CN109422096A

CN109422096A - A kind of stacking machine convenient for overturning brick packet

Info

Publication number: CN109422096A
Application number: CN201710781683.2A
Authority: CN
Inventors: 刘长江
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-09-02
Filing date: 2017-09-02
Publication date: 2019-03-05

Abstract

A kind of stacking machine convenient for overturning brick packet, including into brick mechanism, stacking mechanism, three axis mobile mechanisms, turnover mechanism, brick receiving machine structure and mechanical gripper mechanism；Stacking mechanism is set into the top of brick mechanism；Turnover mechanism is set to the discharge end into brick mechanism, and brick receiving machine structure is set to the end of turnover mechanism, and mechanical gripper mechanism is set to three axis mobile mechanisms.Turnover mechanism includes auxiliary sliding part, turning part and support frame;Assisting the portion of sliding to includes multiple auxiliary cylinders and the first mounting rack；Auxiliary cylinder is successively installed in the first mounting rack, and from the front end of the first mounting rack to end, the horizontal position of the central axis of each auxiliary cylinder is successively reduced；Stacking mechanism includes bag stacking machine frame, lifting drive, folded packet clamping device, guiding connecting tube and clamping device mounting plate；The present invention proposes a kind of stacking machine convenient for overturning brick packet according to above content, can easily overturn the placement state of brick packet, finally smoothly stacking is good by brick packet.

Description

A kind of stacking machine convenient for overturning brick packet

Technical field

The present invention relates to ceramic tile production equipment technical field more particularly to a kind of stacking machines convenient for overturning brick packet.

Background technique

In Jian Tao factory production link, just storage storage after ceramic tile Flexible Container carton, storage is that Jian Tao factory produces most The latter link.From there are since architectural ceramic industry, ceramic tile storage is always by the way of manual handling.It is offline simultaneously from workshop Packaged ceramic tile is commonly called as brick packet, manually will the stacking in warehouse.And in the development tile production process of scientific and technological level, In order to improve operating efficiency, generally requires and palletizing operation is carried out to tile by tile Palletizer.But existing stacking machine It designs unreasonable, the placement state of brick packet cannot be overturn, be unfavorable for the stacking of brick packet.

Summary of the invention

It is an object of the invention to propose a kind of stacking machine convenient for overturning brick packet, design is reasonable, high degree of automation, The placement state of brick packet can be easily overturn, finally smoothly stacking is good by brick packet, and brick packet is made to be not easy to be subject to crushing.

To achieve this purpose, the present invention adopts the following technical scheme:

It is a kind of convenient for overturn brick packet stacking machine, including into brick mechanism, stacking mechanism, three axis mobile mechanisms, turnover mechanism, connect brick Mechanism and mechanical gripper mechanism；

It is described to be used to the brick packet to stacking inputting the stacking machine into brick mechanism；

The stacking mechanism is set to described into the top of brick mechanism；

The turnover mechanism is set to the discharge end into brick mechanism, and the brick receiving machine structure is set to the end of the turnover mechanism, Three axis mobile mechanism is set to the side of the discharge end into brick mechanism；

The mechanical gripper mechanism is set to three axis mobile mechanism.

The turnover mechanism includes auxiliary sliding part, turning part and support frame;

The auxiliary portion of sliding to includes multiple auxiliary cylinders and the first mounting rack；

First mounting rack is installed on the top of support frame as described above,

The auxiliary cylinder is successively installed in first mounting rack, and from the front end of first mounting rack to end, often The horizontal position of the central axis of a auxiliary cylinder successively reduces；

Turning part is set to the end of the auxiliary sliding part；

The stacking mechanism includes bag stacking machine frame, lifting drive, folded packet clamping device, guiding connecting tube and clamping device peace Loading board；

The lifting drive is installed on the top of the bag stacking machine frame, and driving end is towards described into the top of brick mechanism；

The driving end of the lifting drive is connected to the top of the clamping device mounting plate；

The guiding connecting tube is located at the left and right sides of the lifting drive, and the guiding connecting tube passes through described folded The top of chartered plane frame, and it is connected to the top of the clamping device mounting plate；

The folded packet clamping device includes folding packet grasping drive unit and grip block,

The quantity at least two of the folded packet grasping drive unit, is mounted on the bottom of the clamping device mounting plate；

The driving end of the folded packet grasping drive unit outwardly, and its drive end be mounted on the grip block.

The present invention proposes a kind of stacking machine convenient for overturning brick packet according to above content, and design is reasonable, the degree of automation Height can easily overturn the placement state of brick packet, and finally by brick packet, smoothly stacking is good, and brick packet is made to be not easy to be subject to crushing.

Detailed description of the invention

Fig. 1 is the side structure schematic diagram of the one of embodiment of the present invention.

Partial enlarged view at the B of Fig. 2 Fig. 1.

Fig. 3 is the structural schematic diagram of the one of embodiment of the present invention.

Fig. 4 is the partial enlarged view at the D of Fig. 3.

Fig. 5 is the partial enlarged view at the C of Fig. 3.

Fig. 6 is the partial enlarged view at the E of Fig. 3.

Fig. 7 is the structural schematic diagram of the one of embodiment of the present invention.

Fig. 8 is the partial enlarged view at the F of Fig. 7.

Fig. 9 is the structural schematic diagram of the mechanical gripper mechanism of the one of embodiment of the present invention.

Figure 10 is the structural schematic diagram of the mechanical gripper mechanism of the one of embodiment of the present invention.

Figure 11 is the structural schematic diagram of the mechanical gripper mechanism of the one of embodiment of the present invention.

Figure 12 is the structural schematic diagram of the mechanical gripper mechanism of the one of embodiment of the present invention.

Figure 13 is the front view of the mechanical gripper mechanism of the one of embodiment of the present invention.

Figure 14 is the partial enlarged view at the A of Figure 13.

Wherein: into brick mechanism 1, discharge end 101, into brick rack 11, adjustment hole 111, fixing seat 112, delivery section 12, synchronous Band 121, synchronizing wheel 122, feed drive device 123, into brick guide part 13, guide pipe 131, regulation pipe 132, stacking mechanism 2, folded Chartered plane frame 21, lifting drive 22, folded packet clamping device 23, folded packet grasping drive unit 231, grip block 232, guiding connection Pipe 24, clamping device mounting plate 25, clamping device 3, the first clamping device 301, the second clamping device 302, rack 303, connection Pipe 3031, outer frame body 304, side plate 3041, top plate 3042, aperture 3043, routing hole 3044, flange 3045, is slided groove 30311 Rail 31, sub- sliding rail 311, connecting plate 312, sliding part 32, active slip portion 321, the seat 3211 that is slidably installed, avoiding hollow groove 32111, on Mounting surface 32112, sliding block 3212, footstock 3213, foreboard 32131, bottom plate 32132, stiffening plate 32133, grasping plate attachment base 3214, Upper mounting plate 32141, connection frame 32142, assistant reinforcement plate 321421, follower slip portion 322, driving device 33, gripper cylinder 331, clamping drives end 3311, cylinder mounting base 332, front mounting plate 3321, lower installation board 3322, triangle stiffening plate 3323, grabs Plate 34, protection offset plate 341, driving section 35, active driving member 351, guide part 3511, ramp 35111, lower inclined plane 35112, mistake Cross portion 3512, upper transition face 35121, lower transition face 35122, slave drive part 352, driving wheel 353, directive wheel 354, V-groove 3541, driving section mounting base 355, three axis mobile mechanisms 4, X-axis mobile mechanism 41, X frame 411, X-axis support tube 4111, X-axis are same Walk band 412, X-axis synchronizing wheel 413, X-axis driving device 414, idler wheel 415, Y-axis moving mechanism 42, Y-axis sliding rail 421, Y-axis rack gear 422, Y-axis driving device 423, Y-axis moving plate 424, Y-axis sliding block 425, Z axis mobile mechanism 43, Z axis installing pipe 431, Z axis driving Device 432, Z axis support tube 433, Z axis rack gear 434, Z axis slide rail 435, Z axis sliding block 436, fixed frame 44, turnover mechanism 5, auxiliary Sliding part 51, auxiliary cylinder 511, central axis 5111, the first mounting rack 512, turning part 52, overturning roller 521, the second mounting rack 522, overturning drive device 523, support frame 53, brick receiving machine structure 6, carrier 61, alignment means 62, alignment driving device 621, right Neat plate 622, protection board 623, mechanical gripper mechanism 7, protective cover 81, drag chain 82, electric cabinet 83.

Specific embodiment

To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.

A kind of stacking machine convenient for overturning brick packet, including into brick mechanism 1, stacking mechanism 2, three axis mobile mechanisms 4, tipper Structure 5, brick receiving machine structure 6 and mechanical gripper mechanism 7；

It is described to be used to the brick packet 9 to stacking inputting the stacking machine into brick mechanism 1；

The stacking mechanism 2 is set to the next process into brick mechanism 1, for will be in the institute conveyed into brick mechanism 1 It states brick packet 9 to pick up and put down, stacks the brick packet 9；

The turnover mechanism 5 is set to the discharge end 101 into brick mechanism 1, for overturning putting for the brick packet 9 stacked State；

The brick receiving machine structure 6 is set to the end of the turnover mechanism 5, for carrying the brick packet 9 for being reversed placement state；

The mechanical gripper mechanism 7 is set to three axis mobile mechanism 4, the brick for will be carried by the brick receiving machine structure 6 Packet 9 is picked up and is put, and the mechanical gripper mechanism 7 can rotate in the horizontal direction.

As depicted in figs. 1 and 2, in the present embodiment, 9 level of brick packet is put, and is conveyed from described into brick mechanism 1, when brick packet 9 is defeated When sending to the position of the stacking mechanism 2, folded package operation is carried out, the specially described stacking mechanism 2 picks up brick packet 9, to next When packet brick packet 9 is delivered to the lower section for being picked up brick packet 9, the stacking mechanism 2 puts down the brick packet 9 picked up, in this case, just Easily two packet brick packets 9 can be gathered into folds；According to the needs of real work, more brick packets 9 can be stacked, and this implementation Example only needs to stack two packet brick packets 9.

The brick packet 9 that two coatings stack is delivered to the discharge end 101 into brick mechanism 1, due to the turnover mechanism 5 Set on the discharge end 101 into brick mechanism 1, then, it easily facilitates the turnover mechanism 5 and puts two packet brick packets 9 from level State is overturn to vertical display status, and brick packet 9 is in vertical display status, is conducive to its subsequent stacking, if be stacked Brick packet 9 is all in horizontal placement state, then being located at the brick packet 9 of lower layer will crush easily.

Since the brick receiving machine structure 6 is set to the end of the turnover mechanism 5, then the brick packet 9 after overturning can be more easier It is caught and is carried by the brick receiving machine structure 6；Finally, the mechanical gripper mechanism 7 picks up the brick packet 9 being aligned, three axis Mobile mechanism 4 can enable the mechanical gripper mechanism 7 move on three directions in X-axis, Y-axis and Z axis, and the mechanical gripper Mechanism 7 can rotate in the horizontal direction, and in this case, the brick packet 9 for easily facilitating alignment is stacked to the wooden block put well in advance.

Further, the brick receiving machine structure 6 includes carrier 61 and alignment means 62；The quantity of the alignment means 62 is more It is a, it is set to 61 outer fix of carrier；The alignment means 62 include alignment driving device 621 and alignment plate 622；Institute State the driving end that alignment plate 622 is installed on the alignment driving device 621.

The brick packet 9 can be carried by the carrier 61 of the brick receiving machine structure 6；Due to 61 outer fix of carrier, institute It just can easily be carried by the carrier 61 with brick packet 9, in case brick packet 9 pounds the alignment driving device in switching process 621；After brick packet 9 is reversed, the case where two packet brick packets 9 probably misplace, cannot be aligned, the alignment means 62 can Brick packet 9 is aligned.

It is cylinder that the embodiment of the present invention, which is aligned driving device 621, is respectively arranged on front, the rear of the carrier 61 With the outer fix of right end, so the alignment driving device 621 for being located at these three positions respectively drives and is installed on its driving The alignment plate 622 at end is stretched toward brick packet 9 to resist brick packet 9, and in the present embodiment, the left end of the carrier 61 is close to the overturning The turning part 52 of mechanism 5, so need to only be resisted from front, rear and the right of the carrier 61 by the brick packet 9, final brick Packet 9 is crushed on the top surface of turning part 52, and the alignment to brick packet 9 is completed and improves final 9 heap of brick packet after brick packet 9 is aligned The quality of pile.

Further, the medial surface of the alignment plate 622 is equipped with the protection board 623 of soft materials, the carrier 61 Top is equipped with loading plate.

As shown in Fig. 2, the protection board 623 of soft materials both can guarantee brick packet 9 held during alignment more it is tight, from And make brick packet 9 to get Geng Qi, and can guarantee that brick packet 9 will not be held rupture during alignment；The loading plate makes brick Packet 9 can more steadily place surface on it.

Further, the turnover mechanism 5 includes auxiliary sliding part 51, turning part 52 and support frame 53；

It includes multiple auxiliary cylinders 511 and the first mounting rack 512 that the auxiliary, which slides to portion 51,；

First mounting rack 512 is installed on the top of support frame as described above 53,

The auxiliary cylinder 511 is successively installed in first mounting rack 512, and from the front end of first mounting rack 512 To end, the horizontal position of the central axis 5111 of each auxiliary cylinder 511 is successively reduced；

Turning part 52 is set to the end of the auxiliary sliding part 51.

As shown in Fig. 2, first mounting rack 512 can easily be mounted thereon multiple auxiliary cylinders 511, because From the front end of first mounting rack 512 to end, the horizontal position of the central axis 5111 of each auxiliary cylinder 511 is successively It reduces, forms a slope surface tilted down, so when the brick packet 9 stacked is conveyed from the discharge end 101 into brick mechanism 1 When sliding to portion 51 to the auxiliary, these brick packets 9 can utilize this inclined slope surface, slide to turning part 52 automatically, tie Structure is simple and saves energy consumption, then is overturn these brick packets 9 to vertical state by turning part 52.

Further, turning part 52 includes multiple overturning rollers 521, the second mounting rack 522 and overturning drive device 523；

The overturning roller 521 is successively installed in second mounting rack 522；

The front end of second mounting rack 522 is articulated with the top of support frame as described above 53, the driving of the overturning drive device 523 End is connect with second mounting rack 522, to drive second mounting rack 522 to rotate along the hinged place of its front end.

As shown in Fig. 2, the overturning drive device 523 is cylinder, the embodiment of the present invention overturning roller 521 is in together One horizontal installation position, when incipient, second mounting rack 522 is in horizontality, when brick packet 9 is slided from the auxiliary Turning part 52 is slided to portion 51, until when brick packet 9 slides to the top of the overturning roller 521, the overturning drive device 523 driving end retraction, drives second mounting rack 522 slowly to turn to vertical state by horizontality, in this case, quilt The brick packet 9 stacked also slowly can slide to the carrier 61 from the overturning roller 521, and such operation had both made brick packet 9 Not only it can be carried out turning operation, but also guarantee that brick packet 9 not will receive too big impact force in switching process and cause structural damage, Guarantee the intact of brick packet 9.

Further, it is described into brick mechanism 1 include into brick rack 11, delivery section 12 and into brick guide part 13；

Delivery section 12 includes synchronous belt 121, synchronizing wheel 122 and feed drive device 123；

The synchronizing wheel 122 is installed on described into the top of brick rack 11, and the synchronous belt 121 is installed on the synchronizing wheel 122；

The feed drive device 123 is installed on described into brick rack 11, and the feed drive device 123 drives the synchronizing wheel 122 rotations, the synchronizing wheel 122 drive the synchronous belt 121 to move；

The two sides that delivery section 12 is located at into brick guide part 13；

It is described to include guide pipe 131 and regulation pipe 132, one end of the regulation pipe 132 and the guide pipe into brick guide part 13 131 one end connection, the front end of the guide pipe 131 is angularly disposed outward, the lateral surface and the tune of the guide pipe 131 The lateral surface of section pipe 132 is a certain included angle；

The top into brick rack 11 is equipped with adjustment hole 111, and the regulation pipe 132 is installed on the fixing seat 112, described solid Reservation 112 is installed on the adjustment hole 111.

As shown in figure 5, the embodiment of the present invention feed drive device 123 is motor, pass through motor-driven drive sprockets chain Mode drives the synchronizing wheel 122 to rotate, then drives the synchronous belt 121 to move by the synchronizing wheel 122, and described same Bearing is installed in the shaft of step wheel 122, when supporting the shaft of the synchronizing wheel 122 and reduce the synchronizing wheel 122 rotation Frictional force.

Brick packet 9 has just enter on the synchronous belt 121 when conveying, and the placement position of brick packet 9 may not just, the guide pipe 131 front end is angularly disposed outward, and in this case, the brick packet 9 for putting not positive can be close to the inside of the guide pipe 131 Face, gradually position is put to obtain in adjustment, and when final brick packet 9 is delivered to the regulation pipe 132, brick packet 9 will be located at delivery section 12 Two sides regulation pipe 132 limit at correct position, more conducively subsequent folded package operation.It, can according to actual working condition By adjusting the fixing seat 112 in the installation site of the adjustment hole 111, to adjust the position of the regulation pipe 132, with suitable Answer various sizes of brick packet 9.

Further, the stacking mechanism 2 includes bag stacking machine frame 21, lifting drive 22, folded packet clamping device 23, guiding Connecting tube 24 and clamping device mounting plate 25；

The lifting drive 22 is installed on the top of the bag stacking machine frame 21, and driving end is towards described into brick mechanism 1 Top；

The driving end of the lifting drive 22 is connected to the top of the clamping device mounting plate 25；

The guiding connecting tube 24 is located at the left and right sides of the lifting drive 22, and the guiding connecting tube 24 passes through The top of the bag stacking machine frame 21, and it is connected to the top of the clamping device mounting plate 25；

The folded packet clamping device 23 includes folding packet grasping drive unit 231 and grip block 232,

The quantity at least two of the folded packet grasping drive unit 231, is mounted on the bottom of the clamping device mounting plate 25；

The driving end of the folded packet grasping drive unit 231 outwardly, and its drive end be mounted on the grip block 232.

As shown in figure 4, the lifting drive 22 and folded packet grasping drive unit 231 are cylinder, when brick packet 9 conveys When to the stacking mechanism 2, the lifting drive 22 drives the clamping device mounting plate 25 to decline, and the guiding connects Pipe 24 is located at the left and right sides of the lifting drive 22, on the one hand plays guiding role and support connection function, protects On the other hand the effective decline for demonstrate,proving the clamping device mounting plate 25 makes the uniform force of the clamping device mounting plate 25, It avoids it from falling off during decline and rising, improves the stability of its work.

When the clamping device mounting plate 25 drops to scheduled position, the folded packet grasping drive unit 231 is driven The stretching, extension of the grip block 232, the driving end of the folded packet grasping drive unit 231 outwardly, guarantee two pieces of grip blocks 232 Between distance be greater than brick packet 9 width, brick packet 9 can be clamped by guaranteeing that the clamping plate 231 is subsequent, then it is described it is folded double team hold driving Device 231 drives the grip block 232 to bounce back, to clamp brick packet 9, finally, the driving end of the lifting drive 22 bounces back, To drive the rising of brick packet 9, when next packet brick packet 9 is delivered to the lower section for being picked up brick packet 9, the folded packet grasping drive unit The 231 driving grip blocks 232 stretch, and the brick packet 9 picked up is put down, in this case, can easily be folded two packet brick packets 9 Get up.

In order to illustrate more clearly of the present embodiment, Fig. 9, Figure 10 and Figure 11 conceal top plate 3042 and the left and right of outer frame body 304 The side plate 3041 of two sides；Figure 13 conceals the side plate 3041 in the front of outer frame body 304.

As shown in Fig. 9 to Figure 14: the mechanical gripper mechanism includes at least a set of clamping device 3, the clamping device 3 Including sliding rail 31, sliding part 32, driving device 33, grasping plate 34 and driving section 35；

The sliding part 32 includes active slip portion 321 and follower slip portion 322, is slidably mounted at the sliding rail 31；

The grasping plate 34 is respectively arranged in the active slip portion 321 and follower slip portion 322；

The driving section 35 is set between the active slip portion 321 and follower slip portion 322；

The driving section 35 includes active driving member 351, slave drive part 352, driving wheel 353 and directive wheel 354；

The lateral surface of the active driving member 351 and slave drive part 352 is equipped with guide part 3511 and transition part 3512, and institute State the end that transition part 3512 is located at the guide part 3511；

The active driving member 351 and slave drive part 352 are respectively arranged in the active slip portion 321 and follower slip portion 322 opposite one end；

The active driving member 351 and slave drive part 352 are respectively arranged on the two sides of the driving wheel 353, and its medial surface is equal Fit in the driving wheel 353, the medial surface of the active driving member 351 and slave drive part 352 is driving face；

The directive wheel 354 is respectively arranged on the outside of the active driving member 351 and slave drive part 352, and the active passes The guide part 3511 of moving part 351 and slave drive part 352 fits in the directive wheel 354 respectively；

The driving device 33 passes through described for driving the active slip portion 321 to move in a straight line along the sliding rail 31 Driving section 35 drives the follower slip portion 322 to move in a straight line along the sliding rail 31, is respectively arranged in the master to drive Grasping plate 34 on dynamic sliding part 321 and follower slip portion 322 does counter motion.

When work, the driving device 33 drives the active slip portion 321 to move in a straight line along the sliding rail 31, and leads to Crossing the driving section 35 drives the follower slip portion 322 to move in a straight line along the sliding rail 31, so that being respectively arranged in described Grasping plate 34 in active slip portion 321 and follower slip portion 322 does counter motion simultaneously, improves the grasping plate 34 and grabs brick packet 9 Stability and precision.The driving section 35 is set between the active slip portion 321 and follower slip portion 322, can guarantee Effective progress of transmission.

Particularly, the driving device 33 drives the active driving member 351 to move, then the active driving member 351 drive the driving wheel 353 to move, and the driving wheel 353 drives the slave drive part 352 to move again, due to the master Dynamic driving member 351 and slave drive part 352 be respectively arranged in the active slip portion 321 and follower slip portion 322 it is opposite one End, so the final active driving member 351 and slave drive part 352 drive the active slip portion 321 and driven cunning respectively Dynamic portion 322 moves, so that the active slip portion 321 thinks close or mutually separate with follower slip portion 322, can be realized described Grasping plate 34 grabs and puts down the operation of brick packet 9.

Since the weight of brick packet 9 is big, when the grasping plate 34 grabs brick packet 9, the weight of brick packet 9 can be 34 turns from the grasping plate It moves in the active slip portion 321 and follower slip portion 322, will affect the active slip portion 321 and follower slip in this way Precision when portion 322 is slided, to influence precision and stability that the grasping plate 34 grabs brick packet 9, therefore, the active is passed The guide part 3511 of moving part 351 and slave drive part 352 fits in the directive wheel 354 respectively, and it is sliding to can be improved the active Precision when dynamic portion 321 and follower slip portion 322 are slided, to improve precision and stabilization that the grasping plate 34 grabs brick packet 9 Property；

It is described to lead since the medial surface of the active driving member 351 and slave drive part 352 fits in the driving wheel 353 Be respectively arranged on the outside of the active driving member 351 and slave drive part 352 to wheel 354, and the active driving member 351 and from The guide part 3511 of dynamic driving member 352 fits in the directive wheel 354 respectively, in this case, the active driving member 351 it is interior Side and lateral surface will limit between the driving wheel 353 and directive wheel 354, can be improved the active driving member 351 Precision when movement and the intensity to the active driving member 351 support, make it not readily disengage from the driving wheel 353 and guiding Wheel 354,

Similarly, the medial surface of the slave drive part 352 and lateral surface can also be limited in the driving wheel 353 and directive wheel Between 354, the precision and intensity when can be improved the active driving member 351 movement are improved, it is made to not readily disengage from the biography Driving wheel 353 and directive wheel 354 further increase precision and stability that the grasping plate 34 grabs brick packet 9；The transition part 3512 are located at the end of the guide part 3511, so that the length of the guide part 3511 is longer, improve the stroke of its guiding, institute The setting of transition part 3512 is stated, the installation of the active driving member 351 and slave drive part 352 is also facilitated.

Further, driving wheel 353 is gear, and the active driving member 351 and slave drive part 352 are rack gear, and tooth is set There is its medial surface；

The active driving member 351 is identical with the structure of slave drive part 352；

The guide part 3511 is the V-type face being made of ramp 35111 and lower inclined plane 35112；

It is equipped with V-groove 3541 along the periphery of the directive wheel 354, the V-type face paste is together in the V-groove 3541.

By the cooperation of rack-and-pinion, can be realized between the active driving member 351 and the slave drive part 352 Transmission；The active driving member 351 is identical with the structure of slave drive part 352, its more convenient production and processing improve production Efficiency, also, being driven effect also can be more preferably；The V-type face is processed into the lateral surface in the active driving member 351, it is such Words, the active driving member 351 will collect guiding and transmission agency in that together, can simplify its structure, its powerful function reduces Manufacturing cost；The V-type face being made of the ramp 35111 and lower inclined plane 35112, can just fit in the directive wheel The V-groove 3541 of 354 peripheries, realization are accurately oriented to.

Further, the transition part 3512 includes upper transition face 35121 and lower transition face 35122；

The upper transition face 35121 tilts upwards along the end of the ramp 35111, and the lower transition face 35122 is along described The end of lower inclined plane 35112 tilts down, the slope surface of the upper transition face 35121 and lower transition face 35112 composition V-type.

Since the upper transition face 35121 tilts upwards along the end of the ramp 35111, the lower transition face 35122 tilt down along the end of the lower inclined plane 35112, in this case, the active driving member 351 can be made in transition part 3512 cross-sectional area is gradually gradually increased to the upper transition face 35121 and the inclined direction of lower transition face 35122, so more The end for facilitating the active driving member 351 is added to be mounted in the active slip portion 321 by bolt.And by the upper transition Slope surface both appearance looks elegant in face 35121 and lower transition face 35112 composition V-type, also functions to protective effect, just in case unexpected feelings occur Condition, the active driving member 351 is at work departing from the active slip portion 321, and the active driving member 351 is with described When driving wheel 353 is moved to the guide part 3511, the slope of V-type is made of the upper transition face 35121 and lower transition face 35112 The card of active driving member 351 described in face handle is parked in the directive wheel 354, and that reduces that the mechanical gripper mechanism is damaged can Energy.

Further, the active slip portion 321 is identical with the structure in follower slip portion 322；

The active slip portion 321 includes be slidably installed seat 3211 and sliding block 3212；

The rectangular hollow framework of the seat 3211 for top equipped with avoiding hollow groove 32111 that be slidably installed, the two of the avoiding hollow groove 32111 Side is the upper mounting surface 32112 of the seat 3211 that is slidably installed；

The sliding rail 31 includes two strip sliding rails 311 and connecting plate 312, and two sub- sliding rails 311 are connected by connecting plate 312 It connects；

The sliding block 3212 is slidably mounted at two sub- sliding rails 311 respectively, and the seat 3211 that is slidably installed is placed on described On sliding rail 31, and the top of the sliding block 3212 is installed on the bottom of the upper mounting surface 32112.

The active slip portion 321 is identical with the structure in follower slip portion 322, its more convenient manufacture and production.This reality The sub- sliding rail 311 of example is applied as cylindrical sliding rail, the sliding block 3212 is round slider, and the sliding block 3212 is sliding in the son When sliding on rail 311, the sliding block 3212 will drive the movement of seat 3211 that is slidably installed, and the seat 3211 that is slidably installed is top Portion is equipped with avoiding hollow groove 32111, and the avoiding hollow groove 32111 can either facilitate the installation of the driving device 33, and can guarantee described The seat 3211 that is slidably installed moves in the case where without hindrance, and the seat 3211 that is slidably installed is rectangular hollow framework, described in guarantee The interference of position, the top peace of the sliding block 3212 do not occur in the process of moving with the sliding rail 31 for the seat 3211 that is slidably installed Bottom loaded on the upper mounting surface 32112 makes the sliding block 3212 be able to drive the seat 3211 that is slidably installed mobile.

Further, the driving device 33 includes gripper cylinder 331 and cylinder mounting base 332；

The cylinder mounting base 332 includes front mounting plate 3321, lower installation board 3322 and triangle stiffening plate 3323；

3321 bottom end of front mounting plate and 3322 front end of lower installation board vertically connect；

The quantity of the triangle stiffening plate 3323 is at least one, and its two sides is respectively fixedly connected in the front mounting plate 3321 Lateral surface and lower installation board 3322 top surface；

The gripper cylinder 331 is installed on the medial surface of the front mounting plate 3321.

The quantity of the triangle stiffening plate 3323 of each of the present embodiment cylinder mounting base 332 is two, two sides point It is not fixedly connected on the lateral surface of the front mounting plate 3321 and the top surface of lower installation board 3322, so that the cylinder installation The structure of seat 332 is more stable, increases its service life, so that the gripper cylinder 331 can be more stably installed In the medial surface of the front mounting plate 3321, even if using for a long time, the feelings that the cylinder mounting base 332 will not loosen Condition.

Further, the active slip portion 321 further includes footstock 3213 comprising foreboard 32131, bottom plate 32132 and add Strong plate 32133；

The bottom end of the foreboard 32131 and the front end of bottom plate 32132 vertically connect；

The quantity of the stiffening plate 32133 is two, and both ends are respectively fixedly connected in the lateral surface of the foreboard 32131 and described The top surface of bottom plate 3213；

The bottom plate 32132 is installed on the top of the upper mounting surface 32112；

Form limit space between two pieces of stiffening plates 32133, the clamping driving end 3311 of the gripper cylinder 331 by every Set 3312 is installed on the outside of the foreboard 32131, and the spacer 3312 is limited in the limit space.

The bottom end of the foreboard 32131 and the front end of bottom plate 32132 vertically connect, and the quantity of the stiffening plate 32133 is Two, both ends are respectively fixedly connected with the top surface of lateral surface and the bottom plate 3213 in the foreboard 32131, so that described The structure of footstock 3213 is more stable, increases its service life；The bottom plate 3213 is installed on the top of the upper mounting surface 32112 Portion, the clamping driving end 3311 of the gripper cylinder 331 is installed on the outside of the foreboard 32131 by spacer 3312, described The clamping driving end 3311 of gripper cylinder 331 is by driving the foreboard 32131 just can drive the seat 3211 that is slidably installed Movement, the setting of the spacer 3312 enable the clamping of the gripper cylinder 331 that end 3311 is driven more to be firmly installed In the outside of the foreboard 32131, the spacer 3312 is limited in the limit space, further reinforces the spacer Stability when 3312 work, avoids its double swerve.

Further, the active slip portion 321 further includes having grasping plate attachment base 3214；

The grasping plate attachment base 3214 includes upper mounting plate 32141 and connection frame 32142；

The upper mounting plate 32141 is installed on the bottom of the seat 3211 that is slidably installed, and the connection frame 32142 is set on described The bottom of mounting plate 32141, the connection frame 32142 are equipped with the assistant reinforcement plate being connected with the upper mounting plate 32141 321421；

The grasping plate 34 is installed on the outside of the connection frame 32142.

The upper mounting plate 32141 is installed on the bottom of the seat 3211 that is slidably installed, when the seat 3211 that is slidably installed When mobile, the grasping plate 34 in the outside more convenient to install in the connection frame 32142 is grabbed and is put down operation to brick packet 9, The connection frame 32142 is set to the bottom of the upper mounting plate 32141, and the connection frame 32142 is equipped with and the upper installation The assistant reinforcement plate 321421 that plate 32141 is connected can increase the bonding strength of the grasping plate attachment base 3214, to increase Its service life guarantees more reliable and more stable when the grasping plate 34 grabs brick packet 9.

Further, the quantity of the clamping device 3 is two, and two sets of clamping devices 3 are arranged side by side, the respectively first folder Hold mechanism 301 and the second clamping device 302；

The driving device 33 of first clamping device 301 and the driving device 33 of the second clamping device 302 are respectively arranged in institute State the opposite side of sliding rail 31.

The quantity of the clamping device 3 is two, can be protected under the premise of reducing the mechanical gripper mechanism manufacturing cost Demonstrate,prove quality and efficiency that the handgrip 34 grabs brick packet 9, the driving device 33 and the second clamping machine of first clamping device 301 The driving device 33 of structure 302 is respectively arranged in the opposite side of the sliding rail 31, so that the weight of the mechanical gripper mechanism reaches To the effect of equilibrium assignmen, increase the stability of its work.

Further, the mechanical gripper mechanism further includes rack 303 and outer frame body 304；

The rack 303 is the rack of cube shape made of being connected with each other as a plurality of connecting tube 3031, and the outer frame body 304 is pacified Outside loaded on the rack 303, to block the top and all around four side of the rack 303；

The clamping device 3 is installed in the rack 303.

The rack 303 is that the clamping device 3 provides the position of an installation, and the rack 303 is by a plurality of connection The rack of cuboid shape made of pipe 3031 is connected with each other, structural strength is big, facilitates installation；The outer frame body 304 is installed In the outside of the rack 303, to block the top and all around four sides of the rack 303, it can protect and be mounted on The clamping device 3 in the rack 303 will not hinder the movement of the grasping plate 34.

Further, the connecting tube 3031 is the aluminum profile that four sides are designed with groove 30311；

The framework 304 includes side plate 3041 and top plate 3042；

The side plate 3041 and top plate 3042 are fixed on the groove of the connecting tube 3031 in 303 outside of rack by fixing piece 30311。

The fixing piece is square nut block, by the cooperation with the groove 30311, the side plate 3041 and top plate 3042 can more be stably installed in the groove 30311, also facilitate the disassembly of the side plate 3041 and top plate 3042.

Further, the inside of the grasping plate 34 is equipped with protection offset plate 341.

The protection offset plate 341 is soft material, while so that the grasping plate 34 is kept a firmer hand on when grabbing brick packet 9, The structure of brick will not be destroyed.

Further, the driving section 35 further includes driving section mounting base 355, is set to the centre of the sliding rail 31；

The driving wheel 353 and directive wheel 354 are mounted on the top of the driving section mounting base 355, in the driving wheel 353 Bearing is installed, the embodiment of the present invention bearing is deep groove ball bearing.

The driving section mounting base 355 is set to the centre of the sliding rail 31, so that the active slip portion 321 and driven cunning The dynamic sliding stroke having the same of portion 322, to guarantee to be respectively arranged in the active slip portion 321 and follower slip portion 322 The handgrip 34 can move synchronously crawl and put down brick packet 9, the deep groove ball bearing can support the driving wheel 353 again The resistance when driving wheel 353 rotation can be reduced.

Further, the top of the outer frame body 304 is equipped with aperture 3043 and routing hole 3044, the routing hole 3044 it is outer Week is equipped with flange 3045.

The quantity of the embodiment of the present invention aperture 3043 is four, and the aperture 3043 is convenient for empty avoiding and the gripper cylinder The tracheae of 331 connections；The routing hole 3044 is convenient for the wiring of tracheae；The flange 3045 convenient for the mechanical gripper mechanism with The end of Z axis support tube 433 connects installation.

Further, three axis mobile mechanism 4 includes X-axis mobile mechanism 41, Y-axis moving mechanism 42, Z axis mobile mechanism 43 With fixed frame 44；

The X-axis mobile mechanism 41 includes X frame 411, and both ends are equipped with idler wheel 415, and the idler wheel 415 is slidably mounted at institute State the top of fixed frame 44；

The both ends of the X frame 411 are respectively connected with X-axis synchronous belt 412；

The fixed frame 44 is provided with X-axis synchronizing wheel 413 and X-axis driving device 414, the X-axis synchronizing wheel 413 and the X-axis Synchronous belt 412 connects, and the X-axis driving device 414 drives the X-axis synchronizing wheel 413 to rotate.

As shown in figure 3, the X-axis driving device 414 is motor, by driving the X-axis synchronizing wheel 413 to rotate, i.e., The X-axis synchronous belt 412 can be driven to move, it is convenient and efficient, since the both ends of the X frame 411 are respectively connected with X-axis synchronous belt 412, so the X frame 411 is finally driven by the X-axis synchronous belt 412, the both ends of the X frame 411 are equipped with idler wheel 415, On the one hand the idler wheel 415 can support the X frame 411, and on the other hand the idler wheel 415 can be synchronous with the X-axis With 412 movement and rotate, finally drive the X frame 411 in the top movements of the fixed frame 44；In the present embodiment, Bearing is installed in the shaft of the X-axis synchronizing wheel 413, to support the shaft of the X-axis synchronizing wheel 413 and reduce the X-axis Frictional force when synchronizing wheel 413 rotates.

Further, the Y-axis moving mechanism 42 includes Y-axis sliding rail 421, Y-axis rack gear 422, Y-axis driving device 423, Y-axis Movable plate 424 and Y-axis sliding block 425；

The X frame 411 includes two X-axis support tubes 4111 disposed in parallel；

The Y-axis sliding rail 421 is installed on the top surface of the X-axis support tube 4111；

The Y-axis rack gear 422 is installed on the medial surface of a wherein X-axis support tube 4111；

The Y-axis moving plate 424 is slidably mounted at the Y-axis sliding rail 421, the Y-axis driving device by Y-axis sliding block 425 423 are installed on the Y-axis moving plate 424, and the driving end of the Y-axis driving device 423 is equipped with nibbles with the Y-axis rack gear 422 The gear of conjunction.

As shown in fig. 6, the Y-axis driving device 423 is motor, the tooth engaged by driving with the Y-axis rack gear 422 The rotation of wheel moves the Y-axis moving plate 424 on the Y-axis sliding rail 421 by Y-axis sliding block 425；The X frame 411 Including two X-axis support tubes 4111 disposed in parallel, keep its structure simpler practical；The Y-axis sliding rail 421 is installed on described The top surface of X-axis support tube 4111, the Y-axis rack gear 422 are installed on the medial surface of a wherein X-axis support tube 4111, both It can guarantee that the Y-axis rack gear 422 and the position of the Y-axis sliding rail 421 will not interfere with each other, and can guarantee the Y-axis moving plate 424 move on the Y-axis sliding rail 421.

Further, the Z axis mobile mechanism 43 include Z axis installing pipe 431, Z axis driving device 432, Z axis support tube 433, Z axis rack gear 434, Z axis slide rail 435 and Z axis sliding block 436；

The Z axis installing pipe 431 is vertically arranged to the top of the Y-axis moving plate 424, and the inside of the Z axis installing pipe 431 To be hollow, and it is connected to the top and bottom of the Y-axis moving plate 424；

The Z axis rack gear 434 and Z axis slide rail 435 are individually fixed in the adjacent side of the Z axis support tube 433；

The Z axis sliding block 436 is installed in the Z axis installing pipe 431, and the Z axis driving device 432 is installed on the Z axis peace The outside of tubulature 431；

The Z axis slide rail 435 slidably cooperates with the Z axis sliding block 436, and the driving end of the Z axis driving device 432 is equipped with With 434 meshed gears of Z axis rack gear.

As shown in Figure 6 to 8, the Z axis driving device 432 is motor, is nibbled by driving with the Z axis rack gear 434 The gear of conjunction makes the Z axis support tube 433 under the drive of the Z axis rack gear 434 and Z axis slide rail 435 and Z axis sliding block 436 The lower movement of cooperation.

The Z axis installing pipe 431 is vertically arranged to the top of the Y-axis moving plate 424, and the Z axis installing pipe 431 Inside be it is hollow, the Z axis support tube 433 can move up and down in the Z axis installing pipe 431；The Z axis rack gear 434 It is individually fixed in the adjacent side of the Z axis support tube 433 with Z axis slide rail 435, is avoiding the Z axis rack gear 434 and Z axis sliding When the installation site of rail 435 interferes, so that its mounting structure is more compact；The Z axis driving device 432 is installed on described The outside of Z axis installing pipe 431 is more favorable for the lifting in the Z-axis direction of the Z axis support tube 433.

In the present embodiment, the mechanical gripper mechanism 7 is installed on the end of the Z axis support tube 433 especially by flange, And the end of the Z axis support tube 433 is equipped with motor and gear, by motor driven gear, makes the mechanical gripper mechanism 7 It can rotate in the horizontal direction.

Further, the outside of the fixed frame 44 is equipped with protective cover 81, and the top of the fixed frame 44 is equipped with drag chain 82, the side of the fixing piece is equipped with electric cabinet 83.

The protective cover 81 plays a protective role, and the drag chain 82 can install electric wire concentratedly in the inner, convenient for pulling； The electric cabinet 83 can will control the work of the stacking machine.

The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within Within protection scope of the present invention.

Claims

1. it is a kind of convenient for overturn brick packet stacking machine, including into brick mechanism, stacking mechanism, three axis mobile mechanisms, turnover mechanism, connect Brick mechanism and mechanical gripper mechanism；

The stacking mechanism is set to described into the top of brick mechanism；

The mechanical gripper mechanism is set to three axis mobile mechanism；

It is characterized by: the turnover mechanism includes auxiliary sliding part, turning part and support frame;

Turning part is set to the end of the auxiliary sliding part；

The driving end of the folded packet grasping drive unit outwardly, and its drive end be mounted on the grip block；

The brick receiving machine structure includes carrier and alignment means；The quantity of the alignment means be it is multiple, be set to the carrying Frame outer fix；The alignment means include alignment driving device and alignment plate；The alignment plate is installed on the alignment driving The driving end of device；

The medial surface of the alignment plate is equipped with the protection board of soft materials, and the top of the carrier is equipped with loading plate；

Turning part includes multiple overturning rollers, the second mounting rack and overturning drive device；

The overturning roller is successively installed in second mounting rack；

The front end of second mounting rack is articulated with the top of support frame as described above, the driving end of the overturning drive device with it is described Second mounting rack connection, to drive second mounting rack to rotate along the hinged place of its front end.