CN110092126A - A kind of cleavable material access system of continuous bulk and its access method - Google Patents
A kind of cleavable material access system of continuous bulk and its access method Download PDFInfo
- Publication number
- CN110092126A CN110092126A CN201910435751.9A CN201910435751A CN110092126A CN 110092126 A CN110092126 A CN 110092126A CN 201910435751 A CN201910435751 A CN 201910435751A CN 110092126 A CN110092126 A CN 110092126A
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- Prior art keywords
- supporting plate
- embryo
- connecting rod
- continuous
- manipulator
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000003860 storage Methods 0.000 claims abstract description 68
- 210000001161 mammalian embryo Anatomy 0.000 claims description 170
- 239000010421 standard material Substances 0.000 claims description 28
- 235000012149 noodles Nutrition 0.000 claims description 22
- 239000000178 monomer Substances 0.000 claims description 17
- 238000005520 cutting process Methods 0.000 claims description 15
- 238000013519 translation Methods 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000004445 quantitative analysis Methods 0.000 claims description 2
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- 230000007246 mechanism Effects 0.000 abstract description 22
- 230000008569 process Effects 0.000 abstract description 17
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- 241000208340 Araliaceae Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
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Classifications
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
- B65G1/133—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a horizontal plane
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
It include: support casket the invention discloses a kind of material access system and its access method, system, the manipulator and cutter assembly being connected on the support casket, for storing the storage assembly of material and material being stored in the pallet of the storage assembly according to unit；When needing to take out the material on corresponding pallet, pallet is pulled out storage assembly by the manipulator behavior, cuts material on demand by the cutter assembly.Material access system of the invention and its access method, it uses newly-designed manipulator with the material storage assembly of automatic lifting and engages the cooperation of driving mechanism, realize the storage of dough, and the automation process process taken out according to quantity on demand, and whole system is compact-sized, it occupies little space, stable and reliable operation, high degree of automation.
Description
Technical field
The invention belongs to the access technique field of continuous block material, more particularly to it is a kind of simple and reliable for structure continuous
Blocky cleavable material access system and its access method.
Background technique
In the prior art there are many material storage device of multiplicity, it is required to according to the shape, volume, characteristic etc. of material
Specially designed magazine.Such as kneading dough (dough), dough (face embryo) add salt, water to rub up, have through flour
Certain viscosity and humidity, the storage method of dough is often placed on washbasin or panel at present.This storage mode, one
Aspect amount of storage is smaller, on the other hand stores unhygienic, and access is also inconvenient.In particular, during automated production, not only
Realize the safety and sanitation storage of dough, it is also necessary to solve the on-demand automatic access according to quantity of material.
Summary of the invention
The purpose of the present invention is to provide a kind of continuous cleavable materials of bulk to access system, and which solve existing objects
Material storage cannot achieve the technical issues of increasingly automated safety and sanitation access.
In order to achieve the above objectives, technical solution proposed by the invention are as follows:
A kind of continuous cleavable material of bulk of the invention accesses system comprising: support casket is connected to the support
Manipulator and plug-in strip component on casket, storage assembly and at least one supporting plate；The continuous cleavable material of bulk is fabricated to
Supporting plate is deposited in after the standard section strip of monolithic, the supporting plate is slidably placed in storage assembly；
When needing to take out the continuous blocky cleavable material on corresponding supporting plate, the manipulator behavior pulls out supporting plate
Storage assembly cuts continuous blocky cleavable material by the plug-in strip component on demand.Cut material and storage feed separation, side
Just the low-temp storage of material.
Wherein, the continuous cleavable material of bulk is face embryo, and the face embryo is fabricated to the particular cross section strip of monolithic
Index plane embryo after deposit in supporting plate, the width of the plug-in strip component plug-in strip is more than or equal to the width of index plane embryo, so as to
Plug-in strip every time cuts off index plane embryo in whole cross section.Standardized face embryo monomer, when automation being facilitated to cut, it is only necessary to control
The length of face embryo processed, can accurately cut the face embryo of required quality, and quantitative manner is simple and reliable.
Wherein, the manipulator includes: first connecting rod, is articulated with the second connecting rod of the first connecting rod；Described first connects
The upper end of bar is hinged with a sliding block, and the sliding block is slidably connected to a guide rail, and the guide rail is fixedly connected on support casket, institute
The middle part for stating second connecting rod is equipped with a positioning rotating shaft, and second connecting rod can be swung around the positioning rotating shaft, the rear end of second connecting rod
Portion is articulated with the middle part of first connecting rod；Wherein, the hinge joint of the sliding block to first connecting rod, second connecting rod hinge joint distance
With first connecting rod, second connecting rod hinge joint to the lower end of first connecting rod at a distance from and first connecting rod, second connecting rod it is hinged
Point to the distance of positioning rotating shaft is equal, and the positioning rotating shaft point coincides with the straight line where the guiding of guide rail, when the
The front end of two connecting rods is controlled when swinging along positioning rotating shaft, and synchronous driving sliding block is moved along guide rail, so that first connecting rod
Lower end transverse translation；The front end of the second connecting rod is additionally provided with the second retractable driving device, the described second flexible driving dress
The telescopic end set is articulated with the second connecting rod, and the lower end of the first connecting rod is additionally provided with a crawl bar, the crawl bar
Middle part is articulated with the lower end of first connecting rod, and the front end of the crawl bar is additionally provided with third retractable driving device, the third
Retractable driving device driving crawl bar is rotated along with the hinge joint of first connecting rod, so that the front end of crawl bar hooks together or is detached from
Supporting plate.
It, can be using any manipulator with translation crawl of the prior art, between supporting plate and supporting plate for manipulator
It can have certain interval, the gap that manipulator can go deep into supporting plate two sides catches supporting plate then to haul out face embryo storing unit
Edge, and continue to haul out specific distance, finally, lock under the plug-in strip of vertical direction, the face embryo lock immediately below plug-in strip is broken, most
Afterwards, supporting plate is sent back to storage rack according to former road, obtain face embryo monomer as a result, through allocation mechanism (can be push plate) by face embryo list
Body is dialled and falls on next station use, and above, allocation mechanism and plug-in strip can integrate in manipulator.The manipulator, realizes
In tight space, the translation motion of material is realized.
Wherein, the storage assembly includes: material stock frame, and multilayer material stock layer is arranged on the material stock frame, and each material stock layer is set
Have several for placing the material stock position of supporting plate, the setting open front of material stock frame front end, material stock frame rear end setting after-opening, institute
It states support casket and is located at material stock frame rear end；
When needing to be stored in continuous blocky cleavable material, the supporting plate for being loaded with continuous blocky cleavable material is opened in the past
Mouth push-in material stock position；When needing to extract continuous blocky cleavable material, the support casket drives manipulator and plug-in strip component to move
The tail portion of corresponding supporting plate is moved, after manipulator grabs supporting plate and pulls out the specific range of material stock frame rear edge from after-opening
Plug-in strip component cuts material.
The material stock frame that this material stock and feeding divide two sides to carry out, makes full use of the solid space of material stock frame, makes material stock position
It is provided separately with feeding position, material stock and feeding are non-interference, high-efficient.
Wherein, the bottom of the supporting plate is equipped with limiting slot, and the material stock position is equipped with limit corresponding with the limiting slot
Component, the limit assembly include: the elastic component for being embedded in storage position, the sphere being connected at the top of the elastic component；
The front side wall and rear wall of limiting slot are top-down inclined surface, and the inclined direction of front side wall is sliding for supporting plate
Enter to store the direction of position, the inclined direction of the rear wall is the direction that supporting plate skids off storage position.
Using the limiting slot of this structure, having the effect that each supporting plate bottom also sets up section is opening for trapezoidal shape
The slot put, "eight" shape slot gradually can enter limiting slot by pressure ball body when supporting plate slides into, can when skidding off
It is skidded off with gradually pressure ball body；When use, supporting plate is pushed away behind the upper surface that open front rides over supporting plate position into crane, ball
Body is being pressed against by supporting plate bottom, after supporting plate has arrived scheduled position, the slot and sphere face of supporting plate bottom, and after sphere falls into slot,
The sphere pressed against, which emits, to portal, and offsets with the side wall of slot, to play the role of positioning, in this way, operator just knows supporting plate
Shifted set position onto, when needing to haul out supporting plate, due to the section of slot be it is trapezoidal, side wall is inclined-plane, and inclined-plane holds very much
Easily sphere can be pressed into mounting hole gradually, prevent sphere from hindering the movement of supporting plate, slot is through in the entire side wall of supporting plate
, when supporting plate is pushed toward crane, as long as the line where slot encounters sphere, the sphere auto-extending mounting hole that is being pressed against
Into in slot, reliable operation.It will be apparent that the technical point is used in the present invention on the one hand be convenient for oneself in the push-on process of supporting plate
On the other hand dynamic positioning is conducive to manipulator again and pulls out by supporting plate automatically, it can the positioning to supporting plate, and can be horizontal
It pulls out, carries convenient for automatic positioning supporting plate and the automatic effect for pulling supporting plate feeding
Wherein, the supporting plate includes: two shafts of parallelly distribute on, the conveyer belt being suited on the shaft, wherein one turn
It is additionally provided with a driven gear, and the support plate of the support shaft on axis, drives the driven gear so that conveyer belt rotates
Feeding.The supporting plate has the function of storage standards face embryo, also has under the action of external driving mechanism, passive rotation, with
The function that carry out face embryo is moved forward or rearward.
Wherein, further include driving gear and the motor for driving driving gear rotation, the driving gear and
Motor is installed on the support casket；After supporting plate pulls support casket by manipulator, the driven gear on supporting plate is engaged in driving tooth
Wheel drives driven gear rotation by the motor, to drive the cleavable material Forward of continuous bulk being located on conveyer belt.
A set of driving mechanism is only needed, can be realized and acted with the pull-out of the supporting plate on all material stock framves, compact-sized, cost is relatively low.
Wherein, the tooth form tooth top of the driving gear and/or driven gear is pointed shape, to guarantee driving gear and appoint
The driven gear anticipated on a supporting plate is hit at random, and automatic phase mutual designation is slid into each other gear clearance engagement.Namely: driving tooth
At least one tooth-formation of gear tooth top is pointed shape effect achieved also than using common gear in wheel and driven gear
Good, optimal is that two tooth-formation of gear tooth tops are all pointed shapes.
Wherein, the sensor for incuding continuous cleavable material is additionally provided on the support casket, the motor is equipped with
Encoder；The sensor is used to carry out initial cut positioning to the end of the continuous cleavable material of bulk on supporting plate, described
Encoder is used to count the shaft turnning circle of motor, realizes that the accurate quantitative analysis of face embryo component is cut by turnning circle.
The invention also discloses a kind of continuous cleavable material access methods of bulk comprising storage assembly is slidably installed
In the supporting plate of the storage assembly, manipulator and plug-in strip component；Method the following steps are included:
The continuous cleavable material of bulk is shaped to the standard material for the elongate in shape for having particular cross section by step S10；
Step S20 deposits in the standard material of monolithic on single supporting plate, the length direction and support of the standard material
Plate glide direction is consistent, and the supporting plate is pushed into the storage assembly storage；
Step S30, when needing to take continuous blocky cleavable material, the manipulator, which is moved to, is loaded with the reference substance
The supporting plate corresponding position of material, and the supporting plate is hauled out into storage assembly edge；
Step S40, the plug-in strip component lock break the standard material, obtain the standard material block of specific length；
Supporting plate original road is pushed back storage assembly to extract material next time by step S50, manipulator.
Wherein, the continuous cleavable material of bulk is face embryo；The supporting plate face of the supporting plate is for holding the defeated of face embryo
Band is sent, the shaft of the conveyer belt installs driven gear；Driving gear that manipulator setting is engaged with driven gear and
Drive the motor of the driving gear rotation；In step s 30, when needing to take face embryo, the manipulator, which is moved to, is loaded with institute
The supporting plate corresponding position for stating face embryo, by the supporting plate haul out the driven gear after specific range follow supporting plate mobile and with master
Moving gear engagement.The above design, is engaged and is separated by the driven gear on single-power driving gear and each supporting plate, avoided
Conveyer belt on each supporting plate individually matches power, to simplify design, save the cost.
Wherein, the shaft of the motor installs the encoder for detecting motor turnning circle, and manipulator is arranged for feeling
Answer the sensor of face embryo；
In step s 30, the manipulator hauls out supporting plate, and the driven gear follow supporting plate mobile and with actively
After gear engagement, motor is rotated backward, and makes conveyer belt conveyor surface embryo backward, and embryo end face and the sensor sensing portion are neat face to face
Flat, motor rotates forward, and conveyer belt is made to be fed forward face embryo by plug-in strip mouth, and encoder calculates the circle number that motor is rotated in real time, and
The set circle number back switch blade of motor rotation, which breaks face embryo lock, obtains the face embryo monomer of specific length.
Wherein, in step S10, face embryo is shaped to the index plane embryo for the elongate in shape for having particular cross section；
In step S20, monolithic index plane embryo is deposited on single supporting plate, the length direction and supporting plate of the index plane embryo
Glide direction is consistent, and the supporting plate is pushed into the storage assembly storage；Wherein,
The index plane embryo includes at least two kinds according to length difference, and every kind of index plane embryo is to the face for specific deal
Item, every kind of index plane embryo are deposited in the form of monolith surface embryo on single supporting plate.
In view of the cutting of index plane embryo may leave tailing to the end, it is left the tail of one section of not a enough noodles deal
Material, such case will collect cleaning tailing, and more troublesome, the degree of automation is not high；In actual use, required noodles component
Depending on being ordered according to customer demand, it can be 200 grams and be also possible to 300 grams etc., if all index plane embryos are long on material stock frame
Degree is all identical, extracts 200 grams and 300 grams of face embryo monomers at random on the same supporting plate, may finally be left on supporting plate not enough
The tailing of a noodles；Such as: the corresponding index plane embryo of 200 grams of noodles components will be needed and need 300 grams of noodles components pair
The index plane embryo answered is separated, i.e. the case where institute's 200 grams of noodles components in need needs to extract on a supporting plate, the support
The index plane embryo that plate is placed all supplies the situation for being used to extract 200 grams of noodles, in this way can be with the mark on the custom preset supporting plate
Quasi- face embryo length makes total length just and is the integral multiple that single portion of 200 grams of noodles correspond to length, in this way, there will be no tailings to go out
It is existing；Similarly, same for the situation of 300 grams of faces, 400 grams of noodles etc..
One piece of face embryo is individually placed on single supporting plate, is guaranteed when in order to extract face embryo every time from face embryo width side
To whole cross section on cut off, wherein cut off the amount that obtained face embryo block corresponds to single portion of noodles；Monolith surface embryo is placed in
On supporting plate, the direction for sliding the length of face embryo with supporting plate is parallel, and plug-in strip can be designed to that width is more than or equal to the width of supporting plate
Degree, plug-in strip are parallel to face embryo cross-wise direction and extract face embryo, once can be disconnected in the section brake application of face embryo, such design lock
Knife, which only needs to cut, can once realize the purpose for taking face, agile easy, be convenient for automated job, and do not influence again next time
Take face.
Compared with prior art, the cleavable material access system of continuous bulk of the invention and its access method, use
Newly-designed manipulator is with the material storage assembly of automatic lifting and engages the cooperation of driving mechanism, realizes depositing for dough
Storage, and the automation process process taken out according to quantity on demand, and whole system is compact-sized, occupies little space, it is stable
Reliably, high degree of automation.
Detailed description of the invention
Fig. 1 is the whole side structure schematic diagram that the cleavable material of continuous bulk of the invention accesses system.
Fig. 2 is the material fetching mechanism partial structure diagram that the cleavable material of continuous bulk of the invention accesses system.
Fig. 3 is the side structure signal for the material fetching mechanism part that the cleavable material of continuous bulk of the invention accesses system
Figure.
Fig. 4 is that the material stock component of the cleavable material access system of continuous bulk of the invention shows with robot arm separation structure
It is intended to.
Fig. 5 is the supporting plate part structural schematic diagram that the cleavable material of continuous bulk of the invention accesses system.
Fig. 6 is the engagement driving mechanism partial structure diagram that the cleavable material of continuous bulk of the invention accesses system.
Fig. 7 is another angled arrangement schematic diagram of material fetching mechanism that the cleavable material of continuous bulk of the invention accesses system.
Fig. 8 is the side structure schematic diagram of Fig. 7.
Fig. 9 is the explosive view of Fig. 7.
Figure 10 is the support casket partial structure diagram that the cleavable material of continuous bulk of the invention accesses system.
Figure 11 is first body of rod, second body of rod and crawl bar that the cleavable material of continuous bulk of the invention accesses system
Partial structure diagram.
Figure 12 is the crawl bar part structural schematic diagram that the cleavable material of continuous bulk of the invention accesses system.
Figure 13 is the robot movement schematic illustration that the cleavable material of continuous bulk of the invention accesses system.
Figure 14 is the storage assembly and supporting plate part structural representation that the cleavable material of continuous bulk of the invention accesses system
Figure.
Figure 15 is the storage assembly partial structure diagram that the cleavable material of continuous bulk of the invention accesses system.
Figure 16 is the material stock frame partial structure diagram that the cleavable material of continuous bulk of the invention accesses system.
Figure 17 is the side structure schematic diagram of Figure 14.
Figure 18 is the limit assembly part enlarged structure signal that the cleavable material of continuous bulk of the invention accesses system
Figure.
Figure 19 is the supporting plate partial enlargement structural representation that the cleavable material of continuous bulk of the invention accesses system.
Figure 20 is that the cleavable material of continuous bulk of the invention accesses system access process status schematic diagram.
Figure 21 is the flow chart of material access method of the invention.
Specific embodiment
Below with reference to attached drawing, the present invention is further described in detail.
It should be noted that " continuous blocky cleavable material " that the present invention is previously mentioned refers to a kind of material, the material
In volume be it is interconnected, the attribute which has is: can be cut by cutter make material interconnected exist
Required place separates, specifically, can be dough (or referred to as face embryo), being made into strip bread, be made into a monolith
Strip rice cake etc..
Fig. 1 to Figure 20 is please referred to, in the present embodiment, which is used for dough
The storage of equal materials, the on demand technical process such as cutting.It specifically includes that support casket 100, is connected to the machine of the support casket 100
Tool hand 200, the plug-in strip component 300 being fixed on support casket 100, conveys the supporting plate 400 of material, and if for storing dry care
The storage assembly 600 of plate 400 further realizes on demand feeding according to quantity, supports and is additionally provided with engagement driving mechanism 700 on casket 100,
And the guide assembly 800 of 200 transverse shifting feeding of driving manipulator.
In the present embodiment, continuous blocky cleavable material is face embryo, and the particular cross section that the face embryo is fabricated to monolithic is long
Supporting plate 400 is deposited in after the index plane embryo of strip, the width of 300 plug-in strip of plug-in strip component is more than or equal to index plane embryo
Width, so that plug-in strip every time cuts off index plane embryo in whole cross section.
" feeding according to quantity " mentioned above understands are as follows: it is special that the plug-in strip of plug-in strip component 300 is fixed on support casket 100 vertically
Fixed position, the distance below amplitude and process plug-in strip mouth that supporting plate 400 is drawn out extract the length of material required for characterizing
Distance under plug-in strip lock, just obtains required material.It also will be understood that are as follows: plug-in strip component 300 can move, 400 quilt of supporting plate
After pull-out, plug-in strip is automatically moved to the distance of corresponding specific material, the material of length required for obtaining after cutting.Support casket 100
It is mobile with manipulator 200 and plug-in strip component 300, in the side wall migration of storage assembly 600, any one supporting plate can be grabbed
400, then extract the standard material on supporting plate 400.
The present invention provides a kind of access systems for being suitble to continuous blocky cleavable material when in use will be random
The continuous cleavable material of bulk of shape is shaped to the strip for being suitble to be placed on supporting plate 400 and has particular cross section (side
Shape, trapezoidal etc.) standard material, before storage by material aims of standardization be in order to which the feeding in later period is convenient, especially for
Realize the purpose of later period quantitative taking, it is contemplated that material might have the characteristics of adhesion between each other, can each piece of standard
Material is that unit drags some supporting plate 400 for being loaded with standard material when being individually placed at 400 upper later period of a supporting plate cutting
Out, it imposes uniformity without examining individual cases in the whole cross section of the standard material disconnected, is also convenient for the metering of standard material length, avoids object
Being adhered between material and material is conducive to automated job.
, can be using any manipulator with translation crawl of the prior art for manipulator 200, supporting plate position can be with
With certain interval, in this way, supporting plate 400 has certain interval between each other, manipulator 200 can go deep into 400 two sides of supporting plate
Gap catches supporting plate 400 then to haul out the edge of storage assembly 600, and continues to haul out specific distance, and the specific range is by people
The mobile gained of manipulator is controlled to set and being given to control system, then, lock under the plug-in strip of vertical direction will be immediately below plug-in strip
The continuous cleavable material gate of bulk it is disconnected, finally, manipulator 200 sends supporting plate 400 back to storage assembly 600 according to former road, cut
Material monomer is cut off, can be fallen by the allocation mechanism of peripheral hardware group or hand is taken down.
The present invention provides a kind of specific embodiment of manipulator, scheme is as follows
It is included at least referring to the manipulator 200 of Fig. 7 to Figure 12, the continuous cleavable material access system of bulk:
First connecting rod 23 is articulated with the second connecting rod 22 of the first connecting rod 23；It is sliding that the upper end of the first connecting rod 23 is hinged with one
Block 20, the sliding block 20 are slidably connected to a guide rail, and the middle part of the second connecting rod 22 is equipped with a positioning rotating shaft 27, and second connects
Bar 22 can be swung around the positioning rotating shaft 27, and the rear end of second connecting rod 22 is articulated with the middle part of first connecting rod 23, by turning
Axis is hinged；Wherein, the distance of the hinge joint A of the sliding block 20 to first connecting rod 23,22 hinge joint B of second connecting rod connect with first
Bar 23, second connecting rod 22 hinge joint B to first connecting rod 23 lower end E distance and first connecting rod 23, second connecting rod 22
The distance of hinge joint B to positioning rotating shaft 27 is equal, and 27 point of positioning rotating shaft coincides with straight where the guiding of guide rail
Line namely sliding block 20 are mobile towards the direction of positioning rotating shaft 27 when sliding, when the front end of second connecting rod 22 is controlled along positioning
When shaft 27 is swung, synchronous driving sliding block 20 is moved along guide rail, so that the lower end transverse translation of first connecting rod 23.Wherein,
The guide rail, positioning rotating shaft 27 are both secured to the supporter under application scenarios.
Referring to Fig. 8, the front end of the second connecting rod 22 is additionally provided with the second retractable driving device 25, and described
The telescopic end of two retractable driving devices 25 is articulated with the second connecting rod 22.Second retractable driving device 25 is rotationally connected with branch
It supports on casket 100, the free end of the second retractable driving device 25 is articulated with the front end of second connecting rod 22.In the present embodiment, by
Fixed in positioning rotating shaft 27, when the second 25 expanding-contracting action of retractable driving device, second connecting rod 22 is put around positioning rotating shaft 27
Dynamic, the rear end of second connecting rod 22 is articulated with the middle part of first connecting rod 23, and the upper end of first connecting rod 23 is only capable of vertical direction
It is mobile, therefore the lower end of first connecting rod 23 is only capable of moving left and right in the horizontal direction.
Wherein, the lower end of the first connecting rod 23 is additionally provided with a crawl bar 24, and the middle part of the crawl bar 24 is articulated with
The front end of the lower end of first connecting rod 23, the crawl bar 24 is additionally provided with third retractable driving device 26, and the third is flexible
The driving of driving device 26 crawl bar 24 along with the hinge joint E of first connecting rod 23 rotation so that the front end of crawl bar 24 hook together or
Disengaging is crawled part.Specifically, the middle part of bar body 241, which is equipped with, to be turned referring to Fig. 6, the crawl bar 24 includes: bar body 241
Axis hole 242, the front end portion of shaft hole 242 are hook portion 244, and rear end is equipped with another shaft hole 243, and shaft hole 243 is cut with scissors
It is connected to third retractable driving device 26.Hook portion 244 is a pair of clamping jaw outstanding, when being driven to rotate, using lever principle,
So that clamping jaw is raised up, tangles and be crawled part.The manipulator 200 passes through first connecting rod 23 and second connecting rod 22 and other assemblies
Cooperation realizes the mechanical arm movement in tight space, quickly supporting plate 400 is pulled out or pushed back in the horizontal direction is dynamic
Make.
Referring to Fig. 9, it is equipped with a support arm 21 in the support casket 100, the upper end of the support arm 21 is fixed on
Casket 100 is supported, lower end is articulated with the positioning rotating shaft 27, second retractable driving device 25, third retractable driving device 26
It is rotationally connected in the support casket 100, the guide rail and positioning rotating shaft 27 are both secured on support casket.Due to manipulator
200 in movement, needs to guarantee that the second retractable driving device 25 and third retractable driving device 26 have certain freedom degree,
Therefore it is rotatablely connected with support casket 100.
More specifically, referring to Figure 10, the support casket 100 includes: top plate 11, opposite by the top plate 11
The bottom edge of the left plate 13 and right side plate 12 that side extends straight down, the left plate 13 and right side plate 12 is also respectively provided with one
Notch 131 and 121.It is that supporting plate 400 can be drawn into 300 lower section of plug-in strip component for convenience that the notch 131 and 121, which is arranged, into
Row blank.Specifically: to crawl bar 24 swing (crawl bar 24 grab supporting plate 400, by supporting plate 400 pull in support casket 100 after,
Plug-in strip lock break supporting plate 400 on face embryo 500) indwelling space, manipulator 200 grab supporting plate 400 after, can be centered on AC
Two sides borderline region in swing, without striking support casket 100, and realize move horizontally a necessary condition for E point
It is that C point is necessarily required in the underface of A point, and A point underface is right-angle notch, is not capable of fixing C point, devises support at this time
Arm 21,21 one end of support arm are the fixing end for being fixed on support casket 100, and the other end is the free end reached at right-angle notch, C
Point can be fixed on the free end of support arm 21, and first connecting rod 23 and second connecting rod 22 can be rotatably fixed on to C point,
It can guarantee that C point is located at the underface of A point again, i.e. the effect of support arm 21 is connection C point, guarantees that C point is placed in immediately below A point.
Referring to Fig. 9, the top of the crawl bar 24 is equipped with above-mentioned plug-in strip component 300, and when grabbing, bar 24 is controlled to be grabbed
It takes after being crawled part, the decline of plug-in strip component 300 cutting is crawled part.The plug-in strip component 300 includes: the first flexible drive
Dynamic device 31, is connected to the plug-in strip 32 of the telescopic end of first retractable driving device 31, first retractable driving device 31
It is fixed on the top plate 11 of support casket 100, further, is additionally provided on left plate 13 and right side plate 12 for 32 liters of plug-in strip
The guide groove of route limit drops.
In the present embodiment, the flexible driving of first retractable driving device 31, the second retractable driving device 25 and third
Device 26 is cylinder or electric putter.In other embodiments, other machines of expanding-contracting action power can also be provided using having
Structure.The V-shaped structure of the second connecting rod 22, preferably the right angle body of rod.
Specifically, 21 l-shaped of support arm, one end of which is fixed on support casket 100, the other end is hanging, and free end, which is located at, to be lacked
At mouth 131 and 141, for rotating the C point of fixed second connecting rod 22, C point is made to be located at the underface of A point.
Hereinafter, illustrating that the continuous bulk of the present embodiment is cleavable referring to Fig. 7 to Figure 12 and schematic diagram Figure 13
The operating principle and process of material access system:
In Figure 13 schematic diagram, AE is equivalent to first connecting rod 23, and bar BCD is equivalent to second connecting rod 22, and sliding block 20 is arranged in A point,
It is main wherein it should be understood that A, B, C, D, the E of A, B, C, D, E and Fig. 1 into Fig. 6 in Figure 13 are corresponding relationship
There is corresponding positional relationship for expressing the two.Sliding block 20 is slidably coupled to 13 top of left side wall of support casket 100, is
Realize moving horizontally for E point, above each section of the length requirement meets: AB=BE=BC, and A point is located at C point surface,
That is A, C are conllinear, in the present embodiment, illustrate by taking E point horizontal shifting as an example, and C point needs to be located at right above A point.In other implementations
In example, the length that the hinge joint position on first connecting rod 23 and second connecting rod 22 is divided need to only meet above-mentioned relation,
Still it is able to achieve the translation motion of any direction.
The telescopic rod of second retractable driving device 25 is connected to D point, and drive rod DC is rotated with bar BC around C point, bar BC
Being pivotally connected to the midpoint B of bar AE in B point, (BC bar and DC bar are integrated perpendicular type rod piece, and shaft is connected to support at C
Arm), while bar AE is swung, realize moving horizontally for E point.
The specific structure that specific principle is mapped to this continuous blocky cleavable material access system is as shown below:
The cylinder barrel of second retractable driving device 25 is articulated with support 100 left side wall 13 of casket, the second retractable driving device 25
Telescopic rod end connects second connecting rod 22, and based on the above principles, the telescopic rod of the second retractable driving device 25 drives second connecting rod
22 D point, second connecting rod 22 (for vertical structure) are rotated around C point, to drive the swing of first connecting rod, E point by B point
In the end of first connecting rod, as the swing of first connecting rod can move horizontally.
It is total in first connecting rod 23 and second connecting rod 22 and the second retractable driving device 25, third retractable driving device 26
Under same-action, the realization process for grabbing supporting plate is as follows:
The E point of first connecting rod 23 is rotationally connected in the middle part of the crawl bar 24,231 (E of slot is arranged in 23 end of first connecting rod
Point is located at the region that slot side is covered), the width of slot 231 and the equivalent width of crawl bar 24, crawl bar 24 are installed on slot,
The through-hole of crawl bar 24 is rotationally connected at E point, and the cylinder barrel end of third retractable driving device 26 is articulated with support 100 side of casket
Wall, the telescopic rod end of third retractable driving device 26 are articulated with the through-hole 243 of crawl bar 24, third retractable driving device 26
Telescopic rod elongation or shorten movement driving crawl bar 24 front end, make grab bar 24 rear end around E point rotate, make
Grasping movement when hook portion 244 effects up and release movement when moving downward specifically grab bar 24
Hook portion 244 completes grasping movement to the cross bar that upper gripper jaw is caught in supporting plate bottom when moving upwards, and crawl bar 24 moves downward
When the upward semicircular recess of hook portion 244 far from supporting plate bottom cross bar complete release movement.
To sum up, the translation and grasping movement mistake of the manipulator of the cleavable material access system of the continuous bulk of the present embodiment
Journey is as follows:
The telescopic rod of second retractable driving device 25 shortens, and drives the D point of second connecting rod 22, second connecting rod 22 is around C point
Rotation, the B point of second connecting rod 22 drive the swing of first connecting rod 23, thus, the E point of first connecting rod 23 is translate forward, and makes to install
Crawl bar 24 at E point is translate forward, and the hook portion 244 of crawl bar 24 is being moved to 400 cross bar of supporting plate of item to get product just
Lower section (movement that realization moves horizontally), the telescopic rod of the second retractable driving device 25 stop the movement shortening, and third is flexible to drive
The telescopic rod elongation of dynamic device 26, crawl 24 one end of bar are pushed, and other end is rotated around through-hole (E point) to be risen,
The clamping jaw is set to be caught in the cross bar of 400 bottom of supporting plate, then the elongation of third retractable driving device 26, which acts, stops；Then, second
The telescopic rod of retractable driving device 25 extends, and drives the D point of second connecting rod 22, and second connecting rod 22 is rotated backward around C point, from
And the B point of second connecting rod drives the E point translation (close to the direction of support casket) backward of first connecting rod 23, realizes dragging supporting plate bottom
The function that portion translates backward drives material (face embryo) to enter the inside of support casket from the support casket mouth 14 of support casket 100, most
Afterwards, the first retractable driving device 31 driving plug-in strip 32 sinks, and the material face embryo lock immediately below plug-in strip 32 is broken, and realizes that blank is dynamic
Make；Then plug-in strip 31 resets, and the telescopic rod of the second retractable driving device 25 shortens, and drives the D point of second connecting rod 22, and second connects
Bar 22 is rotated around C point, thus, the B point of second connecting rod 22 drives the E point of first connecting rod 23 to translate forward, and pushes away crawl bar 24
Dynamic supporting plate is translate forward, so that then, the clamping jaw sinking of crawl bar 24 is released by supporting plate with not sent back to by lock partial material of breaking
It puts, finally, E point resets, waits cutting action next time.
Referring to Figure 14 to Figure 19, the storage assembly of the cleavable material access system of the continuous bulk of the present embodiment
600 include: to specifically include that bracket 61, elevating mechanism 62, material stock frame 63.
Referring to Figure 14, which is included at least: bracket 61, the lifting being fixed on the bracket 61
Mechanism 62, the material stock frame 63 driven by the elevating mechanism 62, the material stock frame 63 are equipped with several for placing depositing for supporting plate
Material position 633, when needing to be stored in material, the elevating mechanism 62 drives material stock frame 63 to rise to setting height, with externally to
Material is sent into the material stock position 633 of respective layer.
Specifically, the material stock frame 63 includes: support frame 631 referring to Figure 16, it is connected to the support frame
Several layers storage bin 632 on body 631, the storage bin 632 include several material stock positions 633.It storage bin 632 and deposits
The quantity of material position 633 increases and decreases according to actual needs.Wherein, ditch made of material stock position 633 encloses for the limited wall and bottom wall of two sides
Slot, supporting plate 400 can push to rear end from the front end of groove.Open front, the setting of material stock frame rear end is arranged in 63 front end of material stock frame
After-opening, the support casket are located at material stock frame rear end；When needing to be stored in continuous blocky cleavable material, continuous blocks will be loaded with
The supporting plate 400 of the cleavable material of shape is pushed into material stock position 633 from open front；When needing to extract continuous blocky cleavable material, institute
The tail portion that support casket 100 drives manipulator 200 and plug-in strip component 300 to be moved to specific supporting plate 400 is stated, manipulator 200 is opened from afterwards
Mouth crawl supporting plate 400 and the cutting material of specific range back brake knife assembly 300 for pulling out 63 rear edge of material stock frame.It is this to deposit
The material stock frame that material and feeding divide two sides to carry out, makes full use of the solid space of material stock frame, separates material stock position and feeding position
Setting, material stock and feeding are non-interference, high-efficient.
Referring to Figure 15, the elevating mechanism 62 includes: driving motor 621, driven by the driving motor
One screw component 622, the pair of nut of first screw component 622 are connected to the material stock frame 63.
Wherein, the elevating mechanism 62 further includes one second screw component 626, second screw component 626 and first
It is driven between screw component 622 using synchronous belt 623, so that by the driving motor 621 the first screw component of synchronous driving
622 and second screw component 626 rotate, the first screw component 622 and the second screw component 626 are respectively fixedly connected in material stock
On the bracket 61 of 63 1 relative side of frame.Specifically, the first screw component 622 is identical with 626 structure of the second screw component,
Including: screw rod 6261, is connected to the pair of nut 6262 of the screw rod 6261, pair of nut 6262 is fixedly connected on material stock frame 63, if
Symmetrical the first screw component 622 and the second screw component 626 are set, is the lifting stability in order to improve material stock frame 63.
Driving wheel 624 and 625 is respectively equipped on the screw rod of first screw component 622 and the second screw component 626, transmission belt 623 is socketed
In driving wheel 624 and 625, to realize a driving motor 621 two screw components of synchronous driving.
Referring to Figure 14, guide rail 65 is additionally provided on the bracket 61, the material stock frame 63 is equipped with and the guide rail
65 corresponding sliding blocks 66, from the guide rail 65 and the longitudinal lifting action of guidance material stock frame 63 with sliding block 66.Design guide rail 65
It is the stability in order to improve 63 lifting action of material stock frame with sliding block 66.
More than, in reclaiming process, can be the lifting of material stock frame 63, the supporting plate 400 and manipulator 200 for making certain layer are aligned,
It is also possible to the lifting of manipulator 200 or they while lifting is aligned supporting plate 400 and manipulator 200.Present embodiment is adopted
With the elevating movement of crane 63, the convenience of storage and feeding has been combined, that is, on the one hand can depositing in order to supporting plate
It puts, is stored in specific position height；On the other hand, taking convenient for standard material is elevated to certain layer of supporting plate and flushes with manipulator
Position；The elevating movement of the same material stock frame 63 has taken into account the mobile needs of storage and feeding position, simplifies mechanism.
Figure 19 is please referred to, 400 position precision of supporting plate has critically important influence, position ginseng for automated job
Difference is uneven, and the probability that manipulator 200 uses leisure moments is very high, is unfavorable for the stability of system feeding, therefore technology of the invention has also been devised
Positioning function, i.e., the bottom of the described supporting plate 400 are equipped with limiting slot 411, and the specific limiting slot 411 is located on supporting plate side wall 41,
The material stock position 633 is equipped with limit assembly 6331 corresponding with the limiting slot 411, when supporting plate 400 pushes to setting position
When, limit assembly 6331 protrudes into the limiting slot 411 to carry out positioning limit.
Referring to Figure 18, the limit assembly 6331 includes: the elastic component 6333 for being embedded in material stock position 633, connection
Sphere 6332 in 6333 top of elastic component.Material stock position 633 is equipped with mounting hole 63311, specifically, elastic component 6333
For spring, the bottom of mounting hole 63311 is fixed in one end of spring, and the other end is connected to sphere 6332, the upper half of sphere 6332
Part protrudes from the upper top surface of material stock position 633, and after charging tray 400 is pushed into, extruding elastic component 6333, sphere 6332 decline first,
Then, sphere 6332 rises under the elastic reaction of elastic component 6333, is inserted into limiting slot 411.
Preferably, the limiting slot 411 is the wider dovetail groove that is open.Namely the section of limiting slot 411 is inverted trapezoidal
Shape, its purpose is to the more smooth entrance of the sphere 6332 of limit assembly 6331, and discharge and adapt to subsequent supporting plate 400,
Convenient more labour-saving is hauled out by supporting plate from limit assembly.In other embodiments, limiting slot 411 can be arbitrary surface
Groove, in order to which sphere 6332 enters and exits.Specifically, the front side wall and rear wall of the limiting slot 411 be from upper and
Under inclined surface, the inclined direction of front side wall is the direction that supporting plate 400 slides into material stock position 633, the inclined direction of the rear wall
The direction of material stock position 633 is skidded off for supporting plate 400.
Using the limiting slot 411 of this structure, it is trapezoidal for having the effect that each 400 bottom of supporting plate also sets up section
The limiting slot 411 of the opening of shape, "eight" shape limiting slot 411 can gradually pressure ball body enter when supporting plate 400 slides into
Limiting slot 411 can gradually pressure ball body 6332 skid off when skidding off；When use, supporting plate 400 rides over from open front
It is pushed away behind the upper surface of material stock position into material stock frame, sphere 6332 is being pressed against by 400 bottom of supporting plate, when supporting plate 400 has arrived scheduled position
It postpones, 6332 face of limiting slot 411 and sphere of 400 bottom of supporting plate, after sphere falls into limiting slot 411, the sphere that is being pressed against
6332 emit and portal, and offset with the side wall of limiting slot 411, to play the role of positioning.In this way, operator just knows supporting plate
400 have shifted set position onto, when needing to haul out supporting plate 400, due to the section of limiting slot 411 be it is trapezoidal, side wall is oblique
Face, inclined-plane are easy for sphere being pressed into mounting hole gradually, prevent sphere from hindering the movement of supporting plate, limiting slot 411 is
Through the entire side wall of supporting plate 400, when supporting plate 400 is pushed toward material stock frame, as long as the line where limiting slot 411 encounters
Sphere 6332, the 6332 auto-extending mounting hole of sphere pressed against enter in slot, reliable operation.Obviously, the limit of this kind of structure
On the one hand position slot is convenient for the automatic positioning in the push-on process of supporting plate 400, being on the other hand conducive to manipulator 200 again automatically will support
Plate 400 dragging come out, it can the positioning to supporting plate 400, but can level pull out, carry convenient for automatic positioning support
Plate 400 and the automatic double technique effect for pulling 400 feeding of supporting plate.
Referring to Figure 15, sensor 67 is additionally provided on the bracket 61, the sensor 67 is for detecting supporting plate
Whether 400 front end exceeds setting position when pushing to material stock position 633.One, which is additionally provided with, on bracket 61 meets ergonomics
The switching door 611 of height, the bottom of switching door 611 is connected to by an articulation piece 613 deposits bracket 61, and top is equipped with a driving
Device 612 opens the door and closes door to realize automatically.Material is sent into material stock frame 63 by supporting plate 400 or supporting plate 400 is drawn out and deposits
When expecting frame, idle material stock position 633, which is required to first adjust to switching door 611, highly to be located, unified to be deposited from switching door 611
Material and taking-up supporting plate.
Supporting plate 400 is sent into from switching door 611 due to unified, therefore it may only be necessary to the branch at 611 sustained height of switching door
Sensor 67 is arranged on frame 61 can be detected whether the feeding position of all supporting plates 400 is more than limited depth.
More than, the positioning system mechanically and electrically formed, dual guarantee supporting plate is accurately placed in material stock with standard material
Position 633 reduces manipulator and " uses leisure moments " probability of supporting plate, improves the operation stability of access system.
Referring to Fig. 5, the supporting plate 400 includes: two shaft (not shown)s of parallelly distribute on, is set in institute
The conveyer belt 42 in shaft is stated, wherein being additionally provided with a driven gear 43 in a shaft, and the support plate of the support shaft
(namely side wall 41) drives the driven gear 43 so that conveyer belt 42 rotates feeding.Below shaft at driven gear 43 also
It is connected to hanging rod 44 on side wall 41 equipped with one, as shown in figure 3, hanging rod 44 and crawl bar 24 cooperate, so that robot drives are grabbed
Hanging rod 44 is tangled from bottom to top after taking bar 24, and supporting plate 400 is pulled with level.
After standard material is cut, the standard bill of material body after being cut can be sent forward by conveyer belt 42, so as to
Next process is fallen, meanwhile, the material not cut is sent forward, in order to fill the gap after being cut, in order to next
Secondary cutting.
When driving gear 76 is engaged with driven gear 43, both in order to prevent tooth top and tooth top offset mutually answer back to and
It can not engage, the tooth top of driven gear 43 and/or driving gear 76 is round and smooth pinnacle, while the engagement of the two is also more suitable
It is sliding.
The tooth top structure on above-mentioned round and smooth pinnacle are as follows: in terms of the section of the tooth of single gear, edge profile from tooth root to
Tooth top direction is gradually reduced, and tooth top can dwindle into a point or by one of small arc-shaped transition, between tooth root and tooth top
It can be straight line and be also possible to curve transition.
The above-mentioned design effect about driving gear 76 and driven gear 43 be it will be apparent that driving gear 76 and from
The tooth top of moving gear 43 towards be it is random, when driven gear 43, which needs to bang into driving gear 76, to be engaged, if
Using gear structure in the prior art, tooth top is plane or cambered surface, the tooth top of driving gear 76 and driven gear 43
Perhaps cambered surface may directly bump against and be difficult to engage or impact force is bigger or jerk is bigger plane.
The gear of the present embodiment design, when the driving gear 76 and driven gear 43 of the random direction of tooth top bump against, such as
Fruit tooth top and tooth top front are bumped against, and the contact surface of 43 tooth top of driving gear 76 and driven gear is smaller, driven gear 43 and master
The tooth top of moving gear 76 is easier offset of mutually skidding, as driven gear 43 continues close to driving gear 76, driven gear
43, which can smoothly be inserted into driving gear 76, completes engagement；If the tooth top of driving gear 76 and driven gear 43 is without positive phase
It hits, then can be directly embedded into engagement；Using the scheme of this technology, the transmission speed of conveyer belt on the one hand can be according to driven
The power device revolving speed adjustment that gear 43 connects, can also be so designed that, the engagement of driving gear 76 and driven gear 43
Than that can be 1, can also according to the speed of conveyer belt it needs to be determined that.
Referring to Fig. 2 and Fig. 6, engagement driving mechanism 700, institute are additionally provided on the right side plate 12 of the support casket 100
Stating engagement driving mechanism 700 includes: motor 71, and motor 71 is fixed on right side plate 12, and the output shaft of the motor 71 is equipped with
One driving pulley 74, the driving pulley 74 is sequentially connected by a belt 73 is fixed on the passive belt on support casket 100 in one
76 are taken turns, is further fixed on a driving gear 75 in the shaft of the passive belt wheel 76；When supporting plate 400 pulls support by manipulator 200
After casket 100, the driven gear on supporting plate 400 is engaged in driving gear 43, drives driven gear 43 to rotate by the motor 71,
To drive the material 500 being located on conveyer belt 42 to move forward.Meanwhile single driving gear 74 can on supporting plate 400 each from
Moving gear 43 engages, i.e., each 43 time-sharing multiplex driving gear 76 of driven gear can save power.
Specifically in order to realize that the accurate quality of material 500 is cut, one is additionally provided on the output shaft of the motor 71 and is used for
The encoder 72 of counting, it is appreciated that encoder is the revolving speed in order to measure motor, having arrived preset revolving speed can be anti-
Feedback signal is to control system, and so as to the start and stop of control system control motor, other have embodiment (other of said function
Have the sensor of measurement circle number, control system automatically according to needing preset signals control motor turnning circle etc.) all should be
Same replacement.
72 count measurement material of encoder, 500 transmitting range, and then determine the quality of material, principle are as follows:
Encoder 72 is connected to the shaft of motor 71, and for measuring the circle number of the rotation of motor 71, encoder 72 in real time will be electric
The circle number of machine rotation feeds back to PLC (control system), so that whether the PLC rotation for calculating motor 71 reaches scheduled circle number,
The circle number that motor 71 rotates passes through transmission parts, can characterize the dynamic circle number of driven tooth rotation 43, then can convert and be in line
Mobile distance, when the turnning circle of motor 71, which can achieve, to be required, PLC controls motor stalls；
Specific algorithm: the specification of selected encoder 72 is set as 2000 pulses/circle；
Drive pulley 74 (outer diameter is the same) as the specification of driven pulley 75；Driving gear 76 and driven gear
43 specification is the same (reference circle outer diameter is the same, is set as D), i.e., their speed ratio is 1:1；
Driven gear 43 rotates one week, and indexing circumference is that the conveyer belt on supporting plate drives embryo monomer in face mobile
Distance；
Then: calculating the distance that encoder 72 can drive face embryo monomer mobile to each pulse of motor are as follows:
S=π D/2000 (mm)；
If embryo element length in face to be cut is L；
Then calculate the umber of pulse of needs are as follows: n=L/s=(2000L)/(π D)；
In specific implementation, the value of n is calculated previously according to 500 length gauge of materials such as face embryo to be cut, then deposits n
Enter the memory of PLC；When the end for the face embryo monomer that conveyer belt carries and sensor flush, sensor sends a signal to PLC, PLC
According to the numerical value driving motor of n, since encoder 72 is connected with the shaft of motor 71, encoder 72 can motor in real time
Turnning circle, and turnning circle is fed back into PLC accumulation calculating in real time, after motor has rotated the circle number that n value is characterized, PLC
Motor stopping is controlled, plug-in strip cutting is then driven, in this way, the face embryo unit of available specific length.
Referring to Figure 20 and Figure 21, the present embodiment also discloses a kind of cleavable material access system of continuous bulk
Access method, including storage assembly, the supporting plate for being slidably mounted on the storage assembly, manipulator and plug-in strip component；Method
The following steps are included:
The continuous cleavable material of bulk is shaped to the standard material for the elongate in shape for having particular cross section by step S10；
Step S20 deposits in the standard material of monolithic on single supporting plate, the length direction and support of the standard material
Plate glide direction is consistent, and the supporting plate is pushed into the storage assembly storage；
Step S30, when needing to take continuous blocky cleavable material, the manipulator, which is moved to, is loaded with the reference substance
(corresponding position refers to the position where suitable manipulator, and the purpose is to grab manipulator for the supporting plate corresponding position of material
Supporting plate, optimal, manipulator is located at the tail end of supporting plate), and the supporting plate is hauled out into storage assembly edge；
Step S40, the plug-in strip component lock break the standard material, obtain the standard material block (reference substance of specific length
Expect the specific length sets itself as needed of block)；
Supporting plate original road is pushed back storage assembly to extract material next time by step S50, manipulator.
" corresponding position " is interpreted as in above-mentioned steps: manipulator be moved to supporting plate grade height direction, finally in order to machine
Tool hand catches supporting plate will be subject to supporting plate hauling-out.
Wherein, the continuous cleavable material of bulk is face embryo；The supporting plate face of the supporting plate is for holding the defeated of face embryo
Band is sent, the shaft of the conveyer belt installs driven gear；Driving gear that manipulator setting is engaged with driven gear and
Drive the motor of the driving gear rotation；In step s 30, when needing to take face embryo, the manipulator, which is moved to, is loaded with institute
The supporting plate corresponding position (can be supporting plate tail portion) for stating face embryo, by the supporting plate haul out specific range after the driven gear with
It engages with supporting plate movement and with driving gear.
The tail portion side wall of each supporting plate on material stock position installs driven gear, after supporting plate is placed in storage rack, each
Supporting plate has all arrived predetermined position, and limit assembly can be set, and the specific embodiment of one such limit assembly can be,
Magnet is placed in supporting plate bottom, the second magnet being attracted with magnet is placed on the bottom surface of supporting plate position, when supporting plate is pushed into certain bits
It postpones, magnet and the second magnet are attracted, and when needing to haul out supporting plate, manipulator overcomes the suction-combining force of magnet, each support
Plate has specific position, it is ensured that manipulator precisely grabs the cross bar of supporting plate bottom；When supporting plate is placed in specific position
Afterwards, driven gear is hanging, i.e. the edge of supporting plate tail portion stretching plate supporting frame, when manipulator crawl supporting plate is hauled out from storage rack
Come, supporting plate is after plug-in strip bottom plate moves out the distance at material stock frame edge, and driven gear bangs into driving gear engagement, then, such as
The rotation of fruit motor, then can drive driving gear to rotate, and driven gear rotates driving conveying belt movement, so that face embryo follows shifting
It is dynamic, it will be understood that, this conveyer belt may be considered allocation mechanism, and face embryo monomer is dialled and falls on face embryo apparatus for shaping, separately
Outside, conveyer belt can also have the effect of forward conveying non-quilt cover embryo, to fill up the sky of the face embryo monomer after being cut
Between, to cut next time.The above design, is engaged and is divided by the driven gear on single-power driving gear and each supporting plate
It opens, the conveyer belt avoided on each supporting plate individually matches power, to simplify design, save the cost.
Wherein, the shaft of the motor installs the encoder for detecting motor turnning circle, and manipulator is arranged for feeling
The sensor of face embryo is answered, the position of sensor is not limited to setting on a robotic arm；
In step s 30, the manipulator hauls out supporting plate, and the driven gear follow supporting plate mobile and with actively
After gear engagement, motor is rotated backward, and makes conveyer belt conveyor surface embryo backward, and embryo end face and the sensor sensing portion are neat face to face
Flat, motor rotates forward, and conveyer belt is made to be fed forward face embryo by plug-in strip mouth, and encoder calculates the circle number that motor is rotated in real time, and
The set circle number back switch blade of motor rotation, which breaks face embryo lock, obtains the face embryo monomer of specific length.It is described " to make conveyer belt backward
Conveyor surface embryo " the face embryo of referring to moves on the conveyor belt, and is directed away from the movement in plug-in strip component direction.
Supporting plate is dragged out storage assembly, and face embryo, which follows, to be moved, and embryo is mobile face to face, before plug-in strip mouth, the biography
The induction part of sensor starts to sense the presence of face embryo.Supporting plate is dragged out, after driven gear and driving gear engagement, with support
Plate is blocked the induction part of the sensor of face embryo grabbing device by the face embryo of supporting plate, at this point, the induction part of sensor starts to sense
The presence of face embryo.Driving motor rotation (reversion) at this time, rotates gear, and conveyer belt drives face embryo to retract, face to face the end of embryo
It backs to when just flushed with the induction part of inductor, inductor can not sense face embryo just, at this point, inductor is given
Signal control motor stops, and face embryo at this time is initial length calculating position, this process is looking for for face embryo length computation
Quasi- process, then motor positive drive, conveyer belt drive face embryo to move forward from new, while encoder calculates motor rotation in real time
Number is enclosed, after the turnning circle of motor reaches scheduled circle number, control system stops operating to signal electric machine, while controlling lock
Knife movement, section embryo is to obtain face embryo monomer；The circle number of motor rotation can be converted to the length of face embryo forward movement,
In this way, the face embryo monomer of available specific length, face embryo monomer sectional area can centainly be converted to the face embryo of extra fine quality
The noodles of monomer namely specified weight.
Wherein: in step S10, face embryo being shaped to the index plane embryo for the elongate in shape for having particular cross section；
In step S20, monolithic index plane embryo is deposited on single supporting plate, the length direction and supporting plate of the index plane embryo
Glide direction is consistent, and the supporting plate is pushed into the storage assembly storage；Wherein,
The index plane embryo includes at least two kinds according to length difference, and every kind of index plane embryo is to the face for specific deal
Item, every kind of index plane embryo are deposited in the form of monolith surface embryo on single supporting plate.
In view of the cutting of index plane embryo may leave tailing to the end, it is left the tail of one section of not a enough noodles deal
Material, such case will collect cleaning tailing, and more troublesome, the degree of automation is not high；In actual use, required noodles component
Depending on being ordered according to customer demand, it can be 200 grams and be also possible to 300 grams etc., if all index plane embryos are long on material stock frame
Degree is all identical, extracts 200 grams and 300 grams of face embryo monomers at random on the same supporting plate, may finally be left on supporting plate not enough
The tailing of a noodles；Such as: the corresponding index plane embryo of 200 grams of noodles components will be needed and need 300 grams of noodles components pair
The index plane embryo answered is separated, i.e. the case where institute's 200 grams of noodles components in need needs to extract on a supporting plate, the support
The index plane embryo that plate is placed all supplies the situation for being used to extract 200 grams of noodles, in this way can be with the mark on the custom preset supporting plate
Quasi- face embryo length makes total length just and is the integral multiple that single portion of 200 grams of noodles correspond to length, in this way, there will be no tailings to go out
It is existing；Similarly, same for the situation of 300 grams of faces, 400 grams of noodles etc..
One piece of face embryo is individually placed on single supporting plate, is guaranteed when in order to extract face embryo every time from face embryo width side
To whole cross section on cut off, wherein cut off the amount that obtained face embryo block corresponds to single portion of noodles；Monolith surface embryo is placed in
On supporting plate, the direction for sliding the length of face embryo with supporting plate is parallel, and plug-in strip can be designed to that width is more than or equal to the width of supporting plate
Degree, plug-in strip are parallel to face embryo cross-wise direction and extract face embryo, once can be disconnected in the section brake application of face embryo, such design lock
Knife, which only needs to cut, can once realize the purpose for taking face, agile easy, be convenient for automated job, and do not influence again next time
Take face.
By taking the access of dough as an example, the technical process of entire automation access material method is discussed in detail:
When taking face, when the supporting plate 400 with face embryo is caught by manipulator 200 and by 100 mouthfuls of casket draggings of support
Into inside support casket 100, the driven gear 43 of 400 side wall of supporting plate is leaned on towards the driving gear 76 being installed on support casket 100
Closely, supporting plate 400 moves into support casket 100 behind the preset position of arrival, and the driven gear 43 of 400 side wall of supporting plate is engaged in
Driving gear 76 can drive the driven gear 43 of supporting plate 400 to rotate, to drive conveyer belt at this time if motor rotates
42 movements can drive the movement for the face embryo 500 being placed on conveyer belt 42, the decline cutting dough of plug-in strip component 300, face embryo
It is had no progeny by lock, conveyer belt can be driven to continue to move along, conveyer belt is moved along, and continues the face embryo to be broken by lock to Forward
It is dynamic to reach 400 edge of supporting plate, consequently facilitating fallen by the face embryo that lock breaks into subsequent processing, at the same time, the position broken by lock
Face embryo can also be replenished in time to take work to lock next time.
When carrying out above-mentioned technical process, the rotation of motor 71 drives the rotation of encoder 72, so that encoder 72 can be with
The circle number for detecting rotation, the circle number that can be rotated by driven gear 43 convert the moving displacement for embryo conveyer belt of appearing, also
It is the moving displacement of face embryo；With the supporting plate 400 of face embryo after manipulator 200 is sent into support 100 predetermined interior position of casket, support
Plate suspends on this position, and motor 71 rotates backward (motor reduction rotates backward), drives the driven gear on supporting plate 400
43 move backward, and the face indusium on conveyer belt 42 is sent out, and originally face embryo is to be held in the palm, and 400 bring support casket 100 into, hold in the palm at this time
Plate 400 is temporarily motionless, and face embryo backed off after random is supported casket mouth by the reverse movement of 400 upper conveyor belt of supporting plate, supporting plate 400 with
Face embryo enters support casket 100, and in face, embryo enters the detecting means that support 100 mouthfuls of back embryos of casket have just blocked always sensor, with
Face embryo end is transmitted band and sends out, and in the moment that the boundary on face embryo head is sent, the induction part of sensor is without face embryo
Stop, sensor generates a signal, and the control stopping of motor 71 rotates backward, and current location is sensor sensing portion and face
Embryo head alignment boundary namely initial alignment, that is, require calculate cut surface embryo length starting point should since at this,
Then decelerating through motor rotates forward, and support casket is sent into feeding to face embryo again driven by the conveyor belt, and motor turns to specific circle
After number, motor stops, at this point, PLC gives the first air cylinder signal, driving plug-in strip cuts dough, and the face embryo length cut is required
The face embryo for the specific length wanted；Conveyer belt continues to give, and the face embryo cut is fallen into next station；Cut
The face embryo space at position is padded to recycle to next cutting.
Above content, only presently preferred embodiments of the present invention are not intended to limit embodiment of the present invention, this field
Those of ordinary skill's central scope according to the present invention and spirit can very easily carry out corresponding flexible or modification, therefore
Protection scope of the present invention should be subject to protection scope required by claims.
Claims (13)
1. a kind of cleavable material of continuous bulk accesses system characterized by comprising support casket is connected to the support casket
On manipulator and plug-in strip component, storage assembly and at least one supporting plate；The continuous cleavable material of bulk is fabricated to list
Supporting plate is deposited in after the standard section strip of block, the supporting plate is slidably placed in storage assembly；
When needing to take out the continuous blocky cleavable material on corresponding supporting plate, supporting plate is pulled out storage group by the manipulator behavior
Part cuts continuous blocky cleavable material by the plug-in strip component on demand.
2. continuous blocky cleavable material as described in claim 1 accesses system, which is characterized in that the continuous bulk can be cut
Cutting material is face embryo, and the face embryo deposits in supporting plate, the lock after being fabricated to the index plane embryo of the particular cross section strip of monolithic
The width of plug-in strip is more than or equal to the width of index plane embryo in knife assembly, so that plug-in strip is every time by index plane embryo in whole cross section
Upper cutting.
3. cleavable material as described in claim 1 continuous blocky accesses system, which is characterized in that the manipulator includes:
First connecting rod is articulated with the second connecting rod of the first connecting rod；The upper end of the first connecting rod is hinged with a sliding block, the cunning
Block is slidably connected to a guide rail, and the guide rail is fixedly connected on support casket, and the middle part of the second connecting rod is equipped with a positioning rotating shaft,
Second connecting rod can be swung around the positioning rotating shaft, and the rear end of second connecting rod is articulated with the middle part of first connecting rod；Wherein, described
The hinge joint of sliding block to first connecting rod, the distance of second connecting rod hinge joint and first connecting rod, second connecting rod hinge joint to first
The distance and first connecting rod of the lower end of connecting rod, the distance of second connecting rod hinge joint to positioning rotating shaft are equal, the positioning
Shaft point coincides with the straight line where the guiding of guide rail, swings when the front end of second connecting rod is controlled along positioning rotating shaft
When, synchronous driving sliding block is moved along guide rail, so that the lower end transverse translation of first connecting rod；The front end of the second connecting rod
It is additionally provided with the second retractable driving device, the telescopic end of second retractable driving device is articulated with the second connecting rod, and described
The lower end of one connecting rod is additionally provided with a crawl bar, and the lower end of first connecting rod, the crawl are articulated in the middle part of the crawl bar
The front end of bar is additionally provided with third retractable driving device, the third retractable driving device driving crawl bar along with first connecting rod
Hinge joint rotation so that crawl bar front end hook together or be detached from supporting plate.
4. continuous blocky cleavable material as described in claim 1 accesses system, which is characterized in that the storage assembly packet
Include: open front is arranged in material stock frame, material stock frame front end, and after-opening is arranged in material stock frame rear end, and the support casket is located at material stock frame
Rear end；
When needing to be stored in continuous blocky cleavable material, the supporting plate for being loaded with continuous blocky cleavable material is pushed into from open front
Material stock position；When needing to extract continuous blocky cleavable material, the support casket drives manipulator and plug-in strip component to be moved to spy
Determine the tail portion of supporting plate, manipulator grabs supporting plate from after-opening and pulls out outside material stock frame rear edge after specific range, plug-in strip group
Part cuts material.
5. continuous blocky cleavable material as claimed in claim 4 accesses system, which is characterized in that the bottom of the supporting plate is set
There is limiting slot, the material stock position is equipped with limit assembly corresponding with the limiting slot, and the limit assembly includes: to be embedded in
Store the elastic component of position, the sphere being connected at the top of the elastic component.
6. the cleavable material of continuous bulk as described in claim 1 to 5 any one accesses system, which is characterized in that described
Supporting plate includes: two shafts of parallelly distribute on, the conveyer belt being suited on the shaft, wherein being additionally provided with a driven tooth in a shaft
Wheel, and the support plate of the support shaft drive the driven gear so that conveyer belt rotates feeding.
7. cleavable material as claimed in claim 6 continuous blocky accesses system, which is characterized in that further include driving gear with
And the motor for driving the driving gear rotation, the driving gear and motor are installed on the support casket；When supporting plate quilt
After manipulator pulls in support casket, the driven gear on supporting plate is engaged in driving gear, drives driven gear rotation by the motor,
To drive the cleavable material Forward of continuous bulk being located on conveyer belt.
8. cleavable material as claimed in claim 7 continuous blocky accesses system, which is characterized in that the driving gear and from
The tooth form tooth top of moving gear is pointed shape, when guaranteeing the driven gear random contact on driving gear and any one supporting plate,
Automatic phase mutual designation is slid into each other gear clearance engagement.
9. continuous blocky cleavable material accesses system as claimed in claim 8, which is characterized in that further include continuous for incuding
The induction part of the sensor of cleavable material and the turnning circle for measuring motor or driving gear or driven gear
Part；The sensor is used to carry out initial cut positioning, the induction to the end of the continuous cleavable material of bulk on supporting plate
Component is used to count the shaft turnning circle of motor/or driving gear/or driven gear, realizes face embryo point by turnning circle
The accurate quantitative analysis of amount is cut.
10. a kind of cleavable material access method of continuous bulk, which is characterized in that including storage assembly, be slidably mounted on it is described
Supporting plate, manipulator and the plug-in strip component of storage assembly；Method the following steps are included:
The continuous cleavable material of bulk is shaped to the standard material for the elongate in shape for having particular cross section by step S10；
Step S20 deposits in the standard material of monolithic on single supporting plate, and the length direction and supporting plate of the standard material slide
Direction is consistent, and the supporting plate is pushed into the storage assembly storage；
Step S30, when needing to take continuous blocky cleavable material, the manipulator is moved to the support for being loaded with the standard material
Plate corresponding position, and the supporting plate is hauled out into storage assembly edge；
Step S40, the plug-in strip component lock break the standard material, obtain the standard material block of specific length；
Supporting plate original road is pushed back storage assembly to extract material next time by step S50, manipulator.
11. continuous blocky cleavable material access method as claimed in claim 10, which is characterized in that the continuous bulk can
Cutting material is face embryo；The supporting plate face of the supporting plate is conveyer belt for holding face embryo, the shaft installation of the conveyer belt from
Moving gear；The motor for driving gear and driving the driving gear rotation that the manipulator setting is engaged with driven gear；
In step s 30, when needing to take face embryo, the manipulator is moved to the supporting plate corresponding position for being loaded with the face embryo, will
The driven gear follows supporting plate mobile and engages with driving gear after the supporting plate hauls out specific range；
In step s 40, the plug-in strip component lock breaks the standard material, described after obtaining the standard material block of specific length
Motor rotation, driving conveying belt are fallen after standard material block is transported to edge.
12. continuous blocky cleavable material access method as claimed in claim 11, which is characterized in that
The shaft installation of the motor for detecting motor/either driving gear/or the encoder of driven gear turnning circle,
Manipulator setting is used for the sensor of sensitive surface embryo；
In step s 30, the manipulator hauls out supporting plate, sensor sensing to face embryo, and the driven gear follows supporting plate
After moving and engaging with driving gear, motor is rotated backward, and makes conveyer belt conveyor surface embryo backward, face to face embryo end face and the sensing
Device induction part flushes, and motor rotates forward, and so that conveyer belt is fed forward face embryo by plug-in strip mouth, encoder calculates motor in real time and rotated
Circle number, and face embryo lock is broken and obtains the face embryo monomer of specific length by the set circle number back switch blade of motor rotation.
13. the cleavable material access method of continuous bulk as described in claim 11 or claim 12, it is characterised in that:
In step S10, face embryo is shaped to the index plane embryo for the elongate in shape for having particular cross section；
In step S20, monolithic index plane embryo is deposited on single supporting plate, the length direction of the index plane embryo and supporting plate sliding side
To consistent, the supporting plate push-in storage assembly storage；Wherein,
The index plane embryo includes at least two kinds according to length difference, and every kind of index plane embryo is to the noodles for specific deal, often
Kind index plane embryo is deposited in the form of monolith surface embryo on single supporting plate.
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| CN201910435751.9A CN110092126B (en) | 2019-05-23 | 2019-05-23 | Continuous block-shaped cuttable material storing and taking system and storing and taking method thereof |
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| CN201910435751.9A CN110092126B (en) | 2019-05-23 | 2019-05-23 | Continuous block-shaped cuttable material storing and taking system and storing and taking method thereof |
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| CN110092126B CN110092126B (en) | 2023-11-24 |
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| CN114789871A (en) * | 2022-06-07 | 2022-07-26 | 北京博远汇金科技有限公司 | Intelligent rural electricity merchant agricultural product cold-stored storage device |
| CN116639478A (en) * | 2023-04-06 | 2023-08-25 | 深圳市镭沃自动化科技有限公司 | Hook material device and automatic feeding equipment with same |
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| CN110092126B (en) | 2023-11-24 |
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