CN112027691A - High-speed stacking method and device for packaging baked bricks - Google Patents
High-speed stacking method and device for packaging baked bricks Download PDFInfo
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- CN112027691A CN112027691A CN202011064610.XA CN202011064610A CN112027691A CN 112027691 A CN112027691 A CN 112027691A CN 202011064610 A CN202011064610 A CN 202011064610A CN 112027691 A CN112027691 A CN 112027691A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- 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
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0216—Codes or marks on the article
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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
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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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
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0241—Quantity of articles
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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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Abstract
The invention relates to a high-speed stacking method and a high-speed stacking device for packaging sintered bricks, wherein the method provides reference basis for optimizing a stacking path by a high-speed stacker crane through the matching adjustment of the height of a brick stack lifting device and the height of a conveying device, the high-speed stacker crane transfers brick groups on the conveying device to the brick stack lifting device layer by layer according to the determined stacking path, the brick stack lifting device readjusts the height of the brick stack lifting device after the stacking of each layer of brick groups is completed, and the height of the conveying device is manually adjusted according to the convenience of brick taking during the stacking; the high-speed stacking device used in the method comprises a conveying device, a stacking lifting device and a high-speed stacker crane, and supports are provided for realizing the stacking method. The invention can reduce the operation period of the high-speed stacker crane and improve the production efficiency.
Description
Technical Field
The invention belongs to the technical field of semi-automatic brick unloading of sintered bricks, and particularly relates to a high-speed stacking method and device for packaging sintered bricks.
Background
With the progress of science and technology, a batch of equipment with higher automation degree is applied to many links of the production of the baked bricks, and the development of a full-automatic brick unloading and stacking unit behind a kiln realizes manual brick unloading to mechanical automatic brick unloading, stacks the unloaded baked bricks into square piles by grouping, and loads or transports the piled baked bricks to a parking lot by a forklift or other mechanical equipment after bundling. The stacker crane is an indispensable link of the whole full-automatic brick unloading and stacking unit, the stacker crane in the market at present has two truss type stacker cranes and a robot stacker crane, the stacking period of each layer of the truss type stacker crane is basically 18-25S, the truss type stacker crane is limited by the stacking period, the yield cannot be increased, and the truss type stacker crane becomes a bottleneck for improving the yield of the full-automatic brick unloading and stacking by adopting the truss type stacker crane; the robot stacking period is short relative to a truss type stacker crane, but the cost of the robot is high, and the investment cost of enterprises is greatly increased.
Disclosure of Invention
The invention aims to provide a simple and reliable high-speed stacking method and device for packaging sintered bricks, which aims to solve the problems that a truss type stacker crane in the prior art cannot meet the yield requirement and a robot stacker crane is high in cost.
In order to achieve the purpose, the invention adopts the technical scheme that: a high-speed stacking method for packing baked bricks comprises the following steps:
adjusting the height of a brick pile lifting device to enable the height of a stacking position on the brick pile lifting device to be equal to the height of a brick clamping position on a conveying device or the height difference between the stacking position and the brick clamping position to be minimum;
secondly, clamping a brick group from the brick clamping position through the position information of the brick clamping position fed back by the conveying device by the high-speed stacker crane;
step three, a controller of the high-speed stacker crane determines a stacking path in advance according to the height information of the brick clamping position and the stacking position, and drives a clamp to place the clamped brick group to the stacking position of the brick stack lifting device according to the stacking path after the brick group is clamped;
step four, after the brick groups are stacked to the stacking position by the high-speed stacker crane, the brick stack lifting device descends, and the descending height is the height of the clamped brick groups;
and step five, returning the clamping hand of the high-speed stacker to the position above the conveying device, repeating the processes from the step two to the step four, sequentially transferring the brick groups at the brick clamping positions on the conveying device to a brick pile lifting device, piling the brick groups into required brick piles, and adjusting the height of the conveying device according to the requirement of brick taking convenience in the process of repeating the steps from the step two to the step four.
The stacking path comprises one of a horizontal line, an arc line and an inclined line, or a combination of the horizontal line and the arc line or the inclined line.
A high-speed stacking device for the high-speed stacking method comprises a conveying device, a stacking lifting device and a high-speed stacker crane, wherein the conveying device comprises a conveying mechanism and a conveying lifting mechanism, the brick pile lifting device comprises a brick pile lifter and a tray, counting devices used for recording lifting height values are respectively arranged on the conveying lifting mechanism and the brick pile lifter, and the counting devices can send the height change value of each time to a controller of the high-speed stacker crane; the high-speed stacking machine is provided with a clamping hand for clamping the sintered bricks, and the clamping hand realizes stacking of the sintered bricks in different stacking paths through the cooperation of the lifting device, the horizontal walking device and the rotating part.
The counting device is an encoder, a pull rope displacement sensor or a distance sensor.
The clamping hand is installed on the lifting device through the rotating part, the lifting device is connected with the horizontal traveling device, the lifting device is arranged on a horizontal rail of the high-speed stacker frame in a sliding mode, and the horizontal traveling device drives the lifting device to move along the horizontal rail.
The horizontal walking device comprises a horizontal driving device, a tension wheel and a synchronous belt, the horizontal driving device is provided with a driving wheel, the synchronous belt is wound on the driving wheel and the tension wheel, and two end parts of the synchronous belt are respectively fixed on two opposite sides of the lifting device.
The lifting device comprises a guide pillar, a bracket, a connecting frame and a chain wheel and chain lifting mechanism, the bracket is arranged on a horizontal rail of the high-speed stacker crane frame in a sliding mode, the guide pillar is provided with a plurality of guide pillars which are arranged in guide holes of the bracket in a sliding mode respectively, the upper end of the guide pillar is connected with the fixing frame, the lower end of the guide pillar is connected with the connecting frame, the rotary component is installed on the connecting frame, the chain wheel and chain lifting mechanism comprises a chain wheel group, a lifting driving device and a middle chain wheel, the chain is arranged on the connecting frame in a winding mode, one end of the chain is fixed on the high-speed stacker crane frame, and the other end of the chain is connected with a balancing weight after bypassing a driving wheel of the lifting driving device.
The invention has the beneficial effects that: in the finished brick discharging and brick unloading process, the conveying device is matched with the brick stacking lifting device in a lifting action manner, so that the height difference between the brick clamping position and the brick placing position is reduced, the high-speed stacker can be used for stacking in an optimal path, such as horizontal stacking, oblique line stacking or arc line stacking, the operation period of the high-speed stacker is shortened due to the shortening of the stacking path, and the production efficiency is improved. In addition, the high-speed stacker crane, the conveying device and the brick stack lifting device are simple in structure and low in cost, and all the components only need to complete simple actions, so that the maintenance is facilitated.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a high speed palletizer in accordance with the present invention;
the labels in the figure are: the device comprises a conveying device 1, a belt conveyor 101, a scissor lift 102, a high-speed stacker crane 2, a cross beam 201, a vertical column 202, a horizontal walking device 203, a horizontal driving device 20301, a synchronous belt 20302, a 20303 tension wheel 204, a lifting device 204, a fixed mount 20401, a guide pillar 20402, a 20403 bracket 20404 sprocket group 20405 middle sprocket, a 20406 connecting frame 20407 lifting driving device 20408 chains 20409 counterweight blocks 205 linear motion pairs 206 rotary components 207 clamping hands 3 brick stacking lifting devices 301 pallets and a scissor brick stacking lift 302.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples, but the invention is not limited thereto.
Referring to the attached drawings, the high-speed stacking device for packing the baked bricks comprises a conveying device 1, a stacking lifting device 3 and a high-speed stacker crane 2, wherein the conveying device 1 and the stacking lifting device 3 are arranged side by side, and the high-speed stacker crane 2 is used for clamping and stacking a baked brick group on the conveying device 1 onto the stacking lifting device 3.
The conveying device 1 comprises a conveyor and a lifting mechanism, the conveyor is fixed on the lifting mechanism, in the embodiment, a belt conveyor 101 is used as the conveyor, a scissor lift 102 is used as the lifting mechanism, the scissor lift 102 is provided with a counting device for recording lifting height values, and the counting device can send each height change value to a controller of the high-speed stacker 2.
Pile up neatly elevating gear 3 including placing tray 301 and the brick pillar lift of brick group, tray 301 is placed on the lift platform of brick pillar lift, and the brick pillar lift drives the rising of brick group in tray 301 and the tray 301 to keep and have the minimum difference in height with the brick group on conveyor 1. In this embodiment, the brick pile lifter is a scissor-type brick pile lifter 302 on which a counting device for recording the lifting height value is mounted, and the counting device can send the height change value of each time to the controller of the high-speed stacker 2.
The counting device is a device which can measure and feed back height information, such as an encoder, a pull rope displacement sensor or a distance sensor.
The high-speed stacker crane 2 comprises a rack, a horizontal walking device 203, a lifting device 204, a rotary part 206 and a clamping hand 207, wherein the rack comprises a cross beam 201 and a vertical column 202, the cross beam is erected above the conveying device 1 and the brick pile lifting device 3, the clamping hand 207 is installed on the lifting device 204 through the rotary part 206, the rotary part 206 is used for realizing the rotation of the clamping hand 207 in a horizontal plane, the lifting device 204 is connected with the horizontal walking device 203, the lifting device 204 is arranged on a horizontal track of the rack in a sliding mode, and the lifting device 204 is driven by the horizontal walking device 203 to move horizontally.
The lifting device 204 comprises guide pillars 20402, a bracket 20403, a connecting frame 20406 and a sprocket chain lifting mechanism, the bracket 20403 is slidably arranged on the horizontal rail of the cross beam 201 and linearly moves along the horizontal rail under the driving of the horizontal traveling device 203, guide holes vertically arranged are formed in the bracket 20403, and the guide pillars 20402 are correspondingly arranged in the guide holes in a penetrating manner one by one to form a linear motion pair 205; the lower end of the guide post 20402 is fixedly connected with the connecting frame 20406, the rotating part 206 is fixed on the connecting frame 20406, and the clamping handle 207 is installed on the rotating part 206; the upper end of the guide post 20402 is connected to the fixing frame 20401 to enhance the structural stability. Sprocket chain elevating system includes sprocket group 20404, middle sprocket 20405, chain 20408 and balancing weight 20409, and the sprocket group 20404 of telling includes two sprockets, and two sprockets all rotate the setting and are in on the bracket 20403, middle sprocket 20405 rotates and sets up on the link 20406, two sprockets of sprocket group 20404 and middle sprocket 20405 constitute the article font overall arrangement of invering, and the one end of frame is fixed to the one end of chain 20408, then after the first sprocket of sprocket group 20404, middle sprocket 20405, the second sprocket of sprocket group 20404 are walked around in proper order to chain 20408 again and install on the drive wheel of the lift drive arrangement 20407 of the frame other end, the other end and the balancing weight 20409 fixed connection of last chain 20408.
After the lifting driving device 20407 works, the chain 20408 and each chain wheel are matched to drive the connecting frame 20406 and the guide column 20402 to lift up and down, so that the lifting of the clamping hand 207 is realized.
The horizontal traveling device 203 comprises a horizontal driving device 20301 and a tension roller 20303, the horizontal driving device 20301 and the tension roller 20303 are respectively arranged on two opposite sides of the lifting device 204 and are fixed on a cross beam 201 of the frame, two ends of a synchronous belt 20302 are respectively fixed on two opposite sides of the bracket 20403, the synchronous belt 20302 is respectively wound on a driving wheel of the horizontal driving device 20301 and the tension roller 20303, and after the horizontal driving device 20301 works, the bracket 20403 is pulled by the synchronous belt 20302 to drive the whole lifting device 204 to linearly move left and right along the horizontal track.
A servo motor is adopted as a rotary motor for driving rotary motion in the rotary component 206, servo motors are adopted as the horizontal driving device 20301 and the lifting driving device 20407, and a controller of the high-speed stacker crane 2 assigns values to the servo motors according to height change values sent by encoders on the conveying device 1 and the brick pile lifting device 3 so as to determine a stacking path of the gripper 207.
On the basis of the device, a high-speed stacking method for packing sintered bricks is provided, and comprises the following steps:
adjusting the height of a brick pile lifting device to enable the height of a stacking position on the brick pile lifting device to be equal to the height of a brick clamping position on a conveying device or the height difference between the stacking position and the brick clamping position to be minimum;
secondly, clamping a brick group from the brick clamping position through the position information of the brick clamping position fed back by the conveying device by the high-speed stacker crane;
step three, a controller of the high-speed stacker crane determines a stacking path in advance according to the height information of the brick clamping position and the stacking position, and drives a clamp to place the clamped brick group to the stacking position of the brick stack lifting device according to the stacking path after the brick group is clamped;
step four, after the brick groups are stacked to the stacking position by the high-speed stacker crane, the brick stack lifting device descends, and the descending height is the height of the clamped brick groups;
and step five, returning the clamping hand of the high-speed stacker to the position above the conveying device, repeating the processes from the step two to the step four, sequentially transferring the brick groups at the brick clamping positions on the conveying device to a brick pile lifting device, piling the brick groups into required brick piles, and adjusting the height of the conveying device according to the requirement of brick taking convenience in the process of repeating the steps from the step two to the step four.
In the above method, the "stacking position" on the brick pile lifting device 3 refers to the height position of the uppermost brick of the brick pile, or when there is no brick on the tray 301, the height position of the tray 301 is the stacking position, so that when the lifting of the brick pile lifter is not considered, the "stacking position" is descending layer by layer along with the progress of stacking, and the height of each ascending is the height of the brick group clamped by the clamping hand 207.
Since the brick groups to be gripped are placed on the belt conveyor of the conveying device in a single layer, the "brick gripping position" on the conveying device 1 refers to the height position of each brick group to be gripped on the conveying device 1.
In the method, before the stacking is started, the controller of the high-speed stacker crane 2 controls the adjustment of the height of the brick stack lifting device 3 according to the height of the conveying device 1, so that the heights of the brick stack lifting device and the brick stack lifting device are equivalent, and the clamping hand can complete the transfer and stacking of the brick groups through translation or approximate translation (small vertical displacement); when the conveying device and the brick pile lifting device both descend to the lowest position and continue to stack, the conveying device and the brick pile lifting device generate gradually-increased height difference, and at the moment, the clamp 207 not only needs to move horizontally, but also needs to move vertically to complete stacking of brick groups, so that the stacking path combined in the way is an oblique line path or an arc line path, or a combined path combining the oblique line path and a horizontal straight line path, or a combined path combining the arc line path and the horizontal straight line path.
The height adjustment of the conveying device 1 can be adjusted manually, and the height of the conveying device is set to be high, middle and low according to the height of a brick pile on the kiln car, so that bricks can be taken manually and placed on the conveying device.
Therefore, the method provides reference basis for optimizing the stacking path by the high-speed stacker 2 through the matching adjustment of the height of the brick stack lifting device 3 and the height of the conveying device 1, the high-speed stacker 2 transfers the brick groups on the conveying device 1 to the brick stack lifting device 3 according to the determined stacking path, the brick stack lifting device 3 readjusts the height of the brick stack lifting device 3 after the stacking of each layer of brick groups is completed, and the height of the conveying device 1 is manually adjusted according to the requirement of brick taking convenience during the stacking.
The counting device, the servo motor and the controller are all of common specifications and models in the industrial field.
The above embodiments are only intended to illustrate the technical solution of the present invention and not to limit the same, and it should be understood by those of ordinary skill in the art that the specific embodiments of the present invention can be modified or substituted with equivalents with reference to the above embodiments, and any modifications or equivalents without departing from the spirit and scope of the present invention are within the scope of the claims to be appended.
Claims (7)
1. A high-speed stacking method for packing baked bricks is characterized by comprising the following steps:
adjusting the height of a brick pile lifting device to enable the height of a stacking position on the brick pile lifting device to be equal to the height of a brick clamping position on a conveying device or the height difference between the stacking position and the brick clamping position to be minimum;
secondly, clamping a brick group from the brick clamping position through the position information of the brick clamping position fed back by the conveying device by the high-speed stacker crane;
step three, a controller of the high-speed stacker crane determines a stacking path in advance according to the height information of the brick clamping position and the stacking position, and drives a clamp to place the clamped brick group to the stacking position of the brick stack lifting device according to the stacking path after the brick group is clamped;
step four, after the brick groups are stacked to the stacking position by the high-speed stacker crane, the brick stack lifting device descends, and the descending height is the height of the clamped brick groups;
and step five, returning the clamping hand of the high-speed stacker to the position above the conveying device, repeating the processes from the step two to the step four, sequentially transferring the brick groups at the brick clamping positions on the conveying device to a brick pile lifting device, piling the brick groups into required brick piles, and adjusting the height of the conveying device according to the requirement of brick taking convenience in the process of repeating the steps from the step two to the step four.
2. The high-speed palletizing method for packing baked bricks according to claim 1, wherein: the stacking path comprises one of a horizontal line, an arc line and an inclined line, or a combination of the horizontal line and the arc line or the inclined line.
3. A high speed palletizing apparatus for use in the high speed palletizing method as claimed in claim 1, characterized in that: the stacking device comprises a conveying device, a stacking lifting device and a high-speed stacker crane, wherein the conveying device comprises a conveying mechanism and a conveying lifting mechanism, the brick stack lifting device comprises a brick stack lifter and a tray, counting devices used for recording lifting height values are respectively arranged on the conveying lifting mechanism and the brick stack lifter, and the counting devices can send each height change value to a controller of the high-speed stacker crane; the high-speed stacking machine is provided with a clamping hand for clamping the sintered bricks, and the clamping hand realizes stacking of the sintered bricks in different stacking paths through the cooperation of the lifting device, the horizontal walking device and the rotating part.
4. The high speed palletizing device for packing sintered bricks according to claim 3, wherein: the counting device is an encoder, a pull rope displacement sensor or a distance sensor.
5. The high speed palletizing device for packing sintered bricks according to claim 3, wherein: the clamping hand is installed on the lifting device through the rotating part, the lifting device is connected with the horizontal traveling device, the lifting device is arranged on a horizontal rail of the high-speed stacker frame in a sliding mode, and the horizontal traveling device drives the lifting device to move along the horizontal rail.
6. The high speed palletizing device for packing sintered bricks according to claim 3 or 5, wherein: the horizontal walking device comprises a horizontal driving device, a tension wheel and a synchronous belt, the horizontal driving device is provided with a driving wheel, the synchronous belt is wound on the driving wheel and the tension wheel, and two end parts of the synchronous belt are respectively fixed on two opposite sides of the lifting device.
7. The high speed palletizing device for packing sintered bricks according to claim 3 or 5, wherein: the lifting device comprises a guide pillar, a bracket, a connecting frame and a chain wheel and chain lifting mechanism, the bracket is arranged on a horizontal rail of the high-speed stacker crane frame in a sliding mode, the guide pillar is provided with a plurality of guide pillars which are arranged in guide holes of the bracket in a sliding mode respectively, the upper end of the guide pillar is connected with the fixing frame, the lower end of the guide pillar is connected with the connecting frame, the rotary component is installed on the connecting frame, the chain wheel and chain lifting mechanism comprises a chain wheel group, a lifting driving device and a middle chain wheel, the chain is arranged on the connecting frame in a winding mode, one end of the chain is fixed on the high-speed stacker crane frame, and the other end of the chain is connected with a balancing weight after bypassing a driving wheel of the lifting driving device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011064610.XA CN112027691A (en) | 2020-09-30 | 2020-09-30 | High-speed stacking method and device for packaging baked bricks |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011064610.XA CN112027691A (en) | 2020-09-30 | 2020-09-30 | High-speed stacking method and device for packaging baked bricks |
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| CN112027691A true CN112027691A (en) | 2020-12-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114919957A (en) * | 2022-05-30 | 2022-08-19 | 西门子（中国）有限公司 | Control method of stacker crane and stacker crane |
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2020
- 2020-09-30 CN CN202011064610.XA patent/CN112027691A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114919957A (en) * | 2022-05-30 | 2022-08-19 | 西门子（中国）有限公司 | Control method of stacker crane and stacker crane |
| CN114919957B (en) * | 2022-05-30 | 2024-03-15 | 西门子（中国）有限公司 | Control method of stacker crane and stacker crane |
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Effective date of registration: 20230823 Address after: Building 3 of MCC Heavy Industry, No. 369 Qinling Road, Jianxi District, Luoyang City, Henan Province, 471000 Applicant after: Luoyang Tengheda Intelligent Equipment Co.,Ltd. Address before: 471000 Zhongye Heavy Industry Group Co., Ltd. in Jianxi District, Luoyang City, Henan Province Applicant before: LUOYANG ZHONGYE BUILDING MATERIAL EQUIPMENT CO.,LTD. Applicant before: LUOYANG ZHONGYE HEAVY INDUSTRY MACHINERY CO.,LTD. |
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