Stacking and winding cooperation machine

Abstract

The utility model provides a stacking and winding cooperation machine which comprises a winding device, the winding device serves as a main body, a stacking mechanical arm is further arranged, the stacking mechanical arm and the base are kept at a preset position by being installed on the base or through a positioning connecting device easy to disassemble, the stacking mechanical arm is provided with a Z-axis rotating device, and the Z-axis rotating device is connected with the winding device. The direction of the article grabbing mechanism can be adjusted by rotating around a Z axis, and the Z axis is a vertical axis of which the axis is parallel to the rotating axis of the turntable; and the membrane frame lifting device is arranged on the base or is kept at a preset position with the base through an easily-detachable positioning and connecting device. For equipment with the stacking and winding functions, the stacking and winding device is small in occupied space, small in size and suitable for being used in warehouses and stacking yards; and moreover, the device can be further flexibly moved, the device can approach the goods, the device can be flexibly moved to the side of the goods to be transported, stacking and film winding packaging are carried out, the goods do not need to approach the device, and the packaging and transporting efficiency is improved.

Description

Technical Field

[0001] The utility model relates to a palletizing and winding cooperative machine. Background Art

[0002] In the current field of cargo packaging and transportation, many scenarios involve palletizing a batch of goods, then wrapping them in film for transportation. However, this packaging method is often performed on an assembly line, where both the palletizing and wrapping equipment are integrated into the assembly line. The palletizing equipment itself is typically a linear device with a structure that moves up and down, left and right, and forward and backward to grab items. This equipment often requires a large footprint and is expensive. It is often located within the manufacturer, making it difficult to use in warehouses or storage yards, not to mention its inability to be moved flexibly within the warehouse to palletize and wrap goods at different locations. Some palletizing equipment also incorporates wrapping equipment, also using linear palletizing equipment. This type of palletizer requires a multi-directional, fixed-position cargo conveyor to transport the items into the working range of the linear object grabbing equipment. This type of palletizing and wrapping equipment also requires a large footprint and is difficult to move, making it difficult to flexibly use in warehouses. Utility Model Content

[0003] The purpose of this utility model is to provide a palletizing and wrapping cooperative machine that combines a palletizing robot with a rotating mechanical arm and a wrapping machine, thereby saving space and further facilitating the flexible movement of the palletizing and wrapping cooperative machine. To this end, this utility model adopts the following technical solutions:

[0004] A palletizing and wrapping cooperative machine comprises a wrapping device, wherein the wrapping device comprises a turntable, a base, and a film rack lifting device, wherein the turntable is rotatably mounted on the base, and the base is also provided with a rotation drive device for the turntable. The feature is that the palletizing and wrapping cooperative machine takes the wrapping device as the main body, and is also provided with a palletizing robot arm, which is maintained in a predetermined position with the base by being mounted on the base or through an easily detachable positioning connection device, the palletizing robot arm is provided with a Z-axis rotation device, and can adjust the orientation of its article grabbing mechanism by rotating around the Z-axis, the Z-axis being a vertical axis whose axis is parallel to the rotation axis of the turntable; the film rack lifting device is maintained in a predetermined position with the base by being mounted on the base or through an easily detachable positioning connection device.

[0005] On the basis of adopting the above technical solutions, the present invention may also adopt the following further technical solutions, or use these further technical solutions in combination:

[0006] The palletizing robot arm includes a lifting device, which can directly adjust the height of the palletizing robot arm's gripping mechanism.

[0007] The palletizing robot arm includes a lifting device, which includes a lifting part and a fixed base of the lifting part. The lifting part and the fixed base are slidably connected through a guide structure, and the fixed base is maintained in a predetermined position with the base by being installed on the base or through an easily detachable positioning connection device.

[0008] The palletizing robot arm includes a lifting device, and the Z-axis rotating device is installed on the lifting part.

[0009] The film rack lifting device and the stacking robot arm are arranged side by side on the base and are located on the same side of the turntable.

[0010] The film rack lifting device, the stacking robot arm and the rotary drive device of the turntable are located on the same side of the turntable.

[0011] The film frame lifting device includes a column, a first lifting device is arranged on the column, and the film frame is connected to the first lifting device; the column is mounted on the base or maintained in a predetermined position with the base through a detachable positioning connection device.

[0012] The film frame lifting device includes a column, a first lifting device is arranged on the column, and the film frame is connected to the first lifting device; the film frame lifting device is provided with a second lifting device, and the column is connected to the second lifting device to form a liftable column, and the fixed base of the second lifting device is maintained in a predetermined position with the base by being installed on the base or through an easily detachable positioning connection device.

[0013] The stacking robot arm includes a lifting device, which includes a lifting part and a fixed base for the lifting part. The lifting part and the fixed base are slidably connected by a guide structure, and the fixed base is maintained in a predetermined position with the base by being installed on the base or through an easily detachable positioning connection device; the Z-axis rotation device is installed on the lifting part; the film rack lifting device and the stacking robot arm are arranged side by side on the base, and a support frame is provided on the base, and the lifting part is located inside the support frame. The left and right sides of the support frame are respectively provided with lifting guide rails of the column and the lifting guide rails of the lifting part, and the lifting devices of the film rack lifting device and the stacking robot arm are closely arranged.

[0014] The side of the support frame where the column lifting guide rail is set is set as an openable door, and the column lifting guide rail is installed on the door. By opening the door, the lifting part located inside can be inspected and the opening of the support frame in other directions can be reduced.

[0015] The palletizing robot arm further includes a Y-axis rotating device and an X-axis rotating device, wherein Y, X and Z are perpendicular to each other in three-dimensional space.

[0016] The turntable is provided with a groove for the fork arm of the transport vehicle to extend into, or / and, the base is detachably provided with slope structures on different sides of the turntable.

[0017] The base is also provided with a structure that can be connected to a transport device so as to be transported to different working locations by the transport device.

[0018] The structure that can be connected to the transportation device is a connection groove or a connection hole on the base that can be inserted into the fork arm of the transport vehicle.

[0019] Due to the adoption of the technical solution of the utility model, the equipment with the stacking and wrapping function of the utility model occupies a small space and is small in size, and can be used in warehouses and cargo yards; moreover, it can be further flexibly moved, and the equipment can move toward the goods, and can be flexibly moved to the side of the goods to be transported for stacking and wrapping without the need for the goods to move toward the equipment, thereby improving the packaging and transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of Example 1 of the present utility model.

[0021] Figure 2 This is a schematic structural diagram of Example 2 of the present utility model.

[0022] Figure 3 For the utility model embodiment 2 Figure 2 The state shown is a schematic diagram of the base robot after it rises.

[0023] Figure 4 This is an exploded view of the structure of Example 2 of the present utility model.

[0024] Figure 5 for Figure 4 Schematic diagram of the lifting part of the robotic arm in the structure shown.

[0025] Figure 6 This is a structural diagram of an implementation method of a robotic arm used in the present utility model.

[0026] Figure 7 This is the main view of the utility model in use after the goods are palletized.

[0027] Figure 8 This is a top view of the utility model in use after the goods are palletized.

[0028] Figure 9 、 Figure 10 They are respectively top views of the structure with protective channel installed in different directions according to Example 1 of the utility model.

[0029] Figure 11 This is a structural exploded view of Example 1 of the present utility model. DETAILED DESCRIPTION

[0030] Refer to the accompanying drawings. The utility model provides a palletizing and wrapping cooperative machine, including a wrapping device, the wrapping device including a turntable 1, a base 2, and a film frame lifting device. The turntable 1 is rotatably mounted on the base 2, and the base 2 is also provided with a rotary drive device for the turntable, which is a motor 10. The palletizing and wrapping cooperative machine uses the wrapping device as the main body, and is also provided with a palletizing robot arm 200. The palletizing robot arm is not a linear device that sets a foundation or moves an article grasping structure up and down, left and right, or forward and backward, but is installed on the base 2. The base 2 is the base of the wrapping device, the film frame lifting device and the palletizing robot arm are arranged on the base 2. The arms 200 are arranged in parallel on the base 2 and are located on the same side of the turntable 1 as the rotary drive device of the turntable. In this way, it is only necessary to slightly increase the area on the side of the base 2 where the film rack lifting device is installed on the basis of the original base 2, while basically maintaining the shape and area of the original base, forming a stacking and wrapping collaborative integrated structure, which can greatly reduce the site occupancy and is suitable for flexible movement by vehicles such as transport trucks. It is very suitable for applications such as warehouses and cargo yards that do not have enough space to set up large equipment, or where it is necessary to perform stacking, wrapping and packaging in front of different batches of goods (at different locations in the warehouse) at any time.

[0031] This small footprint and the further technical benefit of flexible mobility can also be achieved through an easily removable positioning and connection device. In this case, the easily removable positioning and connection device can include a reserved connection hole provided on the base 2 (such as a bolt connection, a latch connection, a snap connection, etc.), and the base of the palletizing robot arm itself or a fixed structure extending and connected to the base of the palletizing robot arm itself (this extended fixed structure can be a frame, plate, beam, etc., and the extended connection can be a structure integral to the base of the palletizing robot arm itself, or a structure that is easily removable from the base of the palletizing robot arm itself, or a structure that is movably connected to the base of the palletizing robot arm itself by means of rotation, etc.). During transportation, the palletizing robot arm can be transported together with the wrapping equipment via this positioning and connection device, or the two can be disassembled and quickly reassembled upon arrival at the work site. This positioning and connection device determines the relative coordinate position of the palletizing robot arm and the center of the turntable, eliminating the need for further position search and adjustment, allowing for quick commissioning after a simple operation. In this case, it is also preferred that the palletizing robot arm, the film rack lifting device, and the rotary drive device of the turntable are located on the same side of the turntable.

[0032] Similarly, the film frame lifting device is also mounted on the base 2 or maintained in a predetermined position with the base 2 via a readily removable positioning connection. Similarly, the readily removable positioning connection can include a pre-reserved connection hole provided on the base 2 (e.g., a bolt connection, a latch connection, a snap connection, etc.), the base of the film frame lifting device itself, or a fixed structure extending and connected to the base of the film frame lifting device itself (this extended fixed structure can be a frame, plate, beam, etc.; the extended connection can be a structure integral with the base of the film frame lifting device itself, or a structure easily removable from the base of the film frame lifting device itself, or a structure movably connected to the base of the film frame lifting device itself by means of rotation, etc.). During transportation, the film frame lifting device can be transported together with the base 2 via this positioning connection, or the two can be disassembled and quickly reassembled upon arrival at the work site. This positioning connection ensures that the relative coordinate position of the film frame lifting device and the center of the turntable is already determined, eliminating the need for further position search and adjustment, allowing for quick commissioning after a simple operation.

[0033] Figure 1 In the illustrated embodiment, the structure provided on the base 2 that can be connected to the transportation device is not shown.

[0034] exist Figure 2 、 3 In the illustrated embodiment, a structure that can be connected to a transport device is provided on the base, which is a connecting groove or connecting hole 21 on the base 2 that can be inserted into the fork arm of a transport truck. The base 2 (together with the equipment installed thereon) can be conveniently transferred to different working locations at one time by the transport truck.

[0035] The palletizing robot arm is provided with a Z-axis rotation device, which can adjust the orientation of its item grabbing mechanism 202 by rotating around the Z-axis 201 to adapt to goods located in different orientations. The Z-axis 201 is a vertical axis whose axis is parallel to the turntable rotation axis. Figure 203 is a Z-axis rotation drive motor.

[0036] The palletizing robot 200 includes a lifting device that directly adjusts the height of the palletizing robot's gripping mechanism 202. The lifting device comprises a lifting portion 210 and a fixed base for the lifting portion. The lifting portion 210 and the fixed base are slidably connected via a guide structure 204. The Z-axis rotation device is mounted on the lifting portion. The fixed base serves as the base of the palletizing robot 200, achieving the aforementioned "maintaining a predetermined position by being mounted on the base or by a removable positioning connection with the base."

[0037] The film frame lifting device includes a column 101, which is a vertical supporting structure. It can be a long frame surrounded by wall panels or arranged as a panel or door outside the frame. A first lifting device is set on the column 101, and the first lifting device can be a vertical circulating chain driven by a motor (not shown in the figure, located inside the column 101). The film frame 103 is connected to the first lifting device and can be driven to rise and fall by it; the column can serve as a structure corresponding to the base of the film frame lifting device to achieve "maintaining a predetermined position with the base 2 by being installed on the base 2 or through an easily detachable positioning connection device."

[0038] In this embodiment, the film frame lifting device adopts a two-stage structure, and the film frame lifting device is provided with a second lifting device. The column 101 is connected to the second lifting device 102 to form a liftable column. The second lifting device can be a vertical circulating chain driven by a motor. The back of the column 101 and the fixed base of the second lifting device are slidably connected through a guide structure 106. The fixed base serves as the structure corresponding to the base 2 of the film frame lifting device to achieve "maintaining a predetermined position with the base by being installed on the base or through an easily detachable positioning connection device."

[0039] In this embodiment, a support frame 400 is provided on the base, and the support frame 400 serves as a fixed base for the lifting device of the palletizing robot arm 200 and a fixed base for the second lifting device of the film rack lifting device.

[0040] The palletizing robot 200's lifting drive motor assembly 207 is located within the support frame 400. The left and right sides of the support frame are equipped with lifting guide rails for the column (guide structure 106) and the lifting guide rails for the lifting section (guide structure 204), respectively. The close arrangement of the film rack lifting device and the palletizing robot's lifting device allows for a compact arrangement of the wrapping equipment and the palletizing robot, reducing the machine's footprint. This also reduces the height of the column 101, facilitating transportation of the entire machine and maximizing the palletizing robot's operating range.

[0041] The support frame 400 can be formed by wall panels or arranged as a frame, or a panel or door can be provided outside the frame. In this embodiment, the side where the column lifting guide rail (guide structure 106) is provided is provided with a rotatable door 401. The column lifting guide rail is mounted on the door 401. Opening the door 401 allows access to the internal lift drive motor assembly 207 and other components, while reducing the openings of the support frame 400 in other directions, improving its strength and helping it serve as both the foundation for column lifting and the base of the palletizing robot arm.

[0042] The palletizing robot arm further comprises a Y-axis rotating device and an X-axis rotating device, wherein the Y, X and Z axes are perpendicular to each other in three-dimensional space.

[0043] like Figure 1 As mentioned above, in this embodiment, the turntable 1 is provided with a slot 11 for the fork arm of a transport vehicle to extend into, so that the palletized and film-wrapped goods can be directly transported out by a transport vehicle. Figure 2 、 3 As shown in 4, the base 2 may also be detachably provided with slope structures 22 on different sides of the turntable, so that the mobile car can be directly driven onto the turntable 1 to move the palletized and film-wrapped goods out.

[0044] Reference numeral 300 denotes the palletized goods, reference numeral 301 denotes the pallet, and reference numeral 500 denotes the electrical control cabinet of the palletizing and wrapping collaborative all-in-one machine, which is located on the base 2 on the same side of the turntable 1 as the palletizing robot 200 and the film rack lifting device.

[0045] like Figure 1 、 9 In the embodiment shown in 10, a film rack lifting device and a stacking robot arm are provided on the first side of the turntable 1 (also the base 2). Figure 1 、 9 As shown in Figures 10 and 11, a channel member 23 with a protective structure can be detachably installed on the second side of the base 2, and side protection members 24 of the winding work area can be detachably installed on the third and fourth sides of the base 2, respectively. The same connection structure (such as the same connection hole position) is respectively provided on the three sides of the base, and the channel member 23 and the side protection members 24 of the winding work area also have the same structure that matches the connection structure provided on the base (such as connection holes, or snaps corresponding to the connection holes on the base, etc.). The channel member 23 and the side protection members 24 of the winding work area can be selectively installed on different sides of the base, and correspond to the predetermined orientation of the groove 11 after the film winding is completed, so as to guide the transport vehicle to travel in the correct direction, and the fork arm can accurately align with the groove 11. In addition, for use in occasions where the work place is frequently changed and the surrounding area is narrow, the safety of the winding work can be greatly enhanced.

[0046] Unless otherwise specified, in this utility model, if there are terms such as "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial" and the like indicating orientations or positional relationships, they are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing orientations or positional relationships in this utility model are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, they can understand the specific meanings of the above terms in conjunction with the accompanying drawings and according to specific circumstances.

[0047] Unless otherwise specified or limited, the terms "disposed," "clamped," and "connected" in this utility model should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediary, or internal connections between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0048] The above description is only a specific embodiment of the present invention, but the structural features of the present invention are not limited thereto. Any changes or modifications made by any technician in this field within the field of the present invention are included in the protection scope of the present invention.

Claims

1. A palletizing and wrapping cooperative machine, comprising a wrapping device, the wrapping device comprising a turntable, a base, and a film frame lifting device, the turntable being rotatably mounted on the base, and the base also being provided with a rotating drive device for the turntable, characterized in that The palletizing and wrapping cooperative machine is based on the wrapping equipment and is also provided with a palletizing robot arm. The palletizing robot arm is maintained in a predetermined position with the base by being installed on the base or through an easily detachable positioning connection device. The palletizing robot arm is provided with a Z-axis rotation device, and can adjust the orientation of its article grasping mechanism by rotating around the Z-axis. The Z-axis is a vertical axis whose axis is parallel to the rotation axis of the turntable; the film rack lifting device is maintained in a predetermined position with the base by being installed on the base or through an easily detachable positioning connection device.

2. A palletizing and wrapping cooperative machine according to claim 1, characterized in that The palletizing robot arm includes a lifting device, which can directly adjust the height of the palletizing robot arm's gripping mechanism.

3. A palletizing and wrapping cooperative machine according to claim 1, characterized in that The palletizing robot arm includes a lifting device, which includes a lifting part and a fixed base of the lifting part. The lifting part and the fixed base are slidably connected through a guide structure, and the fixed base is maintained in a predetermined position with the base by being installed on the base or through an easily detachable positioning connection device.

4. A palletizing and wrapping cooperative machine as claimed in claim 3, characterized in that The palletizing robot arm includes a lifting device, and the Z-axis rotating device is installed on the lifting part.

5. A palletizing and wrapping cooperative machine as claimed in claim 1, characterized in that The film rack lifting device and the stacking robot arm are arranged side by side on the base and are located on the same side of the turntable.

6. A palletizing and wrapping cooperative machine as claimed in claim 5, characterized in that The film rack lifting device, the stacking robot arm and the rotary drive device of the turntable are located on the same side of the turntable.

7. A palletizing and wrapping cooperative machine as claimed in claim 1, characterized in that The film frame lifting device includes a column, a first lifting device is arranged on the column, and the film frame is connected to the first lifting device; the column is mounted on the base or maintained in a predetermined position with the base through a detachable positioning connection device.

8. The palletizing and wrapping cooperative machine according to claim 1, characterized in that The film frame lifting device includes a column, a first lifting device is arranged on the column, and the film frame is connected to the first lifting device; the film frame lifting device is provided with a second lifting device, and the column is connected to the second lifting device to form a liftable column, and the fixed base of the second lifting device is maintained in a predetermined position with the base by being installed on the base or through an easily detachable positioning connection device.

9. A palletizing and wrapping cooperative machine as claimed in claim 8, characterized in that The palletizing robot arm includes a lifting device, which includes a lifting part and a fixed base of the lifting part. The lifting part and the fixed base are slidably connected by a guide structure. The fixed base is mounted on the base or maintained in a predetermined position with the base through a detachable positioning connection device; the Z-axis rotating device is mounted on the lifting part; The film rack lifting device and the stacking robot arm are arranged side by side on the base, a support frame is provided on the base, the lifting part is located inside the support frame, and the left and right sides of the support frame are respectively provided with lifting guide rails of the column and the lifting guide rails of the lifting part, and the lifting devices of the film rack lifting device and the stacking robot arm are closely arranged.

10. A palletizing and wrapping cooperative machine according to claim 9, characterized in that The side of the support frame where the column lifting guide rail is set is set as an openable door, and the column lifting guide rail is installed on the door. By opening the door, the lifting part located inside can be inspected and the opening of the support frame in other directions can be reduced.

11. The palletizing and wrapping cooperative machine according to claim 1, characterized in that The palletizing robot arm further includes a Y-axis rotating device and an X-axis rotating device, wherein Y, X and Z are perpendicular to each other in three-dimensional space.

12. The palletizing and wrapping cooperative machine according to claim 1, characterized in that The turntable is provided with a groove for the fork arm of the transport vehicle to extend into, or / and, the base is detachably provided with slope structures on different sides of the turntable.

13. A palletizing and wrapping cooperative machine as claimed in claim 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 or 12, characterized in that The base is also provided with a structure that can be connected to a transport device so as to be transported to different working locations by the transport device.

14. A palletizing and wrapping cooperative machine according to claim 13, characterized in that The structure that can be connected to the transportation device is a connection groove or a connection hole on the base that can be inserted into the fork arm of the transport vehicle.

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