Transplanting mechanism of stacker crane

Abstract

The utility model discloses a stacker crane transplanting mechanism which comprises a frame body, a mechanical arm assembly and a manipulator, the mechanical arm assembly is installed on the frame body, and the manipulator is installed on the mechanical arm assembly. The manipulator is driven by the mechanical arm assembly to move transversely and longitudinally; the manipulator drives a first hook hinged to the upper and lower plates to rotate through a first driving cylinder and drives a second hook hinged to the movable plate to rotate through a second driving cylinder, the first driving cylinder and the second driving cylinder extend out, the first hook and the second hook are hooked inwards, and the first driving cylinder and the second driving cylinder retract; and the first hook and the second hook are released outwards, so that the function of clamping / loosening the materials is realized. And compared with a manual stacking mode, more time and labor are saved. Manual participation is not needed in the whole material transferring process, materials are transferred automatically, fatigue caused by long-term work of workers is avoided, the production efficiency is higher, and the error rate is lower.

Description

Technical Field

[0001] The utility model relates to the technical field of storage and transportation equipment, in particular to a palletizer transplanting mechanism. Background Art

[0002] The degree of automation control of traditional palletizers is not high, and manual cooperation is required in many places. The material stacking method mainly relies on manual work. Materials on the conveyor chain need to be transferred to the palletizing point manually. The palletizing process is time-consuming, labor-intensive and inefficient. Manual work is prone to fatigue and errors after long-term work, which creates operational risks.

[0003] In view of this, the present invention has been deeply conceived, and actively studied, improved and tried to develop and design the present invention. Utility Model Content

[0004] The utility model aims to overcome the deficiencies of the prior art and provide a palletizer transplanting mechanism to save manpower and improve efficiency.

[0005] In order to achieve the above purpose, the solution of the utility model is:

[0006] A palletizer transplanting mechanism comprises a frame, a mechanical arm assembly and a manipulator, wherein the mechanical arm assembly is mounted on the frame, and the manipulator is mounted on the mechanical arm assembly;

[0007] The frame includes a bottom beam, a vertical beam and a cantilever beam, two ends of the vertical beam are respectively fixed to the bottom beam and the cantilever beam, and one end of the cantilever beam is extended in a direction away from the vertical beam;

[0008] The robot arm assembly includes an X-axis module, a Y-axis module, an X-axis drive assembly and a Y-axis drive assembly, wherein the X-axis module is movably mounted on the cantilever beam, and the Y-axis module is movably mounted on the X-axis module; the X-axis drive assembly is connected to the X-axis module, and the Y-axis drive assembly is connected to the Y-axis module;

[0009] The manipulator comprises a left hook assembly and a right hook assembly connected to each other, the left hook assembly comprises a left side plate, an upper and lower plate, a first driving cylinder and a first hook, the upper and lower plates are mounted on the left side plate; the first driving cylinder and the first hook are hinged to the upper and lower plates, and the first driving cylinder is connected to the first hook;

[0010] The right hook assembly includes a right side plate, a movable plate, a second driving cylinder, and a second hook. The movable plate is movably mounted on the right side plate, and the movable plate moves laterally relative to the right side plate. The second driving cylinder and the second hook are hinged to the movable plate, and the second driving cylinder is connected to the second hook.

[0011] Furthermore, the cantilever beam is provided with a transverse guide rail;

[0012] The X-axis drive assembly includes a first drive motor, a first transmission shaft, a first driving sprocket assembly, a first driven sprocket assembly and a first chain, wherein the first drive motor is mounted on a frame, two ends of the first transmission shaft are respectively connected to an output end of the first drive motor and the first driving sprocket assembly, the first driving sprocket assembly is connected to the first driven sprocket assembly through a first chain, and the first driven sprocket assembly is fixed to the cantilever beam;

[0013] The X-axis module includes an X-axis cantilever, a transverse slider and a transverse connecting plate. The transverse slider is arranged on the side of the X-axis cantilever close to the cantilever beam, and the transverse slider is movably cooperated with the transverse guide rail; one end of the transverse connecting plate is fixed to the X-axis cantilever, and the other end is connected to the first chain.

[0014] Furthermore, a longitudinal sliding block is provided on the side of the X-axis module close to the Y-axis module;

[0015] The Y-axis driving assembly includes a second driving motor, a second transmission shaft, a second driving sprocket assembly, a second driven sprocket assembly and a second chain, wherein the second driving motor is mounted on the frame, and both ends of the second transmission shaft are respectively connected to the output end of the second driving motor and the second driving sprocket assembly, the second driving sprocket assembly is connected to the second driven sprocket assembly through the second chain, and the second driven sprocket assembly is mounted on the cantilever beam;

[0016] The Y-axis module includes a Y-axis cantilever, a first transmission sprocket, a second transmission sprocket, a third chain, two longitudinal tensioning wheels and a longitudinal guide rail. The longitudinal guide rail is arranged on the side of the Y-axis cantilever close to the X-axis module, and the longitudinal guide rail is movably cooperated with the longitudinal slider; the first transmission sprocket and the second transmission sprocket are coaxially arranged and installed on the X-axis module, the first transmission sprocket is connected to the second chain, and the second transmission sprocket is connected to the third chain; the two longitudinal tensioning wheels are installed on the X-axis module, and the two ends of the third chain are respectively passed around the two longitudinal tensioning wheels and then fixed to the two ends of the Y-axis cantilever.

[0017] Furthermore, the frame includes two groups of bottom beams, vertical beams and cantilever beams, and the frame also includes a connecting beam, the left and right ends of the connecting beam are respectively installed on the two vertical beams, and the X-axis drive assembly and the Y-axis drive assembly are installed on the connecting beam; a group of X-axis modules and a group of Y-axis modules are provided on the left and right sides of the X-axis drive assembly and the Y-axis drive assembly;

[0018] It also includes a suspension beam, both ends of which are respectively installed on two Y-axis modules, and the left side plate and the right side plate are respectively locked on both sides of the suspension beam.

[0019] Furthermore, the suspension beam is installed on the Y-axis module through a locking piece; the locking piece includes a locking seat and a clamp, the locking seat is installed on the bottom of the Y-axis module, and the clamp is sleeved on the suspension beam and fixed on the locking seat.

[0020] Furthermore, the upper and lower plates are movably mounted on the left side plate, and the upper and lower plates move longitudinally relative to the left side plate; a first limit cylinder is mounted on the left side plate, and a piston rod of the first limit cylinder is connected to the upper and lower plates.

[0021] Furthermore, the upper and lower plates are longitudinally provided with a first clamping claw slide rail, and the left side plate is provided with a first clamping claw slider at a position corresponding to the first clamping claw slide rail, and the first clamping claw slide rail and the first clamping claw slider cooperate with each other.

[0022] Furthermore, a second limiting cylinder is installed on the right side plate, a limiting plate is provided on the movable plate, and a piston rod of the second limiting cylinder is connected to the limiting plate.

[0023] Furthermore, a second clamping jaw slide rail is transversely provided on the right side plate, and a second clamping jaw slider is provided on the movable plate at a position corresponding to the second clamping jaw slide rail, and the second clamping jaw slide rail and the second clamping jaw slider cooperate with each other.

[0024] Furthermore, the right side plate is provided with a limiting slot, and the second limiting cylinder is installed in the limiting slot via a limiting cylinder support.

[0025] After adopting the above structure, the utility model drives the X-axis module to move horizontally through the X-axis drive assembly, drives the Y-axis module to move vertically through the Y-axis drive assembly, and drives the manipulator to move horizontally and vertically through the mechanical arm assembly; the manipulator drives the first hook hinged to the upper and lower plates to rotate through the first driving cylinder, and drives the second hook hinged to the movable plate to rotate through the second driving cylinder, the first driving cylinder and the second driving cylinder extend, the first hook and the second hook are hooked inward, the first driving cylinder and the second driving cylinder retract, and the first hook and the second hook are released outward, thereby realizing the function of clamping / releasing materials. Compared with the manual stacking method, it saves time and effort. The entire material transfer process does not require human participation, and the material is automatically transferred, which avoids the fatigue caused by long-term work of workers, and has higher production efficiency and lower error rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The structure of the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0027] Figure 2 The structure of the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0028] Figure 3 The structure of the preferred embodiment of the utility model is shown in FIG. Figure 3 ;

[0029] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0030] Figure 5 for Figure 3 A partial enlarged view of point B in the middle;

[0031] Figure 6 The structure of the preferred embodiment of the utility model is shown in FIG. Figure 4 ;

[0032] Figure 7 for Figure 6 A partial enlarged view of point C in the middle;

[0033] Figure 8 The structure of the preferred embodiment of the utility model is shown in FIG. Figure 5 ;

[0034] Fig. 9 for Figure 8 A partial enlarged view of point D in the middle;

[0035] Fig.10 The schematic diagram of the structure of the manipulator installed on the cantilever in the preferred embodiment of the utility model Figure 1 ;

[0036] Fig.11 The schematic diagram of the structure of the manipulator installed on the cantilever in the preferred embodiment of the utility model Figure 2 ;

[0037] Fig.12 The structure diagram of the left hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0038] Fig.13 The structure diagram of the left hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0039] Fig.14 The structure of the right hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0040] Fig.15 The structure of the right hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0041] Fig.16 The structure of the right hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 3 .

[0042] Description of the accompanying drawings: 11, bottom beam; 12, vertical beam; 13, cantilever beam; 14, connecting cross beam; 15, strengthening oblique support; 16, transverse guide rail; 21, X-axis module; 211, X-axis cantilever; 212, transverse slider; 213, transverse connecting plate; 214, longitudinal slider; 22, Y-axis module; 221, Y-axis cantilever; 222, first transmission sprocket; 223, second transmission sprocket; 224, third chain; 225, longitudinal tensioning sprocket; 226, transverse tensioning sprocket; 227, chain fixing block; 228, longitudinal guide rail; 229, sprocket plate; 23 , X-axis drive assembly; 231, first drive motor; 232, first transmission shaft; 233, first driving sprocket assembly; 234, first driven sprocket assembly; 2341, X-axis fixing plate; 2342, mounting plate; 2343, X-axis driven sprocket; 2344, limiting block; 2345, X-axis fixing block; 2346, X-axis limiting bolt; 235, first chain; 24, Y-axis drive assembly; 241, second drive motor; 242, second transmission shaft; 243, second driving sprocket assembly; 244, second driven sprocket assembly; 2441, Y-axis fixing plate; 2442, flange bushing; 2443, guide shaft; 2444, sprocket tension plate; 2445, bearing seat; 2446, Y-axis driven sprocket; 2447, Y-axis limit bolt; 245, second chain; 3, manipulator; 31, left hook assembly; 3101, left side plate; 3102, upper and lower plates; 3103, left cylinder support; 3104, first driving cylinder; 3105, first hook; 31051, first hinge; 31052, first hook; 3106, first gripper slide rail; 3107, first gripper slider; 3108, first limit Cylinder; 32, right hook assembly; 3201, right side plate; 3202, movable plate; 3203, right cylinder support; 3204, second drive cylinder; 3205, second hook; 32051, second hinged portion; 32052, second hook portion; 3206, second clamping jaw slide rail; 3207, second clamping jaw slider; 3208, second limiting cylinder; 3209, limiting cylinder support; 3210, limiting plate; 3211, limiting slot; 3301, left hook rotating seat; 3302, right hook rotating seat; 4, cantilever beam; 51, locking seat; 52, clamp. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0045] like Figures 1 to 16 As shown, a preferred embodiment of a palletizer transplanting mechanism of the utility model includes a frame, a mechanical arm assembly and a manipulator 3, wherein the mechanical arm assembly is installed on the frame, and the manipulator 3 is installed on the mechanical arm assembly. The manipulator 3 is driven to move by the mechanical arm assembly, and the manipulator 3 is used to lift and transfer materials to the palletizing point.

[0046] Specifically, the frame includes a bottom beam 11, a vertical beam 12 and a cantilever beam 13, the two ends of the vertical beam 12 are respectively fixed to the bottom beam 11 and the cantilever beam 13, and one end of the cantilever beam 13 is extended in a direction away from the vertical beam 12; the robot arm assembly includes an X-axis module 21, a Y-axis module 22, an X-axis drive assembly 23 and a Y-axis drive assembly 24, the X-axis module 21 is movably installed on the cantilever beam 13, and the Y-axis module 22 is movably installed on the X-axis module 21; the X-axis drive assembly 23 is connected to the X-axis module 21 to drive the X-axis module 21 to move horizontally; the Y-axis drive assembly 24 is connected to the Y-axis module 22 to drive the Y-axis module 22 to move longitudinally.

[0047] In this embodiment, the frame includes two groups of bottom beams 11, vertical beams 12 and cantilever beams 13, and the frame also includes a connecting beam 14. The left and right ends of the connecting beam 14 are respectively installed on the two vertical beams 12, and the X-axis drive component 23 and the Y-axis drive component 24 are installed on the connecting beam 14; a group of X-axis modules 21 and Y-axis modules 22 are provided on the left and right sides of the X-axis drive component 23 and the Y-axis drive component 24.

[0048] The above-mentioned connecting beam 14 is connected between the two groups of bottom beams 11, the vertical beams 12 and the cantilever beams 13, and can play the role of supporting the frame; the X-axis drive assembly 23 and the Y-axis drive assembly 24 are both fixed in the middle of the connecting beam 14, and the two groups of X-axis modules 21 are respectively arranged on the cantilever beams 13 on both sides of the X-axis drive assembly 23, and the two groups of Y-axis modules 22 are respectively arranged on the X-axis drive assembly 23 on both sides of the Y-axis drive assembly 24.

[0049] In this embodiment, a lateral guide rail 16 is provided on the side wall of the cantilever beam 13;

[0050] The X-axis driving assembly 23 includes a first driving motor 231, a first transmission shaft 232, a first driving sprocket assembly 233, a first driven sprocket assembly 234 and a first chain 235. The first driving motor 231 is installed on the frame, and the two ends of the first transmission shaft 232 are respectively connected to the output end of the first driving motor 231 and the first driving sprocket assembly 233. The first driving sprocket assembly 233 is connected to the first driven sprocket assembly 234 through the first chain 235. The first driven sprocket assembly 234 is fixed to the cantilever beam 13;

[0051] The X-axis module 21 includes an X-axis cantilever 211, a transverse slider 212 and a transverse connecting plate 213. The transverse slider 212 is arranged on the side of the X-axis cantilever 211 close to the cantilever beam 13, and the transverse slider 212 is movably cooperated with the transverse guide rail 16; one end of the transverse connecting plate 213 is locked to the X-axis cantilever 211, and the other end is connected to the first chain 235.

[0052] Specifically, the two output ends of the first drive motor 231 are respectively connected to the first transmission shaft 232 through a coupling, and the first drive motor 231 is simultaneously connected to two first active sprocket assemblies 233 installed on the cantilever beam 13 through the two first transmission shafts 232, and the first active sprocket group drives the first driven sprocket group to rotate through the first chain 235; one end of the transverse connecting plate 213 can be connected to the first chain 235 through a pin, a sleeve bolt, a sleeve, etc., and the X-axis cantilever 211 can slide along the cantilever beam 13 through the mutual cooperation of the transverse slider 212 and the transverse guide rail 16, and the X-axis cantilever 211 is driven by the transverse connecting plate 213 to move synchronously with the first chain 235, thereby realizing the lateral movement of the machine manipulator 3.

[0053] In this embodiment, a longitudinal sliding block 214 is provided on the side of the X-axis module 21 close to the Y-axis module 22;

[0054] The Y-axis driving assembly 24 includes a second driving motor 241, a second transmission shaft 242, a second driving sprocket assembly 243, a second driven sprocket assembly 244 and a second chain 245. The second driving motor 241 is installed on the frame, and the two ends of the second transmission shaft 242 are respectively connected to the output end of the second driving motor 241 and the second driving sprocket assembly 243. The second driving sprocket assembly 243 is connected to the second driven sprocket assembly 244 through the second chain 245. The second driven sprocket assembly 244 is installed on the cantilever beam 13;

[0055] The Y-axis module 22 includes a Y-axis cantilever 221, a first transmission sprocket 222, a second transmission sprocket 223, a third chain 224, two longitudinal tensioning sprockets 225 and a longitudinal guide rail 228. The longitudinal guide rail 228 is arranged on the side of the Y-axis cantilever 221 close to the X-axis module 21, and the longitudinal guide rail 228 is movably matched with the longitudinal slider 214; the first transmission sprocket 222 and the second transmission sprocket 223 are coaxially arranged and installed on the X-axis module 21, the first transmission sprocket 222 is connected to the second chain 245, and the second transmission sprocket 223 is connected to the third chain 224; the two longitudinal tensioning sprockets 225 are installed on the X-axis module 21, and the two ends of the third chain 224 are respectively passed around the two longitudinal tensioning sprockets 225 and then fixed to the two ends of the Y-axis cantilever 221.

[0056] Specifically, the two output ends of the second drive motor 241 are respectively connected to the second transmission shaft 242 through the coupling, and the second drive motor 241 is simultaneously connected to two second active sprocket assemblies 243 installed on the cantilever beam 13 through the two second transmission shafts 242, and the second chain 245 rotates around the second active sprocket assembly 243 and the second driven sprocket assembly 244; the driving shafts of the first transmission sprocket 222 and the second transmission sprocket 223 are installed on the X-axis cantilever 211 through the T-shaped double bearing assembly, and the second chain 245 drives the first transmission sprocket 222 to rotate, thereby driving the second transmission sprocket 223 to rotate synchronously; the two longitudinal tensioning sprockets 225 is fixed to the X-axis cantilever 211 through a sprocket plate 229, one end of the third chain 224 passes around a longitudinal tensioning sprocket 225 and is fixed to a chain fixing block 227 arranged at the upper end of the Y-axis cantilever 221, and the other end of the third chain 224 passes around another longitudinal tensioning sprocket 225 and is fixed to a chain fixing block 227 arranged at the lower end of the Y-axis cantilever 221. The Y-axis cantilever 221 can slide perpendicular to the cantilever beam 13 through the mutual cooperation of the longitudinal guide rail 228 and the longitudinal sliding block 214, and the Y-axis cantilever 221 is driven by the third chain 224 to move synchronously with the second chain 245, thereby realizing the longitudinal movement of the robot 3.

[0057] Reinforced oblique supports 15 are provided between the bottom beam 11 and the vertical beam 12 and between the vertical beam 12 and the cantilever beam 13 to make the frame structure more stable.

[0058] The transplanting mechanism of the utility model also includes a suspension beam 4, the two ends of which are respectively mounted on the two Y-axis modules 22, and the manipulator 3 is mounted on the suspension beam 4. In this embodiment, the manipulator 3 is mounted on the Y-axis cantilever 221 through the suspension beam 4, and a plurality of manipulators 3 are mounted on the suspension beam 4 to jointly perform the action of clamping the material. The length of the suspension beam 4 and the number of manipulators 3 can be adjusted according to the material conditions.

[0059] Specifically, the suspension beam 4 is mounted on the Y-axis cantilever 221 through a locking member. The locking member includes a locking seat 51 and a clamp 52. The locking seat 51 is mounted on the bottom of the Y-axis cantilever 221, and the clamp 52 is sleeved on the suspension beam 4 and fixed on the locking seat 51.

[0060] like Figure 5 As shown, in order to improve the transmission stability, the first driven sprocket assembly 234 includes an X-axis fixed plate 2341, a mounting plate 2342, an X-axis driven sprocket 2343, an X-axis fixed block 2345 and an X-axis limiting bolt 2346. The X-axis fixed plate 2341 and the X-axis fixed block 2345 are fixedly arranged on the cantilever beam 13; the mounting plate 2342 is movably connected to the X-axis fixed plate 2341, and the mounting plate 2342 is provided with a limiting block 2344 at the corresponding X-axis fixed block 2345, and the X-axis limiting bolt 2346 passes through the X-axis fixed block 2345 and abuts against the limiting block 2344; the X-axis driven sprocket 2343 is installed on the mounting plate 2342.

[0061] Specifically, the mounting plate 2342 is movably mounted in the slide groove on the X-axis fixing plate 2341, and the X-axis fixing block 2345 is located between the X-axis driven sprocket 2343 and the first driving sprocket assembly 233. The mounting plate 2342 is pushed away from the X-axis fixing block 2345 by the X-axis limiting bolt 2346 until the first chain 235 has a suitable tension, and then the nut of the X-axis limiting bolt 2346 located between the limiting block 2344 and the X-axis fixing block 2345 is tightened to make it close to the X-axis fixing block 2345, thereby locking the mounting plate 2342.

[0062] In this embodiment, the Y-axis module 22 further includes a transverse tension sprocket 226, which is mounted on the X-axis module 21 and connected to the second chain 245. The transverse tension sprocket 226 and the first transmission sprocket 222 are respectively located on the inner and outer sides of the second chain 245. Specifically, the two transverse tension sprockets 226 are respectively arranged on both sides of the first transmission sprocket 222, and the transverse tension sprocket 226 is locked to the X-axis cantilever 211 through the T-shaped guide shaft 2443 support.

[0063] like Fig. 9 As shown, the second driven sprocket assembly 244 includes a Y-axis fixed plate 2441, a flange bushing 2442, a guide shaft 2443, a sprocket tension plate 2444, a bearing seat 2445, a Y-axis driven sprocket 2446 and a Y-axis limiting bolt 2447. The Y-axis fixed plate 2441 is arranged at the end of the cantilever beam 13; one end of the guide shaft 2443 is fixed to the sprocket tension plate 2444, and the other end is movably installed on the Y-axis fixed plate 2441 through the flange bushing 2442; the Y-axis limiting bolt 2447 passes through the sprocket tension plate 2444 and then abuts against the Y-axis fixed plate 2441, and the Y-axis driven sprocket 2446 is installed on the sprocket tension plate 2444 through the bearing seat 2445.

[0064] Specifically, the sprocket tension plate 2444 moves relative to the Y-axis fixed plate 2441 through the guide shaft 2443, and the distance between the sprocket tension plate 2444 and the Y-axis fixed plate 2441 is adjusted until the second chain 245 has a suitable tensioning degree, and then the Y-axis limiting bolt 2447 is tightened to tighten the nut between the sprocket tension plate 2444 and the Y-axis fixed block to make it close to the sprocket tension plate 2444, thereby locking the sprocket tension plate 2444.

[0065] like Figures 10 to 16 As shown, the above-mentioned manipulator 3 includes a left hook component 31 and a right hook component 32 which are connected to each other. The left hook component 31 includes a left side plate 3101, an upper and lower plate 3102, a first driving cylinder 3104 and a first hook 3105. The upper and lower plates 3102 are installed on the left side plate 3101; the first driving cylinder 3104 and the first hook 3105 are hinged to the upper and lower plates 3102, and the first driving cylinder 3104 is connected to the first hook 3105; the right hook component 32 includes a right side plate 3201, a movable plate 3202, a second driving cylinder 3204, and a second hook 3205. The movable plate 3202 is movably installed on the right side plate 3201, and the movable plate 3202 moves laterally relative to the right side plate 3201; the second driving cylinder 3204 and the second hook 3205 are hinged to the movable plate 3202, and the second driving cylinder 3204 is connected to the second hook 3205.

[0066] In this embodiment, the left side plate 3101 and the right side plate 3201 are respectively locked on both sides of the suspension beam 4. The left hook assembly 31 and the right hook assembly 32 are installed on the suspension beam 4 by screw locking, and the robot 3 can be conveniently connected to the robot arm assembly through the suspension beam 4 to cooperate with the stacking work.

[0067] During operation, the first driving cylinder 3104 drives the first hook 3105 hinged on the upper and lower plates 3102 to rotate, and the second driving cylinder 3204 drives the second hook 3205 hinged on the movable plate 3202 to rotate, the first driving cylinder 3104 and the second driving cylinder 3204 extend, the first hook 3105 and the second hook 3205 are hooked inward, the first driving cylinder 3104 and the second driving cylinder 3204 retract, and the first hook 3105 and the second hook 3205 are released outward, thereby realizing the function of clamping / releasing materials.

[0068] Furthermore, since the movable plate 3202 can move laterally relative to the right side plate 3201, the movable plate 3202 can be moved away from / closer to the left hook assembly 31 by moving the movable plate 3202, thereby adjusting the size of the clamping and lifting space between the movable plate 3202 and the upper and lower plates 3102 to facilitate clamping of materials.

[0069] In this embodiment, the upper and lower plates 3102 are movably installed on the left side plate 3101, and the upper and lower plates 3102 move longitudinally relative to the left side plate 3101; a first limiting cylinder 3108 is installed on the left side plate 3101, and the piston rod of the first limiting cylinder 3108 is connected to the upper and lower plates 3102.

[0070] Specifically, the upper and lower plates 3102 are longitudinally provided with a first clamping jaw slide rail 3106, and the left side plate 3101 is provided with a first clamping jaw slider 3107 at a position corresponding to the first clamping jaw slide rail 3106, and the first clamping jaw slide rail 3106 cooperates with the first clamping jaw slider 3107. The upper and lower plates 3102 are driven to slide on the left side plate 3101 by the first limiting cylinder 3108, so as to adjust the working position of the first hook 3105.

[0071] In this embodiment, a second limiting cylinder 3208 is installed on the right side plate 3201 , a limiting plate 3210 is provided on the movable plate 3202 , and a piston rod of the second limiting cylinder 3208 is connected to the limiting plate 3210 .

[0072] Specifically, a second clamping jaw slide rail 3206 is disposed transversely at the bottom of the right side plate 3201, and a second clamping jaw slider 3207 is disposed at the top of the movable plate 3202 corresponding to the second clamping jaw slide rail 3206, and the second clamping jaw slider 3207 cooperates with each other. The second limit cylinder 3208 is also disposed transversely, and the limit plate 3210 is located at the top of the movable plate 3202 and extends to the stroke range of the piston rod of the second limit cylinder 3208. The limit plate 3210 is driven by the second limit cylinder 3208 to drive the movable plate 3202 to slide on the right side plate 3201, thereby adjusting the working position of the second hook 3205.

[0073] In this embodiment, a limiting through slot 3211 is provided at the bottom of the right side plate 3201 , and the second limiting cylinder 3208 is installed in the limiting through slot 3211 via a limiting cylinder support 3209 .

[0074] Specifically, the opening direction of the limiting through slot 3211 is parallel to the direction of the second clamping jaw slide rail 3206, and the second limiting cylinder 3208 is installed on the limiting cylinder support 3209, and the limiting cylinder support 3209 is bolted above the limiting slot. This structure can easily adjust the installation position of the second limiting cylinder 3208, and better adapt to different sizes of objects to be stacked when the piston rod length of the second limiting cylinder 3208 is limited.

[0075] This embodiment also includes a left cylinder support 3103 installed on the upper and lower plates 3102 and a right cylinder support 3203 installed on the movable plate 3202. The cylinder body of the first driving cylinder 3104 is hinged to the left cylinder support 3103, and the piston rod of the first driving cylinder 3104 is hinged to the first hook 3105; the cylinder body of the second driving cylinder 3204 is hinged to the right cylinder support 3203, and the piston rod of the second driving cylinder 3204 is hinged to the second hook 3205.

[0076] The above-mentioned first hook 3105 includes a first hinged portion 31051 and a first bent hook portion 31052, a left hook rotating seat 3301 is provided on the upper and lower plates 3102, and the first hinged portion 31051 is hinged to the left hook rotating seat 3301; the second hook 3205 includes a second hinged portion 32051 and a second bent hook portion 32052, a right hook rotating seat 3302 is provided on the movable plate 3202, and the second hinged portion 32051 is hinged to the right hook rotating seat 3302.

[0077] In this embodiment, the first hinged portion 31051 is located in the middle of the first hook 3105, the first hook portion 31052 is located at the front end of the first hook 3105, and the first driving cylinder 3104 is hinged to the rear end of the first hook 3105; the second hinged portion 32051 is located in the middle of the second hook 3205, the second hook portion 32052 is located at the front end of the second hook 3205, and the second driving cylinder 3204 is hinged to the rear end of the second hook 3205; the first hook portion 31052 and the second hook portion 32052 are used to contact materials.

[0078] In other embodiments, the first hinged portion 31051 may also be set at the rear end of the first hook 3105, and the first driving cylinder 3104 is connected to the middle of the first hook 3105; the second driving cylinder 3204 may also be connected between the second hinged portion 32051 and the second hook portion 32052 of the second hook 3205.

[0079] In this embodiment, the first driving cylinder 3104 and the first hook 3105 , as well as the second driving cylinder 3204 and the second hook 3205 are connected via a Y-shaped joint.

[0080] This specification uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core idea of ​​the utility model. At the same time, for those skilled in the art, according to the idea of ​​the utility model, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the utility model.

Claims

1. A palletizer transplanting mechanism, characterized in that: It includes a frame, a mechanical arm assembly and a mechanical hand, wherein the mechanical arm assembly is installed on the frame, and the mechanical hand is installed on the mechanical arm assembly; The frame includes a bottom beam, a vertical beam and a cantilever beam, two ends of the vertical beam are respectively fixed to the bottom beam and the cantilever beam, and one end of the cantilever beam is extended in a direction away from the vertical beam; The robot arm assembly includes an X-axis module, a Y-axis module, an X-axis drive assembly and a Y-axis drive assembly, wherein the X-axis module is movably mounted on the cantilever beam, and the Y-axis module is movably mounted on the X-axis module; the X-axis drive assembly is connected to the X-axis module, and the Y-axis drive assembly is connected to the Y-axis module; The manipulator comprises a left hook assembly and a right hook assembly connected to each other, the left hook assembly comprises a left side plate, an upper and lower plate, a first driving cylinder and a first hook, the upper and lower plates are mounted on the left side plate; the first driving cylinder and the first hook are hinged to the upper and lower plates, and the first driving cylinder is connected to the first hook; The right hook assembly includes a right side plate, a movable plate, a second driving cylinder, and a second hook. The movable plate is movably mounted on the right side plate, and the movable plate moves laterally relative to the right side plate. The second driving cylinder and the second hook are hinged to the movable plate, and the second driving cylinder is connected to the second hook.

2. A palletizer transplanting mechanism according to claim 1, characterized in that: The cantilever beam is provided with a transverse guide rail; The X-axis drive assembly includes a first drive motor, a first transmission shaft, a first driving sprocket assembly, a first driven sprocket assembly and a first chain, wherein the first drive motor is mounted on a frame, two ends of the first transmission shaft are respectively connected to an output end of the first drive motor and the first driving sprocket assembly, the first driving sprocket assembly is connected to the first driven sprocket assembly through a first chain, and the first driven sprocket assembly is fixed to the cantilever beam; The X-axis module includes an X-axis cantilever, a transverse slider and a transverse connecting plate. The transverse slider is arranged on the side of the X-axis cantilever close to the cantilever beam, and the transverse slider is movably cooperated with the transverse guide rail; one end of the transverse connecting plate is fixed to the X-axis cantilever, and the other end is connected to the first chain.

3. A palletizer transplanting mechanism according to claim 1, characterized in that: The X-axis module is provided with a longitudinal sliding block on one side close to the Y-axis module; The Y-axis driving assembly includes a second driving motor, a second transmission shaft, a second driving sprocket assembly, a second driven sprocket assembly and a second chain, wherein the second driving motor is mounted on the frame, and both ends of the second transmission shaft are respectively connected to the output end of the second driving motor and the second driving sprocket assembly, the second driving sprocket assembly is connected to the second driven sprocket assembly through the second chain, and the second driven sprocket assembly is mounted on the cantilever beam; The Y-axis module includes a Y-axis cantilever, a first transmission sprocket, a second transmission sprocket, a third chain, two longitudinal tensioning wheels and a longitudinal guide rail. The longitudinal guide rail is arranged on the side of the Y-axis cantilever close to the X-axis module, and the longitudinal guide rail is movably cooperated with the longitudinal slider; the first transmission sprocket and the second transmission sprocket are coaxially arranged and installed on the X-axis module, the first transmission sprocket is connected to the second chain, and the second transmission sprocket is connected to the third chain; the two longitudinal tensioning wheels are installed on the X-axis module, and the two ends of the third chain are respectively passed around the two longitudinal tensioning wheels and then fixed to the two ends of the Y-axis cantilever.

4. A palletizer transplanting mechanism according to claim 1, characterized in that: The frame includes two groups of bottom beams, vertical beams and cantilever beams, and the frame also includes a connecting beam, the left and right ends of the connecting beam are respectively installed on the two vertical beams, and the X-axis drive assembly and the Y-axis drive assembly are installed on the connecting beam; the left and right sides of the X-axis drive assembly and the Y-axis drive assembly are each provided with a group of X-axis modules and a group of Y-axis modules; It also includes a suspension beam, both ends of which are respectively installed on two Y-axis modules, and the left side plate and the right side plate are respectively locked on both sides of the suspension beam.

5. A palletizer transplanting mechanism according to claim 4, characterized in that: The suspension beam is installed on the Y-axis module through a locking piece; the locking piece includes a locking seat and a clamp, the locking seat is installed on the bottom of the Y-axis module, and the clamp is sleeved on the suspension beam and fixed on the locking seat.

6. The palletizer transplanting mechanism according to claim 1, characterized in that: The upper and lower plates are movably mounted on the left side plate, and the upper and lower plates move longitudinally relative to the left side plate; a first limit cylinder is mounted on the left side plate, and a piston rod of the first limit cylinder is connected to the upper and lower plates.

7. A palletizer transplanting mechanism according to claim 6, characterized in that: The upper and lower plates are longitudinally provided with a first clamping jaw slide rail, and the left side plate is provided with a first clamping jaw slider at a position corresponding to the first clamping jaw slide rail, and the first clamping jaw slide rail and the first clamping jaw slider cooperate with each other.

8. The palletizer transplanting mechanism according to claim 1, characterized in that: A second limiting cylinder is installed on the right side plate, a limiting plate is provided on the movable plate, and a piston rod of the second limiting cylinder is connected to the limiting plate.

9. A palletizer transplanting mechanism according to claim 8, characterized in that: The right side plate is laterally provided with a second clamping jaw slide rail, the movable plate is provided with a second clamping jaw slider at a position corresponding to the second clamping jaw slide rail, and the second clamping jaw slide rail and the second clamping jaw slider cooperate with each other.

10. The palletizer transplanting mechanism according to claim 8, characterized in that: The right side plate is provided with a limiting slot, and the second limiting cylinder is installed in the limiting slot via a limiting cylinder support.

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