CN203158837U - Grabbing mechanism of stacker machine - Google Patents

Grabbing mechanism of stacker machine Download PDF

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Publication number
CN203158837U
CN203158837U CN 201320130993 CN201320130993U CN203158837U CN 203158837 U CN203158837 U CN 203158837U CN 201320130993 CN201320130993 CN 201320130993 CN 201320130993 U CN201320130993 U CN 201320130993U CN 203158837 U CN203158837 U CN 203158837U
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CN
China
Prior art keywords
sucker
grasping mechanism
rocking arm
stacker
locating rack
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 201320130993
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Chinese (zh)
Inventor
肖方忠
张群威
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NINGBO XINCHENG MACHINERY MANUFACTURE CO Ltd
Original Assignee
NINGBO XINCHENG MACHINERY MANUFACTURE CO Ltd
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Filing date
Publication date
Application filed by NINGBO XINCHENG MACHINERY MANUFACTURE CO Ltd filed Critical NINGBO XINCHENG MACHINERY MANUFACTURE CO Ltd
Priority to CN 201320130993 priority Critical patent/CN203158837U/en
Application granted granted Critical
Publication of CN203158837U publication Critical patent/CN203158837U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a grabbing mechanism of a stacker machine. The grabbing mechanism of the stacker machine comprises a connecting swinging arm and a swinging arm motor, wherein the connecting swinging arm is movably connected with stand columns of the stacker machine, can horizontally rotate, and is driven by the swinging arm motor. The connecting swinging arm comprises a hand grab base, a grabbing assembly connected to the lower portion of the hand grab base through a rotating shaft and an auxiliary rotating swinging arm which is arranged on the upper portion of the hand grab base and can coaxially rotate with the grabbing assembly. The grabbing assembly comprises a mechanical arm connected to the lower portion of the rotating shaft, a suction disc fixing frame which is arranged on the lower portion of the rotating shaft and is latticed, a plurality of suction discs and a plurality of hand grabs, wherein the suction discs and the hand grabs are arranged at the bottom of the suction disc fixing frame. Compared with the prior art, the grabbing mechanism of the stacker machine increases the production speed and reduces production cost because the stacker machine of the grabbing mechanism is assembled, and grabbing of different top plates, baffle plates and piled plates can be finished without the replacing of the hand grabs.

Description

A kind of grasping mechanism of stacker
Technical field
The utility model relates to the mechanical automation equipment technical field, relates in particular to a kind of grasping mechanism of stacker.
Background technology
Stacker is a kind of product of electromechanical integration, can be integrated in any manufacturing line, for the production scene provides intellectuality, robotization, networking, especially in the automated storage and retrieval system, radical function is the piling of finishing various products such as pocket, blob of viscose, casing, bottles, be beneficial to the storage or the transportation, in, the Low Level Code stack machine can satisfy in low-producing production needs, the organizational systems of installation requirement and number of plies piling, optimal design make buttress shape closely, neatly.
Be to disclose a kind of stacker in the patent of invention " stacker " of CN1847118A as publication number, comprise frame, control setup, power, line slideway is fixedly arranged on the frame, its structural feature is that lifting pedestal is fixedly arranged on the line slideway, lifting pedestal has on two sense of motions by two electrical generators drives, horizontal motor is fixed on that the control lifting pedestal moves along line slideway on the frame, a motor vertical is fixed on the top of lifting pedestal, control lifting pedestal up-and-down movement, the lifting pedestal below is equipped with a plural number manipulator, per two one-tenth are a pair of, between every pair of two manipulators clamping mechanism arranged.This stacker once can press from both sides the polylith adobe and carry out direct piling, has realized the mechanization of adobe piling, has reduced labour intensity, has improved efficiency; But this invention function is fixed single comparatively, generally can only simply grasp, promote, laterally move and place, can't adjust the grasping mechanism of stacker according to the different structure feature that grasps object, for example: various top board, dividing plate, with the buttress plate, thereby realization is to the piling of different structure.
The utility model content
Technical problem to be solved in the utility model is that a kind of grasping mechanism that handgrip just can be realized stacker that various different top boards, dividing plate and buttress plate are grasped that need not to change is provided at prior art.
The utility model solves the problems of the technologies described above the technical scheme that adopts: a kind of grasping mechanism of stacker, comprise the rocking arm that is connected that flexibly connects and can horizontally rotate with the column of described stacker, and the rocking arm motor that drives this connection rocking arm, it is characterized in that: described connection rocking arm comprises the handgrip base, is connected the grabbing assembly of described handgrip base below by a rotating shaft, and be arranged on described handgrip base top and can with the additional rotation rocking arm of the coaxial rotation of described grabbing assembly; Wherein, described grabbing assembly comprises the manipulator that is connected in described rotating shaft below, be arranged at described rotating shaft below, be latticed sucker locating rack, and a plurality of suckers and a plurality of handgrip that are arranged at this sucker locating rack bottom surface.
Described handgrip is arranged on relative two ends on the described sucker locating rack, and every end is provided with two rows, and whenever drains into rare two handgrips, can carry out the pulsation-free extracting to top board or buttress plate like this.
Described sucker is arranged on the other two ends of described sucker locating rack, and every end is provided with two rows, arrangement intermeshes between two row's suckers of every end, described sucker is adsorbed effectively, securely grasp object, also can conveniently adjust the arrangement mode of described sucker because of the difference that grasps object simultaneously.
As preferably, the number of the described sucker of every row is 4, not only can simplify the setting of described sucker on described suction cup carrier, and can guarantee the effective absorption to top board, buttress plate.
Described sucker comprises sucker body and sucker axle, and described sucker is located on the described sucker locating rack by described sucker axle, described sucker axle is positioned at described sucker locating rack upper part and is provided with a sucker fix shaft, be arranged with simultaneously a up and down movable sleeve of sucker fix shaft that can be complementary with described sucker fix shaft between described sucker fix shaft and the described sucker locating rack, the sucker that is installed on the sucker locating rack is adjusted up and down with the need, thereby can be made the sucker of corresponding site be in different mode of operations as required.
Further, described sucker body upper end is provided with the compression spring, is used for further adjusting as required the height of sucker.
Described rotating shaft is provided with additional rotation positioning component, after grasping movement is finished, described additional rotation rocking arm rotates a certain angle the top board that will grasp or dividing plate or buttress board placing in certain position by the rotation positioning component, finishes grasping mechanism to be resetted after putting, and carries out next round and grasps.
For the anglec of rotation of described additional rotation positioning component is controlled accurately, described additional rotation rocking arm is provided with to drive the additional rotary cylinder of this additional rotation rocking arm.
Compared with prior art, advantage of the present utility model is: connect coaxial installation grabbing assembly and additional rotation rocking arm on the rocking arm, can directly rotate mobile grabbing assembly by controlling additional rotation rocking arm, thereby realize the article that grabbing assembly grasps are put; Grabbing assembly comprises manipulator, sucker and handgrip, and sucker and handgrip cooperate running, makes the stacker that is equipped with this grasping mechanism, need not to change handgrip and can finish extracting to different top boards, dividing plate and buttress plate, has accelerated speed of production, has reduced productive costs.
Description of drawings
Fig. 1 is for being equipped with the structural representation of the stacker of this grasping mechanism among the utility model embodiment;
Fig. 2 for the stacker that is equipped with this grasping mechanism among the utility model embodiment birds-eye view;
Fig. 3 is the structural representation of grasping mechanism among the utility model embodiment.
The specific embodiment
Describe in further detail below in conjunction with the utility model of accompanying drawing embodiment.
Shown in Fig. 1~3, a kind of grasping mechanism of stacker comprises with the column 1 of stacker flexibly connects and can horizontally rotate being connected rocking arm 2, and drives the rocking arm motor 21 that this is connected rocking arm 2.Connect the grabbing assembly 4 that rocking arm 2 comprises handgrip base 23, is connected handgrip base 23 belows by a rotating shaft 5, and be arranged on handgrip base 23 tops and can with the additional rotation rocking arm 3 of grabbing assembly 4 coaxial rotations, can be directly additional rotation rocking arm 3 rotates, mobile grabbing assembly 4 by controlling, thereby the article that grabbing assembly 4 grasps are put.For the rotation of further accuracy controlling grabbing assembly 4 is moved, described additional rotation rocking arm 3 is provided with to drive the additional rotary cylinder 21 of this additional rotation rocking arm 3, and rotating shaft 5 is provided with additional rotation positioning component 51, like this after grasping movement is finished, additional rotary cylinder 21 drives additional rotation rocking arm 3, and the additional rotation of additional rotation rocking arm 3 drives positioning component 51 rotates a certain angle, and is placed in certain position thereby will grasp thing.
Grabbing assembly 4 comprises the manipulator 44 that is connected in rotating shaft 5 belows, be arranged at rotating shaft 5 belows, be latticed sucker locating rack 45, and the sucker 42 and the handgrip 43 that are arranged at these sucker locating rack 45 bottom surfaces.Wherein, handgrip 43 is arranged on the opposite end of sucker locating rack 45, and every end is provided with two rows, and every row is equipped with two handgrips 43, can carry out the pulsation-free extracting to top board or buttress plate like this; Sucker 42 is arranged on the rear and front end of sucker locating rack 45, and every end is provided with two rows, every row is provided with 4 suckers 42, and two row's suckers 42 arrangements that intermesh of every end, sucker 42 is adsorbed effectively, securely grasp object, also can conveniently adjust the arrangement mode of sucker 42 because of the difference that grasps object simultaneously.Each sucker 42 comprises sucker body 421 and sucker axle 422, and each sucker 42 is located in respectively on the sucker locating rack 45 by sucker axle 422, sucker axle 422 is positioned at sucker locating rack 45 upper parts and is provided with a sucker fix shaft 423, be arranged with between sucker fix shaft 423 and the sucker locating rack 45 simultaneously one can with the up and down cover 424 of the sucker fix shaft that sucker fix shaft 423 is complementary, the sucker 4 that is installed on the sucker locating rack 45 is adjusted up and down with the need, thereby can make the sucker 4 of corresponding site be in different mode of operations as required, further, sucker body upper end is provided with compression spring 425, is used for further adjusting as required the height of sucker 4.
During use, this grasping mechanism is at lifting motor 12, clump weight 11 and carry out lifting with the combined action of (not shown) along the main lifting line slideway 13 that is arranged at column 1 synchronously, and adjustable height is finished by the motor encoder (not shown) feedback of lifting motor 12.When grasping top board, one row's sucker 4 in the outside, rear and front end is the absorption top board earlier, lifting motor 12 rises to certain height, adjust the top board plane on same horizontal surface, the outside one row's handgrip, 43 actions, follow remaining sucker 4 absorption top boards, and then the extracting of top board has been finished in remaining handgrip 43 actions like this; When grasping dividing plate, all suckers 4 all adsorb dividing plate, and all handgrips 43 all are failure to actuate, and the out-of-flat on dividing plate plane is adjusted by the compression spring 425 on the sucker 4, thereby makes all suckers 4 all tightly adsorb dividing plate; All suckers 4 all are failure to actuate when grasping the buttress plate, adjust sucker fix shaft 423 and the up and down cover 424 of sucker fix shaft and make the compression spring 425 in the sucker 4 be compressed at utmost, and the extracting to the buttress plate is finished in all handgrip 43 actions.When each grasping movement is finished, and after rising to certain altitude by lifting motor 12, additional rotary cylinder 31 drives additional rotation rocking arm 3, and additional rotation rocking arm 3 driven rotary positioning components 51 rotate a certain angle, thereby will grasp thing and be placed in certain position, so that logistics transportation.
Like this, in the extracting process, need not to change handgrip and just can finish extracting to different top boards, dividing plate and buttress plate, accelerated speed of production, reduced productive costs.

Claims (10)

1. the grasping mechanism of a stacker, comprise the rocking arm that is connected that flexibly connects and can horizontally rotate with the column of described stacker, and the rocking arm motor that drives this connection rocking arm, it is characterized in that: described connection rocking arm comprises the handgrip base, is connected the grabbing assembly of described handgrip base below by a rotating shaft, and be arranged on described handgrip base top and can with the additional rotation rocking arm of the coaxial rotation of described grabbing assembly; Wherein, described grabbing assembly comprises the manipulator that is connected in described rotating shaft below, be arranged at described rotating shaft below, be latticed sucker locating rack, and a plurality of suckers and many handgrips of being arranged at this sucker locating rack bottom.
2. the grasping mechanism of a kind of stacker according to claim 1, it is characterized in that: described handgrip is arranged on relative two ends on the described sucker locating rack, and every end is provided with two rows, and whenever drains into rare two handgrips.
3. the grasping mechanism of a kind of stacker according to claim 1, it is characterized in that: described sucker is arranged on the other two ends of described sucker locating rack, and every end is provided with two rows, and arrangement intermeshes between two row's suckers of every end.
4. the grasping mechanism of a kind of stacker according to claim 3, it is characterized in that: the number of the described sucker of every row is 4.
5. according to the grasping mechanism of claim 1 or 2 or 3 or 4 described a kind of stackers, it is characterized in that: described sucker comprises sucker body and sucker axle, and described sucker is located on the described sucker locating rack by described sucker axle.
6. the grasping mechanism of a kind of stacker according to claim 5, it is characterized in that: described sucker axle is positioned at described sucker locating rack upper part and is provided with a sucker fix shaft.
7. the grasping mechanism of a kind of stacker according to claim 6 is characterized in that: be arranged with a up and down cover of sucker fix shaft that can be complementary with described sucker fix shaft between described sucker fix shaft and the described sucker locating rack.
8. the grasping mechanism of a kind of stacker according to claim 7 is characterized in that: be provided with the compression spring on the described sucker body.
9. the grasping mechanism of a kind of stacker according to claim 1 is characterized in that: described rotating shaft is provided with additional rotation positioning component.
10. the grasping mechanism of a kind of stacker according to claim 1 is characterized in that: described additional rotation rocking arm is provided with to drive the additional rotary cylinder of this additional rotation rocking arm.
CN 201320130993 2013-03-21 2013-03-21 Grabbing mechanism of stacker machine Expired - Fee Related CN203158837U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320130993 CN203158837U (en) 2013-03-21 2013-03-21 Grabbing mechanism of stacker machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201320130993 CN203158837U (en) 2013-03-21 2013-03-21 Grabbing mechanism of stacker machine

Publications (1)

Publication Number Publication Date
CN203158837U true CN203158837U (en) 2013-08-28

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Application Number Title Priority Date Filing Date
CN 201320130993 Expired - Fee Related CN203158837U (en) 2013-03-21 2013-03-21 Grabbing mechanism of stacker machine

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105416720A (en) * 2015-12-17 2016-03-23 广州市裕轻机械制造有限公司 Automatic partition plate arranging device
CN106241374A (en) * 2016-08-31 2016-12-21 苏州朗坤自动化设备有限公司 A kind of magazine feeding carrying mechanism
CN106541037A (en) * 2016-10-13 2017-03-29 联维创科技(天津)有限公司 A kind of automatic lower sheet devices
CN106625649A (en) * 2017-02-14 2017-05-10 苏州神运机器人有限公司 Integrated hand grab for automatically overturning and replacing robot workpiece
CN106892268A (en) * 2017-04-24 2017-06-27 崔嘉嘉 A kind of removable lift car leg application blanking device
CN110877827A (en) * 2019-11-29 2020-03-13 广东际鸿智能设备有限公司 Special cardboard clamping mechanism in manipulator pile up neatly transfer chain
CN112660840A (en) * 2020-12-09 2021-04-16 北新集团建材股份有限公司 Automatic mineral wool board semi-finished product stacking system and method
CN116902602A (en) * 2023-09-12 2023-10-20 常州市正文印刷有限公司 Carton aligning and stacking device

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105416720A (en) * 2015-12-17 2016-03-23 广州市裕轻机械制造有限公司 Automatic partition plate arranging device
CN105416720B (en) * 2015-12-17 2017-10-24 广州市裕轻机械制造有限公司 Automatically baffle plate device is added
CN106241374A (en) * 2016-08-31 2016-12-21 苏州朗坤自动化设备有限公司 A kind of magazine feeding carrying mechanism
CN106541037A (en) * 2016-10-13 2017-03-29 联维创科技(天津)有限公司 A kind of automatic lower sheet devices
CN106625649A (en) * 2017-02-14 2017-05-10 苏州神运机器人有限公司 Integrated hand grab for automatically overturning and replacing robot workpiece
CN106625649B (en) * 2017-02-14 2024-01-26 苏州神运机器人有限公司 Automatic turnover and replacement integrated gripper for robot workpiece
CN106892268A (en) * 2017-04-24 2017-06-27 崔嘉嘉 A kind of removable lift car leg application blanking device
CN110877827A (en) * 2019-11-29 2020-03-13 广东际鸿智能设备有限公司 Special cardboard clamping mechanism in manipulator pile up neatly transfer chain
CN112660840A (en) * 2020-12-09 2021-04-16 北新集团建材股份有限公司 Automatic mineral wool board semi-finished product stacking system and method
CN116902602A (en) * 2023-09-12 2023-10-20 常州市正文印刷有限公司 Carton aligning and stacking device
CN116902602B (en) * 2023-09-12 2023-11-21 常州市正文印刷有限公司 Carton aligning and stacking device

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130828

Termination date: 20160321