A modular palletizing machine head

Abstract

The utility model discloses a kind of group module palletizing snatch lifting machine head, including rack, the upper portion of the rack is equipped with sliding table, and the rack is equipped with the moving assembly for driving sliding table to move along rack, the both sides of the sliding table are slidably connected with vertical slide bar, the lower end between the vertical slide bar is fixedly connected with installation chassis, and the sliding table is equipped with the lifting assembly for driving vertical slide bar to slide up and down, the both sides of the installation chassis are fixedly connected with horizontal slide bar, the both ends between two horizontal slide bars are slidably connected with sliding block, and the lower end of the sliding block is fixedly connected with snatch clamping plate, the cylinder equipped with snatch clamping plate of the utility model can eliminate the error generated by the cumulative appearance size of multiple groups of modules, combined with the transmission of screw rod transverse moving assembly and rack type lifting assembly, so that equipment has good adaptability to different specifications, different groups of modules, can satisfy the palletizing demand of single group or multiple groups of group modules, and expand the application range of equipment.

Description

Technical Field

[0001] This utility model relates to the field of molding machine technology, specifically a group module palletizing and lifting machine head. Background Technology

[0002] In the compression molding production of building materials and composite materials, module stacking is a crucial process for ensuring production continuity and product quality. Traditionally, this process has relied heavily on manual operation, requiring workers to manually handle and stack modules. This method is not only labor-intensive and inefficient, but also prone to human error leading to insufficient stacking accuracy, which in turn affects the stability of subsequent production processes and can even reduce the quality of the final product.

[0003] With the advancement of industrial automation, some semi-automatic palletizing equipment has been put into use, but there are still obvious defects. First, the existing equipment can only perform single-module gripping operations in the module gripping stage, which cannot meet the synchronous gripping requirements of groups of modules, seriously restricting the further improvement of production efficiency. Second, there is a lack of an effective compensation mechanism for the cumulative error of module shape and size, making it difficult to ensure the stability of multiple groups of modules during gripping, resulting in palletizing quality that cannot meet production requirements.

[0004] To address these issues, we provide a modular palletizing gripper head. Utility Model Content

[0005] The purpose of this invention is to provide a modular palletizing and lifting head to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A modular palletizing gripper head includes a frame, a slide table on top of the frame, a moving component on the frame for driving the slide table to move along the frame, vertical slide rods slidably connected to both sides of the slide table, a mounting base fixedly connected between the lower ends of the vertical slide rods, a lifting component on the slide table for driving the vertical slide rods to slide up and down, horizontal slide rods fixedly connected to both sides of the mounting base, sliding blocks slidably connected between the two ends of the two horizontal slide rods, gripping clamps fixedly connected to the lower ends of the sliding blocks, a clamping component on the mounting base for clamping the modules to move the two gripping clamps, and a stacking component for eliminating gaps between the modules on the gripping clamp at one end of the horizontal slide rod.

[0008] As a further embodiment of this utility model: the moving component includes a horizontal slide rail, which is fixedly connected to both sides of the frame. The slide table is slidably connected to the horizontal slide rail. A lead screw is rotatably connected in the middle of the frame. A servo motor for driving the lead screw to rotate is installed at one end of the frame. A threaded seat is fixedly connected in the middle of the lower end of the slide table. The threaded seat is threadedly connected to the lead screw.

[0009] As a further embodiment of this utility model: the lifting assembly includes a cylindrical rack, which is fixedly connected to the middle of the mounting base. A drive box is fixedly connected to the middle of the slide. The cylindrical rack is slidably connected to the drive box. The drive box has an avoidance groove to avoid the transmission teeth of the cylindrical rack. The slide is provided with a drive assembly for driving the cylindrical rack to move up and down.

[0010] As a further embodiment of this utility model: the drive assembly includes a geared motor, which is fixedly connected to the middle of one side of the slide table. A gear is installed at the position where the output shaft of the geared motor passes through the drive box. The gear meshes with a cylindrical rack, and the output shaft of the geared motor is rotatably connected to the drive box.

[0011] As a further embodiment of this utility model: the clamping assembly includes a synchronous connecting rod, which is rotatably connected to the middle of the lower end of the mounting base. The middle of the lower end of the mounting base is provided with a movable groove to allow the synchronous connecting rod to swing. Both ends of the synchronous connecting rod are rotatably connected to a clamping plate linkage rod. The end of the clamping plate linkage rod away from the synchronous connecting rod is rotatably connected to a sliding block. The mounting base is also provided with a pushing assembly for pushing the clamping plate linkage rod to move.

[0012] As a further embodiment of this utility model: the pushing assembly includes a cylinder support, the cylinder support is fixedly connected to one side of the mounting base, a linkage cylinder is rotatably connected to the end of the cylinder support away from the mounting base, an adapter is fixedly connected to the end of the clamping linkage rod on one side of the mounting base near the synchronous linkage rod, and the output end of the linkage cylinder is rotatably connected to the adapter.

[0013] As a further improvement of this utility model: the stacking assembly includes two double-rod cylinders, which are fixedly connected to both sides of the gripping clamp, and compensation clamps are fixedly connected to the positions where the output ends of the double-rod cylinders protrude from the gripping clamp.

[0014] As a further improvement of this utility model: rubber pads are attached to the opposite sides of the gripping clamp and the compensation clamp, and the surface of the rubber pads is provided with anti-slip patterns.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] The cylinder equipped with the gripping clamp in this utility model can eliminate the error caused by the cumulative size of multiple modules. Combined with the transmission of the screw rod transverse component and the rack and pinion lifting component, the machine head has good adaptability to modules of different specifications and groups, which can meet the palletizing needs of single or multiple groups of modules and expand the application range of the machine head. Attached Figure Description

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

[0018] Figure 2 This is a schematic diagram of the clamping component in this utility model.

[0019] Figure 3 This is a partial structural schematic diagram of the synchronous connecting rod of this utility model.

[0020] The components include: 1. Frame; 2. Horizontal slide rail; 3. Lead screw; 4. Cylindrical rack; 5. Vertical slide bar; 6. Drive box; 7. Gear motor; 8. Servo motor; 9. Slide table; 10. Sliding block; 11. Grabbing clamp; 12. Module; 13. Compensating clamp; 14. Double rod cylinder; 15. Linkage cylinder; 16. Horizontal slide bar; 17. Mounting base; 18. Clamp linkage rod; 19. Synchronous linkage; 20. Cylinder support. 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 In this embodiment of the present invention, a group module palletizing gripper head includes a frame 1, a slide table 9 is provided on the top of the frame 1, and a moving component for driving the slide table 9 to move along the frame 1 is provided on the frame 1. The moving component includes a horizontal slide rail 2, which is fixedly connected to both sides of the frame 1. The slide table 9 is slidably connected to the horizontal slide rail 2. A lead screw 3 is rotatably connected in the middle of the frame 1. A servo motor 8 for driving the lead screw 3 to rotate is installed at one end of the frame 1. A threaded seat is fixedly connected in the middle of the lower end of the slide table 9, and the threaded seat is threadedly connected to the lead screw 3. During operation, the servo motor 8 drives the lead screw 3 to rotate. The lead screw 3 and the threaded seat cooperate to drive the slide table 9 to move along the horizontal slide rail 2, thereby driving the group module 12 being gripped to move laterally.

[0023] Please see Figure 1 and Figure 2 The slide table 9 has vertical slide rods 5 slidably connected to both sides. A mounting base 17 is fixedly connected between the lower ends of the vertical slide rods 5. The slide table 9 is equipped with a lifting assembly for driving the vertical slide rods 5 to slide up and down. The lifting assembly includes a cylindrical rack 4, which is fixedly connected to the middle of the mounting base 17. A drive box 6 is fixedly connected to the middle of the slide table 9. The cylindrical rack 4 is slidably connected to the drive box 6. The drive box 6 has a avoidance groove to avoid the transmission teeth of the cylindrical rack 4. The slide table 9 is equipped with a drive assembly for driving the cylindrical rack 4 to move up and down. The drive assembly includes a speed reducer. The motor 7 is fixedly connected to the middle of one side of the slide table 9. A gear is installed at the position where the output shaft of the motor 7 passes through the drive box 6. The gear meshes with the cylindrical rack 4. The output shaft of the motor 7 is rotatably connected to the drive box 6. When the group module 12 to be grasped is raised or lowered, the motor 7 drives the gear in the drive box 6 to rotate. The rotation of the gear meshes with the transmission gear on the cylindrical rack 4, causing the cylindrical rack 4 to move up and down, thereby driving the group module 12 to be grasped to rise or fall. The vertical slide bar 5 is set to limit the movement, making the mounting base 17 more stable when it moves up and down.

[0024] Please see Figure 2 and Figure 3 The mounting base 17 has horizontal sliding rods 16 fixedly connected to both sides. Sliding blocks 10 are slidably connected between the two ends of the two horizontal sliding rods 16. Grasping clamps 11 are fixedly connected to the lower ends of the sliding blocks 10. The mounting base 17 is equipped with a clamping assembly for clamping the module 12 to move the two grasping clamps 11. The clamping assembly includes a synchronous connecting rod 19, which is rotatably connected to the middle of the lower end of the mounting base 17. A movable groove is provided in the middle of the lower end of the mounting base 17 to allow the synchronous connecting rod 19 to swing. Clamping plate linkage rods 1 are rotatably connected to both ends of the synchronous connecting rod 19. 8. The end of the clamping plate linkage rod 18 away from the synchronous connecting rod 19 is rotatably connected to the sliding block 10. The mounting base 17 is also provided with a pushing assembly for pushing the clamping plate linkage rod 18 to move. The two clamping plate linkage rods 18 are rotatably connected to both ends of the synchronous connecting rod 19. During operation, the pushing assembly pushes one side of the clamping plate linkage rod 18. When one side of the clamping plate linkage rod 18 moves, it will drive the synchronous connecting rod 19 to swing around the central pivot point. The swing of the synchronous connecting rod 19 will drive the other side of the clamping plate linkage rod 18 to move synchronously, thereby realizing the synchronous relative or opposite movement of the sliding blocks 10 at both ends of the horizontal sliding rod 16.

[0025] Please see Figure 2The pushing assembly includes a cylinder support 20, which is fixedly connected to one side of the mounting base 17. A linkage cylinder 15 is rotatably connected to the end of the cylinder support 20 away from the mounting base 17. An adapter is fixedly connected to the end of the clamping plate linkage rod 18 on one side of the mounting base 17 near the synchronous connecting rod 19. The output end of the linkage cylinder 15 is rotatably connected to the adapter. During operation, the extension and retraction of the output end of the linkage cylinder 15 can drive the clamping plate linkage rod 18 to perform corresponding movements, thereby driving the sliding block 10 to slide on the horizontal sliding rod 16.

[0026] Please see Figure 2 The horizontal slide bar 16 is further provided with a stacking assembly on the gripping clamp 11 at one end for eliminating gaps between modules 12. The stacking assembly includes two double-rod cylinders 14, which are fixedly connected to both sides of the gripping clamp 11. Compensation clamps 13 are fixedly connected to the output ends of the double-rod cylinders 14 at the positions where they protrude from the gripping clamp 11. Rubber pads are affixed to the opposite sides of the gripping clamp 11 and the compensation clamp 13, and the surface of the rubber pads is provided with anti-slip patterns. During operation, the action of the output ends of the double-rod cylinders 14 can drive the compensation clamps 13 to move, which can push the group of modules 12 together to eliminate gaps between modules 12. Then, in conjunction with the clamping assembly, the group of modules 12 can be clamped.

[0027] The working principle of this utility model is as follows: The servo motor 8 is started, which drives the lead screw 3 to rotate. The screw seat drives the slide table 9 to move laterally along the horizontal slide rail 2, so that the gripping clamp 11 is aligned with the top of the group module 12. Then, the reduction motor 7 is started to drive the gear in the drive box 6 to rotate. It meshes with the cylindrical rack 4 and drives the vertical slide bar 5 and the mounting base 17 to descend until the gripping clamp 11 is close to the group module 12. Then, the output end of the linkage cylinder 15 extends and retracts, pushing the one-side clamping plate linkage pull rod 18, which drives the synchronous linkage rod 19 to swing around the center. This causes the two sliding blocks 10 on both sides to move synchronously along the horizontal slide bar 16. The gripping clamp 11 initially clamps the module. Then, the double-rod cylinder 14 is activated, pushing the compensation clamp 13 to move towards the module 12, eliminating the gap between the group modules 12, compensating for the cumulative error in the external dimensions, and cooperating with the gripping clamp 11 to complete the final clamping.

[0028] Then the reduction motor 7 rotates in reverse, and the gear and the cylindrical rack 4 work together to drive the vertical slide bar 5 to rise, and the mounting base 17 and the clamped group module 12 are lifted away from their original positions in sync.

[0029] Servo motor 8 drives lead screw 3 again, slide table 9 moves laterally along horizontal slide rail 2, transporting the module to the preset stacking position. Gear motor 7 rotates in the forward direction, mounting base 17 descends, group module 12 is placed at the stacking point, then linkage cylinder 15 moves in the reverse direction, gripping clamp 11 separates, double rod cylinder 14 resets, compensation clamp 13 retracts, then gear motor 7 drives mounting base 17 to rise, servo motor 8 drives slide table 9 back to the initial gripping position, ready for the next operation.

[0030] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Although this specification describes embodiments, not every embodiment contains only one technical solution. This method of description is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A modular palletizing gripper head, comprising a frame (1), characterized in that: A frame (1) is provided, and a slide (9) is provided on the top of the frame (1). A moving component is provided on the frame (1) for driving the slide (9) to move along the frame (1). Vertical slide rods (5) are slidably connected to both sides of the slide (9). A mounting base (17) is fixedly connected between the lower ends of the vertical slide rods (5). A lifting component is provided on the slide (9) for driving the vertical slide rods (5) to slide up and down. Horizontal slide rods (16) are fixedly connected to both sides of the mounting base (17). Sliding blocks (10) are slidably connected between the two ends of the two horizontal slide rods (16). Grabbing clamps (11) are fixedly connected to the lower ends of the sliding blocks (10). A clamping component is provided on the mounting base (17) for clamping the module (12) to drive the two grabbing clamps (11) to move. A stacking component is also provided on the grabbing clamp (11) at one end of the horizontal slide rod (16) for eliminating the gap between the modules (12).

2. The modular palletizing gripper head according to claim 1, characterized in that, The moving component includes a horizontal slide rail (2), which is fixedly connected to both sides of the frame (1). The slide table (9) is slidably connected to the horizontal slide rail (2). A lead screw (3) is rotatably connected in the middle of the frame (1). A servo motor (8) for driving the lead screw (3) to rotate is installed at one end of the frame (1). A threaded seat is fixedly connected in the middle of the lower end of the slide table (9), and the threaded seat is threadedly connected to the lead screw (3).

3. The modular palletizing gripper head according to claim 2, characterized in that, The lifting assembly includes a cylindrical rack (4), which is fixedly connected to the middle of the mounting base (17). A drive box (6) is fixedly connected to the middle of the slide (9). The cylindrical rack (4) is slidably connected to the drive box (6). The drive box (6) has a avoidance groove to avoid the transmission teeth of the cylindrical rack (4). The slide (9) is provided with a drive assembly for driving the cylindrical rack (4) to move up and down.

4. The modular palletizing gripper head according to claim 3, characterized in that, The drive assembly includes a geared motor (7), which is fixedly connected to the middle of one side of the slide (9). A gear is installed at the position where the output shaft of the geared motor (7) passes through the drive box (6). The gear meshes with the cylindrical rack (4). The output shaft of the geared motor (7) is rotatably connected to the drive box (6).

5. A modular palletizing gripper head according to claim 1, characterized in that, The clamping assembly includes a synchronous link (19), which is rotatably connected to the middle of the lower end of the mounting base (17). The middle of the lower end of the mounting base (17) is provided with a movable groove to allow the synchronous link (19) to swing. Both ends of the synchronous link (19) are rotatably connected to a clamping plate linkage rod (18). The end of the clamping plate linkage rod (18) away from the synchronous link (19) is rotatably connected to a sliding block (10). The mounting base (17) is also provided with a pushing assembly for pushing the clamping plate linkage rod (18) to move.

6. A modular palletizing gripper head according to claim 5, characterized in that, The pushing assembly includes a cylinder support (20), which is fixedly connected to one side of the mounting base (17). A linkage cylinder (15) is rotatably connected to one end of the cylinder support (20) away from the mounting base (17). An adapter is fixedly connected to one end of the clamp linkage rod (18) on one side of the mounting base (17) near the synchronous linkage rod (19). The output end of the linkage cylinder (15) is rotatably connected to the adapter.

7. A modular palletizing gripper head according to claim 1, characterized in that, The stacking assembly includes two double-rod cylinders (14), which are fixedly connected to both sides of the gripping clamp (11). Compensation clamps (13) are fixedly connected to the output ends of the double-rod cylinders (14) that protrude from the gripping clamp (11).

8. A group module palletizing gripper head according to claim 7, characterized in that; Rubber pads are attached to the opposite sides of the gripping clamp (11) and the compensation clamp (13), and the surface of the rubber pads is provided with anti-slip patterns.

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