CN106672635A - Stacking machine and stacking method - Google Patents
Stacking machine and stacking method Download PDFInfo
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- CN106672635A CN106672635A CN201710136763.2A CN201710136763A CN106672635A CN 106672635 A CN106672635 A CN 106672635A CN 201710136763 A CN201710136763 A CN 201710136763A CN 106672635 A CN106672635 A CN 106672635A
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- rollgang
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a stacking machine and a stacking method. The stacking machine comprises a frame, a conveying roller way I, a conveying roller way II and N vacuum suckers; the N vacuum suckers fixedly absorb and transfer N goods arranged in an X-axle direction on the conveying roller way II into a goods bearing device correspondingly one to one. The conveying roller way I conveys the goods packed with plastic films by a plastic film packing machine onto the conveying roller way II in a Y-axle direction, and the conveying roller way II arranges N goods in the X-axle direction, so that N sets of vacuum suckers in the frame 1 can correspondingly suck N goods to realize multi-station synchronous operation under the conditions of matching a transverse moving mechanism with a longitudinal moving mechanism. The sucked goods are stacked on the goods bearing device under the effect of the transverse moving mechanism and the longitudinal moving mechanism. The stacking machine and the stacking method replace a traditional manual stacking mode, greatly improve the stacking efficiency, and meanwhile, greatly improve the stacking precision.
Description
Technical field
The present invention relates to logistics equipment field, and in particular to a kind of stacking machine and palletizing method.
Background technology
In traditional production technology for the kinds of goods after vanning after plastic film encapsulation is carried out its by rollgang convey, by
The kinds of goods stacking of the FCL after the artificial plastic film encapsulation for carrying out rollgang conveying is put in wood composite pallet or goods cage, afterwards by people
Work or fork truck are transported to warehouse storage.Because the efficiency of packing machine is most soon 4s/ bags, the process of above-mentioned stacking needs artificial behaviour
Make, therefore it is low to there is stacking efficiency, big to personnel demand amount, the labour intensity of people is larger, the drawbacks of the low precision of stacking；If
By the way of Robot actions, although can improve efficiency, but cost is at a relatively high.
The content of the invention
The present invention is in order to overcome the shortcomings of above technology, there is provided one kind both can guarantee that raising stacking efficiency and stacking are accurate
Degree can control the stacking machine and palletizing method of cost again.
The present invention overcomes the technical scheme that its technical problem is used to be：
A kind of stacking machine, including：
Frame, kinds of goods bogey is located in frame；
Rollgang I, its head end is connected with plastic film packing machine, for plastic film to be packed after kinds of goods with the Y-axis of space coordinates
Direction conveys；
Rollgang II, it is located in frame, and rollgang II is connected with the tail end of rollgang I, for by N number of rollgang
Kinds of goods after the plastic film packaging of I conveying are conveyed with the X-direction of space coordinates, and wherein N is the natural number more than or equal to 1；With
And
N number of vacuum cup；Each vacuum cup drives it laterally to be moved with space coordinates Y direction by transverse-moving mechanism respectively
It is dynamic, drive it to be vertically moved with space coordinates Z-direction by vertical shift mechanism respectively, in transverse-moving mechanism and the work of vertical shift mechanism
Under, N number of vacuum cup is one-to-one respectively will to be fixed simultaneously on rollgang II along N number of kinds of goods absorption that X-direction is arranged
It is moved at kinds of goods bogey.
Above-mentioned kinds of goods bogey is wood composite pallet or goods cage.
Above-mentioned transverse-moving mechanism include the straight line slide unit II that is fixed in frame along Y direction of level and with straight line slide unit II
The servomotor II of drive connection, the vertical shift mechanism includes the straight line slide unit I for being set along Z-direction vertically and is slided with straight line
The servomotor I of the drive connection of platform I, the slide unit I of the straight line slide unit I is fixed on the slide unit II of straight line slide unit II, described true
Suction disk level is fixed on the lower end of straight line slide unit I.
Moved along Y direction for the ease of kinds of goods, also including being arranged at the driving gas of the rear end of rollgang II along Y direction
Cylinder, is provided with push pedal II on the piston rod of the drive cylinder, when the piston rod of drive cylinder all stretches out, push pedal II will be defeated
The kinds of goods on roller-way II are sent to be promoted forward along Y direction.
For the ease of positioning, also including being arranged at the guide plate I of the rear end of rollgang I along Y direction and being arranged at defeated
The cylinder I of the front end of roller-way I is sent, push pedal I is installed on the piston rod of the cylinder I, when the piston rod of cylinder I all stretches out,
Be pushed to for kinds of goods on rollgang I and be in contact with guide plate I by push pedal I.
In order to improve the precision of stacking, also including be arranged in frame for kinds of goods bogey in X-direction
And the spacing detent mechanism of Y direction.
In order to reduce the abrasion that deflection torque causes to straight line slide unit, also including being fixed in frame and positioned at straight line slide unit
The straight line slide unit III of II lower end, the straight line slide unit III is parallel with straight line slide unit II, is slidably fitted with the straight line slide unit I
Two slide units I, the slide unit I positioned at upper end is fixed on the slide unit II of straight line slide unit II, and the slide unit I positioned at lower end is fixed on straight line
On the slide unit III of slide unit III, the rear and front end of the straight line slide unit III is respectively by synchronizing shaft and the rear and front end of straight line slide unit II
Drive connection.
For the ease of positioning, also including being arranged at the guide plate III of the medial extremity of rollgang II along X-direction, through conveying roller
The kinds of goods of the conveying of road I are in contact with guide plate III.
Above-mentioned detent mechanism includes two bases, the guide plate II of each base medial extremity is arranged at along X-direction, is passed through
Bearing pin rotation is installed on each pan frontward end fixture block and tail end is hinged the cylinder II being installed on each base, the cylinder II
Piston rod head end and fixture block be hinged installations, the medial extremity of the fixture block is horizontally disposed with gib head, between two guide plates II
Spacing matches with the width of kinds of goods bogey, and when the piston rod of cylinder II all stretches out, the inner face of the gib head is along Y
Direction of principal axis is set.
In order to prevent damaging kinds of goods by pressure, some springs are clamped between above-mentioned vacuum cup and straight line slide unit I.
In order to realize that Cargo Inspection is surveyed, the outboard end of above-mentioned vacuum cup is provided with optoelectronic switch, outside the vacuum cup
External diameter of the footpath less than kinds of goods.
For the ease of measurement kinds of goods highly, the range finding for detecting kinds of goods height is provided with above-mentioned vacuum cup to sense
Device.
A kind of palletizing method, comprises the following steps：
A) kinds of goods after rollgang I packs plastic film are conveyed with the Y direction of space coordinates；
B) rollgang II rollgang I is conveyed the N number of kinds of goods for coming and conveyed with the X-direction of space coordinates, and wherein N is
Natural number more than or equal to 1；
C) the N number of vacuum cup in stacking machine drives it with space coordinates Y direction transverse shifting by transverse-moving mechanism, until
Each vacuum cup is located at picking position, when corresponding kinds of goods reach the underface of picking position, is examined by distance measuring sensor
Measure kinds of goods highly；
D) N number of vacuum cup drives it to be moved down with space coordinates Z-direction by vertical shift mechanism, until vacuum cup
It is adsorbed on kinds of goods upper surface；
E) vertical shift mechanism is driven vacuum cup to carry kinds of goods and is moved up with space coordinates Z-direction, leaves kinds of goods lower end
Rollgang II；
F) transverse-moving mechanism drives vacuum cup to refer to the upper end that space coordinates Y direction laterally moves to kinds of goods bogey
Determine goods putting position, kinds of goods bogey is placed on the lower section of goods putting position by artificial, AGV dollies or conveying mechanism；
G) vertical shift mechanism is driven vacuum cup to carry kinds of goods and is moved down with space coordinates Z-direction, and kinds of goods are piled up in goods
On product bogey, each column kinds of goods on kinds of goods bogey are made to remain the state that height declines successively from left to right, so
Vacuum cup returns to picking position afterwards；
h）Above step is repeated, after a kinds of goods bogey has been piled up, is transported by artificial, AGV dollies or conveying mechanism.
The beneficial effects of the invention are as follows：Along Y direction be delivered to kinds of goods after plastic film packing machine plastic film defeated by rollgang I
Roller-way II is sent, rollgang II is in one line along X-direction by N number of kinds of goods, so that N groups vacuum cup in frame 1 can be
In the case that transverse-moving mechanism and vertical shift mechanism coordinate, each kinds of goods correspondence is drawn, so as to realize that Multi-station synchronous are operated.Draw
Be placed on kinds of goods bogey for its stacking in the presence of vertical shift mechanism and transverse-moving mechanism by kinds of goods afterwards.Instead of tradition
Hand stowage mode, stacking efficiency is greatly improved, while the precision of stacking is also greatly improved, and cost is also low.
Brief description of the drawings
Fig. 1 is main structure diagram of the invention I；
Fig. 2 is left view structural representation of the invention；
Fig. 3 is overlooking the structure diagram of the invention；
Fig. 4 is the structural representation I of rollgang of the invention；
Fig. 5 is the structural representation II of rollgang of the invention；
Fig. 6 is the structural representation of detent mechanism of the invention；
Fig. 7 is main structure diagram of the invention II；
Fig. 8 is the A partial enlargement structural representations in Fig. 1；
Fig. 9 is the B partial enlargement structural representations in Fig. 1；
Figure 10 is the C partial enlargement structural representations in Fig. 2；
In figure, the 1. rollgang of 2. rollgang of frame, I 3. kinds of goods, 4. kinds of goods bogey, 5. cylinder, I 6. push pedal I 7.
The straight line slide unit III of II 8. guide plate, I 9. push pedal, II 10. straight line slide unit, I 11. servomotor, I 12. straight line slide unit II 13.
The optoelectronic switch of 14. servomotor, II 15. synchronizing shaft, 16. slide unit, I 17. slide unit, II 18. vacuum cup, 19. spring 20.
The guide plate of 21. distance measuring sensor, 22. base, 23. bearing pin, 24. fixture block, 25. cylinder, II 26. guide plate, II 27. gib head 28.
Ⅲ。
Specific embodiment
The present invention will be further described for 1 to accompanying drawing 10 below in conjunction with the accompanying drawings.
As shown in accompanying drawing 1, accompanying drawing 4 and accompanying drawing 5, a kind of stacking machine, including：Frame 1, kinds of goods bogey 4 is located at frame 1
It is interior；Rollgang I 2, its head end is connected with plastic film packing machine, for plastic film to be packed after kinds of goods 3 with the Y of space coordinates
Direction of principal axis is conveyed；Rollgang II 7, it is located in frame 1, and rollgang II 7 is connected with the tail end of rollgang I 2, is used
Conveyed with the X-direction of space coordinates in the kinds of goods 3 after the plastic film packaging for conveying N number of rollgang I 2, wherein N is big
In the natural number equal to 1；And N number of vacuum cup；Each vacuum cup drives it with space coordinates by transverse-moving mechanism respectively
It is Y direction transverse shifting, drives it to be vertically moved with space coordinates Z-direction by vertical shift mechanism respectively, in cross sliding machine
In the presence of structure and vertical shift mechanism, N number of vacuum cup is one-to-one respectively will to arrange on rollgang II 7 along X-direction
The absorption of N number of kinds of goods 3 is fixed and is moved at kinds of goods bogey 4.Rollgang I 2 is by the kinds of goods 3 after plastic film packing machine plastic film
Rollgang II 7 is delivered to along Y direction, rollgang II 7 is in one line along X-direction by N number of kinds of goods 3, so that frame 1
Interior N groups vacuum cup 18 can be drawn each kinds of goods 3 correspondence in the case where transverse-moving mechanism and vertical shift mechanism coordinate, from
And realize Multi-station synchronous and operate.Be placed into for its stacking in the presence of vertical shift mechanism and transverse-moving mechanism by the kinds of goods 3 after absorption
On kinds of goods bogey 4.The mode of traditional hand stowage is instead of, stacking efficiency is greatly improved, while the essence of stacking
Degree is also greatly improved.
Kinds of goods bogey is wood composite pallet or goods cage.It is traversing as shown in accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, accompanying drawing 7 and accompanying drawing 8
Straight line slide unit II 12 and be connected with straight line slide unit II 12 that mechanism is fixed in frame 1 including level along Y direction
Servomotor II 14, vertical shift mechanism include vertically along Z-direction set straight line slide unit I 10 and with straight line slide unit I 10
The servomotor I 11 of drive connection, the slide unit I 16 of straight line slide unit I 10 is fixed on the slide unit II 17 of straight line slide unit II 12
On, the level of vacuum cup 18 is fixed on the lower end of straight line slide unit I 10.When servomotor II 14 is rotated, it drives straight line slide unit
II 12 slide unit II 17 is moved along the Y direction of space coordinates, because the slide unit I 16 of straight line slide unit I 10 is fixed on directly
On the slide unit II 17 of line slide unit II 12, therefore whole straight line slide unit I 10 and vacuum cup 18 are traversing along Y-axis, work as servomotor
During I 11 rotation, it drives the relative slide unit I 16 of straight line slide unit I 10 to be moved up and down along the Z-direction of space coordinates, realizes vertical
Move, therefore vacuum cup 18 realizes vertical shift.Further, also including being fixed in frame 1 and positioned at the lower end of straight line slide unit II 12
Straight line slide unit III 13, straight line slide unit III 13 is parallel with straight line slide unit II 12, and two are slidably fitted with straight line slide unit I 10
Individual slide unit I 16, the slide unit I 16 positioned at upper end is fixed on the slide unit II 17 of straight line slide unit II 12, positioned at the slide unit I of lower end
16 are fixed on the slide unit III of straight line slide unit III 13, and the rear and front end of straight line slide unit III 13 passes through synchronizing shaft 15 and straight line respectively
The rear and front end drive connection of slide unit II 12.Because straight line slide unit III 13 is synchronous by synchronizing shaft 15 with straight line slide unit II 12
Action, it realizes 2 points of supports to straight line slide unit I 10, improves rigidity of support, is only driven by straight line slide unit II 12 straight
The action of line slide unit I 10 produces the situation that deflection torque easily causes the damage of straight line slide unit II 12 to occur.
Further, also including being arranged at the drive cylinder of the rear end of rollgang II 7, the work of drive cylinder along Y direction
Push pedal II 9 is installed, when the piston rod of drive cylinder all stretches out, push pedal II 9 is by rollgang II 7 on stopper rod
Kinds of goods 3 are promoted forward along Y direction.Can also include along Y direction be arranged at the guide plate I 8 of the rear end of rollgang I 2 with
And the cylinder I 5 of the front end of rollgang I 2 is arranged at, push pedal I 6 is installed, when the work of cylinder I 5 on the piston rod of cylinder I 5
When stopper rod all stretches out, be pushed to for the kinds of goods 3 on rollgang I 2 and be in contact with guide plate I 8 by push pedal I 6.By cylinder I
5 actions are conveyed kinds of goods 3 along the guide direction of guide plate I 8 using push pedal I 6, it can be ensured that kinds of goods 3 enter rollgang II
The accuracy of position when 7.The guide plate III 28 of the medial extremity of rollgang II 7, warp can also be included being arranged at along X-direction
The kinds of goods 3 of the conveying of rollgang I 2 are in contact with guide plate III 28, and guide plate III 28 may insure N number of kinds of goods 3 along conveying
When the X-direction of roller-way II 7 is conveyed, the inner side end of each kinds of goods is located in approximately the same plane, improves the accurate of positioning
Degree, it is ensured that smoothly can be drawn by vacuum cup 18.
In order to further improve the kinds of goods 3 of the absorption of vacuum cup 18 in the accurate of the positioning being placed on kinds of goods bogey
Degree, also including be arranged in frame 1 for kinds of goods bogey in the spacing detent mechanism of X-direction and Y direction.Such as
Shown in accompanying drawing 6 and accompanying drawing 10, detent mechanism includes two bases 22, is arranged at leading for each medial extremity of base 22 along X-direction
Each front end fixture block 24 of base 22 is installed on to plate II 26, by the rotation of bearing pin 23 and tail end is hinged and is installed on each base
Cylinder II 25 on 22, piston rod head end and the fixture block 24 of cylinder II 25 are hinged installation, and the medial extremity of fixture block 24 is horizontally disposed with
There is gib head 27, the spacing between two guide plates II 26 matches with the width of kinds of goods bogey 4, when the work of cylinder II 25
When stopper rod all stretches out, the inner face of gib head 27 is set along Y direction.By empty wood composite pallet or goods cage through two ends guide plate II
26 are oriented to, until its front end is in contact with gib head 27, quick positioning are realized, when the stacking of kinds of goods 3 on wood composite pallet or goods cage is complete
Cheng Hou, the piston rod of cylinder II 25 is moved back, and it drives fixture block 24 to rotate, until gib head 27 rotates backward and leaves kinds of goods and hold
Carry and put 4, can be taken away kinds of goods bogey 4 using fork truck afterwards.Further increase the convenience for using.
As shown in accompanying drawing 1, accompanying drawing 2, accompanying drawing 9 and accompanying drawing 10, the outboard end of vacuum cup 18 is provided with optoelectronic switch 20, very
External diameter of the external diameter of suction disk 18 less than kinds of goods 3.Therefore after the vacuum cup of kinds of goods 3 18 after plastic film is drawn, optoelectronic switch
20 can detect kinds of goods 3, if after kinds of goods 3 drop in stacking from vacuum cup 18, optoelectronic switch 20 can be with sender, entirely
System can alarm.The distance measuring sensor 21 for detecting the height of kinds of goods 3, range finding sensing can also be provided with vacuum cup 18
Device 21 can detect the height of the kinds of goods 3 on rollgang II 7, so as to further increase the convenience for using.Vacuum cup
Some springs 19 are clamped between 18 and straight line slide unit I 10.Its pressure is set to be attached to goods when vertical shift mechanism drives vacuum cup 18 to move down
During 3 upper surface of product, spring 19 is compressed, the lower counteracted by pressure that can be produced vacuum cup 18, by goods during preventing from pushing
Product 3 are damaged by pressure.
The invention also discloses a kind of palletizing method, comprise the following steps：A) goods after rollgang I 2 packs plastic film
Product 3 are conveyed with the Y direction of space coordinates；B) N number of kinds of goods 3 that rollgang II 7 carrys out the conveying of rollgang I 2 are with sky
Between coordinate system X-direction conveying, wherein N is the natural number more than or equal to 1；C) the N number of vacuum cup 18 in stacking machine passes through
Transverse-moving mechanism drives it with space coordinates Y direction transverse shifting, until each vacuum cup 18 is located at picking position, when right
When the kinds of goods 3 answered reach the underface of picking position, detect kinds of goods highly by distance measuring sensor 21；D) N number of vacuum cup
It is driven to be moved down with space coordinates Z-direction by vertical shift mechanism, until vacuum cup is adsorbed in the upper surface of kinds of goods 3
On；
E) vertical shift mechanism drive vacuum cup carry kinds of goods 3 moved up with space coordinates Z-direction, make the lower end of kinds of goods 3 from
Drive rollgang II 7；Transverse-moving mechanism drives vacuum cup to laterally move to kinds of goods bogey 4 with space coordinates Y direction
Upper end specify goods putting position, kinds of goods bogey 4 is placed on the lower section of goods putting position by artificial, AGV dollies or conveying mechanism；
G) vertical shift mechanism is driven vacuum cup to carry kinds of goods 3 and is moved down with space coordinates Z-direction, and kinds of goods 3 are piled up in kinds of goods
On bogey 4, each column kinds of goods on kinds of goods bogey 4 are made to remain the state that height declines successively from left to right, so
Vacuum cup returns to picking position afterwards；h）Above step is repeated, after a kinds of goods bogey 4 has been piled up, by artificial, AGV
Dolly or conveying mechanism are transported.Realize that Multi-station synchronous are operated, instead of the mode of traditional hand stowage, stacking efficiency is able to
Greatly improve, while the precision of stacking is also greatly improved, and cost is also low.
Claims (13)
1. a kind of stacking machine, it is characterised in that including：
Frame（1）, kinds of goods bogey（4）Positioned at frame（1）It is interior；
Rollgang I（2）, its head end is connected with plastic film packing machine, for plastic film to be packed after kinds of goods（3）With space coordinates
Y direction conveying；
Rollgang II（7）, it is located at frame（1）It is interior, rollgang II（7）With rollgang I（2）Tail end be connected, be used for
By N number of rollgang I（2）Kinds of goods after the plastic film packaging of conveying（3）Conveyed with the X-direction of space coordinates, wherein N is big
In the natural number equal to 1；And
N number of vacuum cup；Each vacuum cup drives it laterally to be moved with space coordinates Y direction by transverse-moving mechanism respectively
It is dynamic, drive it to be vertically moved with space coordinates Z-direction by vertical shift mechanism respectively, in transverse-moving mechanism and the work of vertical shift mechanism
Under, N number of vacuum cup is one-to-one by rollgang II respectively（7）On along X-direction arrange N number of kinds of goods（3）Absorption
Fix and be moved to kinds of goods bogey（4）Place.
2. stacking machine according to claim 1, it is characterised in that：The kinds of goods bogey is wood composite pallet or goods cage.
3. stacking machine according to claim 1, it is characterised in that：The transverse-moving mechanism is fixed including level along Y direction
In frame（1）On straight line slide unit II（12）And with straight line slide unit II（12）The servomotor II of drive connection（14）, it is described
Vertical shift mechanism includes the straight line slide unit I for being set along Z-direction vertically（10）And with straight line slide unit I（10）The servo of drive connection
Motor I（11）, the straight line slide unit I（10）Slide unit I（16）It is fixed on straight line slide unit II（12）Slide unit II（17）On, it is described
Vacuum cup（18）Level is fixed on straight line slide unit I（10）Lower end.
4. stacking machine according to claim 1, it is characterised in that：Also include being arranged at rollgang II along Y direction（7）
The drive cylinder of rear end, is provided with push pedal II on the piston rod of the drive cylinder（9）, when the piston rod of drive cylinder is all stretched
When going out, push pedal II（9）By rollgang II（7）On kinds of goods（3）Promoted forward along Y direction.
5. stacking machine according to claim 1, it is characterised in that：Also include being arranged at rollgang I along Y direction（2）
The guide plate I of rear end（8）And it is arranged at rollgang I（2）The cylinder I of front end（5）, the cylinder I（5）Piston rod on pacify
Equipped with push pedal I（6）, when cylinder I（5）Piston rod when all stretching out, push pedal I（6）By rollgang I（2）On kinds of goods（3）Push away
Move to guide plate I（8）It is in contact.
6. stacking machine as claimed in any of claims 1 to 5, it is characterised in that：Also include being arranged at frame（1）It is interior
For to kinds of goods bogey in the spacing detent mechanism of X-direction and Y direction.
7. stacking machine according to claim 3, it is characterised in that：Also include being fixed on frame（1）Above and positioned at straight line slide
Platform II（12）The straight line slide unit III of lower end（13）, the straight line slide unit III（13）With straight line slide unit II（12）It is parallel, it is described straight
Line slide unit I（10）On be slidably fitted with two slide units I（16）, positioned at the slide unit I of upper end（16）It is fixed on straight line slide unit II（12）
Slide unit II（17）On, positioned at the slide unit I of lower end（16）It is fixed on straight line slide unit III（13）Slide unit III on, the straight line slide unit
Ⅲ（13）Rear and front end respectively pass through synchronizing shaft（15）With straight line slide unit II（12）Rear and front end drive connection.
8. stacking machine according to claim 4, it is characterised in that：Also include being arranged at rollgang II along X-direction（7）
The guide plate III of medial extremity（28）, through rollgang I（2）The kinds of goods of conveying（3）With guide plate III（28）It is in contact.
9. stacking machine according to claim 6, it is characterised in that：The detent mechanism includes two bases（22）, along X-axis
Direction is arranged at each base（22）The guide plate II of medial extremity（26）, by bearing pin（23）Rotation is installed on each base（22）
Front end fixture block（24）And tail end is hinged and is installed on each base（22）On cylinder II（25）, the cylinder II（25）Piston
Rod head end and fixture block（24）It is hinged installation, the fixture block（24）Medial extremity horizontally disposed have gib head（27）, two guide plates II
（26）Between spacing and kinds of goods bogey（4）Width match, when cylinder II（25）Piston rod when all stretching out, institute
State gib head（27）Inner face along Y direction set.
10. stacking machine according to claim 3, it is characterised in that：The vacuum cup（18）With straight line slide unit I（10）It
Between be clamped with some springs（19）.
11. stacking machines according to claim 1, it is characterised in that：The vacuum cup（18）Outboard end be provided with light
Electric switch（20）, the vacuum cup（18）External diameter be less than kinds of goods（3）External diameter.
12. stacking machines according to claim 1, it is characterised in that：The vacuum cup（18）On be provided with for detecting
Kinds of goods（3）The distance measuring sensor of height（21）.
A kind of 13. palletizing methods, it is characterised in that：Comprise the following steps：
A) rollgang I（2）Kinds of goods after plastic film is packed（3）Conveyed with the Y direction of space coordinates；
B) rollgang II（7）By rollgang I（2）N number of kinds of goods that conveying comes（3）It is defeated with the X-direction of space coordinates
Send, wherein N is the natural number more than or equal to 1；
C) the N number of vacuum cup in stacking machine（18）It is driven with space coordinates Y direction transverse shifting by transverse-moving mechanism,
Until each vacuum cup（18）Positioned at picking position, when corresponding kinds of goods（3）When reaching the underface of picking position, by surveying
Away from sensor（21）Detect kinds of goods highly；
D) N number of vacuum cup drives it to be moved down with space coordinates Z-direction by vertical shift mechanism, until vacuum cup
It is adsorbed in kinds of goods（3）On upper surface；
E) vertical shift mechanism drives vacuum cup to carry kinds of goods（3）Moved up with space coordinates Z-direction, make kinds of goods（3）Under
Leave rollgang II in end（7）；
F) transverse-moving mechanism drives vacuum cup to laterally move to kinds of goods bogey with space coordinates Y direction（4）Upper end
Specify goods putting position, kinds of goods bogey（4）The lower section of goods putting position is placed on by artificial, AGV dollies or conveying mechanism；
G) vertical shift mechanism drives vacuum cup to carry kinds of goods（3）Moved down with space coordinates Z-direction, by kinds of goods（3）Code
It is put in kinds of goods bogey（4）On, make kinds of goods bogey（4）On each column kinds of goods remain from left to right height successively under
The state of drop, then vacuum cup return to picking position；
h）Above step is repeated, waits to have piled up a kinds of goods bogey（4）Afterwards, transported by artificial, AGV dollies or conveying mechanism
Walk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710136763.2A CN106672635A (en) | 2017-03-09 | 2017-03-09 | Stacking machine and stacking method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710136763.2A CN106672635A (en) | 2017-03-09 | 2017-03-09 | Stacking machine and stacking method |
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| CN106672635A true CN106672635A (en) | 2017-05-17 |
Family
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| CN201710136763.2A Pending CN106672635A (en) | 2017-03-09 | 2017-03-09 | Stacking machine and stacking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107486859A (en) * | 2017-08-31 | 2017-12-19 | 广州泰行智能科技有限公司 | The multiposition output control method and device of a kind of Single Mechanical arm |
| CN107539792A (en) * | 2017-09-26 | 2018-01-05 | 中铁宝桥集团有限公司 | Switch bed plate automatic stacking system and palletizing method |
| CN107585583A (en) * | 2017-10-11 | 2018-01-16 | 佛山市三水区精联自动化设备有限公司 | A kind of pallet stacking streamline |
| CN108108939A (en) * | 2017-12-12 | 2018-06-01 | 平湖市华瑞玻璃有限公司 | Glass processing raw material extraction element and its method |
| CN108284983A (en) * | 2017-12-28 | 2018-07-17 | 芜湖瑞思机器人有限公司 | Palletizing method in crispy rice packaging process |
| CN108284982A (en) * | 2017-12-28 | 2018-07-17 | 芜湖瑞思机器人有限公司 | Crispy rice packing method |
| CN108298131A (en) * | 2017-12-28 | 2018-07-20 | 芜湖瑞思机器人有限公司 | Palletizing system suitable for crispy rice packaging production line |
| CN108313380A (en) * | 2017-12-28 | 2018-07-24 | 芜湖瑞思机器人有限公司 | Crispy rice packaging production line |
| CN108438913A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of smoke box tears stacking sucker clamp open |
| CN108639774A (en) * | 2018-07-11 | 2018-10-12 | 苏州普莱特环保新材料有限公司 | Composite production line transducer stacking machine connecting line equipment |
| CN108674726A (en) * | 2018-07-23 | 2018-10-19 | 贵州慧联科技有限公司 | A kind of irregular bar cigarette packaging system crawl sucker and grasping means |
| CN109987425A (en) * | 2017-12-30 | 2019-07-09 | 上海企申自动化设备有限公司 | Automatic cargo handling machine |
| CN111470328A (en) * | 2020-04-30 | 2020-07-31 | 常州都铂高分子有限公司 | Environment-friendly flame-retardant pressure-sensitive adhesive tape batch stacking device |
| CN112027685A (en) * | 2020-07-26 | 2020-12-04 | 东风汽车车轮随州有限公司 | Full-automatic spoke stacking device |
| CN115072375A (en) * | 2022-07-19 | 2022-09-20 | 济南泰德包装科技有限公司 | Automatic suction plate compacting equipment for assembling tray |
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| CN107539792A (en) * | 2017-09-26 | 2018-01-05 | 中铁宝桥集团有限公司 | Switch bed plate automatic stacking system and palletizing method |
| CN107585583A (en) * | 2017-10-11 | 2018-01-16 | 佛山市三水区精联自动化设备有限公司 | A kind of pallet stacking streamline |
| CN108108939A (en) * | 2017-12-12 | 2018-06-01 | 平湖市华瑞玻璃有限公司 | Glass processing raw material extraction element and its method |
| CN108108939B (en) * | 2017-12-12 | 2024-03-01 | 平湖市华瑞玻璃有限公司 | Glass processing raw material extraction device and method |
| CN108284983A (en) * | 2017-12-28 | 2018-07-17 | 芜湖瑞思机器人有限公司 | Palletizing method in crispy rice packaging process |
| CN108313380A (en) * | 2017-12-28 | 2018-07-24 | 芜湖瑞思机器人有限公司 | Crispy rice packaging production line |
| CN108298131A (en) * | 2017-12-28 | 2018-07-20 | 芜湖瑞思机器人有限公司 | Palletizing system suitable for crispy rice packaging production line |
| CN108284982A (en) * | 2017-12-28 | 2018-07-17 | 芜湖瑞思机器人有限公司 | Crispy rice packing method |
| CN109987425A (en) * | 2017-12-30 | 2019-07-09 | 上海企申自动化设备有限公司 | Automatic cargo handling machine |
| CN108438913A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of smoke box tears stacking sucker clamp open |
| CN108639774A (en) * | 2018-07-11 | 2018-10-12 | 苏州普莱特环保新材料有限公司 | Composite production line transducer stacking machine connecting line equipment |
| CN108674726A (en) * | 2018-07-23 | 2018-10-19 | 贵州慧联科技有限公司 | A kind of irregular bar cigarette packaging system crawl sucker and grasping means |
| CN111470328A (en) * | 2020-04-30 | 2020-07-31 | 常州都铂高分子有限公司 | Environment-friendly flame-retardant pressure-sensitive adhesive tape batch stacking device |
| CN112027685A (en) * | 2020-07-26 | 2020-12-04 | 东风汽车车轮随州有限公司 | Full-automatic spoke stacking device |
| CN115072375A (en) * | 2022-07-19 | 2022-09-20 | 济南泰德包装科技有限公司 | Automatic suction plate compacting equipment for assembling tray |
| CN115072375B (en) * | 2022-07-19 | 2024-05-14 | 济南泰德轻量技术产业园有限公司 | Automatic suction plate compacting equipment for tray assembly |
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Application publication date: 20170517 |