CN218641909U - Multi-station stacker crane - Google Patents
Multi-station stacker crane Download PDFInfo
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- CN218641909U CN218641909U CN202222737068.0U CN202222737068U CN218641909U CN 218641909 U CN218641909 U CN 218641909U CN 202222737068 U CN202222737068 U CN 202222737068U CN 218641909 U CN218641909 U CN 218641909U
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Abstract
The utility model discloses a multistation hacking machine belongs to automatic equipment for packing. The device comprises a rack, a first conveying mechanism, a second conveying mechanism, a partition placing station, a first grabbing mechanism and a second grabbing mechanism. The utility model discloses in snatch the mechanism through setting up two sets of different grade types, be applicable to rectangle carton, cask, square barrel and snatch. The material is changed, the mechanism is snatched in a key switching, and the first mechanism that snatchs of original operation moves frame one side, uses the second to snatch the mechanism and carries out the pile up neatly to another kind of material, has solved with the grabbing device who trades the different grade type, leads to whole pile up neatly equipment to appear the unstable problem of operation.
Description
Technical Field
The utility model belongs to automatic equipment for packing, especially a multistation hacking machine.
Background
Palletizing machines are automatic operating devices which grasp, transport objects or operate tools according to fixed programs. The manipulator is the earliest industrial robot, can be operated under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics and the like.
The existing stacking equipment is generally designed aiming at the shape of goods to be stacked (including but not limited to rectangular cartons, drums and square barrels), when the shape of the goods to be stacked changes, grabbing devices of different types need to be replaced, the problem that the whole stacking equipment is unstable in operation easily occurs, secondary or tertiary fine adjustment is needed for normal production, and the technical level requirement on adjusting personnel is high when time is wasted.
SUMMERY OF THE UTILITY MODEL
In order to overcome the technical defect, the utility model provides a multistation hacking machine to solve the problem that the background art relates to.
The utility model provides a multistation hacking machine, include:
the top of the rack is provided with two linear guide rails distributed in the Y direction; defining the longitudinal direction of the rack as a Y direction;
the first conveying mechanism is arranged in the middle of the bottom of the rack, the conveying direction of the first conveying mechanism is distributed in the X direction, and the first conveying mechanism is suitable for conveying a pallet for stacking materials;
the second conveying mechanism is arranged on one side of the first conveying mechanism, the conveying directions of the second conveying mechanism are distributed in the X direction, and the second conveying mechanism is suitable for conveying materials to be stacked;
the partition plate placing station is arranged on the other side of the first conveying mechanism and is suitable for placing the partition plates for stacking;
the first grabbing mechanism is positioned at one side close to the partition plate placing station; the device comprises a first mounting plate, a first lifting assembly, two first cross beams, a first suction tool and third suction tools, wherein the first mounting plate is slidably mounted on the linear guide rail;
the second grabbing mechanism is positioned on one side close to the second conveying mechanism, and an avoidance station is reserved on one side, close to the second conveying mechanism, of the rack; it includes the slidable mounting and is in second mounting panel on the linear guide sets up second lifting unit on the second mounting panel, fixed mounting are in two second crossbeams of second lifting unit bottom are installed utensil is inhaled to the second on the second crossbeam, and set up second crossbeam one side and scalable extremely the pallet frame of second suction unit bottom.
Preferably or optionally, the top of the rack is further provided with a first rack parallel to the linear guide rail; the both sides of first mounting panel and second mounting panel all are provided with translation motor, translation motor's output pass through the gear with first rack meshes mutually.
Preferably or optionally, the first lifting assembly is structurally identical to the second lifting assembly;
wherein, first lifting unit includes: set up two fixing bases on the first mounting panel are located between two fixing bases, and pass the lift stand of first mounting panel, vertical setting is in a plurality of riser guide and the second rack of lift stand both sides, one side fixed mounting be in on the fixing base, and opposite side slidable mounting be in a plurality of sharp sliders on the riser guide, and set up on the first mounting panel, be located between two fixing bases, and through the gear with second rack meshes servo gear motor mutually.
Preferably or optionally, the first suction device comprises: the sliding installation is in the third mounting panel of first crossbeam sets up between two first crossbeams, and one end is installed through the connecting piece on the first crossbeam, the other end with the first dislocation cylinder that the third mounting panel is connected, and is in through a plurality of connecting rods the first sucking disc subassembly of third mounting panel bottom.
Preferably or optionally, an elastic buffer assembly is further arranged between the connecting rod and the third mounting plate.
Preferably or optionally, the third suction device comprises: the suction cup fixing device comprises a mounting seat fixedly mounted between a third mounting plate and a first suction cup assembly through a connecting rod, a rotating shaft rotatably mounted on the mounting seat, a rotating cylinder, a pull rod and a third suction cup assembly, wherein one end of the rotating cylinder is fixedly mounted on the rotating shaft through a connecting block, the other end of the rotating cylinder is mounted on the mounting seat, one end of the pull rod is fixedly mounted at two ends of the rotating shaft, and the shape of the pull rod is similar to '12367675'.
Preferably or optionally, the second suction device comprises: the fourth mounting plate of the second cross beam is arranged between the two second cross beams in a sliding manner, one end of the fourth mounting plate is arranged on the second cross beam, the other end of the fourth mounting plate is connected with a second dislocation cylinder, the second dislocation cylinder is arranged at the bottom of the third mounting plate through a plurality of vertical telescopic assemblies, the second sucker assembly is arranged between the fourth mounting plate and the second sucker assembly and is horizontally moved to form a linear module, and the side surface of the linear module is in or is approximately in the shape of the upper side surface and the side surface of the output end of the linear module
The tray frame.
Preferably or optionally, the tray rack comprises: the connecting frame is vertically arranged, and the plurality of support forks are horizontally arranged on the connecting frame and are separated by a preset distance.
Preferably or optionally, the second conveying mechanism is a roller type conveying device, and one side of the roller type conveying device is provided with a plurality of grooves which just correspond to the gaps between the rollers and at least allow the supporting fork to be inserted into the gaps between the rollers.
Preferably or optionally, a knife blocking assembly is arranged on each of the first conveying mechanism and the second conveying mechanism.
The utility model relates to a multistation hacking machine compares in prior art, has following beneficial effect: the utility model discloses in through setting up the mechanism that snatchs of two sets of different grade types, be applicable to rectangle carton, cask, square barrel and snatch. The material is changed, the mechanism is snatched in a key switching, and the first mechanism that snatchs of original operation moves frame one side, uses the second to snatch the mechanism and carries out the pile up neatly to another kind of material, has solved with the grabbing device who trades the different grade type, leads to whole pile up neatly equipment to appear the unstable problem of operation.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the second conveying mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the first grabbing mechanism of the present invention.
Fig. 4 is a schematic structural view of the first and third suckers of the present invention.
Fig. 5 is a schematic structural diagram of the first grabbing mechanism of the present invention.
The reference signs are: a frame 100, a linear guide rail 110, a first rack 120;
the first conveying mechanism 200;
the second conveying mechanism 300, the roller type conveying device 310, the groove 320, the cutter blocking assembly 330 and the end blocking plate 340;
a separator placing station 400;
the device comprises a first grabbing mechanism 500, a first mounting plate 511, a translation motor 512, a fixed seat 521, a lifting upright 522, a lifting guide rail 523, a linear slider 525, a servo speed-reducing motor 526, a first beam 531, a third mounting plate 532, a first dislocation cylinder 533, a connecting rod 534, a first sucker component 535, an elastic buffer component 536, a mounting seat 541, a rotating shaft 542, a connecting block 543, a rotating cylinder 544, a pull rod 545 and a third sucker component 546;
the second grabbing mechanism 600, the second mounting plate 611, the second lifting assembly 620, the second beam 631, the fourth mounting plate 632, the second dislocation cylinder 633, the vertical telescopic assembly 634, the second suction cup assembly 635, the linear module 637 and the tray rack 638.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
Referring to figures 1 to 5, a multistation palletiser comprises: the device comprises a frame 100, a first conveying mechanism 200, a second conveying mechanism 300, a partition placing station 400, a first grabbing mechanism 500 and a second grabbing mechanism 600.
The rack 100 is formed by welding a plurality of profiles, and two linear guide rails 110 and a first rack 120 which are distributed in the Y direction are arranged at the top of the rack 100; for convenience of description, the longitudinal direction of the rack 100 is defined as the Y direction, and it is understood that the transverse direction of the rack 100 may be the Y direction in practice.
The first conveying mechanism 200; the transmission direction of the transmission device is distributed in the X direction and is arranged in the middle of the bottom of the rack 100; in the present embodiment, the first conveyance mechanism 200; preferably a drum conveyor 310 adapted to transport pallets for palletizing material, a knife block assembly 330 is provided in the gap between the drums, and when a pallet enters a palletizing station along the drum conveyor 310, the knife block in the knife block assembly 330 is raised to block the pallet while the drum conveyor 310 stops moving.
The second conveying mechanism 300 is arranged at the first conveying mechanism 200; the conveying direction of one side of the stacking machine is distributed in the X direction, and the stacking machine is suitable for conveying materials to be stacked; the second conveying mechanism 300 is also preferably a roller type conveying device 310, a knife blocking assembly 330 is arranged at the gap between the rollers, and an end blocking plate 340 is arranged at the tail end of the roller type conveying device 310 and is matched with the knife blocking assembly 330 to play a limiting role.
The separator placing station 400 is provided at the first conveying mechanism 200; and on the other side of the partition placing station 400, limiting columns are placed around the partition placing station, and are suitable for stacking and stacking the partitions.
The first grabbing mechanism 500 is located at one side close to the partition placing station 400, referring to fig. 3, the first grabbing mechanism 500 includes a first mounting plate 511 slidably mounted on the linear guide rail 110, a first lifting assembly disposed on the first mounting plate 511, two first beams 531 fixedly mounted at the bottom of the first lifting assembly, a first suction tool mounted on the first beams 531, and third suction tools disposed at two sides of the first beams 531 and adapted to suck the partition. The first grabbing mechanism 500 is suitable for stacking small barrels or small cartons or stacking materials needing to be matched with partition plates.
The top of the rack 100 is further provided with a first rack 120 parallel to the linear guide rail 110; the first mounting plate 511 is provided with translation motors 512 on both sides, and the output ends of the translation motors 512 are engaged with the first racks 120 through gears. The translation motors 512 are provided with driving gears to move relative to the first rack 120, so that the first mounting plate 511 can move in the X-axis direction, and the translation motors 512 on the two sides are same-frequency motors, so that the same movement speed on the two sides of the first mounting plate 511 is ensured, and the movement stability of the first mounting plate 511 is further ensured.
The first lifting assembly comprises: the lifting mechanism comprises two fixed seats 521 arranged on the first mounting plate 511, a lifting upright 522 which is positioned between the two fixed seats 521 and penetrates through the first mounting plate 511, a plurality of lifting guide rails 523 and a second rack which are vertically arranged on two sides of the lifting upright 522, a plurality of linear sliders 525 which are fixedly arranged on the fixed seats 521 at one side and are slidably arranged on the lifting guide rails 523 at the other side, and a servo speed-reducing motor 526 which is arranged on the first mounting plate 511, positioned between the two fixed seats 521 and meshed with the second rack through a gear. The lifting upright column 522 is driven by the servo speed reducing motor 526 to move up and down along the linear sliding block 525, so that the first suction tool and the material to be stacked can be lifted. The servo gear motor 526 is matched with the translation motor 512 on the rack 100 to realize the transfer of the materials to be stacked.
Specifically, the first suction tool includes: a third mounting plate 532 slidably mounted on the first beams 531, a first shift cylinder 533 disposed between the two first beams 531, having one end mounted on the first beams 531 via a connector and the other end connected to the third mounting plate 532, and a first suction cup assembly 535 disposed at the bottom of the third mounting plate 532 via a plurality of connecting rods 534. Through the adjustment of first dislocation cylinder 533 the position of first sucking disc subassembly 535, the stability of whole pile up neatly can be improved to crisscross pile up neatly like this, especially to the material of cask shape, can improve holistic space utilization.
In addition, because the stress of the first sucker component is large, an elastic buffer component 536 is further arranged between the connecting rod 534 and the third mounting plate 532, and the elastic buffer component 536 can be a spring and can play a role in shock absorption and buffering, so that the damage to equipment caused by overlarge stress between the connecting rod 534 and the third mounting plate 532 is avoided.
The third suction tool comprises: a mounting seat 541 fixedly installed between the third mounting plate 532 and the first suction cup assembly 535 through a connecting rod 534, a rotating shaft 542 rotatably installed on the mounting seat 541, a rotating cylinder 544 fixedly installed on the rotating shaft 542 at one end through a connecting block 543 and on the mounting seat 541 at the other end, a pull rod 545 having an approximate shape of \12367atone end fixedly installed on both ends of the rotating shaft 542, and a third suction cup assembly 546 installed on the other end of the pull rod 545. The rotating cylinder 544 pulls the rotating shaft 542 to rotate, so as to drive the pull rod 545 to move, the third suction cup assembly 546 is changed from an inclined contraction state to a vertical placement state, and the bottom of the third suction cup assembly 546 is located below the first suction cup assembly 535, so that the partition board is sucked.
Because the bearing capacity of the sucker is limited, materials to be stacked with large weight and large volume are not suitable for being carried for a long time and a long distance by using the sucker assembly, and the second grabbing mechanism 600 is designed to be transferred in a bottom supporting mechanism mode
Referring to the drawing, the second grabbing mechanism 600 is located at a side close to the second conveying mechanism 300, and an avoidance station is reserved on the side, close to the second conveying mechanism 300, of the rack 100; it includes slidable mounting and is in second mounting panel 611 on the linear guide 110 sets up second lifting component 620 on the second mounting panel 611, fixed mounting are in two second crossbeams 631 of second lifting component 620 bottom install the second suction tool on the second crossbeam 631, and set up second crossbeam 631 one side and scalable extremely the pallet frame of second suction tool bottom.
Similarly, a translation motor 512 is disposed on each of two sides of the second mounting plate 611, and an output end of the translation motor 512 is engaged with the first rack 120 through a gear; the second lifting assembly 620 has the same structure as the first lifting assembly; therefore, it is not described herein.
Specifically, the second suction tool includes: a fourth mounting plate 632 slidably mounted on the second beam 631, a second offset cylinder 633 arranged between the two second beams 631, a second sucker assembly 635 arranged at the bottom of the third mounting plate 532 through a plurality of vertical telescopic assemblies 634, a linear module 637 horizontally moving between the fourth mounting plate 632 and the second sucker assembly 635, and a side surface of the linear module 637 at the output end of the linear module 637, wherein one end of the second mounting plate is mounted on the second beam 631 through a connecting piece, the other end of the second mounting plate is connected with the fourth mounting plate 632 through a plurality of vertical telescopic assemblies 634
The tray rack 638. The function of the second shifting cylinder 633 is similar to that of the first shifting cylinder 533, and is not described herein again. The linear module 637 drives the tray to move, the tray rack 638 is inserted into the second conveying mechanism 300, the material to be stacked is lifted up through the second lifting assembly 620, placed on the tray rack 638 and then transferred to a pallet at a stacking station, the material to be stacked is sucked by the second sucker assembly 635, the tray rack 638 is driven to be drawn out through the linear module 637, and then the material to be stacked is slowly put down through the second lifting assembly 620.
Wherein the tray rack 638 includes: the connecting frame is vertically arranged, and the plurality of support forks are horizontally arranged on the connecting frame and are separated by a preset distance. It should be noted that the second conveying mechanism 300 is provided with a plurality of grooves 320 on one side, the grooves 320 correspond to the gaps between the rollers, and the grooves 320 at least allow the supporting forks to be inserted into the gaps between the rollers, so as to avoid interference between the tray rack 638 and the second conveying mechanism 300 during use.
For those skilled in the art, there are many options for the linear module 637 and the vertical telescopic assembly 634, and in this embodiment, the linear module 637 includes: fixed mounting is in a plurality of sliding guide on the fourth mounting panel 632, fixed mounting is in on the fourth mounting panel 632, be located the telescopic cylinder of sliding guide both sides. The top of the connecting frame is clamped on the sliding guide rail through a sliding block and can move along the sliding guide rail, the telescopic cylinder body is connected with the fourth mounting plate 632, and the output piston rod is connected with the connecting frame, so that the tray frame 638 moves left and right. The vertical telescopic assembly 634 is a cylinder linear motion mechanism and is suitable for finely adjusting the position of the second suction cup assembly 635, so that the second suction cup assembly 635 is attached to the material to be stacked on the tray rack 638.
In order to facilitate understanding of the technical scheme of the multi-station stacker crane, the working principle of the multi-station stacker crane is briefly explained: in the stacking process, the second conveying mechanism 300 realizes a conveying function of materials to be stacked (cartons/barrels), when the materials to be stacked on the second conveying mechanism 300 reach a row grabbing quantity, the second grabbing mechanism 600 moves to a position to be grabbed, the materials to be stacked are grabbed through the second sucker component 635, after the materials to be stacked are lifted to a moving height, the tray is driven by the linear module 637 to move, the tray frame 638 is inserted into the bottom of the materials to be stacked, and meanwhile, the pallet is along the first conveying mechanism 200; entering a stacking station, and lifting a cutter blocking component 330 to block the pallet; then the servo speed reducing motor 526 is matched with the translation motor 512 on the rack 100 to realize the transfer of the materials to be stacked. After the stacking is completed, the next row of stacking is carried out, the second row of stacking can be placed in a staggered mode through the staggered cylinders, the stability of the whole stacking is improved, the first grabbing mechanism 500 is located above the partition placing station 400, and the stacking area can be avoided.
When the material production is switched, the second grabbing mechanism 600 moves to a side close to the second conveying mechanism 300, and an avoidance station is reserved to avoid a grabbing area. The first gripper mechanism 500 moves to the gripping position. Can carry out the material production after switching this moment, first snatch mechanism 500 possess and put the intermediate bottom function, can move to the baffle station after piling up the one deck and snatch the baffle, carry out intermediate bottom's placing.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations.
Claims (10)
1. A multistation hacking machine, its characterized in that includes:
the top of the rack is provided with two linear guide rails distributed in the Y direction; defining the longitudinal direction of the rack as a Y direction;
the first conveying mechanism is arranged in the middle of the bottom of the rack, the conveying direction of the first conveying mechanism is distributed in the X direction, and the first conveying mechanism is suitable for conveying a pallet for stacking materials;
the second conveying mechanism is arranged on one side of the first conveying mechanism, the conveying direction of the second conveying mechanism is distributed in the X direction, and the second conveying mechanism is suitable for conveying materials to be stacked;
the partition plate placing station is arranged on the other side of the first conveying mechanism and is suitable for placing the partition plates for stacking;
the first grabbing mechanism is positioned on one side close to the partition plate placing station; the device comprises a first mounting plate, a first lifting assembly, two first cross beams, a first suction tool and third suction tools, wherein the first mounting plate is slidably mounted on the linear guide rail;
the second grabbing mechanism is positioned on one side close to the second conveying mechanism, and an avoidance station is reserved on one side, close to the second conveying mechanism, of the rack; it includes the slidable mounting and is in second mounting panel on the linear guide sets up second lifting unit on the second mounting panel, fixed mounting are in two second crossbeams of second lifting unit bottom are installed utensil is inhaled to the second on the second crossbeam, and set up second crossbeam one side and scalable extremely the pallet frame of second suction unit bottom.
2. A multi-station stacker crane according to claim 1, wherein a first rack parallel to the linear guide rail is further provided on the top of the rack; the both sides of first mounting panel and second mounting panel all are provided with translation motor, translation motor's output pass through the gear with first rack meshes mutually.
3. A multistation palletiser according to claim 1, characterised in that the first lifting assembly is structurally the same as the second lifting assembly;
wherein, first lifting unit includes: set up two fixing bases on the first mounting panel are located between two fixing bases, and pass the lift stand of first mounting panel, vertical setting is in a plurality of riser guide and the second rack of lift stand both sides, one side fixed mounting be in on the fixing base, and opposite side slidable mounting be in a plurality of sharp sliders on the riser guide, and set up on the first mounting panel, be located between two fixing bases, and through the gear with second rack meshes servo gear motor mutually.
4. A multistation hacking machine as claimed in claim 1, wherein the first suction tool comprises: the device comprises a third mounting plate, a first dislocation cylinder and a first sucker assembly, wherein the third mounting plate is slidably mounted on the first cross beams, the third mounting plate is arranged between the two first cross beams, one end of the first dislocation cylinder is mounted on the first cross beams through a connecting piece, the other end of the first dislocation cylinder is connected with the third mounting plate, and the first sucker assembly is arranged at the bottom of the third mounting plate through a plurality of connecting rods.
5. A multi-station stacker according to claim 4, wherein a resilient cushioning assembly is also provided between the connecting rod and the third mounting plate.
6. A multistation palletiser according to claim 4, characterised in that the third suction means comprises: the suction cup fixing device comprises a mounting seat fixedly mounted between a third mounting plate and a first suction cup assembly through a connecting rod, a rotating shaft rotatably mounted on the mounting seat, a rotating cylinder, a pull rod and a third suction cup assembly, wherein one end of the rotating cylinder is fixedly mounted on the rotating shaft through a connecting block, the other end of the rotating cylinder is mounted on the mounting seat, one end of the pull rod is fixedly mounted at two ends of the rotating shaft, and the shape of the pull rod is similar to '12367675'.
7. A multistation hacking machine according to claim 6, wherein the second suction means comprises: the sliding installation is in the fourth mounting panel of second crossbeam sets up between two second crossbeams, and the one end is passed through the connecting piece and is installed on the second crossbeam, the other end with the second dislocation cylinder that the fourth mounting panel is connected sets up through a plurality of vertical flexible subassemblies the second sucking disc subassembly of third mounting panel bottom is installed horizontal migration's between fourth mounting panel and the second sucking disc subassembly sharp module, and set up on the sharp module output, the side shape be or be approximate to be
The tray frame.
8. A multistation palletiser according to claim 7, wherein the tray rack comprises: the connecting frame is vertically arranged, and the plurality of support forks are horizontally arranged on the connecting frame and are separated by a preset distance.
9. A multi-station palletiser according to claim 8 wherein the second conveying means is a roller conveyor and one side of the roller conveyor is provided with a plurality of recesses which correspond exactly to the gaps between the rollers and which at least allow the prongs to be inserted into the gaps between the rollers.
10. A multi-station palletizer according to claim 1, wherein a knife blocking assembly is arranged on each of the first conveying mechanism and the second conveying mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222737068.0U CN218641909U (en) | 2022-10-18 | 2022-10-18 | Multi-station stacker crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222737068.0U CN218641909U (en) | 2022-10-18 | 2022-10-18 | Multi-station stacker crane |
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| Publication Number | Publication Date |
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| CN218641909U true CN218641909U (en) | 2023-03-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222737068.0U Active CN218641909U (en) | 2022-10-18 | 2022-10-18 | Multi-station stacker crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116873557A (en) * | 2023-09-08 | 2023-10-13 | 泰州恒润玻璃有限公司 | Glass piece stacking equipment |
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2022
- 2022-10-18 CN CN202222737068.0U patent/CN218641909U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116873557A (en) * | 2023-09-08 | 2023-10-13 | 泰州恒润玻璃有限公司 | Glass piece stacking equipment |
| CN116873557B (en) * | 2023-09-08 | 2023-12-26 | 泰州恒润玻璃有限公司 | Glass piece stacking equipment |
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