Anti-deviation palletizing device
By combining components such as limiting baffles and anti-slip strips, the problem of object displacement during the palletizing process is solved, achieving accurate palletizing without visual positioning and multi-directional limiting clamping, which is suitable for objects of various sizes.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- THE FRUIT IS RIPE (HUNAN) BIOTECHNOLOGY CO LTD
- Filing Date
- 2025-07-22
- Publication Date
- 2026-07-21
AI Technical Summary
Existing palletizing devices are prone to causing object displacement during clamping, and the mechanical clamping device affects the visual positioning path, resulting in decreased layer accuracy. Furthermore, the grippers are prone to damaging objects when they are in contact with the platform.
It employs components such as limit baffles, anti-slip strips, clamping claws, and sliding frames to achieve accurate positioning and multi-directional limit clamping through mechanical control, preventing deviation. The clamping range can be adjusted through a pull rope and winding wheel system to accommodate objects of different sizes.
It enables accurate palletizing without visual positioning, prevents objects from shifting, improves the stability and flexibility of the palletizing process, and is suitable for objects of various sizes.
Smart Images
Figure CN224530043U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of palletizing device technology, and more specifically, to a palletizing device for preventing offset. Background Technology
[0002] In smart manufacturing and logistics automation scenarios, palletizers are widely used at the end of the production line to stack products into pallets according to preset patterns. The structural stability of the pallet directly affects warehousing safety and transportation efficiency. However, existing palletizing devices generally use two clamps to hold the boxes for palletizing. During the clamping and handling process, the movement of the carton palletizer can cause the clamps and cartons to slip. Although applying pressure above the object can achieve clamping and prevent offset, the mechanical clamping device can easily obstruct the visual positioning path during use, thus affecting the accuracy of subsequent layers. Inserting claws above the object can also solve some of the offset problem, but when the object and the platform are in close contact, the claws cannot guarantee that they will be inserted below the object for clamping, and the object is easily damaged during operation.
[0003] Therefore, a palletizing device that prevents offset is needed to solve the above problems. Summary of the Invention
[0004] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.
[0005] To address the technical problems mentioned in the background section, some embodiments of this application provide an anti-offset palletizing device, comprising: a platform, a palletizing object, a fixed plate, gripping claws, limiting baffles, anti-slip strips, and a pressing plate. The palletizing object is placed on top of the platform, and a fixed plate is positioned above the palletizing object. The fixed plate is connected to a palletizing robotic arm. Gripping claws are respectively positioned on the left and right sides of the fixed plate, and limiting baffles are respectively positioned on the front and rear sides. Anti-slip strips are provided at the far ends of the two gripping claws, and these anti-slip strips contact the upper surface of the platform. Multiple evenly distributed slots are formed on the gripping claws, and anti-slip strips are adhered to the slots. The anti-slip strips cover the gripping claws in the front-rear direction. A gripping cylinder is fixedly mounted at the bottom of the fixed plate, and telescopic air rods are connected to both ends of the gripping cylinder. Guide plates are fixedly mounted at the far ends of the two telescopic air rods. Sliding grooves are formed on the gripping claws to slide in cooperation with the guide plates.
[0006] Furthermore, a support frame is fixedly connected to the lower end of the fixing plate via a threaded connection. The support frame abuts against the middle section of the telescopic air rod to support the telescopic air rod. Two symmetrical mounting plates are fixedly mounted on the lower end of the fixing plate. A power motor is fixedly connected to each of the two mounting plates via a threaded connection. The power motor is located near the end of the limiting baffle. The power connection is a gear, and the gear meshes with racks in both the left and right directions. The two racks are fixedly connected to the limiting baffle and the squeezing plate, respectively. A sliding frame is provided below the fixed plate, and a winding wheel is rotatably connected to the sliding frame. Pull ropes are fixed at both ends of the anti-slip belt. The pull ropes extend upward and are wound around the winding wheel and connected to the clamping claws on the left and right corresponding sides.
[0007] Furthermore, magnets are embedded in the adjacent ends of the sliding frame and the clamping claw, and fixed plates are fixed at both ends of the fixed plate. A telescopic rod that can extend and retract vertically is fixed at the lower end of the fixed plate, and a pressing plate is fixed at the lower end of the telescopic rod.
[0008] Furthermore, the limiting baffle is provided with symmetrical sliding grooves on the left and right sides and an opening at the end. A T-shaped guide slider is fixed on the fixed plate. The sliding groove and the fixed plate are slidably engaged by the T-shaped guide slider. The opening is slidably engaged with the two racks. A protective baffle is fixedly connected to the lower end of the fixed plate by a threaded component. The protective baffle is in close contact with the guide plate. The lower end of the protective baffle is provided with a guide groove and is slidably connected to the sliding frame by a fixed slide rod.
[0009] The beneficial effects of this application are as follows: 1. With the setting of the limiting baffle, during the movement of the fixed plate driven by the robot arm, the palletized object held by the two gripping claws can abut against the limiting baffle. Thus, the robot arm can directly target the position of the limiting baffle to perform the palletizing work, thereby eliminating the need to use a camera to position the palletized object. Instead, the accuracy of palletizing can be achieved through direct mechanical control, preventing the palletized object from shifting during the palletizing process.
[0010] 2. With the anti-slip strips, as the two gripping claws approach each other to clamp the stacked object, the pull rope can drive the anti-slip strips to move, thereby limiting and clamping the lower part of the stacked object from four directions (front, back, left, and right), further restricting the offset of the stacked object.
[0011] 3. The sliding frame is slidably connected to the protective baffle, so that the position of the sliding frame and the winding wheel can be changed under the pull of the pull rope. Thus, in the process of clamping and limiting the stacked objects of different sizes, the position of the sliding frame can be changed so that the length of the pull rope can be changed to limit and clamp the stacked objects, thereby increasing the scope of application and improving flexibility. Attached Figure Description
[0012] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of the accompanying drawings are used to explain the application. This does not constitute an undue limitation on this application.
[0013] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.
[0014] In the attached diagram: Figure 1 is an overall schematic diagram of an embodiment of an anti-offset palletizing device according to this application; Figure 2 is a schematic diagram of the appearance after removing part of the mechanism in the embodiment described in Figure 1; Figure 3 is a partially enlarged schematic diagram of the gripping claw in Figure 2; Figure 4 is a partial schematic diagram of the sliding frame part in Figure 3; Figure 5 is a schematic diagram of the appearance after palletizing; Figure 6 is a schematic diagram of the appearance after removing the platform and the stacked objects in the embodiment described in Figure 1; Figure 7 is a top view of the embodiment described in Figure 6 after the anti-slip strip portion has been removed; Figure 8 is a schematic diagram of the appearance after removing the fixing plate in the embodiment described in Figure 7; Figure 9 is a schematic diagram of the appearance of the limiting baffle in the embodiment described in Figure 8.
[0015] 10. Platform; 11. Stacked objects; 12. Fixing plate; 13. Clamping claw; 14. Limiting baffle; 15. Anti-slip strip; 16. Anti-slip strip; 17. Sliding frame; 18. Winding wheel; 19. Extrusion plate; 20. Power motor; 21. Gear; 22. Rack; 23. Sliding groove; 24. Opening; 25. Clamping cylinder; 26. Telescopic air rod; 27. Support frame; 28. Protective baffle; 29. Mounting plate; 30. Fixing disc; 31. Telescopic rod; 32. Magnet; 33. Guide plate; 34. Pull rope. Detailed Implementation
[0016] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.
[0017] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.
[0018] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.
[0019] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".
[0020] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.
[0021] Referring to Figures 1-9, an anti-offset palletizing device includes: a platform 10, a palletized object 11, a fixing plate 12, a clamping claw 13, a limiting baffle 14, an anti-slip strip 15, and a pressing plate 19. A palletized object 11 is placed on top of platform 10. A fixed plate 12 is provided above the palletized object 11. The fixed plate 12 is connected to a palletizing robot arm (the palletizing robot arm adopts existing technology). The fixed plate 12 has gripping claws 13 on its left and right sides, and limiting baffles 14 on its front and rear sides. Anti-slip strips 15 are provided at the far ends of the two gripping claws 13, and these anti-slip strips 15 contact the upper surface of platform 10. Multiple evenly distributed slots are provided on the gripping claws 13, and anti-slip strips 16 are adhered to the slots, covering the gripping claws 13 in the front-rear direction. A gripping cylinder 25 (the gripping cylinder adopts existing technology) is fixed to the bottom of the fixed plate 12. Telescopic air rods 26 are connected to both ends of the gripping cylinder 25. Guide plates 33 are fixed at the far ends of the two telescopic air rods 26. The upper part has a sliding groove that slides and engages with the guide plate 33. The palletized object 11 is placed on the platform by the transport mechanism, or the platform is directly converted into a transport mechanism, such as a belt transport mechanism. The fixing plate 12 is connected to the palletizing robot arm. The palletized object 11 is clamped from left to right by the clamping plate 13. The robot arm controls the fixing plate 12 to move back and forth, so that the palletized object 11 abuts against the limiting baffle 14. A support frame 27 is fixedly connected to the lower end of the fixed plate 12 via a threaded connection. The support frame 27 abuts against the middle section of the telescopic air rod 26 to support the telescopic air rod 26. Two symmetrical mounting plates 29 are fixedly mounted on the lower end of the fixed plate 12. A power motor 20 is fixedly connected to each mounting plate 29 via a threaded connection. A gear 21 is connected to the end of the power motor 20 near the limit baffle 14. The gear 21 meshes with racks 22 in both left and right directions. The two racks 22 are fixedly connected to the limit baffle 14 and the pressing plate 19, respectively. The fixed plate 12 (the fixed plate 12 in Figure 3 is...) Figure 8 Below the protective baffle 28, there is a sliding frame 17. A winding wheel 18 is rotatably connected to the sliding frame 17. Pull ropes 34 are fixed at both ends of the anti-slip strip 15. The pull ropes 34 extend upward and are wound around the winding wheel 18 and connected to the clamping claws 13 on the left and right sides respectively (for example, the pull rope 34 is located on the right side, passes through the winding wheel 18 and is fixedly connected to the clamping claw 13 on the left side). The anti-slip strip 15 is in close contact with the front, back, left and right sides of the stacked object 11, thereby further restricting the movement of the stacked object 11. The clamping force of the anti-slip strip 15 is provided by the pull ropes 34, and the tension of the pull ropes 34 is provided by the clamping plate 13. Magnets 32 are fixedly embedded at the close ends of the sliding frame 17 and the clamping claw 13. Fixed plates 30 are fixed at both the front and rear ends of the fixed plate 12. A telescopic rod 31 that can extend and retract vertically is fixed at the lower end of the fixed plate 30. A pressing plate 19 is fixed at the lower end of the telescopic rod 31. The limiting baffle 14 has symmetrical sliding grooves 23 and an opening 24 at the end. A T-shaped guide slider is fixed on the fixed plate 30. The sliding grooves 23 and the fixed plate 30 are slidably engaged by the T-shaped guide slider. The opening 24 and the two racks 22 are connected. The lower end of the fixed plate 12 is fixedly connected to the protective baffle 28 by a threaded part. The protective baffle 28 fits and abuts against the guide plate 33. The lower end of the protective baffle 28 is provided with a guide groove and is slidably connected to the sliding frame 17 by a fixed sliding rod. The positioning function is achieved by the limiting baffle 14 abutting against the stacked object 11. The limiting baffle 14 moves up and down at the fixed plate 12.
[0022] Working process or usage method: 1. During operation, the palletized object 11 is transported to the platform 10 via a transport mechanism. The fixing plate 12 is mounted on the robotic arm via a connecting mechanism. By controlling the robotic arm, the fixing plate 12 is moved above the palletized object 11. This, in turn, controls the clamping cylinder 25 to retract the two telescopic air rods 26. Through the sliding connection between the guide plate 33 and the clamping claws 13, the two symmetrical clamping claws 13 are pulled closer together, clamping the left and right ends of the palletized object 11. During the clamping process, the anti-slip strips 16 increase the friction between the clamping claws 13 and the palletized object 11. Subsequently, the robotic arm controls the fixing plate 12 to move back and forth. The clamping claws 13 remain relatively stationary with respect to the palletized object 11 under the sliding cooperation with the guide plate 33, thus ensuring that one of the two limiting baffles 14 is in contact with the palletized object 11. The front and rear ends of the stacked object 11 abut against each other. During the abutment process, due to the relative change in the position of the stacked object 11 at the fixed plate 12, the center position of the stacked object 11 is biased towards the front and rear direction of the fixed plate 12, so that the stacked object 11 can be kept in contact with the limiting baffle 14 during the transportation of the stacked object 11.
[0023] 2. Before the fixed plate 12 drives the stacked objects 11 to perform stacking work, the power motor 20 will operate through control, driving the gear 21 to rotate. Under the meshing of the gear 21 with the two racks 22 on the left and right, the two racks 22 will move up and down respectively, causing the racks 22 to drive the limit baffle 14 to move upward. The racks 22 ( Figure 8 The rack 22 (marked in the middle) drives the fixedly connected pressing plate 19 to move downward, thereby pressing the pressing plate 19 against the upper end surface of the stacked object 11. The limiting baffle 14 moves upward to reduce the contact area with the stacked object 11, thereby reducing the impact of the stacked object 11 on the limiting baffle during transportation. The magnitude of the force applied at point 14.
[0024] 3. The pull ropes 34 on the left and right sides are arranged in an X-shape, and when the two gripping claws 13 come close to each other, the gripping claws... The distance between the 13 and the winding wheel 18 changes, causing one end of the anti-slip strip 15 connected to the gripper 13 to move. The anti-slip strip 15 is wound around the pull rope 34. With the rotation of the winding wheel 18, the gripper 13 pulls the other end of the anti-slip strip 15, causing the pull ropes 34 on the left and right sides to move closer to the bottom of the stacked object 11 through the connected anti-slip strip 15. Under the pull of the pull rope 34, the sliding frame 17 moves back and forth to maintain the correspondence between the two magnets 32 in the left and right directions (the gripper 13 and the pull rope 34 at the winding wheel 18 are in a taut state), so that the anti-slip strip 15 can clamp the four sides of the stacked object 11.
[0025] 4. During the palletizing process, the robotic arm will rotate, thereby placing the palletized object 11 as shown in Figure 5.
[0026] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.
Claims
1. A palletizing device for preventing offset, characterized in that, include: Platform (10), stacked objects (11), fixing plate (12); The palletized object (11) is placed on the platform (10), the fixing plate (12) is located above the palletized object, the lower end of the fixing plate (12) is fixed with a clamping cylinder (25), the left and right ends of the clamping cylinder (25) are connected with telescopic air rods (26), the two telescopic air rods (26) are fixed with guide plates (33) at their far ends, and the guide plates (33) are slidably fitted with clamping claws (13). The fixing plate (12) is provided with limiting baffles (14) at both the front and rear ends, and the limiting baffles (14) slide vertically with the fixing plate (12); Both of the two gripping claws (13) are connected to pull ropes (34) at their far ends. The lower end of each pull rope (34) is connected to an anti-slip strip (15). The pull ropes (34) on the left and right sides are arranged in an X-shape with their left and right sides intersecting.
2. The anti-offset palletizing device according to claim 1, characterized in that: The lower end of the fixed plate (12) is fixed with two symmetrical mounting plates (29). Both mounting plates (29) are fixedly connected to a power motor (20) by threaded parts. The power motor (20) is connected to a gear (21) near the end of the limiting baffle (14). The gear (21) is meshed with racks (22) in both the left and right directions. The two racks (22) are fixedly connected to the limiting baffle (14) and the pressing plate (19) respectively. A sliding frame (17) is provided below the fixed plate (12). A winding wheel (18) is rotatably connected to the sliding frame (17). The pull rope (34) extends upward and is wound on the winding wheel (18) and connected to the clamping claws (13) on the left and right corresponding sides.
3. The anti-offset palletizing device according to claim 1, characterized in that: The fixing plate (12) is fixed with a fixing plate (30) at both the front and rear ends. The lower end of the fixing plate (30) is fixed with a telescopic rod (31) that can extend and retract vertically. The lower end of the telescopic rod (31) is fixed with a pressing plate (19).
4. The anti-offset palletizing device according to claim 2, characterized in that: The lower end of the fixed plate (12) is fixedly connected to a protective baffle (28) by a threaded part. The protective baffle (28) fits and abuts against the guide plate (33). The lower end of the protective baffle (28) is provided with a guide groove and is slidably connected to the sliding frame (17) by a fixed slide rod.
5. The anti-offset palletizing device according to claim 1, characterized in that: The clamping claw (13) has multiple evenly distributed slots, and anti-slip strips (16) are glued to the slots. The anti-slip strips (16) are arranged to cover the clamping claw (13) in the front-back direction.
6. The anti-offset palletizing device according to claim 1, characterized in that: The lower end of the fixed plate (12) is fixedly connected to a support frame (27) by a threaded part. The support frame (27) abuts against the middle section of the telescopic air rod (26) to support the telescopic air rod (26).
7. The anti-offset palletizing device according to claim 2, characterized in that: Magnets (32) are fixedly embedded at the close ends of the sliding frame (17) and the clamping claw (13).