CN110104445B - Bagged material distributing and stacking system - Google Patents
Bagged material distributing and stacking system Download PDFInfo
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- CN110104445B CN110104445B CN201910459027.XA CN201910459027A CN110104445B CN 110104445 B CN110104445 B CN 110104445B CN 201910459027 A CN201910459027 A CN 201910459027A CN 110104445 B CN110104445 B CN 110104445B
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- 239000000463 material Substances 0.000 title claims abstract description 156
- 238000003756 stirring Methods 0.000 claims description 79
- 230000002457 bidirectional effect Effects 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 11
- 239000004568 cement Substances 0.000 abstract description 2
- 239000000428 dust Substances 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000000126 substance Substances 0.000 abstract description 2
- 238000012795 verification Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction 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
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
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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
- B65G57/32—Stacking of articles characterised by stacking during transit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a bagged material distributing and stacking system, and aims to solve the problem that the existing automatic stacking and loading equipment can only realize transverse stacking or longitudinal stacking. This application can effectively replace artifical pile up neatly loading of traditional bagging-off, solves the high in production cost of enterprise, operational environment abominable scheduling problem. Aiming at different vehicles, the method can adopt an optimal stacking mode, so that various vehicles can be scientifically loaded and stably transported. The stacking device is ingenious in conception, reasonable in design, high in stacking efficiency and high in application value. Through verification, the stacking equipment of the application can meet the automatic stacking and loading requirements in the fields of cement, chemical industry, feed and the like. Further, the driving equipment in the application can completely adopt a servo system, a pneumatic actuating mechanism is not used, the equipment operation impact is small, the flexibility is good, and the equipment can adapt to a lower temperature environment and a harsher dust environment. The stacking device is ingenious in conception, reasonable in design, high in stacking efficiency and high in application value.
Description
Technical Field
The invention relates to the field of automatic loading, in particular to a bagged material distributing and stacking system.
Background
In most cases, the bagged materials are usually stacked and loaded manually, namely: the bagging material bags are conveyed to the position above the carriage with the open structure through a conveying system, and then are manually conveyed to carry out stacking and loading. By adopting the mode, the labor intensity of workers is high, the efficiency is low, and the loading cost is high. For this purpose, corresponding automatic loading palletizing devices have been studied.
The prior application CN108557513A of Sichuan Fund robot Co., ltd.s.A flexible material-distributing and stacking execution system (application number: CN201810650144, publication date: 2018.09.21) can adapt to the width change of different kinds of material-transporting vehicles, effectively expands the application range of equipment, has better adaptability, and can also meet the requirements of factory material-distributing and stacking.
In the palletizing of the bagged materials, the bagged materials may have different specifications, and the palletizing carriages may have different specifications, and the current equipment can only transversely palletize or longitudinally palletize in the process of realizing automatic palletizing and loading, so that the palletizing and loading in an optimal mode cannot be realized for part of the bagged materials and carriages, the space utilization rate of the carriages is insufficient, and the transportation stability is poor.
For this reason, a new apparatus is urgently needed to solve the above-mentioned problems.
Disclosure of Invention
The invention aims at: aiming at the problems that the existing automatic stacking and loading equipment can only realize transverse stacking or longitudinal stacking, the bagged material distributing and stacking system is provided. Meanwhile, based on the foregoing problems, the applicant proposes several different technical solutions, and the present application is one of the upper and lower material separating mechanisms. The automatic loading device can effectively solve the problem that the existing automatic loading device cannot be compatible with transverse and longitudinal combined stacking, meets the loading requirements of different-specification bagging materials and different-specification loading carriages, and improves the space utilization rate of the carriages. Meanwhile, based on improvement of a carriage stacking mode, the stability of transportation is increased, and safe operation of transportation is guaranteed.
This application can effectively replace artifical pile up neatly loading of traditional bagging-off, solves the high in production cost of enterprise, operational environment abominable scheduling problem. Aiming at different vehicles, the method can adopt an optimal stacking mode, so that various vehicles can be scientifically loaded and stably transported. The stacking device is ingenious in conception, reasonable in design, high in stacking efficiency and high in application value. Through verification, the stacking equipment of the application can meet the automatic stacking and loading requirements in the fields of cement, chemical industry, feed and the like. Further, the driving equipment in the application can completely adopt a servo system, a pneumatic actuating mechanism is not used, the equipment operation impact is small, the flexibility is good, and the equipment can adapt to a lower temperature environment and a harsher dust environment.
The technical scheme adopted by the invention is as follows:
a bagged material distributing and stacking system comprises a supporting unit, a conveying unit, an R-axis rotating stirring unit, an upper layer door opening and closing unit, a limit baffle, a position detecting assembly, an upper layer rotating unit, a lower layer Y-axis horizontal stirring unit, a lower layer door opening and closing unit and a control system;
the supporting unit comprises an upper supporting frame and a lower supporting frame, wherein the upper supporting frame is connected with the lower supporting frame and is positioned above the lower supporting frame;
the conveying unit, the R-axis rotary stirring unit, the upper-layer door opening and closing unit and the upper-layer rotating unit are respectively arranged on the upper-layer supporting frame, and the upper-layer supporting frame can provide support for the conveying unit, the R-axis rotary stirring unit, the upper-layer door opening and closing unit and the upper-layer rotating unit;
the conveying unit comprises a conveying belt and a conveying driving device connected with the conveying belt, wherein the conveying driving device is connected with the conveying belt and can drive the conveying belt to move so as to realize conveying of materials;
the position detection assembly is positioned above the conveying belt and can detect whether the bagging materials on the conveying belt reach the position of the limit baffle or not;
the R-axis rotary stirring unit comprises a rotary mounting plate, a rotary driving device, a rotary connecting plate and a stirring plate matched with the conveying belt, wherein the rotary mounting plate is fixedly connected with an upper layer supporting frame, the upper layer supporting frame can provide support for the rotary mounting plate, the rotary driving device is arranged on the rotary mounting plate and can provide support for the rotary driving device, the rotary driving device is connected with the stirring plate through the rotary connecting plate and drives the stirring plate to rotate through the rotary driving device so as to stir the bagged materials on the conveying belt to the upper layer door opening and closing unit, the center line of the upper layer door opening and closing unit is perpendicular to the movement direction of the conveying belt, and the bagged materials conveyed by the conveying belt can be changed into transverse directions from the longitudinal direction to be placed on the upper layer door opening and closing unit under stirring of the R-axis rotary stirring unit;
the upper layer rotating unit is positioned above the upper layer door opening and closing unit and can rotate the bag material on the upper layer door opening and closing unit so as to adjust the angle of the bag material;
the lower-layer switch door unit and the lower-layer Y-axis horizontal stirring unit are respectively arranged on the lower-layer support frame, the lower-layer support frame can provide support for the lower-layer switch door unit and the lower-layer Y-axis horizontal stirring unit, the lower-layer switch door unit is positioned below the upper-layer switch door unit, bag materials falling through the upper-layer switch door unit can enter the lower-layer switch door unit, the lower-layer Y-axis horizontal stirring unit is matched with the lower-layer switch door unit, and the lower-layer Y-axis horizontal stirring unit can push the bag materials on the lower-layer switch door unit to a set position on the lower-layer switch door unit, so that the bag materials can be stacked through opening of the lower-layer switch door unit;
the conveying driving device, the position detecting assembly, the rotary driving device, the upper layer door opening and closing unit, the upper layer rotary unit, the lower layer door opening and closing unit and the lower layer Y-axis horizontal material stirring unit are respectively connected with the control system.
The position detection component is one or more of a contact sensor and a photoelectric sensor.
The contact sensor is a collision pressure sensor.
The conveying driving device and the rotary driving device are servo motors respectively.
The upper layer switch door units and the upper layer rotating units are respectively two, and the upper layer switch door units are symmetrically arranged relative to the R-axis rotating stirring unit.
The stirring plate is fan-shaped.
The control system includes:
the conveying module is connected with the conveying driving device and used for controlling the feeding speed of the conveying unit;
the position detection module is connected with the position detection assembly and used for detecting whether the bagging materials on the conveying belt reach the limit baffle or not;
the R-axis material stirring module is connected with the R-axis rotary material stirring unit, controls a rotary driving device of the R-axis rotary material stirring unit to rotate, and rotationally conveys the bagged materials to the upper layer door opening and closing unit;
the rotation control module is connected with the upper layer rotation unit, and is used for controlling the upper layer rotation unit to drive the bag material on the upper layer door opening and closing unit to rotate to a set angle when the bag material on the upper layer door opening and closing unit needs to rotate by the set angle;
the upper layer door opening and closing module is connected with the upper layer door opening and closing unit and controls the upper layer door opening and closing unit to open so that the bag material falls onto the lower layer door opening and closing unit under the action of gravity;
the lower Y-axis horizontal stirring module is connected with the lower Y-axis horizontal stirring unit, and controls the lower Y-axis horizontal stirring unit to move after the bagged materials enter the lower switch door unit so as to convey the bagged materials to a set position on the lower switch door unit;
the lower layer switch door module is connected with the lower layer switch door unit, and when the bagged materials are conveyed to a set position through the lower layer Y-axis horizontal material stirring unit, the lower layer switch door module is controlled to be opened so as to realize stacking of the bagged materials.
One or more of the upper layer door opening and closing unit and the lower layer door opening and closing unit adopts a synchronous door opening and closing structure;
the synchronous switch door structure comprises a first supporting plate, a second supporting plate, a switch driving device connected with a control system, a rotating disc and an opening and closing assembly used for driving a door to open and close, wherein the first supporting plate and the second supporting plate are arranged in parallel, the first supporting plate and the second supporting plate form a switch supporting frame, the switch driving device is connected with the rotating disc, the switch driving device can drive the rotating disc to rotate relatively, the opening and closing assemblies are in a group, the opening and closing assemblies are symmetrically arranged relative to the rotating disc, and the rotating disc is connected with the opening and closing assembly and can realize the opening and closing of the door through the opening and closing assembly;
the opening and closing assembly comprises a first connecting rod, a belleville spring assembly, a first joint bearing, a second bidirectional connecting rod, a rotating piece, a second joint bearing, a first rotating shaft, a third connecting rod, a fourth rocker arm, a second rotating shaft, a fifth connecting rod, a sixth connecting rod, a third rotating shaft and a fixed connecting piece for fixing the door, wherein the two ends of the first rotating shaft and the two ends of the second rotating shaft are respectively connected with a switch supporting frame, and the switch supporting frame can respectively provide support for the first rotating shaft and the second rotating shaft;
the first connecting rod is connected with the second bidirectional connecting rod through a first joint bearing, the belleville spring is arranged on the first connecting rod, the belleville spring is positioned between the rotating disc and the first joint bearing, and the belleville spring can ensure the tension between the second bidirectional connecting rod and the rotating disc;
the rotating piece is respectively provided with a first connecting point, a second connecting point and a third connecting point, the first connecting point, the second connecting point and the third connecting point are distributed on the rotating piece in a triangle shape, the first connecting point is positioned above the second connecting point, the second connecting point is positioned at one side close to the rotating disc, and the third connecting point is positioned at one side close to the third connecting rod;
the first rotating shaft passes through the first connecting point, the rotating piece can rotate relative to the switch support frame through the first rotating shaft, the second connecting point is connected with the second bidirectional connecting rod through the second joint bearing, the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch support frame through the second joint bearing, and the axis of the first joint bearing is perpendicular to the axis of the second joint bearing; the third connecting point is hinged with one end of the third connecting rod, and the rotating piece can drive the third connecting rod to move relative to the rotating piece;
the third connecting rod and the fourth rocker arm are respectively hinged with one end of the fifth connecting rod, and the third connecting rod can drive the fifth connecting rod to rotate relative to the fourth rocker arm; the third rotating shaft is connected with the first supporting plate, the first supporting plate can provide support for the third rotating shaft, the sixth connecting rod is arranged on the third rotating shaft, the sixth connecting rod can rotate relative to the first supporting plate, the sixth connecting rod is hinged with the other end of the fifth connecting rod, and the fifth connecting rod can rotate relative to the sixth connecting rod;
the fixed connecting piece is connected with the sixth connecting rod, the sixth connecting rod is kept relatively static with the door through the fixed connecting piece, and the door is driven by the opening and closing assembly to open and close relative to the third rotating shaft.
Still including being used for providing the drive base that supports for switch drive arrangement, drive base links to each other and switch support frame can provide the support for the drive base with the switch support frame, switch drive arrangement sets up on the drive base and drive base can provide the support for switch drive arrangement.
The switch driving device is connected with the rotating disc through the speed reduction output mechanism.
The switch driving device is a servo motor.
The rotating disc is circular.
The first joint bearing comprises a first inner ring and a first outer ring matched with the first inner ring, the first inner ring is connected with the first connecting rod, the rotating disc can drive the first joint bearing to move relative to the rotating disc through the first connecting rod, the first outer ring is connected with one end of the second bidirectional connecting rod, and the first connecting rod can drive the second bidirectional connecting rod to move through the first joint bearing.
The second knuckle bearing comprises a second inner ring and a second outer ring matched with the second inner ring, the inner ring of the second knuckle bearing is connected with a second connecting point through a connecting rod, the second outer ring is connected with the other end of the second bidirectional connecting rod, and the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch supporting frame through the second knuckle bearing.
And a plurality of overhaul holes are also formed in the switch support frame.
The bearing is matched with the first rotating shaft and the third rotating shaft respectively, and the first rotating shaft and the third rotating shaft can rotate around the bearing respectively.
The opening and closing assembly further comprises a door which is in clamping connection with the fixed connecting piece.
The rotary support piece is arranged at the other end of the third rotary shaft, and the third rotary shaft can rotate relatively around the rotary support piece.
The rotary support is a bearing.
To sum up, the application discloses an automatic feed pile up neatly system that divides suitable for bagging-off loading pile up neatly, the system includes supporting element, conveying element, the rotatory material unit of dialling of R axle, upper strata switch door unit, limit baffle, position detection subassembly, upper strata rotary unit, lower floor's Y axle level material unit of dialling, lower floor switch door unit, several parts of control system, through the collaborative work between the subassembly, can realize horizontal, vertical and violently indulge the combination pile up neatly, effectively satisfy the loading demand in different specification bagging-off, different specification loading carriages, improve the space utilization in carriage. Further, by combining a vehicle information scanning system, a planner system and the like, the efficiency of automatic palletizing and loading of the bag loading can be further improved, and the requirements of automatic palletizing and loading of factories are met.
Drawings
Fig. 1 is a schematic structural view of a system for palletizing the charged bags in embodiment 1.
Fig. 2 is a schematic diagram of the structure of the conveying unit in embodiment 1.
Fig. 3 is a schematic diagram of a partial structure of an R-axis rotary kick-out unit in embodiment 1.
Fig. 4 is a schematic structural diagram of a lower layer Y-axis horizontal kick-out unit in embodiment 1.
Fig. 5 is a schematic diagram of an open state of the synchronous door opening and closing structure.
Fig. 6 is a schematic diagram of the closed state of the synchronous door opening and closing structure.
Fig. 7 is a schematic diagram of the overall structure of the synchronous door opening and closing mechanism in embodiment 1.
Fig. 8 is a schematic view of the bottom structure of fig. 7.
Fig. 9 is a schematic structural view of a synchronous door opening and closing mechanism.
Fig. 10 is a schematic diagram of a synchronous door opening and closing mechanism with a shutter.
Fig. 11 is a schematic structural view of the rotary member in embodiment 1.
Fig. 12 is a schematic diagram showing the closing of the apparatus in example 1.
Fig. 13 is an open schematic of the device of example 1.
Fig. 14-22 are schematic diagrams of the transverse palletizing flow in embodiment 1.
Fig. 23-28 are schematic views of the longitudinal palletizing flow in example 1.
Fig. 29 is a schematic view of lateral palletizing.
Fig. 30 is a schematic view of a longitudinal palletizing.
Fig. 31 is a schematic view of a combined stacking of horizontal and vertical directions.
The marks in the figure: 1. the device comprises a first supporting plate, 2, a second supporting plate, 3, a switch driving device, 4, a rotating disc, 5, a belleville spring assembly, 6, a first joint bearing, 7, a second bidirectional connecting rod, 8, a rotating piece, 9, a second joint bearing, 10, a first rotating shaft, 11, a third connecting rod, 12, a fourth rocker arm, 13, a second rotating shaft, 14, a fifth connecting rod, 15, a sixth connecting rod, 16, a third rotating shaft, 20, a first connecting point, 21, a second connecting point, 22, a third connecting point, 30, a rotating supporting piece, 51, a conveying unit, 52, an R-axis rotating stirring unit, 53, a position detecting assembly, 54, an upper layer switching door unit, 55, a lower layer Y-axis horizontal stirring unit, 56 a lower layer switching door unit, 57, an upper layer rotating unit, 59, a rotating connecting plate, 60 and a stirring plate.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in the figure, the bagging material distributing and stacking system of the embodiment comprises a supporting unit, a conveying unit, an R-axis rotating material stirring unit, an upper layer switch door unit, a limit baffle, a position detecting assembly, an upper layer rotating unit, a lower layer Y-axis horizontal material stirring unit, a lower layer switch door unit and a control system. The supporting unit comprises an upper supporting frame and a lower supporting frame, wherein the upper supporting frame is connected with the lower supporting frame and is positioned above the lower supporting frame.
In the embodiment, the conveying unit, the R-axis rotary stirring unit, the upper layer switch door unit and the upper layer rotary unit are respectively arranged on the upper layer support frame; wherein, upper strata switch door unit is two, and upper strata switch door unit is relative the rotatory material unit symmetry of dialling of R axle setting. As shown in fig. 2, the conveying unit comprises a conveying belt and a conveying driving device connected with the conveying belt, wherein the conveying driving device is connected with the conveying belt; in this embodiment, the conveyance driving device employs a servo motor. The conveying unit is mainly used for conveying the bag material, and after the material passes through the conveying unit, the material is fed and distributed for stacking, so that corresponding loading operation is finished.
In this embodiment, limit baffle sets up the discharge end at the conveyer belt, and the bagging material is carried the back through the conveyer belt promptly, reaches limit baffle's position earlier, and then realizes the spacing to the bagging material. Meanwhile, the position detection assembly is located above the conveying belt, and is used for detecting whether the bagging materials on the conveying belt reach the position of the limit baffle or not and transmitting detection results to the control system. In this embodiment, the position detection assembly employs a collision pressure sensor.
In this embodiment, the rotatory stirring unit of R axle includes the rotatory mounting panel of upper supporting frame fixed connection, sets up rotation driving device, rotatory connecting plate, with conveyer belt matched with stirring board on the rotatory mounting panel, rotation driving device passes through rotatory connecting plate and stirring board links to each other, stirring board is fan-shaped (as shown in fig. 3). In this embodiment, the rotation driving device adopts a servo motor. In the structure, when the bag material is conveyed on the conveying belt, the material stirring plate rotates around the rotating shaft under the drive of the rotary driving device, so that the material is pushed along the circumferential direction; because the material shifting plate is fan-shaped, the material shifting plate can shift the bagged materials to the upper layer door opening and closing units on the left side and the right side respectively in the process of swinging left and right relative to the conveying belt; the process of rotary feeding realizes the conversion of the bagged materials from longitudinal to transverse.
Meanwhile, the upper layer rotating unit is positioned above the upper layer door opening and closing unit; after the bagging material is stirred onto the upper layer switch door unit through the R-axis rotating stirring unit, when the angle of the bagging material is required to be adjusted, the control system sends an instruction to the upper layer rotating unit, and the upper layer rotating unit rotates the bagging material on the upper layer switch door unit to adjust the angle of the bagging material (namely, the bagging material is grabbed and rotated by a certain angle).
In this embodiment, the lower-layer door opening and closing unit and the lower-layer Y-axis horizontal material stirring unit are respectively disposed on the lower-layer supporting frame. The lower layer switch door unit is positioned below the upper layer switch door unit, and the lower layer Y-axis horizontal material stirring unit is matched with the lower layer switch door unit; the lower layer door opening and closing unit can be provided with one or a plurality of door opening and closing units according to the requirement. In this application, lower floor's Y axle level dials material unit and mainly used carries out horizontal pushing to the bagging-off material on the lower floor's switch door unit. After the bagging materials falling from the upper layer switch door unit enter the lower layer switch door unit, the lower layer Y-axis horizontal material shifting unit pushes the bagging materials on the lower layer switch door unit to a set position on the lower layer switch door unit, and then the lower layer switch door unit is opened, so that stacking of the bagging materials is realized.
In this application, carry drive arrangement, position detection subassembly, rotary drive device, upper switch door unit, upper rotary unit, lower floor switch door unit, lower floor Y axle level and dial the material unit and link to each other with control system respectively.
In this embodiment, the conveying driving device and the rotation driving device respectively use servo motors.
Further, the control system of the present embodiment includes:
and the conveying module is connected with the conveying driving device and is used for controlling the feeding speed of the conveying unit.
And the position detection module is connected with the position detection assembly and is used for detecting whether the bagging materials on the conveying belt reach the limit baffle.
And the R-axis material stirring module is connected with the R-axis rotary material stirring unit, controls the rotary driving device of the R-axis rotary material stirring unit to rotate, and rotationally conveys the bagged materials to the upper layer switch door unit.
And the rotation control module is connected with the upper layer rotation unit, and is used for controlling the upper layer rotation unit to drive the bag material on the upper layer door opening and closing unit to rotate to a set angle when the bag material on the upper layer door opening and closing unit needs to rotate by the set angle.
The upper layer switch door module is connected with the upper layer switch door unit and controls the upper layer switch door unit to be opened so that the bag material falls onto the lower layer switch door unit under the action of gravity.
The lower Y-axis horizontal stirring module is connected with the lower Y-axis horizontal stirring unit, and controls the lower Y-axis horizontal stirring unit to move after the bagged materials enter the lower switch door unit, so that the bagged materials are conveyed to a set position on the lower switch door unit.
The lower layer switch door module is connected with the lower layer switch door unit, and when the bagged materials are conveyed to a set position through the lower layer Y-axis horizontal material stirring unit, the lower layer switch door module is controlled to be opened so as to realize stacking of the bagged materials.
Further, in this embodiment, a synchronous door opening and closing structure is provided, and one or both of the upper layer door opening and closing unit and the lower layer door opening and closing unit adopts the synchronous door opening and closing structure. More specifically, the synchronous switch door structure of this embodiment includes first backup pad, second backup pad, the switch drive who links to each other with control system, rolling disc, is used for driving the door and carries out the switching subassembly of switching, and switching subassembly is a set of and relative rolling disc symmetry setting. In this embodiment, the first support plate and the second support plate are disposed in parallel, and the first support plate and the second support plate form a switch support frame. Further, the embodiment further comprises a driving base for providing support for the switch driving device, and the driving base is connected with the switch supporting frame. The switch driving device is arranged on the driving base, the driving base is used for providing support for the switch driving device, and the switch supporting frame is used for providing support for the opening and closing mechanism.
In this embodiment, the switching subassembly includes first connecting rod, belleville spring assembly, first knuckle bearing, second bidirectional connecting rod, rotating member, second knuckle bearing, first pivot, third connecting rod, fourth rocking arm, second pivot, fifth connecting rod, sixth connecting rod, third pivot, be used for carrying out fixed connection spare to the door, the both ends of first pivot, the both ends of second pivot are connected with the switch support frame respectively and the switch support frame can provide the support for first pivot, second pivot respectively.
The switch driving device is connected with the rotating disc and drives the rotating disc to rotate relatively; one end of the first connecting rod is connected with the rotating disc, the other end of the first connecting rod is connected with the second bidirectional connecting rod through the first joint bearing, the belleville spring is arranged on the first connecting rod, and the belleville spring is positioned between the rotating disc and the first joint bearing.
As shown in the figure, the rotating member is respectively provided with a first connecting point, a second connecting point and a third connecting point, the first connecting point, the second connecting point and the third connecting point are distributed on the rotating member in a triangular shape, the first connecting point is located above the second connecting point, the second connecting point is located on one side close to the rotating disc, and the third connecting point is located on one side close to the third connecting rod. Simultaneously, the first rotating shaft passes through the first connecting point, the rotating piece can rotate relative to the switch support frame through the first rotating shaft, the second connecting point is connected with the second bidirectional connecting rod through the second joint bearing, the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch support frame through the second joint bearing, and the axis of the first joint bearing is perpendicular to the axis of the second joint bearing; the third connecting point is hinged with one end of the third connecting rod, and the rotating piece can drive the third connecting rod to move relative to the rotating piece.
The third connecting rod and the fourth rocker arm are respectively hinged with one end of the fifth connecting rod, and the third connecting rod can drive the fifth connecting rod to rotate relative to the fourth rocker arm; the third rotating shaft is connected with the first supporting plate, the first supporting plate can provide support for the third rotating shaft, the sixth connecting rod is arranged on the third rotating shaft and can rotate relative to the switch supporting frame, the sixth connecting rod is hinged with the other end of the fifth connecting rod, and the fifth connecting rod can rotate relative to the sixth connecting rod. Meanwhile, the fixed connecting piece is connected with the sixth connecting rod, and the sixth connecting rod is kept relatively static with the door through the fixed connecting piece and driven by the opening and closing assembly to realize opening and closing of the door relative to the third rotating shaft.
In this embodiment, the switch driving device adopts a servo motor, and the rotating disc may be circular; the first joint bearing comprises a first inner ring and a first outer ring which is matched with the first inner ring, the first inner ring is connected with the first connecting rod, the rotating disc can drive the first joint bearing to move relative to the rotating disc through the first connecting rod, the first outer ring is connected with one end of the second bidirectional connecting rod, and the first connecting rod can drive the second bidirectional connecting rod to move through the first joint bearing. The second knuckle bearing comprises a second inner ring and a second outer ring matched with the second inner ring, the inner ring of the second knuckle bearing is connected with a second connecting point through a connecting rod, the second outer ring is connected with the other end of the second bidirectional connecting rod, and the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch supporting frame through the second knuckle bearing.
Further, a plurality of access holes are further formed in the switch support frame, and the access holes can be formed in the first support plate. The implementation further comprises a bearing, the bearing is matched with the first rotating shaft and the third rotating shaft respectively, and the first rotating shaft and the third rotating shaft can rotate around the bearing respectively. Further, the opening and closing assembly further comprises a door which is in clamping connection with the fixed connecting piece; and one end of the third rotating shaft is also provided with a rotating support piece, and two ends of the third rotating shaft rotate around the first supporting plate and the rotating support piece respectively, and more specifically, the rotating support piece can be a bearing.
When the opening and closing mechanism works, the two first connecting rods are symmetrically connected with rotation, the switch driving device drives the rotating disc to rotate, and then the two first connecting rods are driven to synchronously move, and the first connecting rods sequentially drive the second connecting points to rotate around the first connecting points through the first joint bearings, the second bidirectional connecting rods and the second joint bearings; when the rotating piece rotates, the connecting part of the third connecting rod and the fourth rocker arm forms a first rotating point and enables the first rotating point to move along the track under the restriction of the fourth rocker arm. The first rotating point is hinged with the sixth connecting rod through the fifth connecting rod, and the sixth connecting rod is arranged on the third rotating shaft, so that the first rotating point drives the sixth connecting rod to rotate around the third rotating shaft through the fifth connecting rod. The sixth connecting rod is connected with the door through the fixed connecting piece, and the door is opened and closed in the rotating process. Meanwhile, the maximum angle allowed by the first joint bearing and the second joint bearing is limited, so that the corresponding door is ensured to be opened and closed in a specific range. Simultaneously, the door is tightly linked to each other with fixed connection spare clamp, and its installation angle that can be convenient for adjust the door guarantees final switch mechanism's normal switch work.
The synchronous door opening and closing mechanism of the embodiment takes a servo motor as a power source, takes a precise harmonic speed reducer as a power transmission mechanism, and combines a space hinge mechanism to realize quick and stable door opening and closing actions. As shown in fig. 9, when the door is closed, the space hinge mechanism is just at the dead point position, so that impact load of falling of the bagging material can not act on the speed reducer and the servo motor, damage of harmful load to precise parts of the system is avoided by ingenious design, stability of the system is enhanced, service life of the equipment is greatly prolonged, and use and maintenance cost of the equipment is reduced.
Further, the execution flow of the present embodiment will be described using a schematic diagram, a layout diagram, and a flow chart.
Transverse stacking process
1) The first bagging material is conveyed to the limit baffle through the conveying unit, and is positioned through the collision pressure sensor (namely the position detection assembly), as shown in fig. 14.
2) When the first bag is in place, the R-axis rotating material stirring unit rotates leftwards to drive the first bag to move to the upper left layer door opening and closing unit, as shown in fig. 15 and 16.
3) When the first bag material reaches the upper left layer door opening and closing unit, the system waits for the second bag material to be conveyed in place, and when the second bag material is conveyed in place, the R-axis rotating material stirring unit rotates rightwards to drive the second bag material to move to the upper right layer door opening and closing unit, as shown in fig. 17.
At this time, the upper left door opening and closing unit is opened, the first bag thereon falls to the lower door opening and closing unit under the action of gravity, and then the upper left door opening and closing unit is closed as shown in fig. 19 and 20 (the above processes occur sequentially, i.e., the first left bag falls earlier than the second right bag, but for convenience of explanation, the flowcharts are drawn in different order, as shown in fig. 19 and 20).
4) When the second bagging material reaches the upper layer door opening and closing unit on the right side, the system waits for the third bagging material to be conveyed in place, and then the R-axis rotating material stirring unit rotates leftwards to drive the third bagging material to move to the upper layer door opening and closing unit on the left side; after that, the R-axis rotary stirring unit continuously swings left and right, and the upper door opening and closing unit is not opened and closed, as shown in fig. 18.
At this time, the upper-layer door opening and closing unit on the right side is opened, and the second bag charge on the upper-layer door opening and closing unit falls to the lower-layer door opening and closing unit under the action of gravity; then, the upper right door opening and closing unit is closed, as shown in fig. 19 and 20 (the above processes occur sequentially, i.e., the first left bag material drops earlier than the second right bag material, but for convenience of explanation, the flowcharts are drawn without distinction, as shown in fig. 19 and 20).
5) When the first (second) bag material falls to the lower layer door opening and closing unit, the lower layer Y-axis horizontal material shifting unit drives the first (second) bag material to move to a specified position, as shown in fig. 21.
6) When the first (second) bag material runs to a specified position, the lower layer door opening and closing unit is opened, and the first (second) bag material falls into a carriage to be loaded under the action of gravity; then, the lower layer switch door unit is closed, and the third (fourth) bag material is waited to fall off; after that, the cycle operation is started, as shown in fig. 21 and 22.
(II) longitudinal palletizing flow
1) The first bagging material is conveyed to the limit baffle through the conveying unit, and is positioned through the collision pressure sensor (namely the position detection assembly), as shown in fig. 14.
2) When the first bag is in place, the R-axis rotating material stirring unit rotates leftwards to drive the first bag to move to the upper left layer door opening and closing unit, as shown in fig. 15 and 16.
3) When the first bag material reaches the upper left layer door opening and closing unit, the system waits for the second bag material to be conveyed in place, and when the second bag material is conveyed in place, the R-axis rotating material stirring unit rotates rightwards to drive the second bag material to move to the upper right layer door opening and closing unit, as shown in fig. 17.
At this time, the upper layer rotating unit on the left side drives the first bagging material to rotate 90 degrees (as shown in fig. 23, 24 and 25); then, the upper layer door opening and closing unit on the left side is opened, and the first bag charge on the upper layer door opening and closing unit falls to the lower layer door opening and closing unit under the action of gravity; after that, the upper left door opening and closing unit is closed (the above-mentioned processes occur sequentially, i.e., the first left-side bag charge drops earlier than the second right-side bag charge, but for convenience of explanation, the process drawing is not performed sequentially).
4) When the second bagging material reaches the upper layer door opening and closing unit on the right side, the system waits for the third bagging material to be conveyed in place; then, the R-axis rotating stirring unit rotates leftwards to drive the third bagging material to move to the left upper layer door opening and closing unit; after that, the R-axis rotary stirring unit continuously swings left and right, the upper layer rotary unit continuously swings by +/-90 degrees, and the upper layer door opening and closing unit is not opened and closed.
At the moment, the upper layer rotating unit on the right drives the second bagging material to rotate 90 degrees, the upper layer door opening and closing unit on the right is opened, and the second bagging material on the upper layer door opening and closing unit falls to the lower layer door opening and closing unit under the action of gravity; then, the upper right door opening and closing unit is turned off (the above flow occurs sequentially, i.e., the first left bag material drops earlier than the second right bag material, but for convenience of explanation, the flow chart is drawn without distinction, as shown in fig. 26 and 27).
5) When the first (second) bag material falls to the lower door opening and closing unit, the lower door opening and closing unit drives the first (second) bag material to move to the designated position, as shown in fig. 28.
6) When the first (second) bagged materials run to a designated position, the lower layer switch door unit is opened, the first (second) bagged materials drop into a carriage to be loaded under the action of gravity, and then the lower layer switch door unit is closed to wait for the third (fourth) bagged materials to drop; after that, a loop operation is entered.
For a better illustration of the transverse palletization and the longitudinal palletization, fig. 29, 30, 31 are given. Fig. 29, 30 and 31 are respectively a transverse stacking, a longitudinal stacking and a transverse-longitudinal combined stacking (any combination).
Therefore, the stacking equipment can meet the requirements of transverse, longitudinal and transverse and longitudinal combined stacking, can realize the optimal stacking modes corresponding to different vehicles, improves the adaptability and the loading flexibility, and has extremely high application value. In addition, the servo system is adopted as the only power source, a pneumatic actuating mechanism is not arranged, the equipment operation impact is small, and the flexibility is better.
Claims (10)
1. The bagged material distributing and stacking system is characterized by comprising a supporting unit, a conveying unit, an R-axis rotating stirring unit, an upper layer switch door unit, a limit baffle, a position detecting assembly, an upper layer rotating unit, a lower layer Y-axis horizontal stirring unit, a lower layer switch door unit and a control system;
the supporting unit comprises an upper supporting frame and a lower supporting frame, wherein the upper supporting frame is connected with the lower supporting frame and is positioned above the lower supporting frame;
the conveying unit, the R-axis rotary stirring unit, the upper-layer door opening and closing unit and the upper-layer rotating unit are respectively arranged on the upper-layer supporting frame, and the upper-layer supporting frame can provide support for the conveying unit, the R-axis rotary stirring unit, the upper-layer door opening and closing unit and the upper-layer rotating unit;
the conveying unit comprises a conveying belt and a conveying driving device connected with the conveying belt, wherein the conveying driving device is connected with the conveying belt and can drive the conveying belt to move so as to realize conveying of materials;
the position detection assembly is positioned above the conveying belt and can detect whether the bagging materials on the conveying belt reach the position of the limit baffle or not;
the R-axis rotary stirring unit comprises a rotary mounting plate, a rotary driving device, a rotary connecting plate and a stirring plate matched with the conveying belt, wherein the rotary mounting plate is fixedly connected with an upper layer supporting frame, the upper layer supporting frame can provide support for the rotary mounting plate, the rotary driving device is arranged on the rotary mounting plate and can provide support for the rotary driving device, the rotary driving device is connected with the stirring plate through the rotary connecting plate and drives the stirring plate to rotate through the rotary driving device so as to stir the bagged materials on the conveying belt to the upper layer door opening and closing unit, the center line of the upper layer door opening and closing unit is perpendicular to the movement direction of the conveying belt, and the bagged materials conveyed by the conveying belt can be changed into transverse directions from the longitudinal direction to be placed on the upper layer door opening and closing unit under stirring of the R-axis rotary stirring unit;
the upper layer rotating unit is positioned above the upper layer door opening and closing unit and can rotate the bag material on the upper layer door opening and closing unit so as to adjust the angle of the bag material;
the lower-layer switch door unit and the lower-layer Y-axis horizontal stirring unit are respectively arranged on the lower-layer support frame, the lower-layer support frame can provide support for the lower-layer switch door unit and the lower-layer Y-axis horizontal stirring unit, the lower-layer switch door unit is positioned below the upper-layer switch door unit, bag materials falling through the upper-layer switch door unit can enter the lower-layer switch door unit, the lower-layer Y-axis horizontal stirring unit is matched with the lower-layer switch door unit, and the lower-layer Y-axis horizontal stirring unit can push the bag materials on the lower-layer switch door unit to a set position on the lower-layer switch door unit, so that the bag materials can be stacked through opening of the lower-layer switch door unit;
the conveying driving device, the position detecting assembly, the rotary driving device, the upper layer door opening and closing unit, the upper layer rotary unit, the lower layer door opening and closing unit and the lower layer Y-axis horizontal material stirring unit are respectively connected with the control system.
2. The bagged material distributing and stacking system of claim 1, wherein the position detecting component is one or more of a contact sensor and a photoelectric sensor.
3. A bagged material dispensing palletizing system as in claim 2, wherein the contact sensor is a collision pressure sensor.
4. The bagged material distributing and stacking system as claimed in claim 1, wherein the conveying driving device and the rotary driving device are servo motors respectively.
5. The bagged material distributing and stacking system according to claim 1, wherein the number of the upper layer switch door units and the upper layer rotating units is two, and the upper layer switch door units are symmetrically arranged relative to the R-axis rotating stirring unit.
6. The bagged material distributing and stacking system of claim 1, wherein the material stirring plate is fan-shaped.
7. The bagged material dispensing palletizing system of claim 1, wherein the control system comprises:
the conveying module is connected with the conveying driving device and used for controlling the feeding speed of the conveying unit;
the position detection module is connected with the position detection assembly and used for detecting whether the bagging materials on the conveying belt reach the limit baffle or not;
the R-axis material stirring module is connected with the R-axis rotary material stirring unit, controls a rotary driving device of the R-axis rotary material stirring unit to rotate, and rotationally conveys the bagged materials to the upper layer door opening and closing unit;
the rotation control module is connected with the upper layer rotation unit, and is used for controlling the upper layer rotation unit to drive the bag material on the upper layer door opening and closing unit to rotate to a set angle when the bag material on the upper layer door opening and closing unit needs to rotate by the set angle;
the upper layer door opening and closing module is connected with the upper layer door opening and closing unit and controls the upper layer door opening and closing unit to open so that the bag material falls onto the lower layer door opening and closing unit under the action of gravity;
the lower Y-axis horizontal stirring module is connected with the lower Y-axis horizontal stirring unit, and controls the lower Y-axis horizontal stirring unit to move after the bagged materials enter the lower switch door unit so as to convey the bagged materials to a set position on the lower switch door unit;
the lower layer switch door module is connected with the lower layer switch door unit, and when the bagged materials are conveyed to a set position through the lower layer Y-axis horizontal material stirring unit, the lower layer switch door module is controlled to be opened so as to realize stacking of the bagged materials.
8. The bagged material distributing and stacking system according to any one of claims 1 to 7, wherein one or more of the upper layer door opening and closing unit and the lower layer door opening and closing unit adopts a synchronous door opening and closing structure;
the synchronous switch door structure comprises a first supporting plate, a second supporting plate, a switch driving device connected with a control system, a rotating disc and an opening and closing assembly used for driving a door to open and close, wherein the first supporting plate and the second supporting plate are arranged in parallel, the first supporting plate and the second supporting plate form a switch supporting frame, the switch driving device is connected with the rotating disc, the switch driving device can drive the rotating disc to rotate relatively, the opening and closing assemblies are in a group, the opening and closing assemblies are symmetrically arranged relative to the rotating disc, and the rotating disc is connected with the opening and closing assembly and can realize the opening and closing of the door through the opening and closing assembly;
the opening and closing assembly comprises a first connecting rod, a belleville spring assembly, a first joint bearing, a second bidirectional connecting rod, a rotating piece, a second joint bearing, a first rotating shaft, a third connecting rod, a fourth rocker arm, a second rotating shaft, a fifth connecting rod, a sixth connecting rod, a third rotating shaft and a fixed connecting piece for fixing the door, wherein the two ends of the first rotating shaft and the two ends of the second rotating shaft are respectively connected with a switch supporting frame, and the switch supporting frame can respectively provide support for the first rotating shaft and the second rotating shaft;
the first connecting rod is connected with the second bidirectional connecting rod through a first joint bearing, the belleville spring assembly is arranged on the first connecting rod, the belleville spring assembly is positioned between the rotating disc and the first joint bearing, and the belleville spring assembly can ensure the tension between the second bidirectional connecting rod and the rotating disc;
the rotating piece is respectively provided with a first connecting point, a second connecting point and a third connecting point, the first connecting point, the second connecting point and the third connecting point are distributed on the rotating piece in a triangle shape, the first connecting point is positioned above the second connecting point, the second connecting point is positioned at one side close to the rotating disc, and the third connecting point is positioned at one side close to the third connecting rod;
the first rotating shaft passes through the first connecting point, the rotating piece can rotate relative to the switch support frame through the first rotating shaft, the second connecting point is connected with the second bidirectional connecting rod through the second joint bearing, the second bidirectional connecting rod can drive the rotating piece to rotate relative to the switch support frame through the second joint bearing, and the axis of the first joint bearing is perpendicular to the axis of the second joint bearing; the third connecting point is hinged with one end of the third connecting rod, and the rotating piece can drive the third connecting rod to move relative to the rotating piece;
the third connecting rod and the fourth rocker arm are respectively hinged with one end of the fifth connecting rod, and the third connecting rod can drive the fifth connecting rod to rotate relative to the fourth rocker arm; the third rotating shaft is connected with the first supporting plate, the first supporting plate can provide support for the third rotating shaft, the sixth connecting rod is arranged on the third rotating shaft, the sixth connecting rod can rotate relative to the first supporting plate, the sixth connecting rod is hinged with the other end of the fifth connecting rod, and the fifth connecting rod can rotate relative to the sixth connecting rod;
the fixed connecting piece is connected with the sixth connecting rod, the sixth connecting rod is kept relatively static with the door through the fixed connecting piece, and the door is driven by the opening and closing assembly to open and close relative to the third rotating shaft.
9. The bagged material distributing and stacking system of claim 8, wherein the rotating disc is circular.
10. The bagged material dispensing palletizing system of claim 8, wherein the opening and closing assembly further comprises a door and the door is clampingly connected with the fixed connection.
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Address after: 621000 No. 10, south section of Huoju West Street, high tech Zone, Mianyang City, Sichuan Province Patentee after: Sichuan Tianlian Robotics Co.,Ltd. Country or region after: China Address before: 621000 no.386, middle section of Feiyun Avenue, Mianyang City, Sichuan Province Patentee before: SICHUAN FUDE ROBOT Co.,Ltd. Country or region before: China |