Balancing clamping structure of a palletizer

Abstract

The utility model discloses a kind of balance clamping structures of stacking machine, including upper support, balancing mechanism and jaw mechanism;Upper support: its lower end four corners are fixedly connected with weighing sensor, weighing sensor is fixedly connected with lower support between lower end, the front and back sides of lower support are fixedly connected with the slide rail two of left-right symmetry distribution, weighing sensor is bidirectionally electrically connected with stacking machine controller;Balancing mechanism: it includes slide rail one, rodless cylinder one, bottom plate, rodless cylinder two and configuration block, the rodless cylinder one is respectively left-right symmetry fixedly connected on lower support upper end front side, slide rail one is respectively left-right symmetry fixedly connected on lower support upper end rear side, the upper end of slide rail one is slidably connected with slide one, the bottom plate is fixedly connected between the upper end of the outer magnetic seat one of left side's slide one and rodless cylinder one, the balance clamping component of this stacking machine, by the movement of counterweight block makes frame body four corners pressure same, more stable when moving is stacked.

Description

Technical Field

[0001] This utility model relates to the field of palletizing machine technology, specifically to a balanced clamping structure for a palletizing machine. Background Technology

[0002] An automatic palletizer is a mechatronic instrument primarily used in the material palletizing process of industrial production. It is suitable for low- to medium-volume production scenarios in industries such as petrochemicals, food, feed, and building materials. This equipment automates the stacking of items such as bags, plastic blocks, and boxes through preset programs, covering the entire process from grouping and pushing bags to palletizing. It is one of the key pieces of equipment in modern smart factories and logistics centers for improving automation levels, ensuring production efficiency, and facilitating smooth logistics.

[0003] Palletizing machines typically use lifting and turning mechanisms to raise and rotate the grippers. After the grippers lower and pick up the product, the lifting and turning mechanisms work together to bring the product to the palletizing position. However, when the grippers pick up bagged products, the product inside the bag moves because the grippers are composed of multiple gripper bars. At the same time, when the conveyor line transports the bagged product to the clamping position, the position of the bagged product will also shift slightly. Furthermore, the various parts of the grippers are not perfectly symmetrically arranged. Therefore, when picking up bagged products, the center of gravity of the bagged product and the grippers is not in the same position and is deviated from the center of the grippers, resulting in poor balance and poor stability during transfer. To address this, we propose a balanced clamping structure for palletizing machines. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the existing defects and provide a balanced clamping structure for a palletizer. By moving the counterweight, the pressure at the four corners of the frame is made the same, making the movement more stable during palletizing and effectively solving the problems in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a balanced clamping structure for a palletizer, comprising an upper support, a balancing mechanism, and a gripper mechanism;

[0006] Upper support: Weighing sensors are fixedly connected to the four corners of its lower end. The lower support is fixedly connected to the lower ends of the weighing sensors. The two slide rails are symmetrically distributed on the front and back sides of the lower support. The weighing sensors are all bidirectionally electrically connected to the palletizer controller.

[0007] Balancing mechanism: It includes a slide rail 1, a rodless cylinder 1, a base plate, a rodless cylinder 2, and a configuration block. The rodless cylinder 1 is symmetrically fixed to the front side of the upper end of the lower support. The slide rail 1 is symmetrically fixed to the rear side of the upper end of the lower support. The upper end of the slide rail 1 is slidably connected to a slide seat 1. The upper ends of the slide seats 1 and the outer magnetic seats 1 of the rodless cylinder 1 on the same side are fixedly connected to the base plate. The upper surface of the base plate is fixedly connected to the rodless cylinder 2. The upper ends of the outer magnetic seats 2 of the rodless cylinder 2 are fixedly connected to the configuration block. The air inlets of the rodless cylinder 1 and the rodless cylinder 2 are connected to an external air pump.

[0008] Gripper mechanism: It is set between the two slide rails on the left and right sides respectively. By moving the counterweight, the pressure at the four corners of the frame is the same, making the movement more stable when stacking.

[0009] Furthermore, the gripper mechanism includes a mounting plate, a rotating shaft, connecting rods, a mounting base, and gripper bars. The mounting plate is slidably connected to two slide rails on the same side via slide blocks. The lower end of each mounting plate is rotatably connected to a rotating shaft. Connecting rods are fixedly sleeved on both ends of the rotating shaft. A mounting base is fixedly connected between the lower ends of two connecting rods located on the same mounting plate. Gripper bars that are evenly distributed are fixedly connected to the middle of each mounting base to grip the product.

[0010] Furthermore, the gripper mechanism also includes a cylinder and a rocker arm. The cylinder is fixedly connected to the middle of the upper surface of the mounting plate. The middle of the rotating shaft is fixedly fitted with a rocker arm. The upper end of the rocker arm is rotatably connected to the extension end of the adjacent cylinder through a pin. The air inlet of the cylinder is connected to an external air pump to drive the gripper arm to rotate.

[0011] Furthermore, the gripper mechanism also includes baffles, which are fixedly connected to the opposite inner sides of the two mounting seats and press against the left and right ends of the product.

[0012] Furthermore, it also includes a traveling mechanism, which comprises a motor base, a dual-output shaft motor, a fixed base, a slider, a connecting base, and a fixed plate. The motor base is fixedly connected to the upper middle part of the lower bracket. The lower surface of the motor base is fixedly connected to two symmetrically distributed fixed bases. The right side of the left fixed base is fixedly connected to the dual-output shaft motor. The output shafts of the dual-output shaft motors pass through the through holes of the two fixed bases respectively. The output shafts of the dual-output shaft motors are fixedly connected to lead screws. Fixed plates are fixedly connected to the upper left and right sides of the lower bracket. The end of the lead screw away from the dual-output shaft motor is rotatably connected to the middle of the fixed plate. The middle of the lead screw is threadedly connected to a slider. The middle of the upper surface of the mounting plate is fixedly connected to a connecting base. The upper end of the connecting base is fixedly connected to the vertically adjacent slider. The input end of the dual-output shaft motor is electrically connected to the output end of the palletizer controller, driving the two mounting plates to move relative to each other.

[0013] Furthermore, it also includes a traveling mechanism, which includes sliding columns. The sliding columns are fixedly connected between the front and rear ends of the two fixed seats. Limiting seats are provided on both the left and right sides of the upper surface of the mounting plate. The upper ends of the limiting seats are slidably connected to the outside of the vertically adjacent sliding columns, making the movement of the mounting plate more stable.

[0014] Furthermore, a second cylinder, symmetrically distributed front and rear, is fixedly connected to the inner side of the middle part of the lower support. A pressure plate is fixedly connected between the lower ends of the telescopic ends of the second cylinder to press the upper end of the product.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: The balanced clamping component of this palletizer has the following advantages:

[0016] The dual-shaft motor drives two mounting plates closer together, so that when the gripper bar picks up the bagged product, the baffles press against the left and right ends of the bagged product respectively. Cylinder 2 pushes the pressure plate to press the upper end of the bagged product to prevent the product inside the bag from flowing. Then, the lifting mechanism of the palletizer drives the whole assembly consisting of the upper and lower supports to rise. Rodless cylinder 1 moves the configuration block back and forth, and rodless cylinder 2 moves the configuration block left and right. When the configuration blocks on the left and right sides approach the adjacent weighing sensors, the pressure detected by the weighing sensors increases, and the position of the configuration blocks moves so that the pressure detected by the four weighing sensors is the same. At this time, the center of gravity of the whole assembly consisting of the upper and lower supports and the whole bagged product is located in the middle of the upper support, making the palletizer transfer the product more stable. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a cross-sectional structural diagram of the present invention;

[0019] Figure 3 This is a schematic diagram of the gripper mechanism of this utility model.

[0020] In the diagram: 1 Upper bracket, 2 Weighing sensor, 3 Lower bracket, 4 Balancing mechanism, 41 Slide rail one, 42 Rodless cylinder one, 43 Base plate, 44 Rodless cylinder two, 45 Configuration block, 5 Gripper mechanism, 51 Mounting plate, 52 Cylinder one, 53 Rocker arm, 54 Rotating shaft, 55 Connecting rod, 56 Mounting seat, 57 Gripper rod, 58 Baffle, 6 Traveling mechanism, 61 Motor seat, 62 Dual-shaft motor, 63 Fixed seat, 64 Slide column, 65 Slider, 66 Connecting seat, 67 Fixed plate, 7 Slide rail two, 8 Cylinder two, 9 Pressure plate. Detailed Implementation

[0021] 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.

[0022] Please see Figure 1-3 This embodiment provides a technical solution: a balanced clamping structure for a palletizer, including an upper support 1, a balancing mechanism 4, and a gripper mechanism 5;

[0023] Upper bracket 1: Weighing sensors 2 are fixedly connected to the four corners of its lower end. Lower bracket 3 is fixedly connected between the lower ends of the weighing sensors 2. Slide rails 7 are symmetrically distributed on both the front and rear sides of the lower bracket 3. Weighing sensors 2 are bidirectionally electrically connected to the palletizer controller. Cylinders 8 are symmetrically distributed on both the front and rear sides of the middle inner side of the lower bracket 3. Pressure plate 9 is fixedly connected between the lower ends of the telescopic ends of cylinders 8. When the telescopic ends of cylinders 8 are pushed out, they drive the pressure plate 9 to move down and press the product.

[0024] Balancing mechanism 4 includes a slide rail 41, a rodless cylinder 42, a base plate 43, a rodless cylinder 44, and a mounting block 45. The rodless cylinders 42 are symmetrically fixed to the front upper part of the lower support 3. The slide rails 41 are symmetrically fixed to the rear upper part of the lower support 3. A sliding seat 1 is slidably connected to the upper end of each slide rail 41. The base plate 43 is fixedly connected between the upper ends of the sliding seats 1 and the outer magnetic seats of the rodless cylinders 42 on the same side. The upper surface of the base plate 43 is fixedly connected to the rodless cylinders 44. The mounting block 45 is fixedly connected between the upper ends of the outer magnetic seats of the rodless cylinders 44. The air inlets of both the rodless cylinders 42 and 44 are connected to an external air pump. The palletizer lifts the product. Because the product inside the bagged product is being lifted... When flow occurs, and the positions of the parts installed on the lower support 3 are not completely symmetrical, the values ​​detected by the four weighing sensors 2 are different. At this time, the external air pump supplies air to the rodless cylinder 42. The outer magnetic seat of the rodless cylinder 42 drives the whole consisting of the base plate 43, the rodless cylinder 44, and the configuration block 45 to slide left and right between the adjacent slide rails 41. The outer magnetic seat of the rodless cylinder 44 drives the configuration block 45 to move back and forth. When the configuration block 45 is close to the adjacent weighing sensor 2, the value detected by the corresponding weighing sensor 2 increases. The configuration blocks 45 on both sides move at the same time, so that the values ​​detected by the four weighing sensors 2 remain the same. This makes the center of gravity of the bagged product, the upper support 1, the lower support 3, and all accessories located in the middle of the upper support 1, making the product transfer more stable.

[0025] The gripper mechanism 5 is respectively disposed between the two slide rails 7 on the left and right sides. The gripper mechanism 5 includes a mounting plate 51, a rotating shaft 54, a connecting rod 55, a mounting base 56, and gripper rods 57. The mounting plate 51 is slidably connected to the two slide rails 7 on the left and right sides via the slide base. The lower end of each mounting plate 51 is rotatably connected to the rotating shaft 54. The left and right ends of the rotating shaft 54 ​​are fixedly sleeved with connecting rods 55. The lower ends of the two connecting rods 55 located on the same mounting plate 51 are fixedly connected to the mounting base 56. The middle of each mounting base 56 is fixedly connected with evenly distributed gripper rods 57. The gripper mechanism 5 also includes a cylinder 52 and a rocker arm 53. The cylinder 52 is respectively fixedly... A rocker arm 53 is fixedly sleeved on the middle of the upper surface of the mounting plate 51 and the rotating shaft 54. The upper end of the rocker arm 53 is rotatably connected to the telescopic end of the adjacent cylinder 52 through a pin. The air inlet of the cylinder 52 is connected to an external air pump. The gripper mechanism 5 also includes a baffle 58, which is fixedly connected to the opposite inner side of the two mounting seats 56. When the telescopic end of the cylinder 52 retracts, the rocker arm 53 and the rotating shaft 54 ​​rotate as a whole, and the gripper arm 57 rotates synchronously towards the product. When the telescopic end of the cylinder 52 is fully retracted, the lower end of the gripper arm 57 remains parallel to the ground. When the product is gripped, the baffles on both sides press against the two ends of the product.

[0026] The system also includes a traveling mechanism 6, which comprises a motor base 61, a dual-output shaft motor 62, a fixed base 63, a slider 65, a connecting base 66, and a fixing plate 67. The motor base 61 is fixedly connected to the upper middle part of the lower bracket 3. The lower surface of the motor base 61 is fixedly connected to two symmetrically distributed fixed bases 63. The right side of the left fixed base 63 is fixedly connected to the dual-output shaft motor 62. The output shafts of the dual-output shaft motor 62 pass through the through holes of the two fixed bases 63, and each output shaft of the dual-output shaft motor 62 is fixedly connected to a lead screw. Fixing plates 67 are fixedly connected to both the left and right sides of the upper end of the lower bracket 3. The ends of the lead screws away from the dual-output shaft motor 62 are rotatably connected to the middle of the fixing plate 67. The middle of each lead screw is threadedly connected to a slider 65. The upper surface of the mounting plate 51... Each component is fixedly connected to a connecting seat 66, the upper end of which is fixedly connected to a vertically adjacent slider 65. The input end of the dual-output shaft motor 62 is electrically connected to the output end of the palletizer controller. The traveling mechanism 6 also includes a sliding column 64, which is fixedly connected between the front and rear ends of two fixed seats 63. Limit seats are provided on both the left and right sides of the upper surface of the mounting plate 51. The upper ends of the limit seats are slidably connected to the outside of the vertically adjacent sliding column 64. When the output shaft of the dual-output shaft motor 62 rotates, it drives the two lead screws to rotate, which in turn drives the two sliders 65 to move towards the product. The whole assembly consisting of the mounting plate 51 and the limit seats is driven by the sliders 65 to slide synchronously between the two sliding columns 64, so that the lower end of the gripper bar 57 is inserted through the gap between the product and the conveyor line to pick up the product.

[0027] The working principle of the balanced clamping structure of the palletizer provided by this utility model is as follows: The balanced clamping component of this palletizer is installed on the upper end of the palletizer. The palletizer drives the balanced clamping component to rise, fall, and rotate. When the bagged product is conveyed to the front of the palletizer through the conveyor line, the palletizer drives the upper support 1 and the lower support 3 to descend as a whole. The bagged product is located between the two rows of gripper bars 57. The telescopic end of cylinder 52 retracts, and the whole consisting of rocker arm 53 and rotating shaft 54 ​​rotates. The gripper bars 57 rotate synchronously towards the product. When the telescopic end of cylinder 52 is fully retracted, the lower end of the gripper bar 57 is parallel to the ground. Then, the output shaft of the dual-output shaft motor 62 rotates, driving the two lead screws to rotate, which in turn drives the two sliders 65 to move towards the product. The whole consisting of mounting plate 51 and limit seat is driven by the sliders 65 to slide synchronously between the two sliding columns 64, so that the lower end of the gripper bar 57 is inserted through the gap between the product and the conveyor line, grabbing the product. The baffles on both sides press against the two sides of the product. Then, the telescopic end of cylinder 2 8 extends, causing the pressure plate 9 to move down and press the product. The left and right ends and the top of the product are pressed tightly to prevent slippage. Then, the palletizer moves the product up. Because the product inside the bag flows when it is picked up, and the parts installed on the lower support 3 are not completely symmetrical, the values ​​detected by the four weighing sensors 2 are different. At this time, the external air pump supplies air to rodless cylinder 1 42. The outer magnetic seat of rodless cylinder 1 42 drives the whole consisting of base plate 43, rodless cylinder 2 44 and configuration block 45 to slide left and right between adjacent slide rail 1 41. The outer magnetic seat of rodless cylinder 2 44 drives configuration block 45 to move back and forth. When configuration block 45 is close to the adjacent weighing sensor 2, the value detected by the corresponding weighing sensor 2 increases. Configuration blocks 45 on both sides move at the same time to keep the values ​​detected by the four weighing sensors 2 the same. This makes the center of gravity of the whole consisting of the bagged product, upper support 1, lower support 3 and all accessories located in the middle of upper support 1, making the product transfer more stable.

[0028] It is worth noting that the rodless cylinder 42 disclosed in the above embodiments can be a DGP series rodless cylinder, the rodless cylinder 44 can be an SMC series rodless cylinder, the dual-output shaft motor 62 can be a DC series dual-output shaft motor, the load cell 2 can be an H3 series load cell, and the cylinders 52 and 8 can be freely configured according to the actual application scenario. The palletizer controller controls the dual-output shaft motor 62, the load cell 2 and the external air pump using methods commonly used in the prior art.

[0029] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A balanced clamping structure of a palletizer, characterized by: It includes an upper support (1), a balancing mechanism (4), and a gripper mechanism (5); Upper bracket (1): Weighing sensors (2) are fixedly connected to the four corners of its lower end. Lower bracket (3) is fixedly connected between the lower ends of the weighing sensors (2). Slide rails (7) are symmetrically distributed on the front and back sides of the lower bracket (3). Weighing sensors (2) are bidirectionally electrically connected to the palletizer controller. Balance mechanism (4): It includes slide rail 1 (41), rodless cylinder 1 (42), base plate (43), rodless cylinder 2 (44) and configuration block (45). The rodless cylinder 1 (42) is symmetrically fixedly connected to the front side of the upper end of the lower support (3). The slide rail 1 (41) is symmetrically fixedly connected to the rear side of the upper end of the lower support (3). The upper end of the slide rail 1 (41) is slidably connected to the slide seat 1. The upper ends of the slide seat 1 on the left and right sides and the outer magnetic seat 1 of the rodless cylinder 1 (42) are fixedly connected to the base plate (43). The upper surface of the base plate (43) is fixedly connected to the rodless cylinder 2 (44). The upper ends of the outer magnetic seat 2 of the rodless cylinder 2 (44) are fixedly connected to the configuration block (45). The air inlets of the rodless cylinder 1 (42) and the rodless cylinder 2 (44) are connected to the external air pump. Gripper mechanism (5): It is respectively set between the slide rails (7) on the left and right sides.

2. The balanced clamping structure of a palletizer according to claim 1, characterized in that: The gripper mechanism (5) includes a mounting plate (51), a rotating shaft (54), a connecting rod (55), a mounting base (56), and gripper rods (57). The mounting plate (51) is slidably connected to two slide rails (7) on the same side via a slide block. The lower end of the mounting plate (51) is rotatably connected to a rotating shaft (54). The left and right ends of the rotating shaft (54) are fixedly fitted with connecting rods (55). The lower ends of the two connecting rods (55) on the same mounting plate (51) are fixedly connected to a mounting base (56). The middle part of the mounting base (56) is fixedly connected with evenly distributed gripper rods (57).

3. The balanced clamping structure of a palletizer according to claim 2, characterized in that: The gripper mechanism (5) also includes a cylinder (52) and a rocker arm (53). The cylinder (52) is fixedly connected to the middle of the upper surface of the mounting plate (51). The rocker arm (53) is fixedly sleeved in the middle of the rotating shaft (54). The upper end of the rocker arm (53) is rotatably connected to the telescopic end of the adjacent cylinder (52) through a pin. The air inlet of the cylinder (52) is connected to an external air pump.

4. The balanced clamping structure of a palletizer according to claim 2, characterized in that: The gripper mechanism (5) also includes a baffle (58), which is fixedly connected to the opposite inner sides of the two mounting bases (56).

5. The balanced clamping structure of a palletizer according to claim 2, characterized in that: It also includes a traveling mechanism (6), which includes a motor base (61), a dual-output shaft motor (62), a fixed base (63), a slider (65), a connecting base (66), and a fixing plate (67). The motor base (61) is fixedly connected to the upper middle part of the lower bracket (3). The lower surface of the motor base (61) is fixedly connected to two symmetrically distributed fixed bases (63). The right side of the left fixed base (63) is fixedly connected to the dual-output shaft motor (62). The output shafts of the dual-output shaft motor (62) pass through the two fixed bases (63) respectively. The output shafts of the dual-output-shaft motor (62) are all fixedly connected to lead screws. The upper left and right sides of the lower bracket (3) are fixedly connected to fixing plates (67). The end of the lead screw away from the dual-output-shaft motor (62) is rotatably connected to the middle of the fixing plate (67). The middle of the lead screw is threadedly connected to a slider (65). The middle of the upper surface of the mounting plate (51) is fixedly connected to a connecting seat (66). The upper end of the connecting seat (66) is fixedly connected to the vertically adjacent slider (65). The input end of the dual-output-shaft motor (62) is electrically connected to the output end of the palletizer controller.

6. The balanced clamping structure of a palletizer according to claim 5, characterized in that: The traveling mechanism (6) also includes a sliding column (64), which is fixedly connected between the front and rear ends of two fixed seats (63). Limiting seats are provided on both the left and right sides of the upper surface of the mounting plate (51), and the upper ends of the limiting seats are slidably connected to the outside of the vertically adjacent sliding column (64).

7. The balanced clamping structure of a palletizer according to claim 1, characterized in that: The lower support (3) is fixedly connected to the inner side of the middle section with cylinders two (8) symmetrically distributed in front and behind, and pressure plates (9) are fixedly connected between the lower ends of the telescopic ends of cylinders two (8).

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