Efficient intelligent stacker

Abstract

The present application relates to the technical field of handling stacking, and specifically provides a high-efficiency intelligent stacking machine, which comprises a rotating chassis, a stacking mechanical arm is installed on the rotating chassis, an end execution platform is rotationally connected to the other end of the stacking mechanical arm, a stacking carriage is installed at the bottom of the end execution platform, hydraulic cylinders are respectively installed at the two ends of the stacking carriage, the stacking carriage is of a hollow structure, a driving gear is arranged at the middle part of the stacking carriage, instant locking racks are respectively arranged at the two sides of the driving gear, the instant locking racks are of a U-shaped structure, and locking clamping strips are respectively arranged at the two sides of the opening of the instant locking racks; the magnetic attraction assembly and the locking clamping strips are arranged, the position of the locking clamping strip is limited by the magnetic attraction assembly, the stacking grab plate can be effectively prevented from being driven by the hydraulic cylinder and retracted in the case of power failure of the hydraulic cylinder, and accidents in the handling process can be avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of carrying and stacking, and particularly relates to a high-efficiency intelligent stacking machine. BACKGROUND

[0002] The stacking machine is a device that can replace manual carrying and stacking of goods, and can be integrated in other packaging and stacking production lines to improve the intelligence, robotization and networking of production sites. The use of the stacking machine reduces the labor intensity of workers and improves the production and work efficiency. A full-automatic stacking machine only needs one person to operate during carrying operation. Compared with traditional semi-automatic carrying and full-manual carrying, a large amount of labor cost is reduced, enterprises do not need to worry about the problem of recruiting a large number of workers, and the labor required for enterprise carrying is reduced, thereby reducing the carrying cost. When the stacking machine is stacking, heavy objects need to be grabbed. During grabbing, the pushing function of the hydraulic cylinder is used, and the grabbing plates are close to each other to grab the heavy objects.

[0003] The hydraulic cylinder is a mechanical part that controls movement through hydraulic pressure. The hydraulic cylinder is composed of a piston, a cylinder body, a sealing element, a connecting rod and the like. The hydraulic cylinder is filled with oil. When a certain pressure is applied, the piston will move outward to complete the extension action of the hydraulic cylinder. In the case of power failure or failure, the air in the hydraulic cylinder is not discharged, and the gas is compressed when the oil cylinder moves. After the valve is cut off, rebound occurs. If the heavy object is grabbed between the grabbing plates of the stacking machine, the hydraulic cylinder will rebound, which will cause the heavy object to fall, causing the goods to scatter, loss, and even serious injury to the surrounding personnel.

[0004] In view of the above, the present application provides a high-efficiency intelligent stacking machine to solve the above problems. SUMMARY

[0005] In order to solve the above technical problems, the present application provides a high-efficiency intelligent stacking machine to solve the problems that if the heavy object is grabbed between the grabbing plates of the stacking machine, the hydraulic cylinder will rebound, which will cause the heavy object to fall, causing the goods to scatter, loss, and even serious injury to the surrounding personnel.

[0006] The utility model provides a high -efficient intelligent stacking machine, including rotating chassis, the stacking mechanical arm is installed on rotating chassis, the other end of stacking mechanical arm is rotatably connected with end execution platform, the bottom of end execution platform is installed with stacking carriage, the both ends of stacking carriage are installed with hydraulic cylinder respectively, the inside of stacking carriage is hollow structure, the middle part of stacking carriage is provided with drive gear, the both sides of drive gear are provided with instant locking position frame respectively, instant locking position frame is '' U '' type structure, the both sides of instant locking position frame are provided with locking position clamping strip respectively, the side inner wall away from the opening of instant locking position frame is provided with magnetic attraction component, one end of magnetic attraction component is rotatably connected on locking position clamping strip through draw bar respectively, instant locking position frame is fixedly connected with linkage toothed plate respectively, the bottom of stacking carriage is installed with limit bottom plate respectively, the both sides of the inner wall of stacking carriage are installed with locking position guide plate respectively, the bottom of instant locking position frame is installed with grab plate mounting block respectively, grab plate mounting block is installed with stacking grab plate respectively, the output shaft of hydraulic cylinder is slidably penetrated through stacking carriage and is fixedly connected on one side of instant locking position frame.

[0007] Further, the magnetic attraction component includes a bar-shaped electromagnet and a magnetic attraction plate, the bar-shaped electromagnet is installed on the side inner wall of the instant locking position frame away from the opening, the magnetic attraction plate is installed with an adapter frame, one end of the draw bar is rotatably connected to the adapter frame, the other end of the draw bar is rotatably connected to the locking position clamping strip, and the two draw bars are in an "eight" shape.

[0008] Further, one end of the instant locking position frame near the opening is provided on the both sides of the drive gear, one end of the instant locking position frame near the opening is installed with a blocking plate, a through groove is formed in the end of the instant locking position frame near the blocking plate, one end of the locking position clamping strip passes through the through groove and is arranged on one side of the locking position guide plate, and the two locking position clamping strips are fixedly connected by a supporting spring.

[0009] Further, a plurality of locking grooves are formed in the locking position guide plate, and one end of the locking position clamping strip is arranged in the locking groove.

[0010] Further, the linkage toothed plates are arranged in a ring array along the drive gear, the linkage toothed plates are engaged with the drive gear, and the drive gear is rotatably connected to the top of the end execution platform.

[0011] Further, a guide groove is formed in the bottom of the end execution platform, and the instant locking position frame is slidably connected in the guide groove.

[0012] Further, a plurality of displacement sliding grooves are formed in the surface of the limit bottom plate, the grab plate mounting blocks are slidably penetrated through the displacement sliding grooves, and the stacking grab plates are installed on the grab plate mounting blocks.

[0013] Further, the blocking plate is arranged in the stacking slide.

[0014] Compared with the prior art, the present application has the following beneficial effects:

[0015] 1、The magnetic attraction assembly and the locking clamping strip are arranged, the position of the locking clamping strip is limited by the magnetic attraction assembly, the situation that the stacking grab plate is driven by the hydraulic cylinder and retracted in the case of power failure of the hydraulic cylinder can be effectively prevented, the accident in the carrying process is caused, the magnetic attraction assembly and the supporting spring are restricted to each other, in the case that one of them is unbalanced, the other can quickly react to limit the position of the stacking grab plate, and the possibility of the carrying accident caused by the retraction of the hydraulic cylinder is reduced as much as possible.

[0016] 2、The stacking grab plate is driven by the hydraulic cylinder, the grabbing response of the stacking grab plate is timely, and the linkage of the linkage gear and the driving gear is arranged, so that in the case that one hydraulic cylinder fails, the stacking machine cannot be normally used. DETAILED DESCRIPTION

[0017] Figure 1 is a perspective view of the present application;

[0018] Figure 2 is a perspective view of the end execution platform of the present application;

[0019] Figure 3 is a disassembled view of the stacking grab plate of the present application;

[0020] Figure 4 is a perspective view of the inside of the locking frame of the present application;

[0021] Figure 5 is a structural schematic view of the locking frame of the present application;

[0022] Figure 6 is a state view of the locking clamping strip in the case of power-on;

[0023] Figure 7 is a state view of the locking clamping strip in the case of power-off.

[0024] In the drawings:

[0025] 1, rotating base; 2, stacking mechanical arm; 3, end execution platform; 4, stacking grab plate; 5, hydraulic cylinder; 6, stacking slide; 7, limiting bottom plate; 8, blocking plate; 9, driving gear; 10, linkage gear plate; 11, instant locking frame; 12, locking guide plate; 13, locking clamping strip; 14, supporting spring; 15, pull rod; 16, magnetic plate; 17, bar-shaped electromagnet; 18, guide rail groove; 19, locking groove; 20, grab plate mounting block; 21, displacement sliding groove. DETAILED DESCRIPTION

[0026] The embodiments of the present application will be further described in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0027] As shown in the drawings, Figures 1-7 The present application provides a high-efficiency intelligent stacking machine, which comprises a rotating chassis 1, a stacking mechanical arm 2 installed on the rotating chassis 1, an end execution platform 3 rotatably connected to the other end of the stacking mechanical arm 2, a stacking carriage 6 installed at the bottom of the end execution platform 3, hydraulic cylinders 5 respectively installed at both ends of the stacking carriage 6, a hollow structure inside the stacking carriage 6, a driving gear 9 arranged at the middle of the stacking carriage 6, instant locking racks 11 respectively arranged at both sides of the driving gear 9, the instant locking racks 11 being "U" shaped structures, lock strip 13 respectively arranged at both sides of the opening of the instant locking racks 11, a magnetic attraction assembly arranged on one side of the inner wall of the instant locking racks 11 away from the opening, one end of the magnetic attraction assembly rotatably connected to the lock strip 13 through a pull rod 15, linkage tooth plates 10 respectively fixedly connected to the instant locking racks 11, limiting bottom plates 7 respectively installed at the bottom of the stacking carriage 6, lock guide plates 12 respectively installed on the inner walls of both sides of the stacking carriage 6, grab plate mounting blocks 20 respectively installed at the bottom of the instant locking racks 11, stacking grab plates 4 respectively installed on the grab plate mounting blocks 20, and output shafts of the hydraulic cylinders 5 movably penetrating through the stacking carriage 6 and fixedly connected to one side of the instant locking racks 11.

[0028] As an embodiment of the present application, the magnetic attraction assembly comprises a bar-shaped electromagnet 17 and a magnetic attraction plate 16, the bar-shaped electromagnet 17 is installed on one side of the inner wall of the instant locking rack 11 away from the opening, the magnetic attraction plate 16 is installed with an adapter frame, one end of the pull rod 15 is rotatably connected to the adapter frame, the other end of the pull rod 15 is rotatably connected to the lock strip 13, and the two pull rods 15 are in an "eight" shaped structure.

[0029] When the bar-shaped electromagnet 17 and the magnetic attraction plate 16 are attracted to each other under the condition of power supply, since the bar-shaped electromagnet 17 is fixed, at this time, the magnetic attraction plate 16 is close to the bar-shaped electromagnet 17, the magnetic attraction plate 16 pulls the pull rod 15, the pull rod 15 is rotatably connected between the adapter frame and the lock strip 13, and by changing the rotation angle of the pull rod 15, the distance between the two lock strips 13 is controlled.

[0030] As one of the embodiments of the present application, the one-time locking frame 11 is arranged on both sides of the driving gear 9 near the opening end, and the opening end of the one-time locking frame 11 is respectively provided with a blocking plate for shielding the positions of the two locking clamping plates 13 and the supporting spring 14. The one-time locking frame 11 is respectively provided with a through groove near the blocking plate, the through groove provides a track for the sliding of the locking clamping plate 13, and one end of the locking clamping plate 13 is arranged through the through groove and on one side of the locking guide plate 12. The two locking clamping plates 13 are fixedly connected by the supporting spring 14.

[0031] When the locking clamping plate 13 is not pulled by external force, the supporting spring 14 works to support the two locking clamping plates 13 away from each other, and the two locking clamping plates 13 are arranged out of the through groove and close to the locking slot 19.

[0032] As one of the embodiments of the present application, the locking guide plate 12 is provided with a plurality of locking slots 19 arranged at equal distances, and one end of the locking clamping plate 13 is arranged to match the locking slot 19.

[0033] In a normal state, the locking clamping plate 13 is pulled by the pull rod 15 and is not close to the locking slot 19, and a gap is arranged between the locking clamping plate 13 and the locking slot 19. In the case of power failure, the locking clamping plate 13 is supported by the supporting spring 14, quickly inserted into the locking slot 19, and the position of the one-time locking frame 11 is locked, so that the stacking grabbing plate 4 is also locked and cannot rebound.

[0034] As one of the embodiments of the present application, the linkage tooth plate 10 is arranged in a ring array along the driving gear 9, the linkage tooth plate 10 is engaged with the driving gear 9, and the driving gear 9 is rotatably connected to the top of the end execution platform 3.

[0035] The driving gear 9 is slid without power, and when the two linkage tooth plates 10 are pushed forward and backward by the hydraulic cylinder 5, the driving gear 9 is driven to rotate. The design of the driving gear 9 helps to control the relative sliding of the linkage tooth plate 10 by the other hydraulic cylinder 5 in the case of power failure or failure of one of the hydraulic cylinders 5. The design of the driving gear 9 enables the two linkage tooth plates 10 to move in linkage.

[0036] As one of the embodiments of the present application, the bottom of the end execution platform 3 is provided with a guide rail groove 18, and the one-time locking frame 11 is slidably connected in the guide rail groove 18.

[0037] The guide rail groove 18 is arranged along the power track direction of the hydraulic cylinder 5, which limits the sliding direction of the one-time locking frame 11 and makes the stacking grabbing plate 4 more stable when grabbing.

[0038] As an embodiment of the present application, a plurality of displacement sliding grooves 21 are defined on the surface of the bottom plate 7, and the gripping plate mounting blocks 20 are movably penetrated through the displacement sliding grooves 21, respectively, and the stacking gripping plates 4 are mounted on the gripping plate mounting blocks 20, respectively.

[0039] The gripping plate mounting blocks 20 are fixedly connected at two ends of the stacking gripping plates 4, respectively, and the two stacking gripping plates 4 are arranged in parallel relative to each other, and when the hydraulic cylinder 5 drives the instant locking frame 11 to move, the stacking gripping plates 4 can be simultaneously clamped relative to each other, and the buffer blocking strips are mounted on the side surfaces of the stacking gripping plates 4, and the buffer blocking strips are arranged at the bottom of the side surface of the stacking gripping plates 4 which are close to each other, so as to prevent the goods from sliding in a small range, and the buffer blocking strips can be shielded.

[0040] As an embodiment of the present application, the blocking plates 8 are mounted in the stacking sliding frame 6, and the blocking plates 8 are arranged below the driving gear plates 9, respectively.

[0041] The blocking plates 8 can support the driving gear plates 9 and shield below the linkage gear plates 10, so as to prevent the linkage gear plates 10 from being separated from the driving gear plates 9.

[0042] As Figure 6 In the normal use, the circuit of the hydraulic cylinder 5 is connected in series with the circuit of the bar-shaped electromagnet 17, and then the bar-shaped electromagnet 17 and the magnetic attraction plate 16 are attracted to each other, the pull rod 15 pulls the locking clamping strips 13 away from the locking grooves 19, so that the instant locking frame 11 can be freely moved, and then the two stacking gripping plates 4 are driven to move close to or away from each other by the hydraulic cylinder 5, so as to grab the goods, and the stacking mechanical arm 2 is used to rotate the stacking.

[0043] As Figure 7 In the case of power failure, the bar-shaped electromagnet 17 is also powered off, and the pull rod 15 is no longer limited by the magnetic attraction plate 16, and the supporting spring 14 drives the two locking clamping strips 13 to move away from each other and insert into the locking grooves 19, so as to immediately lock the position of the instant locking frame 11, and prevent the stacking gripping plates 4 from retracting.

[0044] The embodiments of the present application are given for example and description, although the embodiments of the present application have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary, and cannot be understood as limiting the present application, and the ordinary skilled in the art can make changes, modifications, replacements and modifications to the above-mentioned embodiments within the scope of the present application.

Claims

1. A high-efficiency intelligent palletizing machine, comprising a rotating chassis (1), on which a palletizing robotic arm (2) is mounted, and at the other end of the palletizing robotic arm (2) is rotatably connected an end effector (3), and at the bottom of the end effector (3) is a palletizing carriage (6), and at both ends of the palletizing carriage (6) are hydraulic cylinders (5), characterized in that: The palletizing carriage (6) has a hollow interior. A drive gear (9) is located in the middle of the palletizing carriage (6). On both sides of the drive gear (9), there are instant locking frames (11). The instant locking frames (11) have a "U"-shaped structure. Locking strips (13) are located on both sides of the opening of the instant locking frames (11). A magnetic suction assembly is located on the inner wall of the instant locking frame (11) away from the opening. One end of the magnetic suction assembly is connected by a pull rod (15). The locking strip (13) is not rotatably connected to the locking frame (11). The linkage toothed plate (10) is fixedly connected to the instant locking frame (11). The bottom of the stacking slide (6) is respectively equipped with a limiting base plate (7). The inner walls on both sides of the stacking slide (6) are respectively equipped with locking guide plates (12). The bottom of the instant locking frame (11) is respectively equipped with a gripper mounting block (20). The gripper mounting block (20) is respectively equipped with a stacking gripper plate (4). The output shaft of the hydraulic cylinder (5) is respectively movable. The magnetic assembly includes a bar electromagnet (17) and a magnetic plate (16). The bar electromagnet (17) is installed on the inner wall of the instant locking frame (11) away from the opening. An adapter is installed on the magnetic plate (16). One end of the pull rod (15) is rotatably connected to the adapter, and the other end of the pull rod (15) is rotatably connected to the locking strip (13). The two pull rods (15) are arranged in a straight line. The instant locking frame (11) has an "eight" shaped structure. One end of the instant locking frame (11) near the opening is respectively set on both sides of the drive gear (9). A stop plate is installed at one end of the opening of the instant locking frame (11). A through groove is opened at one end of the instant locking frame (11) near the stop plate. One end of the locking strip (13) passes through the through groove and is respectively set on one side of the locking guide plate (12). The two locking strips (13) are fixedly connected by a support spring (14).

2. The high-efficiency intelligent palletizing machine as described in claim 1, characterized in that: The locking guide plate (12) has multiple locking slots (19) arranged at equal intervals, and one end of the locking strip (13) is matched with the locking slot (19).

3. The high-efficiency intelligent palletizing machine as described in claim 1, characterized in that: The linkage gear plate (10) is arranged in a ring array along the drive gear (9). The linkage gear plate (10) meshes with the drive gear (9) respectively. The drive gear (9) is rotatably connected to the top of the end effector (3).

4. The high-efficiency intelligent palletizing machine as described in claim 1, characterized in that: The bottom of the end effector (3) is provided with a guide rail groove (18), and the instant locking frame (11) is slidably connected in the guide rail groove (18).

5. The high-efficiency intelligent palletizing machine as described in claim 1, characterized in that: The surface of the limiting base plate (7) has multiple shifting grooves (21), the gripper mounting blocks (20) are respectively movable through the shifting grooves (21), and the stacking grippers (4) are respectively mounted on the gripper mounting blocks (20).

6. The high-efficiency intelligent palletizing machine as described in claim 1, characterized in that: The palletizing carriage (6) is equipped with a stop plate (8), which is respectively located below the drive gear (9).

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