Positioning and grabbing device of stacker crane

Abstract

The utility model discloses a stacker crane positioning grabbing device which comprises a conveying frame, two sets of driving boxes are fixedly installed on the inner side of the conveying frame, a spindle motor is fixedly installed on one set of driving boxes, installation bases are fixedly installed on the two sides of the top of the conveying frame, and stacker crane frame bodies are fixedly installed on the tops of the installation bases respectively. A top frame is fixedly installed between the tops of the stacking machine frame bodies, a hydraulic cylinder is fixedly installed at the bottom of the top frame, an electric control shell is installed at the bottom of the hydraulic cylinder in a connected mode, two sets of mechanical clamping plates are slidably installed at the bottom of the electric control shell, and infrared induction sensors are fixedly installed on the side edges of the mechanical clamping plates. The two sides of the electric control shell and the stacking machine frame body are installed in a sliding mode through a positioning frame. In the stacking process, shaking generated in the clamping process of the mechanical clamping plate is reduced, and the stacking stability is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of palletizing machine technology, specifically relating to a palletizing machine positioning and gripping device. Background Technology

[0002] A palletizer automatically stacks pre-packed cartons onto pallets or stacks (wooden or plastic) in a specific arrangement, allowing for multi-layer stacking. The stacked cartons are then easily moved to a warehouse by forklift. In modern society, automation systems are ubiquitous across all industries, from factory production to energy transmission. With automation becoming increasingly prevalent, the level of automation in packaging production lines directly impacts product quality and production efficiency. Currently, we use a combination of automated packaging line systems and automated robotic palletizing systems. Bags are conveyed via rollers on the packaging line to designated positions on the palletizer's handle clamps, where the robotic arm grips the bags for palletizing.

[0003] Domestic utility model patent application number 202222484699.6 discloses a paper tube palletizing device, including a base, a robotic arm on one side of the base, a gripping component on one side of the robotic arm, a gripping frame, a miniature cylinder fixedly connected to one side of the gripping frame, and a moving frame fixedly connected to one side of the miniature cylinder. The advantages of this utility model are: when palletizing paper tubes, a suitable arc-shaped gripping plate is selected, then the fixed column is pulled to retract into the moving frame, and the arc-shaped gripping plate is placed on the moving frame. The positioning column moves into the positioning hole, and the fixed column is released to allow it to move into the fixing hole under the action of a spring. This allows the arc-shaped gripping plate to be installed and gripped. Furthermore, by changing different gripping plates, not only square cartons but also round paper tubes can be gripped, improving the applicability of the palletizing device. In our actual use of palletizing, due to the deviation of the object's stopping position, the arm clamp cannot accurately avoid the object, causing the clamp to hit the object during the gripping process, resulting in damage to the object. This also causes damage and malfunction of the palletizing machine, seriously affecting normal use, resulting in high maintenance costs and low efficiency. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a palletizer positioning and gripping device, including a conveyor frame. Two sets of drive boxes are fixedly installed on the inner side of the conveyor frame, and a main shaft motor is fixedly installed on one of the drive boxes. Mounting bases are fixedly installed on both sides of the top of the conveyor frame. Palletizer frames are fixedly installed on the top of the mounting bases respectively. A top frame is fixedly installed between the tops of the palletizer frames. A hydraulic cylinder is fixedly installed at the bottom of the top frame, and an electrical control housing is connected to the bottom of the hydraulic cylinder. Two sets of mechanical clamps are slidably installed at the bottom of the electrical control housing, and infrared sensors are fixedly installed on the sides of the mechanical clamps. The two sides of the electrical control housing are slidably installed with the palletizer frames through positioning frames.

[0005] As a further preferred technical solution of this utility model, a guide rail frame is welded and installed on the inner side of the palletizing machine frame. The guide rail frame has a sliding groove, and two sets of slide rails are provided on the sliding groove. A limiting part is provided on the guide rail frame at the port of the sliding groove.

[0006] The sliding is assisted by the sliding groove positioning frame. During the sliding process, the slide rail is set to reduce the friction generated during sliding, and the limiting part limits the movement to prevent derailment.

[0007] As a further preferred technical solution of this utility model, the bottom of the electrical control housing is provided with two sets of auxiliary sliding grooves that cooperate with the sliding of the mechanical clamping plate.

[0008] The mechanical clamping plate is controlled by the electrical components inside the electrical control housing, causing it to slide and thus clamp the object.

[0009] As a further preferred technical solution of this utility model, one end of the positioning frame is fixedly installed with the electrical control housing, and the other end of the positioning frame is slidably installed with the sliding groove through a pulley, the pulley sliding in cooperation with the slide rail.

[0010] By using pulleys and slide rails to slide inside the sliding groove, the mechanical clamps can maintain orientation during the palletizing process while reducing wear on the pulleys.

[0011] As a further preferred technical solution of this utility model; an I-shaped connecting frame is installed on the pulley, and an mounting plate is connected to one side of the I-shaped connecting frame by a connecting spring, and the mounting plate is fixedly installed on the side wall of the positioning frame. Two sets of mounting parts are symmetrically arranged on the I-shaped connecting frame, and the mounting parts are fixedly installed to the mounting plate by shock-absorbing springs.

[0012] The pulley and the mounting plate are connected by a connecting spring. The mounting part and the mounting plate are fixedly installed by two sets of shock-absorbing springs to buffer the vibrations that the pulley receives during sliding. During the stacking process, the shaking caused by the mechanical clamping plate is reduced, ensuring the stability of the stacking.

[0013] As a further preferred technical solution of this utility model; a cover plate is fixedly installed between the drive boxes on the inner side of the conveyor frame, and multiple sets of transmission rollers are rotatably installed between the cover plates. A drive roller is installed between the drive boxes. Two sets of pulleys are rotatably installed inside one set of drive boxes. The pulleys are connected and installed between each other by a transmission belt. A connection port for assisting the transmission belt is opened on the drive box. The main shaft motor is fixedly installed on the drive box located at the position of one set of pulleys. The output end of the main shaft motor passes through the drive box and drives the pulleys to rotate. One end of the drive roller is fixedly connected to the pulley, and the other end is fixedly installed to the drive box through a bearing.

[0014] The main shaft motor drives two sets of pulleys to rotate, thereby driving the drive roller and conveying the object on top of the cover plate.

[0015] Beneficial effects

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] 1. The pulley and the mounting plate are connected by a connecting spring. The mounting part and the mounting plate are fixedly installed by two sets of shock-absorbing springs to buffer the vibrations that the pulley receives during sliding. During the stacking process, the shaking caused by the mechanical clamping plate is reduced, ensuring the stability of the stacking.

[0018] 2. By installing an infrared sensor on the mechanical clamp, if the infrared sensor detects an object when it is being gripped, it indicates that the object has shifted or tilted and cannot be gripped normally. In this case, the mechanical clamp stops gripping and the palletizing machine pauses. After the object is manually placed correctly, the mechanical clamp resumes gripping, thus avoiding damage caused by the mechanical clamp blindly gripping the object. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a cross-sectional structural diagram of the conveyor line of this utility model;

[0021] Figure 3 This is a schematic diagram of the installation structure of the mechanical clamping plate of this utility model;

[0022] Figure 4This is a schematic diagram of the sliding structure at the location of the sliding frame of this utility model.

[0023] In the diagram: 1. Conveyor frame; 11. Cover plate; 12. Drive roller; 2. Drive box; 21. Connection port; 22. Drive roller; 3. Main shaft motor; 31. Pulley; 32. Drive belt; 4. Palletizer frame; 41. Mounting base; 42. Guide rail frame; 43. Top frame; 44. Limiting part; 45. Slide rail; 46. Sliding groove; 5. Hydraulic cylinder; 6. Electrical control housing; 61. Auxiliary slide groove; 62. Mechanical clamping plate; 7. Infrared sensor; 8. Positioning frame; 81. Mounting plate; 82. I-shaped connecting frame; 83. Pulley; 84. Connecting spring; 85. Shock-absorbing spring; 86. Mounting part. Detailed Implementation

[0024] This specific embodiment is a positioning and gripping device for a palletizing machine.

[0025] In our actual use of palletizing, due to the deviation of the object's stopping position, the arm clamp cannot accurately avoid the object, causing the clamp to hit the object during the gripping process, resulting in damage to the object. This also causes damage and malfunction of the palletizing machine, seriously affecting normal use, resulting in high maintenance costs and low efficiency.

[0026] Its structural diagram is as follows Figures 1-4 As shown. A palletizer positioning and gripping device includes a conveyor frame 1. Two sets of drive boxes 2 are fixedly installed inside the conveyor frame 1, and a main shaft motor 3 is fixedly installed on one of the drive boxes 2. Mounting bases 41 are fixedly installed on both sides of the top of the conveyor frame 1, and palletizer frames 4 are fixedly installed on the top of the mounting bases 41 respectively. A guide rail frame 42 is welded and installed inside the palletizer frame 4. A sliding groove 46 is opened on the guide rail frame 42, and two sets of slide rails 45 are opened on the sliding groove 46. A limiting part 44 is provided on the guide rail frame 42 at the port of the sliding groove 46. The positioning frame 8 slides through the sliding groove 46. During the sliding process, the slide rails 45 reduce the friction generated during sliding, and the limiting part 44 limits the movement to prevent derailment. A top frame 43 is fixedly installed between the tops of the palletizer frame 4. A hydraulic cylinder 5 is fixedly installed at the bottom of the top frame 43, and an electrical control housing 6 is connected to the bottom of the hydraulic cylinder 5. Two sets of mechanical clamping plates 62 are slidably installed at the bottom of the electrical control housing 6. The bottom of the electrical control housing 6 has two sets of auxiliary sliding grooves 61 that slide with the mechanical clamping plate 62. The mechanical clamping plate 62 is controlled by the electrical control components inside the electrical control housing 6, so that the mechanical clamping plate 62 slides to achieve the function of clamping the object.

[0027] An infrared sensor 7 is fixedly installed on the side of the mechanical clamping plate 62. By installing the infrared sensor 7 on the mechanical clamping plate 62, when an object is grasped under the mechanical clamping plate 62, if the infrared sensor 7 detects an object, it indicates that the object has shifted or tilted and cannot be grasped normally. The mechanical clamping plate 62 then stops its grasping action, the palletizing machine pauses, and the object is manually corrected before the mechanical clamping plate 62 resumes its grasping operation. This avoids damage caused by the mechanical clamping plate 62 blindly grasping, which could also damage the object. The electrical control housing 6 is slidably installed between its two sides and the palletizing machine frame 4 via positioning frames 8. One end of the positioning frame 8 is fixedly installed to the electrical control housing 6, and the other end of the positioning frame 8 is slidably installed between the positioning frame 8 and the sliding groove 46 via pulleys 83. The pulleys 83 slide in cooperation with the slide rail 45. By having the pulleys 83 and slide rail 45 slide within the sliding groove 46, the orientation of the mechanical clamping plate 62 during the palletizing process is ensured while reducing wear on the pulleys 83.

[0028] An I-shaped connecting frame 82 is mounted on the pulley 83. A mounting plate 81 is connected to one side of the I-shaped connecting frame 82 via a connecting spring 84, and the mounting plate 81 is fixedly mounted on the side wall of the positioning frame 8. Two sets of mounting parts 86 are symmetrically arranged on the I-shaped connecting frame 82, and the mounting parts 86 are fixedly mounted to the mounting plate 81 via shock-absorbing springs 85. The pulley 83 and the mounting plate 81 are connected by the connecting spring 84, and the mounting parts 86 and the mounting plate 81 are fixedly mounted via two sets of shock-absorbing springs 85, which buffer the vibration experienced by the pulley 83 during sliding. This reduces the shaking generated during the clamping process of the mechanical clamping plate 62 during stacking, ensuring stability during stacking. A cover plate 11 is fixedly installed inside the conveyor frame 1 between drive boxes 2, and multiple sets of transmission rollers 12 are rotatably installed between the cover plates 11. Drive rollers 22 are installed between drive boxes 2. Two sets of pulleys 31 are rotatably installed inside one set of drive boxes 2, connected by a transmission belt 32. An auxiliary transmission belt 32 connection port 21 is provided on the drive box 2. A main shaft motor 3 is fixedly installed on the drive box 2 located at one set of pulleys 31. The output end of the main shaft motor 3 passes through the drive box 2 and drives the pulleys 31 to rotate. One end of the drive roller 22 is fixedly connected to the pulley 31, and the other end is fixedly installed to the drive box 2 via a bearing. The main shaft motor 3 drives the two sets of pulleys 31 to rotate, thereby driving the drive roller 22 and conveying the object on top of the cover plate 11.

[0029] Example 1: The main shaft motor 3 drives two sets of pulleys 31 to rotate, thereby driving the drive roller 22 to transport the object on the top of the cover plate 11. The hydraulic cylinder 5 pushes the electrical control housing 6 to move up and down as a whole, and cooperates with the electrical control housing 6 to control the mechanical clamp 62, so that the mechanical clamp 62 clamps the object transported on the conveyor frame 1 for stacking operation.

[0030] Example 2: During the process of hydraulic cylinder 5 pushing the electric control housing 6 to move up and down, pulley 83 and mounting plate 81 are connected by connecting spring 84. The mounting part 86 and mounting plate 81 are fixedly installed by two sets of shock-absorbing springs 85 to buffer the vibration of pulley 83 during sliding. During the stacking process, the shaking generated by mechanical clamp 62 during clamping is reduced, and the stability of stacking is ensured.

[0031] All technical features in this embodiment can be freely combined according to actual needs.

[0032] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A positioning and gripping device for a palletizing machine, characterized in that, The system includes a conveyor frame (1), on which two sets of drive boxes (2) are fixedly installed. A main shaft motor (3) is fixedly installed on one of the drive boxes (2). Mounting bases (41) are fixedly installed on both sides of the top of the conveyor frame (1). A palletizer frame (4) is fixedly installed on the top of the mounting base (41). A top frame (43) is fixedly installed between the tops of the palletizer frame (4). A hydraulic cylinder (5) is fixedly installed at the bottom of the top frame (43). An electrical control housing (6) is connected to the bottom of the hydraulic cylinder (5). Two sets of mechanical clamps (62) are slidably installed at the bottom of the electrical control housing (6). An infrared sensor (7) is fixedly installed on the side of the mechanical clamps (62). The two sides of the electrical control housing (6) are slidably installed with the palletizer frame (4) through a positioning frame (8).

2. The palletizer positioning and gripping device according to claim 1, characterized in that: The palletizer frame (4) is welded and installed on the inner side. The guide rail frame (42) is provided with a sliding groove (46) and two sets of slide rails (45) are provided on the sliding groove (46). A limiting part (44) is provided on the guide rail frame (42) at the port of the sliding groove (46).

3. The palletizer positioning and gripping device according to claim 1, characterized in that: The bottom of the electrical control housing (6) is provided with two sets of auxiliary sliding grooves (61) that cooperate with the sliding of the mechanical clamp (62).

4. The palletizer positioning and gripping device according to claim 2, characterized in that: One end of the positioning frame (8) is fixedly installed with the electrical control housing (6), and the other end of the positioning frame (8) is slidably installed with the sliding groove (46) via a pulley (83). The pulley (83) slides in cooperation with the slide rail (45).

5. The palletizer positioning and gripping device according to claim 4, characterized in that: An I-shaped connecting frame (82) is installed on the pulley (83). An mounting plate (81) is connected to one side of the I-shaped connecting frame (82) via a connecting spring (84). The mounting plate (81) is fixedly installed on the side wall of the positioning frame (8). Two sets of mounting parts (86) are symmetrically arranged on the I-shaped connecting frame (82). The mounting parts (86) and the mounting plate (81) are fixedly installed together via shock-absorbing springs (85).

6. The palletizer positioning and gripping device according to claim 1, characterized in that: A cover plate (11) is fixedly installed between the drive boxes (2) on the inside of the conveyor frame (1), and multiple sets of transmission rollers (12) are rotatably installed between the cover plates (11). A drive roller (22) is installed between the drive boxes (2). Two sets of pulleys (31) are rotatably installed inside a set of drive boxes (2). The pulleys (31) are connected and installed by a transmission belt (32). A connection port (21) for assisting the transmission belt (32) is opened on the drive box (2). The main shaft motor (3) is fixedly installed on the drive box (2) located at the position of a set of pulleys (31). The output end of the main shaft motor (3) passes through the drive box (2) to drive the pulleys (31) to rotate. One end of the drive roller (22) is fixedly connected to the pulley (31), and the other end is fixedly installed to the drive box (2) through a bearing.

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