CN110254830A - A kind of Full automatic stacking system - Google Patents

A kind of Full automatic stacking system Download PDF

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Publication number
CN110254830A
CN110254830A CN201910589627.8A CN201910589627A CN110254830A CN 110254830 A CN110254830 A CN 110254830A CN 201910589627 A CN201910589627 A CN 201910589627A CN 110254830 A CN110254830 A CN 110254830A
Authority
CN
China
Prior art keywords
stacking
return
pallet
empty pallets
conveyer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910589627.8A
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Chinese (zh)
Inventor
李康
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xuzhou Qian Dun Intelligent Technology Co Ltd
Original Assignee
Xuzhou Qian Dun Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xuzhou Qian Dun Intelligent Technology Co Ltd filed Critical Xuzhou Qian Dun Intelligent Technology Co Ltd
Publication of CN110254830A publication Critical patent/CN110254830A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Abstract

The invention discloses a kind of Full automatic stacking systems, including return of empty pallets distribution portion, stacking part and stacking electric control part；Stacking part includes palletizing apparatus and stacking pallet conveyer；Palletizing apparatus includes palletizing mechanical arm and the palletizing mechanical arm that is mounted in palletizing mechanical arm minor details；Return of empty pallets distribution portion includes return of empty pallets conveying device and return of empty pallets storehouse, and the front of stacking pallet conveyer is arranged in return of empty pallets conveying device, the return of empty pallets conveyer including being mounted on return of empty pallets conveying chassis and pallet jacking redoiming conveyor；Stacking electric control part includes stacking control loop, return of empty pallets dispensing loop.This Full automatic stacking system can realize that pallet is able to achieve automatic supply on multiple stations under the premise of limited space, especially suitable for carrying out concentration stacking to bulk article.

Description

A kind of Full automatic stacking system
Technical field
The present invention relates to a kind of palletizing system, specifically a kind of system for being suitable for carrying out automatic stacking to workpiece belongs to Automatic producing technology field.
Background technique
The core of automated production is ordered into production, currently, well known robot palletizing system is mostly to realize function list One stacking function, with the continuous development of social productive forces, the need of various novel and multifunctional automation stacking transportation systems Ask and be continuously increased, integrate shaping, detection, weighing, screening, stacking automatic machinery people palletizing system exactly should actually give birth to Produce need and generate.
Tray mode industrial at present common are the possible also some irregular tray forms of positive tetragonal body, In, tray mode is the stacking form of pallet, which determines how object is put in pallet.But due to industrial practical Application scenarios are complicated and changeable, therefore user may require that the tray form that can adapt to itself practical application scene.
Pallet is distributed to be normally located at automatically and be piled up near mechanical arm in the prior art, and in order to improve efficiency, is led to Frequently with the mode of multiple stations, how under the premise of limited space to realize that pallet is able to achieve automatic benefit on multiple stations It gives, and then realizing makes the process of stacking can adapt to itself practical application scene, is the skill that those skilled in the art need to solve Art problem.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of Full automatic stacking system, can space by Realize that pallet is able to achieve automatic supply on multiple stations under the premise of limit, especially suitable for carrying out concentration code to bulk article Pile.
To achieve the goals above, this Full automatic stacking system includes return of empty pallets distribution portion, stacking part and stacking Electric control part；
Stacking part includes palletizing apparatus and stacking pallet conveyer；Palletizing apparatus includes palletizing mechanical arm and is mounted on code Palletizing mechanical arm in pile mechanical arm minor details, palletizing mechanical arm include at least X-coordinate driving mechanism, Y-coordinate driving mechanism and Z and sit Driving mechanism is marked, palletizing mechanical is equipped with multiple negative pressure sucker structures on hand, and negative pressure sucker structure passes through pipeline and negative pressure control valve Group is connect with negative pressure source；Stacking pallet conveyer is arranged close to palletizing apparatus and stacking pallet conveyer conveys setting forwards, Stacking pallet conveyer includes that be mounted on stacking pallet conveyer chassis multiple have roll drive mechanism, front-rear direction The rolling support for rolling setting carries component, and rolling support and carrying member driving mechanism is the chain drive structure that driving motor drives, stacking support The rear end of disk conveyer is equipped with pallet limiting component；
Return of empty pallets distribution portion includes return of empty pallets conveying device and return of empty pallets storehouse；The setting of return of empty pallets conveying device In the front of stacking pallet conveyer, including the return of empty pallets conveyer being mounted on return of empty pallets conveying chassis and pallet jacking Redoiming conveyor, return of empty pallets conveyer convey setting in left-right direction, and return of empty pallets conveyer includes that front and back is symmetrically arranged Two groups have the return of empty pallets transfer unit for being driven driving mechanism, height of the conveyor surface of return of empty pallets transfer unit apart from ground Size carries height dimension of the support section of roller-way apart from ground no more than the support of stacking pallet conveyer, return of empty pallets conveyer Output end position also is provided with pallet limiting component, pallet jacking redoiming conveyor be arranged in stacking pallet conveyer front, And be located between two groups of return of empty pallets transfer units, pallet jacking redoiming conveyor includes pallet carrier and carrier elevating mechanism, Pallet carrier is mounted on return of empty pallets by carrier elevating mechanism and conveys on chassis, and pallet carrier has rolling drive equipped with multiple Motivation structure, the rolling support that rolls setting along the longitudinal direction carry component, rolling support and carrying member driving mechanism is that driving motor drives Chain drive structure；Return of empty pallets storehouse sets up and is mounted on the input end position of return of empty pallets conveyer, and return of empty pallets storehouse includes The pallet lift clamp assemblies being mounted on pallet magazine chassis, pallet lift clamp assemblies include vertical plane towards in the front-back direction Lifting vertical plate and the pallet clamping limb being left and right symmetrically arranged on lifting vertical plate, lifting vertical plate are mounted on by vertical plate elevating mechanism On pallet magazine chassis, pallet clamping limb is mounted on lifting vertical plate by clamping limb distance regulating mechanism；
The stacking electric control part includes stacking controller, stacking control loop, return of empty pallets dispensing loop, stacking control Device processed respectively with the coordinate driving mechanism of palletizing mechanical arm, the vacuum cavitations valve group of palletizing mechanical arm, stacking pallet conveyer It rolls support and carries member driving mechanism, the transmission driving mechanism of return of empty pallets conveyer, the load component driving of the rolling support of pallet carrier Mechanism, pallet jacking the carrier elevating mechanism of redoiming conveyor, the vertical plate elevating mechanism in return of empty pallets storehouse, return of empty pallets storehouse folder The electrical connection of gripping arm distance regulating mechanism.
As a further improvement of the present invention, stacking pallet conveyer is symmetrical set as two pieces, palletizing apparatus It is arranged between two pieces stacking pallet conveyer.
As a further improvement of the present invention, palletizing mechanical arm is mounted on palletizing mechanical by C coordinate rotation assembly In arm minor details, C coordinate rotation assembly is electrically connected with stacking controller.
As one embodiment of the present invention, rolling support and carrying component is that support carries roller, and multiple supports carry roller and put down along the longitudinal direction Row, which is laid with, forms support load roller-way.
As one embodiment of the present invention, rolling support and carrying component is the conveyer belt with roller station.
As one embodiment of the present invention, return of empty pallets transfer unit is driving chain structure.
As one embodiment of the present invention, return of empty pallets transfer unit is live roller structure.
Compared with prior art, this Full automatic stacking system may be implemented due to being equipped with return of empty pallets distribution portion Automatic supply of the pallet on station provides stacking condition to pile up；It, can due to being equipped with the stacking part including mechanical arm To realize automatic stacking；Since the return of empty pallets conveying device of return of empty pallets distribution portion includes height dimension no more than stacking support The return of empty pallets transfer unit and pallet of disk conveyer support section jack redoiming conveyor, therefore return of empty pallets conveying device not shadow The transport forward for ringing the pallet after completing stacking can realize that pallet can be real on multiple stations under the premise of limited space Now automatic supply, especially suitable for carrying out concentration stacking to bulk article.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of palletizing apparatus of the present invention；
Fig. 2 is the three dimensional structure diagram at left back visual angle of the present invention；
Fig. 3 is the three dimensional structure diagram at left front visual angle of the present invention.
In figure: 11, palletizing mechanical arm, 12, palletizing mechanical arm, 2, stacking pallet conveyer, 3, return of empty pallets conveying device, 31, return of empty pallets conveyer, 32, pallet jacking redoiming conveyor, 33, pallet carrier, 4, return of empty pallets storehouse, 41, lifting vertical plate, 42, pallet clamping limb.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
This Full automatic stacking system includes return of empty pallets distribution portion, stacking part and stacking electric control part；
Stacking part includes palletizing apparatus and stacking pallet conveyer 2；As shown in Figure 1, palletizing apparatus includes palletizing mechanical Arm 11 and the palletizing mechanical arm 12 being mounted in 11 minor details of palletizing mechanical arm, palletizing mechanical arm 11 include at least X-coordinate driving machine Structure, Y-coordinate driving mechanism and Z coordinate driving mechanism, palletizing mechanical arm 12 are equipped with multiple absorption and grab structure negative pressure sucker knot Structure, negative pressure sucker structure are connect by pipeline and vacuum cavitations valve group with negative pressure source；Stacking pallet conveyer 2 is close to palletizing apparatus Setting and stacking pallet conveyer 2 convey setting forwards, and stacking pallet conveyer 2 includes being mounted on stacking pallet conveyer Multiple supports having roll drive mechanism, that front-rear direction rolling is arranged on chassis carry roller, and roll drive mechanism can be drive The chain drive structure for moving motor-driven gear transmission structure, being also possible to driving motor drive, multiple supports carry roller along front and back Support is formed to parallel laid and carries roller-way, and the rear end that support carries roller-way is equipped with pallet limiting component, and pallet limiting component can be limit Hardened structure is also possible to limited block structure；
As shown in Figure 2 and Figure 3, return of empty pallets distribution portion includes return of empty pallets conveying device 3 and return of empty pallets storehouse 4；It is unloaded The front of stacking pallet conveyer 2 is arranged in tray conveying device 3, including the unloaded support being mounted on return of empty pallets conveying chassis Disk conveyer 31 and pallet jack redoiming conveyor 32, and return of empty pallets conveyer 31 conveys setting, return of empty pallets in left-right direction Conveyer 31 includes the return of empty pallets transfer unit that symmetrically arranged two groups of front and back has transmission driving mechanism, return of empty pallets conveying Component can be driving chain structure, is also possible to drive belt configuration or is live roller structure, return of empty pallets transfer unit Height dimension of the conveyor surface apart from ground carry height of the support section of roller-way apart from ground no more than the support of stacking pallet conveyer 2 Size is spent, the output end position of return of empty pallets conveyer 31 also is provided with pallet limiting component, and pallet jacking redoiming conveyor 32 is set It sets the front in stacking pallet conveyer 2 and is located between two groups of return of empty pallets transfer units, pallet jacks redoiming conveyor 32 include pallet carrier 33 and carrier elevating mechanism, and pallet carrier 33 is mounted on return of empty pallets by carrier elevating mechanism and conveys bottom On frame, carrier elevating mechanism can use hydraulic cylinder or air cylinder structure or use the other structures such as electric screw rod structure, It also is provided with multiple supports having roll drive mechanism, rolling setting along the longitudinal direction on pallet carrier 33 and carries roller, multiple supports carry Parallel laid forms support load roller-way to roller along the longitudinal direction；Return of empty pallets storehouse 4 sets up the input for being mounted on return of empty pallets conveyer 31 On end position, return of empty pallets storehouse 4 includes the pallet lift clamp assemblies being mounted on pallet magazine chassis, pallet lift clamp assemblies Including vertical plane towards in the front-back direction lifting vertical plate 41 and be left and right symmetrically arranged lifting vertical plate 41 on pallet clamping limb 42, Lifting vertical plate 41 be mounted on pallet magazine chassis by vertical plate elevating mechanism, vertical plate elevating mechanism can use chain drive structure, It can also pass through using hydraulic cylinder or air cylinder structure or using other structures, pallet clamping limbs 42 such as electric screw rod structures Clamping limb distance regulating mechanism is mounted on lifting vertical plate 41, and clamping limb distance regulating mechanism can use hydraulic cylinder or cylinder knot Structure can also use the other structures such as electric screw rod structure；
Stacking electric control part includes stacking controller, stacking control loop, return of empty pallets dispensing loop, stacking controller point Not with the coordinate driving mechanism of palletizing mechanical arm 11, the vacuum cavitations valve group of palletizing mechanical arm 12, the support of stacking pallet conveyer 2 Zai Gun roll drive mechanism, the transmission driving mechanism of return of empty pallets conveyer 31, the support of pallet carrier 33 carry roller roll drive machine Structure, the pallet jacking carrier elevating mechanism of redoiming conveyor 32, the vertical plate elevating mechanism in return of empty pallets storehouse 4, return of empty pallets storehouse 4 The electrical connection of clamping limb distance regulating mechanism.
The specific working principle is as follows: when original state, carrier elevating mechanism is in retraction state, the support of pallet carrier 33 carries Face is lower than the support section of stacking pallet conveyer 2；
This Full automatic stacking system starts, stacking controller control pallet clamping limb 42 to bottom from bottom to top first Second pallet of layer carries out firm clamping, and then control lifting vertical plate 41, which rises, makes the baseplane of second pallet of bottom be detached from bottom Then the top plane of first pallet of layer controls return of empty pallets conveyer 31 and starts, first pallet is conveyed in return of empty pallets It is moved to the left or right under the drive of component to the output end of return of empty pallets conveyer 31, then pallet jacks redoiming conveyor 32 Movement rises pallet carrier 33 by first pallet picking-up, then controls on pallet carrier 33 and stacking pallet conveyer 2 Support carries the equidirectional back rotation of roller, and first pallet is moved rearwardly on stacking pallet conveyer 2 and by pallet limiting component It is positioned, the distribution of return of empty pallets is completed after lifting vertical plate 41 and the reset of pallet clamping limb 42；Then stacking controller is sent out Instruction acts palletizing apparatus out, and the coordinate under the drive of palletizing mechanical arm 11 of palletizing mechanical arm 12 is moved to workpiece to be piled up Position and to workpiece to be piled up close to, then stacking controller control open vacuum cavitations valve group, palletizing mechanical arm 12 i.e. treat It piles up workpiece and carries out whole absorption crawl, then stacking controller control stacking device action makes palletizing mechanical arm 12 grab work Part coordinate is moved to the setting position on first pallet, and vacuum cavitations valve group is closed in the control of stacking controller makes palletizing mechanical arm 12 are piled up, and palletizing apparatus is reset to the stacking that original state completes first workpiece, and so on, this Full automatic stacking Systems stay work, until the workpiece whole block pattern row pattern of setting quantity completes the code of first pallet on first pallet Pile；Then the support that stacking controller issues on instruction control stacking conveyor pallet 2, which carries roller and rotates forward, has workpiece to stacking First pallet is conveyed.
In order to improve stacking efficiency, as a further improvement of the present invention, 2 bilateral symmetry of stacking pallet conveyer is set It is set to two pieces, palletizing apparatus is arranged between two pieces stacking pallet conveyer 2.Two stacking pipelines are worked at the same time and can be mentioned significantly Height piles up efficiency.
In order to realize the flexibility of palletizing mechanical arm 12, as a further improvement of the present invention, palletizing mechanical arm 12 It is mounted in 11 minor details of palletizing mechanical arm by C coordinate rotation assembly, C coordinate rotation assembly is electrically connected with stacking controller.
As one embodiment of the present invention, rolling support and carrying component is that support carries roller, and multiple supports carry roller and put down along the longitudinal direction Row, which is laid with, forms support load roller-way.
As one embodiment of the present invention, rolling support and carrying component is the conveyer belt with roller station.
As one embodiment of the present invention, return of empty pallets transfer unit is driving chain structure.
As one embodiment of the present invention, return of empty pallets transfer unit is live roller structure.
This Full automatic stacking system is Digitizing And Control Unit, can be seamlessly connected with the number bus of factory and realize concentration Digital management is not limited to above-mentioned specific control mode.

Claims (7)

1. a kind of Full automatic stacking system, which is characterized in that including return of empty pallets distribution portion, stacking part and stacking electric control part Point；
Stacking part includes palletizing apparatus and stacking pallet conveyer (2)；Palletizing apparatus includes palletizing mechanical arm (11) and installation Palletizing mechanical arm (12) in palletizing mechanical arm (11) minor details, palletizing mechanical arm (11) include at least X-coordinate driving mechanism, Y Coordinate driving mechanism and Z coordinate driving mechanism, palletizing mechanical arm (12) are equipped with multiple negative pressure sucker structures, negative pressure sucker structure It is connect by pipeline and vacuum cavitations valve group with negative pressure source；Stacking pallet conveyer (2) is arranged close to palletizing apparatus and stacking support Disk conveyer (2) conveys setting forwards, stacking pallet conveyer (2) include be mounted on it is more on stacking pallet conveyer chassis A to have roll drive mechanism, front-rear direction rolling setting rolling support load component, rolling support load member driving mechanism is to drive Motor-driven chain drive structure is moved, the rear end of stacking pallet conveyer (2) is equipped with pallet limiting component；
Return of empty pallets distribution portion includes return of empty pallets conveying device (3) and return of empty pallets storehouse (4)；Return of empty pallets conveying device (3) setting is in the front of stacking pallet conveyer (2), including the return of empty pallets conveyer being mounted on return of empty pallets conveying chassis (31) and pallet jacking redoiming conveyor (32), return of empty pallets conveyer (31) convey setting in left-right direction, and return of empty pallets is defeated Sending machine (31) includes the return of empty pallets transfer unit that symmetrically arranged two groups of front and back has transmission driving mechanism, return of empty pallets conveying Height dimension of the conveyor surface of component apart from ground is not more than height gauge of the support section of stacking pallet conveyer (2) apart from ground Very little, the output end position of return of empty pallets conveyer (31) also is provided with pallet limiting component, and pallet jacking redoiming conveyor (32) is set It sets the front in stacking pallet conveyer (2) and is located between two groups of return of empty pallets transfer units, conveying is reprinted in pallet jacking Machine (32) includes pallet carrier (33) and carrier elevating mechanism, and pallet carrier (33) is mounted on unloaded support by carrier elevating mechanism Disk convey chassis on, also be provided on pallet carrier (33) it is multiple have roll drive mechanism, along the longitudinal direction roll setting It rolls support and carries component, rolling support and carrying member driving mechanism is the chain drive structure that driving motor drives；Return of empty pallets storehouse (4) is set up It is mounted on the input end position of return of empty pallets conveyer (31), return of empty pallets storehouse (4) include being mounted on pallet magazine chassis Pallet lift clamp assemblies, pallet lift clamp assemblies include vertical plane towards lifting vertical plate (41) in the front-back direction and left and right pair Claim the pallet clamping limb (42) being mounted in lifting vertical plate (41), goes up and down vertical plate (41) by vertical plate elevating mechanism and be mounted on pallet On orlop frame, pallet clamping limb (42) is mounted in lifting vertical plate (41) by clamping limb distance regulating mechanism；
The stacking electric control part includes stacking controller, stacking control loop, return of empty pallets dispensing loop, stacking controller It is conveyed respectively with the coordinate driving mechanism of palletizing mechanical arm (11), the vacuum cavitations valve group of palletizing mechanical arm (12), stacking pallet The rolling support of machine (2) carries the rolling of member driving mechanism, the transmission driving mechanism of return of empty pallets conveyer (31), pallet carrier (33) Dynamic support carries member driving mechanism, pallet jacks the vertical plate liter of the carrier elevating mechanism of redoiming conveyor (32), return of empty pallets storehouse (4) The clamping limb distance regulating mechanism electrical connection of descending mechanism, return of empty pallets storehouse (4).
2. Full automatic stacking system according to claim 1, which is characterized in that stacking pallet conveyer (2) bilateral symmetry It is set as two pieces, palletizing apparatus is arranged between two pieces stacking pallet conveyer (2).
3. Full automatic stacking system according to claim 1, which is characterized in that palletizing mechanical arm (12) is revolved by C coordinate Turn assembly to be mounted in palletizing mechanical arm (11) minor details, C coordinate rotation assembly is electrically connected with stacking controller.
4. Full automatic stacking system according to claim 1 or 2 or 3, which is characterized in that rolling support and carrying component is that support carries Roller, multiple supports carry roller, and parallel laid forms support load roller-way along the longitudinal direction.
5. Full automatic stacking system according to claim 1 or 2 or 3, which is characterized in that rolling support and carrying component is to have support The conveyer belt of roller group.
6. Full automatic stacking system according to claim 1 or 2 or 3, which is characterized in that return of empty pallets transfer unit is to pass Dynamic chain structure.
7. Full automatic stacking system according to claim 1 or 2 or 3, which is characterized in that return of empty pallets transfer unit is to pass Dynamic roller structure.
CN201910589627.8A 2018-12-08 2019-07-02 A kind of Full automatic stacking system Pending CN110254830A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811498715 2018-12-08
CN2018114987159 2018-12-08

Publications (1)

Publication Number Publication Date
CN110254830A true CN110254830A (en) 2019-09-20

Family

ID=67923820

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910589627.8A Pending CN110254830A (en) 2018-12-08 2019-07-02 A kind of Full automatic stacking system

Country Status (1)

Country Link
CN (1) CN110254830A (en)

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Application publication date: 20190920