Double-station automatic stacking equipment

Abstract

The utility model relates to the technical field of stacking equipment, in particular to double-station automatic stacking equipment which comprises a robot base, a square roller conveyor and two placing table bases, a centering mechanism for pushing goods is arranged at the upper end of the square roller conveyor, the centering mechanism comprises two mounting plates, two air cylinders and two push plates, and the two mounting plates are connected with the two air cylinders. The two mounting plates are fixedly connected to the upper end of the square roller conveyor, the two air cylinders are fixedly connected to the upper ends of the two mounting plates respectively, the two push plates are fixedly connected to the outer surfaces of the two air cylinders respectively, the two push plates are slidably connected to the upper end of the square roller conveyor, and the two air cylinders are oppositely arranged. The output shafts of the square roller conveyors face the center of the robot base, in the goods conveying process, the output shafts of the two air cylinders stretch out to the center of the square roller conveyor to drive the two push plates to slide, the two push plates are attached to and extrude conveyed goods from the two sides, and it is guaranteed that the goods conveying and discharging positions are fixed.

Description

Technical Field

[0001] This utility model relates to the field of palletizing equipment technology, and in particular to a dual-station automatic palletizing equipment. Background Technology

[0002] In modern industrial production, especially in logistics, warehousing, and manufacturing, automated palletizing equipment plays a vital role, significantly improving the efficiency of goods handling and stacking while reducing manual labor intensity. Currently, dual-station automated palletizing equipment typically requires the following technologies in practical applications:

[0003] 1. A high-precision positioning system ensures that goods can be accurately placed in the designated location;

[0004] 2. Powerful gripping and handling mechanism, capable of reliably handling goods of various weights and shapes;

[0005] 3. An intelligent control system enables automated operation and coordinated actions of the equipment.

[0006] Currently, manufacturers employ various equipment and methods to achieve automated palletizing. Some manufacturers use robots to grip and move goods onto conveyor belts, which then transport the goods to collection bins for palletizing.

[0007] However, the above method has a prominent problem: the palletizing and conveying device lacks an effective centering mechanism. During the transportation of goods, due to foreign objects on the conveyor belt surface after long-term use and the accumulation of robot errors when placing goods, the goods are prone to deviation and skewing. This causes the goods to deviate from the predetermined transportation route, requiring the entire device to be shut down for manual maintenance. In addition, the staff need to make more safety preparations before entering the robotic arm operation area, which affects the efficiency of the handling work. Utility Model Content

[0008] To address the shortcomings of existing technologies, this utility model provides a dual-station automatic palletizing device. It solves the technical problems of palletizing and conveying devices lacking an effective centering mechanism, which can easily lead to deviations and skews in goods during transport due to foreign objects on the conveyor belt surface from prolonged use and the accumulation of robot errors during goods placement. This causes goods to deviate from the predetermined transport route, requiring the entire device to be shut down for manual maintenance. Furthermore, workers need to make extensive safety preparations before entering the robotic arm's operating area, thus affecting the efficiency of the handling work.

[0009] To achieve the above objectives, this utility model provides the following technical solution:

[0010] A dual-station automatic palletizing device includes a robot base, a square roller conveyor, and two placement platform bases. The upper end of the square roller conveyor is equipped with a centering mechanism for pushing goods. The centering mechanism includes two mounting plates, two cylinders, and two push plates. The two mounting plates are fixedly connected to the upper end of the square roller conveyor. The two cylinders are respectively fixedly connected to the upper ends of the two mounting plates. The two push plates are respectively fixedly connected to the outer surfaces of the two cylinders. The two push plates are slidably connected to the upper end of the square roller conveyor. Sliding structures supporting the centering mechanism are fixedly connected to the upper ends of the two mounting plates and the outer surfaces of the two push plates. The sliding mechanism includes two sets of round rods and two sets of support seats. The two sets of round rods are respectively fixedly connected to the ends of the two push plates that are far apart from each other.

[0011] Preferably, the two sets of support seats are fixedly connected to the upper ends of the two mounting plates, and the two sets of round rods are slidably connected inside the two sets of support seats.

[0012] Preferably, a load robot is provided at the upper end of the robot base, and a robot gripper is provided on the outer surface of the load robot.

[0013] Preferably, each of the two placement platform bases is provided with a set of lifting cross linkages at its upper end, and each of the two sets of lifting cross linkages is provided with a lifting sleeve platform at its upper end.

[0014] Preferably, springs are fitted onto the ends of the two lifting platforms and the two placement bases that are close to each other, and a set of lower limit blocks are fixedly connected to the upper ends of the two placement bases.

[0015] Preferably, both sets of lifting cross linkages and the two lifting sleeve platforms are internally connected to guide wheels, and both sets of guide wheels are internally rotatably connected to support plates.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. After the goods are placed on the upper end of the square roller conveyor, the conveyor starts to transport the goods to the end away from the robot base. Two cylinders are connected to the upper ends of the two mounting plates, placed opposite each other with their output shafts facing the center of the robot base. During the transport process, the output shafts of the two cylinders extend towards the center of the square roller conveyor, driving the two push plates to slide. The two push plates press against the transported goods from both sides, performing centering and calibration during transport to prevent the goods from shifting due to inertia, unstable conveyor belt speed, or other factors. This ensures the stability and accuracy of the transport, allowing the goods to be transported neatly and orderly, reducing transport jams or stops caused by incorrect goods positioning, thereby improving overall transport efficiency.

[0018] 2. When goods are placed on the surfaces of the two lifting platforms, the goods slide downwards against the platforms due to their own weight. As the platforms slide, they compress the lifting cross links, causing deformation and contraction. During this contraction, the springs are compressed, storing elastic potential energy. When the goods are removed from the lifting platforms, the weight decreases. As the pressure decreases, the compressed springs release some of their stored elastic potential energy, generating a spring force that lifts the lifting platforms upwards. This spring force pushes the intersection points of the lifting cross links away from each other, increasing the angle between them. As the angle increases, the height of the lifting cross links increases, thus achieving a reset and opening. As goods are continuously removed, the lifting platforms continuously slide upwards and reset, ensuring that the goods are always placed at the same height for retrieval. This reduces the additional adjustment actions required by the robot due to changes in goods height, thereby speeding up the retrieval process and improving overall work efficiency. Attached Figure Description

[0019] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 For the present utility model Figure 1 Enlarged view of point A in the middle;

[0022] Figure 3 For the present utility model Figure 1 Enlarged view of section B in the middle.

[0023] Legend: 11. Robot base; 12. Square roller conveyor; 13. Placement platform base; 14. Mounting plate; 15. Cylinder; 16. Push plate; 17. Round rod; 18. Support base; 19. Load robot; 21. Robot gripper; 22. Lifting cross linkage; 23. Lifting packaging platform; 24. Spring; 25. Lower limit block; 26. Guide wheel; 27. Support plate. Detailed Implementation

[0024] This application provides a dual-station automatic palletizing device that effectively solves the problem of palletizing conveyor devices lacking an effective centering mechanism. During cargo transport, issues such as foreign objects accumulating on the conveyor belt surface due to prolonged use and accumulated robot errors during cargo placement can easily lead to cargo shifting or tilting. This causes goods to deviate from the planned transport route, requiring manual maintenance and significant safety precautions for personnel entering the robotic arm's operating area, thus impacting the efficiency of the handling process. After the goods are placed on the upper end of a square roller conveyor, the conveyor starts to move the goods away from the machine. One end of the robot base is equipped with a conveyor, and two cylinders are connected to the upper ends of the two mounting plates. The two cylinders are placed opposite each other, and their output shafts are both facing the center of the robot base. During the transport of goods, the output shafts of the two cylinders extend to the center of the square roller conveyor, driving the two push plates to slide. The two push plates press against the transported goods from both sides, and perform centering and calibration during the transport process to prevent the goods from shifting due to inertia, unstable conveyor belt speed, or other factors. This ensures the stability and accuracy of the transport, allowing the goods to be transported neatly and orderly, reducing the congestion or stoppage caused by the incorrect position of the goods, thereby improving the overall transport efficiency.

[0025] Example

[0026] like Figure 1 , Figure 2 and Figure 3As shown, the technical solution in this application embodiment effectively solves the problem that the palletizing conveyor lacks an effective centering mechanism. During the transport of goods, due to prolonged use of the conveyor belt surface accumulating foreign objects and robot errors during placement, goods are prone to shifting or tilting, causing them to deviate from the predetermined transport route. This necessitates stopping the entire device for manual maintenance, and requires considerable safety precautions for personnel entering the robotic arm's operating area, thus affecting the efficiency of the handling work. The overall concept is as follows: A dual-station automatic palletizing device, including... The system comprises a robot base 11, a square roller conveyor 12, and two placement platform bases 13. After goods are placed on the upper end of the square roller conveyor 12, the conveyor 12 starts to transport the goods to the end away from the robot base 11. The upper end of the square roller conveyor 12 is equipped with a centering mechanism for pushing goods. This mechanism includes two mounting plates 14, two cylinders 15, and two push plates 16. The two mounting plates 14 are fixedly connected to the upper end of the square roller conveyor 12, the two cylinders 15 are respectively fixedly connected to the upper ends of the two mounting plates 14, and the two push plates 16 are respectively fixedly connected to... On the outer surfaces of the two cylinders 15, two push plates 16 are slidably connected to the upper ends of the square roller conveyor 12. Cylinders 15 are connected to the upper ends of the two mounting plates 14. The two cylinders 15 are placed opposite each other, with their output shafts facing the center of the robot base 11. During cargo transport, the output shafts of the two cylinders 15 extend towards the center of the square roller conveyor 12, driving the two push plates 16 to slide. The two push plates 16 press against the transported cargo from both sides, ensuring the cargo unloading position is fixed. Supports are fixedly connected to the upper ends of the two mounting plates 14 and the outer surfaces of the two push plates 16. The sliding structure of the mechanism includes two sets of round rods 17 and two sets of support seats 18. The two sets of round rods 17 are fixedly connected to the ends of the two push plates 16 that are far apart from each other. The two sets of support seats 18 are fixedly connected to the upper ends of the two mounting plates 14. The two sets of round rods 17 are slidably connected inside the two sets of support seats 18. The two push plates 16 slide to drive the two sets of round rods 17 to slide. The two sets of round rods 17 slide in the two sets of support seats 18. The two sets of support seats 18 limit the sliding trajectory of the round rods 17 and provide them with a more stable sliding effect, thereby improving the stability of the push plates 16 when sliding.

[0027] A load robot 19 is mounted on the upper part of the robot base 11. A robot gripper 21 is mounted on the outer surface of the load robot 19. During transport operations, the load robot 19 connected to the upper part of the robot base 11 is activated. While adjusting its own posture, the load robot 19 controls the opening and closing of the robot gripper 21, using it to pick up the goods. After picking up the goods, the load robot 19 adjusts its posture to move the robot gripper 21 to the correct position, placing the picked-up goods on the upper part of the square roller conveyor 12. A set of lifting and lowering mechanisms is mounted on the upper parts of both placement platform bases 13. The fork link 22 and the two sets of lifting cross links 22 are each equipped with a lifting platform 23 at their upper ends. The goods to be stacked are placed on the upper ends of the two lifting platforms 23. The square roller conveyor 12 contains a control box, which includes a PLC (controllable logic editor) and a position sensor for detecting the goods. When the control sensor detects that the position of the goods and the two push plates 16 are at the same horizontal line, the PLC sends a signal to control the square roller conveyor 12 to start the two cylinders 15 to extend and push the goods. The goods are then transported by the square roller conveyor 12 to the end away from the robot base 11 to automatically complete the stacking work.

[0028] Springs 24 are fitted onto the near ends of the two lifting platforms 23 and the two placement bases 13. The two lifting platforms 23 are slidably connected to the upper ends of the two placement bases 13. When goods are placed on the surfaces of the two lifting platforms 23, the goods slide downwards against the lifting platforms 23 due to their own weight. As the lifting platforms 23 slide, they compress the lifting cross linkages 22, causing deformation and contraction. During the contraction process, the springs 24 are compressed, storing elastic potential energy. When the goods on the lifting platforms 23 are removed, the weight decreases. When the pressure decreases, the compressed springs 24 release some of their stored elastic potential energy, generating elastic force that lifts the lifting platforms 23 upwards. This elastic force pushes the intersection points of the lifting cross linkages 22 away from each other, increasing the angle between the lifting cross linkages 22. As the angle increases, the height of the lifting cross linkages 22 increases, thus achieving a reset and opening. As goods are continuously removed, the lifting platforms 23 continuously... The upward sliding reset ensures that the goods are always placed at the same height for retrieval. A set of lower limit blocks 25 are fixedly connected to the upper ends of both placement platform bases 13. Guide wheels 26 are sleeved inside both sets of lifting cross links 22 and both lifting sleeve platforms 23. Support plates 27 are rotatably connected inside both sets of guide wheels 26. When the lifting cross links 22 deform for lifting operations, when the lifting cross links 22 retract to their lowest point, their lower surface will adhere to the lower limit blocks 25, thus limiting their minimum descent height. Guide wheels 26 are installed inside both the lifting sleeve platforms 23 and the lifting cross links 22, and support plates 27 are rotatably connected to the outside of both guide wheels 26. When the lifting sleeve platforms 23 slide up and down for position adjustment, the support plates 27 at both ends are pushed to rotate and adjust the placement posture. The support plates 27 at both ends support the lifting sleeve platforms 23 and the lifting cross links 22, ensuring their operational stability.

[0029] To address the problems existing in the prior art, this utility model provides a dual-station automatic palletizing device. After the goods are placed on the upper end of the square roller conveyor 12, the square roller conveyor 12 starts to transport the goods to the end away from the robot base 11. The upper ends of the two mounting plates 14 are each connected to a cylinder 15. The two cylinders 15 are placed opposite each other, and their output shafts are both facing the center of the robot base 11. During the transport of goods, the output shafts of the two cylinders 15 extend to the center of the square roller conveyor 12, driving the two push plates 16 to slide. The two push plates 16 press and squeeze the transported goods from both sides, performing centering and calibration during the transport of goods, avoiding the goods from shifting due to inertia, unstable conveyor belt speed or other factors, ensuring the stability and accuracy of the transport, enabling the goods to be transported neatly and orderly, reducing the conveying jams or stops caused by the incorrect position of the goods, thereby improving the overall transport efficiency.

[0030] Working principle:

[0031] The first step involves placing the goods to be palletized on the upper end of the two lifting and packaging platforms 23. At this time, the load robot 19 connected to the upper end of the robot base 11 is activated. While adjusting its own posture, the load robot 19 controls the robot gripper 21 to open and close, gripping the goods through the robot gripper 21. After gripping, the load robot 19 adjusts its own posture to move the robot gripper 21 to adjust its position, placing the gripped goods on the upper end of the square roller conveyor 12. The square roller conveyor 12 contains a control box, which includes a PLC (Personal Controlled Logic Controller) and a position sensor for detecting the goods. When the control sensor detects that the position of the goods and the two push plates 16 are at the same horizontal line, the PLC sends a signal to control the square roller conveyor 12 to activate the two cylinders 15 to extend and push the goods. The goods are then transported by the square roller conveyor 12 to the end away from the robot base 11 to automatically complete the palletizing work.

[0032] In the second step, after the goods are placed on the upper end of the square roller conveyor 12, the square roller conveyor 12 starts to transport the goods to the end away from the robot base 11. Two cylinders 15 are connected to the upper ends of the two mounting plates 14, and the two cylinders 15 are placed opposite each other, with their output shafts facing the center of the robot base 11. During the transport of goods, the output shafts of the two cylinders 15 extend towards the center of the square roller conveyor 12, driving the two push plates 16 to slide. The two push plates 16 press against the transported goods from both sides, ensuring the fixed position of the goods during transport. The sliding of the two push plates 16 drives the two sets of round rods 17 to slide. The two sets of round rods 17 slide in two sets of support seats 18, which restrict the movement of the round rods 17. The sliding trajectory is designed to provide a more stable sliding effect and improve the stability of the push plate 16 during sliding. When the goods are placed on the surfaces of the two lifting platforms 23, the goods slide downwards by their own weight, pressing the lifting platforms 23. During the sliding of the lifting platforms 23, the lifting cross linkage 22 is compressed, causing deformation and contraction. During this contraction, the spring 24 is compressed, storing elastic potential energy. When the goods on the lifting platforms 23 are removed, the weight decreases. When the pressure decreases, the compressed spring 24 releases some of its stored elastic potential energy, generating elastic force that pushes the lifting platforms 23 upwards. This elastic force pushes the intersection points of the lifting cross linkage 22 away from each other, increasing the angle between the lifting cross linkages 22. As the angle increases, the height of the lifting cross link 22 increases, thereby achieving a reset opening. As goods are continuously retrieved, the lifting platform 23 continuously slides upwards to reset, ensuring that goods are always placed at the same height for retrieval. (The placement platform base 13, the lifting cross link 22, and the lifting platform 23 constitute a scissor lift. External pressure acts on the lifting platform 23. The lifting cross link 22 consists of multiple links connected in an X-shape. One of the X-shaped links at the top and bottom is rotatably connected, while the other can be slidably adjusted within the placement platform base 13 or the lifting platform 23. This pressure causes the intersection points of the lifting cross link 22 to approach each other, resulting in the clamping action between the scissor arms.) As the angle decreases, the overall height of the scissor lift structure decreases, achieving retraction. When the lifting cross link 22 deforms for lifting operations, its lower surface will adhere to the lower limit block 25 when it retracts to its lowest point. The lower limit block 25 limits its minimum descent height. Both the lifting platform 23 and the lifting cross link 22 are equipped with guide wheels 26, and each guide wheel 26 is rotatably connected to a support plate 27. When the lifting platform 23 slides up and down to adjust its position, it pushes the support plates 27 at both ends to rotate and adjust the placement posture. The support plates 27 at both ends support the lifting platform 23 and the lifting cross link 22, ensuring their operational stability.

[0033] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention 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. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A dual-station automatic palletizing device, comprising a robot base (11), a square roller conveyor (12), and two placement platform bases (13), characterized in that, The upper end of the square roller conveyor (12) is provided with a centering mechanism for pushing goods. The centering mechanism includes two mounting plates (14), two cylinders (15) and two push plates (16). The two mounting plates (14) are fixedly connected to the upper end of the square roller conveyor (12). The two cylinders (15) are respectively fixedly connected to the upper end of the two mounting plates (14). The two push plates (16) are respectively fixedly connected to the outer surface of the two cylinders (15). The two push plates (16) are slidably connected to the upper end of the square roller conveyor (12). The upper end of the two mounting plates (14) and the outer surface of the two push plates (16) are all fixedly connected with a sliding structure supporting the centering mechanism. The sliding mechanism includes two sets of round rods (17) and two sets of support seats (18). The two sets of round rods (17) are respectively fixedly connected to the ends of the two push plates (16) that are far apart from each other.

2. The dual-station automatic palletizing equipment as described in claim 1, characterized in that, The two sets of support bases (18) are respectively fixedly connected to the upper ends of the two mounting plates (14); The two sets of round rods (17) are slidably connected inside the two sets of support seats (18).

3. The dual-station automatic palletizing equipment as described in claim 2, characterized in that, A load robot (19) is provided at the upper end of the robot base (11). The outer surface of the load robot (19) is provided with a robot gripper (21).

4. The dual-station automatic palletizing equipment as described in claim 3, characterized in that, A set of lifting cross linkages (22) is provided at the upper end of both of the two placement platform bases (13); Among them, the upper ends of the two sets of lifting cross links (22) are provided with lifting sleeve platforms (23).

5. A dual-station automatic palletizing equipment as described in claim 4, characterized in that, Springs (24) are fitted onto the ends of the two lifting sleeve platforms (23) and the two placement bases (13) that are close to each other. The two lifting sleeve platforms (23) are slidably connected to the upper ends of the two placement bases (13); Each of the two placement platform bases (13) has a set of lower limit blocks (25) fixedly connected to its upper end.

6. The dual-station automatic palletizing equipment as described in claim 5, characterized in that, The two sets of lifting cross linkages (22) and the two lifting sleeve platforms (23) are all fitted with guide wheels (26). Both sets of guide wheels (26) are rotatably connected to support plates (27).

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