阅读说明：本技术 自动码垛设备 (Automatic stacking equipment ) 是由 张宏里 闫贞阳 钟小萍 周全 肖育为 于 2021-08-10 设计创作，主要内容包括：本发明公开了一种自动码垛设备,包括四轴码垛机构、升降机构、支撑底座和移动机构,四轴码垛机构端部固定连接有抓取机构；四周码垛机构固定于升降机构的伸缩端上；下板固定于支撑底座上；移动机构包括车体和剪叉升降机构,剪叉升降机构置于车体顶部,剪叉升降机构与支撑底座内顶连接,剪叉升降机构做剪叉形变以举放支撑底座。本发明提供一种自动码垛设备,将原有的固定基座结构替换成可伸缩结构,缩小了设备体积,移动机构可以快速的将设备安置于厂房各处,方便产线灵活布置；四轴码垛机构搭配升降机构可以拓展更加宽广的作业范围,同时可以提升单位面积内码垛的高度。(The invention discloses automatic stacking equipment which comprises a four-axis stacking mechanism, a lifting mechanism, a supporting base and a moving mechanism, wherein the end part of the four-axis stacking mechanism is fixedly connected with a grabbing mechanism; the peripheral stacking mechanism is fixed on the telescopic end of the lifting mechanism; the lower plate is fixed on the supporting base; the moving mechanism comprises a vehicle body and a scissor lifting mechanism, the scissor lifting mechanism is arranged at the top of the vehicle body and is connected with the inner top of the supporting base, and the scissor lifting mechanism is used for making a scissor deform so as to lift the supporting base. The invention provides automatic stacking equipment, which replaces the original fixed base structure with a telescopic structure, reduces the volume of the equipment, and a moving mechanism can quickly arrange the equipment at each part of a factory building, so that a production line can be conveniently and flexibly arranged; the four-shaft stacking mechanism can be matched with the lifting mechanism to expand a wider operation range and can improve the stacking height in unit area.)

1. The automatic stacking equipment is characterized by comprising a four-axis stacking mechanism, wherein the end part of the four-axis stacking mechanism is fixedly connected with a grabbing mechanism;

the lifting mechanism comprises a stroke support, a screw rod mechanism, a plurality of limiting slide rods and a support plate, wherein the stroke support comprises an upper plate, a lower plate and a plurality of fixed columns, two ends of each fixed column are fixedly connected with the upper plate and the lower plate, two ends of the screw rod mechanism are rotatably connected between the upper plate and the lower plate, the screw rod mechanism is provided with a movable sliding table, the sliding table is arranged between the upper plate and the lower plate, the limiting slide rods penetrate through the upper plate and are fixedly connected with the sliding table, the other ends of the limiting slide rods are fixedly connected with the support plate, and the four-axis stacking mechanism is fixed on the support plate;

the lower plate is fixed on the supporting base;

the mobile mechanism comprises a vehicle body and a scissor lifting mechanism, the scissor lifting mechanism is arranged at the top of the vehicle body, the scissor lifting mechanism is connected with the inner top of the supporting base in a jacking mode, and the scissor lifting mechanism is used for making a scissor deformation so as to lift the supporting base.

2. The automatic palletizing apparatus according to claim 1, wherein the four-axis palletizing mechanism comprises a waist seat, a first large arm, a second large arm, a first connecting rod, a triangular connecting member, a second connecting rod, a third connecting rod and a wrist assembly;

the waist seat comprises a waist seat speed reducing motor for generating power, a first cantilever and a second cantilever, wherein a first swing motor is embedded in the middle of the first cantilever, an output shaft of the first swing motor is fixedly connected with the side wall of one end of a first big arm, the other end of the first big arm, the side wall of the second big arm and one corner of a triangular connecting piece are rotatably connected with the same axis, a second swing motor is embedded in the second cantilever, the output shaft of the second swing motor is fixedly connected with one end of a first connecting rod, and the other end of the first connecting rod is rotatably connected with one end of the second big arm;

the other two angles of the triangular connecting piece are respectively connected with one end of a second connecting rod and one end of a third connecting rod in a rotating mode, the other end of the second connecting rod is connected with a second cantilever in a rotating mode, the wrist assembly is connected with the other end of the second big arm in a rotating mode, the wrist assembly comprises a wrist speed reducing motor used for torsion and a connecting portion used for upwarping, the output shaft of the wrist speed reducing motor is fixedly connected with a grabbing mechanism, and the other end of the third connecting rod is connected with the connecting portion in a rotating mode.

3. The automatic palletizing apparatus according to claim 2, wherein the waist seat is provided with a counterweight tail wing, a counterweight is arranged between the output shaft of the second swing motor and the first connecting rod, and the output shaft of the second swing motor rotates to rotate the counterweight to pull the first connecting rod.

4. The automatic stacking device of claim 3, wherein the grabbing mechanism comprises a fixed base plate, a first clamping plate, a second clamping plate, a first air cylinder and two second air cylinders, a fixed joint is arranged at one end of the fixed base plate, an output shaft of the wrist speed reduction motor is fixedly connected with the fixed joint, two main slide rails are arranged at the other end of the fixed base plate, slide blocks are arranged at the end portions of the first clamping plate and the second clamping plate and are connected with the main slide rails in a sliding mode, the first air cylinder and the two second air cylinders are fixed on the fixed base plate, a telescopic rod of the first air cylinder is vertically fixed on the surface of the first clamping plate, and telescopic rods of the two second air cylinders are vertically fixed on the surface of the second clamping plate.

5. The automatic stacking device as claimed in claim 4, wherein the second clamping plate is provided with a fixing seat on a side wall thereof, the fixing seat is disposed on a side of the second clamping plate away from the first clamping plate, the fixing seat is provided with a third cylinder perpendicular to a surface of the second clamping plate, a push plate is disposed on a telescopic rod of the third cylinder, a plurality of teeth perpendicular to the surface of the second clamping plate are disposed at an end of the push plate, the teeth are disposed on a side of the second clamping plate away from the fixing base plate, the side wall of the push plate is provided with a plurality of ejector rods, rubber sleeves are disposed at tops of the ejector rods, and the telescopic rod of the third cylinder pushes the push plate to make the ejector rods penetrate through the second clamping plate and approach the first clamping plate.

6. The automatic stacking apparatus of any one of claims 1 to 5, wherein the screw mechanism further includes two rotation shafts, a screw, a power motor, and a transmission belt, the two rotation shafts are embedded in the upper plate and the lower plate, the screw is rotatably connected to the two rotation shafts, one end of the screw extends through the lower plate to a side of the lower plate away from the upper plate, one end of the screw extending out of the lower plate is provided with a rotation wheel, the power motor is disposed between the upper plate and the lower plate, an output shaft of the power motor penetrates through the lower plate, an end portion of the output shaft of the power motor is provided with a power wheel, and the transmission belt is sleeved on the power wheel and the rotation wheel.

7. The automatic stacking apparatus of claim 6, wherein the support base includes a platen, four columns, four beams, two reinforcing rods and two base plates, the four columns are fixed to four corners of the platen respectively to form a support cavity, a through hole is formed in the middle of the platen, the lower plate is fixed to the platen, the power wheel, the rotating wheel and the transmission belt are arranged in the support cavity through the through hole, the four beams are fixed to one side of the platen, which is far away from the lower plate, the beams and the columns are arranged at intervals, two ends of each reinforcing rod are fixedly connected to side walls at the tail ends of the columns, the two reinforcing rods are parallel to each other, and the two base plates are fixed to bottoms of the two reinforcing rods respectively.

8. The automatic palletizing apparatus according to claim 7, wherein the support base further comprises a plurality of support rods and a plurality of reinforcing pieces, two ends of each support rod are respectively fixed on the adjacent upright and cross beam, and the reinforcing pieces are respectively fixed on the upright and the base plate.

9. The automatic palletizing apparatus according to claim 8, wherein the vehicle body comprises a fixed frame, a power supply unit, a control unit and four moving units, the fixed frame is arranged inside the vehicle body, the power supply unit and the control unit are fixed on the top surface of the fixed frame, the moving units comprise a moving motor, a damping suspension, a mecanum wheel and a transmission chain, the moving motor and the damping suspension are fixed on the bottom surface of the fixed frame, a main shaft is arranged in the middle of the mecanum wheel, the main shaft is rotatably connected with the damping suspension, the end part of the main shaft penetrates through the damping suspension, and the transmission chain is sleeved on the output shaft of the power motor and the end part of the main shaft.

10. The automatic stacking device of claim 9, wherein the scissor lifting mechanism comprises two first scissor rods, two second scissor rods, a connecting rod, a push rod and a jacking cylinder, one end of each first scissor rod and the jacking cylinder are rotatably connected to the top of the vehicle body, one end of each second scissor rod is rotatably connected to the inner top of the table plate, the middle parts of the first scissor rods and the second scissor rods are rotatably connected to form a scissor group, the middle parts of the two scissor groups are rotatably connected through the connecting rod, two ends of the push rod are fixedly connected to the side walls of the two second scissor rods, a telescopic rod of the jacking cylinder is rotatably connected to the middle part of the push rod, and pulleys are arranged at the other ends of the first scissor rods and the second scissor rods and respectively abut against the inner top of the table plate and slide on the top of the vehicle body.

Technical Field

The invention relates to the technical field of stacking machines, in particular to automatic stacking equipment.

Background

The stacker crane is one of important devices for realizing automatic production and ensuring higher production efficiency. The stacking machine greatly saves labor force and space in the stacking industry, and is flexible and accurate in operation, high in speed and efficiency, high in stability and high in operation efficiency.

At present, stacking equipment is generally divided into mechanical arm type stacking machines, column type stacking machines and gantry type stacking machines.

The mechanical arm type stacker crane comprises a waist seat, a motor, a first main arm, a second main arm and a plurality of connecting rods, wherein one end of the first main arm is connected to the waist seat, the other end of the first main arm is connected to the second main arm, the motor is fixed to the waist seat, and the first main arm and the corresponding connecting rods are connected to form at least one group of parallelogram link mechanisms. This pile up neatly equipment can only settle and carry out the operation in appointed station to its pile up neatly height is limited, unable make full use of pile up neatly space.

The column stacker crane comprises a base, wherein a stand column is arranged on the base, a first guide rail in the vertical direction is arranged on the stand column, a sliding block sliding along the first guide rail is arranged on the first guide rail, a driving mechanism driving the sliding block to move is arranged on the stand column, a cross beam is arranged on the sliding block, a horizontal second guide rail is arranged on the cross beam, a gripper mechanism moving along the second guide rail is arranged on the second guide rail, a driving mechanism driving the gripper mechanism to move is arranged on the cross beam, the gripper mechanism comprises an extending arm, a gripper frame, a third servo motor, a rotary disc and a curtain rolling mechanism, one end of the extending arm is arranged on the second guide rail in a sliding mode, the third servo motor is arranged at the extending end of the extending arm, the rotary disc is arranged on an output shaft of the third servo motor, the gripper frame is arranged on the rotary disc, and the curtain rolling mechanism is arranged on the gripper frame. Although this kind of pile up neatly equipment can make full use of pile up neatly space, its pile up neatly in-process effective operation scope is limited, can't deal with most production scenes.

A gantry type stacking machine, such as that provided by Chinese patent CN201811446907.5, comprises a frame, a three-axis linkage device arranged on the frame, and a manipulator connected with the three-axis linkage device; the manipulator comprises a fixed seat connected with the three-axis linkage device, a first clamp and a second clamp, wherein the first clamp and the second clamp are arranged on the fixed seat and used for clamping and placing materials, and the first clamp is arranged in the clamping range of the second clamp. The volume is relatively large, and the occupied factory space is large; meanwhile, the stacking device is difficult to adjust the position once being arranged in a factory.

Therefore, there is an urgent need in the art for a method that can increase the height of the stacks; provides an automatic stacking device with wider operation range, small volume and easy arrangement in a factory building.

Disclosure of Invention

The invention aims to provide automatic stacking equipment which is small in size, easy to arrange in a factory building, wide in operation range and capable of improving the stacking height in unit area.

The technical scheme adopted by the automatic stacking equipment disclosed by the invention is as follows:

an automatic stacking device comprises a four-axis stacking mechanism, a lifting mechanism, a supporting base and a moving mechanism, wherein the end part of the four-axis stacking mechanism is fixedly connected with a grabbing mechanism; the lifting mechanism comprises a stroke support, a screw rod mechanism, a plurality of limiting slide rods and a support plate, the stroke support comprises an upper plate, a lower plate and a plurality of fixing columns, two ends of each fixing column are fixedly connected with the upper plate and the lower plate, two ends of the screw rod mechanism are rotatably connected between the upper plate and the lower plate, the screw rod mechanism is provided with a movable sliding table, the sliding table is arranged between the upper plate and the lower plate, the limiting slide rods penetrate through the upper plate and are fixedly connected with the sliding table, the other ends of the limiting slide rods are fixedly connected with the support plate, and the four-axis stacking mechanism is fixed on the support plate; the lower plate is fixed on the supporting base; the moving mechanism comprises a vehicle body and a scissor lifting mechanism, the scissor lifting mechanism is arranged at the top of the vehicle body, the scissor lifting mechanism is connected with the inner top of the supporting base, and the scissor lifting mechanism is used for making a scissor deform so as to lift the supporting base.

As a preferred scheme, the four-axis stacking mechanism comprises a waist seat, a first big arm, a second big arm, a first connecting rod, a triangular connecting piece, a second connecting rod, a third connecting rod and a wrist assembly; the waist seat comprises a waist seat speed reducing motor for generating power, a first cantilever and a second cantilever, wherein a first swing motor is embedded in the middle of the first cantilever, an output shaft of the first swing motor is fixedly connected with the side wall of one end of a first big arm, the other end of the first big arm, the side wall of the second big arm and one corner of a triangular connecting piece are rotatably connected with the same axis, a second swing motor is embedded in the second cantilever, the output shaft of the second swing motor is fixedly connected with one end of a first connecting rod, and the other end of the first connecting rod is rotatably connected with one end of the second big arm; the other two angles of the triangular connecting piece are respectively connected with one end of a second connecting rod and one end of a third connecting rod in a rotating mode, the other end of the second connecting rod is connected with a second cantilever in a rotating mode, the wrist assembly is connected with the other end of the second big arm in a rotating mode, the wrist assembly comprises a wrist speed reducing motor used for torsion and a connecting portion used for upwarping, the output shaft of the wrist speed reducing motor is fixedly connected with a grabbing mechanism, and the other end of the third connecting rod is connected with the connecting portion in a rotating mode.

Preferably, the waist seat is provided with a counterweight tail wing, a counterweight block is arranged between an output shaft of the second swing motor and the first connecting rod, and the output shaft of the second swing motor rotates to drive the counterweight block to rotate and pull the first connecting rod.

As preferred scheme, it includes PMKD, first splint, second splint, first cylinder and two second cylinders to snatch the mechanism, PMKD one end is equipped with fixed joint, wrist gear motor's output shaft and fixed joint fixed connection, the PMKD other end is equipped with two main slide rails, first splint and second splint tip all are equipped with the slider, sliding connection on main slide rail of slider, on first cylinder and two second cylinders all were fixed in PMKD, on the telescopic link vertical fixation of first cylinder was on the first splint face, two the telescopic link vertical fixation of second cylinder was on the second splint face.

As preferred scheme, second splint lateral wall is equipped with the fixing base, the second splint are arranged in to the fixing base and are kept away from first splint one side, the fixing base lateral wall is equipped with the third cylinder, the perpendicular second splint face of third cylinder, the telescopic link of third cylinder is equipped with the push pedal, the push pedal tip is equipped with the forming relieved tooth of many perpendicular to second splint faces, the forming relieved tooth is arranged second splint in and is kept away from fixed baseplate one side, the push pedal lateral wall is equipped with many ejector pins, the ejector pin top is equipped with the gum cover, the telescopic link of third cylinder promotes the push pedal, makes the ejector pin runs through the second splint and is close to first splint.

As the preferred scheme, the screw mechanism still includes two rotation axes, lead screw, motor power, drive belt, two the rotation axis imbeds respectively in upper plate and the hypoplastron, the lead screw rotates and connects two rotation axes, lead screw one end is passed the hypoplastron and is extended to the hypoplastron and keep away from upper plate one side, the lead screw extends hypoplastron one end and is equipped with the swiveling wheel, motor power arranges in between upper plate and the hypoplastron, run through the hypoplastron on motor power's the output shaft, motor power's output shaft tip is equipped with the power wheel, the drive belt cover is located on power wheel and swiveling wheel.

According to the preferable scheme, the supporting base comprises a bedplate, four stand columns, four cross beams, two reinforcing rods and two base plates, the four stand columns are fixed at four corners of the bedplate respectively to form a supporting cavity, a through hole is formed in the middle of the bedplate, the lower plate is fixed on the bedplate, the power wheel, the rotating wheel and the transmission belt penetrate through the through hole and are arranged in the supporting cavity, the four cross beams are fixed on one side, away from the lower plate, of the bedplate, the cross beams and the stand columns are arranged at intervals, two ends of the reinforcing rods are fixedly connected with side walls at the tail ends of the stand columns, the two reinforcing rods are parallel to each other, and the two base plates are fixed at the bottoms of the two reinforcing rods respectively.

Preferably, the supporting base further comprises a plurality of supporting rods and a plurality of reinforcing pieces, two ends of each supporting rod are respectively fixed to the adjacent upright columns and the adjacent cross beam, and the reinforcing pieces are respectively fixed to the upright columns and the base plate.

As a preferred scheme, the automobile body includes mount, power supply unit, the control unit and four motion units, the mount is arranged in the automobile body inside, and power supply unit and the control unit are fixed in the mount top surface, the motion unit includes motion motor, shock attenuation suspension, mecanum wheel and drive chain, motion motor and shock attenuation suspension all are fixed in the mount bottom surface, mecanum wheel middle part is equipped with the main shaft, the main shaft rotates and connects the shock attenuation suspension, just the main shaft tip runs through the shock attenuation suspension, power motor output shaft and main shaft tip are located to the drive chain cover.

According to the preferable scheme, the scissor lifting mechanism comprises two first scissor rods, two second scissor rods, a connecting rod, a push rod and a jacking cylinder, one end of each first scissor rod and the jacking cylinder are rotatably connected to the top of the vehicle body, one end of each second scissor rod is rotatably connected with the inner top of the table plate, the middle parts of the first scissor rods and the second scissor rods are rotatably connected to form a scissor group, the middle parts of the scissor groups are rotatably connected through the connecting rod, the two ends of the push rod are fixedly connected with the side walls of the two second scissor rods, a telescopic rod of the jacking cylinder is rotatably connected with the middle part of the push rod, the other end of each first scissor rod and the other end of each second scissor rod are provided with pulleys, and the pulleys respectively abut against the inner top of the table plate and slide on the top of the vehicle body.

The automatic stacking equipment disclosed by the invention has the beneficial effects that: four-axis pile up neatly mechanism tip fixedly connected with is used for the mechanism that snatchs of clamping jaw product. Elevating system includes the stroke support, screw rod mechanism, many spacing slide bars and support plate, the stroke support includes the upper plate, hypoplastron and many fixed columns, fixed column both ends fixed connection upper plate and hypoplastron, screw rod mechanism rotates at both ends and connects and between upper plate and the hypoplastron, screw rod mechanism is equipped with mobilizable slip table, the slip table is arranged in between upper plate and the hypoplastron, many spacing slide bars run through upper plate and slip table fixed connection, many spacing slide bar other ends and support plate fixed connection, four-axis pile up neatly mechanism is fixed in on the support plate. The lower plate is fixed on the supporting base. The multi-angle operation capability of the four-shaft stacking mechanism is matched with the height adjustment of the lifting mechanism, so that a wider operation range can be expanded, the stacking height in unit area can be increased, and the storage space can be more fully utilized. The moving mechanism comprises a vehicle body and a scissor lifting mechanism, the scissor lifting mechanism is arranged at the top of the vehicle body and is connected with the inner top of the supporting base, and the scissor lifting mechanism is used for making a scissor deform so as to lift the supporting base. Replace original fixed baseplate structure into extending structure, reduced the equipment volume in idle period, avoid great volume to bring great space burden for the factory building. The moving mechanism can quickly move and arrange the equipment in each part of a factory building through lifting, and a production line is convenient to arrange flexibly.

Drawings

Fig. 1 is a schematic perspective view of the automatic palletizing device according to the present invention.

Fig. 2 is a side view of the automatic palletizing apparatus according to the present invention in a natural state.

Fig. 3 is a side view of the lifting position of the automatic palletising apparatus of the present invention.

Fig. 4 is a schematic diagram of the moving state of the automatic stacking apparatus of the present invention.

Fig. 5 is a side view of the automatic palletising apparatus of the present invention in a displaced condition.

Fig. 6 is a schematic structural diagram of a first view angle of a four-shaft stacking mechanism of the automatic stacking device.

Fig. 7 is a schematic structural diagram of a second view angle of a four-shaft stacking mechanism of the automatic stacking device.

Fig. 8 is a schematic structural diagram of the waist seat of the automatic stacking device.

Fig. 9 is a schematic structural diagram of a counterweight block of the automatic stacking device of the invention.

Fig. 10 is a schematic structural diagram of a double-headed industrial camera of the automatic palletizing apparatus according to the present invention.

Fig. 11 is a schematic view of a first view of the gripping mechanism of the automatic palletizing apparatus according to the present invention.

Fig. 12 is a schematic diagram of the gripping mechanism of the automatic palletizing apparatus according to the second view angle.

Fig. 13 is a schematic view of a first view of the lifting mechanism of the automatic palletizing device according to the present invention.

Fig. 14 is a schematic diagram of the lifting mechanism of the automatic stacking apparatus of the present invention from a second perspective.

Fig. 15 is a schematic view of the support base and the shifting mechanism of the automatic palletizing apparatus according to the present invention.

Fig. 16 is a bottom view of the automatic pallet apparatus moving mechanism of the present invention.

Fig. 17 is a schematic view of the structure of the moving unit of the automatic palletizing apparatus according to the present invention.

Detailed Description

The invention will be further elucidated and described with reference to the embodiments and drawings of the specification:

referring to fig. 1 to 5, an automatic palletizing apparatus includes a four-axis palletizing mechanism 10, a lifting mechanism 20, a supporting base 30 and a moving mechanism 40.

Referring to fig. 6-8, the four-axis palletizing mechanism 10 is fixedly connected with a gripping mechanism 50 for gripping the gripper products at the end. Specifically, the four-axis palletizing mechanism 10 comprises a waist seat 11, a first large arm 12, a second large arm 13, a first connecting rod 14, a triangular connecting piece 15, a second connecting rod 16, a third connecting rod 17 and a wrist assembly 18.

Waist seat 11 is including waist seat gear motor 111, first cantilever 112 and the second cantilever 113 that is used for producing power, and waist seat gear motor 111 can drive waist seat 11 in the ascending angle swing of horizontal direction, mainly used realizes turning to, and the visual subassembly around the collocation production line can be accurate be close to the product of treating the clamping jaw.

The first swing motor 121 is embedded in the middle of the first cantilever 112, an output shaft of the first swing motor 121 is fixedly connected with a side wall of one end of the first big arm 12, and the first swing motor 121 drives the first big arm 12 to adjust the angle.

The other end of the first big arm 12, the side wall of the second big arm 13 and one corner of the triangular connecting piece 15 are rotatably connected with the same axis, the middle part of the second big arm 13 is also provided with a connecting bracket 133, and the connecting bracket 133 is provided with a double-head industrial camera 134. The second cantilever 113 is embedded with a second swing motor 131, an output shaft of the second swing motor 131 is fixedly connected with one end of the first connecting rod 14, and the other end of the first connecting rod 14 is rotatably connected with one end of the second big arm 13. The other two angles of the triangular connecting piece 15 are respectively and rotatably connected with one end of a second connecting rod 16 and one end of a third connecting rod 17 to form a linkage mechanism. The other end of the second connecting rod 16 is rotatably connected with the second cantilever 113, the wrist assembly 18 is rotatably connected with the other end of the second large arm 13, the wrist assembly 18 comprises a wrist speed reducing motor 181 for torsion and a connecting part 182 for warping, an output shaft of the wrist speed reducing motor 181 is fixedly connected with the grabbing mechanism 50, and the view angle of the double-head industrial camera 134 covers the grabbing mechanism 50. The other end of the third link 17 is rotatably connected to the connecting portion 182.

Referring to fig. 6, 7 and 10, the second swing motor 131 can drive the angle adjustment of the second boom 13; since the body of the wrist element 18 is pivotally connected to the other end of the second large arm 13 and the connecting portion 182 is pivotally connected to the link mechanism, the second large arm 13 is angularly adjusted while the wrist element 18 is angularly adjusted. The arrangement of the motors can be reduced through the linkage mechanism, parts are saved, and the equipment cost is reduced. The wrist deceleration motor 181 can drive the wrist assembly 18 to perform fine adjustment according to the product position information fed back by the dual-head industrial camera 134 to grip the product at the optimal gripping jaw angle.

Referring to fig. 13 and 14, the lifting mechanism 20 includes a stroke bracket 21, a screw rod mechanism 22, a plurality of limit sliding rods 23 and a support plate 24, the stroke bracket 21 includes an upper plate 211, a lower plate 212 and a plurality of fixing columns 213, two ends of the fixing columns 213 are fixedly connected to the upper plate 211 and the lower plate 212, two ends of the screw rod mechanism 22 are rotatably connected to the space between the upper plate 211 and the lower plate 212, the screw rod mechanism 22 is provided with a movable sliding table 224, the sliding table 224 is disposed between the upper plate 211 and the lower plate 212, the plurality of limit sliding rods 23 penetrate through the upper plate 211 and are fixedly connected to the sliding table 224, the other ends of the plurality of limit sliding rods 23 are fixedly connected to the support plate 24, and the four-axis stacking mechanism 10 is fixed to the support plate 24. The lower plate 212 is fixed to the support base 30. The multi-angle operation capability of the four-axis stacking mechanism 10 is matched with the height adjustment of the lifting mechanism 20, so that a wider operation range can be expanded, the stacking height in a unit area can be increased, and the storage space can be more fully utilized.

The moving mechanism 40 comprises a vehicle body 41 and a scissors lifting mechanism 42, the scissors lifting mechanism 42 is arranged on the top of the vehicle body 41, the scissors lifting mechanism 42 is connected with the inner top of the supporting base 30, and the scissors lifting mechanism 42 performs scissors deformation to lift the supporting base 30. Replace original fixed baseplate structure into extending structure, reduced the equipment volume in idle period, avoid great volume to bring great space burden for the factory building. The moving mechanism 40 can quickly move and arrange the equipment in each part of a factory building through lifting, and a production line is convenient to arrange flexibly.

Referring to fig. 8 and 9, in the present embodiment, the waist seat 11 is provided with a counterweight tail 114 for improving the stability of the apparatus. A weight member 132 is disposed between the output shaft of the second swing motor 131 and the first link 14, and the output shaft of the second swing motor 131 rotates to rotate the weight member 132 to pull the first link 14. The aim is to adjust the swing of the large arm and simultaneously perform dynamic counterweight compensation so as to improve the stability in the operation process. The linkage mechanism is arranged on the same side of the first large arm 12 and the second large arm 13, and the balance component 122 for balancing the linkage mechanism is arranged on the other side of the first large arm 12, so that the operation process of the equipment is more stable and smooth.

Referring to fig. 11 and 12, the grabbing mechanism 50 of the present embodiment includes a fixed base plate 51, a first clamping plate 52, a second clamping plate 53, a first cylinder 54 and two second cylinders 55, wherein a fixed joint 511 is disposed at one end of the fixed base plate 51, an output shaft of the wrist speed reducing motor 181 is fixedly connected to the fixed joint 511, two main slide rails 512 are disposed at the other end of the fixed base plate 51, slide blocks 514 are disposed at end portions of the first clamping plate 52 and the second clamping plate 53, the slide blocks 514 are slidably connected on the main slide rails 512, the first cylinder 54 and the two second cylinders 55 are fixed to the fixed base plate 51, an expansion link of the first cylinder 54 is vertically fixed to a plate surface of the first clamping plate 52, and expansion links of the two second cylinders 55 are vertically fixed to a plate surface of the second clamping plate 53. The first air cylinder 54 is arranged in the middle, the two second air cylinders 55 are arranged on two sides of the first air cylinder 54, and the sliding rods of the first air cylinder 54 and the second air cylinder 55 are pushed and pulled, so that the sliding blocks 514 of the first clamping plate 52 and the second clamping plate 53 slide smoothly on the main sliding rail 512, and the grabbing mechanism 50 is enabled to grab a jaw or release.

Preferably, the second clamping plate 53 has a fixing seat 56 on the side wall thereof, and the main body of the fixing seat 56 is in a triangular structure, mainly used for improving the strength thereof. Fixing base 56 is arranged in second splint 53 and is kept away from first splint 52 one side, the fixing base 56 lateral wall is equipped with third cylinder 561, the perpendicular second splint 53 face of third cylinder 561, the telescopic link of third cylinder 561 is equipped with push pedal 562, push pedal 562 tip is equipped with the forming relieved tooth 5621 of many perpendicular to second splint 53 faces, forming relieved tooth 5621 is arranged in second splint 53 and is kept away from fixed baseplate 51 one side, push pedal 562 lateral wall is equipped with many ejector pins 5622, the ejector pin 5622 top is equipped with the gum cover, the telescopic link of third cylinder 561 promotes push pedal 562, make ejector pin 5622 run through second splint 53 and be close to first splint 52. When the first clamping plate 52 and the second clamping plate 53 are arranged on two sides of a product to be clamped, the telescopic rods of the first air cylinder 54 and the second air cylinder 55 are controlled to contract, and the distance between the first clamping plate 52 and the second clamping plate 53 is reduced to realize clamping; meanwhile, the third cylinder 561 pushes the push plate 562 to move, so that the relieving teeth 5621 are inserted into the bottom of the product in advance, and the clamping jaw force of the first clamping plate 52 and the second clamping plate 53 is matched with the supporting force of the relieving teeth 5621 to realize stable clamping jaw operation. Meanwhile, along with the advance of the push plate 562, the ejector rod 5622 penetrates through the second clamping plate 53 to further push and contact the product to be clamped, and the top of the ejector rod 5622 is designed to be provided with a rubber sleeve, so that the product cannot be damaged when the product is clamped and clamped.

Because a plurality of structures are additionally arranged on one side of the second clamping plate 53, the second clamping plate 53 of the present embodiment is additionally provided with the auxiliary sliding rail 513 in the stroke area of the fixed base plate 51, and meanwhile, the sliding block 514 is also arranged at the corresponding position of the second clamping plate 53, so that the second clamping plate 53 slides smoothly on the main sliding rail 512 and the auxiliary sliding rail 513.

Referring to fig. 13 and 14, preferably, the screw mechanism 22 further includes two rotation shafts 221, a screw 222, a power motor 223, and a transmission belt 225, the two rotation shafts 221 are respectively embedded in the upper plate 211 and the lower plate 212, the screw 222 is rotatably connected to the two rotation shafts 221, one end of the screw 222 extends to one side of the lower plate 212 far away from the upper plate 211 through the lower plate 212, one end of the screw 222 extending out of the lower plate 212 is provided with a rotation wheel 226, the power motor 223 is disposed between the upper plate 211 and the lower plate 212, an output shaft of the power motor 223 penetrates through the lower plate 212, an end of an output shaft of the power motor 223 is provided with a power wheel 227, and the transmission belt 225 is sleeved on the power wheel 227 and the rotation wheel 226. The linear driving mode of the screw rod mechanism 22 is replaced by the lateral transmission mode to drive, one side of the sliding table 224 close to the power motor 223 is provided with a notch 2241 on the basis, the notch 2241 can be attached to the driving motor in the lifting process without interference, and the mode has the advantages that the internal space of the telescopic structure can be reasonable, the exposure of excessive structures is avoided, and the size can be further reduced.

Referring to fig. 15, the supporting base 30 in the present embodiment includes a platen 31, four columns 32, four beams 33, two reinforcing rods 34, and two base plates 35, wherein the four columns 32 are respectively fixed at four corners of the platen 31 to form a supporting cavity. A through hole 311 is formed in the middle of the bedplate 31, the lower plate 212 is fixed on the bedplate 31, and the power wheel 227, the rotating wheel 226 and the transmission belt 225 penetrate through the through hole 311 and are arranged in the supporting cavity, so that components which cannot be extended are hidden, and the volume of the equipment can be further reduced; meanwhile, the hidden transmission structure can prevent workers from being injured by clamping, and the safety factor of the equipment is improved. Four beams 33 are fixed on one side of the bedplate 31 far away from the lower plate 212, the beams 33 and the columns 32 are arranged at intervals, two ends of each reinforcing rod 34 are fixedly connected with the side wall of the tail end of each column 32, the two reinforcing rods 34 are parallel to each other, and the two substrates 35 are respectively fixed at the bottoms of the two reinforcing rods 34. In operation, the support base 30 can be fixed to the ground to improve stability.

Meanwhile, the supporting base 30 further includes a plurality of supporting rods 36 and a plurality of reinforcing pieces 37, two ends of each supporting rod 36 are respectively fixed to the adjacent upright columns 32 and the adjacent cross beam 33, and the reinforcing pieces 37 are respectively fixed to the upright columns 32 and the base plate 35 in a perpendicular manner. So as to improve the rigidity of the structure of the device.

Referring to fig. 15-17, the preferred embodiment of the present invention employs a body 41 with mecanum wheels, which aims to move the mecanum wheels precisely in any direction of 360 ° in a plane, and to achieve transportation without steering, and to be convenient and stable. Specifically, the vehicle body 41 includes a fixing frame 411, a power supply unit, a control unit (an electric control structure belongs to a common technology, and details of this embodiment will not be described here), and four moving units 412. The fixed frame 411 is arranged in the vehicle body 41, the power supply unit and the control unit are fixed on the top surface of the fixed frame 411, the motion unit 412 comprises a motion motor 4121, a damping suspension 4122, a Mecanum wheel 4123 and a transmission chain 4125, the motion motor 4121 and the damping suspension 4122 are both fixed on the bottom surface of the fixed frame 411, a spindle 4124 is arranged in the middle of the Mecanum wheel 4123, the spindle 4124 is rotatably connected with the damping suspension 4122, the end part of the spindle 4124 penetrates through the damping suspension 4122, and the transmission chain 4125 is sleeved on the output shaft of the power motor 223 and the end part of the spindle 4124. Meanwhile, the steel sheets on the two sides of the Mecanum wheel 4123 adopted in the embodiment are of an integrally formed structure, so that the compressive strength is remarkably improved, and the bearing weight of the vehicle body 41 is further within the range of 0-50 tons.

The scissor lifting mechanism 42 comprises two first scissor rods 421, two second scissor rods 422, a connecting rod 423, a push rod 424 and a jacking cylinder 425, one end of each first scissor rod 421 and the jacking cylinder 425 are rotatably connected to the top of the vehicle body 41, one end of each second scissor rod 422 is rotatably connected to the inner top of the table plate 31, the middle parts of the first scissor rods 421 and the second scissor rods 422 are rotatably connected to form scissor groups, the middle parts of the two scissor groups are rotatably connected through the connecting rod 423, two ends of the push rod 424 are fixedly connected with the side walls of the two second scissor rods 422, a telescopic rod of the jacking cylinder 425 is rotatably connected to the middle part of the push rod 424, pulleys 426 are arranged at the other end of each first scissor rod 421 and the other end of each second scissor rod 422, and the pulleys 426 respectively abut against the inner top of the table plate 31 and slide on the top of the vehicle body 41. The equipment is lifted through the scissor fork structure, and the scissor fork structure is simple in structure and relatively stable. Meanwhile, the top of the vehicle body 41 is provided with a limiting sliding groove 413 for limiting the pulley 426, so that the pulley 426 can stably slide in the limiting sliding groove 413. The jacking cylinder 425 is arranged on one side far away from the transmission structure of the screw rod mechanism 22, so that the interference between the jacking cylinder and the transmission structure is avoided.

The invention provides automatic stacking equipment, wherein a grabbing mechanism for clamping jaw products is fixedly connected to the end part of a four-shaft stacking mechanism. Elevating system includes the stroke support, screw rod mechanism, many spacing slide bars and support plate, the stroke support includes the upper plate, hypoplastron and many fixed columns, fixed column both ends fixed connection upper plate and hypoplastron, screw rod mechanism rotates at both ends and connects and between upper plate and the hypoplastron, screw rod mechanism is equipped with mobilizable slip table, the slip table is arranged in between upper plate and the hypoplastron, many spacing slide bars run through upper plate and slip table fixed connection, many spacing slide bar other ends and support plate fixed connection, four-axis pile up neatly mechanism is fixed in on the support plate. The lower plate is fixed on the supporting base. The multi-angle operation capability of the four-shaft stacking mechanism is matched with the height adjustment of the lifting mechanism, so that a wider operation range can be expanded, the stacking height in unit area can be increased, and the storage space can be more fully utilized. The moving mechanism comprises a vehicle body and a scissor lifting mechanism, the scissor lifting mechanism is arranged at the top of the vehicle body and is connected with the inner top of the supporting base, and the scissor lifting mechanism is used for making a scissor deform so as to lift the supporting base. Replace original fixed baseplate structure into extending structure, reduced the equipment volume in idle period, avoid great volume to bring great space burden for the factory building. The moving mechanism can quickly move and arrange the equipment in each part of a factory building through lifting, and a production line is convenient to arrange flexibly.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.