A palletizing device

Abstract

The utility model discloses a kind of stacking devices, including chassis, multi-axis mechanical arm, one end of multi-axis mechanical arm is fixedly connected with chassis, and the other end movably connects with flexible mechanical gripper for grabbing fertilizer packaging bag, flexible mechanical gripper includes mounting bracket, jaw, first pressing plate and second pressing plate, mounting bracket is fixedly connected with multi-axis mechanical arm, jaw is reversibly arranged in the two sides of mounting bracket, first pressing plate is set in mounting bracket, and first pressing plate is used for cooperating with the longitudinal compression of fertilizer packaging bag by jaw;Second pressing plate is set on jaw, and second pressing plate is used for the transverse clamping of fertilizer packaging bag;By setting flexible mechanical gripper, cooperate jaw, first pressing plate and second pressing plate, the stable grabbing and transport of fertilizer packaging bag are realized.

Description

Technical Field

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

[0002] After fertilizer production is completed, it needs to be packaged, stacked, and transported uniformly. In the stacking process, traditional stacking methods generally rely on manual handling, which is not only inefficient but also poses serious safety hazards. With the development of technology, robotic arms suitable for stacking fertilizer packaging bags have emerged. These robotic arms can effectively solve the problems of manual handling, are highly efficient, and do not pose installation hazards. However, current stacking robotic arms generally only use grippers to pick up fertilizer packaging bags. During the stacking process, the grippers have difficulty in stably picking up and transporting fertilizer packaging bags of different sizes, which can easily lead to problems such as unstable stacking, transportation vibration, and damage to fertilizer packaging bags. Therefore, there is an urgent need for a more reasonably structured stacking device to solve the above problems. Utility Model Content

[0003] To address the shortcomings of the aforementioned technologies, where the palletizing device cannot stably grip and transport fertilizer packaging bags of different sizes, resulting in reduced palletizing efficiency, this utility model provides a palletizing device.

[0004] To achieve the above objectives, this utility model provides a palletizing device, including a chassis and a multi-axis robotic arm. One end of the multi-axis robotic arm is fixedly connected to the chassis, and the other end is movably connected to a flexible mechanical gripper for gripping fertilizer packaging bags. The flexible mechanical gripper includes a mounting frame, grippers, a first pressure plate, and a second pressure plate. The mounting frame is fixedly connected to the multi-axis robotic arm. The grippers are rotatably disposed on both sides of the mounting frame. The first pressure plate is disposed on the mounting frame and is used to longitudinally press the fertilizer packaging bags in conjunction with the grippers. The second pressure plate is disposed on the grippers and is used to laterally clamp the fertilizer packaging bags.

[0005] As an improvement of this utility model, the bending area of ​​the gripper is provided with a second pressure plate and a horizontal telescopic cylinder. The horizontal telescopic cylinder is fixedly mounted on the gripper, and the cylinder rod is fixedly connected to the second pressure plate. The horizontal telescopic cylinder controls the second pressure plate to clamp the fertilizer packaging bag in the horizontal direction relative to the mounting frame.

[0006] As an improvement of this utility model, it also includes a rotating shaft and a rotating frame. One end of the gripper is sleeved in the rotating shaft, the rotating frame is fixedly mounted on the mounting frame, the rotating shaft is rotatably mounted on the rotating frame, a drive motor is provided on one side of the rotating frame, the output shaft of the drive motor is fixedly connected to the rotating shaft, and when the output shaft of the drive motor rotates, the rotating shaft rotates to drive the gripper to flip.

[0007] As an improvement of this utility model, the mounting frame is provided with a longitudinal telescopic cylinder, the telescopic end of the longitudinal telescopic cylinder is fixedly connected to the first pressure plate, and the longitudinal telescopic cylinder drives the first pressure plate to move up and down relative to the mounting frame when it extends and retracts.

[0008] As an improvement of this utility model, the angle of bending of the gripper is less than 90°.

[0009] As an improvement of this utility model

[0010] The beneficial effects of this utility model are as follows: Compared with the prior art, the palletizing device provided by this utility model includes a chassis and a multi-axis robotic arm. One end of the multi-axis robotic arm is fixedly connected to the chassis, and the other end is movably connected to a flexible mechanical gripper for gripping fertilizer packaging bags. The flexible mechanical gripper includes a mounting frame, grippers, a first pressure plate, and a second pressure plate. The mounting frame is fixedly connected to the multi-axis robotic arm. The grippers are rotatably arranged on both sides of the mounting frame. The first pressure plate is arranged on the mounting frame and is used to longitudinally press the fertilizer packaging bags in conjunction with the grippers. The second pressure plate is arranged on the grippers and is used to laterally clamp the fertilizer bags. Bagging: By setting up a flexible mechanical gripper, in conjunction with the clamps, first pressure plate, and second pressure plate, stable gripping and transportation of fertilizer packaging bags are achieved. At the same time, the flipping angle of the clamps is adjustable, and the first and second pressure plates press and fix the fertilizer packaging bags in the longitudinal and horizontal directions, respectively, improving the stability and accuracy of stacking. Meanwhile, the bending angle of the clamps is less than 90°, which allows the clamps to adapt more flexibly to different spatial positions when gripping fertilizer packaging bags, improving space utilization and reducing the impact on fertilizer packaging bags during the flipping process, ensuring the safety and stability of the equipment. Attached Figure Description

[0011] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0012] Figure 2 This is a right view of the flexible mechanical gripper of this utility model.

[0013] The symbols for the main components are explained below:

[0014] 1. Chassis; 2. Multi-axis robotic arm; 3. Flexible mechanical gripper; 4. Mounting frame; 5. Gripper; 6. First pressure plate; 7. Second pressure plate; 8. Horizontal telescopic cylinder; 9. Drive motor; 10. Longitudinal telescopic cylinder; 11. Rotary shaft. Detailed Implementation

[0015] To more clearly illustrate this utility model, the following description, in conjunction with the accompanying drawings, will provide a further picture.

[0016] In the following description, specific examples are given to provide a more in-depth understanding of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be understood that the specific embodiments described are only used to explain the present invention and are not intended to limit the present invention.

[0017] It should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the said feature, integral, step, operation, element, or component, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, or combinations thereof.

[0018] Please see Figure 1-2 This utility model discloses a palletizing device, including a chassis 1 and a multi-axis robotic arm 2. One end of the multi-axis robotic arm 2 is fixedly connected to the chassis 1, and the other end is movably connected to a flexible mechanical gripper 3 for gripping fertilizer packaging bags. The flexible mechanical gripper 3 includes a mounting frame 4, grippers 5, a first pressure plate 6, and a second pressure plate 7. The mounting frame 4 is fixedly connected to the multi-axis robotic arm 2. The grippers 5 are rotatably arranged on both sides of the mounting frame 4. The first pressure plate 6 is arranged on the mounting frame 4 and is used to longitudinally press the fertilizer packaging bags in conjunction with the grippers 5. The second pressure plate 7 is arranged on the grippers 5 and is used to laterally clamp the bags. Fertilizer packaging bags; This utility model uses a combination of grippers 5, a first pressure plate 6, and a second pressure plate 7 to grip the fertilizer packaging bags. The grippers 5 are mainly used to pick up the fertilizer packaging bags, while the first pressure plate 6 and the second pressure plate 7 press and fix the fertilizer packaging bags in the longitudinal and horizontal directions, respectively, restricting the movement of the fertilizer packaging bags and ensuring that the palletizing device can firmly grip the materials and prevent them from falling off. This utility model is applicable to fertilizer packaging bags of different sizes. Regardless of the size difference of different fertilizer packaging bags, it can achieve stable gripping and transportation of fertilizer packaging bags, improving the flexibility and practicality of the palletizing device.

[0019] In this embodiment, a second pressure plate 7 and a horizontal telescopic cylinder 8 are provided in the bending area of ​​the gripper 5. The horizontal telescopic cylinder 8 is fixedly mounted on the gripper 5, and the cylinder rod of the horizontal telescopic cylinder 8 is fixedly connected to the second pressure plate 7. The horizontal telescopic cylinder 8 controls the second pressure plate 7 to clamp the fertilizer packaging bag in the horizontal direction relative to the mounting frame 4. By controlling the horizontal displacement of the second pressure plate 7 through the horizontal telescopic cylinder 8, when the gripper 5 grabs the fertilizer packaging bag, the horizontal telescopic cylinder 8 extends to move the second pressure plate 7 toward the fertilizer packaging bag. Since there are two second pressure plates 7 on the mounting frame 4, when the two second pressure plates 7 move toward the fertilizer packaging bag at the same time, they can complete the pressing action of the fertilizer packaging bag, ensuring that it will not shake or shift in the horizontal direction, thus improving the stability and accuracy of stacking.

[0020] In this embodiment, a rotating shaft 11 and a rotating frame are also included. One end of the gripper 5 is sleeved in the rotating shaft 11, and the rotating frame is fixedly mounted on the mounting frame 4. The rotating shaft 11 is rotatably mounted on the rotating frame. A drive motor 9 is provided on one side of the rotating frame. The output shaft of the drive motor 9 is fixedly connected to the rotating shaft 11. When the output shaft of the drive motor 9 rotates, the rotating shaft 11 rotates to drive the gripper 5 to flip. By driving the rotation of the rotating shaft 11 through the drive motor 9, the gripper 5 is driven to flip, so that the gripper 5 can flexibly grasp and place fertilizer packaging bags at different angles, which improves the automation level and operational flexibility of the palletizing device. In addition, the flipping angle of the gripper 5 can be precisely adjusted by controlling the rotation angle of the drive motor 9, which, together with the first pressure plate 6 and the second pressure plate 7, meets the palletizing requirements of fertilizer packaging bags of different sizes.

[0021] In this embodiment, a longitudinal telescopic cylinder 10 is provided on the mounting frame 4. The telescopic end of the longitudinal telescopic cylinder 10 is fixedly connected to the first pressure plate 6. When the longitudinal telescopic cylinder 10 extends or retracts, it drives the first pressure plate 6 to move up and down relative to the mounting frame 4. Through the telescopic action of the longitudinal telescopic cylinder 10, the first pressure plate 6 can be controlled to press or release the fertilizer packaging bag in the longitudinal direction. When it is necessary to grasp the fertilizer packaging bag, the longitudinal telescopic cylinder 10 retracts to move the first pressure plate 6 away from the fertilizer packaging bag. After the gripper 5 grasps the fertilizer packaging bag, the longitudinal telescopic cylinder 10 extends to move the first pressure plate 6 toward the fertilizer packaging bag and press it, ensuring that the fertilizer packaging bag will not shake or shift in the longitudinal direction, further improving the stability and accuracy of palletizing. In addition, the stroke of the longitudinal telescopic cylinder 10 can be adjusted according to the size of the fertilizer packaging bag to adapt to fertilizer packaging bags of different sizes, enhancing the flexibility and practicality of the palletizing device.

[0022] In this embodiment, the bending angle of the gripper 5 is less than 90°. Setting the bending angle of the gripper 5 to less than 90° allows the gripper 5 to more flexibly adapt to different spatial positions when gripping fertilizer packaging bags. A certain tilt angle prevents the fertilizer packaging bags from being damaged. At the same time, it reduces the space occupied by the gripper 5 during the flipping process, making the entire palletizing device structure more compact and improving space utilization. In addition, it can also reduce the impact force on the fertilizer packaging bags when the gripper 5 flips, avoiding damage to the fertilizer packaging bags and ensuring the safety and stability of the equipment during the palletizing process.

[0023] In this embodiment, the clamping surfaces of the first pressure plate 6 and the second pressure plate 7 are provided with silicone pads. Compared with the metal contact surface, the friction of the metal contact surface is smaller, and it is also easy to squeeze the fertilizer packaging bag and cause it to be damaged. The silicone pads increase the friction between the first pressure plate 6 and the second pressure plate 7 and the fertilizer packaging bag, making the fertilizer packaging bag more stable when clamped and less likely to slip. At the same time, the soft material of the silicone pads can also protect the fertilizer packaging bag and prevent damage to it during the clamping process.

[0024] The advantages of this utility model are:

[0025] 1. By setting up a flexible mechanical gripper, in conjunction with the jaws, first pressure plate, and second pressure plate, stable gripping and transportation of fertilizer packaging bags are achieved. At the same time, the flipping angle of the jaws is adjustable, and the first and second pressure plates press and fix the fertilizer packaging bags in the longitudinal and horizontal directions, respectively, improving the stability and accuracy of stacking. Meanwhile, the bending angle of the jaws is less than 90°, which allows the jaws to adapt more flexibly to different spatial positions when gripping fertilizer packaging bags, improving space utilization and reducing the impact on fertilizer packaging bags during the flipping process, thus ensuring the safety and stability of the equipment.

[0026] The above-disclosed embodiments are only a few specific examples of this utility model. However, this utility model is not limited thereto. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this utility model.

Claims

1. A palletizing device, characterized in that, The device includes a chassis and a multi-axis robotic arm. One end of the multi-axis robotic arm is fixedly connected to the chassis, and the other end is movably connected to a flexible mechanical gripper for gripping fertilizer packaging bags. The flexible mechanical gripper includes a mounting frame, grippers, a first pressure plate, and a second pressure plate. The mounting frame is fixedly connected to the multi-axis robotic arm. The grippers are rotatably disposed on both sides of the mounting frame. The first pressure plate is disposed on the bottom surface of the mounting frame and is used to cooperate with the grippers to press the fertilizer packaging bags in the longitudinal direction. The second pressure plate is disposed on the grippers and is used to clamp the fertilizer packaging bags in the horizontal direction.

2. The palletizing device according to claim 1, characterized in that, The bending area of ​​the gripper is provided with a second pressure plate and a horizontal telescopic cylinder. The horizontal telescopic cylinder is fixedly mounted on the gripper, and the cylinder rod is fixedly connected to the second pressure plate. The horizontal telescopic cylinder controls the second pressure plate to clamp the fertilizer packaging bag in the horizontal direction relative to the mounting frame.

3. A palletizing device according to claim 1, characterized in that, It also includes a rotating shaft and a rotating frame. One end of the gripper is sleeved in the rotating shaft, and the rotating frame is fixedly mounted on the mounting frame. The rotating shaft is rotatably mounted on the rotating frame. A drive motor is provided on one side of the rotating frame. The output shaft of the drive motor is fixedly connected to the rotating shaft. When the output shaft of the drive motor rotates, the rotating shaft rotates to drive the gripper to flip.

4. A palletizing device according to claim 1, characterized in that, The mounting frame is equipped with a longitudinal telescopic cylinder. The telescopic end of the longitudinal telescopic cylinder is fixedly connected to the first pressure plate. When the longitudinal telescopic cylinder extends or retracts, it causes the first pressure plate to move up and down relative to the mounting frame.

5. A palletizing device according to claim 2, characterized in that, The angle at which the gripper bends is less than 90°.

6. A palletizing device according to claim 1, characterized in that, The clamping surfaces of the first pressure plate and the second pressure plate are provided with silicone pads.

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