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CN106743715A - A kind of stacking machine - Google Patents

A kind of stacking machine Download PDF

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Publication number
CN106743715A
CN106743715A CN201710043902.7A CN201710043902A CN106743715A CN 106743715 A CN106743715 A CN 106743715A CN 201710043902 A CN201710043902 A CN 201710043902A CN 106743715 A CN106743715 A CN 106743715A
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CN
China
Prior art keywords
cylinder
driven pulley
logistics
logistics parcel
parcel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710043902.7A
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Chinese (zh)
Other versions
CN106743715B (en
Inventor
柏涛涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hebei Boxline Smart Equipment Polytron Technologies Inc
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Individual
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Publication date
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Priority to CN201710043902.7A priority Critical patent/CN106743715B/en
Publication of CN106743715A publication Critical patent/CN106743715A/en
Application granted granted Critical
Publication of CN106743715B publication Critical patent/CN106743715B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/905Control arrangements

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)

Abstract

The present invention proposes a kind of stacking machine, including logistics parcel clamp system, two degrees of freedom Handling device and logistics parcel conveying mechanism, logistics parcel clamp system is fixedly connected by installation frame with the lifting platform on two degrees of freedom Handling device, logistics is wrapped up clamp system and clamps and under the driving effect of two degrees of freedom Handling device logistics parcel, logistics parcel is completed into direction up or down and two frees degree in direction switch movement forward or backward, realize being transported to logistics parcel on logistics parcel conveying mechanism, complete the conveying of logistics parcel;While the present invention can quickly and efficiently carry logistics parcel, also realize minimizing logistics parcel destructiveness, it is ensured that carry the purpose of logistics parcel in high quality.

Description

A kind of stacking machine
Technical field
The invention belongs to logistics assembly equipment technical field, and in particular to a kind of stacking machine.
Background technology
With the arrival in mobile Internet epoch, mobile e-business or net purchase have become modern people's daily life An important part, be concomitantly that each various kinds ground article all begins through internet or mobile Internet and carries out people Purchase, causes a large amount of logistics parcels and intelligent repository, intelligent express delivery cabinet gradually to enter into common people at one's side or surrounding, because The problem that this brings mainly has a large amount of logistics and its parcel to rely solely on artificial free-hand sorting or traditional fork truck or truck To carry, it is difficult to reach exact classification and carrying, the purpose of conveying.
The content of the invention
The purpose of the present invention is to overcome deficiency in existing product, there is provided a kind of stacking machine, is belonging in modern logistics systems Realize sorting logistics parcel and carry, be sent to the important mechanism of logistics parcel.
In order to achieve the above object, the present invention is achieved by the following technical solutions:
The present invention proposes a kind of stacking machine, including logistics parcel clamp system, two degrees of freedom Handling device and logistics parcel Conveying mechanism, logistics parcel clamp system is fixedly connected by installation frame with the lifting platform on two degrees of freedom Handling device, thing Stream parcel clamp system clamps and under the driving effect of two degrees of freedom Handling device logistics parcel, logistics is wrapped up and is completed Direction and forward or backward two frees degree switching movement in direction up or down, realize for logistics parcel being transported to logistics On parcel conveying mechanism, the conveying of logistics parcel is completed;
Wherein:The logistics parcel clamp system includes two groups of gripper jaws being oppositely arranged, two pieces of sides being oppositely arranged folder Plate, multiple vertical fixed disk and driving clamping device for adsorbing logistics parcel;These vertical fixed disks are fixed on side by side Installation frame bottom;
Each vertical fixed disk includes the 5th cylinder, the 5th piston rod, the 5th end cap block, pushing block, protective housing, bullet Spring, fixed disc main body and step block;The 5th end cap block for being arranged on the 5th piston rod bottom is fixedly connected with pushing block, the 5th cylinder Pushing block is driven to move up and down by the 5th piston rod;Protective housing parcel and by the 5th cylinder, the 5th successively from top to bottom Piston rod, the 5th end cap block, pushing block, spring and fixed disc main body are fixed in the protective housing;
The pushing block is to be fixedly connected with cylinder push rod one by the first disk block and in the first disk block bottom surface center Body is formed, and the cylinder push rod bottom sides are provided with external screw thread, and it is in downwardly projecting hemispherical face that cylinder push rod bottom surface is, and should be partly The radius of spherical is slightly larger than the ventilation pore radius in the second cylinder;The structure is mainly designed to ensure cylinder push rod Bottom surface abuts most of air in passage simultaneously in the process that moves down and with the passage upper port in the second cylinder Discharge, and cylinder push rod bottom surface can block the passage upper port in the second cylinder, this ensure that the second circle The cavity that passage and annulus disk body bottom surface in cylinder are formed with logistics parcel surface is formed close to vacuum state, is made Obtaining vertical fixed disk can produce definitely adsorption to logistics parcel.
Step block is to be fixedly connected with the first cylinder one by the second disk block and in the second disk block top surface center Body is formed, and the through hole set in the second disk block is connected with the internal thread hole set in the first cylinder;Fixed disc main body is by justifying The ring disk body and it is fixedly connected with the second cylinder in the annulus disk body top surface center and integrally forms;It is provided with logical in fixed disc main body Stomata, the passage extends through annulus disk body and the second cylinder from top to bottom;Second cylinder is nested in successively upwards In the through hole of two disk blocks and the internal thread hole of the first cylinder, the cylinder push rod of pushing block downwards can be with the interior spiral shell of cylinder Pit realizes that screw thread is connected, and cylinder push rod bottom surface is right against the passage of the second cylinder;Make in the 5th air cylinder driven Under, pushing block is rotated down the internal thread hole into the second disk block of step block, and extruding is located between pushing block and step block Spring, while the cylinder push rod of pushing block is moved down and in the nested passage for entering fixed disk main body, the cylinder on pushing block is pushed away Bar can block the passage upper port of the fixation disc main body;Annulus disk body bottom side edge is provided with annular iron block circle in, and On the inside of the annular iron block circle and its outside is enclosed with annular elastic rubber layer respectively;The design of the structure, its main work With being that efficiently avoid the out-of-flatness that surface is wrapped up due to logistics so that annulus disk body is difficult to adsorb logistics parcel or circle The absorption of the ring disk body does not live logistics parcel;Can be so provided with annulus disk body bottom side edge edge under the effect of the 5th air cylinder driven Annular iron block circle can be set in appropriate depth ground logistics parcel surface, and due to the annular iron block circle inner side and its outside difference It is enclosed with annular elastic rubber layer so that annulus disk body keeps seal isolation to open between covering the space and the external world shared, and protects The adsorption effect of vertical fixed disk is demonstrate,proved.
Every group of gripper jaw includes straight panel, swash plate, two pieces of connectors and several rest shoes for equidistantly arranging, straight panel and swash plate Between between integrally connected, and straight panel and swash plate formed 110 °~135 ° inclinations angle;Integrally connect between straight panel and several rest shoes Connect, and shape angle in 90 ° between straight panel and corresponding rest shoe;Two pieces of connectors are fixed on swash plate lateral surface side by side, and to downward Stretch and be fixedly connected with straight panel lateral surface;Two annular collars of nested connecting shaft are provided with first clamping plate lateral surface bottom, in swash plate Medial surface is provided with two connecting shafts, enters in corresponding annular collar by two connecting shafts nestings;The first gas on first cylinder Cylinder guide rod is extended downwardly and is hinged with the top of two pieces of moving members, and two pieces of bottoms of moving member are hinged with the top of two pieces of connectors; In the first air cylinder driven upward motion process of the first air cylinder guide rod, the first air cylinder guide rod pulls up moving member and moves up, Band follower link is also moved up simultaneously, because moving member top is hinged with the first air cylinder guide rod bottom, moving member bottom and company Fitting top is hinged, and swash plate axle can carry out rotating freely movement centered on connecting shaft;So as to realize the first air cylinder guide rod Upwards while motion, straight panel, swash plate, two pieces of connectors and several rest shoes are wrapped up up towards outer upset with leaving logistics Bottom surface;During first the first air cylinder guide rod of air cylinder driven is moved downward, the first air cylinder guide rod pull downward on moving member to Lower movement, while band follower link is also moved down, because moving member top is hinged with the first air cylinder guide rod bottom, moving member bottom End is hinged with connector top, and swash plate axle can carry out rotating freely movement centered on connecting shaft;So as to realize the first gas While cylinder guide rod is moved downward, straight panel, swash plate, two pieces of connectors and several rest shoes downwardly toward turning inside out, with close Logistics is wrapped up and gradually crawl logistics is wrapped up;
The gripper jaw is slidably connected by the first cylinder slide seat with lead column, the first cylinder mounting seat on gripper jaw It is fixedly connected with the first cylinder slide seat, the first cylinder slide seat is slidably connected with lead column;Lead column passes through lead column Fixed block is fixed on installation frame;Grasping drive unit includes multiple second cylinders and two the 4th cylinders, multiple second gas Cylinder horizontal Tile is set and is fixedly connected with installation frame by guide plate, and two neighboring second cylinder is towards conversely; One cylinder slide seat upper surface is fixed with drive connection plate, the second piston bar front end on the second cylinder and drive connection plate It is fixedly connected;Second air cylinder driven second piston bar carries out reciprocal telescopic movement, while driving cylinder slide seat and gripper jaw One on lead column axial direction along moving back and forth;Wherein:Two groups of gripper jaws are oppositely arranged, and drive dress clamping Put under driving effect, logistics parcel two sides are able to be fitted with two groups of gripper jaws, this ensure that logistics parcel can It is tightly clamped between two groups of gripper jaws.
Two the 4th cylinders are horizontally arranged and are fixed on installation frame, and the 4th piston rod on the 4th cylinder is towards respectively With the second piston bar on the second cylinder towards and the 3rd cylinder on the 3rd piston rod towards perpendicular;In the 4th cylinder On the 4th piston rod front end be provided with the 4th end casing, side clamping plate is fixedly connected with the 4th end casing;Two pieces of side clamping plates are to downward Stretch and the rest shoe lowermost end edge on the bottom side edge edge not higher than gripper jaw of two pieces of side clamping plates;The design of the structure, its is main Purpose is to rout up to come from both sides to prevent logistics to be wrapped in handling process;Or occur unnecessarily to incline due to loosening, So that logistics parcel is difficult to clamping and is fitted on baffle plate and gripper jaw.
Wherein:First air cylinder guide rod bottom is provided with through hole, is connected by connecting shaft between two pieces of moving member tops, and the connecting shaft is passed through The through hole that break-through is crossed on the first air cylinder guide rod bottom, and gap coordinates between connecting shaft and through hole;Two pieces of moving member bottoms are provided with Connected ball, two pieces of connector top inner side faces are equipped with concave spherical groove, and the connected ball is set into two pieces of connector tops In two concave spherical grooves of side, and connected ball coordinates with concave spherical groove gap.
Hemispherical face on cylinder push rod is coated with elastic rubber layer, is moved down by the cylinder push rod so that circle Hemispherical face on post push rod can abut against with the passage of the second cylinder, with gas in the passage for ensureing the second cylinder Body is separated by with the external world and leaves.
Wherein:Two degrees of freedom Handling device includes elevating mechanism and drives the movable device of elevating mechanism, lift Guide pad is connected with the movable device of elevating mechanism is driven before and after structure passes through, and elevating mechanism is fixed in traversing framework, is risen Descending mechanism is fixedly connected by traversing framework with front and rear guide pad;Elevating mechanism is by driving the movable device of elevating mechanism Realize that anterior-posterior translation is moved;
Guide pad before and after guide pad and second before and after guide pad includes first before and after described;The elevating mechanism includes traversing Framework, group synchronization lifting frame, four lead columns, four guide pads, servomotor, driving wheel, driven pulley I, driven pulley II and from Driving wheel III;
Group synchronization lifting frame is the first synchronization lifting frame and the second synchronization lifting frame, and the first synchronization lifting frame includes the One ball screw, clutch shaft bearing gland, first bearing seat and multiple ball nuts I;Multiple ball nuts I respectively with the first ball Wire rod thread connection coordinates, and clutch shaft bearing gland and first bearing seat are respectively arranged at the top of the first ball screw, bottom, its Purpose is that ball nut I is spacing on the first ball screw, to prevent during the first ball screw spinning motion, ball Nut I is upwardly or downwardly moved and skids off the first ball screw;
Second synchronization lifting frame includes the second ball screw, second bearing gland, second bearing seat and multiple ball nuts Ⅱ;Multiple ball nuts II are threadedly coupled cooperation with the second ball screw respectively, and second bearing gland and second bearing seat are distinguished Top, the bottom of the second ball screw are arranged at, the purpose is to ball nut II is spacing on the second ball screw, to prevent During the second ball screw spinning motion, ball nut II is upwardly or downwardly moved and skids off the second ball screw;
Multiple ball nuts I, multiple ball nuts II are fixedly connected with lifting platform respectively, multiple ball nuts I, multiple rollings Pearl nut II is moved up and down respectively along first ball screw at respective place, the second ball screw, so as to drive lifting Platform is moved up and down;
It is fixedly connected by a concentric mandrel connector between driven pulley II and the first ball screw, and driven pulley III and It is fixedly connected by another concentric mandrel connector between two ball screws;Coaxially passed between the output shaft and driving wheel of servomotor Dynamic connection, is connected between driving wheel and driven pulley I by belt I, and coaxial transmission connects between driven pulley I and driven pulley II Connect, be connected by belt II between driven pulley II and driven pulley III;Servomotor driving driving wheel carries out spinning motion, from And drive driven pulley I, driven pulley II and the driven pulley III to carry out spinning motion;
Driven pulley II is equal with the spinning motion radius of driven pulley III, and the first ball screw and the second ball screw Section radius are equal;Such structure design, the purpose is to ensure that the first ball screw and the second ball screw keep synchronous rotation Transhipment is dynamic so that the ball nut II on ball nut I, the second ball screw on the first ball screw is in same time Interior rising declines equal displacement, and the concordant state in two ends is remained in the lifting process of such lifting platform, so that Ensure that lifting platform rises or decline movement very steadyly;Four guide pads are installed with lifting platform, this four are led Coordinate to gap between block and four lead columns;Lifting platform is risen along four lead columns, is declined movement;
The movable device for driving elevating mechanism includes servomotor II, the second driving wheel II, the second driven pulley I, coaxial driven pulley II, coaxial driven pulley III, the second driven pulley II, the second driven pulley III, the second lead column;
Coaxial transmission connection, the second driving wheel II second between the output shaft of the servomotor II and the second driving wheel II Connected by the 3rd belt transmission between driven pulley I, between the second driven pulley I and coaxial driven pulley II and the second driven pulley I Coaxial transmission is between coaxial driven pulley III to be connected;Its purpose is mainly the coaxial driven pulley II of guarantee and coaxial driven pulley III Being consistent property of rotational velocity so that the second belt I and the being consistent property of transmission speed of the second belt II;Before and after first Guide pad is provided between the first guide slots that can extend through the second belt I, and the first guide slots and the second belt I Interference fit is connected;Guide pad is provided with the second guide slots that can extend through the second belt II, and second before and after second Interference fit connection between guide slots and the second belt II.
As preferred:Before and after the first guide slots and second before and after described first in guide pad in guide pad second Guide slots are in wavy through hole;The design of the structure, guide pad and the second belt I before and after mainly ensure that first, Guide pad firmly links into an integrated entity with the second belt II before and after second;Driven and be driven in the second belt I and the second belt II During, integrally drive traversing framework and elevating mechanism to carry out translational motion forward or backward.
Wherein:The logistics parcel conveying mechanism includes material dragging track I and material dragging track II, and material is slided The direction of motion of track I is in 90 ° of bent angles with the direction of motion of material dragging track II;
The motor I that material dragging track I includes the roller I of many side by side and drives these rollers I to roll, and a circle Shape rotating disk and the motor II for driving the round turntable rotary motion;The round turntable is located at the discharging of the material dragging track I On end;The motor III that material dragging track II includes the roller II of many side by side and drives these rollers II to roll;Material is slided The discharge end direction of track I and the feed end being connected to material dragging track II;The design of the structure, mainly will be positioned at material Material in dragging track I applies one laterally when the terminal position of material dragging track I is transported to by round turntable Mobile active force so that material finds appropriate deflection, realizes that material is smoothly transitioned into material and slides by material dragging track I On row track II;And in view of material be typically all in rectangular configuration, can so keep narrower one end of material all the time Positioned at mobile front end, 90 ° of smooth transitions of bent angle are realized.
Side shield I is fixed with the side end face of material dragging track I 1, clamping plate, clamping plate are provided with its another side end face Lateral surface is connected by many air cylinder guide rods side by side with corresponding cylinder, and these cylinders can drive clamping plate towards side shield I Moved back and forth on direction;The material being located in material dragging track I is clamped and is aligned between side shield I and clamping plate, So that be located at material in material dragging track I is transported to material dragging track II in neat shape side by side;In material dragging track I Feed end is provided with baffle plate I, and the baffle plate I is fixed on underframe I by support I, and the effect of the baffle plate I is mainly for preventing thing Material is kept out and is maintained on material dragging track I by the material convolution of dragging track I when reversing.
Cylinder is fixed on underframe I by cylinder mounting plate, and the material dragging track I is fixed on underframe I;Material is slided The feed end of row track II is provided with baffle plate II, and the baffle plate II is fixed on underframe II by support II, material dragging track II It is fixed on underframe II, the effect of the baffle plate II is mainly for keeping out material when preventing material dragging track II from circling round and reversing It is maintained on material dragging track II;Side shield II is provided with a side end face of material dragging track II, the side shield II Effect is mainly for the material entered on material dragging track II by material dragging track I is moved up into impact forwards Power is buffered or balanced out, while the material that will can be had just enter on material dragging track II is neatly slided along the material side by side The outlet extreme direction movement of track II;It is provided with export orientation mouthful on the port of export of material dragging track II, the export orientation mouthful, It is to be formed by interior guide plate and the relative clamping of outer guide plate, and the medial surface of outer guide plate is located at the medial surface of side shield II On same plane.
Compared with prior art, beneficial effects of the present invention are as follows:
Using the technical scheme in the present invention, first pass through two groups of gripper jaws being oppositely arranged in logistics parcel clamp system and grab Take and clamp logistics parcel, in the presence of driving clamping device (i.e. mainly by respective cylinder up and down or front and rear drive Under action is used), then adsorption can be applied to corresponding logistics parcel respectively by multiple vertical fixed disks, while relatively The two pieces of side clamping plates for setting are wrapped in left and right sides to these logistics and apply definitely clamping force, to avoid these logistics Parcel generation is rocked or loosened;Then logistics parcel clamp system is fixed in elevating mechanism so that by logistics package clip The logistics parcel of tight gear grips realizes that the free switching on upwardly or downwardly direction is moved by elevating mechanism;Simultaneously because Guide pad is connected with the movable device of elevating mechanism is driven before and after elevating mechanism passes through, and elevating mechanism is fixed on traversing framework Interior, elevating mechanism is fixedly connected by traversing framework with front and rear guide pad;Elevating mechanism is by driving the front and rear shifting of elevating mechanism Dynamic device realizes that anterior-posterior translation is moved, and movable dress is being wrapped in by logistics parcel clamp system clamping or the logistics for clamping Under the driving effect put, so as to realize free switching movement in the forward or backward direction;Pass through technical side of the invention Case logistics parcel can realize the switching movement of two frees degree of above-below direction and fore-and-aft direction, so as to logistics is wrapped up into accurate Really it is transported to the surface that conveying mechanism is wrapped up in predetermined logistics;First retract successively again and these gripper jaws side by side and open two Block side clamping plate, then discharges the adsorption of vertical fixed disk again so that these logistics parcel just drops to logistics parcel On conveying mechanism, while completing quickly and efficiently to carry logistics parcel, also realize minimizing logistics parcel destructiveness, protect The purpose for carrying logistics parcel is in high quality demonstrate,proved.
Brief description of the drawings
Fig. 1~4 are overall structure diagram of the invention.
Fig. 5~6 are the peace in the present invention between logistics parcel clamping device and the elevating mechanism of two degrees of freedom Handling device Dress cooperation schematic diagram.
Fig. 7 is the movable device of the driving elevating mechanism of two degrees of freedom Handling device in the present invention.
Fig. 8 is the front and rear guide block structure schematic diagram in the present invention.
Fig. 9~16 clamp apparatus structure schematic diagram for the logistics parcel in the present invention.
Figure 17 is the gripper jaw partial enlargement structural representation of logistics parcel clamping device in the present invention.
Figure 18 is the configuration schematic diagram of the vertical fixed disk of logistics parcel clamping device in the present invention.
Figure 19~21 are the logistics parcel conveying mechanism structural representation in the present invention.
Specific embodiment
Technical scheme is described further with reference to Figure of description:
As shown in Fig. 1~21, the present invention proposes the specific implementation that can be applied to carry a kind of stacking machine that logistics is wrapped up Example, as shown in figures 1-4, the present invention in a kind of stacking machine, including logistics parcel clamp system, two degrees of freedom Handling device and Conveying mechanism is wrapped up in logistics, and logistics parcel clamp system is by the lifting platform on installation frame 77 and two degrees of freedom Handling device 500 are fixedly connected, and logistics is wrapped up clamp system and clamps and under the driving effect of two degrees of freedom Handling device logistics parcel, Logistics parcel is completed into direction up or down and two frees degree in direction switch movement forward or backward, realized logistics Parcel is transported on logistics parcel conveying mechanism, completes the conveying of logistics parcel.
As shown in Fig. 9~16, the present invention in logistics parcel clamp system mainly include be oppositely arranged two groups of gripper jaws, Two pieces of side clamping plates being oppositely arranged, multiple vertical fixed disk 81 and driving clamping device for adsorbing logistics parcel;These Vertical fixed disk 81 is fixed on the bottom of installation frame 77 side by side.
As shown in fig. 16 and 18, each vertical fixed disk 81 includes the 5th cylinder 815, the 5th piston rod 8151, the Five end cap blocks 8152, pushing block 813, protective housing 814, spring 812, fixed disc main body 810 and step block 811;It is arranged on the 5th 5th end cap block 8152 of the bottom of piston rod 8151 is fixedly connected with pushing block 813, and the 5th cylinder 815 passes through the 5th piston rod 8151 Pushing block 813 is driven to move up and down;The parcel and by the 5th cylinder 815, the 5th piston rod successively from top to bottom of protective housing 814 8151, the 5th end cap block 8152, pushing block 813, spring 812 and fixed disc main body 810 are fixed in the protective housing 814;It is described Pushing block 813 is to be fixedly connected with cylinder push rod 8132 by the first disk block 8131 and in the bottom surface center of the first disk block 8131 Integrally form, the bottom sides of cylinder push rod 8132 are provided with external screw thread, the bottom surface of cylinder push rod 8132 is in downwardly projecting hemisphere Shape face, and the hemispherical face radius slightly larger than the radius of passage 8103 in the second cylinder 8102;The design master of the structure If in order to ensure the bottom surface of cylinder push rod 8132 the process that moves down and with the second cylinder 8102 in passage 8103 on Port is abutted simultaneously by most of air discharge in passage 8103, and the bottom surface of cylinder push rod 8132 can be by the second cylinder The upper port of passage 8103 in 8102 is blocked, this ensure that passage 8103 and annulus in the second cylinder 8102 The cavity that the bottom surface of disk body 8101 is formed with logistics parcel surface is formed close to vacuum state so that vertical fixed disk 81 can Definitely adsorption is produced to logistics parcel.
As shown in figure 18, step block 811 is by the second disk block 8111 and in the top surface of the second disk block 8111 center It is fixedly connected with the first cylinder 8112 integrally to form, the cylinder 8112 of through hole 8113 and first set in the second disk block 8111 The internal thread hole 8114 for inside setting is connected;Fixed disc main body 810 is pushed up by annulus disk body 8101 and in the annulus disk body 8101 Face center is fixedly connected with the second cylinder 8102 and integrally forms;Passage 8103 is provided with fixed disc main body 810, the passage 8103 extend through the cylinder 8102 of annulus disk body 8101 and second from top to bottom;Second cylinder 8102 is nested in successively upwards In the internal thread hole 8114 of the cylinder 8112 of through hole 8113 and first of the second disk block 8111, the cylinder push rod of pushing block 813 8132 can realize that screw thread is connected with the internal thread hole 8114 of cylinder 8112 downwards, and the bottom surface of cylinder push rod 8132 is just right In the passage 8103 of the second cylinder 8102;Under the driving effect of the 5th cylinder 815, pushing block 813 is rotated down and enters step The internal thread hole 8114 of the second disk block 8111 of block 811, extruding is located at the spring 812 between pushing block 813 and step block 811, The cylinder push rod 8132 of pushing block 813 is moved down and in the nested passage 8103 for entering fixed disk main body 810 simultaneously, pushing block Cylinder push rod 8132 on 813 can block the upper port of passage 8103 of the fixation disc main body 810;Annulus disk body 8101 Bottom side edge is provided with annular iron block circle in, and on the inside of the annular iron block circle and its outside is enclosed with annular elastic caoutchouc respectively Layer;The design of the structure, its main effect is to efficiently avoid the out-of-flatness that surface is wrapped up due to logistics so that circle ring disk Body 8101 is difficult to adsorb logistics parcel or the absorption of annulus disk body 8101 does not live logistics parcel;So can be in the 5th cylinder Under 815 driving effects, the annular iron block circle that the bottom side edge of annulus disk body 8101 is provided with can set appropriate depth ground logistics bag Wrap up in surface, and because the annular iron block circle inner side and its outside are enclosed with annular elastic rubber layer respectively so that circle ring disk Body 8101 keeps seal isolation to open between covering the space and the external world shared, it is ensured that the adsorption effect of vertical fixed disk 81.
As shown in Fig. 9~17, every group of gripper jaw includes straight panel 11, and swash plate 10, two pieces of connectors 13 are equidistant with several The rest shoe 12 of arrangement, forms 110 °~135 ° and inclines between integrally connected between straight panel 11 and swash plate 10, and straight panel 11 and swash plate 10 Oblique angle;Shape angle in 90 ° between integrally connected, and straight panel 11 and corresponding rest shoe 12 between straight panel 11 and several rest shoes 12;Two Block connector 13 is fixed on the lateral surface of swash plate 10 side by side, and extends downwardly and be fixedly connected with the lateral surface of straight panel 11;In the first folder The lateral surface bottom of plate 20 is provided with two annular collars 21 of nested connecting shaft 22, and two connecting shafts 22 are provided with the medial surface of swash plate 10, Enter in corresponding annular collar 21 by two nestings of connecting shaft 22;The first air cylinder guide rod 31 on first cylinder 3 is extended downwardly Top with two pieces of moving members 15 is hinged, and two pieces of bottoms of moving member 15 are hinged with the top of two pieces of connectors 13;In the first gas Cylinder 3 is driven in the upward motion process of the first air cylinder guide rod 31, and the first air cylinder guide rod 31 pulls up moving member 15 and moves up, together When band follower link 13 also move up, because the top of moving member 15 is hinged with the bottom of the first air cylinder guide rod 31, the bottom of moving member 15 End is hinged with the top of connector 13, and swash plate 10 axle can carry out rotating freely movement centered on connecting shaft 22;So as to realize First air cylinder guide rod 31 upwards motion while, straight panel 11,10, two pieces of connectors 13 of swash plate and several rest shoes 12 up towards Outer upset, to leave the bottom surface of logistics parcel;During the first cylinder 3 drives the first air cylinder guide rod 31 to move downward, first Air cylinder guide rod 31 pulls downward on moving member 15 and moves down, while band follower link 13 is also moved down, because moving member 15 is pushed up End is hinged with the bottom of the first air cylinder guide rod 31, and the bottom of moving member 15 is hinged with the top of connector 13, and swash plate 10 can be with even Axle carries out rotating freely movement centered on axle 22;While so as to realize that the first air cylinder guide rod 31 is moved downward, straight panel 11, swash plate 10th, two pieces of connectors 13 and several rest shoes 12 are wrapped up and gradually capture logistics bag downwardly toward turning inside out to approach logistics Wrap up in.
As shown in figure 17, the gripper jaw is slidably connected by the first cylinder slide seat 73 with lead column 712, on gripper jaw The first cylinder mounting seat 23 and the first cylinder slide seat 73 be fixedly connected, the first cylinder slide seat 73 is slided with lead column 712 It is connected;Lead column 712 is fixed on installation frame 77 by lead column fixed block 711;Grasping drive unit includes multiple Second cylinder 743 and two the 4th cylinders 242, multiple horizontal Tiles of second cylinder 743 are set and by guide plate 75 and installation Framework 77 is fixedly connected, and two neighboring second cylinder 743 is towards opposite;Drive is fixed with 73 upper surfaces of the first cylinder slide seat Dynamic connection plate 741, the front end of second piston bar 742 on the second cylinder 743 is fixedly connected with drive connection plate 741;Second The driving second piston of cylinder 743 bar 742 carries out reciprocal telescopic movement, while driving cylinder slide seat 73 and gripper jaw one edge And moved back and forth on the axial direction of lead column 712;Wherein:Two groups of gripper jaws are oppositely arranged, and in driving clamping device Under driving effect, logistics parcel two sides are able to be fitted with two groups of gripper jaws, this ensure that logistics parcel can be tight Tightly it is clamped between two groups of gripper jaws.
Two the 4th cylinders 242 are horizontally arranged and are fixed on installation frame 77, the 4th piston rod on the 4th cylinder 242 Towards respectively with the second cylinder 743 on second piston bar 742 towards and the 3rd cylinder 761 on the court of the 3rd piston rod 762 To perpendicular;The 4th piston rod front end on the 4th cylinder 242 is provided with the 4th end casing 241, the end cap of side clamping plate 240 and the 4th Plate 241 is fixedly connected;Two pieces of side clamping plates 240 are extended downwardly and along the bottom side edge edge not higher than gripper jaw of two pieces of side clamping plates 240 The lowermost end edge of rest shoe 12;The design of the structure, its main purpose is to prevent logistics to be wrapped in handling process from two Rollover is out;Or occur unnecessarily to incline due to loosening so that logistics parcel is difficult to clamping and is fitted in baffle plate 764 and clamping On pawl.
Wherein:The bottom of first air cylinder guide rod 31 is provided with through hole, is connected by connecting shaft 22 between two pieces of tops of moving member 15, should Connecting shaft 22 extends through the through hole on the bottom of the first air cylinder guide rod 31, and gap coordinates between connecting shaft 22 and through hole;Two pieces of movements The bottom of part 15 is provided with connected ball 14, and two pieces of top inner side faces of connector 13 are equipped with concave spherical groove, and the connected ball 14 is set Into in two pieces of two concave spherical grooves in the top inner side face of connector 13, and connected ball 14 coordinates with concave spherical groove gap.
As shown in figure 18, the hemispherical face on cylinder push rod 8132 is coated with elastic rubber layer, by the cylinder push rod 8132 move down so that the hemispherical face on cylinder push rod 8132 can offset with the passage 8103 of the second cylinder 8102 Connect, be separated by with the external world with gas in the passage 8103 for ensureing the second cylinder 8102 and left.
As shown in figures 5-8, before the two degrees of freedom Handling device in the present invention includes elevating mechanism and drives elevating mechanism Mobile device afterwards, guide pad is connected with the movable device of driving elevating mechanism before and after elevating mechanism passes through, and elevating mechanism is solid It is scheduled in traversing framework, elevating mechanism is fixedly connected by traversing framework with front and rear guide pad;Elevating mechanism is lifted by driving The movable device of mechanism realizes that anterior-posterior translation is moved.
As shown in Fig. 7~8, it is described before and after guide pad include first before and after guide pad 652 before and after guide pad 651 and second; The elevating mechanism include traversing framework, 2 groups of synchronization lifting framves, four lead columns, 59, four guide pads 50, servomotor 51, Driving wheel 52, driven pulley I 53, driven pulley II 54 and driven pulley III 55;2 groups of synchronization lifting framves are the first synchronization lifting frame 57 and the Two synchronization lifting framves 58, the first synchronization lifting frame 57 includes the first ball screw 572, clutch shaft bearing gland 573, first axle Bearing and multiple ball nuts I 571;Multiple ball nuts I 571 are threadedly coupled cooperation, first with the first ball screw 572 respectively Bearing gland 573 and first bearing seat are respectively arranged at top, the bottom of the first ball screw 572, the purpose is to by ball spiral shell Female I 571 is spacing on the first ball screw 572, to prevent during the spinning motion of the first ball screw 572, ball nut I 571 upwardly or downwardly motion skid off the first ball screw 572;Second synchronization lifting frame 58 includes the second ball screw 582, the Two bearing glands 583, second bearing seat and multiple ball nuts II 581;Multiple ball nuts II 581 respectively with the second ball wire The threaded connection of bar 582 coordinates, second bearing gland and second bearing seat 584 be respectively arranged at the second ball screw 582 top, Bottom, the purpose is to ball nut II 581 is spacing on the second ball screw 582, to prevent in the second ball screw 582 certainly During transhipment is dynamic, ball nut II 581 is upwardly or downwardly moved and skids off the second ball screw 582;Multiple ball nuts I 571st, multiple ball nuts II 581 are fixedly connected with lifting platform 500 respectively, multiple ball nuts I 571, multiple ball nuts II 581 move up and down respectively along first ball screw 572 at respective place, the second ball screw 582, so as to drive lifting Platform 500 is moved up and down;It is fixedly connected by a concentric mandrel connector between driven pulley II 54 and the first ball screw 572, And be fixedly connected by another concentric mandrel connector between driven pulley III 55 and the second ball screw 582;Servomotor 51 Coaxial transmission connection between output shaft and driving wheel 52, is connected between driving wheel 52 and driven pulley I 53 by belt I 561, Coaxial transmission connection between driven pulley I 53 and driven pulley II 54, passes through belt II 562 between driven pulley II 54 and driven pulley III 55 Drive connection;Servomotor 51 drive driving wheel 52 carry out spinning motion so that drive driven pulley I 53, driven pulley II 54 and from Driving wheel III 55 carries out spinning motion;Driven pulley II 54 is equal with the spinning motion radius of driven pulley III 55, and the first ball wire Bar 572 is equal with the section radius of the second ball screw 582;Such structure design, the purpose is to ensure the first ball screw 572 and the second ball screw 582 keep synchronous rotary motion so that ball nut I 571 on the first ball screw 572, Ball nut II 581 on second ball screw 582 rises in same time or declines equal displacement, so rises Drop platform 500 lifting process in remain the concordant state in two ends so that ensure lifting platform 500 rise very steadyly or under Drop movement;Four guide pads 50 are installed with lifting platform 500, between this four guide pads 50 and four lead columns 59 between Gap coordinates;Lifting platform 500 is risen along four lead columns 59, is declined movement;
As shown in Fig. 5~6, the movable device for driving elevating mechanism includes servomotor II 61, and second actively Take turns II 62, the second driven pulley I 631, coaxial driven pulley II 632, coaxial driven pulley III 633, the second driven pulley II 634, second from Driving wheel III 635, the second lead column 66;Coaxial transmission connects between the output shaft of the servomotor II 61 and the second driving wheel II 62 Connect, be connected by the 3rd belt 641 between the driven pulley I 631 of the second driving wheel II 62 second, the second driven pulley I 631 with it is same Coaxial transmission connection is between axle driven pulley II 632 and between the second driven pulley I 631 and coaxial driven pulley III 633;Its mesh Mainly ensure the being consistent property of rotational velocity of coaxial driven pulley II 632 and coaxial driven pulley III 633 so that second The being consistent property of transmission speed of I 642 and second belt of belt II 643.
As shown in figure 8, guide pad 65A is provided with the first gathering sill that can extend through the second belt I 642 before and after first Interference fit connection between hole 651A, and the first guide slots 651A and the second belt I 642;Set on guide pad 65B before and after second There are the second guide slots 651B that can extend through the second belt II 643, and the second guide slots 652A and the second belt II Interference fit connection between 643.
As shown in Figure 8:Guide pad before and after the first guide slots 651A and second before and after described first in guide pad 65A The second guide slots 651B in 65B is in wavy through hole;The design of the structure, is oriented to before and after mainly ensure that first Block 65A and the second belt I 642, guide pad 65B firmly links into an integrated entity with the second belt II 643 before and after second;In the second skin Band I 642 and second belt II 643 by driving transmission process in, integrally drive traversing framework and elevating mechanism carry out forward or Translational motion backward.
As shown in Figure 19~21, the logistics parcel conveying mechanism in the present invention includes that material dragging track I 41 and material are slided Row track II 45, and the direction of motion of material dragging track I 41 and the direction of motion of material dragging track II 45 are in 90 ° of bent angles;
The motor I that material dragging track I 41 includes the roller I 411 of many side by side and drives these rollers I 411 to roll, with And a round turntable 42 and the motor II for driving the rotary motion of round turntable 42;The round turntable 42 is slided positioned at the material On the discharge end of row track I 41;Material dragging track II 45 includes the roller II 451 of many side by side and drives these rollers II 451 motors III for rolling;The discharge end direction of material dragging track I 41 and the feed end being connected to material dragging track II 45; The design of the structure, is mainly being transported to the end of material dragging track I 41 by the material being located in material dragging track I 41 During end position, an active force for lateral movement is applied by round turntable 42 so that material finds appropriate deflection, realizes thing Material is smoothly transitioned on material dragging track II 45 by material dragging track I 41;And in view of material be typically all in square Shape structure, can so keep narrower one end of material to be always positioned at moving front end, realize 90 ° of smooth transitions of bent angle.
Side shield I 44 is fixed with the side end face of material dragging track I 41 1, clamping plate is provided with its another side end face 47, the lateral surface of clamping plate 47 is connected by many air cylinder guide rods side by side with corresponding cylinder 481, and these cylinders 481 can drive Clamping plate 47 is towards being moved back and forth on the direction of side shield I 44;The material being located in material dragging track I 41 is clamped and alignd Between side shield I 44 and clamping plate 47 so that material is transported to material cunning in neat shape side by side in material dragging track I 41 Row track II 45;Baffle plate I 431 is provided with the feed end of material dragging track I 41, the baffle plate I 431 is fixed by support I 491 On underframe I 492, the effect of the baffle plate I 431 is mainly for supporting material when preventing material dragging track I 41 from circling round and reversing Gear is maintained on material dragging track I 41.
Cylinder 481 is fixed on underframe I 492 by cylinder mounting plate 482, and the material dragging track I 41 is fixed on bottom On frame I 492;The feed end of material dragging track II 45 is provided with baffle plate II 432, and the baffle plate II 432 is fixed by support II 494 On underframe II 493, material dragging track II 45 is fixed on underframe II 493, and the effect of the baffle plate II 432 is mainly for anti- Material is kept out when only the convolution of material dragging track II 45 is reversed is maintained on material dragging track II 45;In material dragging track II 45 side end face is provided with side shield II 433, and the effect of the side shield II 433 is mainly for will be by material dragging track I 41 materials entered on material dragging track II 45 move up impulsive force buffering or balance out forwards, while can The material on material dragging track II 45 will be had just enter into neatly to be moved along the outlet extreme direction of the material dragging track II 45 side by side It is dynamic;Export orientation mouthful 46 is provided with the port of export of material dragging track II 45, export orientation mouthful 46, is by interior guide plate 462 and outer guide plate 462 relative clamping formed, and the medial surface of outer guide plate 462 is located at the medial surface of side shield II 433 On same plane.
Using the technical scheme in the present invention, first pass through two groups of gripper jaws being oppositely arranged in logistics parcel clamp system and grab Take and clamp logistics parcel, in the presence of driving clamping device (i.e. mainly by respective cylinder up and down or front and rear drive Under action is used), then adsorption can be applied to corresponding logistics parcel respectively by multiple vertical fixed disks, while relatively The two pieces of side clamping plates for setting are wrapped in left and right sides to these logistics and apply definitely clamping force, to avoid these logistics Parcel generation is rocked or loosened;Then logistics parcel clamp system is fixed in elevating mechanism so that by logistics package clip The logistics parcel of tight gear grips realizes that the free switching on upwardly or downwardly direction is moved by elevating mechanism;Simultaneously because Guide pad is connected with the movable device of elevating mechanism is driven before and after elevating mechanism passes through, and elevating mechanism is fixed on traversing framework Interior, elevating mechanism is fixedly connected by traversing framework with front and rear guide pad;Elevating mechanism is by driving the front and rear shifting of elevating mechanism Dynamic device realizes that anterior-posterior translation is moved, and movable dress is being wrapped in by logistics parcel clamp system clamping or the logistics for clamping Under the driving effect put, so as to realize free switching movement in the forward or backward direction;Pass through technical side of the invention Case logistics parcel can realize the switching movement of two frees degree of above-below direction and fore-and-aft direction, so as to logistics is wrapped up into accurate Really it is transported to the surface that conveying mechanism is wrapped up in predetermined logistics;First retract successively again and these gripper jaws side by side and open two Block side clamping plate, then discharges the adsorption of vertical fixed disk again so that these logistics parcel just drops to logistics parcel On conveying mechanism, while completing quickly and efficiently to carry logistics parcel, also realize minimizing logistics parcel destructiveness, protect The purpose for carrying logistics parcel is in high quality demonstrate,proved.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after Scheme belong to protection scope of the present invention.

Claims (6)

1. a kind of stacking machine, including logistics parcel clamp system, two degrees of freedom Handling device and logistics parcel conveying mechanism, it is special Levy and be, logistics parcel clamp system is fixed by installation frame (77) with the lifting platform (500) on two degrees of freedom Handling device Connection, logistics is wrapped up clamp system and clamps and under the driving effect of two degrees of freedom Handling device logistics parcel, by logistics Parcel completes direction up or down and forward or backward two frees degree switching movement in direction, realizes removing logistics parcel Transport on logistics parcel conveying mechanism, complete the conveying of logistics parcel;
Wherein:
Clamp system is wrapped up in the logistics, including be oppositely arranged two groups of gripper jaws, be oppositely arranged two pieces of side clamping plates, multiple hang down Straight fixed disk (81) and driving clamping device;The vertical fixed disk (81) of multiple for adsorbing logistics parcel is fixed on peace side by side Frame up frame (77) bottom;Each vertical fixed disk (81) includes the 5th cylinder (815), pushing block (813), spring (812), fixed disk Main body (810) and step block (811);The pushing block (813) is by the first disk block (8131) and in the first disk block (8131) bottom surface center is fixedly connected with cylinder push rod (8132) and integrally forms, and cylinder push rod (8132) bottom sides are provided with outer Screw thread, cylinder push rod (8132) bottom surface is that step block (811) is by the second disk block (8111) in downwardly projecting hemispherical face And be fixedly connected with the first cylinder (8112) in the second disk block (8111) the top surface center and integrally form, the second disk block (8111) through hole 8113 set in is connected with the internal thread hole (8114) set in the first cylinder (8112);Fixed disc main body (810) it is to be fixedly connected with the second cylinder by annulus disk body (8101) and in annulus disk body (8101) the top surface center (8102) integrally form;Passage (8103) is provided with fixed disc main body (810), the passage (8103) is from top to bottom through logical Cross annulus disk body (8101) and the second cylinder (8102);Second cylinder (8102) is nested in the second disk block successively upwards (8111) in the internal thread hole (8114) of the cylinder (8112) of through hole 8113 and first, the cylinder push rod of pushing block (813) (8132) can realize that screw thread is connected with the internal thread hole (8114) of cylinder 8112 downwards, and cylinder push rod (8132) bottom Face is right against the passage (8103) of the second cylinder (8102);Under the 5th cylinder (815) driving effect, pushing block (813) to Under rotate into step block (811) the second disk block (8111) internal thread hole (8114), extruding be located at pushing block (813) and platform Spring (812) between rank block (811), while the cylinder push rod (8132) of pushing block (813) is moved down and nested into fixation In the passage (8103) of disc main body (810), the cylinder push rod (8132) on pushing block (813) can be by the fixation disc main body (810) passage (8103) upper port is blocked;Annulus disk body (8101) bottom side edge is provided with annular iron block circle in, and at this Annular iron block circle inner side and its outside are enclosed with annular elastic rubber layer respectively;Every group of gripper jaw includes straight panel (11), swash plate (10), two pieces of connectors (13) and several rest shoes (12) for equidistantly arranging, integrally connect between straight panel (11) and swash plate (10) Connect, and 110 °~135 ° inclinations angle are formed between straight panel (11) and swash plate (10);Between straight panel (11) and several rest shoes (12) Shape angle in 90 ° between integrally connected, and straight panel (11) and corresponding rest shoe (12);Two pieces of connectors (13) are fixed on swash plate side by side (10) on lateral surface, and extend downwardly and be fixedly connected with straight panel (11) lateral surface;It is provided with first clamping plate (20) lateral surface bottom Two annular collars (21) for being used for nested connecting shaft (22), are provided with two connecting shafts (22) on swash plate (10) medial surface, by two Individual connecting shaft (22) is nested to be entered in corresponding annular collar (21);The first air cylinder guide rod (31) on first cylinder (3) is to downward Stretch and be hinged with the top of two pieces of moving members (15), two pieces of bottoms of moving member (15) are hinged with the top of two pieces of connectors (13); In the first cylinder (3) drives the upward motion process of the first air cylinder guide rod (31), the first air cylinder guide rod (31) pulls up movement Part (15) is moved up, while band follower link (13) is also moved up, due to moving member (15) top and the first air cylinder guide rod (31) bottom is hinged, and moving member (15) bottom is hinged with connector (13) top, and swash plate (10) can be with connecting shaft (22) Central shaft carries out rotating freely movement;While so as to realize that the first air cylinder guide rod (31) is moved upwards, straight panel (11), swash plate (10), two pieces of connectors (13) and several rest shoes (12) are up towards outer upset, to leave the bottom surface of logistics parcel;
During the first cylinder (3) drives the first air cylinder guide rod (31) to move downward, the first air cylinder guide rod (31) is pulled downward on Moving member (15) is moved down, while band follower link (13) is also moved down, due to moving member (15) top and the first cylinder Guide rod (31) bottom is hinged, and moving member (15) bottom is hinged with connector (13) top, and swash plate (10) can be with connecting shaft (22) axle carries out rotating freely movement centered on;While so as to realize that the first air cylinder guide rod (31) is moved downward, straight panel (11), Swash plate (10), two pieces of connectors (13) and several rest shoes (12) downwardly toward turning inside out, to approach logistics parcel and gradually Crawl logistics parcel;
The gripper jaw is slidably connected by the first cylinder slide seat (73) with lead column (712), the first cylinder on gripper jaw Mounting seat (23) is fixedly connected with the first cylinder slide seat (73), and the first cylinder slide seat (73) is slided with lead column (712) matches somebody with somebody Close connection;Lead column (712) is fixed on installation frame (77) by lead column fixed block (711);Grasping drive unit includes Multiple second cylinders (743) and two the 4th cylinders (242), multiple second cylinder (743) horizontal Tiles are set and by being oriented to Plate (75) is fixedly connected with installation frame (77), and two neighboring second cylinder (743) is towards conversely;In the first cylinder slide seat (73) upper surface is fixed with drive connection plate (741), second piston bar (742) front end on the second cylinder (743) with drive Connection plate (741) is fixedly connected;Second cylinder (743) driving second piston bar (742) carries out reciprocal telescopic movement, while band Cylinder sliding seat (73) and gripper jaw one take offence along being moved back and forth on lead column (712) axial direction;Two the 4th Cylinder (242) is horizontally arranged and is fixed on installation frame (77), the 4th piston rod on the 4th cylinder (242) towards respectively with The 3rd piston rod (762) direction in second piston bar (742) direction and the 3rd cylinder (761) on second cylinder (743) It is perpendicular;The 4th piston rod front end on the 4th cylinder (242) is provided with the 4th end casing (240), side clamping plate (240) and the 4th End casing (240) is fixedly connected;Two pieces of side clamping plates (240) extend downwardly and the bottom side edge edge of two pieces of side clamping plates (240) is not high In rest shoe (12) the lowermost end edge on gripper jaw;
The two degrees of freedom Handling device includes elevating mechanism and drives the movable device of elevating mechanism, elevating mechanism to pass through Front and rear guide pad is connected with the movable device of elevating mechanism is driven, and elevating mechanism is fixed in traversing framework, elevating mechanism It is fixedly connected with front and rear guide pad by traversing framework;Before elevating mechanism is by driving the movable device realization of elevating mechanism Translational motion afterwards;Guide pad (652) before and after guide pad (651) and second before and after guide pad includes first before and after described;The liter Descending mechanism include traversing framework, 2 groups of synchronization lifting framves, four lead columns (59), four guide pads (50), servomotor (51), Driving wheel (52), driven pulley I (53), driven pulley II (54) and driven pulley III (55);2 groups of synchronization lifting framves are the first synchronization lifting Frame (57) and the second synchronization lifting frame (58), the first synchronization lifting frame (57) include the first ball screw (572), first axle Pressure cap (573), first bearing seat and multiple ball nuts I (571);Multiple ball nuts I (571) respectively with the first ball wire Bar (572) threaded connection coordinates, and clutch shaft bearing gland (573) and first bearing seat are respectively arranged at the first ball screw (572) Top, bottom;Second synchronization lifting frame (58) includes the second ball screw (582), second bearing gland (583), the second axle Bearing and multiple ball nuts II (581);Multiple ball nuts II (581) are threadedly coupled with the second ball screw (582) respectively Coordinate, second bearing gland and second bearing seat (584) are respectively arranged at the top of the second ball screw (582), bottom;It is multiple Ball nut I (571), multiple ball nuts II (581) are fixedly connected with lifting platform (500) respectively, multiple ball nuts I (571), first ball screw (572), second ball screw of multiple ball nuts II (581) respectively along respective place (582) move up and down, so as to drive lifting platform (500) to move up and down;Driven pulley II (54) and the first ball screw (572) it is fixedly connected by a concentric mandrel connector between, and is led between driven pulley III (55) and the second ball screw (582) Another concentric mandrel connector is crossed to be fixedly connected;Coaxial transmission is connected between the output shaft of servomotor (51) and driving wheel (52), Be connected by belt I (561) between driving wheel (52) and driven pulley I (53), driven pulley I (53) and driven pulley II (54) it Between coaxial transmission connection, between driven pulley II (54) and driven pulley III (55) by belt II (562) drive connection;Servomotor (51) driving driving wheel (52) carries out spinning motion, so as to drive driven pulley I (53), driven pulley II (54) and driven pulley III (55) Carry out spinning motion;Driven pulley II (54) is equal with the spinning motion radius of driven pulley III (55), and the first ball screw (572) section radius with the second ball screw (582) are equal, and four guide pads are installed with lifting platform (500) (50), gap coordinates between this four guide pads (50) and four lead columns (59);Lifting platform (500) is along four lead columns (59) risen, declined movement;The movable device of the driving elevating mechanism, including servomotor II (61), second Driving wheel II (62), the second driven pulley I (631), coaxial driven pulley II (632), coaxial driven pulley III (633), the second driven pulley II (634), the second driven pulley III (635), the second lead column (66), front and rear guide pad;The output of the servomotor II (61) Coaxial transmission is connected between axle and the second driving wheel II (62), passes through between the driven pulley I (631) of the second driving wheel II (62) second 3rd belt (641) is connected, between the second driven pulley I (631) and coaxial driven pulley II (632) and the second driven pulley I (631) coaxial transmission is between coaxial driven pulley III (633) to be connected;Guide pad (65A) is provided with and can pass through before and after first First guide slots (651A) of the second belt I (642), and the first guide slots (651A) and the second belt I (642) are crossed in break-through Between interference fit connection;Guide pad (65B) is provided with and can extend through the second of the second belt II (643) and lead before and after second It is connected to interference fit between slotted eye (651B), and the second guide slots (652A) and the second belt II (643);
The logistics parcel conveying mechanism includes that dragging track I (41) and logistics parcel dragging track II (45) are wrapped up in logistics, and The direction of motion of logistics parcel dragging track I (41) is in 90 ° of bent angles with the direction of motion of logistics parcel dragging track II (45);Thing Motor I of the stream parcel dragging track I (41) including the roller I (411) of many side by side and driving these rollers I (411) rolling, with And a round turntable (42) and drive round turntable (42) rotary motion motor II;The round turntable (42) is positioned at this On the discharge end of logistics parcel dragging track I (41);Logistics parcel dragging track II (45) includes the roller II of many side by side (451) and drive these rollers II (451) roll motor III;The discharge end direction of logistics parcel dragging track I (41) is simultaneously held in the mouth It is connected to the feed end that dragging track II (45) is wrapped up in logistics;
Side shield I (44) is fixed with logistics parcel dragging track I (41) side end face, folder is provided with its another side end face Plate (47), clamping plate (47) lateral surface is connected by many air cylinder guide rods side by side with corresponding cylinder (481), these cylinders (481) clamping plate (47) can be driven towards being moved back and forth on the direction of side shield I (44);
The feed end of logistics parcel dragging track II (45) is provided with baffle plate II (432), and the baffle plate II (432) is by support II (494) it is fixed on underframe II (493), logistics parcel dragging track II (45) is fixed on underframe II (493);
Side shield II (433) is provided with a side end face of logistics parcel dragging track II (45), dragging track is wrapped up in logistics II (45) port of export is provided with export orientation mouthful (46), and export orientation mouthful (46), is by interior guide plate (462) and outer guiding The relative clamping of plate (462) is formed, and the medial surface of outer guide plate (462) with the medial surface of side shield II (433) positioned at same In plane.
2. a kind of stacking machine according to claim 1, it is characterised in that the first air cylinder guide rod (31) bottom is provided with logical Hole, is connected between two pieces of moving member (15) tops by connecting shaft (22), and the connecting shaft (22) extends through the first air cylinder guide rod (31) Through hole on bottom, and connecting shaft (22) gap cooperation and through hole between;Two pieces of moving member (15) bottoms are provided with connected ball (14), Two pieces of connector (13) top inner side faces are equipped with concave spherical groove, and the connected ball (14) is set into two pieces of connector (13) tops Hold in two concave spherical grooves of medial surface, and connected ball (14) coordinates with concave spherical groove gap.
3. a kind of stacking machine according to claim 1, it is characterised in that outside the hemispherical face on cylinder push rod (8132) Elastic rubber layer is coated with, is moved down by the cylinder push rod (8132) so that the hemispherical face on cylinder push rod (8132) Can be abutted against with the passage (8103) of the second cylinder (8102), to ensure the passage of the second cylinder (8102) (8103) interior gas is separated by with the external world and leaves.
4. a kind of stacking machine according to claim 1, it is characterised in that before and after described first in guide pad (65A) The second guide slots (651B) before and after first guide slots (651A) and second in guide pad (65B) are in wavy logical Hole.
5. a kind of stacking machine according to claim 1, it is characterised in that in entering for logistics parcel dragging track I (41) Material end is provided with baffle plate I (431), and the baffle plate I (431) is fixed on underframe I (492) by support I (491).
6. a kind of stacking machine according to claim 1, it is characterised in that cylinder (481) is by cylinder mounting plate (482) It is fixed on underframe I (492), the logistics parcel dragging track I (41) is fixed on underframe I (492).
CN201710043902.7A 2017-01-19 2017-01-19 A kind of stacking machine Active CN106743715B (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
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CN108657815B (en) * 2018-05-25 2023-11-07 江西理工大学 Express delivery parcel sorting machine
CN109436776A (en) * 2018-09-05 2019-03-08 华南理工大学 A kind of material transmission mechanism, transmission method and transfer robot
CN109436776B (en) * 2018-09-05 2024-01-05 华南理工大学 Material transfer mechanism, transfer method and transfer robot
CN111319988A (en) * 2018-12-14 2020-06-23 广东昂锐机械制造有限公司 Gantry type seamless stacking machine
CN111319988B (en) * 2018-12-14 2021-06-29 广东昂锐机械制造有限公司 Gantry type seamless stacking machine
CN111003520A (en) * 2019-12-10 2020-04-14 安徽共生物流科技有限公司 Semi-automatic stacking and blanking vehicle
CN111003519A (en) * 2019-12-10 2020-04-14 安徽共生物流科技有限公司 Semi-automatic unloading commodity circulation skip
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CN112357816A (en) * 2020-11-27 2021-02-12 何英炬 Automatic unloader of commodity circulation
CN115626468A (en) * 2022-11-03 2023-01-20 江苏威拉里新材料科技有限公司 Automatic feeding equipment for metal-based composite material
CN115626468B (en) * 2022-11-03 2024-10-15 江苏威拉里新材料科技有限公司 Automatic feeding equipment for metal matrix composite
CN116812576A (en) * 2023-08-31 2023-09-29 广州市升晖木业有限公司 Auxiliary manipulator stacking device for wood processing
CN116812576B (en) * 2023-08-31 2023-11-17 广州市升晖木业有限公司 Auxiliary manipulator stacking device for wood processing
CN117451540A (en) * 2023-10-24 2024-01-26 江苏苏仪集团有限公司 Pressure gauge shell strength testing device
CN117451540B (en) * 2023-10-24 2024-04-05 江苏苏仪集团有限公司 Pressure gauge shell strength testing device
CN117485891A (en) * 2023-12-29 2024-02-02 佛山华翔车顶系统有限公司 Transfer device behind car roof finished product
CN117485891B (en) * 2023-12-29 2024-04-12 佛山华翔车顶系统有限公司 Transfer device behind car roof finished product

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