Multi-axis linkage composite assembling and disassembling stacker crane

Abstract

The utility model provides a multi-shaft linkage composite assembling and disassembling stacker crane which comprises an elevator and a stacker crane sliding table, the stacker crane sliding table is connected to the elevator through screws, and when a tray is taken out of a skip car, the sliding table needs to reciprocate twice. After the tray is completely in place, the bolt air cylinder is positioned, the deviation is not larger than 0.1 mm, the robot grabs and transfers the workpiece, the tray is conveyed through the transverse moving module after being in place, and the hoister is matched with the sliding table to achieve the multi-shaft composite linkage stacking and unstacking function. The device is low in cost and easy to maintain, the trays can be automatically detached from the skip car and conveyed to a working area, and stacking operation can be efficiently and accurately completed.

Description

Technical Field

[0001] The utility model relates to the technical field of linkage of palletizers, and in particular to a multi-axis linkage composite assembly and disassembly palletizer. Background Art

[0002] In the actual production process, it is often necessary to move a large number of pallets to the material truck at one time, sometimes several, or even up to a dozen. Conversely, when moving pallets from the material truck, the same situation of large numbers will also be faced. However, relying on manpower to complete such a moving work will cause a series of serious problems and hidden dangers.

[0003] First of all, manual handling is extremely time-consuming and labor-intensive. Carrying such a large number of pallets requires a lot of time and physical strength, which not only reduces work efficiency, but also makes workers easily feel exhausted; secondly, there is a risk of property loss. Due to the large number of pallets, improper operation during the handling process can easily cause damage to the pallets or even damage the items they carry, causing unnecessary property losses; thirdly, personal safety hazards cannot be ignored. For example, the height of the material truck is relatively high. When carrying pallets to the upper level, if the pallets are not placed in the right position, they are very likely to fall during the subsequent placement and transportation process. Once they fall, they may injure the staff and pose a great threat to personal safety.

[0004] At present, although there are many fully automatic palletizers on the market, most of them are XZ two-axis systems, and XYZ three-axis compound palletizers are relatively rare. When the placement of pallets on each layer of the material cart is very different, it is difficult for the double-axis palletizer to play its automatic assembly and disassembly function. In this case, it is necessary to rely on manual placement of each layer of pallets in a neat and consistent manner, and then unload the pallets through the palletizer. This undoubtedly greatly increases the difficulty of disassembly, wastes a lot of manpower, and seriously delays the progress of work. In order to solve these problems, it is necessary for us to carry out innovative designs based on the original palletizers to improve work efficiency, reduce risks, and ensure the safety of personnel and property. Summary of the invention

[0005] In view of the above problems that it is time-consuming and labor-intensive to transport pallets to the material cart during the production process, which is easy to cause property losses and endanger personal safety, a multi-axis linkage composite assembly and disassembly palletizer is provided. The utility model uses a palletizer slide to remove the pallet from the multi-layer material cart of incoming materials, and then uses a hoist and a palletizer slide to transport the pallet to the subsequent platform or material channel, and realizes the multi-axis composite linkage disassembly and stacking function through the cooperation of the hoist and the palletizer slide.

[0006] The technical means adopted by the utility model are as follows:

[0007] A multi-axis linkage composite loading and unloading palletizer, comprising: a hoist and a palletizer slide;

[0008] The palletizer slide is connected to the hoist by screws;

[0009] The hoist is composed of a frame, a servo motor I, a ball screw and a machine base, a guide rail slider, a slide plate, a drag chain and an electrical board. The servo motor I is connected to the ball screw and the machine base by bolts. The guide rail slider is connected to the frame by bolts. The slide plate is connected to the machine base and the slider by bolts. The wire harness on the slide plate is connected to the lower electrical board through the drag chain;

[0010] The palletizer slide is composed of a cantilever beam, a servo motor II, a transverse movement module, a slide plate, a hook plate, a linear guide rail, a clamping cylinder, a lifting cylinder, a pin cylinder, and a lower cross beam. The servo motor II is connected to the transverse movement module by screws, and then the whole is connected to the cantilever beam by screws. The hook plate is connected to the slide plate by screws, and then the whole is installed on the transverse movement module by screws. The linear guide rail is connected to the cantilever beam by screws. The clamping cylinder is connected to the lower cross beam by screws and a transfer plate. The pin cylinder is connected to the lower cross beam by screws and a transfer plate.

[0011] Further, the shape of the hook plate is fork-shaped, and square holes are reserved around the pallet to realize the hook plate hooking the pallet.

[0012] Further, the pallet needs to be taken out of the material truck by the reciprocating movement of the palletizer slide twice. The first time, the pallet is hooked out of the vehicle body by hooking the square hole reserved on the pallet by the hook plate. The second time, the hook plate hooks the outer edge of the pallet to completely hook the pallet onto the palletizer slide.

[0013] Further, after the pallet is in place, the switch on the palletizer slide gives an order, and the pin cylinder inserts the positioning pin into the pallet positioning hole to ensure that the position deviation of the pallet on the palletizer slide does not exceed 0.1 mm. After accurate positioning, the robot grabs the workpiece from the pallet and transfers it to the next station.

[0014] Further, after the pallet is in place, it is transported to the next station through the transverse movement module, and the multi-axis composite linkage loading and unloading palletizing function is realized through the cooperation of the hoist and the palletizer slide.

[0015] Due to the adoption of the above technical solution, compared with the prior art, the present utility model has the following advantages:

[0016] 1. The multi-axis linkage composite loading and unloading palletizer provided by the present utility model has higher efficiency compared with the traditional palletizing device. This device can realize the one-time disassembly and unloading of multiple layers of pallets on the material truck.

[0017] 2. A multi-axis linkage composite loading, unloading and palletizing machine provided by the present utility model can achieve automatic transportation of pallets compared with traditional palletizing devices. The device is equipped with a hook plate, a guide rod and a sliding table plate, which can automatically disassemble the pallet from the material vehicle and transport it to the working area.

[0018] 3. A multi-axis linkage composite loading, unloading and palletizing machine provided by the present utility model is more flexible, stable and efficient during the transportation process compared with traditional palletizing devices. The sliding table plate of the device is equipped with a support beam, a limit plate and a through-beam switch, and the pallet will not shift or flip during the transportation process, making the automation of the load more flexible, and the accuracy and reliability of the device are high.

[0019] 4. A multi-axis linkage composite loading, unloading and palletizing machine provided by the present utility model can achieve displacement at multiple angles and multiple heights. In this device, the palletizing machine and the elevator can simultaneously move in the X, Y and Z axis directions.

[0020] 5. A multi-axis linkage composite loading, unloading and palletizing machine provided by the present utility model significantly reduces costs compared with traditional palletizing devices, and its maintenance work is also more convenient.

[0021] Based on the above reasons, the present utility model can be widely promoted in the technical field of palletizing machine linkage. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is a schematic structural diagram of a multi-axis linkage composite loading, unloading and palletizing machine described in the present utility model;

[0024] Figure 2 It is a schematic structural diagram of the elevator of a multi-axis linkage composite loading, unloading and palletizing machine described in the present utility model;

[0025] Figure 3 It is a schematic structural diagram of the sliding table of a multi-axis linkage composite loading, unloading and palletizing machine described in the present utility model.

[0026] In the figure: 1. Hoist; 2. Palletizer slide; 3. Pallet; 4. Frame; 5. Servo motor I; 6. Ball screw and base; 7. Guide rail slider; 8. Slide plate; 9. Drag chain; 10. Electrical panel; 11. Cantilever beam; 12. Servo motor II; 13. Transverse movement module; 14. Slide table plate; 15. Hook plate; 16. Linear guide rail; 17. Clamping cylinder; 18. Lifting cylinder; 19. Pin cylinder; 20. Lower cross beam I; 21. Lower cross beam II. Detailed implementation manners

[0027] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments may be combined with each other. The present utility model will be described in detail below with reference to the drawings and in combination with the embodiments.

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way limits the present utility model and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0029] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments of the present utility model. As used herein, unless otherwise clearly specified in the context, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0030] Unless otherwise specifically stated, the relative arrangements of the components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present utility model. At the same time, it should be clear that, for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings.

[0031] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present utility model: The orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0032] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "upper...", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations are made for the spatial relative descriptions used here.

[0033] In addition, it should be noted that using words such as "first", "second", etc. to limit components is only for the convenience of distinguishing the corresponding components. Without additional statement, the above words have no special meaning. Therefore, it should not be construed as a limitation on the protection scope of the present utility model.

[0034] As Figures 1 to 3 shown, a multi-axis linkage composite loading / unloading and palletizing machine includes: a hoist 1 and a palletizing machine slide 2;

[0035] The palletizing machine slide 2 is connected to the hoist 1 by screws;

[0036] The hoist 1 is composed of a frame body 4, a servo motor I 5, a ball screw and a machine base 6, a guide rail slider 7, a slide plate 8, a drag chain 9 and an electric board 10. The servo motor I 5 is connected to the ball screw and the machine base 6 by bolts. The guide rail slider 7 is connected to the frame body 4 by bolts. The slide plate 8 is connected to the machine base 6 and the slider 7 by bolts. The wire harness on the slide plate is connected to the lower electric board 10 through the drag chain 9;

[0037] The palletizing machine slide 2 consists of a cantilever beam 11, a servo motor II 12, a transverse movement module 13, a slide plate 14, a hook plate 15, a linear guide rail 16, a clamping cylinder 17, a lifting cylinder 18, a pin cylinder 19, and a lower cross beam 20 / 21. The servo motor II 12 is connected to the transverse movement module 13 by screws, and then the whole is connected to the cantilever beam 11 by screws. The hook plate 15 is connected to the slide plate 14 by screws, and then the whole is installed on the transverse movement module 13 by screws. The linear guide rail 16 is connected to the cantilever beam 11 by screws. The clamping cylinder is connected to the lower cross beam 20 / 21 by screws and an adapter plate. The pin cylinder is connected to the lower cross beam 20 / 21 by screws and an adapter plate.

[0038] Further, after the worker transports the trolley with the pallet to the designated position, the switch of the palletizing machine slide 2 first scans the trolley from top to bottom to determine whether there is a pallet on each layer. After scanning, the data is stored in the PLC. The transverse movement module 13 sends the slide plate 14 under the pallet. After the hook plate 15 reaches the designated position, the lifting cylinder 18 is used to lift the pallet 3, and the hook plate 15 is used to hook the pallet 3. The clamping cylinder 17 retracts to reduce the gap between the guide plate and the pallet 3, ensuring that the pallet will not fall or tilt during movement. The servo motor II 12 rotates to drive the transverse movement module 13 to perform a linear motion, thereby removing the pallet 3 from the trolley. The pallet 3 needs to be removed from the trolley by the palletizing machine slide 2 reciprocating twice. The first time, the hook plate 15 hooks the pallet 3 out of the vehicle body through the square hole reserved on the pallet 3. The second time, the hook plate 15 hooks the outer edge of the pallet 3 to completely hook the pallet 3 onto the palletizing machine slide 2.

[0039] Further, the shape of the hook plate 15 is fork-shaped, and square holes are reserved around the pallet 3 to realize the hooking of the pallet by the hook plate.

[0040] Further, the pallet 3 needs to be removed from the trolley by the palletizing machine slide 2 reciprocating twice. The first time, the hook plate 15 hooks the pallet 3 out of the vehicle body through the square hole reserved on the pallet 3. The second time, the hook plate 15 hooks the outer edge of the pallet 3 to completely hook the pallet 3 onto the palletizing machine slide 2.

[0041] Further, after the pallet 3 is in place, the switch on the palletizing machine slide gives an order, and the pin cylinder 19 inserts the positioning pin into the positioning hole of the pallet 3 to ensure that the position deviation of the pallet 3 on the palletizing machine slide 2 does not exceed 0.1 mm. After accurate positioning, the robot grabs the workpiece from the pallet 3 and transfers it to the next station.

[0042] Further, after the pallet 3 is in place, it is transported to the next station through the transverse movement module 13, and the multi-axis compound linkage de-palletizing and palletizing functions are realized through the cooperation of the elevator 1 and the palletizing machine slide 2.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A multi-axis linkage composite loading, unloading and palletizing machine, characterized in that, Including: The elevator and the palletizing machine slide; The palletizing machine slide (2) is connected to the elevator (1) by screws; The elevator (1) is composed of a frame body (4), a servo motor I (5), a ball screw and a machine base (6), a guide rail slider (7), a slide plate (8), a drag chain (9) and an electric board (10). The servo motor I (5) is connected to the ball screw and the machine base (6) by bolts. The guide rail slider (7) is connected to the frame body (4) by bolts. The slide plate (8) is connected to the machine base (6) and the slider (7) by bolts. The wire harness on the slide plate is connected to the lower electric board (10) through the drag chain (9); The palletizing machine slide (2) is composed of a cantilever beam (11), a servo motor II (12), a cross-movement module (13), a slide plate (14), a hook plate (15), a linear guide rail (16), a clamping cylinder (17), a lifting cylinder (18), a pin cylinder (19), a lower cross beam (20 / 21). The servo motor II (12) is connected to the cross-movement module (13) by screws, and then the whole is connected to the cantilever beam (11) by screws. The hook plate (15) is connected to the slide plate (14) by screws, and then the whole is installed on the cross-movement module (13) by screws. The linear guide rail (16) is connected to the cantilever beam (11) by screws. The clamping cylinder is connected to the lower cross beam (20 / 21) by screws and an adapter plate. The pin cylinder is connected to the lower cross beam (20 / 21) by screws and an adapter plate.

2. The multi-axis linkage composite assembling, disassembling and palletizing machine according to claim 1, wherein, The hook plate (15) is in the shape of a fork. Square holes are reserved around the pallet (3) to enable the hook plate to hook the pallet.

3. The multi-axis linkage composite disassembling and palletizing machine according to claim 2, wherein, To take out the pallet (3) from the material truck, the palletizing machine slide needs to reciprocate twice. For the first time, the hook plate (15) hooks the square hole reserved on the pallet (3) to hook the pallet (3) out of the vehicle body. For the second time, the hook plate (15) hooks the outer edge of the pallet (3) to completely hook the pallet (3) onto the palletizing machine slide (2).

4. A multi-axis linkage composite loading, unloading and palletizing machine according to claim 2, characterized in that, After the pallet (3) is in place completely, the switch on the palletizing machine slide gives an order, and the pin cylinder (19) inserts the positioning pin into the positioning hole of the pallet (3) to ensure that the position deviation of the pallet (3) on the palletizing machine slide (2) does not exceed 0.1 mm. After accurate positioning, the robot grabs the workpiece from the pallet (3) and transfers it to the next station.

5. A multi-axis linkage composite loading, unloading and palletizing machine according to claim 2, characterized in that, After the pallet (3) is in place, it is transported to the next station through the cross-movement module (13). The multi-axis compound linkage de-palletizing and palletizing functions are realized through the cooperation of the elevator (1) and the palletizing machine slide (2).

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