Composite stacking clamp

Abstract

The utility model provides a composite stacking clamp which comprises a rectangular frame, an installation bottom plate fixedly installed on the frame, a connecting base fixedly installed on the top face of the installation bottom plate, two air cylinders A symmetrically arranged on the bottom face of the installation bottom plate, and the two air cylinders A are both parallel to the long sides of the frame. Two guide assemblies are symmetrically arranged on the bottom face of the installation bottom plate, each guide assembly is parallel to the corresponding air cylinder A, a piston rod of each air cylinder A is connected with an insertion leg, one end of each guide assembly penetrates through the corresponding baffle and then is connected with the corresponding insertion leg, an air cylinder B is fixedly installed on the frame, and supporting assemblies are arranged at the two ends of the frame. A piston rod of the air cylinder B is connected with the supporting assembly, and the frame is provided with a tray clamping jaw assembly through the supporting assembly. The carton stacking machine has the carton stacking function and the tray stacking function, the trays can be stacked to the stacking position, then the cartons are stacked on the trays, and stacking of the cartons is completed.

Description

Technical Field

[0001] This utility model relates to a composite palletizing fixture, belonging to the field of palletizing related technical technology. Background Technology

[0002] Palletizing fixtures, with the assistance of robots, can grasp and place materials in multiple spatial coordinate systems (X / Y / Z) to achieve material palletizing. Common palletizing fixtures can only handle single-specification or single-type materials, and are relatively heavy, placing high demands on the robot and failing to achieve lightweight operations. In the welding wire packaging industry, pallets need to be stacked to palletizing positions, and then cartons need to be stacked onto the pallets. Therefore, a palletizing fixture that combines the functions of carton palletizing and pallet palletizing is needed to complete the carton palletizing process.

[0003] Therefore, the inventors have filed this application to solve the above-mentioned problems. Utility Model Content

[0004] The purpose of this utility model is to provide a composite palletizing fixture that combines the functions of carton palletizing and pallet palletizing to solve the technical problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0006] This utility model provides a composite palletizing fixture, including a rectangular frame, a mounting base plate fixedly mounted on the frame, a connecting seat and a control component fixedly mounted on the top surface of the mounting base plate, two cylinders A symmetrically arranged on the bottom surface of the mounting base plate, both cylinders A being parallel to the long side of the frame, and the piston rods of the two cylinders A moving in the same direction, two sets of guide components symmetrically arranged on the bottom surface of the mounting base plate, and two baffles fixedly mounted on the bottom surface of the mounting base plate, each set of guide components being parallel to cylinder A, and each piston rod of cylinder A being connected to a leg, with one end of each set of guide components passing through the corresponding baffle and connecting to the corresponding leg, a cylinder B fixedly mounted on the frame, and support components provided at both ends of the frame, with the piston rod of cylinder B connected to the support components, and a pallet gripper assembly provided on the frame through the support components, and the control component being electrically connected to both cylinders A and B.

[0007] Preferably, each guide assembly includes two guide rods arranged side by side, each guide rod being parallel to cylinder A, each guide rod being fitted with a guide bearing, each guide bearing being fixedly connected to the mounting base plate, one end of each guide rod passing through the corresponding baffle and connecting to the corresponding insert, and each guide rod having limit rings at both ends.

[0008] Preferably, two photoelectric sensors are arranged on the mounting base plate. The light beam emitted by each photoelectric sensor passes through the mounting base plate to detect whether a cardboard box is placed on the two prongs. Each photoelectric sensor is electrically connected to the control component.

[0009] Preferably, each support assembly includes a connecting shaft and bearing seats respectively sleeved on both ends of the connecting shaft. Each bearing seat is fixedly connected to the frame and contains a bearing. The pallet gripper assembly includes four grippers. Both ends of the connecting shaft of each support assembly pass through the corresponding bearing and the end of the gripper in sequence and are connected to an expansion sleeve. A support is provided on the connecting shaft of one support assembly. The piston rod of cylinder B is connected to the support. A lever is provided between two adjacent grippers that are not connected by a connecting shaft. One end of each lever is located on the side of the corresponding gripper near the frame, and the other end of each lever is located on the side of the corresponding other gripper away from the frame. The ends of two levers arranged on the same end of the frame are both located on the side of the corresponding gripper away from the frame, or the ends of two levers arranged on the same end of the frame are both located on the side of the corresponding gripper near the frame.

[0010] Preferably, when each cylinder A is in the retracted state, the upper end of the plug connected to each cylinder A passes through the corresponding baffle and is connected to the corresponding plug. A cylinder C is provided at the position. The piston rod of each cylinder C passes through the mounting base plate and is connected to the base plate. Each base plate moves up and down under the action of the corresponding cylinder C. Each cylinder C is electrically connected to the control component.

[0011] Preferably, both ends of the cylinder bodies of the two cylinders A are respectively provided with sensors for sensing whether the piston rod of the corresponding cylinder A has extended / retracted to a specified position; both ends of the cylinder bodies of the two cylinders B are respectively provided with sensors for sensing whether the piston rod of the corresponding cylinder B has extended / retracted to a specified position; and both ends of the cylinder bodies of the two cylinders C are respectively provided with sensors for sensing whether the piston rod of the corresponding cylinder C has extended / retracted to a specified position. Each sensor is electrically connected to the control component.

[0012] Preferably, a buffer block is provided on the bottom surface of both base plates.

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

[0014] 1. With the cooperation of the robot, the control component controls the movement of cylinder A. The movement of cylinder A drives the legs to grab or place cartons. The control component controls the movement of cylinder B. The movement of cylinder B drives the movement of the connecting shaft. The cooperation between the connecting shaft and the lever drives the four grippers to grab or place pallets. It has the functions of carton stacking and pallet stacking. According to the actual situation, it can stack pallets to the stacking position and then stack cartons onto the pallets to complete the carton stacking. It can effectively reduce manual operation and effectively improve production efficiency.

[0015] 2. This utility model is equipped with two inserts, which can simultaneously grab two cartons or one carton to achieve simultaneous stacking of one or two cartons, or grab cartons of various specifications to achieve stacking of cartons of various specifications.

[0016] 3. This utility model has a simple structure and is lightweight, enabling lightweight operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model.

[0018] Figure 2 This is a bottom view of the present invention.

[0019] Reference numerals: Frame 1, Connecting seat 2, Control component 3, Cylinder B4, Cylinder C5, Bearing seat 6, Lever 7.

[0020] Guide rod 8, guide bearing 9, insert leg 10, baffle 11, limit ring 12, cylinder A13, connecting shaft 14, base plate 15, photoelectric sensor 16, mounting base plate 17, gripper 18. Detailed Implementation

[0021] The present invention will be described in detail below with reference to the embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0022] Please see Figures 1 to 2This utility model provides a composite palletizing fixture, including a rectangular frame 1, preferably an aluminum alloy frame. A mounting base plate 17 is fixedly installed on the frame 1. A connecting seat 2 and a control assembly 3 are fixedly installed on the top surface of the mounting base plate 17. The connecting seat 2 is used to connect a robot. Two cylinders A13 are symmetrically arranged on the bottom surface of the mounting base plate 17, both cylinders A13 being parallel to the long side of the frame 1. The piston rods of the two cylinders A13 move in the same direction. Two sets of guide assemblies are symmetrically arranged on the bottom surface of the mounting base plate 17, each set of guide assemblies being parallel to the cylinders A13. Each piston rod of each cylinder A13 is connected to a leg 10. Two baffles 11 are fixedly installed on the bottom surface of the mounting base plate 17. Each leg 10 moves along the long side of the frame 1 under the action of the corresponding cylinder A13. The reciprocating motion enables the gripping and placement of cartons. It can grip one or two cartons in sequence, or cartons of different sizes, depending on the actual situation. One end of each of the two sets of guiding components passes through the corresponding baffle 11 and is connected to the corresponding insert 10. During the placement of the cartons, the baffle 11 restricts the movement direction of the cartons, and the guiding components guide the movement of the corresponding insert 10. A cylinder B4 is fixedly installed on the frame 1. Support components are provided at both ends of the frame 1. The piston rod of the cylinder B4 is connected to the support components. The frame 1 is equipped with a pallet gripper assembly through the support components. The pallet gripper assembly achieves the gripping and placement of the pallet under the action of the cylinder B4. The two cylinders A13 and B4 are electrically connected to the control component 3. The control component 3 controls the movement of the two cylinders A13 and B4. The control component 3 is electrically connected to the robot.

[0023] Preferably, each guide assembly includes two guide rods 8 arranged side by side, each guide rod 8 being parallel to the cylinder A13, each guide rod 8 being fitted with a guide bearing 9, each guide bearing 9 being fixedly connected to the mounting base plate 17, one end of each guide rod 8 passing through the corresponding baffle 11 and connecting to the corresponding insert leg 10, and each guide rod having a limit ring 12 at both ends to prevent the carton from flying out due to the guide rod 8 slipping out.

[0024] Preferably, two photoelectric sensors 16 are arranged on the mounting base plate 17. The light beam emitted by each photoelectric sensor 16 passes through the mounting base plate 17 to detect whether a carton is placed on the two prongs 10. Each photoelectric sensor 16 is electrically connected to the control component 3. The two photoelectric sensors 16 respectively obtain information on whether there is a carton on the two prongs 10 and transmit it to the control component 3.

[0025] Preferably, each support assembly includes a connecting shaft 14 and bearing seats 6 respectively sleeved on both ends of the connecting shaft 14. Each bearing seat 6 is fixedly connected to the frame 1, and a bearing is provided in each bearing seat 6. The pallet gripper assembly includes four grippers 18. Both ends of the connecting shaft 14 of each support assembly pass through the corresponding bearing and the end of the gripper 18 in sequence and are connected to the expansion sleeve. A support is provided on the connecting shaft 14 of one support assembly, and the piston rod of the cylinder B4 is connected to the support. A lever 7 is provided between two adjacent grippers 18 that are not connected by the connecting shaft 14. One end of each lever 7 is positioned to connect with the opposite... The corresponding gripper 18 is located on the side of the frame 1, and the other end of each lever 7 is located on the side of the corresponding gripper 18 away from the frame 1. The ends of the two levers 7 arranged at the same end of the frame 1 are both located on the side of the corresponding gripper 18 away from the frame 1, or the ends of the two levers 7 arranged at the same end of the frame 1 are both located on the side of the corresponding gripper 18 close to the frame 1. The control component 3 controls the extension and retraction of the cylinder B4. The extension and retraction of the cylinder B4 drives the connecting shaft 14 to drive the lever 7 to move. The cooperation between the connecting shaft 14 and the lever 7 drives the four grippers 18 to move in order to achieve the gripping and placement of the tray.

[0026] Preferably, when each cylinder A13 is in the retracted state, a cylinder C5 is provided at the position of the mounting base plate 17 above the insert 10 connected to each cylinder A13. The piston rod of each cylinder C5 passes through the mounting base plate 17 and is connected to a base plate 15. Each base plate 15 moves up and down under the action of the corresponding cylinder C5. Each cylinder C5 is electrically connected to the control component 3. After the insert 10 grabs the carton, the control component 3 controls the two cylinders C5 to extend. The base plate 15 connected to the cylinder C5 moves down under the action of the corresponding cylinder C5. After the two base plates 15 are pressed down into place, they clamp the carton.

[0027] Preferably, both ends of the cylinder bodies of the two cylinders A13 are respectively provided with sensors for sensing whether the piston rod of the corresponding cylinder A13 has extended / retracted to a specified position; both ends of the cylinder bodies of the two cylinders B4 are respectively provided with sensors for sensing whether the piston rod of the corresponding cylinder B4 has extended / retracted to a specified position; and both ends of the cylinder bodies of the two cylinders C5 are respectively provided with sensors for sensing whether the piston rod of the corresponding cylinder C5 has extended / retracted to a specified position. Each sensor is electrically connected to the control component 3, and each sensor transmits the position of the piston rod of the corresponding cylinder to the control component. The control component controls the movement of the piston rod of the corresponding cylinder according to the position information.

[0028] Both base plates 15 have cushioning blocks on their bottom surfaces to protect the cardboard box.

[0029] Carton palletizing: Both cylinders A13 and C5 are initially in the retracted state. The robot controls the composite palletizing fixture of this invention to the carton clamping position. Depending on the actual situation, either two legs 10 or one leg 10 clamps the carton. After the photoelectric sensor 16 detects a carton on the corresponding leg 10, it sends this information to the robot. The robot sends this information to the control component 3. The control component 3 controls the piston rod of the corresponding cylinder C5 to extend to clamp the carton. The robot controls the composite palletizing fixture of this invention to the carton palletizing position. The control component 3 controls the piston rod of the corresponding cylinder C5 to retract to the retracted state, and the piston rod of the corresponding cylinder A13 extends to complete the placement of the carton. The control component 3 controls the piston rod of the corresponding cylinder A13 to retract to the retracted state. The photoelectric sensor 16 detects that there is no carton on the corresponding leg 19 and sends this information to the robot. The robot controls the composite palletizing fixture of this invention to move to perform the next cycle of carton palletizing or pallet palletizing.

[0030] Pallet palletizing: Initially, cylinder B4 is in the extended state. After receiving pallet gripping information from the robot, control component 3 controls cylinder B4 to retract. The retraction of cylinder B4 drives the connecting shaft 14 to rotate, which in turn moves lever 7. With the cooperation of lever 7 and connecting shaft 14, all four grippers 18 move to a position perpendicular to the horizontal plane, and cylinder B4 is in the retracted state. When the robot controls the pallet to be in the desired position, control component 3 controls cylinder B4 to extend to the designated position. With the cooperation of lever 7 and connecting shaft 14, the four grippers 18... 8. When the robot controls the pallet to be placed on the conveyor line, the control component 3 controls the cylinder B4 to retract. With the cooperation of the lever 7 and the connecting shaft 14, the four grippers 18 move to be perpendicular to the horizontal plane, and the cylinder B4 is in the retracted state, completing the placement of the pallet. The control component 3 controls the cylinder B4 to extend. With the cooperation of the lever 7 and the connecting shaft 14, the four grippers 18 retract, and the cylinder B4 is in the extended state. The robot controls the composite palletizing fixture of this invention to move to perform the next cycle of carton palletizing or pallet pallet palletizing.

[0031] Depending on the actual situation, with the assistance of a robot, a pallet can be placed at the palletizing position, and then cartons can be stacked onto the pallet to complete the stacking of cartons.

[0032] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions and substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. A composite palletizing fixture, characterized in that, The system includes a rectangular frame with a mounting base fixedly mounted on it. A connecting seat and control components are fixedly mounted on the top surface of the mounting base. Two cylinders A are symmetrically arranged on the bottom surface of the mounting base, both parallel to the long side of the frame. The piston rods of the two cylinders A move in the same direction. Two sets of guide assemblies are symmetrically arranged on the bottom surface of the mounting base. Two baffles are fixedly mounted on the bottom surface of the mounting base. Each set of guide assemblies is parallel to cylinder A. The piston rod of each cylinder A is connected to a leg. One end of each set of guide assemblies passes through the corresponding baffle and connects to the corresponding leg. Cylinder B is fixedly mounted on the frame. Support assemblies are provided at both ends of the frame. The piston rod of cylinder B is connected to the support assemblies. A tray gripper assembly is provided on the frame through the support assemblies. The control components are electrically connected to both cylinders A and B.

2. The composite palletizing fixture according to claim 1, characterized in that, Each guide assembly includes two guide rods arranged side by side. Each guide rod is parallel to cylinder A. Each guide rod is fitted with a guide bearing. Each guide bearing is fixedly connected to the mounting base plate. One end of each guide rod passes through the corresponding baffle and is connected to the corresponding insert. Each guide rod has a limit ring at both ends.

3. The composite palletizing fixture according to claim 2, characterized in that, Two photoelectric sensors are arranged on the mounting base plate. The light beam emitted by each photoelectric sensor passes through the mounting base plate to detect whether a cardboard box is placed on the two prongs. Each photoelectric sensor is electrically connected to the control component.

4. The composite palletizing fixture according to claim 3, characterized in that, Each of the support components includes a connecting shaft and bearing seats respectively fitted at both ends of the connecting shaft. Each bearing seat is fixedly connected to the frame and contains a bearing. The pallet gripper assembly includes four grippers. Both ends of the connecting shaft of each support component pass through the corresponding bearing and the end of the gripper in sequence and are connected to an expansion sleeve. A support is provided on the connecting shaft of one of the support components. The piston rod of cylinder B is connected to the support. A lever is provided between two adjacent grippers that are not connected by a connecting shaft. One end of each lever is located on the side of the corresponding gripper near the frame, and the other end of each lever is located on the side of the corresponding other gripper away from the frame. The ends of two levers arranged at the same end of the frame are both located on the side of the corresponding gripper away from the frame, or the ends of two levers arranged at the same end of the frame are both located on the side of the corresponding gripper near the frame.

5. The composite palletizing fixture according to claim 4, characterized in that, When each cylinder A is in the retracted state, the upper end of the plug connected to each cylinder A passes through the corresponding baffle and is connected to the corresponding plug. A cylinder C is provided at the position. The piston rod of each cylinder C passes through the mounting base plate and is connected to the base plate. Each base plate moves up and down under the action of the corresponding cylinder C. Each cylinder C is electrically connected to the control component.

6. The composite palletizing fixture according to claim 5, characterized in that, Both ends of the cylinder bodies of the two cylinders A are respectively equipped with sensors for sensing whether the piston rod of the corresponding cylinder A has extended / retracted to a specified position. Both ends of the cylinder bodies of the two cylinders B are respectively equipped with sensors for sensing whether the piston rod of the corresponding cylinder B has extended / retracted to a specified position. Both ends of the cylinder bodies of the two cylinders C are respectively equipped with sensors for sensing whether the piston rod of the corresponding cylinder C has extended / retracted to a specified position. Each sensor is electrically connected to the control component.

7. The composite palletizing fixture according to claim 6, characterized in that, Both base plates have buffer blocks on their bottom surfaces.

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