CN106144624A - A kind of automatic boxing method and automatic boxing machinery hands - Google Patents

A kind of automatic boxing method and automatic boxing machinery hands Download PDF

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Publication number
CN106144624A
CN106144624A CN201610651828.2A CN201610651828A CN106144624A CN 106144624 A CN106144624 A CN 106144624A CN 201610651828 A CN201610651828 A CN 201610651828A CN 106144624 A CN106144624 A CN 106144624A
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CN
China
Prior art keywords
pallet
standard container
automatic boxing
conveyer
laterally
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Granted
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CN201610651828.2A
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Chinese (zh)
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CN106144624B (en
Inventor
杨晖伟
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杨晖伟
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Priority to CN201610651828.2A priority Critical patent/CN106144624B/en
Publication of CN106144624A publication Critical patent/CN106144624A/en
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Publication of CN106144624B publication Critical patent/CN106144624B/en
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    • 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
    • B65G57/16Stacking of articles of particular shape
    • B65G57/20Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • B65G57/22Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
    • B65G57/24Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
    • 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
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Abstract

A kind of open automatic boxing method of the present invention, comprises the following steps: make standard container serially enter on the pallet of automatic boxing machinery hands;Push away the most horizontal for the standard container on each entrance pallet, until described standard container is laterally booked pallet;Just can accommodate more than or equal to two standard containers when laterally occupying on described pallet;Mobile pallet and by several standard container entirety drawings of being laterally booked on pallet to piling position;The present invention discloses a kind of automatic boxing machinery hands, be included in PLC system and control the lower frame of cooperating, conveyer device, pallet, mobile system;Equipped with crane device on the base of described frame, being provided with conveyer device in frame, the front of conveyer device is provided with and can laterally occupy the pallet more than or equal to two standard containers, and pallet is connected to can drive on its upper and lower, movable mobile system;Being additionally provided with distributor and drawing device on mechanical hand, replace artificial completely, vanning speed is fast, saves manpower.

Description

A kind of automatic boxing method and automatic boxing machinery hands
Technical field
The present invention relates to carry vanning field, particularly to a kind of automatic boxing method and automatic boxing machinery hands.
Background technology
Along with the globalization of world commerce, container plays an important role in international transport, for manufacturer Or businessman, it is necessary to the product packaging into case is packed into the container or in cabinet case, be usually taken in prior art a dead lift, The mode of pendulum case completes work of casing, and the amount of labour is big, inefficiency.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of replacement by the standard container of uniform specification the most automatically Pack into the container or method in cabinet case and a kind of structure reliable automatic boxing machinery hands.
For solve above-mentioned technical problem, the present invention by the following technical solutions:
A kind of automatic boxing method, comprises the following steps
Step 1, makes standard container serially enter on the pallet of automatic boxing machinery hands;
Step 2, pushes away the most horizontal for the standard container on each entrance pallet, until described standard container is horizontal It is booked pallet;Just can accommodate more than or equal to two standard containers when laterally occupying on described pallet;
Step 3, mobile pallet and by several standard container entirety drawings of being laterally booked on pallet to piling position.
Preferably, the most also automatic boxing machinery hands enters cabinet case to be installed and is automatically positioned:
Described pallet return again after touching the antetheca of cabinet case the length of a standard container add top tray overall width away from It is automatically positioned from completing.
It is highly preferred that when being booked the number of standard container of pallet and being odd number, in described step 1, in described standard container The centrage of heart line alignment pallet serially enters pallet;In described step 2, horizontal push away initial position be tray centerline to the left or to Right avertence moves the half of a standard container width;
When being booked the number of standard container of pallet and being even number, in described step 1, a side correspondence of described standard container The centrage of pallet serially enters pallet;In described step 2, the horizontal initial position that pushes away is that tray centerline offsets one to the left or to the right The width of individual standard container;
Each enters the most horizontal width pushing away a standard container that the standard container on pallet is replaced;Push away when horizontal When initial position is positioned on the right side of tray centerline, odd-times is horizontal pushes left promotion to, and even-times is horizontal pushes right promotion to;Push away initially when horizontal When position is positioned on the left of tray centerline, odd-times is horizontal pushes right promotion to, and even-times is horizontal pushes left promotion to.
Further, the centrage of the centrage correspondence pallet of described standard container carries on a conveyor;
When being booked the number of standard container of pallet and being odd number, described standard container is directly serially entered torr by conveyer device Dish;
When being booked the number of standard container of pallet and being even number, described standard container on a conveyor by the most to the left or to The half of right one standard container width of correction, makes the centrage of the same side correspondence pallet of described standard container serially enter torr Dish.
Further, in step 3, first the pallet being booked standard container is treated code by lifting, movable being placed into Buttress position;
The rear wall entirety of several standard containers being laterally booked on pallet being withstood, pallet retreats, until all on pallet Standard container departs from pallet stacking to piling position.
A kind of automatic boxing machinery hands, including PLC control system and under PLC system control the frame of cooperating, Conveyer device, pallet, mobile system;Equipped with crane device on the base of described frame, be transported on pallet by standard container is defeated Sending device to be arranged in frame, the front of conveyer device is provided with and can laterally occupy the pallet more than or equal to two standard containers, pallet It is connected to can drive on its upper and lower, movable mobile system;
Described mechanical hand is provided with and can will be delivered to the distributor that standard container thereon is pushed on pallet one by one;
Described mechanical hand be provided with the standard container each can being transported on pallet the most horizontal push away, until Laterally be booked pallet laterally pushes away case apparatus;It is additionally provided with on mechanical hand and several standard containers being laterally booked on pallet can be made overall The drawing device of abjection pallet.
Preferably, the front end of described pallet is provided with and realizes the driving induction apparatus that automatic boxing machinery hands is automatically positioned.
Further, described conveyer device is divided into second accelerating sections adjacent with pallet rear end and can be by outer transporter Be transported to standard container thereon temporary and can a described standard container be transported on the second accelerating sections at intervals every time the One accelerating sections.
Further, described pallet be laterally divided in the middle part of pallet, pallet left end, pallet right-hand member;Dock with conveyer device Described pallet in the middle part of on be provided with along pallet length direction and to push away case gap;The described case apparatus that laterally pushes away is arranged at the lower section of pallet, Including laterally pushing away case actuating unit, laterally push away the outfan of case actuating unit and be connected with when exceeding tray upper surface and push away between case described What in gap, bilateral reciprocation promoted standard container pushes away case bar, and the described case actuating unit that laterally pushes away is connected to drive and pushes away case bar repeatedly Raise on descending mechanism beyond/the horizontal of retraction tray upper surface.
Wherein, several second tin rollers arranged along pallet length direction in the middle part of described pallet form side by side, second tin roller Between leave described in push away case gap, described pallet left end and pallet right-hand member vertical tray length direction several the 3rd cylinders be set Form side by side.
It is highly preferred that the conveying direction of vertical conveying device is provided with correction gap on described conveyer device, conveyer device Lower section is provided with deviation correcting device, and deviation correcting device includes that actuating unit of rectifying a deviation, the outfan of correction actuating unit are connected with from described correction Gap passes and in described correction gap, the pulling part of standard container can be promoted by bilateral reciprocation.
The centrage of the centrage of described conveyer device and described pallet is same axis or parallel lines each other.
Further, described conveyer device is divided into second accelerating sections adjacent with pallet rear end and can be by outer transporter It is transported to the first acceleration that standard container thereon is temporary and can be transported on the second accelerating sections by a described standard container every time Section, the conveying direction of vertical second accelerating sections in described correction gap is arranged on the second accelerating sections, and described deviation correcting device is arranged at The lower section of the second accelerating sections.
Described second accelerating sections is cylinder conveying, the first rolling arranged including several vertical second accelerating sections conveying directions Cylinder, is provided with described correction gap between several first cylinders.
Wherein, described distributor includes that symmetry is vertically arranged at two dispensing rack of the conveyer device left and right sides, each Described dispensing rack has four end points that can be linked to be rectangle, is respectively provided with the first sprocket wheel at each end points, and two driving-chains are fitted respectively Joining four the first rectangular frames of sprocket-shaped in each dispensing rack, at least one of which the first sprocket wheel is to drive driving-chain suitable The drivewheel that hour hands rotate, described driving-chain is divided into equal two part by the first feed rod, the second feed rod, distributor rotates Time can location swap ground, level connection joint is between two driving-chains.
Can also, described conveyer device is divided into second accelerating sections adjacent with pallet rear end and can be by defeated for outer transporter Deliver to the first accelerating sections that standard container thereon is temporary and can be transported on the second accelerating sections by a described standard container every time, Described distributor is arranged at the second accelerating sections.
Preferably, described pallet left end, the rear of pallet right-hand member are respectively provided with vertical right baffle-plate, right baffle plate, right baffle-plate And leave width between right baffle plate and can hold the passage that standard container adaptation is passed through;
Described drawing device includes that two second be connected on right baffle-plate, right baffle plate move forward and backward device, left side Second move forward and backward device and be provided with the left drawing mechanism that right-hand member can stretch out the most to the right, retract, left drawing mechanism is positioned at a left side The front of baffle plate, its left end is concordant with the left end of pallet;Right side second move forward and backward device be provided with left end can the most to the left The right drawing mechanism stretch out, retracted, right drawing mechanism is positioned at the front of right baffle plate, and its right-hand member is concordant with the right-hand member of pallet;Left de- The right-hand member of case apparatus stretches out in opposite directions with the left end of right drawing mechanism when docking, and makes drawing device isometric with pallet, left drawing device The left end of left end and right drawing mechanism when retracting, standard container can be held and pass through.
It is highly preferred that left drawing mechanism includes that bar, Zuo Gu are fixed in second left side moving forward and backward on device being fixed on left side The left cylinder that cylinder rod can stretch out to the right it is fixed with in fixed pole;Right drawing mechanism includes the second movable dress being fixed on right side Bar is fixed on the right side put, and right fixing bar is fixed with the right cylinder that cylinder rod stretches out to the left.
Described mobile system includes that pallet can be driven movable first moves forward and backward device and drive pallet upper and lower The main jacking system of movement;Main jacking system is provided with main lifting power plant and main lifting drive drive mechanism, before described first Rear mobile device is connected on main elevating drive mechanism synchronize to move up and down with main elevating drive mechanism, and described first moves forward and backward Device, main elevating drive mechanism are to be arranged at the conveyer device left and right sides and two groups that are connected to that pallet both sides are synchronized with the movement.
Further, each described first move forward and backward device include movable drive mechanism and under it drives repeatedly The horizontal T-shaped support stretch out, retracted, horizontal T-shaped support include montant and with the horizontal telescopic arm being connected in the middle part of montant;Described torr Dish is liftably connected on montant by connector;
The top, the left and right sides of described frame be respectively equipped with can main lifting power plant drive under around Pivot Point Center rotate forward/ The top crossbeam of reversion, the direction of advance of top crossbeam parallel standards case is arranged, the top of described main lifting drive drive mechanism Be connected on the crossbeam of top, be connected to the telescopic arm of main lifting drive drive mechanism bottom invert with the rotating forward of top crossbeam and on Rise or decline.
Further, one end of described connector is fixed with pallet, and the other end liftably and can position on montant Be connected on montant, the upper end of montant is provided with the first pallet caging device glided when preventing connector to be positioned at montant upper end, The lower end of montant is provided with the second pallet caging device preventing connector from skidding off downwards montant, and the middle part of montant is provided with and guarantees pallet Upper surface threeth pallet caging device concordant with the upper surface of conveyer device.
Described main lifting drive drive mechanism includes being fixed on the crossbeam of top the second chain with top crossbeam synchronous axial system Wheel, also includes adaptive second sprocket wheel, is connected on horizontal T-shaped support to drive the second chain of horizontal T-shaped support rise/fall repeatedly Bar;Main lifting power plant is arranged between the crossbeam of top, the left and right sides, its outfan can drive top, left and right sides crossbeam with Identical velocity reversal rotates.
Most preferably, described frame is additionally provided with pallet parking platform, docks at the upper surface of pallet on pallet parking platform Concordant with the upper surface of conveyer device.
Compared with prior art, the automatic boxing machinery method of the present invention uses automatic boxing machinery hands, make standard container by On the pallet of individual entrance automatic boxing machinery hands, push away the most horizontal for the standard container on each entrance pallet, directly To being laterally booked pallet, move pallet and by several standard container entirety drawings of pallet to piling position;People can be replaced completely Work, saves manpower, and speed is fast, efficiency is high in vanning.
Described automatic boxing machinery hand strap has crane device, and automatic boxing machinery hands can be driven easily to enter counter to be installed Case, and position can be adjusted in cabinet case;The distributor of mechanical hand so that standard container can enter precisely into pallet the most one by one In;Each is entered standard container laterally the arranging one by one of pallet, until being booked whole pallet, control by the described case apparatus that laterally pushes away The precalculated position in cabinet case delivered to by the pallet filling standard container by the mobile system moved up and down before and after pallet processed;Drawing device The standard container being booked on pallet the most steadily can be pushed pallet so that it is be positioned over precalculated position;PLC control system is with aobvious Display screen and arithmetic system, input the length of cabinet case to be installed and standard container on the display of PLC control system, and PLC is controlled System processed, according to the data of input, calculates the number of standard container that every time can be transversely arranged on pallet automatically, automatically adjusts and entangles Partially initial position, correction distance, horizontal push away initial position and laterally push away case apparatus to the left or to the right push away case number of times, and can be aobvious Showing input stacking standard boxes scheme in device, utilize PLC control system to adjust coordinated operation between each parts, entirety realizes standard container Automatic boxing, replace man power encasement, save manpower.Mechanical hand is additionally provided with deviation correcting device, when the standard container being laterally booked pallet Number when being odd number, the standard container on conveyer device is pushed to the centrage of its centrage correspondence pallet by deviation correcting device one by one Enter on pallet, when being laterally booked the number of standard container of pallet and being even number, deviation correcting device by standard container on conveyer device by The centrage of the individual the same side correspondence pallet being pushed to standard container enters in pallet, it is ensured that be booked all standard containers that pallet needs All can enter in pallet smoothly.
Accompanying drawing explanation
With detailed description of the invention, the present invention is explained in further detail below in conjunction with the accompanying drawings.
Fig. 1 is automatic boxing machinery hands and cabinet case overall schematic to be installed
Fig. 2 is the schematic diagram that pallet loaded onto by standard container
Fig. 3 is automatic boxing machinery hands overall structure schematic diagram
Fig. 4 is that automatic boxing machinery feel answers device distribution schematic diagram
Fig. 5 is distributor schematic diagram
Fig. 6 is deviation correcting device schematic diagram
Fig. 7 is that pallet arranges schematic side view with mobile system
Fig. 8 is pallet detailed placement schematic diagram
Fig. 9 laterally pushes away case apparatus schematic diagram
Figure 10 is pallet and drawing device schematic diagram
Figure 11 is left drawing device view when stretching out in opposite directions with right drawing device and connect
Figure 12 is that standard container is withstood the view departing from pallet by drawing device
Figure 13 be standard container by piling to the schematic diagram less than main jacking system bottom most position
Figure 14 is the schematic diagram that stacking standard boxes arrives higher than main jacking system topmost position
Figure 15 laterally pushes away case apparatus operating diagram when being to be booked even number standard container on pallet
Figure 16 laterally pushes away case apparatus operating diagram when being to be booked odd number standard container on pallet
Detailed description of the invention
For convenience, middle word show reference as shown in Figure 1, Figure 2, before the direction advanced with standard container 9 is defined as, and figure Shown in showing left and right for left and right.The length of standard container 9 will be defined as, between standard container 9 left and right sides between standard container 9 front and rear wall Being defined as the width of standard container 9, standard container 9 can be divided into two parts that left and right is impartial by the centrage of standard container 9;By before and after pallet 3 it Between be defined as the width of pallet 3, the length of pallet 3 will be defined as between pallet about 3 two ends, the centrage of pallet 3 can be by 3 points of pallet Impartial about one-tenth two parts.
As shown in Fig. 1, Fig. 3, Fig. 4, a kind of automatic boxing machinery hands 100, including bottom equipped with the frame of crane device 18 1, it is provided with conveyer device 2 in frame 1, the front of conveyer device 2 is provided with and can laterally occupy the pallet 3 no less than two standard containers 9, Pallet 3 is connected to can drive on its upper and lower, movable mobile system 4;The rear end of conveyer device 2 can be with outer transporter The front end docking of 200, pushes in pallet 3 by the standard container 9 that outer transporter 200 is transported on conveyer device 2 one by one, described Frame 1, conveyer device 2, pallet 3, mobile system 4 are connected by PLC control system (not shown) electricity communication, it is achieved mutually Between coordinated operation.The front end of pallet 3 is provided with driving induction apparatus 39.Preferably, driving induction apparatus 39 is contact induction apparatus, When driving induction apparatus 39 touches the antetheca of cabinet case 7, mechanical hand slow astern set a distance (preferably returns the length of a standard container 9 Degree adds the distance of top tray 3 overall width) realize being automatically positioned.Pallet 3 is preferably rectangular.
As it is shown in figure 1, in the present embodiment, outer transporter 200 is flexible conveyer belt, and the lower section of frame 1 is provided with removable Lowering or hoisting gear 5, adjust lowering or hoisting gear 5 position and height, automatic boxing machinery hands 100 can be adjusted to and cabinet case to be installed The concordant docking in bottom surface of 7, crane device 18 runs, and telescopic outer transporter 200 gradually elongates, automatic boxing machinery hands 100 enter in cabinet case 7.
Described frame 1 includes the base 11 being arranged at below conveyer device 2, crane device 18 (the present embodiment is with The wheel of dynamical system) it is arranged at below base 11, automatic boxing machinery hands 100 can be driven to move.
The centrage of described conveyer device 2 and the centrage of pallet 3 are same axis or parallel lines each other, and described conveying fills Putting the conveying direction of vertical conveying device 2 on 2 and be provided with correction gap 232, the lower section of conveyer device 2 is provided with deviation correcting device 24, entangles Deflection device 24 includes actuating unit 243 of rectifying a deviation, and the outfan of correction actuating unit 243 is connected with to be worn from described correction gap 232 Go out and in described correction gap 232, the pulling part 241 of standard container 9 can be promoted by bilateral reciprocation.When being laterally booked pallet 3 When the number of standard container 9 is odd number, it is corresponding that the standard container 9 on conveyer device 2 is pushed to its centrage by deviation correcting device 24 one by one The centrage of pallet 3, when being laterally booked the number of standard container 9 of pallet 3 and being even number, deviation correcting device 24 is by conveyer device 2 Standard container 9 is pushed to the centrage of the same side correspondence pallet 3 of standard container 9 one by one.
As it is shown on figure 3, described conveyer device 2 is divided into first adjacent accelerating sections the 22, second accelerating sections from back to front 23;Outer transporter 200 can be transported to standard container 9 thereon and keep in by the first accelerating sections 22, and can be every time by a described mark Quasi-case 9 is transported on the second accelerating sections 23;The conveying direction of vertical second accelerating sections 23 in described correction gap 232 is arranged at second On accelerating sections 23, deviation correcting device 24 is arranged at the lower section of the second accelerating sections 23.In the present embodiment, the center of described conveyer device 2 Line is same axis with the centrage of pallet 3, and outer transporter 200 is by the center of the centrage correspondence conveyer device 2 of standard container 9 Conveyer device 2 sent into by line, and described deviation correcting device 24 starts when pallet 3 needs even number standard container 9 just can be booked, will operate in Standard container 9 on second accelerating sections 23 centrage promotes the half (distance of i.e. rectifying a deviation) of standard container 9 width the most to the left or to the right After return to initial position of rectifying a deviation immediately, make the same side of described standard container 9 enter along pallet 3 along the centrage of pallet 3, it is ensured that All standard containers 9 that being booked pallet 3 needs all can enter in pallet 3 smoothly;Described correction initial position refers to accelerate from second The half of centrage offset criteria case 9 width to the left or to the right of section 23, can regulate in the width range of the second accelerating sections 23. When pallet 3 needs odd number standard container 9 just can be booked, the centrage of corresponding second accelerating sections 23 of the centrage of standard container 9 send Entering in pallet 3, deviation correcting device 24 does not starts, and docks at the side not hindering standard container 9 to pass through.
As shown in Figure 5, Figure 6, described second accelerating sections 23 carries for cylinder, defeated including several vertical second accelerating sections 23 Sending the first cylinder 231 that direction is arranged, be provided with correction gap 232 between several first cylinders 231, deviation correcting device 24 works shape Under state, pulling part 241 can be withstood and be moved to the left or to the right by the standard container 9 at the second accelerating sections 23 center so that standard container 9 deviates The centrage of conveying direction moves the half of standard container 9 width to the left or to the right.In embodiment, pulling part 241 is dialled by adaptive Part is fixed seat and can be movably threaded on the first ball screw 242, with described the first of correction actuating unit 243 Ball screw 242 is positioned at below the first cylinder 231 and parallel first cylinder 231 is arranged.Pulling part 241 also adaptation can be fixed on cunning On movable wire thick stick, straight line cylinder etc., if can realize driving lever 241 can promote to the left or to the right standard container 9 move correction distance and At once correction initial position is returned after pushing away standard container 9.
Described mechanical hand is additionally provided with and guarantees that only having a standard container 9 enters the distributor 25 of pallet 3, prevents from entering every time The standard container 9 of pallet 3 is crowded or squeezed lower tray 3.
As it is shown in figure 5, described distributor 25 is the framework shape being arranged at second accelerating sections 23 left and right sides, it is fixed on machine On frame 1, including 251, two driving-chains of two dispensing rack being vertically arranged 252 and first feed rod the 253, second feed rod 254.Two dispensing rack 251 are symmetricly set in the left and right sides of the second accelerating sections 23, and described dispensing rack 251 has four and can be linked to be The end points of rectangle, is respectively provided with the first sprocket wheel 255, four in an adaptive dispensing rack 251 of driving-chain 252 at each end points First sprocket wheel 255 forms rectangle frame, and at least one of which the first sprocket wheel 255 is the master that driving-chain 252 can be driven to rotate clockwise Driving wheel, first feed rod the 253, second feed rod 254 horizontally connected with between two driving-chains 252, the first feed rod 253, Described driving-chain 252 is divided into equal two part, i.e. driving-chain 252 and often runs half cycle, the first feed rod by the second feed rod 254 253, the location swap of the second feed rod 254.It is additionally provided with in dispensing rack 251 and can sense the distribution induction apparatus that standard container 9 passes through 256.Under original state, the second feed rod 254 is positioned at the lower end (A in Fig. 5 of nearly pallet 3 one end, driving-chain 252 vertical portion Place), can stop that the standard container 9 being placed on the second accelerating sections enters pallet 3, correspondingly, the first feed rod 253 is positioned at remote pallet 3 One end, the top (in Fig. 5 at B) of driving-chain 252 vertical portion, when device 25 to be allocated starts, the second feed rod 254 is upwards transported OK, the standard container 9 on the second accelerating sections 23 of letting pass, can be by the second accelerating sections during the horizontal forward operation of the first feed rod 253 Standard container 9 advances pallet 3.Described dispensing rack 251 can be the shape of the convenient processing such as I shape, rectangle, is square in the present embodiment Shape.
Described outer transporter the 200, first accelerating sections 22 and unlatching, stopping and the transporting velocity of the second accelerating sections 23 Individually control.The lower section of conveyer device 2 is provided with the bracing frame (figure being fixed on base 11, can support conveyer device 2 level run Not shown in).Described conveyer device 2 is alternatively the entirety of not segmentation, can be by adjusting the transporting velocity of conveyer device 2 or existing There are other usual manners in technology, as long as can guarantee that each only one of which standard container 9 enters the distribution model of described distributor 25 Enclose and be allocated.
As shown in Fig. 7 and Fig. 3, pallet 3 is connected on mobile system 4, can be arranged at conveyer device up and down, movably forward and backward The front of 2, mobile system 4 includes driving pallet 3 movable first move forward and backward device and drive pallet about 3 The main jacking system 43 of movement, main jacking system 43 includes main lifting power plant 431 and main lifting drive drive mechanism, described First moves forward and backward device is connected on main elevating drive mechanism synchronize to move up and down, before described first with main elevating drive mechanism Rear mobile device, main elevating drive mechanism are for being arranged at conveyer device 2 left and right sides and being connected to pallet 3 both sides and be synchronized with the movement Two groups.
In embodiment, each described first moves forward and backward device includes movable drive mechanism 413 and under it drives The horizontal T-shaped support 41 repeatedly stretch out, retracted, horizontal T-shaped support 41 includes montant 412 and horizontal be connected in the middle part of montant 412 Telescopic arm 411;Described pallet 3 is liftably connected on montant 412 by connector 42.
One end of described connector 42 is fixed with pallet 3, and the other end liftably and positioningly can connect on montant 412 Being connected on montant 412, the upper end of montant 412 is provided with the first pallet limit preventing connector 42 from gliding when being positioned at montant 412 upper end Position device 4121, the lower end of montant 412 is provided with the second pallet caging device preventing connector 42 from skidding off downwards montant 412 4122, the 3rd pallet that the middle part of montant 412 is provided with the upper surface guaranteeing pallet 3 concordant with the upper surface of conveyer device 2 is spacing Device 4123.Main jacking system, first move forward and backward device and connector 42 acts on jointly, can drive the pallet 3 can be at cabinet case 7 Fill between the least significant end of bottom surface and main jacking system 43 and between the most significant end and cabinet case 7 end face of main jacking system 43 Standard container 9.
In the present embodiment, the top, the left and right sides of described frame 1 is respectively equipped with can be under main lifting power plant 431 drives Around the top crossbeam 121 of Pivot Point Center forward/reverse, the direction of advance of top crossbeam 121 parallel standards case 9 is arranged, main lifting The top of power drive mechanism is arranged on top crossbeam 121, bottom can drive horizontal T-shaped support 41 up and down with telescopic arm 411 connect, and specifically, main lifting drive drive mechanism includes being fixed on top crossbeam 121 with top crossbeam 121 synchronous axial system The second sprocket wheel 432, and adaptive second sprocket wheel 432, be connected on horizontal T-shaped support 41 to drive horizontal T-shaped support 41 repeatedly to go up The second chain 433 rising/declining, main lifting power plant 431 is arranged on two the top horizontal strokes in left and right by the way of prior art Between beam 121, the top crossbeam 121 of both sides when main lifting power plant 431 works, is driven to rotate with identical velocity reversal.Implement In example, described telescopic arm 411 being socketed with sliding seat 414, before and after being arranged on sliding seat 414, moving drive mechanism 413 exists Can drive the horizontal elastic motion of T-shaped support 41 under PLC control system instruction, the end of the second chain 433 is connected to sliding seat On 414, described sliding seat 414 can be feed screw nut pair or rack-and-pinion with the type of attachment of telescopic arm 411, it is also possible to is Chain drive or toothed belt transmission, the present embodiment is preferably used toothed belt transmission.
Main jacking system 43, first move forward and backward device pneumatic in prior art, hydraulic pressure, motor, gear etc. can be used each Kind of mode, if be capable of driving pallet 3 the most up and down, seesaw.
As shown in Fig. 3, Fig. 4, Fig. 8, Fig. 9, mechanical hand is provided with several standards that can each be transported on pallet 3 What case 9 the most laterally arranged laterally pushes away case apparatus 31, and mechanical hand is additionally provided with several standards that can make laterally to be booked on pallet 3 The drawing device 32 of the overall parallel abjection pallet 3 of case 9, the lower section of frame 1 top tray 3 is provided with pallet reset inductor 38, it is ensured that The upper surface of vanning state lower tray 3 and the upper surface of conveyer device 2 are same plane, it is preferable that pallet reset inductor 38 For proximity switch.Under vanning state, pallet 3 can be parked in frame 1.
The length of pallet 3 can the most rationally be arranged, can be identical with cabinet case width to be installed, or is cabinet case width to be installed The half of degree, or be 1/3rd of cabinet case width to be installed, just arranged no less than two standard containers 9 as long as guaranteeing to hold Full.In the present embodiment, as shown in Figure 8, Figure 9, the length of pallet 3 is identical with the width of cabinet case 7 to be installed, is divided in pallet Portion 33, pallet left end 34, pallet right-hand member 35;Set along pallet 3 length direction in the middle part of the described pallet that conveyer device 2 docks 33 Push away case gap 331;The described case apparatus 31 that laterally pushes away is arranged at the lower section of pallet 3, including laterally pushing away case actuating unit 315, horizontal It is connected with to the outfan pushing away case actuating unit 315 when exceeding pallet 3 upper surface and pushes away bilateral reciprocation in case gap 331 described Promote standard container 9 pushes away case bar 311, described laterally push away case actuating unit 315 be connected to drive push away case bar 311 repeatedly beyond/ The horizontal of retraction pallet 3 upper surface raises on descending mechanism 312.
The horizontal initial position that pushes away laterally pushing away case apparatus 31 rationally can be arranged in the region of 33 in the middle part of pallet.Described horizontal push away at the beginning of Beginning position refers to laterally push away location when case apparatus 31 prepares to promote first standard container 9 entering pallet 3.Work as standard container When 9 quantity being booked pallet 3 are odd number, laterally push away case apparatus 31 horizontal push away initial position be from the centre of pallet 3 to the left or to Right avertence moves the width of half standard container 9, when the quantity that standard container 9 is booked pallet 3 is even number, laterally pushes away the horizontal of case apparatus 31 and pushes away Initial position is the width moving a standard container 9 from the center of pallet 3 to the left or to the right, when the horizontal initial position that pushes away is positioned at pallet Time on the right side of 3 centrages, laterally pushing away the odd-times of case apparatus 31 and push away case and promote to the left, even-times pushes away case and promotes to the right, and left and right is alternately; When horizontal push away initial position be positioned on the left of pallet 3 centrage time, laterally push away the odd-times of case apparatus 31 and push away case and promote to the right, even-times Push away case to promote to the left, it is ensured that ultimate criterion case 9 occupies whole pallet 3.In the present embodiment, the described horizontal descending mechanism 312 that raises is One straight line cylinder, in the middle part of described pallet, 33 are formed side by side by several second tin rollers arranged along pallet 3 length direction, the second rolling Leave between Tong and push away case gap 331, laterally push away case apparatus 31 and be arranged at the lower section of second tin roller.As shown in Figure 8, Figure 9, case bar is pushed away 311 adaptations that can move left and right by pushing away case bar base are threaded on the second ball screw 313, are provided with and laterally push away case power Second ball screw 313 of mechanism 315 is arranged along pallet 3 length direction, and the second ball screw 313 is by screw rod bracket 314 even It is connected on the cylinder rod that the first straight line cylinder can stretch up and down.Push away case bar 311 when the first straight line cylinder 312 jack-up beyond second Cylinder, can move left and right under the drive of the second ball screw 313, and a pallet left side shifted onto by the standard container 9 that will be located in the middle part of pallet 33 End 34 or pallet right-hand member 35, postponing until completing the horizontal of penultimate standard container 9, pushing away case bar 311 and declining, reserving a standard The quiet room of case 9, treats that last standard container is transported on pallet 3.Pallet left end 34 and pallet right-hand member 35 are preferably vertical torr Dish 3 length direction arranges several the 3rd cylinders and forms side by side, and resistance is little, and the standard container being placed on the 3rd cylinder can easily be pushed away Walk.
As shown in Figure 10-Figure 12, the rear of pallet left end 34 is vertically arranged right baffle-plate 342, and the rear of pallet right-hand member 35 is erected Right baffle plate 352 is directly set, leaves between right baffle-plate 342 and right baffle plate 352 and can hold the passage that standard container 9 adaptation is passed through.Described de- Case apparatus 32 includes that two second be connected on right baffle-plate 342, right baffle plate 352 move forward and backward device 323, the of left side Two move forward and backward device 323 is provided with the left drawing mechanism 321 that right-hand member can stretch out the most to the right, retract, 321, left drawing mechanism In the front of right baffle-plate 342, its left end is concordant with the left end of pallet 3;The second of right side moves forward and backward device 323 and is provided with left end The right drawing mechanism 322 can stretch out the most to the left, retracted, right drawing mechanism 322 is positioned at the front of right baffle plate 352, its right-hand member with The right-hand member of pallet 3 is concordant;As shown in Figure 10, during standard container 9 loads pallet 3, the right-hand member of left drawing mechanism 321 and the right side The left end of drawing mechanism 322 is in retracted mode, i.e. unimpeded between 33 in the middle part of conveyer device 2 and pallet;As shown in figure 11, in advance For pushing away under box like state, the right-hand member of left drawing mechanism 321 stretches out in opposite directions with the left end of right drawing mechanism 322, and both connect so that de- Case apparatus 32 is isometric with pallet 3, and as shown in figure 12, startup second simultaneously moves forward and backward device 323 and first and moves forward and backward device, Drawing device 32 withstands all standard containers 9 on pallet 3 all the time, and first moves forward and backward device drives pallet 3 to retreat, by pallet 3 Upper several transversely arranged standard container 9 entirety are pushed into stamps code position.
Specifically, second to move forward and backward device 323 be the second straight line being separately fixed on right baffle-plate 342, right baffle plate 352 Cylinder, left drawing mechanism 321 includes that bar 3211 is fixed on the left side being fixed on the cylinder rod of second straight line cylinder in left side, left fixing The left end of bar 3211 is concordant with the left end of pallet 3, and right-hand member, without departing from the right-hand member of right baffle-plate 342, left fixing bar 3211 is fixed with The left cylinder 3212 that cylinder rod can stretch out to the right, right drawing mechanism 322 includes the cylinder being fixed on second straight line cylinder on right side Bar 3221 is fixed on the right side on bar, and the right-hand member of right fixing bar 3221 is concordant with the right-hand member of pallet 3, and left end is without departing from right baffle plate 352 Left end, left fixing bar 3221 is fixed with the right cylinder 3222 that cylinder rod stretches out to the left, when left cylinder 3212, right cylinder 3222 with When step is stretched out in opposite directions, the cylinder rod of left cylinder 3212 and right cylinder 3222 connects.Described left drawing mechanism 321, right drawing mechanism 322, second device 323 alternatively other usual manners of the prior art are moved forward and backward.
Preferably, the lower section of frame 1 top tray 3 arranges pallet parking platform 36, and the height of pallet parking platform 36 is put with pallet 3 After on, pallet reset inductor 38 detects that pallet 3 is as the criterion just.
When described automatic boxing machinery hands 100 is cased, can carry out by the following method:
PLC control system, with input system, display screen and arithmetic system, inputs counter to be installed in PLC control system Case 7 and the length of standard container 9, PLC control system is according to the data of input, and automatically calculating every time can be horizontal on pallet 3 To the number of standard container 9 of arrangement, automatically adjust the correction initial position of deviation correcting device 24, correction distance, laterally push away case apparatus 31 horizontal push away initial position, laterally push away case apparatus 31 and push away case number of times to the left or to the right, can also arrange mark in PLC control system A yard scheme stamped by quasi-case 9, and automatic boxing machinery hands 100 carries out full line piling automatically according to stamping yard scheme.Described piling scheme is i.e. marked The quasi-case 9 arrangement scheme putting order in cabinet case 7.
The present embodiment, the quantity being booked pallet 3 with standard container 9 is 5, and the horizontal initial position that pushes away laterally pushing away case apparatus 31 is As a example by the half of standard container 9 width that moves right from the centre of pallet 3, the packing method of automatic boxing machinery hands 100 is carried out Describe.
Step 1, being automatically positioned of automatic boxing machinery hands 100;
The height adjusting lowering or hoisting gear 5 flushes with the bottom surface of cabinet case 7, starts crane device 18, automatic boxing machinery hands 100 enter cabinet case 7, after the driving induction apparatus 39 of pallet 3 front end touches the front tank wall of cabinet case 7, and automatic boxing machinery Hands 100 retreats preset distance, and the length of a preset distance preferably standard container 9 adds the overall width of top tray 3, induction apparatus of driving a vehicle 39 close;
Step 2, makes standard container 9 serially enter on pallet 3;
Whole buttress standard container 9 is transported to the backside segments of outer transporter 200 by fork truck or other Handling devices, adjusts first and adds Speed section the 22, second accelerating sections 23, the transporting velocity cooperation of outer transporter 200, manually bring up to standard container 9 outer transmission and fill Putting 200, standard container 9 is entered the centre of conveyer device 2 by outer transporter 200.First accelerating sections the 22, second accelerating sections 23, outer The speed of transporter 200 is preferably regulated as: outer transporter 200 continuous service, and the first accelerating sections 22 interval is run, outer transmission When standard container 9 is served the first accelerating sections 22 by device 200, the standard container 9 that it is kept in is transported to by the first accelerating sections 22 just On second accelerating sections 23.
As it is shown in figure 5, under original state, the second feed rod 254 of distributor 25 is parked at A, and the first feed rod 253 stops At B, first accelerating sections the 22, second accelerating sections 23, outer transporter 200 run, when distribution induction apparatus 256 senses first Standard container 9 is by B point, and the second accelerating sections 23 continues to run with, and the first accelerating sections 22 quits work;First standard container 9 moves to Till being intercepted by the second feed rod 254 being positioned at A point, induction apparatus 256 to be allocated senses that standard container 9 is by the second feed rod 254 Intercept and (distribute induction apparatus 256 from there being signal to be intercepted as blocking by the second feed rod 254 to no signal i.e. criterion case 9 Cut);Distributor 25 is started working, and driving-chain 252 rotates clockwise, and drives the second feed rod 254 first to rise level backward again Motion, the first feed rod 253 falls before the most horizontal forward motion, and standard container 9 is advanced pallet 3 by the first feed rod 253, first point Joining bar 253 and be parked at A, the second feed rod 254 is stopped at B, while the first feed rod 253 level pushes away first standard container 9, First accelerating sections 22 startup optimization, second standard container 9 is trailed the first feed rod 253 and is parked on the second accelerating sections 23, be positioned at A Locate the first feed rod 253 to intercept, such repetitive cycling, it is ensured that only one of which standard container 9 is pulled on pallet 3 every time;
Step 3, the standard container 9 that each sequentially enters same position on pallet 3 is pushed into laterally the most to the left or to the right It is booked pallet 3;
As shown in figure 16, standard container 9 is by sending into pallet 3, the centrage correspondence torr of standard container 9 in the middle of the second accelerating sections 23 The centrage of dish 3, the horizontal initial position that pushes away laterally pushing away case apparatus 31 is to offset to the right standard container 9 width from the centre of pallet 3 The half of degree, laterally pushes away case apparatus 31 and is stopped after the width of one standard container of left translation by first standard container 9, treat second After standard container is sent on pallet 3, laterally push away after second standard container is elapsed to the right the width of a standard container by case apparatus 31 and stop Only, after the 3rd standard container is sent on pallet 3, case apparatus 31 is laterally pushed away by the 3rd standard container to one standard container of left translation Width, at the 3rd standard container during left movement, the 3rd standard container promotes first standard container to continue to transport to the left A dynamic case position, so moves in circles, until complete the 4th standard container traversing after, push away case bar 311 and decline, reserve a mark The quiet room of quasi-case 9, treats that the 5th standard container is transported on pallet 3, and whole pallet 3 is booked.
In this step, when standard container 9 be booked the quantity of pallet 3 be even number (4) time, as shown in figure 15, laterally push away case dress The horizontal initial position that pushes away putting 31 is the width of a standard container 9 of moving right from the center of pallet 3, side (this reality of standard container 9 Execute the left side for standard container 9 in example) send in pallet 3 along the second accelerating sections 23 centrage, laterally push away case apparatus 31 by Figure 15 institute Show and laterally push away case operation.Laterally push away case apparatus 31 to be stopped after the width of one standard container of left translation by first standard container 9 Only, after second standard container is sent on pallet 3, laterally push away case apparatus 31 and second standard container is elapsed to the right a standard container Width after stop, after the 3rd standard container is sent on pallet 3, laterally push away case apparatus 31 by the 3rd standard container to left translation The width of one standard container, at the 3rd standard container during left movement, the 3rd standard container promotes first standard container Continuing to one case position of left movement, reserve the quiet room of a standard container, the 4th standard container is transported on pallet 3, whole pallet 3 are booked.
Step 4, several standard container 9 entirety that pallet 3 is laterally booked also are pushed away and are put into piling position by mobile pallet 3 Place;
The pallet 3 being booked standard container 9 is needed piling position by lifting, moving forward and backward by 4.1;
After pallet 3 is booked standard container 9, main jacking system 43 drive pallet 3 rise suitable distance (for prevent pallet 3 with Between pallet parking platform 36 occur friction cause standard container 9 to drop, preferably 10cm), telescopic arm 411 protracts, drive pallet 3 to The side of the standard container 9 that front removal pallet parking platform 36, the front tank wall of front end next-door neighbour's cabinet case 7 of pallet 3 or previous column code are good Wall, main jacking system 43 drives telescopic arm 411 and the pallet 3 equipped with standard container 9 to drop to bottom or the same column code of cabinet case 7 The top of the standard container 9 piled up neatly;
Several standard container 9 entirety being laterally booked on pallet 3 are pushed by 4.2;
Startup second simultaneously moves forward and backward device 323 and first and moves forward and backward device, and drawing device 32 is all the time by pallet 3 All of standard container 9 entirety is withstood, and simultaneous retractable arm 411 is retracted, and drives pallet 3 to retreat, until standard container 9 completely disengages from pallet 3。
Pallet 3 is moved to position of casing by 4.3;
Main jacking system 43 drives horizontal T-shaped support 41 and pallet 3 to rise to exceed pallet parking platform 36 suitable distance (preferably For 10cm), pallet 3 is retracted into the surface of pallet parking platform under the drive of telescopic arm 411, and the most main jacking system 43 drives Pallet 3 declines and is positioned on pallet parking platform.
In the present embodiment, first standard container 9 piling cabinet case 7 is less than on the bottom surface of main jacking system 43 lowermost end: as Shown in Figure 13, when pallet 3 is parked in loading standard case 9 on pallet parking platform 36, unclamp the 3rd pallet caging device, connector 42 phase It is movable state to montant 412, starts main jacking system 43 and drive horizontal T-shaped support 41 to rise, until pallet 3 is positioned at the second torr At dish stopping means 4122;Preferably, pallet 3 loading standard case 3 and adjust connector 42 and the horizontal relative position of T-shaped support 41 Process is carried out simultaneously;Then the action of 4.1,4.2,4.3 is carried out, by the bottom surface of standard container 9 piling cabinet case 7.
Normal position by between bottom surface and the end face of standard container 9 piling cabinet case 7: pallet 3 is parked in pallet parking platform 36 During upper loading standard case 9, the relative montant 412 of connector 42 is movable state, starts main jacking system 43 and drives horizontal T-shaped support 41 decline, until pallet 3 is positioned at the 3rd pallet caging device, open the 3rd pallet caging device fixed tray 3;Preferably, Pallet 3 loading standard case 3 and adjustment connector 42 are carried out with the process of the horizontal relative position of T-shaped support 41 simultaneously;Then carry out 4.1, the action of 4.2,4.3, by the bottom surface of standard container 9 piling cabinet case 7.Repeat the end of standard container 9 piling cabinet case 7 Entopic operation between face and end face, until completing the piling of all normal position standard containers 9 in same string.
Standard container 9 piling to cabinet case 7 will be higher than the position of main jacking system 43 top: as shown in figure 14, pallet 3 When being parked in parking platform loading standard case 9, unclamping the 3rd pallet caging device, the relative montant 412 of connector 42 is movable state, Starting main jacking system 43 drives horizontal T-shaped support 41 to decline, and makes pallet 3 be positioned at the top of montant 412, starts the first pallet spacing Device 4121 prevents pallet 3 from gliding, it is preferable that pallet 3 loading standard case 9 and adjustment connector 42 are relative with horizontal T-shaped support 41 The process of position is carried out simultaneously;Then carry out the action of 4.1,4.2,4.3, standard container 9 piling to cabinet case 7 will be higher than main liter The position of fall system 43 top, so far, automatic boxing machinery hands 100 completes the piling of string standard container 9.
Under PLC system control, crane device 18 drives the distance of automatic boxing machinery hands 100 slow astern standard container 9, Carry out the piling of next column standard container, such repetitive cycling, until completing the vanning work of whole cabinet case 7.

Claims (23)

1. an automatic boxing method, it is characterised in that comprise the following steps
Step 1, makes standard container (9) serially enter on the pallet (3) of automatic boxing machinery hands;
Step 2, pushes away the most horizontal for the standard container (9) in each entrance pallet (3), until described standard container (9) pallet (3) laterally it is booked;Just can accommodate when laterally occupying on described pallet (3) more than or equal to two standard containers (9);
Step 3, mobile pallet (3) and by the overall drawing of several standard containers (9) that is laterally booked on pallet (3) to piling position Place.
2. automatic boxing method as claimed in claim 1, it is characterised in that also have automatic boxing machinery hands before step 1 Enter cabinet case to be installed and be automatically positioned:
Described pallet (3) is return the length of a standard container (9) again and is added top tray (3) overall width after touching the antetheca of cabinet case Distance complete to be automatically positioned.
3. automatic boxing method as claimed in claim 1 or 2, it is characterised in that
When being booked the number of standard container (9) of pallet (3) and being odd number, in described step 1, the centrage of described standard container (9) The centrage of alignment pallet (3) serially enters pallet (3);In described step 2, horizontal push away initial position be tray centerline to the left or Offset to the right the half of standard container (9) width;
When being booked the number of standard container (9) of pallet (3) and being even number, in described step 1, a side of described standard container (9) The centrage in face correspondence pallet (3) serially enters pallet (3);In described step 2, horizontal push away initial position be tray centerline to the left Or offset to the right the width of a standard container (9);
Each enters the most horizontal width pushing away a standard container (9) that the standard container (9) on pallet (3) is replaced; When horizontal push away initial position be positioned on the right side of pallet (3) centrage time, odd-times is horizontal pushes left promotion to, and even-times is horizontal pushes right promotion to; When horizontal push away initial position be positioned on the left of pallet (3) centrage time, odd-times is horizontal pushes right promotion to, and even-times is horizontal pushes left promotion to.
4. the automatic boxing method of standard container as claimed in claim 3, it is characterised in that the centrage of described standard container (9) The centrage of corresponding pallet (3) is in the upper conveying of conveyer device (2);
When being booked the number of standard container (9) of pallet (3) and being odd number, described standard container (9) is by conveyer device (2) the most one by one Enter pallet (3);
When being booked the number of standard container (9) of pallet (3) and being even number, described standard container (9) on conveyer device (2) by one by one The half of one standard container (9) width of correction, makes same side correspondence pallet (3) of described standard container (9) to the left or to the right Centrage serially enter pallet (3).
5. automatic boxing method as claimed in claim 1 or 2, it is characterised in that in step 3, first will be booked standard container (9) Pallet (3) by lifting, movable be placed into position to be palletized;
The rear wall entirety of several standard containers (9) being laterally booked on pallet (3) being withstood, pallet (3) retreats, until pallet (3) upper all standard containers (9) depart from pallet (3) piling to piling position.
6. an automatic boxing machinery hands, it is characterised in that include PLC control system and coordinate work under PLC system control The frame (1) of work, conveyer device (2), pallet (3), mobile system (4);Equipped with driving dress on the base (11) of described frame (1) Putting (18), the conveyer device (2) being transported on pallet (3) by standard container (9) is arranged in frame (1), before conveyer device (2) Side is provided with and can laterally occupy the pallet (3) more than or equal to two standard containers (9), and pallet (3) is connected to drive it up and down, front and back On the mobile system (4) of movement;
Described mechanical hand is provided with and can will be delivered to the distributor that standard container thereon (9) is pushed on pallet (3) one by one (25);
Described mechanical hand is provided with that the standard container (9) can each being transported on pallet (3) is the most horizontal to be pushed away, directly Case apparatus (31) is laterally pushed away to be laterally booked pallet (3);Be additionally provided with on mechanical hand can make pallet (3) if on be laterally booked The drawing device (32) of dry standard container (9) overall abjection pallet (3).
7. automatic boxing machinery hands as claimed in claim 6, it is characterised in that the front end of described pallet (3) is provided with realization certainly The driving induction apparatus (39) that dynamic boxing manipulator is automatically positioned.
8. automatic boxing machinery hands as claimed in claim 6, it is characterised in that described conveyer device (2) is divided into and pallet (3) The second accelerating sections (23) that rear end is adjacent and outer transporter (200) can be transported to standard container thereon (9) is temporary and energy The first accelerating sections (22) every time a described standard container (9) being transported on the second accelerating sections (23) at intervals.
9. automatic boxing machinery hands as claimed in claim 6, it is characterised in that described pallet (3) is laterally divided in the middle part of pallet (33), pallet left end (34), pallet right-hand member (35);With on (33) in the middle part of the described pallet that conveyer device (2) docks along pallet (3) Length direction is provided with and pushes away case gap (331);The described case apparatus (31) that laterally pushes away is arranged at the lower section of pallet (3), including laterally pushing away Case actuating unit (315), laterally pushes away the outfan of case actuating unit (315) and is connected with when exceeding pallet (3) upper surface and pushes away described What in case gap (331), bilateral reciprocation promoted standard container (9) pushes away case bar (311), described laterally pushes away case actuating unit (315) It is connected to drive and pushes away case bar (311) and repeatedly raise on descending mechanism (312) beyond/the horizontal of retraction pallet (3) upper surface.
10. automatic boxing machinery hands as claimed in claim 9, it is characterised in that in the middle part of described pallet, (33) are long along pallet (3) Degree direction arrange several second tin rollers form side by side, leave between second tin roller described in push away case gap (331), described pallet Left end (34) and pallet right-hand member (35) vertical tray (3) length direction arrange several the 3rd cylinders and form side by side.
11. automatic boxing machinery handss as claimed in claim 6, it is characterised in that described conveyer device (2) upper vertical transport dress The conveying direction putting (2) is provided with correction gap (232), and the lower section of conveyer device (2) is provided with deviation correcting device (24), deviation correcting device (24) including actuating unit (243) of rectifying a deviation, the outfan of correction actuating unit (243) is connected with from described correction gap (232) Pass and in described correction gap (232), the pulling part (241) of standard container (9) can be promoted by bilateral reciprocation.
12. automatic boxing machinery handss as claimed in claim 11, it is characterised in that the centrage of described conveyer device (2) with The centrage of described pallet (3) is same axis or parallel lines each other.
13. automatic boxing machinery handss as claimed in claim 6, it is characterised in that described conveyer device (2) is divided into and pallet (3) rear end is adjacent the second accelerating sections (23) and outer transporter (200) can be transported to standard container thereon (9) temporary, And the first accelerating sections (22) that can every time a described standard container (9) be transported on the second accelerating sections (23), between described correction The conveying direction of vertical second accelerating sections of gap (232) (23) is arranged on the second accelerating sections (23), and described deviation correcting device (24) sets It is placed in the lower section of the second accelerating sections (23).
14. automatic boxing machinery handss as claimed in claim 13, it is characterised in that described second accelerating sections (23) is that cylinder is defeated Send, the first cylinder (231) arranged including several vertical second accelerating sections (23) conveying directions, several first cylinders (231) described correction gap (232) it is provided with between.
15. automatic boxing machinery handss as claimed in claim 6, it is characterised in that described distributor (25) includes symmetrical perpendicular Directly being arranged at two dispensing rack (251) of conveyer device (2) left and right sides, each described dispensing rack (251) has four and can connect Rectangular end points, is respectively provided with the first sprocket wheel (255), two driving-chain (252) each distribution the most adaptive at each end points Four the first sprocket wheels (255) on frame (251) form rectangle frame, and at least one of which the first sprocket wheel (255) is to drive transmission The drivewheel that chain (252) rotates clockwise, the first feed rod (253), the second feed rod (254) are by described driving-chain (252) point Become equal two parts, distributor (25) when rotating can location swap ground, level connection joint between two driving-chains (252).
16. automatic boxing machinery handss as claimed in claim 6, it is characterised in that described conveyer device (2) is divided into and pallet (3) rear end is adjacent the second accelerating sections (23) and outer transporter (200) can be transported to standard container thereon (9) temporary, And the first accelerating sections (22) that can every time a described standard container (9) be transported on the second accelerating sections (23), described distribution dress Put (25) and be arranged at the second accelerating sections (23) place.
17. automatic boxing machinery handss as claimed in claim 9, it is characterised in that described pallet left end (34), pallet right-hand member (35) rear is respectively provided with vertical right baffle-plate (342), right baffle plate (352), between right baffle-plate (342) and right baffle plate (352) Leave width and can hold the passage that standard container (9) adaptation is passed through;
Described drawing device (32) includes two second be connected on right baffle-plate (342), right baffle plate (352) and moves forward and backward Device (323), the second of left side moves forward and backward device (323) and is provided with the left Drawing apparatus that right-hand member can stretch out the most to the right, retract Structure (321), left drawing mechanism (321) is positioned at the front of right baffle-plate (342), and its left end is concordant with the left end of pallet (3);Right side Second moves forward and backward device (323) is provided with the right drawing mechanism (322) that left end can stretch out the most to the left, retract, right Drawing apparatus Structure (322) is positioned at the front of right baffle plate (352), and its right-hand member is concordant with the right-hand member of pallet (3);The right-hand member of left drawing device (32) with When the left end of right drawing mechanism (322) stretches out docking in opposite directions, make drawing device (32) isometric with pallet (3), left drawing device (32), when the left end of left end and right drawing mechanism (322) is retracted, standard container (9) can be held and pass through.
18. automatic boxing machinery handss as claimed in claim 17, it is characterised in that left drawing mechanism (321) includes being fixed on The second of left side moves forward and backward the left side on device (323) and fixes bar (3211), and left fixing bar (3211) is fixed with cylinder rod can The left cylinder (3212) stretched out to the right;Right drawing mechanism (322) includes that being fixed on the second of right side moves forward and backward on device (323) The right side fix bar (3221), right fixing bar (3221) is fixed with the right cylinder (3222) that cylinder rod stretches out to the left.
19. automatic boxing machinery handss as claimed in claim 6, it is characterised in that described mobile system (4) includes driving torr What dish (3) was movable first moves forward and backward device and the main jacking system (43) driving pallet (3) to move up and down;Main liter Fall system (43) is provided with main lifting power plant (431) and main lifting drive drive mechanism, and described first moves forward and backward device even Being connected on main elevating drive mechanism and synchronize to move up and down with main elevating drive mechanism, described first moves forward and backward device, main lifting Drive mechanism is for being arranged at conveyer device (2) left and right sides and two groups that are connected to that pallet (3) both sides are synchronized with the movement.
20. automatic boxing machinery handss as claimed in claim 19, it is characterised in that each described first moves forward and backward device bag Include movable drive mechanism (413) and the horizontal T-shaped support (41) repeatedly stretched out, retract under it drives, horizontal T-shaped support (41) Including montant (412) and the horizontal telescopic arm (411) that is connected with montant (412) middle part;Described pallet (3) passes through connector (42) liftably it is connected on montant (412);
The top, the left and right sides of described frame (1) is respectively equipped with can be around Pivot Point Center under main lifting power plant (431) drives The top crossbeam (121) of forward/reverse, the direction of advance of top crossbeam (121) parallel standards case (9) is arranged, described main lifting The top of power drive mechanism is connected on top crossbeam (121), is connected to the telescopic arm of main lifting drive drive mechanism bottom (411) invert with the rotating forward of top crossbeam (121) and rise or fall.
21. automatic boxing machinery handss as claimed in claim 20, it is characterised in that one end of described connector (42) and pallet (3) fixing, the other end liftably and can positioningly be connected on montant (412) on montant (412), montant (412) upper End is provided with the first pallet caging device (4121) preventing connector (42) from gliding when being positioned at montant (412) upper end, montant (412) Lower end be provided with the second pallet caging device (4122) preventing connector (42) from skidding off downwards montant (412), montant (412) Middle part is provided with the 3rd pallet caging device (4123) that the upper surface guaranteeing pallet (3) is concordant with the upper surface of conveyer device (2).
22. automatic boxing machinery handss as claimed in claim 20, it is characterised in that described main lifting drive drive mechanism includes It is fixed on top crossbeam (121) the second sprocket wheel (432) with top crossbeam (121) synchronous axial system, also includes adaptive second chain Take turns (432), be connected on horizontal T-shaped support (41) to drive the second chain of horizontal T-shaped support (41) rise/fall repeatedly (433);Main lifting power plant (431) is arranged between top, left and right sides crossbeam (121), and its outfan can drive left and right two Top, side crossbeam (121) rotates with identical velocity reversal.
The 23. automatic boxing machinery handss as described in claim 6~22, it is characterised in that described frame is additionally provided with pallet on (1) Parking platform (36), the upper surface docking at pallet (3) on pallet parking platform (36) is concordant with the upper surface of conveyer device (2).
CN201610651828.2A 2016-08-10 2016-08-10 A kind of automatic boxing method and the mechanical hand of automatic boxing Active CN106144624B (en)

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CN111003519A (en) * 2019-12-10 2020-04-14 安徽共生物流科技有限公司 Semi-automatic unloading commodity circulation skip
CN112693910A (en) * 2020-12-31 2021-04-23 河南宗源环保科技有限公司 Drawer type sign indicating number destacking device that adapts to different car widths

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