CN111498517A

CN111498517A - Stacker crane grabbing device

Info

Publication number: CN111498517A
Application number: CN202010389021.2A
Authority: CN
Inventors: 许炳
Original assignee: Jiangyin Shuangping Machinery Co ltd
Current assignee: Jiangyin Shuangping Machinery Co ltd
Priority date: 2020-05-09
Filing date: 2020-05-09
Publication date: 2020-08-07

Abstract

The invention discloses a stacker crane gripping device which is arranged on a stacker crane head and comprises a plurality of mechanical arms, wherein the stacker crane head comprises a machine head body, and the mechanical arms are symmetrically arranged on the left and right of the machine head body; the manipulator comprises a rotating shaft, a first connecting rod, a second connecting rod and a supporting rod; the invention can meet the stacking of various types of packaged goods, has wide applicability, can meet the requirements of different packages of enterprises and reduces the cost; simultaneously to packing goods, provide the bottom sprag through controlling the side manipulator, can prevent to damage and guarantee the pile quality.

Description

Stacker crane grabbing device

Technical Field

The invention relates to the field of spare and accessory parts of automatic production equipment, in particular to a grabbing device of a stacker crane.

Background

When the existing stacker crane manipulator stacks goods, the packaged goods with high rigidity are adsorbed or grabbed from the top end of the goods, and the packaged goods with insufficient rigidity are grabbed from the bottom by using a mechanical claw; however, when the packaged goods with high rigidity are grabbed or adsorbed from the top, the bottom does not use corresponding supporting force, so that the goods are easy to fall out or leak from the bottom, package damage is caused, and goods are damaged; for packaged goods with low rigidity, the bottom does not have supporting force, and the bottom is uneven, so that the whole stack is not formed during stacking and is not easy to transport.

Disclosure of Invention

In order to overcome the defects, the invention provides the stacker crane gripping device which has the characteristics of wide practicability, strong applicability, novel structure and cost saving.

A stacker crane gripping device is arranged on a stacker crane head and comprises a plurality of mechanical hands, wherein the stacker crane head comprises a crane head body, and the mechanical hands are symmetrically arranged on the left and right of the crane head body; the manipulator comprises a rotating shaft, a first connecting rod, a second connecting rod and a supporting rod; one end of the first connecting rod is integrally connected with the rotating shaft, the other end of the first connecting rod is fixedly connected with the second connecting rod, and the inner side surface of the top of the supporting rod is fixedly connected with the second connecting rod; the center of the rotating shaft is provided with a shaft hole, a fixed shaft penetrates through the shaft hole, and two ends of the fixed shaft are fixedly connected with the inner walls of the front surface and the rear surface of the machine head body respectively; the rotating shaft can rotate on the fixed shaft, the bottom of the rotating shaft is integrally connected with a convex column, and the convex column is provided with a first notch towards the direction of the supporting rod.

According to a preferred embodiment of the present invention: the supporting rods are distributed in bilateral symmetry with respect to the machine head body, and a second notch is formed in the bottom end of the left supporting rod.

According to a preferred embodiment of the present invention: the inside cylindricality electro-magnet that is equipped with of right side bracing piece, cylindricality electro-magnet head surpasss right side bracing piece bottom surface.

According to a preferred embodiment of the present invention: the caliber of the second notch is the same as the diameter of the cylindrical electromagnet, and the depth of the second notch is the same as the distance from the head of the cylindrical electromagnet to the bottom surface of the right supporting rod.

According to a preferred embodiment of the present invention: the diameter of the second connecting rod is larger than that of the first connecting rod, and the top of the connecting surface of the first connecting rod and the second connecting rod is flush.

According to a preferred embodiment of the present invention: the sum of the lengths of the left supporting rod and the right supporting rod is equal to the width of the machine head.

The invention has the beneficial effects that: the invention can meet the stacking of various types of packaged goods, has wide applicability, can meet the requirements of different packages of enterprises and reduces the cost; simultaneously to packing goods, provide the bottom sprag through controlling the collateral branch vaulting pole, can prevent to damage and guarantee the pile quality.

Drawings

The invention will now be described, by way of example, with reference to the accompanying drawings, in which:

FIG. 1 is a schematic view of the present invention;

FIG. 2 is a cross-sectional view of the right side support bar;

wherein: the device comprises a second notch 1, a left side supporting rod 2, a second connecting rod 3, a first connecting rod 4, a rotating shaft 5, a fixing shaft 6, a convex column 7, a first notch 8, a right side supporting rod 9 and a cylindrical electromagnet 10.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 and 2, the stacker crane gripping device is mounted on a stacker crane head and comprises a plurality of mechanical hands, wherein the stacker crane head comprises a machine head body, and the mechanical hands are symmetrically mounted on the left and right of the machine head body; the manipulator comprises a rotating shaft 5, a first connecting rod 4, a second connecting rod 3 and a supporting rod; one end of the first connecting rod 4 is integrally connected with the rotating shaft 5, the other end of the first connecting rod is fixedly connected with the second connecting rod 3, and the inner side surface of the top of the supporting rod is fixedly connected with the second connecting rod 3; the center of the rotating shaft 5 is provided with a shaft hole, a fixed shaft 6 penetrates through the shaft hole, and two ends of the fixed shaft 6 are fixedly connected with the inner walls of the front and rear surfaces of the handpiece body respectively; the rotating shaft 5 can rotate on the fixed shaft 6, the bottom of the rotating shaft 5 is integrally connected with a convex column 7, and the convex column 7 is provided with a first notch 8 towards the direction of the supporting rod; the rotating shaft 5 is matched with the fixed shaft 6, so that the first connecting rod 4 and the second connecting rod 3 which are fixedly connected with the rotating shaft 5 and the supporting rod rotate around the fixed shaft 6, and the grabbing function of the manipulator is realized; the convex column 7 is arranged on the rotating shaft 5 to limit the rotating range of the rotating shaft 5, namely the rotating range of the supporting rod, and the first notch 8 is arranged to overcome the gravity to fix the mechanical arm in the non-working state.

The supporting rods are symmetrically distributed on the left side and the right side of the machine head body, a second notch 1 is formed in the bottom end of the left supporting rod 2, a cylindrical electromagnet 10 is arranged inside the right supporting rod 9, the head of the cylindrical electromagnet 10 exceeds the bottom surface of the right supporting rod 9, the caliber of the second notch 1 is the same as the diameter of the cylindrical electromagnet 10, and the depth of the second notch 1 is the same as the distance from the head of the cylindrical electromagnet 10 to the bottom surface of the right supporting rod 9; the left supporting rod 2 and the right supporting rod 9 are mutually adsorbed through the cylindrical electromagnet 10, so that better supporting force can be provided, the quality of packaged goods is ensured, and the stacking quality is ensured; the second notch 1 is provided to fit the protruding head of the cylindrical electromagnet 10, so that the combination of the left side support bar 2 and the right side support bar 9 is more compact and smooth.

The diameter of the second connecting rod 3 is larger than that of the first connecting rod 4, and the tops of the connecting surfaces of the first connecting rod 4 and the second connecting rod 3 are flush; so guarantee that the manipulator can rotate smoothly, the diameter of first connecting rod 4 is less than second connecting rod 3, and the manipulator can guarantee that first connecting rod 4 can not touch the aircraft nose body and cause unable work when rotating like this.

The sum of the lengths of the left supporting rod 2 and the right supporting rod 9 is the same as the width of the machine head; if the sum of the lengths of the left supporting rod 2 and the right supporting rod 9 is less than the width of the machine head, the bottom supporting force cannot be effectively provided; if the length of the left side supporting rod 2 is larger than the length of the machine head, the right side supporting rod 9 can not be stably combined with the left side supporting rod.

The working principle is as follows: the handpiece comprises a handpiece body, a central wall, a plurality of first electromagnets and a plurality of second electromagnets, wherein the central wall is fixedly connected with the first electromagnets; the first notch is matched with the end part of the second electromagnet, and when the machine head is in a normal state, the second electromagnet is electrified to adsorb the convex column because the gravity of the mechanical hand needs to be overcome, so that the mechanical hand is in an open state; when the machine head works, the second electromagnet is powered off, the central wall is powered on, the cylindrical electromagnet is powered on, the rotating shaft rotates under the gravity action of the supporting rod and the connecting rod and is adsorbed to the powered first electromagnet, and the left supporting rod and the right supporting rod are firmly adsorbed under the action of the cylindrical electromagnet; after the work is finished, the central wall and the cylindrical electromagnet are powered off, the rotating shaft rotates under the action of the gravity of the supporting rod and the convex column, the second electromagnet is powered on to adsorb the convex column, and the manipulator is in an open state.

In light of the foregoing, it is to be understood that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. A stacker crane gripping device is arranged on a stacker crane head and comprises a plurality of mechanical hands, wherein the stacker crane head comprises a crane head body, and the mechanical hands are symmetrically arranged on the left and right of the crane head body; the method is characterized in that: the manipulator comprises a rotating shaft (5), a first connecting rod (4), a second connecting rod (3) and a supporting rod; one end of the first connecting rod (4) is integrally connected with the rotating shaft (5), the other end of the first connecting rod is fixedly connected with the second connecting rod (3), and the inner side surface of the top of the supporting rod is fixedly connected with the second connecting rod (3); the center of the rotating shaft (5) is provided with a shaft hole, a fixed shaft (6) penetrates through the shaft hole, and two ends of the fixed shaft (6) are fixedly connected with the inner walls of the front surface and the rear surface of the handpiece body respectively; the rotating shaft (5) can rotate on the fixed shaft (6), the bottom of the rotating shaft (5) is integrally connected with a convex column (7), and the convex column (7) is provided with a first notch (8) towards the direction of the supporting rod.

2. A palletiser gripping apparatus according to claim 1, wherein: the supporting rods are distributed in bilateral symmetry relative to the machine head body, and a second notch (1) is formed in the bottom end of the left supporting rod (2).

3. A palletiser gripping means according to claim 2, wherein: the right side bracing piece (9) is inside to be equipped with cylindricality electro-magnet (10), and cylindricality electro-magnet (10) head surpasss right side bracing piece (9) bottom surface.

4. A palletiser gripping means according to claim 2, wherein: the caliber of the second notch (1) is the same as the diameter of the cylindrical electromagnet (10), and the depth of the second notch (1) is the same as the distance from the head of the cylindrical electromagnet (10) to the bottom surface of the right supporting rod (9).

5. A palletiser gripping apparatus according to claim 1, wherein: the diameter of the second connecting rod (3) is larger than that of the first connecting rod (4), and the top of the connecting surface of the first connecting rod (4) and the top of the connecting surface of the second connecting rod (3) are flush.

6. A palletiser gripping means according to claim 2, wherein: the sum of the lengths of the left supporting rod (2) and the right supporting rod (9) is the same as the width of the machine head.