CN210312546U

CN210312546U - Stacking machine

Info

Publication number: CN210312546U
Application number: CN201921139399.6U
Authority: CN
Inventors: 欧阳柳清
Original assignee: Hangzhou Chengzhi Intelligent Equipment Co Ltd
Current assignee: Hangzhou Chengzhi Intelligent Equipment Co Ltd
Priority date: 2019-07-19
Filing date: 2019-07-19
Publication date: 2020-04-14
Anticipated expiration: 2029-07-19

Abstract

The utility model relates to a pile up neatly equipment, in particular to hacking machine has solved hacking machine's problems of use, including the arm of pay-off platform, centre gripping material of transported substance material, the pile up neatly platform of stacking material, the moving mechanism of all direction movement arm, the last push mechanism who adjusts the material position and the mechanism that hinders the material and move on the pay-off platform that is equipped with of pay-off platform, two liang of looks verticality of push mechanism's push direction, pay-off platform's direction of delivery and the direction of movement that hinders the mechanism, the arm includes the claw head, the claw head includes front claw and back claw, through the relative straight reciprocating motion of power unit between front claw and the back claw, the claw head rotates through slewing mechanism, carries the material at the assigned position with same and incessant, and the arm realizes the omnidirectional movement through the multiunit guide rail simultaneously, cooperates rotatable claw head to improve pile up neatly efficiency widely, The service life of the equipment is prolonged, the maintenance cost is reduced, and the practicability and the economy are realized.

Description

Stacking machine

Technical Field

The utility model relates to a pile up neatly equipment, in particular to hacking machine.

Background

The stacker crane is a machine for stacking articles, two positioning points, namely a grabbing point and a placing point, are set in a program of a stacking manipulator, and the track between the two points is controlled by a computer. However, the traditional stacker crane has high requirements on program design, only the mechanical arm is used for holding materials or material boxes back and forth singly, a plurality of holding points and placing points are designed substantially, and clamping and transferring are carried out through a plurality of even crossed paths. The work efficiency is low, and to different materials or material case need design the route procedure completely again, the action such as rotation is also great to the structural loss of arm, and the fault rate is high, life is low.

SUMMERY OF THE UTILITY MODEL

Not enough to current technique, the utility model provides a hacking machine.

In order to realize the purpose, the utility model adopts the technical scheme that: the utility model provides a stacker crane, is including the pay-off platform of transport material, the arm of centre gripping material, the pile up neatly platform of pile up neatly putting the material, the moving mechanism of all direction movement arm, the pay-off bench is equipped with the push mechanism of adjustment material position and hinders the mechanism of going that the material moved on the pay-off platform, two liang of looks verticalities of push mechanism's push direction, the direction of delivery of pay-off platform and the direction of movement that hinders the mechanism of going, the arm includes the claw head, the claw head includes fore-stock and back-stock, through the relative straight reciprocating motion of power unit between fore-stock and the back-stock, the claw head passes through slewing mechanism and rotates, be equipped with the regulation pole of adjustment interval between fore-stock and the back-stock.

The claw head still includes the roof, roof and fore-stock fixed mounting, power unit is including driving actuating cylinder, fixed part, regulating part and fender portion have on the regulation pole, the fixed part respectively with drive actuating cylinder's piston rod and back-stock fixed mounting, keep off that portion connects spacingly through removing with the fore-stock fender, the regulating part includes screw and screw rod, it gets into screw degree of depth through rotating the screw rod and adjusts fore-stock and back-stock interval scope to adjust the pole.

The pushing mechanism comprises a pushing plate and a pushing cylinder, the pushing cylinder is fixedly assembled with the feeding table, and a piston rod of the pushing cylinder is fixedly assembled with the pushing plate.

The line blocking mechanism comprises a baffle and a driving piece, the baffle is connected with the material in a blocking mode through the driving piece, the rotating mechanism comprises a rotary cylinder, and the conveying tail end of the feeding table is provided with a pulling-up portion for placing the material to fall down.

The moving mechanism comprises a first transverse guide rail, a second transverse guide rail and a longitudinal guide rail, the mechanical arm further comprises a mounting seat, and the mounting seat is assembled between the second transverse guide rail and the first transverse guide rail and assembled between the first transverse guide rail and the longitudinal guide rail in a sliding mode.

The length extending directions of the first transverse guide rail, the second transverse guide rail and the longitudinal guide rail are pairwise perpendicular to each other.

The linear reciprocating displacement between the mounting seat and the second transverse guide rail, between the second transverse guide rail and the first transverse guide rail, and between the first transverse guide rail and the longitudinal guide rail are realized through chain transmission or belt transmission.

And the top plate is provided with a sliding guide rail and a sliding block, the sliding guide rail and the sliding block are in sliding fit, and the sliding block and the rear claw are fixedly assembled.

The feeding table is provided with a plurality of feeding rollers, the feeding rollers are connected through chains, and the feeding rollers synchronously rotate through a motor.

The protective net and the control box are further included, and a control panel is arranged on the control box.

The utility model has the advantages that: the utility model provides a hacking machine passes through the pay-off platform and carries the material same and constantly at the assigned position, simplifies arm action route, and the arm passes through the multiunit guide rail simultaneously and realizes all around movement, cooperates rotatable claw head to improve pile up neatly efficiency widely, improve equipment life, reduce the maintenance cost, has practicality and economic nature.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of the split structure of the present invention;

FIG. 3 is an enlarged view of a partial structure of the robot arm of the present invention;

fig. 4 is a schematic view of the structure of the adjusting rod of the present invention.

Detailed Description

As shown in fig. 1-4, a stacker crane comprises a feeding table 1 for conveying materials, a mechanical arm 2 for clamping the materials, a stacking table 3 for stacking the materials, and a moving mechanism 4 for moving the mechanical arm 2 in all directions, wherein a pushing mechanism 5 for adjusting the material position and a stopping mechanism 6 for stopping the movement of the materials on the feeding table 1 are arranged on the feeding table 1, the pushing direction of the pushing mechanism 5, the conveying direction of the feeding table 1 and the moving direction of the stopping mechanism 6 are perpendicular to each other in pairs, the mechanical arm 2 comprises a claw head 7, the claw head 7 comprises a front claw 8 and a rear claw 9, the front claw 8 and the rear claw 9 perform linear reciprocating motion relatively through a power mechanism 10, and the claw head 7 rotates through a rotating mechanism 11. The robot arm 2 and the gripper head 7 are moved within a certain spatial range by the moving mechanism 4, and the working path is shortened conveniently. The material is firstly placed at one end of the feeding table 1 by manpower or other transportation equipment, and the other end of the material is automatically conveyed through the feeding table 1. In the transportation process, because there is the fall between the interval or does not flush even put askew and turn round between the material is put, accessible push mechanism 5 carries out the relative left and right sides adjustment, and adjusts around 6 relatively through hindering the capable mechanism for the material is neatly put and is constantly carried the assigned position, makes things convenient for 2 centre grippings of arm. The claw head 7 can be rotated and conveniently clamped aiming at the clamping point on the material, so that the stability in the process of clamping and stacking is improved, and the gravity center of the material is always on the central line of the chuck. An adjusting rod 28 for adjusting the distance is arranged between the front claw 8 and the rear claw 9.

Claw head 7 still includes roof 12, roof 12 and fore-stock 8 fixed Assembly, power unit 10 is including driving actuating cylinder 13, fixed part 29, regulating part 30 and fender portion 31 have on the regulation pole 28, fixed part 29 respectively with the fixed Assembly of the piston rod and the back-up jaw 9 that drive actuating cylinder 13, fender portion 31 keeps off through removing and connects spacingly with fore-stock 8, regulating part 30 includes screw and screw rod, it gets into screw depth regulation fore-stock 8 and the back-up jaw 9 interval scope through rotating the screw rod to adjust pole 28. The claw head 7 is in an inverted concave shape, but the rear claw 9 can move relative to the front claw 8 and the top plate 12, so that the clamping and spreading action of the claw head 7 is realized. Generally, the minimum distance between the front jaw 8 and the rear jaw 9 is adjusted, and a screw hole is provided above the stopper portion 31 for processing, the fixing portion 29 is provided at both ends, and the adjusting portion 30 is provided in the middle. The adjusting part 30 can shorten or increase the interval of front claw 8 and back claw 9, and the screw both ends all are equipped with the external screw thread promptly and mate the screw with it, are equipped with the nut again and strengthen fixedly to this size of a dimension that realizes adapting to the centre gripping material has enlarged the centre gripping scope greatly. Meanwhile, the claw head 7 does not need to be replaced by excessively complex operation, so that the consumption of manpower and material resources is reduced, the cost is reduced, and the efficiency is improved. This is by way of example only, for clarity of illustration, and not by way of limitation.

The pushing mechanism 5 comprises a pushing plate 14 and a pushing cylinder 15, the pushing cylinder 15 is fixedly assembled with the feeding table 1, and a piston rod of the pushing cylinder 15 is fixedly assembled with the pushing plate 14. When the material is conveyed forwards on the feeding table 1, the pushing plate 14 is extruded or adjusted by force application from the side surface of the material through the pushing cylinder 15, and the material is pushed to the designated feeding track.

The barrier mechanism 6 comprises a baffle and a driving piece, the baffle is driven by the driving piece to be blocked with the material, the rotating mechanism 11 comprises a rotary cylinder 16, and the conveying end of the feeding table 1 is provided with a lifting part 17 for placing the material to fall. When the relative width or length of material is less, and two liang of materials centre gripping simultaneously, the baffle through setting up and hindering line mechanism 6 stops the material more before the position and stops in the original place, treats rear material to same starting point, and rear material also makes two materials hug closely parallelly through 5 adjustments of push mechanism simultaneously, is by arm 2 centre gripping again at last. The drive member may be an electric motor or a pneumatic cylinder, which are not illustrated or limited herein. In this embodiment, the baffle is movable up and down by the drive member and is passed between the feed rollers 24 to block the material. Here, the rotary cylinder 16 may be a mature product on the market directly or a transmission structure matched with a gear through a cylinder, and the mode and the structure are various, and are not limited too much.

The moving mechanism 4 comprises a first transverse guide rail 18, a second transverse guide rail 19 and a longitudinal guide rail 20, the mechanical arm 2 further comprises a mounting seat 21, and the mounting seat 21 is slidably assembled between the second transverse guide rail 19 and the first transverse guide rail 18, and the first transverse guide rail 18 is slidably assembled between the longitudinal guide rail 20.

The length extension directions of the first transverse guide rail 18, the second transverse guide rail 19 and the longitudinal guide rail 20 are perpendicular to each other two by two. The linear reciprocating displacement is realized between the mounting seat 21 and the second transverse guide rail 19, between the second transverse guide rail 19 and the first transverse guide rail 18, and between the first transverse guide rail 18 and the longitudinal guide rail 20 through chain transmission or belt transmission. The longitudinal rails 20 are arranged in a vertical direction, the first transverse rail 18 and the second transverse rail 19 are arranged in a horizontal plane, and the first transverse rail 18 and the second transverse rail 19 are perpendicular to each other, similar to a three-pole axis, and represent an X-axis, a Y-axis and a Z-axis, respectively. The end of one of the connected guide rails is provided with a guide rail module with a shape similar to that of the sliding block 23, so that the connection and sliding stability is enhanced, and the sliding between the guide rails drives a chain or a crawler belt to drive through a motor. In the prior art, gear matching is generally designed to realize the conversion of the rotational force into the driving force of the linear motion, which is only one means for implementation and is not limited to the only means.

And a sliding guide rail 22 and a sliding block 23 are arranged on the top plate 12, the sliding guide rail 22 and the sliding block 23 are in sliding fit, and the sliding block 23 and the rear claw 9 are fixedly assembled. Namely, the slider guide rail module, the rear claw 9 is easy to be positioned unstably only by one point of the driving cylinder 13, and the positioning and clamping effects are influenced, so that the slider 23 is designed to realize two-point holding, and the action stability and reliability are enhanced.

The feeding table 1 is provided with a plurality of feeding rollers 24, the feeding rollers 24 are connected through chains, and the feeding rollers 24 synchronously rotate through a motor. Different from the traditional conveying by manpower or a conveying belt, the working efficiency is not easily influenced and the loss of equipment is not easily increased due to heavy objects. And the position of the material can be conveniently adjusted by the pushing mechanism 5 or the stopping mechanism 6, the friction force is small, and the transmission efficiency is high.

The device also comprises a protective net 25 and a control box 26, wherein a control panel 27 is arranged on the control box 26. The control box 26 and the control panel 27 are well-established technical means, and are automated by programming. Various sensors can be designed, and the intelligent performance is improved. The design of the protective net 25 improves the safety performance and avoids accidental damage to materials or operators.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, and are only for convenience of description, and are not intended to indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and therefore, are not to be considered as limitations of the present invention, and the fundamental principles, main features, and advantages of the present invention have been shown and described above, as would be understood by those skilled in the art.

Claims

1. The utility model provides a stacker crane, its characterized in that includes the pay-off platform of transport material, the arm of centre gripping material, the pile up platform of pile up material, the moving mechanism of all-round movement arm, the pay-off bench is equipped with the push mechanism of adjustment material position and hinders the mechanism of going that the material moved on the pay-off platform, push mechanism's push direction, the direction of delivery of pay-off platform and the direction of movement that hinders the mechanism of going are two liang mutually perpendicular, the arm includes the claw head, the claw head includes fore-stock and back-jaw, through the relative straight reciprocating motion of power unit between fore-stock and the back-jaw, the claw head passes through slewing mechanism and rotates, be equipped with the regulation pole of adjustment interval between fore-stock and the back-jaw.

2. The stacker crane according to claim 1, wherein the claw head further comprises a top plate, the top plate is fixedly assembled with the front claw, the power mechanism comprises a driving cylinder, the adjusting rod is provided with a fixing portion, an adjusting portion and a blocking portion, the fixing portion is fixedly assembled with a piston rod of the driving cylinder and the rear claw respectively, the blocking portion is blocked and limited with the front claw through movement, the adjusting portion comprises a screw hole and a screw rod, and the adjusting rod enters the screw hole through rotating the screw rod to adjust the distance range between the front claw and the rear claw.

3. A palletiser according to claim 2, wherein the pushing mechanism comprises a pushing plate and a pushing cylinder, the pushing cylinder and the feeding table are fixedly assembled, and a piston rod of the pushing cylinder is fixedly assembled with the pushing plate.

4. The stacker crane according to claim 3, wherein the blocking mechanism comprises a baffle and a driving member, the baffle is driven by the driving member to be blocked with the material, the rotating mechanism comprises a rotary cylinder, and the conveying end of the feeding table is provided with a pull-up portion for placing the material to fall.

5. A palletiser as claimed in claim 2 or 3 wherein the movement mechanism comprises a first transverse rail, a second transverse rail and a longitudinal rail, the robotic arm further comprising a mount between the mount and the second transverse rail, between the second transverse rail and the first transverse rail, and a sliding fit between the first transverse rail and the longitudinal rail.

6. A palletiser as claimed in claim 5 wherein the length extension of the first, second and longitudinal rails is perpendicular in pairs.

7. A palletiser as claimed in claim 6 wherein the linear reciprocating displacement between the mounting and the second transverse rail, between the second transverse rail and the first transverse rail, and between the first transverse rail and the longitudinal rail is by chain or belt drive.

8. A palletiser as claimed in claim 2 wherein the top plate is provided with a sliding guide and a slider, the sliding guide and slider being in sliding engagement, the slider being fixedly mounted with the rear jaw.

9. The stacker crane according to claim 1, wherein the feed table is provided with a plurality of feed rollers, the feed rollers are connected by a chain, and the feed rollers are synchronously rotated by a motor.

10. A palletiser as claimed in claim 1, further comprising a protective screen and a control box, the control box being provided with a control panel.