CN111056322A

CN111056322A - A compact robot palletizing station

Info

Publication number: CN111056322A
Application number: CN202010026879.2A
Authority: CN
Inventors: 陈学能; 叶俊超
Original assignee: Guangdong Lisheng Intelligent Co ltd
Current assignee: Guangdong Lisheng Intelligent Co ltd; Guangzhou Lisheng Robot Technology Co ltd
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2020-04-24

Abstract

The invention discloses a robot palletizing station with a compact structure. The palletizing station includes an enclosure plate, a pallet transfer device, a feeding device, a palletizing device and a control unit; The loading station, the transition station and the stacking station; the enclosure is provided with a loading hole, and the feeding end of the loading device passes through the loading hole and extends to the outside of the enclosure , the discharge end of the loading device is located at the loading station; one end of the card plate transfer device is located at the transition station, and the other end of the card plate transfer device is located at the stacking station; The enclosure plate is provided with a plate inlet hole, the plate inlet hole is opposite to the transition station, the enclosure plate is provided with a delivery port, and the outlet port is opposite to the stacking station; the purpose of the present invention is The invention provides a robot palletizing station with compact structure, which has the advantages of compact structure, small footprint, high conveying efficiency and high degree of automation.

Description

Compact structure's robot pile up neatly worker station

Technical Field

The invention relates to the technical field of stacking equipment, in particular to a robot stacking work station with a compact structure.

Background

The stacking work in the current market is mostly performed manually by stacking or stacking by a transfer machine, the stacking mode is simple, multiple persons are needed for operation, the working intensity is high, the efficiency is low, and the cost is high; the transfer machine is used for stacking, and the stacking mode is single through transfer reciprocating stacking, and the stacking mode refers to the change of the placing mode of the boxes.

The existing stacking equipment is large in occupied area, the conveying lines used for stacking are long, clamping plates are often required to be carried manually, and the production efficiency is reduced while the labor intensity of workers is increased.

Disclosure of Invention

The invention aims to provide a robot stacking work station with a compact structure, which has the advantages of compact structure, small occupied area, high conveying efficiency, high automation degree and the like.

In order to achieve the purpose, the invention adopts the following technical scheme: a robot stacking work station with a compact structure comprises a coaming, a clamping plate transfer device, a feeding device, a stacking device and a control unit; a feeding station, a transition station and a stacking station which are close to each other are arranged in the enclosing plate; the coaming is provided with a feeding hole, the feeding end of the feeding device penetrates through the feeding hole and extends to the outer side of the coaming, and the discharging end of the feeding device is positioned at the feeding station; one end of the clamping plate transferring device is located at the transition station, and the other end of the clamping plate transferring device is located at the stacking station; the surrounding plate is provided with a plate inlet hole, the plate inlet hole is opposite to the transition station, the surrounding plate is provided with a goods outlet, and the goods outlet is opposite to the stacking station; the clamping plate transferring device transfers a clamping plate to be stacked to the stacking station from the transition station; the stacking device is arranged between the feeding station and the stacking station, and transfers the bags to be stacked from the feeding station to the stacking station; the clamping plate transferring device, the feeding device and the stacking device are all connected with the control unit.

Preferably, the clamping plate transferring device comprises a mounting frame, a first conveying unit, a clamping plate pushing unit and a second conveying unit; the first conveying unit and the second conveying unit are arranged in the mounting frame side by side, the first conveying unit conveys towards the inner side of the enclosing plate, the second conveying unit conveys towards the outer side of the enclosing plate, the first conveying unit is arranged at the transition station, and the second conveying unit is arranged at the stacking station; the clamping plate pushing units are arranged on the side wall of the mounting rack along the width direction of the mounting rack, and push the bags to be stacked from the first conveying units to the second conveying units; the first conveying unit, the clamping plate pushing unit and the second conveying unit are all connected with the control unit.

Preferably, the mounting frame is provided with a pushing guide rail along the width direction, and the clamping plate pushing unit comprises a pushing motor, a driving gear, a rotating roller, a driven gear, a transmission chain, a pushing frame, a guide seat, a locking mechanism and a position detection mechanism; the pushing motor and the rotating roller are oppositely arranged at two ends of the mounting rack, the rotating roller is parallel to an output shaft of the pushing motor, the driving gear is sleeved on the output shaft of the pushing motor, the driven gear is sleeved on the rotating roller, the transmission chain is wound between the driving gear and the driven gear, one end of the pushing rack is fixedly connected with the transmission chain through the locking mechanism, and the other end of the pushing rack extends to the upper part of the mounting rack; one end of the guide seat is connected with the pushing frame, and the other end of the guide seat is connected with the pushing guide rail in a sliding manner; the pushing motor drives the pushing frame to reciprocate between the first conveying unit and the second conveying unit through the transmission chain; the pushing motor and the position detection mechanism are connected with the control unit.

Preferably, the propelling movement frame includes mounting panel, reinforcing plate and slurcam, the reinforcing plate connect in the mounting panel with between the slurcam, the mounting panel with the propelling movement guide rail is parallel, the slurcam with the mounting panel is perpendicular, the guide holder connect in the inner end face of mounting panel with between the propelling movement guide rail, locking mechanism install in the outer terminal surface of mounting panel with between the drive chain.

Preferably, locking mechanism includes fixed plate, adjusting screw, fixed screw and chucking seat, the one end of fixed plate with the mounting panel is connected, the other end of fixed plate with the chucking seat is connected, the chucking seat is provided with the regulation hole, the fixed plate is provided with first internal thread hole, the adjusting screw passes behind the regulation hole with first internal thread hole threaded connection, the lower extreme shaping of chucking seat has U type bayonet socket, the both sides of U type bayonet socket are equipped with second internal thread hole, U type bayonet socket joint is in drive chain's periphery just passes through the fixed screw top is tight.

Preferably, the position detection mechanism comprises a transition detection part and a stacking detection part, the transition detection part is arranged at the transition station, and the stacking detection part is arranged at the stacking station; the transition detection part comprises a first adjusting rail, a first adjusting seat, a first detection sensor and a first detection plate; the first adjusting rail is arranged at one end, close to the transition station, of the mounting frame along the width direction of the mounting frame, a first adjusting groove is formed in the first adjusting rail, the first adjusting seat is connected to the first adjusting groove in a sliding mode, the first detecting sensor is arranged on the first adjusting seat, the first detecting plate is arranged on the mounting frame, and the end portion of the first detecting plate penetrates through a sensing area of the first detecting sensor; the stacking detection part comprises a second adjusting rail, a second adjusting seat, a second detection sensor and a second detection plate; the second adjusting rail is arranged at one end, close to the stacking station, of the mounting frame along the width direction of the mounting frame, a second adjusting groove is formed in the second section rail, the second adjusting seat is connected to the second adjusting groove in a sliding mode, the second detecting sensor is arranged on the second adjusting seat, the second detecting plate is arranged on the mounting frame, and the end portion of the second detecting plate penetrates through the sensing area of the second detecting sensor; the first detection sensor and the second detection sensor are both connected with the control unit.

Preferably, the first conveying unit includes a first conveying roller, a first conveying motor, a plurality of first gears, a second gear, a first chain and a second chain, the first conveying roller is provided and distributed at intervals along the length direction of the mounting rack, the first conveying motor is provided on the mounting rack, an output shaft of the first conveying motor is parallel to the first conveying roller, the first gear is sleeved on the output shaft of the first conveying motor, the second gear is provided with a plurality of second gears, one end of each first conveying roller extends to the outer side of the mounting rack and is connected with the corresponding second gear, the first chain is wound between the first gear and the second gear which are close to each other, and the second chain is wound between the two adjacent second gears; the first conveying motor drives the first conveying roller to rotate through the first chain and the second chain; the first conveying motor is connected with the control unit.

Preferably, the goods outlet is provided with a safety door, the enclosing plate is provided with a support, the support is provided with a safety guide rail along the length direction, connecting pieces are arranged at the upper end of the safety door at intervals, pulleys are arranged at the upper end of the connecting pieces and are arranged in the safety guide rail in a rolling manner, the support is provided with a safety motor, an output shaft of the safety motor is sleeved with a driving wheel, a driven wheel is arranged on one side of the support, which is far away from the safety motor, a transmission belt is wound between the driving wheel and the driven wheel, a fixing clamp is arranged on the upper end face of the safety door, and the tail end of the fixing clamp is; the lower end of the safety door is higher than the upper end of the plate inlet hole; the safety motor is connected with the control unit.

Preferably, the stacking device comprises a mounting seat, a mechanical arm and a clamp, the mechanical arm is arranged on the mounting seat, the clamp is arranged at the end of the mechanical arm, and the mechanical arm drives the clamp to reciprocate between the feeding station and the stacking station; the mechanical arm and the clamp are connected with the control unit.

Preferably, loading attachment includes frame and transfer chain, the transfer chain sets up the frame, the one end of transfer chain is passed extend to behind the material loading hole the outside of bounding wall, the one end of transfer chain is located the material loading station.

By adopting the structure, the feeding station, the transition station and the stacking station are close to each other, so that the layout of the stacking station is tighter, the floor area of equipment can be reduced due to the tight layout, the conveying stroke among devices is shorter, the conveying efficiency is improved, the conveying time is saved, and the workload of workers is reduced. The invention reduces the labor intensity of workers, has small occupied area, compact structure, high speed and high flexibility, does not need excessive manpower to participate in stacking work, and is suitable for conveying work with more types of factory products and frequent line replacement.

Drawings

The drawings are further illustrative of the invention and the content of the drawings does not constitute any limitation of the invention.

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a second schematic perspective view of the present invention;

FIG. 3 is a schematic top view of the present invention;

FIG. 4 is a schematic perspective view of the loading device, the pallet transferring device and the palletizing device of the present invention;

FIG. 5 is a schematic perspective view of the pallet transferring apparatus according to the present invention;

FIG. 6 is an enlarged partial schematic view at A of FIG. 5;

FIG. 7 is a second schematic perspective view of the pallet transferring device of the present invention;

FIG. 8 is an enlarged partial schematic view at B of FIG. 7;

FIG. 9 is a schematic perspective view of the pushing frame of the present invention;

figure 10 is a schematic perspective view of the security door of the present invention;

fig. 11 is a partially enlarged schematic view at C in fig. 10.

Wherein: the device comprises a coaming 1, a feeding hole 1a, a plate inlet hole 1b and a goods outlet 1 c;

a pallet transferring device 2;

the device comprises a feeding device 3, a frame 3a and a conveying line 3 b;

the stacking device 4, the mounting seat 4a, the mechanical arm 4b and the clamp 4 c;

a control unit 5 and a mounting frame 6;

a first conveying unit 7, a first conveying roller 7a, a first conveying motor 7b, a first gear 7c, a second gear 7d, a first chain 7e, and a second chain 7 f;

the automatic stacking device comprises a clamping plate pushing unit 8, a pushing motor 8a, a driving gear 8b, a rotating roller 8c, a driven gear 8d, a transmission chain 8e, a pushing frame 8f, a guide seat 8g, a locking mechanism 8h, a position detection mechanism 8i, a mounting plate 8j, a reinforcing plate 8k, a pushing plate 8l, a fixing plate 8m, a clamping seat 8n, a transition detection part 8o, a stacking detection part 8p, a first adjusting rail 8q, a first adjusting seat 8r, a first detection sensor 8s and a first detection plate 8 t;

the device comprises a second conveying unit 9, a pushing guide rail 10, a safety door 11, a bracket 12, a safety guide rail 13, a connecting piece 14, a safety motor 15, a driving belt 16 and a fixing clamp 17.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Referring to fig. 1 to 11, the compact robot palletizing station according to the present embodiment is characterized by comprising a surrounding plate 1, a cardboard transferring device 2, a feeding device 3, a palletizing device 4 and a control unit 5.

A feeding station, a transition station and a stacking station which are close to each other are arranged in the enclosing plate 1; the enclosing plate 1 is provided with a feeding hole 1a, the feeding end of the feeding device 3 penetrates through the feeding hole 1a and extends to the outer side of the enclosing plate 1, and the discharging end of the feeding device 3 is located at the feeding station.

One end of the clamping plate transferring device 2 is positioned at the transition station, and the other end of the clamping plate transferring device 2 is positioned at the stacking station; the enclosing plate 1 is provided with a plate inlet hole 1b, the plate inlet hole 1b is opposite to the transition station, the enclosing plate 1 is provided with a goods outlet 1c, and the goods outlet 1c is opposite to the stacking station; the clamping plate transferring device 2 transfers the clamping plates to be stacked to the stacking station from the transition station.

The stacking device 4 is arranged between the feeding station and the stacking station, and the stacking device 4 transfers the bags to be stacked to the stacking station from the feeding station.

The cardboard transfer device 2, the loading attachment 3 and the stacking device 4 are all connected with the control unit 5.

By adopting the structure, the feeding station, the transition station and the stacking station which are close to each other are arranged, so that the layout of the stacking station is tighter, the occupied area of equipment is reduced due to the tight layout, the conveying stroke among the devices is shorter, the conveying efficiency is improved, the conveying time is saved, and the workload of workers is reduced.

The feeding device 3 is arranged on the side edge of the stacking device 4, so that a bag can be conveniently clamped; the stacking device 4 transfers the bags from the loading station to the stacking station, and only a small stroke is needed to move, so that the stacking operation can be completed, the moving stroke is short, and the control is simple; cardboard transfer device 2 transports the cardboard to the pile up neatly station by the transition station, need not carry out manual transportation cardboard, and degree of automation is high. The coaming 1 can play a protective role and prevent people from entering the device by mistake.

The invention reduces the labor intensity of workers, has small occupied area, compact structure, high speed and high flexibility, does not need excessive manual intervention, and is suitable for conveying work with more types of factory products and frequent wire replacement.

Preferably, the card transferring device 2 comprises a mounting frame 6, a first conveying unit 7, a card pushing unit 8 and a second conveying unit 9.

The first conveying unit 7 and the second conveying unit 9 are arranged in the mounting frame 6 side by side, the first conveying unit 7 conveys the enclosing plate 1 towards the inner side, the second conveying unit 9 conveys the enclosing plate 1 towards the outer side, the first conveying unit 7 is arranged at the transition station, and the second conveying unit 9 is arranged at the stacking station.

The clamping plate pushing unit 8 is arranged on the side wall of the mounting frame 6 along the width direction of the mounting frame 6, and the clamping plate pushing unit 8 pushes the bags to be stacked to the second conveying unit 9 through the first conveying unit 7.

The first conveying unit 7, the cardboard pushing unit 8 and the second conveying unit 9 are all connected with the control unit 5.

By adopting the structure, the first conveying unit 7 conveys the clamping plates from the outside to the transition station, the clamping plate pushing unit 8 pushes the first conveying unit 7 of the clamping plates to the second conveying unit 9, the clamping plates perform box stacking work at the stacking station, and the second conveying unit 9 conveys the clamping plates completing stacking to the outside from the stacking station. By adopting the structure, the first conveying unit 7, the clamping plate pushing unit 8 and the second conveying unit 9 are matched to form an Contraband-type conveying line, so that the wiring distance of a production line can be saved, a large amount of space is saved, and the structure is more compact.

Preferably, the mounting frame 6 is provided with a pushing guide rail 10 along the width direction, and the clamping plate pushing unit 8 comprises a pushing motor 8a, a driving gear 8b, a rotating roller 8c, a driven gear 8d, a transmission chain 8e, a pushing frame 8f, a guide seat 8g, a locking mechanism 8h and a position detection mechanism 8 i.

The pushing motor 8a and the rotating roller 8c are oppositely arranged at two ends of the mounting frame 6, the rotating roller 8c is parallel to an output shaft of the pushing motor 8a, the driving gear 8b is sleeved on the output shaft of the pushing motor 8a, the driven gear 8d is sleeved on the rotating roller 8c, the transmission chain 8e is wound between the driving gear 8b and the driven gear 8d, one end of the pushing frame 8f is fixedly connected with the transmission chain 8e through the locking mechanism 8h, and the other end of the pushing frame 8f extends to the upper side of the mounting frame 6; one end of the guide seat 8g is connected with the pushing frame 8f, and the other end of the guide seat 8g is connected with the pushing guide rail 10 in a sliding mode.

The pushing motor 8a drives the pushing frame 8f to reciprocate between the first conveying unit 7 and the second conveying unit 9 through the transmission chain 8 e.

The pushing motor 8a and the position detection mechanism 8i are both connected with the control unit 5.

With this structure, the pushing frame 8f pushes the card from the first conveying unit 7 to the second conveying unit 9 in the process of reciprocating between the first conveying unit 7 and the second conveying unit 9. Adopt propelling movement motor 8a, gear and chain complex transmission mode, conveniently carry out accurate control to propelling movement frame 8f delivery distance, the transmission is stable, and the propelling movement is effectual.

Preferably, the pushing frame 8f includes a mounting plate 8j, a reinforcing plate 8k and a pushing plate 8l, the reinforcing plate 8k is connected between the mounting plate 8j and the pushing plate 8l, the mounting plate 8j is parallel to the pushing guide rail 10, the pushing plate 8l is perpendicular to the mounting plate 8j, the guide seat 8g is connected between the inner end face of the mounting plate 8j and the pushing guide rail 10, and the locking mechanism 8h is installed between the outer end face of the mounting plate 8j and the transmission chain 8 e.

Adopt this kind of structure, mounting panel 8j, reinforcing plate 8k and 8l of slurcam constitute propelling movement frame 8f, mounting panel 8j, guide holder 8g play good guide effect with the cooperation of propelling movement guide rail 10, locking mechanism 8h is fixed in mounting panel 8j in drive chain 8e, makes drive chain 8e can drive mounting panel 8j and make a round trip to slide along propelling movement guide rail 10 to make slurcam 8l can carry unit 7 propelling movement to second to the cardboard to carry unit 9 by first. The reinforcing plate 8k improves the firm strength of the pushing frame 8f and improves the bearing capacity of the pushing plate 8 l.

Preferably, locking mechanism 8h includes fixed plate 8m, adjusting screw, fixed screw and chucking seat 8n, fixed plate 8 m's one end with mounting panel 8j is connected, fixed plate 8 m's the other end with chucking seat 8n is connected, chucking seat 8n is provided with the regulation hole, fixed plate 8m is provided with first internal thread hole, the adjusting screw passes behind the regulation hole with first internal thread hole threaded connection, chucking seat 8 n's lower extreme shaping has U type bayonet socket, the both sides of U type bayonet socket are equipped with second internal thread hole, U type bayonet socket joint is in drive chain 8 e's periphery just passes through the fixed screw top is tight.

By adopting the structure, the mounting plate 8j is fixedly connected with the transmission chain 8e through the fixing plate 8m, the clamping seat 8n and the fixing screws, so that a good fixing effect is achieved, and the transmission efficiency between the transmission chain 8e and the mounting plate 8j is ensured. The position of the clamping seat 8n is conveniently adjusted and aligned by matching the adjusting hole, the adjusting screw and the first internal threaded hole.

Preferably, the position detection mechanism 8i includes a transition detection portion 8o and a stacking detection portion 8p, the transition detection portion 8o is disposed at the transition station, and the stacking detection portion 8p is disposed at the stacking station.

The transition detection part 8o comprises a first adjusting rail 8q, a first adjusting seat 8r, a first detection sensor 8s and a first detection plate 8 t; first regulation rail 8q is followed mounting bracket 6's width direction sets up the one end that is close to the transition station of mounting bracket 6, first regulation rail 8q shaping has first adjustment tank, first regulation seat 8r sliding connection in first adjustment tank, first detection sensor 8s sets up first regulation seat 8r, first pick-up plate 8t sets up mounting panel 8j just the tip of first pick-up plate 8t passes first detection sensor 8 s's induction zone.

The stacking detection part 8p comprises a second adjusting rail, a second adjusting seat, a second detection sensor and a second detection plate; the second is adjusted the rail and is followed mounting bracket 6's width direction sets up mounting bracket 6's one end that is close to the pile up neatly station, the shaping of second festival rail has the second adjustment groove, second regulation seat sliding connection in the second adjustment groove, second detection sensor sets up the second is adjusted the seat, the second detection board sets up the mounting panel just the tip of second detection board passes the induction zone of second detection sensor.

The first detection sensor 8s and the second detection sensor are both connected to the control unit 5.

By adopting the structure, the position of the pushing frame 8f is detected through the matching of the first detection sensor 8s and the second detection sensor, when the pushing frame 8f moves to the transition station, the end part of the first detection plate 8t enters the induction area of the first detection sensor 8s, the first detection sensor 8s sends a signal to the control unit 5, the control unit 5 sends a signal to drive the pushing motor 8a to stop working, and when the pushing frame 8f moves to the stacking station, the second detection sensor, the second detection plate and the control unit 5 are matched to drive the pushing motor 8a to stop working. First regulation rail 8q and the cooperation of first regulation seat 8r can adjust the position of first detection sensor 8s, and the second is adjusted rail and the cooperation of second regulation seat and can is adjusted the position that the second detected the sensor, conveniently adjusts the position that targets in place of push frame 8f, plays the effect of accurate transport cardboard.

Preferably, the first conveying unit 7 includes a first conveying roller 7a, a first conveying motor 7b, a first gear 7c, a second gear 7d, a first chain 7e, and a second chain 7f, the first conveying rollers 7a are provided in plurality and are distributed at intervals along the length direction of the mounting frame 6, the first conveying motor 7b is arranged on the mounting frame 6, the output shaft of the first conveying motor 7b is parallel to the first conveying roller 7a, the first gear 7c is sleeved on the output shaft of the first conveying motor 7b, a plurality of second gears 7d are arranged, one end of each first conveying roller 7a extends to the outer side of the mounting rack 6 and is connected with the corresponding second gear 7d, the first chain 7e is wound between the first gear 7c and the second gear 7d which are close to each other, and the second chain 7f is wound between two adjacent second gears 7 d.

The first conveying motor 7b drives the first conveying roller 7a to rotate through the first chain 7e and the second chain 7 f.

The first conveying motor 7b is connected to the control unit 5.

By adopting the structure, the control unit 5 sends a signal to drive the first conveying motor 7b to work, and the first conveying motor 7b drives the first conveying roller 7a to rotate through the cooperation of the first chain 7e, the second chain 7f, the first gear 7c and the second gear 7d, so that the purpose of conveying the clamping plates is achieved. The first conveying roller 7a at middle part can not be around establishing second chain 7f, and this first conveying roller 7a of part plays the roll effect, and it can to drive the cardboard by the first conveying roller 7a at the both ends of mounting bracket 6 and remove.

The second conveyance unit 9 has substantially the same structure as the first conveyance unit 7, except that the conveyance direction of the second conveyance unit 9 is opposite to the conveyance direction of the first conveyance unit 7.

Preferably, the goods outlet 1c is provided with a safety door 11, the enclosing plate 1 is provided with a support 12, the support 12 is provided with a safety guide rail 13 along the length direction, the upper end of the safety door 11 is provided with connecting pieces 14 at intervals, the upper end of the connecting pieces 14 is provided with pulleys, the pulleys are arranged in the safety guide rail 13 in a rolling manner, the support 12 is provided with a safety motor 15, an output shaft of the safety motor 15 is sleeved with a driving wheel, one side of the support 12, which is far away from the safety motor 15, is provided with a driven wheel, a transmission belt 16 is wound between the driving wheel and the driven wheel, the upper end face of the safety door 11 is provided with a fixing clamp 17, and the tail end of the fixing; the lower end of the safety door 11 is higher than the upper end of the plate inlet hole 1 b.

The safety motor 15 is connected to the control unit 5.

By adopting the structure, the safety guide rail 13, the pulleys and the connecting piece 14 are matched to play a good guiding role for the safety door 11, and the safety motor 15 drives the safety door 11 to reciprocate along the length direction of the safety guide rail 13 through the driving wheel, the driven wheel, the transmission belt 16 and the fixing clamp 17. When equipment carries out the pile up neatly work, emergency exit 11 is closed, and when second conveying unit 9 carried the cardboard that the pile up neatly completed, emergency exit 11 opened. The safety door 11 is closed to prevent workers from entering the safety door by mistake, so that the safety door plays a safety protection role.

Preferably, the stacking device 4 comprises a mounting seat 4a, a mechanical arm 4b and a clamp 4c, the mechanical arm 4b is arranged on the mounting seat 4a, the clamp 4c is arranged at the end of the mechanical arm 4b, and the mechanical arm 4b drives the clamp 4c to reciprocate between the feeding station and the stacking station.

The robot arm 4b and the gripper 4c are both connected to the control unit 5.

Adopt this kind of structure, press from both sides case and bag by the material loading station through the cooperation of arm 4b and anchor clamps 4c, then arm 4b drives case and bag and moves to the pile up neatly station together, and anchor clamps 4c loosen case and bag, constantly repeats this process, can accomplish the pile up neatly work of case and bag.

Preferably, the feeding device 3 comprises a frame 3a and a conveying line 3b, the conveying line 3b is arranged on the frame 3a, one end of the conveying line 3b extends to the outer side of the enclosing plate 1 after penetrating through the feeding hole 1a, and one end of the conveying line 3b is located at the feeding station.

Adopt this kind of structure, carry case and bag to the material loading station through frame 3a and transfer chain 3b, the conveying distance that cooperation pile up neatly device 4 can shorten case and bag improves pile up neatly efficiency.

During operation, the workman sends the cardboard into cardboard transfer device 2 by inlet plate hole 1b, cardboard transfer device 2's first conveying unit 7 carries the cardboard to the transition station, cardboard pusher unit 8 is with the cardboard propelling movement to the pile up neatly station of transition station, and simultaneously, loading attachment 3 carries the case and bag to the material loading station, the case and bag of material loading station is got to the arm 4b and the cooperation of anchor clamps 4c of pile up neatly device 4, and carry the case and bag to the cardboard of pile up neatly station on, arm 4b and the cooperation of anchor clamps 4c carry out the repeated clamp and get and put work, thereby accomplish pile up neatly work. When the stacking is finished, the safety door 11 is opened, and the second conveying unit 9 conveys the card board and the bag stack together to the next process equipment.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims

1. A compact robot palletizing station, characterized in that the palletizing station comprises a hoarding plate, a pallet transfer device, a feeding device, a palletizing device and a control unit;

The enclosure plate is provided with a feeding station, a transition station and a stacking station that are close to each other; the enclosure plate is provided with a feeding hole, and the feeding end of the feeding device passes through the feeding hole and extends to the outside of the enclosure, and the discharge end of the feeding device is located at the feeding station;

One end of the card plate transfer device is located at the transition station, and the other end of the card plate transfer device is located at the stacking station; The transition station is opposite, and the enclosure is provided with a delivery port, which is opposite to the stacking station; the pallet transfer device transfers the pallets to be stacked from the transition station to the stacking station. the palletizing station;

The stacking device is arranged between the loading station and the stacking station, and the stacking device transfers the bags to be stacked from the loading station to the stacking station;

The pallet transfer device, the feeding device and the stacking device are all connected with the control unit.

2. The compact robot palletizing station according to claim 1, wherein the pallet transfer device comprises a mounting frame, a first conveying unit, a pallet pushing unit and a second conveying unit;

The first conveying unit and the second conveying unit are arranged side by side in the mounting frame, the first conveying unit is conveyed toward the inner side of the enclosure, and the second conveying unit is toward the outer side of the enclosure conveying, the first conveying unit is arranged at the transition station, and the second conveying unit is arranged at the stacking station;

The card board pushing unit is arranged on the side wall of the mounting frame along the width direction of the mounting frame, and the card board pushing unit pushes the bags to be stacked from the first conveying unit to the second conveying unit unit;

The first conveying unit, the card board pushing unit and the second conveying unit are all connected with the control unit.

3 . The compact robot palletizing station according to claim 2 , wherein the mounting frame is provided with a push rail along the width direction, and the card plate push unit comprises a push motor, a driving gear, a rotating Roller, driven gear, transmission chain, push frame, guide seat, locking mechanism and position detection mechanism;

The pushing motor and the rotating roller are oppositely arranged at both ends of the mounting frame, the rotating roller is parallel to the output shaft of the pushing motor, and the driving gear is sleeved on the output shaft of the pushing motor, so the The driven gear is sleeved on the rotating roller, the transmission chain is wound between the driving gear and the driven gear, and one end of the push frame is fixed to the transmission chain through the locking mechanism connected, the other end of the push frame extends above the installation frame; one end of the guide seat is connected to the push frame, and the other end of the guide seat is slidably connected to the push guide rail;

The push motor drives the push frame to reciprocate between the first conveying unit and the second conveying unit through the transmission chain;

Both the push motor and the position detection mechanism are connected with the control unit.

4. The compact robot palletizing station according to claim 3, wherein the push frame comprises a mounting plate, a reinforcing plate and a pushing plate, and the reinforcing plate is connected to the mounting plate and all the Between the push plates, the mounting plate is parallel to the push rail, the push plate is perpendicular to the mounting plate, and the guide base is connected between the inner end face of the mounting plate and the push rail, so The locking mechanism is installed between the outer end surface of the mounting plate and the transmission chain.

5. The compact robot palletizing station according to claim 4, wherein the locking mechanism comprises a fixing plate, an adjusting screw, a fixing screw and a clamping seat, and one end of the fixing plate is The mounting plate is connected, the other end of the fixing plate is connected with the clamping seat, the clamping seat is provided with an adjustment hole, the fixing plate is provided with a first internal thread hole, and the adjustment screw passes through the clamping seat. The adjusting hole is threadedly connected with the first internal threaded hole, the lower end of the clamping seat is formed with a U-shaped bayonet, and both sides of the U-shaped bayonet are provided with second internal threaded holes. The bayonet is clamped on the periphery of the transmission chain and is pressed tightly by the fixing screw.

6 . The compact robot palletizing station according to claim 4 , wherein the position detection mechanism comprises a transition detection part and a stacking detection part, and the transition detection part is arranged in the transition process. 7 . position, the stacking detection part is arranged at the stacking station;

The transition detection part includes a first adjustment rail, a first adjustment seat, a first detection sensor and a first detection plate; the first adjustment rail is arranged along the width direction of the installation frame near the transition tool of the installation frame. The first adjustment rail is formed with a first adjustment groove, the first adjustment seat is slidably connected to the first adjustment groove, the first detection sensor is arranged on the first adjustment seat, the a first detection board is arranged on the mounting board and an end of the first detection board passes through the sensing area of the first detection sensor;

The stacking detection part includes a second adjustment rail, a second adjustment seat, a second detection sensor and a second detection plate; the second adjustment rail is arranged along the width direction of the installation frame at the proximity of the installation frame. At one end of the stacking station, the second section rail is formed with a second adjustment groove, the second adjustment seat is slidably connected to the second adjustment groove, and the second detection sensor is arranged on the second adjustment seat, the second detection board is arranged on the installation board and the end of the second detection board passes through the sensing area of the second detection sensor;

Both the first detection sensor and the second detection sensor are connected to the control unit.

7. The compact robot palletizing station according to claim 2, wherein the first conveying unit comprises a first conveying roller, a first conveying motor, a first gear, a second gear, a first conveying A chain and a second chain, the first conveying rollers are provided with a plurality of and spaced along the length direction of the mounting frame, the first conveying motor is arranged on the mounting frame, and the output of the first conveying motor The shaft is parallel to the first conveying roller, the first gear is sleeved on the output shaft of the first conveying motor, there are several second gears, and one end of each first conveying roller extends to the installation The outer side of the frame is connected with the corresponding second gear, the first chain is wound between the adjacent first gear and the second gear, and the second chain is wound between the adjacent two second gears;

The first conveying motor drives the first conveying roller to rotate through the first chain and the second chain;

The first conveying motor is connected to the control unit.

8 . The compact robot palletizing station according to claim 1 , wherein the delivery port is provided with a safety door, the enclosure is provided with a bracket, and the bracket is provided with a safety door along the length direction. 9 . A guide rail, the upper end of the safety door is provided with a connecting piece at intervals, the upper end of the connecting piece is provided with a pulley, and the pulley is rolled in the safety guide rail, the bracket is provided with a safety motor, and the output shaft of the safety motor A driving wheel is sleeved, a driven wheel is arranged on the side of the bracket away from the safety motor, a transmission belt is wound between the driving wheel and the driven wheel, and a fixing clip is arranged on the upper end surface of the safety door, The end of the fixing clip is clamped on the transmission belt; the lower end of the safety door is higher than the upper end of the plate inlet hole;

The safety motor is connected to the control unit.

9 . The compact robot palletizing station according to claim 1 , wherein the palletizing device comprises a mounting seat, a robotic arm and a clamp, the robotic arm is arranged on the mounting seat, and the The clamp is arranged at the end of the mechanical arm, and the mechanical arm drives the clamp to reciprocate between the loading station and the stacking station;

Both the robotic arm and the gripper are connected to the control unit.

10 . The compact robot palletizing station according to claim 1 , wherein the feeding device comprises a frame and a conveying line, the conveying line is arranged on the frame, and the conveying line is 10 . 10 . One end of the wire extends to the outside of the enclosure plate after passing through the feeding hole, and one end of the conveying wire is located at the feeding station.