CN206126331U - Multi freedom holds transport formula pile up neatly device tightly - Google Patents

Abstract

The utility model discloses a multi freedom holds transport formula pile up neatly device tightly, the staff is according to good this device actuating mechanism's of pile up neatly position adjustment position before the work, tertiary servo motor down removes through tertiary lead screw drive actuating mechanism frame afterwards, opening width regulation motor passes through driving pulley, from the driven pulleys and timing belt drive slider no. 1 and two move of slider, when treating actuating mechanism frame motion to barium sulfate top in bags, pull rod drive bull stick inwards verts, thereby barium sulfate presss from both sides tightly in bags, barium sulfate transports and releases behind appointed position in bags, so far, transportation work is accomplished to this device. This device can be quick the transportation and the pile up neatly of barium sulfate in bags, the degree of freedom is high, the work efficiency of device is high with degree of automation, reduction operating personnel's physical power is paid out.

Description

A kind of multiple degrees of freedom holds carrying formula palletizing apparatus tightly

Technical field

This utility model is related to a kind of handling palletizing apparatus, more particularly to a kind of stacking machine of bagged articles.

Background technology

With deepening continuously for industrialization degree, do mechanization operation becomes a main trend of social development, bag of today Dress piling industry also mostly adopts do mechanization operation.Certain position is transferred to by conveyer belt, then is captured by mechanical hand defeated again The object for taking is sent to carry out piling, but the transhipment of pack pallet remains a need for manually being loaded and unloaded and storehouse is piled up, and workman's work is strong Degree is big, and efficiency is low, does not often catch up with the needs of automatization's continuous way production. while the object on mechanical hand crawl conveyer belt, special It is not that bagged articles carry out piling, this Grasp Modes, because object to be captured is close to conveyer belt, process of the mechanical hand in crawl In be not easy from bottom thoroughly to hold object, cause to drop or damaging articles, therefore mechanical hand is improved to a certain extent Labor productivity, reduces labor strength, but mechanical hand general structure is complicated, in operating process to the operation water of workman Flat to require higher, this is far from meeting the needs of production.Technical staff is enterprising in the production technology and production equipment of stacking mechanism Go and constantly improve.Relevant technical literature has in existing palletizing apparatus：

Application number【201410821095.3】Disclose a kind of " stacking machine ", including palletizing apparatus, the palletizing apparatus bag Include piling framework, and the palletizing mechanical arm being movably arranged on the piling framework；The palletizing mechanical arm lower section is provided with Go out pile device, it is described go out pile device include being arranged on piling base of frame go out pile conveyer belt, and it is described go out pile conveyer belt one end Positioned at piling framework outside；It is described go out pile device on be connected with shield pile device, the shield pile device include be arranged on it is described The stacking base plate gone out on pile conveyer belt, and the stacking base plate side is provided with elevating mechanism, is provided with the elevating mechanism Pile heap protective frame, the pile heap protective frame is corresponding with stacking base plate.Palletizing method structure disclosed in the patent is numerous and diverse, but code The principle of pile is again relatively rough, and the consideration to details is not abundant enough, so as to limit its real use value.

Application number【201280070160.2】A kind of " stacking machine " is disclosed, including：Conveyer, the conveyer is used to treat The object of piling is sent to loading area；And piling head, the piling head can be between the loading area and piling region It is mobile.The piling head can rotate and with being oriented to the first and second removable fittings for being substantially perpendicular to each other.Often Individual removable fitting can be relative to another removable fitting and independently of another removable fitting with them Between maintain the mode being approximately vertically oriented to move.The removable fitting is operable to engagement and is located at the loading area In one or more objects to be palletized the surface being substantially perpendicular to each other.When surface engages, the piling head can be grasped It is made and the object is transferred to into the piling region from the loading area, and is operable to by rotating the piling Object is orientated to and adopts selected object pattern in the piling region by head.The apparatus structure is complicated, and link is numerous, effect Difference.

In sum, existing stacking mechanism is primarily present structural principle excessively complicated, ring not abundant enough to the consideration of details Save the defects such as numerous, labor strength is excessive and use range is limited.

The content of the invention

This utility model provides a kind of multiple degrees of freedom and holds carrying formula palletizing apparatus tightly, can be with safe and reliable efficient place to go sulfur Change solid impurity present in sodium solution, and also can as needed increase purification number of times further to lift sodium sulfide solution Clarity, while using action of gravity auxiliary increase purification efficiency, reduce operator muscle power pay.

A kind of multiple degrees of freedom holds carrying formula palletizing apparatus tightly, and main frame fixes suspention in the air by bracing frame, main servo electricity Machine is then fixed on the side of the main frame, the guide rail that main servo motor is processed by main screw mandrel driving sliding rack on main frame Upper slip, in the inside of sliding rack chute is equally machined with, and sliding performs plate then in two grades of servomotors by two grades of screw mandrels It is moved under driving, the sliding to be performed and be provided with guide rod and three-level screw mandrel on the downside of plate, and in guide rod and three-level silk The lower end connection stacking mechanism of bar.

The stacking mechanism includes internal support body, is oriented to strut, Timing Belt, driving pulley, driven pulley, slide block two, drawing Bar and A/F regulation motor and slide block one, bull stick, the internal support body is installed on the inside of actuator framework, including Portion support body upside A/F regulation motor is connected with driving pulley, and driving pulley drives driven pulley to rotate by Timing Belt, When driven pulley is rotated, slide block one and slide block two be opposite or reverse movement, and pull bar is hinged with the slide block one and slide block two, The other end of pull bar is then hinged with bull stick, and the bull stick is connected to guiding strut, and be oriented to strut is fixed on actuator framework Between two sides.The bull stick is linear structure, and with three hinge holes, be in the lower end of bull stick it is blunt hook-shaped, In order to hold packed barium sulfate charging bag tightly.

Remarkable result of the present utility model is：

1st, this utility model is an easy barium sulfate workshop palletizing apparatus, and simple structure, efficiency is very high, same to opportunity Workpiece regular shape, main drive member servomotor for example at different levels may be selected standard component, it is possible to decrease cost and shortening production Cycle.

2nd, this device belongs to a multiple-degree-of-freedom mechanism, it is possible to achieve the main motion in tri- directions of X, Y, Z, therefore to workshop Environment and piling require there is higher adaptability, while realizing that the form that multifreedom motion is taken is also simple maturation Mechanism, answer this unfailing performance to access and be effectively ensured.

3rd, especially prominent advantage is the regulation that this device can realize working width by adjusting the angle of inclination of bull stick, In order to adapt to various sizes of barium sulfate charging bag, using making barium sulfate bag by way of holding when secondly lifting charging bag Body leaves ground, simulates the action of staff, belongs to bionics field, can improve the reliability of work.

Description of the drawings

Fig. 1 is general assembly schematic diagram of the present utility model, wherein：1- main servo motors；2- main frames；Bis- grades of servo electricity of 3- Machine；4- three-level servomotors；Bis- grades of screw mandrels of 5-；6- sliding racks；7- slidings perform plate；8- main servo motor mounting plates；9- master Screw mandrel；10- three-level screw mandrels；11- guide rods；12- side plates；13- actuator frameworks；14- bull sticks；15- is oriented to strut；16- synchronizations Band；17- driving pulleys；18- driven pulleys；19- slide blocks two；20- charging bags；21- pull bars；22- A/F regulation motors； 23- slide blocks one；24- inside support body.

Fig. 2 is station direction schematic diagram of the present utility model, and wherein B is sliding rack direction of motion mark, and C is stacking mechanism The direction of motion is identified.

Fig. 3 is the enlarged diagram of stacking mechanism at the A of this utility model local.

Specific embodiment

Illustrate below against Fig. 1-3, staff performs machine according to good this device of piling position adjustment before work The position of structure, i.e. main servo motor 1 drive 9, two grades of servomotors 3 of main screw mandrel to drive the action of two grades of screw mandrels 5, so that sliding is held Andante 7 together with the mechanism kinematic on the downside of it to piling position, due to the operation acts track requirements to stacking mechanism it is higher, because This should emphasis inspection opening width adjusting motor 22, Timing Belt 16, driving pulley 17, driven belt before device is operated Whether the action of wheel 18 and pull bar 21 can correctly control the action of four bull sticks 14, while ensureing that each parts have been carried out reliably Connection, it is to avoid the appearance of security incident and leakage occur, then this device of trial operation, whether action is assisted to observe each action component Adjust, in time, so far device completes preparation.

When piling is carried out using this device, three-level servomotor 4 drives actuator framework 13 by three-level screw mandrel 10 Move down, A/F regulation motor 22 drives the and of slide block 1 by driving pulley 17, driven pulley 18 and Timing Belt 16 The move toward one another of slide block 2 19, then pull bar 21 drive bull stick 14 vert laterally, pending institutional framework 13 moves to packed sulfur During sour barium top, A/F regulation motor 22 then drives slide block 1 and the adverse movement of slide block 2 19, pull bar 22 to drive bull stick 14 inwardly vert, and so as to packed barium sulfate be clamped, and then three-level screw mandrel 10 drives actuator framework 13 to move up, main Servomotor 1 drives 9, two grades of servomotors 3 of main screw mandrel to drive two grades of screw mandrels 5 that packed barium sulfate is transported to behind the position specified Discharge, so far this device completes to transport work.

Claims (3)

1. a kind of multiple degrees of freedom holds carrying formula palletizing apparatus, main frame tightly（2）Suspention is fixed in the air by bracing frame, main servo electricity Machine（1）Then it is fixed on the main frame（2）Side, it is characterised in that：Main servo motor（1）By main screw mandrel（9）Drive and slide Move frame（6）In main frame（2）Slide on the guide rail of upper processing, in sliding rack（6）Inside be equally machined with chute, sliding is performed Plate（7）Then in two grades of servomotors（3）By two grades of screw mandrels（5）Driving under be moved, the sliding performs plate（7）Under Side is provided with guide rod（11）And three-level screw mandrel（10）, and in guide rod（11）With three-level screw mandrel（10）Lower end connection stacking machine Structure.

2. multiple degrees of freedom according to claim 1 holds carrying formula palletizing apparatus tightly, it is characterised in that：The stacking mechanism bag Include internal support body（24）, be oriented to strut（15）, Timing Belt（16）, driving pulley（17）, driven pulley（18）, slide block two（19）、 Pull bar（21）With A/F regulation motor（22）And slide block（23）, bull stick（14）, the internal support body（24）It is installed on Actuator framework（13）Inside, internally support body（24）Upside A/F regulation motor（22）With driving pulley（17）Even Connect, driving pulley（17）By Timing Belt（16）Drive driven pulley（18）Rotate, work as driven pulley（18）Slide block one during rotation （23）With slide block two（19）Opposite or reverse movement, pull bar（21）With the slide block one（23）With slide block two（19）It is hinged, draws Bar（21）The other end then with bull stick（14）It is hinged, the bull stick（14）It is connected to guiding strut（15）, it is oriented to strut（15）'s It is fixed on actuator framework（13）Between two sides.

3. multiple degrees of freedom according to claim 2 holds carrying formula palletizing apparatus tightly, it is characterised in that：The bull stick（14）For Linear structure, and with three hinge holes, in bull stick（14）Lower end be blunt hook-shaped, in order to hold packed sulfur tightly Sour barium charging bag.