CN110816967A - A kind of automatic stacking and packaging device and packaging method for slender rods - Google Patents

Abstract

The invention discloses an automatic stacking and packaging device and a packaging method for slender rods, wherein the device comprises an installation cabinet, and the installation cabinets are respectively equipped with conveyors for moving plate bundles to a stacking and packaging station from left to right The device, the film pulling device used for packaging, the stacking device for the plate bundles, and the output device for moving the packaged plate bundles out. The upper part of the installation cabinet is fixedly installed with a bearing frame, and the bearing frame is installed with a translation A device, the translation device is used to transfer the plate bundles on the conveying device to the stacking device. The invention adopts a translation device and a stacking device, which can stack the plate bundles according to preset requirements, so that the stacking process is automated, labor force is reduced, production cost is reduced, and production efficiency is improved.

Description

A kind of automatic stacking and packaging device and packaging method for slender rods

technical field

The invention relates to automatic packaging technology, in particular to an automatic stacking and packaging device and a packaging method for slender rods.

Background technique

The main component of the plate-fin heat exchanger is the plate bundle. The plate bundle workpiece is formed by vacuum brazing and welding of the upper plate, the fin and the lower plate. It is a typical slender rod. This kind of slender rod is rectangular in section, long in length, light in weight, and easily deformed by external force during transportation. In order to facilitate the packaging and transportation of such slender rods, it is necessary to stack and pack plate bundles in an orderly manner. At present, the stacking and packaging of plate bundles mainly include manual stacking, manual packaging, manual stacking, and automatic packaging. Two categories. The manual stacking operation is cumbersome, the operation efficiency is low, and the packing is not neat enough, which affects the transportation efficiency. The existing automatic packing equipment is mostly used for workpieces with large dimensions and neatly placed. For the slender rods such as plate bundles, the existing automatic packing equipment cannot well meet the use requirements.

In order to realize the automatic stacking and packaging of slender rods like plate bundles, a device is needed that can not only automatically stack such slender rods, but also perform automatic packaging after stacking, so as to ensure the stacking. Orderly code, reliable packaging quality requirements. The latest automatic stacking mechanism is described in the patent ZL201810156986.X, a horizontal stacking machine. The grasping mechanism grabs and stacks the sheets in blocks, and realizes the up and down movement of the vertical plane through the vertical moving mechanism. Move on a horizontal plane. The device can realize the automatic stacking of large-sized plates, but cannot complete the stacking operation for slender rods such as plate bundles, and the device cannot pack the workpieces after the stacking is completed.

SUMMARY OF THE INVENTION

Purpose of the invention: The purpose of the present invention is to provide an automatic stacking and packaging device and packaging method for slender rods, which solves the problems of low operation efficiency and unreliable packaging quality of slender rods such as manual stacking and manual packaging of plate bundles. The automation requirements for post-processing processes such as stacking and packaging of slender rods such as plate bundles.

Technical solution: The present invention is an automatic stacking and packaging device for slender rods, which includes an installation cabinet. The installation cabinet is respectively equipped with a conveying device for moving the plate bundles to the stacking and packaging station from left to right. A film pulling device, a stacking device for plate bundles, and an output device for removing the packaged plate bundles, a bearing frame is fixedly installed on the top of the installation cabinet by screws, and a translation device is installed on the bearing frame. The translation device is used to transfer the board bundles on the conveying device to the stacking device, and the stacking device includes a board bundle top surface lifting mechanism, a board bundle top surface alignment mechanism, a board bundle horizontal alignment mechanism, and a board bundle pressing mechanism. Mechanism and turning mechanism, the plate bundle top surface lifting mechanism, the plate bundle top surface alignment mechanism, the plate bundle horizontal alignment mechanism and the plate bundle pressing mechanism are used to position the stacked plate bundles with six degrees of freedom and fixing, the turning mechanism is used to rotate the stacked plate bundles, the film pulling device used for packing is used to pack the stacked plate bundles during rotation, and the translation device on the carrier will also pack The back plate bundles are transferred to the output device.

Further, the conveying device includes a first loading platform, and a synchronous belt is arranged on the first loading platform, and a clamping cylinder base is respectively installed on both sides of the end of the synchronous belt at one end of the installation cabinet. The clamping cylinder base is provided with a horizontally arranged clamping cylinder, the end of the telescopic rod of the clamping cylinder is fixedly connected with the clamping cylinder push plate, and a stroke is provided on the first loading table where the synchronous belt is close to one end of the installation cabinet switch.

Further, the translation device includes a translation guide rail and a belt linear module installed on the bearing frame, and the translation slider of the translation guide rail and the sliding block of the belt linear module are fixedly connected to the clamping jaw mounting seat by screws. , the translation slider drives the clamping jaw mounting base to move horizontally on the carrier under the drive of the belt linear module; a suction cup linear module is installed on one side of the clamping jaw mounting base, and the suction cup linear module slides The block is driven vertically by the motor, the sliding block on the suction cup linear module is fixedly connected with the suction cup connecting plate, the suction cup connecting plate is connected with the suction cup mounting plate through the connecting rod, and the suction cup is installed on the lower end of the suction cup mounting plate; A clamping cylinder is installed on the other side of the clamping jaw mounting base, and the end of the telescopic rod of the clamping cylinder is provided with two sets of symmetrically arranged clamping plate pneumatic fingers, and the finger ends of the clamping plate pneumatic fingers are connected with the clamping plate by bolts . The plywood clamps the stacked plate bundles under the action of the plywood pneumatic fingers, vertically lifts under the action of the clamping cylinder, and conveys horizontally under the action of the belt linear module.

Further, the film pulling device includes a film clamping cylinder base and a film pulling base installed on the installation cabinet, a film clamping cylinder is installed on the film clamping cylinder base, and the end of the telescopic rod of the film clamping cylinder is A pneumatic finger is provided for gripping, and the end of the gripping pneumatic finger is installed with a pneumatic finger concave splint; The roller is provided with a film, and one side of the film drawing base is provided with a film separator for the film to pass through. The roller is located between the drawing film roller and the film separator. A cutting cylinder is fixedly installed on the top of one side, the end of the telescopic rod of the cutting cylinder is provided with a blade cutting baffle, a blade is installed on the installation cabinet below the blade cutting baffle, and the blade cutting baffle is driven by the cutting cylinder. , the film passing through the middle of a pair of rollers and the inside of the film separator is cut under the action of the blade.

Further, the stacking device is vertically arranged with the film pulling device, and the top surface jacking mechanism of the plate bundle in the stacking device includes a jacking cylinder slide rail base and a jacking cylinder that are vertically and fixedly installed on the installation cabinet. The end of the telescopic rod of the lifting cylinder is fixedly connected with one end of the bottom plate of the lifting cylinder, and the other end of the bottom plate of the lifting cylinder is fixedly connected with the sliding block of the lifting cylinder on the base of the sliding rail of the lifting cylinder, and the bottom plate of the lifting cylinder is in the lifting position. Driven by the cylinder, the plate bundle is lifted to the same height as the turning mechanism.

Further, the plate bundle top surface alignment mechanism in the stacking device includes two sets of symmetrically arranged alignment slide rails and an alignment cylinder base installed on the installation cabinet, and the top surfaces of the bolted plate bundles on the alignment cylinder base are aligned. The cylinder, two sets of symmetrically arranged alignment slide rails are provided with alignment slides, the two sets of alignment slides are connected with the alignment slide connection piece by bolts, and the alignment slide connection piece is fixedly installed with a vertically arranged alignment plate mounting seat , the alignment plate mounting seat is provided with a rotating shaft, the rotating shaft is connected with the alignment plate on the top surface of the plate bundle through the bearing seat, and the end of the telescopic rod of the top surface of the plate bundle is aligned with the end of the telescopic rod of the alignment plate mounting seat. Bottom fixed connection.

Further, the turning mechanism in the stacking device includes an L-shaped turning fixing plate, and the horizontal side of the turning fixing plate is fixedly connected with a vertical alignment plate which is vertically arranged and opposite to the alignment plate at the top end of the plate bundle. The vertical alignment plate is fixedly connected with the inversion rotating shaft through the connecting seat, the inversion rotating shaft is cantilevered by the inversion bearing seat, and the inversion rotating shaft is provided with a belt driven wheel, and the belt driven wheel is connected with the inversion tensioner The mechanism is connected by a belt, and the overturning and tensioning mechanism includes a tensioning installation base fixed on the installation cabinet. A driving wheel bearing seat, a belt driving wheel is arranged between the driving wheel bearing seats, and one end of the belt driving wheel is connected with a rotating stepping motor through a coupling.

Further, the plate bundle horizontal alignment mechanism in the stacking device includes a horizontal alignment cylinder corresponding to the vertical side of the L-shaped overturned fixing plate, and the horizontal alignment cylinder is fixedly connected to the overturned fixing plate through the cylinder fixing right-angle frame, The end of the telescopic rod of the horizontally aligned cylinder is fixedly connected with a horizontally aligned push plate; the plate bundle pressing mechanism includes a rotary cylinder fixed on the overturned fixed plate, and the top of the rotary cylinder is provided with a rotary cylinder pressure plate; the output device In order to include a second loading platform, the second loading platform is provided with an output belt for removing the packaged plate bundles.

An automatic stacking and packaging method for slender rods, comprising the following steps:

(1) Transport the plate bundle to the stacking and packing station via the conveying device: First, the plate bundle is transferred to the stacking station under the action of the synchronous belt. When the plate bundle touches the travel switch, the synchronous belt stops moving. , at this time, the clamping cylinder on the first loading table drives the clamping cylinder push plate to gather the scattered plate bundles to the middle to complete the preparation for the stacking and suction station;

(2) After the translation device runs to the designated position, use the suction cup to suck the plate bundle and transport it to the flipping fixed plate, cancel the suction cup force and put the plate bundle on the flip fixed plate: First, the translation slider is placed on the belt linear mold Driven by the group, the clamping jaw mounting seat is moved horizontally on the carrier frame to the initial position of the stacking suction station, and the sliding block of the motor-driven suction cup linear module drives the suction cup to move down vertically. Driven by the suction cup linear module, it is vertically lifted, and then horizontally transported to the top of the flipping fixed plate under the action of the belt linear module. After being detected by the relevant stroke, the suction cup puts down the plate bundle;

(3) The stacking device stacks the plate bundles on the overturned fixed plate: first, the concave jacking cylinder bottom plate in the jacking mechanism on the top surface of the plate bundle is driven by the jacking cylinder, on the base of the jacking cylinder slide rail. The lifting cylinder block on the upper lifts the plate bundle to the same height as the flipping fixed plate; secondly, the horizontal alignment push plate fixedly connected to the end of the telescopic rod of the horizontal alignment cylinder in the horizontal alignment mechanism of the plate bundle is in the horizontal alignment cylinder. Driven to move the plate bundle to the vertical side of the overturned fixed plate for alignment; finally, under the push of the plate bundle top surface alignment cylinder in the plate bundle top surface alignment mechanism, the alignment plate mounting seat drives the upper The top surface alignment plate of the board bundle moves on the alignment slide rail, so that the top surface alignment plate of the board bundle drives the board bundle to align. After each layer of stacking is completed, align the top surface of the board bundle with the cylinder and the horizontal alignment cylinder. withdraw to the initial position;

(4) Repeat steps (1), (2), (3) again, when the plate bundles on the overturned fixing plate reach 2 layers, the film clamping cylinder is extended, and the end of the telescopic rod of the film clamping cylinder is clamped After the pneumatic finger concave splint on the pneumatic finger clamps the film between the film partitions, the film clamping cylinder returns to its original position;

(5) Repeat steps (1), (2), (3) in turn, until the set number of layers of the plate bundles are all stacked, and the last plate bundle top surface alignment cylinder and horizontal alignment cylinder are no longer withdrawn to the initial stage. position, the rotating cylinder in the plate bundle pressing mechanism in the stacking device works, so that the rotating cylinder pressing plate constrains the plate bundle;

(6) The flipping mechanism in the stacking device drives the stacked plate bundles to rotate, so that the film on the film clamping cylinder packs the stacked plate bundles: the rotating stepping motor drives the overturning rotating shaft and The entire turning mechanism fixed with it and the fixed plate bundle rotate together, and the film on the film clamping cylinder wraps and packs the rotating plate bundle;

(7) After the packaging is completed and the film is cut, the top surface alignment cylinder and the horizontal alignment cylinder of the plate bundle are withdrawn to the initial position, and the pneumatic fingers of the clamping plate of the cylinder are used to clamp and transport the packaged plate bundles: first, pull the The cutting cylinder on the film device drives the blade cutting baffle to press down, so that the film passing through the film separator is cut under the action of the blade; then, the top surface alignment cylinder and horizontal alignment cylinder of the plate bundle are withdrawn to the initial position ;Finally, the plywood clamps the stacked plate bundles under the action of the plywood pneumatic fingers, vertically lifts under the action of the clamping cylinder, and conveys it horizontally to the output belt in the output device under the action of the belt linear module. The packed bundles are removed.

Compared with the prior art, the technical scheme of the present invention has the following beneficial effects:

The invention adopts a translation device and a stacking device, which can stack plate bundles according to preset requirements, so as to automate the stacking process, reduce labor, reduce production costs, and improve production efficiency; the workpiece rotates and the film follows the method. ; The film pulling device can automatically cut the film after the packaging, with high packaging efficiency and reliable packaging quality; the translation device can automatically transport the packaged workpiece to the subsequent output device, so that the entire stacking and packaging process is automated, greatly improving the efficiency of the bundle packaging.

Description of drawings

Fig. 1 is a structural schematic diagram of a plate bundle;

Fig. 2 is the top view of the present invention;

Fig. 3 is the front view of the present invention;

Figure 4 is a top view of the conveying device;

5 is a schematic structural diagram of a translation device;

Figure 6 is a schematic structural diagram of a film pulling device;

7 is a cross-sectional view of the film pulling device;

Figure 8 is a top view of the stacking device;

Fig. 9 is the front view of the top surface lifting mechanism of the plate bundle;

Figure 10 is a schematic structural diagram of the top surface alignment mechanism of the plate bundle;

Figure 11 is a schematic structural diagram of a turning mechanism;

Figure 12 is a top view of the overturning tensioning mechanism.

specific embodiment

Below in conjunction with accompanying drawing and embodiment, the present invention is further described:

As shown in Figure 1, it is a schematic structural diagram of the plate bundle 107;

As shown in FIG. 2 and FIG. 3 , an automatic stacking and packaging device for slender rods of the present invention includes an installation cabinet 3, and the installation cabinet 3 is respectively equipped from left to right for moving the plate bundles 107 to the stacking and packaging. The conveying device 1 of the station, the film pulling device 5 used for packaging, the stacking device 6 of the plate bundle 107, and the output device 7 used to remove the packaged plate bundle 107, the upper part of the installation cabinet 3 is fixed and installed with screws. The carrier frame 2, a translation device 4 is installed on the carrier frame 2, and the translation device 4 is used to transfer the plate bundle 107 on the conveying device 1 to the stacking device 6. Bundle top surface alignment mechanism 62, panel bundle horizontal alignment mechanism 65, panel bundle pressing mechanism 66 and turning mechanism 63, panel bundle top surface lifting mechanism 61, panel bundle top surface alignment mechanism 62, panel bundle horizontal alignment mechanism 65 and the plate bundle pressing mechanism 66 are used to position and fix the stacked plate bundles 107 with six degrees of freedom, namely positioning and fixing in three directions of X, Y, and Z, and the turning mechanism 63 is used to The plate bundles 107 are rotated, and the film pulling device 5 used for packing is used to pack the plate bundles 107 stacked during rotation. The translation device 4 on the carrier 2 also transfers the packaged plate bundles 107 to the output device. 7;

As shown in FIG. 4 , the conveying device 1 includes a first loading table 101 on which a synchronous belt 102 is arranged, and a clamping cylinder base is respectively installed on both sides of the end of the synchronous belt 102 located at one end of the installation cabinet 3 103. A horizontally arranged clamping cylinder 104 is arranged on the clamping cylinder base 103. The telescopic rod end of the clamping cylinder 104 is fixedly connected to the clamping cylinder push plate 105, and the synchronous belt 102 is close to the first load of the installation cabinet 3 at one end. A travel switch 106 is provided on the material table 101;

As shown in FIG. 5 , the translation device 4 includes a translation guide rail 401 and a belt linear module 412 installed on the carrier 2 . The translation slider 402 of the translation guide rail 401 and the sliding block of the belt linear module 412 are connected to each other by screws. The clamping jaw mounting base 403 is fixedly connected, and the translation slider 402 drives the clamping jaw mounting base 403 to move horizontally on the carrier frame 2 under the drive of the belt linear module 412; one side of the clamping jaw mounting base 403 is installed with a suction cup linear module 404, the sliding block on the suction cup linear module 404 is driven vertically by the motor, the sliding block on the suction cup linear module 404 is fixedly connected with the suction cup connecting plate 405, and the suction cup connecting plate 405 is connected with the suction cup mounting plate 407 through the connecting rod 406 , a suction cup 408 is installed on the lower end of the suction cup mounting plate 407, the suction cup 408 absorbs the plate bundle 107, is vertically lifted under the drive of the suction cup linear module 404, and is transported horizontally under the action of the belt linear module 412; A clamping cylinder 409 is installed on the other side, and the end of the telescopic rod of the clamping cylinder 409 is provided with two sets of symmetrically arranged plywood pneumatic fingers 410. Under the action of the pneumatic finger 410, the stacked plate bundles 107 are clamped, and the clamping cylinder 409 is used for vertical lifting, and the belt linear module 412 is used for horizontal conveying;

As shown in FIG. 6 and FIG. 7 , the film pulling device 5 includes a film clamping cylinder base 501 and a film pulling base 511 installed on the installation cabinet 3, and a film clamping cylinder 502 is installed on the film clamping cylinder base 501, and the film clamp The end of the telescopic rod of the air cylinder 502 is provided with a gripping pneumatic finger 503, and the end of the gripping pneumatic finger 503 is installed with a pneumatic finger concave splint 504; There is a film 510 on the stretch film drum 509, and a film separator 508 is provided on one side of the stretch film base 511 for the film 510 to pass through. In between, a cutting cylinder 507 is fixedly installed on the top of one side of the film pulling base 511 where the film separator 508 is located, and the end of the telescopic rod of the cutting cylinder 507 is provided with a blade cutting baffle 506, and the installation cabinet 3 below the blade cutting baffle 506 A blade 505 is installed on the blade, and the blade cutting baffle 506 moves under the driving of the cutting cylinder 507, and the film 510 passing through the middle of the pair of rollers 512 and the interior of the film partition 508 is cut off under the action of the blade 505;

As shown in FIG. 8 and FIG. 9 , the stacking device 6 is vertically arranged with the film pulling device 5, and the stacking device 6 completes the positioning and fixing of the plate bundle 107 with 6 degrees of freedom, and performs the stacking of the plate bundle 107. The function of rotation and packing; the top surface lifting mechanism 61 of the plate bundle set for different plate bundle lengths will adjust the position according to the length of the plate bundle, and its lifting direction is the Z direction, and the top surface of the plate bundle in the stacking device 6 is lifted The mechanism 61 includes a jacking cylinder slide rail base 611 and a jacking cylinder 614 that are vertically and fixedly installed on the installation cabinet 3. The telescopic rod end of the jacking cylinder 614 is fixedly connected to one end of the jacking cylinder bottom plate 613, and the jacking cylinder bottom plate is fixedly connected. The other end of the 613 is fixedly connected with the jacking cylinder slider 612 on the jacking cylinder slide rail base 611 , and the jacking cylinder bottom plate 613 moves under the driving of the jacking cylinder 614 to lift the plate bundle 107 to the same level as the turning mechanism 63 . the height of;

As shown in FIG. 10 , the alignment direction of the plate bundle top surface alignment mechanism 62 is the X direction. The plate bundle top surface alignment mechanism 62 in the stacking device 6 includes two sets of symmetrically arranged alignment slides installed on the installation cabinet 3 The rail 627 and the alignment cylinder base 628 are aligned with the cylinder base 628, and the top surface of the plate bundle is connected by bolts to the alignment cylinder 629. The two sets of symmetrically arranged alignment slide rails 627 are provided with alignment slides 626, and the two sets of alignment slides 626 pass through the bolts. It is connected with the aligning slider connecting piece 625. The aligning sliding block connecting piece 625 is fixedly mounted with a vertically arranged aligning plate mounting seat 623. The aligning plate mounting seat 623 is provided with a rotating shaft 624, and the rotating shaft 624 is connected to the plate through the bearing seat 622. The top surface of the bundle is connected to the alignment plate 621, and the end of the telescopic rod of the top surface alignment cylinder 629 of the bundle is fixedly connected to the bottom of the alignment plate mounting seat 623;

As shown in FIGS. 11 and 12 , the inversion mechanism 63 in the stacking device 6 includes an L-shaped inversion fixing plate 6301 , and the horizontal side of the inversion fixing plate 6301 is fixedly connected with a vertical arrangement by bolts and is aligned with the top surface of the plate bundle. The plate 621 is vertically aligned with the plate 6309. The vertical alignment plate 6309 is fixedly connected to the overturning rotating shaft 6306 through the connecting seat. The overturning rotating shaft 6306 is cantilevered by the overturning bearing seat 6307. The overturning rotating shaft 6306 is provided with a belt driven pulley 6308. , the belt driven pulley 6308 is connected with the overturning tensioning mechanism 64 through a belt, and the overturning tensioning mechanism 64 includes a tensioning mounting base 641 fixed on the installation cabinet 3, the tensioning mounting base 641 is provided with a motor mounting seat 642, the motor mounting seat 642 is fixedly connected with a rotary stepping motor 645 and a driving wheel bearing seat 643 through bolts, a belt driving wheel 648 is arranged between the driving wheel bearing seat 643, and one end of the belt driving wheel 648 is connected with the rotary stepping motor 645 through a coupling 644. , There is also a tensioning seat 647 on the motor mounting seat 642, and the tensioning member 646 on the tensioning seat 647 is used for tensioning and fine-tuning of the belt through U-shaped grooves and bolts;

As shown in FIG. 11 , the alignment direction of the plate bundle horizontal alignment mechanism 65 is the Y direction, and the plate bundle horizontal alignment mechanism 65 in the stacking device 6 includes a horizontal alignment cylinder 6305 corresponding to the vertical side of the L-shaped flip fixing plate 6301 , the horizontal alignment cylinder 6305 is fixedly connected to the flip fixing plate 6301 through the cylinder fixing right-angle frame, and the horizontal alignment push plate 6304 is fixedly connected to the telescopic rod end of the horizontal alignment cylinder 6305, and the horizontal alignment push plate 6304 is driven by the horizontal alignment cylinder 6305. The bundle 107 is aligned in the Y direction;

The pressing direction of the plate bundle pressing mechanism 66 is the Z direction. The plate bundle pressing mechanism 66 includes a rotating cylinder 6302 fixed on the overturning fixed plate 6301, and the top of the rotating cylinder 6302 is provided with a rotating cylinder pressing plate 6303; the output device 7 includes a rotating cylinder 6302. The second loading table 701 is provided with an output belt 702 for removing the packaged plate bundles 107 .

An automatic stacking and packaging method for slender rods, comprising the following steps:

(1) Transport the plate bundle 107 to the stacking and packing station via the conveying device 1: First, the plate bundle 107 is transported to the stacking station under the action of the synchronous belt 102, and the plate bundle 107 touches the travel switch 106 At this time, the synchronous belt 102 stops moving. At this time, the clamping cylinder 104 located on the first loading table 101 drives the clamping cylinder push plate 105 to gather the scattered plate bundles 107 to the middle to complete the preparation for the stacking suction station. ;

(2) After the translation device 4 runs to the designated position, the plate bundle 107 is sucked by the suction cup 408 and then transported to the inversion fixing plate 6301, and the plate bundle 107 is placed on the inversion fixing plate 6301 by canceling the suction cup force: First, translate Driven by the belt linear module 412, the slider 402 drives the jaw mounting base 403 to move horizontally on the carrier 2 to the initial position of the stacking suction station, and the motor drives the slider of the suction cup linear module 404 to drive the suction cup 408 to move. Vertically downward, the suction cup 408 sucks the plate bundle 107 and then vertically lifts under the drive of the suction cup linear module 404, and then is horizontally transported to the top of the overturning fixed plate 6301 under the action of the belt linear module 412, and is detected by the relevant travel light switch Then, the suction cup 408 puts down the plate bundle 107;

(3) The stacking device 6 stacks the plate bundles 107 on the overturned fixed plate 6301 : first, the concave lifting cylinder bottom plate 613 in the Z-direction plate bundle top surface lifting mechanism 61 is driven by the lifting cylinder 614 , on the jacking cylinder slider 612 on the jacking cylinder slide rail base 611 to lift the plate bundle 107 to the same height as the overturned fixing plate 6301; secondly, the horizontal alignment cylinder 6305 in the horizontal alignment mechanism 65 of the Y-direction plate bundle The horizontal alignment push plate 6304, which is fixedly connected to the end of the telescopic rod, is driven by the horizontal alignment cylinder 6305 to move the plate bundle 107 to the vertical side of the overturned fixed plate 6301 to align in the Y direction; finally, the X direction is at the top of the plate bundle. Pushed by the top surface alignment cylinder 629 of the plate bundle in the surface alignment mechanism 62, the alignment plate mounting seat 623 drives the top surface alignment plate 621 of the plate bundle on it to move on the alignment slide rail 627, so that the top end of the plate bundle faces the The alignment plate 621 drives the plate bundle 107 to align in the X direction. After the stacking of each layer is completed, the cylinders in the X and Y directions are withdrawn to the initial position, that is, the top surface alignment cylinder 629 of the plate bundle and the horizontal alignment cylinder 6305 are withdrawn to the initial position;

(4) Repeat steps (1), (2) and (3), when the plate bundle 107 on the overturned fixing plate 6301 reaches 2 layers, the film clamping cylinder 502 extends, and the film clamping cylinder 502 expands the rod end After the pneumatic finger concave splint 504 on the gripping pneumatic finger 503 of the upper part grips the film 510 between the film partitions 508, the film gripping cylinder 502 returns to the original position;

(5) Repeat steps (1), (2), (3) in turn, until the set number of layers of plate bundles 107 are all stacked, and the last cylinder in the X and Y directions, that is, the top of the plate bundle, is aligned with the cylinder 629 When the horizontal alignment cylinder 6305 is no longer withdrawn to the initial position, the rotary cylinder 6302 in the plate bundle pressing mechanism 66 in the Z direction in the stacking device 6 works, so that the rotary cylinder pressing plate 6303 constrains the plate bundle 107 in the Z direction;

(6) The turning mechanism 63 in the stacking device 6 drives the stacked plate bundles 107 to rotate, so that the film 510 on the film clamping cylinder 502 packs the stacked plate bundles 107: rotary step The motor 645 drives the overturning rotating shaft 6306 to rotate together with the entire overturning mechanism 63 fixed with it and the fixed plate bundle 107, and the film 510 on the film clamping cylinder 502 wraps and packs the rotating plate bundle 107;

(7) After the packaging is completed, after the film 510 is cut, the cylinders in the X and Y directions are withdrawn to the initial position, that is, the top surface alignment cylinder 629 of the plate bundle and the horizontal alignment cylinder 6305 are withdrawn to the initial position, and the pneumatic fingers of the splint of the clamping cylinder 409 are withdrawn. 410 Clamps and transports the packaged plate bundles 107: First, the cutting cylinder 507 on the film pulling device 5 drives the blade cutting baffle 506 to press down, so that the film 510 passing through the film partition 508 is in the blade 505. Then, the top surface alignment cylinder 629 of the plate bundle and the horizontal alignment cylinder 6305 are withdrawn to the initial position; finally, the clamping plate 411 clamps the stacked plate bundle under the action of the clamping plate pneumatic finger 410, and the clamping plate Under the action of the air cylinder 409, it is vertically lifted, and under the action of the belt linear module 412, it is horizontally transported to the output belt 702 in the output device 7 to remove the packaged plate bundles 107.

Claims (9)

1. An automatic stacking and packing device for slender rods, characterized in that: it comprises an installation cabinet, and on the said installation cabinet, from left to right are respectively equipped with a conveying device, a packaging device for moving the plate bundles to the stacking and packaging station The used film pulling device, the stacking device for plate bundles, and the output device for moving out the packaged plate bundles, above the installation cabinet, are fixed and installed with a bearing frame, and a translation device is installed on the bearing frame. The translation device is used to transfer the board bundles on the conveying device to the stacking device, and the stacking device includes a board bundle top surface lifting mechanism, a board bundle top surface alignment mechanism, a board bundle horizontal alignment mechanism, and a board bundle pressing mechanism. The tightening mechanism and the turning mechanism, the top surface lifting mechanism of the board bundle, the top surface alignment mechanism of the board bundle, the horizontal alignment mechanism of the board bundle and the board bundle pressing mechanism are used to carry out six degrees of freedom of the stacked board bundles. Positioning and fixing, the flipping mechanism is used to rotate the stacked plate bundles, the film pulling device used for packing is used to pack the stacked plate bundles during rotation, and the translation device on the carrier frame will also The packaged plate bundles are transferred to the output device. 2 . The automatic stacking and packaging device for slender rods according to claim 1 , wherein the conveying device comprises a first loading platform, and a synchronous belt is arranged on the first loading platform. 3 . A clamping cylinder base is installed on both sides of the end of the synchronous belt located at one end of the installation cabinet, and a clamping cylinder arranged horizontally is arranged on the clamping cylinder base. The telescopic rod end of the clamping cylinder is connected to the clamping cylinder. The push plate is fixedly connected, and a travel switch is provided on the first loading platform where one end of the synchronous belt is close to the installation cabinet. 3. The automatic stacking and packaging device for slender rods according to claim 1, characterized in that: the translation device comprises a translation guide rail and a belt linear module installed on the carrier frame, and the translation of the translation guide rail The sliding block and the sliding block of the belt linear module are fixedly connected with the clamping jaw mounting seat through screws, and the translation slider drives the clamping jaw mounting seat to move horizontally on the carrier frame under the drive of the belt linear module; the clamp A suction cup linear module is installed on one side of the claw mounting seat, the sliding block on the suction cup linear module is driven by a motor to move vertically, the sliding block on the suction cup linear module is fixedly connected with the suction cup connecting plate, and the suction cup is connected The plate is connected with the suction cup mounting plate through the connecting rod, and the suction cup is installed on the lower end of the suction cup mounting plate; the other side of the clamping jaw mounting seat is installed with a clamping cylinder, and the end of the telescopic rod of the clamping cylinder is provided with two cylinders. A set of symmetrically arranged splint pneumatic fingers, and the finger ends of the splint pneumatic fingers are connected with the splint through bolts. 4. The automatic stacking and packaging device for slender rods according to claim 1, wherein the film pulling device comprises a film clamping cylinder base and a film pulling base installed on the installation cabinet, and the film clamping device A film clamping cylinder is installed on the base of the cylinder, the end of the telescopic rod of the film clamping cylinder is provided with a clamping pneumatic finger, and the end of the clamping pneumatic finger is installed with a pneumatic finger concave splint; the film pulling A stretch film roller and a pair of upper and lower rollers are installed on the base, the stretch film roller is provided with a film, and one side of the stretch film base is provided with a film separator for the film to pass through. Between the stretch film drum and the film separator, a cutting cylinder is fixedly installed on the top of one side of the film stretching base where the film separator is located, and a blade cutting baffle is provided at the end of the telescopic rod of the cutting cylinder. A blade is installed on the installation cabinet below the cutting baffle. The blade cutting baffle moves under the driving of the cutting cylinder, and the film passing through the middle of a pair of rollers and the inside of the film partition is cut off under the action of the blade. 5 . The automatic stacking and packaging device for elongated rods according to claim 1 , wherein the stacking device and the film pulling device are arranged vertically, and the top surface lifting mechanism of the plate bundle in the stacking device comprises: 6 . The jacking cylinder slide rail base and jacking cylinder are vertically fixed and installed on the installation cabinet. The lifting cylinder slider on the base of the lifting cylinder slide rail is fixedly connected, and the bottom plate of the lifting cylinder moves under the driving of the lifting cylinder to lift the plate bundle to the same height as the turning mechanism. 6. The automatic stacking and packaging device for slender rods according to claim 5, characterized in that: the plate bundle top surface alignment mechanism in the stacking device comprises two sets of symmetrically arranged The alignment slide rail and the alignment cylinder base are aligned with the top surface of the plate bundle connected by bolts on the alignment cylinder base. The two sets of symmetrically arranged alignment slide rails are provided with alignment slides, and the two sets of alignment slides are connected to the alignment slides through bolts. The block connector is connected, and the alignment slider connector is fixedly installed with a vertically arranged alignment plate mounting seat, and a rotating shaft is arranged on the alignment plate mounting seat. The top surface of the plate bundle is aligned with the telescopic rod end of the cylinder and is fixedly connected with the bottom of the alignment plate mounting seat. 7 . The automatic stacking and packaging device for elongated rods according to claim 6 , wherein the overturning mechanism in the stacking device comprises an L-shaped overturning fixing plate, and the horizontal side of the overturning fixing plate is horizontal. 8 . A vertical alignment plate, which is vertically arranged and is opposite to the alignment plate on the top end of the plate bundle, is fixedly connected by bolts. Cantilever support, a belt driven wheel is provided on the overturning rotating shaft, and the belt driven wheel is connected with the overturning tensioning mechanism through a belt. The overturning and tensioning mechanism includes a tensioning installation base fixed on the installation cabinet. The tensioning installation base There is a motor mounting seat on the motor mounting seat, and the motor mounting seat is fixedly connected with a rotating stepper motor and a driving wheel bearing seat through bolts, and a belt driving wheel is arranged between the driving wheel bearing seats, and one end of the belt driving wheel is connected through the connection. The shaft is connected with the rotary stepper motor. 8 . The automatic stacking and packaging device for elongated rods according to claim 7 , wherein the horizontal alignment mechanism of the plate bundle in the stacking device comprises a vertical edge corresponding to the L-shaped overturned fixed plate. 9 . The horizontal alignment cylinder, the horizontal alignment cylinder is fixedly connected with the flip fixing plate through the cylinder fixing right-angle frame, and the horizontal alignment push plate is fixedly connected to the telescopic rod end of the horizontal alignment cylinder; The rotary cylinder on the plate, the top of the rotary cylinder is provided with a rotary cylinder pressure plate; the output device includes a second loading platform, and the second loading platform is provided with an output belt for removing the packaged plate bundles . 9. An automatic stacking and packing method for slender rods, characterized in that: comprise the following steps: (1) Transport the plate bundle to the stacking and packing station via the conveying device: First, the plate bundle is transferred to the stacking station under the action of the synchronous belt. When the plate bundle touches the travel switch, the synchronous belt stops moving. , at this time, the clamping cylinder on the first loading table drives the clamping cylinder push plate to gather the scattered plate bundles to the middle to complete the preparation for the stacking and suction station; (2) After the translation device runs to the designated position, use the suction cup to suck the plate bundle and transport it to the flipping fixed plate, cancel the suction cup force and put the plate bundle on the flip fixed plate: First, the translation slider is placed on the belt linear mold Driven by the group, the clamping jaw mounting seat is moved horizontally on the carrier frame to the initial position of the stacking suction station, and the sliding block of the motor-driven suction cup linear module drives the suction cup to move down vertically. Driven by the suction cup linear module, it is vertically lifted, and then horizontally transported to the top of the flipping fixed plate under the action of the belt linear module. After being detected by the relevant stroke, the suction cup puts down the plate bundle; (3) The stacking device stacks the plate bundles on the overturned fixed plate: first, the concave jacking cylinder bottom plate in the jacking mechanism on the top surface of the plate bundle is driven by the jacking cylinder, on the base of the jacking cylinder slide rail. The lifting cylinder block on the upper lifts the plate bundle to the same height as the flipping fixed plate; secondly, the horizontal alignment push plate fixedly connected to the end of the telescopic rod of the horizontal alignment cylinder in the horizontal alignment mechanism of the plate bundle is in the horizontal alignment cylinder. Driven to move the plate bundle to the vertical side of the overturned fixed plate for alignment; finally, under the push of the plate bundle top surface alignment cylinder in the plate bundle top surface alignment mechanism, the alignment plate mounting seat drives the upper The top surface alignment plate of the board bundle moves on the alignment slide rail, so that the top surface alignment plate of the board bundle drives the board bundle to align. After each layer of stacking is completed, align the top surface of the board bundle with the cylinder and the horizontal alignment cylinder. withdraw to the initial position; (4) Repeat steps (1), (2), (3) again, when the plate bundles on the overturned fixing plate reach 2 layers, the film clamping cylinder is extended, and the end of the telescopic rod of the film clamping cylinder is clamped After the pneumatic finger concave splint on the pneumatic finger clamps the film between the film partitions, the film clamping cylinder returns to its original position; (5) Repeat steps (1), (2), (3) in turn, until the set number of layers of the plate bundles are all stacked, and the last plate bundle top surface alignment cylinder and horizontal alignment cylinder are no longer withdrawn to the initial stage. position, the rotating cylinder in the plate bundle pressing mechanism in the stacking device works, so that the rotating cylinder pressing plate constrains the plate bundle; (6) The flipping mechanism in the stacking device drives the stacked plate bundles to rotate, so that the film on the film clamping cylinder packs the stacked plate bundles: the rotating stepping motor drives the overturning rotating shaft and The entire turning mechanism fixed with it and the fixed plate bundle rotate together, and the film on the film clamping cylinder wraps and packs the rotating plate bundle; (7) After the packaging is completed and the film is cut, the top surface alignment cylinder and the horizontal alignment cylinder of the plate bundle are withdrawn to the initial position, and the pneumatic fingers of the clamping plate of the cylinder are used to clamp and transport the packaged plate bundles: first, pull the The cutting cylinder on the film device drives the blade cutting baffle to press down, so that the film passing through the film separator is cut under the action of the blade; then, the top surface alignment cylinder and horizontal alignment cylinder of the plate bundle are withdrawn to the initial position ;Finally, the plywood clamps the stacked plate bundles under the action of the plywood pneumatic fingers, vertically lifts under the action of the clamping cylinder, and conveys it horizontally to the output belt in the output device under the action of the belt linear module. The packed bundles are removed.

Images