CN209127661U - A kind of stacking machine - Google Patents
A kind of stacking machine Download PDFInfo
- Publication number
- CN209127661U CN209127661U CN201822042074.8U CN201822042074U CN209127661U CN 209127661 U CN209127661 U CN 209127661U CN 201822042074 U CN201822042074 U CN 201822042074U CN 209127661 U CN209127661 U CN 209127661U
- Authority
- CN
- China
- Prior art keywords
- overturning
- section
- lever arm
- pedestal
- cargo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model discloses a kind of stacking machines, including shelf, four axis robots and overturning delivery platform, the output shaft of four axis robots is equipped with inclination fixture, overturning delivery platform includes overturning section, conveying section and pedestal, overturning section is positioned close to the side of inclination fixture, conveying section is fixedly mounted on pedestal, overturning section is mounted on the base close to one end of inclination fixture by torsion shaft, the other end and conveying section are cooperatively connected, pedestal is provided with power device, and the output end of power device is mounted on the back side of overturning section；The utility model is based on four axis robots, structure is simple, the cost that can be effectively reduced cargo stacking is overturn cargo to be handled by overturning section, with inclination fixture cooperation, in carrying and palletization, the position of inclination fixture remains unchanged, and the clamping and stacking of cargo can be completed, reduce the complicated movement degree of four axis robots, the low disadvantage of four axis robot flexibility ratios is compensated for, and effectively improves stacking efficiency.
Description
Technical field
The utility model relates to stacking machine technical field, especially a kind of stacking machine.
Background technique
In the industrial production, it generally requires to carry out carrying and stacking to cargo with stacking machine, relative to three axis, four axis machines
For the stacking machine of the artificial main body of device, the stacking machine based on six-joint robot has high sensitivity, high-freedom degree etc. excellent
Point, more by the favor of people, but this kind of stacking machine volume is generally large, and cost is also higher；In addition, cargo is before carrying,
Often tiling is placed on a conveyor, by conveying device by cargo transport to designated position, then passes through six axis machines of control
Device people makes the clamping device on its output shaft clamp cargo to carry out carrying and stacking, but is carrying and the two mistakes of stacking
The output shaft of Cheng Zhong, six-joint robot are not fixed, such as are carrying some fragile goods (glass or ceramics), are
Guarantee cargo is not damaged, and need to place cargo tilt, rather than tiles and place, and therefore, six-joint robot needs first to adjust
Output shaft picks up clamping device by the cargo that tiling is placed and carries, then changes clamping device by regulation output shaft
Position, place cargo tilt, realize cargo stacking, this causes the complicated movement degree of six-joint robot to increase, reduces
The stacking efficiency of stacking machine.
Summary of the invention
For overcome the deficiencies in the prior art, the utility model provides the stacking machine that a kind of structure is simple, stacking is high-efficient.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of stacking machine, it is described including several shelf, four axis robots and for the overturning delivery platform of conveying articles
Shelf, around placing, are equipped with inclination fixture, the overturning on the output shaft of four axis robot around four axis robot
Delivery platform includes overturning section, conveying section and pedestal, and the overturning section is positioned close to the side of the inclination fixture, described defeated
Section is sent to be fixedly mounted on the base, the overturning section is movably pacified close to one end of the inclination fixture by torsion shaft
On the base, the other end and the conveying section are cooperatively connected dress, the pedestal be provided with push the overturning section overturning with
The power device of reset, the output end of the power device are fixedly mounted on the back side of the overturning section.
The inclination fixture includes T frame and thrust cylinder, and the T-type frame is mounted on the output shaft of four axis robot
On, the first guide rail and the second guide rail are provided on the T-type frame, any side in left and right of the T-type frame is provided with the first activity
Arm, the opposite other side are provided with the second lever arm, and first lever arm and second lever arm are slidably disposed on
On first guide rail and the second guide rail, the telescopic end of the thrust cylinder is fixedly connected with first lever arm, and described
Synchronous transmission device is connected between one lever arm and second lever arm.
The bottom of the T-type frame is provided with lower bracing frame, be provided in the lower bracing frame telescopic lower supporting plate and
Lower supporting plate connects cylinder, and the telescopic end of the lower supporting plate connection cylinder is fixedly connected with the lower supporting plate.
Travel switch is provided on first lever arm and the second lever arm.
The overturning section and conveying section are roller frame.
The beneficial effects of the utility model are: the utility model is based on four axis robots, structure is simple, can be effective
The cost for reducing cargo stacking is overturn cargo to be handled by overturning section, with inclination fixture cooperation, is being carried and stacking
Cheng Zhong, the position for tilting fixture remain unchanged, and the clamping and stacking of cargo can be completed, and the movement for reducing four axis robots is multiple
Miscellaneous degree compensates for the low disadvantage of four axis robot flexibility ratios, and effectively improves stacking efficiency.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is one of partial structure diagram of the utility model；
Fig. 3 is the two of the partial structure diagram of the utility model；
Fig. 4 is the structural schematic diagram of the inclination fixture of the utility model.
Specific embodiment
Referring to figs. 1 to Fig. 4, a kind of stacking machine, including several shelf 1, four axis robots 2 and turning over for conveying articles
Turn delivery platform 3, in the present embodiment, four axis robot 2 using ABB AB's production (model IRB5700) four axis machine
Device people, the shelf 1, around placing, are equipped with inclination folder around four axis robot 2 on the output shaft of four axis robot 2
Tool 4, in the present embodiment, four axis robot 2, overturning delivery platform 3 and inclination fixture 4 are concentrated by an electric cabinet 20 to be controlled
System, the overturning delivery platform 3 include overturning section 5, conveying section 6 and pedestal 7, and the overturning section 5 and conveying section 6 are roller knot
Structure, the overturning section 5 are positioned close to the side of the inclination fixture 4, and the conveying section 6 is fixedly mounted on the pedestal 7,
The overturning section 5 is movably installed on the pedestal 7 close to one end of the inclination fixture 4 by torsion shaft 8, the other end
It is cooperatively connected with the conveying section 6, transport cargo can from conveying section 6 to the overturning section 5, the pedestal 7 is provided with promotion
The power device 9 of overturning section 5 overturning and reset, the output end of the power device 9 are fixedly mounted on the overturning section 5
The back side specifically in the present embodiment, using hydraulic cylinder as power device, and is pushed away by the link mechanism on hydraulic cylinder
Dynamic to overturn section overturning, one end that the overturning section 5 installs torsion shaft 8 is additionally provided with supporting element 21, when overturning the overturning of section 5, institute
Stating supporting element 21 can be used for supporting cargo to be palletized, and under initial state, the overturning section 5 connects with the conveying section 6 cooperation
It connects, when cargo to be palletized is transported from conveying section 6 to after overturning section 5, hydraulic cylinder movement, drive link mechanism urges overturn section
5 overturnings, after inclination fixture 4 clamps cargo to be palletized, hydraulic cylinder drive link mechanism is restored to the overturning section 5
Initial state.
Further, in this embodiment the inclination fixture 4 includes T-type frame 10 and thrust cylinder 11, the T-type frame 10
It is mounted on the output shaft of four axis robot 2, specifically, in the present embodiment, the back side of the T-type frame 10 passes through connector
22 are mounted on the output shaft of four axis robot 2, and the connector 22 is parallel to the ground, are provided on the T-type frame 10
Any side in left and right of first guide rail 12 and the second guide rail 13, the T-type frame 10 is provided with the first lever arm 14, and opposite is another
Side is provided with the second lever arm 15, and first lever arm 14 and second lever arm 15 are slidably disposed on described first
On guide rail 12 and the second guide rail 15, the telescopic end of the thrust cylinder 11 is fixedly connected with first lever arm 14, and described
It is connected with synchronous transmission device between one lever arm 14 and second lever arm 15, in the present embodiment, the Synchronous Transmission dress
It sets including the first synchronous belt 23 and the second synchronous belt 24, one end of first synchronous belt 23 and the second synchronous belt 24 and described the
The connection of one lever arm 14, the other end connect with second lever arm 15, first synchronous belt 23 and the second synchronous belt 24 it
Between pass through transmission mechanism be sequentially connected；When overturning section 5 is overturn, cargo to be palletized is lifted, and the movement of four axis robots 2 makes institute
Inclination fixture 4 is stated close to cargo to be palletized, thrust cylinder 11 drives its telescopic end to shrink, to drive first lever arm
14 shrink to second lever arm 15, work of second lever arm 15 in first synchronous belt 23 and the second synchronous belt 24
With the first lever arm of Xiang Suoshu 14 is shunk, to clamp cargo to be palletized, four axis robots 2 push away goods movement to shelf
Strength cylinder 11 drives its telescopic end to stretch, and the first lever arm 14 and the second lever arm 15 open, and cargo tilt is made to be placed on shelf
On, i.e. completion cargo stacking.
In the present embodiment, the slanted angle between the connector 22 and the T-type frame 10 is denoted as α and (is retouched for convenience
State, label is in attached drawing), the overturning section 5 after overturning and the overturning angle between the pedestal 7 are denoted as β and (retouched for convenience
State, label is in attached drawing), referring to Fig. 3, in the present embodiment, α is equal to β, it is ensured that cargo is reversed after section lifts, the inclination
Fixture 4 can preferably cooperate with the cargo in overturning section 5, and inclination fixture 4 is facilitated to clamp cargo.
Further, in this embodiment the bottom of the T-type frame 10 is provided with lower bracing frame 16, the lower bracing frame 16
On be provided with telescopic lower supporting plate 17 and connect cylinder 18 with lower supporting plate, the telescopic end of the lower supporting plate connection cylinder 18
It is fixedly connected with the lower supporting plate 17, specifically, in the present embodiment, the surface of the lower bracing frame 16, which is provided with, can accommodate institute
The through slot of lower supporting plate 17 is stated, the lower supporting plate 17 is mounted in the through slot, and the lower supporting plate connection cylinder 18 is installed
Telescopic end at the back side of the lower bracing frame 16, the lower supporting plate connection cylinder 18 protrudes into the through slot and the lower support
Plate 17 is fixedly connected, and when inclination fixture 4 does not clamp cargo, the telescopic end of lower supporting plate connection cylinder 18 is in contraction state,
Lower supporting plate 17 is contracted in through slot, and when cargo is arrived in the inclination clamping of fixture 4, lower supporting plate connects the control of cylinder 18, and it stretches
End is stretched out, and stretches out lower supporting plate 17 out of through slot, is provided support for the bottom of cargo, is improved the fastness of cargo clamping.
Further, in this embodiment being provided with travel switch on first lever arm 14 and the second lever arm 15
19, in the present embodiment, the travel switch 19 is electrically connected with thrust cylinder 11, when touching travel switch 19 of cargo, stroke
Switch 19 controls thrust cylinder stopping movement, can effectively avoid in clamping cargo, the first lever arm 14 and the second lever arm 15
Cargo is damaged due to pressing from both sides too tight.
For the utility model based on four axis robots, structure is simple, can be effectively reduced the cost of cargo stacking, passes through
It overturns section to overturn cargo to be handled, with inclination fixture cooperation, in carrying and palletization, the position for tilting fixture is kept
It is constant, the clamping and stacking of cargo can be completed, reduce the complicated movement degree of four axis robots, compensate for four axis robots
The low disadvantage of flexibility ratio, and effectively improve stacking efficiency.
Above embodiment cannot limit the protection scope of the invention, and the personnel of professional skill field are not departing from
In the case where the invention general idea, the impartial modification and variation done still fall within the range that the invention is covered
Within.
Claims (5)
1. a kind of stacking machine, including several shelf (1), four axis robots (2) and for the overturning delivery platform of conveying articles
(3), the shelf (1) are around four axis robot (2) around placement, it is characterised in that the output of four axis robot (2)
Inclination fixture (4) is installed, the overturning delivery platform (3) includes overturning section (5), conveying section (6) and pedestal (7), institute on axis
The side that overturning section (5) is positioned close to inclination fixture (4) is stated, the conveying section (6) is fixedly mounted on the pedestal (7)
On, overturning section (5) is movably installed at the pedestal by torsion shaft (8) close to one end of inclination fixture (4)
(7) on, the other end and the conveying section (6) are cooperatively connected, the pedestal (7) be provided with push overturning section (5) overturning with
The power device (9) of reset, the output end of the power device (9) are fixedly mounted on the back side of overturning section (5).
2. stacking machine according to claim 1, it is characterised in that the inclination fixture (4) includes T-type frame (10) and thrust
Cylinder (11), the T-type frame (10) are mounted on the output shaft of four axis robot (2), are provided on the T-type frame (10)
Any side in left and right of first guide rail (12) and the second guide rail (13), the T-type frame (10) is provided with the first lever arm (14), phase
Pair the other side be provided with the second lever arm (15), first lever arm (14) and second lever arm (15) are slideably
It is arranged on first guide rail (12) and the second guide rail (13), the telescopic end of the thrust cylinder (11) and first activity
Arm (14) is fixedly connected, and is connected with synchronous transmission device between first lever arm (14) and second lever arm (15).
3. stacking machine according to claim 2, it is characterised in that the bottom of the T-type frame (10) is provided with lower bracing frame
(16), telescopic lower supporting plate (17) is provided on the lower bracing frame (16) to connect with lower supporting plate cylinder (18), it is described
The telescopic end of lower supporting plate connection cylinder (18) is fixedly connected with the lower supporting plate (17).
4. stacking machine according to claim 2, it is characterised in that first lever arm (14) and the second lever arm (15)
On be provided with travel switch (19).
5. stacking machine according to claim 1, it is characterised in that the overturning section (5) and conveying section (6) are roller knot
Structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822042074.8U CN209127661U (en) | 2018-12-06 | 2018-12-06 | A kind of stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822042074.8U CN209127661U (en) | 2018-12-06 | 2018-12-06 | A kind of stacking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209127661U true CN209127661U (en) | 2019-07-19 |
Family
ID=67248381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822042074.8U Active CN209127661U (en) | 2018-12-06 | 2018-12-06 | A kind of stacking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209127661U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335712A (en) * | 2018-12-06 | 2019-02-15 | 中山德立洁具有限公司 | A kind of stacking machine |
-
2018
- 2018-12-06 CN CN201822042074.8U patent/CN209127661U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335712A (en) * | 2018-12-06 | 2019-02-15 | 中山德立洁具有限公司 | A kind of stacking machine |
| CN109335712B (en) * | 2018-12-06 | 2024-04-19 | 中山德立洁具有限公司 | Stacker crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108323016A (en) | FPC soft board automatic processing devices | |
| CN106144473A (en) | A kind of mechanical hand location grasping mechanism | |
| CN208317122U (en) | FPC soft board automatic processing device | |
| WO2022127173A1 (en) | Box-type cargo loading and unloading device | |
| CN206050164U (en) | Ceramic tile automated packaging equipment | |
| CN206567792U (en) | Articulated robot equipment is used in one kind assembling | |
| CN209127661U (en) | A kind of stacking machine | |
| CN215665702U (en) | Automatic change carton packing product pile up neatly workstation | |
| CN113772168A (en) | Full-automatic balance equipment for packing of camera module plastic support | |
| CN113998199A (en) | Automatic stacker crane | |
| CN212100883U (en) | Conveying and feeding device for machining | |
| CN211168873U (en) | Backboard stacking equipment | |
| CN109500495B (en) | Welding equipment and method for frame and core plate | |
| CN112093494A (en) | Automatic loading and unloading machine for packing box | |
| CN109335712A (en) | A kind of stacking machine | |
| CN208086857U (en) | A kind of handling conveyer | |
| CN213445035U (en) | Evaporator automatic feeding equipment of drying machine | |
| CN216333089U (en) | Automatic stacker crane | |
| WO2023137782A1 (en) | Material tray turnover mechanism | |
| CN213801971U (en) | Automatic loading and unloading machine for packing box | |
| CN211712118U (en) | Panel pile up neatly equipment | |
| CN214358766U (en) | Working table frame with material conveying and reversing functions | |
| CN211743112U (en) | Silicon chip drawing and placing positioning device and transferring system | |
| CN204802483U (en) | Movable tray | |
| CN208413244U (en) | A kind of interconnecting device turning line for glass |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |