CN109573631A - Gantry stacking machine - Google Patents
Gantry stacking machine Download PDFInfo
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- CN109573631A CN109573631A CN201811419132.2A CN201811419132A CN109573631A CN 109573631 A CN109573631 A CN 109573631A CN 201811419132 A CN201811419132 A CN 201811419132A CN 109573631 A CN109573631 A CN 109573631A
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- 230000033001 locomotion Effects 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000004806 packaging method and process Methods 0.000 abstract description 3
- 230000003746 surface roughness Effects 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 8
- 239000003638 chemical reducing agent Substances 0.000 description 8
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
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Abstract
The present invention provides a kind of gantry stacking machine, including rack, the upper rack is equipped with the stacking mechanism for transporting goods, the frame lower is equipped with the conveyer frames for transmitting cargo, the stacking mechanism includes the palletizing mechanical arm for holding cargo tightly, the palletizing mechanical arm includes top plate, the holding plate down-set along the both ends of top plate length direction, the first driving mechanism for driving two holding plates close to each other or separate, the hook plate for holding cargo and the second driving mechanism for driving the hook plate to hold cargo bottom are provided on the holding plate.Plate is held tightly by the first driving mechanism driving two holds cargo tightly, cargo is held in holding setting on the outside of plate tightly and caning turn to the hook plate held tightly below plate, the cargo for being suitable for various surface roughnesses is carried, and the integrity degree of packaging will not be destroyed, it is ensured that cargo stablizes transmission.
Description
Technical field
The present invention relates to palletizing mechanical equipment technical field more particularly to a kind of gantry stacking machines.
Background technique
In enterprise's production, palletizing system tool has been widely used, and after packaging products in boxes, no matter is delivered to warehouse storage also
It is to be delivered away by logistics, often requires neatly to arrange chest, pile up layer by layer, to save space, so in order to improve
The efficiency of stacking, nowadays, the clamp for stacking of many enterprises be all use sucker to increase frictional force when mechanical handing cargo, but
Be if cargo surfaces it is more coarse, sucker can not be closely attached on cargo surfaces, and if when carrying cabinet, box body tightness
Bad, cabinet deforms, and all not can guarantee reliability when transporting goods.
Summary of the invention
The purpose of the present invention is intended to provide a kind of gantry stacking machine for being conducive to improve stacking efficiency.
To achieve the goals above, the present invention the following technical schemes are provided:
A kind of gantry stacking machine, including rack, the upper rack are equipped with the stacking mechanism for transporting goods, the machine
Frame lower part is equipped with the conveyer frames for transmitting cargo, and the stacking mechanism includes the palletizing mechanical arm for holding cargo tightly, described
Palletizing mechanical arm include top plate, along the down-set holding plate in the both ends of top plate length direction, for drive two described in embrace
Tight plate the first driving mechanism close to each other or separate, described hold tightly are provided with hook plate for holding cargo and for driving on plate
Move the second driving mechanism that the hook plate holds cargo bottom.
Preferably, first driving mechanism is to hold cylinder tightly, and two holding cylinders are relatively arranged on the top plate
Lower part and the both ends for being located at the top plate length direction, the axis direction of telescopic rod are parallel to the length direction of the top plate,
Described top plate one end hold tightly cylinder driving corresponding thereto one end holding plate towards its close to or far from.
Preferably, described hold tightly is additionally provided with for detecting the detection dress for whether holding cargo between holding plate tightly on plate
It sets.
Preferably, the detection device includes being articulated in the detection bar for holding plate lateral surface tightly；On the holding plate also
Offer detection mouth, to form abutting part, the abutting part passes through the detection mouth to described for one end bending of the detection bar
It holds tightly on the inside of plate and the lower direction movement towards the abjection detection mouth can be pressed in cargo, also set on the lateral surface for holding plate tightly
It is equipped with the sensor whether fallen into its induction region for detecting the one end of the detection bar far from abutting part.
Preferably, it is fixedly connected with bracket on the lateral surface for holding plate tightly, the detection bar is articulated in the bracket.
Preferably, compressed spring has been suppressed between the detection bar and the holding plate, one end of the compressed spring connects
It is connected to the lateral surface for holding plate tightly, the other end is connected to the one end of the detection bar far from abutting part.
Preferably, second driving mechanism is support object cylinder, and the holding plate lateral surface, which is equipped with, relatively described to be embraced
The hook plate shaft of tight plate rotation, the hook plate are fixed in the hook plate shaft, and the support object cylinder is for driving the hook plate
Shaft rotates so that the hook plate turns to below the holding plate or makes the hook plate from plate rotated down is held tightly to holding plate
Outside.
Preferably, the stacking mechanism further includes for driving the palletizing mechanical arm to transmit along the conveyer frames are parallel to
Direction displacement moves forward and backward component, for driving the palletizing mechanical arm along perpendicular to conveyer frames direction of transfer displacement
Left and right displacement component and the lifting assembly of the driving palletizing mechanical arm lifting.
Preferably, it is connected between the palletizing mechanical arm and the lifting assembly for driving the palletizing mechanical arm circle
The angle adjusting mechanism of week rotation.
Preferably, the conveyer frames include cargo pipeline, set on cargo pipeline end and for positioning cargo
The positioning mechanism of the cargo of pipeline end, the positioning mechanism include the first gear being set on cargo pipeline end
Plate, the push plate for cargo to be pushed into designated position are used to that the push plate to be driven to transport along perpendicular to the conveyer frames direction of transfer
Dynamic third driving mechanism, and for driving the push plate and the third driving mechanism to transmit along perpendicular to the conveyer frames
4th driving mechanism of direction movement.
Preferably, the one end of the push plate far from the first baffle is towards far from 20 ° of push plate direction of motion bending-
60°。
Compared with prior art, the solution of the invention has the following advantages:
1. gantry stacking machine of the invention holds cargo tightly by the way that relatively-movable two holding plate is arranged, in holding plate
Outside setting can turn to the hook plate held tightly below plate and holds cargo, and the cargo for being suitable for various surface roughnesses is carried,
The integrity degree of packaging will not be destroyed, it is ensured that cargo stablizes transmission.
2. gantry stacking machine of the invention is also provided with detection device on the holding plate, held tightly in two holding plates
When cargo, the abutting part that cargo can will test bar, which supports, to hold the medial surface of plate tightly, and makes the detection bar far from the abutting
The one end in portion is connected to the lateral surface for holding plate tightly, makes the sensor sensing for holding plate lateral surface tightly to detection bar, in turn
Judge that holding plate tightly has held cargo tightly, and make the support object cylinder that the hook plate be driven to hold cargo bottom, as a result, into one
Step confirmation cargo is held tightly, and avoids falling accident in handling process.
3. gantry stacking machine of the invention, by described in the driving of the collective effect of third driving mechanism and the 4th driving mechanism
Cargo is pushed to designated position by push plate, to facilitate the crawl of cargo, improves the working efficiency of gantry stacking machine.
4. in gantry stacking machine of the invention, by the setting of positioning cylinder and stroke cylinder, avoid using stroke compared with
When big cylinder, increases the occupancy to gantry stacking machine position of the invention, be easy to interfere with the operating of gantry stacking machine.
5. gantry stacking machine of the invention, by being provided with angular adjustment machine between lifting assembly and palletizing mechanical arm
Structure can make the palletizing mechanical arm select different angles to grab cargo according to putting for cargo, to facilitate cargo
It carries.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is conveyer frames structural schematic diagram in the present invention；
Fig. 3 is rack construction schematic diagram in the present invention；
Fig. 4 is lifting assembly and palletizing mechanical arm structural schematic diagram in the present invention；
Fig. 5 is palletizing mechanical arm structural schematic diagram in the present invention；
Fig. 6 is palletizing mechanical arm bottom substance schematic diagram in the present invention；
Fig. 7 is enlarged drawing at the A in Fig. 6 of the present invention.
Appended drawing reference: 1, rack；2, conveyer frames；21, cargo pipeline；22, roller；3, positioning mechanism；31, first gear
Plate；32, push plate；33, third driving mechanism；34, the 4th driving mechanism；35, the first connecting plate；36, first connecting rod；37,
Two baffles；4, palletizing mechanical arm；41, top plate；42, plate is held tightly；43, guide rod；44, the first driving mechanism；45, hook plate；451,
Hook；46, the second driving mechanism；47, hook plate shaft；48, the second connecting rod；5, component is moved forward and backward；51, guide rail supporting frame；
52, the first guide rail；53, plate is moved forward and backward；54, the first synchronous belt；55, the second servo motor；56, first gear speed reducer；6,
Left and right displacement component；61, the second guide rail；62, the first slider connecting plate；63, the second synchronous belt；64, left and right displacement plate；65,
Three servo motors；66, second gear speed reducer；7, lifting assembly；71, fashioned iron；72, third guide rail；73, rack gear；74, second is sliding
Block connecting plate；75, the second connecting plate；76, the 4th servo motor；77, the second worm decelerating machine；78, gear；8, angular adjustment machine
Structure；81, the first worm decelerating machine；82, first servo motor；9, detection device；91, detection bar；92, abutting part；93, bracket；
94, detection mouth；95, compressed spring.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated wording used in specification of the invention " is wrapped
Include " refer to that there are the feature, integer, step, operation, zero/component and/or components, but it is not excluded that in the presence of or addition one
Other a or multiple features, integer, step, operation, zero/component, component and/or their group.It should be understood that when we claim
When zero/component is "connected" to another zero/component, it can be directly connected to other zero/components, or there may also be centres
Zero/component.Wording "and/or" used herein include one or more associated wholes for listing item or any cell and
All combinations.
As depicted in figs. 1 and 2, a kind of gantry stacking machine, including rack 1,1 top of rack are equipped with for transporting goods
Stacking mechanism, 1 lower part of rack is equipped with conveyer frames 2 for transmitting cargo.
1 top of rack is provided with stacking mechanism, and the stacking mechanism includes the palletizing mechanical arm for holding cargo tightly
4, for driving the palletizing mechanical arm 4 along being parallel to moving forward and backward component 5, being used for for 2 direction of transfer of conveyer frames displacement
Drive the palletizing mechanical arm 4 along described in the left and right displacement component 6 and driving being displaced perpendicular to 2 direction of transfer of conveyer frames
The lifting assembly 7 that palletizing mechanical arm 4 is gone up and down.
As shown in Figures 4 to 7, the palletizing mechanical arm 4 includes top plate 41, is connected to the top plate 41 and the lifting group
Between part 7 and for adjusting the angle adjusting mechanism 8 of 4 angle of palletizing mechanical arm, 41 lower part of the top plate and being located at length direction
Both ends holding plate 42, driving two holding plates mutually draw close or the first separate driving mechanism 44, for holding goods
Object bottom is to guarantee hook plate 45 that cargo is not fallen out and for driving the hook plate 45 to turn to 42 lower section of holding plate
Second driving mechanism 46 for holding 42 lateral surface of plate tightly is returned back to hold cargo or the driving hook plate 45；The top plate 41
Lightening hole is offered with two holding plates 42.
The angle adjusting mechanism 8 includes that first servo motor 82 subtracts with the first worm screw for being fixed on the lifting assembly 7
Fast machine 81, the output shaft of the first servo motor 82 is fixedly connected with the input terminal of first worm decelerating machine 81, described
The output shaft of first worm decelerating machine 81 is fixedly connected on 41 top of top plate, described to be driven by first servo motor 82
The output shaft of first worm decelerating machine 81 rotates, and then adjusts the rotational angle of the palletizing mechanical arm 4.
The lower part of the 41 two sides lengthwise side of top plate is fixedly connected to guide rod 43 along its length.The holding plate
42 are socketed on the guide rod 43, and can slide relative to guide rod 43.First driving mechanism 44 includes being set to the top
Two holding cylinders of 41 lower part of plate, two both ends held cylinder tightly and be respectively arranged at 41 length direction of top plate,
The axis direction of telescopic rod is parallel to the length direction of the top plate 41, and two holding cylinders are oppositely arranged, and preferably with
Hold the middle position that cylinder block is fixed on 41 lower part of top plate close to one end of telescopic rod, the holding Telescopic-cylinder bar tightly
Extension end be connected to the holding plate 42 so that the holding cylinder can drive the holding plate 42 of one end corresponding thereto to lean on towards it
Close or remote from therefore, two holding cylinders drive the holding plate 42 of its opposite side towards it close to or far from and then making
Two holding plates 42 are mutually drawn close to hold cargo tightly or be located remotely from each other to unclamp cargo.
By the interposition that two holding cylinders are both secured to 41 lower part of top plate close to one end of telescopic rod
It sets, the structure of the palletizing mechanical arm 4 can be made more compact, avoid in the work course, by the interference of extraneous factor.
It in other embodiments, can also be by driving one of holding plate 42 mobile real relative to another holding plate 42
The holding or release of stock object.
Second driving mechanism 46 includes the support object cylinder for being articulated with 42 lateral surface of holding plate of side, is articulated with
The hook plate shaft 47 for holding 42 lateral surface of plate tightly and the telescopic rod and the hook plate turn for being interconnected in the support object cylinder
Second connecting rod 48 of axis 47；Bearing block there are two being fixedly connected on the lateral surface for holding plate 42 tightly, the hook plate shaft 47
Between two bearing blocks and it is rotatablely connected with two bearing blocks, one end of second connecting rod 48 and the support object gas
The telescopic rod of cylinder is hinged, and the other end is fixedly connected with the hook plate shaft 47, and the hook plate 45 is fixed on the hook plate shaft 47
Top, the hook 451 that there is the hook plate 45 one end far from the hook plate shaft 47 to bend downward.
In other embodiments, hook plate 45 can also be respectively provided in 42 lateral surface of holding plate of two sides, and
It holds in the palm to turn to hold tightly under the driving of object cylinder and holds cargo below plate 42, to reinforce the protective effect to cargo.
The lateral surface for holding plate 42 tightly and the lower section for being located at the hook plate shaft 47, which are additionally provided with, to be used to detect two institutes
The detection device 9 held tightly and whether hold cargo between plate 42 tightly is stated, to avoid the holding plate 42 in the case where turning to holding plate 42
Detection device 9 described in Fang Shiyu interferes.
The detection device 9 includes being fixed on the bracket 93 for holding 42 lateral surface of plate tightly, being pivotally connected simultaneously with the bracket 93
It can be relative to the detection bar 91 that bracket 93 rotates, the compression bullet being connected between the detection bar 91 and holding 42 lateral surface of plate
Spring 95, and the sensor (being not shown in the figure, similarly hereinafter) for detecting 91 state of detection bar.
Detection mouth 94 is offered on the holding plate 42, one end of the detection bar 91 is bent to form abutting part 92, institute
Abutting part 92 is stated to protrude into the detection mouth 94 to 42 medial surface of holding plate and can press in cargo lower towards abjection detection mouth 94
Direction it is mobile.The detection bar 91 has suppressed pressure between one end and 42 lateral surface of holding plate far from the abutting part 92
Contracting spring 95 is penetrated by the detection mouth 94 to make the abutting part automatically reset when not compressed and protrudes from holding
42 inside of plate.
The sensor is set on the lateral surface for holding plate 42 tightly, and for detecting the one end of detection bar 91 far from abutting part 92
Whether fall into the induction region of sensor, corresponding electric signal is then sent when sensor recognizes detection bar 91 and is controlled to outside
Device, and then confirm that cargo is held tightly, and then can avoid falling accident in cargo handling process.
In other embodiments, the detection device 9 is also possible to make in the 94 fixation pressure sensor of detection mouth
Plate 42 is held tightly when holding cargo tightly, pressure sensor senses that cargo passes to its pressure, and then can detecte out the stacking
Manipulator 4 has clamped cargo.Alternatively, microswitch, limit switch is arranged in 94 position of detection mouth, and make it can be in cargo
It is sent when pressing and characterizes the corresponding electric signal for holding cargo tightly to controller.
The specific operation process of the palletizing mechanical arm is as follows:
When preparing to hold cargo tightly, first servo motor 82 drives the output shaft of the first worm decelerating machine 81 to rotate to drive
The palletizing mechanical arm 4 rotation, and then the angle for adjusting and holding plate 42 tightly and being suitble to crawl cargo is put according to cargo.
When starting to hold cargo tightly, the holding plate 42 of holding cylinder driving two sides first is mutually drawn close to clamp cargo, directly
It is connected to the abutting part 92 of the detection bar 91 to cargo, it is mobile towards abjection 94 direction of detection mouth to make abutting part 92, and then make institute
It states detection bar 91 to turn to far from one end of the abutting part 92 on the lateral surface for being connected to the holding plate 42, at this moment, be set to
The sensor held tightly on plate 42 detects that there are detection bars 91 in its induction region, and issues signal and make the support object cylinder
Start that hook plate shaft 47 is driven to rotate, and then drives hook plate 45 towards holding 42 rotated down of plate to the bottom of cargo, with
Avoid the palletizing mechanical arm 4 during transporting function, since vibration, inertia or extraneous factor fall cargo.
As shown in Fig. 1, Fig. 3 and Fig. 4, the component 5 that moves forward and backward includes being set up in 1 top of rack and being parallel to each other
Two guide rail supporting frames 51, the guide rail supporting frame 51 is parallel to 2 direction of transfer of conveyer frames, the guide rail supporting frame 51
Top is provided with the first guide rail 52, slidably connects on first guide rail 52 and moves forward and backward plate 53, and 1 top of rack is also solid
Surely it is connected with the first synchronous belt 54 parallel with first guide rail 52, described move forward and backward is provided with the second servo electricity on plate 53
Machine 55 and with the first gear speed reducer 56 for moving forward and backward plate 53 and being fixedly connected, the output shaft of second servo motor 55
It is connected to the input terminal of the first gear speed reducer 56, is fixedly connected on the output shaft of the first gear speed reducer 56 same
Belt wheel is walked, first synchronous belt 54 is said more than is proper on the synchronous pulley for moving forward and backward plate 53, so that described move forward and backward plate
53 move along the setting direction of first synchronous belt 54.
The left and right displacement component 6 includes two the second guide rails 61 for being set up in 1 top of rack and being parallel to each other, institute
The second guide rail 61 is stated perpendicular to 2 direction of transfer of conveyer frames, it is homogeneous between the head and the tail both ends of two guide rail supporting frames 51
It mutually is fixedly connected with the first slider connecting plate 62, first slider connecting plate 62 is slidably connected on second guide rail 61,
The second parallel synchronous belt 63 with second guide rail 61, the guide rail supporting frame 51 are also fixedly connected in the rack 1
Between be also mutually permanently connected and have left and right displacement plate 64, third servo motor 65 and fixed is provided on the left and right displacement plate 64
Described second is connected in the output shaft of the second gear speed reducer 66 of the left and right displacement plate 64, the third servo motor 65
The input terminal of gear reduction unit 66, is fixedly connected with synchronous pulley on the output shaft of the second gear speed reducer 66, and described
Two synchronous belts 63 are said more than is proper on the synchronous pulley of the left and right displacement plate 64, so that the left and right displacement plate 64 is same along described second
The setting direction for walking band 63 is mobile.
The lifting assembly 7 includes passing vertically through the fashioned iron 71 for moving forward and backward plate 53, solid vertically on the fashioned iron 71
Surely there are third guide rail 72 and rack gear 73, described move forward and backward also is fixedly connected with the second slider connecting plate 74 on plate 53, and described
Three guide rails 72 are slidably connected with second slider connecting plate 74, and 71 lower end of fashioned iron is fixedly connected with the second connecting plate 75,
First worm decelerating machine 81 is fixedly connected on 75 lower part of the second connecting plate, and described move forward and backward is additionally provided on plate 53
4th servo motor 76 and be fixedly connected on second worm decelerating machine 77 for moving forward and backward plate 53, the servo motor it is defeated
Shaft is connected to the input terminal of second worm decelerating machine 77, is fixedly connected on the output shaft of second worm decelerating machine 77
There is gear 78, the gear 78 is engaged with the rack gear 73, to drive the lifting assembly 7 to go up and down, meanwhile, second worm screw
Speed reducer 77 has the function of reverse self-locking, i.e., when the palletizing mechanical arm 4 holds heavier cargo tightly or breaks down constantly, institute
The reverse self-locking function of stating the second worm decelerating machine 77 can prevent lifting assembly 7 from bearing not living gravity and decline, and be conducive to improve
The security and stability of gantry stacking machine.
The conveyer frames 2 are including cargo pipeline 21 and set on 21 end of cargo pipeline and defeated for positioning cargo
The positioning mechanism 3 of the cargo of 21 end of line sending, the cargo pipeline 21 include that conveyer belt (not shown) and roller convey
Line, the drum conveying line include multiple rollers 22 for being arranged side by side and rotating in same direction；Multiple rollers 22 pass through motor (figure
In be not shown) driving rotation, to automatically deliver cargo to designated position.
The positioning mechanism 3 includes the first baffle 31 being set on the transmission of conveyer frames 2 end, along perpendicular to described
The movement of 2 direction of conveyer frames and drive the push plate 32 along vertical for cargo to be pushed into the push plate 32 of designated position, is used to driving
In the mobile third driving mechanism 33 of 2 direction of transfer of conveyer frames and for driving the positioning cylinder and the push plate 32 simultaneously
Along the 4th driving mechanism 34 moved perpendicular to 2 direction of transfer of conveyer frames.
The third driving mechanism 33 includes positioning cylinder, the first connecting plate being fixed on the positioning cylinder telescopic rod
35 and gap and the of first connecting plate 35 and push plate 32 is fixedly connected between the adjacent power drum 21
One connecting rod 36；4th driving mechanism 34 include stroke cylinder, the stroke cylinder be fixed on 2 lower part of conveyer frames and
One end far from the push plate 32, the positioning cylinder is fixed on the telescopic rod of the stroke cylinder, the positioning cylinder and
The axis direction of the telescopic rod of the stroke cylinder is perpendicular to 2 direction of transfer of conveyer frames；The positioning cylinder can drive institute
Push plate 32 is stated towards it close to or far to facilitate positioning of the driving push plate 32 to cargo, the stroke cylinder can drive positioning gas
Cylinder and push plate 32 are mobile simultaneously, to increase the shift motion of push plate 32, pass through setting for the positioning cylinder and the stroke cylinder
It sets, when avoiding cylinder biggish using stroke, increases the occupancy to gantry stacking machine position of the invention, be easy to interfere with dragon
The operating of door stacking machine.
The one end of the push plate 32 far from the first baffle 31 is towards far from 20 ° of 32 direction of motion of push plate bending-
60 °, preferably 35 °, convenient when cargo is sent by bending the first baffle 31 to form guide surface, push plate
32 pairs of cargos position, and be fixed on the conveyer frames 2 is additionally provided at the position of the end of travel of the push plate 32
Two baffles 37, to facilitate crawl for cooperating the push plate 32 to ajust the cargo jointly.
Concrete application process of the invention is as follows:
After cargo is sent to the transmission end of the conveyer frames 2 by the conveyer frames 2, pass through positioning cylinder and stroke
The collective effect of cylinder drives the push plate 32 that cargo is pushed into the position that the palletizing mechanical arm 4 grabs and grabs.
Then palletizing mechanical arm 4 is by moving forward and backward the collective effect pair of plate 53, left and right displacement plate 64 and lifting assembly 7
Cargo is grabbed, and stacks of cargo is put away.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (11)
1. a kind of gantry stacking machine, including rack, the upper rack is equipped with the stacking mechanism for transporting goods, the rack
Lower part is equipped with the conveyer frames for transmitting cargo, it is characterized in that: the stacking mechanism includes the palletizing mechanical for holding cargo tightly
Hand, the palletizing mechanical arm include top plate, along the down-set holding plate in the both ends of top plate length direction, for drive two
It is described to hold plate the first driving mechanism close to each other or separate tightly, it is described hold tightly be provided on plate hook plate for holding cargo and
For driving the hook plate to hold the second driving mechanism of cargo bottom.
2. gantry stacking machine according to claim 1, it is characterized in that: first driving mechanism is to hold cylinder tightly, two
The cylinder of holding tightly is relatively arranged on the top plate lower part and is located at the both ends of the top plate length direction, the axis of telescopic rod
It is oriented parallel to the length direction of the top plate, the holding plate court held cylinder tightly and drive one end corresponding thereto of described top plate one end
Its close to or far from.
3. gantry stacking machine according to claim 2 is held tightly it is characterized in that: being additionally provided on the holding plate for detecting
Whether the detection device of cargo is held tightly between plate.
4. gantry stacking machine according to claim 3, it is characterized in that: the detection device includes being articulated in the holding plate
The detection bar of lateral surface；Detection mouth is also provided on the holding plate, one end of the detection bar is bent to form abutting part, institute
Abutting part is stated on the inside of the detection mouth to the holding plate and can be pressed in cargo lower towards the direction for deviating from the detection mouth
It is mobile, it is additionally provided on the lateral surface for holding plate tightly for detecting whether the one end of the detection bar far from abutting part falls into it
Sensor in induction region.
5. gantry stacking machine according to claim 4, it is characterized in that: being fixedly connected with branch on the lateral surface for holding plate tightly
Frame, the detection bar are articulated in the bracket.
6. gantry stacking machine according to claim 4, it is characterized in that: having been suppressed between the detection bar and the holding plate
Compressed spring, one end of the compressed spring are connected to the lateral surface for holding plate tightly, and it is remote that the other end is connected to the detection bar
One end from abutting part.
7. gantry stacking machine according to claim 1, it is characterized in that: second driving mechanism is support object cylinder, it is described
It holds plate lateral surface tightly and is equipped with and can be fixed on the hook plate shaft relative to the hook plate shaft of the holding plate rotation, the hook plate
On, the support object cylinder is for driving the hook plate shaft to rotate so that the hook plate turns to below the holding plate or make institute
Hook plate is stated from plate rotated down is held tightly to holding plate outside.
8. gantry stacking machine according to claim 1, it is characterized in that: the stacking mechanism further includes for driving the code
Pile manipulator moves forward and backward component, for driving the palletizing mechanical arm edge along be parallel to the conveyer frames direction of transfer displacement
The lifting group of left and right displacement component and driving the palletizing mechanical arm lifting perpendicular to conveyer frames direction of transfer displacement
Part.
9. gantry stacking machine according to claim 8, it is characterized in that: between the palletizing mechanical arm and the lifting assembly
It is connected with the angle adjusting mechanism for driving the palletizing mechanical arm circular-rotation.
10. gantry stacking machine according to claim 1, it is characterized in that: the conveyer frames include cargo pipeline, are set to institute
The positioning mechanism of cargo pipeline end and the cargo for positioning cargo pipeline end is stated, the positioning mechanism includes setting
In the first baffle on cargo pipeline end, the push plate for cargo to be pushed into designated position, it is used to drive described push away
The third driving mechanism that plate edge is moved perpendicular to the conveyer frames direction of transfer, and for driving the push plate and the third
Driving mechanism is along the 4th driving mechanism moved perpendicular to the conveyer frames direction of transfer.
11. gantry stacking machine according to claim 10, it is characterized in that: the one end of the push plate far from the first baffle
20 ° -60 ° are bent towards far from the push plate direction of motion.
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| CN201811419132.2A CN109573631A (en) | 2018-11-26 | 2018-11-26 | Gantry stacking machine |
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| CN201811419132.2A CN109573631A (en) | 2018-11-26 | 2018-11-26 | Gantry stacking machine |
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| CN111039004A (en) * | 2019-12-31 | 2020-04-21 | 苏州埃缇益自动化科技有限公司 | Sorting, conveying and unstacking mechanism |
| CN112192594A (en) * | 2020-11-02 | 2021-01-08 | 济南大学 | End device for gantry type carton stacking manipulator |
| CN112340472A (en) * | 2020-10-27 | 2021-02-09 | 温州画璐家具有限公司 | Automatic pile up neatly mechanism of gypsum board |
| CN113371603A (en) * | 2021-06-11 | 2021-09-10 | 兴发铝业（成都）有限公司 | Transportation hanging device for aluminum profile storage |
| CN113401627A (en) * | 2021-06-11 | 2021-09-17 | 深圳市中基自动化有限公司 | Automatic overturning and distance-changing device for soft package battery |
| CN113859992A (en) * | 2021-11-09 | 2021-12-31 | 株洲新时代输送机械有限公司 | Full-automatic plywood hook plate stacker |
| CN113998230A (en) * | 2021-10-29 | 2022-02-01 | 青岛海尔工业智能研究院有限公司 | Mechanical gripper for grabbing flexible package products and stacking robot |
| CN115744387A (en) * | 2022-11-03 | 2023-03-07 | 科捷智能科技股份有限公司 | Rolling curtain type anti-falling mechanism and method thereof |
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Application publication date: 20190405 |