CN102069530B

CN102069530B - Manipulator of stacker crane

Info

Publication number: CN102069530B
Application number: CN2010105583249A
Authority: CN
Inventors: 陈德军; 何为莹
Original assignee: Luoyang Zhongye Heavy Industry Machinery Co Ltd
Current assignee: Luoyang Tengheda Intelligent Equipment Co ltd
Priority date: 2010-11-25
Filing date: 2010-11-25
Publication date: 2013-09-18
Anticipated expiration: 2030-11-25
Also published as: CN102069530A

Abstract

The invention discloses a manipulator of a stacker crane, which relates to the technical field of stacking machinery. The manipulator comprises a stand, a cleaning mechanism and a clamping mechanism, wherein the cleaning mechanism comprises a hairbrush and an air pipe; a tilting driving mechanism is hinged with a tilting mechanism; the tilting driving mechanism and the tilting mechanism are respectively hinged with the stand; and the cleaning mechanism and the tilting mechanism are fixedly connected. When the tilting mechanism is at the inferior limit position, the lower end face of the hairbrush is lower than the lower end face of the clamping mechanism; when the cleaning mechanism is at the superior limit position, the lower end face of the hairbrush is higher than the lower end face ofthe clamping mechanism. In the technical scheme, the manipulator has a simple structure and is convenient to operate and adjust; the hairbrush of the cleaning mechanism can be avoided entraining residual materials and the cleaning effect on the surfaces of unburned bricks is greatly improved. The stacking quality on the unburned bricks is improved and the unburned bricks are compact and are not easy to collapse after being stacked. The clamping mechanism can be used for adjusting the gap between the clamping face and the unburned bricks so that the manipulator has a medium clamping force, theunburned brick clamping effect is improved and the unburned bricks are ensured not to damage.

Description

A kind of manipulator of stacking machine

Technical field

The present invention relates to the palletizing mechanical technical field, particularly relate to a kind of manipulator of stacking machine.

Background technology

The manipulator of prior art is to be fixed on the elevating mechanism of stacking machine, the adobe that brick machine suppresses is delivered to adobe on the conveyer by the slab clamp machine on the distributing trolley, conveyer again adobe deliver to the stacking machine manipulator under, the manipulator of last stacking machine is caught away adobe and is carried out code and stamp, finish a circulation and will be pressed into adobe to compound through the brick machine, slab clamp machine adobe from the inner clamping of brick machine and be transported on the conveyer, conveyer adobe be delivered to the setting machine tong under, the manipulator of stacking machine is transported to adobe on the steaming maintaining vehicle and carries out code and stamp the handling process that waits complexity from conveyer again; Because the adobe initial strength that has just pressed is low, repeatedly carrying easily causes the breakage of adobe, and the yield rate of the adobe behind the piling is low, and damaged adobe need to manually be piled up, and labour intensity is large, is unfavorable for realizing whole-course automation production; Simultaneously slab clamp machine is easily taken back the die cavity position to the adobe of delivering on the conveyer again when getting back to the die cavity position, in pressing process next time, the die cavity of mould is damaged by pressure.

For this reason, the applicant has invented " fully automatic hydroform of brick and intelligent stacking device ", patent No. ZL200820129473.1, Granted publication CN201291507Y, manipulator is installed on the mechanical arm of robot palletizer in this patent, manipulator enters brick machine die cavity top under the drive of robot arm, when entering, the residual material on plane in the adobe cleaned, then grab brick in the middle of being advanced into down adobe, after grabbing brick brick is lifted, adobe and die cavity are broken away from, then from brick machine, withdraw from, the mechanical arm rotation is piled up adobe on the steaming maintaining vehicle, this manipulator is by frame, line slideway and slide block, crossbeam, clamp module, closing up drive unit and clearing apparatus forms, clearing apparatus is comprised of hairbrush and airduct, when manipulator enters brick machine inner mould die cavity top, hairbrush on the manipulator cleans the residual material on plane in the adobe, clearing apparatus is fixedly mounted on a side of frame, in order to guarantee that manipulator is when entering press inside, can be swept into the residual material in the adobe, clamp module can not run into adobe simultaneously, like this, the lower end of the hairbrush of clearing apparatus will be lower than clamp module bottom after installing, because clearing apparatus is fixed on the frame, after the residual material of cleaning drops on the mould, clamp module and clearing apparatus will enter and carry out clamping in the adobe that suppresses, because the hairbrush of clearing apparatus is lower than clamp module, like this when brick folding, the lower end of hairbrush can touch the residual material on framed, residual material can enter in the hairbrush, in next time circulation, the unclean clearly lip-deep residual material of adobe of the hairbrush of clearing apparatus, because there is residual material on the adobe surface, the piled bricks that goes out of manipulator code has residual material between layers like this, it is inconsistent that the brick that code goes out is stamped height, piled bricks integral body is irregular, easily collapse, cause the adobe damage, clamp module is a kind of short stroke diaphragm cylinder simultaneously, when clamp module carries out brick folding in the middle of entering adobe, the clamping face of two clamp modules and adobe needs less clamping gap, when the clamping gap is larger, the clamping face of clamp module does not reach the face that is held of adobe, thereby can't brick folding, when the clamping gap hour, the clamping face of clamp module is easy to adobe is caught broken, and the gap between clamp module and the adobe is not easy to adjust.

Summary of the invention

The cleaning agency that technical problem to be solved by this invention is to overcome manipulator in the prior art cleans the not defective of the residual material on clean adobe surface, provide a kind of simple in structure, convenient operation, can improve the cleaning effect to the adobe surface, thus the manipulator of the stacking machine of the piling quality of raising adobe.

The present invention solves the problems of the technologies described above the technical scheme that adopts to be: a kind of manipulator of stacking machine, comprise frame, cleaning agency and clamping device, cleaning agency is comprised of hairbrush and tracheae, clamping device is arranged on the frame below, also comprise swing lifting mechanism, swing lifting mechanism comprises swing driving mechanism and swing mechanism, and swing driving mechanism and swing mechanism are hinged, swing driving mechanism and swing mechanism are hinged with frame respectively, and cleaning agency is fixedly connected with swing mechanism.Swing driving mechanism drives swing mechanism and swings up and down, move up and down thereby drive cleaning agency, when swing mechanism was positioned at the limit inferior position, the lower surface of hairbrush was lower than the lower surface of clamping device, when cleaning agency was positioned at the limes superiors position, the lower surface of hairbrush was higher than the lower surface of clamping device.

Described swing mechanism comprises two cover rocking arm, fork and connecting rods; rocking arm, fork and connecting rod are symmetrically distributed in the both sides of frame; an end of rocking arm and fork is hinged with frame respectively; the other end of rocking arm and fork and rod hinge connection, and two symmetrical connecting rods are fixedly connected with the two ends of cleaning agency simultaneously.

Described rocking arm is a kind of V-structure, and summit and the frame of V-type are hinged, and two other end points of V-type is hinged with connecting rod and swing driving mechanism respectively.

Described swing driving mechanism is two cover cylinders, and two cover cylinders are symmetrical horizontally disposed on frame, and an end and the frame of cylinder are hinged, and the other end and rocking arm are hinged.

Described clamping device comprises guiding rail mechanism and grip unit, grip unit is suspended on the below of frame by guiding rail mechanism, the crossbeam of adjacent grip unit connects by position-limit mechanism, and the two ends that close up driving mechanism are connected with two grip unit that are positioned at the outer end.

Described grip unit comprises crossbeam, tong, gripper cylinder and connecting rod, and tong top and crossbeam are hinged, and the middle part of the tong that two clamping faces are relative is hinged with gripper cylinder and connecting rod respectively.

Also be provided with adjusting rod between described gripper cylinder and the connecting rod, the adjusting rod two ends are connected with connecting rod with gripper cylinder by screw thread, and the two ends thread rotary orientation of adjusting rod is opposite.

Described position-limit mechanism comprises limiting plate and stop screw, and the limiting plate two ends respectively have a kidney-shaped slotted eye.

The described driving mechanism that closes up comprises that two are closed up cylinder, and two are closed up on the direction vertical with grip unit of below that the cylinder symmetry is fixed on frame, and two piston rods that close up cylinder are fixedly connected with the crossbeam that is positioned at outermost grip unit.

In sum, the present invention has the following advantages compared to existing technology: the robot manipulator structure of stacking machine of the present invention is simple, and convenient operation and adjustment can avoid the hairbrush of cleaning agency to carry residual material secretly, have greatly improved the cleaning effect to the adobe surface.Improved the piling quality of adobe, closely knit behind the adobe piling, be difficult for collapsing.Clamping device can be adjusted the gap between clamping face and the adobe, makes it have the moderate dynamics of holding that adds, and has improved adobe clamping effect, guarantees that adobe does not damage.

Description of drawings

Fig. 1 is front view of the present invention.

Fig. 2 is the top view of Fig. 1.

Fig. 3 is the zoomed-in view of limiting plate.

1. frames among the figure, 2. cleaning agency, 21. hairbrush, 22. tracheae, 3. clamping device, 31. guiding rail mechanisms, 311. line slideway, 312. slide blocks, 32. grip unit, 321. crossbeam, 322. tongs, 3221. clamping faces, 323. gripper cylinder, 324. adjusting rods, 325. connecting rods, 33. position-limit mechanism, 331. limiting plates, 3311. kidney-shaped slotted eyes, 332. stop screw, 34. close up driving mechanism, and 341. close up cylinder, 4. swing lifting mechanism, 41. swing driving mechanisms, 411. oscillating cylinders, 42. swing mechanism, 421. rocking arm, 422. forks, 423. connecting rods

The specific embodiment

See figures.1.and.2, the manipulator of stacking machine comprises frame 1, cleaning agency 2 and clamping device 3, and cleaning agency 2 has hairbrush 21 and tracheae 22.Also comprise swing lifting mechanism 4, swing lifting mechanism 4 comprises swing driving mechanism 41 and swing mechanism 42, swing driving mechanism 41 is hinged with swing mechanism 42, swing driving mechanism 41 and swing mechanism 42 are hinged with frame 1 respectively, cleaning agency 2 is fixedly connected with swing mechanism 42, swing driving mechanism 41 drives swing mechanism 42 and swings up and down, thereby driving cleaning agency 2 moves up and down, when cleaning agency 2 moves to the limit inferior position, the lower surface of hairbrush 21 is lower than the lower surface of grip unit 32, when cleaning agency 2 moved to the limes superiors position, the lower surface of hairbrush 21 was higher than the lower surface of grip unit 32.

Like this, when manipulator enters press inside, swing driving mechanism 41 drives swing mechanism 42 and descends, the hairbrush 21 that drives cleaning agency 2 is in the limit inferior position, manipulator is in the motion that enters press inside, hairbrush 21 lower ends are cleaned plane in the adobe, be lower than the lower surface of grip unit 32 because of the lower surface of hairbrush 21, grip unit 32 can not touch adobe, after grip unit 32 and adobe align, when entering adobe clamping adobe, swing driving mechanism 41 drives swing mechanism 42 and rises, the hairbrush 21 that drives cleaning agency 2 is in the limes superiors position, manipulator moves down and enters adobe when carrying out brick folding, is higher than the lower surface of grip unit 32 because of the lower surface of hairbrush 21, and hairbrush 21 bottoms can not touch from the adobe the plane and clean the residual material that gets off to drop on plane on the die middle frame, the cleaning that keeps hairbrush guarantees the residual material on the clean adobe of cleaning surface in next time circulation.

See figures.1.and.2, swing mechanism 42 comprises two cover Rocker arm 4 21, fork 422 and connecting rods 423, two cover Rocker arm 4s 21, fork 422 and connecting rod 423 are symmetrically distributed in the both sides of frame 1; end of Rocker arm 4 21 and fork 422 is hinged with frame 1 respectively; the other end and the connecting rod 423 of Rocker arm 4 21 and fork 422 are hinged, and symmetrical two connecting rods 423 are fixedly connected with the two ends of cleaning agency 2 simultaneously.

With reference to Fig. 1, Rocker arm 4 21 is a kind of V-structures, and the summit of V-type and frame 1 are hinged, and two other end points of V-type is hinged with connecting rod 423 and swing driving mechanism 41 respectively.

See figures.1.and.2, swing driving mechanism 41 is that two cover oscillating cylinders, 411, two cover oscillating cylinders 411 are symmetrical horizontally disposed on frame 1, and an end and the frame 1 of oscillating cylinder 411 are hinged, and the other end and Rocker arm 4 21 are hinged.

Like this, under the driving of the oscillating cylinder 411 of swing driving mechanism 42; Rocker arm 4 21 rotates; drive fork 422 and swing; moving up and down of the connecting rod 423 that connects in the middle of making; thus the hairbrush 21 and the tracheae that drive cleaning agency 2 move up and down; when cleaning agency 2 moves to the limit inferior position, plane in the adobe is cleaned, when cleaning agency 2 moves to the limes superiors position; manipulator carries out the clamping adobe; two cover Rocker arm 4s 21; fork 422 and connecting rod 423 and two cover oscillating cylinders 411, be symmetrically distributed in the both sides of frame 1, make the two ends of cleaning agency 2 stressed evenly; the upper plane of can logarithm arranging the plural piece adobe of every row is cleaned, and improves the efficient of cleaning.

See figures.1.and.2, clamping device 3 comprises guiding rail mechanism 31 and several grip unit 32, is five grip unit 32 shown in the figure.Five grip unit 32 of clamping device 3 are suspended on the below of frame 1 by guiding rail mechanism 31.Guiding rail mechanism 31 comprises that two

line slideways

311 and 312, two line slideways 311 of several slide blocks are fixed on the below of frame 1, and slide block 312 slides at line slideway 311.Each grip unit 32 has a crossbeam 321, and crossbeam 321 is fixedly connected with each slide block 312 on two line slideways 311 respectively, and grip unit 32 is suspended on the line slideway 311 by slide block 312.The crossbeam 321 that is positioned at the grip unit 32 in centre position can be fixedly connected with frame 1.The crossbeam 321 of adjacent grip unit 32 connects by position-limit mechanism 33, close up driving mechanism 34 and be fixed on frame 1 below, while is connected with two grip unit 32 that five grip unit 32 are positioned at the outer end, drive grip unit 32 mobile at line slideway 311, position-limit mechanism 33 drives all the other and moves at line slideway 311 with the grip unit 32 that frame 1 is fixed.

See figures.1.and.2, grip unit 32 comprises crossbeam 321, tong 322, gripper cylinder 323 and connecting rod 325, the lower side of tong 322 has clamping face 3221, tong 322 tops and crossbeam 321 that two clamping faces 3221 are relative are hinged, and two tongs, 322 middle parts are hinged with gripper cylinder 323 and connecting rod 325 respectively.Gripper cylinder 323 is connected with connecting rod by threaded adjusting rod 324 connections of two ends tool; After plural number was hinged to tong 322 and crossbeam 321, every pair of tong was connected with adjusting rod to connect by gripper cylinder 323, connecting rod 325 again and has jointly been formed a grip unit 32, and the two ends thread rotary orientation of adjusting rod 324 is opposite.

Like this, when gripper cylinder 323 enters compressed air, when piston rod stretches out, the 322 relative 3221 pairs of adobes of clamping face of two tongs are relaxation states, when in the piston rod retraction cylinder, the 322 relative 3221 pairs of adobes of clamping face of two tongs are clamped conditions, when two tongs, 322 relative clamping faces 3221 are relaxation states, the face that is held 3221 spacings of clamping face 3221 and adobe exist when excessive or too small, regulate the gap that clamping face 3221 and adobe are held face by rotation adjusting rod 324, when in the piston rod retraction cylinder, the 322 relative 3221 pairs of adobes of clamping face of two tongs apply clamping force, clamp adobe, adjusting rod 324 two ends thread rotary orientations are opposite, positive and negative rotation adjusting rod 324, and two relative clamping faces 3221 will draw in and separate, simple in structure, Adjustment operation is very convenient.

With reference to Fig. 1, Fig. 2 and Fig. 3, position-limit mechanism 33 comprises limiting plate 331 and stop screw 332, limiting plate 331 two ends respectively have a kidney-shaped slotted eye 3311, stop screw 332 is in the 3311 interior slips of kidney-shaped slotted eye, adjacent two crossbeams 321 arrange two limiting plates 331, two limiting plates 331 are symmetrically distributed in the two ends of crossbeam 321, the kidney-shaped slotted eye 3311 that stop screw 332 passes limiting plate 331 is fixedly connected with the crossbeam 321 of grip unit 32, and the crossbeam 321 of grip unit 32 positions by limiting plate 331 and stop screw 332.

See figures.1.and.2, close up driving mechanism 34 and comprise that two are closed up cylinder 341, two are closed up on the vertical direction of below that cylinder 341 symmetries are fixed on frame 1 and grip unit 32, and two piston rods that close up cylinder 341 are fixedly connected with the crossbeam 321 that five grip unit 32 are positioned at outermost grip unit 32 respectively.

Gapped between the adobe that suppresses because of brick machine, when the piling adobe, need the piled bricks that gapless guarantee code goes out between the every adobe real, be difficult for collapsing, like this, when entering, compressed air closes up cylinder 341, when two piston rods that close up cylinder 341 stretch out simultaneously, driving outermost grip unit 32 moves, outermost grip unit 32 drives its adjacent grip unit 32 by limiting plate 331 and stop screw 332 and moves, make at last the spacing of each grip unit 32 identical, identical with the spacing between the adobe that brick machine suppresses, when manipulator enters brick machine inside, a plurality of grip unit 32 are corresponding with a plurality of adobes, after grip unit 32 clamps adobes, compressed air enters and closes up cylinder 341, two piston rods that close up cylinder 341 are retracted simultaneously, drive outermost grip unit 32 and draw in to the centre, until the adobe face of adjacent two grip unit 32 clampings is fitted, adobe face was fitted when adobe was piled up on steaming maintaining vehicle, and piled bricks is difficult for collapsing.

The cleaning agency of manipulator and the course of work of clamping device are as follows:

When brick machine during at pressing unfired brick, the cleaning of manipulator and clamping device are parked in the outside of brick machine, swing driving mechanism 41 drives two cover Rocker arm 4s 21 of swing mechanism 42, fork 422 and connecting rod 423 turn round downwards, thereby make cleaning agency 2 be in the limit inferior position, the grip unit 32 of closing up cylinder 341 drivings two outsides moves, grip unit 32 makes under limiting plate 331 and stop screw 332 spacing that spacing is in the greatest limit position between the grip unit 32, the spacing of this moment is consistent with the adobe spacing that brick machine suppresses, and gripper cylinder 323 drives connecting rod 325 makes two clamping faces, 3221 relative tongs 322 be in open configuration with adjusting rod 324 two ends.After brick machine is pressed into adobe, the cleaning of manipulator and clamping device enter the inside of brick machine, the cleaning of manipulator and clamping device are entering time the state before still keeping entering of brick machine, the hairbrush 21 of cleaning agency 2 is in the limit inferior position, residual material to the upper surface of adobe cleans, behind the inside that cleaning and the clamping device of manipulator enters brick machine, cylinder 411 drives two cover Rocker arm 4s 21 of swing mechanism 42, fork 422 and connecting rod 423 are to upper rotary, thereby make cleaning agency 2 be in the limes superiors position, the cleaning of manipulator and clamping device integral body move down, grip unit 32 enters in the brick machine repressed brick base, gripper cylinder 323 drives connecting rods 325 and with adjusting rod 324 two ends two clamping faces, 3221 relative tongs 322 is in to close up state, clamping is carried out in adobe, then, the cleaning of manipulator and clamping device clamping adobe integral body are lifted outside movement, the grip unit 32 of closing up cylinder 341 drivings two outsides moves, grip unit 32 makes under limiting plate 331 and stop screw 332 spacing that spacing is in the least limit position between the grip unit 32, adobe is contacted, the cleaning of manipulator and clamping device go out the adobe integral retaining that each brick machine suppresses, and pile up on steaming maintaining vehicle, after piling up once, the cleaning of manipulator and clamping device are got back to the outside of brick machine, cleaning agency 2, clamping device 3 and swing lifting mechanism 4 return to initial position, wait for the circulation of next time clamping and piling.

Claims

1. the manipulator of a stacking machine, comprise frame (1), cleaning agency (2) and clamping device (3), cleaning agency (2) is comprised of hairbrush (21) and tracheae (22), clamping device (3) is arranged on frame (1) below, it is characterized in that: also comprise swing lifting mechanism (4), swing lifting mechanism (4) comprises swing driving mechanism (41) and swing mechanism (42), swing driving mechanism (41) is hinged with swing mechanism (42), swing driving mechanism (41) and swing mechanism (42) are hinged with frame (1) respectively, cleaning agency (2) is fixedly connected with swing mechanism (42), when swing mechanism (42) is positioned at the limit inferior position, the lower surface of hairbrush (21) is lower than the lower surface of clamping device (3), when cleaning agency (2) was positioned at the limes superiors position, the lower surface of hairbrush (21) was higher than the lower surface of clamping device (3).

2. the manipulator of a kind of stacking machine shown in claim 1, it is characterized in that: described swing mechanism (42) comprises two cover rocking arms (421), fork (422) and connecting rod (423); rocking arm (421); fork (422) and connecting rod (423) are symmetrically distributed in the both sides of frame (1); an end of rocking arm (421) and fork (422) is hinged with frame (1) respectively; the other end and the connecting rod (423) of rocking arm (421) and fork (422) are hinged, symmetrical two connecting rods (423) are fixedly connected with the two ends of cleaning agency (2) simultaneously.

3. the manipulator of a kind of stacking machine shown in claim 2, it is characterized in that: described rocking arm (421) is a kind of V-structure, the summit of V-type and frame (1) are hinged, and two other end points of V-type is hinged with connecting rod (423) and swing driving mechanism (41) respectively.

4. the manipulator of a kind of stacking machine shown in claim 2, it is characterized in that: described swing driving mechanism (41) is two cover cylinders (411), two cover cylinders (411) are symmetrical horizontally disposed on frame (1), one end of cylinder (411) and frame (1) are hinged, and the other end and rocking arm (421) are hinged.

5. the manipulator of a kind of stacking machine shown in claim 1, it is characterized in that: described clamping device (3) comprises guiding rail mechanism (31) and grip unit (32), grip unit (32) is suspended on the below of frame (1) by guiding rail mechanism (31), the crossbeam (321) of adjacent grip unit (32) connects by position-limit mechanism (33), and the two ends that close up driving mechanism (34) are connected with two grip unit (32) that are positioned at the outer end.

6. the manipulator of a kind of stacking machine shown in claim 5, it is characterized in that: described grip unit (32) comprises crossbeam (321), tong (322), gripper cylinder (323) and connecting rod (325), tong (322) top and crossbeam (321) are hinged, and the middle part of the tong (322) that two clamping faces (3221) are relative is hinged with gripper cylinder (323) and connecting rod (325) respectively.

7. the manipulator of a kind of stacking machine shown in claim 6, it is characterized in that: described gripper cylinder (323) is connected 325 with connecting rod) connect by the threaded adjusting rod of two ends tool (324), the two ends thread rotary orientation of adjusting rod (324) is opposite.

8. the manipulator of a kind of stacking machine shown in claim 5, it is characterized in that: described position-limit mechanism (33) comprises limiting plate (331) and stop screw (332), and limiting plate (331) two ends respectively have a kidney-shaped slotted eye (3311).

9. the manipulator of a kind of stacking machine shown in claim 5, it is characterized in that: the described driving mechanism (34) that closes up comprises that two are closed up cylinder (341), two are closed up on the direction vertical with grip unit (32) of below that cylinder (341) symmetry is fixed on frame (1), and two piston rods that close up cylinder (341) are fixedly connected with the crossbeam that is positioned at outermost grip unit (32) (321).