CN110775510B - Grabbing type upper and lower frame machine - Google Patents
Grabbing type upper and lower frame machine Download PDFInfo
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- CN110775510B CN110775510B CN201911235751.0A CN201911235751A CN110775510B CN 110775510 B CN110775510 B CN 110775510B CN 201911235751 A CN201911235751 A CN 201911235751A CN 110775510 B CN110775510 B CN 110775510B
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- 230000007246 mechanism Effects 0.000 claims abstract description 119
- 230000000903 blocking effect Effects 0.000 claims description 36
- 210000000078 claw Anatomy 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000003028 elevating effect Effects 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 235000004443 Ricinus communis Nutrition 0.000 abstract 1
- 240000000528 Ricinus communis Species 0.000 abstract 1
- 241000233866 Fungi Species 0.000 description 13
- 230000009471 action Effects 0.000 description 7
- 230000005484 gravity Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241001417523 Plesiopidae Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/60—Cultivation rooms; Equipment therefor
-
- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mycology (AREA)
- Environmental Sciences (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a grabbing type up-down frame machine which comprises a vertical support, an objective table, a transverse moving mechanism transversely moving relative to the objective table and a lifting device driving the transverse moving mechanism to move up and down, wherein one end of the objective table is connected to the vertical support, the lifting device moves up and down on the vertical support, the transverse moving mechanism is connected with the lifting device to move up and down along with the lifting device, castors convenient to walk are arranged on the vertical support and the objective table, and a metamorphic grabbing mechanism which is arranged in pairs towards the objective table and synchronously and reversely rotates is also arranged on the transverse moving mechanism. The invention has the advantages that: the invention can conveniently walk in the channel to realize the loading and unloading of goods, and simultaneously does not influence the grabbing type loading and unloading machine of other articles.
Description
Technical Field
The invention relates to an upper frame device, in particular to a grabbing type upper and lower frame machine.
Background
For planting in various storehouses or sheds, especially for early storehouses or sheds, in order to fully utilize space, a narrow passage is often reserved for facilitating various operations, such as: the earlier fungus room storeroom is constructed to manually put fungus bags on and off, so the fungus room storeroom taking the labor as a design criterion has the following characteristics:
1. The door is short and narrow, the height of the door is not more than 2m, the width is about 0.95m, and the shelf height of the fungus growing room is more than 3.5 m;
2. The channel between the fungus growing frames is narrow, usually about 660mm, and the equipment is required to be put on the shelves in the left and right rows in the channel
3. The method has the advantages that no existing equipment exists, the transformation is difficult, and huge capital is difficult to invest in to comprehensively transform a storehouse or comprehensively transform a fungus-producing frame.
4. The shelf is fixed, the height of each layer is limited, and as the side of the shelf is provided with a flange, after the fungus bag is put into the basket, the basket can only be lifted up to enter the shelf and then put down, or lifted out from the shelf, and a pushing-in and pushing-out method can not be used.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a grabbing type frame loading and unloading machine which can conveniently walk in a channel and can realize the loading and unloading of goods without affecting other articles.
The utility model provides a frame machine about grabbing formula, is including vertical support, objective table, relative objective table and is lateral shifting's sideslip mechanism and drive sideslip mechanism and do the elevating gear of up-and-down motion, objective table one end connect on vertical support, elevating gear is elevating motion on vertical support, sideslip mechanism is connected with elevating gear and is followed elevating gear and do the up-and-down motion, is provided with the truckle of conveniently walking at vertical support and objective table, still is provided with on sideslip mechanism and is done synchronous counter-rotating's metamorphic grabbing mechanism towards the setting in pairs of objective table.
According to the grabbing type upper and lower frame machine, the object stage and the transverse moving mechanism which can move up and down relative to the object stage are arranged on the vertical support, when the basket is used, the basket is placed on the object stage, the lifting of the transverse moving mechanism is controlled, the basket is clamped by the metamorphic grabbing mechanism on the transverse moving mechanism, after the basket is lifted, the basket is moved leftwards or rightwards, the basket is placed on the goods shelf, and then the transverse moving mechanism is withdrawn and retracted.
The metamorphic grabbing mechanism comprises a rotating shaft, a driving plate, a driven plate claw, a stop plate and a blocking round head, wherein the driving plate is fixed on the rotating shaft to move along with the rotating shaft, the driven plate claw is connected to the driving plate through a torsion spring hinge, the stop plate is connected to the driven plate and located on the opposite side of the torsion spring hinge, the torsion spring hinge is provided with a pretightening force rotating towards the side direction of the stop plate in advance, and the blocking round head is fixed on a fixture near the stop plate and used for limiting the movement of the driven plate claw.
According to the metamorphic grabbing mechanism, due to the effect of the torsion spring pretightening force of the torsion spring hinge, the driven plate claw has a tendency of rotating around the rotation center of the torsion spring hinge along the side of the stop plate, when the metamorphic grabbing mechanism performs clamping motion, namely moves in the opposite direction of the pretightening force of the torsion spring hinge, when the driven plate claw and the driving plate are positioned on the same plane, the stop plate is contacted with the driving plate to prevent the driven plate claw from continuously rotating along the pretightening force direction of the torsion spring hinge, when the metamorphic grabbing mechanism performs rotation along the pretightening force direction of the torsion spring, the driving plate continuously rotates around the center of the shaft along the pretightening force direction of the torsion spring after the driven plate claw contacts the blocking button head, the surface of the driven plate claw slides on the blocking button head and rotates around the rotation center of the torsion spring hinge, so that the metamorphic grabbing mechanism can realize retraction when the metamorphic grabbing mechanism needs grabbing, and other objects can be avoided when the metamorphic grabbing mechanism exits.
The two shafts of the metamorphic grabbing mechanism which synchronously and reversely rotate are driven by gears and chain wheels which are coaxially driven respectively.
The coaxial driving gear and the chain wheel are adopted to drive the shafts of the metamorphic grabbing mechanism respectively, the gear meshing driving can be utilized to drive the shafts of the near metamorphic grabbing mechanism, and the chain driving is utilized to drive the shafts which are far away, so that coaxial driving is realized.
The transverse moving mechanism comprises a plurality of transverse moving devices, the transverse moving devices are in transmission connection, and one end of the transverse moving device positioned at the uppermost part is connected to the lifting device.
The plurality of transverse moving devices are connected, so that the width of the upper and lower frame machines can be as small as possible under the condition of ensuring the transverse moving distance, and the grabbing type upper and lower frame machines can run on a narrow channel.
The metamorphic grabbing mechanism is arranged on a first traversing device at the lowest position, the metamorphic grabbing mechanism is axially supported on the first traversing device, a driving plate, a driven plate claw and a stop plate of the metamorphic grabbing mechanism hang below the traversing device, driven plate claws of the metamorphic grabbing mechanism arranged in pairs are arranged in opposite directions, and a blocking round head of the metamorphic grabbing mechanism is arranged on the first traversing device at the side of the stop plate.
The driven plate claws are continuously extended along the metamorphic grabbing mechanism shaft or are arranged at intervals along the metamorphic grabbing mechanism shaft.
The continuous strip-shaped metamorphic grabbing mechanism is adopted, so that the device can be suitable for baskets with different specifications.
And gears and racks are adopted for transmission among the traversing devices of the traversing mechanism.
The transverse moving mechanism comprises a first transverse moving device, a second transverse moving device, a third transverse moving device and a fourth transverse moving device which is positioned at the uppermost part, wherein two first racks are arranged on the upper surface of the first transverse moving device in parallel, and the first racks extend along the width direction of the objective table;
The lower surface of the second traversing device is provided with a pair of second guide rail slide block groups in parallel, the second guide rail slide block groups extend along the width direction of the object stage, the outer side of the second traversing device is also provided with two groups of gear groups, the extending direction of a rotating shaft of each gear group is vertical to the trend of the second guide rail slide block groups, each group of gear groups comprises two rows of gears, the two rows of gears are respectively meshed with racks on the third traversing device and the fourth traversing device, an output gear meshed with the rack of the third traversing device is also meshed with the first rack at the same time, a gear meshed with the rack on the fourth traversing device is a driving gear, and the two rows of gears on the second traversing device are connected through intermediate gear transmission;
The upper surface and the lower surface of the third traversing device are respectively provided with a pair of racks, the lower surface of the third traversing device is also provided with a pair of third guide rail slide block groups, and the racks and the third guide rail slide block groups extend along the width direction of the objective table;
the lower part of the fourth traversing device is provided with a pair of fourth guide rail sliding block set and a fourth rack which extend along the width direction of the object stage, the fourth traversing device is also provided with a fourth driving gear, the first traversing device, the second traversing device, the third traversing device and the fourth traversing device are sequentially connected through the guide rail sliding block set, the fourth driving gear of the fourth traversing device is meshed with the rack on the upper surface of the third traversing device, the fourth rack of the fourth traversing device is meshed with the driving gear of the second traversing device, the rack on the lower surface of the third traversing device is meshed with the output gear of the second traversing device, and the output gear of the second traversing device is meshed with the first rack.
The first traversing device, the second traversing device, the third traversing device and the fourth traversing device are sequentially connected through the guide rail sliding block set, and corresponding gears are meshed with racks, so that the fourth driving gear of the fourth traversing device drives the racks on the upper surface of the third traversing device to move, the output gear receives thrust through the meshing of the racks fixed on the lower surface of the third traversing device and the output gear of the second traversing device, the thrust is in the same direction as the moving direction of the third traversing device, and the output gear is in the same direction as the driving gear, and because the driving gear is meshed with the fourth racks, the second traversing device moves in the same direction as the moving direction of the third traversing device when the output gear receives thrust, and the moving speed is one time as the first racks of the first traversing device, so that the first traversing device moves in the same direction as the second traversing device, and the moving speed is one time as the first racks of the second traversing device, and a 4-time speed mechanism driven by the gears and the racks is formed. From the above, when the fourth traversing device is fixed, it is assumed that the total travel of the third traversing device is a, and the theoretical maximum value of a is: l-s (linear guide length L, guide slider length s), the total travel of the second traversing device is 2a, the total travel of the first traversing device is 3a, and at least one of the two gears 1222 is engaged with the fourth rack when the mechanism traverses, so the center distance of the two driving gears 1222 cannot be smaller than: l-2s.
The fourth traversing device comprises a base and a connecting plate, wherein a fourth guide rail sliding block set, a fourth rack and a fourth driving gear are arranged on the base, a pair of lugs are arranged on the upper surface of the base, a base shaft is arranged on the lugs, an electromagnet clamping device is arranged below the connecting plate, the base shaft arranged on the lugs passes through connecting holes of the electromagnet clamping device, two ends of the base shaft are supported on the lugs, a clamping sliding block of the electromagnet clamping device is pressed towards the connecting holes by a spring to lock the base shaft in the holes, and when the electromagnet clamping device is electrified, the clamping sliding block is attracted by magnetic force to be away from the connecting holes, so that the base shaft is loosened to realize free rotation, and one end of the connecting plate is connected with a lifting device.
The fourth traversing device is divided into a base and connecting plate structure, and the two parts are connected by adopting the elastic adjustable connection, when the whole equipment is inclined due to uneven ground in the initial stage, the base shaft is loosened by the electromagnet clamping device, the traversing mechanism is automatically corrected by utilizing the gravity balance effect of the traversing mechanism (the gravity plumb line of the traversing mechanism passes through the center of the base shaft), and then the electromagnet clamping device clamps the base shaft. Therefore, the transverse moving mechanism can realize the left and right transverse moving function of a larger stroke under the condition of smaller peripheral size.
The fourth driving gear is driven by a motor, and the motor is arranged on the base.
The vertical support comprises two opposite groove-shaped upright posts which are connected through a connecting piece.
The lifting device comprises two groove-shaped upright posts, a guide wheel group, a pair of inert chain wheels and a chain are fixed on the bottom surface of each groove-shaped upright post, the chain is sleeved on the chain wheels, the guide wheel groups and the inert chain wheels are arranged along the length direction of the groove-shaped upright posts, the two groove-shaped upright posts are connected through a fixing plate, the guide wheel groups of the lifting device are nested in the two groove-shaped upright posts of the vertical bracket and move up and down, the lifting device further comprises an objective table connecting frame, the objective table connecting frame comprises a C-shaped plate, the guide wheel groups of the objective table connecting frame are arranged on the two surfaces of the C-shaped plate in a nested mode in the groove-shaped upright posts of the lifting device and do up-down movement, a connecting device for fixing the objective table is arranged on the bottom surface of the C-shaped plate, racks are respectively fixed on one surface of the two groove-shaped upright posts of the lifting device along the length direction of the guide wheel group, the gears are meshed with the racks, the gears are connected with the speed reducer through a motor, the speed reducer is arranged on the connecting piece, the two gears are connected to the output shaft of the speed reducer through the motor, the output shaft of the speed reducer is arranged on the connecting piece, the two chain wheels are connected to the other end of the vertical bracket through the chain wheel support, the chain wheels are arranged on the upper end of the vertical bracket, and the chain support is positioned on the fixed on the vertical upright post, and the other end of the vertical bracket, and the chain support is positioned on the fixed on the vertical bracket.
When the motor is started, the gear is driven to rotate, the rotating gear drives the rack to move, so that the grooved upright post of the lifting device is driven to ascend or descend.
The spring blocking mechanism is arranged at the rear end of the object stage, which is close to the vertical support, and the spring blocking mechanism protrudes out of the surface of the object stage.
The spring blocking mechanism is arranged, so that on one hand, the basket and other articles can be prevented from horizontally moving, and on the other hand, when the basket falls onto the spring blocking mechanism in the vertical direction, the spring blocking mechanism is elastically deformed and sunk, so that the basket can fall onto the object stage surface.
A detachable baffle rod is arranged on the objective table and is arranged along the width direction.
The baffle rod is arranged, and the baffle rod can be flexibly used or not used according to the number of the baskets, so that the positioning of the baskets on the object stage is realized, and when the number of the baskets is small, the baffle rod is added, the positioning of the baskets is realized, and the baskets are prevented from sliding on the object stage.
The front end of the objective table is provided with a handrail, and the handrail is rotatably arranged on the objective table.
The railing can be selectively rocked up or down as needed to facilitate loading and unloading of the basket while positioning the basket when needed.
The object stage consists of a frame and a roller, and the spring blocking device is arranged on the frame.
Adopt roller and frame construction, be convenient for promote the basket.
The spring blocking device comprises a fixed shaft and a C-shaped fixed plate, wherein the fixed shaft penetrates through a fixed hole in the C-shaped fixed plate, a spring is installed in the C-shaped fixed plate, one end of the spring is in contact with one inner side of the C-shaped fixed plate, the other end of the spring is in contact with a blocking shoulder on the fixed shaft, and a blocking head is arranged at the top end of the fixed shaft.
The intermediate gears of the second traversing device are odd numbers, one group of gears comprises driving wheels with the same tooth number at two ends and intermediate transmission gears with odd numbers in the middle, the other group of gears comprises an output gear which is coaxial with the intermediate transmission gear at the middle, the pitch circle diameter of the output gear is half of that of the driving gear, and the transmission gears are smaller than the driving gear.
When the rack is meshed with the two driving gears at the same time, the teeth of the rack do not interfere with the transmission gears, so that the driving gears can drive the driving gears to rotate in the same direction.
In summary, compared with the prior art, the invention has the following advantages:
the grabbing type upper and lower frame machine uses the innovative metamorphic grabbing mechanism, so that the mechanism can finish the clamping action and the retracting action of the grabbing mechanism under different state requirements when a single motor is used; the invention uses a pair of gear sets to drive the 3-time speed mechanism to finish that the equipment is put on the shelf of the left and right columns in the channel, and compared with the conventional two sets of speed increasing mechanisms to finish the 3-time speed mechanism, the invention greatly simplifies the complexity of the structure and the assembly difficulty; the speed-increasing mechanism of the chain and the rack is adopted in the goods lifting device, so that the equipment can meet the travel requirement between the highest point of the shelf on the fungus bag and the lowest point of the shelf while passing through a short storehouse door; by utilizing the gravity center characteristic of the fungus bag basket, the metamorphic grabbing mechanism is shorter than the length of three baskets when being arranged side by side, and a simple one-stop lever is used, so that the same equipment can finish the requirements of two baskets at a time and three baskets at a time; the spring blocking mechanism is used, so that a basket placed on the objective table is blocked at a designated position when the equipment is ready to be put on the rack, and the position requirement of the equipment when the equipment is put on the rack is met; when the basket is put down, the difference between the upper frame and the lower frame causes errors in positioning when the basket is put down, so that the basket can possibly fall on the spring blocking mechanism when the basket is put down on the object stage, but only the blocking head of the blocking mechanism is pressed down at the moment, and the condition that a fungus bag, a basket or the mechanism is damaged is not caused; the gravity self-balancing mechanism is designed on the fourth traversing device by utilizing the characteristic of low gravity center, so that the traversing mechanism automatically restores to the direction parallel to the horizontal direction in the traversing direction.
For upper and lower frames of high-rise, the friction force between the basket and the goods shelf needs to be overcome by pushing in and pulling back, and the problem is solved by using a grabbing mode to feed in and out the goods shelf because the moment arm in the vertical direction is long, so that the side turning of the upper frame is caused when the dead weight of the equipment is insufficient to overcome the moment arm generated by pushing in or pulling back.
Drawings
Fig. 1 is an overall schematic diagram of a grabbing type upper and lower frame machine according to the present invention.
Fig. 2 is a schematic view of the metamorphic gripping mechanism of the gripping type upper and lower frame machine in a high position.
Fig. 3 is a plan view of the metamorphic gripping mechanism of the gripping type upper and lower frame machine in a high position.
Fig. 4 is a schematic structural view of the traversing mechanism.
Fig. 5 is a schematic view of the first traversing device.
Fig. 6 is a schematic view of a second traversing device.
Fig. 7 is a schematic view of a third traversing device.
Fig. 8 is a schematic plan view of the third traversing device.
Fig. 9 is a perspective view of the fourth traversing device.
Fig. 10 is a plan view of the fourth traversing device.
Fig. 11 is a schematic view of a base of the fourth traversing device.
Fig. 12 is a schematic view of a connecting lug on the fourth traversing device connecting plate.
Fig. 13 is a schematic view showing the engagement of the traversing devices.
Fig. 14 is a schematic view showing the traversing mechanism automatically returning to the initial state.
Fig. 15 is a schematic diagram of the traversing mechanism.
Fig. 16 is a schematic view of the maximum leftward traverse.
Fig. 17 is a maximum rightward shift schematic view.
Fig. 18 is a schematic view of the stage structure.
Fig. 19 is a schematic view of a spring blocking device.
Fig. 20 is a schematic view of the cooperation of the vertical support and the lifting device.
Fig. 21 is a reverse view of fig. 20.
Fig. 22 is a schematic view of a trough column of the lifting device.
Fig. 23 is a schematic view of the stage attachment frame.
Fig. 24 is a schematic view of a metamorphic gripping mechanism.
FIG. 25 is a schematic cross-sectional view of a metamorphic gripping mechanism.
Fig. 26 is a perspective view of the metamorphic gripping mechanism.
Detailed Description
The present invention will be described in more detail with reference to examples.
Example 1
The utility model provides a frame machine about grabbing formula, is including vertical support, objective table, relative objective table and is lateral shifting's sideslip mechanism and drive sideslip mechanism and do the elevating gear of up-and-down motion, objective table one end connect on vertical support, elevating gear is elevating motion on vertical support, sideslip mechanism is connected with elevating gear, follows elevating gear and does the up-and-down motion, is provided with the truckle of conveniently walking at vertical support and objective table, still is provided with on sideslip mechanism and is synchronous counter-rotating's metamorphic grabbing mechanism towards the setting in pairs of objective table.
The grabbing type upper and lower frame machine shown in figure 1 comprises a traversing mechanism 1, a carrying table 2 and a lifting device 3,
As shown in fig. 4, the traversing mechanism includes four parts, a first traversing device 11, a second traversing device 12, a third traversing device 13, and a fourth traversing device 14.
As shown in fig. 5, two first racks 112 are fixed on the first bottom plate 111 of the first traversing device 11, supporting plates 118 are fixed at two ends, blocking round heads 119 are fixed on the supporting plates 118, shafts 1131 of the metamorphic grabbing mechanisms 113 pass through bearing seats fixed on the supporting plates 118 and are fixed with one sprocket of the sprocket chain group 116, the other sprocket of the sprocket chain group is fixed on an output shaft of the motor 114, one gear of the gear set 115 is fixed on the output shaft of the motor 114, the other gear is fixed on the shaft 1131 of the metamorphic grabbing mechanism 113 at the other side, the motor 114 drives the shafts 1131 of the two metamorphic grabbing mechanisms 113 to rotate through the two transmission modes, and the shafts 1131 of the two metamorphic grabbing mechanisms 113 synchronously rotate reversely. As shown in fig. 24-26, for the metamorphic grabbing mechanism, a driving plate 1132 is fixed on a shaft 1131, a driven plate claw 1134 is connected with the driving plate 1132 through a torsion spring hinge 1135, a stop plate 1133 is fixed on the driven plate claw 1134, the driven plate claw 1134 has a tendency to rotate clockwise around the rotation center of the torsion spring hinge 1135 due to the action of torsion spring pretightening force of the torsion spring hinge, when the metamorphic grabbing mechanism performs anticlockwise clamping action, the driven plate claw 1134 is in the same plane with the driving plate 1132, the stop plate 1133 contacts with the driving plate 1132 to prevent the driven plate claw 1134 from continuing to rotate clockwise, when the metamorphic grabbing mechanism performs clockwise action, after the driven plate claw 1134 contacts with a blocking round head 119, the driving plate 1132 continues to rotate clockwise around the center of the shaft 1131, and the surface of the driven plate claw 1134 slides on the blocking round head 119 and rotates around the rotation center of the torsion spring 1135.
As shown in fig. 6, two sets of gear sets 122 are fixed on the upper surface of the bottom plate 121 of the second traversing device 12, and a pair of linear second rail-slider sets 124 are fixed on the lower surface of the second bottom plate 121. Two driving gears 1222 are correspondingly arranged at two ends of two fixed plates 1221 of the gear set 122, an odd number of transmission gears 1223 meshed with the two driving gears 1222 are arranged in the gear set 122, an output gear 1224 with half the number of teeth of the driving gears 1222 is fixed on the shaft of the transmission gear 1223 in the middle, and the transmission gear 1223 is smaller than the driving gears 1222, so that when racks are meshed with the two driving gears 1222 at the same time, the teeth of the racks do not interfere with the transmission gears 1223, and therefore the driving gears 1222 can drive the driving gears 1222 to rotate in the same direction, and the pitch radius of the output gears 1224 is half of that of the driving gears 1222.
As shown in fig. 7 to 8, a pair of racks 132 are fixed to the upper surface of the third base plate 131 of the third traversing device 13, a pair of racks 135 are fixed to the lower surface of the third base plate 131, and a pair of linear third rail slider groups 134 are fixed.
As shown in fig. 9 to 12, a lug 1412 is fixed to the upper surface of the fourth base 141 of the fourth traversing device 14, a base shaft 1411 is fixed to the lug 1412, the base shaft 1411 penetrates into holes 1483 of two electromagnet clamps 148 fixed to the connection plate 142, the clamping slider 1482 of the electromagnet clamp 148 is pressed toward the holes 1483 by a spring 1481, thereby the base shaft 1411 is locked in the holes 1483, when the electromagnet clamp 148 is energized, the clamping slider 1482 is attracted away from the holes 1483 by magnetic force, thereby the base shaft 1411 is loosened and can freely rotate, two traversing driving gears 144 are connected to the motor 143 by a shaft, that is, the motor can drive the gears 144 to rotate, and a pair of linear fourth rail slider sets 145 and fourth racks 146 are fixed to the lower surface of the fourth base plate 121.
As shown in fig. 13, by connecting the first traversing device 11, the second traversing device 12, the third traversing device 13 and the fourth traversing device 14 sequentially through the linear guide rail sliding blocks of each layer, and the corresponding gears are meshed with the racks, when the driving gear 144 of the fourth traversing device 14 drives the racks 132 to move, the third traversing device 13 is driven to move, so that the output gear 1224 receives thrust force through the meshing of the racks 135 fixed on the third traversing device 13 and the output gear 1224, the thrust force and the movement direction of the third mechanism plate are the same, and because the output gear 1224 and the gear driving gear 1222 rotate in the same direction, and because the driving gear 1222 and the racks 146 are meshed, the second traversing device 12 moves in the same direction of the third traversing device 13 when the output gear 1224 receives thrust force, and the movement speed is one time of the third traversing device 13, and because the output gear 1224 is meshed with the racks 112 of the first traversing device 11, the first traversing device 11 moves in the same direction of the second traversing device 12, and the movement speed is one time of the racks of the second device 12 is formed by one time of the gears and the driving mechanism is formed by the racks of 4. As can be seen from the above, when the fourth traversing device 14 is fixed, it is assumed that the total travel of the third traversing device 13 is a, and the theoretical maximum value of a is: l-s (linear guide length L, guide slider length s), the total travel of the second traversing device is 2a, the total travel of the first traversing device is 3a, and in order to ensure that at least one of the two gears 1222 is engaged with the rack 146 when the mechanism traverses, the center distance of the two driving gears 1222 cannot be smaller than: l-2s.
14-17, The traversing mechanism is in 4 states, namely an initial state, an automatic centering state, a maximum left shifting state and a maximum right shifting state, when the whole equipment is inclined due to uneven ground initially, the base shaft 1411 is loosened through the electromagnet clamp 148, the traversing mechanism is automatically centered by utilizing the gravity balance effect of the traversing mechanism (the gravity plumb line of the traversing mechanism passes through the center of the base shaft 1411), and then the electromagnet clamp 148 clamps the base shaft 1411. The left-right transverse movement function with larger stroke can be realized under the condition of smaller peripheral size through the transverse movement mechanism.
Referring to fig. 18, a plurality of rollers 22 are fixed on a frame 21, a stop bar 23 is placed at a designated position of the frame 21, two spring blocking mechanisms 24 are fixed at one end of the frame 21, 4 connecting plates 25 fixed at the tail end of the frame 21 are used for connecting and fixing with a lifting device, and two universal wheels 26 are arranged at the bottom of the other end.
Referring to fig. 19, a structure of the spring blocking mechanism 24 is schematically shown, the fixing shaft 233 passes through a fixing hole on the C-shaped fixing plate 234, one end of the spring 235 contacts with an inner side of the C-shaped fixing plate, the other end contacts with a shoulder 232 on the fixing shaft 233, a blocking head 231 is arranged at the top end of the fixing shaft 233, when the basket moves horizontally on the roller 22, the blocking head 231 can bear a horizontal force to block the basket from continuing to move horizontally, and when the basket descends from a vertical direction to the blocking head 231, the blocking head compresses the spring to sink, so that the basket falls on the roller, and an operator pulls the basket away from the roller.
Referring to fig. 23, four guide wheel sets 3112 are provided on both surfaces of the c-shaped base plate 3111 for the stage link 311, and two traverse mechanism coupling means 3113 are provided on the vertical surface.
As shown in fig. 22, a groove column 31 of a lifting device is provided, two guide pulley groups 3101 are fixed to a vertical surface of a groove column B3100, and a pair of idler sprockets 3102 and a chain 3103 are also fixed.
As shown in fig. 20-21, for the lifting device 3, a groove-shaped upright a32 of a vertical bracket is fixed by a connecting piece 39, a directional wheel 312 is fixed at the bottom, two guide wheel uprights 31 are connected and fixed by a fixed plate B33, a guide wheel group 3101 of the guide wheel uprights can roll in a groove of the groove-shaped upright a32, a guide wheel group 3112 of a stage connecting frame 311 can roll in a groove of the upright 31, two racks 38 are respectively fixed on the groove-shaped uprights B31 of the corresponding lifting device, a motor 310 is fixed on a speed reducer 314, one side of the speed reducer 314 is fixed on the fixed plate 39, two gears 37 respectively meshed with the two racks 38 are fixed on an output shaft of the speed reducer, and two ends of the output shaft are fixed on bearing seats on the groove-shaped upright a32 of the vertical bracket; one end of the chain fixing plate a35 is fixed to the groove-shaped upright a32, the other end is fixed to one side of the chain 3103, the chain fixing plate B313 is fixed to the stage connecting frame 311, and both ends are fixed to the other side of the chain 3103, respectively. When the motor is started, the gear 37 can be driven to rotate, so that the driving rack 38 drives the groove-shaped stand column B3100 to ascend, and since one end of the chain 3103 is fixed on the groove-shaped stand column A32 and the other end is fixed on the stage connecting frame 311, the idler sprocket 3102 is fixed on the groove-shaped stand column B3100, when the groove-shaped stand column B3100 drives the idler sprocket 3102 to ascend, the stage connecting frame 311 can be lifted at double speed.
Working principle: the worker pushes the device to a designated position, automatically aligns the traversing mechanism by the self-gravity balance of the traversing mechanism, sequentially places 3 baskets filled with fungus bags on the object table, positions the baskets at the designated position by the upper spring blocking mechanism 24, (if two baskets are put on the object table, positions the baskets at the designated position by the baffle 23, the length dimension of the metamorphic grabbing mechanism is shorter than that of the three baskets when the three baskets are arranged side by side), the motor 310 drives the gear rack to move the object table connecting frame 311 to the designated position when the baskets are loaded, the motor 114 drives the metamorphic grabbing mechanism 113 to clamp the edges of the baskets, the motor 310 drives the gear rack to lift the object table connecting frame 311 to a height corresponding to the object table, the motor 143 drives the traversing mechanism 1 to send the baskets into the object table, the motor 310 drives the gear rack to descend a certain distance to enable the bottoms of the baskets to fall on the object table, the motor 114 drives the metamorphic grabbing mechanism 113 to open the driven plate claw 1134 so as to separate the metamorphic grabbing mechanism 113 from the basket, the motor 310 drives the gear rack to lift the object stage connecting frame 311 for a certain distance, the bottom of the driven plate claw 1134 is not higher than the height of the fungus bag in the basket due to the limit of the height of the upper surface in the rack layer, the motor 114 continues to drive the metamorphic grabbing mechanism 113 at the position so as to enable the driven plate claw 1134 to touch the blocking round head 119, the surface of the driven plate claw 1134 slides on the blocking round head 119 and rotates around the rotation center of the torsion spring hinge 1135, the bottom of the driven plate claw 1134 is lifted to the top of the fungus bag, the phenomenon of interference with the space of the partition wall basket does not occur in the metamorphic process, then the motor 143 drives the traversing mechanism 1 to withdraw from the rack, the next basket is waited for being put on the rack, the actions of the process of taking off the rack are similar to the actions of taking off the rack and are not repeated.
The undescribed portion of this embodiment is identical to the prior art.
Claims (9)
1. The utility model provides a machine of putting on or off shelf of snatching which characterized in that: the device comprises a vertical support, an objective table, a transverse moving mechanism which transversely moves relative to the objective table and a lifting device which drives the transverse moving mechanism to move up and down, wherein one end of the objective table is connected to the vertical support, the lifting device moves up and down on the vertical support, the transverse moving mechanism is connected with the lifting device to follow the lifting device to move up and down, casters which are convenient to walk are arranged on the vertical support and the objective table, a metamorphic grabbing mechanism which synchronously rotates reversely is arranged on the transverse moving mechanism in pairs towards the objective table, the metamorphic grabbing mechanism comprises a rotating shaft, a driving plate, a driven plate claw, a stop plate and a blocking round head, the driving plate is fixed on the rotating shaft to follow the rotating shaft, the driven plate claw is connected to the driving plate through a torsion spring hinge, the stop plate is connected to the driven plate and located on the opposite side of the torsion spring hinge, and a pretightening force which rotates towards the side of the stop plate is preset, and the blocking round head is fixed on a fixed object near the stop plate and used for limiting the movement of the driven plate claw.
2. The grabbing type racking machine of claim 1, wherein: the transverse moving mechanism comprises a plurality of transverse moving devices, the transverse moving devices are in transmission connection, and one end of the transverse moving device positioned at the uppermost part is connected to the lifting device.
3. The grabbing type upper and lower frame machine according to any one of claims 1 to 2, wherein: the metamorphic grabbing mechanism is arranged on a first traversing device at the lowest position, the metamorphic grabbing mechanism is axially supported on the first traversing device, a driving plate, a driven plate claw and a stop plate of the metamorphic grabbing mechanism hang below the traversing device, driven plate claws of the metamorphic grabbing mechanism arranged in pairs are arranged in opposite directions, and a blocking round head of the metamorphic grabbing mechanism is arranged on the first traversing device at the side of the stop plate.
4. A grabbing type racking machine according to claim 3, wherein: the transverse moving mechanism comprises a first transverse moving device, a second transverse moving device, a third transverse moving device and a fourth transverse moving device which is positioned at the uppermost part, wherein two first racks are arranged on the upper surface of the first transverse moving device in parallel, and the first racks extend along the width direction of the objective table;
The lower surface of the second traversing device is provided with a pair of second guide rail slide block groups in parallel, the second guide rail slide block groups extend along the width direction of the object stage, the outer side of the second traversing device is also provided with two groups of gear groups, the extending direction of a rotating shaft of each gear group is vertical to the trend of the second guide rail slide block groups, each group of gear groups comprises two rows of gears, the two rows of gears are respectively meshed with racks on the third traversing device and the fourth traversing device, an output gear meshed with the rack of the third traversing device is also meshed with the first rack at the same time, a gear meshed with the rack on the fourth traversing device is a driving gear, and the two rows of gears on the second traversing device are connected through intermediate gear transmission;
The upper surface and the lower surface of the third traversing device are respectively provided with a pair of racks, the lower surface of the third traversing device is also provided with a pair of third guide rail slide block groups, and the racks and the third guide rail slide block groups extend along the width direction of the objective table;
the lower part of the fourth traversing device is provided with a pair of fourth guide rail sliding block set and a fourth rack which extend along the width direction of the object stage, the fourth traversing device is also provided with a fourth driving gear, the first traversing device, the second traversing device, the third traversing device and the fourth traversing device are sequentially connected through the guide rail sliding block set, the fourth driving gear of the fourth traversing device is meshed with the rack on the upper surface of the third traversing device, the fourth rack of the fourth traversing device is meshed with the driving gear of the second traversing device, the rack on the lower surface of the third traversing device is meshed with the output gear of the second traversing device, and the output gear of the second traversing device is meshed with the first rack.
5. The grabbing type racking machine of claim 4, wherein: the fourth traversing device comprises a base and a connecting plate, wherein a fourth guide rail sliding block set, a fourth rack and a fourth driving gear are arranged on the base, a pair of lugs are arranged on the upper surface of the base, a base shaft is arranged on the lugs, an electromagnet clamping device is arranged below the connecting plate, the base shaft arranged on the lugs passes through connecting holes of the electromagnet clamping device, two ends of the base shaft are supported on the lugs, a clamping sliding block of the electromagnet clamping device is pressed towards the connecting holes by a spring to lock the base shaft in the holes, and when the electromagnet clamping device is electrified, the clamping sliding block is attracted by magnetic force to be away from the connecting holes, so that the base shaft is loosened to realize free rotation, and one end of the connecting plate is connected with a lifting device.
6. The grabbing type racking machine of claim 1, wherein: the vertical support include two slot-shaped columns that set up in opposite directions, two slot-shaped columns pass through the connecting piece and connect, elevating gear including two slot-shaped columns, be fixed with guide pulley group, a pair of inert sprocket and chain on the bottom surface of each slot-shaped column, the chain overlaps on the sprocket, guide pulley group, inert sprocket arrange along the length direction of slot-shaped column, two slot-shaped columns pass through the fixed plate and connect, elevating gear's guide pulley group nestification is done the reciprocates in two slot-shaped columns of vertical support, elevating gear still including the objective table link, the objective table link include the C template, be provided with the guide pulley group on the both surfaces of C template, the objective table link
The guide wheel group is nested in a groove-shaped upright post of the lifting device to move up and down, a connecting device for fixing the objective table is arranged on the bottom surface above the C-shaped plate, racks are respectively fixed on one surface of the two groove-shaped upright posts of the lifting device along the length direction of the two groove-shaped upright posts, a gear is arranged on the vertical bracket, the gear is meshed with the racks, the gear is connected with a speed reducer, the speed reducer is driven by a motor and is arranged on a connecting piece, the two gears are connected on an output shaft of the speed reducer, the output shaft is supported on the surface of the groove-shaped upright post of the vertical bracket through a bearing, a chain wheel fixing piece is arranged on the upper part of the groove-shaped upright post of the vertical bracket, one end of the chain wheel fixing piece is fixed on the groove-shaped upright post of the vertical bracket, and the other end of the chain fixing piece is fixed on the upper part of the groove-shaped upright post of the lifting device
The chain fixing plate is fixed at the lower part of the objective table connecting frame, and two ends of the chain fixing plate are respectively connected with a chain at the lower part of the groove-shaped upright post of the lifting device.
7. The grabbing type racking machine of claim 1, wherein: the spring blocking mechanism is arranged at the rear end of the object stage, which is close to the vertical support, and the spring blocking mechanism protrudes out of the surface of the object stage.
8. The grabbing type racking machine of claim 1, wherein: a detachable baffle rod is arranged on the objective table and is arranged along the width direction.
9. The grabbing type racking machine of claim 4, wherein: the intermediate gears of the second traversing device are odd numbers, one group of gears comprises driving wheels with the same tooth number at two ends and intermediate transmission gears with odd numbers in the middle, the other group of gears comprises an output gear which is coaxial with the intermediate transmission gear at the middle, the pitch circle diameter of the output gear is half of that of the driving gear, and the transmission gears are smaller than the driving gear.
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| CN112794252B (en) * | 2021-01-28 | 2024-04-16 | 中汽昌兴（洛阳）机电设备工程有限公司 | Lifting device, industrial lifting conveyor and application |
| CN113940238B (en) * | 2021-09-29 | 2022-08-16 | 中国农业科学院农业信息研究所 | Intelligent picking robot |
| CN113940239B (en) * | 2021-09-29 | 2023-01-24 | 中国农业科学院农业信息研究所 | Intelligent picking system |
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