CN111807067A - Stacking mechanical claw with regular function and stacking method thereof - Google Patents
Stacking mechanical claw with regular function and stacking method thereof Download PDFInfo
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- CN111807067A CN111807067A CN202010591625.5A CN202010591625A CN111807067A CN 111807067 A CN111807067 A CN 111807067A CN 202010591625 A CN202010591625 A CN 202010591625A CN 111807067 A CN111807067 A CN 111807067A
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- regulating
- clamping
- jacking
- transfer frame
- stacked
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- De-Stacking Of Articles (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention belongs to the technical field of stacking machinery, and particularly relates to a stacking mechanical claw with a tidying function and a stacking method thereof. The invention provides a stacking mechanical claw with a tidying function and a stacking method thereof, aiming at the problems that plates are uneven and are not beneficial to smooth follow-up work in the prior art, the stacking mechanical claw comprises a transfer frame, a clamping and placing actuating mechanism is arranged on the transfer frame, the clamping and placing actuating mechanism is connected with a clamping and placing driving mechanism, a tidying mechanism is further arranged on the transfer frame, and the projection of a tidying area of the tidying mechanism in the vertical direction is at least partially overlapped with the projection of a clamping area of the clamping and placing actuating mechanism in the vertical direction. According to the invention, the mechanical claw rack is provided with the arranging mechanism, and the arranging mechanism realizes arranging by limiting the moving range of the plates to be stacked, so that the neatness of the stacked plates is improved.
Description
Technical Field
The invention belongs to the technical field of stacking machinery, and particularly relates to a stacking mechanical claw with a tidying function and a stacking method thereof.
Background
In recent years, with the higher automation degree of enterprise production, the application of the stacking robot is more and more common, and the claw of the stacking robot matched with the stacking robot is rapidly developed. The existing stacking mechanical paw is various and is applied to different fields. Taking the stacking of the plates as an example, the existing stacking manipulator often causes the plates to be uneven due to various reasons such as deviation of placing positions before the plates are grabbed when the plates are stacked and stacked, and is not beneficial to smooth follow-up work.
For example, chinese utility model patent discloses a hacking machine mechanical clamping jaw [ application number: 201721058602.8], the utility model comprises an upper platform and a lower platform which are arranged in parallel; two lifting cylinders are arranged downwards through the upper platform; the lower end of the lifting cylinder is vertically connected with a large cylinder; two vertical guide rails are arranged between the upper platform and the lower platform, and sliding blocks matched with the guide rails are arranged on the guide rails; the sliding block is connected with the large air cylinder through the triangular block, and the large air cylinder can be driven to slide up and down on the guide rail when the lifting air cylinder moves upwards; the end part of the large cylinder is connected with a first clamping plate through a connecting block; the lower platform is provided with three small air cylinders, and the end part of each small air cylinder is connected with a second clamping plate through a connecting plate.
The utility model discloses a patent has the pile up neatly scope that can enlarge the product, furthest carries out the advantage of pile up neatly with the product, but it still does not solve above-mentioned problem.
Disclosure of Invention
The invention aims to solve the problems and provides a stacking mechanical claw with a tidying function, which can improve the neatness of stacked plates.
The invention aims to solve the problems and provides a stacking method of a stacking mechanical claw with a stacking function, which can improve the neatness of stacked plates.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a pile up neatly machinery claw with regular function, is equipped with the clamp including shifting the frame, shifts to put and puts actuating mechanism on the frame, the clamp put actuating mechanism and press from both sides put actuating mechanism and link to each other, the transfer frame on still be equipped with regular mechanism, regular mechanism's regular regional projection in vertical direction with the clamp put actuating mechanism's clamping area at the projection of vertical direction at least partial coincidence.
In the above mechanical pallet claw with a regulating function, the regulating mechanism includes at least two regulating members, and at least two of the regulating members are not in the same straight line.
In the above mechanical pallet claw with a regulating function, the regulating members are fixedly connected to the transfer frame, wherein at least two regulating members are opposite to each other, the regulating members have regulating surfaces which are vertically arranged and face towards the inner side, and the regulating surfaces of the regulating members are positioned below the transfer frame; the lower extreme of regular piece be equipped with the guide part, the inboard of guide part have from bottom to top slope ascending direction inclined plane, direction inclined plane upper end link to each other with regular face lower extreme.
In the stacking mechanical claw with the arranging function, the arranging piece is a vertically arranged strip-shaped body; the regulating piece is fixed on the transfer frame through a horizontal position adjustable structure.
In foretell pile up neatly machinery claw that has regular function, regular piece on be connected with regular actuating mechanism respectively, wherein two at least regular looks oppositions, regular actuating mechanism set up on the transfer frame and can drive regular piece and be close to or keep away from the transfer frame at the horizontal direction, regular piece have vertical setting and face inboard regular face, regular face of regular piece be located the transfer frame below.
In the above mechanical pallet claw with a regulating function, the regulating drive mechanism includes a translation driver fixed on the transfer frame, and the translation driver is connected with the regulating member; a horizontal guide structure is arranged between the regulating part and the transfer frame; the regulating piece is a plate-shaped body.
In foretell pile up neatly machinery claw with regular function, the clamp put actuating mechanism and include a plurality of clamping jaws, wherein two at least clamping jaws are the opposition, the clamp put actuating mechanism and include a plurality of clamps and put the driver, the clamping jaw put the driver one-to-one setting and press from both sides and put the driver and can drive the clamping jaw and be close to or keep away from the transfer frame, the clamp put driver fixed connection on the transfer frame, the clamping jaw lower extreme be equipped with limit structure.
In the mechanical stacking claw with the arranging function, the clamping jaws are even in number and arranged pairwise, the arranging pieces are even in number and arranged pairwise, the clamping drivers are horizontal push-pull drivers, and guide assemblies are arranged between the clamping jaws and the transfer frame; the height of the lowermost end of the regulating piece in the vertical direction is lower than that of the lowermost end of the clamping jaw in the vertical direction; the clamping size of the clamping jaw in the vertical direction is not less than the thickness of two pieces of to-be-stacked pieces, and the regular size of the regular piece in the vertical direction exceeds the thickness of one piece of to-be-stacked piece.
In the stacking mechanical claw with the arranging function, the clamping jaw is provided with a yielding space, and when the arranging piece and the clamping jaw are arranged in the same area of the transfer frame, the arranging piece is positioned in the yielding space of the clamping jaw; the limiting structure comprises a limiting part extending to the central area of the horizontal transfer frame, and the upper side of the inner end of the limiting part is provided with a guide surface inclining downwards.
In the above mechanical palletizer claw with a collating function, the clamping jaw includes a horizontal portion and vertical portions located at two ends of the horizontal portion, the horizontal portion and the vertical portions form an inverted U shape, and the abdicating space is located between the two horizontal portions; the regular parts are four, every two regular parts form a regular group, the two regular parts of the same regular group are respectively connected to the two opposite side surfaces of the transfer frame, and the regular directions of the two regular groups are mutually perpendicular.
The stacking mechanical claw with the tidying function further comprises a jacking execution structure arranged on the transfer frame, the jacking execution structure comprises an installation frame fixedly connected to the transfer frame and a jacking driving mechanism installed on the installation frame, a jacking assembly is in driving connection with the jacking driving mechanism and comprises a jacking column in driving connection with the jacking driving mechanism, an adjusting bolt is arranged at the lower end of the jacking column, the adjusting bolt and the jacking column are coaxially arranged and in threaded connection, a jacking head is arranged at the lower end of the adjusting bolt, a concave-convex surface is arranged on the lower surface of the jacking head, and a locking nut is in threaded connection with the adjusting bolt; the upper end of the adjusting bolt is connected with the jacking driving mechanism through a floating joint.
A stacking method using the stacking mechanical claw with the arranging function comprises the following steps:
the method comprises the following steps: the transfer frame moves to the position above the to-be-stacked piece;
step two: moving the clamping and placing actuating mechanisms to enable the clamping and placing actuating mechanisms to be close to each other to clamp the plates to be stacked;
step three: the moving transfer frame drives the plates to be stacked to move;
step four: moving the clamping and placing actuating mechanisms to enable the clamping and placing actuating mechanisms to be mutually far away from each other to release the plates to be stacked;
and the regulating mechanism limits the moving range of the plate materials to be stacked in the second step and/or the fourth step or further comprises a fifth step of moving the regulating mechanism to enable the regulating mechanism to be pressed to the edge of the stacked plate materials.
In the above stacking mechanical claw with a regulating function, the second step includes: moving the transfer frame downwards until the lower end of the clamping and placing actuating mechanism is positioned below the plates to be stacked, starting the arranging driving mechanism to drive the arranging part to be pressed to the edge of the stacked plates, and starting the clamping and placing driving mechanism to drive the clamping and placing actuating mechanisms to approach each other, so that the plates to be stacked are clamped on the clamping jaws;
the third step comprises: starting a jacking driving mechanism to drive a jacking assembly to move along the vertical direction until the jacking assembly is pressed on the surface of a plate to be stacked, and moving a transfer frame to be right above a stacking point;
the fourth step comprises: the transfer frame moves downwards to a release position, the jacking driving mechanism is started to drive the jacking assembly to be away from the surface of the plate to be stacked, and the clamping and placing driving mechanism drives the clamping and placing actuating mechanisms to be away from each other to release the plate to be stacked;
the fifth step comprises the following steps: and starting the regular driving mechanism to drive the regular part until the driving regular part is pressed to the edge of the stacked plate.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the transfer frame is provided with the arranging mechanism, and the arranging mechanism realizes arranging by limiting the moving range of the plates to be stacked, so that the neatness of the stacked plates is improved.
2. According to the invention, the jacking assembly is arranged on the transfer frame, and the jacking column in the jacking assembly can move along the vertical direction and is pressed on the plates to be stacked, so that the plates to be stacked are prevented from generating relative displacement in the transfer process, and the neatness of the stacked plates is further ensured.
Drawings
FIG. 1 is a schematic structural view of embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a clamping actuator in embodiment 1 of the present invention;
fig. 3 is a sectional view of a holding-up actuator in embodiment 1 of the present invention;
FIG. 4 is a schematic structural view of embodiment 2 of the present invention;
in the figure: the device comprises a transfer frame 1, a regulating mechanism 3, a guide assembly 4, a jacking execution structure 5, a clamping and placing execution mechanism 21, a clamping jaw 22, a clamping and placing driving mechanism 23, a clamping area 24, a limiting structure 25, an abdicating space 26, a guide part 32, a regulating driving mechanism 33, a regulating piece 34, a horizontal position adjustable structure 35, a regulating area 36, a translation driver 37, a guide column 41, a guide through hole 42, an installation frame 51, a jacking driving mechanism 52, a jacking assembly 53, a floating joint 54, a jacking column 55, an adjusting bolt 56, a jacking head 57, a concave-convex surface 58, a locking nut 59, a transverse part 221, a vertical part 222, a clamping and placing driver 231, a limiting part 251, a guide surface 252, a guide inclined surface 321 and a regulating surface 341.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1
The embodiment provides a pile up neatly machinery claw with regulation function, as shown in fig. 1, including transferring frame 1, be equipped with the clamp on transferring frame 1 and put actuating mechanism 21, transfer frame 1 accessible setting is connected on the robot in order to control the holistic removal of transferring frame 1 at the robot to the interface of robot flange at top, the clamp put actuating mechanism 21 and press from both sides put actuating mechanism 23 and link to each other, transferring frame 1 on still be equipped with regulation mechanism 3, regulation mechanism 3's regulation regional 36 in the projection of vertical direction with the clamp put the projection of actuating mechanism 21's clamping area 24 at vertical direction at least partially coincide. The clamping area 24 is a space area where the to-be-stacked sheets are located when the clamping actuator 21 clamps the to-be-stacked sheets, and the movement range of the to-be-stacked sheets in the space area can be limited under the condition that the regulating area 36 of the regulating mechanism 3 is partially or even completely overlapped with the space area in the vertical direction, so that the to-be-stacked sheets are regulated.
When the stacking device is used, the transfer frame 1 is moved to be right above a plate to be stacked, then the clamping and placing actuating mechanism 21 is moved downwards to be partially positioned below the plate to be stacked, the clamping and placing actuating mechanisms 21 are driven to be close to each other, namely, the opening degree of the clamping and placing actuating mechanism 21 is reduced, so that the plate to be stacked is grabbed, at the moment, the regulating mechanism 3 is positioned on the side surface of the plate to be stacked, so that the moving range of the plate to be stacked can be limited when the plate to be stacked is transferred and released, the plate to be stacked is transferred to the stacking point along with the transfer frame 1, the clamping and placing actuating mechanisms 21 are driven to be away from each other, namely, the opening degree of the clamping and placing actuating. Therefore, the transfer frame 1 is provided with the regulating mechanism 3, and the regulating mechanism 3 limits the moving range of the plates to be stacked, so that regulation is realized, and the neatness degree of the stacked plates is improved.
As shown in FIG. 1, the regulating mechanism 3 includes at least two regulating members 34, and at least two of the regulating members 34 are not collinear. Therefore, the movement range of the plate materials to be stacked can be limited on two sides in one direction.
As shown in fig. 1, the regulating members 34 are respectively connected with regulating driving mechanisms 33, wherein at least two regulating members 34 are opposite, the regulating driving mechanisms 33 are arranged on the transfer rack 1 and can drive the regulating members 34 to approach or separate from the transfer rack 1 in the horizontal direction, the regulating members 34 are provided with regulating surfaces 341 which are vertically arranged and face inwards, and the regulating surfaces 341 of the regulating members 34 are positioned below the transfer rack 1. The regulating driving mechanism 33 can drive the regulating member 34 to move close to or away from the transfer frame 1, and the regulating member 34 can be actively moved to be attached to the side edge of the plate materials to be stacked through the driving of the regulating driving mechanism 33, so that the plate materials to be stacked are regulated in the processes of clamping, transferring, releasing and the like. In this embodiment, the structured area 36 is defined by the intersection of the extended lines of the edges of the structured piece 34.
Specifically, the regulating driving mechanism 33 comprises a translation driver 37 fixed on the transfer frame 1, and the translation driver 37 is connected with the regulating piece 34; a horizontal guide structure is arranged between the regulating piece 34 and the transfer rack 1; the regulating member 34 is a plate-shaped body. The horizontal guide structure may here take a concrete structure similar to the guide member 4.
Preferably, the height of the lowest end of the regulating member 34 in the vertical direction is lower than the height of the lowest end of the clamping and placing actuator 21 in the vertical direction, so that after the clamping and placing actuator 21 releases the plate materials to be stacked to the stacking point, the lower end of the regulating member 34 is lower than the position of the previously stacked plate materials, and therefore, when the plate materials are tightened, the previously stacked plate materials are regulated if the position of the previously stacked plate materials is not correct, thereby further ensuring the neatness of the plate materials.
Referring to fig. 1 and 2, the clamping and releasing actuator 21 includes a plurality of clamping jaws 22, at least two clamping jaws 22 are opposite, the clamping and releasing actuator 23 includes a plurality of clamping and releasing drivers 231, the clamping jaws 22 and the clamping and releasing drivers 231 are arranged in one-to-one correspondence, and the clamping and releasing drivers 231 can drive the clamping jaws 22 to approach or depart from the transfer rack 1, when the clamping and releasing drivers 231 drive the clamping jaws 22 to approach the transfer rack 1, i.e., the clamping jaws 22 approach each other, so that the opening degree of the clamping and releasing actuator 21 is reduced to be in a clamping state, and when the clamping and releasing drivers 231 drive the clamping jaws 22 to depart from the transfer rack 1, i.e., the clamping jaws 22 depart from each other, so that the opening degree of the clamping and releasing actuator. The clamping driver 231 is fixedly connected to the transfer frame 1, and the lower end of the clamping jaw 22 is provided with a limiting structure 25. The limiting structure 25 can provide a support for the plates to be stacked in the vertical direction, and the stability of the transfer process is guaranteed.
Preferably, the number of the clamping jaws 22 is even and two-by-two opposite, the number of the regulating members 34 is even and two-by-two opposite, the clamping driver 231 is a horizontal push-pull driver, and a guide assembly 4 is arranged between the clamping jaws 22 and the transfer frame 1. The guide assembly 4 comprises a guide post 41 fixedly connected to the clamping jaw 22 and a guide through hole 42 arranged on the transfer frame 1, the guide post 41 penetrates through the guide through hole 42 and is in sliding connection with the guide through hole 42, and the outer surface of the guide post 41 is attached to the inner surface of the guide through hole 42; or guide assembly 4 includes fixed connection guide bar on transfer frame 1 and sets up on clamping jaw 22 and link up the direction passageway of clamping jaw 22, the guide bar runs through direction passageway and with direction way sliding connection, the surface of guide bar is laminated mutually with the internal surface of direction way, and column structure and through-hole structure interchangeable set position promptly, guide assembly 4 can provide the direction to the moving direction of clamping jaw 22.
The height of the lowest end of the regular piece 34 in the vertical direction is lower than that of the lowest end of the clamping jaw 22 in the vertical direction; the clamping size of the clamping jaw 22 in the vertical direction is not less than the thickness of two pieces to be stacked, so that the two pieces of plate materials can be clamped at one time. The regularity piece 34 has a regularity size in the vertical direction exceeding the thickness of one piece to be stacked. The regular size of the regular piece 34 in the vertical direction can contact the second sheet material in the regular process as long as the regular size exceeds the thickness of one piece to be stacked, so that the relative position of the two sheet materials is regular.
As shown in fig. 2, the clamping jaw 22 is provided with an abdicating space 26, and when the regulating piece 34 and the clamping jaw 22 are installed in the same area of the transfer rack 1, the regulating piece 34 is located in the abdicating space 26 of the clamping jaw 22, so that the space is saved, and the whole size of the device is more exquisite; the limiting structure 25 comprises a limiting part 251 extending to the central area of the transfer rack 1 horizontally, and the upper side of the inner end of the limiting part 251 is provided with a guide surface 252 which inclines downwards. The guide surface 252 may provide a guide for the clamping actuator 21 to clamp the sheet material.
As shown in fig. 1 and fig. 2, the clamping jaw 22 includes a transverse portion 221 and vertical portions 222 located at two ends of the transverse portion 221, the transverse portion 221 and the vertical portions 222 form an inverted U shape, and the relief space 26 is located between the two transverse portions 221; the number of the regular parts 34 is four, every two regular parts 34 form a regular group, the two regular parts 34 of the same regular group are respectively connected to two opposite side surfaces of the transfer frame 1, and the regular directions of the two regular groups are perpendicular to each other. Therefore, the moving range of the plate materials to be stacked can be limited in two mutually perpendicular directions, the moving range of four sides of the plate materials to be stacked which are similar to rectangular plates can be just limited, and the arranging effect is good.
As shown in fig. 1 and fig. 3, the device further comprises a jacking actuating structure 5 arranged on the transfer frame 1, the jacking actuating structure 5 is connected with a jacking driving mechanism 52, the clamping actuating assembly 21 is provided with a limiting structure 25, the jacking end of the jacking actuating structure 5 is located above or below the limiting structure 25, and a jacking space with adjustable size is formed between the jacking end of the jacking actuating structure 5 and the limiting structure 25. When the clamping and placing executing assembly 21 clamps the plates to be stacked, one surface of the plates to be stacked is pressed on the limiting structure 25, the position is the tight pushing space, after the plates to be stacked are located in the tight pushing space, the tight pushing executing structure 5 moves and one end of the tight pushing executing structure 5 is pressed on the surface, away from the limiting structure 25, of the plates to be stacked, so that the tight pushing of the plates to be stacked is realized, the plates to be stacked are prevented from being displaced relatively in the transferring process, and the neatness degree of the plates after being stacked is ensured.
As shown in fig. 1, the number of the tightening actuators 5 is one or at least two, the number of the tightening driving mechanisms 52 is the same as the number of the tightening actuators 5 and is set in a one-to-one correspondence manner, or the number of the tightening driving mechanisms 52 is less than the number of the tightening actuators 5 and at least one tightening driving mechanism 52 drives at least two tightening actuators 5 simultaneously. That is, one or more tightening actuators 5 may be provided, and one tightening driving mechanism 52 may correspondingly drive the tightening actuators 5, or may simultaneously drive a plurality of tightening actuators 5.
Preferably, the number of the tightening actuating structures 5 is one, and the tightening actuating structures are arranged on the transfer frame 1 corresponding to the center of the clamping area of the clamping actuating assembly 21; or, the number of the jacking executing structures 5 is at least two, and the jacking executing structures are uniformly distributed on the transfer frame 1 corresponding to the clamping area of the clamping executing component 21. Therefore, when the jacking is ensured, the jacking force of the jacking execution structure 5 acting on the plate and the reaction force of the limiting structure 25 acting on the plate are distributed uniformly.
Further preferably, the number of the tightening actuating structures 5 is two, and the tightening actuating structures 5 are symmetrically arranged on the transfer frame 1 corresponding to the clamping area of the clamping actuating assembly 21, and the lower ends of the tightening actuating structures 5 are located above the limiting structures 25. Thus, the device structure is simplified and the production and installation are convenient while the uniform distribution of the acting force is ensured.
Specifically, the jacking actuating structure 5 comprises a vertically arranged jacking column 55, the upper end of the jacking column 55 is connected with the jacking driving mechanism 52, and the lower end of the jacking column 55 is located above the limiting structure 25. Preferably, the driving manner of the tightening driving mechanism 52 is linear driving, and a specific structure capable of realizing linear driving in the prior art can be adopted, for example, an air cylinder, an oil cylinder or a screw rod sliding sleeve structure.
When the stacking device is used, when a plate to be stacked is clamped on the clamping and placing executing assembly 21, the jacking driving mechanism 52 is started to drive the jacking column 55 to move along the vertical direction until the jacking column is pressed on the surface of the plate to be stacked, so that the plate to be stacked is prevented from generating relative displacement in the transferring process, and the neatness degree of the stacked plate is further ensured.
Preferably, the jacking post 55 and the jacking driving mechanism 52 are connected through a floating joint 54, and the floating joint 54 can reduce errors, protect the jacking actuating structure 5, enable the jacking actuating structure 5 to run stably, and prolong the service life of the jacking actuating structure 5.
As shown in fig. 3, an adjusting bolt 56 is arranged at the lower end of the top pillar 55, the adjusting bolt 56 is coaxially arranged with the top pillar 55 and is in threaded connection with the top pillar 55, and the length of the adjusting bolt 56 can be adjusted along the axial line direction so as to meet the requirements of pressing different plate materials. The lower end of the adjusting bolt 56 is provided with a tightly-pushing head 57, the periphery of the top column 55 is provided with a guide sleeve, the guide sleeve is fixed on the mounting frame 51, and the mounting frame 51 is fixed on the transfer frame 1; the jacking driving mechanism 52 is arranged on the mounting frame 51. The jacking driving mechanism 52 comprises a jacking driver, the jacking driver is fixed on the mounting frame 51, and a power output shaft of the jacking driver penetrates through the mounting frame 51 and is connected with the upper end of the jacking column 55.
During the use, start the tight driver in top, the tight driver in top drives power output shaft and promotes fore-set 55 to promote tight head 57 in top, make tight head 57 in top press to establish on the sheet material surface, in order to accomplish the tight process in top.
Preferably, the lower surface of the tightening head 57 has a concave-convex surface 58, and the adjusting bolt 56 is threadedly coupled with a locking nut 59. The concave-convex surface 58 can increase the friction coefficient between the jacking head 57 and the plates to be stacked, and prevent slipping.
The working principle of the invention is as follows: moving the transfer frame 1 to be right above a plate to be stacked, moving downwards to enable the clamping and placing actuating mechanism 21 to be partially positioned below the plate to be stacked, starting the arranging and driving mechanism 33 to enable the arranging plate 34 to be attached to the edge of the plate to be stacked, starting the clamping and placing driving mechanism 23 to drive the clamping and placing actuating mechanism 21 to be close to each other, namely reducing the opening degree of the clamping and placing actuating mechanism 21 to grab the plate to be stacked onto the clamping jaw 22, starting the jacking driving mechanism 52 to drive the jacking component 53 to move in the vertical direction until the jacking component is pressed on the surface of the plate to be stacked, transferring the transfer frame 1 to a stacking site, driving the regulating and driving mechanism 33 to drive the regulating plate 34 to be far away from the transfer frame 1 when the plate to be stacked is synchronously transferred to the position right above the stacking site along with the transfer frame 1, moving the transfer frame 1 downwards to a release position, driving the regulating plate 34 to be close to the transfer frame 1 at the moment, tightening and regulating, retracting the jacking component, namely, the opening degree of the mechanical claw 2 is increased to release the plate materials to be stacked so as to complete stacking. Therefore, the transfer frame 1 is provided with the regulating mechanism 3, and the regulating mechanism 3 limits the moving range of the plates to be stacked, so that regulation is realized, and the neatness degree of the stacked plates is improved.
Example 2
The embodiment provides a mechanical palletizer gripper with a regulating function, which has a specific structure substantially the same as that in embodiment 1, except that the specific structure of the regulating mechanism 3 is, as shown in fig. 4, the regulating members 34 are fixedly connected to the transfer frame 1, wherein at least two regulating members 34 are opposite, the regulating members 34 have regulating surfaces 341 which are vertically arranged and face inward, and the regulating surfaces 341 of the regulating members 34 are located below the transfer frame 1; the lower end of the regulating part 34 is provided with a guide part 32, the inner side of the guide part 32 is provided with a guide inclined plane 321 which inclines upwards from bottom to top, namely, the thickness of the guide part 32 is gradually reduced from one end far away from the regulating part 34 to one end close to the regulating part 34, and as the thickness of the guide part 32 is gradually reduced, a guide inclined plane can be formed on the surface, so that the clamping and regulating processes of the plates to be stacked are facilitated. The upper end of the guide inclined plane 321 is connected with the lower end of the regular surface 341. In this embodiment, the regulating member 34 is connected in sequence to form a regulated area 36.
Preferably, the regulating member 34 is a vertically arranged bar; the regulating member 34 is fixed on the transfer frame 1 through a horizontal position adjustable structure 35. The horizontal position adjustable structure 35 may be, for example, a bolt and a slotted hole, so that the installation position of the regulating member 34 can be adjusted along the horizontal position during installation, thereby adjusting the position and size of the regulated area 36 to some extent.
Example 3
The embodiment provides a stacking method using a stacking mechanical claw with a regulating function, which is shown in fig. 1 to 4 and comprises the following steps:
the method comprises the following steps: the transfer frame 1 moves to the position above the to-be-stacked piece;
step two: moving the clamping and placing actuating mechanisms 21 to enable the clamping and placing actuating mechanisms 21 to be close to each other to clamp the plates to be stacked;
step three: the moving transfer frame 1 drives the plates to be stacked to move;
step four: moving the clamping and placing actuating mechanisms 21 to enable the clamping and placing actuating mechanisms 21 to be away from each other to release the plates to be stacked;
and the regulating mechanism 3 limits the moving range of the sheet materials to be stacked in the second step and/or the fourth step or further comprises a fifth step of moving the regulating mechanism 3 to enable the regulating mechanism 3 to be pressed to the edge of the stacked sheet materials.
The method comprises the following conditions that the sheet materials to be stacked are structured in the step two and are not structured in the step four, the sheet materials to be stacked are not structured in the step two and are not structured in the step four, the sheet materials to be stacked are structured in both the step two and the step four, and the sheet materials to be stacked are not structured in both the step two and the step four, but the sheet materials are structured in the step five by additionally arranging the step five, compared with the stacking manipulator in the prior art, the method can improve the regularity of the sheet materials, and achieves the expected purpose of the method.
Preferably, the second step includes: the transfer frame 1 is moved downwards until the lower end of the clamping and placing actuating mechanism 21 is located below the plate materials to be stacked, the regulating driving mechanism 33 is started to drive the regulating piece 34 to be pressed to the edge of the stacked plate materials, and the clamping and placing actuating mechanism 23 is started to drive the clamping and placing actuating mechanism 21 to approach each other, so that the plate materials to be stacked are clamped on the clamping jaws 22;
the third step comprises: starting the jacking driving mechanism 52 to drive the jacking assembly 53 to move along the vertical direction until the jacking assembly 53 is pressed on the surface of the plate material to be stacked, and moving the transfer frame 1 to be right above the stacking point;
the fourth step comprises: the transfer frame 1 moves downwards to a release position, the jacking driving mechanism 52 is started to drive the jacking component 53 to be away from the surface of the plate material to be stacked, and the clamping and placing driving mechanism 23 drives the clamping and placing actuating mechanism 21 to be away from each other to release the plate material to be stacked;
the fifth step comprises the following steps: the arranging driving mechanism 33 is started to drive the arranging member 34 until the driving arranging member 34 is pressed to the edge of the piled plate materials.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the terms of the transfer rack 1, the regulating mechanism 3, the guide assembly 4, the jacking actuator 5, the clamping actuator 21, the clamping jaw 22, the clamping driving mechanism 23, the clamping area 24, the limiting structure 25, the relief space 26, the guide part 32, the regulating driving mechanism 33, the regulating member 34, the horizontal position adjustable structure 35, the regulating area 36, the translation driver 37, the guide column 41, the guide through hole 42, the mounting frame 51, the jacking driving mechanism 52, the jacking assembly 53, the floating joint 54, the jacking column 55, the adjusting bolt 56, the jacking head 57, the concave-convex surface 58, the locking nut 59, the transverse part 221, the vertical part 222, the clamping driver 231, the limiting part 251, the guide surface 252, the guide inclined surface 321, the regulating surface 341 and the like are used more frequently, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (13)
1. The utility model provides a pile up neatly machinery claw with regular function, includes transfer frame (1), is equipped with the clamp on transfer frame (1) and puts actuating mechanism (21), the clamp put actuating mechanism (21) and press from both sides and put actuating mechanism (23) and link to each other its characterized in that: the transfer frame (1) is further provided with a regulating mechanism (3), and the projection of a regulating area (36) of the regulating mechanism (3) in the vertical direction is at least partially overlapped with the projection of a clamping area (24) of the clamping execution mechanism (21) in the vertical direction.
2. The pallet gripper according to claim 1, characterized in that: the regulating mechanism (3) comprises at least two regulating parts (34), and the at least two regulating parts (34) are not in the same straight line.
3. The pallet gripper with a collating function as claimed in claim 2, characterized in that: the regulating parts (34) are fixedly connected to the transfer rack (1), at least two of the regulating parts (34) are opposite, each regulating part (34) is provided with a regulating surface (341) which is vertically arranged and faces to the inner side, and the regulating surface (341) of each regulating part (34) is positioned below the transfer rack (1); the lower end of the regulating piece (34) is provided with a guide part (32), the inner side of the guide part (32) is provided with a guide inclined plane (321) which inclines upwards from bottom to top, and the upper end of the guide inclined plane (321) is connected with the lower end of the regulating surface (341).
4. The pallet gripper according to claim 3, characterized in that: the regulating piece (34) is a vertically arranged strip-shaped body; the regulating part (34) is fixed on the transfer frame (1) through a horizontal position adjustable structure (35).
5. The pallet gripper with a collating function as claimed in claim 2, characterized in that: regular piece (34) on be connected with regular actuating mechanism (33) respectively, wherein two at least regular pieces (34) opposition mutually, regular actuating mechanism (33) set up and just can drive regular piece (34) and be close to or keep away from transfer frame (1) in the horizontal direction on transfer frame (1), regular piece (34) have vertical setting and face inboard regular face (341), regular face (341) of regular piece (34) be located transfer frame (1) below.
6. The stacking gripper with the regulating function as claimed in claim 5, characterized in that: the regulating driving mechanism (33) comprises a translation driver (37) fixed on the transfer frame (1), and the translation driver (37) is connected with the regulating piece (34); a horizontal guide structure is arranged between the regulating part (34) and the transfer frame (1); the regulating piece (34) is a plate-shaped body.
7. The pallet gripper according to any one of claims 2 to 6, characterized in that: pressing from both sides put actuating mechanism (21) include a plurality of clamping jaws (22), wherein two at least clamping jaws (22) are oppositional mutually, press from both sides put actuating mechanism (23) and put driver (231) including a plurality of clamps, clamping jaw (22) put driver (231) one-to-one with pressing from both sides and press from both sides and put driver (231) and can drive clamping jaw (22) and be close to or keep away from transfer frame (1), press from both sides put driver (231) fixed connection on transfer frame (1), clamping jaw (22) lower extreme be equipped with limit structure (25).
8. The pallet gripper with a collating function as claimed in claim 7, characterized in that: the number of the clamping jaws (22) is even and the clamping jaws are arranged in pairs, the number of the regulating parts (34) is even and the regulating parts are arranged in pairs, the clamping driver (231) is a horizontal push-pull driver, and a guide assembly (4) is arranged between the clamping jaws (22) and the transfer frame (1); the height of the lowermost end of the regulating piece (34) in the vertical direction is lower than that of the lowermost end of the clamping jaw (22) in the vertical direction; the clamping size of the clamping jaws (22) in the vertical direction is not less than the thickness of two pieces to be stacked, and the regular size of the regular pieces (34) in the vertical direction exceeds the thickness of one piece to be stacked.
9. The pallet gripper with a collating function as claimed in claim 7, characterized in that: the clamping jaw (22) is provided with an abdicating space (26), and when the regulating piece (34) and the clamping jaw (22) are arranged in the same area of the transfer frame (1), the regulating piece (34) is positioned in the abdicating space (26) of the clamping jaw (22); the limiting structure (25) comprises a limiting part (251) extending to the central area of the horizontal transfer frame (1), and the upper side of the inner end of the limiting part (251) is provided with a guide surface (252) inclining downwards.
10. The pallet gripper according to claim 9, characterized in that: the clamping jaw (22) comprises a transverse part (221) and vertical parts (222) positioned at two ends of the transverse part (221), the transverse part (221) and the vertical parts (222) form an inverted U shape, and the abdicating space (26) is positioned between the two transverse parts (221); the number of the regular parts (34) is four, every two regular parts (34) form a regular group, the two regular parts (34) of the same regular group are respectively connected to the two opposite side surfaces of the transfer frame (1), and the regular directions of the two regular groups are perpendicular to each other.
11. The pallet gripper according to any one of claims 1 to 6, characterized in that: the jacking mechanism comprises a transfer frame (1) and a jacking actuating structure (5) arranged on the transfer frame (1), wherein the jacking actuating structure (5) comprises a mounting frame (51) fixedly connected to the transfer frame (1) and a jacking driving mechanism (52) installed on the mounting frame (51), a jacking component (53) is in driving connection with the jacking driving mechanism (52), the jacking driving mechanism (52) can drive the jacking component (53) to move in the vertical direction, the jacking component (53) and the jacking driving mechanism (52) are connected through a floating joint (54), the jacking component (53) comprises a jacking column (55) in driving connection with the jacking driving mechanism (52), an adjusting bolt (56) is arranged at the lower end of the jacking column (55), the adjusting bolt (56) is coaxially arranged with the jacking column (55) and in threaded connection, and a jacking head (57) is arranged at the lower end of the adjusting bolt (56), the lower surface of the tightening head (57) is provided with a concave-convex surface (58), and the adjusting bolt (56) is in threaded connection with a locking nut (59); the upper end of the adjusting bolt (56) is connected with the jacking driving mechanism (52) through a floating joint (54).
12. A palletizing method using a palletizing gripper with a organizing function as claimed in any one of claims 1 to 11, characterized in that: the method comprises the following steps:
the method comprises the following steps: the transfer frame (1) moves to the position above the to-be-stacked piece;
step two: moving the clamping and placing actuating mechanisms (21) to enable the clamping and placing actuating mechanisms (21) to be close to each other to clamp the plates to be stacked;
step three: the moving transfer frame (1) drives the plates to be stacked to move;
step four: moving the clamping and placing actuating mechanisms (21) to enable the clamping and placing actuating mechanisms (21) to be away from each other to release the plates to be stacked;
and the regulating mechanism (3) limits the moving range of the plate materials to be stacked in the second step and/or the fourth step or further comprises a fifth step of moving the regulating mechanism (3) to enable the regulating mechanism (3) to be pressed to the edge of the stacked plate materials.
13. A palletization method by a palletizing gripper with a organizing function as claimed in claim 12, characterized in that: the second step comprises the following steps: the transfer frame (1) is moved downwards until the lower end of the clamping and placing actuating mechanism (21) is located below the plate materials to be stacked, the regulating driving mechanism (33) is started to drive the regulating part (34) to be pressed to the edge of the stacked plate materials, and the clamping and placing driving mechanism (23) is started to drive the clamping and placing actuating mechanism (21) to approach each other, so that the plate materials to be stacked are clamped on the clamping jaw (22);
the third step comprises: starting a jacking driving mechanism (52) to drive a jacking assembly (53) to move along the vertical direction until the jacking assembly (53) is pressed on the surface of a plate material to be stacked, and moving a transfer frame (1) to a position right above a stacking point;
the fourth step comprises: the transfer frame (1) moves downwards to a release position, the jacking driving mechanism (52) is started to drive the jacking assembly (53) to be away from the surface of the plate to be stacked, and the clamping and placing driving mechanism (23) drives the clamping and placing actuating mechanisms (21) to be away from each other to release the plate to be stacked;
the fifth step comprises the following steps: and starting the regulating driving mechanism (33) to drive the regulating part (34) until the driving regulating part (34) is pressed to the edge of the piled sheet materials.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010591625.5A CN111807067A (en) | 2020-06-24 | 2020-06-24 | Stacking mechanical claw with regular function and stacking method thereof |
| PCT/CN2021/089108 WO2021258839A1 (en) | 2020-06-24 | 2021-04-23 | Palletizing mechanical claw having neatening function and palletizing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010591625.5A CN111807067A (en) | 2020-06-24 | 2020-06-24 | Stacking mechanical claw with regular function and stacking method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111807067A true CN111807067A (en) | 2020-10-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010591625.5A Pending CN111807067A (en) | 2020-06-24 | 2020-06-24 | Stacking mechanical claw with regular function and stacking method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111807067A (en) |
| WO (1) | WO2021258839A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021258839A1 (en) * | 2020-06-24 | 2021-12-30 | 三门三友科技股份有限公司 | Palletizing mechanical claw having neatening function and palletizing method thereof |
| CN115231287A (en) * | 2022-06-23 | 2022-10-25 | 深圳蓝胖子机器智能有限公司 | End effector |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115159141A (en) * | 2022-05-24 | 2022-10-11 | 怀宁县鑫之港新型建材有限公司 | Stacking device for processing sintered bricks |
| CN114834907B (en) * | 2022-06-10 | 2024-06-14 | 武汉利德测控技术有限公司 | Material transferring and stacking device |
| CN116119377B (en) * | 2023-04-19 | 2023-06-20 | 山西天宝集团有限公司 | Automatic stacking device and method for wind power flange transportation |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6758082B2 (en) * | 2016-04-28 | 2020-09-23 | 株式会社東芝 | Sheet post-processing device |
| CN107571234A (en) * | 2017-07-31 | 2018-01-12 | 青岛万祥如光机械技术研究有限公司 | A kind of automatic finisher |
| CN107718026A (en) * | 2017-11-08 | 2018-02-23 | 江门市华林众鑫工程有限公司 | A kind of center positioning device |
| CN111993403A (en) * | 2018-04-26 | 2020-11-27 | 阜阳盛东智能制造技术研发有限公司 | Control method of manipulator with material taking and stacking functions |
| CN209618383U (en) * | 2019-01-09 | 2019-11-12 | 王老吉大健康产业(雅安)有限公司 | A kind of robot palletizer and its handgrip fixture |
| CN210102954U (en) * | 2019-05-07 | 2020-02-21 | 惠州市南方智能制造产业研究院 | Stacking equipment |
| CN212711718U (en) * | 2020-06-24 | 2021-03-16 | 三门三友科技股份有限公司 | Pile up neatly gripper with regular function |
| CN213386756U (en) * | 2020-06-24 | 2021-06-08 | 三门三友科技股份有限公司 | Jacking transfer stacking mechanical claw |
| CN111807067A (en) * | 2020-06-24 | 2020-10-23 | 三门三友科技股份有限公司 | Stacking mechanical claw with regular function and stacking method thereof |
-
2020
- 2020-06-24 CN CN202010591625.5A patent/CN111807067A/en active Pending
-
2021
- 2021-04-23 WO PCT/CN2021/089108 patent/WO2021258839A1/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021258839A1 (en) * | 2020-06-24 | 2021-12-30 | 三门三友科技股份有限公司 | Palletizing mechanical claw having neatening function and palletizing method thereof |
| CN115231287A (en) * | 2022-06-23 | 2022-10-25 | 深圳蓝胖子机器智能有限公司 | End effector |
| CN115231287B (en) * | 2022-06-23 | 2023-12-26 | 深圳蓝胖子机器智能有限公司 | End effector |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021258839A1 (en) | 2021-12-30 |
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