CN102358519B - Stacking machine - Google Patents

Stacking machine Download PDF

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Publication number
CN102358519B
CN102358519B CN 201110191325 CN201110191325A CN102358519B CN 102358519 B CN102358519 B CN 102358519B CN 201110191325 CN201110191325 CN 201110191325 CN 201110191325 A CN201110191325 A CN 201110191325A CN 102358519 B CN102358519 B CN 102358519B
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CN
China
Prior art keywords
frame
lifting
rod
vertical
pallet
Prior art date
Application number
CN 201110191325
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Chinese (zh)
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CN102358519A (en
Inventor
甘文波
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溧阳市正申饲料机械厂
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Priority to CN 201110191325 priority Critical patent/CN102358519B/en
Publication of CN102358519A publication Critical patent/CN102358519A/en
Application granted granted Critical
Publication of CN102358519B publication Critical patent/CN102358519B/en

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Abstract

The invention relates to a stacking machine of bagged objects, comprising a stacking device, a tray lifting, propelling and conveying device, a mechanical arm and a bag supporting device, wherein the tray lifting, propelling and conveying device consists of a tray feeding device and an out-stacking conveying device; the stacking device is arranged between the tray feeding device and the out-stacking conveying device; the stacking device is in transmission connection with the mechanical arm; the bag supporting device is arranged at one side of the stacking device; the tray feeding device comprises a rack, a conveying frame, a lifting mechanism, a lifting beam and a pushing rod; the mechanical arm comprises a rotating motor, a plurality of grabbing fingers and a grabbing palm, the grabbing palm is fixedly provided with a driving cylinder which is provided with a piston rod in transmission connection with one rotating shaft on the grabbing palm through a rotating block, and each rotating shaft is fixedly provided with a plurality of the grabbing fingers. The stacking machine provided by the invention is simple in structure, smooth in action, capable of continuously finishing stacking work of the bagged objects in the automatic production process, saving in manpower and material resources and high in stacking efficiency.

Description

Stacker
Technical field
The present invention relates to a kind of loading and unloading palletizing apparatus, relate in particular to a kind of stacker of bagged articles.
Background technology
Along with deepening continuously of industrialization degree, do mechanization operation becomes a megatrend of social development, and packing piling industry of today also mostly adopts do mechanization operation.Be transferred to certain position by load-transfer device, the object that is grasped again on the load-transfer device by manipulator again carries out piling, but the transhipment of pack pallet still needs manually to load and unload and storehouse is piled up, labor strength is large, efficient is low, often do not catch up with the needs that the automation continous way is produced. the object on the simultaneously manipulator crawl load-transfer device, particularly bagged articles carries out piling, this Grasp Modes, because object to be grasped is close to load-transfer device, the manipulator object that in the process of crawl, is not easy to hold thoroughly from the bottom, cause and drop or damage object, so manipulator improves labor efficiency to a certain extent, reduced labor strength, but the manipulator general structure is complicated, and the operant level to the workman in the operating process is had relatively high expectations., this far can not meet the needs of production.
Summary of the invention
The purpose of this invention is to provide and a kind ofly in automated production, can finish continuously the storehouse work of piling up of packed object, the stacker that use manpower and material resources sparingly, piling efficient is high.
For achieving the above object, technical scheme of the present invention is a kind of stacker, comprises palletizing apparatus, and its innovation is:
1. also comprise by the pallet feed arrangement and go out to pile up neatly pallet lifting propelling feedway, manipulator and the holder bagging apparatus that feedway forms, palletizing apparatus is at the pallet feed arrangement and go out to pile up neatly between the feedway, the palletizing apparatus transmission is fitted with manipulator, and a side of palletizing apparatus is provided with the holder bagging apparatus;
2. described pallet feed arrangement comprises frame, carriage, lift system, lifting beam and push rod, described carriage is installed on the frame, and roll on the carriage roller shaft is installed, be connected push rod by messenger chain with the feeding motor-driven on the frame, described lift system also by lifting motor and up and down messenger chain be in transmission connection up and down along frame, described lift system, comprise lifting beam, hoist hook, cylinder, triangular plate, promote connecting rod, camshaft and cam, the fixedly load of described cylinder and lifting beam, cam is rotatably connected on lifting beam by camshaft, three angles of triangular plate are respectively by twisted axis and lifting beam, one end of cylinder and lifting connecting rod is hinged, the other end and the cam that promote connecting rod are hinged, hoist hook is captiveed joint as a whole with cam, when hoist hook is in running order, the jointed shaft that described triangular plate links to each other with lifting beam, three axle center of the jointed shaft that the jointed shaft that links to each other with the lifting connecting rod and cam link to each other with the lifting connecting rod point-blank;
3. described palletizing apparatus comprises the piling frame with four pillars, vertical driving motor and vertical driving motor, be sliding combined with pallet along the pillar vertical direction on the described piling frame, described stacker top of the trellis is sliding combined with longitudinal beam, described pallet slides along the pillar vertical direction by vertical motor and vertical chain, described longitudinal beam by vertical motor and vertical cog belt along the longitudinal sliding motion of piling frame; Also be connected with transverse slider by cross motor and horizontal cog belt on the described longitudinal beam, be fixedly connected with manipulator on the transverse slider;
4. described manipulator, comprise that rotary electric machine, a plurality of grabbing refer to and grab the palm, the described palm and the rotary electric machine normal-running fit of grabbing, the described palm of grabbing is provided with two rotating shafts, two shaft parallel settings, and its axis is take the output axis of rotary electric machine as symmetrical, connect by link transmission between two rotating shafts, grab palm and be installed with driving cylinder, driving cylinder is provided with piston rod, piston rod is connected with a rotating shaft transmission of grabbing palm by switch block, all is installed with a plurality of fingers of grabbing in the every rotating shaft;
5. described holder bagging apparatus, comprise holder bag frame, described holder bag frame top has the delivery platform that many load-transfer devices form, rotational support has corresponding active rotating shaft and driven spindle on the holder bag frame, described active rotating shaft is connected with holder bag motor-driven, active rotating shaft and driven spindle are in transmission connection by load-transfer device, also comprise lifting mechanism, lifting mechanism comprises top board and cylinder, the both sides of described holder bag frame are fixedly connected with slide rail, and top board is fixedly connected with holder bag slide block, holder bag slide block and slide rail sliding connection, cylinder is captiveed joint with holder bag frame, and the external part of cylinder links to each other with top board; Be formed with breach between the described adjacent load-transfer device, the head of top board can stretch out on the delivery platform by breach.
Described go out to pile up neatly feedway comprise the stack machine frame and with the conveying roller that goes out the stack machine frame and roll and to cooperate.
The tail end of described frame has the first inhibiting device, describedly go out to pile up neatly the feedway rear portion and also have the pallet storing frame, and the tail end of pallet storing frame also has the second inhibiting device.
Described pallet storing frame is provided with chain drive, and the chain of described chain drive has been provided with towing hook.
Be fixed with four contiguous blocks on the pallet of described palletizing apparatus setting, four pillar upper and lower sides all are fixed with the pillar guide wheel, and the pillar guide wheel on every pillar connects by vertical chain gear, described contiguous block and corresponding vertical chain captive joint.
Has vertical inhibiting device on the pillar of described palletizing apparatus setting.
It is dull and stereotyped that the head of the top board of described holder bagging apparatus also has the holder bag; Has open slot on the described top board.
The piston rod of grabbing the hard-wired driving cylinder of palm of described manipulator is in transmission connection by the middle part of switch block and rotating shaft, and described connecting rod has two, is separately positioned on the both sides of driving cylinder, and two rotating shafts of grabbing the palm setting are connected.
The two ends of every connecting rod of described manipulator all are fixedly connected with and are the contiguous block of arranging in opposite directions, and contiguous block is also captiveed joint with rotating shaft.
After adopting such scheme, stacker of the present invention has been saved manpower and materials because the transhipment of material disc has realized automation, has improved efficient.And manipulator has been owing to having utilized cylinder and connecting rod mechanism, even when the driving cylinder compression gas-pressure is unstable, two handgrips also can be steadily and synchronous working, and part is few, and simply, fault is low, and cost is also low.Be furnished with the holder bagging apparatus in the time of manipulator work, well with the crawl of bagged material safety with pile up, reduced loss and reduced productive costs.Stacker piling process stabilization of the present invention, reliable is specially adapted to factory and carries out the continous way automated production.
Description of drawings
Fig. 1 is the structural representation of stacker of the present invention;
Fig. 2 is the structural representation that the pallet lifting advances feedway among Fig. 1;
Fig. 3 is the birds-eye view of Fig. 2;
Fig. 4 is the left view of Fig. 2;
Fig. 5 is the feed motion schematic diagram of Fig. 2;
Fig. 6 is the structural representation of palletizing apparatus among Fig. 1;
Fig. 7 is the left view of Fig. 6;
Fig. 8 is the vertical motion transmission schematic diagram of Fig. 6;
Fig. 9 is the vertical and horizontal transmission schematic diagram of Fig. 6;
Figure 10 is the structural representation of holder bagging apparatus among Fig. 1;
Figure 11 is the A-A cutaway view of Figure 10;
Figure 12 is the structural representation of manipulator among Fig. 1;
Figure 13 is the birds-eye view of Figure 12;
Figure 14 is the B-B cutaway view of Figure 12.
The specific embodiment
Embodiment below in conjunction with accompanying drawing provides is described in further detail the present invention.
Referring to Fig. 1~14, a kind of stacker, comprise palletizing apparatus 2, also comprise by pallet feed arrangement 1-1 and go out to pile up neatly the pallet lifting that feedway 1-2 forms and advance feedway 1, hold in the palm bagging apparatus 3 and manipulator 4, palletizing apparatus 2 is at pallet feed arrangement 1-1 and go out to pile up neatly between the feedway 1-2, palletizing apparatus 2 transmissions are fitted with manipulator 4, and a side of palletizing apparatus 2 is provided with holder bagging apparatus 3.
Described pallet feed arrangement 1-1 comprises frame 1-1-1 referring to Fig. 1~5, carriage 1-1-2, lift system 1-1-3, lifting beam 1-1-4 and push rod 1-1-5, described carriage 1-1-2 is installed on the frame 1-1-1, and roller shaft 1-1-6 is installed on the carriage 1-1-2, frame 1-1-1 is upper by messenger chain 1-1-7 and the feeding motor 1-1-8 push rod 1-1-5 that is in transmission connection, described lift system 1-1-3 also by lifting motor 1-1-15 and up and down messenger chain 1-1-16 be in transmission connection up and down along frame 1-1-1, described lift system 1-1-3, comprise lifting beam 1-1-4, hoist hook 1-1-13, cylinder 1-1-9, triangular plate 1-1-10, promote connecting rod 1-1-11, camshaft 1-1-14 and cam 1-1-12, described cylinder 1-1-9 and fixedly load of lifting beam 1-1-4, cam 1-1-12 is rotatably connected on lifting beam 1-1-4 by camshaft 1-1-14, three angles of triangular plate 1-1-10 are respectively by twisted axis and lifting beam 1-1-4, the end of cylinder 1-1-9 and lifting connecting rod 1-1-11 is hinged, the other end and the cam 1-1-12 that promote connecting rod 1-1-11 are hinged, hoist hook 1-1-13 is captiveed joint as a whole with cam 1-1-12, when hoist hook 1-1-13 is in running order, the jointed shaft that described triangular plate 1-1-10 links to each other with lifting beam 1-1-4, three axle center of the jointed shaft that the jointed shaft that links to each other with lifting connecting rod 1-1-11 and cam 1-1-12 link to each other with lifting connecting rod 1-1-11 point-blank, here utilized in the connecting rod mechanism, three axle center become this constructional feature of dead point point-blank, can guarantee to captive joint with cam the lifting of the pallet safety that as a whole hoist hook holds up, and utilize low power cylinder just can hold up several layers of pallet, raise the efficiency greatly, then push the pallet of the bottom to the piling frame.Provide convenience for the piling work of next process, use manpower and material resources sparingly, the pallet elevating safety is reliable, efficient is high.
Described go out to pile up neatly feedway 1-2 comprise stack machine frame 1-2-1 and with the conveying roller 1-2-2 that goes out stack machine frame 1-2-1 and roll and to cooperate; The tail end of described frame 1-1 has the first inhibiting device 1-3; Describedly go out to pile up neatly feedway 1-2 rear portion and also have pallet storing frame 1-4, and the tail end of pallet storing frame 1-4 also has the second inhibiting device 1-1-5; Described pallet storing frame 1-4 is provided with chain drive 1-6, and the chain of described chain drive 1-6 has been provided with towing hook 1-7.
Comprise the piling frame 2-1 with four pillar 2-2, vertical driving motor 2-6 and vertical driving motor 2-7 referring to the described palletizing apparatus 2 in Fig. 6~9, described piling frame 2-1 is upper to be sliding combined with pallet 2-3 along pillar 2-2 vertical direction, described piling frame 2-1 top slide is combined with longitudinal beam 2-4, described pallet 2-3 slides along pillar 2-2 vertical direction by vertical motor 2-6 and vertical chain 2-8, described longitudinal beam 2-4 by vertical motor 2-7 and vertical cog belt 2-9 along piling frame 2-1 longitudinal sliding motion; Also be connected with transverse slider 2-16 by cross motor 2-14 and horizontal cog belt 2-15 on the described longitudinal beam 2-4, be fixedly connected with manipulator 4 on the transverse slider 2-16.Described longitudinal beam slides along the piling frame by vertical motor and vertical cog belt, also is connected with transverse slider by cross motor and horizontal cog belt on the described longitudinal beam.Be in transmission connection by cog belt like this, transmission stability is good, and is simple in structure.
Be fixed with 4 contiguous block 2-10 on the pallet 2-3 that described palletizing apparatus 2 arranges, four pillar 2-2 upper and lower sides all are fixed with pillar guide wheel 2-11, pillar guide wheel 2-11 on every pillar 2-2 is in transmission connection by vertical chain 2-8, described contiguous block 2-10 and corresponding vertical chain 2-8 captive joint.
Has vertical inhibiting device 2-13 on the pillar 2-2 that described palletizing apparatus 2 arranges.
Referring to Fig. 7,10,11 described holder bagging apparatus 3, comprise holder bag frame 3-1, described holder bag frame 3-1 top has the delivery platform 3-2 that many load-transfer device 3-5 form, the upper rotational support of holder bag frame 3-1 has corresponding active rotating shaft 3-3 and driven spindle 3-4, described active rotating shaft 3-3 and holder bag motor 3-6 are in transmission connection, active rotating shaft 3-3 and driven spindle 3-4 are in transmission connection by load-transfer device 3-5, also comprise lifting mechanism 3-7, lifting mechanism 3-7 comprises top board 3-7-1 and cylinder 3-7-2, the both sides of described holder bag frame 3-1 are fixedly connected with slide rail 3-8, top board 3-7-1 is fixedly connected with holder bag slide block 3-10, holder bag slide block 3-10 and slide rail 3-8 sliding connection, cylinder 3-7-2 is captiveed joint with holder bag frame 3-1, and the external part of cylinder 3-7-2 links to each other with top board 3-7-1; Be formed with breach 3-2-1 between the described adjacent load-transfer device 3-5, the head of top board 3-7-1 can stretch out on the delivery platform 3-2 by breach 3-2-1; The head of the top board 3-7-1 of described holder bagging apparatus 3 also has the dull and stereotyped 3-7-4 of holder bag; Has open slot 3-7-3 on the described top board 3-7-1.When manipulator grasps operation, only need to by cylinder top board upwards be lifted by the good program of predetermined set like this, just can hold up the bagged material on load-transfer device, make things convenient for manipulator to grasp operation, crawl firmly can not damage material.
Referring to Figure 12~14, described manipulator 4, comprise rotary electric machine 4-1, a plurality of grabbing refers to 4-2 and grabs palm 4-3, described palm 4-3 and the rotary electric machine 4-1 normal-running fit of grabbing, described grabbing on the palm 4-3 is provided with two rotating shaft 4-4, two rotating shaft 4-4 be arranged in parallel, and its axis is take the output axis of rotary electric machine 4-1 as symmetrical, be in transmission connection by connecting rod 4-8 between two rotating shaft 4-4, grab on the palm 4-3 and be installed with driving cylinder 4-5, driving cylinder 4-5 is provided with piston rod 4-6, and piston rod 4-6 is in transmission connection by switch block 4-7 and a rotating shaft 4-4 who grabs on the palm 4-3, all is installed with a plurality of grabbing on the every rotating shaft 4-4 and refers to 4-2; The piston rod 4-6 that grabs the upper hard-wired driving cylinder 4-5 of palm 4-3 of described manipulator 4 is in transmission connection by the middle part of switch block 4-7 and rotating shaft 4-4, described connecting rod 4-8 has two, be separately positioned on the both sides of driving cylinder 4-5, be connected grabbing the upper two rotating shaft 4-4 that arrange of palm 4-3; The two ends of every connecting rod 4-8 of described manipulator 4 all are fixedly connected with and are the contiguous block 4-9 that arranges in opposite directions, and contiguous block 4-9 is also captiveed joint with rotating shaft 4-4.This structure is when the crawl material, only need to start driving cylinder, by the piston rod transmission so that the rotating shaft that cooperates with the piston rod transmission rotate, drive grabbing in the rotating shaft and point to interior lateral movement, equally also driven the link work that links to each other with rotating shaft, power transmission to another root rotating shaft, so that another root rotating shaft moves equally to the inside, thereby is realized grabbing the function that finger can grasp material.The present invention is not only simple in structure, easy to operate but also grasp effective.
Referring to Fig. 1,2,3,6,7,8, the present invention at first is placed on empty charging tray (in 10) on the carriage 1-1-2 in implementation process, start lifting motor 1-1-15 by control box 11, the lifting beam 1-4 of described lift system 1-1-3 moves downward along frame 1-1-1 with messenger chain 1-1-16 up and down, lift system 1-1-3 descends, be arranged on bright the stopping of lower position switch of frame 1-1-1, cylinder 1-1-9 work, open hoist hook 1-1-13, hook from the bottom up second material disc, above belongings charging tray is promoted together, the jointed shaft that this moment, described triangular plate 1-1-10 linked to each other with lifting beam 1-1-4, three axle center of the jointed shaft that the jointed shaft that links to each other with lifting connecting rod 1-1-11 and cam 1-1-12 link to each other with lifting connecting rod 1-1-11 point-blank, start lifting motor 1-1-15, lifting beam 1-4 moves up to along frame 1-1-1 with messenger chain 1-1-16 up and down that the lifting position-limit switch is bright to be stopped, feeding motor 1-1-8 starting, the push rod 1-1-5 that is in transmission connection sends into the most the lower layer of material disc on the pallet 2-3 of palletizing apparatus 2 at roller, carriage 1-1-2 returns initial position.Because the transhipment of material disc has realized automation, has saved manpower and materials, has improved efficient.
Material disc enters the pallet 2-3 of palletizing apparatus 2, described pallet 2-3 slides into the piling position by vertical motor 2-6 and vertical chain 2-8 along pillar 2-2 vertical direction, at this moment described longitudinal beam 2-4 by vertical motor 2-7 and vertical cog belt 2-9 along piling frame 2-1 longitudinal sliding motion; Also be connected with transverse slider 2-16 by cross motor 2-14 and horizontal cog belt 2-15 on the described longitudinal beam 2-4, be fixedly connected with manipulator 4 on the transverse slider 2-16, when manipulator 4 with transverse slider 2-16 horizontal cog belt 2-15 move to holder bagging apparatus 3 above, when namely needing the bagged material top of piling, start manipulator 4 work, manipulator 4 can rotate arbitrarily by self rotary electric machine 4-1 and carry out crawl work, and it is grabbed and refers to 4-2 in opened condition
When bagged material enters holder during bagging apparatus 3 through transmission belt, holder bag motor 3-6 starts, bagged material moves with many load-transfer devices 5, to the delivery platform 2 that is formed by many load-transfer devices 5 that drops on holder bagging apparatus 3 tops fully, holder bag motor 3-6 shuts down, two cylinder 3-7-2 operations of holder bag frame 3-1 bottom, the external part of cylinder 3-7-2 links to each other with top board 3-7-1, top board 3-7-1 is fixedly connected with holder bag slide block 3-10, along around four slide rail 3-8 bagged material is held up, be convenient to manipulator 4 material picked up.
Hold in the palm bagging apparatus 3 when bagged material enters, manipulator 4 obtains signal, driving cylinder 4-5 work, drive the connecting rod 4-8 on both sides, make to grab to refer to simultaneously synchronization action of 4-2, material is steadily caught, and pile up on material disc, manipulator among the present invention has been owing to having utilized connecting rod, even when driving cylinder 4-5 compression gas-pressure is unstable, two handgrips also can be steadily and synchronous working, part is few, simply, fault is low, and cost is also low.
When pile up by PLC control one deck finish after, by the vertical motion system utilization vertical inhibiting device 2-13 of control box 11 by control palletizing apparatus 2 with the pallet 2-3 layer height that descends, continue to pile up, until decline after setting the number of plies and finishing, the lower limit lamp is bright, going out to pile up neatly feedway 1-2 starts, the pallet storing frame 1-4 that goes out to pile up neatly feedway 1-2 is provided with chain drive 1-6, the chain of described chain drive 1-6 has been provided with towing hook 1-7, hooks pallet 2-3 bottom and outwards moves to that spacing lamp is bright to be stopped.
Stacker of the present invention is simple in structure, and stable action can be finished the storehouse work of piling up to packed object continuously in automated production, uses manpower and material resources sparingly, piling efficient is high.

Claims (9)

1. a stacker comprises palletizing apparatus (2), it is characterized in that:
1. also comprise by pallet feed arrangement (1-1) and go out to pile up neatly the pallet lifting that feedway (1-2) forms and advance feedway (1), holder bagging apparatus (3) and manipulator (4), palletizing apparatus (2) is positioned at pallet feed arrangement (1-1) and goes out to pile up neatly between the feedway (1-2), palletizing apparatus (2) transmission is fitted with manipulator (4), and a side of palletizing apparatus (2) is provided with holder bagging apparatus (3);
2. described pallet feed arrangement (1-1) comprises frame (1-1-1), carriage (1-1-2), lift system (1-1-3), lifting beam (1-1-4) and push rod (1-1-5), described carriage (1-1-2) is installed on the frame (1-1-1), and roller shaft (1-1-6) is installed on the carriage (1-1-2), frame (1-1-1) is upper by messenger chain (1-1-7) and feeding motor (1-1-8) push rod (1-1-5) that is in transmission connection, described lift system (1-1-3) also by lifting motor (1-1-15) and up and down messenger chain (1-1-16) be in transmission connection up and down along frame (1-1-1), described lift system (1-1-3), comprise lifting beam (1-1-4), hoist hook (1-1-13), cylinder (1-1-9), triangular plate (1-1-10), promote connecting rod (1-1-11), camshaft (1-1-14) and cam (1-1-12), described cylinder (1-1-9) and fixedly load of lifting beam (1-1-4), cam (1-1-12) is rotatably connected on lifting beam (1-1-4) by camshaft (1-1-14), three angles of triangular plate (1-1-10) are respectively by hinge and lifting beam (1-1-4), one end of cylinder (1-1-9) and lifting connecting rod (1-1-11) is hinged, the other end and the cam (1-1-12) that promote connecting rod (1-1-11) are hinged, hoist hook (1-1-13) is captiveed joint as a whole with cam (1-1-12), when hoist hook (1-1-13) is in running order, the jointed shaft that described triangular plate (1-1-10) links to each other with lifting beam (1-1-4), three axle center of the jointed shaft that the jointed shaft that links to each other with lifting connecting rod (1-1-12) and cam (1-1-12) link to each other with lifting connecting rod (1-1-11) point-blank;
3. described palletizing apparatus (2) comprises the piling frame (2-1) with four pillars (2-2), vertical driving motor (2-6) and vertical driving motor (2-7), described piling frame (2-1) is upper to be sliding combined with pallet (2-3) along pillar (2-2) vertical direction, described piling frame (2-1) top slide is combined with longitudinal beam (2-4), described pallet (2-3) slides along pillar (2-2) vertical direction by vertical motor (2-6) and vertical chain (2-8), described longitudinal beam (2-4) by vertical motor (2-7) and vertical cog belt (2-9) along piling frame (2-1) longitudinal sliding motion; Also be connected with transverse slider (2-16) by cross motor (2-14) and horizontal cog belt (2-15) on the described longitudinal beam (2-4), be fixedly connected with manipulator (4) on the transverse slider (2-16);
4. described holder bagging apparatus (3), comprise holder bag frame (3-1), described holder bag frame (3-1) top has the delivery platform (3-2) that many load-transfer devices (3-5) form, the upper rotational support of holder bag frame (3-1) has corresponding active rotating shaft (3-3) and driven spindle (3-4), described active rotating shaft (3-3) is in transmission connection with holder bag motor (3-6), active rotating shaft (3-3) and driven spindle (3-4) are in transmission connection by load-transfer device (3-5), also comprise lifting mechanism (3-7), lifting mechanism (3-7) comprises top board (3-7-1) and cylinder (3-7-2), the both sides of described holder bag frame (3-1) are fixedly connected with slide rail (3-8), top board (3-7-1) is fixedly connected with holder bag slide block (3-10), holder bag slide block (3-10) and slide rail (3-8) sliding connection, cylinder (3-7-2) is captiveed joint with holder bag frame (3-1), and the external part of cylinder (3-7-2) links to each other with top board (3-7-1); Be formed with breach (3-2-1) between the described adjacent load-transfer device (3-5), the head of top board (3-7-1) can stretch out on the delivery platform (3-2) by breach (3-2-1);
5. described manipulator (4), comprise rotary electric machine (4-1), a plurality ofly grab finger (4-2) and grab the palm (4-3), the described palm (4-3) and rotary electric machine (4-1) normal-running fit of grabbing, described grabbing is provided with two rotating shafts (4-4) on the palm (4-3), two rotating shafts (4-4) be arranged in parallel, and its axis is take the output axis of rotary electric machine (4-1) as symmetrical, be in transmission connection by connecting rod (4-8) between two rotating shafts (4-4), grab and be installed with driving cylinder (4-5) on the palm (4-3), driving cylinder (4-5) is provided with piston rod (4-6), piston rod (4-6) is in transmission connection by switch block (4-7) and a rotating shaft (4-4) of grabbing on the palm (4-3), all is installed with a plurality of fingers (4-2) of grabbing in the every rotating shaft (4-4).
2. stacker according to claim 1 is characterized in that: described go out to pile up neatly feedway (1-2) comprise stack machine frame (1-2-1) and with the conveying roller (1-2-2) that goes out stack machine frame (1-2-1) and roll and cooperate.
3. stacker according to claim 1, it is characterized in that: the tail end of described frame (1-1) has the first inhibiting device (1-3); Describedly go out to pile up neatly feedway (1-2) rear portion and also have pallet storing frame (1-4), and the tail end of pallet storing frame (1-4) also has the second inhibiting device (1-1-5).
4. stacker according to claim 3, it is characterized in that: described pallet storing frame (1-4) is provided with chain drive (1-6), and the chain of described chain drive (1-6) has been provided with towing hook (1-7).
5. stacker according to claim 1, it is characterized in that: be fixed with 4 contiguous blocks (2-10) on the pallet (2-3) that described palletizing apparatus (2) arranges, four pillars (2-2) upper and lower side all is fixed with pillar guide wheel (2-11), pillar guide wheel (2-11) on the every pillar (2-2) is in transmission connection by vertical chain (2-8), described contiguous block (2-10) and corresponding vertical chain (2-8) captive joint.
6. stacker according to claim 5 is characterized in that: have vertical inhibiting device (2-13) on the pillar (2-2) that described palletizing apparatus (2) arranges.
7. stacker according to claim 1 is characterized in that: the head of the top board (3-7-1) of described holder bagging apparatus (3) also has holder bag dull and stereotyped (3-7-4); Has open slot (3-7-3) on the described top board (3-7-1).
8. stacker according to claim 1, it is characterized in that: the piston rod (4-6) of grabbing the upper hard-wired driving cylinder (4-5) of the palm (4-3) of described manipulator (4) is in transmission connection by the middle part of switch block (4-7) with rotating shaft (4-4), described connecting rod (4-8) has two, be separately positioned on the both sides of driving cylinder (4-5), will grab upper two rotating shafts (4-4) that arrange of the palm (4-3) and be connected.
9. stacker according to claim 7 is characterized in that: the two ends of the every connecting rod (4-8) of described manipulator (4) all are fixedly connected with and are the contiguous block (4-9) of arranging in opposite directions, and contiguous block (4-9) is also captiveed joint with rotating shaft (4-4).
CN 201110191325 2011-07-09 2011-07-09 Stacking machine CN102358519B (en)

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Application Number Priority Date Filing Date Title
CN 201110191325 CN102358519B (en) 2011-07-09 2011-07-09 Stacking machine

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Application Number Priority Date Filing Date Title
CN 201110191325 CN102358519B (en) 2011-07-09 2011-07-09 Stacking machine

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CN102358519A CN102358519A (en) 2012-02-22
CN102358519B true CN102358519B (en) 2013-04-17

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CN102887372A (en) * 2011-07-23 2013-01-23 溧阳市正申饲料机械厂 Stacking transmission system
CN102887371A (en) * 2011-07-23 2013-01-23 溧阳市正申饲料机械厂 Palletizing and grabbing mechanism
CN102807107B (en) * 2012-08-20 2015-03-25 王超 Loading and unloading equipment
CN104590899B (en) * 2014-12-11 2016-09-07 云南烟叶复烤有限责任公司麒麟复烤厂 A kind of former cigarette sack automatic stacker
CN105345331B (en) * 2015-12-01 2017-02-22 重庆江北区长安产业有限公司 Rotating mechanism of automatic production line of chain transmission mounting plate assemblies
CN105501989B (en) * 2016-01-25 2018-03-23 山西安顺建材有限公司 Inorganic fire expanded perlite thermal-nsulation plate automatic docking device
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CN105564992B (en) * 2016-01-31 2017-11-10 泰石岩棉有限公司 A kind of quick lay-up system of Novel rock wool single channel
CN106044244B (en) * 2016-07-22 2018-05-29 佛山市中德诺克搬运设备有限公司 A kind of full-automatic bag cargo palletizing apparatus
CN107472891A (en) * 2017-07-13 2017-12-15 柳州福能机器人开发有限公司 Transport part gripper
CN107381020A (en) * 2017-07-13 2017-11-24 柳州福能机器人开发有限公司 Carry the gripper of part
CN107487624A (en) * 2017-07-13 2017-12-19 柳州福能机器人开发有限公司 Workpiece handling gripper
CN108946178B (en) * 2018-07-09 2020-12-01 宜昌九鼎牧业有限公司 Feed package stacking device and method
CN109823846B (en) * 2019-04-03 2020-12-25 江西联大高科有限责任公司 Automatic stacking machine and automatic stacking method applied to feed packaging bags
CN111153344A (en) * 2019-12-26 2020-05-15 桐乡市建春塑业股份有限公司 Transfer mechanism of plastic granules storage bag

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