CN109625999B - Stacker crane grabbing mechanism capable of improving placement stability of heavy objects - Google Patents
Stacker crane grabbing mechanism capable of improving placement stability of heavy objects Download PDFInfo
- Publication number
- CN109625999B CN109625999B CN201811516534.4A CN201811516534A CN109625999B CN 109625999 B CN109625999 B CN 109625999B CN 201811516534 A CN201811516534 A CN 201811516534A CN 109625999 B CN109625999 B CN 109625999B
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- moving
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- column
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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
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Abstract
The invention discloses a stacker crane grabbing mechanism capable of improving the placement stability of a heavy object, which comprises a top supporting frame, a longitudinal connecting column, a longitudinal moving column, a carrying plate and a material pushing mechanism, wherein the top supporting frame is connected with the top supporting frame through a connecting rod; the longitudinal connecting column is arranged below the top supporting frame, the longitudinal moving column is arranged on the top supporting frame in a vertically movable mode, and the longitudinal connecting column and the longitudinal moving column are located on two opposite sides of the top supporting frame in the length direction; the loading plate is rotatably arranged on the longitudinal connecting column, a first vacuum chuck is arranged at the lower part of the longitudinal moving column, a virtual plane is arranged below the top supporting frame, and the loading plate can be adsorbed by the first vacuum chuck in a position state parallel to the virtual plane; the material pushing mechanism comprises a second vacuum chuck, a positioning frame, a moving frame and a moving shaft. The invention effectively reduces the possibility of damaging the shell of the article, improves the stability of article conveying and is beneficial to reducing the gap of article stacking.
Description
Technical Field
The invention relates to the field of stacking mechanical equipment, in particular to a grabbing mechanism of a stacker crane, which can improve the placement stability of a heavy object.
Background
Can carry the warehouse through the conveyer belt with the good article of packing after article packing, in order to practice thrift the space that article occupy in the warehouse, improve the stability that article were put and make things convenient for the transportation in article later stage, need through the orderly stack of hacking machine article together, the hacking machine adopts PLC + touch-sensitive screen control, realizes intelligent operation management, and is simple and convenient, easily master.
The grabbing mechanism of the existing stacker crane mainly adopts two modes, the first mode is used for adsorbing the top of an object through a vacuum chuck, then conveying the object to an ideal position, then loosening the vacuum chuck, the second mode is used for grabbing the side surface of the object through clamping, then conveying the object to the ideal position, and then loosening the clamping claw.
But the first mode is when carrying the heavier article of quality, and article crash and the condition such as article shell damage easily appear, and the second mode easily leads to the casing to damage when the softer casing of centre gripping, and because the centre gripping is grabbed and is held the article side, therefore the back is stacked to article, can have a large amount of spaces between the article, influences the stability that article were put, and has increased the space that article were put.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a grabbing mechanism of a stacker crane, which can improve the placement stability of heavy objects.
The stacker crane grabbing mechanism capable of improving the placement stability of the heavy objects comprises a top supporting frame, a longitudinal connecting column, a longitudinal moving column, a carrying plate and a material pushing mechanism, wherein the top supporting frame is provided with a first connecting rod;
the longitudinal connecting column is arranged below the top supporting frame, the longitudinal moving column is arranged on the top supporting frame in a vertically movable mode, and the longitudinal connecting column and the longitudinal moving column are located on two opposite sides of the top supporting frame in the length direction;
the loading plate is rotatably arranged on the longitudinal connecting column, a first vacuum chuck is arranged at the lower part of the longitudinal moving column, a virtual plane is arranged below the top supporting frame, and the loading plate can be adsorbed by the first vacuum chuck in a position state parallel to the virtual plane;
the material pushing mechanism comprises a second vacuum chuck, a positioning frame, a moving frame and a moving shaft, a first axis and a second axis which are intersected are arranged on a virtual plane, the positioning frame is arranged on the longitudinal connecting column, the moving frame is movably arranged on the positioning frame, and the moving direction of the moving frame on the positioning frame is parallel to the first axis; the moving shaft is movably arranged on the moving frame, and the moving direction of the moving shaft on the moving frame is parallel to the second axis; the second vacuum chuck is mounted on the movable shaft.
Preferably, the virtual plane is parallel to the horizontal plane.
Preferably, the first axis and the second axis are perpendicular to each other.
Preferably, the spacer is provided with a cushion pad.
Preferably, the upper part of the loading plate is rotatably provided with a plurality of bearing balls.
Preferably, the connecting column is provided with a limiting block for limiting the rotation angle of the loading plate.
Preferably, the carrier plate axis of rotation is parallel to the horizontal plane.
Preferably, the lower part of the carrier plate is rotatably provided with a rotating shaft, the axis of the rotating shaft is parallel to the rotating axis of the carrier plate, and the rotating shaft and the rotating axis of the carrier plate are positioned at two opposite sides of the carrier plate
1. The invention bears the weight of the object through the object carrying plate, thereby reducing the possibility of damaging the shell of the object.
2. When the article carrying device is used, the article carrying device is placed at the tail end of the conveying belt, so that articles can be moved onto the carrying plate by utilizing the inertia of the conveying belt, and the possibility that the articles fall from the tail end of the conveying belt is reduced.
3. According to the invention, after the articles are moved to the desired positions, the articles are stacked in a way of pulling away the carrying plate, so that the possibility of overlarge gaps among the articles after the articles are stacked is effectively reduced.
4. The second vacuum chuck can be used for adjusting the position of the object on the object carrying plate, fixing the object when the object carrying plate moves, and keeping the object at an ideal position when the object carrying plate is pulled away from the lower part of the object.
5. Can reciprocate to removing the post, not only be convenient for first vacuum chuck to carry the thing board and adsorb, avoid the article of touching when carrying the thing board by article below take out from moreover, provide abundant space for article.
Drawings
Fig. 1 is a schematic structural diagram of a stacker crane grabbing mechanism capable of improving the placement stability of a heavy object.
Detailed Description
The present invention will be described in detail with reference to examples. Where like parts are designated by like reference numerals, it will be appreciated that the terms "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular part.
Referring to fig. 1, the stacker crane grabbing mechanism capable of improving the placement stability of a heavy object, provided by the invention, comprises a top support frame 1, a longitudinal connecting column 2, a longitudinal moving column 3, a carrying plate 4 and a material pushing mechanism;
the longitudinal connecting column 2 is arranged below the top support frame 1, the longitudinal moving column 3 is arranged on the top support frame 1 in a manner of moving up and down, and the longitudinal connecting column 2 and the longitudinal moving column 3 are positioned on two opposite sides of the top support frame 1 in the length direction;
the object carrying plate 4 is rotatably arranged on the longitudinal connecting column 2, a first vacuum chuck 31 is arranged at the lower part of the longitudinal moving column 3, a virtual plane is arranged below the top supporting frame 1, and the object carrying plate 4 can be adsorbed by the first vacuum chuck 31 in a position state parallel to the virtual plane;
the material pushing mechanism comprises a second vacuum chuck 51, a positioning frame 52, a moving frame 53 and a moving shaft 54, a first axis and a second axis which are intersected are arranged on a virtual plane, the positioning frame 52 is installed on the longitudinal connecting column 2, the moving frame 53 is movably installed on the positioning frame 52, and the moving direction of the moving frame 53 on the positioning frame 52 is parallel to the first axis; the moving shaft 54 is movably mounted on the moving frame 53, and the moving direction of the moving shaft 54 on the moving frame 53 is parallel to the second axis; the second vacuum chuck 51 is mounted on a movable shaft 54.
When the invention is used, the loading plate 4 is adsorbed by the first vacuum chuck 31 to fix the loading plate 4, a user places the invention at the tail end of the conveying belt, then adsorbs the object to be stacked by the second vacuum chuck 51, utilizes the cooperation of the second vacuum chuck 51, the positioning frame 52, the moving frame 53 and the moving shaft 54 to pull the object to the loading plate 4 and fix the object to the loading plate 4, then moves the invention to the object stacking position, releases the first vacuum chuck 31 and moves the longitudinal moving column 3 upwards to avoid the longitudinal moving column 3 from blocking the object to move, then moves the invention to draw the loading plate 4 from the lower part of the object, and positions the object at the position to be placed by the second vacuum chuck 51, the positioning frame 52, the moving frame 53 and the moving shaft 54 until the loading plate 4 is completely drawn.
In order to improve the stability of the placement of the object on the carrier plate 4. In the present embodiment, the virtual plane is parallel to the horizontal plane.
In order to facilitate adjustment of the position of the second vacuum chuck 51, the first axis and the second axis are perpendicular to each other in the present embodiment.
In this embodiment, the positioning frame 52 is provided with a cushion 521, and the cushion 521 is used for abutting against an article and can provide a cushion for the article when the article collides with the cushion 521.
In this embodiment, the upper portion of the loading plate 4 is rotatably installed with a plurality of bearing balls 41, and the bearing balls 41 can reduce the resistance of the object moving on the loading plate 4, so that the second vacuum chuck 51 can drive the object to move conveniently.
In the embodiment, the connecting column 2 is provided with the limiting block 21 for limiting the rotation angle of the carrying plate 4, the first vacuum chuck 31 can conveniently adsorb the carrying plate 4 by limiting the rotation angle of the carrying plate 4, and the phenomenon that the carrying plate 4 rotates by a large angle to affect the flexible movement of the invention is avoided.
In order to facilitate the removal of the carrier plate 4 from under the object, the carrier plate 4 is in this embodiment arranged with its axis of rotation parallel to the horizontal plane.
In this embodiment, a rotation shaft 42 is rotatably mounted on the lower portion of the object plate 4, the axis of the rotation shaft 42 is parallel to the rotation axis of the object plate 4, and the rotation shaft 42 and the rotation axis of the object plate 4 are located on opposite sides of the object plate 4. The rotating shaft 42 can reduce the influence of the object carrying plate 4 on objects below the object carrying plate 4 when the object carrying plate 4 is drawn out below the objects.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a can improve hacking machine of stability is placed to heavy object snatchs mechanism which characterized in that: comprises a top support frame (1), a longitudinal connecting column (2), a longitudinal moving column (3), a carrying plate (4) and a material pushing mechanism;
the longitudinal connecting column (2) is arranged below the top support frame (1), the longitudinal moving column (3) is arranged on the top support frame (1) in a manner of moving up and down, and the longitudinal connecting column (2) and the longitudinal moving column (3) are positioned on two opposite sides of the top support frame (1) in the length direction;
the loading plate (4) is rotatably arranged on the longitudinal connecting column (2), a first vacuum sucker (31) is arranged at the lower part of the longitudinal moving column (3), a virtual plane is arranged below the top supporting frame (1), and the loading plate (4) can be adsorbed by the first vacuum sucker (31) in a position state parallel to the virtual plane;
the material pushing mechanism comprises a second vacuum sucker (51), a positioning frame (52), a moving frame (53) and a moving shaft (54), a first axis and a second axis which are intersected are arranged on a virtual plane, the positioning frame (52) is installed on the longitudinal connecting column (2), the moving frame (53) is movably installed on the positioning frame (52), and the moving direction of the moving frame (53) on the positioning frame (52) is parallel to the first axis; the moving shaft (54) is movably arranged on the moving frame (53), and the moving direction of the moving shaft (54) on the moving frame (53) is parallel to the second axis; the second vacuum suction cup (51) is arranged on the moving shaft (54);
in a working state, the first vacuum suction cup (31) adsorbs the object carrying plate (4) to fix the object carrying plate (4), a user places the stacker grabbing mechanism at the tail end of the conveying belt, then adsorbs an object to be stacked through the second vacuum suction cup (51), utilizes the cooperation of the second vacuum suction cup (51), the positioning frame (52), the moving frame (53) and the moving shaft (54) to pull the object onto the object carrying plate (4) and fix the object onto the object carrying plate (4) in a positioning mode, then moves the stacker grabbing mechanism to the object stacking position, releases the first vacuum suction cup (31), and moves the longitudinal moving column (3) upwards to prevent the longitudinal moving column (3) from blocking the object to move, then moves the stacker grabbing mechanism to enable the object carrying plate (4) to be drawn away from the lower part of the object, and positions the object at the position to be placed through the second vacuum suction cup (51), the positioning frame (52), the moving frame (53) and the moving shaft (54), until the loading plate (4) is completely pulled out.
2. A stacker crane gripping mechanism capable of improving stability of placement of a weight according to claim 1, wherein: the virtual plane is parallel to the horizontal plane.
3. A stacker crane gripping mechanism capable of improving stability of placement of a weight according to claim 2, wherein: the first axis and the second axis are perpendicular to each other.
4. A stacker crane gripping mechanism capable of improving stability of placement of a weight according to claim 1, wherein: a cushion pad (521) is arranged on the positioning frame (52).
5. A stacker crane gripping mechanism capable of improving stability of placement of a weight according to claim 1, wherein: the upper part of the loading plate (4) is rotatably provided with a plurality of bearing balls (41).
6. A stacker crane gripping mechanism capable of improving stability of placement of a weight according to claim 1, wherein: the connecting column (2) is provided with a limiting block (21) for limiting the rotation angle of the loading plate (4).
7. A stacker crane gripping mechanism capable of improving weight placement stability according to any one of claims 1 to 6, wherein: the rotation axis of the loading plate (4) is parallel to the horizontal plane.
8. A stacker crane gripping mechanism capable of improving weight placement stability according to claim 7, wherein: the lower part of the loading plate (4) is rotatably provided with a rotating shaft (42), the axis of the rotating shaft (42) is parallel to the rotating axis of the loading plate (4), and the rotating axis (42) and the rotating axis of the loading plate (4) are positioned at two opposite sides of the loading plate (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811516534.4A CN109625999B (en) | 2018-12-12 | 2018-12-12 | Stacker crane grabbing mechanism capable of improving placement stability of heavy objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811516534.4A CN109625999B (en) | 2018-12-12 | 2018-12-12 | Stacker crane grabbing mechanism capable of improving placement stability of heavy objects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109625999A CN109625999A (en) | 2019-04-16 |
| CN109625999B true CN109625999B (en) | 2020-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811516534.4A Active CN109625999B (en) | 2018-12-12 | 2018-12-12 | Stacker crane grabbing mechanism capable of improving placement stability of heavy objects |
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| CN (1) | CN109625999B (en) |
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| US5129503A (en) * | 1989-04-14 | 1992-07-14 | Bell & Howell Company | Turnover module |
| JPH07187418A (en) * | 1993-12-27 | 1995-07-25 | T O P:Kk | Automatic supplyer for protection material for tile stacked on pallet |
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| CN205087567U (en) * | 2015-10-23 | 2016-03-16 | 福建省闽安机械制造有限公司 | Layer board shifts anchor clamps |
| CN106185375A (en) * | 2016-08-29 | 2016-12-07 | 哈尔滨博实自动化股份有限公司 | A kind of Full-automatic loader |
| CN106395396A (en) * | 2016-10-09 | 2017-02-15 | 佛山职业技术学院 | Facility for quickly palletizing stainless steel pipe packing cases |
| CN106429430A (en) * | 2016-10-12 | 2017-02-22 | 颐中(青岛)烟草机械有限公司 | Special-shaped cigarette stacking device |
| CN206691998U (en) * | 2017-03-24 | 2017-12-01 | 石狮市巨灵机械科技有限公司 | A kind of automatic stacking machine |
| CN206985147U (en) * | 2017-07-31 | 2018-02-09 | 歆坤智能装备（昆山）有限公司 | Clamp for stacking and Palletizer |
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2018
- 2018-12-12 CN CN201811516534.4A patent/CN109625999B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5129503A (en) * | 1989-04-14 | 1992-07-14 | Bell & Howell Company | Turnover module |
| JPH07187418A (en) * | 1993-12-27 | 1995-07-25 | T O P:Kk | Automatic supplyer for protection material for tile stacked on pallet |
| CN2784374Y (en) * | 2004-12-30 | 2006-05-31 | 上海查理包装设备科技有限公司 | Bunching device |
| CN101293359A (en) * | 2007-04-25 | 2008-10-29 | 村田机械株式会社 | Sheet processing system |
| CN101337588A (en) * | 2008-08-07 | 2009-01-07 | 朱耀明 | Improved automatic stacking machine |
| CN102674014A (en) * | 2012-05-09 | 2012-09-19 | 浙江工业大学 | Stacking machine |
| CN105173749A (en) * | 2015-08-27 | 2015-12-23 | 贵州慧联科技有限公司 | Special-shaped cigarette stacking device and stacking method |
| CN205087567U (en) * | 2015-10-23 | 2016-03-16 | 福建省闽安机械制造有限公司 | Layer board shifts anchor clamps |
| CN106185375A (en) * | 2016-08-29 | 2016-12-07 | 哈尔滨博实自动化股份有限公司 | A kind of Full-automatic loader |
| CN106395396A (en) * | 2016-10-09 | 2017-02-15 | 佛山职业技术学院 | Facility for quickly palletizing stainless steel pipe packing cases |
| CN106429430A (en) * | 2016-10-12 | 2017-02-22 | 颐中(青岛)烟草机械有限公司 | Special-shaped cigarette stacking device |
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| CN206985147U (en) * | 2017-07-31 | 2018-02-09 | 歆坤智能装备（昆山）有限公司 | Clamp for stacking and Palletizer |
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| CN109625999A (en) | 2019-04-16 |
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Effective date of registration: 20220608 Address after: 231600 No.33, Jinyang Road, Feidong Economic Development Zone, Feidong County, Hefei City, Anhui Province Patentee after: Anhui boma Intelligent Equipment Co.,Ltd. Address before: 230000 Room 1909, Building A, 6525 Flourishing Avenue, Baohe District, Hefei City, Anhui Province Patentee before: HEFEI DONGLIAN AUTOMATION TECHNOLOGY CO.,LTD. |