CN110877813A - Large material turnover device and use method thereof - Google Patents
Large material turnover device and use method thereof Download PDFInfo
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- CN110877813A CN110877813A CN201911342893.7A CN201911342893A CN110877813A CN 110877813 A CN110877813 A CN 110877813A CN 201911342893 A CN201911342893 A CN 201911342893A CN 110877813 A CN110877813 A CN 110877813A
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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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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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
- B65G13/00—Roller-ways
- B65G13/02—Roller-ways having driven rollers
- B65G13/06—Roller driving means
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Attitude Control For Articles On Conveyors (AREA)
Abstract
The invention discloses a large-scale material overturning device which comprises a rack, an overturning driving mechanism, a material bearing and conveying mechanism, a conveying driving mechanism and a positioning mechanism, wherein the rack is fixedly connected to the ground, the material bearing and conveying mechanism is connected to the rack, the overturning driving mechanism is installed on the rack and connected with the material bearing and conveying mechanism, the overturning driving mechanism drives the material bearing and conveying mechanism to overturn around the rack, the conveying driving mechanism is connected with the material bearing and conveying mechanism, the conveying driving mechanism drives a roller of the material bearing and conveying mechanism to rotate, and the positioning mechanism is connected to the material bearing and conveying mechanism. According to the invention, after the materials are positioned by the material bearing and conveying mechanism and the positioning mechanism, the material bearing and conveying mechanism is driven to overturn by the overturning driving mechanism, and the heavy materials are overturned to a specified posture and conveyed to a lower station, so that the overturning precision and shorter conveying time required by the process are achieved, the front side conveying is changed into the back side conveying by mechanical control, and the labor intensity and the safety risk are reduced.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing and conveying, and particularly relates to a large material turnover device and a using method thereof.
Background
At present, when large-scale and heavy materials are overturned, the operation form is that the manual operation driving reaches the overturning purpose by repeatedly changing the position angle, the labor intensity of personnel operation is high, a large safety risk exists, and the overturning efficiency of the large-scale and heavy materials is too low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the large material turnover device which is stable in conveying, high in turnover precision, short in conveying time and capable of reducing labor intensity and safety risks, and further provides a using method of the large material turnover device.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a large-scale material turning device which characterized in that: including frame, upset actuating mechanism, material bear conveying mechanism, transport actuating mechanism and positioning mechanism, the material bears conveying mechanism and connects in the frame, and upset actuating mechanism installs in the frame and bears conveying mechanism with the material and be connected, and upset actuating mechanism drive material bears conveying mechanism and winds the frame upset, carries actuating mechanism and material to bear conveying mechanism and is connected, carries actuating mechanism drive material to bear conveying mechanism's running roller and rotates, and positioning mechanism connects on material bears conveying mechanism.
Further, the material bearing and conveying mechanism comprises a front conveying roller set, a back conveying roller set and a supporting frame, the two ends of the supporting frame are connected to the frame through rotating shafts, the front conveying roller set and the back conveying roller set are connected to the supporting frame, and the back conveying roller set is installed right above the front conveying roller set.
Furthermore, the front conveying roller set and the back conveying roller set both comprise rollers and rotating shafts, and the rollers are connected to the rotating shafts.
Further, the pivot includes driven shaft, the initiative pivot I of roller set is carried on the front and the initiative pivot II of roller set is carried on the reverse side, carries actuating mechanism to install on braced frame, carries actuating mechanism to be connected with initiative pivot II, and initiative pivot II is connected with initiative pivot I.
Further, carry actuating mechanism to include driving motor, sprocket, chain and gear, all be equipped with the sprocket on driving motor output shaft and the initiative pivot II, driving motor passes through the chain and is connected with initiative pivot II with the sprocket meshing, and the other end of initiative pivot II also is equipped with the gear, also is equipped with the gear on the initiative pivot I, the gear of initiative pivot II with the gear meshing on the initiative pivot I.
Further, be equipped with the sprocket on the driven spindle, be connected through chain and sprocket meshing between driven spindle and the initiative pivot, be connected through chain and sprocket meshing between the adjacent driven spindle, carry actuating mechanism and still include the take-up pulley, the take-up pulley is installed and is located between driving motor output shaft and the initiative pivot II at braced frame, the take-up pulley meshes with the chain between driving motor output shaft and the initiative pivot II.
Further, positioning mechanism includes cylinder I and locating wheel, and the stiff end of cylinder I is connected on braced frame, and I vertical the arranging of cylinder, the movable rod and the locating wheel of cylinder I are connected.
Furthermore, positioning mechanism still includes flange structure, and flange structure is located the lateral part of front conveying roller group and reverse conveying roller group, and flange structure includes cylinder II and dog, and II vertical one ends of arranging of cylinder are connected on braced frame, and the dog connector is at the other end of cylinder II, and flange structure during operation, the dog is located just between front conveying roller group and the reverse conveying roller group, and dog and material contact.
Furthermore, the turnover driving mechanism comprises a motor and a speed reducer, an output shaft of the motor is connected with the speed reducer, an output shaft of the speed reducer is connected with rotating shafts at two ends of the supporting frame through a coupler, and the turnover driving mechanism drives the rotating shafts to rotate to drive the material bearing and conveying mechanism to turn.
The invention also relates to a use method of the large material turnover device, which is characterized in that: the using method comprises the following steps:
step 2, after the materials reach the designated position, the driving motor stops working, the front conveying roller set stops rotating, the air cylinder I of the positioning mechanism extends out, the positioning wheel descends until the positioning wheel contacts with the upper surface of the materials, meanwhile, the air cylinder II extends out, the stop block descends, and the stop block contacts with the side part of the materials;
step 3, the turnover driving mechanism drives the material bearing and conveying mechanism to turn over around the rack, the turnover is stopped after the material bearing and conveying mechanism turns over to a specified angle, the air cylinder I of the positioning mechanism retracts, the positioning wheel leaves the material, the material is in contact with the reverse conveying roller set, meanwhile, the air cylinder II retracts, and the stop block leaves the material;
and 4, driving the motor to rotate reversely to drive the material bearing and conveying mechanism to rotate, contacting the materials with the reverse conveying roller set, and conveying the materials to the subsequent process by the reverse conveying roller set.
The technical scheme adopted by the invention has the advantages that:
1. according to the invention, the motor and the sensor are used for controlling, after the materials are positioned by the material bearing and conveying mechanism and the positioning mechanism, the material bearing and conveying mechanism is driven to overturn by the overturning driving mechanism, and the heavy materials are overturned to a specified posture and conveyed to a lower station, so that the overturning precision and shorter conveying time required by the process are achieved, the front side conveying is changed into the back side conveying by mechanical control, and the labor intensity and the safety risk are reduced.
2. The positioning mechanism plays a role in fixing the position of the material, when the material is turned, the positioning mechanism and the front conveying roller set form a clamp structure, the material is clamped between the positioning wheel and the front conveying roller set, the situation that the position of the material is changed such as shifting and shaking during turning is avoided, and even the material slips from the front conveying roller set and the back conveying roller set, the position of the material during turning can be controlled by the positioning mechanism, and the turning precision is improved.
3. In order to avoid the situation that materials slide out from the side part of a space formed by the front conveying roller set and the back conveying roller set during overturning, the positioning mechanism further comprises a flange structure, the flange structure is equivalent to the secondary protection of the positioning mechanism, the flange structure and the positioning wheel are used simultaneously, the position of the materials is better guaranteed to be unchanged during overturning, the overturning precision is further improved, and when the cylinder I and the positioning wheel fail, the flange structure can still prevent the materials from sliding out from the side surface.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
fig. 1 is a schematic view of the overall structure of the large material turnover device of the present invention.
Fig. 2 is a front view of the large material turning device of the invention.
Fig. 3 is a partially enlarged schematic view of the conveying drive mechanism of the present invention.
FIG. 4 is a partially enlarged view of the rib structure of the present invention.
The labels in the above figures are respectively: 1. a frame; 2. a turnover driving mechanism; 3. a material bearing and conveying mechanism; 4. a conveying drive mechanism; 5. a positioning mechanism.
Detailed Description
In the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "planar direction", "circumferential", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1 to 3, a large material turnover device, which comprises a frame 1, a turnover driving mechanism 2, a material bearing and conveying mechanism 3, a conveying driving mechanism 4 and a positioning mechanism 5, wherein the frame 1 is fixedly connected to the ground, the material bearing and conveying mechanism 3 is connected to the frame 1, the turnover driving mechanism 2 is installed on the frame 1 and is connected to the material bearing and conveying mechanism 3, the turnover driving mechanism 2 drives the material bearing and conveying mechanism 3 to turn over around the frame 1, the conveying driving mechanism 4 is connected to the material bearing and conveying mechanism 3, the conveying driving mechanism 4 drives a roller of the material bearing and conveying mechanism 3 to rotate, and the positioning mechanism 5 is connected to the material bearing and conveying mechanism 3.
The frame 1 comprises a base 11 and upright supporting legs 12, wherein the base 11 is fixedly connected to the ground, one ends of the upright supporting legs 12 are connected to the base 11, and the material bearing and conveying mechanism 3 is connected to the other ends of the upright supporting legs 12.
The material bearing and conveying mechanism 3 comprises a front conveying roller wheel set 31, a back conveying roller wheel set 32 and a supporting frame 33, the two ends of the supporting frame 33 are connected to the frame 1 through rotating shafts, the front conveying roller wheel set 31 and the back conveying roller wheel set 32 are connected to the supporting frame 33, and the back conveying roller wheel set 32 is installed right above the front conveying roller wheel set 31.
The front conveying roller wheel set 31 and the back conveying roller wheel set 32 both comprise rollers 34 and a rotating shaft 35, and the rollers 34 are connected to the rotating shaft 35. The pivot 35 includes driven rotating shaft 351, the initiative pivot I352 of positive conveying roller wheelset 31 and the initiative pivot II 353 of reverse conveying roller wheelset 32, and transport actuating mechanism 4 and install on braced frame 33, and transport actuating mechanism 4 and initiative pivot II 353 are connected, and initiative pivot II 353 is connected with initiative pivot I352.
The conveying driving mechanism 4 comprises a driving motor 41, a chain wheel 42, a chain 43 and a gear 44, the chain wheel 42 is arranged on an output shaft of the driving motor 41 and the driving rotating shaft II 353, the driving motor 41 is meshed with the chain wheel 42 through the chain 43 and is connected with the driving rotating shaft II 353, the gear 44 is also arranged at the other end of the driving rotating shaft II 353, the gear 44 is also arranged on the driving rotating shaft I352, and the gear 44 of the driving rotating shaft II 353 is meshed with the gear 44 on the driving rotating shaft I352. Be equipped with sprocket 42 on the driven spindle 351, be connected through chain and sprocket meshing between driven spindle 351 and the drive spindle, be connected through chain and sprocket meshing between the adjacent driven spindle 351, realize the transmission of motion.
The driving motor 41 transmits power to the driving rotating shaft II 353 through a chain wheel and a chain, and the driving rotating shaft II 353 transmits power to the driving rotating shaft I352 through the gear 42. The driving rotating shaft II 353 and the driving rotating shaft I352 transmit power to the driven rotating shaft 351 through a chain wheel and a chain, so that the roller wheel 34 is driven to rotate.
Preferably, the conveying driving mechanism 4 further comprises a tension pulley 45, the tension pulley 45 is mounted between the output shaft of the driving motor 41 and the driving rotating shaft ii 353 of the supporting frame 33, the tension pulley 45 is meshed with the chain 43 between the output shaft of the driving motor 41 and the driving rotating shaft ii 353, the tension effect is achieved on the chain at the position of the driving motor 41, and the problem that the running precision is poor due to the fact that the chain is loosened after long-term use is avoided.
Tensioning wheel 45 passes through mount pad I451 and II 452 connections of mount pad on braced frame 33, tensioning wheel 45 connects on mount pad I451, II 452 fixed connection of mount pad is on braced frame 33, II 452 of mount pad are equipped with rectangular shape hole 453, I451 of mount pad is connected at II 452 of mount pad through bolt and the cooperation of rectangular shape hole 453, the setting of rectangular shape hole 453 makes I451 of mount pad adjustable for the position of II 452 of mount pad, and then make tensioning wheel 45's position adjustable, adjust tensioning wheel 45's position according to specific use condition in practical application, guarantee that chain 43 is in the tensioning state, avoid appearing lax.
In order to avoid the material from the lateral part roll-off in the space formed by the front conveying roller wheel group 31 and the back conveying roller wheel group 32 during overturning, the positioning mechanism 5 further comprises a rib structure 53, the rib structure 53 is located at the lateral part of the front conveying roller wheel group 31 and the back conveying roller wheel group 32, the rib structure 53 comprises a cylinder II 531 and a stopper 532, one end of the cylinder II 531 is vertically arranged and connected onto the supporting frame 33, the stopper 532 is connected at the other end of the cylinder II 531, when the rib structure 53 works, the stopper 532 is just located between the front conveying roller wheel group 31 and the back conveying roller wheel group 32, and the stopper 532 is in contact with the material. The flange structure 53 is equivalent to the secondary protection of the positioning mechanism 5, the flange structure 53 and the positioning wheel 52 are used simultaneously, the position of the material is better guaranteed to be unchanged during overturning, the overturning precision is further improved, and when the cylinder I51 and the positioning wheel 52 fail, the flange structure 53 can still prevent the material from slipping out from the side.
The overturning driving mechanism 2 comprises a motor 21 and a speed reducer 22, an output shaft of the motor 21 is connected with the speed reducer 22, an output shaft of the speed reducer 22 is connected with rotating shafts at two ends of a supporting frame 33 through a coupler, and the overturning driving mechanism 2 drives the rotating shafts to rotate to drive the material bearing and conveying mechanism 3 to overturn, so that the material is overturned.
The material bearing and conveying mechanism 3 is further provided with a position precision sensor, the position precision sensor is arranged on the supporting frame 33 and connected with the driving motor 41, and the position precision sensor transmits a signal to the driving motor 41. The turnover driving mechanism 2 further comprises a turnover precision sensor, the turnover precision sensor is connected with the motor 21, and the turnover precision sensor transmits a signal to the motor 21.
Based on the large material turnover device, the invention also relates to a use method of the large material turnover device, and the use method comprises the following steps:
step 2, after the materials reach the designated position, the position precision sensor sends a signal to the driving motor 41, the driving motor 41 stops working, the front conveying roller set 31 stops rotating, the cylinder I51 of the positioning mechanism 5 extends out, the positioning wheel 52 descends until the positioning wheel 52 is in contact with the upper surface of the materials, the materials are clamped, the cylinder II 531 extends out, the stop block 532 descends, and the stop block 532 is in contact with the side part of the materials;
step 3, the overturning driving mechanism 2 drives the material bearing and conveying mechanism 3 to overturn around the rack 1, after the materials are overturned to a specified angle, the overturning precision sensor sends a signal to the motor 21, the motor 21 stops rotating, the material bearing and conveying mechanism 3 stops overturning, the cylinder I51 of the positioning mechanism 5 retracts, the positioning wheel 52 leaves the materials, the materials are in contact with the reverse conveying roller group 32, the cylinder II 531 retracts, and the stop dog 532 leaves the materials;
and 4, driving the motor 41 to rotate reversely to drive the material bearing and conveying mechanism 3 to rotate, enabling the material to be in contact with the reverse conveying roller set 32, and conveying the material to a subsequent process by virtue of the reverse conveying roller set 32.
According to the invention, the motor and the sensor are used for controlling, after the materials are positioned by the material bearing and conveying mechanism and the positioning mechanism, the material bearing and conveying mechanism is driven to overturn by the overturning driving mechanism, and the heavy materials are overturned to a specified posture and conveyed to a lower station, so that the overturning precision and shorter conveying time required by the process are achieved, the front side conveying is changed into the back side conveying by mechanical control, and the labor intensity and the safety risk are reduced.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the technical solution of the invention or to apply the concept and technical solution of the invention directly to other occasions without modification.
Claims (10)
1. The utility model provides a large-scale material turning device which characterized in that: including frame (1), upset actuating mechanism (2), material bear conveying mechanism (3), carry actuating mechanism (4) and positioning mechanism (5), the material bears conveying mechanism (3) and connects in frame (1), and upset actuating mechanism (2) are installed in frame (1) and are born conveying mechanism (3) with the material and be connected, and upset actuating mechanism (2) drive material bears conveying mechanism (3) and winds frame (1) upset, carries actuating mechanism (4) and material to bear conveying mechanism (3) and is connected, carries actuating mechanism (4) drive material to bear the running roller rotation of conveying mechanism (3), and positioning mechanism (5) are connected on material bears conveying mechanism (3).
2. The large material turning device according to claim 1, wherein: the material bearing and conveying mechanism (3) comprises a front conveying roller set (31), a back conveying roller set (32) and a supporting frame (33), the two ends of the supporting frame (33) are connected to the frame (1) through rotating shafts, the front conveying roller set (31) and the back conveying roller set (32) are connected to the supporting frame (33), and the back conveying roller set (32) is installed right above the front conveying roller set (31).
3. The large material turning device according to claim 2, wherein: the front conveying roller set (31) and the back conveying roller set (32) both comprise rollers (34) and rotating shafts (35), and the rollers (34) are connected to the rotating shafts (35).
4. A large-sized material turnover device as claimed in claim 3, wherein: the rotating shaft (35) comprises a driven rotating shaft (351), a driving rotating shaft I (352) of the front conveying roller set (31) and a driving rotating shaft II (353) of the reverse conveying roller set (32), the conveying driving mechanism (4) is installed on the supporting frame (33), the conveying driving mechanism (4) is connected with the driving rotating shaft II (353), and the driving rotating shaft II (353) is connected with the driving rotating shaft I (352).
5. The large material turning device according to claim 4, wherein: carry actuating mechanism (4) including driving motor (41), sprocket (42), chain (43) and gear (44), all be equipped with sprocket (42) on driving motor (41) output shaft and initiative pivot II (353), driving motor (41) are connected with initiative pivot II (353) through chain (43) and sprocket (42) meshing, the other end of initiative pivot II (353) also is equipped with gear (44), also be equipped with gear (44) on initiative pivot I (352), gear (44) and the gear (44) meshing on the initiative pivot I (352) of initiative pivot II (353).
6. The large material turning device according to claim 5, wherein: be equipped with sprocket (42) on driven rotating shaft (351), be connected through chain and sprocket meshing between driven rotating shaft (351) and the initiative rotating shaft, be connected through chain and sprocket meshing between adjacent driven rotating shaft (351), carry actuating mechanism (4) and still include take-up pulley (45), take-up pulley (45) are installed and are located between driving motor (41) output shaft and initiative rotating shaft II (353) in braced frame (33), take-up pulley (45) and driving motor (41) output shaft and initiative rotating shaft II (353) between chain (43) meshing.
7. The large material turning device according to any one of claims 3 to 6, wherein: positioning mechanism (5) are including I (51) of cylinder and locating wheel (52), and the stiff end of I (51) of cylinder is connected on braced frame (33), and I (51) vertical the arranging of cylinder, and the movable rod and the locating wheel (52) of I (51) of cylinder are connected.
8. The large-scale material turnover device according to claim 7, wherein: positioning mechanism (5) still include flange structure (53), flange structure (53) are located the lateral part of front conveying roller wheelset (31) and reverse conveying roller wheelset (32), flange structure (53) include cylinder II (531) and dog (532), cylinder II (531) are vertical arranges one end and connects on braced frame (33), dog (532) connector is at the other end of cylinder II (531), flange structure (53) during operation, dog (532) are located between front conveying roller wheelset (31) and reverse conveying roller wheelset (32) just, and dog (532) and material contact.
9. The large-scale material turnover device according to claim 8, wherein: the overturning driving mechanism (2) comprises a motor (21) and a speed reducer (22), an output shaft of the motor (21) is connected with the speed reducer (22), an output shaft of the speed reducer (22) is connected with rotating shafts at two ends of a supporting frame (33) through a coupler, and the overturning driving mechanism (2) drives the rotating shafts to rotate to drive the material bearing and conveying mechanism (3) to overturn.
10. The use method of the large material turning device according to any one of claims 1 to 9, characterized in that: the using method comprises the following steps:
step 1, a driving motor (41) drives a material bearing and conveying mechanism (3) to rotate, materials are in contact with a front conveying roller wheel set (31), the materials are conveyed into the material bearing and conveying mechanism (3) by virtue of the front conveying roller wheel set (31), and the materials are located in a space between the front conveying roller wheel set (31) and a back conveying roller wheel set (32);
step 2, after the materials reach the designated position, the driving motor (41) stops working and the front conveying roller set (31) stops rotating, the air cylinder I (51) of the positioning mechanism (5) extends out, the positioning wheel (52) descends until the positioning wheel (52) is in contact with the upper surface of the materials, the air cylinder II (531) extends out, the stop dog (532) descends, and the stop dog (532) is in contact with the side part of the materials;
step 3, the turnover driving mechanism (2) drives the material bearing and conveying mechanism (3) to turn around the rack (1), the turnover is stopped after the material bearing and conveying mechanism is turned over to a specified angle, the air cylinder I (51) of the positioning mechanism (5) retracts, the positioning wheel (52) leaves the material, the material is contacted with the reverse conveying roller set (32), the air cylinder II (531) retracts, and the stop block (532) leaves the material;
and 4, driving the motor (41) to rotate reversely to drive the material bearing and conveying mechanism (3) to rotate, enabling the materials to be in contact with the reverse side conveying roller set (32), and conveying the materials to a subsequent process by virtue of the reverse side conveying roller set (32).
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CN201911342893.7A CN110877813A (en) | 2019-12-24 | 2019-12-24 | Large material turnover device and use method thereof |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN113412844A (en) * | 2020-12-02 | 2021-09-21 | 北京途灵微电子科技有限公司 | Automatic cake turning device for pancake fruit robot |
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