CN106629088A - Truss robot stacking work station structure and use method thereof - Google Patents
Truss robot stacking work station structure and use method thereof Download PDFInfo
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- CN106629088A CN106629088A CN201611195509.1A CN201611195509A CN106629088A CN 106629088 A CN106629088 A CN 106629088A CN 201611195509 A CN201611195509 A CN 201611195509A CN 106629088 A CN106629088 A CN 106629088A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000000463 material Substances 0.000 claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000007599 discharging Methods 0.000 claims description 34
- 230000007423 decrease Effects 0.000 claims description 7
- 239000004744 fabric Substances 0.000 claims description 4
- 230000003252 repetitive effect Effects 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Stacking Of Articles And Auxiliary Devices (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to the technical field of pallet stacking, and discloses a truss robot stacking work station structure. The work station comprises a material conveyor belt and a truss. The material feeding inlet end of the material conveyor belt is interfaced to an assembly line. The material conveyor belt is a roller conveyor belt. One side of the material conveyor belt is provided with a push rod. The bottom of the material conveyor belt is provided with a push rod translation mobile mechanism. The other side of the material conveying belt is provided with a container body pre-positioning platform. The truss is provided with a horizontal beam which is perpendicular to the moving direction of the material conveyor belt. The horizontal beam is provided with a slide base. The slide base is provided with a lifting base. The lower end of the lifting base is provided with a machine hand. The inner side of the container body pre-positioning platform is abutted on one side of the material conveying belt. The outer side of the container body pre-positioning platform is provided with a pallet adjustment support platform. The truss robot stacking work station structure and use method thereof have the advantages of being high in automation level, and high in stacking efficiency.
Description
Technical field
The present invention relates to a kind of pallet stacking technical field, more particularly to a kind of truss robot piling work station structure and
Its using method.
Background technology
Piling, stack article is neat as the term suggests referring to；Robot palletizer be article can be stacked automatically it is whole
Neat device, equipment etc..At present in automated production field, such as casing piling, need the casing on streamline is neat
Transfer is stacked on pallet, and then whole pile casing can directly be circulated by pallet, finally by whole pile casing entrucking, carrying.Mesh
Front common robot palletizer is all, using three-dimensional coordinate robot manipulator structure, single casing to be carried into stacking to support by manipulator
On disk, then whole pile casing is shifted by pallet.But current Stacking Robots automaticity is not high, casing charging, support
The turnover of disk is required for hand fit to adjust, and automaticity cannot meet carrying demand；And three-dimensional coordinate manipulator freedom
Degree is high, and mobile adjustment action is more, so as to cause casing handling efficiency to reduce.
The content of the invention
The present invention is low in order to overcome the shortcomings of stacking machine automaticity of the prior art, there is provided one kind automation journey
Degree is high, the truss robot piling of piling efficiency high works station structure and its using method.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of truss robot piling work station structure, including material conveyer belt, truss, the feed end and flowing water of material conveyer belt
Line is docked, and described material conveyer belt is drum-type conveyer belt, and the side of the material conveyer belt is provided with push rod, and the material is defeated
The bottom for sending band is provided with push rod translational drive mechanism, and the opposite side of the material conveyer belt is provided with the predetermined bit platform of casing, described
Truss be provided with the horizontal gird vertical with the moving direction of material conveyer belt, described horizontal gird is provided with sliding seat,
Sliding seat is provided with lifting seat, and the lower end of the lifting seat is provided with manipulator；The inner side of the predetermined bit platform of casing conveys with material
The side docking of band, is provided with pallet and adjusts support platform on the outside of the predetermined bit platform of casing.One row casing is moved on streamline,
Pallet is adjusted and be equipped with support platform pallet, when a row casing is moved on material conveyer belt, X-axis of the casing in material conveyer belt
Direction forms a line, and push rod translational drive mechanism drives push rod translation, push rod that the row casing on material conveyer belt is pushed into case
On the predetermined bit platform of body, push rod repetitive operation is shifted multiple row casing on the predetermined bit platform of casing onto, when on the predetermined bit platform of casing
Casing just can with the one of cloth full tray layer when, manipulator moves to casing predetermined bit platform top by all casings along Y-axis
Disposably it is transported to piling on pallet；The manipulator of this kind of work station only has the action of Y-axis, Z axis, and X-axis is directly defeated by material
Band and push rod is sent to realize that casing is positioned, so as to simplify the action of manipulator, the handling efficiency of manipulator is significantly improved, finally carried
High piling efficiency.
Preferably, described manipulator includes sucker stand, is located at the sucker body of sucker stand bottom, the sucker
Connected by rotation seat between the upper end of support and lifting seat, on described sucker body some vacuum slots be evenly distributed with,
The downside of the sucker body is provided with spongy layer.Casing is adsorbed by vacuum slot, it is simple, convenient.
Preferably, two end side surfaces that described pallet adjusts support platform are respectively equipped with pallet feeding web, pallet
Discharging conveyor belts, described pallet feeding web and pallet to be adjusted and be provided with pallet separating mechanism between support platform.Whole folded support
Disk is placed on pallet feeding web, is separated on nethermost pallet by pallet separating mechanism, and the pallet after separation enters to start going to a nursery
Disk to be adjusted and prepare piling in support platform, piling well after pallet enter pallet discharging conveyor belts.
Preferably, described pallet separating mechanism includes the bracing frame of the discharge end for being located at pallet feeding web, institute
State and be provided with bracing frame lifting support, the lifting support is provided with the tray lift bar of two levels, sets in support frame as described above
There is lifting support drive mechanism.
Preferably, described lifting support drive mechanism includes lifting motor, decelerator, rotating shaft, the shaft end of decelerator
It is connected by sprocket wheel, chain between rotating shaft, the two ends of the rotating shaft are provided with eccentric connecting seat, and the eccentric connecting seat is by drawing
Rope is connected with lifting support, drives lifting support to rise when lifting motor is rotated forward, and drives under lifting support when lifting motor is inverted
Drop.Pallet moves forward in the effect of pallet feeding web, and tray lift bar insertion penultimate pallet simultaneously carries whole tray
Rise（Except a nethermost pallet）, the movement of pallet feeding web by a pallet move to pallet adjust support platform
On, tray lift bar declines, and pallet feeding web is moved rearwards by, and pallet is separated with tray lift bar, the above-mentioned action of repetition, will
Whole tray is separated successively from top to bottom, and pallet separates highly stable, safety.
Preferably, described pallet adjust support platform include pallet adjust conveying mechanism, the first pallet lift platform,
Second pallet lift platform, described pallet adjusts conveying mechanism to be included tray supporter, is located at the mutually flat of tray supporter both sides
Capable tray support adjustable track, described tray support adjustable track is parallel with material conveyer belt, the first pallet lift platform,
Second pallet lift platform is respectively positioned between tray support adjustable track, is provided with to enter with pallet at the top of the first pallet lift platform
The pallet charging guide rail of material conveyer belt docking, is provided with the top of the second pallet lift platform and is docked with pallet discharging conveyor belts
Pallet discharging guide rail.
Preferably, when the first pallet lift platform, the second pallet lift platform rise to extreme position, pallet charging
Guide rail is concordant with pallet feeding web, and pallet discharging guide rail is concordant with pallet discharging conveyor belts, and pallet charging is drawn
Guideway is concordant with pallet discharging guide rail, and pallet charging guide rail, pallet discharging guide rail are above tray support
Adjustable track；When the first pallet lift platform, the second pallet lift platform drop to extreme position, pallet charging guide rail
Road, pallet discharging guide rail are below tray support adjustable track.
Preferably, the two ends of the predetermined bit platform of the casing are provided with postive stop baffle, the side of the postive stop baffle is provided with
Levelling lever, the predetermined bit platform of the casing is upper to be provided with connecting pole, described levelling lever on the outside of postive stop baffle
Formed through connecting pole and be slidably connected, the top of the connecting pole is provided with locking bolt.By the regulation of postive stop baffle to some
Row casing carries out spacing, can as needed adjust the distance between postive stop baffle.
A kind of using method of truss robot piling work station, comprises the following steps：
A, pallet are separated：One tray is overlayed on pallet feeding web, and pallet feeding web drives whole tray reach,
The insertion of tray lift bar is from top to bottom in penultimate pallet, and lifting support rises penultimate pallet and its above
Pallet lifts, the first pallet lift platform rise to it is concordant with pallet feeding web, the movement of pallet feeding web will most under
The pallet in face is moved on the first pallet lift platform；Lifting support declines, and remaining pallet is returned on pallet feeding web,
Pallet feeding web falls back so that tray lift bar is separated with pallet；
B, pallet are adjusted：First pallet lift platform decline, pallet be subject to tray support adjustable track support and with the first support
Disk hoistable platform is separated, and tray support adjustable track drives pallet to move to the surface of the second pallet lift platform；Pallet enters
Upper remaining pallet repeat step a of material conveying so that second pallet is moved on the first pallet lift platform；
Casing on c, streamline is continuously entered on material conveyer belt along streamline, X-direction of the casing in material conveyer belt
Form a line, push rod translational drive mechanism drives push rod translation, and it is pre- that the row casing on material conveyer belt is pushed casing by push rod
On locating platform, push rod repetitive operation shifts multiple row casing onto case on the predetermined bit platform of casing, on the predetermined bit platform of casing
Body just can with the one of cloth full tray layer when, the layer box body that manipulator has good positioning the arrangement on the predetermined bit platform of casing is together
It is transferred on pallet, the position of pallet can move back and forth fine setting by tray support adjustable track；Repeat step c, until support
Casing on disk is stacked to the number of plies of needs；
D, the second pallet lift platform rise, and the pallet for piling with casing is separated with tray support adjustable track, pallet discharging guiding
Track drives pallet to enter pallet discharging conveyor belts, realizes that the pallet after stacking discharges；
E, the first pallet lift platform decline, and second pallet moves to the second pallet lift and put down by tray support adjustable track
The surface of platform, waits stacking.
Therefore, the present invention has high degree of automation, the beneficial effect of piling efficiency high.
Description of the drawings
Fig. 1 is a kind of structural representation of the present invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the structural representation of material conveyer belt.
Fig. 4 is enlarged diagram at A in Fig. 3.
Fig. 5 is the structural representation of manipulator.
Fig. 6 is that pallet adjusts support platform and pallet feeding web, the connection diagram of pallet discharging conveyor belts.
Fig. 7 is the top view that pallet adjusts support platform.
Fig. 8 is the structural representation of pallet separating mechanism.
Fig. 9 is the structure schematic diagram of Fig. 8.
Figure 10 is pallet the stacked state schematic diagram.
In figure：Material conveyer belt 1, truss 2, streamline 3, push rod 4, horizontal gird 5, sliding seat 6, lifting seat 7, manipulator
8th, pallet adjusts the predetermined bit platform 10 of support platform 9, casing, postive stop baffle 11, levelling lever 12, connecting pole 13, locking spiral shell
Bolt 14, pallet feeding web 15, pallet discharging conveyor belts 16, pallet separating mechanism 17, pallet 18, casing 19, sucker stand
80th, sucker body 81, vacuum slot 82, spongy layer 83, bracing frame 170, lifting support 171, tray lift bar 172, lifting electricity
Machine 173, decelerator 174, rotating shaft 175, sprocket wheel 176, chain 177, eccentric connecting seat 178, drag-line 179, pallet adjust conveyer
Structure 90, the first pallet lift platform 91, the second pallet lift platform 92, tray supporter 900, tray support adjustable track 901, support
Disk charging guide rail 910, pallet discharging guide rail 920.
Specific embodiment
With reference to the accompanying drawings and detailed description the invention will be further described：
A kind of truss robot piling work station structure as depicted in figs. 1 and 2, including material conveyer belt 1, truss 2, material is defeated
The feed end for sending band is docked with streamline 3, and material conveyer belt is drum-type conveyer belt, and the side of material conveyer belt is provided with push rod 4,
The bottom of material conveyer belt is provided with push rod translational drive mechanism, and the opposite side of material conveyer belt is provided with the predetermined bit platform 10 of casing,
Truss is provided with the horizontal gird 5 vertical with the moving direction of material conveyer belt, and horizontal gird is provided with sliding seat 6, sliding seat
Lifting seat 7 is provided with, the lower end of lifting seat is provided with manipulator 8；The inner side of the predetermined bit platform 10 of casing and the one of material conveyer belt
Side is docked, and the outside of the predetermined bit platform 10 of casing is provided with pallet and adjusts support platform 9；
As shown in Figure 3 and Figure 4, the two ends of the predetermined bit platform 10 of casing are provided with postive stop baffle 11, and the side of postive stop baffle 11 is provided with
Levelling lever 12, the predetermined bit platform of casing is upper to be provided with connecting pole 13 on the outside of postive stop baffle, and levelling lever is through company
Connect post formation to be slidably connected, the top of connecting pole is provided with locking bolt 14.
As shown in figure 5, manipulator 8 includes sucker stand 80, is located at the sucker body 81 of sucker stand bottom, sucker stand
Upper end and lifting seat between by rotation seat connect, some vacuum slots 82, sucker body are evenly distributed with sucker body
Downside be provided with spongy layer 83；Sucker body can draw a casing, can also draw multiple casings.
As shown in Fig. 6, Fig. 8 and Fig. 9, pallet feeding web 15 and pallet adjust and pallet point are provided between support platform 9
Disembark structure 17；Pallet separating mechanism 17 includes the bracing frame 170 of the discharge end for being located at pallet feeding web, and bracing frame is gantry
Support, is provided with lifting support 171 in bracing frame, the lower end outside of lifting support is provided with the tray lift bar 172 of two levels,
Lifting support drive mechanism is provided with support, lifting support drive mechanism includes lifting motor 173, decelerator 174, rotating shaft 175,
Connected by sprocket wheel 176, chain 177 between the shaft end of decelerator and rotating shaft, the two ends of rotating shaft are provided with eccentric connecting seat 178, partially
Heart connecting seat is connected by drag-line 179 with lifting support, drives lifting support to rise when lifting motor is rotated forward, lifting motor reversion
When drive lifting support decline；The both sides of bracing frame are provided with protective cover.
As shown in fig. 7, pallet adjust support platform 9 include pallet adjust conveying mechanism 90, the first pallet lift platform 91,
Second pallet lift platform 92, pallet adjusts conveying mechanism 90 to be included tray supporter 900, is located at the mutually flat of tray supporter both sides
Capable tray support adjustable track 901, tray support adjustable track is parallel with material conveyer belt, the first pallet lift platform 91,
Second pallet lift platform 92 is respectively positioned between tray support adjustable track 901, and the top of the first pallet lift platform 91 is provided with
The pallet charging guide rail 910 docked with pallet feeding web, the top of the second pallet lift platform 92 is provided with and pallet
The pallet discharging guide rail 920 of discharging conveyor belts docking；Tray support adjustable track 901, pallet charging guide rail 910,
The movement of pallet discharging guide rail 920 is by independent servomotor active drive.
When the first pallet lift platform 91, the second pallet lift platform 92 rise to extreme position, pallet charging guiding
Track 910 is concordant with pallet feeding web 15, and pallet discharging guide rail 920 is concordant with pallet discharging conveyor belts 16, pallet
Charging guide rail 910 is concordant with pallet discharging guide rail 920, pallet charging guide rail 910, pallet discharging guide rail
920 are above tray support adjustable track 901；When the first pallet lift platform, the second pallet lift platform drop to limit position
When putting, pallet charging guide rail, pallet discharging guide rail are below tray support adjustable track.
A kind of using method of truss robot piling work station, comprises the following steps：
A, pallet are separated：As shown in Figure 10, a tray 18 is overlayed on pallet feeding web 15, pallet feeding web 15
Whole tray is driven to move forward, tray lift bar 162 is inserted in penultimate pallet from top to bottom, lifting support rises inverse
The pallet of second pallet and its above lifts, the first pallet lift platform 91 rise to it is concordant with pallet feeding web 15,
Pallet feeding web 15 moves the pallet charging guide rail moved on nethermost pallet on the first pallet lift platform 91
On road 910；Lifting support declines, and remaining pallet is returned on pallet feeding web, and pallet feeding web 15 falls back so that
Tray lift bar is separated with pallet；
B, pallet are adjusted：First pallet lift platform 91 declines, pallet be subject to the support of tray support adjustable track 901 and with the
One pallet lift platform 91 is separated, and tray support adjustable track 901 drives pallet moving to the second pallet lift platform 92 just
Top；Upper remaining pallet repeat step a of pallet charging conveying so that second pallet moves to the first pallet lift platform
On；
Casing 19 on c, streamline is continuously entered on material conveyer belt 1 along streamline 3, X-axis of the casing in material conveyer belt
Direction forms a line, and push rod translational drive mechanism drives push rod 4 to translate, and push rod 4 pushes the row casing on material conveyer belt
On the predetermined bit platform 10 of casing, push rod repetitive operation shifts multiple row casing on the predetermined bit platform of casing onto, when casing pre-determined bit is put down
Casing on platform just can with the one of cloth full tray layer when, manipulator 8 arrangement on the predetermined bit platform of casing is had good positioning one
Layer box body is transferred to together on pallet, and the position of pallet can move back and forth fine setting by tray support adjustable track 901；Repeat
Step c, the casing on pallet is stacked to the number of plies of needs；Manipulator is only changed in the position of Y-axis movement, manipulator
Action is very single, therefore manipulator response is rapid, it is very quick to carry casing；
D, the second pallet lift platform 92 rise, and the pallet for piling with casing is separated with tray support adjustable track 901, pallet discharging
Guide rail 920 drives pallet to enter pallet discharging conveyor belts 16, realizes that the pallet after stacking discharges；
E, the first pallet lift platform 91 decline, and second pallet moves to the second pallet lift by tray support adjustable track
The surface of platform 92, waits stacking.
Whole process is coordinated, is linked up very much, without waiting for time, high degree of automation, casing stacking efficiency high.
Claims (9)
1. a kind of truss robot piling works station structure, including material conveyer belt, truss, feed end and the stream of material conveyer belt
Waterline is docked, and be it is characterized in that, described material conveyer belt is drum-type conveyer belt, and the side of the material conveyer belt is provided with and pushes away
Bar, the bottom of the material conveyer belt is provided with push rod translational drive mechanism, and it is pre- that the opposite side of the material conveyer belt is provided with casing
Locating platform, described truss is provided with the horizontal gird vertical with the moving direction of material conveyer belt, described horizontal gird
Sliding seat is provided with, sliding seat is provided with lifting seat, and the lower end of the lifting seat is provided with manipulator；The predetermined bit platform of casing it is interior
Side is docked with the side of material conveyer belt, pallet is provided with the outside of the predetermined bit platform of casing and adjusts support platform.
2. a kind of truss robot piling work station structure according to claim 1, is characterized in that, described mechanical handbag
Include sucker stand, be located at the sucker body of sucker stand bottom, by rotating between the upper end of the sucker stand and lifting seat
Seat connection, is evenly distributed with some vacuum slots on described sucker body, the downside of the sucker body is provided with spongy layer.
3. a kind of truss robot piling work station structure according to claim 1, is characterized in that, described pallet is adjusted
Two end side surfaces of support platform are respectively equipped with pallet feeding web, pallet discharging conveyor belts, described pallet feeding web
Adjust with pallet and be provided with pallet separating mechanism between support platform.
4. a kind of truss robot piling work station structure according to claim 3, is characterized in that, described pallet is separated
Mechanism includes the bracing frame of the discharge end for being located at pallet feeding web, and lifting support, the lifting are provided with support frame as described above
Support is provided with the tray lift bar of two levels, and lifting support drive mechanism is provided with support frame as described above.
5. a kind of truss robot piling work station structure according to claim 4, is characterized in that, described lifting support
Drive mechanism includes lifting motor, decelerator, rotating shaft, is connected by sprocket wheel, chain between the shaft end of decelerator and rotating shaft, described
The two ends of rotating shaft are provided with eccentric connecting seat, and the eccentric connecting seat is connected by drag-line with lifting support, when lifting motor is rotated forward
Drive lifting support to rise, drive lifting support to decline when lifting motor is inverted.
6. a kind of truss robot piling work station structure according to claim 3 or 4, is characterized in that, described pallet
Adjusting support platform includes that pallet adjusts conveying mechanism, the first pallet lift platform, the second pallet lift platform, described pallet
Adjusting conveying mechanism includes tray supporter, is located at the tray support adjustable track being parallel to each other on tray supporter both sides, described
Tray support adjustable track is parallel with material conveyer belt, and the first pallet lift platform, the second pallet lift platform are respectively positioned on pallet
Support between adjustable track, the pallet charging guiding docked with pallet feeding web is provided with the top of the first pallet lift platform
Track, is provided with the pallet discharging guide rail docked with pallet discharging conveyor belts at the top of the second pallet lift platform.
7. a kind of truss robot piling work station structure according to claim 6, is characterized in that, when the first pallet lift
When platform, the second pallet lift platform rise to extreme position, pallet charging guide rail is concordant with pallet feeding web, support
Disk discharging guide rail is concordant with pallet discharging conveyor belts, and pallet charging guide rail is concordant with pallet discharging guide rail, support
Disk charging guide rail, pallet discharging guide rail are above tray support adjustable track；When the first pallet lift platform, second
When pallet lift platform drops to extreme position, pallet charging guide rail, pallet discharging guide rail are below tray support
Adjustable track.
8. a kind of truss robot piling work station structure according to claim 1, is characterized in that, the casing pre-determined bit
The two ends of platform are provided with postive stop baffle, and the side of the postive stop baffle is provided with levelling lever, on the predetermined bit platform of the casing
Connecting pole is provided with the outside of postive stop baffle, described levelling lever is formed through connecting pole and is slidably connected, the connection
The top of post is provided with locking bolt.
9. a kind of using method of truss robot piling work station, is characterized in that, comprise the following steps：
A, pallet are separated：One tray is overlayed on pallet feeding web, and pallet feeding web drives whole tray reach,
The insertion of tray lift bar is from top to bottom in penultimate pallet, and lifting support rises penultimate pallet and its above
Pallet lifts, the first pallet lift platform rise to it is concordant with pallet feeding web, the movement of pallet feeding web will most under
The pallet in face is moved on the first pallet lift platform；Lifting support declines, and remaining pallet is returned on pallet feeding web,
Pallet feeding web falls back so that tray lift bar is separated with pallet；
B, pallet are adjusted：First pallet lift platform decline, pallet be subject to tray support adjustable track support and with the first support
Disk hoistable platform is separated, and tray support adjustable track drives pallet to move to the surface of the second pallet lift platform；Pallet enters
Upper remaining pallet repeat step a of material conveying so that second pallet is moved on the first pallet lift platform；
Casing on c, streamline is continuously entered on material conveyer belt along streamline, X-direction of the casing in material conveyer belt
Form a line, push rod translational drive mechanism drives push rod translation, and it is pre- that the row casing on material conveyer belt is pushed casing by push rod
On locating platform, push rod repetitive operation shifts multiple row casing onto case on the predetermined bit platform of casing, on the predetermined bit platform of casing
Body just can with the one of cloth full tray layer when, the layer box body that manipulator has good positioning the arrangement on the predetermined bit platform of casing is together
It is transferred on pallet, the position of pallet can move back and forth fine setting by tray support adjustable track；Repeat step c, until support
Casing on disk is stacked to the number of plies of needs；
D, the second pallet lift platform rise, and the pallet for piling with casing is separated with tray support adjustable track, pallet discharging guiding
Track drives pallet to enter pallet discharging conveyor belts, realizes that the pallet after stacking discharges；
E, the first pallet lift platform decline, and second pallet moves to the second pallet lift and put down by tray support adjustable track
The surface of platform, waits stacking.
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| CN201611195509.1A CN106629088B (en) | 2016-12-22 | 2016-12-22 | A kind of truss robot stacking work station structure and its application method |
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| CN111646178A (en) * | 2020-07-02 | 2020-09-11 | 浙江兴宇机械科技有限公司 | Automatic stacking equipment |
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