CN210914428U

CN210914428U - Grabbing device of electric automatization hacking machine

Info

Publication number: CN210914428U
Application number: CN201921800744.6U
Authority: CN
Inventors: 马幸坤; 龚翰轩; 薛莹; 孙彦超; 李建军
Original assignee: Yangzhou Polytechnic Institute
Current assignee: Yangzhou Polytechnic Institute
Priority date: 2019-10-21
Filing date: 2019-10-21
Publication date: 2020-07-03
Anticipated expiration: 2029-10-21

Abstract

The utility model discloses a gripping device of an electric automatic stacker crane, which relates to the technical field of stacker cranes and comprises a mounting post, wherein the top end of the mounting post is provided with a top plate, one side of the mounting post is symmetrically fixed with a top supporting seat and a bottom supporting seat, the top of the top plate is provided with a lifting motor, and the bottom of the top plate is arranged at one side of the mounting post and is provided with a lead screw which is rotationally connected with the lifting motor, the lead screw penetrates through the top supporting seat and is rotationally connected with the bottom supporting seat through a bearing, the utility model can ensure the lifting precision of a gripper and the rigidity of equipment through the arrangement of the lifting motor, the lead screw, a linear slide rail and a linear slide block, realize automatic lifting, can stably and rapidly set the lifting speed and force, effectively improve the stability of the gripper during lifting, and further facilitate the stable gripping of the device, the grabbing efficiency of the device is improved.

Description

Grabbing device of electric automatization hacking machine

Technical Field

The utility model belongs to the technical field of the hacking machine, concretely relates to grabbing device of electric automatization hacking machine.

Background

The stacker crane is a mechanical and electrical integration high and new technology product, and is a device which automatically stacks bags, cartons or other packaging materials conveyed by a conveyor into stacks according to the working mode of the process requirements of customers, conveys the stacked materials, can be stacked on trays and pallets (wood and plastic) according to certain arrangement, can stack a plurality of layers, and then is pushed out, so that a forklift can conveniently transport the stacked materials to a warehouse for storage, the labor force can be greatly reduced, and the labor intensity can be greatly reduced.

However, the grabbing device of the electric automatic stacker crane in the market still has certain defects in the use process, for example, the lifting mechanism of the device is low in strength and precision, and the grabbing hand is easy to shake when grabbing, so that stable grabbing of an object is affected, and in addition, the grabbing hand and the object are easy to slide, so that the object falls off, and the object is damaged.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an electric automatization hacking machine's grabbing device to the intensity and the precision of the device elevating system who provides in solving above-mentioned background art are low, produce easily when the tongs snatchs and rock, and in addition, take place easily to slide between tongs and the article, lead to the article to drop and the problem of damage.

In order to achieve the above object, the utility model provides a following technical scheme: a gripping device of an electric automatic stacker crane comprises an installation column, wherein a top plate is installed at the top end of the installation column, a top supporting seat and a bottom supporting seat are symmetrically fixed on one side of the installation column, a lifting motor is installed at the top of the top plate, a lead screw which is rotationally connected with the lifting motor is arranged on one side of the bottom of the top plate, the lead screw penetrates through the top supporting seat and is rotationally connected with the bottom supporting seat through a bearing, a moving block is sleeved outside the lead screw, two linear slide rails are symmetrically installed on one side of the installation column and between the top supporting seat and the bottom supporting seat, linear slide blocks matched with the two linear slide rails are symmetrically fixed on one side of the moving block adjacent to the installation column, a supporting plate is welded at the bottom of one side of the installation column, a rocker motor is installed at the top end of the supporting plate, and a rotating shaft, simultaneously the rocking arm that the level set up is cup jointed through the axle sleeve in the top of axis of rotation, and the rocking arm keeps away from the one end bottom of axis of rotation and is connected with the connecting rod, the bottom mounting of connecting rod has the fixed plate, and the bottom of fixed plate is connected with the tongs, the tongs is got the pole and is installed in two clamps and get the clamping part of pole bottom including the clamp that the symmetry set up, wherein two the clamping part all includes first board and the second of grabbing and grabs the board, first board and the second of grabbing is grabbed and is connected through the telescopic cylinder between the board, and the outside cover of telescopic cylinder is equipped.

Preferably, a first bottom rod is fixed to the bottom of one side, opposite to the first grabbing plate, of one of the second grabbing plates, a second bottom rod corresponding to the first bottom rod is installed at the bottom of one side, opposite to the first grabbing plate, of the other second grabbing plate, a positioning pin rod is connected to one end, opposite to the second grabbing plate, of the first bottom rod, and a positioning groove matched with the positioning pin rod is formed in one end, opposite to the second grabbing plate, of the second bottom rod.

Preferably, the opposite corners of one end of the positioning pin rod, which is far away from the first bottom rod, are in arc chamfering transition to form smooth arc ends of the surface wall.

Preferably, two reinforcing plates are symmetrically arranged at the top of the supporting plate and positioned on two sides of the rocker motor, and one sides of the two reinforcing plates are connected with the side wall of the moving block.

Preferably, rubber pads are bonded to opposite sides of the two second grabbing plates, and protrusions are arranged on opposite sides of the two rubber pads to form a saw-toothed shape.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the utility model discloses a precision that the tongs goes up and down and the rigidity of equipment can be guaranteed in the setting of elevator motor, lead screw, linear slide and linear slide, realize automatic going up and down, and can stabilize quick speed and the dynamics that sets up the lift, effectual stability when having improved the tongs lift can, and then the device of being convenient for stably snatchs, is favorable to improving snatching efficiency of device.

(2) The utility model discloses a setting of first sill bar, second sill bar, locating pin pole and constant head tank can make two seconds grab and peg graft fixedly between the board, and the tongs of being convenient for stably snatchs realizes holding up the article simultaneously, can effectively avoid the article slippage and damage, and the stability of the article of being further convenient for snatchs, helps improving the efficiency of snatching of article.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1;

FIG. 3 is an enlarged view of FIG. 1 at B;

in the figure: 1-mounting a column; 2-top support seat; 3-a top plate; 4-a lifting motor; 5-a screw rod; 6-rocker arm; 7-a connecting rod; 8, fixing a plate; 9-a gripper; 10-a first gripper plate; 11-a second gripper plate; 12-a rotating shaft; 13-a rocker arm motor; 14-a support plate; 15-a reinforcing plate; 16-bottom support seat; 17-a moving block; 18-linear slide block; 19-linear slide rail; 20-a pressure spring; 21-a telescopic cylinder; 22-rubber pad; 23-a first bottom bar; 24-a dowel pin; 25-positioning grooves; 26-second bottom bar.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: a gripping device of an electric automatic stacker crane comprises an installation column 1, wherein a top plate 3 is installed at the top end of the installation column 1, a top supporting seat 2 and a bottom supporting seat 16 are symmetrically fixed on one side of the installation column 1, a lifting motor 4 is installed at the top of the top plate 3, a lead screw 5 which is rotatably connected with the lifting motor 4 is arranged on one side of the bottom of the top plate 3, the lead screw 5 penetrates through the top supporting seat 2 and is rotatably connected with the bottom supporting seat 16 through a bearing, a moving block 17 is sleeved outside the lead screw 5, two linear sliding rails 19 are symmetrically installed on one side of the installation column 1 and between the top supporting seat 2 and the bottom supporting seat 16, linear sliding blocks 18 which are matched with the two linear sliding rails 19 are symmetrically fixed on one side of the moving block 17 adjacent to the installation column 1, a supporting plate 14 is welded on the bottom of one side of the moving block 17 opposite to the installation column 1, the lifting motor 4 and the rocker motor 13 both adopt servo motors with the model of HC-SFS103 and are electrically connected with a main control circuit of the stacker crane, so that the lifting and the rotation of the gripper 9 are controlled by controlling the forward and reverse rotation of the lifting motor 4 and the rocker motor 13, the top end of the rocker motor 13 is rotatably connected with a rotating shaft 12, the top end of the rotating shaft 12 is sleeved with a horizontally arranged rocker 6 through a shaft sleeve, the bottom of one end of the rocker 6, which is far away from the rotating shaft 12, is connected with a connecting rod 7, the bottom end of the connecting rod 7 is fixed with a fixed plate 8, the bottom end of the fixed plate 8 is connected with the gripper 9, the gripper 9 comprises symmetrically arranged gripping rods and gripping parts arranged at the bottom ends of the two gripping rods, wherein the two gripping parts both comprise a first gripping plate 10 and a second gripping plate 11, the first gripping plate 10 is connected with the second gripping plate 11 through a telescopic cylinder 21, and a pressure, when snatching, drive lead screw 5 through elevator motor 4 and rotate under the support of top sprag seat 2 and bottom sprag seat 16 to drive movable block 17 through the lift of the slip of sharp slider 18 along linear slide rail 19, and then drive tongs 9 and go up and down, through this transmission form, can effectively strengthen the intensity and the precision of device, stability when helping improving tongs 9 and go up and down.

Furthermore, a first bottom rod 23 is fixed at the bottom of one side of one second grabbing plate 11 relative to the first grabbing plate 10, meanwhile, the bottom of one side of the other second grabbing plate 11 opposite to the first grabbing plate 10 is provided with a second bottom rod 26 corresponding to the first bottom rod 23, one end of the first bottom rod 23 opposite to the second grabbing plate 11 is connected with a positioning pin rod 24, one end of the second bottom rod 26 opposite to the second grabbing plate 11 is provided with a positioning groove 25 matched with the positioning pin rod 24, when in grabbing, the first bottom rod 23 and the second bottom rod 26 at the bottom of the two second grabbing plates 11 are respectively inserted at the bottom of the object, meanwhile, the positioning pin rod 24 is inserted into the positioning groove 25 to insert the first bottom rod 23 and the second bottom rod 26, so that the two second grabbing plates 11 are relatively fixed, thereby facilitating the stable grabbing of objects, meanwhile, the first bottom rod 23 and the second bottom rod 26 can support the object, so that the object can be effectively prevented from slipping.

Specifically, the opposite corners of the end of the positioning pin rod 24 away from the first bottom rod 23 are all transited by arc chamfers to form smooth arc ends of the surface wall, so that the positioning pin rod 24 can be conveniently and quickly inserted into the positioning groove 25, and the first bottom rod 23 and the second bottom rod 26 can be further conveniently inserted.

It is worth to be noted that two reinforcing plates 15 are symmetrically installed on the top of the supporting plate 14 and located on two sides of the rocker motor 13, and one sides of the two reinforcing plates 15 are connected with the side wall of the moving block 17, so that the strength of the supporting plate 14 can be increased, and the rocker motor 13 can stably work.

Furthermore, rubber pads 22 are bonded on opposite sides of the two second grabbing plates 11, and protrusions are arranged on opposite sides of the two rubber pads 22 to form a saw-toothed shape, so that hard contact between the second grabbing plates 11 and an object is avoided, and the object is prevented from being clamped.

The utility model discloses a theory of operation and use flow: when the utility model is used, a worker can install the device on the stacker crane through the mounting column 1 and connect the device with a main control circuit of the stacker crane, then the worker can control the work of the lifting motor 4 through a controller of the stacker crane, so that the lifting motor 4 drives the screw 5 to rotate under the support of the top support seat 2 and the bottom support seat 16, so as to drive the moving block 17 to slide and lift along the linear slide rail 19 through the linear slide block 18, the moving block 17 lifts and drives the rocker motor 13 on the support plate 14 to lift, and then drives the gripper 9 to lift under the action of the rocker arm 6, the connecting rod 7 and the fixed plate 8, and simultaneously the rocker motor 13 works and drives the rocker arm 6 to rotate through the rotating shaft 12, thereby driving the gripper 9 to rotate, thereby realizing the position adjustment of the gripper 9 to grip an object, when gripping, the gripper 9 grips the object through the two second gripper plates 11, at this time, two second are grabbed board 11 atress and are contracted under the effect of telescopic cylinder 21 and pressure spring 20, thereby cushion the article, avoid tongs 9 to press from both sides the article and hinder, in addition, first sill bar 23 and the second sill bar 26 of two second grabbing board 11 bottoms are inserted respectively in the bottom of article, location pin rod 24 injects the inside of constant head tank 25 simultaneously, in order to peg graft first sill bar 23 and second sill bar 26, make two second grabbing board 11 relatively fixed, be favorable to the stable of article to be snatched, first sill bar 23 and second sill bar 26 can hold up the article simultaneously, can effectively avoid the article slippage, further be convenient for the stable of article snatch, help improving the efficiency of snatching of article.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an electric automatization hacking machine's grabbing device which characterized in that: the mounting structure comprises a mounting column (1), a top plate (3) is mounted at the top end of the mounting column (1), a top supporting seat (2) and a bottom supporting seat (16) are symmetrically fixed on one side of the mounting column (1), a lifting motor (4) is mounted at the top of the top plate (3), a lead screw (5) rotatably connected with the lifting motor (4) is arranged on one side of the mounting column (1) at the bottom of the top plate (3), the lead screw (5) penetrates through the top supporting seat (2) and is rotatably connected with the bottom supporting seat (16) through a bearing, a moving block (17) is sleeved outside the lead screw (5), two linear sliding rails (19) are symmetrically mounted on one side of the mounting column (1) and between the top supporting seat (2) and the bottom supporting seat (16), and linear sliding blocks (18) matched with the two linear sliding rails (19) are symmetrically fixed on one side of the moving block (17) adjacent to the mounting column (, a supporting plate (14) is welded at the bottom of one side of a moving block (17) relative to the mounting column (1), a rocker motor (13) is installed at the top end of the supporting plate (14), a rotating shaft (12) is rotatably connected to the top end of the rocker motor (13), a horizontally arranged rocker (6) is sleeved at the top end of the rotating shaft (12) through a shaft sleeve, a connecting rod (7) is connected to the bottom of one end, away from the rotating shaft (12), of the rocker (6), a fixing plate (8) is fixed at the bottom end of the connecting rod (7), a gripper (9) is connected to the bottom end of the fixing plate (8), the gripper (9) comprises symmetrically arranged gripping rods and clamping parts arranged at the bottoms of the two gripping rods, wherein the two clamping parts respectively comprise a first gripping plate (10) and a second gripping plate (11), and the first gripping plate (10) and the second gripping plate (11) are connected through a telescopic cylinder (21), and a pressure spring (20) is sleeved outside the telescopic cylinder (21).

2. The gripping device of an electrical automated palletizer according to claim 1, characterized in that: one of the second grabbing plate (11) is fixed with a first bottom rod (23) relative to the bottom of one side of the first grabbing plate (10), and a second bottom rod (26) corresponding to the first bottom rod (23) is installed at the bottom of one side of the other second grabbing plate (11) relative to the first grabbing plate (10), wherein one end of the first bottom rod (23) relative to the second grabbing plate (11) is connected with a positioning pin rod (24), and a positioning groove (25) matched with the positioning pin rod (24) is formed in one end of the second bottom rod (26) relative to the second grabbing plate (11).

3. The gripping device of an electrical automated palletizer according to claim 2, characterized in that: the opposite corners of one end, far away from the first bottom rod (23), of the positioning pin rod (24) are in arc chamfer transition to form smooth arc ends of the surface wall.

4. The gripping device of an electrical automated palletizer according to claim 1, characterized in that: two reinforcing plates (15) are symmetrically arranged at the top of the supporting plate (14) and positioned on two sides of the rocker motor (13), and one side of each reinforcing plate (15) is connected with the side wall of the moving block (17).

5. The gripping device of an electrical automated palletizer according to claim 1, characterized in that: rubber pads (22) are bonded to opposite sides of the two second grabbing plates (11), and protrusions are arranged on opposite sides of the two rubber pads (22) to form a saw-tooth shape.