A smart pallet warehouse

Abstract

This invention proposes an intelligent pallet storage system, comprising a strip-shaped frame with strip-shaped supports at both ends and the middle of the bottom of the frame. A lifting mechanism is vertically mounted on one end of the frame, with its bottom resting on the strip-shaped supports. One side of the lifting mechanism is connected to a robotic arm, allowing the robotic arm to rise and fall with the mechanism. A robotic hand is located at the end of the robotic arm for grasping pallets. A flat conveyor is located at the top of the frame, used for stacking pallets and transporting the stacked pallets to the robotic arm's working area. In use, because the conveyor belts are long and narrow, multiple pallets can be stacked on them, resulting in a large number of pallets stacked in this system. The pallets are transported one by one to the robotic arm, where they are grasped and placed at a predetermined location.

Description

Technical Field

[0001] This utility model relates to the field of pallet storage technology, specifically to an intelligent pallet storage system. Background Technology

[0002] The palletizer is a key component of the palletizing machine system, featuring automatic pallet feeding. Pallets are automatically transported to the palletizing machine via the equipment, enabling unmanned operation and palletizing. The palletizer's main structure consists of blocking cylinders and a lifting structure, utilizing pneumatic up-and-down movement and left-and-right opening and closing to transport the pallets.

[0003] Existing pallet storage facilities can only hold 5-10 pallets. During operation, pallets need to be manually added continuously, resulting in limited storage space. Pallets can only be stacked vertically layer by layer, limiting the number of pallets that can be stored at once. This necessitates constant reloading and makes the operation cumbersome. Therefore, we propose an intelligent pallet storage system. Utility Model Content

[0004] This invention provides an intelligent pallet storage system, which has the advantages of large pallet storage capacity and the ability to pick up pallets one by one by a robotic arm, thus solving the problems mentioned in the background art.

[0005] The technical solution of this utility model is implemented as follows: An intelligent pallet warehouse is designed, including a strip frame. Strip supports are provided at both ends and the middle of the bottom of the strip frame. A lifting mechanism is vertically provided at one end of the strip frame. The bottom of the lifting mechanism is set on the strip support. One side of the lifting mechanism is connected to a robotic arm, so that the robotic arm can rise and fall with the lifting mechanism. A robotic hand is provided at the end of the robotic arm for grasping pallets. A flat conveyor is provided at the top of the strip frame. The top of the flat conveyor is used to stack pallets and transport the stacked pallets to the working area of ​​the robotic arm.

[0006] Preferably, the lifting mechanism includes a support frame vertically mounted on the top of one end of the strip support, a linear drive module and a guide rail vertically mounted on one side of the support frame, the guide rail being connected to the mounting base via a slider, and the mounting base being connected to the linear drive module, with the bottom of the robotic arm mounted on the mounting base.

[0007] Preferably, the robotic arm includes a strip-shaped base, the middle of which is connected to the free end of the robotic arm. Both ends of the strip-shaped base are perpendicularly connected to the middle of the support rods. Each support rod has a gripper rotatably mounted at both ends. The tops of two grippers located on the same side of the strip-shaped base are connected by a connecting shaft. The middle of the connecting shaft is rotatably connected to one end of a telescopic mechanism, and the other end of the telescopic mechanism is rotatably connected to the strip-shaped base.

[0008] Preferably, the planar conveyor includes a drive roller disposed at one end of a strip frame, one end of which is connected to a drive device, and a tensioning mechanism disposed at the other end of the strip frame. The tensioning mechanism is connected to the drive roller via a conveyor belt, and the middle of the conveyor belt is supported by several support rollers. The two ends of the support rollers and the drive roller are respectively rotatably connected to the strip frame.

[0009] Preferably, the tensioning mechanism includes a tensioning roller shaft disposed at the end of the conveyor belt away from the drive roller. The two ends of the tensioning roller shaft are rotatably mounted on slides, which are slidably disposed on a support rail. The support rail is mounted on the top of the strip frame. An adjusting screw is installed at one end of the top of each slide, and the other end of the adjusting screw is movably disposed in an adjusting seat. The adjusting seat is disposed on the top of the strip frame, and the adjusting screw is connected to the adjusting seat by fasteners.

[0010] Preferably, multiple L-shaped supports are provided on both sides of the strip frame. The bottom of the L-shaped supports is connected to the strip frame. Each L-shaped support has a guide wheel on the top side facing the conveyor belt. The two ends of the guide wheel are rotatably installed in the support. The support is connected to the side of the L-shaped support. The guide wheel is located above the conveyor belt, and the distance between the two guide wheels matches the pallet size.

[0011] Preferably, it also includes a control cabinet, which contains a controller that is electrically connected to the planar conveyor, the lifting mechanism, the robotic arm, and the robotic hand.

[0012] Preferably, a baffle for blocking the pallet is provided at one end of the strip frame near the robotic arm, and a sensor is provided on the side of the baffle near the conveyor belt. The sensor is electrically connected to the controller.

[0013] Compared with the prior art, when this utility model is used, because the conveyor belts are all long strip structures, multiple pallets can be stacked on the conveyor belts, resulting in a large number of pallets stacked in the pallet warehouse proposed in this application. The pallets can be transported one by one to the robotic arm under the drive of the conveyor belt. Under the gripping of the robotic arm, each set of pallets can be picked up one by one and placed at the preset location. Attached Figure Description

[0014] 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 these drawings without creative effort.

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention. Figure 1 .

[0016] Figure 2This is a three-dimensional structural diagram of the present invention. Figure 2 .

[0017] Figure 3 This is a three-dimensional structural diagram of the present invention. Figure 3 .

[0018] Figure 4 This is a schematic diagram of the structure of the conveyor belt after the pallets are stacked. Figure 1 .

[0019] Figure 5 This is a schematic diagram of the structure of the conveyor belt after the pallets are stacked. Figure 2 .

[0020] Figure 6 This is a schematic diagram of the robotic arm in this utility model.

[0021] In the diagram: 1. Strip frame; 2. Strip support; 3. Slide; 4. Support rail; 5. Adjusting seat; 6. Adjusting screw; 7. Tensioning roller; 8. Conveyor belt; 9. L-shaped bracket; 10. Guide wheel; 11. Mounting seat; 12. Linear drive module; 13. Support frame; 14. Guide rail; 15. Robotic arm; 16. Connecting shaft; 17. Gripper; 18. Support rod; 19. Strip seat; 20. Telescopic mechanism; 21. Sensor; 22. Baffle; 23. Drive motor; 24. Control cabinet; 25. Transmission roller; 26. Support roller. Detailed Implementation

[0022] The technical solution of this utility model will be clearly and completely described below with reference to its embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0023] Reference Figures 1 to 6 This utility model provides a technical solution: an intelligent pallet warehouse, including a strip frame 1, with strip supports 2 at both ends and the middle of the bottom of the strip frame 1, and a lifting mechanism vertically provided on one end of the strip frame 1, with the bottom of the lifting mechanism mounted on the strip support 2. Figure 1 As shown, the lifting mechanism includes a support frame 13. Specifically, the support frame 13 is vertically mounted on one end of the top of the strip support 2. A linear drive module 12 and a guide rail 14 are vertically mounted on one side of the support frame 13. The linear drive module 12 is a lead screw linear module or a belt linear drive module, etc. The number of guide rails 14 is at least one. The guide rail 14 is connected to the mounting base 11 through a slider, and the mounting base 11 is connected to the linear drive module 12, so that the linear drive module 12 drives the mounting base 11 to move up and down along the guide rail 14.

[0024] One side of the lifting mechanism is connected to the robotic arm 15, allowing the robotic arm 15 to rise and fall with the lifting mechanism. The bottom of the robotic arm 15 is specifically mounted on the mounting base 11. The robotic arm 15 is a six-axis robotic arm, and a robotic hand is provided at the end of the robotic arm 15. The robotic arm 15 is used to grasp the pallet. Figure 1 and Figure 6 As shown, the specific structure of the robot includes a strip seat 19, the middle of which is connected to the free end of the robot arm 15. The two are connected by a flange, that is, a flange is provided in the middle of the strip seat 19 and the free end of the robot arm, and the two flanges are fastened together by bolts.

[0025] The two ends of the strip seat 19 are perpendicularly connected to the middle of the support rod 18. Each end of the support rod 18 is rotatably equipped with a gripper 17. The tops of the two grippers 17 on the same side of the strip seat 19 are connected by a connecting shaft 16. The middle of the connecting shaft 16 is rotatably connected to one end of the telescopic mechanism 20. The other end of the telescopic mechanism 20 is rotatably connected to the strip seat 19. The telescopic mechanism is a pneumatic cylinder, hydraulic cylinder, or electric cylinder. The two telescopic mechanisms extend and retract synchronously. When the telescopic mechanism extends, it will drive the grippers 17 to rotate around the end of the support rod 18, so that the bottom of the grippers 17 converges towards the bottom of the strip seat 19, so that the four grippers 17 can clamp the tray, and the robotic arm 15 can move the tray to the designated position, which is the assembly line or other position. Of course, the designated position mentioned here should be within the working area of ​​the robotic arm 15.

[0026] It should be emphasized that the bottom of the grippers 17 are all arc-shaped structures that curve inward toward the strip seat 19, which can better hold the edge of the tray.

[0027] Furthermore, such as Figure 1 and Figure 2 As shown, a planar conveyor is provided on the top of the strip frame 1. The planar conveyor includes a transmission roller 25 set at one end of the strip frame 1. Both ends of the transmission roller 25 are rotatably connected to the strip frame 1. One end of the transmission roller 25 is connected to a drive device. The drive device includes a drive motor 23 set on the strip support 2. Sprockets are provided on the rotating shaft of the drive motor 23 and at one end of the transmission roller 25. The two sprockets are connected by a chain.

[0028] A tensioning mechanism is provided at the other end of the strip frame 1. The tensioning mechanism is connected to the drive roller 25 via the conveyor belt 8. The tensioning mechanism includes a tensioning roller shaft 7 located at the end of the conveyor belt 8 away from the drive roller 25. Specifically, the tensioning roller shaft 7 is connected to the drive roller 25 via the conveyor belt 8. Both ends of the tensioning roller shaft 7 are rotatably mounted on slide seats 3. The slide seats 3 are slidably mounted on support slide rails 4, which are mounted on the top of the strip frame 1. An adjusting screw 6 is installed at one end of the top of each slide seat 3. The other end of the adjusting screw 6 is movably placed inside an adjusting seat 5, which is located on the top of the strip frame 1. The adjusting screw 6 and the adjusting seat 5 are connected by fasteners, specifically nuts threaded onto the adjusting screw 6. By rotating the nuts, the adjusting screw 6 can be adjusted to extend or retract within the adjusting seat 5, thus changing the position of the tensioning roller shaft 7 and tensioning the conveyor belt 8. Furthermore, to prevent the conveyor belt from sinking, several support rollers 26 are used to support the middle of the conveyor belt 8. The two ends of the support rollers 26 are rotatably connected to the strip frame 1. The support rollers 26 can not only support the conveyor belt, but also support the pallet.

[0029] like Figure 4 and Figure 5 As shown, the top of the flat conveyor in this application is used to stack pallets and transport the stacked pallets to the working area of ​​the robotic arm 15. That is, the robotic arm 15 is located at one end of the strip frame 1. Therefore, the flat conveyor transports the stacked pallets to the robotic arm 15, so that the robotic arm 15 can drive the robotic hand to grab them.

[0030] It should be emphasized that both the strip frame 1 and the conveyor belt 8 are long strip structures, so multiple pallets can be stacked on the conveyor belt 8. Therefore, the pallet warehouse proposed in this application can stack a large number of pallets and can transport them one by one to the robotic arm 15 under the drive of the conveyor belt 8. The robotic arm 15 grabs the pallets in the following order: the robotic arm 15 is raised to a high position under the drive of the linear drive module, and then grabs the pallets located at the baffle 22 one by one from top to bottom.

[0031] Based on the above embodiments, this application also includes a control cabinet 24, which is located on one side of the support frame 13 or other suitable location. The control cabinet 24 is equipped with a controller, which is a host or a PLC logic control system. The controller is electrically connected to the planar conveyor, lifting mechanism, robotic arm 15, and robotic hand respectively. Specifically, the controller is electrically connected to the drive motor 23, linear drive module 12, robotic arm 15, and telescopic mechanism 20 respectively, so that each component can travel according to the set path.

[0032] A baffle 22 for blocking the pallet is provided at one end of the strip frame 1 near the robotic arm 15. A sensor 21 is provided on the side of the baffle 22 near the conveyor belt 8. The sensor 21 is electrically connected to the controller and is located above the conveyor belt 8. The sensor 21 is a contact sensor, an infrared sensor, or a pressure sensor. When the conveyor moves the pallet toward the robotic arm 15, it stops immediately after the pallet contacts the sensor 21, at which point the pallet is in the set position.

[0033] Based on the above embodiments, further optimization can be achieved by providing multiple L-shaped brackets 9 on both sides of the strip frame 1. The bottom of the L-shaped brackets 9 is connected to the strip frame 1. A guide wheel 10 is provided on the top side of each L-shaped bracket 9 facing the conveyor belt 8. The position of the guide wheel 10 corresponds to the side of the bottommost pallet.

[0034] The two ends of the guide wheel 10 are rotatably installed in the support. The support is connected to the side of the L-shaped bracket 9. The guide wheel 10 is located above the conveyor belt 8, and the distance between the two guide wheels 10 matches the pallet size. It should be emphasized that the distance between the two guide wheels 10 matches the pallet size so that only one pallet can be placed. That is, the pallet can be positioned by stacking it on the conveyor belt 8 between the two guide wheels 10.

[0035] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An intelligent pallet warehouse, comprising a strip frame (1), wherein strip supports (2) are provided at both ends and the middle of the bottom of the strip frame (1), characterized in that, A lifting mechanism is vertically provided on one end of the strip frame (1), and the bottom of the lifting mechanism is set on the strip support (2); The lifting mechanism is connected to the robotic arm (15) on one side, so that the robotic arm (15) can rise and fall with the lifting mechanism. The end of the robotic arm (15) is equipped with a robotic hand for grabbing the pallet. The top of the strip frame (1) is equipped with a flat conveyor, which is used to stack pallets and transport the stacked pallets to the working area of ​​the robotic arm (15).

2. The intelligent pallet warehouse as described in claim 1, characterized in that, The lifting mechanism includes a support frame (13) that is vertically installed on the top of one end of the strip support (2), and a linear drive module (12) and a guide rail (14) are vertically installed on one side of the support frame (13). The guide rail (14) is connected to the mounting base (11) via a slider, and the mounting base (11) is connected to the linear drive module (12). The bottom of the robotic arm (15) is set on the mounting base (11).

3. The intelligent pallet warehouse as described in claim 2, characterized in that, The robotic arm includes a bar-shaped base (19), the middle of which is connected to the free end of the robotic arm (15), and the two ends of the bar-shaped base (19) are vertically connected to the middle of the support rod (18). Each support rod (18) has a gripper (17) rotatably mounted at both ends. The tops of the two grippers (17) located on the same side of the bar seat (19) are connected by a connecting shaft (16). The middle part of the connecting shaft (16) is rotatably connected to one end of the telescopic mechanism (20), and the other end of the telescopic mechanism (20) is rotatably connected to the bar seat (19).

4. The intelligent pallet warehouse as described in claim 1 or 3, characterized in that, The planar conveyor includes a drive roller (25) disposed at one end of the strip frame (1), and one end of the drive roller (25) is connected to the drive device; The other end of the strip frame (1) is provided with a tensioning mechanism. The tensioning mechanism is connected to the transmission roller (25) through the conveyor belt (8). The middle part of the conveyor belt (8) is supported by several support rollers (26). The two ends of the support rollers (26) and the transmission rollers (25) are rotatably connected to the strip frame (1).

5. The intelligent pallet warehouse as described in claim 4, characterized in that, The tensioning mechanism includes a tensioning roller shaft (7) located at one end of the conveyor belt (8) away from the drive roller (25). The two ends of the tensioning roller shaft (7) are rotatably mounted on the slide block (3). The slide block (3) is slidably mounted on the support slide rail (4). The support slide rail (4) is mounted on the top of the strip frame (1). An adjusting screw (6) is installed at one end of the top of each slide (3), and the other end of the adjusting screw (6) is movably placed inside the adjusting seat (5). The adjusting seat (5) is set on the top of the strip frame (1), and the adjusting screw (6) is connected to the adjusting seat (5) by fasteners.

6. The intelligent pallet warehouse as described in claim 5, characterized in that, Multiple L-shaped brackets (9) are provided on both sides of the strip frame (1). The bottom of the L-shaped brackets (9) is connected to the strip frame (1). Each L-shaped bracket (9) has a guide wheel (10) on the top side facing the conveyor belt (8). The two ends of the guide wheel (10) are rotatably installed in the support. The support is connected to the side of the L-shaped bracket (9). The guide wheel (10) is located above the conveyor belt (8), and the distance between the two guide wheels (10) matches the size of the pallet.

7. The intelligent pallet warehouse as described in claim 6, characterized in that, It also includes a control cabinet (24), which contains a controller that is electrically connected to the planar conveyor, the lifting mechanism, the robotic arm (15), and the robotic hand.

8. The intelligent pallet warehouse as described in claim 7, characterized in that, A baffle (22) for blocking the pallet is provided at one end of the strip frame (1) near the robotic arm (15). A sensor (21) is provided on the side of the baffle (22) near the conveyor belt (8). The sensor (21) is electrically connected to the controller.

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