CN108116899B - Stacking device and forming method thereof - Google Patents
Stacking device and forming method thereof Download PDFInfo
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- CN108116899B CN108116899B CN201711439407.4A CN201711439407A CN108116899B CN 108116899 B CN108116899 B CN 108116899B CN 201711439407 A CN201711439407 A CN 201711439407A CN 108116899 B CN108116899 B CN 108116899B
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- driver
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
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Abstract
The invention relates to a stacking device and a forming method thereof, comprising a bracket, a plane moving system, a vertical moving system, a mechanical gripper and a control system; the plane moving system is arranged on the support and comprises a left-right moving device and a front-back moving device, the vertical moving system is arranged on the left-right moving device, and the mechanical gripper is arranged on the vertical moving system; the stacking device can enable the mechanical clamping hand to reach any position in the support through control of the control system, the mechanical clamping hand is used for grabbing objects to complete stacking operation, and a pressure head in the mechanical clamping hand can be quickly replaced according to the shape of the clamped objects.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a stacking device, in particular to a stacking device and a forming method thereof.
[ background of the invention ]
Along with the development of society, the consumption of everyone to commodities is also increasing, the vanning or the pile up neatly of various commodities makes all kinds of production industry companies or logistics enterprises puzzled, there are pile up neatly equipment that many industrial robots constitute on the market at present, it is 6 degree of freedom equipment, the price is more expensive, be not suitable for small-size processing enterprise or the use of small-size commodity circulation point, and under many circumstances, only need 4 degree of freedom's equipment just can satisfy the pile up neatly or the vanning to article.
Therefore, a need exists for a stacking device and a forming method thereof, wherein the stacking device can enable a mechanical clamping hand to reach any position in a support through control of a control system, an object is grabbed through the mechanical clamping hand to complete stacking operation, and a pressure head in the mechanical clamping hand can be quickly replaced according to the shape of the clamped object.
[ summary of the invention ]
The technical problem to be solved by the invention is that a plurality of industrial robots constituting stacking equipment are available on the market at present, the stacking equipment is 6-degree-of-freedom equipment, is expensive and is not suitable for small processing enterprises or small logistics points, and in many cases, the stacking or boxing of objects can be met by only 4-degree-of-freedom equipment.
The technical scheme adopted by the invention for solving the technical problems is as follows: comprises a bracket, a plane moving system, a vertical moving system, a mechanical gripper and a control system; the plane moving system is arranged on the support and comprises a left-right moving device and a front-back moving device, the vertical moving system is arranged on the left-right moving device, and the mechanical gripper is arranged on the vertical moving system.
In the stacking device and the forming method thereof, the left-right moving device comprises a synchronous wheel, a synchronous belt, a connecting shaft, a driver, a driving wheel, a driving belt and a synchronous belt connecting plate; the driving wheel is connected with the driving wheel through a driving belt, the driving wheel is connected with a connecting shaft, the two ends of the connecting shaft are respectively connected with the synchronizing wheel through a synchronizing belt, the synchronizing wheel is connected with the synchronizing wheel through a synchronizing belt, the synchronizing belt and the synchronizing belt are respectively fixedly connected onto the front-back moving device through a fixing block and a fixing block, the connecting shaft drives the front-back moving device to move left and right through the synchronizing belt, and the movement precision is high due to the adoption of a transmission mode of the synchronizing wheel and the synchronizing belt.
In the stacking device and the forming method thereof, the back-and-forth moving device comprises a driver, a transmission device, a convex slideway, a concave slideway and a connecting frame; the two sides of the front-back moving device are respectively provided with a convex slideway, a concave sliding groove, a convex slideway and a concave sliding groove, the convex slideway is connected with the concave sliding groove in a matching way, and the connecting frame can move back and forth under the action of the driving and transmission device of the driver.
In the stacking device and the forming method thereof, the vertical moving system comprises a telescopic driver, a rotary driver output wheel and a rotary disk; the vertical moving system is arranged on a connecting frame on the front and rear moving devices, the rotary driver is arranged on the telescopic driver, the output end of the rotary driver is connected with the output wheel of the driver, the output wheel of the rotary driver is meshed with the rotary disk, the vertical moving system can move up and down through the telescopic driver, and the rotary disk can rotate under the action of the rotary driver.
In the stacking device and the forming method thereof, the mechanical gripper comprises a mechanical gripper fixing frame, a mechanical gripper driver, a gear, a turbine, a connecting transmission shaft, a worm and four movable grippers which are circumferentially distributed; the hand grip comprises a rack, a connecting channel iron, a square rod, a telescopic rod and a pressure head; the gripper and the gripper are connected to two opposite sides of the gear through the rack and the rack respectively, the gripper and the gripper can move in the same speed direction at the same time through rotating the gear, and the gripper can move in the same speed direction at the same time through rotating the gear; the four grippers are simultaneously moved inwards or outwards, and clamping or unloading of an object is achieved.
In the stacking device and the forming method thereof, the stacking device realizes the accurate movement of the mechanical clamping hand in the bracket through the control system, realizes the clamping of objects with four pressure heads on the mechanical clamping hand, simultaneously realizes the flexible rotation of the mechanical clamping hand in the horizontal plane through the rotary driver on the vertical moving device so as to be suitable for the grabbing of objects placed at different angles in the plane, the pressure heads can be quickly replaced according to the shape and the size of the clamped objects, and can realize the quick stacking and forming of the objects through the control of the position of the mechanical clamping hand and the pressure heads.
The implementation of the stacking device and the forming method thereof has the following beneficial effects: the stacking device can enable the mechanical clamping hand to reach any position in the support through control of the control system, the mechanical clamping hand is used for grabbing objects to complete stacking operation, a pressure head in the mechanical clamping hand can be quickly replaced according to the shapes of clamped objects, so that grabbing of commodities with different sizes and shapes is adapted, and stacking can be achieved.
[ description of the drawings ]
Fig. 1 is a perspective view of a palletising device according to the present invention.
Fig. 2 is a perspective view of a mechanical gripper of the palletizing device according to the present invention.
Fig. 3 is a top view of a mechanical gripper of the palletising device according to the invention.
[ detailed description ] embodiments
As shown in fig. 1-3, in a preferred embodiment of the palletizing device and the forming method thereof, the palletizing device comprises a bracket (100), a plane moving system, a vertical moving system, a mechanical gripper and a control system; the plane moving system is arranged on the support (100), the plane moving system comprises a left-right moving device and a front-back moving device, the vertical moving system is arranged on the left-right moving device, and the mechanical gripper is arranged on the vertical moving system.
In the preferred embodiment of the stacking device and the forming method thereof, the left-right moving device comprises synchronous wheels (202, 208, 211, 213), synchronous belts (200, 201), connecting shafts (203, 212), a driver (204), driving wheels (205, 206), a driving belt (208) and synchronous belt connecting plates (209, 210); the driving wheel (205) is connected with the driving wheel (206) through a driving belt (208), the driving wheel (206) is connected with a connecting shaft (203), two ends of the connecting shaft (203) and two ends of the connecting shaft (212) are respectively connected with synchronous wheels (202, 208) and synchronous wheels (211, 213), the synchronous wheels (202) are connected with the synchronous wheels (211) through synchronous belts (200), the synchronous wheels (208) are connected with the synchronous wheels (213) through synchronous belts (201), the synchronous belts (200) and the synchronous belts (201) are respectively fixedly connected to a front-back moving device through fixed blocks (209) and fixed blocks (210), the linking shaft (203) is driven by a driver (204) to move left and right through the synchronous belts (200, 201), and the motion precision is high due to the adoption of the transmission mode of the synchronous wheels and the synchronous belts.
In the preferred embodiment of the stacking device and the forming method thereof, the back-and-forth moving device comprises a driver (300), a transmission device (301), convex slideways (302, 304), concave chutes (303, 306) and a connecting frame (305); the two sides of the front-back moving device are respectively provided with a convex slideway (302), a concave sliding groove (303), a convex slideway (304) and a concave sliding groove (306), the convex slideways (302, 304) are matched and connected with the concave sliding grooves (303, 306), and the connecting frame (305) can move front and back under the action of a driving and transmission device (301) of the driver (300).
In the preferred embodiment of the stacking device and the forming method thereof, the vertical moving system comprises a telescopic driver (400), a rotary driver (401), a rotary driver output wheel (402) and a rotary disk (403); the vertical moving system is arranged on a connecting frame (305) on the front and rear moving devices, the rotary driver (401) is arranged on a telescopic driver (400), the output end of the rotary driver (401) is connected with a driver output wheel (402), the rotary driver output wheel (402) is in two meshing connection with a rotary disk (403), the up-and-down movement can be realized through the telescopic driver (400), and the rotation of the rotary disk (403) can be realized through the action of the rotary driver (401).
In the preferred embodiment of the stacking device and the forming method thereof, the mechanical gripper comprises a mechanical gripper fixing frame (500), a mechanical gripper driver (501), gears (503, 506), a turbine (504), a connecting transmission shaft (505), a worm (502), and four moving grippers (510, 520, 530, 540) distributed circumferentially; the hand grips (510, 520, 530, 540) comprise racks (511, 521, 531, 541), connecting channel irons (512, 522, 532, 542), square rods (513, 523, 533, 543), telescopic rods (514, 524, 534, 544) and pressing heads (515, 525, 535, 545); the gripper (510) and the gripper (520) are respectively connected to two opposite sides of the gear (503) through a rack (511) and a rack (521), the gripper (510) and the gripper (520) can simultaneously move in the constant speed direction by rotating the gear (503), and the gripper (530) and the gripper (540) can simultaneously move in the constant speed direction by rotating the gear (506); the output shaft of the driver (501) is simultaneously connected with the worm (502) and the gear (503), the worm (502) is connected with the worm wheel (504), the worm wheel (504) is connected with the gear (506) through the connecting shaft (505), and the gear (503) and the gear (506) can be simultaneously rotated through the driving of the driver (501) and the transmission of the worm wheel (504) and the worm (502), so that the four grippers (510, 520, 530 and 540) can simultaneously move inwards or outwards, and the clamping or unloading of an object is realized.
In the preferred embodiment of the palletizing device and the forming method thereof, the palletizing device realizes the accurate movement of a mechanical gripper in a bracket (100) through a control system, realizes the clamping of an object by four press heads (515, 525, 535, 545) on the mechanical gripper, simultaneously realizes the flexible rotation of the mechanical gripper in a horizontal plane through a rotary driver (401) on a vertical moving device so as to adapt to the grabbing of objects placed at different angles in the plane, the press heads (515, 525, 535, 545) can be quickly replaced according to the shape and the size of the clamped object, and can realize the quick palletizing and forming of the object by controlling the position of the mechanical gripper and the press heads (515, 525, 535, 545).
In the preferred embodiment of the stacking device and the forming method thereof, the stacking device can enable the mechanical gripper to reach any position in the support through control of the control system, the object is grabbed through the mechanical gripper, the stacking operation is completed, the pressure head in the mechanical gripper can be quickly replaced according to the shape of the grabbed object, so that the grabbing of commodities with different sizes and shapes can be adapted, the stacking can be realized, the stacking device is simple in structure, the work is stable, and the rapid stacking forming of the objects can be realized.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention should not be limited thereby, and all the simple equivalent changes and modifications made in the claims and the description of the present invention are within the scope of the present invention.
Claims (2)
1. The stacking device is characterized by comprising a support (100), a plane moving system, a vertical moving system, a mechanical gripper and a control system; the plane moving system is arranged on the support (100), the plane moving system comprises a left-right moving device and a front-back moving device, the vertical moving system is arranged on the front-back moving device, and the mechanical gripper is arranged on the vertical moving system; the left-right moving device comprises synchronous wheels (202, 208, 211, 213), synchronous belts (200, 201), connecting shafts (203, 212), a driver (204), driving wheels (205, 206), a driving belt (208) and synchronous belt connecting plates (209, 210); the driving wheel (205) is connected with the driving wheel (206) through a driving belt (208), the driving wheel (206) is connected with a connecting shaft (203), two ends of the connecting shaft (203) and two ends of the connecting shaft (212) are respectively connected with synchronous wheels (211, 213) through synchronous belts (202, 208), the synchronous wheels (202) are connected with the synchronous wheels (211) through synchronous belts (200), the synchronous wheels (208) are connected with the synchronous wheels (213) through synchronous belts (201), the synchronous belts (200) and the synchronous belts (201) are respectively fixedly connected to a front-back moving device through fixed blocks (209) and fixed blocks (210), the connecting shaft (203) is driven by a driver (204) to move left and right through the front-back moving driving device of the synchronous belts (200, 201), and the movement precision is high due to the adoption of the transmission mode of the synchronous wheels and the synchronous belts; the back-and-forth moving device comprises a driver (300), a transmission device (301), convex slideways (302, 304), concave sliding grooves (303, 306) and a connecting frame (305); the two sides of the front-back moving device are respectively provided with a convex slideway (302), a concave sliding groove (303), a convex slideway (304) and a concave sliding groove (306), the convex slideways (302, 304) are matched and connected with the concave sliding grooves (303, 306), and the connecting frame (305) can move front and back under the action of a driving and transmission device (301) of the driver (300); the vertical moving system comprises a telescopic driver (400), a rotary driver (401), a rotary driver output wheel (402) and a rotary disk (403); the vertical moving system is arranged on a connecting frame (305) on the front and rear moving devices, the rotary driver (401) is arranged on a telescopic driver (400), the output end of the rotary driver (401) is connected with a driver output wheel (402), the rotary driver output wheel (402) is in two meshing connection with a rotary disk (403), the up and down movement can be realized through the telescopic driver (400), and the rotation of the rotary disk (403) can be realized through the action of the rotary driver (401); the mechanical gripper comprises a mechanical gripper fixing frame (500), a mechanical gripper driver (501), gears (503, 506), a turbine (504), a connecting transmission shaft (505), a worm (502) and four moving grippers (510, 520, 530 and 540) which are distributed circumferentially; the hand grips (510, 520, 530, 540) comprise racks (511, 521, 531, 541), connecting channel irons (512, 522, 532, 542), square rods (513, 523, 533, 543), telescopic rods (514, 524, 534, 544) and pressing heads (515, 525, 535, 545); the gripper (510) and the gripper (520) are respectively connected to two opposite sides of the gear (503) through a rack (511) and a rack (521), the gripper (510) and the gripper (520) can simultaneously move in the constant speed direction by rotating the gear (503), and the gripper (530) and the gripper (540) can simultaneously move in the constant speed direction by rotating the gear (506); the output shaft of the driver (501) is simultaneously connected with the worm (502) and the gear (503), the worm (502) is connected with the worm wheel (504), the worm wheel (504) is connected with the gear (506) through the connecting shaft (505), and the gear (503) and the gear (506) can be simultaneously rotated through the driving of the driver (501) and the transmission of the worm wheel (504) and the worm (502), so that the four grippers (510, 520, 530 and 540) can simultaneously move inwards or outwards, and the clamping or unloading of an object is realized.
2. The palletizing device and the forming method thereof as claimed in claim 1, characterized in that the palletizing device realizes the precise movement of a mechanical gripper in a bracket (100) through a control system, realizes the clamping of objects by four press heads (515, 525, 535, 545) on the mechanical gripper, realizes the flexible rotation of the mechanical gripper in a horizontal plane through a rotary driver (401) on a vertical moving device so as to adapt to the grabbing of objects placed at different angles in the plane, can quickly change the press heads (515, 525, 535, 545) according to the shapes and the sizes of the clamped objects, and can realize the quick palletizing forming of the objects through the control of the positions of the mechanical gripper and the press heads (515, 525, 535, 545).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439407.4A CN108116899B (en) | 2017-12-27 | 2017-12-27 | Stacking device and forming method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439407.4A CN108116899B (en) | 2017-12-27 | 2017-12-27 | Stacking device and forming method thereof |
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| CN108116899A CN108116899A (en) | 2018-06-05 |
| CN108116899B true CN108116899B (en) | 2020-08-14 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132585B (en) * | 2018-10-09 | 2023-07-28 | 长春融成智能设备制造股份有限公司 | Integrated claw of stacker crane and grabbing method |
| CN110216620B (en) * | 2019-07-05 | 2020-12-22 | 国家电网有限公司 | High-voltage fuse disassembling and assembling pliers |
| CN111531571A (en) * | 2020-06-08 | 2020-08-14 | 公安部第一研究所 | High-precision multi-dimensional manipulator grabbing mechanism |
| CN114434480B (en) * | 2022-02-11 | 2023-12-15 | 济南昊中自动化有限公司 | Automatic change punching press line end effector and change device |
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| CN106584494A (en) * | 2016-12-22 | 2017-04-26 | 六安力达生产力促进中心有限公司 | Self-centering grabbing mechanism for manipulator |
| CN107199621A (en) * | 2017-07-14 | 2017-09-26 | 南京永顺机械有限公司 | A kind of automatic finisher of section of jurisdiction concrete |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204322094U (en) * | 2014-12-22 | 2015-05-13 | 济南东普机器制造有限公司 | A kind of industrial robot pneumatic gripping device |
| CN105014683B (en) * | 2015-08-25 | 2017-01-18 | 西安银马实业发展有限公司 | Transfer robot end effector comprising electromechanical servo system |
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- 2017-12-27 CN CN201711439407.4A patent/CN108116899B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584494A (en) * | 2016-12-22 | 2017-04-26 | 六安力达生产力促进中心有限公司 | Self-centering grabbing mechanism for manipulator |
| CN107199621A (en) * | 2017-07-14 | 2017-09-26 | 南京永顺机械有限公司 | A kind of automatic finisher of section of jurisdiction concrete |
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| CN108116899A (en) | 2018-06-05 |
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Effective date of registration: 20200723 Address after: 044000 Xishe Industrial Park, Jishan County, Yuncheng City, Shanxi Province (north of Renyi Village) Applicant after: Shanxi weishiteng rock wool Co., Ltd Address before: 250000 No. 1254 Shengli Street, Shizhong District, Shandong, Ji'nan Applicant before: Gao Fei |
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