CN107187881A - A kind of stacking streamline - Google Patents
A kind of stacking streamline Download PDFInfo
- Publication number
- CN107187881A CN107187881A CN201710525814.0A CN201710525814A CN107187881A CN 107187881 A CN107187881 A CN 107187881A CN 201710525814 A CN201710525814 A CN 201710525814A CN 107187881 A CN107187881 A CN 107187881A
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- CN
- China
- Prior art keywords
- shovel board
- fixed
- push
- support
- row
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/10—Loading land vehicles using conveyors covering the whole length of vehicle trains
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/20—Loading covered vehicles
Abstract
The invention discloses a kind of stacking streamline.Existing carloader poor universality, unstable when packing case is piled up, positioning is inaccurate, easily stuck, container top is difficult to pile up.Packing case is placed in Expansion belt conveyor by the manipulator of the present invention, and the packing case in Expansion belt conveyor is reached delivery drum device by flexible drum apparatus；Walking mechanism drives frame；Delivery drum device transmits packing case；Single case pushes part and individual packaging case is pushed into shovel board part from delivery drum device, and two orthopaedic components of both sides are ajusted before packing case enters shovel board part to packing case, and packing case is arranged in a row by shovel board part；Shovel board drive disk assembly realizes shovel board part and row's push part synchronization lifting；Two row's push part release the packing case of a row on shovel board part through push pedal.The present invention solves the problem of efficiency when conventional packing case is piled up is low, unstable, positioning is inaccurate, easily stuck, container top is difficult to pile up.
Description
Technical field
The invention belongs to field of mechanical technique, and in particular to a kind of stacking streamline.
Background technology
, it is necessary to which article to be loaded to the container for transporting goods in the manufacturing enterprises such as beverage, tobacco, grain and oil, food, household electrical appliances
In formula lorry or container, at present generally using manually in compartment by the way of store items, labor intensity is big, operating efficiency
Low, severe working environment causes damage to operator's health.Also use into pile goods and be directly loaded into lorry with fork truck
On mode, this mode needs to reclaim tray, and the retrieval management of tray is more difficult；And goods is away from compartment wall space
Greatly, the shipped quantity of goods is few, and cost of transportation is high.It is according to target material and the existing usual specification of carloader is fixed
What size was developed on demand, it is again to offset on box width direction that bull ladle, which is cased to the packing box transmission platform of carloader,
, therefore the form fixed with carloader using packing box transmission platform can cause versatility poor, and lorry when stopping inclined even
There is the danger that carloader is operationally collided with compartment inwall；And use packing box transmission platform and the unfixed shape of carloader
Formula, it may appear that the problem of carloader positioning is inaccurate, in addition, also there is unstable, easy stuck and packaging when packing case is piled up
The problem of box top is difficult to pile up.In order to solve these problems, the various aspects of Palletizer all need development to improve.
The content of the invention
The purpose of the present invention is, in view of the shortcomings of the prior art there is provided a kind of stacking streamline, to solve conventional packing case code
Efficiency is low, unstable when putting, position the problem of inaccurate, easily stuck and container top is difficult to pile up.
The technical solution adopted in the present invention is：
The present invention including lifting platform, manipulator and the Expansion belt conveyor being arranged on lifting platform, flexible drum apparatus and
Stacking machine；Described stacking machine include walking mechanism, frame and rack-mounted shovel board drive disk assembly, shovel board part,
Arrange push part, orthopaedic component, single case and push part and delivery drum device；Packing case is placed on Expansion belt conveyor by manipulator
On, the packing case in Expansion belt conveyor is reached delivery drum device by flexible drum apparatus；Described walking mechanism driving frame；
Described delivery drum device transmission packing case；Single case pushes part and individual packaging case is pushed into shovel board portion from delivery drum device
Part, two orthopaedic components of both sides are ajusted before packing case enters shovel board part to packing case, and shovel board part is by packing case
Arrange in a row；Described shovel board drive disk assembly realizes shovel board part and row's push part synchronization lifting；Two row's push part are through pushing away
Plate releases the packing case of a row on shovel board part.
Described flexible drum apparatus includes connecting rod, the first roller and two flexible roller groups；Flexible roller group includes
Connecting plate, the first shearing fork telescopic mechanism, the second shearing fork telescopic mechanism, sleeve, spring and three mobile supports；Three mobile supports
Spacing is set；Mobile frame bottom is provided with roller, and top is nested with sleeve, and sleeve is connected with mobile support by spring；Connection
Plate is fixed with sleeve；The vertical chute that connecting plate is opened up constitutes rolling friction pair with roller, and roller is hinged on Expansion belt conveyor
On minor details output expansion bracket.Adjacent mobile support is connected by the first shearing fork telescopic mechanism, outside the mobile support of output end
Side sets the second shearing fork telescopic mechanism；Second shearing fork telescopic mechanism includes a scissor unit；Scissor unit is hinged including middle part
Two scissors rods；Second shearing fork telescopic mechanism is close to one end end of mobile support scissors rod upward and corresponding mobile branch
Frame is hinged, and end scissors rod directed downwardly is hinged with the sleeve on corresponding mobile support；Close to mobile in first shearing fork telescopic mechanism
The support and scissors rod of end upward is hinged with corresponding mobile support, end scissors rod directed downwardly with corresponding mobile support
Sleeve is hinged；Two flexible roller group centerings are set, each pair scissor unit top, the middle part of two flexible roller group correspondence positions
And bottom jointed shaft is fixed by connecting rod；The first roller is nested with the connecting rod at top；Adjacent first roller passes through
A piece elastic poly V-belt connection, one of them first roller is driven by flexible Rolling motor；It is located in second shearing fork telescopic mechanism
The outermost end connecting rod of bottom and the transmission support of delivery drum device are fixed.Roller is contacted with the vertical chute bottom of connecting plate
Under state, minor details output expansion bracket upper surface minimum point and the first nearest roller peak of Expansion belt conveyor are located at same height
Degree.
Described shovel board part pushes away bending part, sloping desk, bottom angled plate, shovel board electric cylinder, pressing plate, first including horizontal
Servomotor, shovel board support, the first driving pulley, duplex belt wheel, the first driven pulley, shovel board timing belt, the first timing belt,
Two driving pulleys, the second driven pulley, the second timing belt, round guide, bending part contiguous block, lever and the second servomotor.Shovel
The driving shovel board support lifting of plate drive disk assembly；Sloping desk is fixed on shovel board support；The first described servomotor is fixed on
On shovel board support, and the first driving pulley is driven through decelerator；One belt wheel of the first driving pulley and duplex belt wheel passes through shovel
Plate timing belt is connected；Another belt wheel of duplex belt wheel is connected with the first driven pulley by the first timing belt；First main belt
Wheel, duplex belt wheel and the first driven pulley are hinged on shovel board support；Second driving pulley and the second driven pulley are hinged
Connected on shovel board support, and by the second timing belt；That side that first timing belt and the second timing belt are nuzzled is pressed from both sides by pressing plate
Fasten；The opposite side of first timing belt and the second timing belt is respectively and fixedly provided with bending part contiguous block；Two pieces of bending part contiguous blocks with
Two round guides respectively constitute sliding pair, and described round guide is fixed on shovel board support；The horizontal bending part that pushes away is positioned at sloping desk
Top, the guide groove and two pieces of bending part contiguous blocks that the horizontal bending plate for pushing away bending part two ends is opened up through sloping desk is solid respectively
It is fixed；One end of four lever cradling pieces is hinged with shovel board support, and is driven respectively by second servomotor；Four levers
The other end of cradling piece is fixed with lever；It is arranged in the middle part of lever cradling piece in the resettlement groove that shovel board support is opened up；Lever
It is arranged on shovel board support and sloping desk is anterior；Bottom angled plate is arranged on shovel board frame bottom, and constitutes cunning with shovel board support
Dynamic pair；Shovel board electric cylinder is fixed on shovel board support, and piston rod and the bottom angled plate of shovel board electric cylinder are fixed；Sloping desk and
The angle of bottom angled plate and horizontal plane is 5~8 °.
Described row's push part includes pushing away case servomotor, pushing away box bracket, push away case electric cylinder and round slide-bar.Described pushes away case
Electric cylinder is fixed on swing rod, and swing rod is hinged with pushing away box bracket；Round slide-bar and push away case electric cylinder cylinder body constitute glide direction with
Push away the parallel sliding pair of the piston rod of case electric cylinder；It is described push away case servomotor and be fixed on push away on box bracket, push away case servo electricity
Machine pushes away driving pulley through decelerator driving row, and row, which pushes away driving pulley and is hinged on three drive pulleys pushed away on box bracket, passes through row
Push away timing belt connection；Row pushes away timing belt and fixed positioned at the band section erected up and down between straight arranged two drive pulleys with swing rod；Two
Individual row's push part is arranged on the sloping desk two ends of shovel board part, and two row's push part push away box bracket by shovel board drive disk assembly
Driving lifting；The push away electronic cylinder piston rod of case and the round slide-bar of one of row's push part are fixed with push pedal one end, another row
The push away electronic cylinder piston rod of case and the round slide-bar of push part are fixed with the push pedal other end.
Described orthopaedic component include the 3rd servomotor, the 4th servomotor, shaping support, shaping guide rail, trim panel,
Elastic plectrum, slide unit and shaping screw mandrel.The 3rd described servomotor drives shaping screw mandrel through decelerator；Described shaping screw mandrel
It is supported on by bearing on shaping support；Slide unit and shaping screw mandrel constitute screw pair, and with the shaping that is fixed on shaping support
Guide rail constitutes sliding pair；The 4th described servomotor is fixed on slide unit；Gear is fixed on the output shaft of the 4th servomotor
On, and engaged with rack；Trim panel is arranged on above delivery drum device, and is fixed with the end of rack and guiding optical axis；Tooth
Bar and guiding optical axis constitute sliding pair with shaping support；Elastic plectrum rear end is fixed with shaping front edge of board, trim panel rear end with
Front edge of board is oriented to fix；The elastic plectrum of two orthopaedic components is symmetrical arranged, in the splayed that rear portion is wide, front portion is narrow；Two whole
The guide plate of shape part is symmetrical arranged, in the splayed that rear portion is wide, front portion is narrow.
Described shovel board drive disk assembly includes drive block, rotating bar, the 5th servomotor, shovel board driving chain mechanism, shovel board
Drive rail, two grades of guide rails, two grades of sliding blocks, two grades of screw mandrels and two grades of servomotors.The 5th described servomotor is fixed on machine
On frame, and rotating bar is driven through reduction box and a shovel board driving chain mechanism；Described rotating bar is supported on frame by bearing
On, and drive another shovel board driving chain mechanism；Shovel board driving chain mechanism is provided with tensioning wheel and directive wheel；Two shovel board driving-chains
Branch construction is fixed with drive block on rotating bar two ends, the driving-chain of shovel board driving chain mechanism；Two pieces of drive blocks are with being fixed on
Two shovel board drive rails of frame both sides respectively constitute sliding pair；Two grades of guide rails are fixed with drive block；Two grades of guide rails and two
Level sliding block constitutes sliding pair；Two grades of sliding blocks and two grades of screw mandrels constitute screw pair；Two grades of screw mandrels are by be fixed on drive block two grades
Servomotor drives；Two pieces of two grades of sliding blocks are fixed with shovel board part, and are fixed respectively with two row's push part.
Described lifting platform includes scissors fork elevating mechanism and support platform；Support platform is driven by scissors fork elevating mechanism and risen
Drop；Support platform both sides are provided with fence, and side fence is provided with passway.Support platform output end be provided with protrusive board, protrusive board it is upper
Surface is concordant with support platform upper surface；Protrusive board bottom is provided with contact-making switch.
Described single case, which pushes part, to be included guide rod, moves up and down servomotor, push rod, push slide rail, push transmission
Band mechanism, push motor and slide plate.Described push motor is fixed in frame, and pushes transmission belt machine through decelerator driving
Structure；Described slide plate is fixed on the transmission belt for pushing belt mechanism, and is constituted and slided with the push slide rail that is fixed in frame
Dynamic pair；Servomotor is moved up and down to be fixed on slide plate, and driving push rod moves up and down；Described push rod and two guide rods are consolidated
Fixed, two guide rods constitute sliding pair with slide plate；Push rod is arranged on directly over delivery drum device.
Described delivery drum device includes the 6th servomotor, transmission sprocket wheel, transmission support and second tin roller.Described
Transmission support is fixed in frame；One, which ranked second roller, is equidistantly hinged on transmission support, and second tin roller side is fixed with two
Sprocket wheel is transmitted, all transmission sprocket wheels are located at the same side；The transmission sprocket wheel of adjacent second tin roller is connected by conveyor chain；Wherein one
The jointed shaft of individual second tin roller is driven by the 6th servomotor.
Described walking mechanism includes walking servomotor, wheel and walker；Four wheels are hinged on walker, each
Wheel is operated alone by a walking servomotor.
The device have the advantages that：
The present invention can not only meet usual stacking, and can realize full-automatic in stacking to closed container
Change, it is unattended, greatly improve efficiency, save labour cost, and solve efficiency when conventional packing case is piled up it is low, unstable,
The problem of positioning is inaccurate, easily stuck and container top is difficult to pile up.The presence of protrusive board and contact-making switch makes on lifting platform
Obtain lorry parking and be more easy to manipulation, be not in the situation that lorry knocks lifting platform.The vertical cunning of flexible drum apparatus upper junction plate
Groove makes telescopic belt function free bend a certain amount of, has complied with the certainty bent when Expansion belt conveyor minor details output expansion bracket stretches out
Trend, will not cause minor details to export the damage of union piece between expansion bracket and connecting plate；The vertical chute bottom of connecting plate and
The limitation of spring maximum compressibility prevents Expansion belt conveyor overbending jointly.Orthopaedic component adjusts two pieces of trim panels and two panels bullet
Property plectrum position, make two panels elastic plectrum stretch into above shovel board part needed for position, two panels elastic plectrum plays to packing case
Effect is ajusted, the effect of being accurately positioned especially is played to the packing case that last in a row enters shovel board part.Shovel board part
Bottom angled plate is extended, it is ensured that the packing case of two packing case last layers of traverse piles up success；Packing case is pushed into shovel board
After part, packing case is blocked in lever rising prevents landing, lever decline when row pushes away；Sloping desk and bottom angled plate are tilted and set
Put, it is ensured that packing case is steadily released.Flexible drum apparatus is provided with roller, and stacking machine is provided with wheel, stretch drum apparatus and stacking
Machine can be finely tuned in the direction of the width, it is to avoid bump against with stopping inclined lorry, and packing case is accurately entered in container.Two grades
Servomotor drives two grades of screw mandrels, and two grades of screw mandrels drive two grades of sliding blocks to rise, so as to drive shovel board part further up into car
Railway carriage or compartment top.
Brief description of the drawings
Fig. 1 is overall structure stereogram of the invention；
Fig. 2 is the structural perspective of stacking machine in the present invention；
Fig. 3 is the structural perspective of flexible drum apparatus in the present invention；
Fig. 4-1 is the structural perspective of shovel board part in the present invention；
Fig. 4-2 is the side view of shovel board part in the present invention；
Fig. 4-3 is the partial sectional view of shovel board part in the present invention；
Fig. 5 is the structural perspective of row's push part in the present invention；
Fig. 6 is the structural perspective of orthopaedic component in the present invention；
Fig. 7-1 is assembling stereogram of the shovel board drive disk assembly in frame in the present invention；
Fig. 7-2 for two grades of guide rails, two grades of sliding blocks, two grades of screw mandrels and two grades of servomotors in the present invention assembling stereogram；
Fig. 7-3 for two grades of guide rails, two grades of sliding blocks, two grades of screw mandrels and two grades of servomotors in the present invention sectional arrangement drawing；
Fig. 8 is the structural perspective of lifting platform in the present invention；
Fig. 9 pushes the structural perspective of part for single case in the present invention；
Figure 10 is the structural perspective of walking mechanism in the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As illustrated in fig. 1 and 2, a kind of stacking streamline, including lifting platform 1, manipulator and it is arranged on stretching on lifting platform
Contracting belt feeder 2, flexible drum apparatus 3 and stacking machine 4；Stacking machine 4 includes walking mechanism 6, frame 7 and in frame 7
Shovel board drive disk assembly 8, shovel board part 9, row's push part 10, orthopaedic component 11, single case push part 12 and delivery drum device
13；Packing case is placed in Expansion belt conveyor 2 by manipulator, and flexible drum apparatus 3 reaches the packing case in Expansion belt conveyor 2
Delivery drum device 13；Walking mechanism 6 drives frame 7；Delivery drum device transmits packing case；Single case pushes part 12 will be single
Packing case is from delivery drum device push-in shovel board part 9, and two orthopaedic components 11 of both sides are before packing case enters shovel board part
Packing case is ajusted, packing case is arranged in a row by shovel board part；Shovel board drive disk assembly 8 realizes shovel board part and row pushed section
Part synchronization lifting；Two row's push part 10 release the packing case of a row on shovel board part through push pedal.
As shown in figure 3, flexible drum apparatus 3 includes connecting rod 3-1, the first roller 3-2 and two flexible roller groups；It is flexible
Roller group includes connecting plate 3-3, the first shearing fork telescopic mechanism 3-4, the second shearing fork telescopic mechanism 3-5, sleeve 3-6, spring and three
Individual mobile support 3-7；Three mobile support 3-7 spacing are set；Mobile frame bottom is provided with roller, and top is nested with sleeve, and set
Cylinder 3-6 is connected with mobile support by spring；Connecting plate 3-3 is fixed with sleeve；The vertical chute that connecting plate is opened up and roller structure
Into rolling friction pair, roller is hinged on the minor details of Expansion belt conveyor output expansion bracket.Adjacent mobile support passes through the first scissor
Telescoping mechanism 3-4 connections, the mobile stent outer positioned at output end sets the second shearing fork telescopic mechanism 3-5；Second shearing fork telescopic
Mechanism includes a scissor unit；Scissor unit includes two scissors rods that middle part is hinged；Second shearing fork telescopic mechanism is close to shifting
The scissors rod of one end end of dynamic support upward is hinged with corresponding mobile support, end scissors rod directed downwardly and corresponding mobile branch
Sleeve 3-6 on frame is hinged；Close to mobile support and the scissors rod of end upward and corresponding shifting in first shearing fork telescopic mechanism
Dynamic support is hinged, and end scissors rod directed downwardly is hinged with the sleeve on corresponding mobile support；Two flexible roller group centerings are set,
Each pair scissor unit top, middle part and the bottom jointed shaft of two flexible roller group correspondence positions are fixed by connecting rod 3-1；
The first roller 3-2 is nested with the connecting rod at top；Adjacent first roller by an elastic poly V-belt 3-8 connection, wherein
One the first roller is driven by flexible Rolling motor；Outermost end connecting rod positioned at bottom and conveying in second shearing fork telescopic mechanism
The transmission support of drum apparatus is fixed.Under the vertical chute bottom contact condition of roller and connecting plate, the minor details of Expansion belt conveyor
Export expansion bracket upper surface minimum point and be located at sustained height with the first nearest roller peak.
As shown in Fig. 4-1,4-2 and 4-3, shovel board part 9 pushes away bending part 9-1, sloping desk 9-2, bottom angled including horizontal
Plate 9-3, shovel board electric cylinder 9-4, pressing plate, the first servomotor 9-5, shovel board support 9-6, the first driving pulley, duplex belt wheel 9-
7th, the first driven pulley, shovel board timing belt 9-8, the first timing belt 9-9, the second driving pulley 9-10, the second driven pulley, second
Timing belt 9-11, round guide 9-12, bending part contiguous block 9-13, lever 9-14 and the second servomotor 9-15.Shovel board driving section
Part driving shovel board support 9-6 liftings；Sloping desk 9-2 is fixed on shovel board support；First servomotor 9-5 is fixed on shovel board branch
On frame, and the first driving pulley is driven through decelerator；One belt wheel of the first driving pulley and duplex belt wheel 9-7 is same by shovel board
Step band 9-8 connections；Another belt wheel of duplex belt wheel is connected with the first driven pulley by the first timing belt 9-9；First actively
Belt wheel, duplex belt wheel and the first driven pulley are hinged on shovel board support；Second driving pulley 9-10 and the second driven pulley
It is hinged on shovel board support, and passes through the second timing belt 9-11 connections；That side that first timing belt and the second timing belt are nuzzled
Fixed by platen clamp；The opposite side of first timing belt and the second timing belt is respectively and fixedly provided with bending part contiguous block 9-13；Two pieces
Bending part contiguous block and two round guide 9-12 respectively constitute sliding pair, and round guide is fixed on shovel board support；It is horizontal to push away bending part
9-1 is located at the top of sloping desk, guide groove and two pieces of bendings that the horizontal bending plate for pushing away bending part two ends is opened up through sloping desk
Part contiguous block is fixed respectively；One end of four lever cradling pieces is hinged with shovel board support, and respectively by the second servo electricity
Machine 9-15 drives；The other end of four lever cradling pieces is fixed with lever 9-14；Shovel board is arranged in the middle part of lever cradling piece
In the resettlement groove that support is opened up；Lever is arranged on shovel board support and sloping desk is anterior；Bottom angled plate 9-3 is arranged on shovel board branch
Frame bottom, and constitute sliding pair with shovel board support；Shovel board electric cylinder 9-4 is fixed on shovel board support, the piston of shovel board electric cylinder
Bar is fixed with bottom angled plate；The angle of sloping desk and bottom angled plate and horizontal plane is 5~8 °.
As shown in figure 5, row's push part 10 includes pushing away case servomotor 10-1, pushing away box bracket 10-2, push away case electric cylinder 10-3
With round slide-bar 10-4.Push away case electric cylinder 10-3 to be fixed on swing rod 10-5, swing rod is hinged with pushing away box bracket 10-2；Round slide-bar 10-4
The glide direction sliding pair parallel with the piston rod for pushing away case electric cylinder is constituted with pushing away case electric cylinder 10-3 cylinder body；Push away case servo electricity
Machine 10-1, which is fixed on, to be pushed away on box bracket, is pushed away case servomotor and is pushed away driving pulley through decelerator driving row, row pushes away driving pulley 10-6
It is connected with being hinged on to push away three drive pulley 10-7 on box bracket and push away timing belt by row；Row pushes away timing belt positioned at vertical up and down
Band section between two drive pulleys of arrangement is fixed with swing rod；Two row's push part are arranged on the sloping desk two of shovel board part
End, the box bracket that pushes away of two row's push part drives lifting by shovel board drive disk assembly；One of row's push part to push away case electronic
Cylinder piston rod and round slide-bar 10-4 fix with push pedal 10-8 one end, and another row's push part pushes away the electronic cylinder piston rod of case and circle
Slide bar is fixed with the push pedal other end.
As shown in fig. 6, orthopaedic component 11 includes the 3rd servomotor 11-1, the 4th servomotor 11-2, shaping support 11-
3rd, shaping guide rail 11-4, trim panel 11-5, elastic plectrum 11-6, slide unit 11-7 and shaping screw mandrel 11-8.3rd servomotor 11-
1 drives shaping screw mandrel 11-8 through decelerator；Shaping screw mandrel is supported on shaping support 11-3 by bearing；Slide unit 11-7 and shaping
Screw mandrel constitutes screw pair, and constitutes sliding pair with the shaping guide rail 11-4 that is fixed on shaping support；4th servomotor 11-2
It is fixed on slide unit 11-7；Gear 11-9 is fixed on the output shaft of the 4th servomotor, and is engaged with rack 11-10；Shaping
Plate 11-5 is arranged on above delivery drum device, and is fixed with the end of rack and guiding optical axis；Rack and be oriented to optical axis with
Shaping support constitutes sliding pair；Elastic plectrum 11-6 rear ends are fixed with shaping front edge of board, before trim panel rear end and guide plate 11-11
End is fixed；The elastic plectrum of two orthopaedic components is symmetrical arranged, in the splayed that rear portion is wide, front portion is narrow；Two orthopaedic components
Guide plate is symmetrical arranged, in the splayed that rear portion is wide, front portion is narrow.
As shown in Fig. 7-1,7-2 and 7-3, shovel board drive disk assembly 8 includes drive block 8-1, rotating bar 8-2, the 5th servo electricity
Machine, shovel board driving chain mechanism 8-3, shovel board drive rail, two grades of guide rail 8-4, two grades of sliding block 8-5, two grades of screw mandrel 8-6 and two grades are watched
Take motor 8-7.5th servomotor is fixed in frame, and is rotated through reduction box and a shovel board driving chain mechanism 8-3 driving
Bar 8-2；Rotating bar is supported in frame by bearing, and drives another shovel board driving chain mechanism；Shovel board driving chain mechanism is set
There are tensioning wheel and directive wheel；Two shovel board driving chain mechanisms set up separately on rotating bar two ends, the driving-chain of shovel board driving chain mechanism
It is fixed with drive block 8-1；Two pieces of drive blocks respectively constitute sliding pair with being fixed on two shovel board drive rails of frame both sides；Pass
Two grades of guide rail 8-4 are fixed with motion block；Two grades of guide rail 8-4 and two grades of sliding block 8-5 constitute sliding pair；Two grades of sliding block 8-5 and two grades
Screw mandrel 8-6 constitutes screw pair；Two grades of screw mandrel 8-6 are driven by two grades of servomotor 8-7 being fixed on drive block 8-1；Two piece two
Shovel board support 9-6s of the level sliding block 8-5 with shovel board part is fixed, and is consolidated respectively with the box bracket 10-2 that pushes away of two row's push part
It is fixed.
As shown in figure 8, lifting platform 1 includes scissors fork elevating mechanism 1-1 and support platform 1-2；Support platform is by scissors fork elevating
Mechanism driving lifting；Support platform both sides are provided with fence 1-3, and side fence is provided with passway 1-4.Support platform output end is set
There is protrusive board, the upper surface of protrusive board is concordant with support platform upper surface；Protrusive board bottom is provided with contact-making switch.
As shown in figure 9, single case push part 12 include guide rod 12-1, move up and down servomotor 12-2, push rod 12-3,
Slide rail 12-4 is pushed, belt mechanism 12-5 is pushed, pushes motor 12-6 and slide plate 12-7.Push motor 12-6 and be fixed on frame
On, and push belt mechanism 12-5 through decelerator driving；Slide plate 12-7 is fixed on the transmission belt for pushing belt mechanism, and
With the push slide rail 12-4 composition sliding pairs being fixed in frame；Move up and down servomotor 12-2 to be fixed on slide plate, and drive
Dynamic push rod 12-3 moves up and down；Push rod is fixed with two guide rod 12-1, and two guide rods constitute sliding pair with slide plate；Push rod
It is arranged on directly over delivery drum device.
As shown in Fig. 2 delivery drum device 13 includes the 6th servomotor, transmission sprocket wheel, transmission support 13-1 and second
Roller 13-2.Transmission support 13-1 is fixed in frame；One, which ranked second roller 13-2, is equidistantly hinged on transmission support, the second rolling
Cylinder side is fixed with two transmission sprocket wheels, and all transmission sprocket wheels are located at the same side；The transmission sprocket wheel of adjacent second tin roller is by passing
Defeated chain connection；The jointed shaft of one of second tin roller is driven by the 6th servomotor.
As shown in Figure 10, walking mechanism 6 includes walking servomotor 6-1, wheel 6-2 and walker 6-3；Walker 6-3
Upper to be hinged with four wheel 6-2 by spherical hinge, each wheel is operated alone by a walking servomotor 6-1.
The operation principle of the stacking streamline is as follows：
The scissors fork elevating mechanism rise of controller control lifting platform, lorry is parked in the region pulled in advance, then lifted
The scissors fork elevating mechanism of platform drops to contact-making switch and contacted with lorry, now, and the signal of contact-making switch is transmitted to controller, controller
Control the scissors fork elevating mechanism stop motion of lifting platform；Scissors fork elevating mechanism first raises the motion declined afterwards, and protrusive board and connects
The presence for touching switch causes lorry parking to be more easy to manipulation, is not in the situation that lorry knocks lifting platform.
Walking mechanism 6 drives frame 7, and stacking machine is driven into boxcar 5, and simultaneous retractable belt feeder stretches out, if flexible skin
Band machine, which is fully deployed rear stacking machine, also needs advance, then stretch drum apparatus Automatic-expanding under stacking machine drive, in telescopic belt
The stroke of stacking machine is extended under machine holding state；Minor details output expansion bracket is due to Action of Gravity Field certainty when Expansion belt conveyor is stretched out
Under it is curved, and the limitation of the vertical chute bottom of connecting plate and spring maximum compressibility prevents Expansion belt conveyor overbending jointly；
The vertical chute bottom of roller and connecting plate is not in contact with state, and the minor details output expansion bracket upper surface minimum point of Expansion belt conveyor is high
In all first roller peaks, and the first roller and second tin roller are highly consistent；The vertical chute bottom of roller and connecting plate
Under contact condition, minor details output expansion bracket upper surface minimum point and the first nearest roller peak of Expansion belt conveyor are located at together
One height, it is ensured that packing case is smoothly delivered to flexible drum apparatus by Expansion belt conveyor；The vertical chute bottom of roller and connecting plate
After contact, the minor details output expansion bracket of Expansion belt conveyor maximum deflection amount curved under continuing is limited by spring maximum compressibility.Even
The vertical chute of fishplate bar makes telescopic belt function free bend a certain amount of, has complied with Expansion belt conveyor minor details output expansion bracket and has stretched out
When the inexorable trend that bends, minor details will not be caused to export union piece between expansion bracket and connecting plate (the present embodiment is roller)
Damage.
Packing case is placed in Expansion belt conveyor 2 by manipulator, and the drum apparatus 3 that stretches is by the packaging in Expansion belt conveyor 2
Case reaches delivery drum device 13；Delivery drum device transmits packing case；In delivery drum device transmit process, case servo is pushed away
Motor 10-1 drives and put on push pedal 10-8, and two orthopaedic components 11 adjust two pieces of trim panel 11-5 and two panels elastic plectrum 11-6
Position, make two panels elastic plectrum 11-6 stretch into above shovel board part needed for position, then single case push the push rod 12- of part 12
3 decline and individual packaging case are pushed at the position of shovel board part 9, and two panels elastic plectrum 11-6 is played to packing case ajusts work
With, especially to last in a row enter shovel board part packing case play the effect of being accurately positioned.Packing case is pushed into shovel board
After part, the push rod 12-3 that single case pushes part 12 rises, and lever 9-14, which blocks packing case, prevents landing, horizontal to push away bending part 9-1
Left and right promotes packing case arranging in a row, then pushes away case servomotor 10-1 and drives the push pedal 10-8 bottoms, lever 9-14 declines,
The case electric cylinder 10-3 that pushes away of two row's push part 10 drives push pedal that the packing case of a row on shovel board part is pushed out in container.
Because flexible drum apparatus 3 is provided with roller, stacking machine is provided with wheel 6-2, and flexible drum apparatus 3 and stacking machine can be in width sides
Fine setting upwards, it is to avoid bump against with stopping inclined lorry, and packing case is accurately entered in container；Will when being piled up due to packing case
Asking has two packing case traverses in each layer, then to should the packing case of two packing case last layers of traverse pile up when easily block
In two packing case gaps of the traverse, cause to push away case failure；In the present embodiment, the bag of two packing case last layers of traverse
When vanning is piled up, bottom angled plate 9-3 stretches out covering gap, it is ensured that push away case success.Shovel board drive disk assembly 8 drive shovel board part and
Push part synchronization lifting is arranged, piling up for different layers packing case is realized, packing case in a row is constantly transported to internal container until whole
Individual container is filled, and realizes full-automation, unattended, greatly improves efficiency, cost-effective.Existing stacking machine is due to by machine
Frame is limited, and shovel board part can not be risen in compartment top, the present embodiment, and drive block 8-1 is risen to behind extreme higher position, two grades
Servomotor 8-7 can also drive two grades of screw mandrel 8-6, and two grades of screw mandrel 8-6 drive two grades of sliding block 8-5 to rise, so as to drive shovel board
Part is further up into compartment top.
Claims (8)
1. a kind of stacking streamline, including lifting platform, manipulator and the Expansion belt conveyor and stacking machine that are arranged on lifting platform,
It is characterized in that：Also include the flexible drum apparatus being arranged on lifting platform；Described stacking machine include walking mechanism, frame with
And rack-mounted shovel board drive disk assembly, shovel board part, row's push part, orthopaedic component, single case push part and conveying rolling
Wound packages is put；Packing case is placed in Expansion belt conveyor by manipulator, and the drum apparatus that stretches passes the packing case in Expansion belt conveyor
To delivery drum device；Described walking mechanism driving frame；Described delivery drum device transmission packing case；Single case push part
Individual packaging case is pushed into shovel board part by part from delivery drum device, and two orthopaedic components of both sides enter shovel board portion in packing case
Packing case is ajusted before part, packing case is arranged in a row by shovel board part；Described shovel board drive disk assembly realizes shovel board portion
Part and row's push part synchronization lifting；Two row's push part release the packing case of a row on shovel board part through push pedal；
Described flexible drum apparatus includes connecting rod, the first roller and two flexible roller groups；Flexible roller group includes connection
Plate, the first shearing fork telescopic mechanism, the second shearing fork telescopic mechanism, sleeve, spring and three mobile supports；Three mobile support spacing
Set；Mobile frame bottom is provided with roller, and top is nested with sleeve, and sleeve is connected with mobile support by spring；Connecting plate with
Sleeve is fixed；The vertical chute that connecting plate is opened up constitutes rolling friction pair with roller, and roller is hinged on the minor details of Expansion belt conveyor
Export on expansion bracket；Adjacent mobile support is connected by the first shearing fork telescopic mechanism, and the mobile stent outer positioned at output end is set
Put the second shearing fork telescopic mechanism；Second shearing fork telescopic mechanism includes a scissor unit；Scissor unit includes two that middle part is hinged
Root scissors rod；Scissors rod of the second shearing fork telescopic mechanism close to one end end of mobile support upward is cut with scissors with corresponding mobile support
Connect, end scissors rod directed downwardly is hinged with the sleeve on corresponding mobile support；Close to mobile support in first shearing fork telescopic mechanism
And the scissors rod of end upward is hinged with corresponding mobile support, end scissors rod directed downwardly and the sleeve on corresponding mobile support
It is hinged；Two flexible roller group centerings are set, each pair scissor unit top, middle part and the bottom of two flexible roller group correspondence positions
End jointed shaft is fixed by connecting rod；The first roller is nested with the connecting rod at top；Adjacent first roller passes through one
Elastic poly V-belt is connected, and one of them first roller is driven by flexible Rolling motor；It is located at bottom in second shearing fork telescopic mechanism
Outermost end connecting rod and the transmission support of delivery drum device fix；The vertical chute bottom contact condition of roller and connecting plate
Under, minor details output expansion bracket upper surface minimum point and the first nearest roller peak of Expansion belt conveyor are located at sustained height；
Described shovel board part pushes away bending part, sloping desk, bottom angled plate, shovel board electric cylinder, pressing plate, the first servo including horizontal
Motor, shovel board support, the first driving pulley, duplex belt wheel, the first driven pulley, shovel board timing belt, the first timing belt, the second master
Movable belt pulley, the second driven pulley, the second timing belt, round guide, bending part contiguous block, lever and the second servomotor；Shovel board is passed
Dynamic component driving shovel board support lifting；Sloping desk is fixed on shovel board support；The first described servomotor is fixed on shovel board
On support, and the first driving pulley is driven through decelerator；One belt wheel of the first driving pulley and duplex belt wheel is same by shovel board
Step band connection；Another belt wheel of duplex belt wheel is connected with the first driven pulley by the first timing belt；It is first driving pulley, double
Associated wheel and the first driven pulley are hinged on shovel board support；Second driving pulley and the second driven pulley are hinged on shovel board
On support, and connected by the second timing belt；That side that first timing belt and the second timing belt are nuzzled is fixed by platen clamp；
The opposite side of first timing belt and the second timing belt is respectively and fixedly provided with bending part contiguous block；Two pieces of bending part contiguous blocks are led with two circles
Rail respectively constitutes sliding pair, and described round guide is fixed on shovel board support；The horizontal bending part that pushes away is horizontal to push away at the top of sloping desk
The bending plate at bending part two ends is fixed respectively through the guide groove that sloping desk is opened up with two pieces of bending part contiguous blocks；Four levers
One end of cradling piece is hinged with shovel board support, and is driven respectively by second servomotor；Four lever cradling pieces it is another
One end is fixed with lever；It is arranged in the middle part of lever cradling piece in the resettlement groove that shovel board support is opened up；Lever is arranged on shovel board
Support and sloping desk are anterior；Bottom angled plate is arranged on shovel board frame bottom, and constitutes sliding pair with shovel board support；Shovel board electricity
Dynamic cylinder is fixed on shovel board support, and piston rod and the bottom angled plate of shovel board electric cylinder are fixed；Sloping desk and bottom angled plate
Angle with horizontal plane is 5~8 °.
2. a kind of stacking streamline according to claim 1, it is characterised in that：Described row's push part includes pushing away case servo
Motor, push away box bracket, push away case electric cylinder and round slide-bar；The described case electric cylinder that pushes away is fixed on swing rod, and swing rod is with pushing away box bracket
It is hinged；Round slide-bar constitutes the glide direction sliding pair parallel with the piston rod for pushing away case electric cylinder with pushing away the cylinder body of case electric cylinder；Institute
The case servomotor that pushes away stated is fixed on and pushed away on box bracket, pushes away case servomotor and pushes away driving pulley through decelerator driving row, row pushes away master
Movable belt pulley is connected with being hinged on to push away three drive pulleys on box bracket and push away timing belt by row；Row pushes away timing belt positioned at perpendicular up and down
Band section between straight arranged two drive pulleys is fixed with swing rod；Two row's push part are arranged on the sloping desk of shovel board part
Two ends, the box bracket that pushes away of two row's push part drives lifting by shovel board drive disk assembly；One of row's push part pushes away case electricity
Dynamic cylinder piston rod and round slide-bar are fixed with push pedal one end, another row's push part push away the electronic cylinder piston rod of case and round slide-bar is equal
Fixed with the push pedal other end.
3. a kind of stacking streamline according to claim 1, it is characterised in that：Described orthopaedic component includes the 3rd servo
Motor, the 4th servomotor, shaping support, shaping guide rail, trim panel, elastic plectrum, slide unit and shaping screw mandrel；Described the 3rd
Servomotor drives shaping screw mandrel through decelerator；Described shaping screw mandrel is supported on shaping support by bearing；Slide unit with it is whole
Shape screw mandrel constitutes screw pair, and constitutes sliding pair with the shaping guide rail that is fixed on shaping support；The 4th described servomotor
It is fixed on slide unit；Gear is fixed on the output shaft of the 4th servomotor, and engaged with rack；Trim panel is arranged on conveying rolling
Wound packages puts top, and is fixed with the end of rack and guiding optical axis；Rack and guiding optical axis constitute sliding pair with shaping support；
Elastic plectrum rear end is fixed with shaping front edge of board, and trim panel rear end is fixed with being oriented to front edge of board；The elastic dialing of two orthopaedic components
Piece is symmetrical arranged, in the splayed that rear portion is wide, front portion is narrow；The guide plate of two orthopaedic components is symmetrical arranged, in rear portion is wide, front portion
Narrow splayed.
4. a kind of stacking streamline according to claim 1, it is characterised in that：Described shovel board drive disk assembly includes transmission
Block, rotating bar, the 5th servomotor, shovel board driving chain mechanism, shovel board drive rail, two grades of guide rails, two grades of sliding blocks, two grades of screw mandrels
With two grades of servomotors；The 5th described servomotor is fixed in frame, and through reduction box and a shovel board driving chain mechanism
Drive rotating bar；Described rotating bar is supported in frame by bearing, and drives another shovel board driving chain mechanism；Shovel board is passed
Dynamic chain mechanism is provided with tensioning wheel and directive wheel；Two shovel board driving chain mechanisms set up separately at rotating bar two ends, shovel board driving chain mechanism
Driving-chain on be fixed with drive block；Two pieces of drive blocks respectively constitute cunning with being fixed on two shovel board drive rails of frame both sides
Dynamic pair；Two grades of guide rails are fixed with drive block；Two grades of guide rails and two grades of sliding blocks constitute sliding pair；Two grades of sliding blocks and two grades of screw mandrel structures
Into screw pair；Two grades of screw mandrels are driven by two grades of servomotors being fixed on drive block；Two pieces of two grades of sliding blocks with shovel board part
It is fixed, and fixed respectively with two row's push part.
5. a kind of stacking streamline according to claim 1, it is characterised in that：Described lifting platform includes scissors fork elevating machine
Structure and support platform；Support platform is driven by scissors fork elevating mechanism and lifted；Support platform both sides are provided with fence, and side fence is opened
There is passway；Support platform output end is provided with protrusive board, and the upper surface of protrusive board is concordant with support platform upper surface；Protrusive board bottom is provided with
Contact-making switch.
6. a kind of stacking streamline according to claim 1, it is characterised in that：Described single case, which pushes part, to be included being oriented to
Bar, up and down action servomotor, push rod, push slide rail, push belt mechanism, push motor and slide plate；Described push electricity
Machine is fixed in frame, and pushes belt mechanism through decelerator driving；Described slide plate, which is fixed on, pushes belt mechanism
On transmission belt, and sliding pair is constituted with the push slide rail that is fixed in frame；Servomotor is moved up and down to be fixed on slide plate, and
Driving push rod moves up and down；Described push rod is fixed with two guide rods, and two guide rods constitute sliding pair with slide plate；Push rod
It is arranged on directly over delivery drum device.
7. a kind of stacking streamline according to claim 1, it is characterised in that：Described delivery drum device includes the 6th
Servomotor, transmission sprocket wheel, transmission support and second tin roller；Described transmission support is fixed in frame；One ranked second roller
Equidistant to be hinged on transmission support, second tin roller side is fixed with two transmission sprocket wheels, and all transmission sprocket wheels are located at the same side；Phase
The transmission sprocket wheel of adjacent second tin roller is connected by conveyor chain；The jointed shaft of one of second tin roller is driven by the 6th servomotor
It is dynamic.
8. a kind of stacking streamline according to claim 1, it is characterised in that：Described walking mechanism includes walking servo
Motor, wheel and walker；Four wheels are hinged on walker, each wheel is operated alone by a walking servomotor.
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| CN201710525814.0A CN107187881B (en) | 2017-06-30 | 2017-06-30 | Pile up neatly assembly line |
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|---|---|---|---|
| CN201710525814.0A CN107187881B (en) | 2017-06-30 | 2017-06-30 | Pile up neatly assembly line |
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| CN107187881B CN107187881B (en) | 2023-04-28 |
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| CN107601182A (en) * | 2017-09-30 | 2018-01-19 | 广州达意隆包装机械股份有限公司 | A kind of telescopic equipment cable winding apparatus |
| CN107973120A (en) * | 2017-12-18 | 2018-05-01 | 广东美的智能机器人有限公司 | Loading system |
| CN109761070A (en) * | 2019-03-24 | 2019-05-17 | 佛山中科精航智能科技有限公司 | A kind of building materials automatic loading machine |
| CN109969820A (en) * | 2019-04-09 | 2019-07-05 | 绵阳蓝奥重型机械制造有限公司 | A kind of loading stacking head of entrucking robot |
| CN110155731A (en) * | 2018-12-26 | 2019-08-23 | 德利九州物流自动化系统（北京）有限公司 | The conveying equipment and luggage security check system of luggage basket |
| CN111483831A (en) * | 2020-03-18 | 2020-08-04 | 赛摩电气股份有限公司 | Automatic loading system and using method thereof |
| CN111717781A (en) * | 2020-07-10 | 2020-09-29 | 中国南方电网有限责任公司超高压输电公司昆明局 | Hoisting device for converter valve external cooling fan and application |
| CN112874892A (en) * | 2021-05-06 | 2021-06-01 | 华智机械(烟台)有限公司 | Automatic bearing steel ring boxing machine and boxing method thereof |
| CN113291774A (en) * | 2021-06-30 | 2021-08-24 | 青岛科捷机器人有限公司 | Loading and unloading integrated machine and automatic loading and unloading system of container |
| CN114733237A (en) * | 2022-04-21 | 2022-07-12 | 赤峰云铜有色金属有限公司 | Automatic mud scraping and cleaning device and method for filter press |
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| CN117584531A (en) * | 2024-01-18 | 2024-02-23 | 南通人人发机器制造有限公司 | Intelligent blanking structure of four-column hydraulic press |
| CN109178977B (en) * | 2018-11-08 | 2024-04-26 | 湖北理工学院 | Automatic car loader for reconfigurable bagged cement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107601182A (en) * | 2017-09-30 | 2018-01-19 | 广州达意隆包装机械股份有限公司 | A kind of telescopic equipment cable winding apparatus |
| CN107973120A (en) * | 2017-12-18 | 2018-05-01 | 广东美的智能机器人有限公司 | Loading system |
| CN109178977B (en) * | 2018-11-08 | 2024-04-26 | 湖北理工学院 | Automatic car loader for reconfigurable bagged cement |
| CN110155731A (en) * | 2018-12-26 | 2019-08-23 | 德利九州物流自动化系统（北京）有限公司 | The conveying equipment and luggage security check system of luggage basket |
| CN109761070A (en) * | 2019-03-24 | 2019-05-17 | 佛山中科精航智能科技有限公司 | A kind of building materials automatic loading machine |
| CN109969820A (en) * | 2019-04-09 | 2019-07-05 | 绵阳蓝奥重型机械制造有限公司 | A kind of loading stacking head of entrucking robot |
| CN109969820B (en) * | 2019-04-09 | 2024-03-29 | 绵阳蓝奥重型机械制造有限公司 | Loading stacker head of loading robot |
| CN111483831A (en) * | 2020-03-18 | 2020-08-04 | 赛摩电气股份有限公司 | Automatic loading system and using method thereof |
| CN111717781B (en) * | 2020-07-10 | 2023-02-28 | 中国南方电网有限责任公司超高压输电公司昆明局 | Hoisting device for converter valve external cooling fan and application |
| CN111717781A (en) * | 2020-07-10 | 2020-09-29 | 中国南方电网有限责任公司超高压输电公司昆明局 | Hoisting device for converter valve external cooling fan and application |
| CN112874892B (en) * | 2021-05-06 | 2021-07-20 | 华智机械(烟台)有限公司 | Automatic bearing steel ring boxing machine and boxing method thereof |
| CN112874892A (en) * | 2021-05-06 | 2021-06-01 | 华智机械(烟台)有限公司 | Automatic bearing steel ring boxing machine and boxing method thereof |
| CN113291774A (en) * | 2021-06-30 | 2021-08-24 | 青岛科捷机器人有限公司 | Loading and unloading integrated machine and automatic loading and unloading system of container |
| CN114733237A (en) * | 2022-04-21 | 2022-07-12 | 赤峰云铜有色金属有限公司 | Automatic mud scraping and cleaning device and method for filter press |
| CN115303826A (en) * | 2022-10-11 | 2022-11-08 | 太原市富利恒自动化科技有限公司 | Automatic loading equipment for truck |
| CN115303826B (en) * | 2022-10-11 | 2023-03-10 | 太原市富利恒自动化科技有限公司 | Automatic loading equipment for truck |
| CN117584531A (en) * | 2024-01-18 | 2024-02-23 | 南通人人发机器制造有限公司 | Intelligent blanking structure of four-column hydraulic press |
| CN117584531B (en) * | 2024-01-18 | 2024-04-05 | 南通人人发机器制造有限公司 | Intelligent blanking structure of four-column hydraulic press |
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