CN115417169A - Double-deck anchor clamps and hacking machine - Google Patents

Abstract

The invention provides a double-layer clamp and a stacker crane. The double-deck anchor clamps include: mounting a hanging bracket; the first clamping module comprises a first driving part and a plurality of first clamping assemblies, each first clamping assembly comprises a first mounting frame and two first clamping parts, each first clamping part is arranged on the first mounting frame, and the first driving part is used for driving the two first clamping parts to move relatively; the second clamping module comprises a second driving part and a second clamping assembly, the second clamping assembly comprises a second mounting frame and two second clamping parts, the second clamping parts are arranged on the second mounting frame, and the second driving part is used for driving the two second clamping parts to move relatively; the second mounting rack is arranged on the mounting hanger, the first mounting racks are arranged side by side, and at least one first mounting rack can slide along a first direction relative to the mounting hanger. Double-deck goods are carried through double-deck anchor clamps single to improve handling efficiency and then improve pile up neatly efficiency.

Description

Double-layer fixture and palletizer

technical field

The invention relates to the technical field of machinery, in particular to a double-layer clamp and a palletizer.

Background technique

At present, with the continuous development of the logistics industry, the goods usually need to be packed with packing belts before transportation. However, bulk goods (such as bricks) need to be palletized before packaging. In order to realize automatic palletizing, palletizing fixtures are generally used to pick up the material layer for palletizing. For example, Chinese Publication No. CN 210943935 U discloses a kind of adobe stacking fixture, which is used to pick up blocks and stack them. However, in actual use, in order to meet the requirements of forklift operation, it is necessary to empty the forklift holes during the brick stacking process. For this reason, an additional seam splitting mechanism is added. When holes need to be reserved, the seam splitting mechanism is lowered. The forklift holes are formed by separating the rows of bricks through the seam opening mechanism. However, due to the need to carry the stacked bricks in a single layer, the fixture needs to move back and forth during the process of transporting the brick row, which takes a lot of time and results in low stacking efficiency. How to design a technology to improve palletizing efficiency is the technical problem to be solved by the present invention.

Contents of the invention

The present invention provides a double-layer clamp and a stacker, which can carry double-layer goods in a single time through the double-layer clamp, so as to improve the handling efficiency and further improve the stacking efficiency.

The invention provides a double-layer clamp, comprising:

Install the hanger;

A first clamping module, the first clamping module includes a first driving component and a plurality of first clamping components, the first clamping component includes a first mounting bracket and two first clamping components, The two first clamping parts are arranged oppositely and form a first clamping area, the first clamping parts are arranged on the first installation frame, and the first driving part is used to drive the two oppositely arranged The relative movement of the first clamping part;

The second clamping module, the second clamping module includes a second driving component and a second clamping assembly, the second clamping assembly includes a second mounting bracket and two second clamping components, two The second clamping parts are arranged oppositely and form a second clamping area, the second clamping parts are arranged on the second installation frame, and the second driving part is used to drive two of the first clamping parts arranged oppositely. The relative movement of the two clamping parts;

Wherein, the second mounting frame is arranged on the mounting hanger, a plurality of the first mounting frames are arranged side by side, at least one of the first mounting frames can slide along the first direction relative to the mounting hanger, The first clamping assembly is located between the two second clamping components.

Further, the slidable first installation frame is configured to slide relative to the installation hanger when the distance between two adjacent first clamping assemblies needs to be adjusted.

Further, the first clamping module also includes a first driving mechanism; the first driving mechanism includes a first frame and a first driving component, and a plurality of the first mounting brackets are arranged on the first frame , the first driving component is configured to drive at least two of the first mounting brackets to slide, and the first frame is arranged on the mounting hangers.

Further, the first driving part includes a hole-pull cylinder, the hole-pull cylinder straddles a plurality of the first installation frames and is configured to drive the plurality of the first installation frames to slide on the first frame.

Further, the hole-drawing cylinder is connected between two first mounting frames arranged at intervals; for the multiple first mounting frames covered by the hole-drawing cylinder, the two adjacent first mounting frames Flexible connectors are also provided between the racks.

Further, a plurality of the first mounting brackets are arranged within the spanning range of the broaching cylinder, and for two adjacent first mounting brackets, the cylinder body of the first fixed-distance cylinder is arranged on one of them. On the first mounting frame, the piston rod of the first fixed-distance cylinder extends toward the other mounting frame and is configured to abut against the other mounting frame after extending out.

Further, the hole-drawing cylinder is connected between two first mounting frames arranged at intervals; for the multiple first mounting frames covered by the hole-drawing cylinder, the two adjacent first mounting frames Flexible connectors are also provided between the racks.

Further, the first fixed-distance cylinder installed on the first installation frame outside the spanning range of the pull-hole cylinder is configured to drive two adjacent first installation frames relatively close to and away from .

Further, the first drive mechanism further includes a reset cylinder, the cylinder body of the reset cylinder is arranged on the first frame, and the piston rod of the reset cylinder is arranged on one of the first mounting brackets.

Further, the second gripping module includes a second driving mechanism and a plurality of the second gripping assemblies, and the plurality of the second gripping assemblies are arranged side by side; the second driving mechanism is configured to drive at least one The second installation frame slides relative to the installation hanger along the second direction, and the second driving mechanism is configured to drive at least one second installation frame to slide relative to the installation hanger along the second direction, so The second direction and the first direction are alternately arranged.

Further, one of the second mounting brackets is fixedly arranged on the second frame, and the remaining second mounting brackets are slidably arranged on the second frame and are provided with the second fixed-distance cylinders, The second fixed-distance air cylinder is connected between the two second installation frames and is configured to drive two adjacent second installation frames to move closer and farther away.

The present invention also provides a palletizing system, which includes a palletizing robot, and also includes the above-mentioned double-layer clamp, and the double-layer clamp is arranged on the palletizing robot.

The present invention also provides a palletizing method, which adopts the above-mentioned palletizing system for palletizing; the method includes: the palletizing robot drives the double-layer clamps to move to the clamping station, first clamps the upper brick row through the first clamping module, and then The lower row of bricks is clamped by the second clamping module, and then the palletizing robot drives the double-layer fixture to move to the stacking station, and finally, the double-layer fixture stacks the two-layer brick row.

Further, the upper brick row is first clamped by the first clamping module, and then the lower brick row is clamped by the second clamping module, specifically: after the upper brick row is clamped by the first clamping module, the second clamping module After the taking module and the first clamping module are rotated by 90 degrees, the lower brick row is clamped by the second clamping module.

A double-layer fixture provided by the present invention is equipped with two clamping modules on the installation hanger, and each clamping module is equipped with a corresponding clamping assembly. During actual use, the two clamping modules can The brick row is distributed through the respective clamping components, so that the double-layer clamp can carry two layers of brick rows at a time, thereby effectively saving the time required for brick row handling; at the same time, the first clamping module configuration has multiple A first clamping assembly arranged side by side, the first clamping assembly can slide relatively, and then when it is necessary to clamp the brick layer reserved for the forklift hole position, the forklift hole is formed between the brick rows by moving the first clamping assembly To meet the requirements of reserved forklift holes, double-layer goods are transported at a time through double-layer clamps to improve handling efficiency and thus improve stacking efficiency.

Description of drawings

Fig. 1 is a schematic structural view of Embodiment 1 of a double-layer fixture of the present invention;

Figure 2 is an exploded view of the double-layer fixture in Figure 1;

Fig. 3 is the structural representation of installing hanger in Fig. 1;

Fig. 4 is a schematic structural view of the second clamping module in Fig. 1;

Fig. 5 is a schematic structural view of the first clamping module in Fig. 1;

Fig. 6 is one of the structural schematic diagrams of Embodiment 2 of the double-layer fixture of the present invention;

Fig. 7 is the second structural schematic diagram of the second embodiment of the double-layer fixture of the present invention;

Fig. 8 is a schematic structural view of the first clamping module in Fig. 6;

Fig. 9 is a schematic structural view of the first clamping assembly in Fig. 8;

Fig. 10 is a schematic structural view of the second clamping module in Fig. 6;

FIG. 11 is a schematic structural diagram of the second clamping assembly in FIG. 10 .

Reference signs:

Install hanger 1;

Connecting part 11, main gear 12, ring gear 13, motor 14;

The second clamping module 2;

The second mounting frame 21, the second driving part 22, the lifting part 23, the second clamping part 24, and the second driving mechanism 25;

The second slide rail 211, the guide sleeve 212, the second transmission plate 221, the second cylinder 222, the second connecting rod 223, the second sliding frame 224, the lifting cylinder 231, the second frame 251, and the second distance cylinder 252;

The first clamping module 3;

The first mounting frame 31, the first driving part 32, the first clamping part 33, and the first driving mechanism 34;

The first slide rail 311, the guide rod 312, the auxiliary carriage 313, the auxiliary mounting frame 314, the first transmission plate 321, the first cylinder 322, the first connecting rod 323, the first carriage 324, the first frame 341, the first Fixed-distance cylinder 342, pull hole cylinder 343, push-pull cylinder 344, flexible connector 345, reset cylinder 346;

The upper brick row is 100, and the lower brick row is 200.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings.

Embodiment 1, as shown in Figures 1-5, the present invention provides a double-layer clamp, including:

The first clamping module 3, the first clamping module 3 includes a first driving part 32 and a plurality of first clamping assemblies, and the first clamping assemblies include a first mounting bracket 31 and two first clamping components. Component 33, the two first clamping components 33 are arranged oppositely and form a first clamping area, the first clamping component 33 is arranged on the first installation frame 31, and the first driving component 32 is used to drive the two first clamping components arranged oppositely. The clamping part 33 is relatively movable;

The second clamping module 2, the second clamping module 2 includes a second driving component 22 and a second clamping assembly, and the second clamping assembly includes a second mounting frame 21 and two second clamping components 24 , the two second clamping parts 24 are arranged oppositely and form a second clamping area, the second clamping parts 24 are arranged on the second mounting frame 21, and the second driving part 22 is used to drive the two second clamping parts arranged oppositely. Relative movement of parts 24;

Wherein, the second mounting frame 21 is arranged on the mounting hanger, a plurality of the first mounting frames are arranged side by side, at least one of the first mounting frames can slide relative to the mounting hanger, and the first clip The fetching assembly is located between the two second clamping parts.

Specifically, the second clamping module 2 clamps the goods through the two second clamping parts 24, and the goods will be located in the second clamping area. Similarly, the first clamping module 3 passes through the two second clamping parts A gripping part 33 is used to grip the goods, and the goods will be located in the first gripping area. In the actual use process, the double-layer fixture will be set on the palletizing robot (such as a mechanical arm, a three-dimensional mobile platform) to realize movement, and the palletizing brick is used as an example to illustrate.

Taking the stacking of brick rows as an example, in the process of stacking bricks, the palletizing robot drives the double-layer fixture to pick up the upper layer of bricks sequentially through the first clamping module 3 and the second clamping module 2 at the clamping station. row 100 and the lower row of bricks 200, and then transport the two-layer brick rows to the stacking station at one time, and then release the brick rows on the second clamping module 2 and the first clamping module 3 in order to realize one-time The palletizing operation of the two-layer brick row is completed, which effectively saves the time required for the palletizing robot to drive the double-layer fixture to move back and forth.

In the stacking process, when it is necessary to reserve forklift holes, forklift holes can be formed at the positions of the non-top and non-bottom brick rows. For this reason, the first clamping module uses part of the first clamping assembly to clamp the row of bricks, while the remaining first clamping components are in an idle state. In this way, for a plurality of first clamping assemblies clamping a brick row, they can be separated from each other, so that two adjacent brick rows at corresponding positions are separated to form a forklift hole between the two brick rows.

Wherein, in order to facilitate the installation of the double-layer clamp, the double-layer clamp also includes a mounting hanger 1, and the installation hanger 1 is provided with a connecting part 11 at the bottom of the mounting hanger 1; the second mounting frame 21 is arranged on the connecting part 11, and the mounting hanger 1 is installed and fixed on the palletizing robot. Since the installation hanger 1 is equipped with two clamping modules at the same time, through the cooperation of the second clamping module 2 and the first clamping module 3, it can be realized that two layers of brick rows can be clamped at one time at the clamping station. At the same time, when the clamping station picks up the row, it can also realize the pre-stacking operation of the two-layer brick row, which is more conducive to improving the stacking efficiency.

In addition, various structural forms can be adopted for the specific representation entities of the second clamping part 24 and the first clamping part 33, for example: the second clamping part 24 and the first clamping part 33 can adopt the structural form of a clamping plate , that is, the two second clamping components 24 are slidably disposed on the second mounting frame 21 , and similarly, the two first clamping components 33 are slidably disposed on the first mounting frame 31 . Or, the second clamping part 24 and the first clamping part 33 can adopt the structural form of clamping jaws, that is, the two second clamping parts 24 are rotatably arranged on the second mounting frame 21, and similarly, the two second clamping parts A clamping part 33 is rotatably disposed on the first installation frame 31 . Here, specific representation entities of the second clamping component 24 and the first clamping component 33 are not limited or repeated.

The second clamping part 24 and the first clamping part 33 can adopt the structural form of a clamping plate as an example for description.

Further, in order to ensure that the second clamping part 24 and the first clamping part 33 can slide relatively smoothly, there are many ways for the driving part to drive the clamping part to move relatively.

Method 1, as shown in FIG. 4 and FIG. 5 , the relative movement of two oppositely arranged clamping components is realized by a single driving component to synchronously drive the movement of each clamping component. According to design requirements, a single clamping part can be used to move, or two opposite clamping parts can be used to slide synchronously and in different directions.

Specifically, the second mounting bracket 21 is provided with a second slide rail 211 , and the second clamping component 24 is slidably disposed on the second slide rail 211 . Specifically, for the two second clamping parts 24, they only need to be relatively close or far away to meet the requirements of clamping bricks. By configuring the second slide rail 211 on the second mounting bracket 21, the second clamping parts 24 can slide along the second slide rail 211 guide to ensure its smooth reciprocating movement. Wherein, the second sliding rails 211 and the first sliding rails 311 may be arranged vertically and alternately, or vertically and side by side.

As for the first clamping part 33, since a plurality of first clamping assemblies need to be able to slide relatively to meet the requirement of forming a forklift hole, for this reason, in order to meet the requirements of a plurality of first clamping parts 33 sharing a first driving part 32 are driven at the same time. In order to facilitate the installation of the first mounting frame 31, an additional auxiliary mounting frame 314 is additionally provided. The auxiliary mounting frame 314 is provided with a first slide rail 311. There are two auxiliary sliding frames 313, and a plurality of first clamping parts 33 located on the same auxiliary sliding frame 313 can slide relative to each other laterally to meet the requirement of forming a forklift hole. When a row of bricks is clamped by a plurality of first clamping components, the two first clamping parts 33 arranged oppositely are located at the two ends of the corresponding brick row, and then the first driving part 32 drives the two auxiliary carriages 313 are close to each other, so that the two first clamping parts 33 arranged oppositely clamp the corresponding brick row. At the same time, the auxiliary sliding frame 313 is provided with an auxiliary sliding rail (not marked) perpendicular to the first sliding rail 311. When it is necessary to separate the brick row to form a forklift hole, the two first clamping parts 33 arranged oppositely Slide along the auxiliary slide rail so that two adjacent brick rows are separated to form a forklift hole.

Still further, in the case where two oppositely arranged clamping components slide synchronously and in different directions, the clamping components are driven to slide for convenience.

For the second driving part 22, the second driving part 22 includes a second transmission plate 221, a second cylinder 222 and a second connecting rod 223, and the middle part of the second transmission plate 221 is rotatably arranged on the second mounting bracket 21 A second cylinder 222 is hinged between the end of the second transmission plate 221 and the corresponding end of the second mounting frame 21, and a second cylinder 222 is hinged between the end of the second transmission plate 221 and the corresponding second clamping member 24. Two connecting rods 223.

Specifically, for the second driving part 22, the second cylinder 222 is used as the power source, and the second cylinder 222 is connected between the second installation frame 21 and the second transmission plate 221, and the second cylinder 222 is stretched to drive the second cylinder 222. When the second transmission plate 221 rotates, the second transmission plate 221 will push and pull the second clamping member 24 to slide through the second connecting rod 223 .

And by disposing second air cylinders 222 respectively on both sides of the second transmission plate 221, the two second air cylinders 222 synchronously cooperate to drive the second transmission plate 221 to rotate, so as to ensure that the second clamping parts 24 at both ends slide synchronously and in different directions .

Preferably, the second cylinder 222 and the second connecting rod 223 located on the same side of the second transmission plate 221 are arranged crosswise. Specifically, for the second cylinder 222, the second connecting rod 223, and the second clamping member 24 on the same side of the second transmission plate 221, during the process of pushing and pulling the second transmission plate 221 through the second cylinder 222, due to the second The two cylinders 222 and the second connecting rod 223 are arranged crosswise, so that the force of the second transmission plate 221 is more balanced, so as to ensure that the second transmission plate 221 can smoothly drive the second clamping member 24 to slide through the second connecting rod 223 .

Similarly, for the first driving part 32, the first driving part 32 includes a first transmission plate 321, a first cylinder 322 and a first connecting rod 323, and the middle part of the first transmission plate 321 is rotatably arranged on the auxiliary mounting bracket 314, the first cylinder 322 is hinged between the end of the first transmission plate 321 and the corresponding end of the auxiliary mounting frame 314, and the first cylinder 322 is hinged between the end of the first transmission plate 321 and the corresponding auxiliary carriage 313. Connecting rod 323 . Preferably, the first cylinder 322 and the first connecting rod 323 located on the same side of the first transmission plate 321 are arranged crosswise. Regarding the manner in which the first driving component 32 drives the auxiliary carriage 313 to reciprocate and slide, reference may be made to the driving manner of the second driving component 22 , which will not be repeated here.

Mode 2, each first gripping assembly is configured with an independent first driving component 32; similarly, the second gripping module 2 can also be configured with multiple second gripping assemblies, and each second gripping assembly It is configured with an independent second driving component 22 , for details, refer to the second embodiment below.

Furthermore, the first clamping module 3 can move up and down relative to the second clamping module 2, and the second clamping module 2 also includes a lifting part 23, and the lifting part 23 is vertically arranged on the second mounting frame 21 .

Specifically, in order to ensure that the second clamping module 2 and the first clamping module 3 do not interfere with each other and are convenient for clamping when carrying out the clamping operation of the upper and lower brick rows, the lifting part 23 can be used to drive the first A mounting frame 31 is raised and lowered to complete the clamping operation of the first clamping module 3 . That is, when the first clamping module 3 picks up the row of objects, the lifting part 23 drives the first mounting frame 31 to descend, and after the first clamping module 3 picks up the row of objects, the lifting part 23 drives the first mounting frame 31 to rise , so that the bottom of the second clamping module 2 has enough space to clamp the object row.

And in order to make the first installation frame 31 can smoothly drive the brick row to lift, the lifting part 23 includes two second lifting cylinders 231, and the two sides of the second mounting frame 21 are respectively provided with lifting cylinders 231, the second lifting cylinders The piston rod is connected to the first mounting frame 31; the four corners of the auxiliary mounting frame 314 are also provided with guide rods 312, and the second mounting frame 21 is provided with a guide sleeve 212 that cooperates with the guide rod 312, and the guide rod 312 is inserted into the corresponding guide sleeve 212 in.

Specifically, the two sides of the second mounting frame 21 are respectively equipped with the second lifting cylinders, and the two second lifting cylinders are controlled to act synchronously to drive the first mounting frame 31 at the bottom to move up and down, while the auxiliary mounting frame 31 moves up and down. During the up and down movement of 314, the four corners of the auxiliary mounting frame 314 are respectively guided by the guide rod 312 and the guide sleeve 212, thereby ensuring that the first mounting frame 31 can lift smoothly after the first clamping part 33 clamps the brick row.

Still further, in order to realize the pre-stacking operation of two layers of brick rows in advance in the process of picking up the row of objects, the connecting part 11 is rotatably arranged on the bottom of the installation hanger 1 through a slewing support, and the connecting part 11 The outer circumference of the hanger is provided with a ring gear 13, the bottom of the installation hanger is also provided with a rotatable main gear 12, and the installation hanger is also provided with a motor 14 for driving the main gear to rotate, and the main gear and The ring gear meshes.

Specifically, the motor 14 is in transmission connection with the main gear 12, and the motor 14 drives the main gear 12 to rotate, so that the ring gear 13 is driven to rotate through the main gear 12, and finally the second mounting bracket 21 can be driven to rotate. While in use, after the first clamping module 3 completes the clamping operation of the upper brick row, the motor 14 drives the second mounting frame 21 to rotate 90 degrees, and then the second clamping module 2 clamps the lower layer Row of bricks. In this way, in the process of clamping and carrying the two-layer brick row, the stacking operation of the upper and lower two-layer brick rows can be completed, which is more conducive to improving the stacking efficiency.

Embodiment 2, as shown in Fig. 6-Fig. 8, in order to satisfy the operation of merging and closing bricks directly after being grasped on the conveying line. Then, for the first clamping module, it is equipped with a plurality of first clamping components that can slide each other, and then when the first clamping module clamps the row of bricks, it can The distance between brick rows is merged.

As for the second clamping module, it is also configured with a plurality of second clamping components, and a plurality of second mounting frames 21 can slide relative to the mounting hanger 1 .

Specifically, for the first clamping module, in order to conveniently control the independent drive of each first clamping assembly to grab the row of bricks, the first mounting frame 31 is equipped with an independent first driving component 32, The first driving part 32 correspondingly drives the two first clamping parts 33 on the corresponding first installation frame 31 to move relatively. In order to satisfy that the first installation frame can slide relative to the installation hanger 1, the first clamping module 3 is also provided with a first frame 341 to install a plurality of the first installation frames. A frame 341 is arranged below the installation hanger 1 , a plurality of the first installation frames are arranged side by side and at least one of the first installation frames can slide on the first frame 341 .

Similarly, the second clamping module 2 is also provided with a second frame 251 to install a plurality of second installation frames 21, the second frame 251 is arranged under the installation hanger 1, and the plurality of second installation frames 21 are arranged side by side and At least one second mounting bracket 21 can slide on the second frame 251 .

In actual use, when the first clamping module grabs multiple rows of bricks, the two oppositely arranged first clamping parts 33 are arranged at the two ends of the brick rows at corresponding positions, and the multiple first clamps After the fetching assembly grabs multiple rows of brick rows, the slidable first installation frame 31 slides so that the brick rows can be brought together. The process of grabbing multiple rows of bricks by the second clamping module is similar to that of the first clamping module, and there is no limitation here.

In actual use, the number of slidable first mounting brackets is set according to the number of brick rows and forklift holes, and there is no limitation here. Similarly, the number of the slidable second mounting brackets 21 is also subject to the requirement that the brick rows can be accurately grasped and reliably brought together, and there is no limitation here.

Further, the slidable first installation frame is configured to slide relative to the installation hanger when the distance between two adjacent first clamping assemblies needs to be adjusted. The first installation frame is configured to be movable to a pulling hole position and an object picking position. Specifically, during the use of the first installation frame, when it is necessary to take bricks, the first installation frame slides on the first frame 341 so that the distance between two adjacent first clamping components Meet the requirements for grabbing multiple rows of bricks. And when it is necessary to pull the hole, the two first clamping assemblies corresponding to the brick rows forming the two sides of the forklift hole are further away from each other, so that the distance between the two first clamping assemblies Satisfy the requirements of pull holes.

In some embodiments, the first mount is further configured to be movable to a merged position.

Specifically, during the use of the first installation frame, when the captured brick rows need to be merged, the first installation frame slides on the first frame first frame 341 so that two adjacent second A clamping assembly approaches each other, eventually making multiple rows of bricks merge together.

As for the second gripping module 2 , when grabbing a row of bricks, the slidable second installation frame 21 can also be configured to move to the merging position or to the fetching position. For specific operations, reference can be made to the description of brick row grabbing and merging and closing in the above-mentioned first clamping module 3 , which will not be repeated here.

In some embodiments, in order to drive a plurality of first clamping assemblies to slide relatively, the first clamping module further includes a first driving mechanism 34; the first driving mechanism 34 includes a first frame 341 and a first driving component A plurality of the first mounting brackets are arranged on the first frame, the first driving part is configured to drive at least two of the first mounting brackets to slide, and the first frame is arranged on the installation hanger .

Specifically, in the process of grabbing the brick row and the brick row pulling hole as required, the slidable first installation frame is driven by the first driving component, so that the plurality of first clamping assemblies slide relatively.

Wherein, the first driving part includes a hole-pull cylinder 343. The hole-pull cylinder 343 spans the multiple first mounting frames and is configured to drive the multiple first mounting frames to slide on the first frame 341;

In addition, the first driving part also includes a first distance cylinder 342, a first distance cylinder is arranged between two adjacent first installation frames, and the first distance cylinder 342 is configured to drive two adjacent The first mounting frame is relatively far away and slides to the pick-up position, and the first frame 341 is arranged on the mounting hanger.

Specifically, during use, the first driving mechanism 34 can drive the slidable first mounting frame to slide on the first frame 341 . Wherein, the first fixed-distance cylinder 342 and the hole-drawing cylinder 343 act correspondingly according to the requirements of grabbing brick rows and pulling holes to form forklift holes.

During the process of grabbing a row of bricks, the first distance-fixed cylinders 342 are all in an extended state, so that the two adjacent first installation frames move relatively far away to the pick-up position. In this way, the brick row at the corresponding position can be clamped by the two first clamping parts 33 on the plurality of first mounting brackets. For example: when brick rows are conveyed through the conveyor line, adjacent brick rows are arranged at intervals and conveyed. While the first clamping module 3 is taking bricks, because the first mounting frame moves to the fetching position, so that the two first clamping parts 33 on a plurality of the first mounting frames can simultaneously grasp Multiple rows of bricks to improve grabbing efficiency. During the fetching process, the hole-pull cylinder 343 is in a free state without ventilation, and the piston rod of the hole-pull cylinder 343 can expand and contract under force.

And when it is necessary to draw holes to the adjacent two rows of brick rows to form forklift holes, the hole-drawing cylinder 343 is ventilated and telescopic, so as to drive the corresponding sliding of the first mounting frame that the hole-drawing cylinder 343 spans, and finally make all the holes The first mounting bracket moves to the pull hole position.

In addition, the punching cylinder 343 is also configured to drive the plurality of first mounting brackets to slide on the first frame 341 to a merged position. Specifically, when the hole is not needed, after the row of bricks is clamped by each first clamping part 33, the hole cylinder 343 retracts, so that each of the first mounting brackets is close to each other, and finally the adjacent Rows of bricks merged closer together.

Take four pairs of first clamping parts 33 clamping brick rows schematically shown in Fig. 6 and Fig. 7 as an example.

When normally clamping the brick row, as shown in Figure 6, the ventilation of the first fixed-distance cylinder 342 is in an extended state, and the hole-pull cylinder 343 is in a free state without ventilation. Under the driving action of the first fixed-distance cylinder 342, the The first installation frame slides on the first frame 341 to the pick-up position, and the four pairs of first clamping parts 33 respectively clamp four rows of bricks. Then, the first fixed-distance cylinder 342 is in a free state when the air is cut off, and the hole-pull cylinder 343 is ventilated and retracted, so that the four rows of bricks are merged and moved closer to complete the operation of combining bricks.

When it is necessary to reserve forklift holes for clamping brick rows, as shown in Figure 7, the first fixed-distance cylinder 342 is in an extended state for ventilation, and the hole-pull cylinder 343 is in a free state without ventilation, and only three pairs of first clamping parts 33 The operation of clamping the brick row is carried out, while the remaining pair of first clamping parts 33 do not act. In this way, three rows of brick rows can be clamped by the first clamping module. Then, the first fixed-distance cylinder 342 is in a free state when the gas is cut off, and the ventilating cylinder 343 is in a stretched state, so that two forklift holes are formed between the three rows of brick rows.

The above is not limited to the number of brick rows that can be clamped by the clamping module.

Further, a plurality of the first mounting brackets are arranged within the spanning range of the broaching cylinder 343, and for two adjacent first mounting brackets, the cylinder body of the first fixed-distance cylinder 342 is arranged on one of the first mounting brackets. On the first mounting frame, the piston rod of the first fixed-distance cylinder 342 extends toward the direction of the other mounting frame and is configured to abut against the other mounting frame after stretching out.

Specifically, the function of the first distance cylinder 342 provided between the plurality of first mounting frames covered by the hole-pull cylinder 343 is only to drive the two adjacent first mounting frames to interact with each other. away, so that the corresponding first installation frame moves to the pick-up position. When the brick rows need to be merged, the retraction of the pulling hole cylinder 343 drives the plurality of first installation frames covered across to approach each other.

Still further, the hole-pull cylinder 343 is connected between the two first mounting frames arranged at intervals; for the multiple first mounting frames covered by the hole-pull cylinder 343 across, the adjacent two first mounting frames A flexible connecting piece 345 is also provided therebetween.

Specifically, when the multiple first mounting frames covered by the hole-pull cylinder 343 are to be processed for hole-piercing, the stretching of the hole-piercing cylinder 343 drives each of the first mounting frames away from each other. As far as the cylinder 343 is concerned, after it is stretched, the distance between the two first mounting frames directly connected to the hole-pull cylinder 343 can be determined, and the first mounting frame in the middle is pulled and moved through the flexible connector 345, Finally, after the hole pulling cylinder 343 is fully extended, the plurality of first installation frames covered by the hole pulling cylinder 343 move to the hole pulling position. The representation entity of the flexible connecting member 345 may be a flexible belt, a chain, a connecting rope, etc., which will not be limited or repeated here.

And by configuring the flexible connector 345 as the traction part between the first mounting frame in the pulling hole process, relying on its variable characteristics, when the pulling hole cylinder 343 is retracted to merge the brick rows, the flexible connecting member 345 will not Preventing two adjacent first installation frames from approaching each other.

Still further, for the first mounting frame that does not participate in the punching process, in order to ensure that the first mounting frame that is arranged outside the spanning range of the punching cylinder 343 is able to ensure the normal process of taking bricks and merging brick rows A mounting frame can slide as required, and the first fixed-distance cylinder 342 installed on the first mounting frame outside the spanning range of the pulling hole cylinder 343 is configured to drive two adjacent first mounting frames Relatively close and far away.

Specifically, during the normal process of clamping a row of bricks, the distance between the plurality of first installation frames spanned by the pulling hole cylinder 343 is stretched after being ventilated by the first distance cylinder 342 so that the first The installation frame moves to the corresponding pick-up position.

The first fixed-distance cylinder 342 between the plurality of first mounting frames covered by the pulling hole cylinder 343 is only used to drive the two first mounting frames relatively far away to reach the pick-up position, while merging bricks When rowing, then rely on the hole-pull cylinder 343 to retract.

The first fixed-distance cylinder configured on the first installation frame outside the spanning range of the pulling hole cylinder 343 is designed as a push-pull cylinder 344, that is, it can drive two adjacent first installation frames relatively far away to move At the pick-up position, the two adjacent first installation frames can be driven relatively close to move to the combined position.

In a preferred embodiment, the first driving mechanism 34 further includes a reset cylinder 346 , the cylinder body of the reset cylinder 346 is arranged on the first frame 341 , and the piston rod of the reset cylinder 346 is arranged on one of the first installation frames.

Specifically, during use, for the multiple first clamping assemblies in the first clamping module, according to the usage requirements, it is necessary to switch between the normal brick picking station and the pulling hole brick picking station. When taking bricks normally, the reset cylinder 346 stretches out and moves the outermost first clamping assembly, thereby ensuring that all the first clamping assemblies participate in the grabbing work and accurately place the brick row. And when it is necessary to grasp the row of bricks forming the forklift hole, one of the first clamping components does not participate in the grasping operation. The assembly enables centering of the row of bricks that form the forklift holes, thereby improving the quality of the stacked bricks.

In another embodiment, for the second clamping module, in order to meet the requirements of taking bricks and merging brick rows, the second clamping module includes a second driving mechanism 25 and a plurality of the The second clamping assembly, a plurality of the second clamping assemblies are arranged side by side; the second driving mechanism 25 is configured to drive at least one second mounting frame 21 to slide relative to the mounting hanger along the second direction, and the first driving mechanism 34 is configured to drive at least one of the first mounting brackets to slide relative to the mounting hanger along a first direction, and the second direction and the first direction are arranged alternately.

Specifically, for the second clamping module, it is equipped with a plurality of the second clamping components, and in the process of taking brick rows, in order to meet the simultaneous clamping of multiple For brick rows, the second driving mechanism 25 can be used to drive a plurality of second clamping assemblies to separate from each other, so as to meet the clamping requirements of brick rows arranged at intervals on the conveying line. After grabbing multiple rows of bricks at the same time, the second driving mechanism 25 drives a plurality of second clamping assemblies to approach each other, so as to meet the requirements of multiple rows of bricks.

Wherein, the second driving mechanism 25 includes a second frame 251 and a second driving component, a plurality of second mounting brackets 21 are arranged on the second frame, and the second driving component is configured to drive the second mounting brackets 21 to slide relatively , the second frame is arranged on the installation hanger.

Specifically, the second driving component is used to drive the slidable second installation frame 21 to slide on the second frame 251 . Wherein, the second driving part may include at least one second fixed-distance cylinder 252, wherein a second mounting bracket 21 is fixedly arranged on the second frame 251, and the remaining second mounting brackets 21 are slidably arranged on the second frame 251. A second fixed-distance cylinder 252 is arranged on the top, and the second fixed-distance cylinder 252 is connected between the two second mounting frames 21 and is configured to drive the two second mounting frames 21 to move closer and farther away.

During the process of taking bricks, the second fixed-distance cylinder 252 stretches out to drive the corresponding second clamping assembly to slide on the second frame 251, thereby realizing that the two second clamping assemblies are separated from each other to satisfy Grab rows of bricks on the conveyor line. After grabbing the row of bricks, the second fixed-distance cylinder 252 is retracted so that adjacent rows of bricks are close together, and then the stacking is completed when the whole layer of bricks is discharged. For the specific control method of the second clamping components approaching or moving away from each other, reference can be made to the cylinder action mode of the first clamping component when switching between the object picking position and the merging position, and will not be limited or repeated here.

The present invention also provides a palletizing system, which includes a palletizing robot, and also includes the above-mentioned double-layer clamp, and the double-layer clamp is arranged on the palletizing robot.

Specifically, for the palletizing robot, palletizing mobile devices of any structure in the conventional technology may be used, and no limitation or description is made here.

The present invention also provides a palletizing method, which adopts the above-mentioned palletizing system for palletizing; the method includes: the palletizing robot drives the double-layer clamps to move to the clamping station, first clamps the upper brick row through the first clamping module, and then The lower row of bricks is clamped by the second clamping module, and then the palletizing robot drives the double-layer fixture to move to the stacking station, and finally, the double-layer fixture stacks the two-layer brick row.

Specifically, in order to improve palletizing efficiency, improve work efficiency, and save palletizing time, replacing the conventional single-layer fixtures of the original palletizer with double-layer fixtures can improve the palletizing efficiency (estimated to increase by 30%-35%), save time. When the conveying device under the palletizing system discharges the single-layer bricks to the clamping station, after the double-layer clamp is lowered in place, the first clamping module inside the clamp retracts the single-layer brick after clamping and the entire clamp is finished. Slightly lift, after the conveying device sends the single-layer bricks to the clamping station again, the whole fixture is slightly lowered to the position, and the second clamping module acts to clamp the first layer of single-layer bricks. The double-layer fixture clamps the two-layer brick row to lift and move laterally to the stacking station. When it is lowered to the position, the first layer of brick row is lowered, and then the upper layer of brick row is put down, so as to realize one-time lateral movement and lifting and stacking of two layers, saving lateral movement and lift times.

Further, the upper brick row is first clamped by the first clamping module, and then the lower brick row is clamped by the second clamping module, specifically: after the upper brick row is clamped by the first clamping module, the second clamping module After the taking module and the first clamping module are rotated by 90 degrees, the lower brick row is clamped by the second clamping module.

Specifically, during the clamping operation, after the upper brick row is clamped by the first clamping module, the second clamping module rotates 90 degrees and then the lower brick row is clamped, thereby completing the pre-stacking operation.

The present invention provides a double-layer fixture and palletizer. Two clamping components are arranged on the installation hanger, wherein the first clamping module can move up and down relative to the second clamping module. Among them, the clamping operation of the upper brick row can be completed by lifting the first clamping module, and then the clamping operation of the lower brick row can be carried out through the second clamping module, so that during the handling process, it can be transported at one time Two-layer brick row, which effectively saves the time required for brick row handling, and double-layer goods are handled by a single double-layer clamp to improve handling efficiency and stacking efficiency.

Claims (10)

1. A double-layer clamp, characterized in that, comprising: Install the hanger; A first clamping module, the first clamping module includes a first driving component and a plurality of first clamping components, the first clamping component includes a first mounting bracket and two first clamping components, The first clamping part is arranged on the first installation frame, and the first driving part is used to drive two first clamping parts arranged oppositely to move relatively; The second clamping module, the second clamping module includes a second drive component and a second clamping assembly, the second clamping assembly includes a second mounting frame and two second clamping components, the The second clamping part is arranged on the second installation frame, and the second driving part is used to drive two second clamping parts arranged relatively to move relatively; Wherein, the second mounting frame is arranged on the mounting hanger, a plurality of the first mounting frames are arranged side by side, at least one of the first mounting frames can slide along the first direction relative to the mounting hanger, The first clamping assembly is located between the two second clamping components. 2. The double-layer clamp according to claim 1, wherein the slidable first mounting bracket is configured to be relative to the mounting bracket when the distance between two adjacent first clamping components needs to be adjusted. The hanger slides. 3. The double-deck clamp according to claim 2, wherein the first clamping module further comprises a first drive mechanism; the first drive mechanism comprises a first frame and a first drive component, a plurality of The first mounting frame is arranged on the first frame, the first driving component is configured to drive at least two of the first mounting frames to slide, and the first frame is arranged on the mounting hanger. 4. The double-layer clamp according to claim 3, wherein the first driving part comprises a hole-pull cylinder, and the hole-pull cylinder spans a plurality of the first mounting brackets and is configured to drive a plurality of the first mounting brackets. The first mounting bracket slides on the first frame. 5. The double-layer clamp according to claim 4, characterized in that, the hole-drawing cylinder is connected between two first mounting frames arranged at intervals; for the multiple holes covered by the hole-drawing cylinder As for the first mounting frame, a flexible connecting piece is also provided between two adjacent first mounting frames. 6. The double-layer clamp according to claim 3, wherein the first drive part further comprises a first distance cylinder, and the first distance cylinder is arranged between two adjacent first installation frames. The first distance cylinder is configured to drive two adjacent first mounting brackets to slide relative to each other. 7. The double-layer clamp according to claim 3, wherein the first driving mechanism further comprises a reset cylinder, the cylinder body of the reset cylinder is arranged on the first frame, and the piston of the reset cylinder The rod is arranged on one of the first mounting brackets. 8. The double-layer clamp according to any one of claims 1-7, wherein the second clamping module includes a second drive mechanism and a plurality of second clamping assemblies, a plurality of the second clamping assemblies The second clamping components are arranged side by side; the second driving mechanism is configured to drive at least one of the second mounting frames to slide relative to the mounting hanger along the second direction, and the second driving mechanism is configured to drive at least one of the second mounting brackets to slide relative to the mounting hanger. The second installation frame slides relative to the installation hanger along a second direction, and the second direction and the first direction are alternately arranged. 9. The double-layer clamp according to claim 8, wherein the second driving mechanism comprises a second frame and a second driving part, and a plurality of the second mounting brackets are arranged on the second frame, The second driving part is configured to drive the second installation frame to slide relatively, and the second frame is arranged on the installation hanger. 10. A palletizer, comprising a palletizing robot, further comprising the double-layer clamp according to any one of claims 1-9, the double-layer clamp being arranged on the palletizing robot.

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