Gantry type automatic stacker crane

Abstract

The utility model discloses a gantry type automatic stacker crane which comprises a portal frame, the portal frame is provided with a material grabbing assembly, a first driving device, a second driving device and a third driving device, the first driving device is used for driving the material grabbing assembly to move in the Z-axis direction, and the second driving device and the third driving device are used for driving the material grabbing assembly to move in the X-axis direction and the Y-axis direction. The grabbing assembly comprises a fixed shell connected with the connecting disc, and a first limiting groove and a second limiting groove which are parallel to each other and are arranged in a strip shape are formed in the bottom of the fixed shell. A first moving seat and a second moving seat which can move along the first limiting groove and the second limiting groove and slide oppositely are arranged on the first limiting groove and the second limiting groove respectively, and a first clamping block and a second clamping block which are connected through bolts are arranged at the bottom of the first moving seat and the bottom of the second moving seat respectively. The utility model has the characteristics that different clamps or material claws can be replaced quickly, simply and conveniently, materials with different sizes and shapes can be adapted, the application range is widened, and the like.

Description

Technical Field

[0001] This utility model relates to an automatic palletizing machine, specifically a gantry-type automatic palletizing machine. Background Technology

[0002] Automatic palletizers use a three-axis robotic arm to arrange and stack goods or products in a specific order, enabling multi-layer stacking for easy transport to warehouses by forklifts. This significantly reduces labor and labor intensity.

[0003] In the prior art, palletizers use clamps or claws to grip and place materials. However, materials usually come in different sizes or shapes, which limits the gripping of materials and makes it impossible to grip materials of different sizes or shapes. The clamps or claws in the prior art have relatively complex structures, and many parts need to be disassembled or replaced when changing them. In addition, some of them cannot be adapted to different clamps or claws. Utility Model Content

[0004] The purpose of this utility model is to provide a gantry-type automatic palletizer, which solves the problems of limited material handling and narrow applicability in the existing technology.

[0005] The above-mentioned technical objective of this utility model is mainly achieved through the following technical solution: a gantry-type automatic palletizing machine, including a gantry frame, wherein the gantry frame is provided with a material gripping component for gripping materials, a first driving device for driving the material gripping component to move along the Z-axis, a second driving device and a third driving device for driving the material gripping component to move along the X and Y axes, the first driving device includes a connecting plate connected to the material gripping component, the material gripping component includes a fixed housing connected to the connecting plate, the bottom of the fixed housing is provided with a first limiting groove and a second limiting groove that are parallel to each other and arranged in a strip shape, the first limiting groove and the second limiting groove are respectively provided with a first moving seat and a second moving seat that can move along the first limiting groove and the second limiting groove and slide in opposite directions, the bottom of the first moving seat and the second moving seat are respectively provided with a first clamping block and a second clamping block bolted together.

[0006] As a further preferred technical solution of this utility model, the opposite sides of the first clamping block and the second clamping block are both provided with a plane, and the plane is provided with a longitudinally arranged V-shaped groove.

[0007] As a further preferred technical solution of this utility model, the first limiting groove and the second limiting groove are provided with a first guide seat and a second guide seat respectively connected to the second clamping block and the first clamping block. The first guide seat and the second guide seat are both I-shaped and slide with the first limiting groove and the second limiting groove respectively.

[0008] As a further preferred technical solution of this utility model; the top of the first movable seat and the second movable seat are respectively provided with a first driving block and a second driving block located in the fixed housing, and the first driving block and the second driving block are respectively provided with a first tooth group and a second tooth group on opposite sides, and the first tooth group and the second tooth group are respectively provided with a first transmission gear and a second transmission gear meshing with the first tooth group and the second tooth group on adjacent sides.

[0009] As a further preferred technical solution of this utility model; a third transmission gear is provided between the first transmission gear and the second transmission gear, and the two opposite sides of the third transmission gear are respectively meshed with the first transmission gear and the second transmission gear. A drive motor coaxially connected to the third transmission gear is provided at the top of the fixed housing.

[0010] As a further preferred technical solution of this utility model, the bottom of the first driving block and the second driving block near the fixed housing is respectively provided with a first limiting slider and a second limiting slider, and the inner wall of the fixed housing is provided with a first guide rail and a second guide rail that are respectively slidably matched with the first limiting slider and the second limiting slider.

[0011] Therefore, this utility model has the advantages of being able to quickly and easily replace different clamps or claws, adapt to materials of different sizes and shapes, and increase the scope of application. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this utility model;

[0013] Figure 2 yes Figure 1 Top view of the structure;

[0014] Figure 3 yes Figure 1 A schematic diagram of the material gripping component in the middle;

[0015] Figure 4 yes Figure 3 Another perspective of the structural cross-section;

[0016] Figure 5 yes Figure 4 A structural cross-sectional view from another perspective. Detailed Implementation

[0017] The technical solution of this utility model will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0018] like Figures 1-3As shown, a gantry-type automatic palletizer includes a gantry frame 1. The gantry frame 1 is existing technology and will not be described in detail here. It suspends and fixes the material gripping assembly 2, supporting its multi-axis movement to achieve material transfer and palletizing. The gantry frame 1 is equipped with a material gripping assembly 2 for gripping materials, a first drive device 3 for driving the material gripping assembly 2 to move along the Z-axis, a second drive device 4 for driving the material gripping assembly 2 to move along the X and Y axes, and a third drive device 5. The first drive device 3 drives the material gripping assembly 2 to move up and down to achieve material gripping and releasing. It can use a combination of a screw structure and a servo motor to drive the material gripping assembly 2 to move up and down, or it can use an electromagnet to change the direction of the magnetic field based on the principle of like poles repelling and unlike poles attracting to move the material gripping assembly 2. The downward movement can also be driven by a cylinder to achieve the vertical movement of the gripping component 2. The second drive device 4 and the third drive device 5 can use a servo motor to drive the chain and sprocket structure to drive the gripping component 2 in the X and Y axes, or they can use a double cylinder to drive the gripping component 2 in the X and Y axes, or they can use a servo motor to drive the lead screw structure to drive the gripping component 2 in the X and Y axes. With the above structure settings, the gripping component 2 can move on the gantry 1 along the X, Y, and Z bearings to achieve automatic material transfer and automatic stacking. The first drive device 3 includes a connecting plate 31 connected to the gripping component 2. A rotary motor or rotary wheel can be installed between the connecting plate 31 and the gripping component 2. A rotary cylinder drives the material gripping assembly 2 to rotate in the gripping direction, thereby increasing the movement direction of the material gripping assembly 2 and adapting to different material placement angles. The material gripping assembly 2 includes a fixed housing 21 connected to the connecting plate 31. The bottom of the fixed housing 21 is provided with a first limiting groove 211 and a second limiting groove 212 that are parallel to each other and arranged in a strip shape. The first limiting groove 211 and the second limiting groove 212 are respectively provided with a first moving seat 22 and a second moving seat 23 that can move along the first limiting groove 211 and the second limiting groove 212 and slide in opposite directions. The first moving seat 22 and the second moving seat 23 are both provided in the first limiting groove 211 and the second limiting groove 212 at the bottom of the fixed housing 21, and can move in opposite directions along the first limiting groove 211 and the second limiting groove 212. The first movable seat 22 and the second movable seat 23 are integrated on the fixed housing 21, and the first movable seat 22 and the second movable seat 23 are stably driven by the structure set inside the fixed housing 21. At the same time, the bottom of the first movable seat 22 and the second movable seat 23 are respectively provided with a first clamping block 221 and a second clamping block 231 bolted together. Therefore, when replacing the first clamping block 221 and the second clamping block 231, it is not necessary to disassemble the fixed housing 21. The first clamping block 221 and the second clamping block 231 at the bottom of the first movable seat 22 and the second movable seat 23 can be directly removed and replaced by bolts. The replacement is simple and efficient, the operation is easy, and this automatic palletizer can adapt to materials of different sizes or shapes, effectively increasing the scope of application and reducing production costs.

[0019] like Figure 3 As shown, the first clamping block 221 and the second clamping block 231 each have a plane 222 on their opposite sides. The plane 222 is the clamping surface of the first clamping block 221 and the second clamping block 231, which can clamp materials with relatively flat side walls. The plane 222 is provided with a longitudinally arranged V-shaped groove 223. The V-shaped groove 223 can clamp materials with curved side walls, further increasing the clamping range and improving applicability.

[0020] like Figures 3-5 As shown, the first limiting groove 211 and the second limiting groove 212 are provided with a first guide seat 213 and a second guide seat 214 respectively connected to the second clamping block 231 and the first clamping block 221. The first guide seat 213 and the second guide seat 214 are both I-shaped and slide with the first limiting groove 211 and the second limiting groove 212 respectively. The first guide seat 213 and the second guide seat 214 are both I-shaped and fit on the first limiting groove 211 and the second limiting groove 212, so that the first guide seat 213 and the second guide seat 214 can slide on the first limiting groove 211 and the second limiting groove 212. The first guide seat 213 is bolted to the bottom of the second clamping block 231, and the second guide seat 214 is bolted to the bottom of the first clamping block 221. This can increase the connection support of the first clamping block 221 and the second clamping block 231, maintain the stability of the first clamping block 221 and the second clamping block 231 when they move in opposite directions, and increase the smoothness of movement.

[0021] like Figures 4-5As shown, the tops of the first movable seat 22 and the second movable seat 23 are respectively provided with a first driving block 24 and a second driving block 25 located inside the fixed housing 21. The bottoms of the first driving block 24 and the second driving block 25 are connected to the first movable seat 22 and the second movable seat 23, and can move synchronously with the first movable seat 22 and the second movable seat 23. On the opposite side of the first driving block 24 and the second driving block 25, there are respectively provided a first gear set 241 and a second gear set 251. On the adjacent side of the first gear set 241 and the second gear set 251, there are respectively provided a first transmission gear 242 and a second transmission gear 252 that mesh with the first gear set 241 and the second gear set 251. Between the first transmission gear 242 and the second transmission gear 252, there is a... A third transmission gear 253 is provided, with its two opposite sides meshing with the first transmission gear 242 and the second transmission gear 252, respectively. The third transmission gear 253 is located at the midpoint of the first drive block 24 and the second drive block 25. The first transmission gear 242 and the second transmission gear 252 are located on opposite sides of the third transmission gear 253, so that when the third transmission gear 253 rotates, it can drive the first transmission gear 242 and the second transmission gear 253 to rotate in the same direction. This allows the first gear set 241 and the second gear set 251 to drive the first drive block 24 and the second drive block 25, located on opposite sides, to move synchronously closer to or away from the midpoint, thereby causing the first clamping block 221 and the second clamping block... 231 moves synchronously towards or away from the midpoint to achieve clamping action. A drive motor 215, coaxially connected to the third transmission gear 253, is located at the top of the fixed housing 21. The drive motor 215 is fixed to the top of the fixed housing 21 and, upon startup, drives the third transmission gear 253 to rotate coaxially. When the third transmission gear 253 rotates, it drives the first transmission gear 242 and the second transmission gear 252 to rotate synchronously. The first transmission gear 242 and the second transmission gear 252 then drive the first drive block 24 and the second drive block 25 to move synchronously, respectively. When the first drive block 24 and the second drive block 25 move synchronously, they drive the first clamping block 221 and the second clamping block 231 through the first moving seat 22 and the second moving seat 23. The first drive block 24 and the second drive block 25 are respectively provided with a first limiting slider 243 and a second limiting slider 254 at the bottom of the side of the first drive block 24 and the second drive block 25 near the fixed housing 21. The inner wall of the fixed housing 21 is provided with a first guide rail 216 and a second guide rail 217 that are respectively slidably matched with the first limiting slider 243 and the second limiting slider 254. The first drive block 24 and the second drive block 25 move smoothly by sliding support of the first limiting slider 243 and the second limiting slider 254 through the first guide rail 216 and the second guide rail 217, which increases the smoothness of movement and avoids the first drive block 24 and the second drive block 25 from deviating during movement, thus enhancing the stability and reliability of movement.

[0022] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A gantry-type automatic palletizer, comprising a gantry frame (1), characterized in that: The gantry (1) is provided with a material gripping assembly (2) for gripping materials, a first driving device (3) for driving the material gripping assembly (2) to move along the Z-axis, a second driving device (4) for driving the material gripping assembly (2) to move along the X and Y axes, and a third driving device (5). The first driving device (3) includes a connecting plate (31) connected to the material gripping assembly (2). The material gripping assembly (2) includes a fixed housing (21) connected to the connecting plate (31). The bottom of the fixed housing (21) is provided with a first limiting groove (211) and a second limiting groove (212) that are parallel to each other and arranged in a strip shape. The first limiting groove (211) and the second limiting groove (212) are respectively provided with a first moving seat (22) and a second moving seat (23) that can move along the first limiting groove (211) and the second limiting groove (212) and slide in opposite directions. The bottom of the first moving seat (22) and the second moving seat (23) are respectively provided with a first clamping block (221) and a second clamping block (231) that are bolted together.

2. The gantry-type automatic palletizer according to claim 1, characterized in that: The first clamping block (221) and the second clamping block (231) each have a flat surface (222) on their opposite sides, and the flat surface (222) has a longitudinally arranged V-shaped groove (223).

3. The gantry-type automatic palletizer according to claim 1, characterized in that: The first limiting groove (211) and the second limiting groove (212) are provided with a first guide seat (213) and a second guide seat (214) respectively connected to the second clamping block (231) and the first clamping block (221). The first guide seat (213) and the second guide seat (214) are both I-shaped and slide with the first limiting groove (211) and the second limiting groove (212) respectively.

4. The gantry-type automatic palletizer according to claim 1, characterized in that: The top of the first movable seat (22) and the second movable seat (23) are respectively provided with a first driving block (24) and a second driving block (25) located in the fixed housing (21). On the opposite side of the first driving block (24) and the second driving block (25), a first gear set (241) and a second gear set (251) are respectively provided. On the adjacent side of the first gear set (241) and the second gear set (251), a first transmission gear (242) and a second transmission gear (252) that mesh with the first gear set (241) and the second gear set (251) are respectively provided.

5. The gantry-type automatic palletizer according to claim 4, characterized in that: A third transmission gear (253) is provided between the first transmission gear (242) and the second transmission gear (252). The two opposite sides of the third transmission gear (253) are respectively meshed with the first transmission gear (242) and the second transmission gear (252). A drive motor (215) is provided at the top of the fixed housing (21) and is coaxially connected with the third transmission gear (253).

6. The gantry-type automatic palletizer according to claim 4, characterized in that: The first driving block (24) and the second driving block (25) are respectively provided with a first limiting slider (243) and a second limiting slider (254) at the bottom of the side near the fixed housing (21). The inner wall of the fixed housing (21) is provided with a first guide rail (216) and a second guide rail (217) that are respectively slidably matched with the first limiting slider (243) and the second limiting slider (254).

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