CN206939620U - The pallet paw structure of stacking machine - Google Patents
The pallet paw structure of stacking machine Download PDFInfo
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- CN206939620U CN206939620U CN201720899226.9U CN201720899226U CN206939620U CN 206939620 U CN206939620 U CN 206939620U CN 201720899226 U CN201720899226 U CN 201720899226U CN 206939620 U CN206939620 U CN 206939620U
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- displacement mechanism
- grappling fixture
- horizontal displacement
- stacking machine
- limited claw
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Abstract
The utility model discloses the pallet paw structure of stacking machine, including pedestal, also include horizontal displacement mechanism, vertical displacement mechanism, grappling fixture mechanism, alarm and position-limited claw, installation horizontal displacement mechanism at the top of pedestal, vertical displacement mechanism one end connection grappling fixture mechanism, other end connection horizontal displacement mechanism, horizontal displacement mechanism, vertical displacement mechanism and grappling fixture mechanism drive work by single servomotor, the circle position-limited claw of installation one is uniformly arranged in the periphery of grappling fixture mechanism, each position-limited claw is towards circular bend, place from the 10mm of end face 5 on grappling fixture mechanism side is uniformly installed by multiple alarms.By said structure, the object of the paw structure crawl anisotropic approach on the stacking machine is not easy to slide the utility model, while the degree of wear of paw structure can also be reminded, and is changed in time, avoids accidentally injuring crawl object.
Description
Technical field
It the utility model is related to logistics field, and in particular to the pallet paw structure of stacking machine.
Background technology
With the continuous development of China's economy being advanced by leaps and bounds with scientific and technical, modern logistics are as the important of modern economy
The integrated service pattern of economical rationality the most in part and process of industrialization, is just developed rapidly in China.
Important component of the automatic stereowarehouse as modern logistics systems, it is a kind of high rack warehouse system of many storage layers goods
System, it is the system for automatically storing and taking out logistics in the case where not carrying out manual intervention directly.Manipulator stacking has been
One of most important equipment into automatic stereowarehouse, is the headend equipment that goods is deposited into tiered warehouse facility, and it can be list
One material code is put together, and is readily transported, is improved production efficiency.It will have been charged into the carton of container, load the change of sack
Chemical product, cement, grain etc. by certain arranging and piling on wooden (or plastics) pallet, carry out automatic stacking, can pile multilayer,
Then release, be easy to fork truck to be transported to warehouse storage.Existing manipulator stacking is essentially all grabbing for regular shape object
Take, the crawl for abnormally-structured object easily slides, if while existing manipulator stacking gripping portion occur
Abrasion, can only artificial detection, if finding to change not in time, the gripping portion of abrasion easily hangs bad crawl object, causes than necessity
Economic loss.
Utility model content
The utility model overcomes the deficiencies in the prior art, there is provided the pallet paw structure of stacking machine, on the stacking machine
The object of paw structure crawl anisotropic approach be not easy to slide, while the degree of wear of paw structure can also be reminded, and
Shi Genghuan, avoid accidentally injuring crawl object.
To solve above-mentioned technical problem, the utility model uses following technical scheme：The pallet paw knot of stacking machine
Structure, including pedestal, in addition to horizontal displacement mechanism, vertical displacement mechanism, grappling fixture mechanism, alarm and position-limited claw, pedestal top
Horizontal displacement mechanism, vertical displacement mechanism one end connection grappling fixture mechanism, other end connection horizontal displacement mechanism, horizontal displacement are installed
Mechanism, vertical displacement mechanism and grappling fixture mechanism drive work by single servomotor, are uniformly set in the periphery of grappling fixture mechanism
The circle position-limited claw of installation one is put, each position-limited claw is towards circular bend, the place on grappling fixture mechanism side from end face 5-10mm
Multiple alarms are uniformly installed.Between 10-15cm, multiple position-limited claws surround one and are similar to ball-type the length range of position-limited claw
Space, due to the tooth of grasping mechanism it is first as it is all shorter, depend merely on grappling fixture mechanism crawl anisotropic approach object when, the opposite sex knot
The object of structure easily comes off, and this programme is limited to multiple position-limited claws while object is caught with grappling fixture mechanism, by object and surrounded
Ball-type region in, so it is avoided that object slide possibility.Installed at the greatest wear amount that can bear for grappling fixture mechanism
Alarm, when wear extent reaches the value, the alarm at this can be then touched when capturing object, remind staff timely
Change, avoid accidentally injuring the object for needing to capture.
Preferably, the position-limited claw can rotate with grappling fixture mechanism connection end.The position-limited claw that can be rotated can be according to reality
The size that border needs to capture object is adjusted, to adapt to the crawl of different size special-shaped object.
Preferably, sensor is set on the position-limited claw.Sensor is used for the situation for sensing crawl object, then limits
Position pawl just moves to the position of sensing, realizes the quick and precisely crawl to object.
Preferably, uniform twill bar is set on the outer surface of the position-limited claw.The setting of inclined stripe can increase position-limited claw
Frictional force between object, avoid sliding.
Preferably, the vertical displacement mechanism includes equalizing buffer, first mechanical arm, second mechanical arm and double leval jib machine
Structure, first mechanical arm one end connection quadric chain, the other end are connected to drive the second servo electricity of first mechanical arm work
Machine, the second servomotor are fixed in horizontal displacement mechanism；Second mechanical arm one end connects quadric chain, and other end connection is grabbed
Head mechanism, the 3rd servomotor for driving quadric chain and second mechanical arm work is also set up on quadric chain；
Described equalizing buffer one end is connected with quadric chain, and the other end is connected with horizontal displacement mechanism.
Preferably, the first servomotor for driving horizontal displacement mechanism to work is installed on the pedestal.
Preferably, the 4th servomotor is installed in the grappling fixture mechanism.
Compared with prior art, the beneficial effects of the utility model are：
1st, in this programme multiple position-limited claws surround one be similar to ball-type space, due to the tooth of grasping mechanism it is first as all
Shorter, when depending merely on the object of grappling fixture mechanism crawl anisotropic approach, the object of anisotropic approach easily comes off, and this programme is with grappling fixture
While mechanism catches object, object is limited in the ball-type region that multiple position-limited claws surround, so it is avoided that object slides.
The 2nd, alarm is installed, when wear extent reaches the value at the greatest wear amount that this programme can bear for grappling fixture mechanism
When, the alarm at this can be then touched when capturing object, reminds staff to change in time, avoiding accidentally injuring needs what is captured
Object.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Reference is expressed as in figure：1st, support；2nd, the first servomotor；3rd, horizontal displacement mechanism；4th, second watch
Take motor；5th, equalizing buffer；6th, first mechanical arm；7th, the 3rd servomotor；8th, quadric chain；9th, second mechanical arm；10、
4th servomotor；11st, grappling fixture mechanism；12nd, alarm；13rd, position-limited claw.
Embodiment
The utility model is further elaborated below in conjunction with the accompanying drawings, embodiment not limited to this of the present utility model.
Embodiment 1：
As shown in figure 1, the utility model includes the pallet paw structure of stacking machine, including pedestal 1, in addition to horizontal position
Telephone-moving structure 3, vertical displacement mechanism, grappling fixture mechanism 11, alarm 12 and position-limited claw 13, the top of pedestal 1 installation horizontal displacement mechanism
3, vertical displacement mechanism one end connection grappling fixture mechanism 11, other end connection horizontal displacement mechanism 3, horizontal displacement mechanism 3, vertical position
Telephone-moving structure and grappling fixture mechanism 11 drive work by single servomotor, and installation one is uniformly arranged in the periphery of grappling fixture mechanism 11
Position-limited claw 13 is enclosed, each position-limited claw 13 is towards circular bend, and the place on the side of grappling fixture mechanism 11 from end face 5-10mm is
The even multiple alarms 12 of installation.
For the length range of position-limited claw between 10-15cm, multiple position-limited claws surround a space for being similar to ball-type, due to
All shorter as the tooth of grasping mechanism is first, when depending merely on the object of grappling fixture mechanism crawl anisotropic approach, the object of anisotropic approach holds
Easy to fall off, this programme is limited to the ball-type region that multiple position-limited claws surround while object is caught with grappling fixture mechanism, by object
It is interior, so it is avoided that the possibility that object slides.Alarm is installed at the greatest wear amount that can bear for grappling fixture mechanism, works as mill
When damage amount reaches the value, the alarm at this can be then touched when capturing object, reminds staff to change in time, avoids missing
Wound needs the object captured.
Embodiment 2：
The present embodiment is preferably as follows on the basis of embodiment 1：The position-limited claw 13 can with the connection end of grappling fixture mechanism 11
Rotate.The position-limited claw that can be rotated can be adjusted according to the size for being actually needed crawl object, different to adapt to different size
The crawl of type object.
Sensor on position-limited claw 13.Sensor is used for the situation for sensing crawl object, and then position-limited claw is just to sensing
Position movement, realize the quick and precisely crawl to object.
Uniform twill bar is set on the outer surface of position-limited claw 13.The setting of twill bar can further increase position-limited claw
Anti-slide performance, it is avoided to slide the object of crawl.
Vertical displacement mechanism includes equalizing buffer 5, first mechanical arm 6, second mechanical arm 9 and quadric chain 8, and first
The one end of mechanical arm 6 connects quadric chain 8, and the other end is connected to the second servomotor 4 for driving first mechanical arm 6 to work,
Second servomotor 4 is fixed in horizontal displacement mechanism 3；The one end of second mechanical arm 9 connects quadric chain 8, other end connection
Grappling fixture mechanism 11, also set up on quadric chain 8 for driving the 3rd of quadric chain 8 and the work of second mechanical arm 9 the to watch
Take motor 7；Described one end of equalizing buffer 5 is connected with quadric chain 8, and the other end is connected with horizontal displacement mechanism 3.The base
The first servomotor 2 for driving horizontal displacement mechanism 3 to work is installed on seat 1.
4th servomotor is installed in the grappling fixture mechanism 11.
Vertical displacement mechanism is the most important key mechanism of manipulator, and it is driven by equalizing buffer, the second servomotor
The compositions such as dynamic first mechanical arm, the second mechanical arm of the 3rd servomotor driving, quadric chain.Second servomotor and
Three servomotors are run simultaneously according to certain curve, and servomotor isochronous controller is instructed using CNC (motion calculation language)
Control operation, second and the 3rd servomotor motion process, it is resolved that the effect of the flexible action of manipulator rise and fall.Balance is slow
Rush the main balancing mechanical arm of device and grab object carrier, while row buffering is entered to the overshoot of mechanical arm.Quadric chain effect is stable
Grappling fixture keep level.Grappling fixture mechanism is made up of the 4th servomotor of grappling fixture and the layer rotation of driving pile.Generally, the 4th watch
It is identical with the operation angle of the first servomotor to take the operation of motor, but in the opposite direction.The arrangement of pile layer, size of a case are not
Together, grappling fixture used is different.
The utility model can be realized as described above.
Claims (7)
1. the pallet paw structure of stacking machine, including pedestal (1), it is characterised in that：Also include horizontal displacement mechanism (3), hang down
Straight displacement mechanism, grappling fixture mechanism (11), alarm (12) and position-limited claw (13), pedestal (1) top installation horizontal displacement mechanism
(3), vertical displacement mechanism one end connection grappling fixture mechanism (11), other end connection horizontal displacement mechanism (3), horizontal displacement mechanism
(3), vertical displacement mechanism and grappling fixture mechanism (11) drive work by single servomotor, in the periphery of grappling fixture mechanism (11)
The circle position-limited claw of installation one (13) is uniformly arranged, each position-limited claw (13) is towards circular bend, on grappling fixture mechanism (11) side
Place from end face 5-10mm is uniformly installed by multiple alarms (12).
2. the pallet paw structure of stacking machine according to claim 1, it is characterised in that：The position-limited claw (13) is with grabbing
Head mechanism (11) connection end can rotate.
3. the pallet paw structure of stacking machine according to claim 1, it is characterised in that：Set on the position-limited claw (13)
Put sensor.
4. the pallet paw structure of stacking machine according to claim 1, it is characterised in that：Outside the position-limited claw (13)
Uniform twill bar is set on surface.
5. the pallet paw structure of stacking machine according to claim 1, it is characterised in that：The vertical displacement mechanism bag
Include equalizing buffer (5), first mechanical arm (6), second mechanical arm (9) and quadric chain (8), first mechanical arm (6) one end
Quadric chain (8) is connected, the other end is connected to drive the second servomotor (4) of first mechanical arm (6) work, and second watches
Motor (4) is taken to be fixed in horizontal displacement mechanism (3)；Second mechanical arm (9) one end connection quadric chain (8), the other end connect
Grappling fixture mechanism (11) is met, is also set up on quadric chain (8) for driving quadric chain (8) and second mechanical arm (9) work
The 3rd servomotor (7) made；Described equalizing buffer (5) one end is connected with quadric chain (8), the other end and horizontal displacement
Mechanism (3) connects.
6. the pallet paw structure of stacking machine according to claim 1, it is characterised in that：Installed on the pedestal (1)
For the first servomotor (2) for driving horizontal displacement mechanism (3) to work.
7. the pallet paw structure of stacking machine according to claim 1, it is characterised in that：On the grappling fixture mechanism (11)
4th servomotor is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720899226.9U CN206939620U (en) | 2017-07-24 | 2017-07-24 | The pallet paw structure of stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720899226.9U CN206939620U (en) | 2017-07-24 | 2017-07-24 | The pallet paw structure of stacking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206939620U true CN206939620U (en) | 2018-01-30 |
Family
ID=61370649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720899226.9U Active CN206939620U (en) | 2017-07-24 | 2017-07-24 | The pallet paw structure of stacking machine |
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| Country | Link |
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| CN (1) | CN206939620U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336226A (en) * | 2017-07-24 | 2017-11-10 | 四川学易通达科技有限公司 | Pallet paw mechanism |
| CN108584024A (en) * | 2018-05-11 | 2018-09-28 | 温州职业技术学院 | Intelligent packaging technology production line |
| CN110182502A (en) * | 2019-05-08 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of automatic material catching apparatus and method for carrying for carrying equipment for material |
-
2017
- 2017-07-24 CN CN201720899226.9U patent/CN206939620U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336226A (en) * | 2017-07-24 | 2017-11-10 | 四川学易通达科技有限公司 | Pallet paw mechanism |
| CN108584024A (en) * | 2018-05-11 | 2018-09-28 | 温州职业技术学院 | Intelligent packaging technology production line |
| CN108584024B (en) * | 2018-05-11 | 2020-07-14 | 温州职业技术学院 | Application method of intelligent packaging production line |
| CN110182502A (en) * | 2019-05-08 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of automatic material catching apparatus and method for carrying for carrying equipment for material |
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