CN108946182B - Intelligent box body stacker crane - Google Patents
Intelligent box body stacker crane Download PDFInfo
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- CN108946182B CN108946182B CN201811043158.1A CN201811043158A CN108946182B CN 108946182 B CN108946182 B CN 108946182B CN 201811043158 A CN201811043158 A CN 201811043158A CN 108946182 B CN108946182 B CN 108946182B
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- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000001174 ascending effect Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims 2
- 230000009471 action Effects 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000003825 pressing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/30—Stacking of articles by adding to the bottom of the stack
- B65G57/301—Stacking of articles by adding to the bottom of the stack by means of reciprocatory or oscillatory lifting and holding or gripping devices
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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
- B65G59/00—De-stacking of articles
- B65G59/06—De-stacking from the bottom of the stack
- B65G59/067—De-stacking from the bottom of the stack articles being separated substantially perpendicularly to the axis of the stack
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses an intelligent box body stacker crane, and belongs to the technical field of transferring and storing mechanical equipment. The machine comprises a vertically extending frame body with an input transmission device and an output transmission device respectively arranged at two sides, wherein a lifting mechanism capable of lifting between a low position and a high position is arranged at a position higher than a fixed placing plate at the lower part of the frame body, and a pushing mechanism higher than a preset distance at the low position and a pushing mechanism higher than a preset distance at the high position are arranged at one side of the frame body, where the output transmission device is arranged; the lifting mechanism comprises a vertical lifting connecting rod driven by a lifting driving device, the connecting rod and the frame body form a rotatable moving pair, and the lower end of the connecting rod is fixedly connected with a horizontal lifting plate; the cylindrical surface of the connecting rod is provided with a closed curve groove containing an indexing curve and a resetting curve, and the groove and a corresponding matching piece on the frame body form a cam pair. The invention realizes that the box products are buffered from bottom to top and then output from bottom to top to stack, and the box products are organically combined with the input transmission device and the output transmission device to form an intelligent control automatic operation line.
Description
Technical Field
The invention relates to automatic stacking equipment suitable for a light industry production line, in particular to an intelligent box body stacking machine, and belongs to the technical field of transferring and storing mechanical equipment.
Background
The packaging line is used as the final unit of the intelligent production line, and a great deal of manual participation is still needed in the light industry at present. In particular, in the shoe industry, after the box body is input and separated, the box body is required to be stacked and stacked continuously according to the need. To date, these operations still rely mainly on manual labor, which is not only wasteful of labor, but also has a high failure rate. When the stacking is too high, the ladder is required to be operated, and a certain danger exists. When the goods are shipped in the case, workers are required to go to and from different stacking shelves, and the case is often misplaced due to unclear shoe model identification, missed order information and the like, so that the data acquisition in intelligent production is not facilitated. Although the stacking is performed by a manipulator (see China patent with the application number 201520294550.9), the stacking cost is high and the efficiency is not high.
Retrieving and knowing, chinese patent application number 201510599557.6 discloses a typical construction for small-size box-packed product pile up neatly mechanism, including carrying the workstation carry the workstation both sides along the feed end to be equipped with the feeding guardrail, carry the workstation top to be equipped with along the horizontal pushing cylinder of feeding direction, pushing cylinder's output axle head rigid coupling has the cylinder body of a vertical packing cylinder that sets up, pushing cylinder's preceding terminal surface one side is equipped with rear end material pressing device, rear end material pressing device another side both sides are equipped with a pair of adjustable guardrail, rear end material pressing device one side is equipped with keeps apart and turns over the board, keep apart and turn over the board and set up in carrying the workstation top rotationally, keep apart board below and top still be equipped with pile up neatly cylinder and pile up neatly swager assembly respectively, keep apart the opposite side of turning over the board and be equipped with full material detection device. However, the above-mentioned prior art cannot solve the problems of stacking from bottom to top and stacking from bottom to top, and has the disadvantages of being unable to perform stacking, buffering, and the like.
Disclosure of Invention
The invention aims at: the intelligent box body stacker capable of inputting box products into the stacking machine for stacking and buffering from bottom to top and outputting from bottom to top after stacking, and therefore a foundation is laid for realizing full-automatic intelligent control.
In order to achieve the above purpose, the basic technical scheme of the intelligent box body stacker crane provided by the invention is as follows: the lifting mechanism capable of lifting between a low position and a high position is arranged at a position higher than a fixed placing plate at the lower part of the frame body, and one side of the frame body, on which the input transmission device is arranged, is provided with a pushing mechanism higher than the preset distance of the low position and a pushing mechanism higher than the preset distance of the high position;
The lifting mechanism comprises a vertical lifting connecting rod driven by a lifting driving device, the connecting rod and the frame body form a rotatable moving pair, and the lower end of the connecting rod is fixedly connected with a horizontal lifting plate; the cylindrical surface of the connecting rod is provided with a closed curve groove containing an indexing curve and a resetting curve, and the groove and a corresponding matching piece on the frame body form a cam pair.
When stacking, the lifting mechanism lifts the low-level lifting plate at the stacking position of the frame body to a high level, so that the pushing mechanism can push the box body conveyed by the input conveying device to a vacant position on the lower placing plate which is yielded after the lifting plate is lifted, and then when the lifting mechanism is controlled to start to descend to the height corresponding to the indexing curve section, the connecting rod is driven to drive the lifting plate to rotate from the stacking position to the yield position corresponding to the notch of the placing plate, and the box body like the existing stacked box body falls the stack on the box body which is just pushed in; when the lifting mechanism descends to be lower than the placing plate, the connecting rod drives the lifting plate to rotate from the yielding position to the stacking position under the action of the reset curve section until the lifting mechanism reaches the low position, the lifting mechanism starts lifting, the lifting mechanism just pushes the bottom of the box body until the lifting mechanism reaches the high position where the lifting mechanism is positioned, and one-time stacking operation is completed to buffer the box body in the vertical frame.
When the stack is discharged, the lifting mechanism does not need to act, the pushing mechanism pushes the box body at the lowest layer to the output transmission device, and when the pushing mechanism is retracted rapidly, the rest box bodies at the upper layer fall onto the lifting plate of the lifting mechanism under the action of gravity, so that the required stack discharging operation is completed.
Therefore, the invention realizes the buffer storage of the box products from bottom to top and the output of the stack from bottom to top after the box products are input and separated by a smart mechanism design, and the box products are organically combined with the input transmission device and the output transmission device to form an intelligent control automatic operation line.
The invention is further perfected as follows:
the lifting mechanism comprises a vertical lifting connecting rod driven by a lifting cylinder serving as a lifting driving device, and the connecting rod is movably inserted into a shaft sleeve fixed on the frame body to form a rotatable lifting moving pair.
The curved groove on the cylindrical surface of the connecting rod is a trapezoid closed curved groove after being unfolded.
Corresponding to the high position of the lifting plate, the frame body is provided with a starting piece for pushing the lifting plate to generate a starting indexing trend.
Lifting mechanisms capable of lifting between a low position and a high position are respectively arranged above the yielding notches staggered on two sides of the placing plate of the frame body.
The input transmission device and the output transmission device are respectively a horizontal input conveyer belt and an output conveyer belt; and the lower part of the frame body is fixedly provided with a placing plate with the upper surface flush with the surface of the input conveyor belt.
Drawings
Fig. 1 is a schematic diagram of the structure of an embodiment of the present invention.
Fig. 2 is a side view of fig. 1.
Fig. 3 is a top view of fig. 2 (omitting the ejector mechanism).
Fig. 4 is an enlarged schematic view of the lifting mechanism and positioning mechanism of the embodiment of fig. 1.
Fig. 5 is a schematic view of the connecting rod curved groove development of the lifting mechanism of fig. 4.
Fig. 6 is a partial enlarged view at a of fig. 3.
Fig. 7 is a schematic view of the structure of the push-out mechanism in the embodiment of fig. 1.
Fig. 8 is a schematic view of the pushing mechanism in the embodiment of fig. 1.
Fig. 9 is a schematic view of the positioning mechanism in the embodiment of fig. 1.
Fig. 10-15 are schematic diagrams of various operating states of the embodiment of fig. 1.
Detailed Description
The present embodiment is a box body stacker with an intelligent control system for stacking, buffering and chopping shoe boxes (the intelligent control system includes hardware such as a bar code recognition device, a sensing device, a PLC, etc. all adopt the prior art, and not described in detail), the basic structure is as shown in fig. 1,2 and 3, the vertically extending frame body 1 with a plurality of columns (15 columns in this embodiment) of stacking stands is divided into 15 buffering areas, and two sides of the vertically extending frame body are respectively provided with a horizontal input conveyer belt 7 and an output conveyer belt 3 as an input conveyer device and an output conveyer device. The lower part of each palletizing unit of the frame body 1 is fixed with a placing plate 12 with the upper surface flush with the upper surface of the input conveyor belt 7. The lifting mechanisms 2 which can be lifted between a low position and a high position are respectively arranged above the staggered yielding notches on the two sides of the placing plate 12 of the frame body 1. The input transmission device side of the frame body 1 is provided with a push-in mechanism 6 higher than the preset distance of the lower position and a push-out mechanism 5 higher than the preset distance of the upper position. Thus, the action of the push-out mechanism can be ensured not to interfere with the box body.
As shown in fig. 4 to 6, the lifting mechanism 2 includes a vertically liftable connecting rod 24 driven by a lifting cylinder 21 as a lifting drive device, and the connecting rod 24 is movably inserted into a shaft sleeve 22 fixed to the frame body 1 to constitute a rotatable lifting moving pair. The lower end of the connecting rod 24 is fixedly connected with a horizontal lifting plate 25. The cylindrical surface of the connecting rod 24 has a closed curve groove 241 with indexing and reset curves, the curve groove 241 of this embodiment is shown in fig. 5, the indexing curve is formed by a declining AB segment, followed by BC being a stationary segment parallel to the connecting rod bus bar, the reset curve is formed by an ascending CD segment, followed by DA being a circumferentially stationary segment holding the lifting plate 25, thereby forming a closed curve groove 241 that expands into a trapezoid. The groove 241 and the fixed cylindrical pin 23 fixed to the shaft sleeve 22 of the frame body 1 as a mating member constitute a cam pair. In order to ensure that the cylindrical pin 23 can enter the AB section as required when reaching the A position during operation, the frame body is provided with a starting cylinder 26 which is used for pushing the lifting plate 25 at the position shown in figure 6 to generate the starting indexing trend corresponding to the high position of the lifting plate 25.
Each stacking stand of this embodiment is provided with a push-out mechanism 5, as shown in fig. 7, the specific structure of the push-out mechanism 5 includes an overhanging horizontal push-out rail 52 fixed on one side of the stand body 1 and a push-out plate 51 forming a horizontal moving pair with the push-out rail 52, the front end of the push-out plate forms a push-in surface, the rear end is fixedly connected with the cylinder body of a horizontal push-in cylinder 54, a piston rod head 541 of the push-in cylinder 54 is fixedly connected with the push-out rail 52 through a fixedly connecting plate 53, and a part of the weight is supported by the rail 52, so that a specific reverse-loading cylinder push-out mechanism is formed, and after receiving a command of a control system, the piston rod head 541 retracts to drive the push-out plate 51 to slide along the rail 52, thereby realizing the push-in of a box body from the lifting plate 24 onto an output conveyor belt. The reverse-mounted cylinder pushing mechanism enables the input and output drives separately arranged on two sides of the frame body to be arranged on the same side, thereby remarkably saving the occupied area, facilitating control and management, having simple and compact structure and being beneficial to reducing cost.
Each five stacking stands of this embodiment are provided with a pushing mechanism 6, as shown in fig. 8, which includes a pair of positioning rails 60 with both ends respectively fixed to the stand 1 and the supporting frame 65, and a pushing rod 64 forming a horizontal moving pair with the positioning rails 60, the middle part of the pushing rod 64 is connected with a piston rod of a pushing cylinder 62 arranged on a cylinder bracket 63, and five pushing plates 61 are uniformly distributed on the inner side, so that five boxes can be synchronously pushed in.
In addition, a positioning mechanism 4 is further configured on one side of each stacking stand of the stand body 1 in this embodiment, as shown in fig. 9 and fig. 4, and the specific structure of the positioning mechanism includes a positioning cylinder 42 and a baffle 44 hinged on the upper and lower sides of the stand body 1 through a seat board 41, the baffle 44 is triangular, a piston rod of the positioning cylinder 42 is fixedly connected with one end of a swing rod 43, and the other end of the swing rod 43 is hinged with the middle part of one side of the baffle 44. When the box body is transported to the input conveyor belt from the last production link, the recognition device judges that the box body should be cached on a certain vertical frame of the frame body 1 according to the bar code on the box body, and the positioning mechanism 4 at the corresponding position acts to enable the baffle plate 44 to swing down to just block the input box body.
The intelligent box body stacker crane of this embodiment can practically realize following pile up neatly, go out and chop the overall process under control system's control:
as shown in fig. 10, after the shoe boxes reach the input conveyor belt, the corresponding positioning mechanism baffle plates control to fall according to the code division signals;
As shown in fig. 11, the lifting mechanism has lifted the lower lifting plate at the stacking position of the frame body to a high position, so that the pushing mechanism can push the shoe boxes input in place to the empty spaces on the lower placing plate which are left after the lifting plate is lifted, and stacking is completed;
As shown in fig. 12, the baffle of the positioning mechanism is lifted under control, when the lifting mechanism is controlled to start descending the height corresponding to the AB section, the connecting rod drives the lifting plate to rotate from the stacking position to the abdicating position corresponding to the notch of the placing plate under the action of the indexing curve section, and the shoe box with the stacking is used for placing the stack on the shoe box just pushed in; when the lifting mechanism descends to be lower than the placing plate, the connecting rod drives the lifting plate to rotate from the yielding position to the stacking position under the action of the reset curve section CD;
As shown in fig. 13, the lifting plate starts to lift, and the lifting plate is lifted to just push the bottom of the shoe box until reaching the high position where the shoe box is positioned, and the shoe box is cached in the vertical frame of the corresponding code dividing position after completing one stacking operation;
as shown in fig. 14, when stacking, the lifting mechanism keeps acting, the pushing-out plate of the pushing-out mechanism pushes out the shoe box at the lowest layer onto the output conveyor belt, and the shoe box is conveyed to the boxing station, and the rest shoe boxes at the upper layer fall on the pushing-out plate;
When the ejector mechanism is retracted quickly, as shown in fig. 15, the shoe boxes will fall onto the lifting plate of the lifting mechanism under the force of gravity, completing the desired destacking operation.
Experiments show that the embodiment has compact structure and perfect functions, can realize code division, stacking and buffering of box body products of various types, and can automatically output different products to a boxing and shipping link according to customer requirements. The system is provided with a bar code recognition system, a sensing system and a PLC control system, the product warehouse-in and warehouse-out information is clear, the tracking management of the product can be realized, and the system has the following beneficial effects:
1) The quick code division of box body products can be effectively realized, the existing manual repeated work is reduced, different products can be pushed out of the cache frame body to an output belt according to order demands, and the products are conveyed to a boxing line, so that multiple functions of one device are realized.
2) Different control systems are arranged according to the needs, so that two modes of single code division and cache and single boxing can be simultaneously operated, the selection of the system can be carried out according to the use needs, and the system is more humanized.
3) While pushing and pushing cannot be performed simultaneously for the same cache region, pushing and pushing can be performed simultaneously for different cache regions.
4) The control system can grasp the quantity and the change of the cached products on the equipment in real time, and solves the difficult problem that the existing factory needs manual checking every time because of unclear stock.
5) The cost is economical, the working efficiency is high, and the operation is stable, safe and reliable.
Other embodiments of the invention are possible in addition to the above described embodiments. For example, the pushing mechanisms can be arranged in groups or can be arranged singly according to requirements; and the vertical projection distances of the shifting and resetting curves can be equal or unequal; the predetermined distance may be slightly greater than the vertical projection distance of the indexing or resetting curve; for another example, the starting member may be a hydraulic or electric device other than the starting cylinder; etc. All technical schemes formed by equivalent transformation or equivalent transformation fall within the protection scope of the invention.
Claims (4)
1. The utility model provides an intelligent box body hacking machine, includes that both sides settle respectively input transmission device (7), output transmission device (3) vertically extend support body (1), its characterized in that: the lifting mechanism (2) capable of lifting between a low position and a high position is arranged at the position higher than the fixed placing plate at the lower part of the frame body, and a pushing mechanism (6) with a preset distance higher than the low position and a pushing mechanism (5) with a preset distance higher than the high position are arranged at one side of the frame body, where the output transmission device is arranged;
The lifting mechanism comprises a vertical lifting connecting rod (24) driven by a lifting driving device (21); the connecting rod and the frame body form a rotatable moving pair, and the lower end of the connecting rod is fixedly connected with a horizontal lifting plate (25); the cylindrical surface of the connecting rod is provided with a closed curve groove containing an indexing curve and a resetting curve, and the groove and a corresponding matching piece (23) on the frame body form a cam pair;
the lifting mechanism comprises a vertical lifting connecting rod driven by a lifting cylinder serving as a lifting driving device, and the connecting rod is movably inserted into a shaft sleeve fixed on the frame body to form a rotatable lifting moving pair;
The indexing curve consists of a declining section taking a connecting rod bus as a reference, and a static section parallel to the connecting rod bus is arranged behind the declining section; the reset curve is composed of an ascending section taking a connecting rod bus as a reference, and then a circumferential static section of the lifting plate is kept, so that a closed curve groove which is unfolded to be trapezoid is formed;
Corresponding to the high position of the lifting plate, the frame body is provided with a starting piece for pushing the lifting plate to generate a starting indexing trend.
2. The intelligent box stacker of claim 1 wherein: the curved groove on the cylindrical surface of the connecting rod is a trapezoid closed curved groove after being unfolded.
3. The intelligent box stacker of claim 2 wherein: lifting mechanisms capable of lifting between a low position and a high position are respectively arranged above the yielding notches staggered on two sides of the placing plate of the frame body.
4. A smart box stacker according to claim 3, wherein: the input transmission device is a horizontal input conveyer belt, and the output transmission device is an output conveyer belt; and the lower part of the frame body is fixedly provided with a placing plate with the upper surface flush with the surface of the input conveyor belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043158.1A CN108946182B (en) | 2018-09-07 | 2018-09-07 | Intelligent box body stacker crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043158.1A CN108946182B (en) | 2018-09-07 | 2018-09-07 | Intelligent box body stacker crane |
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| Publication Number | Publication Date |
|---|---|
| CN108946182A CN108946182A (en) | 2018-12-07 |
| CN108946182B true CN108946182B (en) | 2024-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811043158.1A Active CN108946182B (en) | 2018-09-07 | 2018-09-07 | Intelligent box body stacker crane |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN212291492U (en) * | 2020-04-10 | 2021-01-05 | 浙江立镖机器人有限公司 | Cargo allocation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000044654A1 (en) * | 1999-01-29 | 2000-08-03 | Realisations, Etudes & Commercialisation De Materiel Pour L'industrie, Recmi | Palletizing device for piles of printed booklets |
| CN102101593A (en) * | 2011-01-18 | 2011-06-22 | 山东兰剑物流科技有限公司 | Automatic depalletizing and stacking machine for line stack-type containers |
| CN105173755A (en) * | 2015-09-21 | 2015-12-23 | 苏州市盛百威包装设备有限公司 | Stacking mechanism for small box-packaged products |
| CN205087591U (en) * | 2015-10-12 | 2016-03-16 | 苏州铭维电自动化设备有限公司 | Tray hacking machine |
| CN206395479U (en) * | 2016-12-30 | 2017-08-11 | 上海瀚昱环保材料有限公司 | A kind of low temperature and high/low temperature catalyst stacking machine |
| CN208882983U (en) * | 2018-09-07 | 2019-05-21 | 航天晨光股份有限公司 | A kind of intelligence box body stacking machine |
-
2018
- 2018-09-07 CN CN201811043158.1A patent/CN108946182B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000044654A1 (en) * | 1999-01-29 | 2000-08-03 | Realisations, Etudes & Commercialisation De Materiel Pour L'industrie, Recmi | Palletizing device for piles of printed booklets |
| CN102101593A (en) * | 2011-01-18 | 2011-06-22 | 山东兰剑物流科技有限公司 | Automatic depalletizing and stacking machine for line stack-type containers |
| CN105173755A (en) * | 2015-09-21 | 2015-12-23 | 苏州市盛百威包装设备有限公司 | Stacking mechanism for small box-packaged products |
| CN205087591U (en) * | 2015-10-12 | 2016-03-16 | 苏州铭维电自动化设备有限公司 | Tray hacking machine |
| CN206395479U (en) * | 2016-12-30 | 2017-08-11 | 上海瀚昱环保材料有限公司 | A kind of low temperature and high/low temperature catalyst stacking machine |
| CN208882983U (en) * | 2018-09-07 | 2019-05-21 | 航天晨光股份有限公司 | A kind of intelligence box body stacking machine |
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