CN104261139A - Full-automatic stacker crane and control method thereof - Google Patents

Full-automatic stacker crane and control method thereof Download PDF

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Publication number
CN104261139A
CN104261139A CN201410479083.7A CN201410479083A CN104261139A CN 104261139 A CN104261139 A CN 104261139A CN 201410479083 A CN201410479083 A CN 201410479083A CN 104261139 A CN104261139 A CN 104261139A
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CN
China
Prior art keywords
feeder
mobile platform
pallet
material
mobile
Prior art date
Application number
CN201410479083.7A
Other languages
Chinese (zh)
Inventor
王超
Original Assignee
王超
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 王超 filed Critical 王超
Priority to CN201410479083.7A priority Critical patent/CN104261139A/en
Publication of CN104261139A publication Critical patent/CN104261139A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • B65G57/02Stacking of articles by adding to the top of the stack
    • B65G57/03Stacking of articles by adding to the top of the stack from above

Abstract

The invention discloses a full-automatic stacker crane and a control method thereof. The full-automatic stacker crane comprises a conveying machine, a feeder, a discharger, a mobile platform and an upper tray machine; the discharger is mainly formed by more than two upper mobile supporting plates and a mobile supporting plate driven mechanism; a discharging end of a conveyor is connected with the discharger; the feeder is arranged at a connecting position of the discharger and the conveyor; the mobile platform is installed under the discharger; the upper tray machine is installed on one side of the mobile platform. The control method of the full-automatic stacker crane comprises that the upper tray machine pushes material trays to the mobile platform and the mobile platform rises to be close to the discharger; materials are conveyed to the feeder through the conveyor and the feeder pushes the materials one by one inside the discharger; the mobile supporting plates of the discharger are sequentially opened to achieve stacking of one row of materials; the mobile platform rotates to achieve stacking of the other row of materials; the mobile platform moves downward and stacks above the stacked materials; the trays are moved. The full-automatic stacker crane enables stacking to be orderly and efficient and is simple in structure and low in cost.

Description

All automatic piler and control method thereof

Technical field

The present invention relates to a kind of goods palletizing technology field, particularly relate to a kind of all automatic piler and control method thereof.

Background technology

The piling of current bag cargo is divided into two kinds of forms: hand stowage and mechanical piling.Hand stowage is wasted time and energy, and belong to heavy manual labor, especially when weather is slightly warm, the muscle power of workpeople is seriously overdrawed, and progressively exits piling market.And the universal of mechanical piling will be the inevitable of piling form development, in developed country, mechanical piling almost substitutes hand stowage completely.

Along with the fast development of China's economy and the raising of people's living standard, also progressively there is the phenomenon of labor shortage in China in recent years, and particularly slightly, stupid flexibe work(labour) power is short especially.Originally that situation depending merely on manpower piling also will progressively replace by mechanical piling.

In mechanical piling field, most domestic takes high-rise piling and mechanical arm Palletizer.What high-rise piling was taked is layering piling, namely according to the pattern of every layer of piling, in upper flat plate, the good one deck of code, then opens flat board, and the material on flat board is fallen simultaneously, this piling mode adds the difficulty of top material handling, make high-rise Palletizer structure comparatively complicated, floor area is large, and cost is higher, so price is also higher, high-rise stacker price domestic is at present 40-50 ten thousand yuan.And mechanical arm piling, what adopt due to current most domestic enterprise is the mechanical arm of complete system import, price is very high, a set of equipment is at about 800,000 yuan, even home-made machine mechanical arm, because critical component almost all comes from import, so cost is also very high, a set of equipment price is also at about 500,000 yuan.

Based on above situation, current most domestic large enterprise, under the pressure of the pressure of artificial shortage, have to spend larger fund to buy mechanical arm and high-rise palletizing mechanical, and the medium-sized and small enterprises of the overwhelming majority, more consider from cost performance, have to continue to use traditional hand stowage, but they are expecting that a kind of palletizing mechanical of higher price-performance ratio carrys out alternative hand stowage always.

As can be seen here, above-mentioned existing all automatic piler with in use in structure, obviously still has inconvenience and defect, and is urgently further improved.How to found that a kind of structure is simple, lower new all automatic piler and the control method thereof simultaneously taking into account automation and piling efficiency of price, become the target that current industry pole need be improved.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of all automatic piler and control method thereof, make it can realize the unmanned and full-automatic of piling, thus saving manpower, improve piling efficiency, make piling more specification, neat, be easier to later stage entrucking, and device structure is relatively simple, cost is lower, thus overcomes the deficiency of existing all automatic piler.

For solving the problems of the technologies described above, a kind of all automatic piler of the present invention, comprises conveyer, pusher, feeder, mobile platform and top tray machine, wherein: described feeder is primarily of more than two pieces mobile pallets and mobile pallet lead agency composition; The discharge end of conveyer is connected with feeder, and pusher is arranged on feeder and conveyer joining place; Mobile platform is arranged on immediately below feeder, and top tray machine is arranged on the side of mobile platform.

As a modification of the present invention, described mobile platform is arranged on immediately below feeder by hydraulic pressure scissor lift is moving up and down.

Described mobile platform is rotatably connected by backup bearing and hydraulic pressure scissor lift, and rotates under driven by motor.

Described conveyer comprises leveling conveyer and feeding conveyer two parts, and wherein, leveling conveyer is made up of two parallel up and down conveyers, and two conveyers are connected by rotatable supporting plate, and are provided with spring-damper between two conveyers.

The feed end of described conveyer is also connected material adjuster.

Also comprise main body frame: described feeder is arranged on above main body frame; Described mobile platform is arranged in main body frame; Described top tray machine is arranged on main body frame side; Described pusher is arranged on the track of main body frame by slide block, and movablely under cylinder drives is pushed in feeder by the material in conveyer.

Described feeder is made up of the mobile pallet of the three pieces of same sizes in left, center, right, and described mobile pallet lead agency is drive separately the tooth bar of every block mobile pallet opening and closing, gear and cylinder.

Described top tray machine primarily of base, be slidably arranged on base pleading dish device and liftable be arranged on base pallet supporting plate composition.。

Described base be provided with along near and the guide rail that extends away from the direction of main body frame, described pleading is coiled device and is moved along this guide rail under the drive of tooth bar, gear and cylinder.

In addition, present invention also offers a kind of control method of above-mentioned all automatic piler, comprise the following steps: A. mobile platform is positioned at low level, top tray machine pushes material tray on mobile platform; B. mobile platform rises near feeder; C. material is transferred to pusher place through conveyer, and material pushes in feeder by pusher one by one; D. the mobile pallet of feeder is opened successively, and material is fallen in pallet in turn, to piling up of complete material in a row; E. mobile platform rotates, and repeats step D afterwards, to completing piling up of another row's material; F., after completing the piling up of one deck material, mobile platform moves down, and returns step D, continues to pile up above the material piled up, to completing piling up of multilayer dose; G. pallet and the good material of upper piling thereof are removed in the lump, and return steps A.

As further improvement, described top tray machine primarily of base, plead dish device and pallet supporting plate composition, base has stacked multiple pallet; In described steps A, when top tray machine pushes material tray on mobile platform, the pallet pleading the dish device promotion bottom moves to mobile platform, and the pallet on this pallet is held up by pallet supporting plate; After steps A completes, plead dish device and return initial position, pallet supporting plate falls and is again placed on base by pallet.

After adopting such design, all automatic piler of the present invention at least has the following advantages:

1, the piling speed of 800 bags per hour can be realized, current hand stowage can be replaced completely, by current hand stowage ability, when by conveying machinery, everyone per tour 8 hourly average maximum piling 600 bag calculate (piling workman due to its labour intensity large, can not realize not resting for 8 hours running like a machine, it must be that rest is worked with the batch (-type) combined of working), 4 codes can be replaced to stamp workman's (all automatic piler can realize continuous print do not rest for 24 hours running), in current people workman's shortage, when labor cost increases day by day, its economic benefit and social benefit are huge,

2, the mode of single bag piling taked of the present invention, namely feeder is opened at every turn and is only fallen a bag material, the position that material follow procedure is set falls, thus realizing circulation piling, the mode of this single bag piling, enormously simplify the design difficulty of equipment, relatively simple for structure, take up room little, cost compare is low, is the Palletizer that a kind of cost performance is very high.

Accompanying drawing explanation

Above-mentioned is only the general introduction of technical solution of the present invention, and in order to better understand technological means of the present invention, below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail.

Fig. 1 is the structural representation of all automatic piler of the present invention.

Fig. 2 is the structural representation of the feeder of all automatic piler of the present invention.

Detailed description of the invention

Refer to shown in Fig. 1, all automatic piler of the present invention mainly comprises conveyer, pusher 7, feeder 8, mobile platform 11 and top tray machine.Wherein, feeder 8 is primarily of more than two pieces mobile pallets and mobile pallet lead agency composition, the discharge end of conveyer is connected with feeder 8, pusher 7 is arranged on the joining place of feeder 8 and conveyer, mobile platform 11 is arranged on immediately below feeder 8, and top tray machine is arranged on the side of mobile platform 11.

Further expansion, the present invention also can comprise a main body frame 10, as shown in the figure, namely feeder 8 is arranged on the top of main body frame 10, mobile platform 11 is arranged in main body frame 10, top tray machine is arranged on the side of main body frame 10, and pusher is then arranged on the track of main body frame by slide block, and can move forward and backward under the flexible drive of cylinder 6 thus be pushed to by the material in conveyer in the feed bin of feeder 8.

Conveyer also can as shown in the figure, be made up of leveling conveyer 3 and feeding conveyer 5 two parts, and can have material adjuster 1 in the feed end linking of conveyer.Material adjuster 1 is in all automatic piler of the present invention foremost, and it can make, and bagged material is smooth to be fallen, and makes its rear end forward, is convenient to the unification of piling, neat.Leveling conveyer 3 is made up of two parallel up and down conveyers, two conveyers are connected by rotatable supporting plate 4, and spring-damper 2 is provided with between two conveyers, by the blessing effect of upper and lower two synchronous transport devices, and the balanced support power that spring-damper 2 gives, make to become smooth through material therebetween, and the air inside the emptying material bag of energy.Feeding conveyer 5 is arranged on main body frame 10, receives and transmit leveling conveyer 3 to transmit the material of coming, and namely pusher 7 is arranged on feeding conveyer 5.

Mobile platform 11 is arranged on immediately below feeder by hydraulic pressure scissor lift 12, thus make mobile platform 11 under the hydraulic actuating cylinder 13 of hydraulic pressure scissor lift 12 drives, and rises or decline within the scope of the diff-H of top tray machine and feeder 8.Mobile platform 11 can also be arranged on hydraulic pressure scissor lift 12 by backup bearing, is rotated by Frequency Converter Control driven by motor mobile platform, the smooth starting that implementation platform rotates and steadily stopping.

Top tray machine primarily of base, be slidably arranged on base pleading dish device 15 and the liftable pallet supporting plate 14 be arranged on base form, it is positioned at the lateral location of main body frame 10, and the height that height and hydraulic pressure scissor lift 12 drop to lowest positions is consistent.Wherein, base be provided with along near and away from the guide rail that the direction of main body frame 10 extends, plead dish device 15 and advance on the guideway under the drive of tooth bar, gear or retreat, thus promote pallet to the position set and return.The effect of pallet supporting plate 14 ensures that the pallet at every turn pushing to mobile platform only has one: when pleading dish device 15 and promoting the advance of nethermost pallet, often walking is to the position of setting, the pallet on top is just stopped by pallet supporting plate 14, and hold up under the drive of cylinder 16, thus the pallet on top is no longer moved and avoids falling; When pleading dish device 15 and shifting nethermost pallet onto desired location, plead dish device 15 and turn back to initial position, pallet supporting plate 14 slowly falls under the effect of cylinder 16, thus pallet is steadily dropped on base again.

Shown in Fig. 2, namely marrow of the present invention be the part of feeder 8.As a preferred embodiment, feeder of the present invention can be made up of the mobile pallet 82 of the three pieces of same sizes in left, center, right, and mobile pallet lead agency is the tooth bar 83, gear 84 and the cylinder 85 that drive separately the opening and closing of every block mobile pallet 82.By the side-to-side movement of the corresponding mobile pallet 82 of the flexible drive of cylinder 85, the same time ensures to only have a mobile pallet 82 to be in open mode, and another mobile pallet 82 is in closure state, after material enters the left feed bin of feeder by conveyer, feeder is moved to the left according to the order of program setting, after feeder moves into place, middle mobile pallet 82 is driven to move right by the flexible of cylinder 85, another two pieces of mobile pallets under the effect of mobile pallet lead agency respectively to moving left, left like this feed bin is in open mode, material falls, realize left side blanking, right feed bin is in closed condition simultaneously, wait for entering of material.In like manner, after material enters the right feed bin of feeder by conveyer, feeder moves right according to the order of program setting, after feeder moves into place, drives middle mobile pallet 82 to be moved to the left by the flexible of cylinder 85, another two pieces of mobile pallets under the effect of mobile pallet lead agency respectively to moving right, right like this feed bin is in open mode, and material falls, and realizes the right blanking, left feed bin is in closed condition simultaneously, waits for entering of material.Feeder does not move, and feeder feed bin is closed after opening again and realized middle blanking.That carries out the sway of feeder and feed bin according to the order of program setting like this opens or closes the left side blanking, the right blanking or the middle blanking that realize material, by material piling to the position needed.In addition, also can configure material baffle 81 on feeder 8, to coordinate with pusher 7, material is placed on the accurate location of feeder feed bin.

The detailed process of the control method of the above-mentioned all automatic piler of the present invention is as follows.

Under initial condition, hydraulic pressure scissor lift 12 in its position bottom, top tray machine plead the position that dish device 15 in the end holds, feed bin entrance and the feeding conveyer 5 of feeder 8 are just right, and by the good parameter of programming before beginning piling, the number of plies of such as piling.

When starting piling, mobile platform 11 is also positioned at low level, and the dish device 15 of pleading of top tray machine pushes material tray to the mobile platform on hydraulic pressure scissor lift 12.Need to further illustrate, automatic top tray machine of the present invention can put multiple pallet at every turn, and plead the pallet that dish device 15 promotes the bottom and move to mobile platform 11, the pallet on this pallet is held up by pallet supporting plate 14; After pallet puts in place, plead dish device 15 back to its initial position, pallet supporting plate 14 falls and is again placed on base by pallet.

Hydraulic pressure scissor lift 12 starts to rise near feeder 8.

Piling starts, material is through the adjustment of material adjuster 1, its bottom forward, smooth be transported to leveling conveyer 3 feed end, leveling conveyer 3 material is brought into and flattens, transport material to the top of leveling conveyer 3, send in the feeding conveyer on main body frame 10, when material is transported to the position of setting by feeding conveyer 5, pusher 7 is started working, shifted onto by material in the feed bin of feeder 8, pusher 7 returns after being pushed away by material and being put into position.

Feeder 8 starts action simultaneously, a mobile pallet of feeder is opened according to the mode of setting, material is made to fall the relevant position of pallet, pusher 7 continues pusher in feeder 8 afterwards, feeder 8 opens each mobile pallet successively, thus be dropped on pallet in turn by material, until one arranges having piled up of material.

After the piling up of complete material in a row, the angle that mobile platform 11 starts follow procedure setting under the driving of motor rotates, and repeats above-mentioned steps afterwards, completes piling up of another row's material.

After completing the piling up of one deck material, elevator 12 declines certain distance, mobile platform 11 moves down thereupon, carry out piling up of the second layer according to above-mentioned steps, so circulate, until complete the piling number of plies of setting, elevator 12 drops to bottom, complete piling up of material, wait for that pallet is dragged away together with the material on it by fork truck, return initial step top tray carry out next round piling again afterwards.

The above; it is only preferred embodiment of the present invention; not do any pro forma restriction to the present invention, those skilled in the art utilize the technology contents of above-mentioned announcement to make a little simple modification, equivalent variations or modification, all drop in protection scope of the present invention.

Claims (11)

1. an all automatic piler, is characterized in that comprising conveyer, pusher, feeder, mobile platform and top tray machine, wherein:
Described feeder is primarily of more than two pieces mobile pallets and mobile pallet lead agency composition;
The discharge end of conveyer is connected with feeder, and pusher is arranged on feeder and conveyer joining place;
Mobile platform is arranged on immediately below feeder, and top tray machine is arranged on the side of mobile platform.
2. all automatic piler according to claim 1, is characterized in that described mobile platform is arranged on immediately below feeder by hydraulic pressure scissor lift is moving up and down.
3. all automatic piler according to claim 2, is characterized in that described mobile platform is rotatably connected by backup bearing and hydraulic pressure scissor lift, and rotates under driven by motor.
4. all automatic piler according to claim 1, it is characterized in that described conveyer comprises leveling conveyer and feeding conveyer two parts, wherein, leveling conveyer is made up of two parallel up and down conveyers, two conveyers are connected by rotatable supporting plate, and are provided with spring-damper between two conveyers.
5. all automatic piler according to claim 1, is characterized in that the feed end of described conveyer is also connected and has material adjuster.
6. all automatic piler according to claim 1, characterized by further comprising main body frame: described feeder is arranged on above main body frame; Described mobile platform is arranged in main body frame; Described top tray machine is arranged on main body frame side; Described pusher is arranged on the track of main body frame by slide block, and movablely under cylinder drives is pushed in feeder by the material in conveyer.
7. all automatic piler according to claim 1, it is characterized in that described feeder is made up of the mobile pallet of the three pieces of same sizes in left, center, right, described mobile pallet lead agency is drive separately the tooth bar of every block mobile pallet opening and closing, gear and cylinder.
8. all automatic piler according to claim 1, it is characterized in that described top tray machine primarily of base, be slidably arranged on base pleading dish device and liftable be arranged on base pallet supporting plate composition.
9. all automatic piler according to claim 8, it is characterized in that described base be provided with along near and the guide rail that extends away from the direction of main body frame, described pleading is coiled device and is moved along this guide rail under the drive of tooth bar, gear.
10. a control method for all automatic piler according to any one of claim 1-9, is characterized in that comprising the following steps:
A. mobile platform is positioned at low level, and top tray machine pushes material tray on mobile platform;
B. mobile platform rises near feeder;
C. material is transferred to pusher place through conveyer, and material pushes in feeder by pusher one by one;
D. the mobile pallet of feeder is opened successively, and material is fallen in pallet in turn, to piling up of complete material in a row;
E. mobile platform rotates, and repeats step D afterwards, to completing piling up of another row's material;
F., after completing the piling up of one deck material, mobile platform moves down, and returns step D, continues to pile up above the material piled up, to completing piling up of multilayer dose;
G. pallet and the good material of upper piling thereof are removed in the lump, and return steps A.
11. control methods according to claim 10, is characterized in that:
Described top tray machine primarily of base, be slidably arranged on base pleading dish device and liftable be arranged on base pallet supporting plate composition, base has stacked multiple pallet;
In described steps A, when top tray machine pushes material tray on mobile platform, the pallet pleading the dish device promotion bottom moves to mobile platform, and the pallet on this pallet is held up by pallet supporting plate;
After steps A completes, plead dish device and return initial position, pallet supporting plate falls and is again placed on base by pallet.
CN201410479083.7A 2014-09-19 2014-09-19 Full-automatic stacker crane and control method thereof CN104261139A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104609205A (en) * 2015-01-14 2015-05-13 安徽农业大学 Automatic mushroom stick stacking device for edible mushrooms based on hydraulic elevator platform
CN105063909A (en) * 2015-08-14 2015-11-18 海宁市御纺织造有限责任公司 Collecting device
CN106276270A (en) * 2016-08-30 2017-01-04 中银(宁波)电池有限公司 A kind of feeding method of battery packages Palletizer
CN106516239A (en) * 2015-11-05 2017-03-22 物必达智能设备南通有限公司 Rapid package falling arrangement rack special for express transport and use method
CN106628363A (en) * 2016-12-25 2017-05-10 安徽华天机械股份有限公司 Automatic material distribution counting and stacking machine and control method thereof

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4708564A (en) * 1986-07-07 1987-11-24 Master Conveyor Corporation Palletizing apparatus
US4898511A (en) * 1986-04-26 1990-02-06 Kolbus Gmbh & Co. Kg Apparatus for stacking products that are highly susceptible to damage, particularly books
CN101168415A (en) * 2007-11-24 2008-04-30 国营汉光机械厂 Piling machine
CN201317593Y (en) * 2008-08-12 2009-09-30 刘志能 Horizontal-push drop-type rotating automatic adobe-setting machine
CN102774660A (en) * 2012-08-08 2012-11-14 江苏中科友特机器人科技有限公司 Automatic stacker crane
CN204096657U (en) * 2014-09-19 2015-01-14 王超 All automatic piler

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4898511A (en) * 1986-04-26 1990-02-06 Kolbus Gmbh & Co. Kg Apparatus for stacking products that are highly susceptible to damage, particularly books
US4708564A (en) * 1986-07-07 1987-11-24 Master Conveyor Corporation Palletizing apparatus
CN101168415A (en) * 2007-11-24 2008-04-30 国营汉光机械厂 Piling machine
CN201317593Y (en) * 2008-08-12 2009-09-30 刘志能 Horizontal-push drop-type rotating automatic adobe-setting machine
CN102774660A (en) * 2012-08-08 2012-11-14 江苏中科友特机器人科技有限公司 Automatic stacker crane
CN204096657U (en) * 2014-09-19 2015-01-14 王超 All automatic piler

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104609205A (en) * 2015-01-14 2015-05-13 安徽农业大学 Automatic mushroom stick stacking device for edible mushrooms based on hydraulic elevator platform
CN104609205B (en) * 2015-01-14 2017-02-01 安徽农业大学 Automatic mushroom stick stacking device for edible mushrooms based on hydraulic elevator platform
CN105063909A (en) * 2015-08-14 2015-11-18 海宁市御纺织造有限责任公司 Collecting device
CN106516239A (en) * 2015-11-05 2017-03-22 物必达智能设备南通有限公司 Rapid package falling arrangement rack special for express transport and use method
CN106276270A (en) * 2016-08-30 2017-01-04 中银(宁波)电池有限公司 A kind of feeding method of battery packages Palletizer
CN106628363A (en) * 2016-12-25 2017-05-10 安徽华天机械股份有限公司 Automatic material distribution counting and stacking machine and control method thereof
CN108146706A (en) * 2016-12-25 2018-06-12 安徽华天机械股份有限公司 A kind of automation control method of amount ink recorder

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