Turnover stacker crane

Abstract

The utility model provides a turnover stacker crane. The turnover stacker crane comprises a mounting beam, a movable arm, an adsorption frame, a first servo motor, a rotary connecting piece, an adsorption structure, a conveying table, a lifting structure, a telescopic structure and a control device. During alternate stacking, the conveying table conveys the plates to the position under the adsorption frame, and the movable arm drives the adsorption frame to descend to adsorb the plates and drives the adsorption frame to move to a stacking area to complete forward placement; the adsorption frame performs 180-degree axial overturning and sinking in the return process, so that the adsorption frame is switched to be in a reverse state; and after the second plate is conveyed in place, the adsorption frame adsorbs the plate, the movable arm drives the adsorption frame to transfer towards the stacking area, the 180-degree rotation action is executed in the transferring process so that the plate can be turned over, and reverse placement is completed. According to the stacker crane, in the stacking operation, through the overturning action in the transferring process of the adsorption frame, the waiting time consumption of equipment in the manual plate overturning process is eliminated, the overall rhythm is improved, and the stacker crane can be seamlessly matched with the production rhythm of a high-speed assembly line.

Description

Technical Field

[0001] This utility model relates to the field of palletizing machine technology, specifically to a flip-palletizing machine. Background Technology

[0002] A palletizer is an industrial piece of equipment used for the automated stacking of sheet materials (such as wood, plastic, and glass sheets). It is widely used in manufacturing, logistics warehousing, and packaging. Through the coordinated operation of a robotic arm, conveying system, and intelligent control system, the palletizer achieves efficient and precise stacking of sheets, improving production efficiency and reducing labor costs.

[0003] After the boards are positioned by the conveyor system, the palletizer's robotic arm needs to grab the boards according to a preset path and stack them precisely. Existing palletizers cannot automatically flip the boards, resulting in an efficiency bottleneck when performing alternating front and back stacking operations. Specifically, after placing the boards face up, manual labor is required to physically flip them so that the back side is facing up before the robotic arm grabs the back side for stacking. This leads to process interruptions and increased equipment waiting time, which slows down the overall pace in continuous high-volume production scenarios and makes it difficult to meet the requirements of high-speed production lines for cycle synchronization and operational continuity.

[0004] Therefore, it is necessary to design an automatic flip-palletizer that can achieve forward and reverse stacking without relying on manual flipping of the boards, thereby shortening the single operation cycle, eliminating equipment waiting time, and adapting to large-scale production lines, so as to improve the stacking efficiency of the boards. Utility Model Content

[0005] Therefore, the technical problem to be solved by this utility model is to overcome the technical defects of existing palletizers that cannot automatically flip the boards, rely on manual labor for forward and reverse stacking, resulting in low efficiency and inability to meet production requirements in large-scale continuous production. Thus, a flip palletizer that can achieve forward and reverse stacking without relying on manual flipping of boards is provided, thus achieving higher stacking efficiency.

[0006] Therefore, this utility model provides a flip-palletizing machine, comprising:

[0007] Mounting beams are suitable for fixed installation;

[0008] Two movable arms are installed on both sides of the mounting beam, which can extend and retract forward and backward and lift and lower vertically;

[0009] There are two first servo motors, which are respectively installed at the far ends of the two movable arms. Each first servo motor has a first drive shaft.

[0010] There are two rotating connecting pieces, one end of which is connected to the first drive shaft via a connecting structure.

[0011] An adsorption frame is fixedly connected to the other end of the rotating connecting piece and is mounted at a rotatable angle at the distal ends of the two movable arms; the first drive shaft can drive the adsorption frame to rotate a set angle and then stop through the rotating connecting piece;

[0012] An adsorption structure, mounted on the adsorption rack, is suitable for adsorbing plates;

[0013] A conveyor table, located directly below the adsorption rack, is used to convey the sheet material; the movable arm and the adsorption rack after rotation can sink into the conveyor table to adsorb the sheet material from the bottom;

[0014] A lifting structure is used to control the synchronous raising or lowering of the two movable arms;

[0015] A telescopic structure is used to control the synchronous extension or retraction of the two movable arms;

[0016] A control device is connected to the adsorption structure and is used to control the adsorption structure to start or stop; the control device is also electrically connected to the lifting structure and the telescopic structure and is used to control the lifting structure and the telescopic structure to start or stop.

[0017] As a preferred embodiment, the conveyor table is provided with a first clearance space that is vertically opposite to the adsorption frame. After the adsorption frame rotates, it can sink into the first clearance space, thereby adsorbing the board from the reverse side.

[0018] As a preferred embodiment, the connection structure includes:

[0019] A connecting plate has a connecting through hole; the connecting plate is mounted on the first drive shaft through the connecting through hole and is fixed by a limiting structure; the connecting plate is fixedly connected to the rotating connecting piece.

[0020] The connecting disc and the rotating connecting piece are provided with several connecting through holes, and are fixedly connected by bolts and nuts.

[0021] As a preferred embodiment, the limiting structure includes:

[0022] A limiting plate is integrally formed on the other side of the connecting plate, and a limiting through hole communicating with the connecting through hole is provided. A first limiting plane is provided on one side wall of the limiting through hole.

[0023] The second limiting plane is disposed on one side wall of the first drive shaft, opposite to the first limiting plane;

[0024] The blocking surface is formed on the first drive shaft by the second limiting plane, and an external thread is provided on a section of the outer wall of the free end of the first drive shaft;

[0025] The limiting nut is provided with an internal thread; after the first drive shaft passes through the limiting through hole and the connecting through hole, the limiting nut is screwed to the first drive shaft to press one side of the limiting plate, so that the other side of the limiting plate abuts against the blocking surface, thereby fixing the connecting plate on the first drive shaft.

[0026] As a preferred embodiment, the conveyor platform is provided with a second clearance space that is vertically opposite to the movable arm, and the movable arm can be lowered into the second clearance space.

[0027] As a preferred embodiment, the adsorption structure includes:

[0028] Several single-acting cylinders are evenly installed on the adsorption frame. Each single-acting cylinder has a piston rod and a built-in return spring.

[0029] Several suction cups are installed on the free end of the piston rod, and each suction cup has an air extraction port.

[0030] The first air supply pipeline has an external air compressor at one end and is divided into several first air supply branches at the other end. The first air supply branches are respectively connected to the single-acting cylinder. A first solenoid valve is installed on the first air supply pipeline. The first solenoid valve is used to control the air supply.

[0031] When the first solenoid valve is opened, gas enters the single-acting cylinder through the first gas supply branch, pushing the piston rod to extend.

[0032] When the first solenoid valve is closed, the gas in the single-acting cylinder is discharged through the exhaust port of the first solenoid valve, and the return spring pushes the piston rod to retract.

[0033] The second gas supply line has one end connected to a vacuum generator and the other end divided into several second gas supply branches, which are respectively connected to the suction port of the suction cup; a second solenoid valve is provided on the second gas supply line, which is used to control the connection between the suction cup and the vacuum generator or the outside world.

[0034] When the second solenoid valve controls the suction cup to connect with the vacuum generator, the vacuum generator draws air from the suction cup through the air supply line to form a negative pressure, thereby enabling the suction cup to adsorb the board material.

[0035] When the second solenoid valve controls the suction cup to connect with the outside, outside air enters the suction cup through the air inlet of the second solenoid valve, the negative pressure is released, and the board can be detached.

[0036] As a preferred embodiment, the lifting structure includes:

[0037] A drive unit, mounted on top of the mounting beam, has a second drive shaft;

[0038] A geared motor is fixedly connected to the second drive shaft of the drive device and can drive the worm gear installed inside the geared motor to rotate.

[0039] The first rotating shaft is coaxially connected to the worm gear and can be driven to rotate by the worm gear.

[0040] There are two first sprockets, which are respectively mounted on the first rotating shafts on both sides of the geared motor. The rotation of the first rotating shafts can drive the first sprockets to rotate.

[0041] The second rotating shaft is rotatably mounted on the top of the mounting beam, and the axis of the second rotating shaft is parallel to the axis of the first rotating shaft.

[0042] There are two second sprockets, which are respectively mounted on the second shaft at positions opposite to the two first sprockets;

[0043] The chain consists of two chains, and the links of the two chains are respectively connected to the tooth grooves of the first sprocket and the second sprocket on the same side;

[0044] A connecting plate is fixedly mounted on one end of the chain, and the two sides of the connecting plate are respectively fixedly mounted on the movable arms on both sides;

[0045] The counterweight box is fixedly mounted at the other end of the chain.

[0046] As a preferred option, it also includes:

[0047] The first guide rail consists of two rails, which are set at a certain distance apart on one side of the mounting beam;

[0048] At least two first sliding members are respectively disposed on the connecting plate. The first sliding members are matched and installed with the first guide rail and are able to move along the first guide rail.

[0049] The second guide rail consists of two rails, which are set at a certain distance apart on the other side of the mounting beam;

[0050] There are at least two second sliding members, which are respectively disposed on the counterweight box at positions opposite to the two second guide rails. The second sliding members are matched and installed with the second guide rails and can move along the second guide rails.

[0051] As a preferred embodiment, the telescopic structure includes:

[0052] There are two second servo motors, which are fixedly mounted on the mounting beam and positioned below the movable arm; each second servo motor has a third drive shaft with a gear on it.

[0053] There are two racks, one on each of the two movable arms, and they mesh with the gears; the gears are driven by the third drive shaft, which can cause the movable arms to extend or retract.

[0054] As a preferred option, it also includes:

[0055] There are two third guide rails, each mounted on the movable arm.

[0056] There are at least two third sliding members, which are fixedly mounted on the mounting beam. The third sliding members are matched and installed with the third guide rail and can move along the third guide rail.

[0057] The technical solution provided by this utility model has the following advantages:

[0058] This utility model discloses a flip-palletizing machine, comprising a mounting beam, movable arms, an adsorption frame, a first servo motor, a rotating connecting plate, an adsorption structure, a conveying table, a lifting structure, a telescopic structure, and a control device; wherein, the mounting beam is suitable for fixed installation; two movable arms are mounted on both sides of the mounting beam, capable of telescopic extension and retraction and vertical lifting; two first servo motors are respectively mounted on the distal ends of the two movable arms, each having a first drive shaft; two rotating connecting plates are respectively connected at one end to the first drive shaft via a connecting structure; the adsorption frame is fixedly connected to the other end of the rotating connecting plate and is mounted at a rotatable angle on the distal ends of the two movable arms; the first... The drive shaft, via a rotating connecting plate, can rotate the adsorption frame to a set angle and then stop. The adsorption structure is mounted on the adsorption frame and is suitable for adsorbing the substrate. The conveyor table is located directly below the adsorption frame and is used to convey the substrate. The movable arm and the adsorption frame after rotation can sink into the conveyor table to adsorb the substrate from the bottom. The lifting structure is used to control the synchronous rise or fall of the two movable arms. The telescopic structure is used to control the synchronous extension or retraction of the two movable arms. The control device is connected to the adsorption structure and is used to control the start or stop of the adsorption structure. The control device is also electrically connected to the lifting structure and the telescopic structure and is used to control the start or stop of the lifting structure and the telescopic structure.

[0059] When using the flip-palletizer of this invention for alternating forward and reverse palletizing, the conveyor table first transports the sheet metal to the positioning area directly below the suction rack. After the photoelectric sensor confirms its position, the movable arm drives the suction rack to descend and adsorb the sheet metal, moving the suction rack to the palletizing area to complete the forward placement. After the forward placement is completed, the suction rack returns and performs a 180° flip before sinking, switching the suction rack to the reverse state and sinking into the conveyor table. When the second sheet metal is transported to the position, the reverse-state suction rack adsorbs the sheet metal, and the movable arm drives the suction rack to transfer to the palletizing area. During the transfer process, a 180° flip is performed to flip the sheet metal, finally arriving at the palletizing area to complete the reverse placement. This flip-palletizer of this invention, through the flipping action during the transfer of the suction rack, improves the overall rhythm during alternating forward and reverse palletizing operations, enabling it to match the production rhythm of high-speed assembly lines. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the prior art or specific embodiments of this utility model, the accompanying drawings used in the description of the prior art or specific embodiments are briefly introduced below.

[0061] Figure 1 This is a schematic diagram of the overall structure of the flip-palletizer of this utility model.

[0062] Figure 2 yes Figure 1 Enlarged structural diagram of part A.

[0063] Figure 3 yes Figure 1 Enlarged structural diagram of section B.

[0064] Figure 4 yes Figure 1 A schematic diagram of the structure of the first servo motor and the rotating connecting piece before assembly.

[0065] Figure 5 yes Figure 4 Enlarged structural diagram of section F in the middle.

[0066] Figure 6 yes Figure 1 Another stereoscopic view.

[0067] Figure 7 yes Figure 6 A magnified schematic diagram of the structure of section C.

[0068] Figure 8 yes Figure 6 Enlarged structural diagram of section D.

[0069] Figure 9 yes Figure 1 Another stereoscopic view.

[0070] Figure 10 yes Figure 9 Enlarged structural diagram of section E in the middle.

[0071] Reference numerals: 1. Mounting beam; 2. Movable arm; 3. Adsorption frame; 31. Single-acting cylinder; 32. Piston rod; 33. Suction cup; 34. First air supply line; 35. Second air supply line; 4. First servo motor; 5. Rotating connecting plate; 51. Connecting plate; 52. Connecting through hole; 53. Limiting plate; 54. Limiting through hole; 55. First limiting plane; 56. Second limiting plane; 57. Blocking surface; 58. Limiting nut; 6. Conveying table; 61. First clearance space 62. Second clearance space; 7. Control device; 8. Drive device; 81. Gear motor; 82. First shaft; 83. First sprocket; 84. Second shaft; 85. Second sprocket; 86. Chain; 87. Connecting plate; 88. Counterweight box; 800. First guide rail; 801. First sliding member; 802. Second guide rail; 803. Second sliding member; 9. Second servo motor; 91. Gear; 92. Rack; 93. Third guide rail; 94. Third sliding member. Detailed Implementation

[0072] To enable those skilled in the art to better understand this solution, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0073] It should be noted that the terms "first," "second," etc., in the claims and specification of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such as a process, method, system, product, or device that includes a series of steps or units, not limited to those steps or units explicitly listed, but may also include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0074] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the term "multiple" should mean two or more. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0075] The present application will now be described in detail with reference to the accompanying drawings and embodiments. Example

[0076] This embodiment provides a flip-palletizer, such as Figure 1 As shown, the device includes: a mounting beam 1, movable arms 2, an adsorption frame 3, a first servo motor 4, a rotating connecting piece 5, an adsorption structure, a conveying table 6, a lifting structure, a telescopic structure, and a control device 7; wherein, the mounting beam 1 is suitable for fixed installation; there are two movable arms 2, which are installed on both sides of the mounting beam 1 and can be telescopically extended and retracted and vertically lifted; there are two first servo motors 4, which are respectively installed at the far ends of the two movable arms 2, and each first servo motor 4 has a first drive shaft; there are two rotating connecting pieces 5, one end of which is connected to the first drive shaft through a connecting structure; the adsorption frame 3 is fixedly connected to the other end of the rotating connecting piece 5 and is installed at a rotatable angle at the far ends of the two movable arms 2; the first drive shaft is connected to the rotating connecting piece 5 through the rotating connecting piece 5. The plate 5 can drive the adsorption rack 3 to rotate at a set angle and then stop; the adsorption structure is installed on the adsorption rack 3 and is suitable for adsorbing the board; the conveying platform 6 is located directly below the adsorption rack 3 and is used to convey the board; the movable arm 2 and the adsorption rack 3 after rotation can sink into the conveying platform 6 to adsorb the board from the bottom; the lifting structure is used to control the two movable arms 2 to rise or fall synchronously; the telescopic structure is used to control the two movable arms 2 to extend or retract synchronously; the control device 7 is connected to the adsorption structure and is used to control the adsorption structure to start or stop; the control device 7 is also electrically connected to the lifting structure and the telescopic structure and is used to control the lifting structure and the telescopic structure to start or stop.

[0077] When using the flip-palletizer of this embodiment for alternating forward and reverse palletizing, the conveyor 6 first transports the sheet metal to the positioning area directly below the suction rack 3. After the photoelectric sensor confirms its position, the movable arm 2 lowers the suction rack 3 to absorb the sheet metal and moves it to the palletizing area to complete the forward placement. After the forward placement is completed, the suction rack 3 returns and performs a 180° flip before sinking, switching to the reverse state and sinking into the conveyor 6. When the second sheet metal is transported to the position, the reverse-state suction rack 3 absorbs the sheet metal, and the movable arm 2 moves the suction rack 3 to the palletizing area. During the transfer process, a 180° flip is performed to flip the sheet metal, finally arriving at the palletizing area to complete the reverse placement. The flip-palletizer of this embodiment improves the overall rhythm by flipping the suction rack 3 during the transfer process when performing alternating forward and reverse palletizing operations, enabling it to match the production rhythm of high-speed assembly lines.

[0078] like Figure 1 As shown, the conveyor table 6 is provided with a first clearance space 61 that is vertically opposite to the adsorption rack 3. After the adsorption rack 3 is flipped, it can sink into the first clearance space 61 so that the adsorption rack 3 can adsorb the board from the reverse side, thereby completing the alternating stacking of the front and back sides.

[0079] like Figures 4-5 As shown, the connection structure includes a connecting plate 51, which has a connecting through hole 52. The connecting plate 51 is mounted on the first drive shaft through the connecting through hole 52 and is fixed by a limiting structure. The connecting plate 51 and the rotating connecting piece 5 have several connecting through holes respectively, and are fixedly connected by bolts and nuts.

[0080] The limiting structure includes a limiting disc 53, a second limiting plane 56, a blocking surface 57, and a limiting nut 58. The limiting disc 53 is integrally formed on the other side of the connecting disc 51, and has a limiting through hole 54 communicating with the connecting through hole 52. A first limiting plane 55 is provided on one side wall of the limiting through hole 54. The second limiting plane 56 is disposed on one side wall of the first drive shaft, opposite to the first limiting plane 55. The blocking surface 57 is formed on the first drive shaft through the second limiting plane 56, and an external thread is provided on a section of the outer wall of the free end of the first drive shaft. The limiting nut 58 has an internal thread. After the first drive shaft passes through the limiting through hole 54 and the connecting through hole 52, the limiting nut 58 is screwed onto the first drive shaft to press one side of the limiting disc 53, causing the other side of the limiting disc 53 to abut against the blocking surface 57, thereby fixing the connecting disc 51 onto the first drive shaft.

[0081] like Figure 6As shown, the conveyor table 6 is provided with a second clearance space 62 that is vertically opposite to the movable arm 2, and the movable arm 2 can descend into the second clearance space 62.

[0082] like Figure 6 , 8 As shown, the adsorption structure includes a single-acting cylinder 31, a suction cup 33, a first air supply line 34, and a second air supply line 35. Several single-acting cylinders 31 are evenly installed on the adsorption frame 3, each with a piston rod 32 and a built-in return spring. Several suction cups 33 are respectively installed on the free end of the piston rod 32, each with an air extraction port. One end of the first air supply line 34 is connected to an air compressor, and the other end is divided into several first air supply branches, each connected to a single-acting cylinder 31. A first solenoid valve is installed on the first air supply line 34 to control the air supply. When the first solenoid valve is open, gas enters the single-acting cylinder 31 through the first air supply branches, pushing the piston rod 32 outward. When the first solenoid valve is closed, the single-acting cylinder... The gas inside 31 is discharged through the exhaust port of the first solenoid valve, and the return spring pushes the piston rod 32 to retract. One end of the second gas supply pipe 35 is connected to a vacuum generator, and the other end is divided into several second gas supply branches, which are respectively connected to the air extraction port of the suction cup 33. A second solenoid valve is provided on the second gas supply pipe 35. The second solenoid valve is used to control the connection between the suction cup 33 and the vacuum generator or the outside. When the second solenoid valve controls the connection between the suction cup 33 and the vacuum generator, the vacuum generator draws air from the suction cup 33 through the gas supply pipe, forming a negative pressure, so that the suction cup 33 can adsorb the board. When the second solenoid valve controls the connection between the suction cup 33 and the outside, outside air enters the interior of the suction cup 33 through the air inlet of the second solenoid valve, the negative pressure is released, so that the board can be detached. The single-acting cylinder used in this embodiment is model CDJ2B16-10-SR, but other models can also be used. The first solenoid valve in this embodiment is a two-position three-way pipe solenoid valve, model 3V210-08-NO, but other models can also be used. The second solenoid valve used in this embodiment is model 3V110-08-NC, but other models can also be used.

[0083] like Figures 1-3As shown in Figure 7, the lifting structure includes a drive device 8, a reduction motor 81, a first rotating shaft 82, a first sprocket 83, a second rotating shaft 84, a second sprocket 85, a chain 86, a connecting plate 87, and a counterweight box 88. The drive device 8 is mounted on the top of the mounting beam 1 and has a second drive shaft. The reduction motor 81 is fixedly connected to the second drive shaft of the drive device 8 and can drive a worm gear installed inside the reduction motor 81 to rotate. The first rotating shaft 82 is coaxially connected to the worm gear and can be driven to rotate by the worm gear. There are two first sprockets 83, respectively mounted on the first rotating shafts 82 on both sides of the reduction motor 81. The first rotating shafts 82 rotate... The system is capable of driving the first sprocket 83 to rotate; the second rotating shaft 84 is rotatably mounted on the top of the mounting beam 1, and the axis of the second rotating shaft 84 is parallel to the axis of the first rotating shaft 82; there are two second sprockets 85, which are respectively mounted on the second rotating shaft 84 at positions opposite to the two first sprockets 83; there are two chains 86, and the links of the two chains 86 are respectively engaged with the tooth grooves of the first sprocket 83 and the second sprocket 85 on the same side; a connecting plate 87 is fixedly disposed at one end of the chain 86, and the two sides of the connecting plate 87 are respectively fixedly disposed on the movable arms 2 on both sides; a counterweight box 88 is fixedly disposed at the other end of the chain 86. In this embodiment, the geared motor is a geared motor with an RV reducer 90B5, specifically manufactured by Xintaichuang Group, but other models of geared motors can also be used.

[0084] It also includes a first guide rail 800, a first sliding member 801, a second guide rail 802, and a second sliding member 803; wherein, there are two first guide rails 800, which are arranged at a certain distance on one side of the mounting beam 1; there are at least two first sliding members 801, which are respectively arranged on the connecting plate 87, and the first sliding members 801 are matched and installed with the first guide rails 800 and can move along the first guide rails 800; there are two second guide rails 802, which are arranged at a certain distance on the other side of the mounting beam 1; there are at least two second sliding members 803, which are respectively arranged on the counterweight box 88 at positions opposite to the two second guide rails 802, and the second sliding members 803 are matched and installed with the second guide rails 802 and can move along the second guide rails 802.

[0085] like Figures 9-10 As shown, the telescopic structure includes a second servo motor 9 and a rack 92; there are two second servo motors 9, which are fixedly mounted on the mounting beam 1 and positioned below the movable arm 2; the second servo motor 9 has a third drive shaft, on which a gear 91 is mounted; there are two racks 92, which are mounted on the two movable arms 2 and mesh with the gears 91; after being driven by the third drive shaft, the gears 91 can drive the movable arm 2 to extend or retract.

[0086] It also includes a third guide rail 93 and a third sliding member 94; wherein there are two third guide rails 93, which are respectively disposed on the movable arm 2; there are at least two third sliding members 94, which are respectively fixedly disposed on the mounting beam 1, and the third sliding members 94 are matched and installed with the third guide rails 93, and can move along the third guide rails 93.

[0087] The flip-palletizer in this embodiment is used as follows:

[0088] When performing alternating forward and reverse stacking, the conveyor 6 first conveys the board to the positioning area directly below the adsorption rack 3. After the photoelectric sensor confirms that it is in place, the control device 7 controls the drive device 8 to start, and drives the movable arm 2 to descend through the shaft and sprocket chain transmission.

[0089] When adsorbing the board, the first solenoid valve opens, and gas enters the single-acting cylinder 31 through the first gas supply branch, pushing the piston rod 32 to extend; the second solenoid valve switches to connect the suction cup 33 with the vacuum generator, and draws air from the suction cup 33 through the gas supply pipeline to form a negative pressure, so that the suction cup 3 can adsorb the board.

[0090] Control device 7 controls the second servo motor 9 to start the drive gear 91 rack and pinion mechanism, moving the movable arm 2 to the stacking area; the second solenoid valve switches to connect the suction cup 33 with the outside world, allowing outside air to enter the suction cup 33, releasing the negative pressure and causing the board to fall off.

[0091] After the upright placement is completed, the adsorption rack 3, during its return trip, is controlled by the first servo motor 4 via the rotating connecting piece 5 to rotate the adsorption rack 3 by 180° and sink into the first clearance space 61. When the second board is delivered to the position, the adsorption rack 3 in the reverse state repeats the adsorption process. During the transfer process, the first servo motor 4 performs a 180° rotation, causing the board to be flipped in the air and finally arrive at the palletizing area to complete the reverse placement.

[0092] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this innovative technical solution.

Claims

1. A flip-palletizer, characterized in that, include: Mounting beam (1) is suitable for fixed installation; Two movable arms (2) are installed on both sides of the mounting beam (1) and can extend and retract forward and backward and rise and fall vertically. There are two first servo motors (4), which are respectively installed at the far ends of the two movable arms (2). The first servo motor (4) has a first drive shaft. There are two rotating connecting pieces (5), one end of which is connected to the first drive shaft through a connecting structure; The adsorption rack (3) is fixedly connected to the other end of the rotating connecting piece (5) and is mounted at the far end of the two movable arms (2) at a rotatable angle; the first drive shaft can drive the adsorption rack (3) to rotate at a set angle and then stop through the rotating connecting piece (5); An adsorption structure is installed on the adsorption rack (3) and is suitable for adsorbing plates; The conveyor platform (6) is located directly below the adsorption rack (3) and is used to convey the board material; the movable arm (2) and the adsorption rack (3) after rotation angle can sink into the interior of the conveyor platform (6) and are used to adsorb the board material from the bottom. A lifting structure is used to control the two movable arms (2) to rise or fall synchronously; A telescopic structure is used to control the synchronous extension or retraction of the two movable arms (2); The control device (7) is connected to the adsorption structure and is used to control the adsorption structure to start or stop; the control device (7) is also electrically connected to the lifting structure and the telescopic structure and is used to control the lifting structure and the telescopic structure to start or stop.

2. The flip-palletizer according to claim 1, characterized in that: The conveyor table (6) is provided with a first clearance space (61) that is vertically opposite to the adsorption rack (3). After the adsorption rack (3) rotates, it can sink into the first clearance space (61) so that it can adsorb the board from the reverse side.

3. The flip-palletizer according to claim 1, characterized in that, The connection structure includes: The connecting plate (51) has a connecting through hole (52); the connecting plate (51) is mounted on the first drive shaft through the connecting through hole (52) and is fixed by a limiting structure; The connecting disc (51) and the rotating connecting piece (5) are provided with several connecting through holes, and fixed connection is achieved by bolts and nuts.

4. The flip-palletizer according to claim 3, characterized in that, The limiting structure includes: The limiting plate (53) is integrally formed on the other side of the connecting plate (51) and has a limiting through hole (54) communicating with the connecting through hole (52). A first limiting plane (55) is provided on one side wall of the limiting through hole (54). The second limiting plane (56) is disposed on one side wall of the first drive shaft and is opposite to the first limiting plane (55); The blocking surface (57) is formed on the first drive shaft by the second limiting plane (56), and an external thread is provided on a section of the outer wall of the free end of the first drive shaft; The limiting nut (58) is provided with an internal thread; after the first drive shaft passes through the limiting through hole (54) and the connecting through hole (52), the limiting nut (58) is screwed to the first drive shaft to press one side of the limiting plate (53) so that the other side of the limiting plate (53) abuts against the blocking surface (57), thereby fixing the connecting plate (51) on the first drive shaft.

5. The flip-palletizer according to claim 1, characterized in that: The conveyor platform (6) is provided with a second clearance space (62) that is vertically opposite to the movable arm (2), and the movable arm (2) can descend into the second clearance space (62).

6. The flip-palletizer according to claim 1, characterized in that, The adsorption structure includes: There are several single-acting cylinders (31), which are evenly installed on the adsorption frame (3). Each single-acting cylinder (31) has a piston rod (32) with a built-in return spring. There are several suction cups (33), which are respectively installed on the free end of the piston rod (32). The suction cups (33) have air suction ports. The first air supply pipeline (34) is connected to an air compressor at one end and is divided into several first air supply branches at the other end. The first air supply branches are respectively connected to the single-acting cylinder (31). A first solenoid valve is provided on the first air supply pipeline (34). The first solenoid valve is used to control the air supply. When the first solenoid valve is opened, gas enters the single-acting cylinder (31) through the first gas supply branch, pushing the piston rod (32) to extend. When the first solenoid valve is closed, the gas in the single-acting cylinder (31) is discharged through the exhaust port of the first solenoid valve, and the return spring pushes the piston rod (32) to retract. The second gas supply line (35) is connected to a vacuum generator at one end and is divided into several second gas supply branches at the other end. The second gas supply branches are respectively connected to the suction port of the suction cup (33). A second solenoid valve is provided on the second gas supply line (35). The second solenoid valve is used to control the suction cup (33) to connect with the vacuum generator or to the outside. When the second solenoid valve controls the suction cup (33) to connect with the vacuum generator, the vacuum generator draws air from the suction cup (33) through the air supply pipeline to form a negative pressure, thereby enabling the suction cup (33) to adsorb the board material. When the second solenoid valve controls the suction cup (33) to connect with the outside, outside air enters the suction cup (33) through the air inlet of the second solenoid valve, the negative pressure is released, and the plate can be detached.

7. The flip-palletizer according to claim 1, characterized in that, The lifting structure includes: A drive unit (8) is mounted on top of the mounting beam (1) and has a second drive shaft; The geared motor (81) is fixedly connected to the second drive shaft of the drive device (8) and can drive the worm gear installed inside the geared motor (81) to rotate. The first rotating shaft (82) is coaxially connected to the worm gear and can be driven to rotate by the worm gear; There are two first sprockets (83), which are respectively installed on the first rotating shafts (82) on both sides of the geared motor (81). The rotation of the first rotating shafts (82) can drive the first sprockets (83) to rotate. The second rotating shaft (84) is rotatably mounted on the top of the mounting beam (1), and the axis of the second rotating shaft (84) is parallel to the axis of the first rotating shaft (82); There are two second sprockets (85), which are respectively installed on the second shaft (84) at positions opposite to the two first sprockets (83); There are two chains (86), and the links of the two chains (86) are respectively connected to the tooth grooves of the first sprocket (83) and the second sprocket (85) on the same side; A connecting plate (87) is fixedly disposed at one end of the chain (86), and the two sides of the connecting plate (87) are respectively fixedly disposed on the movable arms (2) on both sides; The counterweight box (88) is fixedly installed at the other end of the chain (86).

8. The flip-palletizer according to claim 7, characterized in that, Also includes: The first guide rail (800) consists of two rails, which are set at a certain distance apart on one side of the mounting beam (1); At least two first sliding members (801) are respectively disposed on the connecting plate (87). The first sliding member (801) is matched and installed with the first guide rail (800) and can move along the first guide rail (800). The second guide rail (802) consists of two rails, which are set at a certain distance apart on the other side of the mounting beam (1); There are at least two second sliding members (803), which are respectively disposed in the counterweight box (88) at positions opposite to the two second guide rails (802). The second sliding members (803) are matched and installed with the second guide rails (802) and can move along the second guide rails (802).

9. The flip-palletizer according to claim 1, characterized in that, The telescopic structure includes: There are two second servo motors (9), which are fixedly mounted on the mounting beam (1) and positioned lower than the movable arm (2); the second servo motor (9) has a third drive shaft, on which a gear (91) is provided. There are two racks (92), which are respectively set on the two movable arms (2) and mesh with the gear (91); after the gear (91) is driven by the third drive shaft, it can drive the movable arm (2) to extend or retract.

10. The flip-palletizer according to claim 9, characterized in that, Also includes: There are two third guide rails (93), which are respectively set on the movable arm (2); At least two third sliding members (94) are fixedly mounted on the mounting beam (1). The third sliding members (94) are matched and installed with the third guide rail (93) and can move along the third guide rail (93).

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