Gantry type stacker crane

Abstract

The utility model provides a gantry type stacker crane which comprises a plurality of sets of supporting frames, electric suction cups and driving gears, the multiple sets of supporting frames form two rows of parallel structures, and a set of supporting cross beams used for driving a second moving seat to move front and back are arranged at the upper ends of the two rows of supporting frames. The lower ends of the left side and the right side of the supporting cross beam are each provided with a first moving seat used for moving with the moving rails in an embedded mode, and the lower end of each first moving seat is provided with four first embedding seats used for moving with the two corresponding moving rails in an embedded mode. The utility model has the following beneficial effects: the four groups of embedding seats I are used for keeping the supporting cross beam to stably move back and forth along the upper ends of the two groups of moving rails, so that the unstable effect generated in the article stacking process is reduced, and the article inclination condition is avoided; the rack rail is used for driving the gear to enable the second moving seat to move left and right, the stacking direction of objects is adjusted, and therefore stacking operation can be conducted more flexibly.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizers and relates to a gantry type palletizer. Background Art

[0002] Existing gantry-type palletizers have several shortcomings when it comes to adjusting the palletizing direction, primarily due to a lack of flexibility, a complex adjustment process, and slow adjustment speed. These shortcomings arise from the fact that gantry palletizers are typically designed with a fixed structure. Their mechanical structure and control system define the palletizing direction and pattern from the outset. Therefore, changing the palletizing direction requires mechanical adjustments or reprogramming, which is time-consuming and error-prone. Furthermore, because the palletizer's robotic arm and grippers are typically designed for specific operating modes, adjustment becomes more difficult and complex when handling items of varying sizes or shapes.

[0003] Conventional solutions include replacing or adjusting mechanical fixtures and guide rails. While these methods can solve the adjustment problem to a certain extent, their drawbacks are also obvious. While using PLC for program adjustment can change the palletizing mode, it requires professional technicians to operate, and the adjustment cycle is long, which is inefficient for production environments that frequently change the palletizing mode. Although replacing or adjusting mechanical fixtures and guide rails can adapt to items of different sizes, this physical adjustment is not only time-consuming and labor-intensive, but also increases equipment wear and maintenance costs. In addition, frequent adjustments may also lead to a decrease in equipment precision, affecting the accuracy and stability of palletizing. Therefore, there is an urgent need for a gantry palletizer to solve the above problems. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a gantry type palletizer to solve the problems raised in the above background technology.

[0005] The utility model is realized by the following technical solution: a gantry type palletizer, comprising: a support frame and a driving gear, wherein the support frame is provided with a plurality of groups, wherein the plurality of groups of support frames form two rows of parallel structures, and a group of supporting beams for driving the movable seat 2 to move forward and backward are provided at the upper ends of the plurality of groups of support frames in the two rows;

[0006] A group of movable seats for engaging and moving with movable rails are provided at the lower ends of the left and right sides of the supporting crossbeam, four groups of embedded seats for engaging and moving with two groups of movable rails are provided at the lower end of the movable seat, and a group of motors for providing moving power are provided at the upper end of the movable seat;

[0007] A group of driving gears is provided at the lower end of the motor, and the driving end at the lower end of the motor runs coaxially with the driving gear. The four groups of embedded seats on one side are arranged in a field-shaped structure, and the lower end of each group of support frames is provided with a group of supporting feet for fixing to the ground. By using four groups of embedded seats, the supporting beam can be kept able to move smoothly back and forth along the upper ends of the two groups of moving rails, thereby reducing the instability effect during the stacking of items and the tilting of items.

[0008] As a preferred embodiment, the support feet are connected and fixed to the ground by several groups of expansion bolts. The upper end of each row of several groups of support frames is provided with a group of movable rails for supporting the forward and backward movement of the beams, and the upper end of each group of movable rails is provided with two groups of parallel rails.

[0009] As a preferred embodiment, a group of racks for engaging with the driving gears is provided in the middle of the two groups of tracks, two groups of tracks for moving the movable seat 2 left and right are provided on the front side of the supporting beam, and a group of racks for driving the movable seat 2 left and right is provided between the two groups of tracks on the front side of the supporting beam. The movable seat 2 can be moved left and right by using the rack driving gears, and the stacking direction of the items can be adjusted to achieve more flexible stacking operations.

[0010] As a preferred embodiment, the cross-section of the movable seat 2 viewed from above is a "X"-shaped structure, and a group of movable columns that drive the support seat and the support plate frame to move up and down are provided in the middle position inside the movable seat 2, and a group of gear rails that are used to engage with the driving gear of the third driving end of the motor are provided on the front side of the movable column.

[0011] As a preferred embodiment, several groups of guide rails are provided on the left and right sides of the movable column, and several groups of limit seats for guiding the movement of the movable column are provided on the inner walls on the left and right sides of the movable seat. Each group of the limit seats is movably engaged with a group of guide rails.

[0012] As a preferred embodiment, a group of motor 2 for providing left and right movement power is provided on the left side of the moving seat 2, and a group of motor 3 for driving the movable column to move up and down is provided in the middle position of the front side of the moving seat 2. The driving end positions of motor 1, motor 2 and motor 3 are each provided with a group of driving gears for power transmission. The three groups of different driving gears correspond to their corresponding rack size specifications respectively. By using motor 1, motor 2, motor 3 and three groups of driving gears, the smoothness of position adjustment during stacking can be maintained, thereby improving the stacking quality of items.

[0013] As a preferred embodiment, the lower end of the movable column is provided with a group of support seats, and the lower end of the support seats is provided with a group of support plate frames for providing support effects for several groups of electric suction cups. The support plate frames are fixed to the support seats by bolts, and the interior of the support plate frames is provided with several groups of electric suction cups for stacking items in an annular structure. The electric suction cups can be used to absorb and lift items and drive them to move flexibly.

[0014] After adopting the above technical solution, the beneficial effects of the utility model are as follows: by using four sets of embedded seats to keep the supporting beam able to move smoothly back and forth along the upper ends of the two sets of movable rails, the instability effect produced during the stacking of items is reduced, and the tilting of items is caused; by using rack drive gears to make the movable seat 2 move left and right, and adjust the stacking direction of the items to achieve more flexible stacking operations; by using motor 1, motor 2, motor 3 and three sets of drive gears to maintain the smoothness of position adjustment during the stacking process, thereby improving the stacking quality of items; by using electric suction cups to absorb and lift items, and drive them to move flexibly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] Figure 1 This is a schematic diagram of the structure of a gantry type palletizer according to the present invention, viewed from the left front oblique side;

[0017] Figure 2 This is a schematic diagram of the front side plan view of the structure of the related components outside the supporting crossbeam in a gantry type palletizer of the present invention;

[0018] Figure 3 This is a schematic diagram of the structure of the bottom of the electric suction cup in a gantry type palletizer in the present invention, viewed from the right oblique front side;

[0019] Figure 4 for Figure 3 A schematic diagram of the structure at center A;

[0020] In the figure: 100-support frame, 110-support foot, 120-palletizing pile, 130-moving rail, 140-moving seat 1, 150-moving seat 2, 160-movable column, 170-motor 1, 180-embedded seat 1, 190-motor 2, 200-motor 3, 210-support seat, 220-support plate frame, 230-electric suction cup, 240-driving gear. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] See also Figure 1-Figure 4 A gantry type palletizer includes: a support frame 100, a movable base 140, a movable column 160, an electric suction cup 230 and a driving gear 240. The support frame 100 is provided with a plurality of groups, and the plurality of groups of support frames 100 form two rows of parallel structures. A group of supporting beams for driving the movable base 2 150 to move forward and backward is provided at the upper ends of the two rows of the plurality of support frames 100.

[0023] A set of moving seats 140 for engaging and moving with the moving rails 130 are provided at the lower ends of the left and right sides of the supporting crossbeam. Four sets of inserting seats 180 for engaging and moving with the two sets of moving rails 130 are provided at the lower ends of the moving seats 140. A set of motors 170 for providing power for movement are provided at the upper ends of the moving seats 140.

[0024] A group of driving gears 240 are provided at the lower end of the motor 170, and the driving end of the lower end of the motor 170 runs coaxially with the driving gear 240. The four groups of embedded seats 180 on one side are arranged in a field-shaped structure. The lower end of each group of support frames 100 is provided with a group of supporting feet 110 for fixing to the ground. By using four groups of embedded seats 180, the supporting beam can be kept able to move smoothly back and forth along the upper ends of the two groups of movable rails 130, thereby reducing the instability effect during the stacking of items and the tilting of items.

[0025] The support legs 110 are fixed to the ground by several groups of expansion bolts. A group of movable rails 130 for supporting the forward and backward movement of the beams are provided on the upper end of each row of several groups of support frames 100. Two groups of parallel rails are provided on the upper end of each group of movable rails 130.

[0026] A set of racks for engaging with the driving gear 240 is provided in the middle of the two sets of tracks, and two sets of tracks for moving the mobile seat 2 150 left and right are provided on the front side of the supporting beam. A set of racks for driving the mobile seat 2 150 left and right is provided between the two sets of front rails of the supporting beam. The mobile seat 2 150 can be moved left and right by using the rack driving gear 240, and the stacking direction of the items can be adjusted to achieve more flexible stacking operations.

[0027] The cross-section of the movable seat 2 150 viewed from above is a "X"-shaped structure. A group of movable columns 160 are provided in the middle position inside the movable seat 250 to drive the support seat 210 and the support plate frame 220 to move up and down. A group of gear rails are provided on the front side of the movable column 160 for power engagement with the driving gear 240 at the driving end of the motor 3 200.

[0028] Several sets of guide rails are provided on both sides of the movable column 160, and several sets of limit seats for guiding the movable column 160 are provided on the inner walls of both sides of the movable seat 150. Each set of limit seats is movably engaged with a set of guide rails.

[0029] A group of motor 2 190 for providing power for left and right movement is provided on the left side of the moving base 2 150, and a group of motor 3 200 for driving the movable column 160 to move up and down is provided in the middle position of the front side of the moving base 2 150. A group of driving gears 240 for power transmission are provided at the driving end positions of motor 1 170, motor 2 190, and motor 3 200. The three groups of different driving gears 240 correspond to their corresponding rack size specifications respectively. By using motor 1 170, motor 2 190, motor 3 200 and three groups of driving gears 240, the smoothness of position adjustment during the stacking process can be maintained, thereby improving the stacking quality of items.

[0030] A group of support seats 210 are provided at the lower end of the movable column 160, and a group of support plate frames 220 are provided at the lower end of the support seats 210 for providing support for several groups of electric suction cups 230. The support plate frames 220 and the support seats 210 are fixed by bolts. The internal annular structure of the support plate frame 220 is provided with several groups of electric suction cups 230 for stacking items. The electric suction cups 230 can be used to absorb and lift items and drive them to move flexibly.

[0031] See also Figure 1-Figure 4As the first embodiment of the present utility model: when the staff needs to perform palletizing operations, they first move the support plate rack 220 to the items that need to be palletized, and then start the motor 3 200. Since a group of motors 3 200 is provided at the middle position of the front side of the movable seat 2 150 for driving the movable column 160 to move up and down, the driving end positions of the motors 1 170, 2 motors 190, and 3 motors 200 are all provided with a group of driving gears 240 for power transmission. The motor 3 200 drives the driving gear 240 at the rear side to rotate, thereby causing the movable column 160 to move up and down. 0 moves up and down inside the second moving base 150, and uses the first motor 170, the second motor 190, the third motor 200 and the three sets of driving gears 240 to maintain the smoothness of the position adjustment during the stacking process, thereby improving the stacking quality of the items. At the same time, the second motor 190 can control several groups of electric suction cups 230 to move left and right, and the first motor 170 can control several groups of electric suction cups 230 to move forward and backward, so as to flexibly adjust the items in the stacking area in the three-axis position and adjust the stacking direction of the items to achieve more flexible stacking operations.

[0032] See also Figure 1-Figure 4 As the second embodiment of the present invention: Based on the description in the above embodiment, further, since the support plate frame 220 and the support base 210 are fixed by bolts, the support plate frame 220 is internally provided with a ring structure with several groups of electric suction cups 230 for stacking articles. The electric suction cups 230 can be used to absorb and lift articles and drive them to move flexibly, while reducing damage to articles during the lifting and stacking process.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A gantry palletizer, comprising: A support frame (100), a movable seat (140), a movable column (160), an electric suction cup (230) and a driving gear (240), characterized in that: the support frame (100) is provided with a plurality of groups, the plurality of groups of support frames (100) form two rows of parallel structures, and the upper ends of the two rows of the plurality of groups of support frames (100) are provided with a group of supporting beams for driving the movable seat (150) to move forward and backward; The lower ends of the left and right sides of the supporting crossbeam are each provided with a group of movable seats (140) for engaging and moving with the movable rails (130), the lower end of the movable seat (140) is provided with four groups of embedded seats (180) for engaging and moving with the two groups of movable rails (130), and the upper end of the movable seat (140) is provided with a group of motors (170) for providing moving power thereto; A group of driving gears (240) are provided at the lower end of the motor 1 (170), and the driving end of the lower end of the motor 1 (170) and the driving gear (240) run coaxially. The four groups of the embedded seats 1 (180) on one side are arranged in a field-shaped structure, and the lower end of each group of the support frames (100) is provided with a group of supporting feet (110) for fixing to the ground.

2. A gantry type palletizer according to claim 1, characterized in that: The support legs (110) are connected and fixed to the ground via a plurality of expansion bolts. The upper ends of the plurality of support frames (100) in each row are provided with a group of movable rails (130) for supporting the forward and backward movement of the crossbeams. The upper ends of each group of movable rails (130) are provided with two groups of parallel rails.

3. The gantry type palletizer according to claim 2, characterized in that: A set of racks for engaging with the driving gear (240) is provided in the middle of the two sets of rails, two sets of rails for moving the second movable seat (150) left and right are provided on the front side of the support beam, and a set of racks for driving the second movable seat (150) left and right is provided between the two sets of rails on the front side of the support beam.

4. The gantry type palletizer according to claim 3, characterized in that: The cross section of the movable seat 2 (150) when viewed from above is a "X"-shaped structure. A group of movable columns (160) for driving the support seat (210) and the support plate frame (220) to move up and down are provided in the middle position inside the movable seat 2 (150). A group of gear rails for power meshing with the driving gear (240) of the driving end of the motor 3 (200) are provided on the front side of the movable column (160).

5. The gantry type palletizer according to claim 4, characterized in that: The movable column (160) is provided with a plurality of guide rails on both sides, and the inner walls on both sides of the movable seat (150) are provided with a plurality of limit seats for guiding the movable column (160), and each group of the limit seats is movably engaged with a group of guide rails.

6. The gantry type palletizer according to claim 5, characterized in that: A group of motor 2 (190) for providing power for left and right movement is provided on the left side of the movable seat 2 (150), and a group of motor 3 (200) for driving the movable column (160) to move up and down is provided at the middle position of the front side of the movable seat 2 (150). A group of driving gears (240) for power transmission are provided at the driving end positions of the motor 1 (170), the motor 2 (190), and the motor 3 (200), respectively. The three groups of different driving gears (240) correspond to the corresponding rack size specifications.

7. The gantry type palletizer according to claim 4, characterized in that: A group of support seats (210) are provided at the lower end of the movable column (160), and a group of support plate frames (220) are provided at the lower end of the support seats (210) for providing support effects for a plurality of groups of electric suction cups (230). The support plate frames (220) are fixed to the support seats (210) by bolts, and a plurality of groups of electric suction cups (230) for stacking items are provided in an annular structure inside the support plate frames (220).

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