Automated palletizing truss transfer robot

Abstract

This utility model relates to the field of automatic palletizing equipment technology, and in particular to a gantry-type transfer robot for automatic palletizing. This gantry-type transfer robot for automatic palletizing has a frame, with the left-right direction defined as the X-axis, the right-left-right direction as the Y-axis, and the height direction as the Z-axis. A Y-axis transfer module is mounted on the frame, with an X-axis transfer module mounted at its output end, and a Z-axis transfer module mounted at its output end. A transfer connecting rod is mounted at the output end of the Z-axis transfer module, and the connecting rod is connected to a variable-pitch module via a quick-connect coupling. A gripper assembly is mounted on the slider of the variable-pitch module. In this utility model, the variable-pitch module and the gripper assembly work together to flexibly adjust the gripping distance, making it suitable for applications where the incoming material spacing is not fixed but the spacing is fixed during the unloading process.

Description

Technical Field

[0001] This utility model relates to the field of automatic palletizing equipment technology, and in particular to an automatic palletizing truss transfer robot. Background Technology

[0002] The post-printing process for cigarette packs involves bundling the cigarette packs into specific quantities after inspection, followed by stacking. Current equipment relies on manual stacking. The bundling speed is typically 5-6 packs / minute, with each stack weighing 2 kg, approximately 140-240 stacks per pallet, and a stacking height of 820-1225 mm. This requires repeated operation by workers. Furthermore, manual stacking lacks consistency, resulting in some deviation in the delivered products. In short, current cigarette pack stacking methods are labor-intensive and produce inconsistent stacking quality.

[0003] Current transplanting operations are performed manually, which is poor in terms of automation, flexibility and stability. Therefore, there is an urgent need for a highly automated transplanting device. Utility Model Content

[0004] The technical problem this invention aims to solve is to overcome the shortcomings of existing technologies and provide an automatic palletizing gantry transfer robot. In this invention, the variable-pitch module works in conjunction with the gripper assembly to flexibly adjust the gripping distance, making it suitable for applications where the incoming material spacing is not fixed but the spacing is fixed during the unloading process.

[0005] The technical solution adopted by this utility model to solve its technical problem is: an automatic palletizing truss transplanting robot, which has a frame, and sets the left and right directions of the frame as the X direction, the left and right directions as the Y direction, and the height direction as the Z direction;

[0006] The frame is equipped with a Y-axis transplanting module, an X-axis transplanting module is installed at the output end of the Y-axis transplanting module, and a Z-axis transplanting module is installed at the output end of the X-axis transplanting module. A transplanting link is installed at the output end of the Z-axis transplanting module, and the transplanting link is connected to a variable pitch module through a quick connector. A gripper assembly is installed on the slider of the variable pitch module.

[0007] The X / Y / Z three-dimensional module series design enables precise three-dimensional positioning, meeting the complex displacement requirements of palletizing operations. The transfer linkage and the pitch-changing module are connected via quick connectors, facilitating the replacement of different specifications of pitch-changing modules (such as 3 / 7 / 8 sliders) to adapt to palletizing goods of different sizes. The pitch-changing module works in conjunction with the gripper assembly to flexibly adjust the gripping distance, suitable for application scenarios where the incoming material spacing is not fixed but the unloading time interval is fixed.

[0008] Furthermore, the gripper assembly includes a connecting rod connected to the slider of the variable pitch module. A cylinder seat is connected to the end of the connecting rod. A double-headed cylinder and two other cylinders are mounted on the lower surface of the cylinder seat. The cylinders are positioned along the Y-axis on both sides of the double-headed cylinder. Grippers are connected to the double-headed cylinder and the cylinder push rod, respectively. This combined gripper drive structure of the double-headed cylinder and the two side cylinders enhances the evenness of the gripping force distribution and prevents the goods from tilting or slipping.

[0009] Furthermore, the gripper ends are provided with inwardly folded horizontal plates, the edges of which are rounded. The horizontal plates at the gripper ends increase the contact area, improving gripping stability on product edges, making it particularly suitable for packaging on smooth surfaces. The rounded transition design prevents sharp edges from scratching the material surface.

[0010] Furthermore, the quick connector includes a female quick connector and a male quick connector. The female quick connector is located at the end of the transplanting connecting rod, and the male quick connector is located at the top of the pitch module. The quick connector male and female design enables rapid assembly and disassembly of the pitch module, shortening equipment changeover time and improving production efficiency.

[0011] Furthermore, the Y-axis transfer module is a linear motor module. The linear motor module drives Y-axis movement, offering advantages such as high response, high speed, high precision, and low maintenance, making it suitable for high-frequency palletizing scenarios.

[0012] Furthermore, the pitch module is a three-slider pitch module.

[0013] Furthermore, the pitch module is a seven-slider pitch module.

[0014] Furthermore, the pitch module is an eight-slider pitch module.

[0015] The beneficial effects of this utility model are: This utility model is reasonably designed and has the following advantages:

[0016] (1) The three-axis linkage and variable pitch module structure realize fully automatic and precise transplanting, and support the rapid switching of multiple product specifications;

[0017] (2) The multi-cylinder collaboration and horizontal plate structure of the gripper assembly ensure a firm grip and reduce the risk of damage to goods during handling.

[0018] (3) Quick-connect couplings and modular structures reduce the difficulty of equipment debugging and maintenance, and shorten downtime;

[0019] (4) The variable pitch module and the gripper assembly work together to flexibly adjust the gripping distance, which is suitable for application scenarios where the material spacing is not fixed and the spacing is fixed during the unloading process. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a perspective view of the present invention;

[0022] Figure 2 yes Figure 1 The main view;

[0023] Figure 3 This is a schematic diagram of the initial state of the gripper assembly;

[0024] Figure 4 This is a schematic diagram of the gripper assembly in operation.

[0025] In the diagram: 1. Frame, 2. Y-axis transplanting module, 3. Z-axis transplanting module, 4. X-axis transplanting module, 5. Quick-connect female connector, 6. Quick-connect male connector, 7. Pitch variable module, 8. Gripper assembly, 9. Transplanting linkage, 81. Linkage, 82. Cylinder seat, 83. Double-headed cylinder, 84. Cylinder, 85. Gripper, 86. Horizontal plate. Detailed Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0027] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

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

[0029] Example 1

[0030] like Figures 1-4 The automatic palletizing gantry transplanting robot shown has a frame 1, with the left and right directions defined as X-axis, the left and right directions as Y-axis, and the height direction as Z-axis. A Y-axis transplanting module 2 is installed on the frame 1, an X-axis transplanting module 4 is installed at the output end of the Y-axis transplanting module 2, and a Z-axis transplanting module 3 is installed at the output end of the X-axis transplanting module 4. A transplanting link 9 is installed at the output end of the Z-axis transplanting module 3, and the transplanting link 9 is connected to a variable pitch module 7 via a quick connector. A gripper assembly 8 is installed on the slider of the variable pitch module 7.

[0031] The gripper assembly 8 includes a connecting rod 81 connected to the slider of the variable pitch module 7. The end of the connecting rod 81 is connected to a cylinder seat 82. A double-headed cylinder 83 and two cylinders 84 are mounted on the lower surface of the cylinder seat 82. The cylinders 84 are located on both sides of the double-headed cylinder 83 along the Y direction. Grippers 85 are connected to the top rods of the double-headed cylinder 83 and the cylinders 84, respectively.

[0032] The end of the gripper 85 is provided with an inwardly folded horizontal plate 86, and the edge of the horizontal plate 86 is a rounded transition structure.

[0033] The quick connector includes a female quick connector 5 and a male quick connector 6. The female quick connector 5 is located at the end of the transplanting connecting rod 9, and the male quick connector 6 is located at the top of the pitch module 7.

[0034] Y-direction transplanting module 2 is a linear motor module.

[0035] The pitch module 7 is an eight-slider pitch module.

[0036] The specific working process of this automated palletizing truss transplanting robot is as follows:

[0037] The X-axis transplanting module 4, Y-axis transplanting module 2, and Z-axis transplanting module 3 work together, while the variable pitch module 7 operates. The gripper assembly 8 descends to clamp the product and then rises. At the same time, the variable pitch module 7 continues to operate, adjusting the product's feeding distance. After the X-axis transplanting module 4, Y-axis transplanting module 2, and Z-axis transplanting module 3 work together again, the gripper assembly 8 is positioned at the feeding position to perform the feeding operation.

[0038] Example 2

[0039] The difference from Embodiment 1 is that the pitch module 7 is a seven-slider pitch module.

[0040] Example 3

[0041] The difference from Example 1 is that the pitch module 7 is a three-slider pitch module.

[0042] In summary, this utility model is reasonably designed and has the following advantages:

[0043] (1) The three-axis linkage and variable pitch module 7 realize fully automatic and precise transfer, support the rapid switching of multiple product specifications, and significantly improve the flexibility of the production line.

[0044] (2) The multi-cylinder collaboration and horizontal plate structure of the gripper assembly 8 ensure a firm grip and reduce the risk of damage to goods during handling.

[0045] (3) Quick-connect couplings and modular structures reduce the difficulty of equipment debugging and maintenance, and shorten downtime;

[0046] (4) The variable pitch module and the gripper assembly work together to flexibly adjust the gripping distance, which is suitable for application scenarios where the material spacing is not fixed and the spacing is fixed during the unloading process.

[0047] The above description is only a specific embodiment of the present utility model. Various examples and illustrations do not constitute a limitation on the substantive content of the present utility model. Those skilled in the art can make modifications or variations to the above-described specific embodiments after reading the description without departing from the essence and scope of the utility model.

Claims

1. A gantry transfer robot for automatic palletizing, characterized by: It has a frame (1), and the left and right directions of the frame (1) are set as X direction, the left and right directions are set as Y direction, and the height direction is set as Z direction; The frame (1) is equipped with a Y-axis transplanting module (2), an X-axis transplanting module (4) is installed at the output end of the Y-axis transplanting module (2), and a Z-axis transplanting module (3) is installed at the output end of the X-axis transplanting module (4); a transplanting link (9) is installed at the output end of the Z-axis transplanting module (3), and the transplanting link (9) is connected to a pitch-changing module (7) through a quick connector. A gripper assembly (8) is installed on the slider of the pitch-changing module (7).

2. The automatic palletizing gantry transfer robot according to claim 1, characterized by: The gripper assembly (8) includes a connecting rod (81) connected to the slider of the variable pitch module (7). The end of the connecting rod (81) is connected to a cylinder seat (82). A double-headed cylinder (83) and two cylinders (84) are mounted on the lower surface of the cylinder seat (82). The cylinders (84) are located on both sides of the double-headed cylinder (83) along the Y direction. Grippers (85) are connected to the top rods of the double-headed cylinder (83) and the cylinders (84).

3. The automatic palletizing gantry transfer robot according to claim 2, characterized by: The gripper (85) has an inwardly folded horizontal plate (86) at its end, and the edge of the horizontal plate (86) is a rounded transition structure.

4. The automatic palletizing gantry transfer robot according to claim 1, characterized by: The quick connector includes a quick connector female (5) and a quick connector male (6). The quick connector female (5) is located at the end of the transplanting connecting rod (9), and the quick connector male (6) is located at the top of the pitch module (7).

5. The automatic palletizing gantry transfer robot according to claim 1, characterized by: The Y-axis transplanting module (2) is a linear motor module.

6. The automatic palletizing gantry transfer robot according to claim 1, characterized by: The pitch module (7) is a three-slider pitch module.

7. The automatic palletizing gantry transfer robot according to claim 1, characterized by: The pitch module (7) is a seven-slider pitch module.

8. The automatic palletizing gantry transfer robot according to claim 1, characterized by: The pitch module (7) is an eight-slider pitch module.

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