CN110104449B - Boat loading and stacking device - Google Patents
Boat loading and stacking device Download PDFInfo
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- CN110104449B CN110104449B CN201910463415.5A CN201910463415A CN110104449B CN 110104449 B CN110104449 B CN 110104449B CN 201910463415 A CN201910463415 A CN 201910463415A CN 110104449 B CN110104449 B CN 110104449B
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- 230000007246 mechanism Effects 0.000 claims abstract description 145
- 238000013519 translation Methods 0.000 claims abstract description 24
- 239000000463 material Substances 0.000 claims description 69
- 238000005303 weighing Methods 0.000 claims description 34
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000000843 powder Substances 0.000 description 24
- 239000000428 dust Substances 0.000 description 6
- 238000009499 grossing Methods 0.000 description 6
- 238000007789 sealing Methods 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 229910002804 graphite Inorganic materials 0.000 description 2
- 239000010439 graphite Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000000498 ball milling Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003763 carbonization Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000011812 mixed powder Substances 0.000 description 1
- QGLKJKCYBOYXKC-UHFFFAOYSA-N nonaoxidotritungsten Chemical compound O=[W]1(=O)O[W](=O)(=O)O[W](=O)(=O)O1 QGLKJKCYBOYXKC-UHFFFAOYSA-N 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006722 reduction reaction Methods 0.000 description 1
- 210000002345 respiratory system Anatomy 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- UONOETXJSWQNOL-UHFFFAOYSA-N tungsten carbide Chemical compound [W+]#[C-] UONOETXJSWQNOL-UHFFFAOYSA-N 0.000 description 1
- 229910001930 tungsten oxide Inorganic materials 0.000 description 1
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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 invention provides a boat loading and stacking device, which comprises a conveying mechanism, a loading mechanism arranged on the conveying mechanism, and a stacking mechanism arranged at the output end of the conveying mechanism, wherein the loading mechanism is arranged on the conveying mechanism; the stacking mechanism comprises a stacking platform, a support and a manipulator, the support comprises a longitudinal shaft, a transverse shaft and a vertical shaft, the longitudinal shaft extends to the stacking platform from the output end of the conveying mechanism, the transverse shaft is connected with the longitudinal shaft through a longitudinal translation mechanism, the vertical shaft and the transverse shaft are movably connected with a lifting mechanism through a transverse translation mechanism, and the manipulator is arranged at the lower end of the vertical shaft. According to the boat loading and stacking device provided by the invention, the boat is conveyed through the conveying mechanism, the loading mechanism is used for loading, the loaded boat is conveyed to the stacking platform through the mechanical arm of the stacking mechanism in cooperation with the longitudinal translation mechanism, the transverse translation mechanism and the lifting mechanism, all the mechanisms are matched with the controller to realize automatic loading and stacking of the boat, and the whole process can be operated continuously and is in line production.
Description
Technical Field
The invention mainly relates to automatic weighing of powder and automatic stacking of a boat in the field of hard alloy, in particular to an automatic weighing and stacking workstation for powder.
Background
The hard alloy powder material mainly comprises tungsten oxide powder, tungsten carbide powder, mixed powder and the like, different powder materials are prepared by a series of processes such as oxidation, reduction, carbonization, ball milling and the like, the powder materials need to be weighed in the process of preparing different powder materials, boat vessels with good material symmetry are stacked according to process requirements, the powder materials are manually loaded into the boat vessels by the existing processing equipment, the manual weighing and the manual stacking are carried out, the environmental pollution is serious, the harm to a human respiratory system is great, the labor intensity is high, the production efficiency is low, the weighing error is large, the stacking is irregular, an automatic weighing stacking work station capable of reducing manual intervention is needed, and the production efficiency is improved.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a boat loading and stacking apparatus.
In order to achieve the above purpose, the invention adopts the technical scheme that: a boat loading and stacking device comprises a conveying mechanism, a loading mechanism arranged on the conveying mechanism, and a stacking mechanism arranged at the output end of the conveying mechanism; the stacking mechanism comprises a stacking platform, a support and a manipulator, the support comprises a longitudinal shaft, a transverse shaft and a vertical shaft, the longitudinal shaft extends to the stacking platform from the output end of the conveying mechanism, the transverse shaft is connected with the longitudinal shaft through a longitudinal translation mechanism, the vertical shaft and the transverse shaft are movably connected with a lifting mechanism through a transverse translation mechanism, and the manipulator is arranged at the lower end of the vertical shaft.
When the stacking mechanism is used, an empty boat is firstly placed on the running conveying mechanism, the boat is conveyed to the loading mechanism to be loaded and then conveyed to the output end of the conveying mechanism, the boat is clamped by the manipulator of the stacking mechanism, the transverse shaft and the manipulator are driven by the longitudinal translation mechanism to be conveyed to the stacking platform along the longitudinal shaft, and loading and stacking of the boat can be realized by repeating the operations.
Specifically, the charging mechanism comprises a weighing platform, a rack, and a blanking bin, a swing module, a vibrator, a charging tray and a hopper which are arranged on the rack; a weighing sensor is arranged in the weighing platform, and a servo electric cylinder is arranged at the lower end of the weighing platform; the frame is arranged on the upper part of the weighing platform, and the blanking bin is arranged on the upper part of the weighing platform and connected with the swing module; the material tray is arranged at the upper part of the blanking bin and is connected with the vibrator; the hopper is arranged at the upper part of the material tray; the conveying mechanism comprises a plurality of carrier roller conveying lines formed by sequentially arranging carrier rollers, and the carrier roller conveying lines are horizontally arranged and penetrate through the space between the weighing platform and the blanking bin; conveying an empty boat to the upper part of a weighing platform by a carrier roller conveying line, starting a servo electric cylinder to drive the weighing platform to ascend and support the empty boat to ascend to a blanking port at the lower end of a blanking bin, enabling a blanking port of the blanking bin to be close to the inner bottom of the boat to reduce powder dust to the maximum extent, enabling powder to fall into a charging tray from a hopper, driving the charging tray to vibrate by a vibrator, enabling the powder in the charging tray to fall into the blanking bin and fall into the empty boat from the blanking port in a shaking process, starting a swinging module to drive the blanking bin to transversely and reciprocally swing so as to uniformly scatter the powder into the boat, enabling the flatness of the powder to be better by the swinging module, controlling the weighing platform to slowly descend according to the increase of the powder in the boat so as to keep a certain gap between the blanking port at the lower end of the blanking bin and a powder layer in the boat, controlling the vibrator to stop vibrating when the weight, the weighing platform drives the boat with full materials to descend to the carrier roller conveying line, the boat with full materials is conveyed to the output end of the conveying mechanism along the carrier roller conveying line and conveyed to the stacking platform through the stacking mechanism, and automatic weighing and conveying of powder can be completed immediately by repeating the operation; furthermore, the input end of the carrier roller conveying line is provided with a belt conveyor, and a conveying belt of the belt conveyor is in butt joint with the carrier roller conveying line to form a conveying production line.
The blanking bin is an inverted cone-shaped blanking bin with a large upper end feeding hole and a small lower end blanking hole, the charging tray comprises a left charging tray and a right charging tray which are respectively arranged on two sides of the feeding hole at the top of the blanking bin, the vibrator comprises a left vibrator and a right vibrator which are respectively connected with the left charging tray and the right charging tray, a distributing hopper is arranged between the charging tray and the hopper, the top opening of the distributing hopper is matched with a guide pipe at the lower end of the hopper, a distributing pipe which respectively corresponds to the left charging tray and the right charging tray is arranged at the lower end of the distributing hopper, a guide pipe can be selectively arranged at the bottom opening of the hopper according to the height difference between the hopper and the distributing hopper, one end of the guide pipe is communicated with the lower; more optimally, the upper end of the material tray is provided with a material tray sealing cover, dust is prevented from flying through the sealing cover, and other impurities can be prevented from falling into the material tray, so that the purity of the powder is ensured; furthermore, the charging tray sealing cover extends from the upper end of the left charging tray to the upper end of the right charging tray.
Optimally, the charging tray can be arranged horizontally or obliquely, and the angle of the charging tray can be adjusted according to the flowability and the field actual condition of the powder.
Optimized, blanking bin lower extreme blanking mouth department sets up the dust cover, the dust cover can be along with the swing of blanking bin and for the horizontal elastic expansion of cylinder transfer chain, guarantees through the dust cover that the powder weighs the in-process raise dust and reduces to the minimum.
Further, the boat loading and stacking device also comprises a material stroking mechanism, wherein the material stroking mechanism comprises a material stroking ball screw, a material stroking cylinder and a material stroking brush, wherein, a screw rod of the material stroking ball screw is horizontally arranged at one side of the frame close to the output end of the transmission mechanism, a cylinder body of the material stroking cylinder is connected with a nut of the material stroking ball screw, a material stroking brush is arranged at the lower part of the material stroking cylinder and is connected with a piston rod of the material stroking cylinder, when the boat full of materials reaches the lower part of the material stroking mechanism, the material stroking cylinder drives the material stroking brush to descend to a position close to the surface of the powder of the boat, the material stroking ball screw is started and drives the material stroking brush to horizontally move along the surface of the boat, therefore, the upper surface of the powder in the boat is smoothed, specifically, the material smoothing ball screw is driven by the servo motor, the servo motor rotates and drives the screw rod to rotate so as to drive the nut to reciprocate along the screw rod, and the material brush horizontally reciprocates along with the nut so as to smooth the powder in the boat.
Optimally, a positioning mechanism is arranged on the carrier roller conveying line, and the positioning mechanism comprises positioning cylinders which are arranged on two sides of the carrier roller conveying line in a pairwise opposite mode and L-shaped positioning blocks arranged on piston rods of the positioning cylinders; the positioning cylinder drives the positioning block to transversely extend and retract relative to the carrier roller conveying line, when the boat needs to be positioned to a corresponding position in the flowing process of the boat through the carrier roller conveying line, piston rods of the corresponding positioning cylinders on two sides of the assembly line extend relatively, then two ends of the boat are clamped in the L-shaped bayonets of the positioning block, and therefore the boat is fixed at a specific position, and when the boat needs to be loosened, the piston rods of the positioning cylinders retract to loosen the boat; the positioning mechanisms are sequentially arranged at the input end of the carrier roller conveying line, the lower part of the material smoothing mechanism conveyed by the carrier roller conveying line and the output end of the carrier roller conveying line; when the previous empty boat reaches the stabilizing platform, a positioning mechanism close to the weighing platform starts to clamp the next empty boat, and after the previous boat is fully filled and then is sent away, the positioning mechanism close to the weighing platform releases the next empty boat and clamps the next empty boat; when the boat full of materials reaches the lower part of the material smoothing mechanism, a positioning mechanism at the lower part of the material smoothing mechanism is started to clamp the boat, and after the material smoothing mechanism is started to smooth the powder in the boat, the positioning mechanism at the lower part of the material smoothing mechanism is loosened to clamp the next boat full of materials; and when the vertical shaft drives the manipulator to clamp the boat, the positioning mechanism loosens the boat and clamps the next full boat to be conveyed.
The manipulator comprises a left clamping hand, a right clamping hand and a clamping cylinder, wherein the left clamping hand is fixedly arranged at the lower end of the vertical shaft, a guide seat is arranged at the upper end of the left clamping hand, a horizontal guide hole is formed in the guide seat, a guide post is arranged in the horizontal guide hole, and the right clamping hand is connected with the horizontal guide post; the cylinder body of the clamping cylinder is fixedly connected with the lower end of the vertical shaft, and the piston rod is connected with the right clamping hand; after the boat with full materials is conveyed to the output end of the conveying mechanism, the vertical shaft is controlled to drive the manipulator to move to the upper end of the boat, the clamping cylinder extends and drives the right clamping hand to be far away from the left clamping hand, the distance between the left clamping hand and the right clamping hand is larger than the width of the boat, the left clamping hand and the right clamping hand are in a loose state, then the vertical shaft drives the manipulator in the loose state to descend to the outside of the boat, the clamping cylinder contracts and drives the right clamping hand to be close to the left clamping hand, so that the boat is clamped, and then the vertical shaft is controlled to ascend and convey the boat to the stacking platform under the driving of the longitudinal translation mechanism; during clamping or loosening, the guide post ensures the telescopic stability of the clamping cylinder.
Preferably, the boat is made of graphite, the surface of the boat is smooth, the wall of the boat is thin, so that the clamping force of the manipulator cannot be too large, and the clamping stability is ensured; in order to further prevent the vertical shaft from falling off in the clamping manipulator in the boat conveying process, when the right clamping hand is close to the left clamping hand and clamps the boat tightly, the hook supporting cylinder is started, the piston rod of the hook supporting cylinder extends and drives the hook to rotate to the lower part of the boat, so that the bottom of the boat is supported, the grabbing stability is guaranteed, when the boat is required to be put down, the piston rod of the hook supporting cylinder contracts and pulls the hook to one side of the right clamping hand, and then the piston rod of the clamping cylinder extends and drives the right clamping hand to loosen the boat.
Specifically, the longitudinal translation mechanism comprises a longitudinal guide rail group, a gear belt, a servo motor and a transmission shaft, wherein the longitudinal guide rail comprises a left rail and a right rail which are parallel and longitudinally arranged, and the left end and the right end of the transverse shaft are movably connected with the left rail and the right rail respectively; and a drag chain is further arranged on one side of the right rail, one end of the support chain is fixedly connected with the right rail, the other end of the support chain is fixedly connected with the right end of the transverse shaft, and an electric wire and an air pipe used by the longitudinal translation mechanism are integrated in the drag chain.
Specifically, the horizontal translation mechanism is a horizontal lead screw driving module, two ends of a lead screw of the horizontal lead screw driving module are respectively movably connected with two ends of a transverse shaft, a nut of the horizontal lead screw driving module is connected with the transverse shaft in a sliding manner, and specifically, the horizontal lead screw driving module can adopt a sliding table module which is driven by a servo motor and is common in the prior art; the lifting mechanism is a vertical screw rod driving module, two ends of a screw rod of the vertical screw rod driving module are respectively movably connected with two ends of a vertical shaft, a nut of the vertical screw rod driving module is fixedly connected with a nut of the horizontal screw rod driving module, and specifically, the vertical screw rod driving module can adopt a servo ball screw which is driven by a servo motor and is common in the prior art; when the vertical shaft needs to move along the transverse shaft, a motor of the horizontal lead screw driving module is started, the motor drives a lead screw of the horizontal lead screw driving module to rotate, and a nut of the horizontal lead screw driving module horizontally moves along the lead screw so as to drive the vertical shaft to move along the transverse shaft; when the vertical shaft needs to move vertically, a motor of the vertical screw rod driving module is started, the motor drives a screw rod of the vertical screw rod driving module to rotate and vertically move relative to a nut of the vertical screw rod driving module, and therefore the vertical shaft is driven to move vertically; similarly, one side of the horizontal shaft and one side of the vertical shaft are respectively provided with a drag chain, and the electric wire air pipes used by the horizontal translation mechanism and the lifting mechanism are also integrated in the drag chain.
Specifically, set up the pile up neatly dish on the pile up neatly platform, the pile up neatly dish is the graphite plate, set up the cylinder line between pile up neatly dish and the pile up neatly platform, move the boat dish that full material to the pile up neatly dish through the manipulator and put, the cylinder line passes through motor drive, and motor drive cylinder line rotates and is carried empty pile up neatly to the pile up neatly platform on to the pile up neatly dish that will pile up full boat dish spreads from the pile up neatly platform, and the used cylinder of cylinder line is the rubber bearing roller, drives the steady transportation of cylinder line through motor and chain drive.
The automatic material feeding and stacking device is characterized by further comprising a controller, wherein the controller is in communication connection with the material feeding mechanism, the stacking mechanism and the material stroking mechanism respectively, and the controller controls the starting and stopping of the mechanisms, so that automatic material feeding and stacking of the boat are realized, the whole process can be continuously operated and is in line production, the controller can adopt a PLC (programmable logic controller), and the PLC is further connected with the control panel and inputs instructions through the control panel.
Specifically, the support of the stacking mechanism is a square gantry support, and protective nets are arranged around the support in the lateral direction.
The invention has the beneficial effects that:
according to the boat loading and stacking device provided by the invention, the boat is conveyed through the conveying mechanism, the loading mechanism is used for loading, the loaded boat is conveyed to the stacking platform through the mechanical arm of the stacking mechanism in cooperation with the longitudinal translation mechanism, the transverse translation mechanism and the lifting mechanism, all the mechanisms are matched with the controller to realize automatic loading and stacking of the boat, and the whole process can be operated continuously and is in line production.
Drawings
Fig. 1 is a schematic view of a boat loading and palletizing apparatus provided in the present invention;
FIG. 2 is a schematic view of the structure of the conveying mechanism;
FIG. 3 is a schematic view of the charging mechanism;
FIG. 4 is a rear view of the charging mechanism;
FIG. 5 is a top view of the loading mechanism and idler conveyor line;
fig. 6 is a side view of the charging mechanism and idler conveyor line;
FIG. 7 is an enlarged view taken at A in FIG. 3;
FIG. 8 is a schematic illustration of a palletizing mechanism;
FIG. 9 is a front elevational view of the stacker mechanism configuration;
FIG. 10 is an enlarged view of FIG. 9 at B;
FIG. 11 is an enlarged sectional view taken at B in FIG. 9;
the automatic feeding device comprises a conveying mechanism 1, a carrier roller conveying line 11, a conveying belt 12, a charging mechanism 2, a weighing platform 21, a rack 22, a blanking bin 23, a swinging module 24, a left material tray 25a, a right material tray 25b, a left vibrator 26a, a right vibrator 26b, a separating hopper 27, a hopper 28, a stacking mechanism 3, a stacking table 31, a stacking tray 311, a roller line 312, a support 32, a longitudinal axis 321, a transverse axis 322, a vertical axis 323, a manipulator 33, a left gripper 331, a right gripper 332, a clamping cylinder 333, a guide seat 334, a guide column 335, a support hook 336, a support hook cylinder 337, a material stroking mechanism 4, a stroking ball screw 41, a stroking cylinder 42, a material stroking cylinder 43, a material brush 5, a positioning mechanism 51, and a positioning cylinder 52.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Examples
As shown in fig. 1, the embodiment provides a boat loading and stacking apparatus, which includes a conveying mechanism 1, a loading mechanism 12, a stroking mechanism 4, a positioning mechanism 5, a stacking mechanism 3, and a controller;
as shown in fig. 2, the conveying mechanism 1 includes a carrier roller conveying line 11 and a belt conveyor arranged at an input end of the carrier roller conveying line 11, and a conveying belt 12 of the belt conveyor is butted with the carrier roller conveying line 11 to form a conveying line; as shown in fig. 3, the idler conveyor line 11 passes from the charging mechanism 12;
as shown in fig. 3 and 4, the loading mechanism 12 includes a weighing platform 21, a frame 22, and a blanking bin 23, a swing module 24, a vibrator, a tray, a material separating hopper 2827, and a hopper 28, which are arranged on the frame 22; a weighing sensor is arranged in the weighing platform 21, and a servo electric cylinder is arranged at the lower end of the weighing platform 21; the frame 22 is arranged on the upper part of the weighing platform 21, and the blanking bin 23 is arranged on the upper part of the weighing platform 21 and connected with the swing module 24; the material tray is arranged at the upper part of the blanking bin 23 and is connected with the vibrator; the charging tray comprises a left charging tray 25a and a right charging tray 25b which are respectively arranged at two sides of the top feeding hole of the blanking bin 23, the vibrator comprises a left vibrator 26a and a right vibrator 26b which are respectively connected with the left charging tray 25a and the right charging tray 25b, a material distributing hopper 2827 is arranged between the charging tray and the charging hopper 28, and the top opening of the material distributing hopper 2827 and the guide pipe adaptive charging hopper 28 at the lower end of the charging hopper 28 are arranged at the upper part of the charging tray; the carrier roller conveying line 11 penetrates through the space between the weighing platform 21 and the blanking bin 23;
as shown in fig. 5 and 6, the stroking mechanism 4 includes a stroking ball screw 41, a stroking cylinder 42, and a stroking brush 43, wherein a screw of the stroking ball screw 41 is horizontally installed at one side of the frame 22 close to the output end of the conveying mechanism 1, a cylinder body of the stroking cylinder 42 is connected with a nut of the stroking ball screw 41, and the stroking brush 43 is arranged at the lower part of the stroking cylinder 42 and connected with a piston rod of the stroking cylinder 42;
the positioning mechanism 5 is arranged on the carrier roller conveying line 11, and as shown in fig. 7, the positioning mechanism 5 comprises positioning cylinders 51 arranged on two sides of the carrier roller conveying line 11 in a pairwise opposite manner and L-shaped positioning blocks 52 arranged on piston rods of the positioning cylinders 51; the three groups of positioning mechanisms 5 are sequentially arranged at the input end of the carrier roller conveying line 11, the lower part of the material stroking mechanism 4 conveyed by the carrier roller conveying line 11 and the output end of the carrier roller conveying line 11;
as shown in fig. 8 and 9, the palletizing mechanism 3 comprises a palletizing table 31, a support 32 and a manipulator 33, wherein the support 32 comprises a longitudinal shaft 321, a transverse shaft 322 and a vertical shaft 323, the longitudinal shaft 321 extends from the output end of the conveying mechanism 1 to the palletizing table 31, the transverse shaft 322 is connected with the longitudinal shaft 321 through a longitudinal translation mechanism, and the vertical shaft 323 and the transverse shaft 322 are movably connected with a lifting mechanism through a transverse translation mechanism; as shown in fig. 10 and 11, the manipulator 33 includes a left clamping hand 331, a right clamping hand 332, a clamping cylinder 333, a support hook 336, and a support hook cylinder 337, wherein the left clamping hand 331 is fixedly mounted at the lower end of the vertical shaft 323, a guide seat 334 is disposed at the upper end of the left clamping hand 331, a horizontal guide hole is disposed on the guide seat 334, a guide post 335 is disposed in the horizontal guide hole, and the right clamping hand 332 is connected with the horizontal guide post 335; the cylinder body of the clamping cylinder 333 is fixedly connected with the lower end of the vertical shaft 323, and the piston rod of the clamping cylinder 333 is connected with the right clamping hand 332; the supporting hook 336 is an L-shaped supporting hook 336 hinged with the outer side of the right clamping hand 332, the cylinder body of the supporting hook cylinder 337 is hinged with the lower end of the vertical shaft 323, and the piston rod is hinged with the outer side of the supporting hook 336; the longitudinal translation mechanism in the embodiment comprises a longitudinal guide rail group, a gear belt, a servo motor and a transmission shaft, wherein the longitudinal guide rail comprises a left rail and a right rail which are parallel and longitudinally arranged, and the left end and the right end of a transverse shaft 322 are movably connected with the left rail and the right rail respectively; the transverse translation mechanism is a horizontal screw rod driving module, two ends of a screw rod of the horizontal screw rod driving module are respectively movably connected with two ends of the transverse shaft 322, and a nut of the horizontal screw rod driving module is in sliding connection with the transverse shaft 322; the lifting mechanism is a vertical screw rod driving module, two ends of a screw rod of the vertical screw rod driving module are respectively movably connected with two ends of a vertical shaft 323, and a nut of the vertical screw rod driving module is fixedly connected with a nut of the horizontal screw rod driving module; a stacking disc 311 is arranged on the stacking platform 31, and a roller line 312 is arranged between the stacking disc 311 and the stacking platform 31
The controller is in communication connection with the conveying mechanism 1, the charging mechanism 12, the material stroking mechanism 4, the positioning mechanism 5 and the stacking mechanism 3 respectively; the present embodiment employs a PLC as the controller.
The boat that this embodiment provided is loaded and pile up neatly device conveys the boat through transport mechanism, loads through charging mechanism, and the boat after will loading through pile up neatly mechanism's the vertical translation mechanism of manipulator cooperation, horizontal translation mechanism, elevating system conveys to the pile up neatly platform, and each mechanism cooperates the automatic feeding and the pile up neatly of controller can realize the boat, but whole process continuous operation, flow process.
The above examples of the present invention are merely illustrative of the present invention and are not intended to limit the embodiments of the present invention. Variations and modifications in other variations will occur to those skilled in the art upon reading the foregoing description. Not all embodiments are exhaustive. All obvious changes and modifications of the present invention are within the scope of the present invention.
Claims (9)
1. A boat loading and stacking device is characterized by comprising a conveying mechanism, a loading mechanism arranged on the conveying mechanism, and a stacking mechanism arranged at the output end of the conveying mechanism; the stacking mechanism comprises a stacking platform, a support and a manipulator, the support comprises a longitudinal shaft, a transverse shaft and a vertical shaft, the longitudinal shaft extends from the output end of the conveying mechanism to the stacking platform, the transverse shaft is connected with the longitudinal shaft through a longitudinal translation mechanism, the vertical shaft and the transverse shaft are movably connected with a lifting mechanism through a transverse translation mechanism, and the manipulator is arranged at the lower end of the vertical shaft; the charging mechanism comprises a weighing platform, a rack, and a blanking bin, a swing module, a vibrator, a charging tray and a hopper which are arranged on the rack; a weighing sensor is arranged in the weighing platform, and a servo electric cylinder is arranged at the lower end of the weighing platform; the frame is arranged on the upper part of the weighing platform, and the blanking bin is arranged on the upper part of the weighing platform and connected with the swing module; the material tray is arranged at the upper part of the blanking bin and is connected with the vibrator; the hopper is arranged at the upper part of the material tray; the conveying mechanism comprises a plurality of carrier roller conveying lines formed by sequentially arranging carrier rollers, and the carrier roller conveying lines are horizontally arranged and penetrate through the space between the weighing platform and the blanking bin.
2. The boat loading and stacking device of claim 1, further comprising a material stroking mechanism, wherein the material stroking mechanism comprises a material stroking ball screw, a material stroking cylinder and a material stroking brush, the screw of the material stroking ball screw is horizontally arranged on one side of the frame close to the output end of the conveying mechanism, the cylinder body of the material stroking cylinder is connected with a nut of the material stroking ball screw, and the material stroking brush is arranged at the lower part of the material stroking cylinder and is connected with a piston rod of the material stroking cylinder.
3. The boat loading and stacking apparatus of claim 2, wherein the carrier roller conveyor line is provided with a positioning mechanism, the positioning mechanism comprises positioning cylinders arranged on two sides of the carrier roller conveyor line in a pairwise opposite manner and L-shaped positioning blocks arranged on piston rods of the positioning cylinders; wherein, positioning mechanism has three groups, and three positioning mechanism of group set gradually in the input of bearing roller transfer chain, bearing roller transfer chain conveying to smooths feed mechanism lower part department and the output of bearing roller transfer chain.
4. The boat loading and stacking apparatus of claim 1, wherein the manipulator comprises a left gripper, a right gripper and a clamping cylinder, wherein the left gripper is fixedly mounted at a lower end of the vertical shaft, a guide seat is arranged at an upper end of the left gripper, a horizontal guide hole is formed in the guide seat, a guide post is arranged in the horizontal guide hole, and the right gripper is connected with the horizontal guide post; the cylinder body of the clamping cylinder is fixedly connected with the lower end of the vertical shaft, and the piston rod is connected with the right clamping hand.
5. The boat loading and palletizing device according to claim 4, wherein the manipulator further comprises a support hook and a support hook cylinder, the support hook is an L-shaped support hook hinged to the outer side of the right clamping hand, a cylinder body of the support hook cylinder is hinged to the lower end of the vertical shaft, and a piston rod is hinged to the outer side of the support hook.
6. The boat loading and palletizing device according to claim 1, wherein the longitudinal translation mechanism comprises a longitudinal guide rail set, a gear belt, a servo motor and a transmission shaft, the longitudinal guide rail comprises a left rail and a right rail which are parallel and longitudinally arranged, the left end and the right end of the transverse shaft are movably connected with the left rail and the right rail respectively, the servo motor is arranged at one side end of the right rail, the gear belt is arranged inside the left rail and fixedly connected with the left end of the transverse shaft, one end of the transmission shaft is connected with an output end of the servo motor, and the other end of the transmission shaft extends to the end of the left rail and is in transmission connection with the gear belt.
7. The boat loading and palletizing device according to claim 1, wherein the transverse translation mechanism is a horizontal screw rod driving module, two ends of a screw rod of the horizontal screw rod driving module are movably connected with two ends of a transverse shaft respectively, and a nut of the horizontal screw rod driving module is slidably connected with the transverse shaft; the lifting mechanism is a vertical screw rod driving module, two ends of a screw rod of the vertical screw rod driving module are movably connected with two ends of a vertical shaft respectively, and a nut of the vertical screw rod driving module is fixedly connected with a nut of the horizontal screw rod driving module.
8. The boat loading and palletizing device according to claim 1, wherein a pallet is arranged on the palletizing table, and a roller line is arranged between the pallet and the palletizing table.
9. The boat loading and palletizing device as recited in claim 1, further comprising a controller, wherein the controller is in communication with each of the loading mechanism and the palletizing mechanism.
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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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| CN110104449A CN110104449A (en) | 2019-08-09 |
| CN110104449B true CN110104449B (en) | 2021-02-23 |
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| CN201910463415.5A Active CN110104449B (en) | 2019-05-30 | 2019-05-30 | Boat loading and stacking device |
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| CN111015611B (en) * | 2019-12-24 | 2021-09-17 | 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 | A light guide plate automatic palletizing device |
| CN115465646B (en) * | 2022-09-02 | 2024-11-15 | 江苏科技大学 | A stacking device and method for stacking small strip parts |
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| CN110104449A (en) | 2019-08-09 |
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