Cylindrical material stack gripping mechanism and material stacking device

Abstract

The application discloses a cylindrical material stacking and grabbing mechanism, which comprises a fixed plate, a turnover plate, a first grabbing part, a second grabbing part, a gas cylinder and a rotary driving part. In an initial state, the turnover plate and the fixed plate are kept in the same horizontal plane, the first grabbing part and the second grabbing part cooperatively adsorb and grab a plurality of cylindrical materials and place the cylindrical materials on the bottom layer. Then, the gas cylinder is started and drives the turnover plate to move, so that the second grabbing part is flipped upward as a whole with the turnover plate and is lifted away from the original working position; only the first grabbing part independently performs the adsorption and grabbing action to grab the next batch of cylindrical materials and place the next batch of cylindrical materials on the bottom layer, so that the interlayer staggered embedding is realized; meanwhile, the rotary driving part enables the material unit to rotate around the central axis of the material unit to perform azimuth adjustment, so that the cylindrical materials between adjacent layers can present a specific staggered arrangement mode with the two ends facing each other in the process of layer-by-layer stacking, and the anti-instability capability is enhanced.

Description

Technical Field

[0001] This invention relates to the field of stacking device technology, and particularly to a cylindrical material stacking and gripping mechanism and a material stacking device. Background Technology

[0002] To facilitate the handling and management of materials during transportation, various materials typically need to be neatly and orderly stacked in transport containers or trucks. For cylindrical materials (such as rolls, pipes, and drums), due to their cylindrical or near-cylindrical shape, they are prone to rolling during stacking due to the curvature of the contact surfaces, leading to instability in the stacking structure and the risk of tilting or even collapse. To address this issue, the industry commonly employs an alternating odd-even stacking method (also known as "seam-pressed stacking" or "staggered stacking"), where adjacent layers are not placed on the same vertical line but are arranged alternately to enhance the overall stability and load-bearing capacity of the stack. However, current common material gripping mechanisms and automated stacking equipment can usually only grip a fixed or single quantity of materials and stack them according to an equal quantity per layer, without changing the number of materials gripped. This operating method cannot flexibly change the quantity of materials between odd and even layers, thus making it difficult to adapt to the staggered stacking process required for cylindrical materials, limiting its application effectiveness and scope in relevant scenarios. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, a first aspect of this invention provides a cylindrical material stacking and gripping mechanism, comprising: a fixed plate; a folding plate; a first gripper; a second gripper; and a cylinder; the folding plate is hinged to one end of the fixed plate; multiple first grippers are arranged and fixed to the bottom of the fixed plate; the second gripper is fixed to the bottom of the folding plate; the tail end of the cylinder is rotatably mounted to the top of the fixed plate; the drive rod of the cylinder is connected to the folding plate; the cylinder is used to drive the folding plate to fold, causing the second gripper to flip upwards to a non-working position along with the folding plate.

[0004] According to some embodiments of the present invention, the number of the first gripper is even and the number of the second gripper is odd.

[0005] According to some embodiments of the present invention, a pad block one is fixed on the fixing plate, and a pad block two is fixed on the folding plate; A connecting rod assembly is installed between the side of the first pad and the side of the second pad, and a connecting shaft is installed between the connecting rod assemblies. The connecting shaft is rotatably connected to the drive rod of the cylinder.

[0006] According to some embodiments of the present invention, the linkage assembly includes: a first rod and a second rod, one end of the first rod being rotatably connected to the first pad via a first pivot, and the other end of the first rod being rotatably connected to the end of the connecting shaft.

[0007] One end of the second rod is rotatably connected to the second pad through the second pivot, and the other end of the second rod is connected to the connecting shaft, so that the other end of the second rod rotates with the connecting shaft.

[0008] According to some embodiments of the present invention, the hinge is installed between the first pad and the second pad.

[0009] A second aspect of the present invention provides a material stacking device, including a rotary drive and a gripping mechanism, wherein the gripping mechanism is connected to the rotary drive and rotates via the rotary drive; the gripping mechanism is a cylindrical material stacking gripping mechanism as described in any one of the claims.

[0010] According to some embodiments of the present invention, the device further includes a frame and a three-axis moving mechanism, wherein the rotary drive is connected to the three-axis moving mechanism; the three-axis moving mechanism is mounted on the frame. The three-axis moving mechanism includes a translation component, a lateral translation component, and a lifting component; The translation component is installed on the top of the frame, and a movable beam is mounted on the translation component. The movable beam is driven by the translation component to move in the X-axis direction. The lateral movement assembly is installed on the top of the movable beam frame, and a movable plate is installed on the lateral movement assembly. The movable plate is driven by the lateral movement assembly to move in the Z-axis direction. The lifting assembly is connected to the moving plate, and the rotary drive is fixed to the bottom of the lifting assembly. The lifting assembly is used to move the rotary drive along the Y-axis.

[0011] According to some embodiments of the present invention, the translation assembly includes a motor, a support plate, a second support plate, a first synchronous pulley, a first tensioning pulley, and a first synchronous belt. The first motor is fixed on the first support plate, and the first synchronous pulley is mounted on the drive shaft of the first motor. The first pallet and the second pallet are respectively fixed to the bottom of both ends of the movable beam frame, and the bottom of the first pallet and the second pallet are each equipped with a sliding guide. The slide rail slider assembly is fixed to the top of the frame. The pallet has an installation opening located below the timing pulley. Two tensioning pulleys are horizontally installed inside the installation opening. Both ends of the timing belt are fixed to the frame, and the timing pulleys pass over the first tensioning pulley, the timing pulley, and the second tensioning pulley.

[0012] According to some embodiments of the present invention, the transverse assembly includes a second motor, a gear, and a rack; the moving plate is vertically disposed on the back of the moving beam frame; and a second sliding guide is installed between the moving plate and the moving beam frame; the second motor is fixed to the top of the moving plate. The gear is mounted on the drive shaft of the second motor, and the gear meshes with the rack, which is fixed to the top of the movable beam frame.

[0013] According to some embodiments of the present invention, the lifting assembly includes a connecting plate, a lifting beam, a motor, a synchronous pulley, a tensioning pulley, and a synchronous belt. The connecting plate is fixed to the back of the moving plate, the lifting beam is located on the back of the connecting plate, and a sliding guide is installed between the lifting beam and the connecting plate. A mounting frame is installed at the bottom of the lifting beam, and the rotating drive component is installed on the mounting frame. The motor is mounted on the connecting plate, which has an installation port. Two tensioning pulleys are vertically installed in the installation port. The two ends of the synchronous belt are fixed to the two ends of the lifting beam frame, and the synchronous belt passes over the first tensioning pulley, the synchronous belt pulley, and the second tensioning pulley.

[0014] The present invention has at least the following beneficial effects: 1. In the initial state, the folding plate and the fixed plate are on the same horizontal plane, and the folding plate is in its operational position. At the start of operation, the first and second grippers work together to adsorb and grab multiple cylindrical materials, placing them stably on the bottom layer of the support surface. Subsequently, the cylinder is activated, driving the folding plate to move, causing the second gripper, fixed to the folding plate, to flip and lift upwards along with the entire folding plate, thus moving it from its original working position to a non-working position. In this state, only the first gripper independently performs the adsorption and gripping action, grabbing the next batch of cylindrical materials and placing it on top of the already positioned bottom layer. During this placement process, because the number of cylindrical materials on the upper layer is less than the number on the lower layer, the upper layer of cylindrical materials will fall naturally under its own weight and precisely embed itself into the gap between two adjacent lower layer cylindrical materials, achieving interlocking and interlocking between layers.

[0015] 2. For cylindrical materials where uneven weight distribution may exist at both ends (such as bottle preforms), the rotary drive allows the material unit to rotate and adjust its orientation in a controllable angle around its central axis in the horizontal plane. This rotational adjustment function enables the cylindrical materials in adjacent layers to exhibit a specific staggered arrangement of their two ends during the stacking process, thereby achieving a more optimized geometric fit and interlocking between layers. This staggered interlocking structural design not only improves the stability within a single stacked layer but also significantly enhances the overall rigidity, structural locking force, and resistance to external lateral forces, preventing tilting or tipping.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The first and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 A schematic diagram of the overall mechanism for stacking and gripping cylindrical materials; Figure 2 for Figure 1 Enlarged diagram of A in the middle; Figure 3 A schematic diagram showing the second gripper in a non-working state in a cylindrical material stacking gripping mechanism; Figure 4 for Figure 3 Enlarged diagram of B in the middle; Figure 5 This is a schematic diagram of the overall material stacking device; Figure 6 Schematic diagram of the lateral movement component and lifting component in the material stacking device. Figure 1 ; Figure 7 Schematic diagram of the lateral movement component and lifting component in the material stacking device. Figure 2 ; Figure 8 This is a top view of the material stacking device; Figure 9 for Figure 8 Schematic diagram of the CC section; Figure 10 This is a front view schematic diagram of the transverse moving component and the lifting component in the material stacking device; Figure 11 for Figure 10 Schematic diagram of the DD cross section. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, the terms "first," "greater than," "less than," and "exceeding" are understood to exclude the stated number. The use of "first" and "second" is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, the quantity of indicated technical features, or the order of the indicated technical features.

[0020] like Figures 1 to 4 As shown, the cylindrical material stacking and gripping mechanism includes a fixed plate 1, a folding plate 2, a first gripper 3, a second gripper 4, and a cylinder 5. The folding plate 2 is mounted on one end of the fixed plate 1 via a hinge 6. Multiple first grippers 3 are arranged and fixed at the bottom of the fixed plate 1. The second gripper 4 is fixed at the bottom of the folding plate 2. The tail end of the cylinder 5 is rotatably mounted on the top of the fixed plate 1. The drive rod of the cylinder 5 is connected to the folding plate 2. The cylinder 5 is used to drive the folding plate 2 to fold, so that the second gripper 4 flips upward with the folding plate 2 to a non-working position.

[0021] In the stacking operation described in this embodiment, the specific operation process is as follows: In the initial state, the folding plate 2 and the fixed plate 1 are kept on the same horizontal plane, and the folding plate 2 is in its working position where it can perform operations. At the start of the operation, the first gripper 3 and the second gripper 4 work together to adsorb and grip multiple cylindrical materials and place them stably on the bottom layer of the bearing surface. Subsequently, the cylinder 5 is activated and drives the folding plate 2 to move, causing the second gripper 4, which is fixedly installed on the folding plate 2, to flip and lift upwards along with the folding plate 2 as a whole, thereby leaving its original working position and reaching a non-working position. In this state, only the first gripper 3 independently performs the adsorption and gripping action, gripping the next batch of cylindrical materials and placing them on the bottom layer of materials that have been placed in place. During this placement process, since the number of cylindrical materials in the upper layer is less than the number of cylindrical materials in the lower layer, the upper cylindrical materials will fall naturally by their own gravity and accurately embed themselves in the gap between two adjacent cylindrical materials in the lower layer, realizing the interlayer staggered interlocking.

[0022] The aforementioned stacking actions are repeated sequentially to complete the stacking of materials layer by layer. Through this staggered stacking method, the weight of the upper cylindrical material is evenly transferred downwards through the contact points formed between it and the two lower cylindrical materials, distributing it to the lower materials and ultimately conducting it to the bearing surface. This mechanism achieves the distributed transfer of load, effectively avoiding the risk of material deformation or collapse of the overall stacked structure that may be caused by localized stress concentration.

[0023] Meanwhile, after stacking, each cylinder is tightly abutted and constrained by the adjacent cylinders on both sides, forming a natural lateral self-locking structure in the horizontal direction. This structure effectively limits the possible horizontal displacement of individual cylinders, allowing all cylinders in the entire stack to interlock and cooperate in bearing force, forming a tightly integrated whole structure. This significantly enhances the stack's resistance to tilting or tipping.

[0024] Furthermore, due to the staggered stacking arrangement, the overall center of gravity of the entire stack is lowered to some extent compared to the traditional method of stacking materials in a straight line. This lower center of gravity further enhances the overall stability of the stack structure from a mechanical perspective, thus more effectively preventing stacking failures caused by accidental movement such as rolling or sliding of materials during actual operation, ensuring the reliability and safety of stacking operations.

[0025] Reference Figure 1 , 3 As shown, in this embodiment, the number of the first gripper 3 is even, and the number of the second gripper 4 is odd.

[0026] In this embodiment, the first gripper 3 and the second gripper 4 are suction cups, but the first gripper 3 and the second gripper 4 can also be finger cylinders, air clamps, etc.

[0027] Meanwhile, in this embodiment, the number of first gripper 3 is 20, and the number of second gripper 4 is 1. When gripping, the first gripper 3 and the second gripper 4 jointly grip the material as the bottom layer of the stack, so the number of materials at the bottom layer is 21. When gripping the second to last layer, only the first gripper 3 grips, so the number of materials at the second to last layer is 20. When gripping the third to last layer, the first gripper 3 and the second gripper 4 jointly grip, so the number of materials at the third to last layer is 21, and so on, so that the stack forms an alternating stack of odd and even layers.

[0028] From a geometric perspective, cylindrical materials inherently possess rotational symmetry. When arranged in a single layer in a straight line, adjacent materials only form point contact, naturally creating V-shaped gaps. These gaps cause individual cylinders to easily roll horizontally, resulting in poor regularity and stability of the overall stacked structure. However, when using alternating odd and even layers, the odd-numbered layers of cylindrical materials are arranged in a straight line or matrix at preset intervals, while the even-numbered layers fall into the V-shaped gaps formed between adjacent cylinders in the odd-numbered layers. This ensures that each cylinder in the even-numbered layers is held and restrained by two adjacent cylinders in the odd-numbered layers, forming a stable three-point support structure. This effectively fills the gaps in the single-layer stack, eliminates the space for material rolling, and achieves geometrical complementarity between adjacent layers.

[0029] Reference Figure 2 , 4 As shown, a pad 11 is fixed on the fixed plate 1, and a pad 21 is fixed on the folding plate 2. A connecting rod assembly 7 is installed between the side of the pad 11 and the side of the pad 21. A connecting shaft 71 is installed between the connecting rod assemblies 7, and the connecting shaft 71 is rotatably connected to the drive rod of the cylinder 5.

[0030] During the folding process, cylinder 5 actuates, and the linear motion of its piston rod pulls coupling 71, causing the entire linkage assembly 7 connected to coupling 71 to undergo regular folding deformation. This series of linked actions effectively transmits the driving force to the folding plate 2, thereby precisely driving the folding plate 2 to flip upwards along a predetermined trajectory. The entire transmission process is smooth and continuous, ensuring the stability and reliability of the folding action during execution and avoiding unnecessary shaking or deviation.

[0031] Reference Figure 2 , 4 As shown, specifically, the linkage assembly 7 includes: a first rod 72 and a second rod 73. One end of the first rod 72 is rotatably connected to the first pad 11 via a first rotating shaft 74, and the other end of the first rod 72 is rotatably connected to the end of the connecting shaft 71.

[0032] One end of rod 73 is rotatably connected to pad 21 via shaft 75, and the other end of rod 73 is connected to shaft 71, so that the other end of rod 73 rotates with shaft 71.

[0033] In the initial stage of the folding process, the piston rod of cylinder 5 pulls the connecting shaft 71 connected to it, causing it to move horizontally and causing rod 72 to rotate clockwise around shaft 74. At the same time, the connecting shaft 71 does not translate, but rotates upward, causing rod 73 to rotate upward, which drives the pad 21 fixedly installed at its top to rise synchronously.

[0034] Reference Figure 2 , 4As shown, a hinge 6 is installed between pad 11 and pad 21 to further ensure the stability of the flipping action.

[0035] like Figure 5 As shown, the material stacking device includes a rotary drive 8 and a gripping mechanism; the gripping mechanism is connected to the rotary drive 8, and the gripping mechanism adopts the above-mentioned cylindrical material stacking gripping mechanism; the fixed plate 1 is connected to the rotary drive 8; the gripping mechanism rotates through the rotary drive 8, and the rotary drive 8 can be a rotary motor.

[0036] For cylindrical materials, such as bottle preforms, where uneven weight distribution at both ends may occur, this device can also enable the material units to rotate and adjust their orientation in a controllable angle around their central axis in the horizontal plane via an integrated rotary drive component. This rotational adjustment function allows the cylindrical materials in adjacent layers to exhibit a specific staggered arrangement with their ends facing different directions during the stacking process, thereby achieving a more optimized geometric fit and interlocking between layers. This staggered interlocking structural design not only improves the stability within a single stacked layer but also significantly enhances the overall stacked structure's resistance to external lateral forces, preventing tilting or tipping.

[0037] Reference Figure 5 As shown, it also includes a frame 9 and a three-axis moving mechanism 10. The three-axis moving mechanism 10 is mounted on the frame 9, and the rotary drive 8 is connected to the three-axis moving mechanism 10. The gripping mechanism moves in the three-axis directions of the Y-axis and Z-axis through the three-axis moving mechanism 10, thereby accurately adjusting the spatial coordinate position of each material unit in the stacking structure.

[0038] Specifically, the three-axis moving mechanism 10 includes a translation component 11, a transverse component 12, and a lifting component 13.

[0039] The translation component 11 is installed on the top of the frame 9, and a movable beam 14 is installed on the translation component 11. The movable beam 14 is driven by the translation component 11 to move in the X-axis direction. The transverse moving assembly 12 is installed on the top of the movable beam frame 14. A movable plate 15 is installed on the transverse moving assembly 12. The movable plate 15 is driven by the transverse moving assembly 12 to move in the Z-axis direction. The lifting assembly 13 is connected to the moving plate 15, and the rotary drive 8 is fixed to the bottom of the lifting assembly 13. The lifting assembly 13 is used to move the rotary drive 8 along the Y-axis.

[0040] Reference Figure 5 , 8As shown in Figure 9, the translation assembly 11 includes a motor 111, a support plate 112, a support plate 2 113, a timing pulley 114, a tensioning pulley 115, and a timing belt 116. The motor 111 is fixed on the support plate 112, and the timing pulley 114 is mounted on the drive shaft of the motor 111. The first pallet 112 and the second pallet 113 are respectively fixed to the bottom of both ends of the movable beam frame 14, and the bottom of the first pallet 112 and the second pallet 113 are both equipped with a sliding guide 117, and the slide rail slider assembly is fixed to the top of the frame 9. The pallet 112 has an installation opening 118 located below the timing pulley 114. Two tensioning pulleys 115 are horizontally installed inside the installation opening 118. The two ends of the timing belt 116 are fixed to the frame 9. The timing pulley 114 passes around the first tensioning pulley 115, the timing pulley 114, and the second tensioning pulley 115. Through the two tensioning pulleys 115, the timing belt 116 is made to fit tightly against the timing pulley 114.

[0041] During movement along the X-axis, motor 111 first drives synchronous pulley 114 to rotate. Since synchronous belt 116 is tightly fitted onto synchronous pulley 114, as synchronous pulley 114 rotates, it displaces along the extension direction of synchronous belt 116 through meshing with it. Since synchronous belt 116 is laid and fixed along the X-axis, this transmission process is directly converted into linear motion along the X-axis. Through this mechanical transmission, the motion is effectively transmitted to support plates 112 and 113, thereby driving the upper moving beam 14 to move smoothly along the X-axis. Throughout this movement, to ensure accuracy and stability, a sliding guide 117 is specially configured. This guide effectively restricts and guides the moving parts, preventing offset or swaying, thus ensuring the reliability and stability of the entire X-axis movement process.

[0042] Reference Figures 5 to 7 As shown, the transverse assembly 12 includes a second motor 121, a gear 122, and a rack 123. The moving plate 15 is vertically arranged on the back of the moving beam 14, and a sliding guide 124 is installed between the moving plate 15 and the moving beam 14. The second motor 121 is fixed to the top of the moving plate 15. The gear 122 is mounted on the drive shaft of the second motor 121, and the gear 122 meshes with the rack 123. The rack 123 is fixed to the top of the moving beam 14.

[0043] During movement along the Z-axis, motor 121 starts first, driving the connected gear 122 to rotate. Since rack 123 is laid out and fixed along the Z-axis, the rotating gear 122 meshes with it, allowing gear 122 to move along the trajectory of rack 123. This transmission process directly and efficiently converts the motor's rotational power into precise linear motion along the Z-axis. Motor 121 is fixed to the top of the moving plate 15, ultimately transmitting the linear motion through the moving plate 15, which in turn drives the lifting assembly 13, the rotary drive component 8, and the end-effector gripping mechanism connected above it, achieving smooth and coordinated displacement of the entire execution system along the Z-axis.

[0044] Throughout this entire movement process, in order to ensure the accuracy and stability of the movement, a sliding guide component 2124 is specially configured. It can effectively limit and guide, prevent deviation or shaking, and thus ensure the reliability and stability of the entire Z-axis movement process.

[0045] Reference Figure 7 , 10 As shown in Figure 11, the lifting assembly 13 includes a connecting plate 131, a lifting beam 132, a motor 133, a synchronous pulley 134, a tensioning pulley 135, and a synchronous belt 136. The connecting plate 131 is fixed to the back of the moving plate 15, and the lifting beam 132 is located on the back of the connecting plate 131. A sliding guide 137 is installed between the lifting beam 132 and the connecting plate 131. A mounting bracket 138 is installed at the bottom of the lifting beam 132, and a rotary drive component 8 is installed on the mounting bracket 138.

[0046] Motor 3 133 is mounted on connecting plate 131. Connecting plate 131 has mounting port 2 139. Two tensioning pulleys 2 135 are vertically mounted in mounting port 2 139. The two ends of synchronous belt 2 136 are fixed to the two ends of lifting beam frame 132, and synchronous belt 2 136 passes around the first tensioning pulley 2 135, synchronous belt pulley 2 134, and the second tensioning pulley 2 135.

[0047] During linear movement along the Y-axis, motor 133, as the core drive unit, first receives the control signal and begins operation, driving the directly connected synchronous belt 136 pulley 3 to rotate. Because synchronous belt 136 is precisely tensioned and tightly engaged with synchronous belt 136 pulley 3, forming an effective meshing transmission relationship, when synchronous belt 136 pulley 3 rotates under the drive of the motor, it effectively converts rotational motion into linear motion through the meshing friction and mechanical action with synchronous belt 136, thus producing precise displacement along the extension path of synchronous belt 136 itself. It is particularly important to note that synchronous belt 136 is laid and firmly fixed in the equipment structure strictly according to the spatial direction of the Y-axis, which provides clear physical guidance for the entire movement process. Meanwhile, since the motor 133 itself is securely mounted on the connecting plate 131, which is associated with the moving actuator, the result of the synchronous belt 136 being driven by the wheel 136 will ultimately be transmitted and manifested as a controllable and stable relative linear displacement of the entire lifting beam 132 relative to another fixed or reference moving plate 15 along the Y-axis, thereby completing the expected position adjustment or movement task.

[0048] Therefore, this transmission process is directly converted into linear motion along the Y-axis; through this mechanical transmission, the motion is effectively transmitted to the support plate three and the support plate three, thereby driving the upper moving beam frame 14 to move smoothly along the Y-axis.

[0049] Throughout this entire movement process, a sliding guide 3137 is specially configured to ensure the accuracy and stability of the movement. It can effectively limit and guide the moving parts, prevent deviation or shaking, and thus ensure the reliability and stability of the entire Y-axis movement process.

[0050] In this embodiment, sliding guide 117, sliding guide 2124, and sliding guide 3137 all adopt a slide rail slider assembly.

[0051] Further explanation of the stacking process: 1. When the translation component 11 is working, the motor 111 will first drive the synchronous pulley 114 to start rotating, so that the synchronous pulley 114 will generate displacement in the X-axis direction along the extension direction of the synchronous belt 116, so that the gripping mechanism moves above the material to be gripped. 2. When the transverse component 12 is working, the second motor 121 will start first, driving the gear 122 connected to it to start rotating so that the gear 122 can generate displacement in the Z-axis direction along the rack 123, adjusting the position of the gripping mechanism so that the first gripping member 3 and the second gripping member 4 are aligned with the material to be gripped. 3. When the lifting assembly 13 is working, the motor 3 133 will first drive the synchronous belt 2 136 wheel 3 to start rotating, so that the synchronous belt 2 136 wheel 3 will generate displacement in the Y-axis direction along the extension direction of the synchronous belt 2 136, so that the gripping mechanism moves downward, so that the first gripping member 3 and the second gripping member 4 contact and grip the material. 4. After the gripping action is completed, the lifting component 13 resets, the translation component 11 starts to move, so that the gripping mechanism carries the gripped material to the top of the transfer box, the lifting component 13 works, so that the gripped material is placed in the transfer box, the first gripping part 3 and the second gripping part 4 release the gripping of the material, and the material is placed at the bottom. 5. After the bottom material is placed, the lifting component 13 is reset and the translation component 11 is moved again, so that the gripping mechanism moves above the material to be gripped. 6. Before grabbing the material, the cylinder 5 starts to move, and the linear motion of its piston rod pulls the connecting shaft 71, which drives the folding plate 2 to flip upward, so that the second gripping piece 4 flips upward with the folding plate 2 to the non-working position. 7. After the folding plate 2 is folded, the horizontal moving component 12 works to align the first gripper 3 with the material to be gripped; the lifting component 13 works to make the first gripper 3 contact and grip the material. 8. After the grabbing action is completed, the lifting component 13 resets and the translation component 11 begins to move, so that the grabbing mechanism carries the grabbed material to the top of the transfer box, ready for the second layer of stacking. 9. Before the second layer of stacking begins, the rotary drive 8 drives the rotary gripping mechanism to perform rotational adjustment; 10. After the adjustment is completed, the lifting component 13 works, so that the grabbed material is placed in the transfer box. The first gripper 3 and the second gripper 4 release the gripping of the material, so that the second layer of material is placed on the bottom layer of material, and the two ends are arranged in an alternating pattern. 11. After the second layer of material is placed, the lifting component 13 is reset, the translation component 11 is moved again, so that the gripping mechanism moves above the material to be gripped, and the above action steps are repeated.

[0052] In the description of this specification, references to terms such as "some embodiments" or "as one might imagine" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one embodiment or example.

[0053] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the first described embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A cylindrical material stacking and gripping mechanism, characterized in that, include: Fixing plate (1); A folding plate (2) is attached to one end of the fixed plate (1) via a hinge (6). The first gripper (3) is made of multiple first grippers (3), and the multiple first grippers (3) are arranged and fixed to the bottom of the fixing plate (1); The second gripper (4) is fixed to the bottom of the folding plate (2); The cylinder (5) is rotatably mounted on the top of the fixed plate (1). The drive rod of the cylinder (5) is connected to the folding plate (2). The cylinder (5) is used to drive the folding plate (2) to move between the working position and the non-working position. When the second gripper (4) flips to the non-working position, the folding plate (2) in the non-working position flips upward relative to the folding plate (2) in the working position.

2. The cylindrical material stacking and gripping mechanism according to claim 1, characterized in that, The number of the first grabber (3) is even, and the number of the second grabber (4) is odd.

3. The cylindrical material stacking and gripping mechanism according to claim 1, characterized in that, A pad (11) is fixed on the fixed plate (1), and a pad (21) is fixed on the folding plate (2). A connecting rod assembly (7) is installed between the side of the first pad (11) and the side of the second pad (21), and a connecting shaft (71) is installed between the connecting rod assemblies (7), and the connecting shaft (71) is rotatably connected to the drive rod of the cylinder (5).

4. The cylindrical material stacking and gripping mechanism according to claim 3, characterized in that, The connecting rod assembly (7) includes rod one (72) and rod two (73). One end of rod one (72) is rotatably connected to the pad block one (11) through a rotating shaft one (74), and the other end of rod one (72) is rotatably connected to the end of the connecting shaft (71). One end of the second rod (73) is rotatably connected to the second pad (21) via the second rotating shaft (75), and the other end of the second rod (73) is connected to the connecting shaft (71), so that the other end of the second rod (73) rotates with the connecting shaft (71).

5. The cylindrical material stacking and gripping mechanism according to claim 3, characterized in that, The hinge (6) is installed between the first pad (11) and the second pad (21).

6. A material stacking device, characterized in that, include: Rotary drive component (8) A gripping mechanism is connected to the rotary drive (8), and the gripping mechanism rotates through the rotary drive (8); The gripping mechanism is the cylindrical material stacking gripping mechanism according to any one of claims 1 to 5.

7. The material stacking device according to claim 6, characterized in that, It also includes a frame (9) and a three-axis moving mechanism (10), wherein the rotary drive (8) is connected to the three-axis moving mechanism (10); the three-axis moving mechanism (10) is mounted on the frame (9); The three-axis moving mechanism (10) includes a translation component (11), a transverse component (12), and a lifting component (13). The translation component (11) is installed on the top of the frame (9), and a movable beam (14) is installed on the translation component (11). The movable beam (14) is driven by the translation component (11) to move in the X-axis direction. The transverse component (12) is mounted on the movable beam frame (14), and a movable plate (15) is mounted on the transverse component (12). The movable plate (15) is driven by the transverse component (12) to move in the Z-axis direction. The lifting assembly (13) is connected to the moving plate (15), and the rotary drive (8) is fixed to the bottom of the lifting assembly (13). The lifting assembly (13) is used to move the rotary drive (8) along the Y-axis.

8. The material stacking device according to claim 7, characterized in that, The translation component (11) includes a motor (111), a support plate (112), a support plate (113), a timing pulley (114), a tensioning pulley (115), and a timing belt (116). The motor (111) is fixed on the support plate (112), and the timing pulley (114) is mounted on the drive shaft of the motor (111). The first pallet (112) and the second pallet (113) are respectively fixed to the bottom of both ends of the movable beam frame (14), and the bottom of the first pallet (112) and the second pallet (113) are both equipped with a sliding guide (117), which is fixed to the top of the frame (9). The pallet (112) has an installation opening (118) located below the synchronous pulley (114). Two tensioning pulleys (115) are horizontally installed in the installation opening (118). The two ends of the synchronous belt (116) are fixed to the frame (9). The synchronous pulley (114) passes around the first tensioning pulley (115), the synchronous pulley (114), and the second tensioning pulley (115). Through the two tensioning pulleys (115), the synchronous belt (116) is pressed against the synchronous pulley (114). When the synchronous pulley (114) is driven to rotate by the motor (111), the synchronous pulley (114) will be displaced along the extension direction of the synchronous pulley (114) through the meshing action with the synchronous pulley (114).

9. The material stacking device according to claim 7, characterized in that, The transverse component (12) includes a second motor (121), a gear (122), and a rack (123). The moving plate (15) is vertically arranged on the back of the moving beam (14), and a second sliding guide (124) is installed between the moving plate (15) and the moving beam (14). The second motor (121) is fixed to the top of the moving plate (15). The gear (122) is mounted on the drive shaft of the second motor (121), and the gear (122) meshes with the rack (123), which is fixed to the top of the movable beam frame (14).

10. The material stacking device according to claim 7, characterized in that, The lifting assembly (13) includes a connecting plate (131), a lifting beam (132), a motor (133), a synchronous pulley (134), a tensioning pulley (135), and a synchronous belt (136). The connecting plate (131) is fixed to the back of the moving plate (15). The lifting beam (132) is located on the back of the connecting plate (131), and a sliding guide (137) is installed between the lifting beam (132) and the connecting plate (131). A mounting bracket (138) is installed at the bottom of the lifting beam (132), and the rotating drive component (8) is installed on the mounting bracket (138). The motor three (133) is mounted on the connecting plate (131). The connecting plate (131) has an installation port two (139). Two tensioning pulleys two (135) are vertically installed in the installation port two (139). The two ends of the synchronous belt two (136) are fixed to the two ends of the lifting beam frame (132). The synchronous belt two (136) passes around the first tensioning pulley two (135), the synchronous pulley two (134), and the second tensioning pulley two (135). Through the two tensioning pulleys two (135), the synchronous belt two (136) is pressed against the synchronous pulley two (134). When the synchronous pulley two (134) is driven to rotate by the motor three (133), the synchronous pulley two (134) will be displaced along the extension direction of the synchronous pulley one (114) through the meshing action with the synchronous pulley two (134).

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