CN111196502A - Stacking method of automatic stacker crane - Google Patents
Stacking method of automatic stacker crane Download PDFInfo
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- CN111196502A CN111196502A CN201811380042.7A CN201811380042A CN111196502A CN 111196502 A CN111196502 A CN 111196502A CN 201811380042 A CN201811380042 A CN 201811380042A CN 111196502 A CN111196502 A CN 111196502A
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention provides a stacking method of an automatic stacker crane, which comprises the following steps: the controller controls the conveying mechanism to convey the plates to the shifting fork mechanism; the controller controls the shifting fork mechanism to rotate by a preset angle according to a preset direction, plates are stacked on the supporting plate mechanism, and then the shifting fork mechanism is controlled to recover to the original position; the controller records the stacking times plus 1 and controls the supporting plate mechanism to descend by a preset height; and after judging that the stacking times reach a first preset time, the controller controls the supporting plate mechanism to move out the stacked plates and replace the supporting plates, meanwhile, the controller resets the stacking times, and then the steps are repeated. According to the stacking method, under the control of the controller, the shifting fork mechanism carries the plates to be stacked and then places the plates onto the supporting plate mechanism, so that the plate rolling phenomenon can be effectively prevented under the condition of not turning the plate, the labor intensity of workers is reduced, the labor cost is saved, the safety coefficient of plate stacking operation is improved, and the product quality is ensured.
Description
Technical Field
The invention relates to the technical field of building board production, in particular to a stacking method of an automatic stacker crane.
Background
In the existing mineral wool board production line, during the process of stacking after the boards are formed and dried, the positions of the boards cannot be completely aligned, and during stacking or position alignment, a washboard phenomenon often exists between two vertically adjacent boards. In actual operation, in order to prevent the phenomenon of plate rolling from influencing product quality, a special worker needs to turn over the plate manually before stacking, and the plate turning operation is performed every other plate, so that the manual labor intensity is high.
In addition, after the stacking of the plates with the preset height is completed, the conveying before the stacking of the plates needs to be suspended or slowed down, and after the stacked plate stack is moved and the supporting plate is replaced, the stacking operation is performed again, so that the plates are often stacked or the plate conveying line needs to be prolonged, the former affects the production efficiency and cannot realize the complete continuous production, and the latter can increase the occupied site of the production line and the equipment investment, so that the production cost is increased.
Disclosure of Invention
The present invention is directed to solving the problems described above. It is an object of the present invention to provide a palletising method which addresses any of the above problems. Specifically, the invention provides an automatic stacking method which can avoid the phenomenon of plate rolling without a plate turnover and effectively save manpower.
In order to solve the technical problem, the invention provides a stacking method of an automatic stacker crane, which comprises the following steps:
the controller controls the conveying mechanism to convey the plates to the shifting fork mechanism;
the controller controls the shifting fork mechanism to rotate by a preset angle according to a preset direction, plates are stacked on the supporting plate mechanism, and then the shifting fork mechanism is controlled to recover to the original position;
the controller records the stacking times plus 1 and controls the supporting plate mechanism to descend by a preset height;
and after judging that the stacking times reach a first preset time, the controller controls the supporting plate mechanism to move out the stacked plates and replace the supporting plates, meanwhile, the controller resets the stacking times, and then the steps are repeated.
Wherein, control the layer board mechanism will stack the panel of good and remove and change the layer board and include:
the controller controls the supporting plate mechanism to drive the stacked plates to move downwards by a preset depth, and simultaneously controls the forklift mechanism to move below the shifting fork mechanism; the preset depth is greater than the height of a joint plate fork of the forklift mechanism;
after the conveying mechanism conveys the plates to the shifting fork mechanism, controlling the shifting fork mechanism to rotate by a preset angle according to a preset direction, stacking the plates to the forklift mechanism, and recording the stacking times by a controller and adding 1; then controlling the shifting fork mechanism to restore the original position, and simultaneously controlling the forklift mechanism to descend by a preset height;
and after the controller judges that the stacking times of the plates on the forklift mechanism reach a second preset time, the supporting plate mechanism is controlled to move the replaced empty supporting plate to a first preset position below the shifting fork mechanism, the forklift mechanism is controlled to withdraw to a second preset position, and the plates stacked on the forklift mechanism fall onto the empty supporting plate.
Wherein, the controller control layer board mechanism drives the panel that stacks and still includes after moving down the preset degree of depth: the controller controls the lifting device to drive the transfer device to descend for a preset depth, the stacked plates are moved to a preset position, and then the empty supporting plate is replaced.
Wherein the controller controlling the forklift mechanism to evacuate to a second predetermined location comprises: the controller controls the driving cylinder to drive the longitudinal rail and the joint plate fork to move along the transverse rail, and controls the servo motor to drive the joint plate fork to move along the longitudinal rail, so that the joint plate fork moves to the second preset position.
Wherein, control fork truck mechanism descends and presets the height and includes: and after receiving the confirmation signal of the detection module, the controller controls the forklift mechanism to descend by a preset height, wherein the preset height is the thickness of one plate.
Wherein, the controller control the layer board mechanism descends and presets the height and includes: after receiving the confirmation signal of the detection module, the controller controls the supporting plate mechanism to descend by a preset height; the preset height is the thickness of one plate.
The automatic stacker crane comprises an automatic stacker crane, a shifting fork mechanism, a rack and a control mechanism, wherein the shifting fork mechanism comprises at least one set of shifting fork device, the shifting fork device comprises a shifting fork, a driving device and a connecting rod, the first end of the shifting fork is fixedly connected with the first end of the connecting rod, the connecting rod and the driving device are both hinged to the rack of the automatic stacker crane, and the driving device is hinged to the second end of the connecting rod; the controller controls the driving device to start, and drives the connecting rod to drive the shifting fork to rotate.
The at least one set of shifting fork device comprises a first shifting fork device and a second shifting fork device, the first shifting fork device and the second shifting fork device are respectively positioned above two ends of the supporting plate mechanism, and the rotating direction of the first shifting fork device is opposite to that of the second shifting fork device.
Wherein, at least one set of fork device still includes to be located the third fork device of layer board mechanism middle part top, the turned angle of third fork device is more than or equal to 90.
The automatic stacking machine is provided with a stopping mechanism which is distributed above the supporting plate mechanism and used for limiting stacked plates and preventing the plates from moving along with the rotation of the shifting fork mechanism.
According to the stacking method, under the control of the controller, the shifting fork mechanism carries the plates to be stacked and then places the plates onto the supporting plate mechanism, so that the plate rolling phenomenon can be effectively prevented under the condition of not turning the plates, the labor intensity of workers is reduced, the labor cost is saved, the safety coefficient of plate stacking operation is improved, and the product quality is ensured; meanwhile, the stacked plates are accepted by the aid of the forklift mechanism in the process of replacing the supporting plate of the transfer device, continuity of plate stacking is effectively guaranteed, and production efficiency is improved.
Other characteristic features and advantages of the invention will become apparent from the following description of exemplary embodiments, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to indicate like elements. The drawings in the following description are directed to some, but not all embodiments of the invention. For a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 schematically shows a flow chart of a palletization method according to the invention;
figure 2 schematically shows a structural view of an automatic palletizer which uses the palletization method according to the present invention;
FIG. 3 shows a side view of an automatic palletizer;
FIG. 4 is a schematic view of the fork mechanism;
fig. 5 exemplarily shows a flow chart of a specific implementation of the palletizing method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
According to the automatic stacking machine, each part mechanism of the automatic stacking machine is controlled through the controller, so that each part mechanism automatically and orderly operates, the automatic stacking process of plates is completed, the automation of plate stacking is realized, and the manual requirement is reduced. The controller controls the shifting fork mechanisms to operate orderly, the shifting fork mechanisms are used for receiving the plates to be stacked and placing the plates on the supporting plate mechanism, so that the plate rubbing phenomenon is avoided under the condition that the plates do not need to be turned, the product quality is ensured, meanwhile, the plates do not need to be turned and inspected manually, the labor is effectively saved, and the manual labor intensity is reduced; in addition, through the alternate operation of the forklift mechanism and the supporting plate mechanism, the stacked plates are temporarily placed in the supporting plate mechanism replacing process by the forklift mechanism, the continuity of the plate stacking process is ensured, the continuous operation is ensured under the condition that equipment has no fault, and the production efficiency is improved.
The stacking method of the automatic stacker crane provided by the invention is described in detail below with reference to the accompanying drawings.
Fig. 1 shows a flow chart of a stacking method of the present invention, fig. 2 shows a schematic structural view of an automatic stacker crane of the present invention, in which the direction of an arrow is a conveying direction of a sheet material, fig. 3 shows a side view of the automatic stacker crane, and referring to fig. 1 to 3, the stacking method of the automatic stacker crane includes the following steps:
the controller 1 controls the conveying mechanism to convey the plate 100 to the shifting fork mechanism 3;
the controller 1 controls the shifting fork mechanism 3 to rotate by a preset angle according to a preset direction, plates 100 are stacked on the supporting plate mechanism 2, and then the shifting fork mechanism 3 is controlled to restore to the original position to receive the next plate to be stacked;
the controller 1 records the stacking times plus 1 and controls the supporting plate mechanism 2 to descend by a preset height;
after the controller 1 judges that the stacking times reach a first preset number (namely, the preset stacking number of the plates is reached), the supporting plate mechanism 2 is controlled to move the stacked plates out and replace the supporting plates, meanwhile, the controller resets the stacking times, and then the steps are repeated.
According to the invention, the shifting fork mechanism 3 is used for receiving the plates to be stacked and then placing the plates on the supporting plate mechanism 2, so that the plate rubbing phenomenon can be effectively avoided under the condition of not turning the plate, the plate turning process is reduced while the product quality is ensured, the labor is saved, and the labor intensity of workers is reduced.
In addition, in order to realize continuous production and avoid the influence on production efficiency caused by the condition of fault-free shutdown after the pallet mechanism 2 moves the stacked plates to a preset position and then replaces the pallet for a certain time after once stacking is finished, the automatic stacking machine is provided with a forklift mechanism 4 for alternately receiving the stacked plates with the pallet mechanism 2 so as to ensure the continuity of plate stacking.
Specifically, the step of controlling the pallet mechanism 2 to remove the stacked plates and replace the pallets comprises the following steps:
the controller 1 controls the supporting plate mechanism 2 to drive the stacked plates to move downwards by a preset depth, and controls the forklift mechanism 4 to move below the shifting fork mechanism 3 to take over the supporting plate mechanism 2 to temporarily receive the stacked plates;
after the conveying mechanism conveys the plates to the shifting fork mechanism 3, controlling the shifting fork mechanism 3 to rotate by a preset angle according to a preset direction, stacking the plates 100 on the forklift mechanism 4, and recording the stacking times by the controller 1 and adding 1; then controlling the shifting fork mechanism 3 to restore the original position, and simultaneously controlling the forklift mechanism 4 to descend by a preset height to wait for the next plate to be conveyed;
after the controller 1 judges that the stacking times of the plates on the forklift mechanism 4 reach a second preset time (the second preset time is smaller than the first preset time), the supporting plate mechanism 2 is controlled to move the replaced empty supporting plate to a first preset position below the shifting fork mechanism 3, the forklift mechanism 4 is controlled to withdraw to a second preset position, and the plates 100 stacked on the forklift mechanism 4 fall on the empty supporting plate.
In the moving process of replacing the pallet mechanism 2 with the forklift mechanism 4, in order to not affect the operation of each other and avoid collision of the forklift mechanism 4 on the stacked plates on the pallet mechanism 2, the preset depth of downward movement of the pallet mechanism 2 needs to be greater than the height of the pallet forks 41 of the forklift mechanism 4.
In the stacking method, the controller 1 controls the supporting plate mechanism 2 to drive the stacked plates to move downwards by a preset depth, and then continuously controls the supporting plate mechanism 2 to move the stacked plates to a preset position and then replace the empty supporting plate. In the automatic stacker crane, the supporting plate mechanism 2 comprises a transfer device 21 and a lifting device positioned at the bottom of the transfer device 21, the lifting device is in signal connection with the controller 1, and the controller 1 controls the starting, stopping and running of the lifting device to drive the transfer device 21 to lift. When a plate is placed on the transfer device 21, the controller 1 starts the lifting device to drive the transfer device 21 to descend by the height equal to the thickness of the plate; after the predetermined number of plate stacking is completed, the controller 1 controls the lifting device to drive the transfer device 21 to descend by a preset height, and waits for moving away the stacked plate stack and replacing an empty supporting plate so as to receive the plate stacking of the next round; after the empty supporting plate is replaced, the controller 1 controls the lifting device to drive the supporting plate 21 to ascend to a preset position to wait for receiving the stacked plates. Therefore, the process of replacing the empty pallet specifically comprises the following steps: the controller 1 controls the lifting device to drive the transfer device 21 to descend for a preset depth, the stacked plates are moved to a preset position, and then the empty supporting plate is replaced.
The replacement of the empty pallet may be manual replacement, that is, manually placing the empty pallet on the transfer device 21; it can also be an automatic change: for example, the controller may control another conveying device to convey the empty pallet to the transfer device 21.
In an exemplary embodiment, the forklift mechanism 4 includes a fishplate fork 41, a longitudinal rail 42, a transverse rail 43, a servo motor 44 and a driving cylinder 45, wherein the fishplate fork 41 is slidably connected with the longitudinal rail 42, and the top end of the longitudinal rail 42 is slidably connected with the transverse rail 43 and fixedly connected with the output end of the driving cylinder 45; under the control of the controller 1, the servo motor 44 drives the fishplate bar fork 41 to move along the longitudinal rail 42, and the driving cylinder 45 drives the longitudinal rail 42 to drive the fishplate bar fork 41 to move along the transverse rail 43.
In the present embodiment, the controlling of the evacuation of the forklift mechanism 4 to the second predetermined position includes: the controller 1 controls the driving cylinder 45 to drive the longitudinal rail 42 and the fishplate bar fork 41 to move along the transverse rail 43, and controls the servo motor 44 to drive the fishplate bar fork 41 to move along the longitudinal rail 42, so that the fishplate bar fork 41 moves to the second preset position.
Specifically, controlling the forklift mechanism 4 to descend by a preset height includes: after receiving the confirmation signal of the detection module, the controller 1 controls the forklift mechanism 4 to descend by a preset height, that is, controls the servo-electric unit 44 to drive the joint plate fork 41 to move downwards by the preset height along the longitudinal rail 42; the predetermined height is the thickness of one plate.
Suitably, the controller 1 controls the supporting plate mechanism 2 to descend by a preset height, including: after receiving the confirmation signal of the detection module, the controller 1 controls the lifting device to drive the transfer device 21 to descend by a preset height. Similarly, the preset height is the thickness of one plate, so that the position of each plate when being stacked is ensured to be the same, and the stability of plate stacking is ensured.
The stacking method and the automatic stacker crane adopting the stacking method realize continuity of stacking plates by alternately operating the forklift mechanism 4 and the supporting plate mechanism 2; in the stacking process, the shifting fork mechanism 3 is used for receiving the plates to be stacked, so that the rubbing plate phenomenon between the adjacent plates is avoided, the plate turning process is reduced, the labor intensity is reduced, and the labor is saved.
Fig. 4 shows a schematic top view of the fork mechanism 3 of the automatic stacker crane, and referring to fig. 4, the fork mechanism 3 includes at least one set of fork devices 30, and the dotted line position in the figure is the target position to which the corresponding fork device 30 is to be rotated. Each set of shifting fork device 30 operates independently under the control of the controller 1, and the rotating angle, the rotating direction and the like of the shifting fork device can be different. Specifically, the fork device 30 comprises a fork 301, a driving device 302 and a connecting rod 303, wherein a first end of the fork 301 is fixedly connected with a first end of the connecting rod 303, the connecting rod 303 and the driving device 302 are both hinged to a frame of the automatic stacker crane, and the driving device 302 is hinged to a second end of the connecting rod 303. The controller 1 controls the driving device 302 to start, and the driving link 303 drives the shifting fork 301 to rotate by a predetermined angle in a predetermined direction.
Generally, the at least one set of fork device 30 comprises a first fork device 31 and a second fork device 32, the first fork device 31 and the second fork device 32 are respectively located above two ends of the pallet mechanism 2 for supporting two ends of the sheets to be stacked; and the rotation direction of the first fork device 31 is opposite to that of the second fork device 32, for example, the first fork device 31 and the second fork device 32 rotate towards the end edges of the plates respectively, and after the forks rotate out of the plate covering area, the plates fall onto the pallet mechanism 2 for stacking.
In the embodiment shown in fig. 4, the at least one set of fork device 30 further comprises a third fork device 33 located above the middle portion of the pallet mechanism 2 for supporting the middle portion of the boards, so as to prevent the middle portion of the boards from sinking and affecting the stacking effect. In particular, in the resting state, the forks of the third fork device 33 are arranged perpendicularly to the edge of the plate, so that the angle of rotation of the third fork device 33 is greater than or equal to 90 °.
The third shifting fork device 33 can be used for supporting the middle part of the plate when long plates are stacked; on the other hand, when the plates with small length scales are stacked, only the third shifting fork device 33 and the first shifting fork device 31 or the second shifting fork device 32 can be started, that is, the two shifting fork devices 30 close to one side are used for supporting the plates, so that the plates close to one end are stacked orderly.
It should be noted that the automatic palletizer used in the palletizing method of the present invention is provided with the stopping mechanism 5 which is distributed above the pallet mechanism 2 and used for limiting the stacked plates and preventing the plates from moving along with the rotation of the shifting fork mechanism 3. Illustratively, the stopping mechanism 5 may include a plurality of stopping devices 50, the plurality of stopping devices 50 are distributed around the upper side of the pallet mechanism 2, and the length and width of the space surrounded by the plurality of stopping devices 5 are consistent with those of the plates to be stacked, so that the position of the plates is effectively limited to ensure that each plate is stacked in order. In addition, a rotatable mechanism and/or an adjusting mechanism controlled by the controller 1 may be disposed at the top of the stopping device 50, so as to adjust the position of the stopping device 50 to meet the stacking requirements of different specifications of plates, and the stopping device 50 may be lifted by the rotatable mechanism for manual correction or maintenance.
Fig. 5 shows a flow chart of an embodiment of the palletizing method according to the present invention, in the production line of the present embodiment, the default position height of the forklift mechanism 4 when not in operation is the position height to which each sheet 100 falls when stacked, i.e. the position of the upper surface of the sheet on the pallet mechanism 2 which is flush with the sheet to be received; the upper surface of layer board is provided with a plurality of recesses, and the width of recess is greater than the fork board width of fishplate bar fork 41, and the degree of depth of recess is greater than the fork board thickness of fishplate bar fork 41 to realize the accessible replacement between fishplate bar fork 41 and the empty layer board, namely after stacking the panel of second preset number of times on fishplate bar fork 41, utilize layer board mechanism 2 to remove the empty layer board to the position that fishplate bar fork 41 is located and continue to accept the panel that stacks for fork truck, and this process can accessible replace.
After the equipment is started, the controller 1 controls the processes of conveying, stacking and the like of plates, and the specific stacking steps are as follows:
the controller 1 controls the conveying mechanism to convey the plate 100 to the shifting fork mechanism 3;
the controller 1 controls each set of shifting fork device 30 to rotate by a preset angle towards a preset direction, plates 100 are stacked on the supporting plate mechanism 2 under the limit of the stop mechanism 5, and then each shifting fork 301 of the shifting fork mechanism 3 is controlled to return to the original position to wait for receiving the next plate;
the controller 1 records the stacking times of the plates and adds 1, and controls the supporting plate mechanism 2 to descend by a preset height, namely controls the lifting device to drive the transfer device 21 to descend by the preset height, wherein the preset height is equal to the thickness of the stacked plates 100;
the controller 1 determines whether the stacking number reaches a first predetermined number (i.e. the number of sheets required to stack a predetermined height of sheet pack, for example, if 20 sheets are required to stack a sheet pack, the first predetermined number is 20): if not, repeating the steps and continuing to put in order; if the stacking times reach a first preset number (for example, 20), controlling the supporting plate mechanism 2 to drive the stacked plates to move downwards by a preset depth, and simultaneously controlling the forklift mechanism 4 to move to the position below the shifting fork mechanism 3, and taking over the supporting plate mechanism 2 to receive the plates 100 to be stacked; specifically, the controller 1 controls the lifting device to drive the transfer device 21 to move downwards by a preset depth, and controls the driving cylinder 45 to drive the longitudinal rail 42 and the plate receiving fork 41 to move to the position below the shifting fork mechanism 3 (i.e. the position waiting for receiving the stacked plates) along the transverse rail 43;
then the conveying mechanism of the controller 1 continuously conveys the plates to the shifting fork mechanisms 3, each shifting fork device 30 of the shifting fork mechanisms 3 is controlled to rotate by a preset angle towards the respective preset direction, the plates are stacked on the plate receiving forks 41 of the forklift mechanism 4, and the controller records that the stacking times of the plates are added by 1; then, controlling a shifting fork of the shifting fork mechanism 3 to restore the original position, and simultaneously controlling the forklift mechanism 4 to descend by a preset height, namely controlling the servo motor 44 to drive the plate receiving fork 41 to descend by the preset height along the longitudinal rail 42, so as to ensure that the stacking positions of all the plates 100 are the same;
the controller 1 determines whether the stacking frequency of the plates reaches a second preset frequency (which is less than the first preset frequency (for example, 20 times), but it needs to be ensured that within the time of stacking the plates, the pallet mechanism 2 can move the stacked plate stack to a preset position and replace the empty pallet, so as to ensure the continuity of stacking the plates, for example, the second preset frequency may be 10 times or 8 times, and the like), and if not, the step of stacking the plates onto the plate receiving fork 41 is continued;
if the stacking times reach a second preset number (such as 8 times), the controller 1 controls the lifting device to drive the transfer device to lift the replaced empty pallet to a first preset position below the shifting fork mechanism 3, the first preset position is a position where the joint plate fork 41 is lowered after the plates with the second preset number are stacked on the joint plate fork 41, so that the fork plate of the joint plate fork 41 is just positioned in the groove on the surface of the empty pallet, the upper surface of the empty pallet is in contact with the bottom surface of the stacked plates on the joint plate fork 41, and the receiving forklift continues to receive the plates to be stacked; then, the controller 1 controls the driving cylinder 45 to drive the longitudinal rail 42 to drive the fishplate bar fork 41 to move backwards along the transverse rail 43 by a first preset distance, then controls the servo motor 44 to drive the fishplate bar fork 41 to rise along the longitudinal rail 42 by a second preset distance (the distance of the plates stacked for a second preset number of times), and withdraws the fishplate bar fork 41 to a second preset position, wherein the second preset position is the default position of the fishplate bar fork 41 when the device is started, that is, the controller 1 controls the servo motor 44 and the driving cylinder 45 to restore the fishplate bar fork 41 to the original position; preferably, the original position is a height position parallel to the topmost plate surface of the stacked plate stack, after stacking is completed, the controller 1 controls the lifting device to drive the plate stack to move downwards, and controls the driving cylinder 45 to enable the plate receiving fork 41 to move forwards below the shifting fork mechanism 3 along the transverse rail 43, so that the control beat and the stacking efficiency are effectively guaranteed;
meanwhile, the controller 1 continuously controls the conveying mechanism to convey the plates 100 to be stacked to the shifting fork mechanism 3, then the plates are stacked to the supporting plate mechanism 2, then the stacking times are recorded and added by 1, whether the stacking times reach a first preset time or not is judged, and the step of stacking the plates on the supporting plate mechanism 2 at the beginning of starting the device is returned;
and repeating the steps to complete the automatic stacking process of the plates.
The above-described aspects may be implemented individually or in various combinations, and such variations are within the scope of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A palletizing method of an automatic palletizer, characterized in that the palletizing method comprises the following steps:
the controller (1) controls the conveying mechanism to convey the plates to the shifting fork mechanism (3);
the controller (1) controls the shifting fork mechanism (3) to rotate for a preset angle according to a preset direction, plates are stacked on the supporting plate mechanism (2), and then the shifting fork mechanism (3) is controlled to restore to the original position;
the controller (1) records the stacking times plus 1 and controls the supporting plate mechanism (2) to descend by a preset height;
and after judging that the stacking times reach a first preset time, the controller (1) controls the supporting plate mechanism (2) to move the stacked plates out and replace the supporting plates, meanwhile, the controller resets the stacking times, and then the steps are repeated.
2. The palletizing method as claimed in claim 1, wherein said controlling the pallet mechanism (2) to move the stacked sheets out and replace the pallet comprises:
the controller (1) controls the supporting plate mechanism (2) to drive the stacked plates to move downwards by a preset depth, and controls the forklift mechanism (4) to move to the position below the shifting fork mechanism (3); the preset depth is greater than the height of a joint plate fork (41) of the forklift mechanism (4);
after the conveying mechanism conveys the plates to the shifting fork mechanism (3), the shifting fork mechanism (3) is controlled to rotate for a preset angle according to a preset direction, the plates are stacked on the forklift mechanism (4), and the controller (1) records the stacking times and adds 1; then controlling the shifting fork mechanism (3) to restore the original position, and simultaneously controlling the forklift mechanism (4) to descend by a preset height;
after the controller (1) judges that the stacking times of the plates on the forklift mechanism (4) reach the second preset times, the supporting plate mechanism (2) is controlled to move the replaced empty supporting plate to the first preset position below the shifting fork mechanism (3), the forklift mechanism (4) is controlled to withdraw to the second preset position, and the plates stacked on the forklift mechanism (4) fall onto the empty supporting plate.
3. The palletizing method as claimed in claim 2, wherein the step of controlling the pallet mechanism (2) to move the stacked plates downwards by a preset depth by the controller (1) further comprises the following steps:
the controller (1) controls the lifting device to drive the transfer device (21) to descend for a preset depth, the stacked plates are moved to a preset position, and then the empty supporting plate is replaced.
4. The palletization method according to claim 2, wherein said controlling of the evacuation of the forklift mechanism (4) to the second predetermined position comprises:
the controller (1) controls a driving cylinder (45) to drive a longitudinal rail (42) and the fishplate bar fork (41) to move along a transverse rail (43), controls a servo motor (44) to drive the fishplate bar fork (41) to move along the longitudinal rail (42), and enables the fishplate bar fork (41) to move to the second preset position.
5. The palletization method according to claim 2, wherein said controlling of the forklift mechanism (4) to descend by a preset height comprises:
after the controller (1) receives the confirmation signal of the detection module, the forklift mechanism (4) is controlled to descend by a preset height, and the preset height is the thickness of one plate.
6. The palletizing method according to claim 1, wherein the controller (1) controls the pallet mechanism (2) to descend by a preset height comprises:
after receiving the confirmation signal of the detection module, the controller (1) controls the supporting plate mechanism (2) to descend by a preset height; the preset height is the thickness of one plate.
7. The palletizing method according to claim 1, wherein the fork mechanism (3) comprises at least one set of fork devices (30), each fork device (30) comprises a fork (301), a driving device (302) and a connecting rod (303), a first end of each fork (301) is fixedly connected with a first end of each connecting rod (303), each connecting rod (303) and each driving device (302) are hinged on a frame of the automatic palletizing machine, and each driving device (302) is hinged with a second end of each connecting rod (303);
the controller (1) controls the driving device (302) to be started, and drives the connecting rod (303) to drive the shifting fork (301) to rotate.
8. Palletization method according to claim 7, characterized in that said at least one set of fork devices (30) comprises a first fork device (31) and a second fork device (32), said first fork device (31) and said second fork device (32) being respectively located above the two ends of the pallet mechanism (2), and in that the direction of rotation of said first fork device (31) is opposite to the direction of rotation of said second fork device (32).
9. Palletization method according to claim 7, characterized in that said at least one set of fork devices (30) further comprises a third fork device (33) located above the central portion of the pallet mechanism (2), the angle of rotation of said third fork device (33) being greater than or equal to 90 °.
10. A palletization method as claimed in claim 1, characterized in that said automatic palletizer is provided with stop means (5) distributed above said pallet means (2) for limiting the position of the stacked sheets and preventing them from following the rotation of said fork mechanism (3).
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| CN201811380042.7A CN111196502B (en) | 2018-11-20 | 2018-11-20 | Stacking method of automatic stacker crane |
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| CN201811380042.7A CN111196502B (en) | 2018-11-20 | 2018-11-20 | Stacking method of automatic stacker crane |
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