CN111453325A - Transfer device and transfer method for automatic offline of ignition piece carrier disc - Google Patents

Abstract

The invention discloses a transfer device and a transfer method for automatic off-line of a fuse carrier plate, wherein the transfer device comprises: the device comprises an outer frame module, a table panel module, a picking, placing and stacking module and a transfer trolley; the table top plate module is arranged in the outer frame module and is a set height away from the bottom, and the carrier disc is transmitted to the table top plate module through an external power device; the transfer trolley is positioned at the bottom of the outer frame module; the picking and stacking module is arranged at the top end of the outer frame module, and can convey the carrier disc on the table panel module into a transfer trolley, so that the carrier disc is automatically off-line transmitted; the transfer method is simple, orderly and smooth, and the carrier disc on the deck plate module can be intelligently and efficiently transferred to a transfer trolley or other on-line transfer belts.

Description

Transfer device and transfer method for automatic offline of ignition piece carrier disc

Technical Field

The invention relates to the technical field of civil blasting equipment, in particular to a transfer device and a transfer method for automatic offline of a fuse carrier disc.

Background

In the automatic assembly production process of the industrial detonator, a firing member needs to be conveyed to each assembly station for assembly of the industrial detonator. At present, the transfer of the ignition element is to manually load the ignition element into a turnover box and then transport the ignition element to an assembly station, and then transport an empty turnover box for containing the ignition element after unloading the ignition element. Because the operating speed of the assembly personnel needs to be coordinated and matched with the conveying amount of the conveying personnel, and the assembly stations have the quantitative requirement of the fixed personnel, the problems that the firestriking piece conveying workers frequently enter and exit the assembly stations, the turnover box is large in size, inconvenient to move and transport, potential safety hazards exist and the like are caused.

According to the technical development guidance suggestion requirements of the national civil blasting equipment industry, the transfer of the ignition piece needs to be further developed into unmanned operation, unmanned transportation and unmanned workshop. Therefore, the development of an unmanned full-automatic workshop, full-automatic transfer of the ignition piece to an assembly station and automatic recovery of the turnover carrier disc realizes automatic turnover of the ignition piece, and is a necessary trend of technical development of the civil blasting equipment industry.

In particular, in recent years, the industrial detonator technology is rapidly developed, and the industrial and informatization department requires the realization of unmanned and intelligent assembly production of the industrial detonator. Therefore, in the unmanned and intelligent assembly production process of the industrial detonator, the full-automatic conveying and feeding of the ignition piece and the full-automatic off-line turnover of the ignition piece carrier disc must be realized.

The existing production process generally comprises the steps of manually carrying a transfer box, a carrier plate and a transfer vehicle which are provided with ignition pieces, conveying and feeding the transfer box, the carrier plate and the transfer vehicle to an industrial detonator assembly production line, taking away the ignition pieces, and then manually conveying the empty transfer box, the carrier plate and the transfer vehicle to a production place of the ignition pieces for transfer use.

In some industrial detonator automatic assembly production lines, the carrier disc is used in an on-line real-time circulating use mode, the process of loading the ignition piece on the carrier disc is manual operation, and because the time urgency and the running speed of the on-line loading process are low, operators are in tension, in disorder and easy to make mistakes during on-line operation.

In summary, in the prior art, in the assembly production process of the industrial detonator, there are process methods of manually transferring the ignition element and the carrier plate thereof, and there are disadvantages of large on-site turnover inventory, low operation technical level, poor safety and low efficiency, specifically:

1) the ignition pieces are loaded in the whole box, the ignition pieces in the box have no fixed storage sequence, are easy to be wound in a disordered way, and are easy to be wound and pulled in the taking and placing process, the welding part of the ignition pieces is easy to damage, and the operation efficiency is influenced;

2) the whole box of the ignition part is loaded, so that the single storage amount and the transportation amount are large, the assembly and production process is inconvenient to operate, and the production safety risk is large;

3) the whole box of the ignition part is loaded, and because the loading capacity of one box is large, when the class is not used, the rest ignition parts are frequently scheduled and transported, so that management confusion and potential safety hazards are easily caused.

Disclosure of Invention

In view of the above, the invention provides a transfer device and a transfer method for automatic offline of a lighter carrier disc, which can automatically pick up a transferred empty carrier disc, and orderly stack the lighter carrier disc on a transfer trolley by taking and placing stacking modules, thereby realizing continuous and automatic offline of the lighter carrier disc and avoiding potential safety hazards and defects of using a box loading mode and manual transfer.

The technical scheme of the invention is as follows: a transfer device for automatic take-off of a fuse carrier plate, comprising: the device comprises an outer frame module, a table panel module, a picking, placing and stacking module and a transfer trolley;

the table panel module is arranged in the outer frame module and is a set height away from the bottom, and the carrier disc is transmitted to the table panel module through an external power device; the transfer trolley is positioned at the bottom of the outer frame module; the picking and placing stacking module is arranged at the top end of the outer frame module and can convey the carrier disc on the table panel module into the transfer trolley, so that the carrier disc is automatically off-line transferred.

Preferably, the outer frame module includes: the vertical frame, the bracket and the bottom plate; the vertical frame is a rectangular frame and is arranged on the bottom plate, the top end of the vertical frame is respectively provided with two cross beams and two longitudinal beams, the middle part of the vertical frame in the vertical direction is provided with two longitudinal beams, and the two ends of the bracket are respectively arranged on the two longitudinal beams in the middle part of the vertical frame and are positioned at the front end in the longitudinal direction in the vertical frame; the table panel module is arranged on the bracket; the picking, placing and stacking module is supported on a top end beam of the vertical frame and used for picking, placing and carrying the carrier disc.

Preferably, the bottom plate is provided with guide rails and a stepping positioning mechanism, the two guide rails are longitudinally distributed on the bottom plate respectively, the stepping positioning mechanism is arranged between the two guide rails and is in wireless connection with an upper computer, and the transfer trolley can slide along the guide rails and can be locked in the guide rails or unlocked from the guide rails according to instructions of the upper computer and can be pushed forwards and backwards.

Preferably, the step positioning mechanism comprises: the cylinder body end of the cylinder is fixed on the bottom plate through the fixing frame, the sliding block is installed at the piston end of the cylinder and is clamped with the bottom of the transfer trolley, the cylinder is initially in a retraction state, the width of one carrier disc is extended each time, and the transfer trolley can be pushed backwards by the width of one carrier disc through the sliding block.

Preferably, the deck plate module includes: the device comprises a substrate, a guide limiting strip and a pushing in-place device; the base plate is arranged on the bracket, and the guide limiting strips are arranged on the left side, the right side and the rear side of the base plate to form a U-shaped guide limiting frame for guiding the carrier disc transferred onto the base plate back and forth and limiting the movement of the carrier disc left and right and rear; the pushing in-place device is arranged on the lower bottom surface of the base plate, and corresponding guide through grooves are formed in corresponding positions on the base plate, so that the pushing in-place device can act on the bottom of the carrier plate on the base plate and can move the carrier plate back and forth and limit the front, back, left and right of the carrier plate after moving in place.

Preferably, the picking, placing and stacking module comprises a motor lifting module, a sucker assembly and a horizontal transfer module, the horizontal transfer module comprises a fixed plate, an air cylinder and an L-type sliding plate, two ends of the fixed plate are respectively fixed on two cross beams at the top end of the vertical frame, the cylinder body end of the air cylinder is installed on the fixed plate, the piston end of the air cylinder stretches and retracts longitudinally, the horizontal section of the L-type sliding plate is supported at the piston end of the air cylinder and can move back and forth along with stretching and retracting of the air cylinder, a vertical sliding groove is formed in the back face of the vertical section of the L-type sliding plate, the motor lifting module is installed in the vertical sliding groove of the L-type sliding plate and is in sliding fit with the vertical sliding groove, and the sucker assembly is fixed at.

Preferably, the chuck assembly comprises: the motor lifting module comprises grippers and a gripper frame used for mounting the grippers, wherein the gripper frame is mounted at the bottom end of the motor lifting module, and the grippers are hook-shaped grippers, magnetic sucker grippers or vacuum sucker grippers.

Preferably, the motor lifting module comprises a vertical rod and an electric device for driving the vertical rod to slide up and down along a vertical sliding groove on the L-shaped sliding plate.

Preferably, the transfer trolley comprises: a vehicle body and a wheel; the transfer trolley is in sliding fit with the guide rails of the bottom plate through four wheels which are respectively arranged below four corners of the trolley body, wherein the two wheels at the front end are fixed wheels, and the two wheels at the rear end are universal wheels.

A transfer method of a transfer device for automatic off-line of a fuse carrier disc comprises the following steps:

the method comprises the following steps: locking the transfer trolley at a set position at the bottom of the outer frame module;

step two: the carrier disc is transmitted to the table panel module by an external power device;

step three: the picking and stacking module descends, picks up the carrier disc on the deck plate module and transfers the carrier disc to a transfer trolley;

step four: the picking and placing stacking module rises to return to the initial position, the step III is shifted, and the next carrier disc is continuously picked and placed; when the stacking height of the first row of carrier discs in the transfer trolley reaches a set value, the transfer trolley moves backwards by a distance of one carrier disc width, and the second row of carrier discs are stacked continuously; when the stacking quantity reaches a preset full load value, the picking and placing stacking module automatically stops and sends a full vehicle signal to the upper computer.

Has the advantages that:

(1) the transfer device can automatically pick up the transferred idle tool disc by taking and placing the stacking module and orderly stack the idle tool disc on the transfer trolley, thereby realizing the continuous and automatic offline of the ignition piece carrier disc, avoiding the potential safety hazard and the defect of a box loading mode and manual transfer, and effectively improving the safety, the reliability and the turnover efficiency of the ignition piece and the carrier disc thereof in the conveying process.

(2) The conveying device of the invention designs the outer frame module as a module with the vertical frame, the bracket and the bottom plate mutually matched, and utilizes the frame structure to effectively integrate the deck plate module, the picking, placing and stacking module and the transfer trolley with the outer frame module, and can complete the automatic off-line of the carrier disc in the conveying device, thereby effectively improving the automation degree, reasonably utilizing the space structure and effectively saving the floor area of the transfer device.

(3) The guide rail and the stepping positioning mechanism arranged on the bottom plate of the conveying device can facilitate the transfer trolley to directionally slide on the bottom plate and to a preset position to position the transfer trolley.

(4) The specific arrangement of the deck plate module in the conveying device can accurately move the carrier disc on the deck plate module to the position right below the picking, placing and stacking module, and is favorable for the picking, placing and stacking module to accurately grab the carrier disc.

(5) The specific arrangement of the picking and placing stacking module in the conveying device can not only vertically lift and move the carrier plate, but also horizontally move the carrier plate, thereby effectively increasing the transfer efficiency and flexibility of the carrier plate.

(6) The conveying method is simple, orderly and smooth, and can intelligently and efficiently convey the carrier disc on the deck plate module to a transfer trolley or other on-line conveying belts.

Drawings

Fig. 1 is a schematic structural diagram (first view) of a conveying device according to the present invention.

Fig. 2 is a schematic structural diagram (second view) of the conveying device of the present invention.

Fig. 3 is an enlarged view of a portion of the transfer car in the transfer device of the present invention.

The automatic feeding device comprises a vertical frame 101, a bracket 102, a base plate 103, a base plate 201, a guide limiting strip 202, a pushing and in-place device 203, a motor lifting module 301, a sucker assembly 302, a horizontal transfer module 303, a vehicle body 401 and wheels 402.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

Example 1:

the embodiment provides a transfer device and a transfer method for automatic offline of an ignition piece carrier disc, which can automatically pick up a transmitted idle tool disc, and orderly stack the idle tool disc on a transfer trolley by taking and placing stacking modules, so that the continuity and the automatic offline of the ignition piece carrier disc are realized, and the potential safety hazard and the defect of using a box packaging mode and manual transfer are avoided.

As shown in fig. 1 to 3, the transfer device includes: the device comprises an outer frame module, a table panel module, a picking, placing and stacking module and a transfer trolley; wherein, outer frame module includes: stand 101, bracket 102 and bottom plate 103, the deck plate module includes: base plate 201, the spacing 202 of direction and the propelling movement device 203 that targets in place get and put the pile up neatly module and include: motor lift module 301, sucking disc subassembly 302 and horizontal transfer module 303, the transfer car (buggy) includes: a vehicle body 401 and wheels 402.

The connection relationship of the transmission device is as follows: the vertical frame 101 is a rectangular frame and is arranged on the bottom plate 103, the top end of the vertical frame is respectively provided with two cross beams and two longitudinal beams, the middle part of the vertical frame is provided with two longitudinal beams (the installation height of the middle longitudinal beam can be selected according to the installation height of a supplied material conveying device so as to be convenient for matching conveying devices with different layers), two ends of the bracket 102 are respectively arranged on the two longitudinal beams in the middle part of the vertical frame 101 in the vertical direction and are positioned at one longitudinal end in the vertical frame 101, and the end is a front end; the deck plate module is integrally mounted on the bracket 102; the base plate 201 is mounted on the bracket 102, the guide limit bars 202 are mounted on the left, right and rear side edges of the base plate 201 to form a U-shaped guide limit frame (the size of the guide limit frame is adjustable to be suitable for carrier disks of different specifications) for guiding the carrier disks transferred onto the base plate 201 forwards and backwards and limiting the movement of the carrier disks leftwards, rightwards and rearwards; the in-place pushing device 203 is arranged on the lower bottom surface of the substrate 201, and corresponding guide through grooves are formed in corresponding positions on the substrate 201, so that the in-place pushing device 203 can act on the bottom of the carrier disc on the substrate 201 and can move the carrier disc back and forth and limit the carrier disc front, back, left and right (namely horizontally lock) after moving in place;

the picking and placing stacking module is supported on a top end cross beam of the vertical frame 101 and is used for picking and placing carrier discs, wherein two ends of the horizontal transfer module 303 are respectively fixed on two cross beams at the top end of the vertical frame 101 (the horizontal transfer module 303 comprises a fixed plate, a cylinder and an L-type sliding plate, two ends of the fixed plate are respectively fixed on two cross beams at the top end of the vertical frame 101, a cylinder body end of the cylinder is installed on the fixed plate, a piston end of the cylinder extends and retracts longitudinally, a horizontal section of the L-type sliding plate is supported on the piston end of the cylinder and can move back and forth along with the extension and retraction of the cylinder, a vertical sliding groove is arranged on the back surface of a vertical section of the L-type sliding plate), the motor lifting module 301 is installed in the vertical sliding groove of the L-type sliding plate and is in sliding fit with the vertical sliding groove, the sucker assembly 302 is fixed at the bottom of the motor lifting module 301;

the bottom plate 103 is provided with guide rails and a stepping positioning mechanism, the two guide rails are respectively and longitudinally distributed on the bottom plate 103, the stepping positioning mechanism is arranged between the two guide rails and is in wireless connection with an upper computer (a conventional upper computer in the prior art is adopted, programs for controlling locking, unlocking and stepping of the transfer trolley are arranged in the stepping positioning mechanism, the programs can be realized through the conventional technology and are not an innovation point of the invention), the transfer trolley can slide along the guide rails and can be locked in the guide rails or unlocked from the guide rails according to instructions of the upper computer and can be pushed forwards and backwards, the transfer trolley is in sliding fit with the guide rails of the bottom plate 103 through four wheels 402, and the four wheels 402 are respectively arranged below four corners of the trolley body 401.

The working principle of the transfer device is as follows: when the transfer trolley works, the transfer trolley is locked at a set position on a guide rail of the bottom plate 103 through the stepping positioning mechanism, a carrier disc is conveyed to the base plate 201 by a conveying device (a power device such as a conveyor belt or an air cylinder, and the like), under the guiding and limiting effects of the guiding and limiting strip 202, the carrier disc can move back and forth on the base plate 201 within a set range, the pushing and positioning device 203 acts to push the carrier disc forwards or backwards to the lower part of the motor lifting module 301 and horizontally lock the carrier disc, at the moment, the motor lifting module 301 descends to drive the sucker assembly 302 to descend, the sucker assembly 302 is adsorbed after contacting the carrier disc, then the motor lifting module 301 ascends to drive the sucker assembly 302 and the adsorbed carrier disc to ascend to the set position together, and then the horizontal transfer module 303 transfers the motor lifting module 301, the sucker assembly 302 and the adsorbed carrier disc to the upper part of the trolley body 401 of the transfer, then the motor lifting module 301 descends to drive the sucker assembly 302 and the carrier disc adsorbed by the sucker assembly 302 to descend integrally, after the carrier disc falls to a preset height, the sucker assembly 302 is released and separated from the carrier disc, so that the carrier disc is stacked in the vehicle body 401, then the motor lifting module 301 ascends to drive the sucker assembly 302 to ascend to a proper position, the horizontal transfer module 303 transfers the motor lifting module 301 and the sucker assembly 302 back to an initial position, and continues to take and place the next carrier disc, the automatic offline transfer of the carrier discs can be realized repeatedly according to the transfer method, when the stacking height of the first row of carrier discs in the transfer vehicle reaches a set value, the stepping positioning mechanism on the transfer vehicle operates to unlock, the transfer vehicle pushes the transfer vehicle outwards by a distance of one carrier disc width, the second row of carrier discs continues to be stacked, when the stacking number reaches a preset full load value, the taking and placing module automatically stops and sends a full vehicle signal, manually pulling away the fully loaded transfer trolley and pushing the empty transfer trolley into the stacking position to continue stacking the carrier plate.

Example 2:

on the basis of the embodiment 1, the chuck assembly 302 comprises: the motor lifting module 301 comprises grippers and gripper frames for mounting the grippers, wherein the gripper frames are mounted at the bottom end of the motor lifting module 301 and are hook-shaped grippers or magnetic sucker grippers or vacuum sucker grippers, and the grippers can grip, carry and release the carrier plate to a set position.

Example 3:

on the basis of embodiment 1 or 2, the motor lifting module 301 comprises a vertical rod and an electric motor (or motor) for driving the vertical rod to slide up and down along a vertical sliding slot on the L-type sliding plate, wherein the electric motor is driven by a preset program (the program adopts a conventional program in the prior art, and is not an innovative point of the present invention), and can perform stepless adjustment.

Example 4:

on the basis of the embodiment 1, 2 or 3, the two front wheels 402 of the transfer trolley are fixed wheels and are used for guiding the transfer trolley to move back and forth, and the two rear wheels 402 are universal wheels and are used for adjusting the steering of the transfer trolley.

Example 5:

on the basis of the embodiment 1 or 2 or 3 or 4, more than two rows of carrier plates can be arranged on the transfer trolley, and each row of carrier plates comprises more than two layers.

Example 6:

in any of embodiments 1 to 5, the step positioning mechanism on the base plate 103 includes: the device comprises a cylinder, a sliding block and a fixing frame, wherein the cylinder body end of the cylinder is fixed on the bottom plate 103 through the fixing frame, the sliding block is installed at the piston end of the cylinder and is clamped with the bottom of the vehicle body 401, the cylinder is initially in a retraction state, the width of one carrier box is extended each time, and the transfer vehicle can be pushed backwards by the width of one carrier box through the sliding block.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a transfer device that automatic line that rolls off production line of kindling spare carrier dish which characterized in that includes: the device comprises an outer frame module, a table panel module, a picking, placing and stacking module and a transfer trolley;

the table panel module is arranged in the outer frame module and is a set height away from the bottom, and the carrier disc is transmitted to the table panel module through an external power device; the transfer trolley is positioned at the bottom of the outer frame module; the picking and placing stacking module is arranged at the top end of the outer frame module and can convey the carrier disc on the table panel module into the transfer trolley, so that the carrier disc is automatically off-line transferred.

2. The transfer device for automated downline of a firelighter carrier plate as in claim 1, wherein said outer frame module comprises: a stand (101), a bracket (102) and a bottom plate (103); the vertical frame (101) is a rectangular frame and is arranged on the bottom plate (103), the top end of the vertical frame is provided with two cross beams and two longitudinal beams respectively, the middle part of the vertical frame is provided with two longitudinal beams, and the two ends of the bracket (102) are arranged on the two longitudinal beams in the middle part of the vertical frame (101) respectively and are positioned at the front end in the longitudinal direction of the interior of the vertical frame (101); the deck plate module is arranged on the bracket (102); the picking and placing stacking module is supported on a top end beam of the vertical frame (101) and used for picking and placing the carrier disc.

3. The transfer device for the automatic offline of the ignition piece carrier disc according to claim 2, wherein the bottom plate (103) is provided with two guide rails and a stepping positioning mechanism, the two guide rails are longitudinally distributed on the bottom plate (103), the stepping positioning mechanism is arranged between the two guide rails and is wirelessly connected with the upper computer, and the transfer trolley can slide along the guide rails and can be locked in the guide rails or unlocked from the guide rails according to the instruction of the upper computer and can be pushed forwards and backwards.

4. The transfer device for automated downline of a firelighter carrier plate as defined in claim 3, wherein said step positioning mechanism comprises: the cylinder body end of the cylinder is fixed on the bottom plate (103) through the fixing frame, the sliding block is installed at the piston end of the cylinder and is clamped with the bottom of the transfer trolley, the cylinder is initially in a retraction state, the width of one carrier disc is extended each time, and the transfer trolley can be pushed backwards by the width of one carrier disc through the sliding block.

5. The transfer device for automated downline of a firelighter carrier plate as claimed in claim 2, wherein said deck module comprises: the device comprises a substrate (201), a guide limiting strip (202) and a pushing-in-place device (203); the base plate (201) is arranged on the bracket (102), the guide limiting strips (202) are arranged on the left side, the right side and the rear side of the base plate (201) to form a U-shaped guide limiting frame for guiding the carrier disc transferred onto the base plate (201) forwards and backwards and limiting the movement of the carrier disc left and right and rear; the in-place pushing device (203) is arranged on the lower bottom surface of the substrate (201), and corresponding guide through grooves are formed in corresponding positions on the substrate (201), so that the in-place pushing device (203) can act on the bottom of a carrier disc on the substrate (201), can move the carrier disc back and forth and can limit the front, back, left and right of the carrier disc after moving in place.

6. The transfer device for the automatic offline of the lighter carrier disc as claimed in claim 2, wherein the picking and placing and stacking module comprises a motor lifting module (301), a sucker assembly (302) and a horizontal transfer module (303), the horizontal transfer module (303) comprises a fixed plate, a cylinder and an "L" type sliding plate, two ends of the fixed plate are respectively fixed on two cross beams at the top end of the stand (101), the cylinder end of the cylinder is installed on the fixed plate, the piston end of the cylinder extends and retracts longitudinally, the horizontal section of the "L" type sliding plate is supported on the piston end of the cylinder and can move back and forth along with the extension and retraction of the cylinder, a vertical sliding groove is arranged on the back surface of the vertical section of the "L" type sliding plate, the motor lifting module (301) is installed in and slidably matched with the vertical sliding groove of the "L" type sliding plate, and the sucker assembly (302) is fixed at the bottom of the motor lifting module (301) and is used for adsorbing the carrier.

7. The transfer device for automated downline of firelighter carrier plates as in claim 6, wherein said suction cup assembly (302) comprises: the motor lifting module comprises grippers and a gripper frame used for mounting the grippers, wherein the gripper frame is mounted at the bottom end of the motor lifting module (301), and the grippers are hook-shaped grippers, magnetic sucker grippers or vacuum sucker grippers.

8. The device for the automatic offline transfer of lighter carrier plates as claimed in claim 6, wherein said motor-driven lifting module (301) comprises a vertical rod and an electric device for driving the vertical rod to slide up and down along a vertical sliding slot of the "L" type sliding plate.

9. The transfer device for the automated downline of a fuse carrier plate as recited in claim 2, wherein said transfer car comprises: a vehicle body (401) and wheels (402); the transfer trolley is in sliding fit with the guide rails of the bottom plate (103) through four wheels (402), the four wheels (402) are respectively arranged below four corners of the trolley body (401), wherein the two wheels (402) at the front end are fixed wheels, and the two wheels (402) at the rear end are universal wheels.

10. A transfer method of a transfer device for automatic take-off of a kindling carrier tray, characterized in that it uses a transfer device according to claim 1, comprising the steps of:

the method comprises the following steps: locking the transfer trolley at a set position at the bottom of the outer frame module;

step two: the carrier disc is transmitted to the table panel module by an external power device;

step three: the picking and stacking module descends, picks up the carrier disc on the deck plate module and transfers the carrier disc to a transfer trolley;

step four: the picking and placing stacking module rises to return to the initial position, the step III is shifted, and the next carrier disc is continuously picked and placed; when the stacking height of the first row of carrier discs in the transfer trolley reaches a set value, the transfer trolley moves backwards by a distance of one carrier disc width, and the second row of carrier discs are stacked continuously; when the stacking quantity reaches a preset full load value, the picking and placing stacking module automatically stops and sends a full vehicle signal to the upper computer.

Images