CN206529062U - A kind of stacking machine of efficient stacking - Google Patents

Abstract

A kind of stacking machine of efficient stacking, including Jin Zhuan mechanisms, stacking mechanism, three axle travel mechanisms, switching mechanism, brick receiving machine structure and mechanical gripper mechanism；Stacking mechanism is located at the top of Jin Zhuan mechanisms；Switching mechanism is located at the discharge end of Jin Zhuan mechanisms, and brick receiving machine structure is located at the end of switching mechanism, and three axle travel mechanisms are located at the side of the discharge end of Jin Zhuan mechanisms；Mechanical gripper mechanism is located at three axle travel mechanisms.Brick receiving machine structure includes carrier and alignment means；The quantity of alignment means is multiple, and it is located at carrier outer fix；Alignment means include alignment drive device and alignment plate；Alignment plate is installed on the drive end of alignment drive device.Switching mechanism includes auxiliary sliding part, turning part and support frame；The utility model proposes a kind of stacking machine of efficient stacking according to the above, can easily overturn the placement state of brick bag, and the effect for the brick bag that aligns is good, efficiently stacking brick bag, most at last brick bag smoothly stacking is good, make brick bag be not easy to be subject to crushing.

Description

A kind of stacking machine of efficient stacking

Technical field

The utility model is related to ceramic tile production equipment technical field, more particularly to a kind of stacking machine of efficient stacking.

Background technology

In Jian Tao factories production link, just storage storage after ceramic tile Flexible Container carton is finished, storage is that Jian Tao factories produce most Latter link.Since it there is architectural ceramic industry, ceramic tile storage is always by the way of manually carrying.It is offline simultaneously from workshop Packaged ceramic tile, is commonly called as brick bag, manually will the stacking in warehouse.And with the development ceramics production process of scientific and technological level, In order to improve operating efficiency, generally require and palletizing operation is carried out to ceramics by ceramics Palletizer.But, existing stacking machine Design is unreasonable, and automaticity is low, and stacking efficiency is low.

Utility model content

The purpose of this utility model is to propose a kind of stacking machine of efficient stacking, and its is reasonable in design, and automaticity is high, The placement state of brick bag can easily be overturn, the effect for the brick bag that aligns is good, efficiently stacking brick bag, most brick bag is smoothly at last Stacking is good, makes brick bag be not easy to be subject to crushing.

For up to this purpose, the utility model uses following technical scheme：

A kind of stacking machine of efficient stacking, including Jin Zhuan mechanisms, stacking mechanism, three axle travel mechanisms, switching mechanism, connect brick Mechanism and mechanical gripper mechanism；

The Jin Zhuan mechanisms are used to the brick bag for treating stacking inputting the stacking machine；

The stacking mechanism is located at the top of the Jin Zhuan mechanisms；

The switching mechanism is located at the discharge end of the Jin Zhuan mechanisms, and the brick receiving machine structure is located at the end of the switching mechanism End, the three axles travel mechanism is located at the side of the discharge end of the Jin Zhuan mechanisms；

The mechanical gripper mechanism is located at the three axles travel mechanism.

The brick receiving machine structure includes carrier and alignment means；The quantity of the alignment means is multiple, and it is located at described Carrier outer fix；The alignment means include alignment drive device and alignment plate；The alignment plate is installed on the alignment The drive end of drive device.

The switching mechanism includes auxiliary sliding part, turning part and support frame；

The auxiliary portion of sliding to includes multiple auxiliary cylinders and the first mounting bracket；

First mounting bracket is installed on the top of support frame as described above,

The auxiliary cylinder is installed in first mounting bracket successively, and from front end to the end of first mounting bracket End, the horizontal level of the central shaft of each auxiliary cylinder is reduced successively；

Turning part is located at the end of the auxiliary sliding part.

The utility model proposes a kind of stacking machine of efficient stacking according to the above, and its is reasonable in design, automaticity Height, can easily overturn the placement state of brick bag, and the effect for the brick bag that aligns is good, efficiently stacking brick bag, at last most brick Bao Ping Quietly stacking is good, makes brick bag be not easy to be subject to crushing.

Brief description of the drawings

Fig. 1 is the side structure schematic diagram of the one of embodiment of the utility model.

Partial enlarged drawing at Fig. 2 Fig. 1 B.

Fig. 3 is the structural representation of the one of embodiment of the utility model.

Fig. 4 is the partial enlarged drawing at Fig. 3 D.

Fig. 5 is the partial enlarged drawing at Fig. 3 C.

Fig. 6 is the partial enlarged drawing at Fig. 3 E.

Fig. 7 is the structural representation of the one of embodiment of the utility model.

Fig. 8 is the partial enlarged drawing at Fig. 7 F.

Fig. 9 is the structural representation of the mechanical gripper mechanism of the one of embodiment of the utility model.

Figure 10 is the structural representation of the mechanical gripper mechanism of the one of embodiment of the utility model.

Figure 11 is the structural representation of the mechanical gripper mechanism of the one of embodiment of the utility model.

Figure 12 is the structural representation of the mechanical gripper mechanism of the one of embodiment of the utility model.

Figure 13 is the front view of the mechanical gripper mechanism of the one of embodiment of the utility model.

Figure 14 is the partial enlarged drawing at Figure 13 A.

Wherein：Jin Zhuan mechanisms 1, discharge end 101, enter brick frame 11, it is adjustment hole 111, fixed seat 112, delivery section 12, synchronous Band 121, synchronizing wheel 122, feed drive device 123, enter brick guide part 13, it is guide pipe 131, regulation pipe 132, stacking mechanism 2, folded Chartered plane frame 21, lifting drive 22, folded bag clamping device 23, folded bag grasping drive unit 231, grip block 232, guiding connection Pipe 24, clamping device installing plate 25, clamping device 3, the first clamping device 301, the second clamping device 302, frame 303, connection Pipe 3031, groove 30311, outer frame body 304, side plate 3041, top plate 3042, perforate 3043, routing hole 3044, flange 3045, cunning Rail 31, sub- slide rail 311, connecting plate 312, sliding part 32, active slip portion 321, the seat 3211 that is slidably installed, avoiding hollow groove 32111, on Mounting surface 32112, sliding block 3212, footstock 3213, foreboard 32131, bottom plate 32132, reinforcing plate 32133, grasping plate connecting seat 3214, Upper mounting plate 32141, connection frame 32142, assistant reinforcement plate 321421, follower slip portion 322, drive device 33, gripper cylinder 331st, clamping drive end 3311, cylinder mounting seat 332, front mounting plate 3321, lower installation board 3322, triangle reinforcing plate 3323, grab Plate 34, protection offset plate 341, driving section 35, active driving member 351, guide part 3511, ramp 35111, lower inclined plane 35112, mistake Cross portion 3512, upper transition face 35121, lower transition face 35122, slave drive part 352, drive 353, directive wheel 354, V-groove 3541st, driving section mounting seat 355, three axle travel mechanisms 4, X-axis travel mechanism 41, X frameworks 411, X-axis support tube 4111, X-axis are same Walk band 412, X-axis synchronizing wheel 413, X-axis drive device 414, roller 415, Y-axis moving mechanism 42, Y-axis slide rail 421, Y-axis rack 422nd, Y-axis drive device 423, Y-axis movable plate 424, Y-axis sliding block 425, Z axis travel mechanism 43, Z axis installing pipe 431, Z axis driving Device 432, Z axis support tube 433, Z axis rack 434, Z axis slide rail 435, Z axis sliding block 436, fixed mount 44, switching mechanism 5, auxiliary Sliding part 51, auxiliary cylinder 511, central shaft 5111, the first mounting bracket 512, turning part 52, upset roller 521, the second mounting bracket 522nd, overturning drive device 523, support frame 53, brick receiving machine structure 6, carrier 61, alignment means 62, alignment drive device 621, right Neat plate 622, protection board 623, mechanical gripper mechanism 7, protective cover 81, drag chain 82, electric cabinet 83.

Embodiment

Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by embodiment.

A kind of stacking machine of efficient stacking, including Jin Zhuan mechanisms 1, stacking mechanism 2, three axle travel mechanisms 4, switching mechanism 5, Brick receiving machine structure 6 and mechanical gripper mechanism 7；

The Jin Zhuan mechanisms 1 are used to the brick bag 9 for treating stacking inputting the stacking machine；

The stacking mechanism 2 is located at the next process of the Jin Zhuan mechanisms 1, for that will be conveyed in the Jin Zhuan mechanisms 1 The brick bag 9 pick up and put down, stack the brick bag 9；

The switching mechanism 5 is located at the discharge end 101 of the Jin Zhuan mechanisms 1, the brick bag 9 stacked for overturning Placement state；

The brick receiving machine structure 6 is located at the end of the switching mechanism 5, and the brick bag of placement state is reversed for carrying 9；

The mechanical gripper mechanism 7 is located at the three axles travel mechanism 4, for the institute that will be carried by the brick receiving machine structure 6 Brick bag 9 is stated to pick up and put, and the mechanical gripper mechanism 7 can rotate in the horizontal direction.

As depicted in figs. 1 and 2, in the present embodiment, the level of brick bag 9 is put, and is conveyed from the Jin Zhuan mechanisms 1, when brick bag 9 is defeated When delivering to the position of the stacking mechanism 2, folded package operation is carried out, specially described stacking mechanism 2 picks up brick bag 9, treats next When bag brick bag 9 is delivered to the lower section for being picked up brick bag 9, the stacking mechanism 2 puts down the brick bag 9 picked up, like this, just Easily two bag brick bags 9 can be gathered into folds；The need for according to real work, more brick bags 9 can be stacked, and this implementation Example only needs to stack two bag brick bags 9.

The brick bag 9 that two coatings are stacked is delivered to the discharge end 101 of the Jin Zhuan mechanisms 1, due to the switching mechanism 5 Located at the discharge end 101 of the Jin Zhuan mechanisms 1, then, easily facilitate the switching mechanism 5 and put two bag brick bags 9 from level State is overturn to vertical display status, and brick bag 9 is in vertical display status, is conducive to its follow-up stacking, if be stacked Brick bag 9 is all in horizontal placement state, then the brick bag 9 positioned at lower floor will be crushed easily.

Because the brick receiving machine structure 6 is located at the end of the switching mechanism 5, then the brick bag 9 after upset can be more prone to Caught and carried by the brick receiving machine structure 6；Finally, the mechanical gripper mechanism 7 picks up the brick bag 9 being aligned, three axle Travel mechanism 4 can make the mechanical gripper mechanism 7 be moved up in X-axis, three sides of Y-axis and Z axis, and the mechanical gripping mobile phone Structure 7 can rotate in the horizontal direction, and like this, the brick bag 9 for easily facilitating alignment is stacked to the wooden block put well in advance.

Further, the brick receiving machine structure 6 includes carrier 61 and alignment means 62；The quantity of the alignment means 62 is many Individual, it is located at the outer fix of carrier 61；The alignment means 62 include alignment drive device 621 and alignment plate 622；Institute State the drive end that alignment plate 622 is installed on the alignment drive device 621.

The brick bag 9 can be carried by the carrier 61 of the brick receiving machine structure 6；Due to the outer fix of carrier 61, institute Just easily it can be carried with brick bag 9 by the carrier 61, in case brick bag 9 pounds the alignment drive device in switching process 621；After brick bag 9 is reversed, two bag brick bags 9 probably misplace, it is impossible to the situation of alignment, and the alignment means 62 can Brick bag 9 is alignd.

The alignment drive device 621 of the present embodiment is cylinder, and it is respectively arranged on front, the rear of the carrier 61 With the outer fix of right-hand member, driven so the alignment drive device 621 positioned at these three positions distinguishes drive installation in it The alignment plate 622 at end is stretched toward brick bag 9 to prop up in brick bag 9, the present embodiment, and the left end of the carrier 61 is close to the upset The turning part 52 of mechanism 5, so need to only prop up the brick bag 9 from front, rear and the right of the carrier 61, final brick Bag 9 is crushed on the top surface of turning part 52, has completed the alignment to brick bag 9, after brick bag 9 aligns, realizes efficiently stacking Brick bag, improves the quality of the final stacking of brick bag 9.

Further, the medial surface of the alignment plate 622 is provided with the protection board 623 of soft materials, the carrier 61 Top is provided with loading plate.

As shown in Fig. 2 the protection board 623 of soft materials both can guarantee that brick bag 9 held during alignment more it is tight, from And make brick bag 9 to get Geng Qi, it can guarantee that brick bag 9 will not be held rupture during alignment again；The loading plate causes brick Bag 9 can more stably be placed in its upper surface.

Further, the switching mechanism 5 includes auxiliary sliding part 51, turning part 52 and support frame 53；

The auxiliary, which slides to portion 51, includes multiple mounting brackets 512 of auxiliary cylinder 511 and first；

First mounting bracket 512 is installed on the top of support frame as described above 53,

The auxiliary cylinder 511 is installed in first mounting bracket 512 successively, and from first mounting bracket 512 Front end to end, the horizontal level of the central shaft 5111 of each auxiliary cylinder 511 is reduced successively；

Turning part 52 is located at the end of the auxiliary sliding part 51.

As shown in Fig. 2 first mounting bracket 512 easily can be mounted thereon multiple auxiliary cylinders 511, because From front end to the end of first mounting bracket 512, the horizontal level of the central shaft 5111 of each auxiliary cylinder 511 is successively Reduction, it is domatic that formation one is tilted down, so when the brick bag 9 stacked is conveyed from the discharge end 101 of the Jin Zhuan mechanisms 1 When sliding to portion 51 to the auxiliary, these brick bags 9 can be inclined domatic using this, and turning part 52 is slided to automatically, ties Structure is simple and saves energy consumption, then is overturn these brick bags 9 to vertical state by turning part 52.

Further, turning part 52 includes multiple upset rollers 521, the second mounting bracket 522 and overturning drive device 523；

The upset roller 521 is installed in second mounting bracket 522 successively；

The front end of second mounting bracket 522 is articulated with the top of support frame as described above 53, the overturning drive device 523 Drive end is connected with second mounting bracket 522, to drive hinged place of second mounting bracket 522 along its front end to rotate.

As shown in Fig. 2 the overturning drive device 523 is cylinder, the upset roller 521 of the present embodiment is in together One horizontal installation position, when incipient, second mounting bracket 522 is in horizontality, when brick bag 9 is slided from the auxiliary Turning part 52 is slided to portion 51, until when brick bag 9 slides to the top of the upset roller 521, the overturning drive device 523 drive end retraction, drives second mounting bracket 522 slowly to turn to vertical state by horizontality, like this, quilt The brick bag 9 stacked also slowly can slide to the carrier 61 from the upset roller 521, and such operation both causes brick bag 9 Turning operation can be carried out, ensures that brick bag 9 will not be caused structural damage in switching process by too big impulsive force again, Ensure the intact of brick bag 9.

Further, the Jin Zhuan mechanisms 1 include into brick frame 11, delivery section 12 and enter brick guide part 13；

Delivery section 12 includes timing belt 121, synchronizing wheel 122 and feed drive device 123；

The synchronizing wheel 122 be installed on it is described enter brick frame 11 top, the timing belt 121 is installed on the synchronizing wheel 122；

The feed drive device 123 enters brick frame 11 described in being installed on, and the feed drive device 123 drives described same Step wheel 122 is rotated, and the synchronizing wheel 122 drives the timing belt 121 to move；

It is described enter brick guide part 13 respectively be located at delivery section 12 both sides；

It is described enter brick guide part 13 include guide pipe 131 and regulation pipe 132, one end of the regulation pipe 132 is led with described Connected to one end of pipe 131, the front end of the guide pipe 131 is outwards angularly disposed, the lateral surface of the guide pipe 131 with it is described The lateral surface of regulation pipe 132 is in certain angle；

It is described enter brick frame 11 top be provided with adjustment hole 111, the regulation pipe 132 is installed on the fixed seat 112, institute State fixed seat 112 and be installed on the adjustment hole 111.

As shown in figure 5, the feed drive device 123 of the present embodiment is motor, pass through motor-driven drive sprockets chain Mode drives the synchronizing wheel 122 to rotate, then drives the timing belt 121 to move by the synchronizing wheel 122, and described same Bearing is installed in the rotating shaft of step wheel 122, when being rotated to support the rotating shaft of the synchronizing wheel 122 and reduce the synchronizing wheel 122 Frictional force.

Brick bag 9 has just enter into when being conveyed on the timing belt 121, and the putting position of brick bag 9 may not just, the guide pipe 131 front end is outwards angularly disposed, and like this, the brick bag 9 for putting not positive can be close to the inner side of the guide pipe 131 Position is put to obtain in face, gradually adjustment, and when final brick bag 9 is delivered to the regulation pipe 132, brick bag 9 will be by positioned at delivery section 12 Both sides regulation pipe 132 it is spacing into correct position, more conducively follow-up folded package operation., can according to actual working condition By adjusting installation site of the fixed seat 112 in the adjustment hole 111, to adjust the position of the regulation pipe 132, with suitable Answer various sizes of brick bag 9.

Further, the stacking mechanism 2 includes bag stacking machine frame 21, lifting drive 22, folded bag clamping device 23, guiding Connecting tube 24 and clamping device installing plate 25；

The lifting drive 22 is installed on the top of the bag stacking machine frame 21, and its drive end is towards the Jin Zhuan mechanisms 1 top；

The drive end of the lifting drive 22 is connected to the top of the clamping device installing plate 25；

It is described to be oriented to the left and right sides that connecting tube 24 is located at the lifting drive 22 respectively, the guiding connecting tube 24 Through the top of the bag stacking machine frame 21, and it is connected to the top of the clamping device installing plate 25；

The folded bag clamping device 23 includes folded bag grasping drive unit 231 and grip block 232,

The quantity at least two of the folded bag grasping drive unit 231, is mounted on the bottom of the clamping device installing plate 25 Portion；

Outwardly, and its drive end is mounted on the grip block 232 to the drive end of the folded bag grasping drive unit 231.

As shown in figure 4, the lifting drive 22 and folded bag grasping drive unit 231 are cylinder, when brick bag 9 is conveyed During to the stacking mechanism 2, the lifting drive 22 drives the clamping device installing plate 25 to decline, described to be oriented to connection Pipe 24 is located at the left and right sides of the lifting drive 22 respectively, on the one hand plays guide effect and support connection function, protects Effective decline of the clamping device installing plate 25 is demonstrate,proved, on the other hand causes the uniform force of the clamping device installing plate 25, Avoid it from being come off during decline and rising, improve the stability of its work.

When the clamping device installing plate 25 drops to predetermined position, the folded bag grasping drive unit 231 drives The stretching, extension of the grip block 232, the drive end of the folded bag grasping drive unit 231 is outwardly, it is ensured that two pieces of grip blocks 232 Between distance be more than brick bag 9 width, it is ensured that the clamping plate 231 can subsequently clamp brick bag 9, then it is described it is folded double team hold driving Device 231 drives the grip block 232 to bounce back, to clamp brick bag 9, finally, the drive end retraction of the lifting drive 22, To drive the rising of brick bag 9, when next bag brick bag 9 is delivered to the lower section for being picked up brick bag 9, the folded bag grasping drive unit The 231 driving grip blocks 232 are stretched, and the brick bag 9 picked up is put down, like this, easily can just be folded two bag brick bags 9 Get up.

In order to illustrate more clearly of the present embodiment, Fig. 9, Figure 10 and Figure 11 conceal the and of top plate 3042 of outer frame body 304 The side plate 3041 of the left and right sides；Figure 13 conceals the side plate 3041 in the front of outer frame body 304.

As shown in Fig. 9 to Figure 14, the mechanical gripper mechanism at least includes a set of clamping device 3, and the clamping device 3 is wrapped Include slide rail 31, sliding part 32, drive device 33, grasping plate 34 and driving section 35；

The sliding part 32 includes active slip portion 321 and follower slip portion 322, is slidably mounted at the slide rail 31；

The grasping plate 34 is respectively arranged in the active slip portion 321 and follower slip portion 322；

The driving section 35 is located between the active slip portion 321 and follower slip portion 322；

The driving section 35 includes active driving member 351, slave drive part 352, drive 353 and directive wheel 354；

The lateral surface of the active driving member 351 and slave drive part 352 is equipped with guide part 3511 and transition part 3512, And the transition part 3512 is located at the end of the guide part 3511；

The active driving member 351 and slave drive part 352 are respectively arranged in the active slip portion 321 and follower slip The relative one end in portion 322；

The active driving member 351 and slave drive part 352 are respectively arranged on the both sides of the drive 353, and its inner side Face fits in the drive 353, and the medial surface of the active driving member 351 and slave drive part 352 is driving face；

The directive wheel 354 is respectively arranged on the outside of the active driving member 351 and slave drive part 352, and the master The guide part 3511 of dynamic driving member 351 and slave drive part 352 fits in the directive wheel 354 respectively；

The drive device 33 is used to drive the active slip portion 321 to move along a straight line along the slide rail 31, and passes through The driving section 35 drives the follower slip portion 322 to be moved along a straight line along the slide rail 31, and institute is respectively arranged in so as to drive The grasping plate 34 stated in active slip portion 321 and follower slip portion 322 does counter motion.

During work, the drive device 33 drives the active slip portion 321 to be moved along a straight line along the slide rail 31, and leads to Crossing the driving section 35 drives the follower slip portion 322 to be moved along a straight line along the slide rail 31 so that be respectively arranged in described Grasping plate 34 in active slip portion 321 and follower slip portion 322 does counter motion simultaneously, improves the crawl brick of grasping plate 34 bag 9 Stability and precision.The driving section 35 is located between the active slip portion 321 and follower slip portion 322, can guarantee that Effective progress of transmission.

Particularly, the drive device 33 drives the active driving member 351 to move, then the active driving member 351 drive the drive 353 to move, and the drive 353 drives the slave drive part 352 to move again, due to the master Dynamic driving member 351 and slave drive part 352 are respectively arranged in one relative with follower slip portion 322 of the active slip portion 321 End, so final the active driving member 351 and slave drive part 352 drive the active slip portion 321 and driven cunning respectively Dynamic portion 322 is moved so that think close or mutually remote with follower slip portion 322 in the active slip portion 321, you can realized described Grasping plate 34 captures and put down the operation of brick bag 9.

Because the weight of brick bag 9 is big, when the grasping plate 34 captures brick bag 9, the weight of brick bag 9 can be from 34 turns of the grasping plate Move in the active slip portion 321 and follower slip portion 322, can so influence the active slip portion 321 and follower slip Precision when portion 322 is slided, so as to influence the precision and stability, therefore, the active of the crawl brick of grasping plate 34 bag 9 to pass The guide part 3511 of moving part 351 and slave drive part 352 fits in the directive wheel 354 respectively, it is possible to increase the active is slided Precision during dynamic portion 321 and follower slip portion 322 slip, so as to improve the precision and stably of the crawl brick of grasping plate 34 bag 9 Property；

Because the medial surface of the active driving member 351 and slave drive part 352 fits in the drive 353, institute State the outside that directive wheel 354 is respectively arranged on the active driving member 351 and slave drive part 352, and the active driving member 351 The directive wheel 354 is fitted in respectively with the guide part 3511 of slave drive part 352, like this, the active driving member 351 Medial surface and lateral surface will be spacing between the drive 353 and directive wheel 354, it is possible to increase the active driving member Precision during 351 motion and the intensity to the active driving member 351 support, make it not readily disengage from the He of drive 353 Directive wheel 354,

Similarly, the medial surface and lateral surface of the slave drive part 352 also can be spacing in the drive 353 and guiding Between wheel 354, the precision and intensity when the active driving member 351 is moved can be improved by improving, and not readily disengage from it described Drive 353 and directive wheel 354, further improve the precision and stability of the crawl brick of grasping plate 34 bag 9；The transition part 3512 are located at the end of the guide part 3511 so that the length of the guide part 3511 is longer, improve the stroke of its guiding, institute The setting of transition part 3512 is stated, the installation of the active driving member 351 and slave drive part 352 has been also convenient for.

Further, drive 353 is gear, and the active driving member 351 and slave drive part 352 are rack, and tooth is set There is its medial surface；

The active driving member 351 is identical with the structure of slave drive part 352；

The guide part 3511 is the V-type face being made up of ramp 35111 and lower inclined plane 35112；

V-groove 3541 is provided with along the periphery of the directive wheel 354, the V-type face fits in the V-groove 3541.

Pass through the cooperation of rack-and-pinion, you can realize between the active driving member 351 and the slave drive part 352 Transmission；The active driving member 351 is identical with the structure of slave drive part 352, more facilitates it to produce and process, improves production Efficiency, also, transmission effect also can be more preferably；The V-type face is processed into the lateral surface in the active driving member 351, it is such Words, the active driving member 351 will collect guiding and transmission agency in together, can simplifying its structure, its powerful function, reduction Manufacturing cost；The V-type face being made up of the ramp 35111 and lower inclined plane 35112, can just fit in the directive wheel The V-groove 3541 of 354 peripheries, realization is accurately oriented to.

Further, the transition part 3512 includes upper transition face 35121 and lower transition face 35122；

End of the upper transition face 35121 along the ramp 35111 is inclined upwardly, the lower edge of transition face 35122 The end of the lower inclined plane 35112 is tilted down, and the upper transition face 35121 and lower transition face 35112 constitute the domatic of V-type.

End due to the upper transition face 35121 along the ramp 35111 is inclined upwardly, the lower transition face 35122 tilt down along the end of the lower inclined plane 35112, like this, the active driving member 351 can be caused in transition part 3512 cross-sectional area gradually gradually increases to the upper transition face 35121 and the inclined direction of lower transition face 35122, so more Plus facilitate the end of the active driving member 351 to be arranged on by bolt in the active slip portion 321.And by the upper transition Face 35121 and lower transition face 35112 constitute domatic both appearance looks elegants of V-type, also function to protective effect, just in case occur unexpected feelings Condition, the active driving member 351 is operationally departing from the active slip portion 321, and the active driving member 351 is with described When drive 353 is moved to the guide part 3511, the slope of V-type is made up of the upper transition face 35121 and lower transition face 35112 Face is parked in the active driving member 351 card in the directive wheel 354, and what the reduction mechanical gripper mechanism suffered damage can Energy.

Further, the active slip portion 321 is identical with the structure in follower slip portion 322；

The active slip portion 321 includes be slidably installed seat 3211 and sliding block 3212；

The seat 3211 that is slidably installed is provided with the rectangular hollow framework of avoiding hollow groove 32111, the avoiding hollow groove 32111 for top Both sides for the seat 3211 that is slidably installed upper mounting surface 32112；

The slide rail 31 includes two strip slide rails 311 and connecting plate 312, and two sub- slide rails 311 pass through connecting plate 312 Connection；

The sliding block 3212 is slidably mounted at two sub- slide rails 311 respectively, and the seat 3211 that is slidably installed is placed on On the slide rail 31, and the top of the sliding block 3212 is installed on the bottom of the upper mounting surface 32112.

The active slip portion 321 is identical with the structure in follower slip portion 322, more facilitates it to manufacture and produce.This reality The sub- slide rail 311 for applying example is cylindrical slide rail, and the sliding block 3212 is round slider, and the sliding block 3212 is sliding in the son When being slided on rail 311, the sliding block 3212 can drive the seat 3211 that is slidably installed to move, and the seat 3211 that is slidably installed is top Portion is provided with avoiding hollow groove 32111, and the avoiding hollow groove 32111 can either facilitate the installation of the drive device 33, can guarantee that again described The seat 3211 that is slidably installed is moved in the case of without hindrance, and the seat 3211 that is slidably installed is rectangular hollow framework, it is ensured that described The interference of position, the top peace of the sliding block 3212 do not occur during movement with the slide rail 31 for the seat 3211 that is slidably installed Bottom loaded on the upper mounting surface 32112, enables the sliding block 3212 to drive the seat 3211 that is slidably installed to move.

Further, the drive device 33 includes gripper cylinder 331 and cylinder mounting seat 332；

The cylinder mounting seat 332 includes front mounting plate 3321, lower installation board 3322 and triangle reinforcing plate 3323；

The bottom of front mounting plate 3321 and the front end of lower installation board 3322 are vertically connected；

The quantity of the triangle reinforcing plate 3323 is at least one, and its two side is respectively fixedly connected with the front mounting plate 3321 lateral surface and the top surface of lower installation board 3322；

The gripper cylinder 331 is installed on the medial surface of the front mounting plate 3321.

The quantity of the triangle reinforcing plate 3323 of each cylinder mounting seat 332 of the present embodiment is two, its two side point The lateral surface of the front mounting plate 3321 and the top surface of lower installation board 3322 are not fixedly connected on, so that the cylinder is installed The structure of seat 332 is more stablized, and increases its service life, so that the gripper cylinder 331 can be more stably installed In the medial surface of the front mounting plate 3321, even if using for a long time, the feelings that the cylinder mounting seat 332 will not also loosen Condition.

Further, the active slip portion 321 also includes footstock 3213, and it includes foreboard 32131, bottom plate 32132 and added Strong plate 32133；

The bottom of the foreboard 32131 and the front end of bottom plate 32132 are vertically connected；

The quantity of the reinforcing plate 32133 be two, its two ends be respectively fixedly connected with the foreboard 32131 lateral surface and The top surface of the bottom plate 3213；

The bottom plate 32132 is installed on the top of the upper mounting surface 32112；

Spacing space is formed between two pieces of reinforcing plates 32133, the clamping drive end 3311 of the gripper cylinder 331 leads to The outside that spacer 3312 is installed on the foreboard 32131 is crossed, the spacer 3312 is limited in the spacing space.

The bottom of the foreboard 32131 and the front end of bottom plate 32132 are vertically connected, and the quantity of the reinforcing plate 32133 is Two, its two ends is respectively fixedly connected with the top surface of the lateral surface and the bottom plate 3213 in the foreboard 32131, so that described The structure of footstock 3213 is more stablized, and increases its service life；The bottom plate 3213 is installed on the top of the upper mounting surface 32112 Portion, the clamping drive end 3311 of the gripper cylinder 331 is installed on the outside of the foreboard 32131 by spacer 3312, described The clamping drive end 3311 of gripper cylinder 331 is by driving the foreboard 32131 just can drive the seat 3211 that is slidably installed Motion, the setting of the spacer 3312 so that the clamping drive end 3311 of the gripper cylinder 331 can be more firmly installed In the outside of the foreboard 32131, the spacer 3312 is limited in the spacing space, further strengthens the spacer Stability during 3312 work, it is to avoid its double swerve.

Further, the active slip portion 321 also includes grasping plate connecting seat 3214；

The grasping plate connecting seat 3214 includes upper mounting plate 32141 and connection frame 32142；

The upper mounting plate 32141 is installed on the bottom of the seat 3211 that is slidably installed, and the connection frame 32142 is located at institute The bottom of upper mounting plate 32141 is stated, the connection frame 32142 is provided with the auxiliary being connected with the upper mounting plate 32141 and added Strong plate 321421；

The grasping plate 34 is installed on the outside of the connection frame 32142.

The upper mounting plate 32141 is installed on the bottom of the seat 3211 that is slidably installed, when the seat 3211 that is slidably installed When mobile, the grasping plate 34 in the outside more convenient to install in the connection frame 32142 is captured and put down operation to brick bag 9, The connection frame 32142 is located at the bottom of the upper mounting plate 32141, and the connection frame 32142 is provided with and the upper installation The assistant reinforcement plate 321421 that plate 32141 is connected, by increasing capacitance it is possible to increase the bonding strength of the grasping plate connecting seat 3214, so as to increase Its service life, it is ensured that more reliable and more stable during the crawl of the grasping plate 34 brick bag 9.

Further, the quantity of the clamping device 3 is two, and two sets of clamping devices 3 are arranged side by side, the respectively first folder Hold the clamping device 302 of mechanism 301 and second；

The drive device 33 of the clamping device 302 of drive device 33 and second of first clamping device 301 is respectively mounted In the relative side of the slide rail 31.

The quantity of the clamping device 3 is two, can be protected on the premise of mechanical gripper mechanism manufacturing cost is reduced Demonstrate,prove the quality and efficiency of the crawl brick of handgrip 34 bag 9, the clamping machine of drive device 33 and second of first clamping device 301 The drive device 33 of structure 302 is respectively arranged in the relative side of the slide rail 31 so that the weight of the mechanical gripper mechanism reaches To the effect of equilibrium assignmen, increase the stability of its work.

Further, the mechanical gripper mechanism also includes frame 303 and outer frame body 304；

The frame 303 is the frame for the cube profile being connected with each other by a plurality of connecting tube 3031, the outer frame body 304 are installed on the outside of the frame 303, to block the top and all around four side of the frame 303；

The clamping device 3 is installed in the frame 303.

The frame 303 is the position that the clamping device 3 provides an installation, and the frame 303 is by a plurality of connection The frame for the cuboid profile that pipe 3031 is connected with each other, its structural strength is big, convenient to install；The outer frame body 304 is installed In the outside of the frame 303, to block the top and all around four sides of the frame 303, it can protect and be arranged on The clamping device 3 in the frame 303, will not also hinder the motion of the grasping plate 34.

Further, the connecting tube 3031 is the aluminium section bar that four sides are designed with groove 30311；

The framework 304 includes side plate 3041 and top plate 3042；

The side plate 3041 and top plate 3042 are fixed on the recessed of the connecting tube 3031 in the outside of frame 303 by fixture Groove 30311.

The fixture is square nut block, and it passes through the cooperation with the groove 30311, the side plate 3041 and top plate 3042 can more be stably installed in the groove 30311, be also convenient for the dismounting of the side plate 3041 and top plate 3042.

Further, the inner side of the grasping plate 34 is provided with protection offset plate 341.

The protection offset plate 341 is soft material so that while being kept a firmer hand on during the crawl of the grasping plate 34 brick bag 9, Also the structure of brick will not be destroyed.

Further, the driving section 35 also includes driving section mounting seat 355, and it is located at the centre of the slide rail 31；

The drive 353 and directive wheel 354 are mounted on the top of the driving section mounting seat 355, the drive Bearing is installed, the bearing of the present embodiment is deep groove ball bearing in 353.

The driving section mounting seat 355 is located at the centre of the slide rail 31 so that the active slip portion 321 and driven cunning Dynamic portion 322 has identical sliding stroke, so as to ensure to be respectively arranged in the active slip portion 321 and follower slip portion 322 The handgrip 34 can be synchronized with the movement crawl and put down brick bag 9, the deep groove ball bearing can support the drive 353 again The resistance when drive 353 is rotated can be reduced.

Further, the top of the outer frame body 304 is provided with outside perforate 3043 and routing hole 3044, the routing hole 3044 Week is provided with flange 3045.

The quantity of the perforate 3043 of the present embodiment is four, and empty avoiding and the gripper cylinder are easy in the perforate 3043 The tracheae of 331 connections；The routing hole 3044 is easy to the wiring of tracheae；The flange 3045 be easy to the mechanical gripper mechanism with The end connection of Z axis support tube 433 is installed.

Further, the three axles travel mechanism 4 includes X-axis travel mechanism 41, Y-axis moving mechanism 42, Z axis travel mechanism 43 With fixed mount 44；

The X-axis travel mechanism 41 includes X frameworks 411, and its two ends is provided with roller 415, and the roller 415 is slidably mounted In the top of the fixed mount 44；

The two ends of the X frameworks 411 are respectively connected with X-axis timing belt 412；

The fixed mount 44 is provided with X-axis synchronizing wheel 413 and X-axis drive device 414, the X-axis synchronizing wheel 413 with it is described X-axis timing belt 412 is connected, and the X-axis drive device 414 drives the X-axis synchronizing wheel 413 to rotate.

As shown in figure 3, the X-axis drive device 414 is motor, it is by driving the X-axis synchronizing wheel 413 to rotate, i.e., The X-axis timing belt 412 can be driven to move, it is convenient and swift, because the two ends of the X frameworks 411 are respectively connected with X-axis timing belt 412, so the X frameworks 411 are finally driven by the X-axis timing belt 412, the two ends of the X frameworks 411 are provided with roller 415, On the one hand the roller 415 can support the X frameworks 411, and on the other hand the roller 415 can be synchronous with the X-axis Rotated with 412 motion, finally drive the X frameworks 411 in the top movements of the fixed mount 44；In the present embodiment, Bearing is installed in the rotating shaft of the X-axis synchronizing wheel 413, to support the rotating shaft of the X-axis synchronizing wheel 413 and reduce the X-axis Frictional force when synchronizing wheel 413 is rotated.

Further, the Y-axis moving mechanism 42 includes Y-axis slide rail 421, Y-axis rack 422, Y-axis drive device 423, Y-axis Movable plate 424 and Y-axis sliding block 425；

The X frameworks 411 include two X-axis support tubes 4111 be arrangeding in parallel；

The Y-axis slide rail 421 is installed on the top surface of the X-axis support tube 4111；

The Y-axis rack 422 is installed on the medial surface of the wherein one X-axis support tube 4111；

The Y-axis movable plate 424 is slidably mounted at the Y-axis slide rail 421, the Y-axis driving by Y-axis sliding block 425 Device 423 is installed on the Y-axis movable plate 424, and the drive end of the Y-axis drive device 423 is provided with and the Y-axis rack 422 meshed gears.

As shown in fig. 6, the Y-axis drive device 423 is motor, it is by driving the tooth engaged with the Y-axis rack 422 The rotation of wheel, makes the Y-axis movable plate 424 be moved by Y-axis sliding block 425 on the Y-axis slide rail 421；The X frameworks 411 Including two X-axis be arrangeding in parallel support tubes 4111, make the simpler practicality of its structure；The Y-axis slide rail 421 is installed on described The top surface of X-axis support tube 4111, the Y-axis rack 422 is installed on the medial surface of the wherein one X-axis support tube 4111, both Can guarantee that the position of the Y-axis rack 422 and the Y-axis slide rail 421 will not be interfered with each other, and the Y-axis movable plate is can guarantee that again 424 move on the Y-axis slide rail 421.

Further, the Z axis travel mechanism 43 include Z axis installing pipe 431, Z axis drive device 432, Z axis support tube 433, Z axis rack 434, Z axis slide rail 435 and Z axis sliding block 436；

The Z axis installing pipe 431 is vertically arranged to the top of the Y-axis movable plate 424, and the Z axis installing pipe 431 Inside is hollow, and is communicated in the top and bottom of the Y-axis movable plate 424；

The Z axis rack 434 and Z axis slide rail 435 are individually fixed in the adjacent side of the Z axis support tube 433；

The Z axis sliding block 436 is installed in the Z axis installing pipe 431, and the Z axis drive device 432 is installed on the Z The outside of axle installing pipe 431；

The Z axis slide rail 435 slidably coordinates with the Z axis sliding block 436, the drive end peace of the Z axis drive device 432 Equipped with the meshed gears of Z axis rack 434.

As shown in Figure 6 to 8, the Z axis drive device 432 is motor, and it is nibbled by driving with the Z axis rack 434 The gear of conjunction, makes the Z axis support tube 433 under the drive of the Z axis rack 434 and Z axis slide rail 435 and Z axis sliding block 436 Coordinate lower move.

The Z axis installing pipe 431 is vertically arranged to the top of the Y-axis movable plate 424, and the Z axis installing pipe 431 Inside is hollow, and the Z axis support tube 433 can be moved up and down in the Z axis installing pipe 431；The Z axis rack 434 The adjacent side of the Z axis support tube 433 is individually fixed in Z axis slide rail 435, is slided avoiding the Z axis rack 434 and Z axis When the installation site of rail 435 is interfered so that its mounting structure is compacter；The Z axis drive device 432 is installed on described The outside of Z axis installing pipe 431, is more favorable for the lifting in the Z-axis direction of the Z axis support tube 433.

In the present embodiment, the mechanical gripper mechanism 7 is installed on the end of the Z axis support tube 433 especially by flange, And the end of the Z axis support tube 433 is provided with motor and gear, by motor driven gear, make the mechanical gripper mechanism 7 It can rotate in the horizontal direction.

Further, the outside of the fixed mount 44 is provided with protective cover 81, and the top of the fixed mount 44 is provided with drag chain 82, the side of the fixture is provided with electric cabinet 83.

The protective cover 81 plays a protective role, and the drag chain 82 can install electric wire concentratedly in the inner, is easy to pull； The electric cabinet 83 can will control the work of the stacking machine.

Technical principle of the present utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality With new principle, and the limitation to the utility model protection domain can not be construed in any way.Based on explanation herein, Those skilled in the art, which would not require any inventive effort, can associate other embodiments of the present utility model, These modes are fallen within protection domain of the present utility model.

Claims (10)

1. a kind of stacking machine of efficient stacking, including Jin Zhuan mechanisms, stacking mechanism, three axle travel mechanisms, switching mechanism, brick receiving machine Structure and mechanical gripper mechanism；

The Jin Zhuan mechanisms are used to the brick bag for treating stacking inputting the stacking machine；

The stacking mechanism is located at the top of the Jin Zhuan mechanisms；

The switching mechanism is located at the discharge end of the Jin Zhuan mechanisms, and the brick receiving machine structure is located at the end of the switching mechanism, The three axles travel mechanism is located at the side of the discharge end of the Jin Zhuan mechanisms；

The mechanical gripper mechanism is located at the three axles travel mechanism；

It is characterized in that：The brick receiving machine structure includes carrier and alignment means；The quantity of the alignment means is multiple, and it sets In the carrier outer fix；The alignment means include alignment drive device and alignment plate；The alignment plate is installed on institute State the drive end of alignment drive device；

The switching mechanism includes auxiliary sliding part, turning part and support frame；

The auxiliary sliding part includes multiple auxiliary cylinders and the first mounting bracket；

First mounting bracket is installed on the top of support frame as described above,

The auxiliary cylinder is installed in first mounting bracket successively, and from front end to the end of first mounting bracket, often The horizontal level of the central shaft of the individual auxiliary cylinder is reduced successively；

Turning part is located at the end of the auxiliary sliding part.

2. a kind of stacking machine of efficient stacking according to claim 1, it is characterised in that：Turning part includes multiple turn over Tumbler cylinder, the second mounting bracket and overturning drive device；

The upset roller is installed in second mounting bracket successively；

The front end of second mounting bracket is articulated with the top of support frame as described above, the drive end of the overturning drive device with it is described Second mounting bracket is connected, to drive hinged place of second mounting bracket along its front end to rotate；

The medial surface of the alignment plate is provided with the protection board of soft materials, and the top of the carrier is provided with loading plate.

3. a kind of stacking machine of efficient stacking according to claim 1, it is characterised in that：The Jin Zhuan mechanisms are included into brick Frame, delivery section and enter brick guide part；

Delivery section includes timing belt, synchronizing wheel and feed drive device；

The synchronizing wheel be installed on it is described enter brick frame top, the timing belt is installed on the synchronizing wheel；

The feed drive device enters brick frame described in being installed on, and the feed drive device drives the synchronizing wheel to rotate, institute State synchronizing wheel and drive the timing belt motion；

It is described enter brick guide part respectively be located at delivery section both sides；

It is described enter brick guide part include guide pipe and regulation pipe, one end of the regulation pipe is connected with one end of the guide pipe, The front end of the guide pipe is outwards angularly disposed, and the lateral surface of the lateral surface of the guide pipe and the regulation pipe is in certain folder Angle；

It is described enter brick frame top be provided with adjustment hole.

4. a kind of stacking machine of efficient stacking according to claim 1, it is characterised in that：The stacking mechanism includes folded bag Frame, lifting drive, folded bag clamping device, guiding connecting tube and clamping device installing plate；

The lifting drive is installed on the top of the bag stacking machine frame, and its drive end is towards the top of the Jin Zhuan mechanisms；

The drive end of the lifting drive is connected to the top of the clamping device installing plate；

Described to be oriented to the left and right sides that connecting tube is located at the lifting drive respectively, the guiding connecting tube is folded through described The top of chartered plane frame, and it is connected to the top of the clamping device installing plate；

The folded bag clamping device includes folded bag grasping drive unit and grip block,

The quantity at least two of the folded bag grasping drive unit, is mounted on the bottom of the clamping device installing plate；

Outwardly, and its drive end is mounted on the grip block to the drive end of the folded bag grasping drive unit.

5. a kind of stacking machine of efficient stacking according to claim 1, it is characterised in that：The mechanical gripper mechanism is at least Including a set of clamping device, the clamping device includes slide rail, sliding part, drive device, grasping plate and driving section；

The sliding part includes active slip portion and follower slip portion, is slidably mounted at the slide rail；

The grasping plate is respectively arranged in the active slip portion and follower slip portion；

The driving section is located between the active slip portion and follower slip portion；

The driving section includes active driving member, slave drive part, drive and directive wheel；

The lateral surface of the active driving member and slave drive part is equipped with guide part and transition part, and the intermediate location is in institute State the end of guide part；

The active driving member and slave drive part are respectively arranged in active slip portion one end relative with follower slip portion；

The active driving member and slave drive part are respectively arranged on the both sides of the drive, and its medial surface fit in it is described Drive, the medial surface of the active driving member and slave drive part is driving face；

The directive wheel is respectively arranged on the outside of the active driving member and slave drive part, and the active driving member and driven The guide part of driving member fits in the directive wheel respectively；

The drive device is used to drive the active slip portion to move along a straight line along the slide rail, and passes through the driving section band Move the follower slip portion to move along a straight line along the slide rail, the active slip portion and driven cunning are respectively arranged in so as to drive Grasping plate in dynamic portion does counter motion.

6. a kind of stacking machine of efficient stacking according to claim 5, it is characterised in that：The drive is gear, institute It is rack to state active driving member and slave drive part, and tooth is provided with its medial surface；

The active driving member is identical with the structure of slave drive part；

The guide part is the V-type face being made up of ramp and lower inclined plane；

V-groove is provided with along the periphery of the directive wheel, the V-type face fits in the V-groove.

7. a kind of stacking machine of efficient stacking according to claim 6, it is characterised in that：The transition part includes upper transition Face and lower transition face；

End of the upper transition face along the ramp is inclined upwardly, and end of the lower transition face along the lower inclined plane is downward Tilt, the upper transition face and lower transition face constitute the domatic of V-type.

8. a kind of stacking machine of efficient stacking according to claim 6, it is characterised in that：The active slip portion and driven The structure of sliding part is identical；

The active slip portion includes be slidably installed seat and sliding block；

The seat that is slidably installed is provided with the rectangular hollow framework of avoiding hollow groove for top, and peace is slided in the both sides of the avoiding hollow groove to be described Fill the upper mounting surface of seat；

The slide rail includes two strip slide rails and connecting plate, and two sub- slide rails are connected by connecting plate；

The sliding block is slidably mounted at two sub- slide rails respectively, and the cover for seat that is slidably installed is on the slide rail, and institute State the bottom that the upper mounting surface is installed at the top of sliding block.

9. a kind of stacking machine of efficient stacking according to claim 1, it is characterised in that：The three axles travel mechanism includes X-axis travel mechanism, Y-axis moving mechanism, Z axis travel mechanism and fixed mount；

The X-axis travel mechanism includes X frameworks, and its two ends is provided with roller, and the roller is slidably mounted at the fixed mount Top；

The two ends of the X frameworks are respectively connected with X-axis timing belt；

The fixed mount setting has X-axis synchronizing wheel and X-axis drive device, and the X-axis synchronizing wheel is connected with the X-axis timing belt, The X-axis drive device drives the X-axis synchronizing wheel to rotate；

The Y-axis moving mechanism includes Y-axis slide rail, Y-axis rack, Y-axis drive device, Y-axis movable plate and Y-axis sliding block；

The X frameworks include two X-axis support tubes be arrangeding in parallel；

The Y-axis slide rail is installed on the top surface of the X-axis support tube；

The Y-axis rack is installed on the medial surface of the wherein one X-axis support tube；

The Y-axis movable plate is slidably mounted at the Y-axis slide rail by Y-axis sliding block, and the Y-axis drive device is installed on described Y-axis movable plate, the drive end of the Y-axis drive device is provided with and the Y-axis rack meshed gears；

The Z axis travel mechanism includes Z axis installing pipe, Z axis drive device, Z axis support tube, Z axis rack, Z axis slide rail and Z axis and slided Block；

The Z axis installing pipe is vertically arranged to the top of the Y-axis movable plate, and the inside of the Z axis installing pipe be it is hollow, And it is communicated in the top and bottom of the Y-axis movable plate；

The Z axis rack and Z axis slide rail are individually fixed in the adjacent side of the Z axis support tube；

The Z axis sliding block is installed in the Z axis installing pipe, and the Z axis drive device is installed on the outer of the Z axis installing pipe Portion；

The Z axis slide rail slidably coordinates with the Z axis sliding block, and the drive end of the Z axis drive device is provided with and the Z axis Rack meshed gears；

It is provided with the outside of the fixed mount at the top of protective cover, the fixed mount and drag chain is installed, the side of the fixed mount Electric cabinet is installed.

10. a kind of stacking machine of efficient stacking according to claim 6, it is characterised in that：Install the inner side of the grasping plate There is protection offset plate；

The driving section also includes driving section mounting seat, and it is located at the centre of the slide rail；

The drive and directive wheel are mounted on being provided with deep-groove ball in the top of the driving section mounting seat, the drive Bearing.