Pail stacking device

Abstract

The utility model relates to a pail stacking device and relates to the technical field of stacking equipment, the pail stacking device comprises a conveying belt and a stacking manipulator, the conveying belt is horizontally arranged, the stacking manipulator is located on one side of the conveying belt in the length direction, and the stacking manipulator is used for stacking stacked pails onto a tray; a stacking manipulator is arranged on one side of the conveying belt in the width direction and comprises a clamping paw and a stacking driving part, the clamping paw is located on the upper side of the conveying belt and used for clamping pails, and the stacking driving part is used for driving the clamping paw to move in the length direction and the vertical direction of the conveying belt. According to the pail stacking device, through cooperative arrangement of the stacking mechanical arm and the stacking mechanical arm, the pail can be stacked by the stacking mechanical arm firstly, then the pail stacked by the stacking mechanical arm is directly conveyed to the tray in a forking mode, pails do not need to be stacked on the tray one by one, and therefore stacking of the pails on a common wood tray can be achieved; and the pail stacking speed and stability on the tray can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of palletizing equipment, and in particular to a bucket stacking device. Background Art

[0002] In an industrial liquid product filling production line, the main steps are: pail loading, product filling, pail lid installation and sealing, and product unloading. In existing factories, filling lines are largely automated or semi-automated. During the product unloading step, a six-axis robot often stacks the filled pails onto pallets. Once palletized, the pallet is directly shipped out.

[0003] At present, the pallets used in filling production lines are mostly wooden pallets. After a wooden pallet has been used for a long time, pits will appear on the surface of the wooden pallet, which will cause the surface of the wooden pallet to be uneven. As a result, after the filled buckets are stacked on the wooden pallet, the spatial coordinates of the corresponding buckets will change due to the deformation of the wooden pallet. However, the six-axis robot still operates according to the established program. If the six-axis robot continues to clamp the filled buckets for stacking, it will be difficult for the six-axis robot to align the clamped buckets with the buckets on the pallet. As a result, when the six-axis robot releases the clamped buckets, the buckets are easily misaligned with the buckets on the pallet, or the stacked buckets may become skewed or even fall over, which will prevent the bucket stacking process from proceeding smoothly. To solve this problem, the only way is to replace the pallet with a new one or replace the steel pallet that does not agree with the deformation and damage, but this will increase costs. Summary of the Invention

[0004] The present application provides a bucket stacking device, the purpose of which is to reduce the impact of pallet deformation on bucket stacking and ensure the stability of multiple buckets stacked on the pallet.

[0005] The present application provides a bucket stacking device that adopts the following technical solution:

[0006] A bucket stacking device includes a conveyor belt and a stacking robot. The conveyor belt is arranged horizontally, and the stacking robot is located on one side of the conveyor belt in the length direction. The stacking robot is used to stack buckets on a pallet; a stacking robot is provided on one side of the conveyor belt in the width direction, and the stacking robot includes a clamping claw and a stacking drive. The clamping claw is located on the upper side of the conveyor belt and is used to clamp the buckets. The stacking drive is used to drive the clamping claw to move along the length direction and vertical direction of the conveyor belt.

[0007] By adopting the above technical solution, the conveyor belt transports the buckets; the stacking robot, through the cooperation of the gripper and the stacking drive, can stack the buckets on the conveyor belt; and the palletizing robot can move the stacked buckets to the pallet. Therefore, with the cooperation of the conveyor belt, the stacking robot and the palletizing robot, the buckets are transported, stacked and palletized in sequence, thus realizing the automatic palletizing function of the buckets.

[0008] During the palletizing process, the stacking robot first stacks the buckets, then directly transfers the stacked buckets to the pallet. Because the buckets don't need to be stacked on the pallet, pallet deformation won't significantly affect the stacked buckets, improving the stability of the palletized buckets and, in turn, the palletized buckets.

[0009] Optionally, a transfer mechanism is further included, wherein the transfer mechanism includes a horizontal clamp, the horizontal clamp is arranged on the palletizing robot, and the palletizing robot is used to drive the horizontal clamp to move.

[0010] By adopting the above technical solution, the transfer mechanism enables the stacking robot to have the function of clamping the bucket through the setting of the horizontal clamping claw, thereby meeting the requirements of the stacking robot for stacking buckets.

[0011] Optionally, the palletizing robot is provided with a rotating shaft, which is arranged in a vertical direction, the upper end of the rotating shaft is connected to the palletizing robot, and the palletizing robot is used to drive the rotating shaft to rotate along its own circumference; there are a plurality of transfer mechanisms, and a plurality of the horizontal clamps are arranged on the rotating shaft, and the plurality of the horizontal clamps are arranged in sequence along the circumference of the rotating shaft.

[0012] By adopting the above technical solution, the rotating shaft and the plurality of transfer mechanisms are arranged in coordination, and when the stacking robot drives the rotating shaft to rotate, different transfer mechanisms can be selected in sequence to clamp the bucket. When the plurality of transfer mechanisms are the same, the plurality of transfer mechanisms can be switched in sequence to transfer the bucket, which can increase the transfer speed of the stacking robot of the present application; when the plurality of transfer mechanisms are different, different transfer mechanisms can be switched to operate, which allows the stacking robot of the present application to be used for stacking buckets of different sizes.

[0013] Optionally, the transfer mechanism further includes a pressure plate, which is located directly above the horizontal clamp in the vertical direction and is spaced apart from the horizontal clamp in the vertical direction. The palletizing robot is provided with a barrel pressing drive for driving the pressure plate to move in the vertical direction.

[0014] By adopting the above technical solution, the pressure plate and the barrel pressing drive are arranged in coordination. When the horizontal clamp clamps several stacked barrels, the pressure plate will be driven by the barrel pressing drive to press on the uppermost barrel. At this time, the pressure plate can assist in fixing the stacked barrels and improve the stability of the barrels.

[0015] Optionally, the barrel pressing drive includes a mounting base, the length direction of the mounting base is arranged in the vertical direction, and the mounting base is connected to the palletizing robot, the pressing plate is slidingly connected to the mounting base in the vertical direction, and the mounting base is provided with a vertical drive for driving the pressing plate to move in the vertical direction.

[0016] By adopting the above technical solution, the barrel pressing drive can realize the driving function of the pressing plate through the setting of the mounting base and the vertical driver. At the same time, the pressing plate is slidably connected to the mounting base, and the mounting base can serve as a guide rail for the pressing plate to slide in the vertical direction, thereby improving the stability of the pressing plate movement.

[0017] Optionally, the transfer mechanism further includes a side protection assembly, which includes two side rods, the side rods being arranged in a vertical direction and connected to the palletizing robot; the two side rods are arranged at intervals in a horizontal direction, and the pressure plate and the horizontal clamp are both located between the two side rods.

[0018] By adopting the above technical solution, the side protection assembly is arranged through the cooperation of two side rods. When several buckets clamped by the horizontal clamps fall over, the corresponding side rods can provide auxiliary support for the buckets to prevent the buckets from falling directly.

[0019] Optionally, a plurality of pressure sensors are provided on the side rod, and the plurality of pressure sensors are arranged in sequence and spaced apart along the vertical direction, and the pressure sensors are located on the side of the side rod facing the pressure plate.

[0020] By adopting the above technical solution and setting up the pressure sensor, when the bucket tips over and contacts the corresponding side rod, the corresponding pressure sensor is triggered. At this time, the corresponding pressure sensor is triggered, which can timely send a signal that the bucket has tipped over and realize the emergency stop of the stacking robot.

[0021] Optionally, the side rod includes a fixed rod and a sliding tube, the fixed rod and the sliding tube are both arranged in the vertical direction, the upper end of the sliding tube is plugged into the lower end of the fixed rod, and the sliding tube is slidingly connected to the fixed rod along its own axis; the upper end of the fixed rod is connected to the pressure plate, and the lower end of the sliding tube is connected to the palletizing robot.

[0022] By adopting the technical scheme, the side rod is fixed through cooperation of the fixing rod and the sliding pipe, the fixing rod is connected with the pressing plate, and the sliding pipe is connected with the stacking manipulator, so that the side rod can be fixed. Since the pressing plate can be lifted in the vertical direction, the fixing rod is connected with the sliding rod in a sliding mode, so that the side rod can be telescopic, which ensures that the movement of the pressing plate is not affected.

[0023] To sum up, the present application has at least one of the following beneficial technical effects:

[0024] 1. The present application is provided by cooperation of the stacking manipulator and the stacking manipulator, the stacking manipulator will first stack the pails, and the stacking manipulator directly transports the stacked pails to the pallet. Since the pails do not need to be stacked on the pallet, the deformation of the pallet can reduce the influence on the stacked pails, thereby improving the stability of the pail stacking on the pallet.

[0025] 2. The present application is provided by cooperation of the stacking manipulator and the stacking manipulator, the stacking manipulator will first stack the pails, and the stacking manipulator directly transports the stacked pails to the pallet. Since the pails do not need to be stacked on the pallet, the deformation of the pallet can reduce the influence on the stacked pails, thereby improving the stability of the pail stacking on the pallet.

[0026] 3. The present application is provided by cooperation of the stacking manipulator and the stacking manipulator, the stacking manipulator will first stack the pails, and the stacking manipulator directly transports the stacked pails to the pallet. Since the pails do not need to be stacked on the pallet, the deformation of the pallet can reduce the influence on the stacked pails, thereby improving the stability of the pail stacking on the pallet. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the overall structure schematic diagram of the pail stacking device of the embodiment 1 of the present application.

[0028] Figure 2 is the overall structure schematic diagram of the shaft and the transfer mechanism of the embodiment 1 of the present application.

[0029] Figure 3 is the overall structure schematic diagram of the shaft and the transfer mechanism of the embodiment 2 of the present application.

[0030] In the figure, 1, conveying belt; 2, stacking manipulator; 3, stacking manipulator; 31, clamping jaw; 32, stacking driving member; 321, vertical driver; 322, horizontal driver; 4, transfer mechanism; 41, horizontal clamping jaw; 42, pressing plate; 421, first extension plate; 43, pressing pail driving member; 431, mounting base; 432, pressing driving device; 44, side protection assembly; 441, side rod; 4411, fixing rod; 4412, sliding pipe; 5, shaft; 51, second extension plate. DETAILED DESCRIPTION

[0031] The following will be described in combination with the accompanying Figure 1 - the accompanying Figure 3, further details of this application are given.

[0032] Example 1:

[0033] A bucket stacking device, referring to Figure 1 The conveyor belt 1 includes a conveyor belt 1, a stacking robot 3, and a palletizing robot 2. The conveyor belt 1 is arranged horizontally, the stacking robot 3 is located on one side of the conveyor belt 1 in the width direction, and the palletizing robot 2 is located on one side of the conveyor belt 1 in the length direction. In this embodiment, the conveyor belt 1 is a roller conveyor belt 1; the palletizing robot 2 is a six-axis robot.

[0034] When conveyor belt 1 transports filled buckets, stacking robot 3 first stacks the buckets. After the buckets are stacked, palletizing robot 2 moves the stacked buckets onto a pallet. Because the buckets are not stacked on a pallet, deformation of the pallet will not significantly affect the stacked buckets, which improves the stability of the stacked buckets on the pallet and, in turn, the stability of pallet palletizing.

[0035] Reference Figure 1 The stacking robot 3 includes a clamping gripper 31 and a stacking drive 32. The stacking drive 32 includes a vertical drive 321 and a horizontal drive 322. Both the vertical drive 321 and the horizontal drive 322 utilize linear modules driven by servo motors. The vertical drive 321 is positioned vertically, while the horizontal drive 322 is positioned along the conveying direction of the conveyor belt 1. The vertical drive 321 is mounted on the horizontal drive 322. The clamping gripper 31 is mounted on the vertical drive 321 and is positioned vertically directly above the conveyor belt 1. Under the action of the vertical drive 321 and the horizontal drive 322, the clamping gripper 31 can clamp a bucket on the conveyor belt 1 and drive the bucket to move vertically and horizontally, thereby enabling the stacking of multiple buckets on the conveyor belt. In this embodiment, the clamping gripper 31 can utilize a pneumatic gripper, a parallel gripper, or a three-jaw chuck.

[0036] Reference Figure 1 and Figure 2 The palletizing robot 2 is equipped with a transfer mechanism 4, which includes a horizontal gripper 41. The horizontal gripper 41 is horizontally mounted on the palletizing robot 2. Driven by the palletizing robot 2, the horizontal gripper 41 is capable of gripping a plurality of stacked buckets and transferring them to a pallet. In this embodiment, the horizontal gripper 41 is a pneumatic gripper or a parallel gripper.

[0037] Reference Figure 2The transfer mechanism 4 further includes a pressure plate 42, which is vertically positioned directly above the horizontal clamping jaws 41. A barrel pressing drive 43 is disposed between the pressure plate 42 and the palletizing robot 2. The barrel pressing drive 43 is vertically positioned and mounted on the palletizing robot, with the driving end of the barrel pressing drive 43 connected to the pressure plate 42. Driven by the barrel pressing drive 43, the pressure plate 42 can move vertically, thereby pressing the barrel after the horizontal clamping jaws 41 grip it. This improves the stability of the palletizing robot 2 in palletizing the barrels.

[0038] In this embodiment, refer to Figure 2 When the vertical stroke of the pressure plate 42 is long, the barrel pressing drive 43 includes a mounting base 431. The mounting base 431 is arranged along the vertical direction and is connected to the palletizing robot 2. The mounting base 431 is provided with a vertical slide. The length of the vertical slide is along the length of the mounting base 431. The pressure plate 42 is plugged into the mounting slide and is vertically slidably connected to the inner sidewall of the mounting slide. The mounting base 431 is provided with a clamping driver 432. The clamping driver 432 is located in the mounting slide and is connected to the inner sidewall of the mounting slide. The driving end of the clamping driver 432 is connected to the pressure plate 42. In this embodiment, the clamping driver 432 is a cylinder or a linear module. In this case, the provision of the mounting base 431 can improve the stability of the movement of the pressure plate 42.

[0039] In this embodiment, refer to Figure 2 When the vertical stroke of the pressing plate 42 is short, the pressing barrel driving member 43 adopts a cylinder or a linear module. At this time, the pressing barrel driving member 43 can ensure the rapidity of the movement of the pressing plate 42.

[0040] Reference Figure 1 and Figure 2 The palletizing robot 2 is provided with a rotating shaft 5, which is arranged in a vertical direction and has its upper end connected to the palletizing robot 2. A plurality of transfer mechanisms 4 are provided, which are evenly spaced along the circumference of the rotating shaft 5 and are connected to the rotating shaft 5. Since the palletizing robot 2 is a six-axis robot, the rotating shaft 5 can rotate along its own circumference when driven by the palletizing robot 2. This allows the transfer mechanisms 4 to be switched to sequentially transfer the stacked buckets.

[0041] In this embodiment, refer to Figure 2 There are two transfer mechanisms 4, both of which are arranged outside the rotating shaft 5, and the two transfer mechanisms 4 are spaced apart along the radial direction corresponding to the rotating shaft 5. The arrangement of the two transfer mechanisms 4 enables the palletizing robot 2 in this embodiment to switch the two transfer mechanisms 4 to work in sequence.

[0042] The implementation principle of the embodiment of the present application is as follows: when the conveying belt 1 conveys the completed bucket, the conveying belt 1 stops when the bucket passes through the stacking manipulator 3, the stacking manipulator 3 carries the corresponding bucket to the end of the conveying belt 1 for stacking, and the process is repeated until the number of stacks meets the requirements, at which time the palletizing manipulator 2 palletizes the stacked buckets on the pallet, and the steps are repeated until the pallet is full of stacked buckets, thereby realizing the palletizing function of the bucket.

[0043] Embodiment 2

[0044] A bucket stacking device, referring to Figure 3 The difference between the embodiment and the embodiment 1 is that the transfer mechanism 4 further comprises a side protection assembly 44, the side protection assembly 44 comprises two side rods 441, the side rods 441 are arranged in the vertical direction, the two side rods 441 are arranged in the horizontal direction, the pressing plate 42 is located between the two side rods 441 along the width direction of the pressing plate 42, and the pressing plate 42 and the horizontal clamping jaw 41 are both located between the two side rods 441. When the palletizing manipulator 2 transfers the bucket, the two side rods 441 can protect the bucket and reduce the possibility of the bucket falling during the transfer process.

[0045] Referring to Figure 3 The pressing plate 42 is provided with a plurality of first extension plates 421, and the outer wall of the rotating shaft 5 is provided with a plurality of second extension plates 51, the first extension plates 421 and the second extension plates 51 are arranged one by one, and the first extension plates 421 and the corresponding second extension plates 51 are arranged in the vertical direction. The side rod 441 and the first extension plate 421 are arranged one by one, and the upper end of the side rod 441 is connected with the corresponding first extension plate 421, and the lower end of the side rod 441 is connected with the corresponding second extension plate 51. Therefore, the cooperation of the first extension plate 421 and the second extension plate 51 can realize the fixation of the corresponding side rod 441.

[0046] In the embodiment, referring to Figure 3 A plurality of side protection assemblies 44 are arranged in each transfer mechanism 4, the plurality of side protection assemblies 44 are arranged in the length direction of the pressing plate 42 in sequence and in intervals, and the upper ends of the plurality of side rods 441 located on the same side of the width direction of the pressing plate 42 are all connected with the same first extension plate 421, and the lower ends are all connected with the same second extension plate 51. Through the combination of the plurality of side protection assemblies 44, the protection strength and stability of the stacked buckets can be improved.

[0047] Referring to Figure 3The side rod 441 includes a fixed rod 4411 and a sliding tube 4412. Both the fixed rod 4411 and the sliding tube 4412 are arranged in the vertical direction. The lower end of the fixed rod 4411 is plugged into the upper end of the sliding tube 4412, and the fixed rod 4411 is slidably connected to the inner side wall of the sliding tube 4412 along its own length. The upper end of the fixed rod 4411 is connected to the corresponding first extension plate 421, and the lower end of the sliding tube 4412 is connected to the corresponding second extension plate 51. Since the pressure plate 42 needs to be raised and lowered in the vertical direction, this will drive the first extension plate 421 to rise and fall in the vertical direction. Therefore, the cooperation between the fixed rod 4411 and the sliding tube 4412 allows the side rod 441 to be extended and retracted, ensuring that the movement of the pressure plate 42 is not affected.

[0048] Reference Figure 3 The side bars 441 are also equipped with several pressure sensors. These pressure sensors are located on the side of the side bars 441 facing the pressure plate 42, and are spaced vertically in sequence. Due to the pressure sensor arrangement, when the palletizing robot 2 transfers a bucket and it falls over, the side bars 441 support the falling bucket, and the corresponding pressure sensors are triggered. This promptly signals the bucket has fallen over, and causes the palletizing robot 2 to stop suddenly.

[0049] The implementation principle of the embodiment of the present application is: when the stacking robot 2 carries several stacked buckets, the horizontal clamping claws 41 clamp the buckets, the pressure plate 42 presses the buckets, and then the stacking robot 2 transfers the stacked buckets to the pallet.

[0050] However, when there are a large number of stacked buckets or the buckets are filled with liquid, the middle parts of the stacked buckets are prone to tipping over due to inertia during the movement of the palletizing robot 2; or, when the transfer mechanism 4 does not match the size of the buckets transported by the conveyor belt 1, the horizontal clamp 41 can clamp the bucket, but the stroke of the bucket pressing drive 43 is insufficient to drive the pressure plate 42 to press the bucket, and thus during the movement of the palletizing robot 2, the stacked buckets are prone to tipping over due to inertia; or, at the end of the filling production, the number of buckets is insufficient, and the height of the stacked buckets is low. When the pressure plate 42 cannot press the buckets, the stacked buckets are prone to tipping over due to inertia during the movement of the palletizing robot 2. Based on this situation, the side protection assembly 44 protects several buckets. When the buckets fall over, several side rods 441 support the fallen buckets to prevent them from falling directly out of the transfer mechanism 4. The fallen buckets can trigger the pressure sensor, which can control the stacking robot 2 to stop suddenly and ensure the safety of production operations.

[0051] The embodiments of the specific implementation are all preferred embodiments of the present application and are not intended to limit the scope of protection of the present application. Identical components are denoted by the same reference numerals. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application shall be included within the scope of protection of the present application.

Claims

1. A bucket stacking device, characterized in that: include: A conveyor belt (1) and a palletizing robot (2), wherein the conveyor belt (1) is arranged horizontally, and the palletizing robot (2) is located on one side of the conveyor belt (1) in the length direction, and the palletizing robot (2) is used to palletize buckets onto a pallet; a stacking robot (3) is provided on one side of the conveyor belt (1) in the width direction, and the stacking robot (3) includes a clamping claw (31) and a stacking drive (32), wherein the clamping claw (31) is located on the upper side of the conveyor belt (1), and the clamping claw (31) is used to clamp the buckets, and the stacking drive (32) is used to drive the clamping claw (31) to move along the length direction and the vertical direction of the conveyor belt (1).

2. The bucket stacking device according to claim 1, characterized in that: It also includes a transfer mechanism (4), the transfer mechanism (4) includes a horizontal clamping claw (41), the horizontal clamping claw (41) is arranged on the palletizing robot (2), and the palletizing robot (2) is used to drive the horizontal clamping claw (41) to move.

3. The bucket stacking device according to claim 2, characterized in that: The palletizing robot (2) is provided with a rotating shaft (5), the rotating shaft (5) is provided in a vertical direction, the upper end of the rotating shaft (5) is connected to the palletizing robot (2), and the palletizing robot (2) is used to drive the rotating shaft (5) to rotate along its own circumference; the transfer mechanism (4) is provided with a plurality of horizontal clamps (41), all of which are provided on the rotating shaft (5), and the plurality of horizontal clamps (41) are provided in sequence at intervals along the circumference of the rotating shaft (5).

4. The bucket stacking device according to claim 2, characterized in that: The transfer mechanism (4) further comprises a pressing plate (42), wherein the pressing plate (42) is located directly above the horizontal clamping jaw (41) in the vertical direction, and the pressing plate (42) is spaced apart from the horizontal clamping jaw (41) in the vertical direction. The palletizing robot (2) is provided with a barrel pressing drive (43) for driving the pressing plate (42) to move in the vertical direction.

5. The bucket stacking device according to claim 4, characterized in that: The barrel pressing drive member (43) includes a mounting base (431), the length direction of the mounting base (431) is arranged in the vertical direction, and the mounting base (431) is connected to the stacking robot (2), the pressing plate (42) is slidably connected to the mounting base (431) in the vertical direction, and a vertical driver (321) is provided on the mounting base (431) for driving the pressing plate (42) to move in the vertical direction.

6. The bucket stacking device according to claim 4, characterized in that: The transfer mechanism (4) further includes a side protection assembly (44), the side protection assembly (44) including two side rods (441), the side rods (441) being arranged in a vertical direction and connected to the palletizing robot (2); the two side rods (441) being arranged at intervals in a horizontal direction, the pressing plate (42) and the horizontal clamping claw (41) being located between the two side rods (441).

7. The bucket stacking device according to claim 6, characterized in that: A plurality of pressure sensors are provided on the side rod (441), and the plurality of pressure sensors are arranged in sequence and spaced apart in a vertical direction. The pressure sensors are located on a side of the side rod (441) facing the pressure plate (42).

8. The bucket stacking device according to claim 6, characterized in that: The side rod (441) includes a fixed rod (4411) and a sliding tube (4412), wherein the fixed rod (4411) and the sliding tube (4412) are both arranged in a vertical direction, the upper end of the sliding tube (4412) is plug-fitted with the lower end of the fixed rod (4411), and the sliding tube (4412) is slidably connected to the fixed rod (4411) along its own axial direction; the upper end of the fixed rod (4411) is connected to the pressing plate (42), and the lower end of the sliding tube (4412) is connected to the palletizing robot (2).

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