CN216403124U

CN216403124U - Stacking machine

Info

Publication number: CN216403124U
Application number: CN202123026793.9U
Authority: CN
Inventors: 侯国阳; 侯国庆; 袁启林
Original assignee: Qingdao Silaifu Textile Machinery Co ltd
Current assignee: Qingdao Silaifu Textile Machinery Co ltd
Priority date: 2021-12-03
Filing date: 2021-12-03
Publication date: 2022-04-29
Anticipated expiration: 2031-12-03

Abstract

The utility model discloses a stacker crane, which comprises an upright post, a mechanical arm and a mechanical arm, wherein the mechanical arm comprises a lifting platform and a transverse frame, the first end of the transverse frame is rotatably connected with the lifting platform, the second end of the transverse frame is connected with the mechanical arm, the lifting platform drives the transverse frame to move up and down along the upright post under the action of a first driving unit, the transverse frame rotates relative to the lifting platform under the action of a second driving unit, the mechanical arm comprises a clamping jaw bearing table, a rotating frame and a clamping jaw, the clamping jaw can clamp or release materials, the rotating frame is rotatably connected with the clamping jaw bearing table and is also connected with the clamping jaw, the rotating frame can rotate relative to the clamping jaw bearing table under the action of a third driving unit, and the clamping jaw bearing table can slide back and forth along the transverse frame under the action of a fourth driving unit, the stacker crane has a simple structure, the stacking efficiency is high, the failure rate is low, and the production requirement can be better met.

Description

Stacking machine

Technical Field

The utility model relates to the technical field of stacking equipment, in particular to a stacker crane.

Background

At present, bobbin yarn processing operation equipment is mature, has higher automation degree and production efficiency, and the collection of final finished products and some mechanized stacking manipulators for stacking can be used for operation, so that the labor intensity of workers can be greatly reduced, and the labor cost of enterprises can be saved. However, the existing stacker crane often has the problems of complex structure, high production cost and low working efficiency, can not well meet the production requirements of enterprises, and is not beneficial to popularization and application. Therefore, a stacker crane with simple structure, low production and manufacturing cost and high working efficiency is needed to be designed.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a stacker crane, which solves the problems of complex mechanism, high production cost and low working efficiency of the stacker crane in the prior art, can realize high-efficiency stacking, and has the advantages of simple structure, low production and manufacturing cost, good economy and contribution to popularization and application. The adopted technical scheme is as follows:

a stacker crane comprises an upright post, a mechanical arm and a mechanical arm, wherein a first driving unit is arranged on the upright post, the mechanical arm comprises a lifting platform, a transverse frame and a second driving unit, the lifting platform is connected with the upright post in a sliding mode and driven by the first driving unit to move up and down relative to the upright post, a first end of the transverse frame is connected with the lifting platform in a rotating mode and driven by the second driving unit to rotate relative to the lifting platform, the second driving unit is installed on the transverse frame or the lifting platform, and the mechanical arm is arranged on the transverse frame;

on the basis of the technical scheme, the manipulator includes clamping jaw plummer, rotating turret, third drive unit, clamping jaw and clamping jaw actuating mechanism, the clamping jaw plummer is connected with the second end of horizontal frame, the rotating turret rotates with the clamping jaw plummer to be connected, just the third drive unit can drive the relative clamping jaw plummer of rotating turret and rotate, third drive unit sets up on the clamping jaw plummer, the clamping jaw includes two centre gripping arms, two centre gripping arms hinge in the both sides of rotating turret symmetrically, just the lower part of centre gripping arm is equipped with inward L type clamping jaw, clamping jaw actuating mechanism is used for driving two centre gripping arms to close and open in order to realize pressing from both sides tight and unclamping the material.

On the basis of the technical scheme, the clamping jaw driving mechanism comprises two first driving cylinders, one end of each first driving cylinder is hinged to the rotating frame, the other end of each first driving cylinder is hinged to the upper portion of the clamping arm, and the clamping arm can rotate relative to the rotating frame under the action of the first driving cylinders.

On the basis of the technical scheme, the clamping jaw loading platform further comprises a fourth driving unit, the clamping jaw loading platform is connected with the transverse frame in a sliding mode, and the fourth driving unit is arranged on the transverse frame and can drive the clamping jaw loading platform to slide along the transverse frame.

On the basis of the technical scheme, the upright column comprises an upright column, one side of the lifting platform is provided with a first pulley assembly, the first pulley assembly comprises a first pulley, a second pulley and a third pulley which are rotatably connected with the same lifting platform, the second pulley and the third pulley are respectively arranged on two sides of the first pulley and jointly form an area for containing the upright column, and the wheel surfaces of the first pulley, the second pulley and the third pulley are abutted to the outer wall surface of the upright column.

On the basis of the technical scheme, the transverse frame comprises a transverse sliding rail, a second pulley assembly is arranged on one side of the clamping jaw bearing table, the second pulley assembly comprises a fourth pulley, a fifth pulley and a sixth pulley which are all rotatably connected with the clamping jaw bearing table, the fifth pulley and the sixth pulley are respectively arranged on two sides of the fourth pulley, and the fifth pulley and the sixth pulley jointly form an area for containing the transverse sliding rail, and the wheel faces of the fourth pulley, the fifth pulley and the sixth pulley are abutted to the outer side wall of the transverse sliding rail.

On the basis of the technical scheme, the first driving unit transmits the rotary motion to the first chain wheel through the first speed reducer, one end of a first chain matched with the first chain wheel is connected with the lifting platform, and the other end of the first chain is provided with a balancing weight.

On the basis of the technical scheme, a work indicating lamp is arranged at the top of the stacker crane, and when the stacker crane is in a working state, the work indicating lamp is lightened.

Advantageous effects

According to the utility model, after the manipulator clamps the materials, the manipulator drives the manipulator to operate to transport the materials to the designated position, and then the manipulator rotates by a certain angle to straighten the materials, so that the materials are transferred and stacked in a reciprocating manner.

According to the utility model, the first chain wheel is provided with the first chain, one end of the first chain drives the mechanical arm to slide up and down along the upright post through the first fixing plate, the other end of the first chain is provided with the balancing weight, and the balancing weight can reduce the lifting power of the first driving unit and reduce the energy consumption on one hand, and can balance the loads inside and outside the upright post on the other hand, so that the stability of the whole structure of the equipment is improved.

According to the utility model, the two clamping arms are respectively driven by the two first driving cylinders, and the pair of inward L-shaped clamping claws is arranged below the two clamping arms, so that the control range of the opening and closing angle of the two clamping arms is large, the two clamping arms can be suitable for clamping finished cone yarns of different specifications, and the applicability of the stacker crane is enhanced.

According to the utility model, the lifting platform is provided with the first pulley assembly, the first pulley assembly comprises the first pulley, the second pulley and the third pulley, the three pulleys surround to form an area for accommodating the vertical support, and the wheel surfaces of the three pulleys are abutted against the outer side wall of the vertical support, so that the resistance of the lifting platform in the vertical sliding process along the vertical support is small, the lifting power of the first driving unit is favorably reduced, and the energy consumption is reduced; similarly, the clamping jaw bearing platform is provided with a second pulley assembly, and the clamping jaw bearing platform has small resistance when driving the rotating shaft to slide along the transverse frame, so that the lower energy consumption of the equipment is ensured, and the production cost of enterprises is saved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary of the utility model, and that other embodiments can be derived from the drawings provided by those skilled in the art without inventive effort.

FIG. 1: the utility model has a structure schematic diagram;

FIG. 2: the structure of the front view of the utility model is schematic;

FIG. 3: the utility model discloses a structural schematic diagram of a lifting platform and a first pulley assembly;

FIG. 4: the utility model discloses a clamping jaw bearing table and a second pulley assembly;

FIG. 5: the structure schematic diagram of the chain and the counterweight block in other embodiments;

Detailed Description

The utility model is further illustrated by the following figures and examples:

reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

A stacker crane as shown in figures 1-4 comprises a column 1, a mechanical arm 2 and a manipulator 3.

The stand 1 comprises metal framework, and includes two vertical posts 12, and 1 top of stand is equipped with work pilot lamp 4, and works as when the hacking machine is in operating condition, work pilot lamp 4 is lighted, the bottom of stand 1 is equipped with the base of rigid coupling in ground.

The mechanical arm 2 includes a lifting platform 20, a transverse frame 21, and a second driving unit 22, wherein the second driving unit 22 is a servo motor, the lifting platform 20 includes an upper frame and a lower frame, a first end of the transverse frame 21 is embedded between the upper frame and the lower frame, the first end of the transverse frame 21 is rotatably connected to the upper frame through a first rotating shaft, a bearing is disposed at a rotational connection position, the second driving unit 22 can transmit a rotational motion to the first rotating shaft through a second gear set, that is, the second driving unit 22 drives the transverse frame 21 to rotate relative to the lifting platform 20, the second driving unit 22 is fixed to the lower frame through a bolt, the first driving unit 11 is a servo motor and is screwed to the column 1 through a motor base, in this embodiment, the first driving unit 11 transmits the rotational motion to a first sprocket through a first speed reducer, the lifting platform further comprises a third chain wheel which is parallel to the first chain wheel and has the same structure, one end of a first chain 13 matched with the two chain wheels is fixedly connected with the lifting platform 20 to drive the lifting platform 20 to slide up and down relative to the upright post 1, the other end of the first chain 13 is fixedly connected with a balancing weight, and the balancing weight is arranged in an inner cavity of the upright post 1. In addition, the first chain wheel, the third chain wheel and the first chain 13 are covered with a shield, so that dust can be prevented from attaching to the shields to influence the normal operation of the equipment. In another embodiment, as shown in fig. 5, the lifting device further includes a second chain wheel and a fourth chain wheel parallel to the second chain wheel and having the same structure, one end of the second chain 14 cooperating with the two chain wheels is fixedly connected to the bottom surface of the counterweight block, and the other end is fixedly connected to the bottom surface of the lifting platform 20, so as to improve the stability of the lifting platform 20 during the up-down lifting process. In another embodiment, the lifting platform 20 is slidably connected to the upright 1, a first driving motor is fixedly connected to the lifting platform 20, a first gear is fixedly connected to a rotor end of the first driving motor, a first rack engaged with the first gear is disposed on the upright 1, and the first driving motor can drive the lifting platform 20 to perform a lifting motion relative to the upright 1.

Upright 1 includes two parallel vertical support posts 12, and the position that lift platform 20 is close to vertical support post 12 is equipped with first pulley assembly 23, first pulley assembly 23 is including all rotating first pulley 231, second pulley 232 and the third pulley 233 of being connected with lift platform 20, the both sides of first pulley 231 are located to second pulley 232 and third pulley 233 branch, the axis collineation of second pulley 232 and third pulley 233 and perpendicular with the axis of first pulley 231, and their three forms an area that is used for the vertical support post 12 jointly, the wheel face of first pulley 231, second pulley 232 and third pulley 233 all with the outer wall butt of vertical support post 12, first pulley 232, second pulley 232 and third pulley 233 still overlap outward and be equipped with wear-resisting cover, the material of wear-resisting cover can be rubber or plastics.

The manipulator 3 comprises a clamping jaw bearing table 30, a rotating frame 31, a clamping jaw 33, a clamping jaw driving mechanism 34, a third driving unit 32 and a fourth driving unit 34, wherein the clamping jaw driving mechanism 34, the third driving unit 32 and the fourth driving unit 34 are in sliding connection with the second end of the transverse frame 21, the third driving unit 32 is a servo motor, the fourth driving unit 35 is a second driving cylinder in the embodiment, the second driving cylinder is in threaded connection with the transverse frame 21, a piston rod of the second driving cylinder is in threaded connection with the clamping jaw bearing table 30, and the second driving cylinder can drive the clamping jaw bearing table 30 to slide along the transverse frame 21; in other embodiments, the fourth driving unit 35 may be a second driving motor fixedly connected to the jaw bearing sleeve 30, a second gear is fixedly connected to a rotor end of the second driving motor, a second rack (not shown) engaged with the second gear is fixedly connected to the transverse frame 21, and through cooperation of the second driving motor, the second gear and the second rack, the jaw bearing sleeve 30 may stay at a plurality of positions relative to the transverse frame 21, so as to better meet the stacking requirement. The rotating frame 31 is arranged below the clamping jaw bearing platform 30 and is in rotating connection with the clamping jaw bearing platform 30 through a second rotating shaft, the third driving unit 32 is in threaded connection with the clamping jaw bearing platform 30 through a servo motor base and transmits the rotating motion to the rotating frame 31 through the second rotating shaft, the clamping jaw 33 comprises two clamping arms 331, the two clamping arms 331 are symmetrically hinged on two sides of the rotating frame 31, and the lower part of the clamping arm 331 is provided with an inward L-shaped clamping jaw 332, the clamping jaw driving mechanism comprises two first driving cylinders and two connecting rods, one end of the first driving cylinder is hinged with the rotating frame 31, the other end of the first driving cylinder is hinged with the upper part of the clamping arm 331 through a connecting rod, the clamping arm 331 can rotate relative to the rotating frame 31 under the action of the first driving air cylinder, that is, the first driving cylinder can drive the two clamping arms 331 to open and close so as to clamp and release the materials.

In addition, the transverse frame 21 includes two parallel transverse sliding rails 211, a second pulley assembly 36 is disposed on the jaw bearing platform 30 close to the transverse sliding rails 211, the second pulley assembly 36 includes a fourth pulley 361, a fifth pulley 362 and a sixth pulley 363 that are rotatably connected to the jaw bearing platform 30, the fifth pulley 362 and the sixth pulley 363 are respectively disposed on two sides of the fourth pulley 361, axes of the fifth pulley 362 and the sixth pulley 363 are collinear and perpendicular to an axis of the fourth pulley 361, the fifth pulley 362 and the sixth pulley 363 jointly form a region for accommodating the transverse sliding rails 211, and wheel faces of the fourth pulley 361, the fifth pulley 362 and the sixth pulley 363 are abutted to outer side walls of the transverse sliding rails 211. In addition, wear-resistant sleeves are further sleeved outside the fourth pulley 361, the fifth pulley 362 and the sixth pulley 363, and the wear-resistant sleeves can be made of rubber or plastics.

The present invention has been described above by way of example, but the present invention is not limited to the above-described specific embodiments, and any modification or variation made based on the present invention is within the scope of the present invention as claimed.

Claims

1. A stacker crane comprises a column (1), a mechanical arm (2) and a mechanical arm (3), and is characterized in that,

the lifting mechanism is characterized in that a first driving unit (11) is arranged on the upright column (1), the mechanical arm (2) comprises a lifting platform (20), a transverse frame (21) and a second driving unit (22), the lifting platform (20) is connected with the upright column (1) in a sliding mode and driven by the first driving unit (11) to do lifting motion relative to the upright column (1), a first end of the transverse frame (21) is rotatably connected with the lifting platform (20) and driven by the second driving unit (22) to rotate relative to the lifting platform (20), and the second driving unit (22) is installed on the transverse frame (21) or the lifting platform (20); the manipulator (3) is arranged on the transverse frame (21).

2. A palletiser according to claim 1, characterised in that the manipulator (3) comprises a jaw carrier (30), a turret (31), a third drive unit (32), a jaw (33) and a jaw drive mechanism (34), the clamping jaw bearing platform (30) is connected with the second end of the transverse frame (21), the rotating frame (31) is rotationally connected with the clamping jaw bearing platform (30), and the third driving unit (32) can drive the rotating frame (31) to rotate relative to the clamping jaw bearing platform (30), the third driving unit (32) is arranged on the clamping jaw bearing platform (30), the clamping jaw (33) comprises two clamping arms (331), the two clamping arms (331) are symmetrically hinged on two sides of the rotating frame (31), and the lower part of the clamping arm (331) is provided with an inward L-shaped clamping claw (332), the clamping jaw driving mechanism (34) is used for driving the two clamping arms (331) to be opened and closed so as to clamp and release materials.

3. A palletiser according to claim 2, wherein the jaw drive mechanism (34) comprises two first drive cylinders, one end of which is hinged to the turret (31) and the other end of which is hinged to the upper part of the gripping arm (331), the gripping arm (331) being rotatable relative to the turret (31) by the first drive cylinders.

4. A palletiser according to claim 2, further comprising a fourth drive unit (35), the jaw carrier (30) being slidably connected to the transverse frame (21), the fourth drive unit (35) being provided on the transverse frame (21) and being adapted to drive the jaw carrier (30) to slide along the transverse frame (21).

5. The stacker crane according to claim 1, wherein the upright column (1) comprises an upright column (12), a first pulley assembly (23) is arranged on one side of the lifting platform (20), the first pulley assembly (23) comprises a first pulley (231), a second pulley (232) and a third pulley (233) which are rotatably connected with the lifting platform (20), the second pulley (232) and the third pulley (233) are respectively arranged on two sides of the first pulley (231) and jointly form a region for accommodating the upright column (12), and the wheel surfaces of the first pulley (231), the second pulley (232) and the third pulley (233) are abutted against the outer wall surface of the upright column (12).

6. The stacker crane according to claim 2, wherein the transverse frame (21) comprises a transverse sliding rail (211), a second pulley assembly (36) is arranged on one side of the jaw bearing table (30), the second pulley assembly (36) comprises a fourth pulley (361), a fifth pulley (362) and a sixth pulley (363) which are rotatably connected with the jaw bearing table (30), the fifth pulley (362) and the sixth pulley (363) are respectively arranged on two sides of the fourth pulley (361) and jointly form an area for accommodating the transverse sliding rail (211), and wheel faces of the fourth pulley (361), the fifth pulley (362) and the sixth pulley (363) are abutted against an outer side wall of the transverse sliding rail (211).

7. A palletiser according to claim 1, wherein the first drive unit (11) transmits the rotary motion to a first sprocket through a first reducer, one end of a first chain (13) cooperating with the first sprocket is connected to the lifting platform (20), and the other end of the first chain (13) is provided with a counterweight.

8. A palletiser according to claim 7, further comprising a second sprocket and a second chain (14) cooperating with the second sprocket, one end of the second chain (14) being connected to the underside of the counterweight and the other end of the second chain (14) being connected to the lifting platform (20).

9. A palletiser according to claim 4, characterised in that the fourth drive unit (35) comprises a second drive cylinder, which is secured to the transverse frame (21) and the piston rod of which is connected to the jaw carrier (30).

10. A palletiser according to claim 4, wherein the fourth drive unit (35) comprises a second drive motor secured to the jaw carrying platform (30), the rotor end of the second drive motor being connected to a second gear, the transverse frame (21) being provided with a second rack engaging the second gear.