Stacking shaping device used for being matched with robot for stacking

Abstract

The utility model discloses a stacking shaping device used for being matched with a robot for stacking, belongs to the technical field of stacking machines, and aims to solve the problem that the stacking shape of a stacking robot is not compact. Comprising a stacked tray conveying mechanism, a lifting mechanism, a shaping mechanism and a layering mechanism, the lifting mechanism comprises a lifting machine frame and a fork rod assembly, the fork rod assembly is vertically arranged on the lifting machine frame in a sliding mode, the stacked tray conveying mechanism penetrates through the bottom of the lifting machine frame, the shaping mechanism and the layering mechanism are arranged on the top of the lifting machine frame in an up-down mode, the layering mechanism comprises a layering machine frame and a layering plate, and the layering plate is horizontally arranged on the layering machine frame in a sliding mode; the shaping mechanism comprises four shaping plates which slide horizontally, the shaping plates are connected with the shaping support through shaping air cylinders, and a shaping area is formed among the four shaping plates; according to the material bag shaping device, adaptive shaping is carried out on the material bag according to the size and the position of a tray, the shaping pertinence is high, the cost is low, and the occupied area is small.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizers, and particularly relates to a palletizing and shaping device for cooperating with a robot for palletizing. Background Art

[0002] A palletizing and shaping machine is a machine device that automatically performs work. It can run pre-edited programs or act according to the principle outlines specified by artificial intelligence technology. With the continuous development of China's economy and the rapid progress of science and technology, the palletizing and shaping machine has been widely used in industries such as chemical industry, heavy industry, agriculture, and food.

[0003] At present, in the automatic packaging and palletizing industry, palletizing work is mainly carried out by palletizing robots. The palletizing robot stacks the grabbed material bags onto an empty pallet according to a preset program. However, due to the opening and closing limitation of the mechanical arm of the palletizing robot itself and the uneven size of the grabbed material bags, the spacing between the material bags stacked by the palletizing robot is too large, the stacked pallet shape is not compact, and the outer dimension often exceeds the lower pallet by a large margin, which cannot meet the needs of enterprise warehousing and transportation. Content of the Utility Model

[0004] The purpose of the utility model is to provide a palletizing and shaping device for cooperating with a robot for palletizing to solve the problems of too large spacing between the material bags stacked by the palletizing robot and the non-compact stacked pallet shape. The technical solution adopted by the utility model is as follows:

[0005] A palletizing and shaping device for cooperating with a robot for palletizing includes a pallet conveying mechanism, a lifting mechanism, a shaping mechanism, and a layering mechanism;

[0006] The lifting mechanism includes a lifting frame and a fork rod assembly. The fork rod assembly is vertically slidably arranged on the lifting frame. The pallet conveying mechanism passes through the bottom of the lifting frame. The pallet conveying mechanism includes a conveying frame, rollers, and a conveying reduction motor. A number of rollers are rotatably arranged at the top of the conveying frame. The conveying reduction motor is arranged on the conveying frame. The conveying reduction motor is connected to a number of rollers through a chain. The pallet conveying mechanism intermittently conveys the pallet. The pallet conveying mechanism is provided with an avoidance notch for the fork rod assembly to slide into. The shaping mechanism and the layering mechanism are arranged up and down at the top of the lifting frame. The layering mechanism includes a layering frame and a layering plate. The layering plate is horizontally slidably arranged on the layering frame;

[0007] The shaping mechanism includes a shaping bracket, four guiding components, four shaping plates, and four shaping cylinders. The shaping bracket is connected to the lifting frame. The four guiding components are respectively connected to the shaping bracket. The four guiding components are arranged perpendicular to the four circumferential surfaces of the pallet one by one. The four shaping plates are slidably arranged on the four guiding components one by one. The shaping plates are connected to the shaping bracket through the shaping cylinders. A shaping area is provided between the four shaping plates;

[0008] The layered board slides along the lower edges of the four shaping boards to open or close the shaping area. The fork rod assembly lifts the pallet and moves it up and down between the layered board and the transfer end face of the pallet conveying mechanism. The shaping area is adapted to the pallet, and the pallet receives the shaping area. When shaping the materials in the shaping area, the shaping cylinder drives the corresponding shaping board to move towards the shaping area. Two shaping boards clamp on the left and right sides of several material bags, and the other two shaping boards clamp on the front and back sides of several material bags.

[0009] Further, the pallet conveying mechanism further includes a first photoelectric sensor and a pallet intercepting board. The first photoelectric sensor is arranged on one side of several rollers. The pallet intercepting board is horizontally rotatably arranged on the conveying frame, and the pallet intercepting board and the conveying frame are connected by an intercepting cylinder. When the first photoelectric sensor detects the pallet, the first photoelectric sensor emits a signal to control the solenoid valve of the intercepting cylinder to act, and the pallet intercepting board crosses above several rollers.

[0010] Further, the lifting mechanism further includes a lifting driving mechanism, a second photoelectric sensor and a counterweight assembly. Rollers are respectively arranged at both ends of the fork rod assembly, and vertical slideways are respectively arranged at both ends of the lifting frame. The two rollers are correspondingly slidably arranged in the two slideways. A lifting driving mechanism is installed at the top end of the lifting frame. The lifting driving mechanism includes a lifting reduction motor and a lifting main shaft connected to the output end of the lifting reduction motor. Two sprockets are sleeved on the lifting main shaft. One end of each of the two chains is connected to the fork rod assembly, and the other end of each of the two chains bypasses the lifting driving mechanism and is connected to the counterweight assembly. The two chains are respectively meshed with the two sprockets in one-to-one correspondence. Second photoelectric sensors are arranged at the top and bottom of the lifting frame. When the fork rod assembly slides up to the second photoelectric sensor at the top or slides down to the second photoelectric sensor at the bottom, the corresponding second photoelectric sensor emits a signal to control the lifting reduction motor of the lifting driving mechanism to decelerate and stop.

[0011] Further, a number of threaded holes are provided on the shaping bracket, and the shaping cylinder is fixed on the shaping bracket through any one of the threaded holes.

[0012] Further, the layering mechanism further includes a layering drive assembly, a layering frame, a transmission belt, a tensioning pulley, and a photoelectric sensor. The layering drive assembly includes a layering reduction motor and a layering main shaft connected to the output end of the layering reduction motor. Two driving pulleys are sleeved on the layering main shaft. The layering main shaft is rotatably arranged at the left end of the layering frame through a pedestal bearing. Two tensioning pulleys are rotatably arranged at the right end of the layering frame through screws and nuts. The two driving pulleys and the two tensioning pulleys are connected in one-to-one correspondence through a transmission belt. The layering plate is slidably arranged on the layering frame left and right and is respectively connected to the two transmission belts. A photoelectric sensor is arranged on the layering frame and is used to detect the position of the layering plate. After the layering plate slides in place, the photoelectric sensor emits a signal to control the layering reduction motor to decelerate and stop.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0014] The present utility model completes the shaping process of the pallet stack with a compact structure, adapts and shapes the material bags according to the size and position of the pallet, has strong shaping pertinence, low cost, and occupies less space, and solves the problems that the spacing between the material bags stacked by the palletizing robot is too large, the stacked pallet shape is not compact, the external dimensions often exceed the lower pallet by a large margin, and it cannot meet the needs of enterprise warehousing and transportation. Description of the Drawings

[0015] Figure 1 is an axonometric view of the present utility model;

[0016] Figure 2 is an axonometric view of the pallet conveying mechanism from the right side view angle;

[0017] Figure 3 is an axonometric view of the lifting mechanism;

[0018] Figure 4 is a top view of the shaping mechanism;

[0019] Figure 5 is a top view of the layering mechanism.

[0020] In the figures, 1. Pallet conveying mechanism, 11. Conveying frame, 12. Roller, 13. Conveying reduction motor, 14. First photoelectric sensor, 15. Pallet intercepting plate, 2. Lifting mechanism, 21. Lifting frame, 22. Fork rod assembly, 23. Lifting drive mechanism, 24. Second photoelectric sensor, 25. Counterweight assembly, 3. Shaping mechanism, 31. Shaping bracket, 32. Guide assembly, 33. Shaping plate, 34. Shaping cylinder, 4. Layering mechanism, 41. Layering drive assembly, 42. Layering frame, 43. Layering plate, 44. Transmission belt, 45. Tensioning pulley, 46. Third photoelectric sensor. Detailed Embodiments

[0021] To make the objectives, technical solutions and advantages of the present utility model clearer and more explicit, the present utility model will be described below through specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present utility model. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present utility model.

[0022] The connections mentioned in the present utility model are divided into fixed connections and detachable connections. The fixed connection is an inseparable connection, including but not limited to conventional fixed connection methods such as hemming connection, rivet connection, bonding connection, and welding connection. The detachable connection includes but not limited to conventional disassembly methods such as bolt connection, snap connection, pin connection, and hinge connection. When the specific connection method is not clearly defined, it is default that at least one connection method can be found among the existing connection methods to achieve this function, and those skilled in the art can select it according to their needs. For example: welding connection is selected for the fixed connection, and bolt connection is selected for the detachable connection.

[0023] The present utility model will be further described in detail below with reference to the accompanying drawings. The following embodiments are explanations of the present utility model, and the present utility model is not limited to the following embodiments.

[0024] Embodiment: As Figures 1 to 5 shown, a palletizing and shaping device for cooperating with a robot palletizing includes a pallet conveying mechanism 1, a lifting mechanism 2, a shaping mechanism 3, and a layering mechanism 4;

[0025] The lifting mechanism 2 includes a lifting frame 21 and a fork rod assembly 22. The fork rod assembly 22 is vertically slidably arranged on the lifting frame 21. The pallet conveying mechanism 1 passes through the bottom of the lifting frame 21. The pallet conveying mechanism 1 includes a conveying frame 11, a roller 12, and a conveying reduction motor 13. A number of rollers 12 are rotatably arranged at the top of the conveying frame 11. The conveying reduction motor 13 is arranged on the conveying frame 11. The conveying reduction motor 13 is connected to a number of rollers 12 through a chain. The pallet conveying mechanism 1 intermittently conveys pallets. The pallet conveying mechanism 1 is provided with an avoidance notch for the fork rod assembly 22 to slide into. The shaping mechanism 3 and the layering mechanism 4 are arranged up and down at the top of the lifting frame 21. The layering mechanism 4 includes a layering frame 42 and a layering plate 43. The layering plate 43 is horizontally slidably arranged on the layering frame 42;

[0026] The shaping mechanism 3 includes a shaping support 31, four guiding components 32, four shaping plates 33 and four shaping cylinders 34. The shaping support 31 is connected to the lifting frame 21. The four guiding components 32 are respectively connected to the shaping support 31. The four guiding components 32 are arranged perpendicular to the four circumferential surfaces of the pallet one by one. The four shaping plates 33 are slidably arranged on the four guiding components 32 one by one. The shaping plates 33 are connected to the shaping support 31 through the shaping cylinders 34. A shaping area is provided between the four shaping plates 33;

[0027] The layering plate 43 slides along the lower edges of the four shaping plates 33 to open or close the shaping area. The fork rod assembly 22 lifts the pallet to move up and down between the layering plate 43 and the transfer end face of the pallet conveying mechanism 1. The shaping area is adapted to the pallet. The pallet receives the shaping area. When shaping the materials in the shaping area, the shaping cylinders 34 drive the corresponding shaping plates 33 to move towards the shaping area. Two shaping plates 33 clamp the left and right sides of a number of material bags, and the other two shaping plates 33 clamp the front and back sides of a number of material bags.

[0028] The pallet conveying mechanism 1 further includes a first photoelectric sensor 14 and a pallet intercepting plate 15. The first photoelectric sensor 14 is arranged on one side of a number of rollers 12. The pallet intercepting plate 15 is horizontally rotatably arranged on the conveying frame 11. The pallet intercepting plate 15 and the conveying frame 11 are connected through an intercepting cylinder. When the first photoelectric sensor 14 detects the pallet, the first photoelectric sensor 14 sends a signal to control the solenoid valve of the intercepting cylinder to act, and the pallet intercepting plate 15 crosses above a number of rollers 12.

[0029] In this embodiment, the pallet conveying mechanism 1 conveys the empty pallet to the right. The first photoelectric sensor 14 is located on the left side of the pallet intercepting plate 15. When the first photoelectric sensor 14 detects the empty pallet conveyed by the rollers 12, it will transmit the signal to the control system. The control system sends a signal, and the cylinder of the pallet intercepting plate 15 acts to intercept the pallet, so that the pallet stops directly below the shaping area of the shaping mechanism 3.

[0030] The lifting mechanism 2 further includes a lifting drive mechanism 23, a second photoelectric sensor 24, and a counterweight assembly 25. Rollers are respectively provided at the left and right ends of the rear side of the fork rod assembly 22, and vertical sliding channels are respectively provided at the left and right ends of the rear side of the lifting frame 21. The two rollers are correspondingly slidably arranged in the two sliding channels. A lifting drive mechanism 23 is installed at the top of the lifting frame 21. The lifting drive mechanism 23 includes a lifting reduction motor and a lifting main shaft connected to the output end of the lifting reduction motor. Two sprockets are sleeved on the lifting main shaft. One end of each of the two chains is connected to the fork rod assembly 22, and the other end of each of the two chains bypasses the lifting drive mechanism 23 upward and is connected to the counterweight assembly 25 to balance its own weight and reduce the working load of the lifting reduction motor. The two chains are respectively meshed with the two sprockets in one-to-one correspondence. Second photoelectric sensors 24 are provided at both the top and the bottom of the lifting frame 21. When the fork rod assembly 22 slides up to the second photoelectric sensor 24 at the top or slides down to the second photoelectric sensor 24 at the bottom, the corresponding second photoelectric sensor 24 emits a signal to control the lifting reduction motor of the lifting drive mechanism 23 to decelerate and stop, realizing the lifting action of the fork rod assembly 22;

[0031] The shaping bracket 31 is used to fix the whole shaping mechanism. The shaping cylinder 34 is hinged to the shaping plate 33. By the telescopic movement of the piston rod of the shaping cylinder 34, the shaping plate 33 is pushed to clamp and open, so as to achieve the purpose of shaping the material. A number of threaded holes are provided on the shaping bracket 31, and the shaping cylinder 34 is fixed on the shaping bracket 31 through any one of the threaded holes. The shaping size can be changed by adjusting the installation space, so as to realize different shaping requirements.

[0032] The layering mechanism 4 further includes a layering drive assembly 41, a layering frame 42, a transmission belt 44, a tensioning pulley 45, and a photoelectric sensor 46. The layering drive assembly 41 includes a layering reduction motor and a layering main shaft connected to the output end of the layering reduction motor. Two driving pulleys are sleeved on the layering main shaft. The layering main shaft is rotatably arranged at the left end of the layering frame 42 through a pedestal bearing. Two tensioning pulleys 45 are rotatably arranged at the right end of the layering frame 42 through screws and nuts. The two driving pulleys and the two tensioning pulleys 45 are connected through the transmission belt 44 in one-to-one correspondence. By adjusting the protruding length of the screw, the tightness of the corresponding transmission belt 44 can be adjusted. The layering plate 43 is slidably arranged on the layering frame 42 left and right. The layering plate 43 is respectively connected to the two transmission belts 44. A photoelectric sensor 46 is provided on the layering frame 42. The photoelectric sensor 46 is used to detect the position of the layering plate 43. After the layering plate 43 slides in place, the photoelectric sensor 46 emits a signal to control the layering reduction motor to decelerate and stop.

[0033] The working steps of the present utility model:

[0034] Step 1: The conveying reduction motor 13 of the pallet conveying mechanism 1 drives a number of rollers 12 to rotate, conveying the empty pallet to the right. When the first photoelectric sensor 14 detects the empty pallet, the intercepting cylinder of the pallet intercepting plate 15 acts to stop the pallet, and at the same time, the conveying reduction motor 13 stops rotating. At this time, the empty pallet is directly below the shaping area of the shaping mechanism 3.

[0035] Step 2: The lifting reduction motor of the lifting drive mechanism 23 operates, driving the fork rod assembly 22 in the pallet conveying mechanism 1 to lift the empty pallet. The second photoelectric sensor 24 at the top detects that the fork rod assembly 22 has risen below the layering plate 43. The second photoelectric sensor 24 at the top sends a signal to control the lifting reduction motor of the lifting drive mechanism 23 to decelerate and stop, stopping the pallet at a predetermined position. At this time, the layering plate 43 is in the position of the closed shaping area.

[0036] Step 3: The palletizing robot starts palletizing the material bags on the layering plate 43 according to the preset palletizing form. After one layer of material bags is palletized, the piston rods of the four shaping cylinders 34 extend, pushing the corresponding shaping plates 33 to move towards the shaping area respectively to squeeze and clamp a number of material bags, so that the length and width dimensions of a number of material bags reach the preset values.

[0037] Step 4: The layering reduction motor of the layering drive assembly 41 operates, driving the layering plate 43 to slide horizontally through the transmission belt 44, so that the layering plate 43 opens the shaping area, enabling the shaped layer of material bags to fall onto the pallet held by the fork rod assembly 22. The control system controls the lifting reduction motor of the lifting drive mechanism 23 to operate, causing the fork rod assembly 22 to descend by the height of one layer of material bags.

[0038] Step 5: The layering reduction motor of the layering drive assembly 41 rotates in reverse, driving the layering plate 43 to slide horizontally through the transmission belt 44 and returning to below the shaping area again.

[0039] Step 6: Repeat the above work process until the specified number of layers of material bags are palletized. The control system controls the lifting reduction motor of the lifting drive mechanism 23 to rotate, causing the fork rod assembly 22 to descend into the avoidance notch of the pallet conveying mechanism 1. The pallet with the palletized and shaped material bags falls onto the rollers 12 of the pallet conveying mechanism 1. The conveying reduction motor 13 drives the rollers 12 to rotate, conveying the pallet to the next process.

[0040] The utility model completes the shaping process of the material stack with a compact structure, performs adaptive shaping on the material bags according to the size and position of the pallet, has strong shaping pertinence, low cost, and occupies less land, solving the problems that the spacing between the material bags palletized by the palletizing robot is too large, the shaped stack is not compact, the external dimensions often exceed the lower pallet by a large margin, and it cannot meet the requirements of enterprise warehousing and transportation.

[0041] Under the control of the control system, the utility model completes the shaping work of a stack of material bags through the coordinated cooperation of the pallet conveying mechanism 1, the lifting mechanism 2, the shaping mechanism 3 and the layering mechanism 4, and repeats the above process. The size of the pallet stacked by the robot can meet the requirements of warehousing and transportation.

[0042] The above embodiments are only exemplary descriptions of the present utility model and do not limit its protection scope. Those skilled in the art can also make partial changes to it, as long as they do not exceed the spiritual essence of the present utility model, they are within the protection scope of the present utility model.

Claims

1. A palletizing and shaping device for cooperating with a robot palletizing, characterized in that: It includes a pallet conveying mechanism (1), a lifting mechanism (2), a shaping mechanism (3) and a layering mechanism (4); The lifting mechanism (2) includes a lifting frame (21) and a fork rod assembly (22). The fork rod assembly (22) is vertically slidably arranged on the lifting frame (21). The pallet conveying mechanism (1) passes through the bottom of the lifting frame (21). The pallet conveying mechanism (1) includes a conveying frame (11), idler rollers (12) and a conveying reduction motor (13). A number of idler rollers (12) are rotatably arranged at the top of the conveying frame (11). The conveying reduction motor (13) is arranged on the conveying frame (11). The conveying reduction motor (13) is connected to a number of idler rollers (12) through a chain. The pallet conveying mechanism (1) intermittently conveys pallets. The pallet conveying mechanism (1) is provided with an avoidance notch for the fork rod assembly (22) to slide into. The shaping mechanism (3) and the layering mechanism (4) are arranged up and down at the top of the lifting frame (21). The layering mechanism (4) includes a layering frame (42) and a layering plate (43). The layering plate (43) is horizontally slidably arranged on the layering frame (42); The shaping mechanism (3) includes a shaping bracket (31), four guiding components (32), four shaping plates (33) and four shaping cylinders (34). The shaping bracket (31) is connected to the lifting frame (21). The four guiding components (32) are respectively connected to the shaping bracket (31). The four guiding components (32) are arranged perpendicular to the four peripheral surfaces of the pallet one by one. The four shaping plates (33) are slidably arranged on the four guiding components (32) one by one. The shaping plates (33) are connected to the shaping bracket (31) through the shaping cylinders (34). A shaping area is provided between the four shaping plates (33); The layering plate (43) slides along the lower edges of the four shaping plates (33) to open or close the shaping area. The fork rod assembly (22) lifts the pallet to move up and down between the layering plate (43) and the conveying end face of the pallet conveying mechanism (1). The shaping area is adapted to the pallet. The pallet receives the shaping area. When shaping the materials in the shaping area, the shaping cylinders (34) drive the corresponding shaping plates (33) to move towards the shaping area. Two shaping plates (33) clamp the left and right sides of a number of bags, and the other two shaping plates (33) clamp the front and back sides of a number of bags.

2. The palletizing and shaping device for cooperating with robot palletizing according to claim 1, wherein: The pallet conveying mechanism (1) further includes a first photoelectric sensor (14) and a pallet interception plate (15). A first photoelectric sensor (14) is provided on one side of a number of idler rollers (12). The pallet interception plate (15) is horizontally rotatably arranged on the conveying frame (11). The pallet interception plate (15) and the conveying frame (11) are connected through an interception cylinder. When the first photoelectric sensor (14) detects a pallet, the first photoelectric sensor (14) emits a signal to control the solenoid valve of the interception cylinder to act, and the pallet interception plate (15) crosses above a number of idler rollers (12).

3. The palletizing and shaping device for cooperating with robot palletizing according to claim 1, characterized in that: The lifting mechanism (2) further includes a lifting drive mechanism (23), a second photoelectric sensor (24), and a counterweight assembly (25). Rollers are respectively provided at both ends of the fork rod assembly (22), and vertical slideways are respectively provided at both ends of the lifting frame (21). The two rollers are correspondingly slidably arranged in the two slideways. The lifting drive mechanism (23) is installed at the top of the lifting frame (21). The lifting drive mechanism (23) includes a lifting reduction motor and a lifting main shaft connected to the output end of the lifting reduction motor. Two sprockets are sleeved on the lifting main shaft. One end of each of the two chains is connected to the fork rod assembly (22), and the other end of each of the two chains bypasses the lifting drive mechanism (23) and is connected to the counterweight assembly (25). The two chains are respectively meshed with the two sprockets in one-to-one correspondence. Second photoelectric sensors (24) are arranged at both the top and the bottom of the lifting frame (21). When the fork rod assembly (22) slides up to the second photoelectric sensor (24) at the top or slides down to the second photoelectric sensor (24) at the bottom, the corresponding second photoelectric sensor (24) emits a signal to control the lifting reduction motor of the lifting drive mechanism (23) to decelerate and stop.

4. A palletizing and shaping device for cooperating with a robot palletizing, characterized in that: A plurality of threaded holes are provided on the shaping bracket (31), and the shaping cylinder (34) is fixed on the shaping bracket (31) through any one of the threaded holes.

5. A palletizing and shaping device for cooperating with a robot palletizing, characterized in that: The layering mechanism (4) further includes a layering drive assembly (41), a layering frame (42), a transmission belt (44), a tensioning pulley (45), and a photoelectric sensor (46). The layering drive assembly (41) includes a layering reduction motor and a layering main shaft connected to the output end of the layering reduction motor. Two driving pulleys are sleeved on the layering main shaft. The layering main shaft is rotatably arranged at the left end of the layering frame (42) through a pedestal bearing. Two tensioning pulleys (45) are rotatably arranged at the right end of the layering frame (42) through screws and nuts. The two driving pulleys are respectively connected to the two tensioning pulleys (45) through the transmission belt (44). The layering plate (43) is slidably arranged on the layering frame (42) in the left-right direction. The layering plate (43) is respectively connected to the two transmission belts (44). A photoelectric sensor (46) is provided on the layering frame (42). The photoelectric sensor (46) is used to detect the position of the layering plate (43). After the layering plate (43) slides in place, the photoelectric sensor (46) emits a signal to control the layering reduction motor to decelerate and stop.

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