CN108639759B - Automatic stacker crane - Google Patents
Automatic stacker crane Download PDFInfo
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- CN108639759B CN108639759B CN201810725507.1A CN201810725507A CN108639759B CN 108639759 B CN108639759 B CN 108639759B CN 201810725507 A CN201810725507 A CN 201810725507A CN 108639759 B CN108639759 B CN 108639759B
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- platform
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- positioning
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- 230000007246 mechanism Effects 0.000 claims abstract description 142
- 238000006073 displacement reaction Methods 0.000 claims abstract description 11
- 238000013459 approach Methods 0.000 claims description 9
- 239000004973 liquid crystal related substance Substances 0.000 description 12
- 230000003028 elevating effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
Landscapes
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention relates to an automatic stacker crane which comprises a supporting framework, a lifting conveying platform, a platform lifting mechanism, a pallet transverse moving mechanism, a box feeding platform and a box moving mechanism, wherein the platform lifting mechanism, the pallet transverse moving mechanism, the box feeding platform and the box moving mechanism are arranged on the supporting framework, the pallet transverse moving mechanism is used for conveying pallets to the lifting conveying platform, the box feeding platform is positioned above the pallet transverse moving mechanism, the box moving mechanism moves boxes on the box feeding platform to pallets on the lifting conveying platform, the platform lifting mechanism is connected with the lifting conveying platform and drives the lifting conveying platform to move in the vertical direction, and the lifting conveying platform gradually moves downwards along with the increase of the number of the boxes arranged on the lifting conveying platform. According to the invention, the platform lifting mechanism is arranged to vertically displace the lifting conveying platform, so that the displacement distance of the box body moving mechanism in the vertical direction can be controlled within a limited range, the stacking stability is ensured, the equipment volume is reduced, the stacking time for a single box body is shortened, and the stacking efficiency is improved.
Description
Technical Field
The invention relates to the technical field of liquid crystal display packaging, in particular to an automatic stacker crane.
Background
With the development of the lcd industry, the demand for large-sized lcds is increasing, and accordingly, lcds are developing to larger and larger sizes. As the size of the liquid crystal panel increases, the case for housing the liquid crystal panel also becomes larger and heavier. When the existing stacker crane is used for stacking large-size liquid crystal screens, the situations of unstable stacking, insufficient stacking and the like often occur.
Based on the above, research and development of stacking equipment suitable for large-size liquid crystal display is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims at the problems and aims to provide an automatic stacker crane for realizing stable stacking of large-size liquid crystal display screen boxes.
In order to achieve the above purpose, the invention adopts the following technical scheme:
The embodiment of the invention discloses an automatic stacker crane which comprises a supporting framework, a lifting conveying platform, a platform lifting mechanism, a pallet traversing mechanism, a box feeding platform and a box moving mechanism, wherein the platform lifting mechanism, the pallet traversing mechanism, the box feeding platform and the box moving mechanism are arranged on the supporting framework,
The pallet traversing mechanism is used for conveying pallets to the lifting conveying platform,
The box feeding platform is positioned above the pallet transverse moving mechanism, the box moving mechanism is used for moving the box on the box feeding platform to the pallet on the lifting conveying platform,
The platform lifting mechanism is connected with the lifting conveying platform and drives the lifting conveying platform to carry out displacement in the vertical direction, and
The lifting conveying platform gradually moves downwards along with the increase of the number of the boxes arranged on the lifting conveying platform.
Further, the platform lifting mechanism comprises a sliding rail, a ball screw and a driving mechanism, wherein the sliding rail is fixed on the supporting framework, two sides of the lifting conveying platform are respectively connected to the sliding rail in a sliding manner, and the lifting conveying platform is connected with the driving mechanism through the ball screw.
Further, the box feeding platform comprises a box roller platform and a box positioning mechanism which enables the box to be located at a preset position of the box roller platform.
Further, the box body positioning mechanism comprises two box body positioning pieces and a box body positioning driving mechanism which are symmetrically arranged; wherein,
The two box body positioning pieces are positioned above the box body roller platform and are parallel to the moving direction of the box body;
The box body positioning driving mechanism is connected with the two box body positioning pieces and can drive the two box body positioning pieces to synchronously approach or depart from the symmetry axes of the two box body positioning pieces.
Further, the box positioning driving mechanism comprises a servo motor and a speed reducer, and the speed reducer is connected to the box positioning piece.
Further, the pallet transverse moving mechanism comprises a pallet roller platform and a pallet positioning mechanism, and the pallet positioning mechanism comprises a pallet positioning driving mechanism and two pallet positioning pieces which are symmetrically arranged; wherein,
The two pallet positioning pieces are positioned above the pallet roller platform and are parallel to the moving direction of the pallet,
The pallet positioning driving mechanism is connected with the two pallet positioning pieces and can drive the two pallet positioning pieces to synchronously approach or depart from the symmetry axes of the two pallet positioning pieces.
Further, the pallet positioning driving mechanism is an air cylinder.
Further, the case moving mechanism includes: the frame is fixed on the clamping jaw of the frame, drives the rotating module of the frame to rotate, drives the transverse moving module of the frame to transversely move in the horizontal plane, drives the longitudinal moving module of the frame to longitudinally move in the horizontal plane, and drives the lifting module of the frame to vertically move;
The rotating module is connected with the lifting module, the lifting module is connected with the transverse moving module, and the longitudinal moving module is connected with the supporting framework.
Further, the rotating module can drive the frame to rotate 0-360 degrees.
Further, the lifting conveying platform comprises a lifting roller platform, a pallet positioning mechanism and a braking mechanism, the lifting roller platform is connected with the platform lifting mechanism, wherein,
The braking mechanism comprises a braking rod and a braking driving mechanism for driving the braking rod to move up and down, and the braking rod is positioned at one end or the near end of the lifting roller platform far away from the pallet traversing mechanism;
The pallet positioning mechanism comprises pallet positioning driving mechanisms and two pallet positioning pieces which are symmetrically arranged, wherein the two pallet positioning pieces are positioned above the lifting roller platform, the pallet positioning pieces are parallel to the moving direction of the pallet, and the pallet positioning driving mechanisms are connected with the two pallet positioning pieces and can drive the two pallet positioning pieces to synchronously approach or separate from symmetry axes of the two pallet positioning pieces.
The beneficial effects of the invention are as follows:
According to the invention, the platform lifting mechanism is arranged to vertically displace the lifting conveying platform, so that the displacement distance of the box body moving mechanism in the vertical direction can be controlled within a limited range, the stacking stability is ensured, the equipment volume is reduced, the stroke is shortened, the stacking time for a single box body is shortened, and the stacking efficiency is improved. The technical problems of long running time, unstable stacking, large occupied equipment space and the like caused by overlong displacement distance of the box moving mechanism in the vertical direction are avoided.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of another embodiment of the present invention;
FIG. 3 is a schematic view of a platform lifting mechanism and a lifting platform according to an embodiment of the present invention;
FIG. 4 is a schematic view of a pallet traversing mechanism according to an embodiment of the present invention;
Fig. 5 is a schematic structural diagram of a case moving mechanism according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 and 2, an embodiment of the present invention discloses an automatic stacker crane, which comprises a supporting frame 1, a lifting and conveying platform 2, and a platform lifting mechanism 3, a pallet traversing mechanism 4, a box feeding platform 5 and a box moving mechanism 6 which are installed on the supporting frame 1,
The pallet traversing mechanism 4 is used for conveying pallets to the lifting conveying platform 2,
The box feeding platform 5 is positioned above the pallet traversing mechanism 4, the box moving mechanism 6 is used for moving the box on the box feeding platform 5 to the pallet on the lifting conveying platform 2,
The platform lifting mechanism 3 is connected with the lifting conveying platform 2 and drives the lifting conveying platform 2 to carry out displacement in the vertical direction, and
The elevating conveyor 2 gradually moves down as the number of the boxes placed thereon increases.
In this embodiment, the platform lifting mechanism 3 is arranged to vertically displace the lifting conveying platform 2, so that the lifting stroke of the clamping jaw 62 is reduced, the displacement distance of the box moving mechanism 6 in the vertical direction can be controlled within a limited range, the box moving mechanism can be matched with stacking, the stacking stability is ensured, the equipment volume is reduced, the stacking time for a single box is shortened, and the stacking efficiency is improved. The technical problems of long running time, unstable stacking, large occupied equipment space and the like caused by overlong displacement distance of the box moving mechanism 6 in the vertical direction are avoided.
As a preference of the above embodiment, as shown in fig. 3, the platform lifting mechanism 3 includes a slide rail 31, a ball screw 32, and a driving mechanism, the slide rail 31 is fixed on the supporting frame 1, wherein both sides of the lifting and conveying platform 2 are slidably connected to the slide rail 31, and the lifting and conveying platform 2 is connected to the driving mechanism through the ball screw 32. Namely, the lifting conveying platform 2 is fixed on the lifting bracket through a ball screw and a linear sliding rail 31. Thereby realizing the up-and-down displacement of the lifting conveying platform 2. The upper surface of the lifting conveying platform 2 or the upper box body thereof is kept at a proper height, so that a certain vertical displacement space of the box body moving mechanism 6 can be ensured, and the overlong vertical displacement distance of the box body moving mechanism 6 is avoided.
In still another embodiment of the present invention, as shown in fig. 1, the incoming box material platform 5 includes a box roller platform 51 and a box positioning mechanism 52 for positioning a box at a predetermined position of the box roller platform 51. After the box is conveyed to the box feeding platform 5, the box is positioned by the positioning mechanism, so that the box is positioned at a proper position.
In a preferred embodiment, the box positioning mechanism 52 includes two box positioning members and a box positioning driving mechanism that are symmetrically disposed; wherein,
The two box body positioning pieces are positioned above the box body roller platform 51 and are parallel to the moving direction of the box body;
The box body positioning driving mechanism is connected with the two box body positioning pieces and can drive the two box body positioning pieces to synchronously approach or depart from the symmetry axes of the two box body positioning pieces.
The box body is positioned by adopting the embodiment, namely, the box body is moved to the box body roller platform 51 before positioning, the two box body positioning pieces are respectively positioned at two sides of the box body, after the box body is moved in place, the driving mechanism drives the two box body positioning pieces to move towards the box body direction until the box body is clamped between the two positioning pieces, the box body positioning is completed, and the box body positioning pieces are moved away to carry out subsequent operation. Preferably, the two positioning members move at the same speed, ensuring that the box is placed in the very center of the box roller platform 51.
It is further preferable that the case positioning driving mechanism includes a servo motor and a decelerator connected to the case positioning member in order to avoid damaging the liquid crystal panel in the case during the case positioning.
In yet another embodiment of the present invention, as shown in fig. 1 and 4, the pallet traversing mechanism 4 includes a pallet roller platform 41 and a pallet positioning mechanism, and the pallet positioning mechanism 42 includes a pallet positioning driving mechanism and two pallet positioning members symmetrically disposed; wherein,
The two pallet positioning members are positioned above the pallet roller platform 41 and are parallel to the moving direction of the pallet, the pallet positioning members can be plate-shaped structures,
The pallet positioning driving mechanism is connected with the two pallet positioning pieces and can drive the two pallet positioning pieces to synchronously approach or depart from the symmetry axes of the two pallet positioning pieces.
Preferably, the pallet positioning driving mechanism is an air cylinder.
In this embodiment, the positioning distance of pallet positioning is basically the same as that of the box, and the difference is that the driving mechanism is selected, and because the pallet is much stronger in wear resistance and collision resistance than the liquid crystal screen, a cylinder with lower cost can be adopted for positioning driving.
In still another embodiment of the present invention, as shown in fig. 1 and 5, the case moving mechanism 6 includes: the device comprises a frame 61, a clamping jaw 62 fixed on the frame 61, a rotating module 63 driving the frame 61 to rotate, a traversing module 65 driving the frame 61 to transversely move in a horizontal plane, a longitudinal moving module driving the frame 61 to longitudinally move in the horizontal plane, and a lifting module 64 driving the frame 61 to vertically move;
The rotating module 63 is connected with the lifting module 64, the lifting module 64 is connected with the traversing module 65, and the longitudinal moving module is connected with the supporting framework 1.
Preferably, the rotation module 63 may drive the frame 61 to rotate 0-360 degrees.
In the case moving mechanism 6 of the present embodiment, the clamping jaw 62 can rotate in four degrees of freedom of x\y\z\θ, and can stack the incoming materials in any direction. And the optimal stacking experience can be obtained by matching the stacking device with the platform lifting mechanism 3, and the stacking accuracy and stability are effectively ensured.
In a further embodiment of the present invention, as shown in fig. 1, the elevating conveyor deck 2 includes an elevating roller deck 21, a pallet positioning mechanism 22, and a braking mechanism 23, the elevating roller deck 21 being connected to the deck elevating mechanism 3, wherein,
The braking mechanism 23 comprises a braking rod and a braking driving mechanism for driving the braking rod to move up and down, and the braking rod is positioned at one end or the near end part of the lifting roller platform 21 far away from the pallet traversing mechanism 4;
The pallet positioning mechanism comprises pallet positioning driving mechanisms and two pallet positioning pieces which are symmetrically arranged, the two pallet positioning pieces are positioned above the lifting roller platform 21, the pallet positioning pieces are parallel to the moving direction of the pallet, and the pallet positioning driving mechanisms are connected with the two pallet positioning pieces and can drive the two pallet positioning pieces to synchronously approach or separate from symmetry axes of the two pallet positioning pieces.
Preferably, for automatic alignment and automatic operation, the lifting conveying platform, the pallet traversing mechanism and the box feeding platform are all provided with sensing mechanisms for sensing information such as positions, heights and the like of pallets, boxes and the like on the lifting conveying platform. The automatic stacking device is further provided with a PLC controller, the PLC controller is used for receiving the induction information of each induction mechanism and controlling each part to perform orderly operation according to the induction information, so that automatic stacking is completed.
When the automatic stacker disclosed by the embodiment of the invention is used for stacking liquid crystal screen boxes, the automatic stacking of the liquid crystal screen boxes of 55 inches and more can be realized, the height of the lifting conveying platform is the same as that of the pallet traversing mechanism, when the pallet moves to the display board roller platform on the pallet traversing mechanism, the pallet positioning mechanism is used for positioning the pallet, then the pallet is conveyed to the lifting conveying platform, the pallet moves forwards after reaching the lifting conveying platform until the pallet stops after touching the braking mechanism, and after the pallet positioning mechanism on the lifting conveying platform performs secondary positioning on the pallet, the lifting conveying platform moves upwards to a proper position under the action of the platform lifting mechanism; the box body provided with the liquid crystal screen is conveyed to a box body feeding platform above the pallet transverse moving mechanism, after the box body is positioned by a box body positioning mechanism on the box body feeding platform, the box body moving mechanism drives the clamping jaw to grasp the box body, then the box body is moved to the upper part of the lifting conveying platform, and is lowered after being rotationally regulated to a proper angle, so that the box body falls onto a pallet on the lifting conveying platform, then the clamping jaw is loosened, the conveying of one box body is completed, the platform lifting mechanism drives the lifting conveying platform to move downwards along with the increase of the number of layers of the box body until the box body height reaches a preset value, the braking rod of the braking mechanism moves downwards, and the roller of the lifting conveying platform removes the pallet and the box body on the pallet to complete stacking.
In summary, the automatic stacking machine disclosed by the embodiment of the invention can be used for automatically aligning, automatically grabbing and stacking the box bodies, so that the work which cannot be completed by manpower is effectively completed, the risk during working is effectively avoided, the production efficiency is improved, the production cost is reduced, the process of the liquid crystal panel packaging process is improved, and a foundation is laid for realizing automation of the whole packaging line.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention; modifications and equivalent substitutions are intended to be included in the scope of the claims without departing from the spirit and scope of the present invention.
Claims (8)
1. An automatic stacker crane is characterized by comprising a supporting framework, a lifting conveying platform, a platform lifting mechanism, a pallet traversing mechanism, a box feeding platform and a box moving mechanism, wherein the platform lifting mechanism, the pallet traversing mechanism, the box feeding platform and the box moving mechanism are arranged on the supporting framework,
The pallet traversing mechanism is used for conveying pallets to the lifting conveying platform,
The box feeding platform is positioned above the pallet transverse moving mechanism, the box moving mechanism is used for moving the box on the box feeding platform to the pallet on the lifting conveying platform,
The platform lifting mechanism is connected with the lifting conveying platform and drives the lifting conveying platform to carry out displacement in the vertical direction, and
The lifting conveying platform gradually moves downwards along with the increase of the number of the boxes arranged on the lifting conveying platform;
The box feeding platform comprises a box roller platform and a box positioning mechanism which enables the box to be positioned at a preset position of the box roller platform;
The lifting conveying platform comprises a lifting roller platform, a pallet positioning mechanism and a braking mechanism, wherein the lifting roller platform is connected with the platform lifting mechanism,
The braking mechanism comprises a braking rod and a braking driving mechanism for driving the braking rod to move up and down, and the braking rod is positioned at one end or the near end of the lifting roller platform far away from the pallet traversing mechanism;
The pallet positioning mechanism comprises pallet positioning driving mechanisms and two pallet positioning pieces which are symmetrically arranged, wherein the two pallet positioning pieces are positioned above the lifting roller platform, the pallet positioning pieces are parallel to the moving direction of the pallet, and the pallet positioning driving mechanisms are connected with the two pallet positioning pieces and can drive the two pallet positioning pieces to synchronously approach or separate from symmetry axes of the two pallet positioning pieces.
2. An automatic palletizer according to claim 1, wherein the platform lifting mechanism comprises a slide rail, a ball screw and a driving mechanism, the slide rail being fixed on a supporting skeleton, wherein both sides of the lifting conveying platform are respectively slidably connected to the slide rail, and the lifting conveying platform is connected to the driving mechanism through the ball screw.
3. An automatic palletizer according to claim 1, wherein the box positioning mechanism comprises two box positioning members and a box positioning driving mechanism which are symmetrically arranged; wherein,
The two box body positioning pieces are positioned above the box body roller platform and are parallel to the moving direction of the box body;
The box body positioning driving mechanism is connected with the two box body positioning pieces and can drive the two box body positioning pieces to synchronously approach or depart from the symmetry axes of the two box body positioning pieces.
4. An automatic palletizer according to claim 3, wherein the box positioning drive mechanism includes a servo motor and a decelerator connected to the box positioner.
5. The automated palletizer as in claim 1, wherein the pallet traversing mechanism comprises a pallet roller platform and a pallet positioning mechanism, the pallet positioning mechanism comprising a pallet positioning drive mechanism and two pallet positioning members symmetrically disposed; wherein,
The two pallet positioning pieces are positioned above the pallet roller platform and are parallel to the moving direction of the pallet,
The pallet positioning driving mechanism is connected with the two pallet positioning pieces and can drive the two pallet positioning pieces to synchronously approach or depart from the symmetry axes of the two pallet positioning pieces.
6. An automatic palletizer as in claim 5, wherein the pallet positioning drive mechanism is a cylinder.
7. An automatic palletizer as in claim 1, wherein the box movement mechanism comprises: the frame is fixed on the clamping jaw of the frame, drives the rotating module of the frame to rotate, drives the transverse moving module of the frame to transversely move in the horizontal plane, drives the longitudinal moving module of the frame to longitudinally move in the horizontal plane, and drives the lifting module of the frame to vertically move;
The rotating module is connected with the lifting module, the lifting module is connected with the transverse moving module, and the longitudinal moving module is connected with the supporting framework.
8. An automatic palletizer according to claim 7, wherein the rotation module can drive the frame to rotate 0-360 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810725507.1A CN108639759B (en) | 2018-07-04 | 2018-07-04 | Automatic stacker crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810725507.1A CN108639759B (en) | 2018-07-04 | 2018-07-04 | Automatic stacker crane |
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| Publication Number | Publication Date |
|---|---|
| CN108639759A CN108639759A (en) | 2018-10-12 |
| CN108639759B true CN108639759B (en) | 2024-08-20 |
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| CN201810725507.1A Active CN108639759B (en) | 2018-07-04 | 2018-07-04 | Automatic stacker crane |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104261126A (en) * | 2014-08-28 | 2015-01-07 | 昆山威创精密机械有限公司 | Intelligent transport device |
| CN105217321A (en) * | 2015-10-23 | 2016-01-06 | 江苏汤姆包装机械有限公司 | A kind of active release dividing plate stacker |
| CN208531678U (en) * | 2018-07-04 | 2019-02-22 | 江苏东旭亿泰智能装备有限公司 | A kind of automatic stacking machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202008016566U1 (en) * | 2008-12-17 | 2009-04-16 | Grenzebach Maschinenbau Gmbh | Device for the rapid transport of glass plates |
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2018
- 2018-07-04 CN CN201810725507.1A patent/CN108639759B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104261126A (en) * | 2014-08-28 | 2015-01-07 | 昆山威创精密机械有限公司 | Intelligent transport device |
| CN105217321A (en) * | 2015-10-23 | 2016-01-06 | 江苏汤姆包装机械有限公司 | A kind of active release dividing plate stacker |
| CN208531678U (en) * | 2018-07-04 | 2019-02-22 | 江苏东旭亿泰智能装备有限公司 | A kind of automatic stacking machine |
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| CN108639759A (en) | 2018-10-12 |
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