Efficient stacking manipulator
Through the combined design of ground rail, sky rail, cross beam and servo motor, the problem of insufficient sliding stability of the tunnel stacker is solved, the stability and stacking accuracy of the loading robot are achieved, the storage system structure is simplified and the storage capacity is improved.
Patent Information
- Application Number
- CN202422159320.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-04
- Publication Date
- 2025-07-18
- Estimated Expiration
- 2034-09-04
AI Technical Summary
The existing tunnel stacker has low stability in column sliding movement, and the warehousing system structure is complex and the unit inventory capacity is insufficient.
The combined design of ground rail, sky rail, cross beam and servo motor is adopted. The loading robot is driven to slide on the ground rail through the meshing of the servo motor and the transmission rack, and the sliding stability and accuracy are improved through the limit seat, anti-disassembly and roller structure to prevent the sliding base from sliding continuously due to inertia.
Improves the stability and stacking accuracy of the loading robot, simplifies the storage system structure, increases storage capacity, and reduces the disengagement and offset of the sliding base.
Smart Images
Figure CN223117597U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of stackers, and in particular, to an efficient stacking manipulator. Background Art
[0002] With the increase in land and labor costs, automated stereoscopic warehouses are increasingly widely used in industries such as food, medicine, machinery, petroleum, and chemical industry. As the core of an automated stereoscopic warehouse, the stacker plays a crucial role.
[0003] In the prior art, common stackers mainly include a feeding mechanism, a guide rail, and a loading manipulator. Among them, a sliding base is slidably installed on the guide rail, the bottom of the loading manipulator is fixedly installed on the sliding base, and a motor is installed on the sliding base. The sliding base can be driven by the motor to slide axially along the guide rail on the guide rail; the loading manipulator includes a column, and a lifting mechanism is installed on the column. The lifting mechanism is usually used in combination with a counterweight fixedly installed on the side wall of the column. The telescopic fork for clamping materials is slidably installed on the column. The lifting mechanism drives the gripper to slide up and down axially along the column, and the counterweight can increase the stability of the lifting action of the gripper driven by the lifting mechanism.
[0004] During the process of the loading manipulator stacking and processing materials, the motor drives the sliding base to slide along the guide rail to the initial position, the lifting mechanism drives the gripper to descend above the materials to be stacked, the gripper grabs the materials, then the lifting mechanism lifts the materials, the sliding base drives the loading manipulator to slide to the preset stacking position of the materials, the lifting mechanism drives the gripper to move down, and after the gripper releases the materials to complete the stacking action of the materials, the lifting mechanism drives the gripper to reset.
[0005] However, the existing aisle stackers often need to be used in combination with storage shelves. The stability of the sliding movement of the column of the loading manipulator is relatively low, and the entire storage system has a complex mechanical structure and a low unit inventory capacity. Utility Model Content
[0006] In order to improve the stability of the loading manipulator, the present application provides an efficient stacking manipulator.
[0007] The efficient stacking manipulator provided by the present application adopts the following technical solutions:
[0008] An efficient stacking manipulator includes a manipulator support frame, a ground rail, a sky rail, and a cross beam. The ground rail and the manipulator support frame are both fixedly installed on the ground of the warehouse. The two ends of the sky rail are respectively fixedly connected to the manipulator support frame, and the sky rail is erected directly above the ground rail;
[0009] A sliding base is slidably installed on the ground rail, a column is fixedly installed on the sliding base, the top of the column is fixedly connected to a guide seat, and the guide seat is slidably connected to the sky rail;
[0010] A mounting seat is fixedly connected to the middle of the cross beam, and the mounting seat is fixedly installed on the column. Two groups of clamping jaws are detachably installed on the two arms of the cross beam respectively, and the two groups of clamping jaws are symmetrical about the mounting seat;
[0011] A transmission rack is fixedly connected to the side wall of the ground rail. A servo motor is fixedly installed on the sliding base. The servo motor is connected with a driving gear through a coupling, and the driving gear meshes with the transmission rack.
[0012] By adopting the above technical solution, during the sliding process of the loading manipulator, the servo motor drives the driving gear to rotate. Since the servo motor meshes with the transmission rack, the technical effect of driving the loading manipulator to slide axially along the ground rail on the ground rail can be achieved; when the loading manipulator slides to a preset position, the servo motor stops driving and the driving gear stops rotating, which can make the sliding base stop sliding, and can prevent the sliding base from continuously sliding due to inertia, effectively ensuring the stability of the loading manipulator and the accuracy of the stacking material action of the loading manipulator. Through the setting of the overhead rail and the guiding seat, the positions of the column and the sliding base can be further restricted, reducing the occurrence of the situation that the loading manipulator deviates and affects the stacking accuracy. In addition, since the two groups of clamping jaws on the two arms of the cross beam are symmetrical about the mounting seat, the stability during the sliding process of the loading manipulator can be further ensured. Compared with the traditional roadway telescopic fork stacker, by using the ground rail, overhead rail, sliding base, servo motor, and the manipulator on the cross beam in combination, it is possible to stack the goods layer by layer on the ground inside the manipulator support frame without using a matching shelf. The entire warehousing system has a simple structure and an effective stacking storage capacity.
[0013] Preferably, an anti - detachment plate is fixedly installed at the bottom of the sliding base. An anti - detachment groove is formed on the side of the ground rail away from the transmission rack, and the end of the anti - detachment plate extends into the anti - detachment groove.
[0014] By adopting the above technical solution, the anti - detachment plate and the anti - detachment groove are used in combination, which can reduce the occurrence of the sliding base detaching from the ground rail, and further improve the stability of the sliding base, column, and loading manipulator during sliding.
[0015] Preferably, limit seats are fixedly connected to both ends of the ground rail respectively, and the servo motor drives the sliding base to slide between the two limit seats.
[0016] By adopting the above technical solution, the limit seats can limit the position of the sliding base, and can reduce the occurrence of the sliding base detaching from the ground rail through both ends of the ground rail.
[0017] Preferably, two sets of first rollers are rotatably installed on the sliding base, and the wheel surfaces of the two sets of first rollers are in contact with both sides of the ground rail.
[0018] By adopting the above technical solution, the first rollers can convert the sliding friction between both sides of the sliding base and both sides of the ground rail into rolling friction, improving the smoothness of the sliding of the sliding base.
[0019] Preferably, two second rollers are rotatably installed on the sliding base, the wheel surfaces of the two second rollers are in contact with the top of the ground rail, and the two second rollers are located on both sides of the column.
[0020] By adopting the above technical solution, the second rollers can convert the sliding friction between the sliding base and the top of the ground rail into rolling friction, further improving the smoothness of the sliding of the base.
[0021] Preferably, the mounting seat includes two side plates, a connection groove adapted to the column is formed between the two side plates, sliders are fixedly installed on the inner sides of the two side plates, guiding sliding rails are respectively fixedly installed on both sides of the column, and guiding grooves adapted to the guiding sliding rails are respectively formed on the side walls of the two sliders.
[0022] By adopting the above technical solution, the cooperation between the sliders and the guiding sliding rails can limit the sliding track of the mounting seat, improving the stability of the up-and-down sliding of the mounting seat.
[0023] Preferably, two sets of third rollers are rotatably installed on the top of the guiding seat, the two sets of third rollers are respectively located on both sides of the overhead rail, and the wheel surfaces of the two sets of third rollers are in contact with both sides of the overhead rail.
[0024] By adopting the above technical solution, the third rollers can convert the sliding friction between the guiding seat and the overhead rail into rolling friction, improving the smoothness of the sliding of the guiding seat on the overhead rail.
[0025] In summary, the present application for an efficient stacking manipulator has at least one of the following beneficial technical effects:
[0026] 1. During the sliding process of the loading manipulator, the servo motor drives the driving gear to rotate. Since the servo motor meshes with the transmission rack, the technical effect of driving the loading manipulator to slide axially along the ground rail on the ground rail can be achieved; when the loading manipulator slides to a preset position, the servo motor stops driving and the driving gear stops rotating, which can make the sliding base stop sliding, and avoid the situation that the sliding base continues to slide due to inertia, effectively ensuring the stability of the loading manipulator and the accuracy of the stacking material action of the loading manipulator; compared with the traditional roadway telescopic fork stacker, through the combined use of the ground rail, the sky rail, the sliding base, the servo motor, and the manipulator on the cross beam, it is possible to stack goods layer by layer on the ground inside the manipulator support frame without using a matching shelf. The entire warehousing system has a simple structure and an effective stacking storage capacity;
[0027] 2. Through the setting of the sky rail and the guide seat, the positions of the column and the sliding base can be further restricted, reducing the occurrence of the situation where the deviation of the loading manipulator affects the stacking accuracy;
[0028] 3. Since the two groups of jaws on the two arms of the cross beam are symmetrical about the mounting seat, the stability during the sliding process of the loading manipulator can be further ensured. Brief Description of the Drawings
[0029] Figure 1 It is a schematic diagram showing the overall structure of the loading manipulator in the embodiment of the present application.
[0030] Figure 2 It is a schematic diagram showing the loading manipulator in the embodiment of the present application carrying materials.
[0031] Figure 3 It is a schematic diagram showing the connection structure between the sliding base and the ground rail in the embodiment of the present application.
[0032] Description of the Reference Numerals: 1. Manipulator support frame; 2. Ground rail; 21. Transmission rack; 22. Anti - detachment groove; 23. Limit seat; 3. Sky rail; 4. Cross beam; 41. Mounting seat; 411. Side plate; 412. Connection groove; 413. Guide slider; 414. Guide groove; 43. Jaw; 5. Sliding base; 51. Column; 511. Guide slide rail; 52. Guide seat; 521. Third roller; 53. Servo motor; 54. Driving gear; 55. Anti - detachment plate; 56. First roller; 57. Second roller; 6. Lifting mechanism. Detailed Description of the Embodiment
[0033] The following is a further detailed description of the present application in conjunction with the attached Figures 1 - 3 For a further detailed description of the present application.
[0034] Embodiment
[0035] The embodiment of the present application discloses an efficient stacking manipulator. Refer toFigure 1 The loading manipulator mainly includes a manipulator support frame 1, a ground rail 2, a sky rail 3 and a cross beam 4. The ground rail 2 and the manipulator support frame 1 are both fixedly installed on the ground of the warehouse. The two ends of the sky rail 3 are respectively fixedly connected to the manipulator support frame 1, and the sky rail 3 is erected directly above the ground rail 2. A sliding base 5 is slidably installed on the ground rail 2. A column 51 is fixedly installed on the sliding base 5. The top of the column 51 is fixedly connected to a guide seat 52, and the guide seat 52 is slidably connected to the sky rail 3. The middle of the cross beam 4 is fixedly connected to a mounting seat 41, and the mounting seat 41 is fixedly installed on the column 51. Two groups of clamping jaws 43 are detachably installed on the two arms of the cross beam 4 by screws, and the two groups of clamping jaws 43 are symmetric about the mounting seat 41. A transmission rack 21 is fixedly connected to the side wall of the ground rail 2. A servo motor 53 is fixedly installed on the sliding base 5. The servo motor 53 is connected to a driving gear 54 through a coupling, and the driving gear 54 meshes with the transmission rack 21.
[0036] During the sliding process of the loading manipulator, the servo motor 53 drives the driving gear 54 to rotate. Since the servo motor 53 meshes with the transmission rack 21, the technical effect of driving the loading manipulator to slide axially along the ground rail 2 on the ground rail 2 can be achieved. When the loading manipulator slides to a preset position, the servo motor 53 stops driving and the driving gear 54 stops rotating, which can make the sliding base 5 stop sliding, and prevent the sliding base 5 from continuously sliding due to inertia, effectively ensuring the stability of the loading manipulator and the accuracy of the stacking material action of the loading manipulator.
[0037] Through the setting of the sky rail 3 and the guide seat 52, the positions of the column 51 and the sliding base 5 can be further restricted, reducing the occurrence of the situation that the stacking accuracy is affected due to the deviation of the loading manipulator.
[0038] In addition, since the two groups of clamping jaws 43 on the two arms of the cross beam 4 are symmetric about the mounting seat 41, the stability during the sliding process of the loading manipulator can be further ensured.
[0039] Compared with the traditional roadway telescopic fork stacker, through the combined use of the ground rail, sky rail, sliding base, servo motor and the manipulator on the cross beam, it is possible to stack the goods layer by layer on the ground inside the manipulator support frame without using a matching shelf. The entire warehousing system has a simple structure and an effective stacking storage capacity.
[0040] It should be noted that referring to Figure 2 , in the embodiment of the present application, the number of the column 51, the sky rail 3 and the ground rail 2 is 1. In some other embodiments, the number of the column 51, the ground rail 2 and the sky rail 3 can be adjusted according to the load requirement, and the number of the clamping jaws 43 can also be adjusted according to the stacking requirement, which is not limited here.
[0041] Referring toFigure 2 With Figure 3 , a anti - detachment plate 55 is fixedly installed at the bottom of the sliding base 5. An anti - detachment groove 22 is formed on the side of the ground rail 2 away from the driving rack 21, and the end of the anti - detachment plate 55 extends into the anti - detachment groove 22.
[0042] The anti - detachment plate 55 and the anti - detachment groove 22 are used in combination, which can reduce the occurrence of the sliding base 5 detaching from the ground rail 2, and further improve the sliding stability of the sliding base 5, the column 51 and the loading manipulator.
[0043] Refer to Figure 1 With Figure 2 , two limit seats 23 are respectively fixedly connected to both ends of the ground rail 2, and the servo motor 53 drives the sliding base 5 to slide between the two limit seats 23.
[0044] The limit seats 23 can limit the position of the sliding base 5, and can reduce the occurrence of the sliding base 5 detaching from the ground rail 2 through both ends of the ground rail 2.
[0045] Refer to Figure 2 , two groups of first rollers 56 are rotatably installed on the sliding base 5, and the wheel surfaces of the two groups of first rollers 56 are attached to both sides of the ground rail 2.
[0046] The first rollers 56 can convert the sliding friction between both sides of the sliding base 5 and both sides of the ground rail 2 into rolling friction, and improve the smoothness of the sliding of the sliding base 5.
[0047] Refer to Figure 2 , two second rollers 57 are rotatably installed on the sliding base 5, the wheel surfaces of the two second rollers 57 are attached to the top of the ground rail 2, and the two second rollers 57 are located on both sides of the column 51.
[0048] The second rollers 57 can convert the sliding friction between the sliding base 5 and the top of the ground rail 2 into rolling friction, and further improve the smoothness of the sliding of the base.
[0049] Refer to Figure 2 , the mounting seat 41 includes two side plates 411. A connection groove 412 adapted to the column 51 is formed between the two side plates 411. Sliders 413 are fixedly installed on the inner sides of the two side plates 411. Guide rails 511 are respectively fixedly installed on both sides of the column 51. Guide grooves 414 adapted to the guide rails 511 are respectively formed on the side walls of the two sliders 413.
[0050] The cooperation between the sliders 413 and the guide rails 511 can limit the sliding trajectory of the mounting seat 41 and improve the sliding stability of the mounting seat 41 during up - and - down sliding.
[0051] Refer to Figure 1 With Figure 2, two sets of third rollers 521 are rotatably installed at the top of the guide seat 52. The two sets of third rollers 521 are respectively located on both sides of the overhead rail 3, and the wheel surfaces of the two sets of third rollers 521 are in contact with both sides of the overhead rail 3.
[0052] The third rollers 521 can convert the sliding friction between the guide seat 52 and the overhead rail 3 into rolling friction, improving the smoothness of the guide seat 52 sliding on the overhead rail 3.
[0053] It should be noted that in the embodiment of the present application, the column 51 is provided in a cavity shape. A counterweight block is slidably installed in the column 51. The counterweight block and the mounting seat 41 are connected by a belt of the lifting mechanism 6. The counterweight block built in the column 51 can save the power consumption of the lifting mechanism 6 while reducing the occurrence of collisions between the counterweight block and the mechanisms in the workshop.
[0054] The implementation principle of an efficient stacking manipulator in the embodiment of the present application is as follows: during the sliding process of the loading manipulator, the servo motor 53 drives the driving gear 54 to rotate. Since the servo motor 53 meshes with the transmission rack 21, the technical effect of driving the loading manipulator to slide axially along the ground rail 2 on the ground rail 2 can be achieved; when the loading manipulator slides to a preset position, the servo motor 53 stops driving and the driving gear 54 stops rotating, which can make the sliding base 5 stop sliding, avoiding the situation that the sliding base 5 continues to slide due to inertia, effectively ensuring the stability of the loading manipulator and the accuracy of the stacking material action of the loading manipulator. Through the setting of the overhead rail 3 and the guide seat 52, the positions of the column 51 and the sliding base 5 can be further restricted, reducing the occurrence of the situation that the loading manipulator deviates and affects the stacking accuracy. In addition, since the two sets of jaws 43 on the two arms of the cross beam 4 are symmetrical about the mounting seat 41, the stability during the sliding process of the loading manipulator can be further ensured; compared with the traditional roadway telescopic fork stacker, by using the ground rail, overhead rail, sliding base, servo motor, and the manipulator on the cross beam in combination, it is possible to stack the goods layer by layer on the ground inside the manipulator support frame without using a matching shelf. The entire warehousing system has a simple structure and an effective stacking storage capacity.
[0055] The above are all the preferred embodiments of the present application. The protection scope of the present application is not limited by this. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.
Claims
1. An efficient stacking manipulator, characterized in that, It includes a manipulator support frame (1), a ground rail (2), a sky rail (3) and a cross beam (4). The ground rail (2) and the manipulator support frame (1) are both fixedly installed on the ground of the warehouse. The two ends of the sky rail (3) are respectively fixedly connected to the manipulator support frame (1), and the sky rail (3) is erected directly above the ground rail (2). A sliding base (5) is slidably installed on the ground rail (2). A column (51) is fixedly installed on the sliding base (5). The top of the column (51) is fixedly connected to a guide seat (52), and the guide seat (52) is slidably connected to the sky rail (3). A mounting seat (41) is fixedly connected to the middle of the cross beam (4), and the mounting seat (41) is fixedly installed on the column (51). Two groups of clamping jaws (43) are respectively detachably installed on the two arms of the cross beam (4), and the two groups of clamping jaws (43) are symmetric about the mounting seat (41). A transmission rack (21) is fixedly connected to the side wall of the ground rail (2). A servo motor (53) is fixedly installed on the sliding base (5). The servo motor (53) is connected to a driving gear (54) through a coupling, and the driving gear (54) meshes with the transmission rack (21).
2. The high-efficiency stacking manipulator according to claim 1, characterized in that, An anti - detachment plate (55) is fixedly installed at the bottom of the sliding base (5). An anti - detachment groove (22) is formed on the side of the ground rail (2) away from the transmission rack (21), and the end of the anti - detachment plate (55) extends into the anti - detachment groove (22).
3. An efficient stacking manipulator according to claim 2, characterized in that, Limit seats (23) are respectively fixedly connected to the two ends of the ground rail (2), and the servo motor (53) drives the sliding base (5) to slide between the two limit seats (23).
4. An efficient stacking manipulator according to claim 2, characterized in that, Two groups of first rollers (56) are rotatably installed on the sliding base (5), and the wheel surfaces of the two groups of first rollers (56) are in contact with the two sides of the ground rail (2).
5. An efficient stacking manipulator according to claim 4, characterized in that, Two second rollers (57) are rotatably installed on the sliding base (5). The wheel surfaces of the two second rollers (57) are in contact with the top of the ground rail (2), and the two second rollers (57) are located on both sides of the column (51).
6. The high-efficiency stacking manipulator according to claim 1, wherein, The mounting seat (41) includes two side plates (411). A connecting groove (412) adapted to the column (51) is formed between the two side plates (411). Sliders (413) are fixedly installed on the inner sides of the two side plates (411). Guide sliding rails (511) are respectively fixedly installed on the two sides of the column (51), and guide grooves (414) adapted to the guide sliding rails (511) are respectively formed on the side walls of the two sliders (413).
7. An efficient stacking manipulator according to claim 1, characterized in that, Two groups of third rollers (521) are rotatably installed on the top of the guide seat (52). The two groups of third rollers (521) are respectively located on the two sides of the sky rail (3), and the wheel surfaces of the two groups of third rollers (521) are in contact with the two sides of the sky rail (3).