1. Distinguish according to the structure
According to the different mechanical structures, the palletizing robot includes the following three ways: Cartesian ear type, rotary joint type and gantry crane type.
(1) Cartesian ear palletizing robot: mainly composed of four parts: column, X-arm, Y-arm and gripper, with four degrees of freedom (including three moving joints and one rotating joint) to complete the palletizing of materials. The palletizing organization of this method is simple, the body is rigid, and the moving weight is large, which is suitable for the palletizing of heavier materials.
(2) Rotary articulated robot: The palletizer rotates around the fuselage and contains four rotating joints: waist joint, shoulder joint, elbow joint and wrist joint. The palletizer of this mode is programmed by the way of teaching, that is, the operator holds the teaching box and controls the robot to move according to the specified action, so the motion process is stored in the memory, and this motion process can be reproduced when the automatic operation is carried out later. This kind of robot has a small body and a large range of movements, and can be stacked at least one or several pallets together, and can flexibly and flexibly cope with the work of a variety of product production lines.
(3) Gantry crane type: The robot arm is installed on the gantry crane frame, which is called the gantry palletizing robot, which has a large working range and can grab heavier materials.
2. Distinguish according to stacking requirements
(1) Single-layer palletizing robot
The single-layer structure of the palletizing robot is more fundamental, mainly relying on the conveyor belt to transport the material, and when it arrives at the turning organization, it can be adjusted according to the specified direction, and after the preparation is completed, it can enter the layer of the organization. It is only necessary to place the products tightly in the set order in this place, and then transfer the placed products to the next station through the conveying roller, so that the stacking operation of the palletizing robot is completed.
(2) Multi-layer palletizing robot
There must be multiple layers corresponding to a single layer, which is definitely more complex than a single-layer palletizing robot. We can see that the palletizing plate of the multi-layer palletizing robot is under the conveyor belt, and it is still able to carry out the left and right of the car. When the machine is stacking, the materials will be neatly placed on the pallet plate, and then the pallet will be set in the left limit position. When the material transported by the conveyor belt is blocked by the baffle, it is placed in a row. Then the pallet is moved to the right, and the materials are lined up again as in the steps above. And so on, with each additional layer of material, the height of the lifting platform of the palletizing robot will drop by one layer until the material is stacked to a certain height and then stopped.
(3) Place the palletizing robot
This palletizing robot will arrange the materials in rows and then transport them, and the push plate will put the transported materials on the aggregate table. Then move to the left and push from the bottom to the top to stack the three layers of material together. In this process, there will be an inclined device to ensure the smooth completion of the process, and the specificity of the aggregate table will also help the palletizing robot to complete the stacking. These are just the more common palletizing robots.
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