Stacking car loader

Abstract

The utility model discloses a stacking car loader which comprises a guide rail, a machine body, a first conveying belt, a five-flower stacking device and a rotary mechanical arm. The guide rail is mounted above a plant; the machine body comprises a walking frame, a movable frame and a first driving unit, the movable frame is connected below the walking frame through the first driving unit, and the first driving unit is used for driving the movable frame to ascend and descend relative to the walking frame; the first conveying belt is installed on the machine body and used for conveying materials at the feeding position to the material receiving position. The five-flower stacking device is installed on the machine body and used for carrying out five-flower stacking on materials at the discharging position. The rotating mechanical arm is installed on the machine body and comprises a rotating mechanism and two material taking mechanical arms, and when one material taking mechanical arm grabs the materials in the material receiving position to the discharging position, the other material taking mechanical arm moves from the discharging position to the material receiving position to take the materials. According to the technical scheme, the stacking efficiency and the stacking accuracy can be improved, and the stacking device is suitable for carrying out five-flower stacking on transport vehicles with different heights.

Description

Technical Field

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

[0002] In modern logistics and industrial production, palletizing and loading goods is a crucial link connecting the production and transportation ends, and its level of automation directly affects supply chain efficiency. Five-layer palletizing, a type of stacking with alternating layers (such as the first layer arranged horizontally and the second layer overlapping vertically), is widely used in industries such as building materials, food, and chemicals because it reduces the risk of collapse caused by transportation vibrations, significantly improves the stability of the palletizing structure, and enhances space utilization. (For example, bagged cement needs to be stacked using five-layer palletizing to withstand long-distance bumps, and bagged flour needs to avoid damage to the packaging bags caused by slippage between layers.)

[0003] Traditional equipment often uses a single robotic arm to perform a single cycle of "picking up materials → handling → stacking". When the conveyor belt transports materials to the receiving position, the robotic arm is idle and needs to wait for the previous stack to be completed before picking up the next material. Especially in multi-station collaborative scenarios, this can easily create process bottlenecks and result in low loading efficiency.

[0004] Five-layer stacking requires materials to be staggered at 90° between layers, and precise control of the stacking position is needed to avoid misalignment between layers. Existing equipment's robotic arms are mostly single-gripper structures, which require multiple adjustments to their posture after grasping the materials to complete the staggered stacking, which is time-consuming;

[0005] Furthermore, when the truck bed is high, the materials fall into the bed in a free-fall manner. Due to the large drop at the bottom of the bed, the bagged products will generate a lot of dust when they fall into the bed, and the bagged products are easy to shift, resulting in uneven packing.

[0006] To address the aforementioned issues, while existing technologies have attempted to increase the number of robotic arms or add auxiliary positioning devices, these methods suffer from drawbacks such as complex structures, cumbersome control logic, or limited applicability. Therefore, there is an urgent need for a palletizing and loading device capable of synchronous material handling at two workstations, high-precision adaptation to varied palletizing trajectories, and effective control of unloading impacts. Utility Model Content

[0007] The main purpose of this utility model is to propose a palletizing and loading machine, which aims to improve palletizing efficiency and accuracy, and to adapt to palletizing of transport vehicles of different heights.

[0008] To achieve the above objectives, the palletizing and loading machine proposed in this utility model includes a horizontal conveying device and an inclined conveying device, and further includes:

[0009] Guide rails are installed above the factory building, and a vehicle passage for transport vehicles is formed below the guide rails;

[0010] The machine body is provided with a loading position, a receiving position and a unloading position arranged sequentially along the material conveying path. The machine body includes a traveling frame, a movable frame and a first drive unit. The traveling frame is slidably mounted on the guide rail. The movable frame is connected to the lower part of the traveling frame through the first drive unit. The first drive unit is used to drive the movable frame to lift and lower relative to the traveling frame.

[0011] The first conveyor belt is installed on the machine body and is used to transport the material at the loading position to the receiving position. The two ends of the inclined conveyor are connected to the horizontal conveyor and the first conveyor belt respectively. The horizontal conveyor is also connected to the production line and is used to transport the material bag of the production line to the inclined conveyor. The inclined conveyor is inclined downward in the direction from the horizontal conveyor to the first conveyor belt.

[0012] A five-petal stacking device is installed on the machine body and is used to stack the materials at the unloading position in a five-petal fashion.

[0013] A rotary robotic arm, mounted on the machine body, includes a rotary mechanism and two material-picking robotic arms. The two material-picking robotic arms are mounted on the rotary mechanism and are arranged at an angle, both extending horizontally. The rotary mechanism drives the two material-picking robotic arms to rotate synchronously around the rotation center of the rotary mechanism, so that while one material-picking robotic arm picks up the material from the receiving position to the unloading position, the other material-picking robotic arm moves from the unloading position to the receiving position to pick up the material.

[0014] Optionally, the material handling robot includes a material handling main frame, a material handling drive mechanism, and two grippers. The material handling main frame is mounted on the rotating mechanism, and the two grippers are rotatably mounted on both sides of the material handling main frame. The material handling drive mechanism is used to drive the two grippers to rotate to clamp or release materials.

[0015] Optionally, the material handling drive mechanism includes a material handling drive component, a single material handling slider, and two sets of material handling crank connecting rods. The single material handling slider is slidably mounted on the main material handling frame. The two sets of material handling crank connecting rods are spaced apart on both sides of the single material handling slider, each corresponding to one of the gripping plates. The crank and connecting rod of each set of material handling crank connecting rods are hinged. The crank is connected to the gripping plate, and the connecting rod is connected to the single material handling slider. The material handling drive component is mounted on the main material handling frame and is used to drive the single material handling slider to slide up and down. When the single material handling slider slides up and down, the two sets of material handling crank connecting rods drive the two gripping plates to rotate synchronously to clamp or release the material.

[0016] Optionally, the two robotic arms are perpendicular to each other.

[0017] Optionally, the five-petal palletizing device includes a palletizing gate, a mounting frame, a lifting bracket, and a second drive unit. The mounting frame is slidably mounted on the movable frame, and the sliding direction of the mounting frame is perpendicular to the sliding direction of the moving frame on the horizontal plane. The lifting bracket is slidably mounted on the mounting frame via the second drive unit. The palletizing gate is rotatably mounted on the lower end of the lifting bracket, and the rotation axis of the palletizing gate extends vertically. The second drive unit is used to drive the lifting bracket to move up and down relative to the mounting frame in the vertical direction, thereby driving the palletizing gate to move up and down.

[0018] Optionally, the second drive unit includes a lifting motor, a lifting gear, and a lifting rack. The lifting motor is mounted on the mounting frame and its output shaft is connected to the lifting gear. The lifting rack is vertically fixed to the lifting bracket and meshes with the lifting gear, so that the lifting motor drives the lifting gear to rotate, thereby causing the lifting bracket to move up and down in the vertical direction.

[0019] Optionally, the lifting bracket includes at least two second guide columns extending in a vertical direction, and a connecting plate connected to the lower ends of the two second guide columns. The mounting bracket is provided with a plurality of second guide sleeves corresponding to the second guide columns, and each second guide sleeve is slidably sleeved on the second guide column. The stacking gate is rotatably installed at the lower end of the connecting plate.

[0020] Optionally, the number of the five-petaled palletizing devices is two, and the two five-petaled palletizing devices are installed on the movable frame via the same palletizing track. Each five-petaled palletizing device corresponds to one material handling robot.

[0021] Optionally, the top of the movable frame is provided with a plurality of first guide posts extending in a vertical direction, and the traveling frame is provided with a plurality of first guide sleeves corresponding to the first guide posts. Each first guide sleeve is slidably sleeved on the first guide post to form a guide structure for the lifting and lowering of the movable frame.

[0022] Optionally, the first drive unit includes an electric hoist, which is mounted on the traveling frame and its traction end is connected to the movable frame to drive the movable frame to lift and lower.

[0023] This utility model's technical solution utilizes space efficiently by installing guide rails above the factory building, creating a vehicle passage below, without obstructing the entry and exit of transport vehicles and ensuring smooth traffic flow in the work area. The machine body slides along the guide rails via a walking frame, and the movable frame rises and falls under the action of the first drive unit, allowing for flexible adjustment of position and height to adapt to different specifications of transport vehicles and palletizing height requirements, reducing operational delays caused by equipment compatibility issues. The first conveyor belt enables continuous material transport from the loading position to the receiving position, ensuring the continuity of material flow. The five-petal palletizing device can stably stack materials at the unloading position, improving palletizing quality and transportation safety. The two picking manipulators of the rotating robotic arm are set horizontally at an angle and rotate synchronously under the drive of the rotating mechanism. While one manipulator grabs material from the receiving position to the unloading position, the other manipulator moves from the unloading position to the receiving position to pick up material, achieving synchronous picking and unloading actions, significantly improving palletizing and loading efficiency, reducing waiting time, shortening the operation cycle, and improving production efficiency and logistics turnover speed. The components work together to create an automated, efficient, and flexible palletizing and loading process. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of an embodiment of the palletizing and loading machine of this utility model;

[0026] Figure 2 for Figure 1 Structural diagram of the central traveling frame and the movable frame;

[0027] Figure 3 for Figure 2 Schematic diagram of the structure of the middle body;

[0028] Figure 4 for Figure 2 A schematic diagram of the structure of the rotating robotic arm, the first conveyor belt, and the five-petal stacking device;

[0029] Figure 5 for Figure 4 A schematic diagram of the structure of the rotating robotic arm, the second conveyor belt, and the five-petal stacking device;

[0030] Figure 6 for Figure 5 A schematic diagram of the structure of the five-petal palletizing device;

[0031] Figure 7 for Figure 6 A structural schematic diagram of the five-flower palletizing device from another perspective;

[0032] Figure 8 for Figure 7 Schematic diagram of the structure of the middle stacking gate;

[0033] Figure 9 for Figure 8 A structural schematic diagram of the central palletizing gate from another perspective;

[0034] Figure 10 for Figure 4 A schematic diagram of the structure of a rotating robotic arm;

[0035] Figure 11 for Figure 10 A structural schematic diagram of a rotating robotic arm from another perspective;

[0036] Figure 12 for Figure 11 A schematic diagram of the structure of the material handling robot;

[0037] Figure 13 for Figure 12 A schematic diagram of the structure after the middle gripper plate rotates;

[0038] Figure 14 for Figure 12 A schematic diagram of the material handling robot and its material handling drive mechanism;

[0039] Figure 15 for Figure 14 A structural schematic diagram of the material handling robot from another perspective.

[0040] Reference numerals: 100, Rotary robotic arm; 110, Rotating mechanism; 120, Picking robot; 121, Picking main frame; 122, Picking drive mechanism; 1221, Picking drive component; 1222, Picking single slider; 1223, Picking crank connecting rod; 1224, Picking lead screw; 1225, Picking guide post; 123, Gripper plate; 200, First conveyor belt; 300, Five-petal stacking device; 310, Stacking gate; 311, Gate main frame; 312, Gate drive mechanism; 3121, Gate drive component; 3122, Gate single slider; 3123, Gate crank connecting rod; 3124, Gate lead screw; 3125, Gate guide post 313. Hinge; 320. Mounting bracket; 330. Lifting bracket; 331. Second guide column; 332. Connecting plate; 340. Second drive unit; 341. Lifting motor; 342. Lifting gear; 343. Lifting rack; 350. Third drive unit; 351. Translation motor; 352. Translation gear; 353. Translation rack; 360. Rotary motor; 400. Machine body; 410. Walking frame; 411. First guide sleeve; 420. Movable frame; 421. First guide column; 430. First drive unit; 431. Electric hoist; 510. Horizontal conveying device; 520. Inclined conveying device; 600. Second conveyor belt;

[0041] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0042] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0043] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0044] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text is to include three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0045] This utility model proposes a palletizing and loading machine.

[0046] In the embodiments of this utility model, such as Figures 1 to 15 As shown, the palletizing and loading machine includes a horizontal conveyor 510, an inclined conveyor 520, a guide rail, a machine body 400, a first conveyor belt 200, a five-petal palletizing device 300, and a rotating robotic arm 100. The guide rail is installed above the factory building, and a vehicle passage for transport vehicles is formed below the guide rail. The machine body 400 has loading positions, receiving positions, and unloading positions arranged sequentially along the material conveying path. The machine body 400 includes a traveling frame 410, a movable frame 420, and a first drive unit 430. The traveling frame 410 is slidably installed on the guide rail, and the movable frame 420 is connected to the underside of the traveling frame 410 through the first drive unit 430, which is used to drive the movable frame 420 to rise and fall relative to the traveling frame 410. The first conveyor belt 200 is installed on the machine body 400 and is used to convey the material at the loading position to the receiving position. The two ends of the inclined conveyor 520 correspond to the horizontal conveyor 510 and the first conveyor belt 200. The horizontal conveyor 510 is also connected to the production line to transport the material bags from the production line to the inclined conveyor 520. The inclined conveyor 520 is inclined downwards from the horizontal conveyor 510 in the direction pointing towards the first conveyor belt 200. The five-petal stacking device 300 is installed on the machine body 400 to stack the material at the unloading position. The rotating robotic arm 100 is installed on the machine body 400 and includes a rotating mechanism 110 and two picking robotic arms 120. The two picking robotic arms 120 are installed on the rotating mechanism 110 and are set at an angle and both extend horizontally. The rotating mechanism 110 drives the two picking robotic arms 120 to rotate synchronously around the rotation center of the rotating mechanism 110, so that while one picking robotic arm 120 grabs the material in the receiving position to the unloading position, the other picking robotic arm 120 moves from the unloading position to the receiving position to pick up the material.

[0047] Specifically, during palletizing and loading, the transport vehicle enters the vehicle channel below the guide rail, and the material is placed at the loading position of the machine body 400. The first conveyor belt 200 transports the material from upstream to the loading position, and then transports the material to the receiving position along the transmission path. At this time, the rotating mechanism 110 drives two picking manipulators 120, which are set at an angle and extend horizontally, to rotate synchronously around the rotation center. One picking manipulator 120 grabs the material from the receiving position, while the other picking manipulator 120 moves to the receiving position to wait for the material. The manipulator grabbing the material moves the material to the unloading position with the rotation mechanism 110. The first drive unit 430 drives the movable frame 420 to rise and fall relative to the walking frame 410 to adjust the height of the unloading position so that the material is accurately placed at the unloading position. The five-petal palletizing device 300 performs five-petal palletizing on the material at the unloading position. At the same time, the walking frame 410 can slide along the guide rail, driving the machine body 400 to move as a whole to adjust the palletizing position, thereby realizing the palletizing and loading operation of the transport vehicle.

[0048] This utility model's technical solution utilizes space efficiently by installing guide rails above the factory building, creating a vehicle passage below, without obstructing the entry and exit of transport vehicles and ensuring smooth traffic flow in the work area. The machine body 400 slides along the guide rails via a traveling frame 410, and the movable frame 420 rises and falls under the action of the first drive unit 430, allowing for flexible adjustment of position and height to accommodate different specifications of transport vehicles and palletizing height requirements, reducing operational delays caused by equipment compatibility issues. The first conveyor belt 200 enables continuous material transport from the upper material position to the receiving position, ensuring smooth material flow. Continuity: The five-petal palletizing device 300 can stably stack materials at the unloading position, improving palletizing quality and transportation safety. The two picking robots 120 of the rotating robotic arm 100 are set horizontally at an included angle and rotate synchronously under the drive of the rotating mechanism 110. While one robot grabs the material at the receiving position to the unloading position, the other robot moves from the unloading position to the receiving position to pick up the material, realizing the synchronous operation of picking and unloading, greatly improving palletizing and loading efficiency, reducing waiting time, shortening the operation cycle, and improving production efficiency and logistics turnover speed. The coordinated operation of all components creates an automated, efficient, and flexible palletizing and loading process.

[0049] In some embodiments, the material handling robot 120 includes a material handling main frame 121, a material handling drive mechanism 122, and two grippers 123. The material handling main frame 121 is mounted on the rotating mechanism 110, and the two grippers 123 are rotatably mounted on both sides of the material handling main frame 121. The material handling drive mechanism 122 is used to drive the two grippers 123 to rotate to clamp or release materials.

[0050] Specifically, the two gripping plates 123 open and close by rotation, and can automatically adjust the clamping angle according to the material size. Compared with the linear translation gripping plate 123 structure, it can be compatible with materials of various shapes and sizes, and can adapt to different products without changing the hardware. Moreover, the symmetrical drive design ensures that the gripping plates 123 on both sides move synchronously, avoiding material tilting or falling, and improving gripping reliability.

[0051] In some embodiments, the material handling drive mechanism 122 includes a material handling drive component 1221, a material handling single slider 1222, and two sets of material handling crank connecting rods 1223. The material handling single slider 1222 is slidably mounted on the material handling main frame 121. The two sets of material handling crank connecting rods 1223 are spaced apart on both sides of the material handling single slider 1222, each corresponding to a gripper plate 123. The crank and connecting rod of each set of material handling crank connecting rods 1223 are hinged. The crank is connected to the gripper plate 123, and the connecting rod is connected to the material handling single slider 1222. The material handling drive component 1221 is mounted on the material handling main frame 121 and is used to drive the material handling single slider 1222 to slide up and down. When the material handling single slider 1222 slides up and down, the two sets of material handling crank connecting rods 1223 drive the two gripper plates 123 to rotate synchronously to clamp or release the material.

[0052] Specifically, by simultaneously driving two sets of crank connecting rods with a single slider, the rotation angle and speed of the two grippers 123 can be ensured to be completely consistent, avoiding material tilting or uneven force on one side due to asynchronous driving, and significantly improving the stability of the clamping process. Moreover, only one material handling drive unit 1221 is needed to control the opening and closing of the two grippers 123. Compared with the scheme of independent control by dual drive units, it can significantly reduce the number of parts, wiring complexity and installation space, and is especially suitable for the compact layout of the rotary robotic arm 100.

[0053] In some embodiments, the two robotic arms 120 are perpendicular to each other. Specifically, when the left robotic arm picks up material at the receiving position along the X-axis, the right vertical robotic arm can simultaneously place material at the material position along the Y-axis. The two do not obstruct each other in space, avoiding the risk of interference caused by overlapping motion trajectories.

[0054] In some embodiments, the five-petal palletizing device 300 includes a palletizing gate 310, a mounting frame 320, a lifting bracket 330, and a second drive unit 340. The mounting frame 320 is slidably mounted on the movable frame 420, and the sliding direction of the mounting frame 320 is perpendicular to the sliding direction of the walking frame 410 on the horizontal plane. The lifting bracket 330 is slidably mounted on the mounting frame 320 via the second drive unit 340. The palletizing gate 310 is rotatably mounted on the lower end of the lifting bracket 330, and the rotation axis of the palletizing gate 310 extends vertically. The second drive unit 340 is used to drive the lifting bracket 330 to move up and down relative to the mounting frame 320 in the vertical direction, thereby driving the palletizing gate 310 to move up and down.

[0055] Specifically, the horizontal sliding of the traveling frame 410 and the mounting frame 320, combined with the vertical movement of the movable frame 420 and the palletizing gate 310, forms a precise X / Y / Z three-axis positioning system, capable of covering any coordinate point within the carriage. Simultaneously, the horizontal rotation of the palletizing gate 310 allows for adjustment of the material placement angle, perfectly adapting to the angle switching requirements of multi-layered cross-stacking in multi-layered palletizing (such as the first layer being horizontal and the second layer being vertical), ensuring strict alignment of the material direction in each layer and improving palletizing stability.

[0056] In some embodiments, the second drive unit 340 includes a lifting motor 341, a lifting gear 342, and a lifting rack 343. The lifting motor 341 is mounted on the mounting bracket 320 and its output shaft is connected to the lifting gear 342. The lifting rack 343 is vertically fixed to the lifting bracket 330 and meshes with the lifting gear 342 so that the lifting motor 341 drives the lifting gear 342 to rotate, thereby driving the lifting bracket 330 to rise and fall in the vertical direction.

[0057] Specifically, rack and pinion drives are rigid meshing transmissions with a constant transmission ratio and no slippage. This enables high-precision vertical lifting and lowering of the 310mm palletizing gate, ensuring accurate positioning of materials at different heights. Compared to flexible transmissions such as wire ropes and chains, rack and pinion drives offer stronger vibration and impact resistance, making them particularly suitable for frequent starts and stops and heavy-load scenarios. They prevent gate swaying caused by transmission gaps or elastic deformation, ensuring stability during material support and release. Furthermore, the rack and pinion system converts rotational motion into linear motion, resulting in high transmission efficiency and low energy loss. Combined with servo motors or variable frequency motors, stepless adjustment of lifting speed and precise position feedback control can be achieved, adapting to different material weights and palletizing rhythms and further improving loading efficiency.

[0058] In some embodiments, the lifting bracket 330 includes at least two second guide posts 331 extending in a vertical direction, and a connecting plate 332 connected to the lower end of the two second guide posts 331. The mounting bracket 320 is provided with a plurality of second guide sleeves corresponding to the second guide posts 331. Each second guide sleeve is slidably sleeved on the second guide post 331. The stacking gate 310 is rotatably mounted on the lower end of the connecting plate 332.

[0059] Specifically, the second guide post 331 extends vertically and slides in cooperation with the second guide sleeve, providing rigid guiding constraints for the lifting and lowering movement of the palletizing gate 310, ensuring that it moves strictly along the vertical trajectory, avoiding tilting or swaying caused by lateral forces, thereby avoiding the risk of material misplacement or tipping due to gate tilt, and further improving the palletizing accuracy.

[0060] In some embodiments, there are two five-petal palletizing devices 300, which are installed on the movable frame 420 via the same palletizing track, and each five-petal palletizing device 300 corresponds to a material handling robot 120.

[0061] Specifically, the two palletizing devices 300 can slide independently along a track, cooperating with the corresponding picking robot 120 to achieve synchronous palletizing in two zones. When one palletizing device 300 is adjusting its posture by lifting or rotating, the other device can continue operating. By overlapping time, non-productive time is eliminated, greatly improving palletizing efficiency. Furthermore, the two palletizing devices 300 are mounted on the movable frame 420 via the same track, saving installation space and reducing frame weight and manufacturing costs compared to independent track solutions. Further, the palletizing and loading machine also includes two second conveyor belts 600, mounted on the machine body 400 and located at the unloading position. Each second conveyor belt 600 corresponds to one picking robot 120 and one palletizing device 300, used to transport materials moved to the unloading position by the picking robot 120 to the palletizing device 300.

[0062] Specifically, the two second conveyor belts 600 can operate simultaneously, each corresponding to a different picking robot 120 and a palletizing device 300, forming two independent material handling lines. When the robotic arm directly transports materials to the palletizing device 300, the picking robot 120 needs to wait for the palletizing device 300 to complete palletizing and return to its initial position before it can transport the materials to the palletizing device 300 and continue its operation. However, the second conveyor belts 600 allow the picking robot 120 to transport materials directly to the second conveyor belt 600 without waiting for the palletizing device 300 to complete its cycle, thus improving the palletizing efficiency of the palletizing and loading machine.

[0063] In some embodiments, there is one five-petal palletizing device 300 and two second conveyor belts 600. The two second conveyor belts 600 alternately feed material to the five-petal palletizing device 300. After the five-petal palletizing device 300 finishes palletizing the material on one of the second conveyor belts 600, it moves to the other second conveyor belt 600 to receive and palletize the material. In this way, when the palletizing speed requirement is not high, the overall cost of the palletizing and loading machine can be reduced compared to setting two five-petal palletizing devices 300.

[0064] In some embodiments, the top of the movable frame 420 is provided with a plurality of first guide posts 421 extending in a vertical direction, and the walking frame 410 is provided with a plurality of first guide sleeves 411 corresponding to the first guide posts 421. Each first guide sleeve 411 is slidably sleeved on the first guide post 421 to form a guide structure for the lifting and lowering of the movable frame 420.

[0065] Specifically, the movable frame 420 achieves vertical lifting and lowering through the first drive unit 430, and the sliding cooperation between the guide column and the guide sleeve provides it with strict vertical guidance. Through the rigid connection between the guide sleeve and the walking frame 410, it can effectively constrain the lateral offset or rotational sway that the movable frame 420 may produce during the lifting and lowering process, ensure the positioning accuracy of the five-flower stacking device 300, and avoid the material placement position offset caused by the tilt of the movable frame 420.

[0066] In some embodiments, the first drive unit 430 includes an electric hoist 431, which is mounted on the walking frame 410. The traction end of the electric hoist 431 is connected to the movable frame 420 to drive the movable frame 420 to lift and lower.

[0067] Specifically, the movable frame 420 of the palletizing and loading machine needs to bear the static weight of the palletizing device 300, as well as the dynamic load of materials. The rated lifting capacity of the electric hoist 431 can easily cover such load requirements. At the same time, its lifting speed is significantly higher than that of traditional hydraulic cylinders or screw drives, which can quickly complete a wide range of height adjustments of the movable frame 420. Moreover, the main body of the electric hoist 431 can be directly mounted on the top or side of the traveling frame 410 without occupying additional space under the traveling frame 410, leaving more room for the lifting stroke of the movable frame 420.

[0068] In some embodiments, the palletizing gate 310 includes a gate main frame 311, a gate drive mechanism 312, and two hinges 313. The gate main frame 311 is rotatably mounted on the lower end of the lifting bracket 330, and the two hinges 313 are hinged to the gate main frame 311. The gate drive mechanism 312 drives the two hinges 313 to rotate synchronously to form a closed state for supporting materials or an open state for releasing materials. Specifically, when the two hinges 313 are in the closed state, they together form a flat supporting surface, which can stably support materials conveyed from the conveying device. Whether it's a regularly shaped box, bagged goods, or irregularly shaped item, everything remains stable on this support surface, reducing the risk of shaking, slipping, or tipping during the receiving process and ensuring the safe reception of materials by the palletizing gate 310. Furthermore, the gate drive mechanism 312 can drive the two hinges 313 to rotate synchronously, achieving rapid opening and accurately releasing the material to the designated palletizing position. During palletizing, this rapid-response release action reduces the time the material spends in the air, improving palletizing efficiency. Simultaneously, by precisely controlling the opening angle and speed of the hinges 313, it ensures that the material falls along a predetermined trajectory, achieving accurate placement and guaranteeing the neatness and stability of the palletizing.

[0069] In some embodiments, the gate drive mechanism 312 includes a gate drive component 3121, a gate single slider 3122, and two sets of gate crank connecting rods 3123. The gate single slider 3122 is slidably mounted on the gate main frame 311. The two sets of gate crank connecting rods 3123 are spaced apart on both sides of the gate single slider 3122, each corresponding to an opening / closing hinge 313. The crank and connecting rod of each set are hinged, with the crank connected to the opening / closing hinge 313 and the connecting rod connected to the gate single slider 3122. The gate drive component 3121 is mounted on the gate main frame 311 and is used to drive the gate single slider 3122 to slide up and down. When the gate single slider 3122 slides up and down, the two sets of gate crank connecting rods 3123 respectively drive the opening / closing hinge 313 to rotate. Specifically, the two sets of gate crank connecting rods 3123 are symmetrically distributed on both sides of the gate single slider 3122. When the gate drive component 3121 drives the slider to slide up and down, the connecting rods on both sides synchronously drive the two opening / closing hinges 313 to rotate through the crank. This design, with a single power source driving dual-sided actuators, mechanically ensures that the rotation angles and speeds of the two hinges 313 are completely identical, thus completely avoiding the asynchronous opening and closing problems caused by control errors or component wear in traditional dual-drive systems (such as two independent cylinders). Furthermore, the gate crank-connecting rod 3123 mechanism is a rigid transmission; when converting the linear motion of the slider into the rotational motion of the hinges 313, compared to flexible transmissions such as belts and chains, there is no elastic deformation during the transmission process, and the hinge point between the connecting rod and the crank can withstand a larger load.

[0070] In some implementations, the gate drive component 3121 is a motor, and the gate drive mechanism 312 also includes a gate lead screw 3124. The gate lead screw 3124 is screwed to the gate single slider 3122 and connected to the output shaft of the motor. In addition, two sets of gate crank connecting rods 3123 are symmetrically arranged along the gate lead screw 3124. Specifically, the lead screw drive is a continuous meshing drive. Compared with the pneumatic impact of the cylinder or the rigid push of the electric push rod, the movement speed and acceleration of the slider can be steplessly adjusted when the motor drives the lead screw, realizing smooth start and stop and uniform speed movement. This avoids the problems of insufficient accuracy, large impact and low safety of the traditional gate drive component 3121 in the opening and closing action of the palletizing gate 310, and is especially suitable for heavy-duty palletizing scenarios with high requirements for control accuracy and safety.

[0071] Preferably, the gate drive mechanism 312 further includes a gate guide post 3125, which is mounted on the gate main frame 311. The gate guide post 3125 extends vertically, and the gate single slider 3122 is slidably sleeved on the gate guide post 3125. Furthermore, there are two gate guide posts 3125, and the two gate guide posts 3125 are symmetrically arranged along the gate lead screw 3124. This facilitates synchronous movement of the gate crank connecting rod 3123 and improves the reliability of the opening and closing hinge 313.

[0072] In some implementations, the material handling drive 1221 is a motor, and the material handling drive mechanism 122 also includes a material handling lead screw 1224. The material handling lead screw 1224 is screwed to the material handling single slider 1222 and connected to the output shaft of the motor. In addition, two sets of material handling crank connecting rods 1223 are symmetrically arranged along the material handling lead screw 1224. Specifically, the lead screw drive is a continuous meshing drive. Compared with the pneumatic impact of the cylinder or the rigid push of the electric push rod, the movement speed and acceleration of the slider can be steplessly adjusted when the motor drives the lead screw, realizing smooth start and stop and uniform speed movement. This avoids the problem of insufficient precision of the traditional material handling drive 1221 in the opening and closing action of the gripper 123, and is especially suitable for heavy-duty palletizing scenarios with high requirements for control precision and safety.

[0073] Preferably, the material handling drive mechanism 122 further includes a material handling guide post 1225, which is mounted on the material handling main frame 121. The material handling guide post 1225 extends vertically, and the material handling single slider 1222 is slidably sleeved on the material handling guide post 1225. Furthermore, there are two material handling guide posts 1225, and the two material handling guide posts 1225 are symmetrically arranged along the material handling lead screw 1224. This facilitates synchronous movement of the material handling crank connecting rod 1223 and improves the reliability of the gripper plate 123's movement.

[0074] In some embodiments, the five-petal palletizing device 300 further includes a third drive unit 350, which includes a translation motor 351, a translation gear 352, and a translation rack 353. The translation motor 351 is mounted on the mounting frame 320, and its output shaft is connected to the translation gear 352. The translation rack 353 is horizontally fixed to the movable frame 420 and meshes with the translation gear 352, so that the translation motor 351 drives the translation gear 352 to rotate, thereby causing the mounting frame 320 to translate relative to the movable frame 420. Specifically, the gear and rack transmission is a rigid meshing transmission with a constant transmission ratio and no slippage, which can achieve high-precision lateral movement of the palletizing gate 310, ensuring the positioning accuracy of the material. Compared with flexible transmissions such as wire ropes and chains, the gear and rack transmission has stronger vibration and impact resistance, and is especially suitable for frequent start-stop and heavy-load scenarios, avoiding gate swaying caused by transmission gaps or elastic deformation, and ensuring the stability of material support and release. Moreover, by converting rotary motion into linear motion through a rack and pinion, the transmission efficiency is high and the energy loss is low. When combined with a servo motor or frequency converter, stepless adjustment of lifting speed and precise feedback control of position can be achieved, thereby adapting to the needs of different material weights and palletizing rhythms and further improving loading efficiency.

[0075] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A palletizing and loading machine, comprising a horizontal conveying device and an inclined conveying device, characterized in that, include: Guide rails are installed above the factory building, and a vehicle passage for transport vehicles is formed below the guide rails; The machine body is provided with a loading position, a receiving position and a unloading position arranged sequentially along the material conveying path. The machine body includes a traveling frame, a movable frame and a first drive unit. The traveling frame is slidably mounted on the guide rail. The movable frame is connected to the lower part of the traveling frame through the first drive unit. The first drive unit is used to drive the movable frame to lift and lower relative to the traveling frame. The first conveyor belt is installed on the machine body and is used to transport the material at the loading position to the receiving position. The two ends of the inclined conveyor are connected to the horizontal conveyor and the first conveyor belt respectively. The horizontal conveyor is also connected to the production line and is used to transport the material bag of the production line to the inclined conveyor. The inclined conveyor is inclined downward in the direction from the horizontal conveyor to the first conveyor belt. A five-petal stacking device is installed on the machine body and is used to stack the materials at the unloading position in a five-petal fashion. A rotary robotic arm, mounted on the machine body, includes a rotary mechanism and two material-picking robotic arms. The two material-picking robotic arms are mounted on the rotary mechanism and are arranged at an angle, both extending horizontally. The rotary mechanism drives the two material-picking robotic arms to rotate synchronously around the rotation center of the rotary mechanism, so that while one material-picking robotic arm picks up the material from the receiving position to the unloading position, the other material-picking robotic arm moves from the unloading position to the receiving position to pick up the material.

2. The palletizing and loading machine as described in claim 1, characterized in that, The material handling robot includes a material handling main frame, a material handling drive mechanism, and two grippers. The material handling main frame is mounted on the rotating mechanism, and the two grippers are rotatably mounted on both sides of the material handling main frame. The material handling drive mechanism is used to drive the two grippers to rotate to clamp or release materials.

3. The palletizing and loading machine as described in claim 2, characterized in that, The material handling drive mechanism includes a material handling drive component, a single material handling slider, and two sets of material handling crank connecting rods. The single material handling slider is slidably mounted on the main material handling frame. The two sets of material handling crank connecting rods are spaced apart on both sides of the single material handling slider, each corresponding to one of the gripping plates. The crank and connecting rod of each set of material handling crank connecting rods are hinged. The crank is connected to the gripping plate, and the connecting rod is connected to the single material handling slider. The material handling drive component is mounted on the main material handling frame and is used to drive the single material handling slider to slide up and down. When the single material handling slider slides up and down, the two sets of material handling crank connecting rods drive the two gripping plates to rotate synchronously to clamp or release the material.

4. The palletizing and loading machine as described in claim 1 or 3, characterized in that, The two robotic arms are perpendicular to each other.

5. The palletizing and loading machine as described in claim 1, characterized in that, The five-petal palletizing device includes a palletizing gate, a mounting frame, a lifting bracket, and a second drive unit. The mounting frame is slidably mounted on the movable frame, and the sliding direction of the mounting frame is perpendicular to the sliding direction of the moving frame on the horizontal plane. The lifting bracket is slidably mounted on the mounting frame via the second drive unit. The palletizing gate is rotatably mounted on the lower end of the lifting bracket, and the rotation axis of the palletizing gate extends vertically. The second drive unit is used to drive the lifting bracket to move up and down relative to the mounting frame in the vertical direction, thereby driving the palletizing gate to move up and down.

6. The palletizing and loading machine as described in claim 5, characterized in that, The second drive unit includes a lifting motor, a lifting gear, and a lifting rack. The lifting motor is mounted on the mounting frame and its output shaft is connected to the lifting gear. The lifting rack is vertically fixed to the lifting bracket and meshes with the lifting gear so that the lifting motor drives the lifting gear to rotate, thereby causing the lifting bracket to move up and down in the vertical direction.

7. The palletizing and loading machine as described in claim 6, characterized in that, The lifting support includes at least two second guide columns extending in a vertical direction, and a connecting plate connected to the lower end of the two second guide columns. The mounting bracket is provided with a plurality of second guide sleeves corresponding to the second guide columns, and each second guide sleeve is slidably sleeved on the second guide column. The stacking gate is rotatably installed at the lower end of the connecting plate.

8. The palletizing and loading machine as described in claim 1, characterized in that, The number of the five-flower palletizing device is two, and the two five-flower palletizing devices are installed on the movable frame through the same palletizing track. Each five-flower palletizing device corresponds to one material picking robot.

9. The palletizing and loading machine as described in claim 8, characterized in that, The palletizing and loading machine also includes two second conveyor belts, which are installed on the machine body and located at the unloading position. Each second conveyor belt corresponds to one of the picking robots and one of the five-petal palletizing devices, and is used to transport the material carried by the picking robot to the unloading position to the five-petal palletizing device.

10. The palletizing and loading machine as described in claim 1, characterized in that, The top of the movable frame is provided with a plurality of first guide posts extending in a vertical direction, and the walking frame is provided with a plurality of first guide sleeves corresponding to the first guide posts. Each first guide sleeve is slidably sleeved on the first guide post to form a guide structure for the lifting and lowering of the movable frame.

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