Automatic plate grabbing and stacking mechanism

Abstract

The utility model relates to an automatic plate grabbing and stacking mechanism, and belongs to the technical field of plate production. Comprising a grabbing rack, a rack rotation driving mechanism and a clamping plate mechanism, the rack rotation driving mechanism and the clamping plate mechanism are installed on the grabbing rack, the rack rotation driving mechanism is connected with a rotation connecting arm, the clamping plate mechanism comprises a vertical clamping plate assembly A and a vertical clamping plate assembly B which can be opened and closed, and the vertical clamping plate assembly A and the vertical clamping plate assembly B are oppositely arranged; the rotation center of the machine frame rotation driving mechanism is arranged in the middle in the width direction of the grabbing machine frame, the center position, deviating from the length direction of the grabbing machine frame, of the machine frame rotation driving mechanism deviates towards the vertical clamping plate assembly B. When the vertical clamping plate assembly A and the vertical clamping plate assembly B are oppositely opened, the vertical clamping plate assembly B is located below the machine frame rotation driving mechanism. The small plate stacking device has the advantages that the utilization rate of the trays can be increased, and the stability of a small plate stacking structure can be effectively guaranteed in the stacking process.

Description

Technical Field

[0001] This utility model relates to an automatic board gripping and palletizing mechanism, belonging to the field of board production technology. Background Technology

[0002] In the flooring industry, stacking small planks is all done manually. Wood flooring is relatively heavy, and a person can only move a few small planks at a time. This makes the labor intensity of workers high and the handling efficiency low.

[0003] The utility model patent with patent number 201810557044.2 discloses a wood flooring palletizing machine. The front end of the board feeding mechanism is the conveying end, and the rear end is the output end. The board receiving mechanism is located in front of the board feeding mechanism's conveying end, and the palletizing mechanism is located above the board feeding mechanism's output end. The board receiving mechanism includes a receiving frame, a first alignment device, and a front receiving platform. The first alignment device and the front receiving platform are installed on the receiving frame. The front receiving platform and the alignment pusher A pushing device are both installed on the upper surface of the receiving frame. A vertically arranged first alignment baffle lifting device is installed on one side of the receiving frame. The first alignment baffle lifting device is equipped with a first alignment baffle, and the alignment pusher A pushing device is equipped with an alignment pusher A.

[0004] While the aforementioned patents can achieve palletizing functionality, the current technology is not comprehensive and has the following drawbacks:

[0005] The existing automatic board gripping and palletizing mechanism includes a frame rotation drive mechanism. The rotation center of the frame rotation drive mechanism is centrally located along the width and length of the gripping frame, and is used to stack small boards onto a pallet. The stacked effect is as follows: Figure 14 As shown, existing palletizing methods suffer from low pallet utilization and the inability to effectively guarantee the stability of small-plate palletizing structures during the palletizing process.

[0006] Secondly, when the clamping mechanism releases the small plate, it is necessary to use the left outer clamping plate drive mechanism and the right outer clamping plate drive mechanism to drive the left outer clamping plate and the right outer clamping plate away. At the moment when the two ends of the small plate are separated from the bottom bend A and the bottom bend B of the outer clamping plate respectively, the small plate may shift, which may cause the stack to tilt and the stacking effect to be poor. Therefore, manual re-alignment is often required after stacking.

[0007] To solve one of the above problems, there is an urgent need for an automatic board gripping and stacking mechanism. Utility Model Content

[0008] Based on the shortcomings of the existing technology, the technical problem to be solved by this utility model is: how to improve the utilization rate of pallets and effectively ensure the stability of the small board stacking structure during the stacking process. To this end, an automatic board gripping and stacking mechanism is provided.

[0009] The automatic sheet metal gripping and palletizing mechanism of this utility model includes a gripping frame and a frame rotation drive mechanism and a clamping plate mechanism mounted on the gripping frame. The frame rotation drive mechanism is connected to a rotating arm. The clamping plate mechanism includes an openable vertical clamping plate assembly A and a vertical clamping plate assembly B, which are arranged opposite to each other. The rotation center of the frame rotation drive mechanism is centrally located along the width direction of the gripping frame and offset from the center position of the gripping frame along the length direction towards the vertical clamping plate assembly B. When the vertical clamping plate assembly A and the vertical clamping plate assembly B are relatively open, the vertical clamping plate assembly B is located below the frame rotation drive mechanism.

[0010] This palletizing mechanism works in conjunction with existing palletizers. The mechanism is connected to the lifting and translation mechanisms of the existing palletizers through a frame rotation drive mechanism. It is used to grab and release stacked small boards and is suitable for palletizing small wooden boards.

[0011] The specific operating procedure is as follows:

[0012] Step 1: First, a conveyor supplies stacked small boards to the automatic board grabbing and stacking mechanism. A lifting and translating mechanism then moves the mechanism to the picking position, causing the opposing vertical clamping plate assemblies A and B to change from an open to a clamped state. Multiple sets of small boards are grabbed using these assemblies, completing the picking process. Next, the lifting and translating mechanism moves the mechanism above the pallet. The frame rotation drive mechanism then drives the grabbing frame to rotate relative to the rotating connecting arm until the rotating connecting arm is aligned with the length of the grabbing frame, as shown in the image. Figure 1 The rear drive causes the vertical clamping plate assembly A and the vertical clamping plate assembly B, which are set opposite each other, to change from the clamped state to the open state, releasing the small plate and completing the stacking of the small plate stack A.

[0013] Step 2: Retrieve material again at the picking position, then use the lifting and translation mechanism to transfer the mechanism to above the pallet. The frame rotation drive mechanism drives the gripping frame to rotate relative to the rotating arm until the rotating arm is aligned with the length of the gripping frame, as shown in the figure. Figure 2 But with Figure 1 The difference is that the gripping frame rotates 180 degrees around the rotation center of the frame rotation drive mechanism, which then drives the oppositely arranged vertical clamping plate assembly A and vertical clamping plate assembly B to change from the clamped state to the open state, releasing the small plate and completing the stacking of the small plate stack B. At this time, the first layer of stacking is completed.

[0014] Step 3: Retrieve material again at the picking position, then use the lifting and translation mechanism to transfer the mechanism to above the pallet. The frame rotation drive mechanism drives the gripping frame to rotate relative to the rotating arm until the rotating arm is perpendicular to the length direction of the gripping frame, as shown in the figure. Figure 3 The rear drive causes the vertical clamping plate assembly A and vertical clamping plate assembly B, which are arranged opposite each other, to change from a clamped state to an open state, releasing the small plate and completing the stacking of the small plate stack C. The stacking direction of the small plate stack C is perpendicular to that of the small plate stack A and the small plate stack B.

[0015] Step 4: Retrieve material again at the picking position, then use the lifting and translation mechanism to transfer the mechanism to above the pallet. The frame rotation drive mechanism drives the gripping frame to rotate relative to the rotating arm until the rotating arm is perpendicular to the length direction of the gripping frame, as shown in the figure. Figure 4 But with Figure 3 The difference is that the gripping frame rotates 180 degrees around the rotation center of the frame rotation drive mechanism, which then drives the oppositely arranged vertical clamping plate assembly A and vertical clamping plate assembly B to change from a clamped state to an open state, releasing the small plate and completing the stacking of the small plate stack C. At this time, the stacking of the second layer is completed.

[0016] By repeating steps 1-4 in sequence, the small boards can be stacked layer by layer on the pallet.

[0017] Small plate stacks A and B can be stacked side by side on a pallet to form a stacking gap, and small plate stacks C and D can be stacked side by side on a pallet to form a stacking gap. This ensures the stability of the stacking and makes reasonable use of the pallet space.

[0018] The advantage of using the above-mentioned palletizing method is that it can improve the utilization rate of pallets and effectively ensure the stability of the small board palletizing structure during the palletizing process.

[0019] Preferably, the vertical clamping plate assembly A includes an outer clamping plate A, the vertical clamping plate assembly B includes an outer clamping plate B, and the outer clamping plates A and B are installed opposite to each other below the gripping frame. The bottom of the outer clamping plates A and B6 respectively has an outer clamping plate bottom bend A and an outer clamping plate bottom bend B. The inner clamping plates A and B6 are spaced apart on the inner side of the outer clamping plates A and B, respectively. The gripping frame is provided with an inner clamping plate driving mechanism A for driving the inner clamping plate A to translate and a guide assembly A for guiding the translation of the outer clamping plate A. The gripping frame is provided with an inner clamping plate driving mechanism B for driving the inner clamping plate B to translate and a guide assembly B for guiding the translation of the outer clamping plate B. The inner clamping plate A is equipped with an outer clamping plate driving mechanism A for driving the outer clamping plate A to move closer to or away from the inner clamping plate A, and the inner clamping plate B is equipped with an outer clamping plate driving mechanism B for driving the outer clamping plate B to move closer to or away from the inner clamping plate B.

[0020] Preferably, the gripping frame is a rectangular frame structure, and the lower surfaces of the two side beams of the gripping frame are respectively provided with slide rail A and slide rail B along their length direction. The guide component A includes a first slider and a second slider installed on the top of the outer clamping plate A, and the first slider and the second slider are slidably engaged with slide rail A14 and slide rail B, respectively.

[0021] Preferably, the outer clamping plate driving mechanism A is a secondary driving cylinder A, and two sets of secondary driving cylinders A are provided. The cylinder bodies of both sets of secondary driving cylinders A are mounted on a secondary cylinder mounting bracket A connected to the inner clamping plate A. The telescopic ends of the two sets of secondary driving cylinders A are respectively fixed to the two sides of the upper part of the outer clamping plate A1. The secondary cylinder mounting bracket A is provided with a third slider that slides in cooperation with the slide rail A and a fourth slider that slides in cooperation with the slide rail B.

[0022] The auxiliary drive cylinder A is used as the power source. When the auxiliary drive cylinder A extends, it can drive the outer clamping plate A away from the inner clamping plate A. When the auxiliary drive cylinder A retracts, it can drive the outer clamping plate A closer to the inner clamping plate A.

[0023] Preferably, the inner clamping plate driving mechanism A is a main driving cylinder A, and two sets of main driving cylinders A are provided. The cylinder bodies of both sets of main driving cylinders A are connected to the main driving cylinder mounting bracket A on the gripping frame. The telescopic end of the main driving cylinder A is fixedly connected to the inner clamping plate A. Using the main driving cylinder A as the power source, when the main driving cylinder A extends, it can drive the outer clamping plate A away from the outer clamping plate B; when the main driving cylinder A retracts, it can drive the outer clamping plate A closer to the outer clamping plate B.

[0024] Preferably, the guide assembly B includes a fifth slider and a sixth slider mounted on the top of the outer clamping plate B, wherein the fifth slider and the sixth slider are slidably engaged with slide rail A and slide rail B, respectively.

[0025] Preferably, the outer clamping plate driving mechanism B9 is a secondary driving cylinder B, and two sets of secondary driving cylinders B are provided. The cylinder bodies of the two sets of secondary driving cylinders B are mounted on the secondary cylinder mounting bracket B connected to the inner clamping plate B. The telescopic ends of the two sets of secondary driving cylinders B are respectively fixed to the two sides of the upper part of the outer clamping plate B. The secondary cylinder mounting bracket B is provided with a seventh slider that slides in cooperation with the slide rail A and an eighth slider that slides in cooperation with the slide rail B.

[0026] The auxiliary drive cylinders B and A extend or retract synchronously.

[0027] Preferably, the inner clamping plate driving mechanism B is a main driving cylinder B, and there are two sets of the main driving cylinder B. The cylinder bodies of both sets of the main driving cylinder B are connected to the main driving cylinder mounting bracket B on the gripping frame. The telescopic end of the main driving cylinder B is fixedly connected to the inner clamping plate B.

[0028] Main drive cylinder B and main drive cylinder A extend or retract synchronously.

[0029] Preferably, both the main drive cylinder mounting bracket A and the main drive cylinder mounting bracket B are fixed mounting brackets.

[0030] Preferably, the main drive cylinder mounting bracket A is an adjustable mounting bracket, the position of which can be adjusted and locked along the length of the gripping frame. Specifically, it includes a slide, the inner clamping plate drive mechanism B is connected to the slide, the slide is provided with a ninth slider that slides in cooperation with slide rail A and a tenth slider that slides in cooperation with slide rail B, and a fixing plate is provided in the middle of the gripping frame along its length, the fixing plate being provided with a locking mechanism for locking the slide.

[0031] Preferably, the locking mechanism includes a bolt, the shank of which passes through an elongated hole in the fixed plate and is threadedly connected to a locking nut on the slide. This allows the main drive cylinder mounting bracket A to move along the length of the gripper frame and lock.

[0032] Preferably, the main drive cylinder mounting bracket A and the main drive cylinder mounting bracket B have the same structure.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The automatic board gripping and palletizing mechanism of this utility model is interconnected with the lifting and translation mechanism of an existing palletizing machine through a frame rotation drive mechanism. It is used to grip and release stacked small boards and is suitable for palletizing small wood flooring boards. Small board stacks A and B can be stacked side by side on a pallet to form a stacking gap, and small board stacks C and D can be stacked side by side on a pallet to form a stacking gap. The advantage of the above-mentioned stacking method is that it can improve the utilization rate of the pallet and effectively ensure the stability of the small board stacking structure during the stacking process.

[0035] The automatic board gripping and stacking mechanism of this utility model requires the outer clamping plate drive mechanism A and outer clamping plate drive mechanism B to drive the outer clamping plate A and outer clamping plate B away from the inner clamping plate A and inner clamping plate B respectively when releasing the small board. The two ends of the small board are separated from the bottom bend A and bottom bend B of the outer clamping plate respectively. The small board falls by gravity. At this time, the inner clamping plate A and inner clamping plate B play a guiding role in the fall of the small board, ensuring that the small board can be stacked neatly, realizing the side-by-side stacking of small board stack A and small board stack B.

[0036] The automatic board gripping and palletizing mechanism of this utility model uses a secondary drive cylinder A as the power source. When the secondary drive cylinder A extends, it can drive the outer clamping plate A away from the inner clamping plate A. When the secondary drive cylinder A retracts, it can drive the outer clamping plate A closer to the inner clamping plate A. The structure is simple and reasonable. Attached Figure Description

[0037] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0038] Figure 1 The three-dimensional representation of this utility model Figure 1 ;

[0039] Figure 2 The three-dimensional representation of this utility model Figure 2 ;

[0040] Figure 3 The three-dimensional representation of this utility model Figure 3 ;

[0041] Figure 4 The three-dimensional representation of this utility model Figure 4 ;

[0042] Figure 5 for Figure 1 Top view;

[0043] Figure 6 for Figure 2 Top view;

[0044] Figure 7 for Figure 3 Top view;

[0045] Figure 8 for Figure 4 Top view;

[0046] Figure 9 This is a stacking sequence diagram of small plate stacks A, B, C, and D;

[0047] Figure 10 For the three-dimensional clamping mechanism Figure 1 ;

[0048] Figure 11 For the three-dimensional clamping mechanism Figure 1 ;

[0049] Figure 12 This is the front view of the clamping mechanism;

[0050] Figure 13 This is a top view of the clamping mechanism;

[0051] Figure 14 A diagram showing the stacking effect of existing small boards;

[0052] In the diagram: 1. Left outer clamping plate; 2. Left inner clamping plate; 3. Left outer clamping plate drive mechanism; 4. Left inner clamping plate drive mechanism; 5. Bottom bend of outer clamping plate A; 6. Right outer clamping plate; 7. Right inner clamping plate; 8. Right outer clamping plate drive mechanism; 9. Right inner clamping plate drive mechanism; 10. Bottom bend of outer clamping plate B; 11. Gripping frame; 12. Frame rotation drive mechanism; 13. Auxiliary cylinder mounting bracket A; 14. Slide rail A; 15. Slide rail B; 16. First slider; 17. Second slider; 18. Third slider; 19. Fourth slider; 20. Main drive cylinder mounting bracket A; 20.1. Slide frame; 20.2. Ninth slider; 20.3. Tenth slider; 20.4. Bolt; 21. Fixing plate; 22. Small plate; 23. Stacking gap; 24. Rotating connecting arm; 25. Pallet; 26. Small plate stack body A; 27. Small plate stack body B; 28. Small plate stack body C; 29. ​​Small plate stack body D. Detailed Implementation

[0053] The present invention will be further described below with reference to the accompanying drawings: The present invention will be further described below through specific embodiments, but it is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0054] Example 1, as Figure 1-4 As shown, the automatic board gripping and palletizing mechanism includes a gripping frame 11 and a frame rotation drive mechanism 12 and a clamping plate mechanism mounted on the gripping frame 11. The frame rotation drive mechanism 12 is connected to a rotating arm 24. The clamping plate mechanism includes openable and closable vertical clamping plate assembly A and vertical clamping plate assembly B. The vertical clamping plate assembly A and vertical clamping plate assembly B are arranged opposite to each other. The rotation center of the frame rotation drive mechanism 12 is centrally located along the width direction of the gripping frame 11 and is offset from the center position of the gripping frame 11 along the length direction towards the vertical clamping plate assembly B. When the vertical clamping plate assembly A and vertical clamping plate assembly B are relatively open, the vertical clamping plate assembly B is located below the frame rotation drive mechanism 12.

[0055] This palletizing mechanism is used in conjunction with existing palletizers. The mechanism is connected to the lifting and translation mechanism of the existing palletizer through the frame rotation drive mechanism 12. It is used to grab and release stacked small boards and is suitable for palletizing small wooden boards.

[0056] The specific operating procedure is as follows, please refer to Figure 1-9 ,

[0057] Step 1: First, the conveyor supplies stacked small boards to the automatic board grabbing and stacking mechanism. The lifting and translating mechanism then moves the mechanism to the picking position, causing the opposing vertical clamping plate assemblies A and B to change from an open state to a clamping state. Multiple sets of small boards are grabbed using the vertical clamping plate assemblies A and B to complete the picking process. Then, the lifting and translating mechanism moves the mechanism above the pallet 25. The frame rotation drive mechanism drives the grabbing frame 11 to rotate relative to the rotating connecting arm 24 until the rotating connecting arm 24 is aligned with the length of the grabbing frame 11, as shown in the image. Figure 1 The rear drive causes the vertical clamping plate assembly A and the vertical clamping plate assembly B, which are set opposite each other, to change from the clamped state to the open state, releasing the small plate and completing the stacking of the small plate stack A26.

[0058] Step 2: Retrieve material again at the picking position, and then use the lifting and translation mechanism to transfer the mechanism above the pallet 25. The frame rotation drive mechanism drives the gripping frame 11 to rotate relative to the rotating connecting arm 24 until the rotating connecting arm 24 is aligned with the length direction of the gripping frame 11, as shown in the figure. Figure 2 But with Figure 1 The difference is that the gripping frame 11 rotates 180 degrees around the rotation center of the frame rotation drive mechanism 12, and then drives the oppositely arranged vertical clamping plate assembly A and vertical clamping plate assembly B to change from the clamping state to the open state, releasing the small plate and completing the stacking of the small plate stack B27. At this time, the first layer of stacking is completed.

[0059] Step 3: Retrieve material again at the picking position, and then use the lifting and translation mechanism to transfer the mechanism above the pallet 25. The frame rotation drive mechanism drives the gripping frame 11 to rotate relative to the rotating connecting arm 24 until the rotating connecting arm 24 is perpendicular to the length direction of the gripping frame 11, as shown in the figure. Figure 3 The rear drive causes the vertical clamping plate assembly A and vertical clamping plate assembly B, which are arranged opposite each other, to change from a clamped state to an open state, releasing the small plate and completing the stacking of the small plate stack C28. The stacking direction of the small plate stack C28 is perpendicular to that of the small plate stack A26 and the small plate stack B27.

[0060] Step 4: Retrieve material again at the picking position, and then use the lifting and translation mechanism to transfer the mechanism above the pallet 25. The frame rotation drive mechanism drives the gripping frame 11 to rotate relative to the rotating connecting arm 24 until the rotating connecting arm 24 is perpendicular to the length direction of the gripping frame 11, as shown in the figure. Figure 4 But with Figure 3The difference is that the gripping frame 11 rotates 180 degrees around the rotation center of the frame rotation drive mechanism 12, and then drives the oppositely arranged vertical clamping plate assembly A and vertical clamping plate assembly B to change from the clamped state to the open state, releasing the small plate and completing the stacking of the small plate stack C28. At this time, the stacking of the second layer is completed.

[0061] By repeating steps 1-4 in sequence, the small boards 22 can be stacked layer by layer on the pallet 25.

[0062] Small plate stacks A26 and B27 can be stacked side by side on the pallet to form a stacking gap 23, and small plate stacks C28 and D29 can be stacked side by side on the pallet to form a stacking gap 23. This ensures the stability of the stacking and makes reasonable use of the pallet space.

[0063] The advantage of using the above-mentioned palletizing method is that it can improve the utilization rate of pallets and effectively ensure the stability of the small board palletizing structure during the palletizing process.

[0064] Example 2, as Figure 1-4 As shown, the automatic board gripping and palletizing mechanism includes a gripping frame 11 and a frame rotation drive mechanism 12 and a clamping plate mechanism mounted on the gripping frame 11. The frame rotation drive mechanism 12 is connected to a rotating arm 24. The clamping plate mechanism includes openable and closable vertical clamping plate assembly A and vertical clamping plate assembly B. The vertical clamping plate assembly A and vertical clamping plate assembly B are arranged opposite to each other. The rotation center of the frame rotation drive mechanism 12 is centrally located along the width direction of the gripping frame 11 and is offset from the center position of the gripping frame 11 along the length direction towards the vertical clamping plate assembly B. When the vertical clamping plate assembly A and vertical clamping plate assembly B are relatively open, the vertical clamping plate assembly B is located below the frame rotation drive mechanism 12.

[0065] Furthermore, referring to Figure 10-14The vertical clamping plate assembly A includes an outer clamping plate A1, and the vertical clamping plate assembly B includes an outer clamping plate B6. The outer clamping plates A1 and B6 are installed opposite to each other below the gripping frame 11. The bottoms of the outer clamping plates A1 and B6 respectively have bottom bends A5 and B10. Inner clamping plates A2 are spaced apart on the inner side of the outer clamping plate A1, and inner clamping plates B7 are spaced apart on the inner side of the outer clamping plate B6. The gripping frame 11 is equipped with a mechanism to drive the inner clamping plates. The gripping frame 11 is equipped with an inner clamping plate drive mechanism A3 for translating clamping plate A2 and a guide assembly A for translating outer clamping plate A1. The gripping frame 11 is equipped with an inner clamping plate drive mechanism B8 for translating inner clamping plate B7 and a guide assembly B for translating outer clamping plate B6. An outer clamping plate drive mechanism A4 is installed on the inner clamping plate A2 to drive outer clamping plate A1 to move closer to or away from inner clamping plate A2. An outer clamping plate drive mechanism B9 is installed on the inner clamping plate B7 to drive outer clamping plate B6 to move closer to or away from inner clamping plate B7.

[0066] Furthermore, the gripping frame 11 is a rectangular frame structure, and the lower surfaces of the two side beams of the gripping frame 11 are respectively provided with slide rails A14 and slide rails B15 along their length direction. The guide assembly A includes a first slider 16 and a second slider 17 installed on the top of the outer clamping plate A1. The first slider 16 and the second slider 17 are slidably engaged with slide rails A14 and slide rails B15, respectively.

[0067] Furthermore, the outer clamping plate driving mechanism A4 is a secondary driving cylinder A, and there are two sets of secondary driving cylinders A. The cylinder bodies of the two sets of secondary driving cylinders A are mounted on the secondary cylinder mounting bracket A13 connected to the inner clamping plate A2. The telescopic ends of the two sets of secondary driving cylinders A are respectively fixed to the two sides of the upper part of the outer clamping plate A1. The secondary cylinder mounting bracket A13 is provided with a third slider 18 that slides with the slide rail A14 and a fourth slider 19 that slides with the slide rail B15.

[0068] The auxiliary drive cylinder A is used as the power source. When the auxiliary drive cylinder A extends, it can drive the outer clamping plate A1 away from the inner clamping plate A2. When the auxiliary drive cylinder A retracts, it can drive the outer clamping plate A1 closer to the inner clamping plate A2.

[0069] Furthermore, the inner clamping plate driving mechanism A3 is a main driving cylinder A. Two sets of main driving cylinders A are provided, and the cylinder bodies of both sets are connected to the main driving cylinder mounting bracket A20 on the gripping frame 11. The telescopic end of the main driving cylinder A is fixedly connected to the inner clamping plate A2. Using the main driving cylinder A as the power source, when the main driving cylinder A extends, it can drive the outer clamping plate A1 away from the outer clamping plate B6; when the main driving cylinder A retracts, it can drive the outer clamping plate A1 closer to the outer clamping plate B6.

[0070] Furthermore, the guide assembly B includes a fifth slider and a sixth slider mounted on the top of the outer clamping plate B6, the fifth slider and the sixth slider being slidably engaged with slide rail A14 and slide rail B15, respectively.

[0071] Furthermore, the outer clamping plate driving mechanism B9 is a secondary driving cylinder B, and there are two sets of secondary driving cylinders B. The cylinder bodies of the two sets of secondary driving cylinders B are mounted on the secondary cylinder mounting bracket B connected to the inner clamping plate B7. The telescopic ends of the two sets of secondary driving cylinders B are respectively fixed to the two sides of the upper part of the outer clamping plate B6. The secondary cylinder mounting bracket B is provided with a seventh slider that slides in cooperation with the slide rail A14 and an eighth slider that slides in cooperation with the slide rail B15.

[0072] The auxiliary drive cylinders B and A extend or retract synchronously.

[0073] Furthermore, the inner clamping plate driving mechanism B8 is a main driving cylinder B, and there are two sets of the main driving cylinder B. The cylinder bodies of both sets of the main driving cylinder B are connected to the main driving cylinder mounting bracket B on the gripping frame 11. The telescopic end of the main driving cylinder B is fixedly connected to the inner clamping plate B7.

[0074] Furthermore, the main drive cylinder B and the main drive cylinder A extend or retract synchronously.

[0075] The specific operation process for controlling the opening and closing of vertical clamping plate assembly A and vertical clamping plate assembly B to pick up and put down small boards is as follows: In the initial state, the inner clamping plate driving mechanism A3 and inner clamping plate driving mechanism B8 are in the extended state, and the outer clamping plate driving mechanism A4 and outer clamping plate driving mechanism B9 are in the retracted state, so that the outer clamping plate A1 and inner clamping plate A2 are in contact, and the outer clamping plate B6 and inner clamping plate B7 are in contact.

[0076] The conveyor supplies small boards to the automatic board grabbing and palletizing mechanism. The mechanism is controlled to move to the board output side of the conveyor, and then the inner clamping plate drive mechanism A3 and the inner clamping plate drive mechanism B8 are controlled to retract. The inner clamping plate drive mechanism A3 drives the outer clamping plate A1 and the inner clamping plate A2 to move synchronously. The inner clamping plate drive mechanism B8 drives the outer clamping plate B6 and the inner clamping plate B7 to move synchronously, so that the inner clamping plate A2 and the inner clamping plate B7 move closer to each other, and the outer clamping plate A1 and the outer clamping plate B6 move closer to each other. The small boards on the conveyor are grabbed by the bottom bends A5 and B10 of the outer clamping plate. Then, the lifting and translation functions of the existing palletizer are used to transfer the small boards grabbed by this application to the palletizing area.

[0077] When the mechanism releases the small plate, the outer clamping plate drive mechanism A4 and the outer clamping plate drive mechanism B9 are used to drive the outer clamping plates A1 and B6 away from the inner clamping plates A2 and B7 respectively. The two ends of the small plate are separated from the bottom bends of the outer clamping plates A5 and B10 respectively. The small plate falls by gravity. At this time, the inner clamping plates A2 and B7 guide the falling of the small plate, ensuring that the small plates can be stacked neatly, and realizing the side-by-side stacking of small plate stacks A26 and B27.

[0078] Once the small board is stacked, first control the mechanism to rise, then control the inner clamping plate drive mechanism A3 and inner clamping plate drive mechanism B8 to extend, and the outer clamping plate drive mechanism A4 and outer clamping plate drive mechanism B9 to retract, returning to the initial state, and then proceed with the next gripping.

[0079] Small boards 22 can be stacked side by side on the pallet to form a stacking gap 23, which can not only ensure the stability of stacking, but also make reasonable use of the pallet space.

[0080] The palletizing gap 23 is specifically 2-10cm, usually around 3cm. When the inner clamping plate drive mechanism B8 is retracted and the outer clamping plate drive mechanism B9 is extended, the rotation center line of the frame rotation drive mechanism 12 is located in the vertical plane where the outer clamping plate B6 is located.

[0081] Alternatively, the rotation center line of the frame rotation drive mechanism 12 may be located on one side of the vertical plane where the outer clamping plate B6 is located, which may be the front side or the rear side, with a specific offset distance of 2-10cm.

[0082] Example 3 differs from Example 2 in that both the main drive cylinder mounting bracket A20 and the main drive cylinder mounting bracket B are fixed mounting brackets.

[0083] Example 4 differs from Example 2 in that the main drive cylinder mounting bracket A20 is an adjustable mounting bracket, the position of which can be adjusted and locked along the length of the gripper frame 11.

[0084] Furthermore, the main drive cylinder mounting bracket A20 is an adjustable mounting bracket, the position of which can be adjusted and locked along the length of the gripping frame 11. Specifically, it includes a slide 20.1, the inner clamping plate drive mechanism B8 is connected to the slide 20.1, the slide 20.1 is provided with a ninth slider 20.2 that slides in cooperation with the slide rail A14 and a tenth slider 20.3 that slides in cooperation with the slide rail B15, and a fixing plate 21 is provided in the middle of the gripping frame 11 along its length, the fixing plate 21 is provided with a locking mechanism for locking the slide 20.1.

[0085] The locking mechanism includes 20.4, whose rod passes through an elongated hole in the fixing plate 21 and is threadedly connected to a locking nut on the slide 20.1. This allows the main drive cylinder mounting bracket A20 to move along the length of the gripper frame 11 and be locked.

[0086] The main drive cylinder mounting bracket A20 has the same structure as the main drive cylinder mounting bracket B.

[0087] The automatic board gripping and palletizing mechanism of this utility model is interconnected with the lifting and translation mechanism of an existing palletizing machine through a frame rotation drive mechanism. It is used to grip and release stacked small boards and is suitable for palletizing small wood flooring boards. Small board stacks A and B can be stacked side by side on a pallet to form a stacking gap, and small board stacks C and D can be stacked side by side on a pallet to form a stacking gap. The advantage of the above-mentioned stacking method is that it can improve the utilization rate of the pallet and effectively ensure the stability of the small board stacking structure during the stacking process.

[0088] The automatic board gripping and stacking mechanism of this utility model requires the outer clamping plate drive mechanism A and outer clamping plate drive mechanism B9 to drive the outer clamping plate A and outer clamping plate B away from the inner clamping plate A and inner clamping plate B respectively when releasing the small board. The two ends of the small board separate from the bottom bend A and bottom bend B of the outer clamping plate respectively. The small board falls by gravity. At this time, the inner clamping plate A and inner clamping plate B play a guiding role for the falling of the small board, ensuring that the small board can be stacked neatly, realizing the side-by-side stacking of small board stack A and small board stack B.

[0089] The automatic board gripping and palletizing mechanism of this utility model uses a secondary drive cylinder A as the power source. When the secondary drive cylinder A extends, it can drive the outer clamping plate A away from the inner clamping plate A. When the secondary drive cylinder A retracts, it can drive the outer clamping plate A closer to the inner clamping plate A. The structure is simple and reasonable.

[0090] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

[0091] Any aspects of this invention not described in detail are well-known to those skilled in the art.

Claims

1. An automatic sheet metal gripping and palletizing mechanism, comprising a gripping frame (11) and a frame rotation drive mechanism (12) and a clamping plate mechanism mounted on the gripping frame (11), wherein the frame rotation drive mechanism (12) is connected to a rotating connecting arm (24), characterized in that: The clamping mechanism includes an openable vertical clamping assembly A and a vertical clamping assembly B. The vertical clamping assembly A and the vertical clamping assembly B are arranged opposite to each other. The rotation center of the frame rotation drive mechanism (12) is arranged centrally along the width direction of the gripping frame (11) and is offset from the center position of the gripping frame (11) along the length direction towards the vertical clamping assembly B. When the vertical clamping assembly A and the vertical clamping assembly B are opened relative to each other, the vertical clamping assembly B is located below the frame rotation drive mechanism (12).

2. The automatic sheet metal gripping and palletizing mechanism according to claim 1, characterized in that, The vertical clamping plate assembly A includes an outer clamping plate A (1), and the vertical clamping plate assembly B includes an outer clamping plate B (6). The gripping frame (11) has two oppositely arranged outer clamping plates A (1) and B (6). The bottoms of the outer clamping plates A (1) and B (6) have bottom bends A (5) and B (10), respectively. Inner clamping plates A (2) are spaced apart on the inner side of the outer clamping plate A (1), and inner clamping plates B (7) are spaced apart on the inner side of the outer clamping plate B (6). The gripping frame (11) is equipped with a mechanism to drive the inner clamping plates. The inner clamping plate drive mechanism A (3) for translating plate A (2) and the guide component A for translating outer clamping plate A (1) are provided on the gripping frame (11), the inner clamping plate drive mechanism B (8) for translating inner clamping plate B (7) and the guide component B for translating outer clamping plate B (6) are provided on the inner clamping plate A (2), the outer clamping plate drive mechanism A (4) for driving outer clamping plate A (1) to approach or move away from inner clamping plate A (2) is installed on the inner clamping plate A (2), and the outer clamping plate drive mechanism B (9) for driving outer clamping plate B (6) to approach or move away from inner clamping plate B (7) is installed on the inner clamping plate B (7).

3. The automatic sheet metal gripping and palletizing mechanism according to claim 2, characterized in that, The gripping frame (11) is a rectangular frame structure. The lower surfaces of the two side beams of the gripping frame (11) are respectively provided with slide rails A (14) and slide rails B (15) along their length direction. The guide component A includes a first slider (16) and a second slider (17) installed on the top of the outer clamping plate A (1). The first slider (16) and the second slider (17) are slidably engaged with slide rails A (14) and slide rails B (15) respectively.

4. The automatic sheet metal gripping and palletizing mechanism according to claim 3, characterized in that, The outer clamping plate driving mechanism A (4) is a secondary driving cylinder A. There are two sets of secondary driving cylinders A, and the cylinder bodies of the two sets of secondary driving cylinders A are installed on the secondary cylinder mounting bracket A (13) connected to the inner clamping plate A (2). The telescopic ends of the two sets of secondary driving cylinders A are respectively fixed on the upper sides of the outer clamping plate A (1). The secondary cylinder mounting bracket A (13) is provided with a third slider (18) that slides with the slide rail A (14) and a fourth slider (19) that slides with the slide rail B (15).

5. The automatic sheet metal gripping and palletizing mechanism according to claim 4, characterized in that, The inner clamping plate driving mechanism A (3) is the main driving cylinder A. There are two sets of the main driving cylinder A, and the cylinder bodies of the two sets of the main driving cylinder A are connected to the main driving cylinder mounting bracket A (20) on the gripping frame (11). The telescopic end of the main driving cylinder A is fixedly connected to the inner clamping plate A (2).

6. The automatic sheet metal gripping and palletizing mechanism according to claim 2, characterized in that, The guide assembly B includes a fifth slider and a sixth slider mounted on the top of the outer clamping plate B (6), and the fifth slider and the sixth slider are respectively in sliding cooperation with the slide rail A (14) and the slide rail B (15).

7. The automatic sheet metal gripping and palletizing mechanism according to claim 6, characterized in that, The outer clamping plate driving mechanism B (9) is a secondary driving cylinder B. There are two sets of secondary driving cylinders B, and the cylinder bodies of the two sets of secondary driving cylinders B are mounted on the secondary cylinder mounting bracket B connected to the inner clamping plate B (7). The telescopic ends of the two sets of secondary driving cylinders B are respectively fixed on both sides of the upper part of the outer clamping plate B (6). The secondary cylinder mounting bracket B is provided with a seventh slider that slides in cooperation with the slide rail A (14) and an eighth slider that slides in cooperation with the slide rail B (15).

8. The automatic sheet metal gripping and palletizing mechanism according to claim 7, characterized in that, The inner clamping plate driving mechanism B (8) is the main driving cylinder B. There are two sets of the main driving cylinder B, and the cylinder bodies of the two sets of the main driving cylinder B are connected to the main driving cylinder mounting bracket B on the gripping frame (11). The telescopic end of the main driving cylinder B is fixedly connected to the inner clamping plate B (7).

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