Novel movable grabbing stacker-unstacker

Abstract

The invention relates to a novel movable grabbing stacker-unstacker which comprises a supporting stand column, an overall frame and a lifting frame, a grabbing frame is installed at the lower end of the lifting frame through a rotating shaft and deflects through a driving device, a grabber is arranged at the bottom end of the grabbing frame, a pin shaft is arranged at the upper end of the supporting stand column, and the pin shaft is connected with the overall frame. The die table is arranged on the inner side of the supporting stand column, and the side face of the die table is provided with a pin hole and a matching block which correspond to the pin shaft and the claw hook respectively. The grabbing frame grabs on the two sides of the mold tables and then ascends through the lifting frame, finally, supporting is carried out through the pin shaft till the grabbing frame lifts the next mold table again to make contact with the previous mold table to drive all the mold tables on the upper portion to move upwards together, stacking from the lower portion is achieved, and the stacking efficiency is improved. The working mode of a traditional stacker crane is overturned, the mold table does not need to be lifted to a high position, the work of digging a deep pit in the bottom face is avoided, and the construction cost of ground infrastructures can be effectively reduced.

Description

Technical Field

[0001] This invention belongs to the field of PC component production equipment, specifically relating to a novel mobile grabbing, stacking, and destacking machine. Background Technology

[0002] Precast concrete (PC) components are typically manufactured in precast beam factories via production lines. Traditionally, warehousing and curing operations are carried out using automated curing warehouses and customized palletizers. Conventional palletizers stack components sequentially from bottom to top, requiring the robotic arm to lift the mold platform to a high position for stacking. This necessitates very long columns and massive lifting mechanisms, resulting in high equipment costs, high energy consumption, slow operation, and poor stability. To achieve low-position stacking, the main body of the palletizer (especially its lifting mechanism and chassis) is installed in a pit. This allows the robotic arm to perform only small-range lifting and horizontal movement to complete the grabbing and stacking. However, this approach remains costly, requiring significant investment in the construction of curing stations and supporting ground infrastructure. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a new type of mobile grabbing, stacking and destacking machine, which changes the traditional stacking method and saves the cost of ground infrastructure construction.

[0004] The technical solution adopted in this invention is: A novel mobile grabbing and stacking / destacking machine includes a support column, an integral frame mounted on the support column, and a lifting frame mounted on the integral frame via a lifting device. A grabbing frame is mounted on the lower end of the lifting frame via a pivot. The grabbing frame is deflected by a drive device and has a claw hook at its bottom end. A pin is provided at the upper end of the support column. A mold platform is located inside the support column, and pin holes and mating blocks corresponding to the pin and claw hook are provided on the side of the mold platform.

[0005] Furthermore, there are two sets of lifting frames, located on both sides of the overall frame. The top of the grabbing frame is connected to the bottom of the lifting frame via a rotating shaft. The driving device is a hydraulic cylinder, which is located between the lifting frame and the grabbing frame.

[0006] Furthermore, a guide device is provided between the overall frame and the lifting frame. The guide device includes a slide rail disposed on the inner side of the overall frame and guide wheels disposed on the lifting frame.

[0007] Furthermore, a through hole is provided at the upper end of the support column, and a pin is set in the pin hole. A connecting plate is fixedly installed on the outer end of the pin. A cylinder is provided on one side of the support column. The cylinder body is fixed on the support column, and the piston rod is fixedly connected to the connecting plate. The top of the inner end of the pin is a flat surface, which passes through the through hole and engages with the pin hole on the mold table.

[0008] Furthermore, a support device is provided on the mold platform, the support device including a leg disposed on the top side of the mold platform and a slot for engaging with the top of the leg, and a guide post is provided on the top of the leg.

[0009] Furthermore, a steel rail is provided at the top of the supporting column, and the overall frame is mounted on the steel rail via wheels.

[0010] Furthermore, the lifting device includes a worm gear reducer located at the top of the overall frame, a spiral bevel gear steering gear connected to the worm gear reducer via a drive shaft, a worm wheel screw jack connected to the spiral bevel gear steering gear via a drive shaft, and a screw connected to the worm wheel screw jack. A screw nut that cooperates with the screw is provided at the top of the lifting frame.

[0011] The positive effects of this invention are: This invention uses a gripping frame to grip the mold platform from both sides, then uses a lifting frame to raise it, and finally uses a pin to support it until the gripping frame raises the next mold platform to contact the previous one, causing all the mold platforms above to move upward together. This enables palletizing from below, revolutionizing the working method of traditional palletizers. It eliminates the need to raise the mold platform to a high position, avoiding the work of digging deep pits on the bottom, and effectively reducing the cost of ground infrastructure construction. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a schematic diagram of the pin installation position of the present invention; Figure 4 This is a schematic diagram of the grasping frame structure of the present invention; Figure 5 This is a schematic diagram of the mold platform of the present invention. Detailed Implementation

[0013] As attached Figure 1-5As shown, this invention discloses a novel mobile grabbing and stacking / destacking machine, including support columns 1, an integral frame 2 mounted on the support columns 1, and lifting frames 3 mounted on the integral frame 2 via a lifting device 4. There are four support columns 1, located at the four corners of the transport track on both sides of the mold platform 5. The integral frame 2 is located above the four support columns 1. There are two lifting frames 3, located on both sides of the width of the mold platform 5, and they are simultaneously raised and lowered via a single lifting device 4. A grabbing frame 6 is mounted on the lower end of the lifting frame 3 via a pivot, and a driving device is provided between the grabbing frame 6 and the lifting frame 3 to drive the grabbing frame 6 to deflect around the pivot to grab the mold platform 5. Preferably, an inward-facing claw hook 15 is provided at the bottom end of the grabbing frame 6. In this embodiment, the claw hook 15 is an inward-facing horizontal plate. After deflecting to a vertical state, it engages with a mating block 16 on the side of the mold platform 5, located below the mating block 16, and drives the mold platform 5 upward under the action of the lifting device 4. When it is necessary to release the mold platform, the grabbing frame 6 only needs to deflect upward. The lower opening of the mating block 16 facilitates the movement and engagement of the claw hook 15.

[0014] The top of the gripping frame 6 is connected to the lifting frame 3 via a rotating shaft. The driving device is a hydraulic cylinder 7, which is located between the lifting frame 3 and the gripping frame 6. Through the action of the hydraulic cylinder 7, the gripping frame 6 can deflect around the rotating shaft.

[0015] A guide device is also provided between the overall frame 2 and the lifting frame 3 to prevent accidents during the lifting process. The guide device includes a slide rail 14 set inside the overall frame 2 and guide wheels set on the side of the lifting frame 3. There are two guide wheels in each group, and the slide rail 14 is held between the two guide wheels.

[0016] Meanwhile, a pin 10 is provided at the upper end of the support column 1, and a pin hole 12 that mates with the pin 10 is provided on the side of the mold table 5. When the mold table 5 rises to the preset position, the pin 10 passes through the through hole on the support column 1 and mates with the pin hole 12. Each support column 1 is provided with a pin 10, which can support the mold table 5 after it rises. Preferably, a connecting plate 11 is fixedly installed on the outer end of the pin 10, and a cylinder 9 is provided on one side of the support column 1. The cylinder body is fixed on the support column 1, and the piston rod is fixedly connected to the connecting plate 11. The cylinder 9 drives the connecting plate 11 to move, thereby realizing the insertion and removal of the pin 10. The top of the inner end of the pin 10 is a flat surface, and the size of the pin hole 12 is larger than that of the pin 10. The top of the pin hole 12 is also a flat surface, which is used to achieve a surface contact mating with the pin 10 and reduce damage.

[0017] As attached Figure 2 , 5As shown, a support device is also provided on the mold platform 5, including a support leg 13 set on the side of the top surface of the mold platform 5 and a slot that mates with the top of the support leg 13. The support leg 13 is set upward, and the slot is located on the bottom surface of the mold platform 5. When stacking, the support legs 13 of two adjacent mold platforms 5 mate with the slot to achieve support. In order to make the two easier to mate, a guide post 21 is provided on the top of the support leg 13.

[0018] As attached Figure 1 , 2 As shown, a steel rail 8 is provided at the top of the supporting column 1, and the overall frame 2 is mounted on the steel rail 8 via traveling wheels. There are two steel rails 8, located on the left and right sides of the mold table 5 in the width direction, respectively. The traveling wheels enable the movement of the upper overall frame.

[0019] As attached Figure 4 As shown, the lifting device 4 includes a worm gear reducer 17, a spiral bevel gear steering gear 18, a worm gear screw jack 19, and a screw 20. The worm gear reducer 17 is located at the top center of the overall frame 2, with a spiral bevel gear steering gear 18 on each of its left and right sides. The worm gear reducer 17 and the spiral bevel gear steering gear 18 are connected by a drive shaft. A worm gear screw jack 19 is located on both the front and rear sides of each spiral bevel gear steering gear 18, and the spiral bevel gear steering gear 18 and the worm gear screw jack 19 are also connected by a drive shaft. A vertical screw 20 is provided on the worm gear screw jack 19, and a screw nut that mates with the screw 20 is provided on the top of the lifting frame 3. This allows the two lifting frames to move up and down.

[0020] This invention can be controlled by a programmable logic controller (PLC). The stacking process is as follows: a single mold platform 5 is transported to a designated position. The gripping frame 6 deflects downwards, causing the claw hook 15 to engage with the mating block 16. The lifting frame rises to the designated position, at which point the pin shaft 10 aligns with the pin hole 12. The pin shaft 10 moves inwards and inserts into the pin hole 12, holding the mold platform 5 in place. When the next mold platform 5 arrives, the gripping frame 6 and the lifting frame repeat the above actions. When the next mold platform 5 moves upwards to the position where the support leg 13 engages with the slot and continues to rise a short distance (to allow the pin shaft 10 to retract smoothly), the pin shaft 10 retracts, and the lifting frame continues to rise until the next mold platform 5 is raised to the position corresponding to the pin shaft 10. By repeating the above actions, layer-by-layer stacking from bottom to top can be achieved. The destacking process is as follows: the gripping frame 6 grips the bottommost mold platform 5 and lifts it a short distance. The pin 10 retracts, and after the mold platform 5 descends to a certain height, the pin 10 extends and engages with the pin hole of the upper mold platform 5, supporting the upper mold platform. The bottommost mold platform 5 continues to descend until it is placed on the support wheels used for transport, completing the destacking process. Both the stacking and destacking processes can be confirmed by detection switches, with precise lifting controlled by sensors. During lifting, sensors are installed around the perimeter to ensure accurate lifting positions.

[0021] This invention enables stacking and destacking from the bottom, revolutionizing the traditional palletizer operation. It eliminates the need for digging pits in the ground, significantly reducing construction costs. Furthermore, the overall frame can move along track 8, achieving deep integration of stacking / destacking functions with a mobile walking system. It can move long distances for stacking and destacking at multiple workstations, adapting to the stacking / destacking needs of precast component mold table maintenance, saving customers investment, improving efficiency, and enhancing market competitiveness. It also significantly increases stacking / destacking speed, completing one stacking / destacking cycle in six minutes, greatly shortening operation time.

[0022] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A novel mobile grabbing, stacking, and destacking machine, characterized in that... It includes a support column (1), an integral frame (2) set on the support column (1), and a lifting frame (3) set on the integral frame (2) by a lifting device (4). A gripping frame (6) is installed at the lower end of the lifting frame (3) by a rotating shaft. The gripping frame (6) is deflected by a driving device and has a claw hook (15) at its bottom end. A pin (10) is provided at the upper end of the support column (1). A mold table (5) is set inside the support column (1). A pin hole (12) and a mating block (16) corresponding to the pin (10) and the claw hook (15) are provided on the side of the mold table (5).

2. The novel mobile grabbing and stacking / destacking machine according to claim 1, characterized in that... The lifting frame (3) has two sets, located on both sides of the overall frame (2). The top of the grabbing frame (6) is connected to the bottom of the lifting frame (3) through a rotating shaft. The driving device is a hydraulic cylinder (7), which is set between the lifting frame (3) and the grabbing frame (6).

3. The novel mobile grabbing and stacking / destacking machine according to claim 1 or 2, characterized in that... A guide device is provided between the overall frame (2) and the lifting frame (3). The guide device includes a slide rail (14) set inside the overall frame (2) and guide wheels set on the lifting frame (3).

4. The novel mobile grabbing stacker / destacking machine according to claim 1, characterized in that... A through hole is provided at the upper end of the support column (1), and a pin (10) is set in the pin hole. A connecting plate (11) is fixedly installed on the outer end of the pin (10). A cylinder (9) is provided on one side of the support column (1). The cylinder body of the cylinder (9) is fixed on the support column (1), and the piston rod is fixedly connected to the connecting plate (11). The top of the inner end of the pin (10) is a plane, which passes through the through hole and cooperates with the pin hole (12) on the mold table (5).

5. The novel mobile grabbing stacker / destacking machine according to claim 1, characterized in that... A support device is provided on the mold table (5), the support device includes a support leg (13) provided on the top side of the mold table (5) and a slot for engaging with the top of the support leg (13), and a guide post (21) is provided on the top of the support leg (13).

6. The novel mobile grabbing stacker / destacking machine according to claim 1, characterized in that... A steel rail (8) is provided on the top of the supporting column (1), and the overall frame (2) is mounted on the steel rail (8) by means of traveling wheels.

7. The novel mobile grabbing stacker / destacking machine according to claim 1, characterized in that... The lifting device (4) includes a worm gear reducer (17) located at the top of the overall frame (2), a spiral bevel gear steering gear (18) connected to the worm gear reducer (17) via a drive shaft, a worm screw jack (19) connected to the spiral bevel gear steering gear (18) via a drive shaft, and a screw (20) connected to the worm screw jack (19). A screw nut that cooperates with the screw (20) is provided at the top of the lifting frame (3).

Images