Palletizing robot equipment in the beer industry is an important link connecting beer packaging and warehousing, and is very important in beer production logistics. The fully automatic beer packing and palletizing robot greatly improves the palletizing efficiency. Beer palletizers are mainly used to carry beer boxes, mainly to replace heavy physical work. After the beer bottles are packaged and reshaped, the first half of the storage will be stacked on the pallet. This process is called palletizing, and the palletizing robot is Replace the previous manual palletizing machine.
The arms of the palletizing robot are all rotary joints, and the front and rear arms adopt a four-bar mechanism. Its characteristic is that when the robot moves in space, it can always ensure that the clamped wine box is parallel to the horizontal plane, which can reduce the space position and attitude control of the wine box. Degree of freedom, thereby reducing the control difficulty of the palletizing robot. Drive through the reducer through the servo motor, this structure can also play a self-locking role in the event of an accident, such as a power failure, to prevent the wine box from falling.
According to the requirements for palletizing beer packaging boxes, the palletizing robot mainly adopts a parallelogram linkage mechanism, which has the characteristics of good stability, large carrying capacity, and compact structure. The robot has 4 degrees of freedom, and the 4 degrees of freedom are controlled by 4 servo motors to complete three-dimensional tasks. The working principle of palletizing is that the robot moves from the initial position to the working point, the arm descends, grabs the wine box sent by the conveyor belt, and palletizes it on the pallet. The front and rear arms of the palletizing robot generate a rotation angle through each motor and reducer, driving the end effector to the target point. Put down the wine box on the back arm to complete the stacking.