CN220316592U - Program control stacker crane based on XYZ three-axis motion platform - Google Patents
Program control stacker crane based on XYZ three-axis motion platform Download PDFInfo
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- CN220316592U CN220316592U CN202321869518.XU CN202321869518U CN220316592U CN 220316592 U CN220316592 U CN 220316592U CN 202321869518 U CN202321869518 U CN 202321869518U CN 220316592 U CN220316592 U CN 220316592U
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Abstract
The utility model belongs to the field of stacking devices, and relates to a program control stacker based on an XYZ three-axis motion platform, which comprises a frame-type rack, wherein the XYZ three-axis motion platform is arranged on the upper side surface of the frame-type rack through a parallel fixed beam structure; the rear side surface of the frame-type stand is provided with a blanking box mechanism which is integrated with the frame-type stand in a mounting way; the platform control box is fixedly arranged on the outer left side surface of the frame type stand, the platform control box is connected with the XYZ three-axis motion platform and the blanking box mechanism through serial port line control, and the XYZ three-axis motion platform comprises an X-axis motion grabbing mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism which are mutually and perpendicularly connected in pairs. The stacker crane disclosed by the utility model has ingenious overall structural design, and can perform stable work based on the combination of a conventional frame type rack and a triaxial platform, so that the stacker crane greatly improves the stacker crane efficiency and reduces the equipment and production cost.
Description
Technical Field
The utility model belongs to the field of stacking devices, and relates to a program control stacker crane based on an XYZ three-axis motion platform.
Background
In the production handling process, for convenient transport, can be with regular product or magazine after the pile up neatly processing put on the tray, the six arm of more application on the market snatchs and carries out the pile up neatly, but the price of arm is higher.
Disclosure of Invention
In order to solve the technical problems in the prior art, the utility model provides a program control stacker crane based on an XYZ three-axis motion platform, which has the following specific technical scheme:
a program control stacker based on an XYZ three-axis motion platform comprises a frame-type rack, wherein the XYZ three-axis motion platform is arranged on the upper side surface of the frame-type rack through a parallel fixed beam structure; the rear side surface of the frame-type stand is provided with a blanking box mechanism which is integrated with the frame-type stand in a mounting way; the platform control box is fixedly arranged on the outer left side surface of the frame type stand, the platform control box is connected with the XYZ three-axis motion platform and the blanking box mechanism through serial port line control, and the XYZ three-axis motion platform comprises an X-axis motion grabbing mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism which are mutually and perpendicularly connected in pairs.
Preferably, the Y-axis motion mechanism is mounted on the parallel fixed beam structure, and the parallel fixed beam structure is formed by two parallel transverse long beams and a plurality of vertical angle connection longitudinal fixed beams arranged between the transverse long beams and upper side cross beams of the frame-type frame, wherein the longitudinal fixed beams on the same side are arranged at intervals.
Preferably, the Y-axis motion mechanism includes: two transverse axial sliding rails respectively erected on the transverse long beams, and a first sliding plate which is positioned above the transverse axial sliding rails and is in sliding connection with the transverse axial sliding rails; the device comprises a first screw rod transversely arranged and a first motor in transmission connection with the first screw rod, wherein a pair of longitudinal fixed beams are arranged at two ends of the corresponding first screw rod, a screw rod bracket movably connected with one end of the first screw rod is arranged on one longitudinal fixed beam, a first motor is arranged on the other longitudinal fixed beam, and an output shaft of the first motor is correspondingly connected with the other end of the first screw rod through a coupler; a first sliding block is arranged on the first screw rod, and the first sliding block form a screw rod nut pair structure; the first sliding block is fixedly connected with the first sliding plate.
Preferably, the Z-axis motion mechanism includes: the output shaft of the second motor is connected with one end of the second screw rod in the vertical downward direction through a coupler; the second screw rod is of a ball screw structure, and a nut of the ball screw structure is fixed in the middle of the first sliding plate; the vertical support includes: the upper platform plate and the lower platform plate are connected with the upper platform plate and the lower platform plate and are connected with a plurality of sliding rods of the first sliding plate in a penetrating way, and bearing sleeves are arranged at the penetrating positions of the sliding rods and the first sliding plate; the upper platform plate is arranged at the joint of the output shaft of the second motor and the second screw rod and is positioned right above the first sliding plate, and the peripheral area of the plate surface of the upper platform plate is fixedly connected with the upper end of the sliding rod in a penetrating way; the lower platform plate is arranged in the frame-type rack and is particularly positioned right below the first sliding plate, and the peripheral area of the plate surface of the lower platform plate is fixedly connected with the lower end of the sliding rod in a penetrating way.
Preferably, the X-axis motion grabbing mechanism is disposed below the lower platform plate, and includes: the upper surface of the longitudinal sliding rail is fixedly attached to the lower surface of the lower platform plate, the lower surface of the longitudinal sliding rail is fixedly attached to the upper surface of the longitudinal displacement plate, and the longitudinal displacement plate longitudinally moves along with the longitudinal sliding rail; the clamping jaw structure is arranged below the longitudinal displacement plate, and the structure comprises: the lower surface of the longitudinal displacement plate is provided with parallel guide rails, and two ends of the guide rails are provided with hooks in opposite directions, and a servo motor for driving the connecting bending member.
Preferably, the lower side surface of the frame-shaped rack is provided with a tray limiting part according to the size of the stacking tray.
Preferably, the tray limiting part specifically comprises a baffle, a roller baffle and a middle limiting support, wherein the baffle is arranged on a transverse support below the front side of the frame type rack, the middle limiting support is longitudinally arranged at the lower position in the frame type rack, and the roller baffle is arranged on the middle limiting support.
Preferably, the blanking box mechanism comprises a connecting bracket, a box stacking bin, a blanking table and a push rod motor, wherein the connecting bracket is integrally installed in the frame-type rack through bolt fixation; the blanking table is arranged on the connecting support and is divided into a discharging box area and a stacking bin area, wherein a push rod motor is arranged on the side part of the stacking bin area, an opening with the size of the material box is arranged in the lowest area of the stacking bin of the material box, and the stacking bin of the material box is placed in the stacking bin area.
The utility model has the advantages that: the stacker crane disclosed by the utility model has ingenious overall structural design, and can perform stable work based on the combination of a conventional frame type rack and a triaxial platform, so that the stacker crane greatly improves the stacker crane efficiency and reduces the equipment and production cost.
Drawings
FIG. 1 is a schematic view of the overall structure of the palletizer of the present utility model;
FIG. 2 is a schematic rear view in section of FIG. 1;
FIG. 3 is a schematic view of the structure of the X-axis motion grabbing mechanism of the present utility model;
in the figure, a frame type machine frame 1, a platform control box 2, a transverse long beam 3, a longitudinal fixed beam 4, a transverse axial sliding rail 5, a first sliding plate 6, a first screw rod 7, a first motor 8, a screw rod bracket 9, a first sliding block 10, a second motor 11, a second screw rod 12, an upper platform plate 13, a lower platform plate 14, a sliding rod 15, a longitudinal axial sliding rail 16, a third motor 17, a longitudinal displacement plate 18, a guide rail 19, a hook piece 20, a servo motor 21, a baffle 22, a roller baffle 23, a middle limiting bracket 24, a connecting bracket 25, a material box stacking bin 26, a blanking table 27 and a push rod motor 28.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that all directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship between the components, the movement condition, etc. in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly. In the present utility model, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 and 2, the program-controlled stacker crane based on the XYZ three-axis motion platform comprises a frame-type rack 1, wherein the XYZ three-axis motion platform is arranged on the upper side surface of the frame-type rack 1 through a parallel fixed beam structure; the lower side surface of the frame type rack 1 is provided with a tray limiting piece according to the size of the stacking tray; the rear side surface of the frame-type stand 1 is provided with a blanking box mechanism which is integrated with the frame-type stand in a mounting way; the outer left side surface of the frame-type stand 1 is fixedly provided with a platform control box 2, and the platform control box 2 is connected with an XYZ three-axis motion platform and a blanking box mechanism through serial port line control. After the XYZ three-axis motion platform is controlled by the PLC program control equipment in the platform control box 2, the material box of the blanking box mechanism, which is placed on the blanking table 27 of the blanking box mechanism, is grabbed and piled on the stacking tray.
The XYZ three-axis motion platform comprises an X-axis motion grabbing mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism which are vertically connected in pairs.
The Y-axis movement mechanism is arranged on the parallel fixed beam structure, the parallel fixed beam structure is formed by two parallel transverse long beams 3 and a plurality of vertical angle connecting longitudinal fixed beams 4 arranged between the transverse long beams 3 and the upper side cross beams of the frame type machine frame 1, wherein the longitudinal fixed beams 4 on the same side are arranged at intervals.
The Y-axis movement mechanism comprises: two transverse axial sliding rails 5 respectively erected on the transverse long beams 3, and a first sliding plate 6 which is positioned above the transverse axial sliding rails 5 and is in sliding connection with the transverse axial sliding rails; the device comprises a first screw rod 7 transversely arranged and a first motor 8 in transmission connection with the first screw rod 7, wherein a pair of longitudinal fixed beams are arranged at two ends of the corresponding first screw rod 7, a screw rod bracket 9 movably connected with one end of the first screw rod 7 is arranged on one longitudinal fixed beam, a first motor 8 is arranged on the other longitudinal fixed beam, and an output shaft of the first motor 8 is correspondingly connected with the other end of the first screw rod 7 through a coupler; the first screw rod 7 is provided with a first sliding block 10, the first sliding block 10 and the first screw rod form a screw-nut pair structure, and the first sliding block 10 can be converted into transverse horizontal movement through rotation of the first screw rod 7; the first sliding block 10 is fixedly connected with the first sliding plate 6; after the first motor 8 is started, the first sliding plate 6 transversely and horizontally moves on the transverse axial sliding rail 5 through the screw-nut pair structure.
The Z-axis movement mechanism comprises: the output shaft of the second motor 11 is vertically downwards connected with one end of the second screw rod 12 through a coupler; the second screw rod 12 is in a ball screw structure, and a nut of the ball screw structure is fixed in the middle of the first sliding plate 6; the vertical support includes: the upper platform plate 13, the lower platform plate 14 and a plurality of sliding rods 15 which are connected with the upper platform plate and the lower platform plate and are connected with the first sliding plate 6 in a penetrating way, and bearing sleeves are arranged at the penetrating parts of the sliding rods 15 and the first sliding plate 6; the upper platform plate 13 is arranged at the joint of the output shaft of the second motor 11 and the second screw rod 12 and is positioned right above the first sliding plate 6, and the peripheral area of the plate surface of the upper platform plate is fixedly connected with the upper end of the sliding rod 15 in a penetrating way; the lower platform plate 14 is arranged in the frame-type frame 1, and is specifically positioned under the first sliding plate 6, and the peripheral area of the plate surface of the lower platform plate is fixedly connected with the lower end of the sliding rod 15 in a penetrating way. After the second motor 11 is started, the second screw rod 12 rotates to drive the whole vertical support to move up and down, so that the movement in the Z-axis direction is realized.
As shown in fig. 3, the X-axis motion grabbing mechanism is disposed below the lower platform plate 14, and includes: the vertical and axial sliding rail 16, the third motor 17, the vertical displacement plate 18 and the clamping jaw structure, the upper surface of the vertical and axial sliding rail 16 is fixedly attached to the lower surface of the lower platform plate 14, the lower surface of the vertical and axial sliding rail 16 is fixedly attached to the upper surface of the vertical displacement plate 18, and the vertical displacement plate 18 moves longitudinally along with the vertical and axial sliding rail 16; the jaw structure is mounted below the longitudinal displacement plate 18, which structure is specifically: by arranging parallel guide rails 19 on the lower surface of the longitudinal displacement plate 18, and arranging hook pieces 20 in opposite directions at two ends of the guide rails 19, the bent pieces 20 are connected and driven by corresponding servo motors 21, so that the clamping jaw grabbing function is realized.
The tray limiting part specifically comprises a baffle 22, a roller baffle 23 and a middle limiting support 24, wherein the baffle 22 is arranged on a transverse support below the front side of the frame type rack 1, the middle limiting support 24 is longitudinally arranged at the lower position in the frame type rack 1, and the roller baffle 23 is arranged on the middle limiting support 24.
The blanking box mechanism comprises a connecting bracket 25, a box stacking bin 26, a blanking table 27 and a push rod motor 28, wherein the connecting bracket 25 is integrally installed in the frame-type rack 1 through bolt fixation; the blanking table 27 is arranged on the connecting bracket 25 and is divided into a discharging box area and a stacking bin area, wherein a push rod motor 28 is arranged at the side part of the stacking bin area, an opening with the size of a material box is arranged at the lowest area of the material box stacking bin 26, and the material box stacking bin 26 is placed in the stacking bin area; the cartridge is pushed to the cartridge zone by push rod motor 28.
Further, in order to accelerate stacking, a double-material box stacking bin can be arranged, a transverse sliding rail platform and a longitudinal sliding rail platform are arranged in the discharging box area, the double-material box stacking bin is pushed to a preset position through a corresponding motor, and the XYZ three-axis moving platform is used for grabbing and stacking.
The stacker crane disclosed by the utility model has ingenious overall structural design, and is based on the combination of a conventional frame type rack and a triaxial platform for stable work, so that the stacker crane greatly improves the stacker efficiency.
Claims (8)
1. The program control stacker crane based on the XYZ three-axis motion platform is characterized by comprising a frame-type rack (1), wherein the XYZ three-axis motion platform is arranged on the upper side surface of the frame-type rack (1) through a parallel fixed beam structure; the rear side surface of the frame-type stand (1) is provided with a blanking box mechanism which is integrated with the frame-type stand in a mounting way; the automatic feeding and discharging device is characterized in that a platform control box (2) is fixedly arranged on the outer left side face of the frame-type stand (1), the platform control box (2) is connected with an XYZ three-axis motion platform and a discharging box mechanism through serial port line control, and the XYZ three-axis motion platform comprises an X-axis motion grabbing mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism which are mutually and perpendicularly connected in pairs.
2. A programmed palletizer based on an XYZ three-axis motion platform according to claim 1, wherein the Y-axis motion mechanism is mounted on the parallel fixed beam structure, the parallel fixed beam structure is composed of two transverse long beams (3) parallel to each other, and a plurality of vertical angle connection longitudinal fixed beams (4) arranged between the transverse long beams (3) and the upper side cross beams of the frame-type frame (1), wherein the longitudinal fixed beams (4) on the same side are arranged at intervals.
3. A programmed stacker crane based on an XYZ three-axis motion platform according to claim 2, wherein said Y-axis motion mechanism comprises: two transverse axial sliding rails (5) respectively erected on the transverse long beams (3), and a first sliding plate (6) which is positioned above the transverse axial sliding rails (5) and is in sliding connection with the transverse axial sliding rails; the device comprises a first screw rod (7) transversely arranged and a first motor (8) in transmission connection with the first screw rod (7), wherein a pair of longitudinal fixed beams are arranged at two ends of the corresponding first screw rod (7), a screw rod bracket (9) movably connected with one end of the first screw rod (7) is arranged on one longitudinal fixed beam, the first motor (8) is arranged on the other longitudinal fixed beam, and an output shaft of the first motor (8) is correspondingly connected with the other end of the first screw rod (7) through a coupler; a first sliding block (10) is arranged on the first screw rod (7), and the first sliding block form a screw rod nut pair structure; the first sliding block (10) is fixedly connected with the first sliding plate (6).
4. A programmed stacker crane based on an XYZ three-axis motion platform according to claim 3, wherein said Z-axis motion mechanism comprises: the device comprises a second motor (11), a second screw rod (12) and a vertical bracket, wherein an output shaft of the second motor (11) is vertically downwards connected with one end of the second screw rod (12) through a coupler; the second screw rod (12) is of a ball screw structure, and a nut of the ball screw structure is fixed in the middle of the first sliding plate (6); the vertical support includes: the sliding plate comprises an upper platform plate (13), a lower platform plate (14) and a plurality of sliding rods (15) which are connected with the upper platform plate and the lower platform plate and are connected with the first sliding plate (6) in a penetrating way, and bearing sleeves are arranged at the penetrating parts of the sliding rods (15) and the first sliding plate (6); the upper platform plate (13) is arranged at the joint of the output shaft of the second motor (11) and the second screw rod (12) and is positioned right above the first sliding plate (6), and the peripheral area of the plate surface of the upper platform plate is fixedly connected with the upper end of the sliding rod (15) in a penetrating way; the lower platform plate (14) is arranged in the frame-type rack (1), and is particularly positioned right below the first sliding plate (6), and the peripheral area of the plate surface of the lower platform plate is fixedly connected with the lower end of the sliding rod (15) in a penetrating way.
5. A programmed stacker based on an XYZ three-axis motion platform according to claim 3, wherein said X-axis motion gripping mechanism is arranged below the lower platform plate (14), comprising: the vertical axial sliding rail (16), the third motor (17), the longitudinal displacement plate (18) and the clamping jaw structure, wherein the upper surface of the vertical axial sliding rail (16) is fixedly attached to the lower surface of the lower platform plate (14), the lower surface of the vertical axial sliding rail (16) is fixedly attached to the upper surface of the longitudinal displacement plate (18), and the longitudinal displacement plate (18) longitudinally moves along with the vertical axial sliding rail (16); the jaw arrangement is mounted below a longitudinal displacement plate (18), the arrangement comprising: by arranging parallel guide rails (19) on the lower surface of the longitudinal displacement plate (18), hook pieces (20) in opposite directions are arranged at two ends of the guide rails (19), and a servo motor (21) connected with the hook pieces (20) is driven.
6. The program-controlled stacker crane based on the XYZ three-axis motion platform as claimed in claim 1, wherein tray limiting parts are arranged on the lower side surface of the frame type rack (1) according to the size of a stacking tray.
7. The program-controlled stacker crane based on the XYZ three-axis motion platform as claimed in claim 6, wherein the tray limiting part specifically comprises a baffle plate (22), a roller baffle plate (23) and a middle limiting support (24), the baffle plate (22) is arranged on a transverse support below the front side of the frame-type rack (1), the middle limiting support (24) is longitudinally arranged at a position below the inside of the frame-type rack (1), and the roller baffle plate (23) is arranged on the middle limiting support (24).
8. The program control stacker based on the XYZ three-axis motion platform as claimed in claim 1, wherein the blanking box mechanism comprises a connecting bracket (25), a box stacking bin (26), a blanking table (27) and a push rod motor (28), and the connecting bracket (25) is integrally installed in the frame-type rack (1) through bolt fixation; the blanking table (27) is arranged on the connecting support (25) and is divided into a discharging box area and a stacking bin area, a push rod motor (28) is arranged on the side portion of the stacking bin area, an opening with the size of a material box is formed in the lowest area of the material box stacking bin (26), and the material box stacking bin (26) is placed in the stacking bin area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321869518.XU CN220316592U (en) | 2023-07-17 | 2023-07-17 | Program control stacker crane based on XYZ three-axis motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321869518.XU CN220316592U (en) | 2023-07-17 | 2023-07-17 | Program control stacker crane based on XYZ three-axis motion platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220316592U true CN220316592U (en) | 2024-01-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321869518.XU Active CN220316592U (en) | 2023-07-17 | 2023-07-17 | Program control stacker crane based on XYZ three-axis motion platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220316592U (en) |
-
2023
- 2023-07-17 CN CN202321869518.XU patent/CN220316592U/en active Active
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