Modern industrial production needs to be improved in terms of production capacity and cost control, which promotes the rapid development of production and packaging automation. High-position palletizers came into being. The equipment is used for packaging and shipping behind the packaging scale. The front of the machine can be equipped with sub-packing machines, cartoning machines, automatic balers and other equipment to meet the production and packaging needs. The emergence of high-position palletizers has improved the production capacity of enterprises and reduced costs. It is indispensable in production and palletizing. The role of substitution.
1. Strong applicability. When the size, volume, shape of the customer’s product and the outer dimension of the tray change, only a slight modification can be made on the touch screen, which will not affect the customer’s normal production
2. Low energy consumption. Greatly reduce the customer’s operating costs
3. Simple structure and few parts. Therefore, the failure rate of the parts is low, the performance is reliable, the maintenance is simple, and the required stock parts are few.
4. Less floor space. Conducive to the layout of the customer’s factory production line
5. Only need to locate and grasp the starting point and placement point, the teaching method is simple and easy to understand
6. All control can be operated on the screen of the control cabinet, the operation is very simple
The palletizing robot is mainly composed of a mechanical main body, a servo drive system, and a control system. The mechanical main body is the base and the actuator, including the arm structure, the end effector that is the gripper, the end effector adjustment mechanism and the detection mechanism. The drive system includes the power device And the drive mechanism, the control system is to issue instructions and control the drive system and the actuator according to the input program. Set parameters according to different material packaging, stacking sequence, number of layers and other requirements to realize the stacking operation of different types of packaging materials. According to functions, it is divided into mechanisms such as bag feeding, steering, bag arranging, marshalling, bag grabbing and stacking, pallet storage, pallet conveying and corresponding control systems.
The palletizing robot has 4 degrees of freedom. The two joints of the arm move linearly along the vertical axis and the horizontal axis, and the mechanical body and the gripper move around their respective rotary axes.
The arm adopts a parallelogram linkage mechanism, driven by a servo motor through belt wheels, timing belts, ball screws, and linear guides, and adopts an end effector attitude adjustment mechanism, so that the end effector, the gripper, realizes no coupling between the vertical axis and the horizontal axis Linear movement.
The mechanical body is used to carry the arm mechanism and its driving mechanism. The mechanical body is installed on a cross roller bearing and driven by a servo motor through a precision cycloid reducer to realize the rotating operation of the palletizing robot in the horizontal plane. The rotation of the grasping wrist is driven by a servo motor through a precision cycloid reducer. The main material of the manipulator is made of aluminum alloy profile, which has the characteristics of light weight and flexible movement.
The control function of the palletizing robot actuator is a point-position type, which only controls the accurate positioning of the actuator from one point to another. It is suitable for loading and unloading, spot welding, handling, loading and unloading of machine tools. The input mode is a teaching input type, which is manually controlled by the operator and transmits the command signal to the drive system to make the actuator operate in accordance with the required action sequence and motion trajectory.