CN110104449A - A kind of charging of boat and palletizing apparatus - Google Patents
A kind of charging of boat and palletizing apparatus Download PDFInfo
- Publication number
- CN110104449A CN110104449A CN201910463415.5A CN201910463415A CN110104449A CN 110104449 A CN110104449 A CN 110104449A CN 201910463415 A CN201910463415 A CN 201910463415A CN 110104449 A CN110104449 A CN 110104449A
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- China
- Prior art keywords
- boat
- stacking
- cylinder
- vertical pivot
- palletizing apparatus
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
-
- 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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/40—Devices for emptying otherwise than from the top
- B65G65/44—Devices for emptying otherwise than from the top using reciprocating conveyors, e.g. jigging conveyors
-
- 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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/04—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials
- B65G69/0425—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials with vibrating or shaking means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The present invention provides a kind of charging of boat and palletizing apparatus, including transport mechanism, the charge mechanism being set in transport mechanism, the stacking mechanism for being set to transport mechanism output end；The stacking mechanism includes stacking platform, bracket, manipulator, the bracket includes the longitudinal axis, horizontal axis, vertical pivot, wherein, the longitudinal axis extends to stacking platform by transport mechanism output end, horizontal axis is connect with the longitudinal axis by longitudinal translation mechanism, vertical pivot is flexibly connected by laterial translation mechanism with elevating mechanism with horizontal axis, and the manipulator is set to vertical pivot lower end.Boat charging provided by the invention and palletizing apparatus, boat is transmitted by transport mechanism, it is charged by charge mechanism, cooperate longitudinal translation mechanism, laterial translation mechanism, elevating mechanism that the boat after charging is sent to stacking platform by the manipulator of stacking mechanism, each mechanism can realize automatic charge and the stacking of boat with hop controller, whole process continuously-running, continuous productive process.
Description
Technical field
The invention mainly relates to the automatic stacking of the automatic weighing of hard alloy field powder and boat, specifically a kind of powder
The automatic material weighing stacking work station of last class.
Background technique
Cemented carbide powder mainly includes oxidation tungsten powder, tungsten carbide powder and compound powder etc., be through peroxidating, reduction,
Different powder materials made of the series of process such as carbonization, ball milling need to carry out powder in the processing that different powders are made
It weighs, and the boat of symmetrical honest material carries out stacking by technique requirement, present process equipment is all that powder is manually filled to boat
Interior, manual weighing, manual stacking, not only environmental pollution is serious, there is a great harm for human respiratory, and labor intensive
Height, production efficiency is low, weighing error is big, and stacking is irregular, therefore needs the automatic weighing stacking work that can reduce manpower intervention
It stands, improves production efficiency.
Summary of the invention
Based on problem above, the purpose of the present invention is to provide a kind of charging of boat and palletizing apparatus.
In order to achieve the goal above, the technical solution adopted by the present invention are as follows: a kind of charging of boat and palletizing apparatus, including pass
Send mechanism, the charge mechanism that is set in transport mechanism, the stacking mechanism for being set to transport mechanism output end；The stacking mechanism
Including stacking platform, bracket, manipulator, the bracket includes the longitudinal axis, horizontal axis, vertical pivot, wherein the longitudinal axis is prolonged by transport mechanism output end
Stacking platform is extended to, horizontal axis is connect with the longitudinal axis by longitudinal translation mechanism, and vertical pivot and horizontal axis pass through laterial translation mechanism and elevator
Structure is flexibly connected, and the manipulator is set to vertical pivot lower end.
In use, empty boat is placed in the transport mechanism of operating first, runs to boat to charge mechanism and filled
Material, is next transferred to the output end of transport mechanism, and the manipulator of stacking mechanism picks up boat, drives in longitudinal translation mechanism horizontal
Axis and manipulator are sent to stacking platform along the longitudinal axis, and repeating aforesaid operations can be realized the charging and stacking of boat.
Specifically, the charge mechanism includes weighing platform, rack and the blanking storehouse being set in rack, swings mould
Group, vibrator, charging tray, hopper；Weighing sensor is set in weighing platform, and servo electric jar is arranged in weighing platform lower end；Rack
It is set to weighing platform top, blanking storehouse is set to weighing platform top and connect with mould group is swung；Charging tray is set to blanking storehouse
Top is simultaneously connect with vibrator；Hopper is set to charging tray top；Transport mechanism includes that several carrying rollers are arranged successively the carrying roller to be formed
Pipeline, the carrying roller pipeline is horizontally disposed and passes through between weighing platform and blanking storehouse；It will be empty by carrying roller pipeline
Boat is sent to weighing platform top, and starting servo electric jar drives weighing platform to rise and empty boat is supported to rise to blanking storehouse
At the blanking port of lower end, close to bottom in boat utmostly to reduce powder fugitive dust, powder is fallen the blanking port in blanking storehouse from hopper
Feeding disk, vibrator drive charging tray vibration, fall into blanking storehouse in the powder dither process in charging tray and fall into sky boat from blanking port
In ware, starting swings mould group and drives blanking storehouse transverse reciprocating to swing to which powder is uniformly sprinkled into boat, and swinging mould group makes powder
The flatness of material is more preferable, during which, is increased according to powder in boat, and control weighing platform slowly declines so that blanking storehouse lower end is fallen
Certain gap is kept between powder layer in material mouth and boat, when the powder weight in boat reaches setting value, control vibration
Dynamic device stops vibration, and powder stopping is fallen into boat, and weighing platform drives the boat completely expected to drop to carrying roller pipeline, completely expects
Boat by sending along carrying roller pipeline to transport mechanism output end and sent by stacking mechanism to stacking platform, repeat aforesaid operations with
The automatic weighing conveying of powder can be completed；Further, belt feeder, the biography of belt feeder is arranged in the input terminal of carrying roller pipeline
Belt is sent to dock to form transmission assembly line with carrying roller pipeline.
Optimization, the blanking storehouse is the back taper blanking storehouse that upper end feed gap dimension is big, lower end blanking port size is small, institute
Stating charging tray includes the left charging tray and right charging tray for being respectively arranged at blanking the top of the warehouse feed inlet two sides, vibrator include respectively with left material
Disk, the connection of right charging tray left vibrator, right vibrator, separate hopper is set between charging tray and hopper, the top opening of separate hopper with
The conduit of hopper lower end is adapted to, separate hopper lower end setting sub-feed tube corresponding with left charging tray, right charging tray respectively, can according to hopper with
Diversion pipe is arranged in feed hopper bottom opening in difference in height selection between separate hopper, and diversion pipe one end is connected to hopper lower end, separately
One end is inserted into the sub-feed tube of separate hopper, and hose can be used in diversion pipe；More optimized, the charging tray upper end setting charging tray seals
Lid, prevents fugitive dust by sealing cover, moreover it is possible to stop other impurities to fall into charging tray, to guarantee the purity of powder；Further,
The charging tray sealing cover extends to right charging tray upper end from left charging tray upper end.
Optimization, the charging tray can be horizontally or diagonally arranged, can be according to the mobility and scene practical adjustments charging tray of powder
Angle.
Optimization, dust cover is set at the blanking port of blanking storehouse lower end, and the dust cover can be with the swing in blanking storehouse
And it is flexible relative to drum conveying line transverse elasticity, fugitive dust minimizes during guaranteeing powder weighing by dust cover.
Further, the charging of this boat and palletizing apparatus further include Fu Liao mechanism, and the Fu Liao mechanism includes comforting material ball
Lead screw comforts material cylinder, comforts material brush, wherein the screw rod for comforting material ball-screw is horizontally installed to rack close to transport mechanism output end
Side, comfort material cylinder cylinder body with comfort material ball-screw nut connect, comfort material brush be set to comfort expect cylinder lower part and with
The piston rod connection for comforting material cylinder comforts when the boat of full material reaches Fu Liao mechanism lower part and expects that cylinder drive is comforted material brush and dropped to
At the boat powder surface, comforts material ball-screw and start and drive and comfort material and brush along boat surface horizontal movement, thus by boat
The upper surface of interior powder smooths, specifically, the material ball-screw of comforting is driven by servo motor, servo motor is rotated simultaneously
To drive nut to move back and forth along screw rod, material brush is moved with nut back and forth horizontally to comfort the powder in boat for driving screw rod rotation
It is flat.
Optimization, positioning mechanism is set on the carrying roller pipeline, and the positioning mechanism includes being relatively arranged on support two-by-two
The positioning cylinder of roller pipeline two sides and the L shape locating piece being set on positioning cylinder piston rod；It is described fixed that positioning cylinder drives
Position block relative to carrying roller pipeline transversal stretching, boat by carrying roller pipeline flow process, when need to position boat to
When corresponding position, assembly line two sides correspond to the L that boat both ends are stuck in after the piston rod specific elongation of positioning cylinder locating piece
In shape bayonet, so that boat is fixed on specific position, when needing to unclamp boat, the piston rod of positioning cylinder is retracted
Relaxation boat；Wherein, positioning mechanism has three groups, and it is defeated that three groups of positioning mechanisms are set in turn in the input terminal of carrying roller pipeline, carrying roller
Line sending is sent at Fu Liao mechanism lower part and the output of carrying roller pipeline；When previous empty boat reaches steady platform
When, the latter sky boat is clamped in the positioning mechanism starting at weighing platform, close after previous boat is seen off after completely expecting
The latter sky boat is unclamped and clamps more the latter sky boat by the positioning mechanism at weighing platform；Material is comforted in the boat arrival completely expected
When mechanism lower part, the positioning mechanism of Fu Liao mechanism lower part starts and clamps boat, Fu Liao mechanism starting and by the powder in boat
After smoothing, the positioning mechanism of Fu Liao mechanism lower part unclamps and clamps next completely material boat；The boat completely expected reaches carrying roller conveying
The positioning mechanism of the output of line, the output end of carrying roller pipeline starts and clamps boat, when vertical pivot drives manipulator by boat
When ware is clamped, positioning mechanism unclamps boat and clamps next completely material boat to be sent.
Specifically, the manipulator includes left clamp hand, right clamp hand, gripper cylinder, wherein the left clamp hand is fixedly installed in
Guide holder is arranged in vertical pivot lower end, left clamp hand upper end, and horizontal guide hole is arranged on guide holder, guide post is arranged in horizontal guide hole,
The right clamp hand is connect with horizontally-guided column；The cylinder body of gripper cylinder and vertical pivot lower end are connected, and piston rod is connect with right clamp hand；When
After the boat completely expected is sent to transport mechanism output end, control vertical pivot drives manipulator to be moved to boat upper end, and gripper cylinder is stretched
It grows and drives right clamp hand far from left clamp hand, the distance between left clamp hand and right clamp hand are greater than the width of boat, this is relaxed state,
Then vertical pivot drives the manipulator under relaxed state to drop to outside boat, and gripper cylinder shrinks and drives right clamp hand close to left folder
Hand controls vertical pivot later and rises and boat is sent to stacking platform under the drive of longitudinal translation mechanism so that boat be clamped；
During clamping or relaxing, guide post guarantees the flexible stationarity of gripper cylinder.
Optimization, since the material of boat is graphite, surface is smooth, and boat wall is thin, therefore manipulator clamping power cannot be too big,
So therefore, the manipulator further includes hook and hook cylinder, and the hook is and right clamp hand for the stationarity for guaranteeing clamping
The hinged L shape hook in outside, the cylinder body of the hook cylinder and vertical pivot lower end are hinged, hinged on the outside of piston rod and hook；In order to
It falls off in the manipulator clamped in boat during further preventing vertical pivot to transmit boat, when right clamp hand is close to left clamp hand and by boat
After ware clamps, start hook cylinder, the piston rod of hook cylinder extends and hook is driven to turn to boat lower part, to hold boat
Ware bottom guarantees the stabilization of crawl, and when needing to put down boat, the piston rod of hook cylinder shrinks and hook is returned to the right side
Clamp hand side, then the piston rod of gripper cylinder extends and right clamp hand is driven to unclamp boat.
Specifically, the longitudinal translation mechanism includes longitudinal rail group, gear band, servo motor, transmission shaft, longitudinal rail
Including parallel and longitudinally disposed left rail and right rail, the left end of the horizontal axis, right end are flexibly connected with left rail, right rail respectively,
In, servo motor is set to right one side end of rail, and gear band is set to inside left rail and is connected with the left end of horizontal axis, transmission shaft
The connection of the output end of one end and servo motor, the other end extend to left rail end and are sequentially connected with gear band, starting servo electricity
Machine, transmission shaft drive gear band rotation process in driving horizontal axis be moved along the longitudinal, thus realize vertical pivot transport mechanism output end to
Stacking mechanism transmission；Right rail side also sets up drag chain, and one end of chain and right rail is ask to be connected, and the right end of the other end and horizontal axis is connected,
The electric wire tracheae that longitudinal translation mechanism uses is integrated in drag chain.
Specifically, the laterial translation mechanism is that horizontal lead screw drives mould group, the screw rod of the horizontal lead screw driving mould group
Both ends are flexibly connected with horizontal axis both ends respectively, and the nut of the horizontal lead screw driving mould group is slidably connected with horizontal axis, specifically, institute
Stating horizontal lead screw driving mould group can be used the slide unit mould group common in the art driven by servo motor；It is described
Elevating mechanism is that down-feed screw drives mould group, and the screw both end of the down-feed screw driving mould group connects with the activity of vertical pivot both ends respectively
It connects, the nut of the down-feed screw driving mould group and the nut of horizontal lead screw driving mould group are connected, specifically, the down-feed screw
The servo ball-screw common in the art driven by servo motor can be used in driving mould group；When needing vertical pivot
When moving along horizontal axis, the motor of starting horizontal lead screw driving mould group, motor drives the screw rod rotation of horizontal lead screw driving mould group, water
The nut of flat screw rod driving mould group is moved horizontally along screw rod, so that vertical pivot be driven to move along horizontal axis；When needing vertically to move vertical pivot
When dynamic, start the motor of down-feed screw driving mould group, motor drives the screw rod rotation of down-feed screw driving mould group and relative to vertical
The nut of raw silk rings bar driving mould group vertically moves, so that vertical pivot edge be driven to vertically move；Likewise, the side of horizontal axis and vertical pivot point
Not She Zhi drag chain, the electric wire tracheae that laterial translation mechanism, elevating mechanism are used is likewise integrated in drag chain.
Specifically, pallet is arranged on the stacking platform, pallet is graphite plate, is set between the pallet and stacking platform
Roller conveyor is set, the boat of full material is moved on pallet by manipulator and is set, Roller conveyor passes through motor driven, motor driven rolling
Cylinder line rotation is spread out of the pallet for piling with boat, roller so that empty pallet to be delivered on stacking platform from stacking platform
Roller used in line is rubber idler, drives Roller conveyor smoothly to transport pallet by motor and chain drive.
It further include controller, communication connection is distinguished by the controller and charge mechanism, stacking mechanism, Fu Liao mechanism, passes through
Controller controls the start and stop of each mechanism, to realize automatic charge and the stacking of boat, whole process can be transported continuously
Row, continuous productive process, the controller use PLC controller (programmable logic controller (PLC)), PLC controller also with control plane
Plate connection, is inputted by control panel and is instructed.
Specifically, the bracket of the stacking mechanism is rectangular gantry support, protective net is arranged in bracket side around.
The invention has the benefit that
Boat, is transmitted by transport mechanism, passes through charger by boat charging provided by the invention and palletizing apparatus
Structure charges, after cooperating longitudinal translation mechanism, laterial translation mechanism, elevating mechanism that will charge by the manipulator of stacking mechanism
Boat be sent to stacking platform, each mechanism can realize automatic charge and the stacking of boat with hop controller, and whole process can be continuous
Operation, continuous productive process.
Detailed description of the invention
Fig. 1 is the schematic diagram of boat provided by the invention charging and palletizing apparatus；
Fig. 2 is transport mechanism structural schematic diagram；
Fig. 3 is charge mechanism structural schematic diagram；
Fig. 4 is charge mechanism rearview；
Fig. 5 is charge mechanism and carrying roller pipeline top view；
Fig. 6 is charge mechanism and carrying roller pipeline side view；
Fig. 7 is enlarged drawing at A in Fig. 3；
Fig. 8 is stacking mechanism structural schematic diagram；
Fig. 9 is stacking mechanism structure front view；
Figure 10 is enlarged drawing at B in Fig. 9；
Figure 11 is enlarged cross-sectional view at B in Fig. 9；
Wherein, 1 is transport mechanism, and 11 be carrying roller pipeline, and 12 be feed belt, and 2 be charge mechanism, and 21 is flat for weighing
Platform, 22 be rack, 23 be blanking storehouse, 24 be swing mould group, 25a is left charging tray, 25b is right charging tray, 26a is left vibrator, 26b
It is separate hopper for right vibrator, 27,28 be hopper, and 3 be stacking mechanism, and 31 be stacking platform, and 311 be pallet, and 312 be roller
Line, 32 be bracket, and 321 be the longitudinal axis, and 322 be horizontal axis, and 323 be vertical pivot, and 33 be manipulator, and 331 be left clamp hand, and 332 be right clamp hand,
333 be gripper cylinder, and 334 be guide holder, and 335 be guide post, and 336 be hook, and 337 be hook cylinder, and 4 be Fu Liao mechanism, 41
To comfort material ball-screw, 42 is comfort material cylinder, and 43 be material brush, and 5 be positioning mechanism, and 51 be positioning cylinder, and 52 be locating piece.
Specific embodiment
The invention will now be described in further detail with reference to the accompanying drawings.
Embodiment
As shown in Figure 1, the present embodiment provides a kind of charging of boat and palletizing apparatus, including transport mechanism 1, charge mechanism
12, Fu Liao mechanism 4, positioning mechanism 5, stacking mechanism 3, controller；
As shown in Fig. 2, transport mechanism 1 includes carrying roller pipeline 11 and the belt for being set to 11 input terminal of carrying roller pipeline
Machine, the feed belt 12 of belt feeder dock formation transmission assembly line with carrying roller pipeline 11；As shown in figure 3, carrying roller pipeline 11
It is passed through from charge mechanism 12；
As shown in Figure 3,4, charge mechanism 12 includes weighing platform 21, rack 22 and the blanking storehouse being set in rack 22
23, mould group 24, vibrator, charging tray, separate hopper 2827, hopper 28 are swung；Weighing sensor is set in weighing platform 21, and weighing is flat
Servo electric jar is arranged in 21 lower end of platform；Rack 22 is set to 21 top of weighing platform, and blanking storehouse 23 is set on weighing platform 21
Portion is simultaneously connect with mould group 24 is swung；Charging tray is set to 23 top of blanking storehouse and connect with vibrator；Charging tray includes being respectively arranged at
The left charging tray 25a and right charging tray 25b of 23 top feed mouth two sides of blanking storehouse, vibrator include respectively with left charging tray 25a, right charging tray
Separate hopper 2827 is arranged in left vibrator 26a, the right vibrator 26b of 25b connection between charging tray and hopper 28, separate hopper 2827
Top opening is adapted to hopper 28 with the conduit of 28 lower end of hopper and is set to charging tray top；Carrying roller pipeline 11 from weighing platform 21 with
It is passed through between blanking storehouse 23；
As shown in Figure 5,6, Fu Liao mechanism 4 includes comforting material ball-screw 41, comforting material cylinder 42, comfort material brush 43, wherein comforts material
The screw rod of ball-screw 41 is horizontally installed to rack 22 close to the side of 1 output end of transport mechanism, comfort the cylinder body of material cylinder 42 with
Comfort material ball-screw 41 nut connection, comfort material brush 43 be set to comfort material cylinder 42 lower part and with comfort material cylinder 42 piston rod
Connection；
Positioning mechanism 5 is set on carrying roller pipeline 11, as shown in fig. 7, positioning mechanism 5 includes being relatively arranged on support two-by-two
The positioning cylinder 51 of 11 two sides of roller pipeline and the L shape locating piece 52 being set on 51 piston rod of positioning cylinder；Wherein, localization machine
Structure 5 has three groups, and three groups of positioning mechanisms 5 are set in turn in the input end of carrying roller pipeline 11, carrying roller pipeline 11 is sent to and comforts
Expect 4 lower part of mechanism at and carrying roller pipeline 11 output；
As shown in Figure 8,9, stacking mechanism 3 include stacking platform 31, bracket 32, manipulator 33, bracket 32 include the longitudinal axis 321,
Horizontal axis 322, vertical pivot 323, wherein the longitudinal axis 321 extends to stacking platform 31, horizontal axis 322 and the longitudinal axis 321 by 1 output end of transport mechanism
By longitudinal translation, mechanism is connected, and vertical pivot 323 is flexibly connected by laterial translation mechanism with elevating mechanism with horizontal axis 322；Such as figure
10, shown in 11, manipulator 33 includes left clamp hand 331, right clamp hand 332, gripper cylinder 333, hook 336, hook cylinder 337,
In, left clamp hand 331 is fixedly installed in 323 lower end of vertical pivot, and left 331 upper end of clamp hand is arranged guide holder 334, is arranged on guide holder 334
Horizontal guide hole, horizontal guide hole is interior to be arranged guide post 335, and right clamp hand 332 is connect with horizontally-guided column 335；Gripper cylinder 333
Cylinder body and 323 lower end of vertical pivot be connected, the piston rod of gripper cylinder 333 is connect with right clamp hand 332；Hook 336 be and right clamp hand
The hinged L shape hook 336 in 332 outsides, the cylinder body of hook cylinder 337 and 323 lower end of vertical pivot are hinged, outside piston rod and hook 336
Side is hinged；Longitudinal translation mechanism in the present embodiment includes longitudinal rail group, gear band, servo motor, transmission shaft, longitudinal rail
Including parallel and longitudinally disposed left rail and right rail, the left end of horizontal axis 322, right end are flexibly connected with left rail, right rail respectively,
In, servo motor is set to right one side end of rail, and gear band is set to inside left rail and is connected with the left end of horizontal axis 322, transmission
One end of axis and the output end of servo motor connect, and the other end extends to left rail end and is sequentially connected with gear band；It is laterally flat
Telephone-moving structure is that horizontal lead screw drives mould group, and the screw both end of horizontal lead screw driving mould group is flexibly connected with 322 both ends of horizontal axis respectively,
The nut of horizontal lead screw driving mould group is slidably connected with horizontal axis 322；Elevating mechanism is that down-feed screw drives mould group, and down-feed screw drives
The screw both end of dynamic model group is flexibly connected with 323 both ends of vertical pivot respectively, and down-feed screw drives the nut of mould group and horizontal lead screw to drive
The nut of dynamic model group is connected；Pallet 311 is set on stacking platform 31, Roller conveyor 312 is set between pallet 311 and stacking platform 31
Controller and transport mechanism 1, charge mechanism 12, Fu Liao mechanism 4, positioning mechanism 5, stacking mechanism 3 company of communicating respectively
It connects；The present embodiment is using PLC as controller.
Boat, is transmitted by transport mechanism, passes through charging by boat charging provided in this embodiment and palletizing apparatus
Mechanism charges, and cooperates longitudinal translation mechanism, laterial translation mechanism, elevating mechanism that will charge by the manipulator of stacking mechanism
Boat afterwards is sent to stacking platform, and each mechanism can realize automatic charge and the stacking of boat with hop controller, and whole process can connect
Reforwarding row, continuous productive process.
The above embodiment of the present invention is only example to illustrate the invention, and is not to implementation of the invention
The restriction of mode.For those of ordinary skill in the art, other can also be made not on the basis of the above description
With the variation and variation of form.Here all embodiments can not be exhaustive.It is all to belong to technical solution of the present invention
Changes and variations that derived from are still in the scope of protection of the present invention.
Claims (10)
1. a kind of boat charging and palletizing apparatus, which is characterized in that including transport mechanism, the charger being set in transport mechanism
Structure, the stacking mechanism for being set to transport mechanism output end；The stacking mechanism includes stacking platform, bracket, manipulator, the bracket
Including the longitudinal axis, horizontal axis, vertical pivot, wherein the longitudinal axis extends to stacking platform, horizontal axis and the longitudinal axis by transport mechanism output end and put down by longitudinal
The connection of telephone-moving structure, vertical pivot are flexibly connected by laterial translation mechanism with elevating mechanism with horizontal axis, and the manipulator is set to vertical pivot
Lower end.
2. boat charging according to claim 1 and palletizing apparatus, which is characterized in that the charge mechanism includes that weighing is flat
Platform, rack and the blanking storehouse being set in rack swing mould group, vibrator, charging tray, hopper；Setting weighing in weighing platform
Servo electric jar is arranged in sensor, weighing platform lower end；Rack is set to weighing platform top, and blanking storehouse is set to weighing platform
Top is simultaneously connect with mould group is swung；Charging tray is set to blanking storehouse top and connect with vibrator；Hopper is set to charging tray top；It passes
Sending mechanism includes that several carrying rollers are arranged successively the carrying roller pipeline to be formed, and the carrying roller pipeline is horizontally disposed and from weighing platform
It is passed through between blanking storehouse.
3. boat charging according to claim 2 and palletizing apparatus, which is characterized in that it further include Fu Liao mechanism, it is described to comfort
Material mechanism includes comforting material ball-screw, comforting material cylinder, comfort material brush, wherein the screw rod for comforting material ball-screw is horizontally installed to rack
Close to the side of transport mechanism output end, the cylinder body for comforting material cylinder is connect with the nut for comforting material ball-screw, is comforted material brush and is set to
It comforts the lower part of material cylinder and is connect with the piston rod for comforting material cylinder.
4. boat charging according to claim 3 and palletizing apparatus, which is characterized in that it is fixed to be arranged on the carrying roller pipeline
Position mechanism, the positioning mechanism include being relatively arranged on the positioning cylinder of carrying roller pipeline two sides two-by-two and being set to positioning cylinder
L shape locating piece on piston rod；Wherein, positioning mechanism has three groups, and three groups of positioning mechanisms are set in turn in the defeated of carrying roller pipeline
Enter end, carrying roller pipeline is sent at Fu Liao mechanism lower part and the output end of carrying roller pipeline.
5. boat according to claim 1 charging and palletizing apparatus, which is characterized in that the manipulator include left clamp hand,
Right clamp hand, gripper cylinder, wherein the left clamp hand is fixedly installed in vertical pivot lower end, and guide holder, guide holder is arranged in left clamp hand upper end
Upper setting horizontal guide hole, horizontal guide hole is interior to be arranged guide post, and the right clamp hand is connect with horizontally-guided column；Gripper cylinder
Cylinder body and vertical pivot lower end are connected, and piston rod is connect with right clamp hand.
6. boat according to claim 5 charging and palletizing apparatus, which is characterized in that the manipulator further include hook with
Hook cylinder, the hook are to cut with scissors with L shape hook hinged on the outside of right clamp hand, the cylinder body of the hook cylinder and vertical pivot lower end
It connects, it is hinged on the outside of piston rod and hook.
7. boat charging according to claim 1 and palletizing apparatus, which is characterized in that the longitudinal translation mechanism includes vertical
Direction guiding rail group, gear band, servo motor, transmission shaft, longitudinal rail include parallel and longitudinally disposed left rail and right rail, the cross
The left end of axis, right end are flexibly connected with left rail, right rail respectively, wherein servo motor is set to right one side end of rail, and gear band is set
It is placed in inside left rail and is connected with the left end of horizontal axis, one end of transmission shaft and the output end of servo motor connect, and the other end extends
It is sequentially connected to left rail end and with gear band.
8. boat charging according to claim 1 and palletizing apparatus, which is characterized in that the laterial translation mechanism is level
Screw rod drives mould group, and the screw both end of the horizontal lead screw driving mould group is flexibly connected with horizontal axis both ends respectively, the horizontal silk
The nut of bar driving mould group is slidably connected with horizontal axis；The elevating mechanism is that down-feed screw drives mould group, and the down-feed screw drives
The screw both end of dynamic model group is flexibly connected with vertical pivot both ends respectively, and the nut and horizontal lead screw of the down-feed screw driving mould group drive
The nut of dynamic model group is connected.
9. boat charging according to claim 1 and palletizing apparatus, which is characterized in that stacking is arranged on the stacking platform
Roller conveyor is arranged between the pallet and stacking platform in disk.
10. boat charging according to claim 1 and palletizing apparatus, which is characterized in that it further include controller, the control
Device and charge mechanism, stacking mechanism distinguish communication connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910463415.5A CN110104449B (en) | 2019-05-30 | 2019-05-30 | Boat loading and stacking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910463415.5A CN110104449B (en) | 2019-05-30 | 2019-05-30 | Boat loading and stacking device |
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| Publication Number | Publication Date |
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| CN110104449A true CN110104449A (en) | 2019-08-09 |
| CN110104449B CN110104449B (en) | 2021-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910463415.5A Active CN110104449B (en) | 2019-05-30 | 2019-05-30 | Boat loading and stacking device |
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| CN111015611A (en) * | 2019-12-24 | 2020-04-17 | 浙江水利水电学院 | Storage device and method for integrally milling inducer |
| CN111747131A (en) * | 2020-06-08 | 2020-10-09 | 嘉兴市品鼎电器有限公司 | Full-automatic pile up neatly device of light guide plate |
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| Publication number | Publication date |
|---|---|
| CN110104449B (en) | 2021-02-23 |
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