CN106743715B - A kind of stacking machine - Google Patents
A kind of stacking machine Download PDFInfo
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- CN106743715B CN106743715B CN201710043902.7A CN201710043902A CN106743715B CN 106743715 B CN106743715 B CN 106743715B CN 201710043902 A CN201710043902 A CN 201710043902A CN 106743715 B CN106743715 B CN 106743715B
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- 230000033001 locomotion Effects 0.000 claims abstract description 69
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 230000000694 effects Effects 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 16
- 230000003028 elevating effect Effects 0.000 claims description 46
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000009987 spinning Methods 0.000 claims description 12
- 210000004907 gland Anatomy 0.000 claims description 11
- 229910052742 iron Inorganic materials 0.000 claims description 10
- 230000032258 transport Effects 0.000 claims 1
- 239000000463 material Substances 0.000 description 84
- 238000000034 method Methods 0.000 description 8
- 238000001179 sorption measurement Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes a kind of stacking machine, conveying mechanism is wrapped up including logistics package clamp system, two degrees of freedom handling device and logistics, logistics package clamp system is fixedly connected by installation frame with the lifting platform on two degrees of freedom handling device, logistics wraps up clamp system and clamps logistics package and under the driving effect of two degrees of freedom handling device, logistics package is completed into direction upward or downward and two freedom degrees in direction switch movement forward or backward, it realizes and logistics package is transported on logistics package conveying mechanism, complete the conveying of logistics package；While the present invention can quickly and efficiently carry logistics package, also realizes and logistics package destructiveness is minimized, ensure that the purpose for carrying logistics package in high quality.
Description
Technical field
The invention belongs to logistics assembly equipment technical fields, and in particular to a kind of stacking machine.
Background technique
With the arrival of mobile internet era, mobile e-business or online shopping have become modern people's daily life
Important a part, be concomitantly people respectively various kinds article all begin through internet or mobile Internet and carry out
Purchase causes a large amount of logistics packages and intelligent repository, intelligent express delivery cabinet gradually to enter into common people at one's side or surrounding, because
The problem of this brings mainly has a large amount of logistics and its package to rely solely on artificial manually sorting or traditional fork truck or truck
To carry, it is difficult to achieve the purpose that exact classification and carrying, conveying.
Summary of the invention
It is insufficient in existing product the purpose of the present invention is overcoming, a kind of stacking machine is provided, is belonged in modern logistics systems
It realizes sorting logistics package and carries, is sent to the important mechanism of logistics package.
In order to achieve the above object, the present invention is achieved by the following technical solutions:
The present invention proposes a kind of stacking machine, including logistics package clamp system, two degrees of freedom handling device and logistics package
Conveying mechanism, logistics package clamp system are fixedly connected by installation frame with the lifting platform on two degrees of freedom handling device, object
Logistics package is clamped and under the driving effect of two degrees of freedom handling device by stream package clamp system, and logistics is wrapped up and is completed
Direction and forward or backward two freedom degrees switching movement in direction upward or downward, realize logistics package being transported to logistics
It wraps up on conveying mechanism, completes the conveying of logistics package；
Wherein: the logistics package clamp system includes two groups of gripper jaws being oppositely arranged, two pieces of sides being oppositely arranged folder
Plate, multiple vertical fixed disks and driving clamping device for adsorbing logistics package；These vertical fixed disks are fixed on side by side
Installation frame bottom；
Each vertical fixed disk includes the 5th cylinder, the 5th piston rod, the 5th end cap block, pushing block, protection shell, bullet
Spring, fixed disc main body and step block；The 5th end cap block that the 5th piston rod bottom end is arranged in is fixedly connected with pushing block, the 5th cylinder
Pushing block is driven to move up and down by the 5th piston rod；Protect shell successively package and by the 5th cylinder from top to bottom, the 5th
Piston rod, the 5th end cap block, pushing block, spring and fixed disc main body are fixed in the protective shell body；
The pushing block is to be fixedly connected with cylinder push rod one by the first disk block and in the first disk block bottom surface center
Body forms, which is equipped with external screw thread, cylinder push rod bottom surface be in downwardly projecting hemispherical face, and should half
The radius of spherical is slightly larger than the intracorporal ventilation pore radius of the second cylinder；The design of the structure is primarily to guarantee cylinder push rod
Bottom surface abuts simultaneously in the process that moves down and with the intracorporal venthole upper port of the second cylinder by air most of in venthole
Discharge, and cylinder push rod bottom surface can block the intracorporal venthole upper port of the second cylinder, this ensure that the second circle
The intracorporal venthole of cylinder and annulus disk body bottom surface and logistics package surface are formed by cavity and are formed close to vacuum state, make
Generation definitely adsorption can be wrapped up logistics by obtaining vertical fixed disk.
Step block is to be fixedly connected with the first cylinder body one by the second disk block and in the second disk block top surface center
Body forms, and the through-hole set in the second disk block and the internal thread hole set in the first cylinder body are connected；Fixed disc main body is by justifying
The ring disk body and the second cylinder body is fixedly connected in the annulus disk body top surface center integrally forms；It is equipped in fixed disc main body logical
Stomata, the venthole extend through annulus disk body and the second cylinder body from top to bottom；The second cylinder body is successively nested in upwards
In the through-hole of two disk blocks and the internal thread hole of the first cylinder body, the cylinder push rod of pushing block downwards can be with the interior spiral shell of cylinder
Pit realization is threadedly engaged connection, and cylinder push rod bottom surface is right against the venthole of the second cylinder body；It drives and makees in the 5th cylinder
Under, pushing block is rotated down the internal thread hole into the second disk block of step block, squeezes between pushing block and step block
Spring, while the cylinder push rod of pushing block moves down and nesting enters in the venthole of fixed disk main body, the cylinder on pushing block pushes away
Bar can block the venthole upper port of the fixation disc main body；Annulus disk body bottom side edge is equipped with annular iron block circle in, and
On the inside of the annular iron block circle and its outside is enclosed with circular ring shape elastic rubber layer respectively；The design of the structure, main work
With being to efficiently avoid wrapping up the out-of-flatness on surface due to logistics, so that annulus disk body is difficult to adsorb logistics package or circle
The absorption of the ring disk body does not live logistics package；It can be equipped in annulus disk body bottom side edge edge under the 5th cylinder driving effect in this way
Wrap up surface in capable of setting appropriate depth by logistics for annular iron block circle, and since on the inside of the annular iron block circle and its outside is distinguished
It is enclosed with circular ring shape elastic rubber layer, keeps seal isolation to open between the space and the external world shared so that annulus disk body covers, protects
The adsorption effect of vertical fixed disk is demonstrate,proved.
Every group of gripper jaw includes straight panel, inclined plate, two pieces of connectors and several rest shoes equidistantly arranged, straight panel and inclined plate
Between integrally connected, and between straight panel and inclined plate formed 110 °~135 ° inclinations angle；Integrally connect between straight panel and several rest shoes
It connects, and shape angle in 90 ° between straight panel and corresponding rest shoe；Two pieces of connectors are fixed on side by side on inclined plate lateral surface, and to downward
It stretches and is fixedly connected with straight panel lateral surface；The annular collar of nested connecting shaft there are two being set in first clamping plate lateral surface bottom end, in inclined plate
It is set on medial surface there are two connecting shaft, is entered in corresponding annular collar by two connecting shaft nestings；The first gas on first cylinder
Cylinder guide rod extends downwardly hinged with the top of two pieces of moving members, and the bottom end of two pieces of moving members and the top of two pieces of connectors are hinged；
During the first cylinder drives the first air cylinder guide rod to move upwards, the first air cylinder guide rod pulls up moving member and moves up,
It is also moved up simultaneously with follower link, since moving member top and the first air cylinder guide rod bottom end are hinged, moving member bottom end and company
Fitting top is hinged and inclined plate can carry out rotating freely movement as center axis using connecting shaft；To realize the first air cylinder guide rod
While moving upwards, straight panel, inclined plate, two pieces of connectors and several rest shoes are up towards outer overturning, to leave logistics package
Bottom surface；The first cylinder drive the first air cylinder guide rod move downward during, the first air cylinder guide rod pull downward on moving member to
Lower movement, while also being moved down with follower link, since moving member top and the first air cylinder guide rod bottom end are hinged, moving member bottom
End and connector top are hinged and inclined plate can carry out rotating freely movement as center axis using connecting shaft；To realize the first gas
While cylinder guide rod moves downward, straight panel, inclined plate, two pieces of connectors and several rest shoes are downwardly toward turning inside out, with close
Logistics is wrapped up and gradually crawl logistics is wrapped up；
The gripper jaw is slidably connected by the first cylinder slide seat with guide post, the first cylinder mounting base on gripper jaw
It is fixedly connected with the first cylinder slide seat, the first cylinder slide seat and guide post are slidably connected；Guide post passes through guide post
Fixed block is fixed on installation frame；Grasping drive unit includes multiple second cylinders and two the 4th cylinders, multiple second gas
Cylinder horizontal Tile is arranged and passes through guide plate to be fixedly connected with installation frame, and two neighboring second cylinder is towards on the contrary；?
One cylinder slide seat upper surface is fixed with drive connection plate, the second piston bar front end on the second cylinder and drive connection plate
It is fixedly connected；Second cylinder drives second piston bar to carry out reciprocal telescopic movement, while driving cylinder slide seat and gripper jaw
One moves back and forth on guide post axial direction；Wherein: two groups of gripper jaws are oppositely arranged, and are clamping driving dress
It sets under driving effect, logistics package two sides are able to fit with two groups of gripper jaws, this ensure that logistics package can
It is tightly clamped between two groups of gripper jaws.
Two the 4th cylinders are horizontally arranged and are fixed on installation frame, and the 4th piston rod on the 4th cylinder is towards respectively
With the second piston bar on the second cylinder towards and third cylinder on third piston rod towards perpendicular；In the 4th cylinder
On the 4th piston rod front end be equipped with the 4th end casing, side clamping plate is fixedly connected with the 4th end casing；Two pieces of side clamping plates are to downward
It stretches and the bottom side edge of two pieces of side clamping plates is along not higher than the rest shoe lowermost end edge on gripper jaw；The design of the structure, it is main
Purpose is that the package of logistics in order to prevent is routed up to come from two sides in the handling process；Or occur unnecessarily to tilt due to loosening,
So that logistics package is difficult to clamp and be fitted on baffle and gripper jaw.
Wherein: the first air cylinder guide rod bottom end is equipped with through-hole, is connected between two pieces of moving member tops by connecting shaft, which passes through
The through-hole on the first air cylinder guide rod bottom end, and clearance fit between connecting shaft and through-hole are crossed in break-through；Two pieces of moving member bottom ends are equipped with
Connected ball, two pieces of connector top inner side faces are equipped with concave spherical slot, which sets into two pieces of connector tops
In two concave spherical slots of side, and connected ball and concave spherical slot clearance fit.
Hemispherical face on cylinder push rod is coated with elastic rubber layer, moves down by the cylinder push rod, so that circle
Hemispherical face on column push rod can be abutted against with the venthole of the second cylinder body, gas in the venthole to guarantee the second cylinder body
Body is separated by with the external world to be left.
Wherein: two degrees of freedom handling device includes the back-and-forth motion device of elevating mechanism and driving elevating mechanism, elevator
Structure is connect by front and back guide pad with the back-and-forth motion device of elevating mechanism is driven, and elevating mechanism is fixed in traversing frame, is risen
Descending mechanism is fixedly connected by traversing frame with front and back guide pad；The back-and-forth motion device that elevating mechanism passes through driving elevating mechanism
Realize anterior-posterior translation movement；
The front and back guide pad includes the first front and back guide pad and the second front and back guide pad；The elevating mechanism includes traversing
Frame, group synchronization lifting frame, four guide posts, four guide pads, servo motor, driving wheel, driven wheel I, driven wheel II and from
Driving wheel III；
Group synchronization lifting frame is the first synchronization lifting frame and the second synchronization lifting frame, and the first synchronization lifting frame includes the
One ball screw, first bearing gland, first bearing seat and multiple ball nuts I；Multiple ball nuts I respectively with the first ball
Wire rod thread connection cooperation, first bearing gland and first bearing seat are respectively arranged at the top of the first ball screw, bottom end,
Purpose is to limit ball nut I on the first ball screw, to prevent during the first ball screw spinning motion, ball
Nut I upwardly or downwardly moves and skids off the first ball screw；
Second synchronization lifting frame includes the second ball screw, second bearing gland, second bearing seat and multiple ball nuts
Ⅱ；Multiple ball nuts II are threadedly coupled cooperation, second bearing gland and second bearing seat difference with the second ball screw respectively
It is set to top, the bottom end of the second ball screw, the purpose is to limit ball nut II on the second ball screw, to prevent
During the second ball screw spinning motion, ball nut II upwardly or downwardly moves and skids off the second ball screw；
Multiple ball nuts I, multiple ball nuts II are fixedly connected with lifting platform respectively, multiple ball nuts I, multiple rollings
Pearl nut II is moved up and down respectively along the first ball screw, second ball screw at respective place, to drive lifting
Platform moves up and down；
It is fixedly connected between driven wheel II and the first ball screw by a concentric shafts connector and driven wheel III and
It is fixedly connected between two ball screws by another concentric mandrel connector；It is coaxially passed between the output shaft and driving wheel of servo motor
Dynamic connection, is sequentially connected between driving wheel and driven wheel I by belt I, and coaxial transmission connects between driven wheel I and driven wheel II
It connects, is sequentially connected between driven wheel II and driven wheel III by belt II；Servo motor drives driving wheel to carry out spinning motion, from
And driven wheel I, driven wheel II and driven wheel III is driven to carry out spinning motion；
Driven wheel II is equal with the spinning motion radius of driven wheel III and the first ball screw and the second ball screw
Section radius is equal；Such structure design, the purpose is to guarantee that the first ball screw and the second ball screw keep synchronous rotation
Transhipment is dynamic, so that being located at the ball nut I on the first ball screw, the ball nut II on the second ball screw in same time
Interior rising declines equal moving distance, and the concordant state in both ends is remained in the lifting process of such lifting platform, thus
Guarantee that lifting platform rises or decline very steadyly movement；Guide pad there are four being fixedly mounted on lifting platform, this four are led
To clearance fit between block and four guide posts；Lifting platform carries out up and down along four guide posts and moves；
The back-and-forth motion device of the driving elevating mechanism includes servo motor II, the second driving wheel II, the second driven wheel
I, coaxial driven wheel II, coaxial driven wheel III, the second driven wheel II, the second driven wheel III, the second guide post；
Coaxial transmission connects between the output shaft of the servo motor II and the second driving wheel II, the second driving wheel II second
It is sequentially connected between driven wheel I by third belt, between the second driven wheel I and coaxial driven wheel II and the second driven wheel I
It is that coaxial transmission is connect between coaxial driven wheel III；Its purpose mainly guarantees coaxial driven wheel II and coaxial driven wheel III
Being consistent property of rotational velocity so that II being consistent property of transmission speed of the second belt I and the second belt；First front and back
Guide pad is equipped with the first guide slots that can extend through the second belt I, and between the first guide slots and the second belt I
Interference fit connection；Second front and back guide pad is equipped with the second guide slots that can extend through the second belt II, and second
Connection is interference fitted between guide slots and the second belt II.
As preferred: second in the first guide slots and the second front and back guide pad in the guide pad of first front and back
Guide slots through-hole wave-shaped；The design of the structure can mainly guarantee the first front and back guide pad and the second belt I,
Second front and back guide pad firmly links into an integrated entity with the second belt II；It is driven in the second belt I and the second belt II by driving
In the process, one drives traversing frame and elevating mechanism to carry out translational motion forward or backward.
Wherein: the logistics package conveying mechanism includes material dragging track I and material dragging track II, and material slides
The direction of motion of track I and the direction of motion of material dragging track II are in 90 ° of bent angles；
Material dragging track I includes the motor I and a circle of more rollers I and driving these rollers I rolling side by side
Shape turntable and the motor II for driving the round turntable rotary motion；The round turntable is located at the discharging of the material dragging track I
On end；Material dragging track II includes the motor III of more rollers II and driving these rollers II rolling side by side；Material slides
The discharge end direction of track I is simultaneously connected the feed end for arriving material dragging track II；The design of the structure will mainly be located at material
Material in dragging track I applies one laterally when being transported to the terminal position of material dragging track I, through round turntable
Mobile active force realizes that material is smoothly transitioned into material by material dragging track I and slides so that material finds deflection appropriate
On row track II；And in view of material be typically all it is in rectangular configuration, be able to maintain relatively narrow one end of material so always
Positioned at mobile front end, the smooth transition of 90 ° of bent angles is realized.
It is fixed with side baffle I on I 1 side end face of material dragging track, clamping plate, clamping plate are provided on another side end face
Lateral surface is connected by more air cylinder guide rods side by side with corresponding cylinder, these cylinders can drive clamping plate towards side baffle I
It is moved back and forth on direction；The material being located in material dragging track I is clamped and is aligned between side baffle I and clamping plate,
So that being transported to material dragging track II in neat shape side by side positioned at material in material dragging track I；In material dragging track I
Feed end is equipped with baffle I, which is fixed on chassis I by bracket I, and the effect of the baffle I is mainly for preventing object
Material is kept out when reversing and is maintained on material dragging track I by the material convolution of dragging track I.
Cylinder is fixed on chassis I by cylinder mounting plate, and the material dragging track I is fixed on chassis I；Material is sliding
The feed end of row track II is equipped with baffle II, which is fixed on chassis II by bracket II, material dragging track II
It is fixed on chassis II, the effect of the baffle II is mainly for keeping out material when preventing the convolution reversing of material dragging track II
It is maintained on material dragging track II；Side baffle II is equipped on a side end face of material dragging track II, the side baffle II
Effect is mainly for the material entered on material dragging track II by material dragging track I is moved up impact forwards
Power is buffered or is balanced out, while can neatly slide the material having just enter on material dragging track II along the material side by side
The outlet extreme direction of track II is mobile；On the outlet end of material dragging track II be equipped with export orientation mouth, the export orientation mouth,
It is to be formed by interior guide plate and the opposite clamping of outer guide plate, and the medial surface of outer guide plate and the medial surface of side baffle II are located at
On same plane.
Compared with prior art, beneficial effects of the present invention are as follows:
Using the technical solution in the present invention, first passes through two groups of gripper jaws being oppositely arranged in logistics package clamp system and grab
Take and clamp logistics package, under the action of driving clamping device (i.e. mainly by respective cylinder up and down or front and back drive
Under movement is used), corresponding logistics can then be wrapped up respectively by multiple vertical fixed disks and apply adsorption, while is opposite
Two pieces of side clamping plates being arranged are wrapped in left and right sides to these logistics and apply definitely clamping force, to avoid these logistics
Package, which generates, to be shaken or loosens；Then logistics package clamp system is fixed in elevating mechanism, so that by logistics package clip
The logistics package of tight gear grips realizes that the free switching on upwardly or downwardly direction is mobile by elevating mechanism；Simultaneously because
Elevating mechanism is connect by front and back guide pad with the back-and-forth motion device of elevating mechanism is driven, and elevating mechanism is fixed on traversing frame
Interior, elevating mechanism is fixedly connected by traversing frame with front and back guide pad；Elevating mechanism is moved by the front and back of driving elevating mechanism
Dynamic device realizes anterior-posterior translation movement, is being wrapped in back-and-forth motion dress by logistics package clamp system clamping or the logistics clamped
Under the driving effect set, to realize that free switching in the forward or backward direction is mobile；Technical side i.e. through the invention
Case logistics package can be realized up and down direction and in the front-back direction the switching movement of two freedom degrees, to logistics be wrapped up quasi-
Really it is transported to the surface of scheduled logistics package conveying mechanism；These gripper jaws and opening two side by side are successively first retracted again
Block side clamping plate, then discharges the adsorption of vertical fixed disk again, so that these logistics package just drops to logistics package
On conveying mechanism, while completing quickly and efficiently to carry logistics package, also realizes and logistics package destructiveness is minimized, protect
The purpose for carrying logistics package in high quality is demonstrate,proved.
Detailed description of the invention
Fig. 1~4 are overall structure diagram of the invention.
Fig. 5~6 are the peace that logistics wraps up between clamping device and the elevating mechanism of two degrees of freedom handling device in the present invention
Schematic diagram is closed in assembly.
Fig. 7 is the back-and-forth motion device of the driving elevating mechanism of two degrees of freedom handling device in the present invention.
Fig. 8 is the front and back guide block structure schematic diagram in the present invention.
Fig. 9~16 are that the logistics package in the present invention clamps apparatus structure schematic diagram.
Figure 17 is the gripper jaw partial enlargement structural representation that clamping device is wrapped up in logistics in the present invention.
Figure 18 is the configuration schematic diagram for the vertical fixed disk that clamping device is wrapped up in logistics in the present invention.
Figure 19~21 are that conveying mechanism structural schematic diagram is wrapped up in the logistics in the present invention.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings of the specification:
As shown in Fig. 1~21, the present invention proposes to can be applied to carry a kind of specific implementation of stacking machine of logistics package
Example, as shown in figures 1-4, one of present invention stacking machine, including logistics package clamp system, two degrees of freedom handling device and
Conveying mechanism is wrapped up in logistics, and logistics wraps up clamp system and passes through the lifting platform on installation frame 77 and two degrees of freedom handling device
500 are fixedly connected, and logistics package is clamped and under the driving effect of two degrees of freedom handling device by logistics package clamp system,
Logistics package is completed into direction upward or downward and two freedom degrees in direction switch movement forward or backward, is realized logistics
Package is transported on logistics package conveying mechanism, completes the conveying of logistics package.
As shown in Fig. 9~16, the present invention in logistics package clamp system mainly include two groups of gripper jaws being oppositely arranged,
Two pieces of side clamping plates being oppositely arranged, multiple vertical fixed disks 81 and driving clamping device for adsorbing logistics package；These
Vertical fixed disk 81 is fixed on 77 bottom of installation frame side by side.
As shown in fig. 16 and 18, each vertical fixed disk 81 includes the 5th cylinder 815, the 5th piston rod 8151, the
Five end cap blocks 8152, pushing block 813 protect shell 814, spring 812, fixed disc main body 810 and step block 811；It is arranged the 5th
5th end cap block 8152 of 8151 bottom end of piston rod is fixedly connected with pushing block 813, and the 5th cylinder 815 passes through the 5th piston rod 8151
Driving pushing block 813 moves up and down；Protect the successively package and by the 5th cylinder 815, the 5th piston rod from top to bottom of shell 814
8151, the 5th end cap block 8152, pushing block 813, spring 812 and fixed disc main body 810 are fixed in the protection shell 814；It is described
Pushing block 813 is to be fixedly connected with cylinder push rod 8132 by the first disk block 8131 and in the 8131 bottom surface center of the first disk block
It integrally forms, which is equipped with external screw thread, and 8132 bottom surface of cylinder push rod is in downwardly projecting hemisphere
Shape face, and the radius in the hemispherical face is slightly larger than 8103 radius of venthole in the second cylinder body 8102；The design master of the structure
If in order to guarantee 8132 bottom surface of cylinder push rod the process that moves down and with the second cylinder body 8102 in venthole 8103 on
Port abuts simultaneously by air discharge most of in venthole 8103, and 8132 bottom surface of cylinder push rod can be by the second cylinder body
8103 upper port of venthole in 8102 blocks, this ensure that venthole 8103 and annulus in the second cylinder body 8102
8101 bottom surface of disk body and logistics package surface are formed by cavity and are formed close to vacuum state, enable vertical fixed disk 81
Definitely adsorption is generated to logistics package.
As shown in figure 18, step block 811 is by the second disk block 8111 and in 8111 top surface of the second disk block center
It is fixedly connected with the first cylinder body 8112 integrally to form, the through-hole 8113 set in the second disk block 8111 and the first cylinder body 8112
The internal thread hole 8114 inside set is connected；Fixed disc main body 810 is pushed up by annulus disk body 8101 and in the annulus disk body 8101
Face center is fixedly connected with the second cylinder body 8102 and integrally forms；Venthole 8103, the venthole are equipped in fixed disc main body 810
8103 extend through annulus disk body 8101 and the second cylinder body 8102 from top to bottom；The second cylinder body 8102 is successively nested in upwards
In the through-hole 8113 of second disk block 8111 and the internal thread hole 8114 of the first cylinder body 8112, the cylinder push rod of pushing block 813
8132 can realize downwards with the internal thread hole 8114 of cylinder 8112 and be threadedly engaged and connect, and 8132 bottom surface face of cylinder push rod
In the venthole 8103 of the second cylinder body 8102；Under 815 driving effect of the 5th cylinder, pushing block 813 is rotated down into step
The internal thread hole 8114 of second disk block 8111 of block 811 squeezes the spring 812 between pushing block 813 and step block 811,
The cylinder push rod 8132 of pushing block 813 moves down and in the nested venthole 8103 for entering fixed disk main body 810 simultaneously, pushing block
Cylinder push rod 8132 on 813 can block 8103 upper port of venthole of the fixation disc main body 810；Annulus disk body 8101
Bottom side edge is equipped with annular iron block circle along interior, and on the inside of the annular iron block circle and its outside is enclosed with circular ring shape elastic rubber respectively
Layer；The design of the structure, its main function is to efficiently avoid wrapping up the out-of-flatness on surface due to logistics, so that circle ring disk
Body 8101 is difficult to adsorb logistics package or the absorption of annulus disk body 8101 does not live logistics package；It in this way can be in the 5th cylinder
Under 815 driving effects, the annular iron block circle that annulus disk body 8101 bottom side edge is equipped in can setting appropriate depth logistics packet
It wraps up in surface, and since on the inside of the annular iron block circle and its outside is enclosed with circular ring shape elastic rubber layer respectively, so that circle ring disk
Body 8101 covers keeps seal isolation to open between the space and the external world shared, and ensure that the adsorption effect of vertical fixed disk 81.
As shown in Fig. 9~17, every group of gripper jaw includes straight panel 11, inclined plate 10, two pieces of connectors 13 and several are equidistant
The rest shoe 12 of arrangement, integrally connected between straight panel 11 and inclined plate 10, and form 110 °~135 ° between straight panel 11 and inclined plate 10 and incline
Oblique angle；Integrally connected between straight panel 11 and several rest shoes 12, and shape angle in 90 ° between straight panel 11 and corresponding rest shoe 12；Two
Block connector 13 is fixed on side by side on 10 lateral surface of inclined plate, and is extended downwardly and be fixedly connected with 11 lateral surface of straight panel；In the first folder
20 lateral surface bottom end of plate is set there are two the annular collar 21 of nested connecting shaft 22, is set on 10 medial surface of inclined plate there are two connecting shaft 22,
Enter in corresponding annular collar 21 by two 22 nestings of connecting shafts；The first air cylinder guide rod 31 on first cylinder 3 extends downwardly
Hinged with the top of two pieces of moving members 15, the bottom end of two pieces of moving members 15 and the top of two pieces of connectors 13 are hinged；In the first gas
During cylinder 3 drives the first air cylinder guide rod 31 to move upwards, the first air cylinder guide rod 31 pulls up moving member 15 and moves up, together
When band follower link 13 also move up, since 15 top of moving member and 31 bottom end of the first air cylinder guide rod are hinged, 15 bottom of moving member
End with 13 top of connector is hinged and inclined plate 10 can carry out rotating freely movement with connecting shaft 22 for center axis；To realize
While first air cylinder guide rod 31 moves upwards, straight panel 11,10, two pieces of connectors 13 of inclined plate and several rest shoes 12 up towards
Outer overturning, to leave the bottom surface of logistics package；During the first cylinder 3 drives the first air cylinder guide rod 31 to move downward, first
Air cylinder guide rod 31 pulls downward on moving member 15 and moves down, while also moving down with follower link 13, since moving member 15 pushes up
Hold hinged with 31 bottom end of the first air cylinder guide rod, 15 bottom end of moving member and 13 top of connector are hinged and inclined plate 10 can be with company
Axis 22 is that center axis carries out rotating freely movement；While to realize that the first air cylinder guide rod 31 moves downward, straight panel 11, inclined plate
10, two pieces of connectors 13 and several rest shoes 12 are downwardly toward turning inside out, to approach logistics package and gradually crawl logistics packet
It wraps up in.
As shown in figure 17, the gripper jaw is slidably connected by the first cylinder slide seat 73 with guide post 712, on gripper jaw
The first cylinder mounting base 23 be fixedly connected with the first cylinder slide seat 73, the first cylinder slide seat 73 is slided with guide post 712
It is cooperatively connected；Guide post 712 is fixed on installation frame 77 by guide post fixed block 711；Grasping drive unit includes multiple
Second cylinder 743 and two the 4th cylinders 242, multiple second cylinder, 743 horizontal Tiles are arranged and pass through guide plate 75 and installation
Frame 77 is fixedly connected, and two neighboring second cylinder 743 is towards opposite；Drive is fixed in 73 upper surface of the first cylinder slide seat
Dynamic to connect plate 741,742 front end of second piston bar on the second cylinder 743 is fixedly connected with plate 741 is drivingly connected；Second
Cylinder 743 drives second piston bar 742 to carry out reciprocal telescopic movement, while driving cylinder slide seat 73 and gripper jaw one edge
Move back and forth on 712 axial direction of guide post；Wherein: two groups of gripper jaws are oppositely arranged, and in driving clamping device
Under driving effect, logistics package two sides are able to fit with two groups of gripper jaws, this ensure that logistics package can be tight
Tightly it is clamped between two groups of gripper jaws.
Two the 4th cylinders 242 are horizontally arranged and are fixed on installation frame 77, the 4th piston rod on the 4th cylinder 242
Towards respectively with the second piston bar 742 on the second cylinder 743 towards and third cylinder 761 on 762 court of third piston rod
To perpendicular；The 4th piston rod front end on the 4th cylinder 242 is equipped with the 4th end casing 241, side clamping plate 240 and the 4th end cap
Plate 241 is fixedly connected；Two pieces of side clamping plates 240 extend downwardly and the bottom side edge of two pieces of side clamping plates 240 is along not higher than on gripper jaw
12 lowermost end edge of rest shoe；The design of the structure, main purpose are the packages of logistics in order to prevent in the handling process from two
Rollover comes out；Or occur unnecessarily to tilt due to loosening, so that logistics package is difficult to clamp and is fitted in baffle 764 and clamping
On pawl.
Wherein: 31 bottom end of the first air cylinder guide rod is equipped with through-hole, is connected between two pieces of 15 tops of moving member by connecting shaft 22, should
Connecting shaft 22 extends through the through-hole on 31 bottom end of the first air cylinder guide rod, and clearance fit between connecting shaft 22 and through-hole；Two pieces of movements
15 bottom end of part is equipped with connected ball 14, and two pieces of 13 top inner side faces of connector are equipped with concave spherical slot, which sets
Into in two concave spherical slots in two pieces of 13 top inner side faces of connector, and connected ball 14 and concave spherical slot clearance fit.
As shown in figure 18, the hemispherical face on cylinder push rod 8132 is coated with elastic rubber layer, by the cylinder push rod
8132 move down, and the venthole 8103 of the hemispherical face on cylinder push rod 8132 and the second cylinder body 8102 is offseted
It connects, gas is separated by with the external world in the venthole 8103 to guarantee the second cylinder body 8102 leaves.
As shown in figures 5-8, before the two degrees of freedom handling device in the present invention includes elevating mechanism and drives elevating mechanism
Mobile device afterwards, elevating mechanism are connect by front and back guide pad with the back-and-forth motion device of elevating mechanism is driven, and elevating mechanism is solid
It is scheduled in traversing frame, elevating mechanism is fixedly connected by traversing frame with front and back guide pad；Elevating mechanism passes through driving lifting
The back-and-forth motion device of mechanism realizes anterior-posterior translation movement.
As shown in Fig. 7~8, the front and back guide pad includes the first front and back guide pad 651 and the second front and back guide pad 652；
The elevating mechanism include traversing frame, 2 groups of synchronization lifting framves, four guide posts, 59, four guide pads 50, servo motor 51,
Driving wheel 52, driven wheel I 53, driven wheel II 54 and driven wheel III 55；2 groups of synchronization lifting framves are the first synchronization lifting frame 57 and the
Two synchronization lifting framves 58, the first synchronization lifting frame 57 include the first ball screw 572, first bearing gland 573, first axle
Hold seat and multiple ball nuts I 571；Multiple ball nuts I 571 are threadedly coupled cooperation with the first ball screw 572 respectively, and first
Bearing gland 573 and first bearing seat are respectively arranged at top, the bottom end of the first ball screw 572, and the purpose is to by ball spiral shell
I 571 limit of mother is on the first ball screw 572, to prevent during the first 572 spinning motion of ball screw, ball nut I
571 upwardly or downwardly movement skid off the first ball screw 572；Second synchronization lifting frame 58 includes the second ball screw 582, the
Two bearing glands 583, second bearing seat and multiple ball nuts II 581；Multiple ball nuts II 581 respectively with the second ball wire
Bar 582 is threadedly coupled cooperation, second bearing gland and second bearing seat 584 be respectively arranged at the second ball screw 582 top,
Bottom end, the purpose is to by the limit of ball nut II 581 on the second ball screw 582, with prevent the second ball screw 582 from
During transhipment is dynamic, ball nut II 581 upwardly or downwardly moves and skids off the second ball screw 582；Multiple ball nuts I
571, multiple ball nuts II 581 are fixedly connected with lifting platform 500 respectively, multiple ball nuts I 571, multiple ball nuts II
581 move up and down respectively along the first ball screw 572, second ball screw 582 at respective place, to drive lifting
Platform 500 moves up and down；It is fixedly connected between driven wheel II 54 and the first ball screw 572 by a concentric shafts connector,
And it is fixedly connected between driven wheel III 55 and the second ball screw 582 by another concentric mandrel connector；Servo motor 51
Coaxial transmission connects between output shaft and driving wheel 52, is sequentially connected between driving wheel 52 and driven wheel I 53 by belt I 561,
Coaxial transmission connects between driven wheel I 53 and driven wheel II 54, passes through belt II 562 between driven wheel II 54 and driven wheel III 55
Transmission connection；Servo motor 51 drive driving wheel 52 carry out spinning motion, thus drive driven wheel I 53, driven wheel II 54 and from
Driving wheel III 55 carries out spinning motion；Driven wheel II 54 is equal with the spinning motion radius of driven wheel III 55 and the first ball wire
Bar 572 is equal with the section radius of the second ball screw 582；Such structure design, the purpose is to guarantee the first ball screw
572 and second ball screw 582 keep synchronous rotary movement so that be located at the first ball screw 572 on ball nut I 571,
Ball nut II 581 on second ball screw 582 rises or declines in the same time equal moving distance, rises in this way
Drop platform 500 lifting process in remain the concordant state in both ends, thus guarantee lifting platform 500 rise very steadyly or under
Drop movement；Be fixedly mounted on lifting platform 500 there are four guide pad 50, between this four guide pads 50 and four guide posts 59 between
Gap cooperation；Lifting platform 500 carries out up and down along four guide posts 59 and moves；
As shown in Fig. 5~6, the back-and-forth motion device of the driving elevating mechanism includes servo motor II 61, and second actively
Take turns II 62, the second driven wheel I 631, coaxial driven wheel II 632, coaxial driven wheel III 633, the second driven wheel II 634, second from
Driving wheel III 635, the second guide post 66；Coaxial transmission connects between the output shaft of the servo motor II 61 and the second driving wheel II 62
Connect, be sequentially connected between II 62 second driven wheel I 631 of the second driving wheel by third belt 641, the second driven wheel I 631 with it is same
It is coaxial transmission connection between axis driven wheel II 632 and between the second driven wheel I 631 and coaxial driven wheel III 633；Its mesh
Mainly guarantee the being consistent property of rotational velocity of coaxial driven wheel II 632 and coaxial driven wheel III 633 so that second
II 643 being consistent property of transmission speed of belt I 642 and the second belt.
As shown in figure 8, the first front and back guide pad 65A is equipped with the first guide groove that can extend through the second belt I 642
Hole 651A, and connection is interference fitted between the first guide slots 651A and the second belt I 642；It is set on second front and back guide pad 65B
There are the second guide slots 651B that can extend through the second belt II 643, and the second guide slots 652A and the second belt II
Connection is interference fitted between 643.
It is as shown in Figure 8: the first guide slots 651A and the second front and back guide pad in the first front and back guide pad 65A
The second guide slots 651B through-hole wave-shaped in 65B；The design of the structure can mainly guarantee the first front and back guiding
Block 65A and the second belt I 642, the second front and back guide pad 65B firmly link into an integrated entity with the second belt II 643；In the second skin
Band I 642 and the second belt II 643 by driving transmission process, one drive traversing frame and elevating mechanism carry out forward or
Translational motion backward.
As shown in Figure 19~21, the logistics package conveying mechanism in the present invention includes that material dragging track I 41 and material are sliding
Row track II 45, and the direction of motion of material dragging track I 41 and the direction of motion of material dragging track II 45 are in 90 ° of bent angles；
Material dragging track I 41 includes the motor I of more rollers I 411 and driving these rollers I 411 rolling side by side, with
And round turntable 42 and the motor II for driving 42 rotary motion of round turntable；It is sliding that the round turntable 42 is located at the material
On the discharge end of row track I 41；Material dragging track II 45 is including more rollers II 451 side by side and drives these rollers II
451 motors III rolled；The discharge end direction of material dragging track I 41 is simultaneously connected the feed end for arriving material dragging track II 45；
The design of the structure will mainly be located at the material in material dragging track I 41 at the end for being transported to material dragging track I 41
When end position, apply the active force of a lateral movement by round turntable 42, so that material finds deflection appropriate, realizes object
Material is smoothly transitioned on material dragging track II 45 by material dragging track I 41；And in view of material is in typically square
Shape structure, the relatively narrow one end for being able to maintain material in this way is always positioned at mobile front end, realizes the smooth transition of 90 ° of bent angles.
It is fixed with side baffle I 44 on I 41 1 side end face of material dragging track, is provided with clamping plate on another side end face
47,47 lateral surface of clamping plate is connected by more air cylinder guide rods side by side with corresponding cylinder 481, these cylinders 481 can drive
Clamping plate 47 is towards moving back and forth on I 44 direction of side baffle；The material being located in material dragging track I 41 is clamped and is aligned
Between side baffle I 44 and clamping plate 47, slided so that being located at material in material dragging track I 41 and being transported to material in neat shape side by side
Row track II 45；Baffle I 431 is equipped on the feed end of material dragging track I 41, the baffle I 431 is fixed by bracket I 491
On chassis I 492, the effect of the baffle I 431 is mainly for supporting material when preventing the convolution reversing of material dragging track I 41
Gear is maintained on material dragging track I 41.
Cylinder 481 is fixed on chassis I 492 by cylinder mounting plate 482, and the material dragging track I 41 is fixed on bottom
On frame I 492；The feed end of material dragging track II 45 is equipped with baffle II 432, and the baffle II 432 is fixed by bracket II 494
On chassis II 493, material dragging track II 45 is fixed on chassis II 493, and the effect of the baffle II 432 is mainly for anti-
Material is kept out when only the convolution of material dragging track II 45 is reversed and is maintained on material dragging track II 45；In material dragging track
II 45 side end face is equipped with side baffle II 433, and the effect of the side baffle II 433 is mainly for will be by material dragging track
I 41 materials entered on material dragging track II 45 move up impact force buffering forwards or balance out, while can
The material on material dragging track II 45 will be had just enter into neatly to move along the outlet extreme direction of the material dragging track II 45 side by side
It is dynamic；Export orientation mouth 46 is equipped on the outlet end of material dragging track II 45, which is by interior guide plate
462 and outer guide plate 462 opposite clamping formed, and the medial surface of outer guide plate 462 and the medial surface of side baffle II 433 are located at
On same plane.
Using the technical solution in the present invention, first passes through two groups of gripper jaws being oppositely arranged in logistics package clamp system and grab
Take and clamp logistics package, under the action of driving clamping device (i.e. mainly by respective cylinder up and down or front and back drive
Under movement is used), corresponding logistics can then be wrapped up respectively by multiple vertical fixed disks and apply adsorption, while is opposite
Two pieces of side clamping plates being arranged are wrapped in left and right sides to these logistics and apply definitely clamping force, to avoid these logistics
Package, which generates, to be shaken or loosens；Then logistics package clamp system is fixed in elevating mechanism, so that by logistics package clip
The logistics package of tight gear grips realizes that the free switching on upwardly or downwardly direction is mobile by elevating mechanism；Simultaneously because
Elevating mechanism is connect by front and back guide pad with the back-and-forth motion device of elevating mechanism is driven, and elevating mechanism is fixed on traversing frame
Interior, elevating mechanism is fixedly connected by traversing frame with front and back guide pad；Elevating mechanism is moved by the front and back of driving elevating mechanism
Dynamic device realizes anterior-posterior translation movement, is being wrapped in back-and-forth motion dress by logistics package clamp system clamping or the logistics clamped
Under the driving effect set, to realize that free switching in the forward or backward direction is mobile；Technical side i.e. through the invention
Case logistics package can be realized up and down direction and in the front-back direction the switching movement of two freedom degrees, to logistics be wrapped up quasi-
Really it is transported to the surface of scheduled logistics package conveying mechanism；These gripper jaws and opening two side by side are successively first retracted again
Block side clamping plate, then discharges the adsorption of vertical fixed disk again, so that these logistics package just drops to logistics package
On conveying mechanism, while completing quickly and efficiently to carry logistics package, also realizes and logistics package destructiveness is minimized, protect
The purpose for carrying logistics package in high quality is demonstrate,proved.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention
Scheme all belong to the scope of protection of the present invention.
Claims (6)
1. conveying mechanism is wrapped up in a kind of stacking machine, including logistics package clamp system, two degrees of freedom handling device and logistics, special
Sign is that it is fixed by the lifting platform (500) on installation frame (77) and two degrees of freedom handling device that clamp system is wrapped up in logistics
Connection, logistics package is clamped and under the driving effect of two degrees of freedom handling device by logistics package clamp system, by logistics
Package completes direction upward or downward and two freedom degrees in direction switch movement forward or backward, realizes and removes logistics package
It transports on logistics package conveying mechanism, completes the conveying of logistics package；
Wherein:
Clamp system is wrapped up in the logistics, including two groups of gripper jaws being oppositely arranged, two pieces of side clamping plates being oppositely arranged, multiple hangs down
Straight fixed disk (81) and driving clamping device；Multiple vertical fixed disks (81) for adsorbing logistics package are fixed on peace side by side
Frame up frame (77) bottom；Each vertical fixed disk (81) includes the 5th cylinder (815), pushing block (813), spring (812), fixed disk
Main body (810) and step block (811)；The pushing block (813) is by the first disk block (8131) and in the first disk block
(8131) bottom surface center is fixedly connected with cylinder push rod (8132) and integrally forms, which is equipped with outer
Screw thread, cylinder push rod (8132) bottom surface are in downwardly projecting hemispherical face, and step block (811) is by the second disk block (8111)
And be fixedly connected with the first cylinder body (8112) in the second disk block (8111) the top surface center and integrally form, the second disk block
(8111) through-hole (8113) set in and the internal thread hole (8114) set in the first cylinder body (8112) are connected；Fixed disc main body
It (810) is to be fixedly connected with the second cylinder body by annulus disk body (8101) and in annulus disk body (8101) the top surface center
(8102) it integrally forms；Venthole (8103) are equipped in fixed disc main body (810), the venthole (8103) is from top to bottom through logical
Cross annulus disk body (8101) and the second cylinder body (8102)；The second cylinder body (8102) is successively nested in the second disk block upwards
(8111) in the internal thread hole (8114) of through-hole 8113 and the first cylinder body (8112), the cylinder push rod of pushing block (813)
(8132) it can realize to be threadedly engaged with the internal thread hole (8114) of cylinder (8112) downwards and connect, and cylinder push rod (8132)
Bottom surface is right against the venthole (8103) of the second cylinder body (8102)；Under the 5th cylinder (815) driving effect, pushing block (813)
Be rotated down into step block (811) the second disk block (8111) internal thread hole (8114), squeeze be located at pushing block (813) with
Spring (812) between step block (811), while the cylinder push rod (8132) of pushing block (813) moves down and nesting enters admittedly
In the venthole (8103) of price fixing main body (810), the cylinder push rod (8132) on pushing block (813) can be by the fixation disc main body
(810) venthole (8103) upper port blocks；Annulus disk body (8101) bottom side edge is equipped with annular iron block circle along interior, and at this
On the inside of annular iron block circle and its outside is enclosed with circular ring shape elastic rubber layer respectively；Every group of gripper jaw includes straight panel (11), inclined plate
(10), two pieces of connectors (13) and several rest shoes equidistantly arranged (12), integrally connect between straight panel (11) and inclined plate (10)
It connects, and forms 110 ° ~ 135 ° inclinations angle between straight panel (11) and inclined plate (10)；One between straight panel (11) and several rest shoes (12)
Body connection, and shape angle in 90 ° between straight panel (11) and corresponding rest shoe (12)；Two pieces of connectors (13) are fixed on inclined plate side by side
(10) it on lateral surface, and extends downwardly and is fixedly connected with straight panel (11) lateral surface；It is equipped in first clamping plate (20) lateral surface bottom end
Two annular collars (21) for nested connecting shaft (22), set on inclined plate (10) medial surface there are two connecting shaft (22), by two
A connecting shaft (22) is nested to be entered in corresponding annular collar (21)；The first air cylinder guide rod (31) on first cylinder (3) is to downward
Stretch hinged with the top of two pieces of moving members (15), the bottom end of two pieces of moving members (15) and the top of two pieces of connectors (13) are hinged；
During the first cylinder (3) driving the first air cylinder guide rod (31) moves upwards, the first air cylinder guide rod (31) pulls up movement
Part (15) moves up, while also moving up with follower link (13), due to moving member (15) top and the first air cylinder guide rod
(31) bottom end is hinged, and moving member (15) bottom end and connector (13) top are hinged and inclined plate (10) can be with connecting shaft (22)
Central axis carries out rotating freely movement；While to realize that the first air cylinder guide rod (31) move upwards, straight panel (11), inclined plate
(10), two pieces of connectors (13) and several rest shoes (12) are up towards outer overturning, to leave the bottom surface of logistics package；
During the first cylinder (3) driving the first air cylinder guide rod (31) moves downward, the first air cylinder guide rod (31) is pulled downward on
Moving member (15) moves down, while also moving down with follower link (13), due to moving member (15) top and the first cylinder
Guide rod (31) bottom end is hinged, and moving member (15) bottom end and connector (13) top are hinged and inclined plate (10) can be with connecting shaft
(22) it carries out rotating freely movement for center axis；While to realize that the first air cylinder guide rod (31) move downward, straight panel (11),
Inclined plate (10), two pieces of connectors (13) and several rest shoes (12) are downwardly toward turning inside out, to approach logistics package and gradually
Grab logistics package；
The gripper jaw is slidably connected by the first cylinder slide seat (73) with guide post (712), the first cylinder on gripper jaw
Mounting base (23) is fixedly connected with the first cylinder slide seat (73), and the first cylinder slide seat (73) is matched with guide post (712) sliding
Close connection；Guide post (712) is fixed on installation frame (77) by guide post fixed block (711)；Grasping drive unit includes
Multiple second cylinders (743) and two the 4th cylinders (242), multiple second cylinder (743) horizontal Tiles are arranged and pass through guiding
Plate (75) is fixedly connected with installation frame (77), and two neighboring second cylinder (743) is towards on the contrary；In the first cylinder slide seat
(73) upper surface, which is fixed with, is drivingly connected plate (741), second piston bar (742) front end and driving on the second cylinder (743)
Connection plate (741) is fixedly connected；Second cylinder (743) drives second piston bar (742) to carry out reciprocal telescopic movement, while band
Take offence cylinder sliding seat (73) and gripper jaw integrally moves back and forth on guide post (712) axial direction；Two the 4th
Cylinder (242) is horizontally arranged and is fixed on installation frame (77), the 4th piston rod on the 4th cylinder (242) towards respectively with
Second piston bar (742) direction on second cylinder (743) and third piston rod (762) direction on third cylinder (761)
It is perpendicular；The 4th piston rod front end on the 4th cylinder (242) is equipped with the 4th end casing (240), side clamping plate (240) and the 4th
End casing (240) is fixedly connected；Two pieces of side clamping plates (240) extend downwardly and the bottom side edge of two pieces of side clamping plates (240) is not along high
In rest shoe (12) lowermost end edge on gripper jaw；
The two degrees of freedom handling device includes the back-and-forth motion device of elevating mechanism and driving elevating mechanism, and elevating mechanism passes through
Front and back guide pad is connect with the back-and-forth motion device of driving elevating mechanism, and elevating mechanism is fixed in traversing frame, elevating mechanism
It is fixedly connected by traversing frame with front and back guide pad；Before elevating mechanism is realized by the back-and-forth motion device of driving elevating mechanism
Translational motion afterwards；The front and back guide pad includes the first front and back guide pad (651) and the second front and back guide pad (652)；The liter
Descending mechanism include traversing frame, 2 groups of synchronization lifting framves, four guide posts (59), four guide pads (50), servo motor (51),
Driving wheel (52), driven wheel I (53), driven wheel II (54) and driven wheel III (55)；2 groups of synchronization lifting framves are the first synchronization lifting
Frame (57) and the second synchronization lifting frame (58), the first synchronization lifting frame (57) include the first ball screw (572), first axle
Pressure cap (573), first bearing seat and multiple ball nuts I (571)；Multiple ball nuts I (571) respectively with the first ball wire
Bar (572) is threadedly coupled cooperation, and first bearing gland (573) and first bearing seat are respectively arranged at the first ball screw (572)
Top, bottom end；Second synchronization lifting frame (58) includes the second ball screw (582), second bearing gland (583), the second axis
Hold seat and multiple ball nuts II (581)；Multiple ball nuts II (581) are threadedly coupled with the second ball screw (582) respectively
Cooperation, second bearing gland and second bearing seat (584) are respectively arranged at the top of the second ball screw (582), bottom end；It is multiple
Ball nut I (571), multiple ball nuts II (581) are fixedly connected with lifting platform (500) respectively, multiple ball nuts I
(571), first ball screw (572), second ball screw of multiple ball nuts II (581) respectively along respective place
(582) it moves up and down, so that lifting platform (500) be driven to move up and down；Driven wheel II (54) and the first ball screw
(572) between by a concentric shafts connector be fixedly connected and driven wheel III (55) and the second ball screw (582) between lead to
Another concentric mandrel connector is crossed to be fixedly connected；Coaxial transmission is connect between the output shaft of servo motor (51) and driving wheel (52),
Be sequentially connected between driving wheel (52) and driven wheel I (53) by belt I (561), driven wheel I (53) and driven wheel II (54) it
Between coaxial transmission connect, between driven wheel II (54) and driven wheel III (55) by belt II (562) transmission connection；Servo motor
(51) driving driving wheel (52) carries out spinning motion, to drive driven wheel I (53), driven wheel II (54) and driven wheel III (55)
Carry out spinning motion；Driven wheel II (54) is equal with the spinning motion radius of driven wheel III (55) and the first ball screw
(572) equal with the section radius of the second ball screw (582), there are four guide pads for fixed installation on lifting platform (500)
(50), clearance fit between this four guide pads (50) and four guide posts (59)；Lifting platform (500) is along four guide posts
(59) it is mobile that up and down are carried out；The back-and-forth motion device of the driving elevating mechanism, including servo motor II (61), second
Driving wheel II (62), the second driven wheel I (631), coaxial driven wheel II (632), coaxial driven wheel III (633), the second driven wheel
II (634), the second driven wheel III (635), the second guide post (66), front and back guide pad；The output of the servo motor II (61)
Coaxial transmission is connect between axis and the second driving wheel II (62), is passed through between second driving wheel II (62) the second driven wheel I (631)
Third belt (641) transmission connection, between the second driven wheel I (631) and coaxial driven wheel II (632) and the second driven wheel I
It (631) is that coaxial transmission is connect between coaxial driven wheel III (633)；First front and back guide pad (65A) is equipped with and can pass through
The first guide slots (651A) of the second belt I (642), and the first guide slots (651A) and the second belt I (642) are crossed in break-through
Between be interference fitted connection；Second front and back guide pad (65B) is equipped with and can extend through the second of the second belt II (643) and lead
To slot (651B), and connection is interference fitted between the second guide slots (652A) and the second belt II (643)；
Logistics package conveying mechanism includes that dragging track II (45) are wrapped up in logistics package dragging track I (41) and logistics, and
It is in 90 ° of bent angles that the direction of motion of dragging track I (41) and the direction of motion of logistics package dragging track II (45) are wrapped up in logistics；Object
Stream wraps up the motor I that dragging track I (41) include more side by side rollers I (411) and these rollers I (411) is driven to roll, with
And a round turntable (42) and drive round turntable (42) rotary motion motor II；The round turntable (42) is located at should
Logistics is wrapped up on the discharge end of dragging track I (41)；Logistics package dragging track II (45) includes more side by side rollers II
(451) and drive these rollers II (451) roll motor III；The discharge end direction of logistics package dragging track I (41) is simultaneously held in the mouth
It is connected to the feed end of logistics package dragging track II (45)；
It is fixed with side baffle I (44) on logistics package dragging track I (41) side end face, folder is provided on another side end face
Plate (47), clamping plate (47) lateral surface are connected by more air cylinder guide rods side by side with corresponding cylinder (481), these cylinders
(481) clamping plate (47) can be driven towards moving back and forth on side baffle I (44) direction；
The feed end that dragging track II (45) are wrapped up in logistics is equipped with baffle II (432), which passes through bracket II
(494) it is fixed on chassis II (493), logistics package dragging track II (45) is fixed on chassis II (493)；
It is equipped with side baffle II (433) on a side end face of logistics package dragging track II (45), wraps up dragging track in logistics
The outlet end of II (45) is equipped with export orientation mouth (46), which is by interior guide plate (462) and outer guiding
The opposite clamping of plate (462) is formed, and the medial surface of the medial surface of outer guide plate (462) and side baffle II (433) is positioned at same
In plane.
2. a kind of stacking machine according to claim 1, which is characterized in that the first air cylinder guide rod (31) bottom end is equipped with logical
Hole, is connected by connecting shaft (22) between two pieces of moving member (15) tops, which extends through the first air cylinder guide rod (31)
Through-hole on bottom end, and clearance fit between connecting shaft (22) and through-hole；Two pieces of moving member (15) bottom ends are equipped with connected ball (14),
Two pieces of connector (13) top inner side faces are equipped with concave spherical slot, which sets into two pieces of connectors (13) and push up
In two concave spherical slots for holding medial surface, and connected ball (14) and concave spherical slot clearance fit.
3. a kind of stacking machine according to claim 1, which is characterized in that outside the hemispherical face on cylinder push rod (8132)
It is coated with elastic rubber layer, is moved down by the cylinder push rod (8132), so that the hemispherical face on cylinder push rod (8132)
It can be abutted against with the venthole (8103) of the second cylinder body (8102), to guarantee the venthole of the second cylinder body (8102)
(8103) interior gas is separated by with the external world leaves.
4. a kind of stacking machine according to claim 1, which is characterized in that in first front and back guide pad (65A)
The second guide slots (651B) in first guide slots (651A) and the second front and back guide pad (65B) are wave-shaped logical
Hole.
5. a kind of stacking machine according to claim 1, which is characterized in that logistics package dragging track I (41) into
Expect that end is equipped with baffle I (431), which is fixed on chassis I (492) by bracket I (491).
6. a kind of stacking machine according to claim 1, which is characterized in that cylinder (481) passes through cylinder mounting plate (482)
It is fixed on chassis I (492), logistics package dragging track I (41) is fixed on chassis I (492).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710043902.7A CN106743715B (en) | 2017-01-19 | 2017-01-19 | A kind of stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710043902.7A CN106743715B (en) | 2017-01-19 | 2017-01-19 | A kind of stacking machine |
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| CN106743715B true CN106743715B (en) | 2019-03-22 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436776B (en) * | 2018-09-05 | 2024-01-05 | 华南理工大学 | Material transfer mechanism, transfer method and transfer robot |
| CN111319988B (en) * | 2018-12-14 | 2021-06-29 | 广东昂锐机械制造有限公司 | Gantry type seamless stacking machine |
| CN111003519B (en) * | 2019-12-10 | 2021-02-09 | 安徽共生物流科技有限公司 | Semi-automatic unloading commodity circulation skip |
| CN111003520B (en) * | 2019-12-10 | 2021-06-08 | 安徽共生物流科技有限公司 | Semi-automatic stacking and blanking vehicle |
| CN112357816A (en) * | 2020-11-27 | 2021-02-12 | 何英炬 | Automatic unloader of commodity circulation |
| CN116812576B (en) * | 2023-08-31 | 2023-11-17 | 广州市升晖木业有限公司 | Auxiliary manipulator stacking device for wood processing |
| CN117451540B (en) * | 2023-10-24 | 2024-04-05 | 江苏苏仪集团有限公司 | Pressure gauge shell strength testing device |
| CN117485891B (en) * | 2023-12-29 | 2024-04-12 | 佛山华翔车顶***有限公司 | Transfer device behind car roof finished product |
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