CN220131367U - Four-axis stacker crane - Google Patents
Four-axis stacker crane Download PDFInfo
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- CN220131367U CN220131367U CN202321413222.7U CN202321413222U CN220131367U CN 220131367 U CN220131367 U CN 220131367U CN 202321413222 U CN202321413222 U CN 202321413222U CN 220131367 U CN220131367 U CN 220131367U
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- arm
- upright post
- servo motor
- speed reducer
- stacker crane
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of stacking, in particular to a four-axis stacker crane which comprises a base, an upright post vertically arranged above the base, and a large arm and a small arm which are horizontally arranged. The upright can rotate in a horizontal direction relative to the base. The rear end of the big arm can be connected to one side wall of the upright post in a vertically movable way, and a counterweight capable of moving relative to the big arm is arranged in the upright post. The rear end of the forearm can be connected with the front end of the big arm in a horizontal direction in a rotating way. The front end of the small arm is connected with a manipulator which can rotate around the front end of the small arm in the horizontal direction. The four-axis motion structure that the upright post rotates relative to the base, the large arm moves up and down relative to the upright post, the small arm rotates relative to the large arm and the manipulator rotates relative to the small arm is adopted, so that the flexibility, the accuracy and the stability of the operation of the stacker crane are improved, the motion limitation of the manipulator is greatly reduced, and the working efficiency of the stacker crane is further improved. The balance weight is arranged, so that the operation stability of the stacker crane is further improved.
Description
Technical Field
The utility model relates to the technical field of stacking, in particular to a four-axis stacker crane.
Background
Along with the improvement of the mechanical automation level, the automatic stacking technology is developed faster and faster, and has obvious advantages in the aspects of mechanical structure, application range, equipment occupation space, flexibility, cost and the like. Currently, stacker cranes are widely used in various fields. However, in the prior art, a plurality of stacker cranes often have certain limitation due to the limitation of the structure of the stacker crane during operation, so that the front-end manipulator lacks stability and precision, the efficiency of stacking operation is further affected, and the operation cost is increased.
Disclosure of Invention
The utility model aims to provide the four-axis stacker crane which is high in operation stability, high in accuracy and high in operation efficiency.
In order to achieve the purpose, the utility model discloses a four-axis stacker crane which comprises a base, an upright post vertically arranged above the base, and a large arm and a small arm which are horizontally arranged. The upright is rotatable relative to the base in a horizontal direction. The rear end of the big arm can be connected to one side wall of the upright post in a vertically movable mode, and a counterweight capable of moving relative to the big arm is arranged in the upright post. The rear end of the small arm can be connected with the front end of the large arm in a rotating mode in the horizontal direction. The front end of the small arm is connected with a manipulator, and the manipulator can rotate around the front end of the small arm in the horizontal direction. The four-axis motion structure that the upright post rotates relative to the base, the large arm moves up and down relative to the upright post, the small arm rotates relative to the large arm and the manipulator rotates relative to the small arm is adopted, so that the flexibility, the accuracy and the stability of the operation of the stacker crane are improved, the motion limitation of the manipulator is greatly reduced, and the working efficiency of the stacker crane is further improved. The balance weight is arranged, so that the operation stability of the stacker crane is further improved.
Preferably, the base comprises a fixed seat positioned at the lower part and an internal tooth rotary support bearing positioned at the upper part, the central shaft of the internal tooth rotary support bearing is vertically arranged, the outer ring of the internal tooth rotary support bearing is fixedly connected with the lower end of the upright post, a first servo motor speed reducer is arranged at the bottom of the upright post, the output end of the first servo motor speed reducer is in power connection with a gear, and the gear is matched with the inner gear of the inner ring of the internal tooth rotary support bearing. The structure design is simple and reasonable, the structure cost is reduced, and the upright post can be accurately positioned at any angle relative to the base.
Preferably, a fixed disc coaxially arranged with the internal tooth slewing bearing is arranged at the bottom of the upright post, and the upright post is fixed on the upper surface of the outer ring of the internal tooth slewing bearing through the fixed disc. The stability of the connection of the upright post and the base is improved.
Preferably, the upper end of the upright post is provided with a second servo motor speed reducer, the output end of the second servo motor speed reducer is in power connection with a chain wheel, the chain wheel is in transmission connection with a chain matched with the second servo motor speed reducer, one end of the chain is positioned at the outer side of the upright post and connected with the rear end of the big arm, and the other end of the chain is positioned at the inner side of the upright post and connected with the counterweight. The chain wheel and chain are used for driving the large arm, the large arm and the counterweight are respectively arranged at two ends of the chain, the structure is simple, the manufacturing cost is low, and the running stability of the large arm relative to the upright post can be ensured.
Preferably, the upright post is connected with a first sliding rail which is vertically arranged on the outer side face of the side wall of the big arm, a second sliding rail which is vertically arranged on the inner side face of the side wall of the big arm, a first sliding block which is matched with the first sliding rail is arranged at the rear end of the big arm, and a second sliding block which is matched with the second sliding rail is arranged on the counterweight.
Preferably, the front end of the big arm is provided with a third servo motor matched speed reducer and a rotary support bearing, the rear end of the small arm is positioned between the third servo motor matched speed reducer and the rotary support bearing, the power output end of the third servo motor matched speed reducer is connected with one side of the rear end of the small arm, the inner ring of the rotary support bearing is fixedly connected with the other side of the rear end of the small arm, and the outer ring of the rotary support bearing is fixedly connected with the front end of the big arm. The small arm can be accurately positioned at any angle relative to the large arm.
Preferably, the third servo motor is provided with a speed reducer and is positioned at the upper part of the front end of the big arm, the rotary support bearing is positioned at the lower part of the front end of the big arm, the power output end of the lower end of the third servo motor is connected with the upper part of the rear end of the small arm, and the inner ring of the rotary support bearing is fixedly connected with the lower part of the rear end of the small arm.
Preferably, a fourth servo motor speed reducer is arranged at the front end of the forearm, and a power output end at the lower end of the fourth servo motor speed reducer is connected with the manipulator. The manipulator can be accurately positioned at any angle relative to the forearm.
Preferably, the chain wheel and the chain are respectively an adaptive double-row chain wheel and an adaptive double-row chain, so that the running stability of the large arm relative to the upright post is enhanced.
Preferably, the base, the side wall of the upright post connected with the big arm, the front end of the big arm and the front end of the small arm are all provided with origin proximity switches. After the stacker crane is started up each time, the equipment can perform an original point returning action once by means of the original point proximity switch, so that mechanical errors caused by repeated operation can be compensated, and the operation accuracy and stability of the stacker crane are further improved.
In summary, the beneficial effects of the utility model are as follows: according to the utility model, a four-axis motion structure that the upright post rotates relative to the base, the large arm moves up and down relative to the upright post, the small arm rotates relative to the large arm and the manipulator rotates relative to the small arm is adopted, so that the flexibility, the accuracy and the stability of the operation of the stacker crane are improved, the motion limitation of the manipulator is greatly reduced, and the working efficiency of the stacker crane is further improved.
Drawings
FIG. 1 is a perspective view of a four-axis palletizer in accordance with the present utility model;
FIG. 2 is a perspective view of the base of a four-axis stacker of the present utility model;
FIG. 3 is a front view of the column of a four-axis stacker of the present utility model;
FIG. 4 is a cross-sectional view of section A-A of FIG. 3;
in the figure: 1. the device comprises a base, 1-1, a fixed seat, 1-2, an internal tooth rotary support bearing, 1-3, an internal tooth, 1-4, a first servo motor speed reducer, 1-5, a gear, 2, a stand column, 2-1, a fixed disc, 2-2, a second servo motor speed reducer, 2-3, a chain wheel, 2-4, a chain, 2-5, a first sliding rail, 2-6, a second sliding rail, 3, a counterweight, 3-1, a second sliding block, 4, a big arm, 4-1, a first sliding block, 4-2, a third servo motor speed reducer, 4-3, a rotary support bearing, 5, a small arm, 5-1, a fourth servo motor speed reducer and 6, a manipulator.
Detailed Description
The following describes in further detail the embodiments of the present utility model with reference to the drawings and examples. The following examples are illustrative of the utility model and are not intended to limit the scope of the utility model.
In the description of the present utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
The following is a description of preferred embodiments of the utility model, taken in conjunction with the accompanying drawings.
As shown in fig. 1-4, the utility model discloses a four-axis stacker crane, which comprises a base 1, an upright post 2 vertically arranged above the base 1, and a large arm 4 and a small arm 5 which are horizontally arranged.
The column 2 is rotatable in a horizontal direction with respect to the base 1. The base 1 comprises a fixed seat 1-1 positioned at the lower part and an internal tooth rotary support bearing 1-2 positioned at the upper part, a central shaft of the internal tooth rotary support bearing 1-2 is vertically arranged, an outer ring of the internal tooth rotary support bearing 1-2 is fixedly connected with the lower end of a stand column 2, a first servo motor matched speed reducer 1-4 is arranged at the bottom of the stand column 2, an output end of the first servo motor matched speed reducer 1-4 is in power connection with a gear 1-5, and the gear 1-5 is matched with an inner gear 1-3 of an inner ring of the internal tooth rotary support bearing 1-2. Specifically, a fixed disc 2-1 coaxially arranged with the internal tooth rotary support bearing 1-2 is arranged at the bottom of the upright post 2, and the upright post 2 is fixed on the upper surface of the outer ring of the internal tooth rotary support bearing 1-2 through the fixed disc 2-1.
The rear end of the big arm 4 is connected to one side wall of the upright post 2 in a vertically movable way, and a counterweight 3 capable of moving relative to the big arm 4 is arranged in the upright post 2. The upper end of the upright post 2 is provided with a second servo motor matched speed reducer 2-2, the output end of the second servo motor matched speed reducer 2-2 is in power connection with a chain wheel 2-3, the chain wheel 2-3 is in transmission connection with a chain 2-4 which is matched with the chain 2-3, one end of the chain 2-4 is positioned at the outer side of the upright post 2 and connected with the rear end of the big arm 4, and the other end of the chain 2-4 is positioned at the inner side of the upright post 2 and connected with a counterweight 3. Further, the chain wheel 2-3 and the chain 2-4 are respectively a double-row chain wheel and a double-row chain 2-4 which are matched. The side wall lateral surface of the big arm 4 connected on the upright post 2 is provided with a first sliding rail 2-5 which is vertically arranged, the inner lateral surface is provided with a second sliding rail 2-6 which is vertically arranged, the rear end of the big arm 4 is provided with a first sliding block 4-1 which is matched with the first sliding rail 2-5, and the counterweight 3 is provided with a second sliding block 3-1 which is matched with the second sliding rail 2-6.
The rear end of the small arm 5 can be rotatably connected to the front end of the large arm 4 in the horizontal direction, the front end of the large arm 4 is provided with a third servo motor speed reducer 4-2 and a rotary support bearing 4-3, the rear end of the small arm 5 is positioned between the third servo motor speed reducer 4-2 and the rotary support bearing 4-3, the power output end of the third servo motor speed reducer 4-2 is connected with one side of the rear end of the small arm 5, the inner ring of the rotary support bearing 4-3 is fixedly connected with the other side of the rear end of the small arm 5, and the outer ring of the rotary support bearing 4-3 is fixedly connected with the front end of the large arm 4. The third servo motor is provided with a speed reducer 4-2 and is positioned at the upper part of the front end of the big arm 4, the rotary support bearing 4-3 is positioned at the lower part of the front end of the big arm 4, the power output end of the lower end of the third servo motor is connected with the upper part of the rear end of the small arm 5, and the inner ring of the rotary support bearing 4-3 is fixedly connected with the lower part of the rear end of the small arm 5.
The front end of the arm 5 is connected to a robot arm 6 (only the upper end of the robot arm is shown in the figure, not all of which are shown), and the robot arm 6 is rotatable in the horizontal direction around the front end of the arm 5. The front end of the small arm 5 is provided with a fourth servo motor matched speed reducer 5-1, and the power output end of the lower end of the fourth servo motor matched speed reducer 5-1 is connected with a manipulator 6.
The base 1, the side wall of the big arm 4 connected with the upright post 2, the front end of the big arm 4 and the front end of the small arm 5 are all provided with origin proximity switches (not shown in the figure), and the specific installation positions of the origin proximity switches can be fixedly installed according to the actual working requirements, and no specific explanation is made in the embodiment.
The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present utility model, and these modifications and substitutions should also be considered as being within the scope of the present utility model.
Claims (10)
1. The utility model provides a four-axis hacking machine, its characterized in that, including base (1) with vertically set up in stand (2) of base (1) top, still include big arm (4) and forearm (5) that all level set up, stand (2) can rotate in the horizontal direction for base (1), but the connection that the rear end of big arm (4) reciprocates is in on a lateral wall of stand (2), be equipped with in stand (2) can with counterweight (3) of big arm (4) relative motion, the rear end of forearm (5) can be in the front end of big arm (4) is connected in the horizontal direction rotation, the front end of forearm (5) is connected with manipulator (6), manipulator (6) can wind the front end of forearm (5) is rotatory in the horizontal direction.
2. The four-axis stacker crane according to claim 1, wherein the base (1) comprises a fixed seat (1-1) located at the lower part and an internal tooth rotary support bearing (1-2) located at the upper part, a central shaft of the internal tooth rotary support bearing (1-2) is vertically arranged, an inner ring of the internal tooth rotary support bearing (1-2) is fixedly connected with the fixed seat (1-1), an outer ring of the internal tooth rotary support bearing (1-2) is fixedly connected with the lower end of the upright post (2), a first servo motor speed reducer (1-4) is arranged at the bottom of the upright post (2), an output end power connection gear (1-5) of the first servo motor speed reducer (1-4), and the gear (1-5) is matched with an inner gear (1-3) of an inner ring of the internal tooth rotary support bearing (1-2).
3. Four-axis palletizer according to claim 2, characterized in that the bottom of the upright (2) is provided with a fixed disk (2-1) coaxially arranged with the internal tooth slewing bearing (1-2), the upright (2) being fixed to the upper surface of the external ring of the internal tooth slewing bearing (1-2) by means of the fixed disk (2-1).
4. The four-axis stacker crane according to claim 1, wherein a second servo motor matched speed reducer (2-2) is arranged at the upper end of the upright post (2), a sprocket (2-3) is connected with the output end of the second servo motor matched speed reducer (2-2) in a power mode, a chain (2-4) matched with the sprocket is connected with the sprocket (2-3) in a transmission mode, one end of the chain (2-4) is located at the outer side of the upright post (2) and connected with the rear end of the big arm (4), and the other end of the chain is located at the inner side of the upright post (2) and connected with the counterweight (3).
5. The four-axis stacker crane according to claim 4, wherein a first sliding rail (2-5) which is vertically arranged is arranged on the outer side face of the side wall of the upright post (2) and connected with the large arm (4), a second sliding rail (2-6) which is vertically arranged is arranged on the inner side face of the upright post, a first sliding block (4-1) which is matched with the first sliding rail (2-5) is arranged at the rear end of the large arm (4), and a second sliding block (3-1) which is matched with the second sliding rail (2-6) is arranged on the counterweight (3).
6. The four-axis stacker crane according to claim 1, wherein a third servo motor speed reducer (4-2) and a rotary support bearing (4-3) are arranged at the front end of the large arm (4), the rear end of the small arm (5) is located between the third servo motor speed reducer (4-2) and the rotary support bearing (4-3), the power output end of the third servo motor speed reducer (4-2) is connected with one side of the rear end of the small arm (5), the inner ring of the rotary support bearing (4-3) is fixedly connected with the other side of the rear end of the small arm (5), and the outer ring of the rotary support bearing (4-3) is fixedly connected with the front end of the large arm (4).
7. The four-axis stacker crane according to claim 6, wherein the third servo motor speed reducer (4-2) is located at the upper portion of the front end of the large arm (4), the slewing bearing (4-3) is located at the lower portion of the front end of the large arm (4), the power output end of the lower end of the third servo motor speed reducer (4-2) is connected to the upper portion of the rear end of the small arm (5), and the inner ring of the slewing bearing (4-3) is fixedly connected to the lower portion of the rear end of the small arm (5).
8. The four-axis stacker crane according to claim 1, wherein a fourth servo motor speed reducer (5-1) is arranged at the front end of the small arm (5), and a power output end at the lower end of the fourth servo motor speed reducer (5-1) is connected with the manipulator (6).
9. Four-axis palletizer according to claim 4, wherein the sprocket (2-3) and the chain (2-4) are respectively a double row sprocket and a double row chain (2-4) adapted.
10. The four-axis stacker crane according to claim 1, wherein origin proximity switches are arranged on the base (1), on the side wall of the large arm (4) connected with the upright post (2), and on the front end of the large arm (4) and the front end of the small arm (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321413222.7U CN220131367U (en) | 2023-06-06 | 2023-06-06 | Four-axis stacker crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321413222.7U CN220131367U (en) | 2023-06-06 | 2023-06-06 | Four-axis stacker crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220131367U true CN220131367U (en) | 2023-12-05 |
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ID=88952137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321413222.7U Active CN220131367U (en) | 2023-06-06 | 2023-06-06 | Four-axis stacker crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220131367U (en) |
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2023
- 2023-06-06 CN CN202321413222.7U patent/CN220131367U/en active Active
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