CN211496048U

CN211496048U - Intelligent stacker crane

Info

Publication number: CN211496048U
Application number: CN201922114356.9U
Authority: CN
Inventors: 任红兵; 丁亮
Original assignee: Yanmao Intelligent Equipment Suzhou Co ltd
Current assignee: Yanmao Intelligent Equipment Suzhou Co ltd
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2020-09-15
Anticipated expiration: 2029-11-29

Abstract

The utility model discloses an intelligence hacking machine, include the frame and grab material mechanism, grab material mechanism through a support slip set up in the frame, its characterized in that: the material grabbing mechanism comprises a longitudinal sliding plate, a rotating motor, a mounting plate and a plurality of groups of suckers, two sides of the bottom of the longitudinal sliding plate are arranged on two groups of longitudinal sliding rails in a sliding mode, the third driving mechanism is connected with the longitudinal sliding plate, the middle of the top surface of the mounting plate is connected with the longitudinal sliding plate through a rotating shaft, the tops of the plurality of groups of suckers are uniformly arranged on the bottom surface of the mounting plate, the rotating motor is arranged on the top surface of the longitudinal sliding plate, and an output shaft of the rotating motor is connected with the tops of the rotating shaft; the bottom surface middle part of mounting panel is equipped with first distance sensor and industry camera, the bottom surface outer fringe department of mounting panel is equipped with second distance sensor. The utility model provides high pile up neatly efficiency and quality.

Description

Intelligent stacker crane

Technical Field

The utility model relates to a pile up neatly equipment especially relates to an intelligence hacking machine.

Background

In the prior art, when some boxes need to be piled, products need to be piled up on a material receiving supporting plate under general conditions. In fact, during stacking, the material stacking is generally grabbed at a fixed angle, so that a lot of space is lost, and the stacking quality is poor.

Disclosure of Invention

The utility model aims at providing an intelligence hacking machine through using this structure, has improved the pile up neatly efficiency and the quality of product.

In order to achieve the above purpose, the utility model adopts the technical scheme that: an intelligent stacker crane comprises a rack and a material grabbing mechanism, wherein the material grabbing mechanism is arranged on the rack in a sliding mode through a support, two groups of transverse slide rails are arranged on the left side wall of the rack, a vertical slide plate is arranged on the transverse slide rails in a sliding mode and connected through a first driving mechanism, two groups of vertical slide rails are arranged on the right side of the vertical slide plate and perpendicular to the transverse slide rails, the support is arranged on the vertical slide rails in a sliding mode, a second driving mechanism is arranged on the vertical slide plate and connected with the support; the support is provided with two groups of longitudinal sliding rails, the two groups of longitudinal sliding rails are perpendicular to the vertical sliding plate, the material grabbing mechanism is arranged on the longitudinal sliding rails in a sliding mode, the support is provided with a third driving mechanism, and the third driving mechanism is connected with the material grabbing mechanism; the material grabbing mechanism comprises a longitudinal sliding plate, a rotating motor, a mounting plate and a plurality of groups of suckers, two sides of the bottom of the longitudinal sliding plate are arranged on two groups of longitudinal sliding rails in a sliding mode, the third driving mechanism is connected with the longitudinal sliding plate, the middle of the top surface of the mounting plate is connected with the longitudinal sliding plate through a rotating shaft in a rotating mode, the tops of the plurality of groups of suckers are uniformly distributed and mounted on the bottom surface of the mounting plate, the rotating motor is mounted on the top surface of the longitudinal sliding plate, and an output shaft of the rotating motor is connected with the tops of the rotating shaft; the bottom surface middle part of mounting panel is equipped with first distance sensor and industry camera, the bottom surface outer fringe department of mounting panel is equipped with second distance sensor.

In the above technical scheme, a controller is arranged on the rack, and the first driving mechanism, the second driving mechanism, the third driving mechanism, the rotating motor, the first distance sensor, the second distance sensor and the industrial camera are electrically connected with the controller.

Among the above-mentioned technical scheme, first actuating mechanism sets up in two sets of between the transverse sliding rail, first actuating mechanism includes a driving motor, a driving belt and two sets of first drive wheels, and is two sets of first drive wheel is close to respectively the front end and the rear end of transverse sliding rail set up, a driving belt is around locating two sets of on the first drive wheel, a driving motor's output shaft and a set of a driving wheel link to each other, the left surface of vertical slide with the middle part of a driving belt links to each other.

In the technical scheme, the second driving mechanism is arranged on the sliding plate between the vertical sliding rails and comprises a second driving motor, a second driving belt and two sets of second driving wheels, the two sets of second driving wheels are respectively and rotatably arranged above and below the right side face of the vertical sliding plate, the second driving belts are wound on the two sets of second driving wheels, an output shaft of the second driving motor is connected with the second driving wheels above, and the left side of the support is connected with the second driving belt.

In the above technical scheme, the third driving mechanism is disposed on the support between the two sets of longitudinal sliding rails, the third driving mechanism includes a third driving motor, a third driving belt and two sets of third driving wheels, the two third driving wheels are rotatably mounted on the left side and the right side of the support respectively, the third driving belt is wound on the two sets of third driving wheels, an output shaft of the third driving motor is connected with the left side of the third driving wheels, and the top surface of the longitudinal sliding plate is connected with the third driving belt.

In the technical scheme, an overhead table is arranged on the top surface of the longitudinal sliding plate, the rotating motor is installed on the top surface of the overhead table, the top of the rotating shaft is inserted into the overhead table, and an output shaft of the rotating motor is connected with the top of the rotating shaft.

In the above technical scheme, the bottom of the frame is provided with a supporting plate, and the supporting plate is arranged below the support.

Because of the application of the technical scheme, compared with the prior art, the utility model has the following advantages:

1. the utility model discloses in adopt three driving mechanism drive to grab the material mechanism and remove in X, Y, Z axle directions, can drive the sucking disc of mounting panel like this and adsorb the product and grab material and blowing, through the setting of rotating electrical machines, can adjust the angle of placing of product like this simultaneously, when can guarantee the pile up neatly, can utilize as far as under the same area, improve the utilization ratio that connects the material layer board to hold in the palm the material, improve pile up neatly efficiency and quality;

2. the utility model discloses well adoption two sets of distance sensor can detect like this and grab material level and blowing position, guarantees to grab material and blowing quality, prevents the damage of equipment, adopts the setting of industry camera, can detect and put the material level where to have the vacancy, and the rotatory motor of being convenient for adjusts the angle of mounting panel and product, guarantees pile up neatly blowing quality.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of the present invention;

FIG. 2 is a schematic perspective view of FIG. 1;

fig. 3 is a schematic structural diagram of a material grabbing mechanism in the first embodiment of the present invention.

Wherein: 1. a frame; 2. a support; 3. a transverse slide rail; 4. a vertical slide plate; 5. a vertical slide rail; 6. A longitudinal slide rail; 7. a longitudinal slide; 8. a rotating electric machine; 9. mounting a plate; 10. a suction cup; 11. a rotating shaft; 12. a first distance sensor; 13. an industrial camera; 14. a second distance sensor; 15. producing a product; 16. A first drive motor; 17. a first drive belt; 18. a first drive pulley; 19. a second drive motor; 20. a second drive belt; 21. a second transmission wheel; 22. a third drive motor; 23. a third drive belt; 24. a third transmission wheel; 25. an overhead table; 26. a support plate; 27. a material receiving supporting plate.

Detailed Description

The invention will be further described with reference to the following drawings and examples:

the first embodiment is as follows: referring to fig. 1 to 3, the intelligent stacker crane comprises a rack 1 and a material grabbing mechanism, wherein the material grabbing mechanism is arranged on the rack 1 in a sliding manner through a support 2, two groups of transverse slide rails 3 are arranged on the left side wall of the rack 1, a vertical slide plate 4 is arranged on the transverse slide rails 3 in a sliding manner, the vertical slide plate 4 is connected through a first driving mechanism, two groups of vertical slide rails 5 are arranged on the right side of the vertical slide plate, the vertical slide rails 5 are arranged perpendicular to the transverse slide rails 5, the support is arranged on the vertical slide rails in a sliding manner, a second driving mechanism is arranged on the vertical slide plate, and the second driving mechanism is connected with the support; two groups of longitudinal sliding rails 6 are arranged on the support 2, the two groups of longitudinal sliding rails are perpendicular to the vertical sliding plate, the material grabbing mechanism is arranged on the longitudinal sliding rails in a sliding mode, a third driving mechanism is arranged on the support 2, and the third driving mechanism is connected with the material grabbing mechanism; the material grabbing mechanism comprises a longitudinal sliding plate 7, a rotating motor 8, a mounting plate 9 and a plurality of groups of suckers 10, two sides of the bottom of the longitudinal sliding plate 7 are arranged on two groups of longitudinal sliding rails 6 in a sliding mode, the third driving mechanism is connected with the longitudinal sliding plate 7, the middle of the top surface of the mounting plate 9 is connected with the longitudinal sliding plate through a rotating shaft 11 in a rotating mode, the tops of the plurality of groups of suckers are uniformly arranged on the bottom surface of the mounting plate, the rotating motor 8 is arranged on the top surface of the longitudinal sliding plate 7, and an output shaft of the rotating motor is connected with the tops of the rotating shaft; the bottom surface middle part of mounting panel 9 is equipped with first distance sensor 12 and industry camera 13, the bottom surface outer fringe department of mounting panel is equipped with second distance sensor 14.

The frame is provided with a controller, and the first driving mechanism, the second driving mechanism, the third driving mechanism, the rotating motor, the first distance sensor, the second distance sensor and the industrial camera are electrically connected with the controller.

In this embodiment, the first driving mechanism drives the vertical sliding plate and the support to move back and forth on the transverse sliding rail, the second driving mechanism drives the support to move up and down on the vertical sliding rail, and the third driving mechanism drives the material grabbing mechanism to move left and right on the longitudinal sliding rail. When grabbing the material, the industrial camera can shoot on connecing the material layer board earlier and detect the vacancy on connecing the material layer board, then the support moves the top of grabbing the material position, then installation package and sucking disc descend, and at this in-process, distance between first distance sensor detection and the product prevents that mounting panel and product rigidity from colliding, makes sucking disc and product adsorb, rises after holding the product, moves to connecing the material layer board above, then descends, puts product 15 on connecing material layer board 27 to pile up neatly. Wherein, at this in-process, the product pile up neatly gradually rises, utilizes second distance sensor to detect and connects the distance between material layer board top surface product and the mounting panel, prevents that the too much direct impact of mounting panel decline position from damaging, guarantees the blowing quality. Wherein, after the blowing at every turn of industrial camera, all can shoot the position of connecing the product above the material layer board, it has the vacancy to shoot which position of each layer of product, need with the position blowing, after grabbing the material next time like this, the product just moves the vacancy position, then rotating electrical machines drives mounting panel and product and rotates certain angle, make putting into the vacancy position that the product can be smooth in, like this every layer can both be as far as possible place more products, a set of more products of ability pile up neatly above connecing the material layer board like this. Compared with the existing stacking structure, products which can be stacked on the same group of material trays exceed 1/3, the stacking efficiency and quality are higher, and the stacking quantity is larger.

Referring to fig. 1 and 2, the first driving mechanism is disposed between the two sets of the transverse sliding rails, the first driving mechanism includes a first driving motor 16, a first driving belt 17 and two sets of first driving wheels 18, the two sets of the first driving wheels are respectively disposed near the front end and the rear end of the transverse sliding rails, the first driving belts are wound on the two sets of the first driving wheels, an output shaft of the first driving motor is connected with the first driving wheels, and a left side surface of the vertical sliding plate is connected with the middle portion of the first driving belt.

The second driving mechanism is arranged on the sliding plate between the vertical sliding rails and comprises a second driving motor 19, a second driving belt 20 and two groups of second driving wheels 21, the two groups of second driving wheels are respectively rotatably arranged above and below the right side surface of the vertical sliding plate, the second driving belts are wound on the two groups of second driving wheels, the output shaft of the second driving motor is connected with the second driving wheels above, and the left side of the support is connected with the second driving belt.

The third driving mechanism is arranged on the support between the two groups of longitudinal sliding rails and comprises a third driving motor 22, a third driving belt 23 and two groups of third driving wheels 24, the two third driving wheels are respectively rotatably arranged on the left side and the right side of the support, the third driving belts are wound on the two groups of third driving wheels, an output shaft of the third driving motor is connected with the left side of the third driving wheels, and the top surface of the longitudinal sliding plate is connected with the third driving belt.

Wherein, adopt the rotation of first drive belt, second drive belt and third drive belt, can drive vertical slide, the support that corresponds and grab the material mechanism and remove, stability is good, and is faster than ball screw's translation rate moreover, improves pile up neatly efficiency.

Referring to fig. 1 to 3, an overhead table 25 is arranged on the top surface of the longitudinal sliding plate, the rotating motor is mounted on the top surface of the overhead table, the top of the rotating shaft is inserted into the overhead table, and an output shaft of the rotating motor is connected with the top of the rotating shaft. This facilitates the installation, maintenance and disassembly of the rotating electrical machine.

Referring to fig. 1 and 2, a support plate 26 is disposed at the bottom of the frame and below the bracket. Connect the material layer board and directly put in the backup pad, utilize fork truck to insert and connect the material layer board below, remove away the good product of pile up neatly.

Claims

1. An intelligent stacker crane comprises a rack and a material grabbing mechanism, wherein the material grabbing mechanism is arranged on the rack in a sliding mode through a support, two groups of transverse slide rails are arranged on the left side wall of the rack, a vertical slide plate is arranged on the transverse slide rails in a sliding mode and connected through a first driving mechanism, two groups of vertical slide rails are arranged on the right side of the vertical slide plate and perpendicular to the transverse slide rails, the support is arranged on the vertical slide rails in a sliding mode, a second driving mechanism is arranged on the vertical slide plate and connected with the support; the support is provided with two groups of longitudinal sliding rails, the two groups of longitudinal sliding rails are perpendicular to the vertical sliding plate, the material grabbing mechanism is arranged on the longitudinal sliding rails in a sliding mode, the support is provided with a third driving mechanism, and the third driving mechanism is connected with the material grabbing mechanism; the method is characterized in that: the material grabbing mechanism comprises a longitudinal sliding plate, a rotating motor, a mounting plate and a plurality of groups of suckers, two sides of the bottom of the longitudinal sliding plate are arranged on two groups of longitudinal sliding rails in a sliding mode, the third driving mechanism is connected with the longitudinal sliding plate, the middle of the top surface of the mounting plate is connected with the longitudinal sliding plate through a rotating shaft in a rotating mode, the tops of the plurality of groups of suckers are uniformly distributed and mounted on the bottom surface of the mounting plate, the rotating motor is mounted on the top surface of the longitudinal sliding plate, and an output shaft of the rotating motor is connected with the tops of the rotating shaft; the bottom surface middle part of mounting panel is equipped with first distance sensor and industry camera, the bottom surface outer fringe department of mounting panel is equipped with second distance sensor.

2. The intelligent palletizer as in claim 1, wherein: the frame is provided with a controller, and the first driving mechanism, the second driving mechanism, the third driving mechanism, the rotating motor, the first distance sensor, the second distance sensor and the industrial camera are electrically connected with the controller.

3. The intelligent palletizer as in claim 1, wherein: first actuating mechanism sets up in two sets of between the horizontal slide rail, first actuating mechanism includes first driving motor, first driving belt and two sets of first drive wheels, and is two sets of first drive wheel is close to respectively the front end and the rear end setting of horizontal slide rail, first driving belt is around locating two sets of on the first drive wheel, first driving motor's output shaft and a set of first drive wheel link to each other, the left surface of vertical slide with the middle part of first driving belt links to each other.

4. The intelligent palletizer as in claim 1, wherein: the second driving mechanism is arranged on the sliding plate between the vertical sliding rails and comprises a second driving motor, a second driving belt and two groups of second driving wheels, the two groups of second driving wheels are respectively and rotatably installed above and below the right side face of the vertical sliding plate, the second driving belts are wound on the two groups of second driving wheels, the output shaft of the second driving motor is connected with the second driving wheels above, and the left side of the support is connected with the second driving belt.

5. The intelligent palletizer as in claim 1, wherein: the third driving mechanism is arranged on the support between the two groups of longitudinal sliding rails and comprises a third driving motor, a third driving belt and two groups of third driving wheels, the two groups of third driving wheels are respectively and rotatably arranged on the left side and the right side of the support, the third driving belts are wound on the two groups of third driving wheels, an output shaft of the third driving motor is connected with the left side of the third driving wheels, and the top surface of the longitudinal sliding plate is connected with the third driving belt.

6. The intelligent palletizer as in claim 1, wherein: the top surface of the longitudinal sliding plate is provided with an overhead table, the rotating motor is installed on the top surface of the overhead table, and the top of the rotating shaft is inserted into the overhead table.

7. The intelligent palletizer as in claim 1, wherein: the bottom of the frame is provided with a supporting plate, and the supporting plate is arranged below the support.