CN113264381B - Automatic three-coordinate mechanism of stack - Google Patents
Automatic three-coordinate mechanism of stack Download PDFInfo
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- CN113264381B CN113264381B CN202110403342.8A CN202110403342A CN113264381B CN 113264381 B CN113264381 B CN 113264381B CN 202110403342 A CN202110403342 A CN 202110403342A CN 113264381 B CN113264381 B CN 113264381B
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- 239000000463 material Substances 0.000 claims abstract description 11
- 238000004804 winding Methods 0.000 claims description 35
- 239000000523 sample Substances 0.000 claims description 10
- 230000000903 blocking effect Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 230000003028 elevating effect Effects 0.000 description 6
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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- 230000001737 promoting effect Effects 0.000 description 1
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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
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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
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention provides an automatic stacking three-coordinate mechanism which comprises a stacking frame, a sucker manipulator, a conveying assembly, a first positioning deviation rectifying assembly and a second positioning deviation rectifying assembly, wherein the sucker manipulator is fixed at the top end of the stacking frame and used for placing materials in a trolley for stacking, one end of the conveying assembly extends into the stacking frame, the other end of the conveying assembly is fixed on the ground, the first positioning deviation rectifying assembly and the second positioning deviation rectifying assembly are fixed outside the stacking frame and used for rectifying the positions of the materials on the trolley, and the second positioning deviation rectifying assembly and the first positioning deviation rectifying assembly are identical in structure. The invention can guide the sucker manipulator to stack and block the displacement between the goods, thereby improving the goods arranging effect of the stacking mechanism.
Description
Technical Field
The invention mainly relates to the technical field of production line stacking, in particular to an automatic stacking three-coordinate mechanism.
Background
At present, in order to save the occupied space of commodities and facilitate loading, unloading, stacking and short-distance transportation operation of the commodities, a three-coordinate mechanism capable of automatically stacking is often used for automatically stacking the commodities.
According to an automatic stacking mechanism provided by the patent document with the application number of CN201920247246.7, the product comprises a supporting block and a reinforcing plate, an anti-slip sheet is arranged below the supporting block, a spring is arranged above the supporting block, a straight rod is arranged on the inner side of the spring, a mounting hole is formed in the upper side of the straight rod, a connecting rod is arranged on the right side of the mounting hole, a bottom plate is arranged on one side of the connecting rod, a first sliding plate is arranged above the bottom plate, a second sliding plate is arranged above the first sliding plate, a top plate is arranged above the second sliding plate, a driving mechanism is arranged on one side of the top plate, the driving mechanism further comprises a hydraulic machine, a transmission rod and a sliding groove, and the outer side of the hydraulic machine is connected with the driving mechanism. The automatic stacking mechanism has the advantages that the external vibration can be well filtered, materials can be well protected, the service life of the device is prolonged, the friction force between the device and the ground can be enhanced, and the phenomenon of sliding deviation generated when a user uses the device is prevented.
However, the stacking mechanism still has defects, for example, although the stacking mechanism can filter external vibration to well protect materials, the stacking mechanism cannot limit stacked commodities and timely detect the positions of the commodities after the commodities are stacked, so that the commodities are prone to deviation and stacking effect is affected when the commodities are stacked subsequently.
Disclosure of Invention
The invention mainly provides an automatic stacking three-coordinate mechanism for solving the technical problems in the background technology.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an automatic stacking three-coordinate mechanism comprises a stacking frame, a sucker manipulator, a conveying assembly, a first positioning deviation rectifying assembly and a second positioning deviation rectifying assembly, wherein the sucker manipulator is fixed at the top end of the stacking frame and used for placing materials in a trolley for stacking;
the first positioning deviation rectifying assembly comprises a first truss guide rail fixed on one side surface of the stacking frame, two first air cylinders fixed on the first truss guide rail, and two second air cylinders which are parallel to the first air cylinders and fixed at an execution end of the first truss guide rail, wherein a deviation rectifying plate is fixed on a piston rod of each second air cylinder extending into the stacking frame, a guide belt wheel is rotatably connected onto the piston rod of each first air cylinder extending into the stacking frame through a rotating shaft, and a groove for a positioning belt to pass through is formed in the guide belt wheel;
one end of the positioning belt is connected with a winding mechanism fixed at the bottom end of the stacking frame, the other end of the positioning belt is fixed on the piston rod of the first cylinder, and a plurality of pressure detector probes for detecting whether materials deviate or not are fixed on the inner surface of the positioning belt.
Furthermore, the stacker is fixed with a pressure-bearing limiting component outside the end of the stacker far away from the first positioning deviation rectifying component and outside the end of the stacker far away from the second positioning deviation rectifying component, the pressure-bearing limiting component has the same structure as the first positioning deviation rectifying component, and the pressure-bearing limiting component is also provided with a second cylinder and a deviation rectifying plate which have the same structure, so that a worker can apply balanced force from the two ends of a cargo, and the stability of cargo movement is improved.
Furthermore, the sucker manipulator comprises a second truss guide rail fixed on the top surface of the stacking frame, a fourth cylinder is fixed at the execution end of the second truss guide rail, and a vacuum sucker is fixed at the bottom end of a piston rod of the fourth cylinder, so that the movable range of the vacuum sucker is expanded, and the flexibility of the stacking mechanism is improved.
Furthermore, the conveying assembly comprises a support, a plurality of rotary conveying rollers and a stop strip, wherein one end of the support is fixed inside the stacking frame, the other end of the support is fixed on the ground, the rotary conveying rollers are fixed inside the support and are sequentially arranged along a straight line, and the stop strip is fixed at the top of one end of the support extending to the inside of the stacking frame, so that the stop strip is utilized to prevent goods from falling into the stacking frame when the goods are not pushed by the translation mechanism, and the quality of the goods is influenced.
Further, be fixed with the translation mechanism who is used for promoting the goods on the support, one side that translation mechanism was kept away from to the support is equipped with and is fixed in the elevating platform of the inside bottom of stacker, promotes goods to the elevating platform top through translation mechanism to make elevating platform top goods be in the stack height, and make things convenient for the sucking disc manipulator to move the goods and pile up, reduce because of the frequent flexible of fourth cylinder in the sucking disc manipulator, the loss that causes the fourth cylinder, and lift the goods by lower supreme through the elevating platform, stability when improving the transport goods.
Further, translation mechanism is including being fixed in the third cylinder that elevating platform one end was kept away from to the support, and be fixed in the push pedal of the inside one end of support is extended to the third cylinder piston rod, the vertical section of push pedal is pi shape for when the piston rod of third cylinder drove the push pedal and carries out the translation, the push pedal can be with the accurate promotion of goods to the elevating platform top.
Furthermore, one end, close to the guide pulley, of the first cylinder piston rod is fixed with a guide belt buckle, so that the positioning belt is prevented from being separated from the guide pulley on the first cylinder piston rod, the positioning belt is prevented from being bent through the guide pulley, and the guide pulley is further prevented from being tightly attached to goods to be positioned.
Furthermore, the winding mechanism comprises a winding chamber fixed on the bottom end surface of the stacking rack, a winding wheel positioned in the winding chamber and rotatably connected through a rotating shaft, a toothed ring fixed on the peripheral surface of the winding wheel, a gear meshed with the toothed ring and rotatably connected with the inner wall of the winding chamber through the rotating shaft, and a positioning belt is wound through the winding wheel, so that the positioning belt is tightly attached to the goods to exert the positioning effect.
Furthermore, a worm wheel is fixed at one end, away from the gear, of the rotating shaft, the worm wheel is meshed with the worm, and the worm wheel is rotatably connected with the inner wall of the winding chamber through a bearing seat, so that the rotation of the gear on the rotating shaft is controlled by the worm, the winding and unwinding of the positioning belt are effectively controlled, and the positioning belt is prevented from pulling the winding wheel to rotate.
Furthermore, a tensioning wheel for the positioning belt to pass through is fixed on the outer surface of the bottom end of the stacking frame, so that the positioning belt is guided to be tightened on the goods by the tensioning wheel.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the invention can guide the sucker manipulator to stack and block the displacement between the goods, thereby improving the goods arranging effect of the stacking mechanism, and specifically comprises the following steps: drive the leading wheel through first cylinder and carry out the translation, hug closely on the goods until the locating band, because the locating band carries out the multichannel through the turning of leading wheel and goods and bends for the locating band can tightly attach on two adjacent plummet planes of goods, thereby utilize blockking of locating band, guide sucking disc manipulator places the goods, and block sucking disc manipulator when placing the goods, the small translation between the goods.
Secondly, the invention can detect the uniformity of the stacked goods and return the goods, and specifically comprises the following steps: because the positioning belt is provided with the pressure detector probe and is tightly attached to the goods, when the goods detected by the pressure detector probe connected with the PLC control cabinet exceed a specified pressure threshold value, the second cylinder piston rod drives the upper deviation correcting plate to translate so as to push the goods to an accurate position.
The present invention will be explained in detail below with reference to the drawings and specific embodiments.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an isometric view of the present invention;
FIG. 3 is a schematic view of the positioning band of the present invention;
FIG. 4 is an isometric view of a delivery assembly of the present invention;
FIG. 5 is a plan view of the present invention;
FIG. 6 is a schematic structural view of a winding mechanism according to the present invention;
FIG. 7 is a top view of the present invention;
fig. 8 is a schematic structural diagram of the lifting platform of the present invention.
In the figure: 10. a stacking rack; 11. a tension wheel; 20. a delivery assembly; 21. a support; 22. rotating the delivery roll; 23. a termination strip; 24. a translation mechanism; 241. a third cylinder; 242. pushing the plate; 25. a lifting platform; 30. a sucker manipulator; 31. a fourth cylinder; 32. a second truss guide; 33. a vacuum chuck; 40. a first positioning deviation rectifying assembly; 41. a first truss guide rail; 42. a guide pulley; 421. a lead belt buckle; 43. a first cylinder; 44. a deviation rectifying plate; 45. a second cylinder; 46. a positioning belt; 461. a pressure detector probe; 47. a winding mechanism; 471. a winding chamber; 472. a winding wheel; 473. a toothed ring; 474. a gear; 475. a worm; 476. a rotating shaft; 477. a worm gear; 50. a second positioning deviation rectifying component; 60. pressure-bearing limiting assembly.
Detailed Description
In order to facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings, in which several embodiments of the invention are shown, but which may be embodied in different forms and not limited to the embodiments described herein, but which are provided so as to provide a more thorough and complete disclosure of the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present, and when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present, as the terms "vertical", "horizontal", "left", "right" and the like are used herein for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the knowledge of the terms used herein in the specification of the present invention is for the purpose of describing particular embodiments and is not intended to limit the present invention, and the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In an embodiment, referring to fig. 1 to 8, in a preferred embodiment of the present invention, an automatic stacking three-coordinate mechanism includes a stacker 10, a suction cup robot 30 fixed at a top end of the stacker 10 and used for placing incoming materials in a cart for stacking, a conveying assembly 20 having one end extending into the stacker 10 and the other end fixed on the ground, and a first positioning deviation correcting assembly 40 and a second positioning deviation correcting assembly 50 fixed outside the stacker 10 and used for correcting positions of the materials on the cart, wherein the second positioning deviation correcting assembly 50 and the first positioning deviation correcting assembly 40 have the same structure;
the first positioning deviation rectifying assembly 40 comprises a first truss guide rail 41 fixed on one side surface of the stacker frame 10, two first air cylinders 43 fixed on the first truss guide rail 41, and two second air cylinders 45 parallel to the first air cylinders 43 and fixed at the execution end of the first truss guide rail 41, wherein a deviation rectifying plate 44 is fixed on a piston rod extending to the inside of the stacker frame 10 by the second air cylinders 45, a guide pulley 42 is rotatably connected to the piston rod extending to the inside of the stacker frame 10 through a rotating shaft, and a groove for a positioning belt 46 to pass through is formed in the guide pulley 42;
one end of the positioning belt 46 is connected with a winding mechanism 47 fixed at the bottom end of the stacker 10, the other end of the positioning belt is fixed on the piston rod of the first cylinder 43, and a plurality of pressure detector probes 461 for detecting whether the material is deviated are fixed on the inner side surface of the positioning belt 46;
it should be noted that, in this embodiment, after the suction cup manipulator 30 adsorbs the goods to the cart carrying the goods in the stacker 10, the first cylinder 43 drives the guide pulley 42 through which the positioning belt 46 passes to translate until the positioning belt 46 is tightly attached to the goods, because the positioning belt 46 is bent at multiple times by the guide pulley 42 and the corners of the goods, the positioning belt 46 can be tightly attached to two adjacent plumb bob planes of the goods, so that the suction cup manipulator 30 is guided to place the goods by the blocking of the positioning belt 46, and the suction cup manipulator 30 is blocked from slightly translating the goods when placing the goods;
furthermore, because the positioning belt 46 is provided with the pressure detector probe 461, and the positioning belt 46 is tightly attached to the goods, when the goods detected by the pressure detector probe 461 connected to the PLC control cabinet exceeds a specified pressure threshold, the piston rod of the second cylinder 45 drives the upper deviation-correcting plate 44 to move horizontally, so as to push the goods to an accurate position.
Specifically, please refer to fig. 1, 2 and 4 again, in another preferred embodiment of the present invention, a pressure-bearing limiting assembly 60 is fixed outside one end of the stacker 10 away from the first positioning deviation-rectifying assembly 40 and outside one end of the stacker 10 away from the second positioning deviation-rectifying assembly 50, and the pressure-bearing limiting assembly 60 and the first positioning deviation-rectifying assembly 40 have the same structure;
it should be noted that, in this embodiment, because the pressure-bearing limiting component 60 is the same as the first positioning deviation-rectifying component 40 in structure, when the second cylinder 45 in the first positioning deviation-rectifying component 40 pushes the goods to the correct position through the deviation-rectifying plate 44 on the piston rod thereof, because the pressure-bearing limiting component 60 is also provided with the second cylinder 45 and the deviation-rectifying plate 44 having the same structure, the worker can apply force in a balanced manner from both ends of the goods, thereby improving the stability of the movement of the goods.
Specifically, please refer to fig. 1, 2, 4, 5 and 6 again, in another preferred embodiment of the present invention, the suction cup robot 30 includes a second truss guide rail 32 fixed on the top surface of the stacker 10, a fourth cylinder 31 is fixed at the execution end of the second truss guide rail 32, and a vacuum suction cup 33 is fixed at the bottom end of the piston rod of the fourth cylinder 31;
it should be noted that, in this embodiment, the fourth cylinder 31 is driven by the second truss rail 32 to move arbitrarily on the horizontal plane, and the vacuum chuck 33 can be displaced on the plumb plane by being driven by the fourth cylinder 31 connected to the vacuum chuck 33, so as to increase the movable range of the vacuum chuck 33 and improve the flexibility of the stacking mechanism.
Specifically, please refer to fig. 1, 4 and 5 again, in another preferred embodiment of the present invention, the conveying assembly 20 includes a support 21 having one end fixed inside the stacker 10 and the other end fixed on the ground, a plurality of rotating conveying rollers 22 fixed inside the support 21 and arranged in sequence along a straight line, and a stop bar 23 fixed on the support 21 and extending to the top of one end inside the stacker 10, a translation mechanism 24 fixed on the support 21 for pushing the goods, a lifting platform 25 fixed on the bottom inside the stacker 10 and arranged on one side of the support 21 away from the translation mechanism 24, a moving platform 25 fixed on the bottom inside the stacker 10 and pushing the goods to the top of the lifting platform 25 by the translation mechanism 24, so that the goods on the top of the lifting platform 25 is at the stacking height, the translation mechanism 24 includes a third cylinder 241 fixed on one end of the support 21 away from the lifting platform 25, and a push plate 242 fixed on one end of a piston rod of the third cylinder 241 extending to the inside the support 21, the longitudinal section of the push plate 242 is pi-shaped;
it should be noted that, in this embodiment, when the rotary conveying roller 22 carrying the goods conveys the goods, the bracket 21 for supporting the rotary conveying roller 22 is provided with the end strip 23, so that the blocking of the end strip 23 is utilized to prevent the goods from falling into the stacker 10 without being pushed by the translation mechanism 24, which affects the quality of the goods;
furthermore, when the translation mechanism 24 pushes the goods to the top end of the lifting platform 25, the goods at the top end of the lifting platform 25 are at the stacking height through the lifting of the lifting platform 25, so that the sucking disc manipulator 30 can conveniently move the goods and stack the goods, the loss of the fourth cylinder 31 caused by frequent expansion and contraction of the fourth cylinder 31 in the sucking disc manipulator 30 is reduced, and the goods are lifted from bottom to top through the lifting platform 25, so that the stability in goods carrying is improved;
further, when the piston rod of the third cylinder 241 drives the pushing plate 242 to translate, the pushing plate 242 can accurately push the goods to the top end of the lifting platform 25.
Specifically, please refer to fig. 2, 4 and 6 again, in another preferred embodiment of the present invention, a belt guiding buckle 421 is fixed on one end of the piston rod of the first cylinder 43 near the belt guiding wheel 42, the winding mechanism 47 includes a winding chamber 471 fixed on the bottom end surface of the stacker 10, a winding wheel 472 located inside the winding chamber 471 and rotatably connected through a rotating shaft, a toothed ring 473 fixed on the outer circumferential surface of the winding wheel 472, a gear 474 engaged with the toothed ring 473 and rotatably connected with the inner wall of the winding chamber 471 through a rotating shaft 476, a worm wheel 477 is fixed on one end of the rotating shaft 476 far from the gear 474, the worm wheel 477 is engaged with a worm 475, the worm wheel 477 is rotatably connected with the inner wall of the winding chamber 471 through a bearing seat, and a tension wheel 11 for passing the positioning belt 46 is fixed on the bottom end outer surface of the stacker 10;
it should be noted that, in this embodiment, the first cylinder 43 provides guidance for the positioning belt 46 through the upper belt buckle 421, so as to prevent the positioning belt 46 from being separated from the belt guide wheel 42 on the piston rod of the first cylinder 43, which affects the bending of the positioning belt 46 through the belt guide wheel 42, and further affects the positioning of the belt guide wheel 42 tightly attached to the goods;
further, when the gear 474 rotates, the gear 474 is meshed with the toothed ring 473 on the outer circumferential surface of the winding wheel 472, so that the torque is transmitted to the winding wheel 472 and drives the winding wheel 472 to rotate, and the positioning belt 46 is wound by the winding wheel 472, so that the positioning belt 46 is tightly attached to the goods to exert the positioning effect;
furthermore, the worm wheel 477 of the rotating shaft 476 can only rotate when the worm 475 engaged with the worm wheel is rotated, so that the rotation of the gear 474 on the rotating shaft 476 is controlled by the worm 475, the retraction of the positioning belt 46 is effectively controlled, and the positioning belt 46 is prevented from pulling the winding wheel 472 to rotate;
further, the positioning belt 46 is guided to be tightened on the cargo by the tension wheel 11.
The specific operation mode of the invention is as follows:
when a three-coordinate mechanism is used for stacking goods, firstly, the sucking disc manipulator 30 on the stacking frame 10 is used for adsorbing the goods to a cart bearing the goods in the stacking frame 10, then a first air cylinder 43 on the stacking frame 10 drives a guide belt wheel 42 penetrated with a positioning belt 46 to translate until the positioning belt 46 is tightly attached to the goods, and as the positioning belt 46 is bent for multiple times through the guide belt wheel 42 and the corner of the goods, the positioning belt 46 can be tightly attached to two adjacent plumb planes of the goods, so that the sucking disc manipulator 30 is guided to place the goods by the blocking of the positioning belt 46, and the sucking disc manipulator 30 is blocked from micro-translation between the goods when the goods are placed;
because the positioning belt 46 is provided with the pressure detector probe 461, and the positioning belt 46 is tightly attached to the goods, when the goods detected by the pressure detector probe 461 connected with the PLC control cabinet exceeds a specified pressure threshold, the piston rod of the second cylinder 45 drives the upper deviation correcting plate 44 to translate so as to push the goods to an accurate position.
The invention is described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the above-described embodiments, and it is within the scope of the invention to adopt such insubstantial modifications of the inventive method concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (10)
1. An automatic stacking three-coordinate mechanism is characterized by comprising a stacking frame (10), a sucker manipulator (30) fixed at the top end of the stacking frame (10) and used for placing materials in a trolley for stacking, a conveying assembly (20) with one end extending into the stacking frame (10) and the other end fixed on the ground, a first positioning deviation rectifying assembly (40) and a second positioning deviation rectifying assembly (50) which are fixed outside the stacking frame (10) and used for rectifying the position of the materials on the trolley, wherein the second positioning deviation rectifying assembly (50) and the first positioning deviation rectifying assembly (40) have the same structure;
the first positioning deviation rectifying assembly (40) comprises a first truss guide rail (41) fixed on one side surface of the stacking frame (10), two first air cylinders (43) fixed on the first truss guide rail (41), and two second air cylinders (45) parallel to the first air cylinders (43) and fixed at the execution end of the first truss guide rail (41), wherein the second air cylinders (45) extend to piston rods inside the stacking frame (10) and are fixedly provided with deviation rectifying plates (44), the piston rods extending to the inside of the stacking frame (10) of the first air cylinders (43) are rotatably connected with guide belt wheels (42) through rotating shafts, and the guide belt wheels (42) are provided with grooves for positioning belts (46) to pass through;
one end of the positioning belt (46) is connected with a winding mechanism (47) fixed at the bottom end of the stacking frame (10), the other end of the positioning belt (46) is fixed on a piston rod of the first air cylinder (43), a plurality of pressure detector probes (461) used for detecting whether materials shift or not are fixed on the inner side surface of the positioning belt (46), the first air cylinder (43) drives the guide belt wheel (42) which is penetrated with the positioning belt (46) to translate until the positioning belt (46) is tightly attached to the goods, and the positioning belt (46) is bent in multiple ways through the guide belt wheel (42) and corners of the goods, so that the positioning belt (46) is tightly attached to two plumb planes adjacent to the goods, and the goods are placed by the aid of blocking of the positioning belt (46) and guiding of the sucker manipulator (30).
2. An automatic stacking three-coordinate mechanism according to claim 1, wherein a pressure-bearing limiting component (60) is fixed on the outer portion of one end of the stacker frame (10) far away from the first positioning deviation-rectifying component (40) and the outer portion of one end of the stacker frame far away from the second positioning deviation-rectifying component (50), and the pressure-bearing limiting component (60) and the first positioning deviation-rectifying component (40) have the same structure.
3. An automatic stacking three-coordinate system as claimed in claim 1, wherein the suction cup robot (30) comprises a second truss guide rail (32) fixed on the top end surface of the stacker frame (10), the execution end of the second truss guide rail (32) is fixed with a fourth cylinder (31), and the bottom end of the piston rod of the fourth cylinder (31) is fixed with a vacuum suction cup (33).
4. An automatic stacking three-coordinate system as claimed in claim 1, wherein the conveying assembly (20) comprises a support (21) having one end fixed inside the stacker frame (10) and the other end fixed on the ground, a plurality of rotary conveying rollers (22) fixed inside the support (21) and arranged in sequence along a straight line, and a stop bar (23) fixed on the support (21) and extending to the top of one end inside the stacker frame (10).
5. An automatic stacking three-coordinate mechanism according to claim 4, wherein a translation mechanism (24) for pushing the goods is fixed on the support (21), a lifting platform (25) fixed at the bottom end inside the stacker frame (10) is arranged on one side of the support (21) far away from the translation mechanism (24), and the goods are pushed to the top end of the lifting platform (25) through the translation mechanism (24), so that the goods at the top end of the lifting platform (25) are at the stacking height.
6. An automatic stacking three-coordinate mechanism as claimed in claim 5, wherein the translation mechanism (24) comprises a third cylinder (241) fixed at one end of the support (21) far away from the lifting platform (25), and a push plate (242) fixed at one end of a piston rod of the third cylinder (241) extending to the inside of the support (21), and a longitudinal section of the push plate (242) is pi-shaped.
7. An automatic stacking three-coordinate mechanism as claimed in claim 1, wherein a guide buckle (421) is fixed to one end of the piston rod of the first air cylinder (43) close to the guide pulley (42).
8. An automatic stacking three-coordinate system as claimed in claim 1, wherein the winding mechanism (47) comprises a winding chamber (471) fixed on the bottom end surface of the stacker frame (10), a winding wheel (472) located inside the winding chamber (471) and rotatably connected through a rotating shaft, a toothed ring (473) fixed on the outer circumferential surface of the winding wheel (472), and a gear (474) engaged with the toothed ring (473) and rotatably connected with the inner wall of the winding chamber (471) through a rotating shaft (476).
9. An automatic stacking three-coordinate mechanism as claimed in claim 8, wherein a worm wheel (477) is fixed to an end of the rotating shaft (476) far away from the gear (474), the worm wheel (477) is engaged with the worm (475), and the worm wheel (477) is rotatably connected with the inner wall of the rolling chamber (471) through a bearing seat.
10. An automatic stacking three-coordinate system as claimed in claim 1, wherein the outer surface of the bottom end of the stacker frame (10) is fixed with a tension wheel (11) for the positioning belt (46) to pass through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110403342.8A CN113264381B (en) | 2021-04-15 | 2021-04-15 | Automatic three-coordinate mechanism of stack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110403342.8A CN113264381B (en) | 2021-04-15 | 2021-04-15 | Automatic three-coordinate mechanism of stack |
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| DE2611444A1 (en) * | 1976-03-18 | 1977-09-22 | Alfred Knauer | Cup stacking conveyor mechanism - has stages where belts momentarily release cups to allow correction of position |
| JPS5926828A (en) * | 1982-08-02 | 1984-02-13 | Matsushita Electric Works Ltd | Flush panel carrying device |
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| CN212402569U (en) * | 2020-06-19 | 2021-01-26 | 安徽美威特文具制造有限公司 | Automatic discharge device is used in solid gum production |
| TWM608618U (en) * | 2020-11-11 | 2021-03-01 | 鋐宇機械有限公司 | Stacking goods conveying device |
| CN212668518U (en) * | 2020-06-30 | 2021-03-09 | 中材(宜昌)节能新材料有限公司 | Stacking device suitable for fiber board |
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| DE2611444A1 (en) * | 1976-03-18 | 1977-09-22 | Alfred Knauer | Cup stacking conveyor mechanism - has stages where belts momentarily release cups to allow correction of position |
| JPS5926828A (en) * | 1982-08-02 | 1984-02-13 | Matsushita Electric Works Ltd | Flush panel carrying device |
| CN1713343A (en) * | 2004-06-21 | 2005-12-28 | 东京威尔斯股份有限公司 | Parts separting, transporting and collecting device |
| CN106467241A (en) * | 2015-08-14 | 2017-03-01 | 天津市天德橡塑机械有限公司 | A kind of alignment component of piler |
| CN212402569U (en) * | 2020-06-19 | 2021-01-26 | 安徽美威特文具制造有限公司 | Automatic discharge device is used in solid gum production |
| CN212668518U (en) * | 2020-06-30 | 2021-03-09 | 中材(宜昌)节能新材料有限公司 | Stacking device suitable for fiber board |
| TWM608618U (en) * | 2020-11-11 | 2021-03-01 | 鋐宇機械有限公司 | Stacking goods conveying device |
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