CN103241545B - Columnar material arranges piling water system - Google Patents
Columnar material arranges piling water system Download PDFInfo
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- CN103241545B CN103241545B CN201210032904.3A CN201210032904A CN103241545B CN 103241545 B CN103241545 B CN 103241545B CN 201210032904 A CN201210032904 A CN 201210032904A CN 103241545 B CN103241545 B CN 103241545B
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- 239000000463 material Substances 0.000 title claims abstract description 218
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 49
- 238000004806 packaging method and process Methods 0.000 claims abstract description 19
- 238000003860 storage Methods 0.000 claims description 12
- 238000010415 tidying Methods 0.000 claims description 12
- 239000000203 mixture Substances 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 7
- 239000002360 explosive Substances 0.000 abstract description 4
- 235000013580 sausages Nutrition 0.000 abstract description 4
- 230000003116 impacting effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 4
- 238000012856 packing Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
- 229920006255 plastic film Polymers 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
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Abstract
The present invention is applicable to Automated production line device production technical field, provide a kind of columnar material and arrange piling water system, comprise three great institutions, that is: in disorder column is made in order for ordered arrangement state stalk straightening device, be used for the column that described stalk straightening device is made in order to grab water system downstream for the grabbing device of piling be used for coordinating described grabbing device realize the modularization piling of column and be delivered to the palletizing apparatus of water system downstream for packaging.Columnar material provided by the invention arranges piling water system and is arranged on columnar material automatic production line used for arranging as explosive, ham sausage and so on, can replace artificial completely, it captures accurately, speed is fast, so cost of labor greatly can be saved, reduce labour intensity, improve the production efficiency of manufacturing line; And can not contaminated equipment and environment in operational process, use middle without impacting, no spark, also can not cause the breakage of column, and its safe reliability is high.
Description
Technical field
The invention belongs to automatic assembly line production facilities technical field, more particularly, relate to a kind of columnar material and arrange piling water system.
Background technology
Columnar material (ham sausage, commercial explosive etc. as plastic film packaging) is large due to output, needs arrangement at a high speed and packaging.At present, columnar material needs artificial or equipment arrangement mostly, and utilize manual sorting, speed of production is slow, also considerably increases the labour intensity of workman; In addition, existing material collator, counts inaccurate, and can cause the breakage of some materials unavoidably, safe reliability is not high simultaneously.
Summary of the invention
Technical matters to be solved by this invention be to provide a kind of safe and reliable, speed fast, count columnar material accurately arranges piling water system, be intended to the cost of labor of the finishing and packing link reduced in column production process, increase work efficiency, reduce labor intensity, and promote the safe reliability in arrangement process.
For solving the problems of the technologies described above, the technical scheme of employing of the present invention is: provide a kind of columnar material to arrange piling water system, comprising:
One stalk straightening device, for in disorder column being made in order into ordered arrangement state, it material grasping conveying mechanism comprising feeding mechanism, be located at the material receiving mechanism of described feed mechanism downstream, be located at the material tidying mechanism in described material receiving mechanism downstream and be located at described material tidying mechanism downstream;
One grabbing device, column for being made in order by described stalk straightening device grabs water system downstream for piling, it comprises fixed support, be located at least one robot on described fixed support and by least one column handgrip of described robot controlling with for taking the column on the material grasping conveying mechanism of described stalk straightening device and feeding back to the camera head of described robot, be located at the backlight on the material grasping conveying mechanism of described stalk straightening device, described column handgrip is also provided with the first inductor for detecting column, described column handgrip comprises by described robot controlling and multiple arm of working in coordination is grabbed with the suction being located at described arm lower end,
One palletizing apparatus, realize the modularization piling of column for coordinating described grabbing device and be delivered to water system downstream for packaging, it comprises the side temporary storage mechanism and conveying mechanism of being located at described grabbing device, described temporary storage mechanism comprises at least one material holding tank, and each described material holding tank is provided with the second inductor be connected with described robot.
Further, described stalk straightening device also comprises and being located between described material grasping conveying mechanism and described feeding mechanism for by not crawled and the column stayed on described material grasping conveying mechanism is recycled to the material return mechanism on described feeding mechanism; Described feeding mechanism comprises charging actuating device and feed conveyor belt; Described material receiving mechanism comprises splicing actuating device and splicing belt conveyor; Described material tidying mechanism comprises reason material actuating device and the low speed that driven by described reason material actuating device is managed material section and is located at described low speed and manages and expect that the high speed in section downstream is managed and expect section; Described material grasping conveying mechanism comprises material grasping actuating device and material grasping carrier bar; Described material return mechanism comprises feed back actuating device and feed back belt conveyor.
Further, described low speed reason material section is provided with the first reason material belt conveyor, and described high speed reason material section is provided with the second reason material belt conveyor of a transfer rate higher than the transfer rate of described first reason material belt conveyor; Described first reason material belt conveyor is provided with multiple directed dividing plate; The top of described first reason material belt conveyor and the second reason material belt conveyor is provided with and prevents column from rolling back and forth and the blend stop separated by column.
Further, described feed back belt conveyor comprises the first feed back belt conveyor and is located at the second feed back belt conveyor in described first feed back belt conveyor downstream and is located at the 3rd feed back belt conveyor in described second feed back belt conveyor downstream, described 3rd feed back belt conveyor is located at the upstream of described feed conveyor belt and is positioned at its side, and described first feed back belt conveyor, the second feed back belt conveyor, the 3rd feed back belt conveyor are provided with multiple fin perpendicular with its direction of transfer.
Further, described suction packet capturing is drawn together to inhale and is grabbed support, is located at described suction and grabs at least one cylinder on support, at least one group of sucker distributed that be in line be connected with the output shaft of described cylinder, the vacuum generator be connected with described sucker.
Further, described temporary storage mechanism comprises multiple material holding tank, and described material holding tank has multiple perpendicular lattice, on it is vertical can the number of plies of piling column equal with the quantity of described material holding tank; Described conveying mechanism is a drive motor and a link chain mechanism, and multiple described material holding tank is series on described link chain mechanism.
Further, described link chain mechanism is provided with multiple equally distribution and can coordinates with the perpendicular lattice of described material holding tank material putter component column being scraped another material holding tank from a material holding tank, and the push rod quantity of described material putter component is equal with the quantity of the perpendicular lattice of described material holding tank.
Or, further, described temporary storage mechanism comprises at least two material holding tanks, each described material holding tank is located at the homonymy of described grabbing device side by side, described conveying mechanism comprises the transverse moving mechanism that the column in material holding tank can be pushed away away and a vertical chain mechanism, described vertical chain mechanism is equally distributed with the column packaging element module transportation frame of multiple lateral openings.
Further, described transverse moving mechanism comprises support and is located at slide rail on described support, intermediate transportation frame, cylinder assembly and the steering hardware of column unit module unitary rotation for being shaped by piling.
The beneficial effect that columnar material provided by the invention arranges piling water system is: columnar material of the present invention is arranged piling water system and coordinated in turn by column stalk straightening device, grabbing device, palletizing apparatus three large running mechanism, first by stalk straightening device, confused and disordered column is organized into the robot commander suction crawl of parastate for grabbing device in advance, then put into the packaging facilities that column module that palletizing apparatus pile becomes to meet the multiple columns composition of packing specification is delivered to downstream again to pack, whole process realizes automation completely; This columnar material arranges piling water system and is arranged on columnar material automatic production line used for arranging as explosive, ham sausage and so on, can replace artificial completely, it captures accurately, speed is fast, so cost of labor greatly can be saved, reduce labour intensity, improve the production efficiency of manufacturing line; And can not contaminated equipment and environment in operational process, use middle without impacting, no spark, also can not cause the breakage of column, and its safe reliability is high.
Accompanying drawing explanation
What the columnar material that Fig. 1 provides for the embodiment of the present invention one arranged piling water system faces structural representation;
The plan structure schematic diagram of the columnar material arrangement piling water system that Fig. 2 provides for the embodiment of the present invention one;
The main TV structure schematic diagram of the columnar material arrangement piling water system that Fig. 3 provides for the embodiment of the present invention two;
The plan structure schematic diagram of the columnar material arrangement piling water system that Fig. 4 provides for the embodiment of the present invention two;
Fig. 5 be in the embodiment of the present invention stalk straightening device face structural representation;
Fig. 6 is the plan structure schematic diagram of stalk straightening device in the embodiment of the present invention;
Fig. 7 be in the embodiment of the present invention grabbing device face structural representation;
Fig. 8 grabs the three-dimensional structure diagram under retracted mode for the suction that grabbing device in the embodiment of the present invention adopts;
Fig. 9 grabs the three-dimensional structure diagram under the state of stretching out for the suction that grabbing device in the embodiment of the present invention adopts;
What Figure 10 grabbed for the suction that grabbing device in the embodiment of the present invention adopts looks up structural representation;
What Figure 11 grabbed for the suction that grabbing device in the embodiment of the present invention adopts faces structural representation;
The columnar material that Figure 12 provides for the embodiment of the present invention one arranges the perspective view of grabbing device and palletizing apparatus in piling water system;
Figure 13 is the partial enlargement structural representation at A place in Figure 12;
Figure 14 is the left TV structure schematic diagram of Figure 12;
What the columnar material that Figure 15 provides for the embodiment of the present invention one arranged grabbing device and palletizing apparatus in piling water system faces structural representation;
The columnar material that Figure 16 provides for the embodiment of the present invention one arranges the plan structure schematic diagram of grabbing device and palletizing apparatus in piling water system;
The columnar material that Figure 17 provides for the embodiment of the present invention two arranges the perspective view of grabbing device and palletizing apparatus in piling water system;
The columnar material that Figure 18 provides for the embodiment of the present invention two arranges the plan structure schematic diagram of grabbing device and palletizing apparatus in piling water system;
The three-dimensional structure diagram of the robot mounting bracket that Figure 19 adopts for grabbing device in the embodiment of the present invention.
Detailed description of the invention
In order to make technical matters to be solved by this invention, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Please with reference to Fig. 1 to Fig. 4, now piling water system is arranged to columnar material provided by the invention and be described.Described columnar material arranges piling water system, comprise three great institutions, that is: in disorder column 101 is made in order for ordered arrangement state stalk straightening device 1, be used for described stalk straightening device to manage 1 suitable column 101 and grab water system downstream for the grabbing device 2 of piling be used for coordinating described grabbing device 2 realize the modularization piling of column 101 and be delivered to the palletizing apparatus 3 of water system downstream for packaging, existing the concrete structure of each mechanism to be described as follows:
First please specifically see Fig. 5 and Fig. 6, this stalk straightening device 1 comprises feeding mechanism 11, is located at the material receiving mechanism 12 in described feeding mechanism 11 downstream, is located at the material tidying mechanism 13 in described material receiving mechanism 12 downstream and is located at the material grasping conveying mechanism 14 in described material tidying mechanism 13 downstream; Column 101 is sent to material receiving mechanism 12 and material tidying mechanism 13 in turn by feed mechanism 11, and is made in order at material tidying mechanism 13 place, is then sent to material grasping conveying mechanism 14 place in the ordered arrangement state being applicable to capturing and waits to capture and piling;
Then Fig. 7 is referred to, this grabbing device 2, comprise fixed support 21, be located at least one robot 22 on described fixed support 21 and at least one the column handgrip 23 controlled by described robot 22 and take for the column 101 on the material grasping conveying mechanism 14 to described stalk straightening device 1 and feed back to the camera head 25 of described robot 22, be located at the backlight 24 on the material grasping conveying mechanism 14 of described stalk straightening device 1, described column handgrip 23 is also provided with the first inductor (invisible in figure) for detecting column, wherein, robot 22 is existing installation, the control program preset is equipped with in its inside, information that camera head 25 and the first inductor feed back to can be accepted and carry out calculating thus accurately judge the particular location of column 101 on material grasping conveying mechanism 14, and instruction is sent to column handgrip 23, the column 101 being in best crawl position is picked up,
Refer to Figure 12 to Figure 18 again, palletizing apparatus 3 comprises the side temporary storage mechanism 31 and conveying mechanism 32 of being located at described grabbing device 2, described temporary storage mechanism 31 comprises at least one material holding tank 311, column 101 is picked up and is first put it in material holding tank 311 afterwards by robot 2, each described material holding tank 311 is provided with the second inductor (not shown) be connected with described robot 2, and what each material holding tank 311 cylindrical thing 101 can be detected piles up situation.
Columnar material provided by the invention is arranged piling water system and is coordinated in turn by column stalk straightening device 1, grabbing device 2, palletizing apparatus 3 three large running mechanism, first by stalk straightening device 1, confused and disordered column 101 being organized into parastate in advance commands suction to grab 23 crawls for the robot 22 of grabbing device 2, then put into the packaging facilities that column packaging module that multiple columns 101 that palletizing apparatus 3 pile becomes to meet packing specification form is delivered to downstream again to pack, whole process realizes automation completely; This columnar material arranges piling water system and is arranged on columnar material automatic production line used for arranging as explosive, ham sausage and so on, can replace artificial completely, it captures accurately, speed is fast, so cost of labor greatly can be saved, reduce labour intensity, improve the production efficiency of manufacturing line; And can not contaminated equipment and environment in operational process, use middle without impacting, no spark, also can not cause the breakage of column, and its safe reliability is high.
Further, refer to Fig. 5, Fig. 6, a kind of detailed description of the invention of piling water system is arranged as columnar material provided by the invention, described stalk straightening device also comprises to be located between described material grasping conveying mechanism 14 and described feeding mechanism 11 for by not crawled and the column 101 stayed on described material grasping conveying mechanism 14 is recycled to the material return mechanism 15 on described feeding mechanism 11, whole stalk straightening device forms a complete loop, both can provide to the grabbing device 2 in downstream the column 101 being in order state being applicable to capturing, the column 101 that can capture not crawled device 2 again returns in feeding mechanism 11 feeder process entering into and rearrange and sort, until column 101 is captured and completely by piling, described feeding mechanism 11 comprises charging actuating device and this charging actuating device of feed conveyor belt 111 comprises drive motor 100 and charging drive roller wheel (invisible in figure), and feed conveyor belt 111 is located on described running roller, described receiver 12 structure comprises splicing actuating device and splicing belt conveyor 121, splicing actuating device is set to motor and coordinates splicing drive roller wheel (invisible in figure), splicing belt conveyor 121 is located on splicing drive roller wheel, and the position of splicing belt conveyor 121 is lower than the position of feed conveyor belt 111, described material tidying mechanism 13 comprises reason material actuating device and the low speed that driven by described reason material actuating device is managed material section 131 and is located at described low speed and manage and expect that the high speed in section 131 downstream manage and expect section 132, manages and expects that actuating device is also set to drive motor and adds the structure of managing and expecting drive roller wheel, described material grasping conveying mechanism 14 comprises material grasping actuating device and material grasping carrier bar 141, and material grasping actuating device comprises motor 200 and material grasping drive roller wheel (invisible in figure), and material grasping carrier bar 141 is located on material grasping drive roller wheel, described material return mechanism 15 comprises feed back actuating device and feed back belt conveyor, and wherein feed back actuating device comprises motor 300.Column 101 is sent into through feed conveyor belt 111, drop on splicing belt conveyor 121, and take on material tidying mechanism 13 by splicing belt conveyor 121, and be organized into ordered arrangement state, last column 101 advances on material grasping carrier bar 141, deliver to the position facilitating robot 22 to capture, capture for robot 22, and do not got back on feed back belt conveyor by the column 101 that robot 22 captures, sent back on splicing belt conveyor 111 by feed back belt conveyor and again enter in arranging order, until captured by robot 22.
Further, refer to Fig. 6, a kind of detailed description of the invention of piling water system is arranged as columnar material provided by the invention, described low speed reason material section 131 is provided with the first reason material belt conveyor 1311, and described high speed reason material section 132 is provided with the second reason material belt conveyor 1321 of a transfer rate higher than the transfer rate of described first reason material belt conveyor 1311; Described first reason material belt conveyor 1311 is provided with multiple directed dividing plate 1312; When column 101 is transferred on the first reason material belt conveyor 1311, because the effect of directed dividing plate 1312, in disorder column 101 is arranged in parallel shape substantially, and expect to exist between belt conveyor 1321 velocity contrast because the first reason material belt conveyor 1311 and second is managed, therefore when column 101 advances to both intersections, column 101 just constantly separates, stretching, formed facilitate robot 22 to draw ordered state; The top of described first reason material belt conveyor 1311 and the second reason material belt conveyor 1321 is provided with blend stop (not shown), and rolling back and forth to prevent column 101 and facilitate separates column 101.
Further, also refer to Fig. 6, a kind of detailed description of the invention of piling water system is arranged as columnar material provided by the invention, described feed back belt conveyor comprises the first feed back belt conveyor 151 and is located at the second feed back belt conveyor 152 in described first feed back belt conveyor 151 downstream, and be located at the 3rd feed back belt conveyor 153 in described second feed back belt conveyor 152 downstream, described 3rd feed back belt conveyor 153 is located at the upstream of described feed conveyor belt 151 and is positioned at its side, like this, form the loop of a circulation, do not got back to the first feed back belt conveyor 151 by the column 101 that robot 22 captures, then to be sent in turn on the second feed back belt conveyor 152 and the 3rd feed back belt conveyor 153 and to pass back on splicing belt conveyor 111 and again enter in arranging order, until captured by robot 22, described first feed back belt conveyor 151, second feed back belt conveyor 152, the 3rd feed back belt conveyor 153 are respectively equipped with multiple fin 1511 perpendicular with its direction of transfer, fin 1521, fin 1531, friction between such increase column 101 and each feed back belt conveyor, prevents column 101 rollback because running into slope.
Further, refer to Fig. 7, arrange a kind of detailed description of the invention of piling water system as columnar material provided by the invention, described column handgrip 23 comprises and to control by described robot 2 and multiple arms 231 of working in coordination and the suction of being located at described arm 231 lower end grab 232.Be between grabbing 232 between these arm 231 with robots 22 and with suction and be flexibly connected, suction can be allowed under the instruction of the control system of robot 22 to grab 232 all around move in the horizontal direction, to capture column 101 after moving to optimum position, guarantee the success captured.
Further, refer to Fig. 8 to Figure 11, arrange a kind of detailed description of the invention of piling water system as columnar material provided by the invention, described suction is grabbed 232 and is comprised inhaling and grab support 2321, be located at described suction and grab at least one cylinder 2322 on support 2321, at least one group of sucker 2323 distributed that be in line be connected with the output shaft of described cylinder 2322, the vacuum generator 2324 be connected with described sucker 2323.In present embodiment, when inhale grab 232 move to best crawl position, top on one of them column 101 time, cylinder 2322 action and sucker 2323 is fallen and press to column 101 downwards and with column 101 intimate surface contact, simultaneously vacuum generator 2324 works the air taken away in sucker 2323, like this, under the atmospheric effect in the external world, column 101 just holds by sucker 2323 steadily, then puts in material holding tank 311.
Further, see Figure 12 to Figure 16, as a kind of detailed description of the invention of the columnar material arrangement piling water system that the embodiment of the present invention one provides, described temporary storage mechanism 31 comprises multiple material holding tank 311, described material holding tank 311 has multiple perpendicular lattice 3111, on it is vertical can the number of plies of piling column 101 equal with the quantity of described material holding tank 311; Described conveying mechanism 32 is drive motor 321 and link chain mechanism 322, and multiple described material holding tank 311 is series on described link chain mechanism 322.Such cascade is that multiple material holding tank 311 cooperatively interacts, combined action, each material holding tank 311 is responsible for the piling of one deck column 101, after the perpendicular lattice 3111 yards of same layer are full, the column 101 of this layer is just brought into inside a material holding tank 311 closing on, until the final piling of last material holding tank 311 rightmost becomes the column packaging module of a standard, the packaging facilities for downstream is packed.
Further, refer to Fig. 1 to Fig. 4, as a kind of detailed description of the invention of the columnar material arrangement piling water system that the embodiment of the present invention one provides, described link chain mechanism 322 is provided with multiple equally distribution and can coordinates with the perpendicular lattice 3111 of described material holding tank 311 the material putter component 3221 column 101 being scraped another material holding tank 311 from a material holding tank 311, and the push rod quantity of described material putter component 3221 is equal with the quantity of the perpendicular lattice 3111 of described material holding tank 311.Concrete example, five material holding tanks 311 are set, each material holding tank 311 has four perpendicular lattice 3111, the push rod quantity of material putter component 3221 is also set to four, after one deck column 101 one-size-fits-all of five material holding tanks 311 is full, material putter component 3221 just parallel motion from left to right, and through each material holding tank 311, one deck material is released from material holding tank 311, after five material holding tanks 311, form a column packaging module of five layers 20, and the packaging facilities being advanced to downstream is packed; Cascade is that every platform robot 22 has been responsible for one deck of material holding tank 311 or the material of two layers is piled up, and only have in each material holding tank 311 when having material, material putter component 3221 just can move.
Or, further, refer to Figure 17 and Figure 18, as a kind of detailed description of the invention of the columnar material arrangement piling water system that the embodiment of the present invention two provides, described temporary storage mechanism 31 comprises at least two material holding tanks 311, each described material holding tank 311 is located at the homonymy of described grabbing device 2 side by side, described conveying mechanism comprises the transverse moving mechanism that the column 101 in material holding tank 311 can be pushed away away and a vertical chain mechanism 333, described vertical chain mechanism 333 is equally distributed with the column packaging element module transportation frame 3331 of multiple lateral openings.In present embodiment, each material holding tank 311 is for being arranged in parallel, concrete example, corresponding two the material holding tanks 311 of every platform robot 22, each material holding tank 311 has four perpendicular lattice 3111, can deposit five layers of material, and robot grabs enough five layers of columns 101 a material holding tank 311, the columnar material of material holding tank 311 is pushed in piling conveying device 3, and the packaging facilities being advanced to downstream is packed; Meanwhile robot 22 goes to capture column 101 again and puts another material holding tank 311 into, can not cause the wait of robot 22, the palletizing apparatus of parallel form is every platform robot 22 complete independently material piling, does not interfere with each other, can equipment be made full use of, improve the efficiency that material arranges.
Further, refer to Figure 17 and Figure 18 again, the columnar material provided as the embodiment of the present invention two arranges a kind of detailed description of the invention of piling water system, and described transverse moving mechanism comprises support 330 and is located at slide rail on described support 330, intermediate transportation frame 3321, cylinder assembly 3322 and the steering hardware of column unit module unitary rotation for being shaped by piling.In present embodiment, the propulsive effort of transverse moving mechanism is realized by cylinder assembly 3322 completely, to make to operate steadily, avoids circular column 101 to be scattered; Because column 101 is longitudinally place in material holding tank 311, for ease of the needs carried and pack, it laterally need be placed time to vertical chain mechanism 333, steering hardware just can achieve this end, after turning to, the direct side direction of column packaging module in intermediate transportation frame 3321 is shifted onto in the column packaging element module transportation frame 3331 of lateral openings.Wherein, can have rotating shaft (invisible in figure) at intermediate transportation frame 3321, steering hardware is set to a telescopic cylinder and is located at tooth bar on the output shaft of described telescopic cylinder and is located at the gear matched with described tooth bar in described rotating shaft.This cylinder coordinates tooth bar, the steering mode of gear operates steadily when intermediate transportation frame 3321 is turned to, and prevents the good column of piling from packing module and is scattered.
In addition, refer to Fig. 7 and Figure 19, the fixed support 21 of described grabbing device 2 comprises top frame 211, at least four columns 212 and at least four columns connect foot lever 213, each described column 212 comprises column body 2121 and lower prop 2122, described column body 2121 and described lower prop 2122 are in removably connecting, described top frame 211 is connected with the top of described column body 2121, connect foot lever 213 by described column between adjacent described lower prop 2111 to connect, described top frame 211 is also provided with the installation frame 214 for mounting robot 22; Described installation frame 214 comprises the cantilever beam 2142 in the middle part of each limit that a balance frame 2141 and four are located at described top frame 211, and described balance frame 2141 is fixedly connected with described top frame 211 by four described cantilever beams 2142; Each described cantilever beam 211 is provided with one for the Connection Block 2143 of stationary machines people 22; Between described top frame 211 and each described upper pillar stand 2121, the bight of junction and described column connect foot lever 213 and the bight of described lower pillar stand 2122 junction and are respectively provided with one for increasing the oblique pull frame 215 of connective stability; The lower end of each described lower pillar stand 2122 is respectively equipped with one for fixed support 21 being fixed on the permanent seat 216 of application places; Described top frame 211, column 212, column connect between foot lever 213 and oblique pull frame 215 for being welded to connect.This fixed support is through finite element analysis, optimal design, and its column is Demountable, and its stable mechanical property, carrying and easy for installation, can meet technical requirements when robot runs, save cost and space again.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. columnar material arranges a piling water system, it is characterized in that, comprising:
One stalk straightening device, for in disorder column being made in order into ordered arrangement state, it material grasping conveying mechanism comprising feeding mechanism, be located at the material receiving mechanism of described feed mechanism downstream, be located at the material tidying mechanism in described material receiving mechanism downstream and be located at described material tidying mechanism downstream;
One grabbing device, column for being made in order by described stalk straightening device grabs water system downstream for piling, it comprises fixed support, be located at least one robot on described fixed support and by least one column handgrip of described robot controlling with for taking the column on the material grasping conveying mechanism of described stalk straightening device and feeding back to the camera head of described robot, be located at the backlight on the material grasping conveying mechanism of described stalk straightening device, described column handgrip is also provided with the first inductor for detecting column, described column handgrip comprises by described robot controlling and multiple arm of working in coordination is grabbed with the suction being located at described arm lower end,
One palletizing apparatus, realize the modularization piling of column for coordinating described grabbing device and be delivered to water system downstream for packaging, it comprises the side temporary storage mechanism and conveying mechanism of being located at described grabbing device, described temporary storage mechanism comprises at least one material holding tank, and each described material holding tank is provided with the second inductor be connected with described robot.
2. columnar material as claimed in claim 1 arranges piling water system, it is characterized in that, described stalk straightening device also comprises to be located between described material grasping conveying mechanism and described feeding mechanism for by not crawled and the column stayed on described material grasping conveying mechanism is recycled to the material return mechanism on described feeding mechanism; Described feeding mechanism comprises charging actuating device and feed conveyor belt; Described material receiving mechanism comprises splicing actuating device and splicing belt conveyor; Described material tidying mechanism comprises reason material actuating device and the low speed that driven by described reason material actuating device is managed material section and is located at described low speed and manages and expect that the high speed in section downstream is managed and expect section; Described material grasping conveying mechanism comprises material grasping actuating device and material grasping carrier bar; Described material return mechanism comprises feed back actuating device and feed back belt conveyor.
3. columnar material as claimed in claim 2 arranges piling water system, it is characterized in that, described low speed reason material section is provided with the first reason material belt conveyor, and described high speed reason material section is provided with the second reason material belt conveyor of a transfer rate higher than the transfer rate of described first reason material belt conveyor; Described first reason material belt conveyor is provided with multiple directed dividing plate; The top of described first reason material belt conveyor and the second reason material belt conveyor is provided with and prevents column from rolling back and forth and the blend stop separated by column.
4. the columnar material as described in claim 2 or 3 arranges piling water system, it is characterized in that, described feed back belt conveyor comprises the first feed back belt conveyor and is located at the second feed back belt conveyor in described first feed back belt conveyor downstream and is located at the 3rd feed back belt conveyor in described second feed back belt conveyor downstream, described 3rd feed back belt conveyor is located at the upstream of described feed conveyor belt and is positioned at its side, and described first feed back belt conveyor, the second feed back belt conveyor, the 3rd feed back belt conveyor are provided with multiple fin perpendicular with its direction of transfer.
5. columnar material as claimed in claim 1 arranges piling water system, it is characterized in that, described suction packet capturing is drawn together to inhale and is grabbed support, is located at described suction and grabs at least one cylinder on support, at least one group of sucker distributed that be in line be connected with the output shaft of described cylinder, the vacuum generator be connected with described sucker.
6. columnar material as claimed in claim 1 arranges piling water system, it is characterized in that, described temporary storage mechanism comprises multiple material holding tank, and described material holding tank has multiple perpendicular lattice, on it is vertical can the number of plies of piling column equal with the quantity of described material holding tank; Described conveying mechanism is a drive motor and a link chain mechanism, and multiple described material holding tank is series on described link chain mechanism.
7. columnar material as claimed in claim 6 arranges piling water system, it is characterized in that, described link chain mechanism is provided with multiple equally distribution and can coordinates with the perpendicular lattice of described material holding tank material putter component column being scraped another material holding tank from a material holding tank, and the push rod quantity of described material putter component is equal with the quantity of the perpendicular lattice of described material holding tank.
8. columnar material as claimed in claim 1 arranges piling water system, it is characterized in that, described temporary storage mechanism comprises at least two material holding tanks, each described material holding tank is located at the homonymy of described grabbing device side by side, described conveying mechanism comprises the transverse moving mechanism that the column in material holding tank can be pushed away away and a vertical chain mechanism, described vertical chain mechanism is equally distributed with the column packaging element module transportation frame of multiple lateral openings.
9. columnar material as claimed in claim 8 arranges piling water system, it is characterized in that, described transverse moving mechanism comprises support and is located at slide rail on described support, intermediate transportation frame, cylinder assembly and the steering hardware of column unit module unitary rotation for being shaped by piling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210032904.3A CN103241545B (en) | 2012-02-14 | 2012-02-14 | Columnar material arranges piling water system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210032904.3A CN103241545B (en) | 2012-02-14 | 2012-02-14 | Columnar material arranges piling water system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103241545A CN103241545A (en) | 2013-08-14 |
| CN103241545B true CN103241545B (en) | 2015-12-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105539926A (en) * | 2015-12-25 | 2016-05-04 | 广州达意隆包装机械股份有限公司 | Sausage feeding machine |
| CN105947616A (en) * | 2016-05-13 | 2016-09-21 | 安徽瑞丝环保能源有限公司 | Straw arranging device |
| CN107380535B (en) * | 2017-09-07 | 2023-10-13 | 中煤科工集团淮北爆破技术研究院有限公司 | Automatic change explosive equipment for packing |
| CN108163245B (en) * | 2017-12-21 | 2019-10-08 | 重庆久和豪贝机械有限公司 | Mechanical device for automatic packaging gear |
| CN108225129B (en) * | 2018-01-16 | 2024-04-02 | 广东振声智能装备有限公司 | Automatic stacking equipment for industrial explosive production line |
| CN109850582B (en) * | 2018-12-19 | 2020-12-08 | 武汉人天包装自动化技术股份有限公司 | Cylindrical material arranging mechanism |
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| CN1863721A (en) * | 2003-10-09 | 2006-11-15 | 奥普蒂马填充及包装机器有限责任公司 | Device for forming piles |
| CN201686029U (en) * | 2010-04-08 | 2010-12-29 | 无限极（中国）有限公司 | Full-automatic preliminary arrangement machine for quickly loading oral liquid bottles in pallet |
| CN201808907U (en) * | 2010-09-07 | 2011-04-27 | 周飞 | Water detection type beer bottle sorting machine using guide rail |
| CN202481764U (en) * | 2012-02-14 | 2012-10-10 | 深圳市金奥博科技有限公司 | Stacking equipment for tidying columnar materials |
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| US6823981B2 (en) * | 2002-11-04 | 2004-11-30 | Kimberly-Clark Worldwide, Inc. | Conveyor system for an automatic accumulation system |
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| CN1863721A (en) * | 2003-10-09 | 2006-11-15 | 奥普蒂马填充及包装机器有限责任公司 | Device for forming piles |
| CN201686029U (en) * | 2010-04-08 | 2010-12-29 | 无限极（中国）有限公司 | Full-automatic preliminary arrangement machine for quickly loading oral liquid bottles in pallet |
| CN201808907U (en) * | 2010-09-07 | 2011-04-27 | 周飞 | Water detection type beer bottle sorting machine using guide rail |
| CN202481764U (en) * | 2012-02-14 | 2012-10-10 | 深圳市金奥博科技有限公司 | Stacking equipment for tidying columnar materials |
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Address after: 518057, R2-A building, 4 floor, Nanshan District hi tech Industrial Park (South District), Guangdong, Shenzhen Patentee after: SHENZHEN KING EXPLORER SCIENCE AND TECHNOLOGY Corp. Address before: 518057, R2-A building, 4 floor, Nanshan District hi tech Industrial Park (South District), Guangdong, Shenzhen Patentee before: SHENZHEN KING EXPLORER SCIENCE & TECHNOLOGY CO.,LTD. |
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Denomination of invention: Column material sorting and stacking flow system Effective date of registration: 20210918 Granted publication date: 20151202 Pledgee: Shenzhen hi tech investment small loan Co.,Ltd. Pledgor: SHENZHEN KING EXPLORER SCIENCE AND TECHNOLOGY Corp. Registration number: Y2021980009627 |
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Date of cancellation: 20231201 Granted publication date: 20151202 Pledgee: Shenzhen hi tech investment small loan Co.,Ltd. Pledgor: SHENZHEN KING EXPLORER SCIENCE AND TECHNOLOGY Corp. Registration number: Y2021980009627 |
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Denomination of invention: Column material sorting and stacking flow system Effective date of registration: 20231206 Granted publication date: 20151202 Pledgee: Shenzhen Branch of China Merchants Bank Co.,Ltd. Pledgor: SHENZHEN KING EXPLORER SCIENCE AND TECHNOLOGY Corp. Registration number: Y2023980069660 |