Stacking device

Abstract

The utility model provides a stacking device, which relates to the field of logistics transportation devices, and is characterized in that the stacking device comprises a moving structure and a grabbing structure, the moving structure comprises a plurality of mounting racks and a cross rod, a horizontal moving track is fixed at the upper end of each mounting rack, and the cross rod is positioned above the horizontal moving track and is used for the horizontal movement of the cross rod; the grabbing structure comprises a mounting base and a grabbing hand mounting plate, a vertical moving rail is fixed to the upper end of the mounting base, a vertical moving motor is fixedly connected with the sliding base, the grabbing hand mounting plate is square in appearance and fixedly connected with the mounting base through bolts, and four sets of grabbing hands are arranged at the lower end of the grabbing hand mounting plate. The grabbing hands are arranged along the diagonal positions of the grabbing hand mounting plate, and electric push rods are arranged on the two sides of each grabbing hand and used for controlling the clamping action of the grabbing hands. The manipulator has the advantages that workpieces or resources with small sizes can be efficiently grabbed and stacked, and calling and machining of a plurality of working procedures are facilitated.

Description

Technical Field

[0001] This utility model relates to the field of logistics and transportation equipment, and in particular to a palletizing device. Background Technology

[0002] With the gradual popularization of automation technology, more and more factories and enterprises are beginning to use related automated equipment to assist in production, concentrating processes that require a lot of manpower and resources and using robotic arms or conveying devices for efficient processing. However, existing palletizing devices are often used in conjunction with storage structures to transport and stack small batches of resources. Although this structure can organize a large number of resources and make timely calls, when dealing with smaller items, the overall work efficiency cannot meet production needs. Furthermore, it cannot be flexibly called upon when resources are used in small quantities, thus failing to meet current production requirements. Utility Model Content

[0003] The purpose of this invention is to provide a palletizing device that solves the technical problem of the inability to flexibly schedule small-volume resources in the prior art, and achieves the technical effect of conveniently and quickly grabbing and calling small-volume resources.

[0004] To achieve the aforementioned objectives, the technical solution adopted by this utility model is as follows:

[0005] A palletizing device includes a moving structure and a gripping structure. The moving structure includes a mounting frame and a crossbar. Multiple mounting frames have a horizontal moving track fixed to their upper ends. The crossbars are located above the horizontal moving tracks and are perpendicular to them. A moving base is fixed to the lower end of the crossbar and slidably connected to the horizontal moving tracks. A horizontal moving motor is fixed to the upper end of the moving base and is connected to the horizontal moving tracks via gears for horizontal movement of the crossbars. The gripping structure includes a mounting base and a gripper mounting plate. A vertical moving track is fixed to the upper end of the mounting base, and a sliding sleeve is slidably fitted onto the outer side of the vertical moving track. The sliding seat has a mounting plate fixedly connected to the crossbar on the side near the crossbar. A vertical moving motor is located above the crossbar and is fixedly connected to the sliding seat. A rack is fixed to the side of the vertical moving track near the vertical moving motor. One end of the shaft of the vertical moving motor has a gear that engages with the rack to move the mounting seat up and down. The gripper mounting plate is square in shape and is fixedly connected to the mounting seat by bolts. Four grippers are located at the lower end of the gripper mounting plate. The grippers are arranged diagonally along the gripper mounting plate. Electric push rods are located on both sides of the grippers to control the gripping action of the grippers.

[0006] As an improvement, the mounting bracket can be arranged in multiple sets side by side and connected by a horizontal moving track. The overall shape of the moving base is a right-angled plate. The horizontal moving track has two sets of slide rails near the moving base. The moving surfaces of the slide rails are arranged perpendicular to each other. The side of the horizontal moving track away from the crossbar has a position sensor, which is used to identify the current position of the crossbar.

[0007] As an improvement, a hydraulic cylinder is fixed inside the mounting base. The push rod of the hydraulic cylinder extends below the gripper mounting plate. The lower end of the push rod of the hydraulic cylinder has a connecting seat. A sliding connecting rod is fixed to the upper end of the gripper. The sliding connecting rod has a sliding groove near the gripper mounting plate. The gripper mounting plate has four sets of slide rails fixed along the diagonal direction. The sliding connecting rod is slidably connected to the gripper mounting plate in cooperation with the slide rails. A connecting rod is rotatably connected to the connecting seat facing the sliding connecting rod. The connecting rod is slidably connected to the sliding connecting rod through a rotating pin. The hydraulic cylinder is used to adjust the position of the gripper for convenient gripping of goods.

[0008] As an improvement, the inner side of the gripper is equipped with anti-slip texture, and the electric push rod of the gripper is equipped with a force sensor to facilitate the judgment and control of the gripping state.

[0009] The beneficial effects of this utility model are as follows: by setting up a mounting frame and horizontal moving track, the installation of the equipment is facilitated. At the same time, it can be used in conjunction with multiple process equipment. By setting up a vertical moving track and sliding linkage, multi-directional grasping and movement can be realized, thus facilitating cooperation with different equipment and grasping and calling up workpieces or resources. Attached Figure Description

[0010] Figure 1 This is a perspective view of a palletizing device according to the present invention;

[0011] Figure 2 This is a front view of a palletizing device according to the present invention;

[0012] Figure 3 This is a perspective view of the gripping arm portion of a palletizing device according to the present invention;

[0013] Figure 4 This is a left view of the gripping arm portion of a palletizing device according to this utility model;

[0014] Figure 5 This is a bottom view of the gripping arm portion of a palletizing device according to this utility model.

[0015] In the diagram: 1. Mounting bracket; 2. Horizontal moving track; 3. Moving seat; 4. Crossbar; 5. Horizontal moving motor; 6. Vertical moving motor; 7. Mounting plate; 8. Vertical moving track; 9. Rack; 10. Sliding seat; 11. Mounting seat; 12. Gripper mounting plate; 13. Sliding link; 14. Gripper; 15. Hydraulic cylinder; 16. Connecting seat. Detailed Implementation

[0016] To make the content of this utility model easier to understand, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model. Identical components are represented by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0017] like Figures 1 to 5 As shown, a palletizing device includes a moving structure and a gripping structure. The moving structure includes a mounting frame 1 and a crossbar 4. Multiple mounting frames 1 are provided, with a horizontal moving track 2 fixed to their upper ends. The crossbar 4 is located above the horizontal moving track 2 and is perpendicular to it. A moving seat 3 is fixed to the lower end of the crossbar 4 and slidably connected to the horizontal moving track 2. A horizontal moving motor 5 is fixed to the upper end of the moving seat 3 and is connected to the horizontal moving track 2 via gears for horizontal movement of the crossbar 4. The gripping structure includes a mounting base 11 and a gripper mounting plate 12. A vertical moving track 8 is fixed to the upper end of the mounting base 11, and a sliding seat 10 is slidably fitted onto the outer side of the vertical moving track 8. The sliding seat 10 has a mounting plate 7 fixedly connected to the crossbar 4 on the side near the crossbar 4. A vertical moving motor 6 is located above the crossbar 4 and is fixedly connected to the sliding seat 10. A rack 9 is fixedly attached to the side of the vertical moving track 8 near the vertical moving motor 6. One end of the shaft of the vertical moving motor 6 has a gear that engages with the rack 9 to move the mounting seat 11 up and down. The gripper mounting plate 12 is square in shape and is fixedly connected to the mounting seat 11 by bolts. Four grippers 14 are located at the lower end of the gripper mounting plate 12. The grippers 14 are arranged diagonally along the gripper mounting plate 12. Electric push rods are located on both sides of the grippers 14 to control their gripping action. The inner side of the gripper mounting plate 12 has a hollow structure to increase structural strength while reducing its own weight, thereby improving its mobility. A camera can be installed at the lower end of the gripper mounting plate 12 for real-time monitoring of the grippers 14 to ensure stable operation.

[0018] The mounting bracket 1 can consist of multiple sets arranged side-by-side and connected by a horizontal moving track 2. The moving base 3 has a right-angled plate shape. The horizontal moving track 2 has two sets of slide rails near the moving base 3, with the sliding surfaces of the slide rails perpendicular to each other. A position sensor is located on the side of the horizontal moving track 2 away from the crossbar 4, and this position sensor is used to identify the current position of the crossbar 4. Multiple sets of sliding blocks are bolted to the inner side of the moving base 3 to slide in conjunction with the horizontal moving track 2. A control module is fixed to the upper end of the crossbar 4. The control module transmits signals wirelessly to a control terminal for convenient remote control.

[0019] A hydraulic cylinder 15 is fixed inside the mounting base 11. The push rod of the hydraulic cylinder 15 extends below the gripper mounting plate 12. The lower end of the push rod of the hydraulic cylinder 15 has a connecting seat 16. A sliding connecting rod 13 is fixed to the upper end of the gripper 14. The sliding connecting rod 13 has a groove near the gripper mounting plate 12. The gripper mounting plate 12 has four sets of slide rails fixed along the diagonal direction. The sliding connecting rod 13 is slidably connected to the gripper mounting plate 12 in cooperation with the slide rails. A connecting rod is rotatably connected to the connecting seat 16 toward the sliding connecting rod 13. The connecting rod is slidably connected to the sliding connecting rod 13 through a rotating pin. The hydraulic cylinder 15 is used to adjust the position of the gripper 14 for easy gripping of goods. The inner side of the gripper 14 has anti-slip texture. The electric push rod of the gripper 14 has a force sensor for easy judgment and control of the gripping state. The gripper 14 can be replaced with different models according to usage requirements, thereby facilitating the transportation and transfer of resources with different shapes and contours.

[0020] When in use, after the mounting bracket 1 and the horizontal moving track 2 are installed along the corresponding process position, the moving position is limited with the help of the sensor, so that the control terminal can identify the position of the device. When the gripping operation is performed, the moving seat 3 will move the crossbar 4 to the corresponding working position. Then the vertical moving motor 6 will move the gripper mounting plate 12 downward with the help of the vertical moving track 8. At the same time, the hydraulic cylinder 15 will push the connecting seat 16, and with the help of the connecting rod, the gripper 14 will be aligned with the clamping position. Then the electric push rod will push the gripping rod to realize the fixed gripping of the resource.

[0021] The above description is only a preferred embodiment of this utility model patent and is not intended to limit this utility model patent. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this utility model patent should be included within the protection scope of this utility model patent.

Claims

1. A palletizing device, characterized in that, The utility model provides a kind of mobile structure and grab structure, the mobile structure includes mounting frame (1) and crossbar (4), the upper end of the mounting frame (1) is fixed with horizontal moving track (2), the crossbar (4) is above horizontal moving track (2), and it is vertically arranged with horizontal moving track (2), the lower end of the crossbar (4) is fixed with moving seat (3) and horizontal moving track (2) sliding connection, the upper end of the moving seat (3) is fixed with horizontal moving motor (5), and it is driven connection by gear and horizontal moving track (2) cooperation, for horizontal moving of crossbar (4);The grab structure includes mounting seat (11) and grab hand mounting plate (12), the upper end of the mounting seat (11) is fixed with vertical moving track (8), the outside of vertical moving track (8) is slidably sleeved with sliding seat (10), the side close to crossbar (4) of the sliding seat (10) is provided with mounting plate (7) and is fixedly connected with crossbar (4), the upper side of crossbar (4) is equipped with vertical moving motor (6), and the vertical moving motor (6) is fixedly connected with sliding seat (10), the side close to vertical moving motor (6) of vertical moving track (8) is fixed with rack (9), the shaft of vertical moving motor (6) one end is provided with gear and cooperates with rack (9) to make mounting seat (11) move up and down, the outline of the grab hand mounting plate (12) is square, and it is fixedly connected with mounting seat (11) by bolt, the lower end of the grab hand mounting plate (12) is equipped with four groups of grab hands (14), the grab hand (14) is arranged along diagonal position of grab hand mounting plate (12), and the two sides of the grab hand (14) are provided with electric push rod, to control the clamping action of grab hand (14).

2. A palletizing device according to claim 1, characterized in that The mounting frame (1) can be provided by multiple groups side by side, and is connected by horizontal moving track (2), the overall shape of the moving seat (3) is right-angled plate, the position close to the moving seat (3) of the horizontal moving track (2) is provided with two groups of slide rails, the moving surfaces of the slide rails are perpendicular to each other, the side away from the crossbar (4) of the horizontal moving track (2) is provided with a point position sensor, and the point position sensor is used to identify the current position of the crossbar (4).

3. The palletizing device according to claim 1, characterized in that The inside of the mounting seat (11) is fixed with hydraulic cylinder (15), the push rod part of the hydraulic cylinder (15) extends below the grab hand mounting plate (12), the lower end of the push rod part of the hydraulic cylinder (15) is provided with connecting seat (16), the upper end of the grab hand (14) is fixed with sliding link (13), the position close to the grab hand mounting plate (12) of the sliding link (13) is provided with sliding groove, the grab hand mounting plate (12) is fixed with four groups of slide rails along diagonal direction, the sliding link (13) is slidably connected with the grab hand mounting plate (12) by cooperating with the slide rails, the position towards the sliding link (13) of the connecting seat (16) is rotatably connected with connecting rod, the connecting rod is slidably connected with the sliding link (13) by rotating pin, and the hydraulic cylinder (15) is used to adjust the position of the grab hand (14), to facilitate goods grabbing.

4. The palletizing device according to claim 1, characterized in that The inner side of the grabbing hand (14) is provided with anti-skid lines, and the electric push rod part of the grabbing hand (14) is provided with a force sensor, so that the grabbing state can be conveniently judged and controlled.

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