CN210260348U - Automatic three-dimensional hacking machine - Google Patents

Abstract

An automatic three-dimensional stacker crane relates to the technical field of automatic stacking, and comprises a cylinder A, a cylinder B, a stepping motor A, a stepping motor B, a chain, a cylinder C, a cylinder D, a portal bridge and the like, wherein a conveying unit receives a container conveyed by an upstream conveying belt, the stepping motor A drives a whole row of synchronous belt pulleys to rotate to drive a roller B to rotate, two rows of containers are pushed to the upper surface of a bottom plate of the portal bridge through the coordinated linkage of the cylinder A and the cylinder B, the portal bridge is fixed in the middle of the chain, the door bridge is driven to ascend to a specified height through the chain, the cylinder C and the cylinder D drive the bottom plate to move, a limiting plate rotates to a vertical position when being pushed outwards, the container passes through the torsion spring and accumulates elastic potential energy, and when the bottom plate is completely pulled out, the limiting; the horizontal section of the upper side of the limiting plate is blocked behind the container, so that the container is limited to be brought back by the bottom plate, the limited container can be neatly stacked above the stacked container, and the bottom plate returns to the initial position to wait for next stacking.

Description

Automatic three-dimensional hacking machine

Technical Field

The invention relates to the technical field of automatic stacking, in particular to an automatic three-dimensional stacking machine. The automatic stacking device is suitable for factory assembly line work and can stack packaged products such as product cartons, plastic boxes and the like, and can be widely applied to various fields of national economy.

Background

China is a large industrial country, the industrial yield is large in scale, the traditional manual stacking mode in a small-sized factory obviously cannot meet the requirement, and large-sized equipment is needed to complete the function. With the development of science and technology, various stacking machines come out in succession, so that manpower and material resources are greatly reduced; at the present stage, the market stacker crane mainly uses a robot as a main part, not only is the manufacturing cost expensive, but also the mechanical gripper can meet the problems of soft package with porous surface, liquid content, uneven surface package and the like, so that the gripping failure phenomenon is caused, and as the stacker crane belongs to large-precision equipment, once a fault occurs, the later maintenance cost is high, and the automatic three-dimensional stacker crane is not practical in some occasions with severe and complex environmental conditions, so that the automatic three-dimensional stacker crane provided by the invention can meet the requirements of factories, has a simple structure and low manufacturing cost, can be used in the occasions with poor working conditions, has low later maintenance cost, and can be widely applied to various fields of national economy.

Disclosure of Invention

The invention aims to provide an automatic device for stacking packaged products such as product cartons, plastic boxes and the like in factory assembly line operation, namely an automatic three-dimensional stacker crane.

In order to realize the purpose, the following technical scheme is adopted: the utility model provides an automatic three-dimensional hacking machine, including the plate washer, the conveyer belt, roller bearing A, cylinder B, the nut, step motor A, the section bar, the push rod, synchronous pulley A, synchronous belt A, synchronous pulley B, synchronous belt B, synchronous pulley C, axle A, vertical bearing frame A, roller bearing B, vertical bearing frame B, the gas cylinder frame, the gas cylinder, optical axis A, slider B, slider C, step motor B, synchronous pulley D, synchronous belt C, vertical smooth axle seat A, the sprocket, synchronous pulley E, axle B, vertical bearing frame C, optical axis B, vertical smooth axle seat B, the chain, the fork truck board, cylinder C, cylinder D, the door bridge, the bottom plate, the limiting plate, the cylinder presss from both sides, the guide rail, the spring, the guide rail slider, the circular arc section, the horizontal segment, its characterized in that: the automatic three-dimensional stacker crane comprises a feeding unit, a conveying unit, a lifting unit and a stacking unit, wherein a conveying belt of the feeding unit is arranged on a rolling shaft A between two side baffles, a container enters the conveying unit through the feeding unit, and the whole feeding unit is arranged on one side close to the lifting unit;

the cylinder A of the conveying unit is fixedly arranged at the front part of one side of the base, the base frame is formed by overlapping sectional materials, the cylinder B is fixedly arranged at the rear part of the same side of the base, the end part of a telescopic rod of the cylinder B is fixedly connected with the tail part of the cylinder A, the stepping motor A is arranged at the left side of the sectional material, the synchronous pulley A is in key connection with an output shaft end of the stepping motor A, the synchronous pulley A is connected with the synchronous pulley B through a synchronous belt A, the synchronous pulley B is in key connection with a shaft A and is coaxial, a synchronous pulley C is in key connection with the front part of the synchronous pulley C, the synchronous pulley C is connected with a right synchronous pulley through the synchronous belt B, a vertical bearing seat A is arranged in front of the synchronous pulley C, a bearing is arranged in the middle of the vertical bearing seat A and is matched with the left end of the, the vertical bearing seat B is internally provided with a bearing which is matched with the right end of the shaft A for installation, and a base of the vertical bearing seat B is fixedly arranged on the section bar; furthermore, a plurality of sets of rollers B are arranged in the same connection mode, so that the rollers B are driven to rotate by one stepping motor A, and the containers are conveyed;

the upper part of the push rod is provided with a plurality of uniformly distributed vertical short rods, the top parts of the short rods extend outwards and are also provided with an L-shaped flat plate, the lower part of the push rod is also provided with a flat plate, shaft holes are formed in two sides of the flat plate and are matched and connected with a telescopic rod of the cylinder A, the end part of a telescopic rod of the cylinder A is in threaded connection with the lower part of the push rod through a nut, the telescopic rod and the bottom part of the push rod are fastened, and the short rod parts of the push rod are alternately arranged in gaps of the parallel rolling shafts B and can move back and forth under the action;

the left and right sides of the ascending unit are symmetrical structures, so the left side is used for explanation: the gas cylinder frame is fixedly arranged at the top of the section bar frame, the gas cylinder is fixedly arranged in the gas cylinder frame, the vertical type optical axis seat A is arranged at the middle part of the base, the middle part of the vertical type optical axis seat B is provided with a shaft hole which is matched and connected with the optical axis B, the slide block A is slidably arranged on the optical axis A, the slide block B and the slide block C are respectively slidably arranged on the optical axis B and play a role in guiding, the slide block A is level with the slide block C in the horizontal direction, the slide block B is close to the top of the door bridge, the stepping motor B is fixedly arranged on the section bar frame, the output shaft end of the stepping motor B is in key connection with the synchronous belt wheel D, the synchronous belt wheel D is connected with the synchronous belt wheel E through the synchronous belt C, the synchronous belt wheel E is in key connection with the shaft B, the two ends of, the chain wheel is connected and assembled on the extending end of the shaft B in a key mode, the chain is in rolling connection with the bottom chain wheel through the top chain wheel, and the door bridge is fixedly installed in the middle of the chain and can move up and down along with the chain in a reciprocating mode to achieve lifting and descending of the door bridge;

the left side and the right side of the stacking unit are of symmetrical structures, so that the left side is used for explanation: the cylinder C is fixedly installed on the cylinder clamp, the matching relation of the cylinder D is the same as that of the cylinder C, the guide rail slider is installed on the guide rail in a sliding mode, four threaded holes are formed in the guide rail slider, the two sides of a bottom plate for placing a container are fixedly connected with the guide rail slider through screws, a rotating shaft is arranged at the middle rear portion of the door bridge, the torsion springs are installed in the rotating shafts of the two sides of the door bridge in a rolling mode, one side of the torsion springs are connected with the door bridge, one side of the torsion springs are connected with the limiting plate, the limiting plate is installed in the rotating shaft in a matched mode and can swing, an arc section is arranged on the lower side of the limiting plate, a horizontal section is arranged on the upper side of the limiting plate, the stacking unit further comprises a.

The invention has the beneficial effects that: the boxes filled with products by workers on the production line are pushed into the stacking area in a serial cylinder mode, and the functions of quickly and sequentially pushing different distances are achieved; the stacking function is realized by utilizing the one-way mechanical limiting device, and the stacking device is simple and practical, and can realize one-way passing and reverse limiting; different from the traditional stacking robot which adopts a mechanical arm, the stacking robot adopts a layered stacking mode, and the efficiency is higher.

Drawings

FIG. 1 is a schematic view of the overall structure of an automatic three-dimensional stacker crane

FIG. 2 is a schematic diagram of a feeding unit of an automatic three-dimensional stacker crane

FIG. 3 is a schematic structural diagram of a transfer unit of an automatic three-dimensional stacker crane

FIG. 4 is a schematic view showing the structure of a transfer unit of an automatic three-dimensional stacker with a portion of a profile removed

FIG. 5 is a schematic structural diagram of an automatic three-dimensional stacker crane with the lifting units of the cylinder A and the cylinder B removed

FIG. 6 is a schematic diagram of a palletizing unit of an automatic three-dimensional palletizer

FIG. 7 is a schematic view of a stacker unit with a bridge removed from the stacker crane

FIG. 8 is a schematic structural diagram of a guide rail slider of an automatic three-dimensional stacker crane

FIG. 9 is a schematic view of a pusher bar of an automatic three-dimensional stacker crane

FIG. 10 is a schematic diagram of a limiting plate structure of an automatic three-dimensional stacker crane

Reference numerals:

101-baffle plate, 102-conveyor belt, 103-roller A, 201-cylinder A, 202-cylinder B, 203-nut, 204-stepping motor A, 205-section bar, 206-push rod, 207-synchronous pulley A, 208-synchronous pulley A, 209-synchronous pulley B, 210-synchronous pulley B, 211-synchronous pulley C, 212-shaft A, 213-vertical bearing seat A, 214-roller B, 215-vertical bearing seat B, 301-gas cylinder frame, 302-gas cylinder, 303-optical axis A, 304-slide block A, 305-slide block B, 306-slide block C, 307-stepping motor B, 308-synchronous pulley D, 309-synchronous pulley C, 310-vertical optical axis seat A, 311-sprocket, 312-synchronous pulley E, 313-shaft B, 314-vertical bearing seat C, 315-optical shaft B, 316-vertical optical shaft seat B, 317-chain, 318-forklift plate, 401-cylinder C, 402-cylinder D, 403-door bridge, 404-bottom plate, 405-limiting plate, 406-cylinder clamp, 407-guide rail, 408-torsion spring, 409-guide rail slide block, 4051-arc segment and 4052-horizontal segment.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

as shown in fig. 1 to 10, an automatic three-dimensional stacker crane includes a baffle 101, a conveyor belt 102, a roller a103, a cylinder a201, a cylinder B202, a nut 203, a stepping motor a204, a profile 205, a push rod 206, a synchronous pulley a207, a synchronous belt a208, a synchronous pulley B209, a synchronous belt B210, a synchronous pulley C211, a shaft a212, a vertical bearing seat a213, a roller B214, a vertical bearing seat B215, a gas cylinder holder 301, a gas cylinder 302, an optical axis a303, a slider a304, a slider B305, a slider C306, a stepping motor B307, a synchronous pulley D308, a synchronous belt C309, a vertical optical axis seat a310, a sprocket 311, a synchronous pulley E312, a shaft B313, a vertical bearing seat C314, an optical axis B315, a vertical optical axis seat B316, a chain 317, a forklift plate 318, a cylinder C401, a cylinder D402, a door bridge 403, a bottom plate 404, a limiting plate 405, a cylinder clamp 406, a guide rail 407, a torsion spring 408, a slide rail 409, a; the method is characterized in that: the automatic three-dimensional stacker crane comprises a feeding unit, a conveying unit, a lifting unit and a stacking unit, wherein a conveying belt 102 of the feeding unit is arranged on a roller A103 in the middle of baffles 101 at two sides, a container enters the conveying unit through the feeding unit, and the whole feeding unit is arranged at one side close to the lifting unit;

the cylinder A201 of the conveying unit is fixedly arranged at the front part of one side of the base, the base frame is formed by overlapping sectional materials, the cylinder B202 is fixedly arranged at the rear part of the same side of the base, the end part of a telescopic rod of the cylinder B is fixedly connected with the tail part of the cylinder A, the left side of the sectional material 205 is provided with a stepping motor A204, a synchronous pulley A207 is in key connection with an output shaft end of the stepping motor A204, the synchronous pulley A207 is connected with a synchronous pulley B209 through a synchronous belt A208, the synchronous pulley B209 is in key connection with a shaft A212 and is coaxial, a front key connection of the synchronous pulley is provided with a synchronous pulley C211, the synchronous pulley C211 is connected with a right synchronous pulley through a synchronous belt B210, a vertical bearing seat A213 is arranged in front of the synchronous pulley C211, a bearing is arranged in the middle of the vertical bearing seat A213 and is matched with the left end of the shaft A212, the, the vertical bearing seat B215 is arranged, a bearing is arranged in the vertical bearing seat B and is matched with the right end of the shaft A212 for installation, and the base of the vertical bearing seat B215 is fixedly installed on the section bar; furthermore, a plurality of sets of rollers B are arranged in the same connection mode, so that the rollers B are driven to rotate by one stepping motor A204, and the containers are conveyed;

a plurality of vertical short rods which are uniformly distributed are arranged at the upper part of the push rod 206, an L-shaped flat plate is arranged at the top of each short rod in a protruding mode, a flat plate is arranged at the lower part of the push rod, shaft holes are formed in two sides of the flat plate and are matched and connected with a telescopic rod of the air cylinder A201, the end part of the telescopic rod of the air cylinder A is in threaded connection with the lower part of the push rod through a nut 203, the telescopic rod and the bottom of the push rod are fastened, the short rod parts of the push rod 206 are arranged in gaps of the parallel rolling shafts B214 in a crossed mode and can move back and;

the left and right sides of the ascending unit are symmetrical structures, so the left side is used for explanation: the gas cylinder frame 301 is fixedly arranged at the top of the section bar frame, the gas cylinder 302 is fixedly arranged in the gas cylinder frame 301, the vertical type optical axis seat A310 is arranged at the middle part of the base, the middle part is provided with a shaft hole to be matched and connected with the optical axis A303, the vertical type optical axis seat B316 is arranged at the rear part of the base, the middle part is provided with a shaft hole to be matched and connected with the optical axis B315, the slide block A304 is slidably arranged on the optical axis A303, the slide block B305 and the slide block C306 are respectively slidably arranged on the optical axis B315 and play a guiding role, the slide block A304 is level with the slide block C306 in the horizontal direction, the slide block B305 is close to the top of the door bridge 403, the stepping motor B307 is fixedly arranged on the section bar frame, the output shaft end of the stepping motor B is in key connection with the synchronous pulley D308, the synchronous pulley D308 is connected with the synchronous pulley E312 through a synchronous pulley C, the chain wheel 311 is connected and assembled on the upper surface of the extending end of the shaft B in a key mode, the chain 317 is in rolling connection with the bottom chain wheel 311 through a top chain wheel, and the portal bridge 403 is fixedly installed in the middle of the chain 317 and can lift and descend along with the up-and-down reciprocating motion of the chain;

the left side and the right side of the stacking unit are of symmetrical structures, so that the left side is used for explanation: the cylinder C401 is fixedly mounted on the cylinder clamp 406, the matching relation of the cylinder D402 is the same as that of the cylinder C402, the guide rail sliding block 409 is slidably mounted on the guide rail 407, four threaded holes are formed in the guide rail sliding block 409, two sides of a bottom plate 404 for placing a container are fixedly connected with the guide rail sliding block 409 through screws, a rotating shaft is arranged at the middle rear portion of the door bridge, the torsion spring 408 is arranged on the rotating shaft at two sides of the door bridge 403 in a rolling mode, one side of the torsion spring is connected with the door bridge 409 and is connected with a limiting plate 405, the limiting plate 405 is mounted on the rotating shaft in a matching mode and can swing, an arc section 4051 is arranged on the lower side of the limiting plate, a horizontal section 4052 is arranged on the upper side of the limiting plate, the stacking unit further comprises a forklift plate 318, the forklift plate is arranged in.

The working process of the invention is as follows:

when the conveying unit is used, firstly, a container of products conveyed by the upstream conveying belt 102 is received by the conveying unit, the stepping motor A204 works, a motor shaft rotates to drive the whole row of synchronous belt wheels to rotate, the synchronous belt wheels drive the rolling shafts B to rotate, and the air cylinder linkage mode is adopted to realize two-step transmission in consideration of time required by stacking, when a row of cartons are conveyed onto the rollers, the telescopic rods of the first cylinder A201 contract to drive the push rod 206 to move, so that a first row of boxes are conveyed to a specified position to wait, then the cylinder A201 returns to the initial position, and then the cylinder A201 and the cylinder B202 move simultaneously, the second row of cargo boxes are pushed to the back of the first row of cargo boxes, because the two cylinders are linked, the stroke is lengthened, and simultaneously, the two rows of boxes are pushed to the upper surface of the bottom plate 404 of the portal bridge, so that the working efficiency is improved, the portal bridge 403 is fixed in the middle of the chain 317, the chain rotates, the portal bridge rises, and the boxes rise to a height which is 3-5CM higher than that of the next layer of carton; finally, after the height is increased to a specified height, the motor stops rotating, the air cylinder C401 and the air cylinder D402 drive the bottom plate 404 to move, when the bottom plate is pushed out outwards, the bottom plate is contacted with the arc section 4051 at the lower part of the limiting plate, the limiting plate rotates to a vertical position due to friction force, a container passes through the container, meanwhile, the torsion spring 405 accumulates part of elastic potential energy, and when the bottom plate 410 is completely pulled out, the limiting plate 405 restores to the original shape due to disappearance of the elastic potential energy; the horizontal segment 4052 on the upper side of the limiting plate is kept behind the container, when the bottom plate moves back, the container is limited to be brought back by the bottom plate when the bottom plate 404 moves back due to the limiting effect of the horizontal segment of the limiting plate, the container can be neatly stacked above the stacked container, and the bottom plate 404 returns to the initial position to wait for stacking next time.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims (2)

1. An automatic three-dimensional stacker crane comprises a baffle plate, a conveying belt, a rolling shaft A, an air cylinder B, a nut, a stepping motor A, a profile, a push rod, a synchronous belt pulley A, a synchronous belt pulley B, a synchronous belt pulley C, a shaft A, a vertical bearing seat A, a rolling shaft B, a vertical bearing seat B, an air cylinder frame, an air cylinder, an optical axis A, a sliding block B, a sliding block C, a stepping motor B, a synchronous belt pulley D, a synchronous belt C, a vertical optical axis seat A, a chain wheel, a synchronous belt pulley E, a shaft B, a vertical bearing seat C, an optical axis B, a vertical optical axis seat B, a chain, a forklift plate, an air cylinder C, an air cylinder D, a door bridge, a bottom plate, a limiting plate; the method is characterized in that: the automatic three-dimensional stacker crane comprises a feeding unit, a conveying unit, a lifting unit and a stacking unit, wherein a conveying belt of the feeding unit is arranged on a rolling shaft A between two side baffles, a container enters the conveying unit through the feeding unit, and the whole feeding unit is arranged on one side close to the lifting unit; the cylinder A of the conveying unit is fixedly arranged at the front part of one side of the base, the base frame is formed by overlapping sectional materials, the cylinder B is fixedly arranged at the rear part of the same side of the base, the end part of a telescopic rod of the cylinder B is fixedly connected with the tail part of the cylinder A, the stepping motor A is arranged at the left side of the sectional material, the synchronous pulley A is in key connection with an output shaft end of the stepping motor A, the synchronous pulley A is connected with the synchronous pulley B through a synchronous belt A, the synchronous pulley B is in key connection with a shaft A and is coaxial, a synchronous pulley C is in key connection with the front part of the synchronous pulley C, the synchronous pulley C is connected with a right synchronous pulley through the synchronous belt B, a vertical bearing seat A is arranged in front of the synchronous pulley C, a bearing is arranged in the middle of the vertical bearing seat A and is matched with the left end of the, the vertical bearing seat B is internally provided with a bearing which is matched with the right end of the shaft A for installation, and a base of the vertical bearing seat B is fixedly arranged on the section bar; furthermore, a plurality of sets of rollers B are arranged in the same connection mode; the end part of a telescopic rod of the cylinder A is in threaded connection with the lower part of the push rod through a nut, so that the telescopic rod and the bottom of the push rod are fastened, and a short rod part of the push rod is crosswise arranged in a gap between the parallel rolling shafts B and can move back and forth under the action of the cylinder A and the cylinder B; the left side and the right side of the ascending unit are of symmetrical structures, the gas cylinder frame is fixedly arranged at the top of the section bar frame, the gas cylinder is fixedly arranged in the gas cylinder frame, the vertical optical axis seat A is arranged at the middle part of the base, the middle part of the vertical optical axis seat B is provided with a shaft hole which is matched and connected with the optical axis B, the middle part of the vertical optical axis seat B is provided with a shaft hole which is matched and connected with the optical axis A, the slide block A is arranged on the optical axis A in a sliding way, the slide block B and the slide block C are respectively arranged on the optical axis B in a sliding way and play a role in guiding, the slide block A is level with the slide block C in the horizontal direction, the slide block B is close to the top of the door bridge, the stepping motor B is fixedly arranged on the section bar frame, the output shaft end of the stepping motor B is, the vertical bearing seat C is fixedly arranged on the bottom section bar, the chain wheel is in key connection and assembled on the extending end of the shaft B, the chain is in rolling connection with the bottom chain wheel through the top chain wheel, and the door bridge is fixedly arranged in the middle of the chain, so that the door bridge can be lifted and lowered along with the up-and-down reciprocating motion of the chain; the stacking unit comprises a stacking unit body, a cylinder C and a cylinder D, wherein the left side and the right side of the stacking unit body are of symmetrical structures, the cylinder C is fixedly installed on a cylinder clamp, the matching relation of the cylinder D is the same as that of the cylinder D, a guide rail slider is installed on a guide rail in a sliding mode, four threaded holes are formed in the guide rail slider, the two sides of a bottom plate for placing a container are fixedly connected with the guide rail slider through screws, a rotating shaft is arranged at the middle rear portion of a door bridge, a torsion spring is installed on the rotating shafts at the two sides of the door bridge in a rolling mode, one side of the torsion spring is connected with the door bridge and is connected with a limiting plate, the limiting plate is installed on the rotating shaft in a matched mode and can swing, an arc section is arranged on the lower side of the limiting plate, a.

2. An auto-stereoscopic palletiser according to claim 1, wherein: push rod upper portion is equipped with many evenly distributed's vertical quarter butt, and the top of quarter butt is outwards stretched out and still is equipped with the flat board that is "L" type, the push rod lower part still is equipped with a flat board, is equipped with the telescopic link cooperation connection of shaft hole and cylinder A in dull and stereotyped both sides.

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