CN107187881B - Pile up neatly assembly line - Google Patents
Pile up neatly assembly line Download PDFInfo
- Publication number
- CN107187881B CN107187881B CN201710525814.0A CN201710525814A CN107187881B CN 107187881 B CN107187881 B CN 107187881B CN 201710525814 A CN201710525814 A CN 201710525814A CN 107187881 B CN107187881 B CN 107187881B
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- Prior art keywords
- pushing
- fixed
- plate
- shovel plate
- bracket
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/10—Loading land vehicles using conveyors covering the whole length of vehicle trains
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/20—Loading covered vehicles
Abstract
The invention discloses a stacking assembly line. The existing car loader is poor in universality, and the packing box is unstable, inaccurate in positioning and easy to clamp when being stacked, and the top of the container is not easy to stack. The mechanical arm of the invention places the packing box on the telescopic belt conveyor, and the telescopic roller device transmits the packing box on the telescopic belt conveyor to the conveying roller device; the travelling mechanism drives the frame; the conveying roller device conveys the packaging boxes; the single box pushing component pushes a single packing box into the shovel plate component from the conveying roller device, the two shaping components on two sides straighten the packing box before the packing box enters the shovel plate component, and the shovel plate component sorts the packing boxes into a row; the shovel plate transmission part realizes synchronous lifting of the shovel plate part and the pushing part; the two rows of pushing components push out the packing boxes in one row on the shovel board component through the push plate. The invention solves the problems of low efficiency, instability, inaccurate positioning, easy blocking and difficult stacking of the top of the container when the prior packing box is stacked.
Description
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to a stacking assembly line.
Background
In the production enterprises such as beverage, tobacco, grain and oil, food, household appliances, etc., the goods need to be loaded into container type trucks or containers for transporting goods, at present, a mode of manually stacking goods in a carriage is generally adopted, and the labor intensity is high, the working efficiency is low, and the bad working environment causes damage to the health of operators. The mode that the piled goods are directly loaded on a truck by a forklift is adopted, the goods trays need to be recycled, and recycling management of the goods trays is difficult; and the gap between the goods and the carriage wall is large, the loading quantity of the goods is small, and the transportation cost is high. The conventional loading machine is fixed in normal specification and size, the size of the conventional loading machine is developed according to the size of a target material, and a packing box conveying platform for conveying packing boxes to the loading machine cannot deviate in the width direction of a carriage, so that the universality is poor due to the fact that the packing box conveying platform is fixed with the loading machine, and even the risk of collision between the loading machine and the inner wall of the carriage exists when a truck is stopped and deviated; the packing box conveying platform and the loading machine are not fixed, so that the problem of inaccurate positioning of the loading machine can occur, and in addition, the problems of instability, easy blocking and difficult stacking of the top of the container during stacking of the packing box also exist. To solve these problems, various aspects of palletizing apparatuses need to be improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a stacking assembly line, and solves the problems that the prior packing box is low in efficiency, unstable, inaccurate in positioning, easy to jam and difficult to stack at the top of a container.
The technical scheme adopted by the invention is as follows:
the invention comprises a lifting table, a mechanical arm, a telescopic belt conveyor, a telescopic roller device and a stacker crane, wherein the telescopic belt conveyor, the telescopic roller device and the stacker crane are arranged on the lifting table; the stacker crane comprises a travelling mechanism, a rack, a shovel plate transmission part, a shovel plate part, a row pushing part, a shaping part, a single-box pushing part and a conveying roller device, wherein the shovel plate transmission part, the shovel plate part, the row pushing part, the shaping part, the single-box pushing part and the conveying roller device are arranged on the rack; the mechanical arm places the packing box on the telescopic belt conveyor, and the telescopic roller device transmits the packing box on the telescopic belt conveyor to the conveying roller device; the travelling mechanism drives the rack; the conveying roller device is used for conveying the packaging boxes; the single box pushing component pushes a single packing box into the shovel plate component from the conveying roller device, the two shaping components on two sides straighten the packing box before the packing box enters the shovel plate component, and the shovel plate component sorts the packing boxes into a row; the shovel plate transmission part realizes synchronous lifting of the shovel plate part and the pushing and discharging part; the two rows of pushing components push out the packing boxes in one row on the shovel board component through the push plate.
The telescopic roller device comprises a connecting rod, a first roller and two telescopic roller groups; the telescopic roller set comprises a connecting plate, a first scissor telescopic mechanism, a second scissor telescopic mechanism, a sleeve, a spring and three movable brackets; the three movable brackets are arranged at intervals; the bottom of the movable bracket is provided with a roller, the top of the movable bracket is sleeved with a sleeve, and the sleeve is connected with the movable bracket through a spring; the connecting plate is fixed with the sleeve; the vertical sliding groove formed in the connecting plate and the roller form a rolling friction pair, and the roller is hinged to a final-section output telescopic frame of the telescopic belt conveyor. Adjacent movable brackets are connected through a first scissor telescopic mechanism, and a second scissor telescopic mechanism is arranged outside the movable bracket positioned at the output end; the second scissors telescopic mechanism comprises a scissors unit; the shearing fork unit comprises two shearing fork rods hinged at the middle part; the second scissor telescopic mechanism is hinged with the corresponding movable bracket near the scissor rod with the upward end part of one end of the movable bracket, and the scissor rod with the downward end part is hinged with the sleeve on the corresponding movable bracket; the first scissor telescopic mechanism is close to the movable support, the scissor rod with the upward end part is hinged with the corresponding movable support, and the scissor rod with the downward end part is hinged with the sleeve on the corresponding movable support; the two telescopic roller groups are arranged in a centering way, and the hinging shafts at the top, the middle and the bottom of each pair of scissors units at the corresponding positions of the two telescopic roller groups are all fixed through connecting rods; a first roller is sleeved on the connecting rod positioned at the top; adjacent first rollers are connected through an elastic V-ribbed belt, and one first roller is driven by a telescopic roller motor; the outermost connecting rod positioned at the bottom of the second scissor telescopic mechanism is fixed with the transmission bracket of the conveying roller device. Under the contact state of the roller and the bottom of the vertical chute of the connecting plate, the lowest point of the upper surface of the last output expansion bracket of the telescopic belt conveyor and the highest point of the nearest first roller are positioned at the same height.
The shovel plate component comprises a transverse pushing bending piece, an inclined panel, a bottom inclined plate, a shovel plate electric cylinder, a pressing plate, a first servo motor, a shovel plate support, a first driving belt pulley, a duplex belt pulley, a first driven belt pulley, a shovel plate synchronous belt, a first synchronous belt, a second driving belt pulley, a second driven belt pulley, a second synchronous belt, a round guide rail, a bending piece connecting block, a baffle rod and a second servo motor. The shovel plate transmission part drives the shovel plate bracket to lift; the inclined panel is fixed on the shovel plate bracket; the first servo motor is fixed on the shovel plate bracket and drives the first driving belt wheel through the speed reducer; the first driving belt pulley is connected with one belt pulley of the duplex belt pulley through a shovel plate synchronous belt; the other belt wheel of the duplex belt wheel is connected with the first driven belt wheel through a first synchronous belt; the first driving belt pulley, the duplex belt pulley and the first driven belt pulley are all hinged on the shovel plate bracket; the second driving belt pulley and the second driven belt pulley are both hinged on the shovel plate bracket and are connected through a second synchronous belt; the side, which is close to the first synchronous belt and the second synchronous belt, is clamped and fixed by a pressing plate; the other sides of the first synchronous belt and the second synchronous belt are respectively fixed with a bending piece connecting block; the two bending piece connecting blocks and the two round guide rails respectively form sliding pairs, and the round guide rails are fixed on the shovel plate bracket; the transverse pushing bending piece is positioned at the top of the inclined panel, and bending plates at two ends of the transverse pushing bending piece penetrate through guide grooves formed in the inclined panel and are respectively fixed with two bending piece connecting blocks; one end of each of the four gear lever support rods is hinged with the shovel plate support and is driven by a second servo motor respectively; the other ends of the four gear lever bracket rods are fixed with the gear levers; the middle part of the gear lever bracket rod is arranged in a setting groove formed in the shovel plate bracket; the baffle rod is arranged at the front parts of the shovel plate bracket and the inclined panel; the bottom inclined plate is arranged at the bottom of the shovel plate bracket and forms a sliding pair with the shovel plate bracket; the shovel plate electric cylinder is fixed on the shovel plate bracket, and a piston rod of the shovel plate electric cylinder is fixed with the bottom inclined plate; the included angles between the inclined panel and the horizontal plane and between the inclined panel and the bottom inclined panel are 5-8 degrees.
The row pushing component comprises a pushing box servo motor, a pushing box bracket, a pushing box electric cylinder and a smooth rod. The box pushing electric cylinder is fixed on the swing rod, and the swing rod is hinged with the box pushing bracket; the round slide bar and the cylinder body of the pushing box electric cylinder form a sliding pair with the sliding direction parallel to the piston rod of the pushing box electric cylinder; the box pushing servo motor is fixed on the box pushing bracket, drives the row pushing driving belt wheel through the speed reducer, and the row pushing driving belt wheel is connected with three driving belt wheels hinged on the box pushing bracket through a row pushing synchronous belt; the belt section of the row pushing synchronous belt, which is positioned between the two driving belt wheels vertically arranged up and down, is fixed with the swing rod; the two pushing component rows are arranged at two ends of the inclined panel of the shovel board component, and the box pushing brackets of the two pushing component rows are driven by the shovel board transmission component to lift; the pushing box electric cylinder piston rod and the round trip rod of one row pushing component are fixed with one end of the pushing plate, and the pushing box electric cylinder piston rod and the round trip rod of the other row pushing component are fixed with the other end of the pushing plate.
The shaping component comprises a third servo motor, a fourth servo motor, a shaping support, a shaping guide rail, a shaping plate, an elastic shifting piece, a sliding table and a shaping screw rod. The third servo motor drives the shaping screw rod through a speed reducer; the shaping screw rod is supported on the shaping bracket through a bearing; the sliding table and the shaping screw rod form a screw pair and form a sliding pair with a shaping guide rail fixed on the shaping bracket; the fourth servo motor is fixed on the sliding table; the gear is fixed on the output shaft of the fourth servo motor and meshed with the rack; the shaping plate is arranged above the conveying roller device and is fixed with the rack and the end part of the guiding optical axis; the rack and the guiding optical axis form a sliding pair with the shaping bracket; the rear end of the elastic poking piece is fixed with the front end of the shaping plate, and the rear end of the shaping plate is fixed with the front end of the guide plate; the elastic poking sheets of the two shaping components are symmetrically arranged and are splayed with wide rear parts and narrow front parts; the guide plates of the two shaping components are symmetrically arranged and are splayed with a wide rear part and a narrow front part.
The shovel plate transmission part comprises a transmission block, a rotating rod, a fifth servo motor, a shovel plate transmission chain mechanism, a shovel plate transmission guide rail, a second slide block, a second screw rod and a second servo motor. The fifth servo motor is fixed on the frame and drives the rotating rod through the reduction gearbox and a shovel plate transmission chain mechanism; the rotating rod is supported on the frame through a bearing and drives the other shovel plate transmission chain mechanism; the shovel plate transmission chain mechanism is provided with a tensioning wheel and a guide wheel; the two shovel plate transmission chain mechanisms are respectively arranged at two ends of the rotating rod, and a transmission block is fixed on a transmission chain of the shovel plate transmission chain mechanism; the two transmission blocks and the two shovel plate transmission guide rails fixed on the two sides of the frame respectively form sliding pairs; a secondary guide rail is fixed on the transmission block; the secondary guide rail and the secondary slide block form a sliding pair; the secondary sliding block and the secondary screw rod form a screw pair; the secondary screw rod is driven by a secondary servo motor fixed on the transmission block; the two second-level sliding blocks are fixed with the shovel plate component and are respectively fixed with the two row pushing components.
The lifting platform comprises a scissor lifting mechanism and a supporting platform; the supporting platform is driven to lift by a scissor lifting mechanism; the both sides of the supporting platform are provided with fences, and one side fence is provided with a passage opening. The output end of the supporting platform is provided with a convex plate, and the upper surface of the convex plate is level with the upper surface of the supporting platform; the bottom of the convex plate is provided with a contact switch.
The single-box pushing component comprises a guide rod, an up-down motion servo motor, a push rod, a pushing slide rail, a pushing transmission belt mechanism, a pushing motor and a slide plate. The pushing motor is fixed on the frame and drives the pushing driving belt mechanism through the speed reducer; the sliding plate is fixed on a driving belt of the pushing driving belt mechanism and forms a sliding pair with a pushing sliding rail fixed on the frame; the up-and-down motion servo motor is fixed on the sliding plate and drives the push rod to move up and down; the push rod is fixed with the two guide rods, and the two guide rods and the sliding plate form a sliding pair; the push rod is arranged right above the conveying roller device.
The conveying roller device comprises a sixth servo motor, a transmission chain wheel, a transmission bracket and a second roller. The transmission bracket is fixed on the frame; a row of second rollers are equidistantly hinged on the transmission bracket, two transmission chain wheels are fixed on one side of each second roller, and all the transmission chain wheels are positioned on the same side; the transmission chain wheels of the adjacent second rollers are connected through a transmission chain; the hinge shaft of one of the second rollers is driven by a sixth servo motor.
The travelling mechanism comprises a travelling servo motor, wheels and a travelling frame; four wheels are hinged on the walking frame, and each wheel is independently driven by a walking servo motor.
The invention has the beneficial effects that:
the invention not only can meet the usual stacking, but also can stack into a closed container, realize full automation, unmanned operation, greatly improve the efficiency, save the labor cost, and solve the problems of low efficiency, instability, inaccurate positioning, easy blocking and difficult stacking of the top of the container when the prior packing box is stacked. The existence of the convex plate and the contact switch on the lifting platform enables the truck to be parked and controlled more easily, and the condition that the truck bumps into the lifting platform can not occur. The vertical sliding groove of the upper connecting plate of the telescopic roller device enables the telescopic belt to be freely bent by a certain amount, conforms to the necessary trend of bending when the tail section output telescopic frame of the telescopic belt stretches out, and cannot cause the damage of connecting parts between the tail section output telescopic frame and the connecting plate; the limitation of the maximum compression amount of the springs and the bottom of the vertical chute of the connecting plate jointly prevent the telescopic belt conveyor from being excessively bent. The shaping part adjusts the positions of the two shaping plates and the two elastic poking sheets, so that the two elastic poking sheets extend into the position required above the shovel plate part, the two elastic poking sheets play a role in straightening a packing box, and especially play a role in accurately positioning the last packing box entering the shovel plate part in a row. The bottom inclined plate of the shovel plate component can extend out to ensure that a layer of packing boxes on two horizontal packing boxes are successfully stacked; after the packing box is pushed into the shovel plate component, the baffle rod rises to block the packing box from sliding off, and the baffle rod descends during pushing; the inclined panel and the bottom inclined plate are arranged obliquely, so that the packing box is ensured to be pushed out stably. The telescopic roller device is provided with rollers, the stacker crane is provided with wheels, the telescopic roller device and the stacker crane can be finely adjusted in the width direction, collision with a biased truck is avoided, and a packing box accurately enters a container. The secondary servo motor drives the secondary screw rod, and the secondary screw rod drives the secondary sliding block to ascend, so that the shovel plate component is driven to further ascend to the top of the carriage.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a perspective view of the stacker of the present invention;
FIG. 3 is a perspective view showing the structure of the telescopic roller device according to the present invention;
FIG. 4-1 is a perspective view of the structure of the blade assembly of the present invention;
FIG. 4-2 is a side view of a blade assembly of the present invention;
FIGS. 4-3 are partial cross-sectional views of blade members of the present invention;
FIG. 5 is a perspective view of the structure of the push-push unit of the present invention;
FIG. 6 is a perspective view of the shaping member of the present invention;
FIG. 7-1 is an assembled perspective view of the blade drive member of the present invention on a frame;
FIG. 7-2 is an assembled perspective view of the secondary guide rail, the secondary slide block, the secondary screw and the secondary servo motor of the present invention;
FIG. 7-3 is an assembled cross-sectional view of a secondary guide rail, a secondary slider, a secondary lead screw, and a secondary servo motor of the present invention;
FIG. 8 is a perspective view of the elevating platform according to the present invention;
FIG. 9 is a perspective view of the structure of the single-box pushing member of the present invention;
fig. 10 is a perspective view of the structure of the running gear of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, a stacking assembly line comprises a lifting table 1, a manipulator, a telescopic belt conveyor 2, a telescopic roller device 3 and a stacker 4, wherein the telescopic belt conveyor 2, the telescopic roller device 3 and the stacker 4 are arranged on the lifting table; the stacker 4 comprises a travelling mechanism 6, a frame 7, a shovel plate transmission part 8, a shovel plate part 9, a row pushing part 10, a shaping part 11, a single-box pushing part 12 and a conveying roller device 13 which are arranged on the frame 7; the mechanical arm places the packing box on the telescopic belt conveyor 2, and the telescopic roller device 3 transmits the packing box on the telescopic belt conveyor 2 to the conveying roller device 13; the travelling mechanism 6 drives the frame 7; the conveying roller device conveys the packaging boxes; the single box pushing component 12 pushes a single packing box into the shovel component 9 from the conveying roller device, the two shaping components 11 on two sides straighten the packing box before the packing box enters the shovel component, and the shovel component sorts the packing boxes into a row; the shovel plate transmission part 8 realizes synchronous lifting of the shovel plate part and the pushing part; the two row pushing members 10 push out the packing boxes of one row on the shovel plate member through the pushing plate.
As shown in fig. 3, the telescopic roller device 3 includes a connecting rod 3-1, a first roller 3-2, and two telescopic roller groups; the telescopic roller group comprises a connecting plate 3-3, a first scissor telescopic mechanism 3-4, a second scissor telescopic mechanism 3-5, a sleeve 3-6, a spring and three movable brackets 3-7; the three movable brackets 3-7 are arranged at intervals; the bottom of the movable bracket is provided with a roller, the top of the movable bracket is sleeved with a sleeve, and the sleeves 3-6 are connected with the movable bracket through springs; the connecting plate 3-3 is fixed with the sleeve; the vertical sliding groove formed in the connecting plate and the roller form a rolling friction pair, and the roller is hinged to a final-section output telescopic frame of the telescopic belt conveyor. Adjacent movable brackets are connected through a first scissor telescopic mechanism 3-4, and a second scissor telescopic mechanism 3-5 is arranged on the outer side of the movable bracket at the output end; the second scissors telescopic mechanism comprises a scissors unit; the shearing fork unit comprises two shearing fork rods hinged at the middle part; the second scissor telescopic mechanism is hinged with the corresponding movable bracket near the scissor rod with the upward end part of one end of the movable bracket, and the scissor rod with the downward end part is hinged with the sleeve 3-6 on the corresponding movable bracket; the first scissor telescopic mechanism is close to the movable support, the scissor rod with the upward end part is hinged with the corresponding movable support, and the scissor rod with the downward end part is hinged with the sleeve on the corresponding movable support; the two telescopic roller groups are arranged in a centering way, and the hinging shafts at the top, the middle and the bottom of each pair of scissors elements at the corresponding positions of the two telescopic roller groups are all fixed through the connecting rod 3-1; the connecting rod positioned at the top is sleeved with a first roller 3-2; adjacent first rollers are connected through an elastic V-ribbed belt 3-8, wherein one first roller is driven by a telescopic roller motor; the outermost connecting rod positioned at the bottom of the second scissor telescopic mechanism is fixed with the transmission bracket of the conveying roller device. Under the contact state of the roller and the bottom of the vertical chute of the connecting plate, the lowest point of the upper surface of the last output expansion bracket of the telescopic belt conveyor and the highest point of the nearest first roller are positioned at the same height.
As shown in fig. 4-1, 4-2 and 4-3, the blade member 9 includes a lateral pushing bending piece 9-1, a tilting panel 9-2, a bottom tilting plate 9-3, a blade electric cylinder 9-4, a pressing plate, a first servo motor 9-5, a blade bracket 9-6, a first driving pulley, a duplex pulley 9-7, a first driven pulley, a blade timing belt 9-8, a first timing belt 9-9, a second driving pulley 9-10, a second driven pulley, a second timing belt 9-11, a circular guide rail 9-12, a bending piece connecting block 9-13, a lever 9-14 and a second servo motor 9-15. The shovel plate transmission part drives the shovel plate bracket 9-6 to lift; the inclined panel 9-2 is fixed on the shovel board bracket; the first servo motor 9-5 is fixed on the shovel board bracket and drives the first driving belt wheel through a speed reducer; the first driving belt pulley is connected with one belt pulley of the duplex belt pulley 9-7 through the shovel plate synchronous belt 9-8; the other belt wheel of the duplex belt wheel is connected with the first driven belt wheel through a first synchronous belt 9-9; the first driving belt pulley, the duplex belt pulley and the first driven belt pulley are all hinged on the shovel plate bracket; the second driving belt pulley 9-10 and the second driven belt pulley are both hinged on the shovel plate bracket and are connected through a second synchronous belt 9-11; the side, which is close to the first synchronous belt and the second synchronous belt, is clamped and fixed by a pressing plate; the other sides of the first synchronous belt and the second synchronous belt are respectively fixed with a bending piece connecting block 9-13; the two bending piece connecting blocks and the two round guide rails 9-12 respectively form sliding pairs, and the round guide rails are fixed on the shovel plate bracket; the transverse pushing bending piece 9-1 is positioned at the top of the inclined panel, and bending plates at two ends of the transverse pushing bending piece penetrate through guide grooves formed in the inclined panel and are respectively fixed with two bending piece connecting blocks; one end of each of the four gear lever support rods is hinged with the shovel plate support and is driven by a second servo motor 9-15 respectively; the other ends of the four gear lever bracket rods are fixed with the gear levers 9-14; the middle part of the gear lever bracket rod is arranged in a setting groove formed in the shovel plate bracket; the baffle rod is arranged at the front parts of the shovel plate bracket and the inclined panel; the bottom inclined plate 9-3 is arranged at the bottom of the shovel plate bracket and forms a sliding pair with the shovel plate bracket; the shovel plate electric cylinder 9-4 is fixed on the shovel plate bracket, and a piston rod of the shovel plate electric cylinder is fixed with the bottom inclined plate; the included angles between the inclined panel and the horizontal plane and between the inclined panel and the bottom inclined panel are 5-8 degrees.
As shown in fig. 5, the row pushing part 10 includes a pushing box servo motor 10-1, a pushing box bracket 10-2, a pushing box electric cylinder 10-3 and a round bar 10-4. The box pushing electric cylinder 10-3 is fixed on the swing rod 10-5, and the swing rod is hinged with the box pushing bracket 10-2; the round slide bar 10-4 and the cylinder body of the box pushing electric cylinder 10-3 form a sliding pair with the sliding direction parallel to the piston rod of the box pushing electric cylinder; the pushing box servo motor 10-1 is fixed on the pushing box bracket, the pushing box servo motor drives the row pushing driving belt pulley through a speed reducer, and the row pushing driving belt pulley 10-6 is connected with three driving belt pulleys 10-7 hinged on the pushing box bracket through a row pushing synchronous belt; the belt section of the row pushing synchronous belt, which is positioned between the two driving belt wheels vertically arranged up and down, is fixed with the swing rod; the two pushing component rows are arranged at two ends of the inclined panel of the shovel board component, and the box pushing brackets of the two pushing component rows are driven by the shovel board transmission component to lift; the piston rod of the push box electric cylinder and the round bar 10-4 of one row of push parts are fixed with one end of the push plate 10-8, and the piston rod of the push box electric cylinder and the round bar of the other row of push parts are fixed with the other end of the push plate.
As shown in fig. 6, the shaping member 11 includes a third servo motor 11-1, a fourth servo motor 11-2, a shaping bracket 11-3, a shaping rail 11-4, a shaping plate 11-5, an elastic plectrum 11-6, a sliding table 11-7, and a shaping screw 11-8. The third servo motor 11-1 drives the shaping screw rod 11-8 through a speed reducer; the shaping screw rod is supported on the shaping bracket 11-3 through a bearing; the sliding table 11-7 and the shaping screw rod form a screw pair, and form a sliding pair with the shaping guide rail 11-4 fixed on the shaping bracket; the fourth servo motor 11-2 is fixed on the sliding table 11-7; the gear 11-9 is fixed on the output shaft of the fourth servo motor and meshed with the rack 11-10; the shaping plate 11-5 is arranged above the conveying roller device and is fixed with the rack and the end part of the guiding optical axis; the rack and the guiding optical axis form a sliding pair with the shaping bracket; the rear end of the elastic poking piece 11-6 is fixed with the front end of the shaping plate, and the rear end of the shaping plate is fixed with the front end of the guide plate 11-11; the elastic poking sheets of the two shaping components are symmetrically arranged and are splayed with wide rear parts and narrow front parts; the guide plates of the two shaping components are symmetrically arranged and are splayed with a wide rear part and a narrow front part.
As shown in fig. 7-1, 7-2 and 7-3, the blade transmission member 8 includes a transmission block 8-1, a rotation lever 8-2, a fifth servo motor, a blade transmission chain mechanism 8-3, a blade transmission rail, a secondary rail 8-4, a secondary slider 8-5, a secondary screw 8-6 and a secondary servo motor 8-7. The fifth servo motor is fixed on the frame and drives the rotating rod 8-2 through a reduction gearbox and a shovel plate transmission chain mechanism 8-3; the rotating rod is supported on the frame through a bearing and drives the other shovel plate transmission chain mechanism; the shovel plate transmission chain mechanism is provided with a tensioning wheel and a guide wheel; the two shovel plate transmission chain mechanisms are respectively arranged at two ends of the rotating rod, and a transmission block 8-1 is fixed on a transmission chain of the shovel plate transmission chain mechanism; the two transmission blocks and the two shovel plate transmission guide rails fixed on the two sides of the frame respectively form sliding pairs; a secondary guide rail 8-4 is fixed on the transmission block; the secondary guide rail 8-4 and the secondary slide block 8-5 form a sliding pair; the secondary sliding block 8-5 and the secondary screw rod 8-6 form a screw pair; the secondary screw rod 8-6 is driven by a secondary servo motor 8-7 fixed on the transmission block 8-1; the two secondary slide blocks 8-5 are fixed with the shovel plate support 9-6 of the shovel plate part and are respectively fixed with the box pushing supports 10-2 of the two row pushing parts.
As shown in fig. 8, the lifting platform 1 comprises a scissor lifting mechanism 1-1 and a supporting platform 1-2; the supporting platform is driven to lift by a scissor lifting mechanism; two sides of the supporting platform are provided with fences 1-3, and one side fence is provided with a passage opening 1-4. The output end of the supporting platform is provided with a convex plate, and the upper surface of the convex plate is level with the upper surface of the supporting platform; the bottom of the convex plate is provided with a contact switch.
As shown in FIG. 9, the single-box pushing member 12 includes a guide rod 12-1, an up-and-down motion servo motor 12-2, a push rod 12-3, a pushing slide rail 12-4, a pushing belt mechanism 12-5, a pushing motor 12-6, and a slide plate 12-7. The pushing motor 12-6 is fixed on the frame and drives the pushing transmission belt mechanism 12-5 through a speed reducer; the sliding plate 12-7 is fixed on a driving belt of the pushing driving belt mechanism and forms a sliding pair with the pushing sliding rail 12-4 fixed on the frame; the up-and-down motion servo motor 12-2 is fixed on the slide plate and drives the push rod 12-3 to move up and down; the push rod is fixed with two guide rods 12-1, and the two guide rods and the sliding plate form a sliding pair; the push rod is arranged right above the conveying roller device.
As shown in fig. 2, the conveying roller device 13 includes a sixth servo motor, a transmission sprocket, a transmission bracket 13-1, and a second roller 13-2. The transmission bracket 13-1 is fixed on the frame; a row of second rollers 13-2 are equidistantly hinged on the transmission bracket, two transmission chain wheels are fixed on one side of each second roller, and all the transmission chain wheels are positioned on the same side; the transmission chain wheels of the adjacent second rollers are connected through a transmission chain; the hinge shaft of one of the second rollers is driven by a sixth servo motor.
As shown in fig. 10, the traveling mechanism 6 includes a traveling servo motor 6-1, wheels 6-2 and a traveling frame 6-3; four wheels 6-2 are hinged on the walking frame 6-3 through ball hinges, and each wheel is independently driven by a walking servo motor 6-1.
The working principle of the stacking assembly line is as follows:
the controller controls the fork lifting mechanism of the lifting platform to lift, the truck is stopped in a pre-marked area, then the fork lifting mechanism of the lifting platform descends until the contact switch is contacted with the truck, at the moment, a signal of the contact switch is transmitted to the controller, and the controller controls the fork lifting mechanism of the lifting platform to stop moving; the scissor lifting mechanism moves up and down firstly, and the parking of the truck is easier to control due to the existence of the convex plate and the contact switch, so that the condition that the truck bumps into the lifting platform can not occur.
The travelling mechanism 6 drives the frame 7, the stacker crane drives into the boxcar 5, the telescopic belt conveyor stretches out at the same time, if the stacker crane is required to advance after the telescopic belt conveyor is completely unfolded, the telescopic roller device is automatically unfolded under the drive of the stacker crane, and the travel of the stacker crane is prolonged under the standby state of the telescopic belt conveyor; when the telescopic belt conveyor stretches out, the tail output telescopic frame is inevitably bent downwards due to the action of gravity, and the bottom of the vertical chute of the connecting plate and the limitation of the maximum compression amount of the spring jointly prevent the telescopic belt conveyor from being excessively bent; in a state that the roller is not contacted with the bottom of the vertical chute of the connecting plate, the lowest point of the upper surface of the tail section output expansion bracket of the expansion belt conveyor is higher than the highest point of all the first rollers, and the heights of the first rollers and the second rollers are consistent; in a state that the roller is contacted with the bottom of the vertical chute of the connecting plate, the lowest point of the upper surface of the tail section output telescopic frame of the telescopic belt conveyor and the highest point of the nearest first roller are positioned at the same height, so that the packing box is ensured to be smoothly conveyed to the telescopic roller device by the telescopic belt conveyor; after the roller contacts with the bottom of the vertical chute of the connecting plate, the maximum bending amount of the last output expansion bracket of the telescopic belt conveyor, which continues to bend downwards, is limited by the maximum compression amount of the spring. The vertical chute of the connecting plate enables the telescopic belt to be freely bent by a certain amount, conforms to the necessary trend of bending when the tail output telescopic frame of the telescopic belt stretches out, and cannot cause damage to connecting parts (rollers in the embodiment) between the tail output telescopic frame and the connecting plate.
The mechanical arm places the packing box on the telescopic belt conveyor 2, and the telescopic roller device 3 transmits the packing box on the telescopic belt conveyor 2 to the conveying roller device 13; the conveying roller device conveys the packaging boxes; in the conveying process of the conveying roller device, the pushing plate 10-8 is driven to swing upwards by the box pushing servo motor 10-1, the positions of the two shaping plates 11-5 and the two elastic poking sheets 11-6 are adjusted by the two shaping parts 11, the two elastic poking sheets 11-6 extend into the position required above the shovel plate parts, then the push rod 12-3 of the single box pushing part 12 descends and pushes a single packing box into the position of the shovel plate part 9, the two elastic poking sheets 11-6 play a role in straightening the packing box, and especially play a role in accurately positioning the last packing box entering the shovel plate part in a row. After the packing box is pushed into the shovel plate component, the push rod 12-3 of the single-box pushing component 12 ascends, the baffle rod 9-14 blocks the packing box to prevent the packing box from sliding off, the transverse pushing bending piece 9-1 pushes the packing box left and right to arrange the packing box into a row, then the box pushing servo motor 10-1 drives the push plate 10-8 to swing downwards, the baffle rod 9-14 descends, and the box pushing electric cylinders 10-3 of the two row pushing components 10 drive the push plate to push the packing box of the row on the shovel plate component into the container. Because the telescopic roller device 3 is provided with the roller wheels, the stacker crane is provided with the wheels 6-2, the telescopic roller device 3 and the stacker crane can be finely adjusted in the width direction, collision with a stopped truck is avoided, and the packaging box accurately enters the container; because two packing boxes are required to be horizontally placed in each layer when the packing boxes are stacked, the packing boxes on one layer corresponding to the horizontally placed two packing boxes are easy to be blocked in the gaps of the horizontally placed two packing boxes when stacked, and the box pushing failure is caused; in this embodiment, when the packing boxes of one layer on the two horizontally placed packing boxes are stacked, the bottom inclined plate 9-3 extends out of the covering gap, so that the success of box pushing is ensured. The shovel plate transmission part 8 drives the shovel plate part and the row pushing part to synchronously lift, so that stacking of packing boxes in different layers is realized, the row of packing boxes are continuously transported to the inside of the container until the whole container is full, full automation is realized, unmanned operation is realized, the efficiency is greatly improved, and the cost is saved. The existing stacker crane is limited by a frame, so that the shovel plate part cannot rise to the top of a carriage, in the embodiment, after the transmission block 8-1 rises to the highest position, the secondary servo motor 8-7 can also drive the secondary screw rod 8-6, and the secondary screw rod 8-6 drives the secondary slide block 8-5 to rise, so that the shovel plate part is driven to rise to the top of the carriage further.
Claims (6)
1. The utility model provides a pile up neatly assembly line, includes elevating platform, manipulator and sets up flexible belt feeder and hacking machine on the elevating platform, its characterized in that: the telescopic roller device is arranged on the lifting platform; the stacker crane comprises a travelling mechanism, a rack, a shovel plate transmission part, a shovel plate part, a row pushing part, a shaping part, a single-box pushing part and a conveying roller device, wherein the shovel plate transmission part, the shovel plate part, the row pushing part, the shaping part, the single-box pushing part and the conveying roller device are arranged on the rack; the mechanical arm places the packing box on the telescopic belt conveyor, and the telescopic roller device transmits the packing box on the telescopic belt conveyor to the conveying roller device; the travelling mechanism drives the rack; the conveying roller device is used for conveying the packaging boxes; the single box pushing component pushes a single packing box into the shovel plate component from the conveying roller device, the two shaping components on two sides straighten the packing box before the packing box enters the shovel plate component, and the shovel plate component sorts the packing boxes into a row; the shovel plate transmission part realizes synchronous lifting of the shovel plate part and the pushing and discharging part; the two row pushing parts push out a row of packing boxes on the shovel plate part through the push plate;
the telescopic roller device comprises a connecting rod, a first roller and two telescopic roller groups; the telescopic roller set comprises a connecting plate, a first scissor telescopic mechanism, a second scissor telescopic mechanism, a sleeve, a spring and three movable brackets; the three movable brackets are arranged at intervals; the bottom of the movable bracket is provided with a roller, the top of the movable bracket is sleeved with a sleeve, and the sleeve is connected with the movable bracket through a spring; the connecting plate is fixed with the sleeve; the vertical sliding groove formed in the connecting plate and the roller form a rolling friction pair, and the roller is hinged on a tail section output telescopic frame of the telescopic belt conveyor; adjacent movable brackets are connected through a first scissor telescopic mechanism, and a second scissor telescopic mechanism is arranged outside the movable bracket positioned at the output end; the second scissors telescopic mechanism comprises a scissors unit; the shearing fork unit comprises two shearing fork rods hinged at the middle part; the second scissor telescopic mechanism is hinged with the corresponding movable bracket near the scissor rod with the upward end part of one end of the movable bracket, and the scissor rod with the downward end part is hinged with the sleeve on the corresponding movable bracket; the first scissor telescopic mechanism is close to the movable support, the scissor rod with the upward end part is hinged with the corresponding movable support, and the scissor rod with the downward end part is hinged with the sleeve on the corresponding movable support; the two telescopic roller groups are arranged in a centering way, and the hinging shafts at the top, the middle and the bottom of each pair of scissors units at the corresponding positions of the two telescopic roller groups are all fixed through connecting rods; a first roller is sleeved on the connecting rod positioned at the top; adjacent first rollers are connected through an elastic V-ribbed belt, and one first roller is driven by a telescopic roller motor; the outermost connecting rod positioned at the bottom of the second scissor telescopic mechanism is fixed with a transmission bracket of the conveying roller device; in a state that the roller is in contact with the bottom of the vertical chute of the connecting plate, the lowest point of the upper surface of the tail section output telescopic frame of the telescopic belt conveyor and the highest point of the nearest first roller are positioned at the same height;
the shovel plate component comprises a transverse pushing bending piece, an inclined panel, a bottom inclined plate, a shovel plate electric cylinder, a pressing plate, a first servo motor, a shovel plate bracket, a first driving belt pulley, a duplex belt pulley, a first driven belt pulley, a shovel plate synchronous belt, a first synchronous belt, a second driving belt pulley, a second driven belt pulley, a second synchronous belt, a round guide rail, a bending piece connecting block, a baffle rod and a second servo motor; the shovel plate transmission part drives the shovel plate bracket to lift; the inclined panel is fixed on the shovel plate bracket; the first servo motor is fixed on the shovel plate bracket and drives the first driving belt wheel through the speed reducer; the first driving belt pulley is connected with one belt pulley of the duplex belt pulley through a shovel plate synchronous belt; the other belt wheel of the duplex belt wheel is connected with the first driven belt wheel through a first synchronous belt; the first driving belt pulley, the duplex belt pulley and the first driven belt pulley are all hinged on the shovel plate bracket; the second driving belt pulley and the second driven belt pulley are both hinged on the shovel plate bracket and are connected through a second synchronous belt; the side, which is close to the first synchronous belt and the second synchronous belt, is clamped and fixed by a pressing plate; the other sides of the first synchronous belt and the second synchronous belt are respectively fixed with a bending piece connecting block; the two bending piece connecting blocks and the two round guide rails respectively form sliding pairs, and the round guide rails are fixed on the shovel plate bracket; the transverse pushing bending piece is positioned at the top of the inclined panel, and bending plates at two ends of the transverse pushing bending piece penetrate through guide grooves formed in the inclined panel and are respectively fixed with two bending piece connecting blocks; one end of each of the four gear lever support rods is hinged with the shovel plate support and is driven by a second servo motor respectively; the other ends of the four gear lever bracket rods are fixed with the gear levers; the middle part of the gear lever bracket rod is arranged in a setting groove formed in the shovel plate bracket; the baffle rod is arranged at the front parts of the shovel plate bracket and the inclined panel; the bottom inclined plate is arranged at the bottom of the shovel plate bracket and forms a sliding pair with the shovel plate bracket; the shovel plate electric cylinder is fixed on the shovel plate bracket, and a piston rod of the shovel plate electric cylinder is fixed with the bottom inclined plate; the included angles between the inclined panel and the horizontal plane and between the inclined panel and the bottom inclined panel are 5-8 degrees;
the row pushing component comprises a pushing box servo motor, a pushing box bracket, a pushing box electric cylinder and a smooth rod; the box pushing electric cylinder is fixed on the swing rod, and the swing rod is hinged with the box pushing bracket; the round slide bar and the cylinder body of the pushing box electric cylinder form a sliding pair with the sliding direction parallel to the piston rod of the pushing box electric cylinder; the box pushing servo motor is fixed on the box pushing bracket, drives the row pushing driving belt wheel through the speed reducer, and the row pushing driving belt wheel is connected with three driving belt wheels hinged on the box pushing bracket through a row pushing synchronous belt; the belt section of the row pushing synchronous belt, which is positioned between the two driving belt wheels vertically arranged up and down, is fixed with the swing rod; the two pushing component rows are arranged at two ends of the inclined panel of the shovel board component, and the box pushing brackets of the two pushing component rows are driven by the shovel board transmission component to lift; the pushing box electric cylinder piston rod and the round trip rod of one row pushing component are fixed with one end of the pushing plate, and the pushing box electric cylinder piston rod and the round trip rod of the other row pushing component are fixed with the other end of the pushing plate;
the shaping component comprises a third servo motor, a fourth servo motor, a shaping bracket, a shaping guide rail, a shaping plate, an elastic shifting piece, a sliding table and a shaping screw rod; the third servo motor drives the shaping screw rod through a speed reducer; the shaping screw rod is supported on the shaping bracket through a bearing; the sliding table and the shaping screw rod form a screw pair and form a sliding pair with a shaping guide rail fixed on the shaping bracket; the fourth servo motor is fixed on the sliding table; the gear is fixed on the output shaft of the fourth servo motor and meshed with the rack; the shaping plate is arranged above the conveying roller device and is fixed with the rack and the end part of the guiding optical axis; the rack and the guiding optical axis form a sliding pair with the shaping bracket; the rear end of the elastic poking piece is fixed with the front end of the shaping plate, and the rear end of the shaping plate is fixed with the front end of the guide plate; the elastic poking sheets of the two shaping components are symmetrically arranged and are splayed with wide rear parts and narrow front parts; the guide plates of the two shaping components are symmetrically arranged and are splayed with a wide rear part and a narrow front part.
2. A palletizing line as claimed in claim 1, wherein: the shovel plate transmission part comprises a transmission block, a rotating rod, a fifth servo motor, a shovel plate transmission chain mechanism, a shovel plate transmission guide rail, a second slide block, a second screw rod and a second servo motor; the fifth servo motor is fixed on the frame and drives the rotating rod through the reduction gearbox and a shovel plate transmission chain mechanism; the rotating rod is supported on the frame through a bearing and drives the other shovel plate transmission chain mechanism; the shovel plate transmission chain mechanism is provided with a tensioning wheel and a guide wheel; the two shovel plate transmission chain mechanisms are respectively arranged at two ends of the rotating rod, and a transmission block is fixed on a transmission chain of the shovel plate transmission chain mechanism; the two transmission blocks and the two shovel plate transmission guide rails fixed on the two sides of the frame respectively form sliding pairs; a secondary guide rail is fixed on the transmission block; the secondary guide rail and the secondary slide block form a sliding pair; the secondary sliding block and the secondary screw rod form a screw pair; the secondary screw rod is driven by a secondary servo motor fixed on the transmission block; the two second-level sliding blocks are fixed with the shovel plate component and are respectively fixed with the two row pushing components.
3. A palletizing line as claimed in claim 1, wherein: the lifting platform comprises a scissor lifting mechanism and a supporting platform; the supporting platform is driven to lift by a scissor lifting mechanism; the two sides of the supporting platform are provided with fences, and one side of the fences is provided with a passage opening; the output end of the supporting platform is provided with a convex plate, and the upper surface of the convex plate is level with the upper surface of the supporting platform; the bottom of the convex plate is provided with a contact switch.
4. A palletizing line as claimed in claim 1, wherein: the single-box pushing component comprises a guide rod, an up-down motion servo motor, a push rod, a pushing slide rail, a pushing transmission belt mechanism, a pushing motor and a slide plate; the pushing motor is fixed on the frame and drives the pushing driving belt mechanism through the speed reducer; the sliding plate is fixed on a driving belt of the pushing driving belt mechanism and forms a sliding pair with a pushing sliding rail fixed on the frame; the up-and-down motion servo motor is fixed on the sliding plate and drives the push rod to move up and down; the push rod is fixed with the two guide rods, and the two guide rods and the sliding plate form a sliding pair; the push rod is arranged right above the conveying roller device.
5. A palletizing line as claimed in claim 1, wherein: the conveying roller device comprises a sixth servo motor, a transmission chain wheel, a transmission bracket and a second roller; the transmission bracket is fixed on the frame; a row of second rollers are equidistantly hinged on the transmission bracket, two transmission chain wheels are fixed on one side of each second roller, and all the transmission chain wheels are positioned on the same side; the transmission chain wheels of the adjacent second rollers are connected through a transmission chain; the hinge shaft of one of the second rollers is driven by a sixth servo motor.
6. A palletizing line as claimed in claim 1, wherein: the travelling mechanism comprises a travelling servo motor, wheels and a travelling frame; four wheels are hinged on the walking frame, and each wheel is independently driven by a walking servo motor.
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| CN201710525814.0A CN107187881B (en) | 2017-06-30 | 2017-06-30 | Pile up neatly assembly line |
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| CN201710525814.0A CN107187881B (en) | 2017-06-30 | 2017-06-30 | Pile up neatly assembly line |
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| CN107187881A CN107187881A (en) | 2017-09-22 |
| CN107187881B true CN107187881B (en) | 2023-04-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107601182A (en) * | 2017-09-30 | 2018-01-19 | 广州达意隆包装机械股份有限公司 | A kind of telescopic equipment cable winding apparatus |
| CN107973120A (en) * | 2017-12-18 | 2018-05-01 | 广东美的智能机器人有限公司 | Loading system |
| CN110155731A (en) * | 2018-12-26 | 2019-08-23 | 德利九州物流自动化系统（北京）有限公司 | The conveying equipment and luggage security check system of luggage basket |
| CN109761070A (en) * | 2019-03-24 | 2019-05-17 | 佛山中科精航智能科技有限公司 | A kind of building materials automatic loading machine |
| CN109969820B (en) * | 2019-04-09 | 2024-03-29 | 绵阳蓝奥重型机械制造有限公司 | Loading stacker head of loading robot |
| CN111483831A (en) * | 2020-03-18 | 2020-08-04 | 赛摩电气股份有限公司 | Automatic loading system and using method thereof |
| CN111717781B (en) * | 2020-07-10 | 2023-02-28 | 中国南方电网有限责任公司超高压输电公司昆明局 | Hoisting device for converter valve external cooling fan and application |
| CN112874892B (en) * | 2021-05-06 | 2021-07-20 | 华智机械(烟台)有限公司 | Automatic bearing steel ring boxing machine and boxing method thereof |
| CN113291774B (en) * | 2021-06-30 | 2021-12-17 | 青岛科捷机器人有限公司 | Loading and unloading integrated machine and automatic loading and unloading system of container |
| CN114733237A (en) * | 2022-04-21 | 2022-07-12 | 赤峰云铜有色金属有限公司 | Automatic mud scraping and cleaning device and method for filter press |
| CN115303826B (en) * | 2022-10-11 | 2023-03-10 | 太原市富利恒自动化科技有限公司 | Automatic loading equipment for truck |
| CN117584531B (en) * | 2024-01-18 | 2024-04-05 | 南通人人发机器制造有限公司 | Intelligent blanking structure of four-column hydraulic press |
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