CN202897557U - Three-dimensional coordinate robot stacker crane - Google Patents
Three-dimensional coordinate robot stacker crane Download PDFInfo
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- CN202897557U CN202897557U CN 201220610639 CN201220610639U CN202897557U CN 202897557 U CN202897557 U CN 202897557U CN 201220610639 CN201220610639 CN 201220610639 CN 201220610639 U CN201220610639 U CN 201220610639U CN 202897557 U CN202897557 U CN 202897557U
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- stacker
- main frame
- machine people
- positioning apparatus
- rotary positioning
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Abstract
The utility model discloses a three-dimensional coordinate robot stacker crane which comprises a main framework, a machine hand device, a translation positioning device, a rotating positioning device and a control device. The machine hand device is used for grabbing to-be-stacked products. The translation positioning device is used for horizontally removing the to-be-stacked products. The rotating positioning device is used for removing the to-be-stacked products in a rotating mode. The control device is used for controlling the machine hand device, the translation positioning device and the rotating positioning device. The translation positioning device is arranged at the upper end of the main framework. The rotating positioning device is connected below the translation positioning device. The rotating positioning device is fixedly connected with the machine hand device. Due to the fact that a three-dimensional coordinate is used for positioning the to-be-stacked products, the three-dimensional coordinate robot stacker crane is high in positioning accuracy and easy and reliable to operate.
Description
Technical field
The utility model relates to the wrapping machine field, relates in particular to a kind of three-dimensional machine people stacker.
Background technology
At present domestic stacker is take the low level side-push as main, and accuracy of positioning is not high, changes the product trouble, and buttress shape is ugly, does not also have the stacking machine equipment of typing.Therefore, this area is in the urgent need to providing a kind of accuracy of positioning high, the stacking machine equipment that operation is simple and reliable.
The utility model content
The purpose of this utility model is the shortcoming that overcomes prior art, provides a kind of accuracy of positioning high, and operation is simple and reliable, position the three-dimensional machine people stacker of palletized products by three-dimensional coordinate.
In order to achieve the above object, the utility model proposes a kind of three-dimensional machine people stacker, described stacker comprises:
One main frame;
One is used for grasping the robot device of product to be palletized;
One is used for product to be palletized is carried out the translation registration device of parallel motion;
One is used for product to be palletized is rotated mobile rotary positioning apparatus;
One is used for controlling the control setup of described robot device, described translation registration device, described rotary positioning apparatus;
Described translation registration device is arranged on described main frame upper end, and described rotary positioning apparatus is connected to the below of described translation registration device, and described rotary positioning apparatus is captiveed joint with described robot device.
Further preferably, described system comprises that also described safety device is installed in the described main frame for the safety device of fault prompting and warning.
Further preferably, described robot device comprises two folder case cylinders, and each folder case cylinder is provided with a handgrip by described folder case cylinder control.
Further preferably, described translation registration device comprises the traversing carriage that is erected on the described main frame dual-side guide rail, is arranged on the servomotor at two ends on the described main frame; Being arranged on can be along the mobile station of described traversing carriage two wood side-guides slip on the described traversing carriage, and described motor connects described traversing carriage by two Timing Belts.
Further preferably, described rotary positioning apparatus comprises the first S. A. and second S. A. parallel with the first S. A., described the first S. A. and the second S. A. are connected with a joggle by gear, described the first S. A. one end runs through and is connected on the described mobile station, and described the second S. A. is captiveed joint with described robot device.
Further preferably, described control setup comprises for the PLC device of programming and the touch-screen that is used for the input operation instruction.
The mode of operation of the utility model Patent equipment is: fork truck reaches the stacker next door, pallet is put into the stacker below be used for placing product to be palletized, this moment the control system people's stacker that starts the machine, the translation registration device motion of translation of stacker is to product to be palletized place, thereby move down the robot device that will be fixed on the second S. A. by the first S. A. and be moved down into certain position, simultaneously can according to the specific product present position, rotate the second S. A. until robot device is displaced to correct position; Then robot device grasps product to be palletized, the mobile setting height that rises to, again according to product buttress shape arrangement mode, stacker moves to buttress shape specified location with robot device and puts down product, return place, crawl position equal controller and receive detection signal, when signal was arranged, handgrip got off to continue the crawl product, rerun and put down product to buttress shape specified location, whether needs rotate to specify S. A. according to buttress shape in the crawl process; So circular flow, until complete buttress of code shape is sent signal notice control setup at last, control setup sends signal, fork truck drives away the complete pallet of evening out of code, then is reentered into new pallet, so that piling.
Effect of the present utility model is:
Adopt translation registration device and positioner for rotation shaft comprehensively to locate in this patent, realized the accurate location on the X-direction thereby the two toothed belt transmissions drive of translation positioning system using traversing carriage moves; Mobile station in the simultaneously translation position fixing system can have been realized the axial location of y in the enterprising line slip of traversing carriage, is aided with simultaneously the S. A. position fixing system, the further like this accuracy of positioning that improved; The first S. A. moves up and down at mobile station and has realized the running fix on the Z axis.By the location on this three direction of principal axis, the stacker positioning precision of this patent is high, just can use by programming control the food engineering that product type is more, because when changing product, get final product by simple replacing handgrip, even not needing to change handgrip can produce.Starts and to produce after adjusting product specification by PLC after handgrip is changed and to be finished, and the piling precision is very high, especially some product levels is needed accurate identical very applicable.Must stop production when changing product with respect to the conventional code stack machine and adjust, the problem that the adjustment time is relatively long, the three-dimensional machine people stacker of this patent can be good at solving the carrying piling of a series of products such as carton, soft bag, has greatly reduced manpower.
Description of drawings
By the description of its exemplary embodiment being carried out below in conjunction with accompanying drawing, the above-mentioned feature and advantage of the utility model will become apparent and easily understand.
Fig. 1 is the integral structure schematic diagram of the utility model stacker;
Fig. 2 is the structural representation of rotary positioning apparatus of the present utility model;
Fig. 3 is the structural representation of robot device of the present utility model;
Number in the figure is as follows:
1, main frame 2, rotary positioning apparatus 21, the first S. A. 22, the second S. A.
23, gear 3, translation registration device 31, guide rail 32, traversing carriage
33, servomotor 34, mobile station 35, slide rail 4, robot device 41, handgrip
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
As shown in Figure 1, a kind of three-dimensional machine people stacker, described stacker comprises: a main frame 1; One is used for grasping the robot device 4 of product to be palletized; One is used for product to be palletized is carried out the translation registration device 3 of parallel motion; One is used for product to be palletized is rotated mobile rotary positioning apparatus 2; One is used for the control setup (not shown) of control robot device 4, translation registration device 3, rotary positioning apparatus 2; Translation registration device 3 is arranged on main frame 1 upper end, and rotary positioning apparatus 2 is connected to the below of translation registration device 3, and rotary positioning apparatus 2 is captiveed joint with robot device 4.
As shown in Figure 3, in this patent, described robot device comprises two folder case cylinders, and each folder case cylinder is provided with a handgrip 41 by described folder case cylinder control.Handgrip 41 adopts Pneumatic manipulators, and pressure is adjustable, is equipped with pressure buffer valve, makes holding action steady, on the handgrip 41 induction mechanism is housed, can the automatic sensing object, and the notice control system is carried out the object pick-and-place.Certainly, those skilled in the art also can customize handgrip according to the shape (such as bag shape, box-shaped etc.) of product to be palletized.
As preferred embodiment, translation registration device 3 comprises the traversing carriage 32 that is erected on the main frame 1 dual-side guide rail 31, is arranged on the servomotor 33 at two ends on the main frame 1; Be arranged on the traversing carriage 32 and can have consisted of the movement on the Y direction along the mobile station 34 that 32 liang of wood side-guides of traversing carriage 35 slide, it is mobile in X-direction that motor 33 connects drive traversing carriage 32 by two Timing Belts.
In this patent, the translation position fixing system is the core of whole equipment, must have kinematic velocity fast, the characteristics that repeatable accuracy is high, as preferred embodiment, X, Y, the Z three-dimensional all is chosen as Synchronous Belt Drives, and single coordinate repetitive positioning accuracy is 0.05mm, and the fastest point-to-point speed reaches 1000mm/s.Wherein the X coordinate axle is that two length are 3000mm, span is the positioning guide rail of 1000mm, by synchronous transmission device guarantee traversing carriage motion on two positioning guide rails synchronously, and by a 1500W driven by servomotor, for the coupling of driving torque and inertia, also can configure again a worm-gear speed reducer.
Y-axis is selected double locating system, why selects positioning unit heavy in section like this, mainly is to support because Y-axis is both-end, middle hanging structure, if the cross section of selecting is inadequate, chatter easily occurs in stacker when high-speed motion, can not guarantee the stationarity of stacker motion.Adopt mobile station 34 as position fixing system in this patent, mobile station 34 is supported on the slide rail 35 side by side by two positioning units, and Z axis (the first S. A. 21) is clipped in the middle, and can be good at balanced load, and this mounting means has extraordinary stability.Two positioning units for the coupling of driving torque and inertia, also can be joined a worm-gear speed reducer by a 1000W driven by servomotor.
The Z axis registration device needs firm stable, because need to bear larger gravity and acceleration force, needs larger power just passable.As preferred embodiment, can adopt a 3000W with the servomotor of band-type brake, mate a worm-gear speed reducer and drive.
This patent system comprises that also described safety device is installed in the main frame 1 for the safety device (not shown) of fault prompting and warning.Safety device has fault prompting and warning function, and can both reflect accurately the fault particular location when breaking down at every turn, is convenient to rapid trouble-shooting, mainly comprises: the impact protection apparatus when being subject to accident collision; The detecting device that workpiece is in place; Light curtain safety guard-safeguard or install the buffer zone protective door additional, these devices all are the general prior aries in this area, those of ordinary skills can apparently assemble, and do not repeat them here.
In this patent system, control setup comprises for the PLC device of programming and the touch-screen that is used for the input operation instruction.This system has powerful programing function.Adapt to the vanning of different product model.This system can preset the program of various workpieces, can call corresponding program at touch-screen when changing kind.Because PLC device (industrial Programmable Logic Controller) is the general prior art in this area, those of ordinary skills can apparently assemble, and do not repeat them here.
It should be noted that; above content is in conjunction with concrete embodiment further detailed description of the utility model; can not assert that the specific embodiment of the present utility model only limits to this; under above-mentioned guidance of the present utility model; those skilled in the art can carry out various improvement and distortion on the basis of above-described embodiment, and these improvement or distortion drop in the protection domain of the present utility model.
Claims (6)
1. three-dimensional machine people stacker, it is characterized in that: described stacker comprises:
One main frame;
One is used for grasping the robot device of product to be palletized;
One is used for product to be palletized is carried out the translation registration device of parallel motion;
One is used for product to be palletized is rotated mobile rotary positioning apparatus;
One is used for controlling the control setup of described robot device, described translation registration device, described rotary positioning apparatus;
Described translation registration device is arranged on described main frame upper end, and described rotary positioning apparatus is connected to the below of described translation registration device, and described rotary positioning apparatus is captiveed joint with described robot device.
2. three-dimensional machine people stacker according to claim 1 is characterized in that:
Described system comprises that also described safety device is installed in the described main frame for the safety device of fault prompting and warning.
3. three-dimensional machine people stacker according to claim 1 is characterized in that:
Described robot device comprises two folder case cylinders, and each folder case cylinder is provided with a handgrip by described folder case cylinder control.
4. three-dimensional machine people stacker according to claim 1 is characterized in that:
Described translation registration device comprises the traversing carriage that is erected on the described main frame dual-side guide rail, is arranged on the servomotor at two ends on the described main frame; Being arranged on can be along the mobile station of described traversing carriage two wood side-guides slip on the described traversing carriage, and described motor connects described traversing carriage by two Timing Belts.
5. three-dimensional machine people stacker according to claim 1 is characterized in that:
Described rotary positioning apparatus comprises the first S. A. and second S. A. parallel with the first S. A., described the first S. A. and the second S. A. are connected with a joggle by gear, described the first S. A. one end runs through and is connected on the described mobile station, and described the second S. A. is captiveed joint with described robot device.
6. three-dimensional machine people stacker according to claim 1 is characterized in that:
Described control setup comprises for the PLC device of programming and the touch-screen that is used for the input operation instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220610639 CN202897557U (en) | 2012-11-16 | 2012-11-16 | Three-dimensional coordinate robot stacker crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220610639 CN202897557U (en) | 2012-11-16 | 2012-11-16 | Three-dimensional coordinate robot stacker crane |
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| Publication Number | Publication Date |
|---|---|
| CN202897557U true CN202897557U (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220610639 Expired - Fee Related CN202897557U (en) | 2012-11-16 | 2012-11-16 | Three-dimensional coordinate robot stacker crane |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407793A (en) * | 2013-09-03 | 2013-11-27 | 常熟市惠一机电有限公司 | Low-level coordinate stacking machine |
| CN103896078A (en) * | 2014-04-17 | 2014-07-02 | 日东电子发展（深圳）有限公司 | Packing box stacking machine |
| CN104590904A (en) * | 2014-12-03 | 2015-05-06 | 佛山市鼎吉包装技术有限公司 | Direct connection type rotation driving and positioning device |
| CN106216859A (en) * | 2016-08-17 | 2016-12-14 | 江苏大学 | The quick taking device of a kind of laser indirect impact forging flexibility loading and method thereof |
| CN106272390A (en) * | 2016-08-15 | 2017-01-04 | 江苏建筑职业技术学院 | A kind of tunneling shield cutterhead controlled based on PLC changes mechanical hand and method of work thereof |
| CN106970425A (en) * | 2017-04-07 | 2017-07-21 | 长安大学 | A kind of vcehicular tunnel geological radar advanced prediction auxiliary detection car |
| CN107491028A (en) * | 2017-07-26 | 2017-12-19 | 江苏新美星包装机械股份有限公司 | Pile type edit methods and device |
-
2012
- 2012-11-16 CN CN 201220610639 patent/CN202897557U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407793A (en) * | 2013-09-03 | 2013-11-27 | 常熟市惠一机电有限公司 | Low-level coordinate stacking machine |
| CN103896078A (en) * | 2014-04-17 | 2014-07-02 | 日东电子发展（深圳）有限公司 | Packing box stacking machine |
| CN104590904A (en) * | 2014-12-03 | 2015-05-06 | 佛山市鼎吉包装技术有限公司 | Direct connection type rotation driving and positioning device |
| CN106272390A (en) * | 2016-08-15 | 2017-01-04 | 江苏建筑职业技术学院 | A kind of tunneling shield cutterhead controlled based on PLC changes mechanical hand and method of work thereof |
| CN106272390B (en) * | 2016-08-15 | 2018-03-30 | 江苏建筑职业技术学院 | A kind of tunneling shield cutterhead based on PLC controls changes manipulator and its method of work |
| CN106216859A (en) * | 2016-08-17 | 2016-12-14 | 江苏大学 | The quick taking device of a kind of laser indirect impact forging flexibility loading and method thereof |
| CN106970425A (en) * | 2017-04-07 | 2017-07-21 | 长安大学 | A kind of vcehicular tunnel geological radar advanced prediction auxiliary detection car |
| CN107491028A (en) * | 2017-07-26 | 2017-12-19 | 江苏新美星包装机械股份有限公司 | Pile type edit methods and device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130424 Termination date: 20201116 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |