CN110356807B - Integrated intelligent stacking workstation system - Google Patents
Integrated intelligent stacking workstation system Download PDFInfo
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- CN110356807B CN110356807B CN201810743898.XA CN201810743898A CN110356807B CN 110356807 B CN110356807 B CN 110356807B CN 201810743898 A CN201810743898 A CN 201810743898A CN 110356807 B CN110356807 B CN 110356807B
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- 210000000078 claw Anatomy 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 5
- 241000252254 Catostomidae Species 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000001939 inductive effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 5
- 230000008520 organization Effects 0.000 abstract description 2
- 230000005622 photoelectricity Effects 0.000 description 6
- 230000002349 favourable effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
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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
- 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
- B65G47/64—Switching conveyors
- B65G47/641—Switching conveyors by a linear displacement of the switching conveyor
- B65G47/643—Switching conveyors by a linear displacement of the switching conveyor in a vertical plane
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
An integrated intelligent stacking workstation system, wherein a tray bin (1) is arranged at the front part, and a lifting device (2) is arranged at the lower part of the tray bin (1); a multi-axis robot base (6) is arranged behind the tray bin (1), a multi-axis robot (7) is arranged on the multi-axis robot base (6), and a mechanical gripper (8) is arranged on the multi-axis robot (7); a second tray conveyor (4) is arranged below the multi-axis robot base (6); the side edge of the second tray conveyor (4) is connected with the first tray conveyor (3), and the movement directions of the second tray conveyor and the first tray conveyor are in a plane vertical relationship; the rear part of the first transfer conveyor (5) is positioned below the second tray conveyor (4). The invention has the advantages that: the system is an integrated intelligent workstation stacking system, the production space is reasonably distributed, the factory building utilization rate is high, the labor cost is saved in the stacking process, the client organization production is facilitated, and the production efficiency is improved.
Description
Technical Field
The invention relates to an integrated intelligent stacking workstation system, and belongs to the technical field of stacking and conveying machinery.
Background
At present, in the production process of products, customers need to load, manually stack and convey own products in a certain space range and reasonably place the products, so that a plurality of existing manufacturers can transport the products by using forklifts, thereby causing high labor intensity and high labor cost; the forklift is frequently transported, so that environmental pollution is caused, and the transportation efficiency is low; this causes great inconvenience to the customer during the production process.
In addition, the tray bin of the domestic material stacking equipment is arranged on the outer side, so that more conveying equipment needs to be arranged, the occupied area is large, and the equipment cost is high.
Disclosure of Invention
The invention aims to provide an integrated intelligent stacking workstation system, which is used for solving the problems of low factory building utilization rate, high labor and tray cost and the like in the existing product stacking process, facilitating the customer organization production, reasonably distributing the production space and improving the production efficiency.
The technical scheme of the invention is as follows: the integrated intelligent stacking workstation system is characterized by comprising a tray bin, a lifting device, a first tray conveyor, a second tray conveyor, a first transfer conveyor, a second transfer conveyor and a multi-axis robot, wherein the tray bin is arranged at the front part, and the lifting device is arranged at the lower part of the tray bin; a multi-axis robot base is arranged at the rear of the tray bin, a multi-axis robot is arranged on the multi-axis robot base, and a mechanical gripper is arranged on the multi-axis robot; the lower surface of the multi-axis robot base is provided with a first tray conveyor, the side edge of a second tray conveyor is connected with the first tray conveyor, the movement direction is in a plane vertical relationship, the left side beam and the right side beam of the first transfer conveyor are respectively connected with an air cylinder, the air cylinders are respectively fixed on air cylinder supports, the air cylinder supports are fixed on second tray conveyor leg frames, and the trays are conveyed from the first tray conveyor to the first transfer conveyor through encircling chains on the left side beam and the right side beam of the first transfer conveyor and second chains on the first tray conveyor, and the air cylinders are lifted to separate the trays from the first transfer conveyor to the second tray conveyor roller; forward and reverse movement through the second pallet conveyor roller; realizing the transportation of the tray to the second transfer conveyers at two sides of the multi-axis robot base, wherein each tray is provided with a heavy-load chain conveyer for transporting goods back and forth; the left side and the right side of the second tray conveyor are provided with second transfer conveyors with the same movement direction as the second tray conveyor, and the second transfer conveyors on the left side and the right side are respectively positioned at the inner sides of the heavy-load chain conveyors on the two sides; when the cylinder of the second transfer conveyor is lifted, the motor is started to drive the roller to rotate, the tray conveyed by the second tray conveyor can be connected to the roller of the second transfer conveyor, and the tray is placed on the heavy-load side beam chain of the heavy-load chain conveyor through the descending of the cylinder; when the multi-axis robot and the mechanical gripper are stacked, the chain carrying conveyor and the motor on the chain carrying conveyor are started to drive the chain to rotate, the tray and the materials are conveyed to a stack storage position, and the forklift is waited to fork.
The invention has the advantages that: the system is of an integrated intelligent stacking workstation structure, is simple and convenient to install, is formed by combining a plurality of independent devices, is favorable for the transportation of the machine, is more flexible to place on site, is favorable for on-site installation, reduces the using amount of a forklift, does not cause on-site confusion phenomenon, occupies small space and reduces production cost.
Drawings
FIG. 1 is a schematic perspective view of the whole integrated intelligent palletizing workstation of the present invention;
fig. 2 is a schematic perspective view of the tray bin (1) of the invention;
FIG. 3 is a schematic perspective view of the lifting device (2) according to the invention;
FIG. 4 is a schematic perspective view of the mechanical gripper (8) of the present invention;
fig. 5 is a schematic perspective view of the first pallet conveyor (3) of the present invention;
fig. 6 is a schematic perspective view of a second pallet conveyor (4) according to the invention;
fig. 7 is a schematic perspective view of the first transfer conveyor (5) according to the present invention;
fig. 8 is a schematic perspective view of the heavy chain conveyor (9, 52) of the present invention;
fig. 9 is a schematic perspective view of a second transfer conveyor (10, 54) according to the present invention;
Detailed Description
Referring to fig. 1 to 9, the integrated intelligent palletizing workstation system of the present invention is characterized by comprising a pallet bin 1, a lifting device 2, a first pallet conveyor 3, a second pallet conveyor 4, a first transfer conveyor 5, a second transfer conveyor 10 and a multi-axis robot 7, wherein the pallet bin 1 is arranged at the front part, and the lifting device 2 is arranged at the lower part of the pallet bin 1; a multi-axis robot base 6 is arranged at the rear of the tray bin 1, a multi-axis robot 7 is arranged on the multi-axis robot base 6, and a mechanical gripper 8 is arranged on the multi-axis robot 7; the lower surface of the multi-axis robot base 6 is provided with a first tray conveyor 4, the side edge of the second tray conveyor 4 is connected with the first tray conveyor 3, the movement direction is in a plane vertical relationship, a left side beam 133 and a right side beam 134 of the first transfer conveyor 5 are respectively connected with tray lifting cylinders 147-150, the tray lifting cylinders 147-150 are respectively fixed on fixed brackets 151-154, the fixed brackets 151-154 are fixed on leg frames 120 of the second tray conveyor 4, and the trays are conveyed from the first tray conveyor 3 to the first transfer conveyor 5 through a surrounding chain on the left side beam 133 and the right side beam 134 of the first transfer conveyor 5 and two second chains 109 and 114 on the first tray conveyor 3, and the tray lifting cylinders 147-150 are lifted to separate the trays from the first transfer conveyor 5 to a roller of the second tray conveyor 4; forward and reverse movement of the rollers by the second pallet conveyor 4; the pallet is conveyed to the second transfer conveyors 10 and 54 at two sides of the multi-axis robot base 6, and each pallet is provided with a stacking position heavy-load chain conveyor 9 and 52 for conveying cargoes back and forth; the left and right sides of the second pallet conveyor 4 are provided with second transfer conveyors 10, 54 which have the same movement direction as the second pallet conveyor 4, and the second transfer conveyors 10, 54 on the left and right sides are respectively positioned on the inner sides of the heavy-duty chain conveyors 9, 52 on the two sides; when the A cylinder 207 of the second transfer conveyor 10 or 54 is lifted, the A motor 209 is started to drive the rollers 210-213 to rotate, the pallet conveyed by the second pallet conveyor 4 can be connected to the rollers 210-213 of the second transfer conveyor 10, and the pallet is placed on the heavy load side beam 173 chain of the heavy load chain conveyor 9, 52 by the descending of the A cylinder 207; when the multi-axis robot 7 and the mechanical gripper 8 are stacked up, the motor 171 on the chain carrying conveyor 9 is started to drive the chain to rotate, the tray and the materials are transported to a stack storage position, and the forklift is waited to take the materials.
Referring to fig. 2, the pallet bin 1 comprises a main frame 11, a guide block 12, a foot protector 13, a rotating shaft bottom plate 14, a rotating hand 17 and a B cylinder 18, wherein the rotating shaft bottom plate 14 is arranged on the main frame 11, a rotating hand fixing base 15 and a cylinder connecting base 16 are arranged on the rotating shaft bottom plate 14, the rotating hand 17 is respectively hinged with one ends of the rotating hand fixing base 15 and the B cylinder 18, and the other end of the B cylinder 18 is hinged with the cylinder connecting base 16; the beam at the upper part of the main frame 11 is provided with a tray empty bin alarming photoelectric device 20, and the opposite surface at the lower part of the main frame 11 is provided with an empty tray opposite-irradiation photoelectric device 21. When the cylinder acts, the B cylinder 18 drives the turning hand 17 to rotate, so that the tray is supported or released.
Referring to fig. 3, the lifting device 2 includes a lifting bottom plate 22, a lifting bottom frame 27, a lifting frame 51 and a lifting cylinder 53, wherein the rectangular lifting bottom frame 27 is supported by a plurality of supporting legs 222, and a lower connecting rod bracket 23 is respectively arranged on the long side of the lifting bottom frame 27 near two ends; a rectangular lifting frame 51 is arranged above the lifting underframe 27, and four upper connecting rod brackets 44 which are in one-to-one correspondence with the lower connecting rod brackets 23 are arranged below the long side of the lifting frame 51; one ends of a lower short rod 28 and an upper short rod 37 are respectively hinged on the lower connecting rod bracket 23 and the upper connecting rod bracket 44, and the other ends of the lower short rod 28 and the upper short rod 37 which are vertically corresponding are hinged with one ends of long rods 36 and 43 through one ends of long shafts 41 and 42; the cylinder body of the lifting cylinder 53 is fixedly connected below the middle part of the lifting underframe 27 through the lifting bottom plate 22, and the top end of a piston rod at the top end of the lifting cylinder 53 is connected with the lifting frame 51. When the lifting cylinder 53 acts, the lifting frame 51 is driven to lift, and other hinge parts prevent the lifting frame 51 from shaking too much in the lifting process, so that the lifting cylinder 53 is damaged.
Referring to fig. 4, the mechanical gripper 8 includes a main connecting plate 55, cushion blocks 56 and 65, beams 57 and 58, a driving nut positioning plate 59, side plates 60-61, a fixed positioning plate 67 and guide rails 68-69, wherein the lower surfaces of two ends of the main connecting plate 55 are respectively connected with the upper middle parts of the two beams 57 and 58 through cushion blocks 56 and 65; a guide rail 68, 69 is connected to the lower surface of the two beams 57, 58, a first clamping plate 70 and a second clamping plate 72 which are vertical to the two beams 57, 58 and are erected are arranged below the two beams 57, a first fixed positioning plate 67 and a second fixed positioning plate 71 are connected to the upper parts of the opposite sides of the first clamping plate 70 and the second clamping plate 72, and the top ends of the second fixed positioning plates 71 are connected to the corresponding guide rails 68, 69; the first cylinder 74 and the first pair of bearings 75 and 76 are connected to the outer side of the first clamping plate 70, one end of the first group of turning claws 77 is rotatably connected with the first pair of bearings 75 and 76, and the other end of the first group of turning claws 77 is connected with a piston rod at the lower end of the first cylinder 74 through a first rotating shaft 79; a second cylinder 80, a second pair of bearing blocks 81-82, a second group of turning claws 84 and a second rotating shaft 89 are arranged on the outer side of the second clamping plate 72, and the connection relation is the same as that of the first cylinder 74, the first pair of bearing blocks 75-76, the first group of turning claws 77 and the first rotating shaft 79; the central shaft 90 is respectively connected with the hand wheel 91, the transmission nut positioning plate 59 and the pressing plate 92, the pressing plate 92 is fixed on the central positioning plate 93, the third cylinder 94 is respectively connected with the central positioning plate 93, the positioning pin 95 and the supporting seat 96, and the supporting seat 96 is connected on the second fixed positioning plate 71; the mechanical gripper cylinders 223, 224 are fixed on the outer sides of the beams 57, 58 by the side plates 60, 61, and the cylinder piston rods are fixedly connected with the suckers 225, so that the downward placement of materials can be realized. Solenoid valves 97-99 are attached to the positioning plate 62.
When the third cylinder 94 acts, the third cylinder 94 drives the positioning pin 95, the supporting seat 96, the second fixed positioning plate 71, and the first clamping plate 70 to slide on the guide rail 68 and the guide rail 69, the mechanical gripper cylinders 223 and 224 are dual-shaft cylinders, the acting drives the connecting plate and the suction cup 225 to slide up and down, the first cylinders 74 and 80 act, the first rotating shaft 79 and the second rotating shaft 89 are driven, the turning claws 77 and 84 rotate around the bearings 78 and 85 as the center, the material grabbing and placing are realized, the adjusting hand wheel 91 can drive the central shaft 90, the pressing plate 92, the central positioning plate 93, the third cylinder 94, the positioning pin 95, the supporting seat 96, the second fixed positioning plate 71 and the first clamping plate 70 to slide, and the grabbed product width is adjusted.
Referring to fig. 5, the first pallet conveyor 3 is constructed: the first tray motor 100 is connected to a motor connecting plate 115, the motor connecting plate 115 is fixed on a leg frame 116, the first sprocket 101 is connected to the first tray motor 100, the second sprocket 103 and spindle bearing blocks 105 and 106 are connected to the spindle 104, the spindle bearing blocks 105 and 106 are connected to the main beams 107 and 108, the third sprocket 110 is rotatably mounted on a driven shaft 112, and the driven shaft 112 is connected to the other ends of the main beams 107 and 108; the first chain wheel 101 is connected with a second chain wheel 103 in the middle of the main shaft through a first chain 102, the fourth chain wheels 103 (1) at two ends are respectively connected with a third chain wheel 110 through second chains 109 and 114, a connecting rod 113 is sleeved on a driven shaft 112 through a front end hole, the other end of the connecting rod 113 is fixedly connected with holes on main beams 107 and 108 through nuts, and the relative distance between the driven shaft 112 and the main shaft 104 can be adjusted through adjustment of the nuts.
Referring to fig. 6, the second pallet conveyor 4 includes a second pallet motor 117 connected to a leg frame 120, a second pallet sprocket 118 mounted on the second pallet motor 117, the second pallet sprocket 118 connected to rollers 124, 123 by a second pallet chain 119, the rollers 124, 123 fixed to a first side beam 121 and a second side beam 122, photoelectric supports 125, 126 and photoelectric devices 127, 128 fixed to the first side beam 121, and the first side beam 121 and the second side beam 122 fixed to the leg frame 120.
Referring to fig. 7, the transfer conveyor 1 (5) includes a motor (129), a side beam 1 (133), a side beam 2 (134), and a bearing block (131) fixed on a bracket (132), a sprocket 1 (130) fixed on the motor (129), a sprocket 2 (135), a sprocket 3 (136, 137) fixed on a shaft (140), a shaft (140) fixed on the bearing block (131), a driven sprocket (141), a driven shaft (143), a bearing (145) fixed on both ends of the side beam 1 (133) and the side beam 2 (134), an inner sprocket (142), a sprocket shaft 1 (144), a bearing (146) fixed inside the side beam 1 (133) and the side beam 2 (134), and a sprocket (147), a sprocket shaft 1 (148), a sprocket shaft 2 (149), and a bearing (150) connected to the side beam 1 (133) and the side beam 2 (134), and the tightness is adjusted by adjusting the shaft (151); the driven chain wheels (141) at the two ends of the side beam 1 (133) and the side beam 2 (134) are connected through a chain 133; the piston rods of the cylinders (226, 227, 228, 229) are connected with the connecting holes at the two ends of the side beam 1 (133) and the side beam 2 (134), the seats of the cylinders (226, 227, 228, 229) are respectively connected with the cylinder brackets (230, 231, 232, 233), and the cylinder brackets (230, 231, 232, 233) are fixed on the leg frame (120) of the second tray conveyor (4).
Referring to fig. 8, the heavy-duty chain conveyor 9 includes a motor 171, a side beam 173 mounted on a leg 172, sprockets 174, sprockets 176-178 mounted on a shaft 179, a shaft 179 mounted on a bearing block 175, a bearing block 175 mounted on the side beam 173, a driven sprocket 180, a driven sprocket shaft 181, and a bearing 182 connected to the side beam 173, an adjustment shaft 183 adjusting the distance of the driven sprocket 180, two side-to-side photoelectric supports 197200 of the heavy-duty chain conveyor 9, and induction switches 201-204.
Referring to fig. 9, the second transfer conveyor 10 includes a base plate 205 on which a guide holder 206 and an a cylinder 207 are installed, a linear bearing connecting a lifting chassis 208 and the guide holder 206, an a motor 209 installed on the lifting chassis 208, a sprocket 190 installed on the a motor 209, the sprocket 190 connected to a roller 210 through a chain, both ends of the rollers 210 to 213 respectively fixed to the lifting chassis 208, the roller 210 connected to a roller 211 through a chain, the roller 211 connected to a sprocket 209 through a chain, the sprocket 209 connected to a sprocket 189 through a chain, the sprocket 189 connected to a roller 213 through a chain, and the roller 213 connected to a roller 212 through a chain; the A cylinder 207 is connected with the lifting chassis 208 through a bracket 214.
The working process of the invention is as follows: the multi-axis robot 7 stacks on the tray of the heavy-duty chain conveyor 9, after the stacking is completed, the multi-axis robot 7 outputs a stacking-completed signal, when the grabbing position photoelectricity 220 or 221 senses that the material and the tray on the heavy-duty chain conveyor 52 are in place, the multi-axis robot 7 drives the mechanical gripper 8 to grab the stacking position material to stack on the tray on the heavy-duty chain conveyor 52, the heavy-duty chain conveyors 9 and 52 start the motors to convey the stacking-completed material to the heavy-duty chain conveyor 52, after the photoelectricity 184 on the heavy-duty chain conveyor 52 senses the material, the heavy-duty chain conveyors 9 and 52 stop the motors, the second transfer conveyor 10 cylinder action pushes up the lifting chassis 208, the rollers 210, 211, 212 and 213, the second transfer conveyor 10 and the second tray conveyor pneumatic motors convey the tray on the second transfer conveyor 4 to the second transfer conveyor 4, after the photoelectricity 203, 204 senses the tray, the A cylinder 207 of the second transfer conveyor acts, the rollers 210, 211, 212, 213 drive the tray to fall on the chain of the chain conveyor 9 (the tray on the second tray conveyor is piled up after being full of the stack), after the photoelectricity 127, 128 on the second tray conveyor can not sense the tray, the cylinders 226, 227, 228, 229 of the first transfer conveyor 5 act simultaneously to drive the first transfer conveyor 5 to lift, meanwhile, the motors of the first transfer conveyor 5 and the first tray conveyor 3 are started, the tray on the first tray conveyor 3 is conveyed to the first transfer conveyor 5, when the photoelectricity 127, 128 senses that the tray is in place, the first tray conveyor 5 acts (descends) simultaneously on the second tray conveyor 4 after the photoelectricity on the first tray conveyor 3 can not sense the tray, the lifting cylinder 53 of the lifting device 2 acts (top position) to drive the lifting frame 51 to lift and catch the tray in the tray bin 1, the B cylinder 18 of the tray bin 1 acts, the B cylinder 18 drives the turning hand 17 to rotate (recycle), the lifting cylinder 53 acts to the middle position, the B cylinder 18 of the tray bin 1 acts, the B cylinder 18 drives the turning hand 17 to rotate (open) to catch the upper tray, the lifting cylinder 53 acts to the bottom position, the tray is placed on the first tray conveyor 3, the motor of the first tray conveyor 3 starts to forward the tray, and after the photoelectric sensing of the tray on the first tray conveyor 3, the motor is stopped. After the trays on the heavy-duty chain conveyor 9 are full of stacks, the multi-axis robot 7 drives the mechanical gripper 8 to grasp the stacking position materials and stack the materials on the trays on the heavy-duty chain conveyor 9, and the working process is repeated.
In the foregoing, the present invention is merely preferred embodiments, which are based on different implementations of the overall concept of the invention, and the protection scope of the invention is not limited thereto, and any changes or substitutions easily come within the technical scope of the present invention as those skilled in the art should not fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (9)
1. The integrated intelligent stacking workstation system is characterized by comprising a tray bin (1), a lifting device (2), a first tray conveyor (3), a second tray conveyor (4), a first transfer conveyor (5), second transfer conveyors (10 and 54) and a multi-axis robot (7), wherein the tray bin (1) is arranged at the front part, and the lifting device (2) is arranged at the lower part of the tray bin (1); a multi-axis robot base (6) is arranged behind the tray bin (1), a multi-axis robot (7) is arranged on the multi-axis robot base (6), and a mechanical gripper (8) is arranged on the multi-axis robot (7); a second tray conveyor (4) is arranged below the multi-axis robot base (6); the side edge of the second tray conveyor (4) is connected with the first tray conveyor (3), and the movement directions of the second tray conveyor and the first tray conveyor are in a plane vertical relationship; the left side beam (133) and the right side beam (134) of the first transfer conveyor (5) are respectively connected with four air cylinders (226, 227, 228, 229), the four air cylinders (226, 227, 228, 229) are respectively fixed on four air cylinder supports (230, 231, 232, 233), the air cylinder supports (230, 231, 232, 233) are fixed on a leg frame (120) of the second tray conveyor (4) through a encircling chain on the left side beam (133) and the right side beam (134) of the first transfer conveyor (5) and second chains (109, 114) on the first tray conveyor (3), so that the tray is conveyed from the first tray conveyor (3) to the first transfer conveyor (5), lifting of the air cylinders (226, 227, 228, 229) is realized that the tray is separated from the first transfer conveyor (5) to the second tray conveyor (4) through the reverse movement of the second tray conveyor (4) roller, the tray is realized that the tray is transferred to the second conveyor (6) at the two sides of the second multi-axis robot base (10), and the front load conveyor (9) is arranged; second transfer conveyors (10) with the same movement direction as the second tray conveyor (4) are arranged on the left side and the right side of the second tray conveyor (4), and the second transfer conveyors (10) on the left side and the right side are respectively positioned on the inner sides of heavy-load chain conveyors (9, 52) on the two sides; when the A cylinder (207) is lifted, the A motor (209) is started to drive the A roller-D roller (210, 211, 212, 213) to rotate, the tray conveyed by the second tray conveyor (4) can be connected to the A roller-D roller (210, 211, 212, 213), and the tray is placed on the heavy load side beam (173) chain of the heavy load chain conveyor (9, 52) through the descending of the A cylinder (207); after stacking the multi-axis robot (7) and the mechanical gripper (8), a motor (171) on the heavy-duty chain conveyor (9) is started to drive the chain to rotate, and the tray and the materials are conveyed to a stacking position to wait for fork taking of a forklift.
2. The integrated intelligent palletizing workstation system of claim 1, wherein the pallet bin (1) comprises a main frame (11), a guide block (12), a foot guard (13), a rotating shaft bottom plate (14), a rotating hand (17) and a B cylinder (18), the rotating shaft bottom plate (14) is arranged on the main frame (11), a rotating hand fixing base (15) and a cylinder connecting base (16) are arranged on the rotating shaft bottom plate (14), the rotating hand (17) is hinged with one ends of the rotating hand fixing base (15) and the B cylinder (18) respectively, and the other end of the B cylinder (18) is hinged with the cylinder connecting base (16); a tray empty bin alarming photoelectric device (20) is arranged on a beam at the upper part of the main frame (11), and an empty tray opposite-shooting photoelectric device (21) is arranged on the opposite side of the lower part of the main frame (11).
3. The integrated intelligent palletizing workstation system according to claim 1, wherein the lifting device (2) comprises a lifting bottom plate (22), a lifting bottom frame (27), a lifting frame (51) and a lifting cylinder (53), the rectangular lifting bottom frame (27) is supported by a plurality of supporting legs (222), and a lower connecting rod bracket (23) is respectively arranged on the long side of the lifting bottom frame (27) near two ends; the rectangular jacking frame (51) is arranged above the lifting underframe (27), and four upper connecting rod brackets (44) which are in one-to-one correspondence with the lower connecting rod brackets (23) are arranged below the long side of the jacking frame (51); one end of a lower short rod (28) and one end of an upper short rod (37) are respectively hinged on the lower connecting rod bracket (23) and the upper connecting rod bracket (44), and the other ends of the lower short rod (28) and the upper short rod (37) which are vertically corresponding are hinged with one ends of long rods (36, 43) through one ends of long shafts (41, 42); the cylinder body of the lifting cylinder (53) is fixedly connected below the middle part of the lifting underframe (27) through the lifting bottom plate (22), and the top end of a piston rod at the top end of the lifting cylinder (53) is connected with the lifting frame (51).
4. The integrated intelligent palletizing workstation system of claim 1, wherein the mechanical gripper (8) comprises a main connecting plate (55), cushion blocks (56, 65), beams (57, 58), a transmission nut positioning plate (59), side plates (60, 61), a fixed positioning plate (67) and guide rails (68, 69), wherein the lower surfaces of two ends of the main connecting plate (55) are respectively connected with the upper middle parts of the two beams (57, 58) through cushion blocks (56, 65); a guide rail (68, 69) is respectively connected below the two beams (57, 58), a first clamping plate (70) and a second clamping plate (72) which are vertical to the two beams (57, 58) and are erected are arranged below the two beams, a first fixed positioning plate (67) and a second fixed positioning plate (71) are partially connected on one side opposite to the first clamping plate (70) and the second clamping plate (72), and the top end of the second fixed positioning plate (71) is connected with the corresponding guide rail (68, 69); the first cylinder (74) and the first pair of bearings (75, 76) are connected to the outer side of the first clamping plate (70), one end of the first group of turning claws (77) is rotationally connected with the first pair of bearings (75, 76), and the other end of the first group of turning claws (77) is connected with a piston rod at the lower end of the first cylinder (74) through a first rotating shaft (79); a second cylinder (80), a second pair of bearing blocks (81, 82), a second group of turning claws (84) and a second rotating shaft (89) are arranged on the outer side of the second clamping plate (72), and the connection relation is the same as that of the first cylinder (74), the first pair of bearing blocks (75, 76), the first group of turning claws (77) and the first rotating shaft (79); the central shaft (90) is respectively connected with the hand wheel (91), the transmission nut positioning plate (59) and the pressing plate (92), the pressing plate (92) is fixed on the central positioning plate (93), the third cylinder (94) is respectively connected with the central positioning plate (93), the positioning pin (95) and the supporting seat (96), and the supporting seat (96) is connected on the second fixed positioning plate (71); the mechanical gripper cylinders (223, 224) are fixed on the outer sides of the beams (57, 58) through the side plates (60, 61), and the cylinder piston rods are fixedly connected with the suckers (225), so that materials can be placed downwards.
5. An integrated intelligent palletizing workstation system as claimed in claim 1, characterized in that the first pallet conveyor (3) is configured to: the first tray motor (100) is connected to a motor connecting plate (115), the motor connecting plate (115) is fixed on a leg frame (116), the first sprocket (101) is connected to a first tray motor (100) shaft, the second sprocket (103), the fourth sprocket and spindle bearing blocks (105, 106) are fixed on a spindle (104), the spindle bearing blocks (105, 106) are connected to main beams (107, 108), the third sprocket (110) is rotatably mounted on a driven shaft (112), and the driven shaft (112) is connected to the other ends of the main beams (107, 108); the first chain wheel (101) is connected with a second chain wheel (103) in the middle of the main shaft through a first chain (102), the fourth chain wheels at two ends are respectively connected with the third chain wheel (110) through second chains (109, 114), the driven shaft (112) is sleeved with the connecting rod 113 through a front end hole, the other end of the connecting rod 113 is fixedly connected with the holes on the main beams (107, 108) through nuts, and the relative distance between the driven shaft (112) and the main shaft (104) can be adjusted through adjustment of the nuts.
6. Integrated intelligent palletizing workstation system according to claim 1, characterized in that the second pallet conveyor (4) comprises a second pallet motor (117) connected to the leg frame (120), a second pallet sprocket (118) mounted on the second pallet motor (117), the second pallet sprocket (118) connected by a second pallet chain (119) and second pallet rollers (124, 123), the second pallet rollers (124, 123) being fixed to the first side beam (121) and the second side beam (122), the photoelectric brackets (125, 126) and the photoelectric devices (127, 128) being fixed to the first side beam (121), the first side beam (121) and the second side beam (122) being fixed to the leg frame (120).
7. The integrated intelligent palletizing workstation system according to claim 1, wherein the first transfer conveyor (5) comprises a first transfer motor (129), a bracket (132) and the left side beam (133) and the right side beam (134), both sides of the bracket (132) rotate both ends of a supporting shaft (140) through bearing seats, the first transfer motor (129) is fixed at the bottom of the bracket (132) and is in transmission connection with the shaft (140) through a chain transmission mechanism, a driving sprocket is respectively arranged at both ends of the shaft (140), a supporting sprocket is respectively arranged at both ends of the left side beam (133) and the right side beam (134), and a conveying chain is looped between the two supporting sprockets and one driving sprocket at each side; the conveying chain is provided with a tensioning and adjusting mechanism.
8. The integrated intelligent palletizing workstation system of claim 1, wherein the heavy chain conveyor (9, 52) comprises a heavy load motor (171), a heavy load side beam (173) is mounted on a supporting leg (172), a heavy load first sprocket (174), a heavy load second sprocket (176, 177, 178) is mounted on a rotating shaft (179), the rotating shaft (179) is mounted on a heavy load bearing block (175), the heavy load bearing block (175) is mounted on the heavy load side beam (173), a driven sprocket (180), a driven sprocket shaft (181) and a bearing (182) are connected on the heavy load side beam (173), the distance of the driven sprocket (180) is adjusted by an adjusting shaft (183), and light distribution electric brackets (197, 198, 199, 200) and inductive switches (201, 202, 203, 204) are arranged on two sides of the heavy load chain conveyor (9, 52).
9. An integrated intelligent palletizing workstation system as recited in claim 8, wherein the second transfer conveyor (10, 54) comprises: a guide seat (206) and an A cylinder (207) are arranged on an A bottom plate (205), a lifting chassis (208) is connected with the installation guide seat (206) through a linear bearing, an A motor (209) is arranged on the lifting chassis (208), an A chain wheel (190) is arranged on the A motor (209), the A chain wheel (190) is connected with an A roller (210) through a chain, two ends of the A roller-D roller (210, 211, 212, 213) are respectively fixed on the lifting chassis (208), the A roller (210) is connected with a B roller (211) through a chain, the B roller (211) is connected with a first intermediate chain wheel (215) through a chain, the first intermediate chain wheel (215) is connected with a second intermediate chain wheel (189) through a chain, the second intermediate chain wheel (189) is connected with a D roller (213) through a chain, and the D roller (213) is connected with a C roller (212) through a chain; the A cylinder (207) is connected with the lifting chassis (208) through a bracket (214).
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| CN110356807B true CN110356807B (en) | 2023-12-01 |
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| CN110844473A (en) * | 2019-12-09 | 2020-02-28 | 大连佳林设备制造有限公司 | Automatic stacking machine for trays |
| CN111361995B (en) * | 2020-03-25 | 2021-07-30 | 上海精测半导体技术有限公司 | Feeding device and method |
| CN112278781A (en) * | 2020-11-30 | 2021-01-29 | 河南奇测电子科技有限公司 | Automatic change honeycomb tray pile up neatly and send recovery unit |
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