CN112850180A - Reversal stacker crane - Google Patents
Reversal stacker crane Download PDFInfo
- Publication number
- CN112850180A CN112850180A CN202110028201.2A CN202110028201A CN112850180A CN 112850180 A CN112850180 A CN 112850180A CN 202110028201 A CN202110028201 A CN 202110028201A CN 112850180 A CN112850180 A CN 112850180A
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- Prior art keywords
- frame
- linkage
- gripper
- roller
- gear
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
- B65G57/24—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
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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
- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
Abstract
The embodiment of the invention discloses a reverse stacker crane, which comprises a transverse moving frame group and a lifting device, wherein the transverse moving frame group comprises a transverse moving frame guide rail, a transverse moving frame sliding block and a gripper frame group, the gripper frame group further comprises a gripper, a gripper frame bracket, a gripper frame sliding block and a rotating mechanism, and the rotating angle of the rotating mechanism is 180 degrees; the transverse moving frame group is connected with the lifting device through a transverse moving frame sliding block; the gripper frame group uses the grippers to grip the goods and uses the rotation of the rotating mechanism to rotate the goods reversely. By adopting the reverse stacker crane provided by the embodiment of the invention, the problem that the conventional stacker crane cannot reversely stack goods can be solved, and meanwhile, the goods can be neatly stacked by reversely stacking the goods.
Description
Technical Field
The invention relates to the technical field of stacking machines, in particular to a reverse-rotating stacking machine.
Background
The stacker crane is a device which stacks goods on trays and pallets according to a certain arrangement, automatically stacks the goods, stacks the goods in multiple layers, and then pushes the goods out, so that the goods can be conveniently transported to a warehouse by a forklift. Since the stacker crane is used in storage management, the labor intensity of manual stacking is greatly reduced, the stacking speed and the stacking regularity are improved, and meanwhile, the safety in the operation process is also improved.
However, the stacker crane disclosed at present has high requirements on the shape of goods, and is generally only suitable for stacking goods which are regular in shape and easy to arrange in order, such as cartons, wooden boxes, paper bags, sacks and the like. For goods with unconventional shapes, such as irregular-shaped goods like intelligent garage vehicle carrying plates, two adjacent piles of goods need to be reversely stacked to be stable and regularly arranged, and the goods are difficult to stack and arrange in order.
Disclosure of Invention
In view of this, the embodiment of the invention provides a reverse stacker crane to solve the problem that the conventional stacker crane cannot reversely stack goods.
An embodiment of the present invention provides a reverse stacker, including: a cross sliding frame group 1 and a lifting device 2;
the transverse moving frame group 1 comprises a rectangular frame 11, a transverse moving frame guide rail 12 and a transverse moving frame sliding block 13, wherein the transverse moving frame guide rail 12 and the transverse moving frame sliding block 13 are installed on the rectangular frame 11; the transverse moving frame sliding block 13 is connected with the lifting device 2 in a sliding manner, and the lifting device 2 is used for driving the transverse moving frame group 1 to move;
the traverse rack group 1 further comprises a gripper rack group 14, wherein the gripper rack group 14 comprises a gripper 141, a gripper rack bracket 142, a gripper rack sliding block 143 and a rotating mechanism 144, wherein the gripper rack sliding block 143 and the rotating mechanism 144 are respectively fixed on the gripper rack bracket 142, and the gripper 141 is fixedly arranged on the rotating mechanism 144; the hand clamping frame sliding block 143 is connected with the transverse moving frame guide rail 12 in a sliding manner;
the rotating angle of the rotating mechanism 144 is 180 degrees, which is used for driving the clamping hand 141 to rotate, and the clamping hand 141 is used for clamping goods.
Further, the rotating mechanism 144 includes:
a rotary cylinder 1441, a swing arm 1442, a rotary gear 1443, and a rotary arm 1444;
one end of the rotary cylinder 1443 is fixed on the gripper frame bracket 142, and the other end is connected with one end of the swing arm 1442;
the other end of the swing arm 1442 is a gear structure, and the gear structure is meshed with the rotating gear 1443;
the rotary gear 1443 is connected with the rotary arm 1444;
the clamping arm 141 is fixedly mounted on the rotating arm 1444;
the rotation angle of the rotation arm 1444 is 180 degrees.
Further, the gripper frame set 14 further includes an arranging mechanism 15, and the arranging mechanism 15 includes:
a sorting cylinder 151, a sorting arm 152, and a backup arm 153;
the arranging cylinder 151 is connected with the arranging arm 152;
the tidying arm 152 and the leaning arm 153 are respectively and fixedly connected with the gripper frame bracket 142 and are located at two sides of the rotating mechanism 144.
Further, the traverse frame group 1 further comprises a linkage mechanism 16, and the linkage mechanism 16 comprises:
a linkage gear 161, a linkage cylinder 162, a linkage push-pull rod 163 and a linkage rack 164;
the linkage gear 161 is fixedly mounted on the rectangular frame 11;
the linkage rack 164 is engaged with the linkage gear 161, and two ends of the linkage rack 164 are respectively fixedly connected with the linkage push-pull rod 163 and the gripper frame bracket 142;
the linkage push-pull rod 163 is connected with the linkage cylinder 162.
Further, the traverse frame group 1 further comprises a synchronizing mechanism 17, and the synchronizing mechanism 17 comprises:
a synchronizing rotary shaft 171, a synchronizing gear 172, and a synchronizing rack 173;
the synchronous rotating shaft 171 is connected to the synchronous gear 172 and the gripper frame bracket 142;
the synchronizing rack 173 is engaged with the synchronizing gear 172, and the synchronizing rack 173 is fixedly installed on the rectangular frame 11.
Further, the number of the gripper frame groups 14 is two, and the two gripper frame groups are installed at two ends of the rectangular frame 11 in a mirror image manner.
Further, the lifting device 2 comprises a lifting frame group 21 and a lifting mechanism 22, wherein:
the lifting frame group 21 comprises a horizontal cross beam 211, a horizontal guide rail 212, a vertical sliding block 213 and a vertical gear 214, wherein the horizontal guide rail 212, the vertical sliding block 213 and the vertical gear 214 are respectively and fixedly mounted on the horizontal cross beam 211, and the horizontal guide rail 212 is connected with the transverse moving frame sliding block 13 in a sliding manner;
the lifting mechanism 22 comprises a lifting upright 221, a vertical guide rail 222 and a vertical rack 223, wherein the vertical guide rail 222 and the vertical rack 223 are respectively fixedly mounted on the lifting upright 221;
the vertical sliding block 213 is connected with the vertical guide rail 222 in a sliding manner;
the vertical gear 214 is engaged with the vertical rack 223.
Further, the reverse stacker further includes: a roller mechanism group 3 and a base 4;
the roller mechanism group 3 comprises a roller frame 31, a plate arranging mechanism 32 and a roller mechanism 33, wherein the roller frame 31 is fixedly connected with the base 4; the typesetting mechanism 32 and the roller mechanism 33 are respectively connected with the roller frame 31;
the base 4 is fixedly connected with the lifting device 2.
Further, the roller mechanism 33 includes:
a drum 331, a drum timing belt 332;
the drum 331 is connected to the drum frame 31;
the roller timing belt 332 is located on the roller 331.
Further, the roller mechanism group 3 further comprises a blocking mechanism 34;
the blocking mechanism 34 comprises a blocking cylinder 341 and a blocking plate 342, wherein the blocking cylinder 341 is fixedly mounted on the drum frame 31;
the blocking cylinder 341 is connected to the blocking plate 342.
Further, the plate arranging mechanism 32 includes:
a plate-arranging synchronous belt 321, a plate-arranging synchronous rod 322 and a plate-arranging synchronous wheel 323;
the row plate synchronizing rod 322 is connected with the roller frame 31;
the row plate synchronizing wheels 323 are positioned at two ends of the row plate synchronizing rod 322 and are nested on the row plate synchronizing rod 322;
the row plate synchronous belt 321 is positioned on the row plate synchronous wheel 323.
Further, the roller mechanism group 3 further comprises a plate arranging arm mechanism 35 and a baffle mechanism 36;
the plate arranging arm mechanism 35 comprises a plate arranging arm cylinder 351 and a plate arranging arm 352, wherein the plate arranging arm cylinder 351 is fixedly installed on the roller frame 31; the slat row arms 352 are respectively connected to the drum frame 31 and the slat row arm cylinders 351;
the baffle mechanism 36 comprises a baffle cylinder 361 and a baffle 362, wherein the baffle cylinder 361 is fixedly installed on the roller frame 31; the baffle 362 is connected to the drum frame 31 and the baffle cylinder 361, respectively.
According to the reverse stacker crane provided by the embodiment of the invention, goods can be clamped by the hand clamping frame group in the transverse frame group, and then the rotation of the rotating mechanism in the hand clamping frame group is utilized, so that the goods can be reversely rotated, and the lifting device drives the transverse frame group to move by utilizing the sliding connection between the transverse frame group and the lifting device, so that the reversely rotated goods can be moved to a position needing stacking. The reverse stacker crane provided by the embodiment of the invention can solve the problem that the existing stacker crane cannot reversely stack goods, and meanwhile, the goods can be neatly stacked by reversely stacking the goods.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a reverse stacker operation according to an embodiment of the present invention;
FIG. 2 is a schematic view of the overall structure of a reverse stacker provided in the embodiment of the present invention;
FIG. 3 is a schematic mechanical view of a set of traverse frames provided in accordance with an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a gripper frame set according to an embodiment of the present invention;
FIG. 5 is a schematic view of a reverse stacker lifting device provided in accordance with an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a roller mechanism set and a base according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention provide a reverse stacker, which is described below with reference to the accompanying drawings, and it is to be understood that the preferred embodiments described herein are merely for purposes of illustration and explanation, and are not intended to limit the present invention. And the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The reverse stacker provided by the embodiment of the present invention will be described in detail with reference to specific embodiments with reference to the accompanying drawings.
An embodiment of the present invention provides a reverse stacker, as shown in fig. 2-4, comprising: a cross sliding frame group 1 and a lifting device 2;
the transverse moving frame group 1 comprises a rectangular frame 11, a transverse moving frame guide rail 12 and a transverse moving frame sliding block 13, wherein the transverse moving frame guide rail 12 and the transverse moving frame sliding block 13 are arranged on the rectangular frame 11; the transverse moving frame sliding block 13 is connected with the lifting device 2 in a sliding way, and the lifting device 2 is used for driving the transverse moving frame group 1 to move;
the traverse rack group 1 further comprises a gripper rack group 14, wherein the gripper rack group 14 comprises a gripper 141, a gripper rack bracket 142, a gripper rack sliding block 143 and a rotating mechanism 144, wherein the gripper rack sliding block 143 and the rotating mechanism 144 are respectively fixed on the gripper rack bracket 142, and the gripper 141 is fixedly arranged on the rotating mechanism 144; the hand clamping frame sliding block 143 is connected with the transverse moving frame guide rail 12 in a sliding way;
the rotating angle of the rotating mechanism 144 is 180 degrees, and the rotating mechanism is used for driving the clamping hand 141 to rotate, and the clamping hand 141 is used for clamping goods.
By adopting the reverse stacker crane provided by the embodiment of the invention, goods are clamped by the gripper frame group 14 in the transverse frame group 1, the gripper frame group 14 can also fix the goods through the grippers 141, the goods can be reversed by utilizing the rotation of the rotating mechanism 144 in the gripper frame group 14, the transverse frame group 1 is connected with the lifting device 2 in a sliding manner, the lifting device 2 drives the transverse frame group 1 to move, and the reversed goods are further moved to the position needing stacking. Therefore, the reverse stacker crane provided by the embodiment of the invention can solve the problem that the existing stacker crane cannot reversely stack goods, and meanwhile, the goods can be neatly stacked by reversely stacking the goods.
In one possible embodiment, as shown in fig. 2-4, the rotating mechanism 144 of the reverse stacker described above may include:
a rotary cylinder 1441, a swing arm 1442, a rotary gear 1443, and a rotary arm 1444;
one end of a rotary cylinder 1441 is fixed on the gripper frame bracket 142, and the other end is connected with one end of a swing arm 1442;
the other end of the swing arm 1442 is a gear structure, and the gear structure is meshed with the rotating gear 1443;
the rotary gear 1443 is connected with a rotary arm 1444;
the clamping arm 141 is fixedly arranged on the rotating arm 1444;
the rotation angle of the rotation arm 1444 is 180 degrees.
During actual use, the swing arm 1442 can be pushed and pulled to swing through the thrust generated by the rotary cylinder 1441, and the gear structure at one end of the swing arm 1442 is meshed with the rotary gear 1443, so that the rotary gear 1443 can be driven to rotate, and the rotary arm 1444 and the clamping arm 141 can be driven to rotate. In the embodiment of the invention, when the rotary cylinder 1441 pushes and pulls the swing arm 1442 to swing by 90 degrees, the meshing transmission ratio of the gear structure of the swing arm 1442 and the rotary gear 1443 can be 2: 1; when the rotary cylinder 1441 pushes and pulls the swing arm 1442 to swing at 45 degrees, the meshing transmission ratio of the gear structure of the swing arm 1442 to the rotary gear 1443 can be 4: 1; that is, it is sufficient that the rotary arm 1444 is driven to swing by 180 degrees through the engagement transmission between the gear structure of the swing arm 1442 and the rotary gear 1443.
In an embodiment of the present invention, the clamping arm 141 can be fixed on the rotating arm 1444, and the goods can be fixed by the clamping arm 141. Specifically, the clamping arms 141 may be fixed to one side of the rotating arm 1444, and there may be 1 or more clamping arms 141, and the shapes of the clamping arms 141 may also be various.
Further, the number of the gripper frame groups 14 may be two, and the two gripper frame groups 14 may be mirror-mounted at two ends of the rectangular frame 11 on the traverse frame group 1, and together play a role of gripping goods.
In one possible embodiment, as shown in fig. 2 and 4, the gripper frame group 14 of the reverse stacker described above may further include an collating mechanism 15, the collating mechanism 15 including:
a sorting cylinder 151, a sorting arm 152, and a backup arm 153;
the tidying cylinder 151 is connected with a tidying arm 152;
the tidying arm 152 and the leaning arm 153 are respectively fixedly connected to the gripper frame bracket 142 and located at two sides of the rotating mechanism 144.
In actual use, after the clamping hands 141 clamp the goods, the goods can be tidied up through the tidying mechanism 15. The tidying arm 152 and the leaning arm 153 are respectively fixed on the gripper frame bracket 142 and located at two sides of the rotating mechanism 144. Specifically, the tidying arm 152 can be pushed and pulled to swing by the pushing force generated by the tidying cylinder 151, and the goods are abutted against the leaning arm 153 by means of the swinging of the tidying arm 152.
Through the arrangement of the arrangement mechanism 15, when goods are stacked, the goods can be stacked more neatly even if the goods are stacked.
In one possible embodiment, as shown in FIGS. 2-4, the set of traversers 1 of the reverse stacker may further include a linkage 16, the linkage 16 including:
a linkage gear 161, a linkage cylinder 162, a linkage push-pull rod 163 and a linkage rack 164;
the linkage gear 161 is fixedly mounted on the rectangular frame 11;
the linkage rack 164 is engaged with the linkage gear 161, and two ends of the linkage rack 164 are respectively fixedly connected with the linkage push-pull rod 163 and the gripper frame bracket 142;
the linkage push-pull rod 163 is connected with the linkage cylinder 162.
In actual use, the gripper frame set 14 can be driven to move along the cross frame guide rail 12 through the linkage mechanism 16. Specifically, the linkage push-pull rod 163 can be pushed to move by the thrust generated by the linkage cylinder 162, the linkage push-pull rod 163 can drive the linkage rack 164 to move in a meshing manner on the linkage gear 161, and the linkage rack 164 is fixedly connected with the gripper frame support 142 to further drive the gripper frame support 142 to move. The gripper frame bracket 142 is provided with a gripper frame sliding block 143, the gripper frame sliding block 143 is connected with the transverse moving frame guide rail 12 in a sliding manner, and when the linkage mechanism 16 drives the gripper frame bracket 142 to move, the gripper frame sliding block 143 can slide on the transverse moving frame guide rail 12.
According to the reverse stacker crane provided by the embodiment of the invention, the linkage mechanism 16 is utilized to drive the gripper frame group 14 to move along the transverse frame guide rail 12, so that the gripper frame group 14 can be further promoted to grip goods or put down the goods.
In one possible embodiment, as shown in fig. 2-4, the set of traversers 1 of the reverse stacker described above further comprises a synchronization mechanism 17, the synchronization mechanism 17 comprising:
a synchronizing rotary shaft 171, a synchronizing gear 172, and a synchronizing rack 173;
the synchronous rotating shaft 171 is connected to the synchronous gear 172 and the gripper frame bracket 142, respectively;
the synchronizing rack 173 is engaged with the synchronizing gear 172, and the synchronizing rack 173 is fixedly installed on the rectangular frame 11.
In practical use, when the linkage mechanism 16 drives the gripper frame bracket 142 to move, the synchronizing mechanism 17 is installed on the gripper frame bracket 142, so that the synchronizing mechanism 17 can be driven to move at the same time. Specifically, when the linkage 16 drives the gripper frame bracket 142 to move, the synchronizing gear 172 can be driven to move along the synchronizing rack 173 by the connection between the synchronizing rotating shaft 171 and the synchronizing gear 172 and the gripper frame bracket 142, and the engagement between the synchronizing rack 173 and the synchronizing gear 172. The reverse stacker crane provided by the embodiment of the invention can further contribute to the effective movement of the gripper frame group 14 along the cross frame guide rail 12 through the synchronous movement of the synchronous mechanism 17 and the linkage mechanism 16.
In one possible embodiment, as shown in fig. 2, 3 and 5, the lifting device 2 of the reverse stacker described above comprises a group of lifting frames 21 and a lifting mechanism 22, in which:
the lifting frame group 21 comprises a horizontal cross beam 211, a horizontal guide rail 212, a vertical sliding block 213 and a vertical gear 214, wherein the horizontal guide rail 212, the vertical sliding block 213 and the vertical gear 214 are respectively and fixedly arranged on the horizontal cross beam 211, and the horizontal guide rail 212 is in sliding connection with the transverse moving frame sliding block 13;
the lifting mechanism 22 comprises a lifting upright 221, a vertical guide rail 222 and a vertical rack 223, wherein the vertical guide rail 222 and the vertical rack 223 are respectively fixedly arranged on the lifting upright 221;
the vertical slider 213 is slidably connected with the vertical guide rail 222;
the vertical gear 214 is engaged with the vertical rack 223.
In practical use, the transverse moving frame group 1 can be driven to vertically move through the vertical movement of the lifting frame group 21 on the lifting mechanism 22; the horizontal movement of the gripper frame group 14 can be driven by the horizontal movement of the transverse moving frame group 1 on the lifting frame group 21; therefore, the lifting device 2 can be used for driving the gripper frame group 14 to move up and down or horizontally, and the gripper frame group 14 is further facilitated to stack goods.
Specifically, the lifting frame group 21 may include a horizontal cross beam 211 and a horizontal guide rail 212 fixedly mounted on the horizontal cross beam 211, and the traverse frame group 1 is driven to move horizontally on the lifting frame group 21 by the sliding connection between the traverse frame sliding block 13 and the horizontal guide rail 212. In addition, the lifting frame set 21 may further include a connection plate 215 and a horizontal cylinder 216, the connection plate 215 may be fixedly mounted on one end of the horizontal cross member 211 and fixedly connected with the horizontal cylinder 216, and the horizontal cylinder 216 may be connected with the rectangular frame 11 of the traverse frame set 1. The horizontal movement of the traverse frame group 1 along the horizontal guide rail 212 can be pushed by the thrust generated by the horizontal cylinder 216.
The lifting frame set 21 may further include a limiting plate 217 fixedly mounted on the horizontal cross member 211 for limiting the position of the horizontal movement of the traverse frame set 1. Specifically, the limiting plates 217 and the connecting plates 215 may be respectively located at two ends of the horizontal cross beam 211, and when the bottle air cylinder 216 pushes the traverse frame group 1 to move horizontally, the limiting plates 217 are used to limit the position of the horizontal movement of the traverse frame group 1.
The lifting frame group 21 may further include a lifting frame linkage shaft 218, the lifting frame linkage shaft 218 is connected to the vertical gear 214, the number of the vertical gears 214 may be two, the two vertical gears 214 are respectively located at two ends of the lifting frame linkage shaft 218, and the relative positions of the two vertical gears 214 may be further fixed by the supporting function of the lifting frame linkage shaft 218, and further, the meshing positions of the vertical gear 214 and the vertical rack 223 may be further fixed.
In addition, the lifting mechanism 22 may include a lifting column 221, the lifting column 221 may have a vertical guide rail 222 and a vertical rack 223 mounted thereon, and the lifting column 221, the vertical guide rail 222 and the vertical rack 223 are used together to support the vertical movement of the lifting frame set 21 on the lifting mechanism 22.
The lifting mechanism 22 may further include a rectangular frame, which may specifically include two longitudinal beams 224 and two cross beams 225, on the cross beam 225, a lifting motor 226, a lifting linkage 227, lifting sprockets 228 at both ends of the lifting linkage 227, and lifting chains 229 sleeved on the lifting sprockets 228 may be mounted. The lifting linkage shaft 227 is driven to rotate by the power output by the lifting motor 226, the lifting chain wheel 228 is further driven to rotate, the lifting chain 229 sleeved on the lifting chain wheel 228 can be further driven to move up and down, the lifting chain 229 can be linked with the lifting frame set 21, and therefore the lifting frame set 21 can be driven to move up and down by the up and down movement of the lifting chain 229.
Further, the vertical sliding block 213 of the lifting frame set 21 is slidably connected with the vertical guide rail 222 of the lifting mechanism 22, and the vertical gear 214 of the lifting frame set 21 is engaged with the vertical rack 223 of the lifting mechanism 22, so that the lifting frame set 21 is driven by the lifting chain 229 to move up and down on the lifting mechanism 22.
In one possible embodiment, as shown in fig. 2 and 6, the reverse stacker described above may further comprise a set of roller mechanisms 3 and a base 4;
the roller mechanism group 3 comprises a roller frame 31, a plate arranging mechanism 32 and a roller mechanism 33, wherein the roller frame 31 is fixedly connected with the base 4; the plate arranging mechanism 32 and the roller mechanism 33 are respectively connected with the roller frame 31;
the base 4 is fixedly connected with the lifting device 2.
In practical use, the goods can be conveyed to the reverse stacker crane through the roller mechanism group 3, and then the gripper frame group 14 can clamp the goods from the roller mechanism group 3. Through the fixed connection of base 4 and cylinder mechanism group 3, and with hoisting device 2's fixed connection, can make between cylinder mechanism group 3 and the hoisting frame group 21 position stable, further strengthen the stability of reversal hacking machine.
Further, the roller mechanism 33 may include a roller 331, and a roller timing belt 332, wherein the roller 331 is connected to the roller frame 31, and the roller timing belt 332 is disposed on the roller 331. The roller mechanism group 3 may further include a roller motor 37, and the roller synchronous belt 332 is driven to rotate by the power output from the roller motor 37, so as to further drive the roller 331 to rotate synchronously, thereby moving the goods placed on the roller mechanism group 3 upwards along with the rotation of the roller 331.
Further, the roller mechanism group 3 may further include a stopper mechanism 34 at an upper end of the roller mechanism 33 for limiting a position of the article. The blocking mechanism 34 may include a blocking cylinder 341 and a blocking plate 342, the blocking cylinder 341 is fixedly installed on the drum frame 31, and the blocking cylinder 341 and the blocking plate 342 are connected. The blocking plate 342 is pushed to rotate by the pushing force generated by the blocking cylinder 341, and the movement of the goods can be restricted to stop after the blocking plate 342 rotates by 90 degrees.
In one possible embodiment, as shown in fig. 2 and 6, the roller mechanism group 3 may further include a plate discharge mechanism 32 for discharging the goods conveyed by the roller mechanism 33. The plate arranging mechanism 32 may include a plate arranging synchronous belt 321, a plate arranging synchronous rod 322 and a plate arranging synchronous wheel 323, the plate arranging synchronous rod 322 is connected to the roller frame 31, the plate arranging synchronous wheel 323 is located at two ends of the plate arranging synchronous rod 322 and is nested on the plate arranging synchronous rod 322, and the plate arranging synchronous belt 321 is located on the plate arranging synchronous wheel 323.
Specifically, the plate arranging mechanism 32 may further include a plate arranging motor 324, and the power output by the plate arranging motor 324 drives the plate arranging synchronizing rod 322 to rotate, so as to drive the plate arranging synchronizing wheels 323 located at two ends of the plate arranging synchronizing rod 322 to rotate, and the plate arranging synchronizing belt 321 moves along with the rotation of the plate arranging synchronizing wheels 323, so as to drive the goods located above the typesetting synchronizing belt 321 to move. The plate arranging mechanism 32 may further include a one-way pushing handle 325, and specifically, the plate arranging timing belt 321 is linked with the one-way pushing handle 325 to assist the plate arranging timing belt 321 to push the goods to move.
Further, the roller mechanism group 3 may further include a discharge arm mechanism 35 and a shutter mechanism 36 for discharging the goods and restricting the discharge position of the goods. Specifically, the slat arranging arm mechanism 35 can push the slat arranging arm 352 to rotate and perform a 45-degree reciprocating motion by the thrust generated by the slat arranging arm cylinder 351, and when the goods move along with the slat arranging synchronous belt 321, the goods are promoted to move by the reciprocating motion of the slat arranging arm 352. Meanwhile, the baffle mechanism 36 can push the baffle 362 to rotate and reciprocate 90 degrees by the thrust generated by the baffle cylinder 361, thereby playing the roles of blocking goods and limiting.
The reverse stacker crane provided by the embodiment of the invention can further comprise a movable trolley, wherein the movable trolley is used for stacking the goods stacked by the reverse stacker crane, when the goods stacked on the movable trolley reach the set number, the movable trolley can move out of the reverse stacker crane, then the goods on the movable trolley can be moved out through a forklift or a travelling crane, and the empty movable trolley can be used for waiting for stacking and putting down a batch of goods.
In summary, according to the scheme provided by the embodiment of the invention, the goods are clamped by the gripper frame groups in the transverse moving frame group, the goods can be fixed by the grippers, the goods can be reversed by the rotation of the rotating mechanism in the gripper frame group, the transverse moving frame group is driven by the lifting device to move by the sliding connection of the transverse moving frame group and the lifting device, and the reversed goods can be moved to the position needing stacking. The reverse stacker crane provided by the embodiment of the invention can solve the problem that the existing stacker crane cannot reversely stack goods, and meanwhile, the goods can be neatly stacked by reversely stacking the goods.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A reverse stacker, comprising: a transverse moving frame group (1) and a lifting device (2);
the transverse moving frame group (1) comprises a rectangular frame (11), a transverse moving frame guide rail (12) and a transverse moving frame sliding block (13), wherein the transverse moving frame guide rail (12) and the transverse moving frame sliding block (13) are installed on the rectangular frame (11); the transverse moving frame sliding block (13) is connected with the lifting device (2) in a sliding mode, and the lifting device (2) is used for driving the transverse moving frame group (1) to move;
the transverse moving frame group (1) further comprises a gripper frame group (14), the gripper frame group (14) comprises a gripper (141), a gripper frame bracket (142), a gripper frame sliding block (143) and a rotating mechanism (144), wherein the gripper frame sliding block (143) and the rotating mechanism (144) are respectively fixed on the gripper frame bracket (142), and the gripper (141) is fixedly arranged on the rotating mechanism (144); the hand clamping frame sliding block (143) is connected with the transverse moving frame guide rail (12) in a sliding manner;
the rotating angle of the rotating mechanism (144) is 180 degrees, the rotating mechanism is used for driving the clamping hands (141) to rotate, and the clamping hands (141) are used for clamping goods.
2. The reverse stacker of claim 1, wherein the rotation mechanism (144) comprises:
a rotary cylinder (1441), a swing arm (1442), a rotary gear (1443) and a rotary arm (1444);
one end of the rotary cylinder (1441) is fixed on the gripper frame bracket (142), and the other end of the rotary cylinder is connected with one end of the swing arm (1442);
the other end of the swing arm (1442) is a gear structure, and the gear structure is meshed with the rotating gear (1443);
the rotary gear (1443) is connected with the rotary arm (1444);
the clamping hand (141) is fixedly arranged on the rotating arm (1444);
the rotation angle of the rotating arm (1444) is 180 degrees.
3. A reverse palletiser according to claim 1, wherein the set of grippers (14) further comprises an organiser (15), the organiser (15) comprising:
a tidying cylinder (151), a tidying arm (152) and a leaning arm (153);
the arranging cylinder (151) is connected with the arranging arm (152);
the arranging arm (152) and the leaning arm (153) are respectively and fixedly connected with the gripper frame bracket (142) and are positioned on two sides of the rotating mechanism (144).
4. A reverse palletiser according to claim 1 wherein the set of traversers (1) further comprises a linkage mechanism (16), the linkage mechanism (16) comprising:
the linkage mechanism comprises a linkage gear (161), a linkage cylinder (162), a linkage push-pull rod (163) and a linkage rack (164);
the linkage gear (161) is fixedly arranged on the rectangular frame (11);
the linkage rack (164) is meshed with the linkage gear (161), and two ends of the linkage rack (164) are respectively fixedly connected with the linkage push-pull rod (163) and the hand clamping frame bracket (142);
the linkage push-pull rod (163) is connected with the linkage air cylinder (162).
5. A reverse palletiser according to claim 4, wherein the set of traversers (1) further comprises a synchronisation mechanism (17), the synchronisation mechanism (17) comprising:
a synchronous rotating shaft (171), a synchronous gear (172) and a synchronous rack (173);
the synchronous rotating shaft (171) is respectively connected with the synchronous gear (172) and the gripper frame bracket (142);
the synchronous rack (173) is meshed with the synchronous gear (172), and the synchronous rack (173) is fixedly arranged on the rectangular frame (11).
6. A reverse palletiser according to claim 1, wherein the set of grippers (14) is two, mounted in mirror image at both ends of the rectangular frame (11).
7. A reverse palletiser according to claim 1, wherein the lifting means (2) comprises a set of lifting brackets (21) and a lifting mechanism (22), wherein:
the lifting frame group (21) comprises a horizontal cross beam (211), a horizontal guide rail (212), a vertical sliding block (213) and a vertical gear (214), wherein the horizontal guide rail (212), the vertical sliding block (213) and the vertical gear (214) are respectively and fixedly arranged on the horizontal cross beam (211), and the horizontal guide rail (212) is in sliding connection with the transverse moving frame sliding block (13);
the lifting mechanism comprises a lifting upright (221), a vertical guide rail (222) and a vertical rack (223), wherein the vertical guide rail (222) and the vertical rack (223) are fixedly arranged on the lifting upright (221) respectively;
the vertical sliding block (213) is connected with the vertical guide rail (222) in a sliding manner;
the vertical gear (214) is engaged with the vertical rack (223).
8. The reverse stacker of claim 1, further comprising: a roller mechanism group (3) and a base (4);
the roller mechanism group (3) comprises a roller frame (31), a plate arranging mechanism (32) and a roller mechanism (33), wherein the roller frame (31) is fixedly connected with the base (4); the typesetting mechanism (32) and the roller mechanism (33) are respectively connected with the roller frame (31);
the base (4) is fixedly connected with the lifting device (3).
9. A reverse palletiser according to claim 8, wherein the roller mechanism (33) comprises:
a roller (331), a roller timing belt (332);
the drum (331) is connected with the drum frame (31);
the roller timing belt (332) is located on the roller (331).
10. A reverse palletiser according to claim 9, characterised in that the roller mechanism set (3) further comprises a blocking mechanism (34);
the blocking mechanism (34) comprises a blocking cylinder (341) and a blocking plate (342), wherein the blocking cylinder (341) is fixedly installed on the roller frame (31);
the blocking cylinder (341) is connected with the blocking plate (342).
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| CN202110028201.2A CN112850180B (en) | 2021-01-08 | 2021-01-08 | Reversal stacker crane |
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| CN202110028201.2A CN112850180B (en) | 2021-01-08 | 2021-01-08 | Reversal stacker crane |
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| CN112850180B (en) | 2022-03-29 |
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