley assembly. Under the action of the lifting motor, the mechanical claw 4 is driven to lift by the lifting pulley assembly.

[0037] Furthermore, a balance bar 9 is provided on one side of the Z-axis driving assembly 8. The balance bar 9 is a balance cylinder, and a balancing force is applied to the Z-axis driving assembly 8 through the telescopic rod of the balance cylinder to balance the weight of the material 100 grasped by the mechanical claw 4.

[0038] Specifically, the X-axis driving assembly 6 includes an X-axis motor and an X-axis pulley assembly. The X-axis pulley assembly is connected to the Z-axis driving assembly 8, and under the action of the X-axis motor, the X-axis pulley assembly drives the Z-axis driving assembly 8 and the mechanical claw 4 to move along the X-axis direction.

[0039] Specifically, the Y-axis driving assembly 7 includes a Y-axis motor and a Y-axis pulley assembly. The Y-axis pulley assembly is connected to the X-axis driving assembly 6, and under the action of the Y-axis motor, the Y-axis pulley assembly drives the X-axis driving assembly 6 and the mechanical claw 4 to move along the Y-axis direction.

[0040] Furthermore, two sets of Y-axis driving assemblies 7 are provided and are symmetrically distributed at both ends of the X-axis driving assembly 6.

[0041] Based on the X, Y, and Z-axis movements, the automatic palletizing machine of the present utility model adds a rotating assembly on the R-axis, which can drive the mechanical claw to rotate to adjust the grasping position and placing position of the mechanical claw, so that both symmetric and asymmetric materials can achieve fully automatic palletizing; at the same time, the X, Y, and Z-axis driving assemblies of the automatic palletizing machine all adopt pulley assemblies, compared with most three-axis movements using gears and racks for driving, there is no risk of gear lubrication and material contamination.

[0042] The above description is only a description of the preferred embodiments of the present utility model, and does not limit the scope of the present utility model in any way. Any changes and modifications made by those of ordinary skill in the art of the present utility model based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. An automatic palletizer, characterized in that, It includes a frame (1), and on one side of the frame (1), there is a material conveying line (2) extending into the interior of the frame (1) for continuously conveying materials; below the frame (1), there is a tray (3) for placing the materials to be palletized. It further includes a mechanical claw (4) which grabs the material (100) on the material conveying line (2) and stacks it staggeredly on the tray (3). The mechanical claw (4) is configured with a rotating assembly (5) to drive the mechanical claw (4) to rotate for adjusting the grasping position and the placing position of the mechanical claw (4). The mechanical claw (4) is configured with an X-axis driving assembly (6) to drive the mechanical claw (4) and the material (100) it grabs to move along the X-axis direction. The mechanical claw (4) is configured with a Y-axis driving assembly (7) to drive the mechanical claw (4) and the material (100) it grabs to move along the Y-axis direction. The mechanical claw (4) is configured with a Z-axis driving assembly (8) to drive the mechanical claw (4) and the material (100) it grabs to move along the Z-axis direction.

2. The automatic palletizing machine according to claim 1, wherein, The mechanical claw (4) includes two groups of symmetrically arranged clamping claws (401), and the two groups of clamping claws (401) are slidably installed on the same clamping claw track (402) and approach each other along the clamping claw track (402) to grab the material (100) located between the two groups of clamping claws (401).

3. The automatic palletizer according to claim 2, wherein Each group of clamping claws (401) is configured with a clamping cylinder (403), and the corresponding clamping claw (401) is driven to move along the clamping claw track (402) by the clamping cylinder (403).

4. An automatic palletizing machine according to claim 2, wherein The rotating assembly (5) includes a rotating motor (501) and a rotating disk (502), and the rotating disk (502) is connected to the clamping claw track (402). Under the action of the rotating motor (501), the mechanical claw (4) is driven to rotate.

5. An automatic palletizer according to claim 1, characterized in that, The Z-axis driving assembly (8) includes a lifting motor and a lifting pulley assembly. Under the action of the lifting motor, the mechanical claw (4) is driven to lift by the lifting pulley assembly.

6. The automatic palletizing machine according to claim 5, characterized in that, On one side of the Z-axis driving assembly (8), there is also a balance bar (9), and the balance bar (9) is a balance cylinder. A balancing force is applied to the Z-axis driving assembly (8) through the telescopic rod of the balance cylinder to balance the weight of the material (100) grabbed by the mechanical claw (4).

7. An automatic palletizer according to claim 1, characterized in that, The X-axis driving assembly (6) includes an X-axis motor and an X-axis pulley assembly. The X-axis pulley assembly is connected to the Z-axis driving assembly (8). Under the action of the X-axis motor, the X-axis pulley assembly drives the Z-axis driving assembly (8) and the mechanical claw (4) to move along the X-axis direction.

8. An automatic palletizing machine according to claim 1, characterized in that, The Y-axis driving assembly (7) includes a Y-axis motor and a Y-axis pulley assembly. The Y-axis pulley assembly is connected to the X-axis driving assembly (6). Under the action of the Y-axis motor, the Y-axis pulley assembly drives the X-axis driving assembly (6) and the mechanical claw (4) to move along the Y-axis direction.

9. An automatic palletizing machine according to claim 8, wherein, There are two groups of the Y-axis driving assemblies (7), symmetrically distributed at both ends of the X-axis driving assembly (6).

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