Stacking machine

Abstract

The utility model relates to the technical field of stacking equipment, in particular to a stacker crane, which comprises a transmission track, a winding mechanism arranged at one end of the transmission track and used for winding products, a manipulator transmission mechanism with a manipulator suspended above a turntable of the transmission track and the winding mechanism, and an output wave plate arranged on one side of the turntable, the control mechanism is communicated with the visual equipment and is used for respectively indicating the transmission track, the manipulator transmission mechanism and the winding mechanism to work; the manipulator transmission mechanism comprises a supporting frame, a manipulator, an X-axis driving module, a Y-axis driving module and a Z-axis driving module, wherein the X-axis driving module, the Y-axis driving module and the Z-axis driving module are installed at the upper end of the supporting frame and drive the manipulator to move in the X-axis direction, the Y-axis direction and the Z-axis direction respectively. The visual device is installed on the X-axis driving module. The device has the advantages of being reasonable in structural arrangement, high in automation degree and high in production efficiency.

Description

A palletizer Technical Field

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

[0002] During the production process, finished products need to be palletized and packaged for shipment. The traditional palletizing and packaging method is manual packaging, which is inefficient and cannot meet the actual production needs.

[0003] To overcome the above-mentioned shortcomings, palletizing machines have been produced on the market, which use robotic arms to stack cartons to improve production efficiency. However, current palletizing machines have low flexibility and take up a lot of space, and their overall production efficiency still cannot meet the production needs of manufacturers.

[0004] Therefore, there is an urgent need to provide a palletizing machine to overcome the above-mentioned defects. Summary of the Invention

[0005] The main purpose of this utility model is to provide a palletizing machine with reasonable structural design, high degree of automation, and high production efficiency.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A palletizing machine includes: a transport track, a winding mechanism for winding products at one end of the transport track, a robot arm transport mechanism suspended above a turntable of the transport track and the winding mechanism, an output wave plate on one side of the turntable, and a control mechanism that communicates with a vision device and respectively instructs the transport track, the robot arm transport mechanism and the winding mechanism to work.

[0008] The robotic arm transmission mechanism includes: a support frame, the robotic arm, an X-axis drive module, a Y-axis drive module, and a Z-axis drive module mounted on the upper end of the support frame, which respectively drive the robotic arm to move in the X-axis, Y-axis, and Z-axis directions; and a vision device mounted on the X-axis drive module.

[0009] Preferably, the transmission track, the slide rail of the Y-axis drive module, and the output waveplate are all designed to be parallel to the Y-axis.

[0010] Preferably, the support frame includes: a plurality of support columns, a plurality of support horizontal plates whose ends are respectively fixed to the corresponding support columns and connected in a square shape, and a reinforcing plate; the Y-axis drive module is mounted on a set of the support horizontal plates arranged opposite to each other, one end of the reinforcing plate is fixed to a support horizontal plate on which the Y-axis drive module is mounted, and the other end is fixed to the support column connected to the support horizontal plate.

[0011] Preferably, the Y-axis drive module includes: a set of slide rails mounted on a set of support plates along the Y-axis, and a Y-axis drive structure mounted beside one of the slide rails.

[0012] Preferably, the supporting horizontal plate, the reinforcing plate, and the supporting column form a triangle.

[0013] Preferably, the transmission track extends through the robotic arm transmission mechanism and the product is driven in by rollers.

[0014] Preferably, a positioning plate is protruding from the turntable.

[0015] Preferably, the winding mechanism includes: a turntable disposed between the transmission track and the output wave plate, and a rotation drive structure disposed beside the turntable for driving the turntable to rotate.

[0016] Preferably, the upper surface of the output wave plate is sloped.

[0017] Preferably, the palletizer further includes a guardrail surrounding the winding mechanism and the robotic arm transmission mechanism.

[0018] This utility model discloses a palletizing machine in which boxes are conveyed towards a turntable via a transport track. A robotic arm, guided by instructions from a control mechanism, places the boxes at designated positions. A winding mechanism rotates the boxes and wraps a film around them. An output wave plate then assists in the output of the palletized and packaged products. This fully automated processing method effectively improves efficiency and reduces production costs. The use of vision equipment in conjunction with the robotic arm's transport mechanism to move products to designated positions improves operational accuracy and further enhances production efficiency. Furthermore, the product's rational structural design further improves processing efficiency. Attached Figure Description

[0019] Figure 1 is a structural schematic diagram of an embodiment of a palletizing machine according to the present invention.

[0020] Figure 2 is a structural schematic diagram of the stacked cardboard boxes in Figure 1.

[0021] Figure 3 is a structural schematic diagram of another embodiment of the palletizing machine of this utility model.

[0022] Explanation of icon numbers in the instruction manual:

[0023] 1-Transmission track, 2-Winding mechanism, 21-Turntable, b-Positioning plate, 22-Rotation drive structure, 3-Robot transmission mechanism, 31-Support frame, a1-Support column, a2-Support cross plate, a3-Reinforcing plate, 32-Robot, 33-X-axis drive module, 34-Y-axis drive module, 35-Z-axis drive module, 4-Vision device, 5-Output wave plate, 6-Control mechanism, 7-Guardrail. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0025] It should be noted that when a component is referred to as "connected to" or "set on" another component, it can be directly on the other component or indirectly on that other component.

[0026] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise expressly specified. "Several" means one or more, unless otherwise expressly specified.

[0028] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0029] Please refer to Figures 1 and 2. The palletizing machine of this embodiment includes: a transmission track 1, a winding mechanism 2, a robotic arm transmission mechanism 3, a vision device 4, an output wave plate 5, and a control mechanism 6. The turntable 21 of the transmission mechanism 1 and the winding mechanism 2, as well as the output wave plate 5, are all designed along the Y-axis and are arranged in a straight line. The product is transported along the transmission track 1 toward the turntable 21. The vision device 4 and the robotic arm transmission mechanism 3 move along the X / Y axis and feed data back to the control mechanism 6 in real time. The control mechanism 6 instructs the robotic arm transmission mechanism 3 to grab the product and move it to the designated position.

[0030] In a preferred embodiment, the robotic arm transmission mechanism 3 includes: a support frame 31, a robotic arm 32, an X-axis drive module 33, a Y-axis drive module 34, and a Z-axis drive module 35 mounted on the upper end of the support frame 31, which respectively drive the robotic arm to move in the X-axis, Y-axis, and Z-axis directions; the vision device 4 is mounted on the X-axis drive module 33, monitors the image information in the direction of the robotic arm 32 in real time, and communicates with the control mechanism 6. Specifically, the support frame 31 includes: a plurality of support columns a1, a plurality of support horizontal plates a2 whose two ends are respectively fixed to the corresponding support columns a1 and connected in a square shape, and a reinforcing plate a3; the Y-axis drive module 34 is mounted on a set of oppositely arranged support horizontal plates a2, one end of the reinforcing plate a3 is fixed to a support horizontal plate a2 on which the Y-axis drive module 34 is mounted, and the other end is fixed to the support column a1 connected to the support horizontal plate a2, the support horizontal plate a2, the reinforcing plate a3, and the support columns a1 form a triangle. The Y-axis drive module 34 includes: a set of slide rails mounted on a set of support horizontal plates a2 along the Y-axis; a Y-axis drive structure mounted beside one of the slide rails; the two ends of the X-axis drive module 33 are fixed to the two slide rails respectively; the Z-axis drive module 35 is movably mounted on the X-axis drive module 33; the vision device 4 is mounted on the X-axis drive module 33 and moves with the Z-axis drive module 35 on the X-axis drive module 33; and the robotic arm 32 is mounted on the Z-axis track of the Z-axis drive module 35. During operation, the control mechanism 6 instructs the transmission track 1 to work and transport the box towards the turntable 21. The vision device 4 acquires real-time image data of the transmission line direction and feeds it back to the control mechanism 6. The control mechanism 6 instructs the X-axis drive module 33, the Y-axis drive module 34, and the Z-axis drive module 35 to perform corresponding actions to drive the robot arm 32 to the corresponding position. The robot arm 32 places the box on the designated position of the turntable 21.

[0031] The transmission track 1 extends through the robotic arm transmission mechanism 3, and the product is driven into the conveyor line by the roller. The transmission track 1 extends below the support frame 31 and is located on one side of the turntable 21. The output wave plate 5 is located on the other side of the turntable 21. The axes of symmetry of the output wave plate 5, the turntable 21, and the transmission track 1 all overlap. The two slide rails are located on the other two sides of the turntable 21. The X-axis drive module 33 is horizontally mounted on the turntable 21 and its two ends are slidably fixed to the two slide rails. The structure is more rational, making the movement trajectory of the robotic arm 32 more reasonable and helping to improve the processing efficiency of this product. The upper surface of the output wave plate 5 is sloping, making the output of the product after palletizing more smooth. Furthermore, the winding mechanism 2 includes: a turntable 21 disposed between the transmission track 1 and the output wave plate 5; a rotation drive structure 22 disposed beside the turntable 21 and driving the turntable 21 to rotate; a positioning plate b protruding from the turntable 21; the positioning plate b is L-shaped; the robot arm 32 places the box on the turntable 23; the positioning plate b limits the positioning of the product, making the product positioning accurate; and when the rotation drive structure 22 drives the product to rotate for film coating, the product stability will be better, thereby helping to improve the production efficiency of the product.

[0032] It should be noted that the interaction between the vision device 4 and the control mechanism 6 is based on existing technology, so it is not described in detail here.

[0033] Referring again to Figure 3, in some other embodiments, the palletizer further includes a guardrail 7 surrounding the winding mechanism 2 and the robotic arm transmission mechanism 3. The installation of the guardrail 7 improves the safety of the product during use and avoids defects such as the product being unstable and pressing on the operator.

[0034] As can be seen from the above description, the palletizing machine of this utility model has a highly reasonable overall structural layout, optimizes the movement trajectory of the robot arm 32 and avoids the influence of the robot arm 32 on the position of the film covering. In addition, the cooperation of each structure realizes fully automated production, further improving the production efficiency of the product.

[0035] 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 this utility model. 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.

Claims

1. A palletizing machine, characterized in that, include: The system includes a transport track, a winding mechanism for winding products at one end of the transport track, a robotic arm transport mechanism suspended above the turntable of the transport track and the winding mechanism, an output wave plate on one side of the turntable, and a control mechanism that communicates with a vision device and respectively instructs the transport track, the robotic arm transport mechanism, and the winding mechanism to operate. The robotic arm transport mechanism includes: a support frame, the robotic arm, and X-axis drive modules, Y-axis drive modules, and Z-axis drive modules mounted on the upper end of the support frame to drive the robotic arm to move in the X-axis, Y-axis, and Z-axis directions respectively. The vision device is mounted on the X-axis drive module.

2. The palletizing machine as described in claim 1, characterized in that, The transmission track, the slide rail of the Y-axis drive module, and the output waveplate are all designed to be parallel to the Y-axis.

3. The palletizing machine as described in claim 1 or 2, characterized in that, The support frame includes: a plurality of support columns, a plurality of support horizontal plates that are fixed at both ends to the corresponding support columns and connected in a square shape, and a reinforcing plate; the Y-axis drive module is mounted on a set of the support horizontal plates arranged opposite to each other, and one end of the reinforcing plate is fixed to a support horizontal plate on which the Y-axis drive module is mounted, and the other end is fixed to the support column connected to the support horizontal plate.

4. The palletizing machine as described in claim 3, characterized in that, The Y-axis drive module includes: a set of slide rails mounted on a set of support plates along the Y-axis, and a Y-axis drive structure mounted beside one of the slide rails.

5. The palletizing machine as described in claim 3, characterized in that, The supporting horizontal plate, the reinforcing plate, and the supporting column form a triangle.

6. The palletizing machine as described in claim 1, characterized in that, The transmission track extends through the robotic arm transmission mechanism, and the product is driven in by the rollers.

7. The palletizing machine as described in claim 1, characterized in that, A positioning plate is protruding from the turntable.

8. The palletizing machine as described in claim 1, characterized in that, The winding mechanism includes: a turntable disposed between the transmission track and the output wave plate, and a rotation drive structure disposed beside the turntable to drive the turntable to rotate.

9. The palletizing machine as described in claim 1, characterized in that, The upper surface of the output wave plate is sloped.

10. The palletizing machine as described in claim 1, characterized in that, The palletizer also includes a guardrail surrounding the winding mechanism and the robotic arm transmission mechanism.

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