CN209396583U - Three-axis gantry palletizer - Google Patents

Abstract

The utility model provides a kind of three axis gantry stacking machines, the three-shaft linkage device including rack and in the rack, and the manipulator connecting with the three-shaft linkage device；The manipulator includes the fixing seat connecting with the three-shaft linkage device and is set to the first fixture in the fixing seat and for folding up material and the second fixture for folding up material box, and first fixture is set within the scope of the clamping of second fixture.In the stacking machine of three axis provided by the utility model gantry, after manipulator can be clamped in material to material box by the first fixture, then material box is clamped by the second fixture and carries out stacking, a manipulator is the vanning and stacking that product can be achieved at the same time, manpower and material resources cost is reduced, stacking efficiency is improved.

Description

Three-axis gantry palletizer

technical field

The utility model relates to the field of mechanical manufacturing and processing, in particular to a three-axis gantry palletizer.

Background technique

Palletizer is one of the important devices to realize automatic production and ensure high production efficiency. The application of palletizing machines in the palletizing industry greatly saves labor and space, and its operation is flexible and precise, fast and efficient, high in stability, and high in operating efficiency. At present, before product palletizing, it is usually necessary to manually pack or use other equipment to realize automatic packing and then palletize by palletizing equipment. Multiple processes waste manpower and material resources, resulting in increased costs and low efficiency.

Utility model content

The purpose of the utility model is to provide a three-axis gantry palletizer which can realize packing and stacking with one piece of equipment to improve production efficiency.

In order to achieve the above object, the utility model provides the following technical solutions:

A three-axis gantry palletizer, comprising a frame and a three-axis linkage device arranged on the frame, and a manipulator connected with the three-axis linkage device; the three-axis linkage device includes a an X-axis mechanism on the frame and used to drive the manipulator to move along the length direction of the frame, a Y-axis mechanism arranged on the X-axis mechanism and used to drive the manipulator to move along the width direction of the frame, and a Z-axis mechanism arranged on the Y-axis mechanism and used to drive the manipulator up and down in the vertical direction; the manipulator includes a fixed seat connected to the Z-axis mechanism and is arranged on the fixed seat and used for A first clamp for clamping the material and a second clamp for clamping the material box, the first clamp is arranged within the clamping range of the second clamp.

Preferably, the manipulator further includes an elevating mechanism arranged on the fixed seat and connected to the first gripper, and the elevating mechanism is used to drive the first gripper to move up and down relative to the second gripper.

Further, the lifting mechanism includes a lifting cylinder fixed to the fixed seat, a lifting seat connected to the piston rod of the lifting cylinder and driven by the lifting cylinder, and the first clamp is arranged on the lifting cylinder. seat.

Preferably, a waist-shaped hole arranged along the horizontal direction is opened on the lifting base, and the first clamp includes at least two clamping pieces spaced on the lifting base through the waist-shaped hole.

Preferably, the second clamp includes two claws that are separately arranged at both ends of the fixed seat and are slidably connected with the fixed seat, and a driving member for driving the claws to move along the fixed seat, and A link mechanism for connecting the two claws, the two ends of the link mechanism are respectively hinged to the two claws so that the two claws can move synchronously towards or away from each other.

Further, the linkage mechanism includes two first linkages and a second linkage whose two ends are respectively hinged to the two first linkages, the fixing seat is hinged to the middle of the second linkage, The ends of the two first connecting rods away from the second connecting rods are hinged to the two claws one by one.

More preferably, the second clamp further includes a clamp guide rail provided on the fixing seat and a clamp slider slidingly connected with the clamp guide rail, and the claw is connected with the clamp slider.

Preferably, the X-axis mechanism includes an X-axis guide rail provided on the frame along the length direction of the frame, an X-axis sliding frame slidingly connected with the X-axis guide rail, and used to drive the X-axis The X-axis driving assembly for the movement of the axis sliding frame, the Y-axis mechanism and the Z-axis mechanism are both arranged on the X-axis sliding frame; the X-axis driving assembly includes an X-axis motor and an output shaft connected to the X-axis motor Connected and arranged on the transmission shaft on the X-axis sliding frame along the width direction of the frame, and the X-axis transmission wheels arranged at both ends of the transmission shaft, the X-axis transmission wheels can be driven by the X-axis motor The transmission shaft is driven to rotate so as to drive the X-axis carriage to move.

Preferably, the transmission shaft includes a first transmission shaft, a second transmission shaft and a coupling for connecting the first and second transmission shafts, and the first and second transmission shafts are far away from the coupling One end of each is provided with the X-axis transmission wheel.

Preferably, the X-axis driving assembly further includes an X-axis transmission belt arranged on the frame along the length direction of the frame and wound on the X-axis transmission wheel, and an X-axis transmission belt provided on the X-axis transmission wheel. The two sides of the wheel are used to tighten the X-axis transmission belt against the auxiliary wheels on the X-axis transmission wheel.

Preferably, the Y-axis mechanism includes a Y-axis guide rail provided on the X-axis mechanism along the width direction of the frame, a Y-axis carriage slidingly connected with the Y-axis guide rail, and a Y-axis carriage for driving the The Y-axis driving assembly for the movement of the Y-axis sliding frame, the Y-axis sliding frame is provided with a guide hole; the Z-axis mechanism is vertically installed in the guide hole and slides with the Y-axis sliding frame A connected elevating rod, and a Z-axis driving assembly arranged on the Y-axis sliding frame and used to drive the elevating rod up and down, and the manipulator is connected with the elevating rod.

Further, the Z-axis mechanism includes at least two Z-axis sliders that are arranged on the Y-axis carriage and have an included angle with each other, and the Z-axis guide rails are arranged in a one-to-one correspondence with the Z-axis sliders .

More preferably, the Z-axis mechanism includes at least two Z-axis sliders arranged on the Y-axis carriage and having an included angle with each other, and the corresponding arrangement of the Z-axis guide rail and the Z-axis slider .

Further, the Z-axis driving assembly includes a Z-axis motor arranged on the Y-axis carriage and a Z-axis transmission wheel connected to the output shaft of the Z-axis motor, and a Z-axis drive wheel arranged vertically on the lifting The Z-axis transmission belt on the rod and abuts against the Z-axis transmission wheel and can be driven to move by the Z-axis transmission wheel.

Further, the Y-axis drive assembly includes a Y-axis motor arranged on the X-axis mechanism and a Y-axis transmission wheel connected to the output shaft of the Y-axis motor, and a Y-axis transmission wheel arranged along the width direction of the frame The Y-axis transmission belt on the X-axis mechanism and wound on the Y-axis transmission wheel, and the Y-axis carriage is connected with the Y-axis transmission belt.

Preferably, the frame includes two support frames arranged at two ends in the length direction thereof, and a first beam connecting the two support frames and used to support the X-axis mechanism, and vertically connected with the first beam. A second beam with beams arranged side by side.

Compared with the prior art, the solution of the utility model has the following advantages:

1. In the three-axis gantry palletizer provided by the utility model, the manipulator includes a first clamp for clamping and placing materials and a second clamp for clamping and placing material boxes, and the first clamp is arranged on the second clamp Within the clamping range, the manipulator can clamp the material into the material box through the first clamp, and then clamp the material box through the second clamp for palletizing. The packing and palletizing of products can be realized at the same time through one manipulator, reducing the Reduce the cost of manpower and material resources, and improve the efficiency of palletizing.

2. In the three-axis gantry palletizer provided by the utility model, the manipulator includes a lifting mechanism connected with the first clamp. The lifting mechanism can drive the first clamp to move up and down relative to the second clamp. The telescopic design makes the first clamp The clamp can more flexibly place the material in the material box after clamping the material, and it is more convenient for the second clamp to clamp the material box.

3. In the three-axis gantry palletizer provided by the utility model, the first gripper of the manipulator includes at least two grippers arranged at intervals through the waist-shaped holes, and the distance between the grippers can be adjusted according to different materials, thereby It can stack a variety of products, making this three-axis gantry palletizer suitable for more industries.

4. In the three-axis gantry palletizer provided by the utility model, the two claws of the second fixture are connected by a link mechanism, so that the two claws can move synchronously towards each other or backwards and move the stroke through a driving part It is larger, and the link mechanism takes up less space, which is convenient for setting the first clamp within the clamping range of the second clamp and enables the first clamp to clamp larger materials.

5. In the three-axis gantry palletizer provided by the utility model, the three-axis linkage device realizes the movement of the manipulator through the cooperation of the transmission wheel and the transmission belt, which can realize stable transmission and no noise during work, and the cost of the synchronous belt transmission structure is low, which can The manufacturing cost of the three-axis gantry palletizer is reduced.

6. In the three-axis gantry palletizer provided by the utility model, the X-axis mechanism realizes dual power drive through the transmission shaft arranged along the width direction of the frame, so as to avoid the jamming caused by unbalanced ends when the span is too large. In addition, the transmission shaft includes a first transmission shaft and a second transmission shaft arranged in a docking manner, which reduces vibration and noise generated during operation due to too long transmission shafts, and improves the stability of the X-axis mechanism.

7. In the three-axis gantry palletizer provided by the utility model, the Z-axis mechanism includes a lifting rod that is vertically penetrated in the guide hole and is slidingly connected with the Y-axis sliding frame. A plurality of Z-axis guide rails are slidingly connected with a plurality of Z-axis sliders correspondingly provided on the Y-axis sliding frame, thereby improving the guiding strength of the Z-axis mechanism, having high stability, and avoiding shaking during operation.

8. In the three-axis gantry palletizer provided by the utility model, the frame includes the first beam for supporting the X-axis mechanism and the second beam arranged side by side with the first beam, so that the frame supports The three-axis linkage operates without deformation and is stronger and more rigid.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and will become apparent from the description, or may be learned by practice of the invention.

Description of drawings

The above-mentioned and/or additional aspects and advantages of the utility model will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

Fig. 1 is the perspective view of the three-axis gantry stacker provided by the utility model;

Fig. 2 is the perspective view of the manipulator in the three-axis gantry palletizer shown in Fig. 1;

Fig. 3 is the perspective view of the second fixture of manipulator shown in Fig. 2;

Fig. 4 is a perspective view of the three-axis linkage device shown in Fig. 1;

Fig. 5 is a partially enlarged view of position A of the three-axis linkage device shown in Fig. 4;

Fig. 6 is a perspective view of the Y-axis mechanism shown in Fig. 4;

FIG. 7 is a perspective view of the Z-axis mechanism shown in FIG. 4 .

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are only used to explain the present invention, and cannot be construed as limiting the present invention.

Those skilled in the art can understand that, unless otherwise stated, the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, zeros/components and/or components, but does not exclude the presence of Or add one or more other features, integers, steps, operations, parts/parts, components and/or groups thereof. It should be understood that when we refer to a part/component as being "connected" to another part/component, it may be directly connected to the other part/component, or intermediate parts/components may also be present. The expression "and/or" used herein includes all or any elements and all combinations of one or more associated listed items.

As shown in Figure 1, the utility model provides a three-axis gantry palletizer 1000, including a frame 1 and a three-axis linkage device 2 arranged on the frame 1, and connected with the three-axis linkage device 2 And the three-axis linkage device 2 can drive the three-axis linkage manipulator 3, and the manipulator 3 is used to grip the material 2000 (such as a smart lock panel) and the material box 3000 (such as a smart lock packaging box). The three-axis gantry palletizer 1000 also includes a control center 4 electrically connected to the three-axis linkage device 2 and the manipulator 3, and the control center 4 is used to display working conditions, adjust parameters and control the operation of the palletizer , because its structure does not belong to the improvement of the present utility model, so it will not be described in detail.

As shown in Figure 2, the manipulator 3 includes a fixed seat 31 fixedly connected with the three-axis linkage device 2 and a first clamp 32 which is arranged on the fixed seat 31 and is used for clamping and placing the material 2000 and for clamping Put the second clamp 33 of the material box 3000 , and the first clamp 32 is set within the clamping range of the second clamp 33 . The manipulator 3 can clamp the material 2000 into the material box 3000 through the first clamp 32, and then clamp the material box 3000 through the second clamp 33 for palletizing, and the product can be realized simultaneously by one manipulator 3 Packing and palletizing, reducing manpower and material costs and improving palletizing efficiency.

Further, the fixed base 31 is provided with a connecting piece 311 for connecting the three-axis linkage device 2, and the connecting piece 311 is vertically arranged on the fixed base 31, thereby increasing the connection between the manipulator 3 and the The connection end face of the three-axis linkage device 2 makes the connection and installation of the manipulator 3 more firm and ensures that it has greater strength.

Preferably, the manipulator 3 further includes a lifting mechanism 34 disposed on the fixing seat 31 , which is used to drive the first gripper 32 to move up and down relative to the second gripper 33 . The lifting mechanism 34 includes a lifting cylinder 341 affixed to the fixed seat 31, a lifting seat 342 connected to the piston rod of the lifting cylinder 341 and can be driven up and down by the lifting cylinder 341, and the first clamp 32 is set on the lifting seat 342. Through the telescopic design, the first gripper 32 can more flexibly place the material 2000 in the material box 3000 after gripping the material 2000 , and it is more convenient for the second gripper 33 to grip the material box 3000 .

Specifically, the lifting seat 342 is provided with a waist-shaped hole 3421 arranged in the horizontal direction, and the first clamp 32 includes two clamping parts that are spaced apart on the lifting seat 342 through the waist-shaped hole 3421. 321 , the clamping member 321 is a pneumatic gripper adapted to the material 2000 . Since the clamping piece 321 is connected to the lifting seat 342 through the waist hole 3421, the distance between the two clamping pieces 321 can be adjusted according to the different materials 2000, so that various products can be stacked, so that the three-axis The gantry palletizer 1000 can be adapted to more industries, and the cost of the pneumatic gripper is low, which can reduce the production cost of the three-axis gantry palletizer 1000 .

It should be understood that, in other embodiments, the clamping member 321 can also be an electric gripper, and the gripping point can be controlled with high precision by adjusting the start-stop and rotation speed of the motor in the electric gripper. Minimize the impact on the material 2000 when taking action.

As shown in FIG. 3 , the second clamp 33 includes a driving member 331 disposed on the fixed seat 31 , and two claws respectively disposed at both ends of the fixed seat 31 and slidingly connected with the fixed seat 31 332, and a link mechanism 333 connecting the two claws 332.

The driving member 331 is a push cylinder, and its push-pull rod is connected to any one of the two claws 332 and can drive the claw 332 to slide relative to the fixed seat 31. The linkage mechanism 333 The two ends of the two claws 332 are respectively hinged so that the two claws 332 can move synchronously towards each other or backwards, so that the two claws 332 can be driven to move synchronously by a driving member 331, and the two claws 332 can be driven to move synchronously by connecting The transmission of the rod mechanism 333 can increase the moving stroke of the claw 332. In addition, the link mechanism 333 takes up less space, which is convenient for setting the first clamp 32 within the clamping range of the second clamp 33 and making the first clamp 32 clampable. Take the larger material 2000.

Further, the linkage mechanism 333 includes two first linkages 3331 and a second linkage 3332 whose two ends are respectively hinged to the two first linkages 3331, and the midpoint of the second linkage 3332 is connected to The fixing seat 31 is hinged, and the ends of the two first connecting rods 3331 away from the second connecting rods 3332 are respectively hinged with the two claws 332 . While the reverse push-pull transmission is realized through the first connecting rod 3331 and the second connecting rod 332, the lifting cylinder 341 can be inserted between the first and second connecting rods without affecting the normal operation of the lifting mechanism 34. Work.

Preferably, the second clamp 33 further includes a clamp guide rail 334 disposed on the fixing base 31 and a clamp slider 335 slidingly connected with the clamp guide rail 334 , the claw 332 is connected to the clamp slider 335 Connected, the claw 332 can be guided through the cooperation of the clamp slider 335 and the clamp guide rail 334 to improve stability.

As shown in Figure 4, the three-axis linkage device 2 includes an X-axis mechanism 21 straddling the frame 1 and used to drive the manipulator 3 to move along the length direction of the frame 1. On the X-axis mechanism 21 and used to drive the Y-axis mechanism 22 that the manipulator 3 moves along the width direction of the frame 1, and on the Y-axis mechanism 22 and used to drive the manipulator 3 to move up and down in the vertical direction The Z-axis mechanism 23, through the driving of the three-axis linkage device 2, enables the manipulator 3 to move in multiple directions, thereby performing palletizing.

Preferably, the X-axis mechanism 21 includes an X-axis guide rail 211 (shown in FIG. 1 ) arranged on the frame 1 along the length direction of the frame 1 , and is slidably connected with the X-axis guide rail 211 The X-axis sliding frame 212, and the X-axis driving assembly 213 for driving the X-axis sliding frame 212 to move along the X-axis guide rail 211, the Y-axis mechanism 22 and the Z-axis mechanism 23 are both arranged on the X-axis The X-axis sliding frame 212 can be driven by the X-axis sliding frame 212 to move together.

4 and 5, the X-axis driving assembly 213 includes an X-axis motor 2131 and a transmission shaft 2132 passing through the transmission assembly 100 and the output shaft of the X-axis motor 2131, and the transmission shaft 2132 is along the frame 1 is set on the X-axis sliding frame 212 in the width direction. The X-axis driving assembly 213 also includes an X-axis transmission wheel 2133 arranged at both ends of the transmission shaft 2132, and arranged on the frame 1 along the length direction of the frame 1 and wound around the X-axis The X-axis drive belt 2134 on the drive wheel 2133. The X-axis sliding frame 212 can move through the transmission of the X-axis transmission wheel 2133 and the X-axis transmission belt 2134, and realize the dual power drive at both ends through the transmission of the transmission shaft 2132, so as to avoid the two ends when the span is too large. Imbalance leads to stuck situation.

The X-axis drive assembly 213 also includes auxiliary wheels 2135 arranged on both sides of the X-axis transmission wheel 2133 and used to press the X-axis transmission belt 2134 against the X-axis transmission wheel 2133 to ensure the transmission During the process, the X-axis drive wheel 2133 will not idling and slip to affect the driving effect, thereby improving the positioning accuracy of the stacking.

Preferably, the transmission shaft 2132 includes a first transmission shaft 2132a, a second transmission shaft 2132b and a coupling 2132c for connecting the first and second transmission shafts, and the first and second transmission shafts are far away from the One end of the coupling 2132c is provided with the X-axis transmission wheel 2133, and the first transmission shaft 2132a and the second transmission shaft 2132b are connected to each other to reduce the friction caused by the excessive length of the transmission shaft 2132 during operation. vibration and noise, and improve the stability of the X-axis mechanism 21.

Preferably, the X-axis driving assembly 213 also includes a planetary reducer 200 connected to the output shaft of the X-axis motor 2131, through which the planetary reducer 200 can ensure that the X-axis motor 2131 has sufficient The torque further improves the stability of the X-axis mechanism 21.

As shown in FIG. 6 , the Y-axis mechanism 22 includes a Y-axis guide rail 221 arranged on the X-axis sliding frame 212 along the width direction of the frame 1 , and a Y-axis guide rail 221 slidingly connected to the Y-axis guide rail 221 . The sliding frame 222, and the Y-axis drive assembly 223 for driving the Y-axis sliding frame 222 to slide along the Y-axis guide rail 221, the Z-axis mechanism 23 is arranged on the Y-axis sliding frame 222 and can be controlled by the Y-axis The shaft carriage 222 drives to move together.

Further, the Y-axis drive assembly 223 includes a Y-axis motor 2231 arranged on the end of the X-axis carriage 212 and a Y-axis transmission wheel 2232 through the output shaft of the transmission assembly 100 and the Y-axis motor 2231 , and the Y-axis transmission belt 2233 arranged on the X-axis sliding frame 212 along the width direction of the frame 1 and wound on the Y-axis transmission wheel 2232, the Y-axis sliding frame 222 and the Y-axis The shaft drive belt 2233 is connected. It should be understood that, the other end of the X-axis carriage 212 away from the Y-axis motor 2231 is also provided with a Y-axis transmission wheel 2232 , and the Y-axis transmission belt 2233 is wound around the two Y-axis transmission wheels 2232 superior.

Preferably, the Y-axis drive assembly 223 also includes a planetary reducer 200 connected to the output shaft of the Y-axis motor 2231, through which the planetary reducer 200 can ensure that the Y-axis motor 2231 has sufficient torque.

As shown in FIG. 7 , the Z-axis mechanism 23 includes a lifting rod 231 that passes through the Y-axis sliding frame 222 in the vertical direction, and is arranged on the Y-axis sliding frame 222 and is used to drive the lifting rod 231. The Z-axis drive assembly 232 for lifting the rod 231 , the manipulator 3 is arranged at the bottom end of the lifting rod 231 and can be driven by the lifting rod 231 to go up and down together.

Please refer to FIG. 6, the Y-axis sliding frame 222 is provided with a guide hole 2221 for setting the lifting rod 231, and the lifting rod 231 is passed through the guide hole 2221 and can be opposite to the Y-axis sliding frame. 222 moves up and down in the vertical direction.

As shown in FIG. 7 , the Z-axis mechanism 23 also includes a Z-axis guide rail 233 vertically arranged on the lifting rod 231 , arranged on the Y-axis sliding frame 222 and sliding with the Z-axis guide rail 233 Attached Z-axis slider 234 .

Preferably, the lifting rod 231 is a square rod, that is, the cross-section of the lifting rod 231 is rectangular, and the Z-axis mechanism 23 includes at least two Z-axis guide rails separately arranged on different surfaces of the lifting rod 231 233, the Y-axis sliding frame 222 is also provided with a plurality of Z-axis sliders 234 correspondingly, so as to improve the guiding strength of the Z-axis mechanism 23, make it have higher stability, and avoid shaking during operation .

Correspondingly, the guide hole 2221 is a rectangular hole adapted to the lifting rod 231, the Y-axis sliding frame 222 is provided with a reinforcing plate 2222 corresponding to the surrounding of the guide hole 2221, and the Z-axis slider 234 is arranged on on the reinforcement board 2222 . More preferably, the Y-axis sliding frame 222 is provided with the reinforcement plates 2222 along the upper and lower ends of the guide hole 2221, and each of the reinforcement plates 2222 is provided with the Z-axis slider 234, further Improve the stability of the lifting rod 231 lifting.

Further, the Z-axis driving assembly 232 includes a Z-axis motor arranged on the Y-axis sliding frame 222 and a Z-axis transmission wheel 2322 connected to the output shaft of the Z-axis motor 2321 , and along the vertical direction The Z-axis transmission belt 2323 is arranged on the lifting rod 231 and abuts against the Z-axis transmission wheel 2322 and can be driven by the Z-axis transmission wheel 2322 .

Preferably, the Z-axis transmission belt 2323 is a rack fixed on the lifting rod 231 in the vertical direction, and the Z-axis transmission wheel 2322 is a gear, so that the manipulator can be realized through the cooperative transmission of the gear and the rack. 3 Precise positioning of movement in the vertical direction.

Preferably, the Z-axis drive assembly 232 also includes a planetary reducer 200 connected to the output shaft of the Z-axis motor 2321, through which the planetary reducer 200 can ensure that the Z-axis motor 2321 has sufficient torque.

The three-axis linkage device 2 provided by the utility model realizes the movement of the manipulator 3 through the cooperation of the transmission wheel and the transmission belt, which can realize stable transmission and no noise during work, and the cost of the synchronous belt transmission structure is low, which can reduce the three-axis gantry stacking. The manufacturing cost of the machine 1000.

As shown in Figure 1, in the three-axis gantry stacker 1000 provided by the utility model, the frame 1 includes two support frames 11 which are separately arranged at both ends of its length direction, and the two support frames 11 pass through two second A beam 12 is connected, and the three-axis linkage device 2 is erected on the first beam 12 .

Preferably, the frame 1 further includes a second cross beam 13 arranged side by side with the first cross beam 12 in the vertical direction, and the two ends of the second cross beam 13 are respectively connected with the two support frames 11, through The setting of the second beam 13 makes the frame 1 stronger and more rigid, and does not deform when supporting the three-axis linkage device 2 in operation.

More preferably, the frame 1 further includes a plurality of connecting beams 14 arranged at intervals between the first beam 12 and the second beam 13 to further enhance the supporting strength of the first beam 12 .

The foregoing is only a partial implementation of the utility model, and it should be pointed out that for those of ordinary skill in the art, some improvements and modifications can also be made without departing from the principle of the utility model. Retouching should also be regarded as the scope of protection of the present utility model.

Claims (16)

1. a kind of three axis gantry stacking machines, which is characterized in that the three-shaft linkage device including rack and in the rack, with And the manipulator being connect with the three-shaft linkage device；

The three-shaft linkage device includes being set in the rack and for driving the manipulator along the length side of the rack To mobile X-axis mechanism, in the X-axis mechanism and for driving the manipulator to move along the width direction of the rack Y-axis mechanism, and in the Y-axis mechanism and for the Z-axis mechanism that drives the manipulator to go up and down along the vertical direction；

The manipulator includes the fixing seat connecting with the Z-axis mechanism and is set in the fixing seat and for folding up material The first fixture and the second fixture for folding up material box, first fixture be set to the clamping range of second fixture It is interior.

2. three axis according to claim 1 gantry stacking machine, which is characterized in that the manipulator further includes set on described solid The elevating mechanism connecting in reservation and with first fixture, the elevating mechanism is for driving first fixture relatively described Second fixture lifting moving.

3. three axis according to claim 2 gantry stacking machine, which is characterized in that the elevating mechanism includes and the fixation The affixed lifting cylinder of seat, the lifting for being connect with the piston rod of the lifting cylinder and lifting being driven by the lifting cylinder Seat, first fixture are set on the lifting seat.

4. three axis according to claim 3 gantry stacking machine, which is characterized in that offer on the lifting seat along level side To the waist-shaped hole of setting, first fixture includes at least two folders being set on the lifting seat by the waist-shaped hole interval Gripping member.

5. three axis according to claim 1 gantry stacking machine, which is characterized in that second fixture is described including being divided into The both ends of fixing seat and two claws being slidably connected with the fixing seat and for driving the claw to move along the fixing seat Dynamic actuator, and the link mechanism for connecting two claws, the both ends of the link mechanism respectively with two institutes It states claw hingedly and makes two claws that can synchronize opposite or movement backwards.

6. three axis according to claim 5 gantry stacking machine, which is characterized in that the link mechanism includes two first companies The second connecting rod hinged with two first connecting rods, the fixing seat are articulated in the second connecting rod respectively for bar and both ends Portion, the one end of two first connecting rods far from the second connecting rod correspond hinged with two claws.

7. three axis according to claim 5 gantry stacking machine, which is characterized in that second fixture further includes set on described Clamp rail in fixing seat and the fixture slide block being slidably connected with the clamp rail, the claw and the fixture slide block connect It connects.

8. three axis according to claim 1 gantry stacking machine, which is characterized in that the X-axis mechanism includes along the rack The length direction X-axis guide rail being set in the rack, the X-axis sliding rack that is slidably connected with the X-axis guide rail, and for driving The mobile X-axis driving assembly of the X-axis sliding rack is moved, the Y-axis mechanism and Z-axis mechanism are set on the X-axis sliding rack；

The X-axis driving assembly includes X-axis motor and with the output axis connection of the X-axis motor and along the width side of the rack To the transmission shaft being set on the X-axis sliding rack, and set on the X-axis driving wheel of the both ends of the drive shaft, the X-axis driving wheel Can the transmission shaft as described in the X-axis motor driven drive rotation to drive the X-axis sliding rack mobile.

9. three axis according to claim 8 gantry stacking machine, which is characterized in that the transmission shaft include the first transmission shaft, Second driving shaft and shaft coupling for connecting first, second transmission shaft, first, second transmission shaft is far from described One end of axis device is equipped with the X-axis driving wheel.

10. three axis according to claim 8 gantry stacking machine, which is characterized in that the X-axis driving assembly further includes along institute The length direction for stating rack is set to the X-axis transmission belt in the rack and being set around on the X-axis driving wheel, and is set to the X Axis driving wheel two sides simultaneously are used to push against the X-axis transmission belt in the auxiliary wheel on the X-axis driving wheel.

11. three axis according to claim 1 gantry stacking machine, which is characterized in that the Y-axis mechanism includes along the rack The width direction Y-axis guide rail being set in the X-axis mechanism, the Y-axis sliding rack that is slidably connected with the Y-axis guide rail, Yi Jiyong In offering pilot hole on the Y-axis driving assembly for driving the Y-axis sliding rack mobile, the Y-axis sliding rack；

The Z-axis mechanism includes being arranged in the liter being slidably connected in the pilot hole and with the Y-axis sliding rack along the vertical direction Bar drops, and on the Y-axis sliding rack and for driving the Z axis driving assembly of the lifter rod lifting, the manipulator with The elevating lever connection.

12. three axis according to claim 11 gantry stacking machine, which is characterized in that the Z-axis mechanism further includes vertically Z axis guide rail on the elevating lever, the Z axis being slidably connected on the Y-axis sliding rack and with the Z axis guide rail are slided Block.

13. three axis according to claim 12 gantry stacking machine, which is characterized in that the Z-axis mechanism includes at least two On the Y-axis sliding rack and mutually with the Z axis sliding block of angle, the Z axis guide rail and the Z axis sliding block one are a pair of It should be arranged.

14. three axis according to claim 11 gantry stacking machine, which is characterized in that the Z axis driving assembly includes being set to Z axis motor on the Y-axis sliding rack and the Z-axis transmission wheel with the output axis connection of the Z axis motor, and along the vertical direction On the elevating lever and the Z-axis transmission band that abuts the Z-axis transmission wheel and can be moved by the Z-axis transmission wheel drive.

15. three axis according to claim 11 gantry stacking machine, which is characterized in that the Y-axis driving assembly includes being set to Y-axis motor in the X-axis mechanism and the Y-axis driving wheel with the output axis connection of the y-axis motor, and along the rack Width direction is set to the Y-axis transmission belt in the X-axis mechanism and being set around on the Y-axis driving wheel, the Y-axis sliding rack and institute State Y-axis transmission band connection.

16. three axis according to claim 1 gantry stacking machine, which is characterized in that the rack includes being divided into its length It two support frames at direction both ends and connects described two support frames and is used to support the first crossbeam of the X-axis mechanism, and The second cross beam being arranged side by side along the vertical direction with the first crossbeam.