CN106809653B - A kind of tray adjustment mechanism and its application method that stacking efficiency can be improved - Google Patents
A kind of tray adjustment mechanism and its application method that stacking efficiency can be improved Download PDFInfo
- Publication number
- CN106809653B CN106809653B CN201611195508.7A CN201611195508A CN106809653B CN 106809653 B CN106809653 B CN 106809653B CN 201611195508 A CN201611195508 A CN 201611195508A CN 106809653 B CN106809653 B CN 106809653B
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- pallet
- tray
- lift platform
- support
- platform
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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
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Landscapes
- Stacking Of Articles And Auxiliary Devices (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The present invention relates to pallet stacking technical fields, disclose a kind of tray adjustment mechanism that stacking efficiency can be improved, support section platform is adjusted including pallet, it includes tray supporter, the tray support track being parallel to each other for being located at tray supporter both sides that pallet, which adjusts support platform, one end of tray supporter is equipped with the servo motor for driving tray support rail mobile, and the interior position between tray support track of the tray supporter is equipped with the first pallet lift platform, the second pallet lift platform；When the first pallet lift platform, the second pallet lift platform rise to extreme position, first pallet lift platform, the second pallet lift platform top surface be higher than tray support track, when the first pallet lift platform, the second pallet lift platform drop to extreme position, the first pallet lift platform, the second pallet lift platform top surface be lower than tray support track.The present invention has the beneficial effect that can be reduced manipulator behavior, improve stacking efficiency.
Description
Technical field
The present invention relates to a kind of pallet stacking technical fields more particularly to a kind of pallet that stacking efficiency can be improved to adjust machine
Structure and its application method.
Background technique
Stacking stacks as the term suggests referring to by article is neat；Cabinet material is grabbed by the manipulator on stacking machine
It is transferred on pallet, again moves away pallet after the cabinet stacking on pallet, after current palletizing mechanical arm crawl cabinet, putting
Onto pallet, pallet in palletization, pallet itself be it is static, the position of each cabinet is quasi- by three-dimensional coordinate manipulator
True is transported on pallet, i.e., manipulator can be all subjected to displacement in X-axis, Y-axis, Z axis, and the three-axis moving of palletizing mechanical arm will lead to
A cabinet is not carried, manipulator requires frequent movement, seriously reduces handling efficiency.
Summary of the invention
The present invention in order to overcome above shortcomings in the prior art, provide one kind can be reduced manipulator behavior,
Improve stacking high-efficient tray adjustment mechanism and its application method.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of tray adjustment mechanism that stacking efficiency can be improved, including pallet adjust support section platform, and pallet adjusts support
Platform includes tray supporter, the tray support track being parallel to each other for being located at tray supporter both sides, and one end of tray supporter is equipped with
Servo motor for driving tray support rail mobile, the interior position between tray support track of the tray supporter are set
There are the first pallet lift platform, the second pallet lift platform；When the first pallet lift platform, the second pallet lift platform rise to
When extreme position, the first pallet lift platform, the second pallet lift platform top surface be higher than tray support track, when the first pallet
When hoistable platform, the second pallet lift platform drop to extreme position, the first pallet lift platform, the second pallet lift platform
Top surface is lower than tray support track.Pallet sequentially enters on tray support track, and it is flat that first pallet is located at the second pallet lift
Support of the surface of platform by tray support track, second pallet by the first pallet lift platform and with tray support rail
Road separation, servo motor drives tray support track to move back and forth, so as to adjust the position in X axis of first pallet
It sets, the manipulator of stacking machine only needs to move along Y-axis can be by cabinet being arranged on first pallet neatly, to reduce
The movement of manipulator improves stacking efficiency.
Preferably, the pallet, which adjusts the ipsilateral of support platform, is equipped with pallet feeding web, pallet discharging conveyor belts,
Pallet feeding web, pallet discharging conveyor belts are parallel to each other and vertical with tray support track, and first pallet lift is flat
The top of platform is equipped with the pallet charging guide rail docked with pallet feeding web, and the top of the second pallet lift platform is equipped with
The pallet discharging guide rail docked with pallet discharging conveyor belts.First pallet is from pallet feeding web upper feeding, and first
Pallet lift platform rises, and first pallet enters on the first pallet lift platform, and the first pallet lift platform declines again, and first
Support of a pallet by tray support track, servo motor drive tray support track mobile, so that first pallet is mobile
To the surface of the second pallet lift platform, second pallet is moved to the first pallet lift platform, and first pallet can at this time
To move back and forth along tray support track without influencing second pallet, the manipulator crawl cabinet of last piler is moved to
On first pallet.
Preferably, the end of the pallet feeding web is equipped with pallet separating mechanism.Whole tray be placed in pallet into
Expect conveyer belt on, by pallet separating mechanism from it is lower on successively pallet is separated after be sent into pallet adjust support platform on.
Preferably, the lifting support that the pallet separating mechanism includes support frame, is located in support frame, the support
The lower end of frame is equipped with pedestal, and the lower end of the lifting support is equipped with two horizontal tray lift bars, is equipped in support frame as described above
Lifting support driving mechanism.
Preferably, the pedestal is equipped with height-adjustable support leg.
Preferably, the lifting support driving mechanism includes lifting motor, retarder, shaft, the shaft end of retarder
It is connect between shaft by sprocket wheel, chain, the both ends of the shaft are equipped with eccentric attachment base, and the bias attachment base passes through drawing
Rope is connect with lifting support, drives lifting support to rise when lifting motor rotates forward, and is driven under lifting support when lifting motor inverts
Drop.Pallet moves forward in the effect of pallet feeding web, and tray lift bar is inserted into penultimate pallet and by whole tray
It is promoted (except a nethermost pallet), pallet feeding web is mobile to be moved to pallet adjusting support for nethermost pallet
On platform, tray lift bar decline, pallet feeding web is moved backward, and pallet is separated with tray lift bar, is repeated above-mentioned dynamic
Make, whole tray is successively separated from top to bottom, pallet separation is highly stable, safe.
Preferably, the two sides of support frame as described above are equipped with shield.Shield plays the role of security protection.
A kind of application method for the tray adjustment mechanism that stacking efficiency can be improved, comprising the following steps:
A, pallet separates: a tray overlays on pallet feeding web, and pallet feeding web drives whole tray
Forward, tray lift bar be inserted into penultimate pallet in, lifting support rise by penultimate pallet and its more than support
Disk lifts a distance, and the first pallet lift platform rises to, pallet feeding web movement concordant with pallet feeding web
By first pallet of separation by being moved to below tray lift bar on pallet charging guide rail；
B, pallet resets: lifting support decline, remaining pallet return on pallet feeding web, pallet feeding web
It falls back, so that tray lift bar is separated with pallet；
C, pallet is adjusted: the decline of the first pallet lift platform, support of first pallet by tray support adjustable track
And separated with the first pallet lift platform, tray support adjustable track drives first pallet to be moved to the second pallet lift platform
Surface；The upper remaining pallet of pallet charging conveying repeats step a, so that second pallet is moved to the first pallet lift and puts down
On platform；
C, manipulator stacking: manipulator first group of box body translation of crawl of piler, will to the surface of first pallet
First group of cabinet is placed on first pallet, when manipulator grabs second group of cabinet right above first pallet, pallet
Supporting track movement is finely adjusted the position of first pallet, so that second group of neat stacking of cabinet is arranged in first group
On cabinet, manipulator repeats crawl cabinet, until the cabinet stacking on first pallet is completed；
D, the good pallet discharging of stacking: the second pallet lift platform rises, and first pallet is separated with tray support track,
Pallet discharging guide rail on second pallet lift platform drives the first pallet to enter on pallet discharging conveyor belts；While first
The decline of pallet lift platform, second pallet are moved to the surface of the second pallet lift platform by tray support track, etc.
To stacking.
Therefore, the present invention has the beneficial effect that can be reduced manipulator behavior, improve stacking efficiency.The degree of automation simultaneously
Height, can fast implement whole tray successively, stablize separation.
Detailed description of the invention
Fig. 1 is the connection schematic diagram of the present invention with stacking machine.
Fig. 2 is a kind of structural schematic diagram of the invention.
Fig. 3 is top view of the invention.
Fig. 4 is the top view that pallet adjusts support section platform.
Fig. 5 is the structural schematic diagram of pallet separating mechanism.
Fig. 6 is the structure schematic diagram of Fig. 5.
Fig. 7 is the status diagram of present invention separation, adjusting tray.
In figure: the predetermined bit platform 6 of material conveyer belt 1, truss 2, assembly line 3, manipulator 5, cabinet, pallet adjust support section
Platform 7, tray supporter 70, tray support track 71, the first pallet lift platform 80, pallet feed guide rail 800, the second support
Disk hoistable platform 81, pallet discharging guide rail 810, pallet feeding web 9, pallet discharging conveyor belts 10, pallet seperator
Structure 11, support frame 110, lifting support 111, pedestal 112, support leg 113, tray lift bar 114, lifting motor 115, retarder
116, shaft 117, eccentric attachment base 118, drag-line 119, shield 120, pallet 12.
Specific embodiment
Present invention will be further described below with reference to the accompanying drawings and specific embodiments:
A kind of stacking machine as shown in Figure 1, including material conveyer belt 1, truss 2, the feed end and flowing water of material conveyer belt
Line 3 docks, and material conveyer belt 1 is advanced by servo motor driving, retreated, and truss is equipped with mobile elevating machine 4, moving lifting
The lower end of mechanism 4 is equipped with manipulator 5, and cabinet is entering material conveyer belt along X-axis；Manipulator can only be transported along Y-axis, Z axis
Dynamic, the side of material conveyer belt is equipped with the predetermined bit platform 6 of cabinet.Servo motor driving material conveyer belt moves back and forth adjusting, makes
Cabinet forms a line on material conveyer belt, manipulator successively grabs after a column cabinet that be moved to cabinet pre-determined bit along Y-axis flat
On platform, and then a layer box body being formed in cabinet pre-determined bit platform, last manipulator once grabs a layer box body and is moved on pallet,
The stacking on pallet is realized in manipulator repetitive operation.
A kind of tray adjustment mechanism that stacking efficiency can be improved as shown in Figures 2 and 3 is arranged in the predetermined bit platform of cabinet
6 side, including pallet adjust support section platform 7, and pallet adjusts support platform 7 and includes tray supporter 70, is located at tray supporter
The tray support track 71 being parallel to each other on both sides, one end of tray supporter are equipped with the servo for driving tray support rail mobile
Motor, the interior position between tray support track of tray supporter 70 are equipped with the first pallet lift platform 80, the second pallet liter
Platform 81 drops；Pallet adjusts the ipsilateral of support platform 7 and is equipped with pallet feeding web 9, pallet discharging conveyor belts 10, pallet charging
Conveyer belt, pallet discharging conveyor belts are parallel to each other and vertical with tray support track 71, and the end of pallet feeding web is equipped with
Pallet separating mechanism 11；
As shown in figure 4, the top of the first pallet lift platform 80 is equipped with the pallet charging docked with pallet feeding web 9
Guide rail 800, the top of the second pallet lift platform 81 are equipped with the pallet discharging guidance docked with pallet discharging conveyor belts 10
Track 810；When the first pallet lift platform, the second pallet lift platform rise to extreme position, the first pallet lift platform,
The top surface of second pallet lift platform is higher than tray support track, and pallet feeds guide rail 800 and pallet feeding web is flat
Together, pallet discharging guide rail 810 is concordant with pallet discharging conveyor belts；When the first pallet lift platform, the second pallet lift are flat
When platform drops to extreme position, the first pallet lift platform, the second pallet lift platform top surface be lower than tray support track.
As shown in figure 5, pallet separating mechanism 11 includes support frame 110, the lifting support 111 being located in support frame, support
The lower end of frame is equipped with pedestal 112, and pedestal is equipped with height-adjustable support leg 113, and the lower end of lifting support is equipped with two water
Flat tray lift bar 114, support frame is interior to be equipped with lifting support driving mechanism；As shown in fig. 6, lifting support driving mechanism includes
Lifting motor 115, retarder 116, shaft 117 are connected between the shaft end and shaft of retarder by sprocket wheel, chain, shaft
Both ends are equipped with eccentric attachment base 118, and eccentric attachment base is connect by drag-line 119 with lifting support, and lifting motor drives when rotating forward
Lifting support rises, and lifting support decline is driven when lifting motor inverts；The two sides of support frame are equipped with shield 120.
A kind of application method for the tray adjustment mechanism that stacking efficiency can be improved, comprising the following steps:
A, pallet separates: as shown in fig. 7, a tray 12 overlays on pallet feeding web, pallet feeding web
Whole tray is driven to move forward, tray lift bar is inserted into penultimate pallet, and lifting support rises penultimate pallet
And its above pallet lifts a distance, the first pallet lift platform rise to it is concordant with pallet feeding web, pallet into
Mobile first pallet by separation of material conveyer belt below tray lift bar by being moved on pallet charging guide rail；
B, pallet resets: lifting support decline, remaining pallet return on pallet feeding web, pallet feeding web
It falls back, so that tray lift bar is separated with pallet；
C, pallet is adjusted: the decline of the first pallet lift platform, support of first pallet by tray support adjustable track
And separated with the first pallet lift platform, tray support adjustable track drives first pallet to be moved to the second pallet lift platform
Surface；The upper remaining pallet of pallet charging conveying repeats step a, so that second pallet is moved to the first pallet lift and puts down
On platform；
C, manipulator stacking: manipulator first group of box body translation of crawl of piler, will to the surface of first pallet
First group of cabinet is placed on first pallet, when manipulator grabs second group of cabinet right above first pallet, pallet
Supporting track movement is finely adjusted the position of first pallet, so that second group of cabinet is arranged on pallet, manipulator
Crawl cabinet is repeated, until the cabinet stacking on first pallet is completed；
D, the good pallet discharging of stacking: the second pallet lift platform rises, and first pallet is separated with tray support track,
Pallet discharging guide rail on second pallet lift platform drives the first pallet to enter on pallet discharging conveyor belts；While first
The decline of pallet lift platform, second pallet are moved to the surface of the second pallet lift platform by tray support track, etc.
To stacking.
Whole process is coordinated, is coherent very much, and without waiting for the time, high degree of automation reduces the movement of manipulator, improves
Stacking efficiency.
Claims (7)
1. a kind of tray adjustment mechanism that stacking efficiency can be improved, characterized in that adjust support platform including pallet, pallet is adjusted
Support platform includes tray supporter, the tray support track being parallel to each other for being located at tray supporter both sides, one end of tray supporter
Equipped with the servo motor for driving tray support track mobile, the tray supporter is interior between tray support track
Position is equipped with the first pallet lift platform, the second pallet lift platform；When the first pallet lift platform, the second pallet lift platform
When rising to extreme position, the first pallet lift platform, the second pallet lift platform top surface be higher than tray support track, when the
When one pallet lift platform, the second pallet lift platform drop to extreme position, the first pallet lift platform, the second pallet lift
The top surface of platform is lower than tray support track, and the pallet adjusts the ipsilateral of support platform and is equipped with pallet feeding web, pallet
Discharging conveyor belts, pallet feeding web, pallet discharging conveyor belts are parallel to each other and vertical with tray support track, and described first
The top of pallet lift platform is equipped with the pallet charging guide rail docked with pallet feeding web, the second pallet lift platform
Top be equipped with the pallet that dock with pallet discharging conveyor belts and discharge guide rail.
2. a kind of tray adjustment mechanism that stacking efficiency can be improved according to claim 1, characterized in that the pallet into
Expect that the end of conveyer belt is equipped with pallet separating mechanism.
3. a kind of tray adjustment mechanism that stacking efficiency can be improved according to claim 2, characterized in that the pallet
The lifting support that separating mechanism includes support frame, is located in support frame, the lower end of support frame as described above are equipped with pedestal, and the lifting is propped up
The lower end of frame is equipped with two horizontal tray lift bars, is equipped with lifting support driving mechanism in support frame as described above.
4. a kind of tray adjustment mechanism that stacking efficiency can be improved according to claim 3, characterized in that the pedestal
It is equipped with height-adjustable support leg.
5. a kind of tray adjustment mechanism that stacking efficiency can be improved according to claim 3, characterized in that the lifting
Carriage drive mechanism includes lifting motor, retarder, shaft, is connected between the shaft end and shaft of retarder by sprocket wheel, chain,
The both ends of the shaft are equipped with eccentric attachment base, and the bias attachment base is connect by drag-line with lifting support, and lifting motor is just
It drives lifting support to rise when turning, lifting support decline is driven when lifting motor inverts.
6. a kind of tray adjustment mechanism that stacking efficiency can be improved according to claim 3 or 4 or 5, characterized in that described
The two sides of support frame are equipped with shield.
7. a kind of application method for the tray adjustment mechanism that stacking efficiency can be improved, characterized in that the following steps are included:
A, pallet separates: a tray overlays on pallet feeding web, and pallet feeding web drives whole tray Forward,
Tray lift bar be inserted into penultimate pallet in, lifting support rise by penultimate pallet and its more than pallet lift
A distance, the first pallet lift platform rise to concordant with pallet feeding web, and pallet feeding web is mobile will separation
First pallet by being moved to below tray lift bar on pallet charging guide rail；
B, pallet resets: lifting support decline, remaining pallet return on pallet feeding web, and pallet feeding web falls
It moves back, so that tray lift bar is separated with pallet；
C, pallet adjust: the first pallet lift platform decline, first pallet by tray support adjustable track support and with
The separation of first pallet lift platform, tray support adjustable track drive first pallet being moved to the second pallet lift platform just
Top；The upper remaining pallet of pallet charging conveying repeats step a, so that second pallet is moved to the first pallet lift platform
On；
C, manipulator stacking: the manipulator of piler grabs first group of box body translation to the surface of first pallet, by first
Group cabinet is placed on first pallet, when manipulator grabs second group of cabinet right above first pallet, tray support
Track movement is finely adjusted the position of first pallet, so that second group of cabinet is arranged on pallet, manipulator is repeated
Cabinet is grabbed, until the cabinet stacking on first pallet is completed；
D, the good pallet discharging of stacking: the second pallet lift platform rises, and first pallet is separated with tray support track, and second
Pallet discharging guide rail on pallet lift platform drives the first pallet to enter on pallet discharging conveyor belts；First pallet simultaneously
Hoistable platform decline, second pallet are moved to the surface of the second pallet lift platform by tray support track, wait heap
Pile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611195508.7A CN106809653B (en) | 2016-12-22 | 2016-12-22 | A kind of tray adjustment mechanism and its application method that stacking efficiency can be improved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611195508.7A CN106809653B (en) | 2016-12-22 | 2016-12-22 | A kind of tray adjustment mechanism and its application method that stacking efficiency can be improved |
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| CN106809653A CN106809653A (en) | 2017-06-09 |
| CN106809653B true CN106809653B (en) | 2018-12-11 |
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| CN107160692A (en) * | 2017-07-31 | 2017-09-15 | 芜湖智享三维打印服务有限公司 | A kind of 3D printer that function is laid with automatic protection |
| CN108466843A (en) * | 2018-05-15 | 2018-08-31 | 温岭市金悦自动化设备有限公司 | A kind of piling station of packing production chain |
| CN111347482B (en) * | 2020-02-26 | 2021-09-21 | 东莞市瑞兴纸制品有限公司 | Circular die-cutting machine for corrugated paper processing production |
| CN113977594A (en) * | 2021-09-28 | 2022-01-28 | 杭州娃哈哈精密机械有限公司 | Robot device for loading articles |
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| CN106809653A (en) | 2017-06-09 |
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