A walking gantry robot palletizing apparatus

Abstract

The walking truss robot stacking equipment comprises a base, a truss and a grabbing mechanism, the truss is provided with a guide mechanism and a driving mechanism, two rows of stands are connected below the truss, the bottom ends of the stands are connected with the upper surface of the base through fixing devices, the bottom surface of the base is connected with at least one group of walking mechanisms and a plurality of telescopic supporting feet, each group of walking mechanisms comprises a rotating shaft, a hinged base, a swing arm and a wheel, the hinged base is installed on the bottom surface of the base, the hinged base comprises a mounting plate and a pair of bearing seats, the rotating shaft is installed at both ends in the bearing seats, the swing arm is provided with a connecting hole in the middle, the swing arm is hinged with the rotating shaft in the two bearing seats through the connecting hole, the wheel is connected to the lower side of both ends of the swing arm, the plurality of telescopic supporting feet are respectively connected to the bottom surface of the base, and the hydraulic system capable of controlling the telescopic supporting feet to extend and retract is further included. The walking truss robot stacking equipment can be installed at different positions according to the stacking goods requirements of different batches, can meet the diversity requirements, and has high stacking goods efficiency.

Description

Technical Field

[0001] This utility model relates to a palletizing device, and more particularly to a walking gantry robot palletizing device. Background Technology

[0002] Gantry robots, characterized by high rigidity, high speed, strong load capacity, and good stability, are widely used in industrial production. Existing palletizing gantry robots can be found in invention patent application number 202311510118.4, which discloses a palletizing gantry robot comprising two gantry frames, a gripping mechanism, an adjustment mechanism, and a touch screen all-in-one unit. The two gantry frames are arranged in parallel, with columns fixed to designated positions on both sides of their bottom surfaces. This existing palletizing gantry robot has the following drawbacks: it can only be installed in a fixed location; once the columns are installed, they cannot be moved, limiting the robot's operation to a fixed area. When the production workshop layout is adjusted or the palletized goods position needs to be changed, the fixed gantry robot becomes unusable and must be completely disassembled and reassembled, which is not only time-consuming but may also affect accuracy due to recalibration; furthermore, its lack of flexibility makes it difficult to meet diverse needs. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of the existing technology by providing a walking gantry robot palletizing device that can be installed in different positions according to the needs of different batches of palletized goods, thus meeting diverse requirements and achieving high palletizing efficiency.

[0004] The technical solution adopted by this utility model to achieve the above objectives is as follows: a walking truss robot palletizing device, including a base, a truss, and a gripping mechanism. A guiding mechanism and a driving mechanism are provided on the truss. Two rows of columns for supporting the truss are connected to the bottom of the truss. The bottom ends of the columns are connected to the upper surface of the base through a fixing device. At least one set of walking mechanisms and multiple retractable support feet are connected to the bottom surface of the base. Each set of walking mechanisms includes a rotating shaft, a hinged base, a swing arm, and wheels. The hinged base is installed on the bottom surface of the base and includes a mounting plate and a pair of bearing seats connected to the bottom surface of the mounting plate. The two ends of the rotating shaft are respectively installed in the two bearing seats. The middle of the swing arm is provided with a through connecting hole. The swing arm is hinged to the rotating shaft in the two bearing seats through the connecting hole. The wheels are connected to the lower sides of both ends of the swing arm. Multiple retractable support feet are respectively connected to the bottom surface of the base. The walking truss robot palletizing device also includes a hydraulic system that can control the extension and retraction of the retractable support feet.

[0005] A further technical solution of this utility model is: the base is a rectangular frame structure, the base includes a base plate and a bottom support frame, the bottom support frame is connected to the bottom surface of the base plate, the column is connected to the upper surface of the base plate, and the walking mechanism is connected to the bottom surface of the bottom support frame.

[0006] A further technical solution of this utility model is: the bottom support frame of the base is connected to three sets of walking mechanisms, of which two sets of walking mechanisms are connected to the bottom of the long side of the bottom support frame, and one set of walking mechanisms is connected to the bottom of the short side of the bottom support frame.

[0007] A further technical solution of this utility model is: the wheel connected to one end of the swing arm of the traveling mechanism connected to the long side of the bottom support frame is a drive wheel with a drive motor. The drive motor is installed at the motor mounting position on the inner side of one end of the swing arm. The drive wheel is connected to the outer surface of the swing arm opposite to the motor mounting position. The output shaft of the drive motor is connected to the drive shaft of the drive wheel. The wheels connected to both ends of the swing arm of the traveling mechanism connected to the short side of the bottom support frame are guide wheels.

[0008] A further technical solution of this utility model is: two rows of columns are installed in the middle of the base plate, and two parallel slide rails are installed on the upper surface of the base plate. The two ends of the two slide rails protrude outward from the outside of the columns respectively. The bottom ends of two material support plates are connected to the slide rails above the slide rails by sliders to form a dual-station palletizing platform. A support plate driving assembly that can drive the bottom slider of the material support plate to move relative to the slide rails is provided on the base plate between the two slide rails.

[0009] A further technical solution of this utility model is as follows: multiple retractable support feet are respectively installed at the bottom ends of the four corners of the bottom support frame. Each retractable support foot includes a connecting plate, an upper sleeve, a lower sleeve rod, and a foot pad. The connecting plate is fixedly connected to the bottom surface of the bottom support frame. The upper sleeve is connected to the bottom surface of the connecting plate. A small hydraulic cylinder is located inside the upper sleeve. The upper section of the lower sleeve rod is located inside the upper sleeve, and the upper end of the lower sleeve rod is not connected to the bottom end of the piston of the small hydraulic cylinder inside the upper sleeve. The lower end of the lower sleeve rod protrudes from the bottom end of the upper sleeve, and the bottom end of the lower sleeve rod is connected to the foot pad.

[0010] A further technical solution of this utility model is: the hydraulic system is set at one corner of the upper surface of the base, and the control cabinet for installing the control system is also set at one corner of the upper surface of the base.

[0011] A further technical solution of this utility model is: it also includes a movable conveying roller assembly disposed on one side of the base and facing the middle of the two rows of columns. The movable conveying roller assembly includes a conveying roller and a roller bracket supported under the conveying roller. The bottom end of the roller bracket is connected to a roller moving wheel.

[0012] This utility model of a walking gantry robot palletizing equipment has the following advantages: Because the base is connected to a walking mechanism and retractable support legs, the base can be moved by the walking mechanism simply by retracting the retractable support legs. When the production workshop layout is adjusted or the palletized goods position needs to be changed, the base can be installed in different positions. The movable conveyor roller assembly can also move with the base to a predetermined position, meeting diverse needs. Simultaneously, the two slide rails on the base plate, with protruding columns at both ends, allow two material support plates to form a dual-station palletizing platform on the slide rails. When the gripping mechanism is palletizing goods, once the material on one support plate is completed, that support plate automatically moves to one side, and the other support plate then enters the palletizing area. The gripping mechanism does not need to stop and wait in the middle, resulting in high palletizing efficiency.

[0013] The following description, in conjunction with the accompanying drawings and embodiments, further illustrates a walking gantry robot palletizing device according to the present invention. Attached Figure Description

[0014] Figure 1 This is a structural schematic diagram of a walking gantry robot palletizing device according to the present invention; Figure 2 yes Figure 1 This is a schematic diagram from another direction of a walking gantry robot palletizing device (one of which has some items already palletized on a material support plate); Figure 3 yes Figure 1 The diagram shows the bottom structure of the base of a walking truss robot palletizing device. Figure 4 yes Figure 3 A magnified view of a portion of the document; Explanation of reference numerals: 1-Base, 2-Retractable support leg, 3-Material support plate, 4-Hydraulic and air compressor control cabinet, 5-Roller moving wheel, 6-Roller bracket, 7-Conveying roller, 8-Gripping mechanism, 9-Control cabinet, 10-Truss, 11-Column, 12-Slide rail, 13-Fixed end conveying roller, 14-Base plate, 15-Bottom support frame, 16-Walking mechanism, 17-Drive wheel, 18-Drive motor, 19-Swing arm, 20-Bearing seat, 21-Wheel, 22-Shaft, 23-Mounting plate, 24-Connecting plate, 25-Upper sleeve, 26-Lower sleeve rod, 27-Foot pad. Detailed Implementation

[0015] like Figures 1 to 4As shown, this utility model discloses a walking gantry robot palletizing device for palletizing goods. The utility model includes a base 1, a gantry 10, and a gripping mechanism 8. The gantry 10 is equipped with a guiding mechanism and a driving mechanism. Two rows of columns 11 are connected to the bottom of the gantry 10 to support it, and the bottom ends of the columns 11 are connected to the upper surface of the base 1 via fixing devices. The gripping mechanism 8 is used to grip goods. The guiding mechanism is installed on the gantry 10 to guide the gripping mechanism 8 to move in the X, Y, and Z directions. The driving mechanism is used to drive the gripping mechanism 8 to grip or release goods. The gripping mechanism 8 and the gripping device itself are existing equipment and will not be described in detail here. This utility model also includes a control system for controlling the actions of each mechanism of the walking gantry robot palletizing device. A control cabinet 9, which houses the control system, is located in a corner of the upper surface of the base 1. The control system is installed in the control cabinet 9 and connected to each mechanism via a control circuit (not shown in the figure). The control system and the control circuit are existing equipment and will not be described in detail here.

[0016] like Figures 1 to 4 As shown, the bottom surface of the base 1 is connected to at least one set of walking mechanisms 16 and multiple retractable support feet 2. In this embodiment, the bottom surface of the base 1 is connected to three sets of walking mechanisms 16 and four retractable support feet 2. Each set of walking mechanisms 16 includes a rotating shaft 22, a hinged base 1, a swing arm 19, and a wheel 21. The hinged base 1 is installed on the bottom surface of the base 1. The hinged base 1 includes a mounting plate 23 and a pair of bearing seats 20 connected to the bottom surface of the mounting plate 23. The two ends of the rotating shaft 22 are respectively installed in the two bearing seats 20. The swing arm 19 has a through connecting hole in the middle. The swing arm 19 is hinged to the rotating shaft 22 in the two bearing seats 20 through the connecting hole. The two ends of the swing arm 19 can swing up and down relative to the rotating shaft 22. The wheel 21 is connected to the lower side of the two ends of the swing arm 19. When the ground is uneven or has a slope, the walking mechanism 16 can adapt by swinging the swing arm 19.

[0017] In this embodiment, as Figure 4As shown, the base 1 is a rectangular frame structure, including a base plate 14 and a bottom support frame 15. The bottom support frame 15 is connected to the bottom surface of the base plate 14, the column 11 is connected to the upper surface of the base plate 14, and the walking mechanism 16 is connected to the bottom surface of the bottom support frame 15. That is, the hinged base 1 is installed on the bottom surface of the bottom support frame 15 of the base 1. Three sets of walking mechanisms 16 are connected to the bottom surface of the bottom support frame 15 of the base 1, of which two sets of walking mechanisms 16 are connected to the bottom of the long side (long side of the rectangular frame) of the bottom support frame 15, and one set of walking mechanisms 16 is connected to the bottom of the short side (short side of the rectangular frame) of the bottom support frame 15. One end of the swing arm 19, connected to the traveling mechanism 16 on the lower long side of the bottom support frame 15, is connected to a drive wheel 17 equipped with a drive motor 18. The drive motor 18 is mounted on a motor mounting position on the inner side of one end of the swing arm 19. The drive wheel 17 is connected to the outer surface of the swing arm 19 opposite the motor mounting position. The output shaft of the drive motor 18 is connected to the drive shaft of the drive wheel 17. The wheels connected to both ends of the swing arm 19, connected to the traveling mechanism 16 on the lower short side of the bottom support frame 15, are guide wheels. The control terminal of the drive motor 18 is connected to the control system through a control circuit, and the control system can control the operation of the drive motor 18.

[0018] like Figure 4 As shown, four retractable support legs 2 are respectively connected to the bottom surface of the base 1. The walking gantry robot palletizing equipment also includes a hydraulic system that can control the extension and retraction of the retractable support legs 2. The hydraulic system is located in a hydraulic and air compressor control cabinet 4 in one corner of the upper surface of the base 1. The hydraulic system and the air compressor control system are installed in the hydraulic and air compressor control cabinet 4. The hydraulic system is existing equipment and will not be described in detail here. Four retractable support feet 2 are respectively installed at the bottom ends of the four corners of the bottom support frame 15. Each retractable support foot 2 includes a connecting plate 24, an upper sleeve 25, a lower sleeve rod 26, and a foot pad 27. The connecting plate 24 is fixedly connected to the bottom surface of the bottom support frame 15. The upper sleeve 25 is connected to the bottom surface of the connecting plate 24. The inner side of the upper sleeve 25 is a small hydraulic cylinder (not shown in the figure). The upper section of the lower sleeve rod 26 is located inside the upper sleeve 25, and the upper end of the lower sleeve rod 26 is not connected to the bottom end of the piston of the small hydraulic cylinder inside the upper sleeve 25. The lower end of the lower sleeve rod 26 protrudes from the bottom end of the upper sleeve 25, and the bottom end of the lower sleeve rod 26 is connected to the foot pad 27. When the hydraulic system controls the small hydraulic cylinder inside the upper sleeve 25 to receive oil, the piston pushes the lower sleeve rod 26 downward, and the lower sleeve rod 26 extends. When the oil is discharged, the piston pulls the lower sleeve rod 26 upward, and the lower sleeve rod 26 retracts. After the lower sleeve rod 26 retracts, its bottom horizontal height is higher than the bottom horizontal height of the wheel. At this time, the control system can control the movement of the wheel.

[0019] like Figure 1 , 2As shown, two rows of columns 11 are installed in the middle of the base plate 14. Two parallel slide rails 12 are installed on the upper surface of the base plate 14, with both ends of the slide rails 12 protruding outwards from the columns 11. Two material support plates 3 are connected to the slide rails 12 via sliders to form a dual-station palletizing platform. A support plate drive assembly is installed on the base plate 14 between the two slide rails 12, capable of driving the bottom sliders of the material support plates 3 to move relative to the slide rails 12. This support plate drive assembly is existing equipment and will not be described in detail here. When one material support plate 3 is full of goods, the control system controls the support plate drive assembly to move the full material support plate 3 to the slide rail 12 on the side without material support plates 3. The other material support plate 3 without goods is moved to below the truss 10, and the gripping mechanism 8 continues to stack the gripped goods onto the new material support plate 3. The gripping mechanism 8 does not need to stop and wait for unloading, significantly improving the efficiency of palletizing goods compared to single-station palletizing equipment.

[0020] like Figure 1 , 2 As shown, a fixed-end conveyor roller 13 is fixedly connected to the base 1 on the lower side of the gripping mechanism 8. This utility model also includes a movable conveyor roller assembly located on one side of the base 1, directly opposite the middle of the two rows of columns 11. The movable conveyor roller assembly includes a conveyor roller 7 and a roller support 6 supported under the conveyor roller 7. Roller casters 5 are connected to the bottom of the roller support 6. The movable conveyor roller assembly can be moved to different positions with the base 1 for installation, offering flexibility and convenience. During installation, the conveyor roller of the movable conveyor roller assembly connects with the fixed-end conveyor roller 13. The movable conveyor roller assembly can transport goods from a distance to the side of the base 1, where the gripping mechanism 8 grips and stacks them on the material support plate 3. After stacking, the goods can be stored in a warehouse. Conversely, if the material support plate 3 is full of goods that need to be transported to a distance, the gripping mechanism 8 can also grip the goods and place them on the movable conveyor roller assembly, which will then transport the goods to a distance, such as a loading position.

[0021] During operation, the base 1, gantry 10, gripping mechanism 8, guiding mechanism, and drive mechanism of the walking gantry robot palletizing equipment are installed and debugged at the location where goods need to be palletized. The movable conveyor roller assembly is installed on one side of the base 1, and the conveyor roller of the movable conveyor roller assembly is connected to the fixed end conveyor roller 13, and palletizing and conveying of goods can begin. When the production workshop layout is adjusted or the palletizing position needs to be changed, the lower sleeves 26 of the four retractable support legs 2 can be retracted, and then the walking mechanism 16 can be controlled to move the base 1 to the predetermined position. Then, the lower sleeves 26 of the four retractable support legs 2 are lowered and fixed to the ground. Goods can then continue to be palletized and conveyed at the new position.

[0022] The above embodiments are merely preferred embodiments of this utility model. The structure of this utility model is not limited to the forms listed in the above embodiments. Any modifications, equivalent substitutions, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A walking gantry robot palletizing device, comprising a base (1), a gantry (10), and a gripping mechanism (8), wherein a guiding mechanism and a driving mechanism are provided on the gantry (10), and two rows of columns (11) for supporting the gantry (10) are connected below the gantry (10), and the bottom ends of the columns (11) are connected to the upper surface of the base (1) by a fixing device, characterized in that, The bottom surface of the base (1) is connected to at least one set of walking mechanisms (16) and multiple retractable support feet (2). Each set of walking mechanisms (16) includes a rotating shaft (22), a hinged base (1), a swing arm (19), and a wheel (21). The hinged base (1) is installed on the bottom surface of the base (1). The hinged base (1) includes a mounting plate (23) and a pair of bearing seats (20) connected to the bottom surface of the mounting plate (23). The two ends of the rotating shaft (22) are respectively installed in the two bearing seats (20). The middle part of the swing arm (19) is provided with a through connection hole. The swing arm (19) is hinged to the rotating shaft (22) in the two bearing seats (20) through the connection hole. The wheel (21) is connected to the lower side of both ends of the swing arm (19). Multiple retractable support feet (2) are respectively connected to the bottom surface of the base (1). The walking gantry robot palletizing equipment also includes a hydraulic system that can control the extension and retraction of the retractable support feet (2).

2. The walking gantry robot palletizing equipment as described in claim 1, characterized in that, The base (1) is a rectangular frame structure. The base (1) includes a base plate (14) and a bottom support frame (15). The bottom support frame (15) is connected to the bottom surface of the base plate (14). The column (11) is connected to the upper surface of the base plate (14). The walking mechanism (16) is connected to the bottom surface of the bottom support frame (15).

3. The walking gantry robot palletizing equipment as described in claim 2, characterized in that, The bottom support frame (15) of the base (1) is connected to three sets of walking mechanisms (16), two sets of walking mechanisms (16) are connected to the bottom of the long side of the bottom support frame (15), and one set of walking mechanisms (16) is connected to the bottom of the short side of the bottom support frame (15).

4. The walking gantry robot palletizing equipment as described in claim 3, characterized in that, The wheel (21) connected to one end of the swing arm (19) of the walking mechanism (16) connected to the long side of the bottom support frame (15) is a drive wheel (17) with a drive motor (18). The drive motor (18) is installed at the motor mounting position on the inner side of one end of the swing arm (19). The drive wheel (17) is connected to the outer surface of the swing arm (19) opposite to the motor mounting position. The output shaft of the drive motor (18) is connected to the drive shaft of the drive wheel (17). The wheels (21) connected to both ends of the swing arm (19) of the walking mechanism (16) connected to the short side of the bottom support frame (15) are guide wheels.

5. A walking gantry robot palletizing device as described in claim 2, characterized in that, Two rows of columns (11) are installed in the middle of the base plate (14). Two parallel slide rails (12) are installed on the upper surface of the base plate (14). The two ends of the two slide rails (12) protrude from the outside of the columns (11). The bottom ends of the two material support plates (3) are connected to the slide rails (12) above the slide rails (12) by sliders to form a double-station palletizing platform. A support plate drive assembly is provided on the base plate (14) between the two slide rails (12) to drive the bottom slider of the material support plate (3) to move relative to the slide rails (12).

6. The walking gantry robot palletizing equipment as described in claim 2, characterized in that, Multiple retractable support feet (2) are installed at the bottom of the four corners of the bottom support frame (15). Each retractable support foot (2) includes a connecting plate (24), an upper sleeve (25), a lower sleeve rod (26), and a foot pad (27). The connecting plate (24) is fixedly connected to the bottom surface of the bottom support frame (15). The upper sleeve (25) is connected to the bottom surface of the connecting plate (24). The inner side of the upper sleeve (25) is a small hydraulic cylinder. The upper section of the lower sleeve rod (26) is set inside the upper sleeve (25), and the upper end of the lower sleeve rod (26) is connected to the piston bottom of the small hydraulic cylinder inside the upper sleeve (25). The lower end of the lower sleeve rod (26) protrudes from the bottom end of the upper sleeve (25), and the bottom end of the lower sleeve rod (26) is connected to the foot pad (27).

7. The walking gantry robot palletizing equipment as described in claim 1, characterized in that, The hydraulic system is located at one corner of the upper surface of the base (1), and the control cabinet (9) for installing the control system is also located at one corner of the upper surface of the base (1).

8. The walking gantry robot palletizing equipment as described in claim 1, characterized in that, It also includes a movable conveying roller assembly located on one side of the base (1) and facing the middle of the two rows of columns (11). The movable conveying roller assembly includes a conveying roller (7) and a roller bracket (6) supported under the conveying roller (7). The bottom end of the roller bracket (6) is connected to a roller moving wheel (5).

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