CN212291991U - Coordinate type stacker crane - Google Patents
Coordinate type stacker crane Download PDFInfo
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- CN212291991U CN212291991U CN202020690968.2U CN202020690968U CN212291991U CN 212291991 U CN212291991 U CN 212291991U CN 202020690968 U CN202020690968 U CN 202020690968U CN 212291991 U CN212291991 U CN 212291991U
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- 230000007246 mechanism Effects 0.000 claims description 18
- 230000001681 protective effect Effects 0.000 claims description 14
- 239000000463 material Substances 0.000 description 4
- 239000013072 incoming material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 230000001568 sexual effect Effects 0.000 description 1
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Abstract
The utility model discloses a coordinate formula hacking machine, including finished product conveyor, coordinate tongs part, tear a set part and safety protection network open, finished product conveyor's output sets up in the one side of tearing a set part output open, and coordinate tongs part arranges in finished product conveyor's output and tears the output top of a set part open, and safety protection network arranges in finished product conveyor's output and tears a set part and coordinate tongs part open all around. The automatic stacking is realized, the structure is simple and compact, the safety is high, the cost performance is high, the stability is high, the occupied area is small, and the stacking with a smart coordinate layout is applied.
Description
Technical Field
The utility model relates to a pile up neatly technical field, concretely relates to coordinate type hacking machine.
Background
The market always requires fire heat for stacking finished boxes or bags, and the stacking of the materials is performed through manual stacking or multi-joint robot stacking, but the manual stacking has high labor intensity, poor stability and consistency and low efficiency; if a multi-joint robot is used for stacking, a series of trays need to be arranged in a matching manner to supply the conveying lines, the whole process is high in cost, and the occupied area is large. Therefore, in order to realize full-automatic stacking production of the whole line and combine the factors of cost performance, stacking stability, safety, flexibility of application layout, unit area productivity ratio and the like, the design and development of the coordinate type stacker crane and the stacking method are significant.
Disclosure of Invention
The to-be-solved technical problem of the utility model is, to the above-mentioned defect that prior art exists, provide a coordinate formula hacking machine, realize automatic pile up neatly, simple structure, compactness, the security is high, the sexual valence relative altitude, stability is high, area is little, uses the pile up neatly of overall arrangement smart coordinate formula.
The utility model discloses a solve the technical scheme that above-mentioned technical problem adopted and be:
the utility model provides a coordinate formula hacking machine, includes finished product conveyor, coordinate tongs part, tears a set part and safety protection network open, finished product conveyor's output sets up in tearing one side of a set part output open, and coordinate tongs part is arranged in finished product conveyor's output and tears the output top of a set part open, and safety protection network arranges in finished product conveyor's output and tears a set part and coordinate tongs part open all around.
According to the technical scheme, tear a set part open and include that tray propelling movement X is to the guide rail, tray deflector group, tray push rod and tray fork piece, tray propelling movement X is to the horizontal level arrangement of guide rail, tray fork Z is to the vertical one end of arranging in tray propelling movement X to the guide rail, tray push rod sets up on tray propelling movement X is to the guide rail, can follow tray propelling movement X to guide rail level round trip movement, tray deflector group sets up on tray fork Z is to the guide rail, can follow tray fork Z to round trip movement from top to bottom of guide rail, tray fork piece has been arranged relatively to the both sides of tray deflector group, be connected with flexible actuating mechanism or rotary driving mechanism between tray fork piece and the tray deflector group.
According to the technical scheme, the tray guide plate group comprises two tray guide plates which are oppositely arranged left and right, and two tray fork blocks are distributed below each tray guide plate.
According to the technical scheme, the telescopic driving mechanism comprises the telescopic cylinder which is transversely arranged and fixedly connected with the tray guide plate, and the telescopic cylinder is connected with the tray fork block and drives the tray fork block to stretch back and forth.
According to above-mentioned technical scheme, rotary driving mechanism includes revolving cylinder and rotary rod, and the rotary rod sets up in the tray deflector outside through the pivot, and the rotary rod can revolute the rotation of axes, and revolving cylinder is connected with the one end of rotary rod, and the tray fork piece is connected with the other end of rotary rod, and revolving cylinder passes through the rotary rod and drives the tray fork piece and make a round trip to rotate between the inside and outside of tray deflector.
According to the technical scheme, the coordinate gripper component comprises a gripper and a three-way coordinate guide rail, the gripper is arranged on the three-way coordinate guide rail and moves back and forth along the X direction, the Y direction and the Z direction respectively through the three-way coordinate guide rail, a rotating W shaft is connected between the gripper and the three-way coordinate guide rail, and the gripper can rotate around the rotating W shaft.
According to the technical scheme, the three-way coordinate guide rail comprises a hand grip X-direction guide rail, a hand grip Y-direction guide rail and a hand grip Z-direction guide rail, the hand grip Y-direction guide rail is horizontally and longitudinally arranged, the hand grip Z-direction guide rail is vertically arranged and is arranged on the hand grip Y-direction guide rail through a sliding block, the hand grip Z-direction guide rail can vertically and horizontally move along the hand grip Y-direction guide rail through the sliding block, the hand grip X-direction guide rail is horizontally and transversely arranged and is arranged on the hand grip Z-direction guide rail through the sliding block, the hand grip X-direction guide rail can vertically move up and down along the hand grip Z-direction guide rail through the sliding block, a rotating W shaft is arranged on the hand grip X-direction guide rail through the sliding block, the.
According to the technical scheme, the safety protection net is provided with the tray inlet and the tray outlet, the tray inlet and the tray outlet are respectively arranged on one side of the output end and the input end of the tray disassembling component, and the finished product conveying device penetrates through one side of the safety protection net.
According to the technical scheme, the tray inlet and the tray outlet are both provided with the safety gratings.
According to the technical scheme, an intermediate protective net is arranged between the input end and the output end of the tray disassembling component, the space enclosed in the safety protective net is divided into the tray storage area and the stacking area by the intermediate protective net, the coordinate gripper component, the output end of the finished product conveying device and the output end of the tray component are uniformly distributed in the stacking area, and the input end of the tray component is distributed in the tray storage area.
The utility model discloses following beneficial effect has:
the utility model is used for rear-end packing and stacking of finished product boxes and bags, compared with manual stacking, the utility model reduces production operators and labor intensity, and has high stacking stability and consistency; the coordinate gripper component and the tray detaching component are combined with the safety protection net, compared with a multi-joint robot stacking mode, the multi-joint robot stacking mode is more economical, small in occupied area, more flexible in application layout and capable of improving safety, and is particularly suitable for users with limited fields and budget, requirements for automation and certain requirements for safety and reliability.
Drawings
Fig. 1 is a schematic structural diagram of a coordinate stacker crane in an embodiment of the present invention;
FIG. 2 is a schematic diagram of the embodiment of the present invention;
FIG. 3 is an axial view of a coordinate palletizer according to an embodiment of the present invention;
in the figure, 1-a rack component, 1-1-a full stack of forked optical gratings, 1-2-a left side protective net, 1-3-a middle protective net, 1-4-a right side protective net, 1-5-an empty support forked optical grating, 1-6-a pull rope emergency stop switch, 1-7-a stacking area back protective net and 1-8-a tray storage area back protective net;
2-disc disassembling component, 2-1-tray fork Z-direction guide rail, 2-2-tray pushing X-direction guide rail, 2-3-tray guide plate, 2-4-tray push rod and 2-5-tray fork block;
3-three-coordinate gripper component, 3-1-gripper Y-direction guide rail, 3-2-gripper X-direction guide rail, 3-3-gripper Z-direction guide rail and 3-4-gripper.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
Referring to fig. 1 to 3, the utility model provides an in embodiment coordinate type hacking machine, including finished product conveyor, coordinate tongs part, tear a set of part 2 and safety protection network open, finished product conveyor's output sets up in one side of tearing a set of part 2 output open, coordinate tongs part is arranged in finished product conveyor's output and tear a set of part 2 output top open, safety protection network arranges around finished product conveyor's output and tear a set of part 2 and coordinate tongs part open, safety protection network forms one and surrounds the space all around, enclose finished product conveyor's output and tear a set of part 2 and coordinate tongs part inside; the automatic tray removal is realized to provide single tray supply for stacking; the coordinate gripper component is arranged in a stacking area of the rack, the three-coordinate gripper component 3 is provided with a rotatable gripper, incoming materials arriving at a gripping position can be gripped and placed on a tray according to a required stack shape to realize automatic stacking, and the safety protection net realizes ultrahigh-level safety protection.
Further, the coordinate type stacking machine further comprises a rack component 1, and the finished product conveying device, the coordinate gripper component and the tray disassembling component 2 are fixedly connected with the rack component 1.
Further, the tray detaching component 2 comprises a tray fork Z-direction guide rail, a tray pushing X-direction guide rail, a tray guide plate group, a tray push rod and a tray fork block, wherein the tray pushing X-direction guide rail is transversely and horizontally arranged, the tray fork Z-direction guide rail is vertically arranged at one end of the tray pushing X-direction guide rail, the tray push rod is arranged on the tray pushing X-direction guide rail and can horizontally move back and forth along the tray pushing X-direction guide rail, the tray guide plate group is arranged on the tray fork Z-direction guide rail and can vertically move back and forth along the tray fork Z-direction guide rail, the tray fork blocks are oppositely arranged on two sides of the tray guide plate group, and a telescopic driving mechanism or a rotary driving mechanism is connected between the tray fork blocks and the tray guide plate group; the tray push rod 2-4 can push the X-direction guide rail 2-2 along the tray to do reciprocating left and right movement; when the tray guide plate 2-3 descends to the lowest position, the tray fork blocks 2-5 are rotated, contracted and hidden below the tray guide plate 2-3, a full stack of empty trays (for convenience of description, the number of 1#, 2#, 3# … … 10# trays are sequentially numbered from bottom to top) enters the fork falling position, the forklift is withdrawn, the tray fork blocks 2-5 are lifted to the 2# tray fork hole position, the tray fork blocks 2-5 are rotated and extended, then continuously ascend for a certain displacement to separate the 2# -10 # trays from the 1# trays, the tray push rods 2-4 move leftwards along the tray push X to the guide rail 2-2, the tray push rods 2-4 push the 1# trays to the stacking position, the tray push rods 2-4 move rightwards along the tray push X to the guide rail 2-2 to return to the initial waiting position, the tray fork blocks 2-5 lift the rest 2# -10 # empty tray forks Z to descend to the guide rail 2-1 to the 2# 2 landing tray along the guide rail, the tray fork blocks 2-5 continuously descend to make the tray fork blocks and the No. 2 tray fork holes vacate spaces, then the tray fork blocks rotate and contract, and then the tray guide plates 2-3 ascend to the No. 3 tray to make the tray fork blocks 2-5 and the No. 3 tray fork holes flush; sequentially circulating, disassembling the whole stack of empty trays one by one into a single tray and pushing the single tray to a stacking area; and (4) giving an alarm prompt to the system until the disassembly of the whole stack of empty trays is completed, and feeding a new stack of whole stack of empty trays on the forklift.
Furthermore, a chain driving mechanism or a push-pull mechanism is arranged on one side of the tray fork Z-direction guide rail and one side of the tray pushing X-direction guide rail, and the chain driving mechanism or the push-pull mechanism drives the tray push rod and the tray guide plate to respectively move back and forth along the tray pushing X-direction guide rail and the tray fork Z-direction guide rail.
Furthermore, the tray guide plate group comprises two tray guide plates which are oppositely arranged left and right, and two tray fork blocks are distributed below each tray guide plate.
Furthermore, the telescopic driving mechanism comprises a telescopic cylinder which is transversely arranged and is fixedly connected with the tray guide plate, and the telescopic cylinder is connected with the tray fork block to drive the tray fork block to extend back and forth; the telescopic cylinder retracts to the outside of the tray guide plates, and the telescopic cylinder extends out of the range between the two tray guide plates from the tray fork block.
Further, rotary driving mechanism includes revolving cylinder and rotary rod, and the rotary rod sets up in the tray deflector outside through the pivot, and the rotary rod can revolute the rotation of axes, and revolving cylinder is connected with the one end of rotary rod, and the tray fork piece is connected with the other end of rotary rod, and revolving cylinder passes through the rotary rod and drives the tray fork piece and make a round trip to rotate between the inside and outside of tray deflector.
Further, the coordinate gripper component comprises a three-coordinate gripper component 3, the three-coordinate gripper component 3 comprises a gripper and a three-way coordinate guide rail, the gripper is arranged on the three-way coordinate guide rail and moves back and forth along the X direction, the Y direction and the Z direction respectively through the three-way coordinate guide rail, a rotating W shaft is connected between the gripper and the three-way coordinate guide rail, and the gripper can rotate around the rotating W shaft.
The three-way coordinate guide rail comprises a hand grip X-direction guide rail, a hand grip Y-direction guide rail and a hand grip Z-direction guide rail, the hand grip Y-direction guide rail is horizontally and longitudinally arranged, the hand grip Z-direction guide rail is vertically arranged and is arranged on the hand grip Y-direction guide rail through a sliding block, the hand grip Z-direction guide rail can longitudinally and horizontally move along the hand grip Y-direction guide rail through the sliding block, the hand grip X-direction guide rail is horizontally and transversely arranged and is arranged on the hand grip Z-direction guide rail through the sliding block, the hand grip X-direction guide rail can vertically move up and down along the hand grip Z-direction guide rail through the sliding block, a rotating W shaft is arranged on the hand grip X-direction guide rail through the sliding block, the hand grip is connected.
Furthermore, driving mechanisms are arranged on the X-direction guide rail of the gripper, the Y-direction guide rail of the gripper and the Z-direction guide rail of the gripper, each driving mechanism comprises a motor and a screw rod, the motors are connected with the sliding blocks on the corresponding guide rails through the screw rods, and the sliding blocks are driven to move back and forth along the corresponding guide rails.
Further, a three-coordinate gripper component 3 is arranged in a stacking area of the rack component 1, the gripper can respectively reciprocate along a gripper Y-direction guide rail 3-1, a gripper X-direction guide rail 3-2 and a gripper Z-direction guide rail 3-3, and the gripper can also rotate within 360 degrees around a W shaft. Finished product boxes/bags are conveyed to a grabbing position through matched conveying equipment, the grabbing hand moves to the grabbing position to grab the finished product boxes/bags, the boxes/bags are lifted and placed on a tray which is detached in advance and supplied to the position in a frog jump motion track mode, stacking is carried out step by step according to stacking type requirements until the finished product stacks are fully stacked, the equipment is provided with a full stack alarm prompt, a forklift forks out the full stacks, and the system automatically enters the next stacking cycle.
Further, be equipped with tray import and tray export on the safety protection net, tray import and tray export set up respectively in the one side of tearing the output of dish part 2 and input, and finished product conveyor penetrates from one side of safety protection net.
Furthermore, safety gratings are arranged at the tray inlet and the tray outlet, namely an empty tray inlet grating 1-5 and a full stack outlet grating 1-1.
Further, an intermediate protective net is arranged between the input end and the output end of the tray disassembling component 2, the space enclosed in the safety protective net is divided into a tray storage area and a stacking area by the intermediate protective net, the coordinate gripper component, the output end of the finished product conveying device and the output end of the tray component are uniformly distributed in the stacking area, and the input end of the tray component is distributed in the tray storage area.
A tray storage area used for storing the whole stack of empty trays and disassembling the whole stack of empty trays into single trays one by one to be supplied to the stacking area for stacking; and in the stacking area, the gripper grips the materials reaching the gripping position and places the materials on a tray according to the stacking type requirement to complete the stacking function.
Further, the safety protection net comprises a left side protection net 1-2, a right side protection net 1-4, a stacking area back protection net 1-7 and a tray storage area back protection net 1-8, the left side of the rack component 1 is provided with the left side protection net 1-2, a middle protection net 1-3 is arranged between the tray storage area and the stacking area, the left side of the rack component 1 is provided with the right side protection net 1-4, the back of the stacking area is provided with the stacking area back protection net 1-7, the back of the tray storage area is provided with the tray storage area back protection net 1-8, empty tray inlet forks are provided with empty tray inlet forks 1-5, full stack outlet forks are provided with full stack outlet forks 1-1, the left side and the right side in the tray storage area are respectively provided with pull rope emergency stop switches 1-6, and protection with ultrahigh safety performance is.
The utility model discloses a theory of operation:
the tray storage area beside the stacking area stores the whole stack of empty trays, so that single tray supply can be rapidly provided for the stacking area one by one in a short distance, and a long-distance tray supply conveying line is avoided; the tray storage area of the rack component is provided with a tray detaching component 2, the tray storage area can store whole stacks of empty trays, and the whole stacks of empty trays can be detached one by one and supplied to the stacking area for stacking; a three-dimensional gripper component 3 is arranged in the stacking area of the rack component, and can grab incoming materials reaching the grabbing position and place the incoming materials on a tray for stacking according to the stacking type requirement; pull rope emergency stop switches are arranged on two sides in the tray storage area, so that the safety performance of the equipment is improved; the tray disassembling component 2 is provided with a Z-direction moving shaft, an expandable/contractible tray fork plate, a tray guide plate, a tray pushing X-direction moving shaft and a tray pushing rod; the three-coordinate gripper component 3 is provided with X, Y, Z movement shafts in three directions and a rotating shaft, so that the requirements of placing and stacking various stack-shaped materials are met.
The above is only a preferred embodiment of the present invention, and the scope of the right of the present invention should not be limited by this, so that the equivalent changes made in the claims of the present invention still belong to the protection scope of the present invention.
Claims (10)
1. The utility model provides a coordinate formula hacking machine, its characterized in that includes finished product conveyor, coordinate tongs part, tears a set part and safety protection network open, and finished product conveyor's output sets up in one side of tearing a set part output, and coordinate tongs part arranges in finished product conveyor's output and tear an output top of a set part open, and safety protection network arranges in finished product conveyor's output and tear a set part and coordinate tongs part around.
2. The coordinate type stacker crane according to claim 1, wherein the tray detaching component comprises a tray fork Z-direction guide rail, a tray push X-direction guide rail, a tray guide plate group, a tray push rod and a tray fork block, the tray push X-direction guide rail is horizontally arranged transversely, the tray fork Z-direction guide rail is vertically arranged at one end of the tray push X-direction guide rail, the tray push rod is arranged on the tray push X-direction guide rail and can horizontally move back and forth along the tray push X-direction guide rail, the tray guide plate group is arranged on the tray fork Z-direction guide rail and can vertically move back and forth along the tray fork Z-direction guide rail, the tray fork block is oppositely arranged on two sides of the tray guide plate group, and a telescopic driving mechanism or a rotary driving mechanism is connected between the tray fork block and the tray guide plate group.
3. A coordinate palletiser according to claim 2 wherein the set of tray guide plates comprises two tray guide plates arranged side to side, two tray forks being distributed below each tray guide plate.
4. A coordinate type stacker according to claim 2 wherein the telescopic driving mechanism comprises a telescopic cylinder which is arranged transversely and fixedly connected with the tray guide plate, and the telescopic cylinder is connected with the tray fork block to drive the tray fork block to extend and retract back and forth.
5. A coordinate stacking machine according to claim 2, wherein the rotary drive mechanism comprises a rotary cylinder and a rotary rod, the rotary rod is arranged outside the tray guide plate through a rotary shaft, the rotary rod can rotate around the rotary shaft, the rotary cylinder is connected with one end of the rotary rod, the tray fork block is connected with the other end of the rotary rod, and the rotary cylinder drives the tray fork block to rotate back and forth between the inner side and the outer side of the tray guide plate through the rotary rod.
6. A coordinate palletiser according to claim 1 wherein the coordinate gripper components include a gripper and a three-way coordinate guide, the gripper being mounted on the three-way coordinate guide, the gripper being movable back and forth in the X, Y and Z directions respectively by the three-way coordinate guide, a rotary W axis being connected between the gripper and the three-way coordinate guide, the gripper being rotatable about the rotary W axis.
7. A coordinate palletizer according to claim 6, wherein the three-way coordinate guide comprises a gripper X-direction guide, a gripper Y-direction guide and a gripper Z-direction guide, the gripper Y-direction guide is arranged horizontally and longitudinally, the gripper Z-direction guide is arranged vertically and is arranged on the gripper Y-direction guide through a slider, the gripper Z-direction guide can move horizontally along the gripper Y-direction guide longitudinally through a slider, the gripper X-direction guide is arranged horizontally and transversely and is arranged on the gripper Z-direction guide through a slider, the gripper X-direction guide can move vertically and vertically along the gripper Z-direction guide through a slider, the rotating W-axis is arranged on the gripper X-direction guide through a slider, the gripper is connected with the rotating W-axis, and the gripper and the rotating W-axis can move horizontally and transversely along the gripper X-direction guide through a slider.
8. The coordinated stacker according to claim 1, wherein a tray inlet and a tray outlet are provided on the safety protection net, the tray inlet and the tray outlet are respectively provided at one side of the output end and the input end of the tray detaching part, and the finished product conveying device penetrates through one side of the safety protection net.
9. A coordinate palletiser according to claim 8 wherein the tray inlet and the tray outlet are each provided with a safety grating.
10. The coordinated palletizer according to claim 1, wherein an intermediate protective net is arranged between the input end and the output end of the tray detaching component, the intermediate protective net divides the space enclosed in the safety protective net into a tray storage area and a palletizing area, the coordinate gripper component, the output end of the finished product conveying device and the output end of the tray component are uniformly arranged in the palletizing area, the input end of the tray component is arranged in the tray storage area, and the left side and the right side in the tray storage area are respectively provided with a pull rope emergency stop switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020690968.2U CN212291991U (en) | 2020-04-29 | 2020-04-29 | Coordinate type stacker crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020690968.2U CN212291991U (en) | 2020-04-29 | 2020-04-29 | Coordinate type stacker crane |
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| Publication Number | Publication Date |
|---|---|
| CN212291991U true CN212291991U (en) | 2021-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020690968.2U Active CN212291991U (en) | 2020-04-29 | 2020-04-29 | Coordinate type stacker crane |
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| CN (1) | CN212291991U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030905A (en) * | 2021-11-30 | 2022-02-11 | 浙江华亿电气有限公司 | An automatic palletizing equipment |
| CN115339914A (en) * | 2022-08-22 | 2022-11-15 | 合肥哈工龙延智能装备有限公司 | Stacking mechanism with buffer station for unpacking and sealing integrated machine |
-
2020
- 2020-04-29 CN CN202020690968.2U patent/CN212291991U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030905A (en) * | 2021-11-30 | 2022-02-11 | 浙江华亿电气有限公司 | An automatic palletizing equipment |
| CN115339914A (en) * | 2022-08-22 | 2022-11-15 | 合肥哈工龙延智能装备有限公司 | Stacking mechanism with buffer station for unpacking and sealing integrated machine |
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