CN213923181U - Multi-material opposite-fork stacking manipulator - Google Patents
Multi-material opposite-fork stacking manipulator Download PDFInfo
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- CN213923181U CN213923181U CN202022938202.4U CN202022938202U CN213923181U CN 213923181 U CN213923181 U CN 213923181U CN 202022938202 U CN202022938202 U CN 202022938202U CN 213923181 U CN213923181 U CN 213923181U
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- fork
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- pressing plate
- elongated bars
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- 239000000463 material Substances 0.000 title claims abstract description 32
- 238000003825 pressing Methods 0.000 claims description 38
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 238000005056 compaction Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
In the field of modern fully automatic welded pipe production lines, the finished elongated bars are sometimes stacked in rows in bundles, and the existing palletizing systems usually have a plurality of single-side fork plates which are directly forked from one side of the row of elongated bars and then conveyed to a stacking device, and needs to be withdrawn from its side after the row of elongated bars has been stacked, there is often insufficient space in a cramped area to allow for the entry and withdrawal of a plurality of single-sided fork plates when the row of elongated bars is being forked and stacked, therefore, the technical scheme discloses a set of multi-material fork-aligning stacking manipulator which does not occupy the space of the area of the long and thin bar, the stacking system has the advantages that the first fork and the second fork which correspond to each other are arranged at two ends of a row of long and thin bars, the whole row of long and thin bars are synchronously forked at the two ends of the row of long and thin bars and conveyed to stacking equipment, and the problem that a stacking system with a plurality of single-side fork plates cannot enter a narrow space area is solved.
Description
Technical Field
The utility model relates to an automatic long and thin bar successive layer pile up neatly technical field among the production line specifically is a many materials in bank long and thin bar in narrow and small regional transport field of space are to fork pile up neatly machinery hand.
Background
In the field of modern full-automatic welded pipe production lines, finished elongated bar materials are sometimes stacked in rows into bundles, which requires a stacking system to stack the rows of elongated bar materials layer by layer. The prior art palletizing systems typically provide for a plurality of single-sided fork plates to be directly forked from one side of the row of elongated bars and then transported to the stacking apparatus, but such apparatus requires a plurality of single-sided fork plates to enter the region of the row of elongated bars from the side thereof and to be withdrawn from the side thereof after the row of elongated bars has been stacked, which requires sufficient space for the plurality of single-sided fork plates to enter and exit in the region of the forking and stacking of the row of elongated bars. However, in a narrow space area, there is usually not enough space in the area for forking and stacking the row of long and thin bars to allow the plurality of single-side fork plates to enter and exit, which requires a person skilled in the art to design a stacking system suitable for the narrow space area, so that in order to solve the problem, it is necessary to design a plurality of materials which do not occupy the space of the long and thin bar area for the fork stacking manipulator.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a set of many materials that do not occupy the regional space of long and thin bar pile up neatly machinery hand to fork for in transporting the long and thin bar in bank that is in the narrow and small region in space piles up the equipment, through being provided with first fork hand and the second fork hand of mutual correspondence in the both ends of the long and thin bar in bank synchronous fork of whole row of long and thin bar and transport and pile up in the equipment, solved the difficult problem of the unable pile up neatly system that gets into a plurality of unilateral fork boards in the narrow and small region in space.
On one hand, the multi-material-pair-fork stacking manipulator is used for stacking rows of elongated bars w in a narrow space layer by layer and comprises a first spanning rack 1a and a second spanning rack 1b which play a role in synchronous supporting, a first carrier rack 2a and a second carrier rack 2b which are used for synchronous transferring, and a first lifting rack 3a and a second lifting rack 3b which are used for synchronous up-and-down movement, and is characterized in that a cross beam h is further arranged between the first lifting rack 3a and the second lifting rack 3b, a first fork arm 4a and a second fork arm 4b which are used for carrying the rows of elongated bars w are further arranged below the cross beam h, and the first fork arm 4a and the second fork arm 4b can be close to and far away from each other to be suitable for transferring the elongated bars w with various lengths.
According to an aspect of the embodiment of the present invention, the first fork 4a is further provided with a first fork plate 4a1 and a first pressing plate 4a2, the first pressing plate 4a2 is disposed above the first fork plate 4a1 and can move up and down relative to the first fork plate 4a1, and the first end of the elongated bar w can be fixed by the mutual clamping of the first fork plate 4a1 and the first pressing plate 4a 2.
According to an aspect of the embodiment of the present invention, the second fork arm 4b is further provided with a second fork plate 4b1 and a second pressing plate 4b2, the second pressing plate 4b2 is disposed above the second fork plate 4b1 and can move up and down relative to the second fork plate 4b1, and the second end of the elongated bar w can be fixed by clamping the second fork plate 4b1 and the second pressing plate 4b2 to each other.
According to an aspect of the embodiment of the present invention, the first fork plate 4a1, the first pressing plate 4a2, the second fork plate 4b1, the length of the second pressing plate 4b2 along the direction parallel to the row of elongated bars w is greater than or equal to the arrangement width of the row of elongated bars w, the first pressing plate 4a2 is parallel to the first fork plate 4a1, and the second pressing plate 4b2 is parallel to the second fork plate 4b1, so as to ensure that the first fork arm 4a and the second fork arm 4b can synchronously press the two ends of the row of elongated bars w.
According to an aspect of the embodiment of the present invention, the lower ends of the first pressing plate 4a2 and the second pressing plate 4b2 are both provided with a groove, and a flexible material is disposed in the groove, the height of the flexible material extends out of the groove, the flexible material may be rubber or nylon, and the flexible material can ensure that the first pressing plate 4a2 and the second pressing plate 4b2 uniformly compress the row of the elongated bars w.
According to an aspect of the embodiment of the present invention, the first fork 4a is further provided with a first fine adjustment device 4a3, the first fine adjustment device 4a3 can adjust the clamping position of the first fork plate 4a1 and the first pressing plate 4a2 of the first fork 4a to clamp the first end of the row of the elongated bars w, so as to ensure that the first fork 4a can sufficiently fix the first end of the row of the elongated bars w.
According to an aspect of the embodiment of the present invention, the second fork 4b is further provided with a second fine adjustment device 4b3, the second fine adjustment device 4b3 can adjust the clamping position of the second fork plate 4b1 and the second pressing plate 4b2 of the second fork 4b to clamp the second end of the row of the elongated bar w, so as to ensure that the second fork 4b can sufficiently fix the second end of the row of the elongated bar w.
Drawings
Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
Description of the sequence numbers: the device comprises a first spanning frame 1a, a second spanning frame 1b, a first carrier frame 2a, a second carrier frame 2b, a first lifting frame 3a, a second lifting frame 3b, a cross beam h, a first fork arm 4a, a first fork plate 4a1, a first pressing plate 4a2, a first fine adjustment device 4a3, a second fork arm 4b, a second fork plate 4b1, a second pressing plate 4b2, a second fine adjustment device 4b3, a sliding frame 4b4, an elongated bar material w, a material frame k and a discharging device p.
Fig. 1 is a schematic diagram of the basic structure of the embodiment of the present invention.
Fig. 2 is a schematic side view of the embodiment of the present invention.
Fig. 3 is a schematic diagram of the movement of the carrier frame according to the embodiment of the present invention.
Fig. 4 is a schematic view of the downward movement of the elevator frame according to the embodiment of the present invention.
Fig. 5 is a schematic side view of the downward movement of the elevator frame according to the embodiment of the present invention.
Fig. 6 is a schematic view of the fork releasing the elongated bar w according to an embodiment of the present invention.
Fig. 7 is a schematic sectional structure diagram of an embodiment of the present invention.
Fig. 8 is a schematic view of the embodiment of the present invention for changing the cross-sectional dimension of the long and thin bar material w.
Fig. 9 is a schematic diagram of the embodiment of the present invention for changing the length specification of the slender rod w.
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention, but are not intended to limit the scope of the invention, i.e., the invention is not limited to the preferred embodiments described, but the scope of the invention is defined by the claims.
In the description of the embodiments of the present invention, it should be noted that "vertical" and "parallel" are not only absolute meanings in the mathematical sense, but also can be understood as "substantially vertical" and "substantially parallel" unless otherwise stated.
Fig. 1 is a schematic diagram of the basic structure of the embodiment of the present invention.
Fig. 2 is a schematic side view of the embodiment of the present invention.
Referring to fig. 1 and 2, the embodiment of the present invention provides a multi-material fork-aligning stacking manipulator that does not occupy the space of the area of the slender rod, the stacking system is used for transporting the rows of the long and thin bars in the narrow space area to the stacking equipment, synchronously forks the whole row of the long and thin bars at the two ends of the row of the long and thin bars through the first fork arm and the second fork arm which are arranged correspondingly to each other and transports the whole row of the long and thin bars to the stacking equipment, solves the problem that the narrow space area can not enter the stacking system of a plurality of single-side fork plates, is used for stacking the rows of the long and thin bars w in the narrow space layer by layer, the concrete structure of the device can comprise a first spanning frame 1a and a second spanning frame 1b which play a role of synchronous support, a first carrier frame 2a and a second carrier frame 2b for synchronous transfer, and a first lift frame 3a and a second lift frame 3b for synchronous up-and-down movement. The first crossing rack 1a and the second crossing rack 1b are arranged on two side edges and are of beam frame structures, supporting legs are arranged on two sides and are supported on the ground, bearing cross beams capable of bearing are arranged above the supporting legs on the two sides, the upper sides of the bearing cross beams are both flat surfaces and are provided with linear slide rails, and the first crossing rack 1a and the second crossing rack 1b are arranged in parallel. The first and second carrier frames 2a and 2b are each a steel structure frame structure, which is generally a box-type structure for structural stability. The first carrier frame 2a is arranged on the first cross frame 1a, and the first carrier frame 2a can freely slide along the length direction of the upper side bearing cross beam of the first cross frame 1a relative to the first cross frame 1a through the sliding of the linear slide rail. The second carrier frame 2b is arranged on the second spanning frame 1b, and the second carrier frame 2b can freely slide along the length direction of the upper side bearing beam of the second spanning frame 1b relative to the second spanning frame 1b through the sliding of the linear slide rail. The first carrier frame 2a and the second carrier frame 2b can be moved synchronously by means of a long gear shaft in series with each other. In addition, in this embodiment, a linear slide rail arranged in the up-down direction is further disposed on the right side of the first carrier frame 2a, i.e., on a side close to the middle between the first spanning frame 1a and the second spanning frame 1b, and the first lift frame 3a is disposed on the right side of the first carrier frame 2a and can move up and down relative to the first carrier frame 2a by the linear slide rail arranged in the up-down direction. In this embodiment, a linear slide rail arranged in the up-down direction is also provided on the left side of the second carrier frame 2b, i.e., on the side near the middle between the first spanning frame 1a and the second spanning frame 1b, and the second lift frame 3b is provided on the left side of the second carrier frame 2b and can move up and down relative to the second carrier frame 2b by the linear slide rail arranged in the up-down direction. The first and second elevator frames 3a and 3b can be synchronously moved by connecting long gear shafts in series with each other. In this embodiment, in particular, a cross beam h is further provided between the first lifting frame 3a and the second lifting frame 3b, two ends of the cross beam h are respectively connected with the first lifting frame 3a and the second lifting frame 3b through hinge shafts, a first fork 4a and a second fork 4b for carrying rows of elongated bars w are further provided below the cross beam h, and the first fork 4a and the second fork 4b can fix the elongated bars w in a manner of respectively clamping two ends of the elongated bars w or in a manner of respectively inserting two ends of the hollow tube type elongated bars w through fork plates. The fixing manner of clamping the two ends of the elongated bar w respectively is specifically described in the present embodiment. The first and second jaws 4a, 4b can also be moved towards and away from each other to accommodate the transfer of elongated bars w of various lengths.
Fig. 7 is a schematic sectional structure diagram of an embodiment of the present invention.
Fig. 8 is a schematic view of the embodiment of the present invention for changing the cross-sectional dimension of the long and thin bar material w.
According to fig. 7 and 8, according to an aspect of the embodiment of the present invention, the first fork 4a is further provided with a first fork plate 4a1 and a first pressing plate 4a2, the first fork plate 4a1 and the first pressing plate 4a2 are both in the shape of a long plate, the first fork plate 4a1 is provided on the first fork rack below the left side of the beam h, and the first fork rack is coupled with the beam h through a linear slide rail and can slide left and right relative to the beam h. The first pressure plate 4a2 is mounted on a hanger above the first fork 4a1 and is movable up and down relative to the first fork 4a1 to secure the first end of the elongated bar w by the clamping of the first fork 4a1 and the first pressure plate 4a2 to each other. The second fork arm 4b is further provided with a second fork plate 4b1 and a second pressing plate 4b2, the second fork plate 4b1 and the second pressing plate 4b2 are also in the shape of long plates, the second fork plate 4b1 is arranged on a second fork arm hanger below the right side of the beam h, and the second fork arm hanger is mutually connected with the beam h through a linear slide rail and can slide left and right relative to the beam h. The second pressure plate 4b2 is arranged above the second fork plate 4b1 and can move up and down relative to the second fork plate 4b1, and the second end of the elongated bar w can be fixed by the mutual clamping of the second fork plate 4b1 and the second pressure plate 4b 2. The length of the first fork 4a1, first pressure plate 4a2, second fork 4b1 and second pressure plate 4b2 in the direction parallel to the direction of transfer of the row of elongated bars w is greater than or equal to the width of the row of elongated bars w, in such a way as to allow the simultaneous transfer of the rows of elongated bars w. And with the first pressure plate 4a2 parallel to the first fork 4a1 and the second pressure plate 4b2 parallel to the second fork 4b1, it is ensured that the first fork 4a and the second fork 4b can simultaneously compress the two ends of the row of elongated bars w. The lower ends of the first and second pressing plates 4a2 and 4b2 are each provided with a groove, and a flexible material is arranged in the grooves, the height of the flexible material extends out of the grooves, the flexible material can be rubber or nylon, and the flexible material can ensure that the first and second pressing plates 4a2 and 4b2 can be uniformly pressed into the row of elongated bars w.
Fig. 4 is a schematic view of the downward movement of the elevator frame according to the embodiment of the present invention.
Fig. 6 is a schematic view of the fork releasing the elongated bar w according to an embodiment of the present invention.
According to fig. 4 and 6, according to an aspect of the embodiment of the present invention, the first fork arm 4a is further provided with a first fine adjustment device 4a3, the first fine adjustment device 4a3 is provided with a first driving cylinder, and according to the direct replacement of the conventional technical means of the skilled in the art, the first driving cylinder can be replaced by a linear driving device such as a driving cylinder, the first end of the first driving cylinder is connected with the cross beam h, the second end of the first driving cylinder is connected with the first fork arm hanging frame, and the first fork arm 4a can move left and right relative to the cross beam h by the driving of the first driving cylinder. Fine adjustment of the first fine adjustment means 4a3 allows adjustment of the clamping position at which the first fork plate 4a1 and the first pressure plate 4a2 of the first fork 4a clamp the first end of the row of elongated bars w to ensure that the first fork 4a can adequately secure the first end of the row of elongated bars w. Whilst when the drive stroke of the first drive cylinder is greater, it is again possible to effect the outward movement of the first fork plate 4a1 as the first fork arm 4a releases the elongate bar w until the first fork plate 4a1 is fully clear of the elongate bar w. Similarly, the second fork arm 4b is also provided with a second vernier device 4b3, and the second vernier device 4b3 is provided with a second driving cylinder, and may be replaced with a linear driving device such as a driving cylinder according to a direct replacement by a technical means which is common to those skilled in the art. A sliding frame 4b4 is arranged between the second fork arm hanging rack and the beam h, and the sliding frame 4b4 can also slide left and right relative to the beam h. The first end of the second driving cylinder is connected with the sliding frame 4b4, the second end of the second driving cylinder is connected with the second fork arm hanging frame, and the second fork arm 4b can move left and right relative to the sliding frame 4b4 through the driving of the second driving cylinder. Through the movement of the sliding rack 4b4, the second fine adjustment device 4b3 and the second fork arm 4b can be driven to slide left and right relative to the beam h. The clamping position at which the second jaw plate 4b1 and second pressure plate 4b2 of the second jaw 4b clamp the second ends of the row of elongated bars w can be adjusted by fine adjustment of the second fine adjustment device 4b3 to ensure that the second jaw 4b can adequately secure the second ends of the row of elongated bars w. Whilst when the drive stroke of the second drive cylinder is greater, it is again possible to effect movement of the second jaw plate 4b1 outwardly when the second jaw 4b releases the elongate bar stock w until the second jaw plate 4b1 is fully clear of the elongate bar stock w.
Fig. 9 is a schematic diagram of the embodiment of the present invention for changing the length specification of the slender rod w.
According to fig. 9, according to an aspect of the embodiment of the present invention, by moving the sliding frame 4b4, the second fine adjustment device 4b3 and the second fork 4b can slide left and right relative to the cross beam h, and the distance change of the second fork 4b relative to the first fork 4a can realize that the second fork is suitable for different product sizes, so that the application range of the whole device is wider.
Fig. 2 is a schematic side view of the embodiment of the present invention.
Fig. 3 is a schematic diagram of the movement of the carrier frame according to the embodiment of the present invention.
Fig. 5 is a schematic side view of the downward movement of the elevator frame according to the embodiment of the present invention.
Fig. 6 is a schematic view of the fork releasing the elongated bar w according to an embodiment of the present invention.
Referring to fig. 2, 3, 5 and 6, the specific operation of the embodiment of the present invention is that the discharging device p arranges the elongated bar w in an orderly row, the first fork arm 4a and the second fork arm 4b move to both sides of the elongated bar w under the synchronous movement of the first carrier frame 2a and the second carrier frame 2b, the first fork plate 4a1 and the second fork plate 4b1 move to the lower side of the entire row of the elongated bar w through the synchronous movement of the first lift frame 3a and the second lift frame 3b, the first fork plate 4a1 and the second fork plate 4b1 are inserted into the lower side of the entire row of the elongated bar w through the driving of the first driving cylinder and the second driving cylinder, the first pressing plate 4a2 and the second pressing plate 4b2 press down respectively to fix both ends of the elongated bar w, and the first fork arm 4a and the second fork arm 4b move up to press the entire row of the first fork arm 4a and the second fork arm 4b upward through the synchronous movement of the first lift frame 3a and the second lift frame 3b The elongated bar stock w is lifted upwards, the whole row of the elongated bar stock w is carried into the material frame k through the synchronous movement of the first carrier frame 2a and the second carrier frame 2b, then the first driving air cylinder and the second driving air cylinder respectively drive the first fork arm 4a and the second fork arm 4b to release the elongated bar stock w, so that the first fork plate 4a1 and the second fork plate 4b1 are respectively separated from two ends of the elongated bar stock w, and the whole stacking process is finished.
It should be understood that the description herein of specific embodiments of the invention is exemplary and should not be construed as an undue limitation on the scope of the invention. The scope of the invention is defined by the claims appended hereto, and encompasses all embodiments falling within its scope and obvious equivalents thereof.
Claims (7)
1. The multi-material opposite-fork stacking manipulator is used for stacking rows of slender bars (w) in a narrow space layer by layer and comprises a first crossing rack (1 a) and a second crossing rack (1 b) which play a role in synchronous supporting, a first carrier rack (2 a) and a second carrier rack (2 b) for simultaneous transfer, a first lifting frame (3 a) and a second lifting frame (3 b) which are used for synchronously moving up and down, it is characterized in that a beam (h) is arranged between the first lifting frame (3 a) and the second lifting frame (3 b), a first fork (4 a) and a second fork (4 b) for carrying rows of elongated bars (w) are also arranged below the cross beam (h), the first fork (4 a) and the second fork (4 b) can be moved towards and away from each other to adapt to the transfer of elongated bars (w) of various lengths.
2. A multiple material pair fork palletizing robot as claimed in claim 1, wherein the first fork arm (4 a) is further provided with a first fork plate (4 a 1) and a first pressing plate (4 a 2), the first pressing plate (4 a 2) is arranged above the first fork plate (4 a 1) and can move up and down relative to the first fork plate (4 a 1), and the first end of the elongated bar (w) can be fixed by mutual clamping of the first fork plate (4 a 1) and the first pressing plate (4 a 2).
3. A multiple material pair fork palletizing robot as claimed in claim 2, wherein a second fork plate (4 b 1) and a second pressing plate (4 b 2) are further arranged on the second fork arm (4 b), the second pressing plate (4 b 2) is arranged above the second fork plate (4 b 1) and can move up and down relative to the second fork plate (4 b 1), and the second end of the elongated bar (w) can be fixed by mutually clamping the second fork plate (4 b 1) and the second pressing plate (4 b 2).
4. A multiple material pair fork palletizing robot as claimed in claim 3, characterized in that the length of the first fork plate (4 a 1), the first pressing plate (4 a 2), the second fork plate (4 b 1) and the second pressing plate (4 b 2) along the direction parallel to the direction of movement of the row of elongated bars (w) is greater than or equal to the width of the row of elongated bars (w), and the first pressing plate (4 a 2) is parallel to the first fork plate (4 a 1) and the second pressing plate (4 b 2) is parallel to the second fork plate (4 b 1), so as to ensure that the first fork arm (4 a) and the second fork arm (4 b) can synchronously press the two ends of the row of elongated bars (w).
5. Multi-material pair-fork palletizing robot as claimed in claim 4, characterized in that the lower ends of said first pressure plate (4 a 2) and said second pressure plate (4 b 2) are each provided with a groove, inside which there is provided a flexible material, the height of which extends beyond the grooves, said flexible material being rubber or nylon, said flexible material ensuring the uniform compaction of the first pressure plate (4 a 2) and the second pressure plate (4 b 2) on the row of elongated bars (w).
6. A multi-material pair fork palletizing robot as claimed in claim 5, wherein the first fork arm (4 a) is further provided with a first fine adjusting device (4 a 3), and the first fine adjusting device (4 a 3) can adjust the clamping position of the first fork plate (4 a 1) and the first pressing plate (4 a 2) of the first fork arm (4 a) for clamping the first end of the row of elongated bars (w) so as to ensure that the first fork arm (4 a) can sufficiently fix the first end of the row of elongated bars (w).
7. A multi-material pair fork palletizing robot as claimed in claim 6, wherein a second fine adjusting device (4 b 3) is further arranged on the second fork (4 b), and the second fine adjusting device (4 b 3) can adjust the clamping position of the second fork plate (4 b 1) and the second pressing plate (4 b 2) of the second fork (4 b) for clamping the second end of the row of elongated bars (w) so as to ensure that the second fork (4 b) can sufficiently fix the second end of the row of elongated bars (w).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022938202.4U CN213923181U (en) | 2020-12-10 | 2020-12-10 | Multi-material opposite-fork stacking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022938202.4U CN213923181U (en) | 2020-12-10 | 2020-12-10 | Multi-material opposite-fork stacking manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN213923181U true CN213923181U (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022938202.4U Active CN213923181U (en) | 2020-12-10 | 2020-12-10 | Multi-material opposite-fork stacking manipulator |
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| Country | Link |
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| CN (1) | CN213923181U (en) |
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- 2020-12-10 CN CN202022938202.4U patent/CN213923181U/en active Active
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