CN112173739A - Material stacking and conveying device, stacker crane applying device and stacking method - Google Patents
Material stacking and conveying device, stacker crane applying device and stacking method Download PDFInfo
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- CN112173739A CN112173739A CN202011198162.2A CN202011198162A CN112173739A CN 112173739 A CN112173739 A CN 112173739A CN 202011198162 A CN202011198162 A CN 202011198162A CN 112173739 A CN112173739 A CN 112173739A
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
- B65G47/54—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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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
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Abstract
The invention relates to a material stacking and conveying device capable of arranging a left stacking space and a right stacking space which do not interfere with each other, a stacker crane using the device and a stacking method. This kind of material pile up neatly conveyor is including feeding transverse conveying mechanism, its characterized in that: one side of feeding transverse conveying mechanism is equipped with transition transverse conveying mechanism, carry between transition transverse conveying mechanism and the feeding transverse conveying mechanism and link up, one side of transition transverse conveying mechanism is equipped with ejection of compact vertical conveying mechanism, carries between ejection of compact vertical conveying mechanism and the transition transverse conveying mechanism and links up, has first pile up neatly space between one side of ejection of compact vertical conveying mechanism and the feeding transverse conveying mechanism, and the opposite side of ejection of compact vertical conveying mechanism has second pile up neatly space. The material stacking and conveying device can convert the transverse conveying of the carton into longitudinal conveying, so that left and right stacking spaces which do not interfere with each other can be obtained.
Description
Technical Field
The invention relates to the field of medicine paper box packaging, in particular to a material stacking and conveying device for stacking medicine paper boxes after being packaged, a stacker crane applying the device and a stacking method.
Background
Generally, cartons (such as medicine boxes or other small cartons) are packed and packed into cartons, and currently, the packing of the cartons is completed by a carton packing machine, and then the cartons are manually packed. In order to realize automatic boxing, the applicant designs a full-automatic carton boxing device. After the paper boxes are boxed by the full-automatic paper box boxing equipment, the paper boxes need to be stacked and then are transported away by a forklift. The existing common stacking mode is that materials are transversely output through a conveying mechanism (the discharging direction of full-automatic carton packaging equipment is transverse), and then cartons are stacked through a stacking manipulator, but the cartons can only be stacked at the front end of the conveying mechanism. As shown in the drawing, if two pile up neatly spaces about arranging at conveying mechanism's front end, the pile up neatly manipulator can't transition to the pile up neatly space on the right under the full circumstances of pile up neatly space on the left side (the case in pile up neatly space on the left side can interfere the pile up neatly manipulator and transition to the pile up neatly space on the right), consequently can only wait the carton in pile up neatly space on the left side and can only continue after being transported away by fork truck, and it is very obvious that this kind of mode is discontinuous, direct influence efficiency, if full-automatic carton box-packing equipment designs into continuous ejection of compact, so this kind of pile. If two pile up neatly spaces around arranging at conveying mechanism's front end, then fork truck need transport away the carton in front side pile up neatly space from the front side, transport away the carton in rear side pile up neatly space from the rear side, to fork truck, this kind of mode is very inconvenient, need vacate very big space in the rear side moreover for fork truck pass through with the adjustment, for the factory building of inch of earth's worth, this kind of mode is obviously unreasonable.
Disclosure of Invention
In view of the defects in the prior art, the invention innovatively provides a material stacking and conveying device capable of arranging a left stacking space and a right stacking space which do not interfere with each other, a stacker crane using the device and a stacking method.
This kind of material pile up neatly conveyor, including feeding transverse conveying mechanism, its characterized in that: one side of feeding transverse conveying mechanism is equipped with transition transverse conveying mechanism, carry between transition transverse conveying mechanism and the feeding transverse conveying mechanism and link up, one side of transition transverse conveying mechanism is equipped with ejection of compact vertical conveying mechanism, carry between ejection of compact vertical conveying mechanism and the transition transverse conveying mechanism and link up, first pile up neatly space has between one side of ejection of compact vertical conveying mechanism and the feeding transverse conveying mechanism, the opposite side of ejection of compact vertical conveying mechanism has second pile up neatly space.
The transition transverse conveying mechanism and the feeding transverse conveying mechanism are connected through a first conveying belt mechanism in a conveying mode, the first conveying belt mechanism comprises a first conveying belt, the feeding transverse conveying mechanism comprises a plurality of feeding conveying rollers, the transition transverse conveying mechanism comprises a plurality of transition conveying rollers, the first conveying belt extends between the two feeding conveying rollers and extends between the two transition conveying rollers, and the first conveying belt mechanism is in transmission connection with a first lifting power source which drives the first conveying belt mechanism to lift up and down.
The transition transverse conveying mechanism and the discharge longitudinal conveying mechanism are connected through a second conveying belt mechanism in a conveying mode, the second conveying belt mechanism comprises a second conveying belt, the transition transverse conveying mechanism comprises a plurality of transition conveying rollers, the second conveying belt is located between the two transition conveying rollers, and the second conveying belt mechanism is in transmission connection with a second lifting power source for driving the second conveying belt mechanism to ascend and descend.
This kind of material hacking machine, including the pile up neatly machinery hand, its characterized in that: the material stacking and conveying device as claimed in any one of claims 1 to 3 is arranged in front of the stacking manipulator, and the stacking manipulator can move materials on the discharging longitudinal conveying mechanism to the first stacking space and the second stacking space.
The stacking manipulator is installed on a transverse sliding seat, the transverse sliding seat is arranged on a transverse guide rail in a sliding mode, and the transverse sliding seat is in transmission connection with a transverse power source for driving the transverse sliding seat to move.
The suction tool is a sponge vacuum suction tool.
The material stacking method is characterized by comprising the following steps: s1, placing the material on a feeding transverse conveying mechanism, and transversely conveying the material by the feeding transverse conveying mechanism; s2, arranging a transition transverse conveying mechanism on one side of the feeding transverse conveying mechanism, conveying the materials from the feeding transverse conveying mechanism to the transition transverse conveying mechanism, and transversely conveying the materials by the transition transverse conveying mechanism; s3, arranging a discharge longitudinal conveying mechanism on one side of the transition transverse conveying mechanism, conveying the materials from the transition transverse conveying mechanism to the discharge longitudinal conveying mechanism, and longitudinally conveying the materials by the discharge longitudinal conveying mechanism; s4, a first stacking space is arranged between one side of the discharging longitudinal conveying mechanism and the feeding transverse conveying mechanism, a second stacking space is arranged on the other side of the discharging longitudinal conveying mechanism, and the stacking manipulator moves materials on the discharging longitudinal conveying mechanism to the first stacking space and the second stacking space.
The material is conveyed from the feeding transverse conveying mechanism to the transition transverse conveying mechanism in a mechanical pushing or mechanical conveying mode, and the material is conveyed from the transition transverse conveying mechanism to the discharging longitudinal conveying mechanism in a mechanical pushing or mechanical conveying mode.
According to the material stacking and conveying device provided by the invention, transverse conveying of the paper boxes can be converted into longitudinal conveying, so that a left stacking space and a right stacking space which are not interfered with each other can be obtained, and the paper boxes can be stacked in the two stacking spaces by using the device.
Drawings
FIG. 1 is a perspective view of a palletizer;
FIG. 2 is a top view of the palletizer;
FIG. 3 is a top plan view of the material palletizing conveyor;
FIG. 4 is a schematic structural diagram of a palletizing manipulator;
FIG. 5 is a front view of the palletizing robot;
fig. 6 is a parallel schematic diagram of the palletizing robot.
Detailed Description
As shown in fig. 1, the material stacker crane comprises a stacking manipulator 2 and a material stacking and conveying device, the material stacking and conveying device is located in front of the stacking manipulator 2, as shown in fig. 2, a carton 1 is conveyed by the material stacking and conveying device, the stacking manipulator 2 moves the carton 1 to a first stacking space 7 and a second stacking space 8, after the carton is stacked in the first stacking space 7, the stacking manipulator 2 continues to stack in the second stacking space 8, and the carton in the first stacking space 7 is transported away by a forklift.
As mentioned above, the material stacker has two first and second stacking spaces 7, 8 which are not dry to each other, and in order to form such a spatial arrangement, the present invention provides a unique material palletizing and conveying device. As shown in fig. 2 and 3, the material palletizing and conveying device includes a feeding transverse conveying mechanism 10, a transitional transverse conveying mechanism 12 is disposed on one side of the feeding transverse conveying mechanism 10, the transitional transverse conveying mechanism 12 is in conveying engagement with the feeding transverse conveying mechanism 10, a discharging longitudinal conveying mechanism 14 is disposed on one side of the transitional transverse conveying mechanism 12, the discharging longitudinal conveying mechanism 14 is in conveying engagement with the transitional transverse conveying mechanism 12, a first palletizing space 7 is disposed between one side of the discharging longitudinal conveying mechanism 14 and the feeding transverse conveying mechanism 10, and a second palletizing space 8 is disposed on the other side of the discharging longitudinal conveying mechanism 14.
Through the material pile up neatly conveyor of above-mentioned structure, carton 1 becomes vertical transport from horizontal transport, finally comes to the vertical conveyor of ejection of compact 14 on, and ejection of compact vertical conveyor 14 the left side has first pile up neatly space 7, the right side has second pile up neatly space 8, pile up neatly machinery hand 2 just can pile up neatly carton A on the vertical conveyor of ejection of compact 14 at first pile up neatly space 7 like this, after first pile up neatly space 7 is full, pile up neatly machinery hand 2 again with the pile up neatly of carton 1 on the vertical conveyor of ejection of compact 14 at second pile up neatly space 8, because first pile up neatly space 7 and second pile up neatly space 8 are the both sides that distribute at the material discharge point, consequently pile up neatly machinery hand 2 can not take place to interfere from a pile up neatly space transition to another pile up neatly space, pile up. Meanwhile, due to the stacking space layout, the discharging direction of the carton packing equipment and two stacking spaces of the material stacker crane are on the same transverse line, the whole machine is only lengthened in the transverse direction, the whole machine completely meets the design specification, and the forklift only needs to operate on the front side of the material stacker crane, does not need to wind behind the back, and is greatly convenient for forklift transportation.
As described above, the transition cross conveyor 12 is in conveying engagement with the infeed cross conveyor 10, i.e. the cartons 1 on the infeed cross conveyor 10 can be conveyed onto the transition cross conveyor 12. The manner in which the cartons 1 are conveyed from the infeed cross conveyor 10 to the transitional cross conveyor 12 is multiple: for example, the carton 1 is pushed to the transition transverse conveying mechanism 12 from the feeding transverse conveying mechanism 10 by a push plate driven by a cylinder; for example, a conveying belt is arranged above the transition transverse conveying mechanism, a plurality of pushing blocks are equally arranged on the conveying belt along the belt length direction, the conveying belt is driven along the longitudinal direction, and the pushing blocks can push the cartons 1 to the transition transverse conveying mechanism 12 through the transmission of the conveying belt before the cartons come to the pushing blocks; for example, a robot is provided to move the cartons 1 from the infeed cross conveyor 10 to the transitional cross conveyor 12.
However, the above methods are not compact, occupy a large space, and have high cost. Therefore, the present invention further provides a mode of realizing conveying connection through the first conveying belt mechanism 11, as shown in fig. 3, the first conveying belt mechanism 11 includes a first conveying belt 110, the feeding transverse conveying mechanism 10 includes a plurality of feeding conveying rollers 100, the transition transverse conveying mechanism 12 includes a plurality of transition conveying rollers 120, the first conveying belt 110 extends from between two feeding conveying rollers 100 to between two transition conveying rollers 120, and the first conveying belt mechanism 11 is in transmission connection with a first lifting power source driving the first conveying belt mechanism 11 to lift up and down. After the carton 1 enters the feeding transverse conveying mechanism 10, the first lifting power source drives the first conveying belt mechanism 11 to ascend, so that the first conveying belt 110 supports the carton 1, meanwhile, the first conveying belt 110 conveys the carton to the position above the transition transverse conveying mechanism 12, then the first lifting power source drives the first conveying belt mechanism 11 to descend, so that the carton 1 is arranged on the transition conveying rollers 120 of the transition transverse conveying mechanism 12, and the transition transverse conveying mechanism 12 conveys the carton 1 forwards through the transition conveying rollers 120.
The transition transverse conveying mechanism 12 is connected with the discharging longitudinal conveying mechanism 14 in a conveying manner, that is, the cartons 1 on the transition transverse conveying mechanism 12 can be conveyed to the discharging longitudinal conveying mechanism 14. The cartons 1 are also transferred from the intermediate cross conveyor 12 to the outfeed longitudinal conveyor 14 in a number of ways, which are the same as the transfer from the infeed cross conveyor 10 to the intermediate cross conveyor 12 and will not be described again here.
Also based on the same reason, the transition transverse conveying mechanism 12 and the discharge longitudinal conveying mechanism 14 are connected by conveying through the second conveying belt mechanism 13, the second conveying belt mechanism 13 includes a second conveying belt 130, the transition transverse conveying mechanism 12 includes a plurality of transition conveying rollers 120, the second conveying belt 130 is located between the two transition conveying rollers 120, and the second conveying belt mechanism 13 is connected with a second lifting power source for driving the second conveying belt mechanism 13 to lift up and down. When the carton 1 enters the end of the transition transverse conveying mechanism 12, the second lifting power source drives the second conveying belt mechanism 13 to ascend, so that the second conveying belt 130 supports the carton 1, meanwhile, the second conveying belt 130 conveys the carton 1 to the front end of the discharge longitudinal conveying mechanism 14, then the second lifting power source drives the second conveying belt mechanism 13 to descend, so that the carton 1 is arranged on the discharge longitudinal conveying mechanism 14, and the discharge longitudinal conveying mechanism 14 conveys the carton 1 longitudinally.
As mentioned above, the cartons are palletized by the palletizing manipulator 2, in order to enable the palletizing manipulator 2 to have a large moving range, as shown in fig. 4, the palletizing manipulator 2 is mounted on a transverse slide 3 (the palletizing manipulator 2 is a common manipulator, such as a garage joint type robot), the transverse slide 3 is slidably arranged on a transverse guide rail 4, and the transverse slide 3 is in transmission connection with a transverse power source 5 which drives the transverse slide 3 to move. By means of the drive of the transverse power source 5, the transverse slide 3 carries the palletizing manipulator 2 for transverse movement, and the palletizing manipulator 2 can only move between the first palletizing space 7 and the second palletizing space 8. Of course, it is also possible to use robots with a large range of motion, so that the transverse carriage 3 and the transverse rail 4 do not have to be mounted.
As shown in fig. 4 and 5, the stacking manipulator 2 comprises a base 21, a large arm 22, a small arm 23 and a suction tool 20, wherein the lower end of the large arm 22 is hinged on the base 21 and is in transmission connection with a first power source 220, the upper end of the large arm 22 is hinged with the small arm 23, one end of the small arm 23 is hinged with a suction tool seat 24, the suction tool 20 is connected on the suction tool seat 24, the other end of the small arm 23 is hinged with one end of a transmission link 29, the other end of the transmission link 29 is hinged with a transmission arm 290, and the transmission arm 29 is hinged on the base 21 and is in transmission connection with a second power source 230. First power supply 220 drive big arm 22 rotates around its pin joint, and the drive of second power supply 230 rotates with driving arm 290, and driving arm 290 passes through driving connecting rod 29 pulling forearm 23 and rotates around its pin joint, through this kind of structure transmission, inhales utensil 20 and just can realize upper and lower back-and-forth movement to absorb carton 1, rethread pile up neatly machinery hand 2 moves on transverse guide 4, and pile up neatly machinery hand 2 just can pile up neatly in first pile up neatly space 7 and second pile up neatly space 8.
In addition, in order to keep the holder 24 horizontal all the time, as shown in fig. 5, the present invention connects a lower connecting arm 210 to the holder base 21, the lower connecting arm 210 is hinged to one end of a lower parallel connecting rod 28, the other end of the lower parallel connecting rod 28 is hinged to a first corner of a triangular connecting member 25, a second corner of the triangular connecting member 25 is hinged to a small arm 23, a third corner of the triangular connecting member 25 is hinged to one end of an upper parallel connecting rod 26, and the other end of the upper parallel connecting rod 26 is hinged to the holder 24. As shown in fig. 6, the distance from the hinge point of the holder 24 and the arm 23 to the hinge point of the upper parallel link 26 and the holder 24 is K1; the distance from the hinge point of the upper parallel connecting rod 26 and the triangular connecting rod 25 to the hinge point of the triangular connecting rod 25 and the small arm 23 is K2; the distance from the hinge point of the upper parallel connecting rod 26 and the suction tool seat 24 to the hinge point of the upper parallel connecting rod 26 and the triangular connecting piece 25 is K3; the distance from the hinge point of the suction tool seat 24 and the small arm 23 to the hinge point of the triangular connecting piece 25 and the small arm 23 is K4; the distance from the hinge point of the triangular connecting piece 25 and the small arm 23 to the hinge point of the large arm 22 and the base 21 is K5; the distance from the hinge point of the triangular connecting piece 25 and the lower parallel connecting rod 28 to the hinge point of the lower parallel connecting rod 28 and the lower connecting arm 210 is K6; the distance from the hinge point of the triangular connecting piece 25 and the small arm 23 to the hinge point of the triangular connecting piece 25 and the lower parallel connecting rod 28 is K7; the distance K8 from the hinge point of the large arm 22 and the base 21 to the hinge point of the lower connecting arm 210 and the lower parallel link 28. As long as K1= K2, K3= K4, K5= K6, and K7= K8 are satisfied, it can be ensured that the suction tool holder 24 and the suction tool 20 always remain parallel.
It is worth mentioning here that the suction device 20 of the palletizing manipulator 2 is a sponge vacuum suction device. The sponge vacuum suction tool can more stably suck the carton 1 and prevent the carton 1 from falling.
Based on the material stacking machine, the invention provides a material stacking method, which comprises the following steps: s1, placing the material on the feeding transverse conveying mechanism 10, and transversely conveying the material by the feeding transverse conveying mechanism 10; s2, arranging a transition transverse conveying mechanism 12 on one side of the feeding transverse conveying mechanism 10, conveying the materials from the feeding transverse conveying mechanism 10 to the transition transverse conveying mechanism 12, and transversely conveying the materials by the transition transverse conveying mechanism 12; s3, arranging a discharge longitudinal conveying mechanism 14 on one side of the transition transverse conveying mechanism 12, conveying the materials from the transition transverse conveying mechanism 12 to the discharge longitudinal conveying mechanism 14, and longitudinally conveying the materials by the discharge longitudinal conveying mechanism 14; s4, a first stacking space 7 is arranged between one side of the discharging longitudinal conveying mechanism 14 and the feeding transverse conveying mechanism 10, a second stacking space 8 is arranged on the other side of the discharging longitudinal conveying mechanism 14, and the stacking manipulator 7 moves the materials on the discharging longitudinal conveying mechanism 14 to the first stacking space 7 and the second stacking space 8. By the stacking method, the cartons 1 can be stacked in the first stacking space 7 and the second stacking space 8, and the stacking manipulator 2 can continuously work.
The method for conveying the material from the feeding transverse conveying mechanism 10 to the transition transverse conveying mechanism 12 is various, and the material can be conveyed from the feeding transverse conveying mechanism 10 to the transition transverse conveying mechanism 12 in a mechanical pushing or mechanical conveying mode, and both the methods can be realized, specifically, the conveying connection mode is described above. The method for conveying the material from the transition transverse conveying mechanism 12 to the discharge longitudinal conveying mechanism 14 is also various, and the material can be conveyed from the transition transverse conveying mechanism 12 to the discharge longitudinal conveying mechanism 14 by mechanical pushing or mechanical conveying, and both the methods can be realized, specifically, the above-mentioned connection mode is mentioned.
Claims (10)
1. The utility model provides a material pile up neatly conveyor, is including feeding transverse conveying mechanism (10), its characterized in that: one side of feeding transverse conveying mechanism (10) is equipped with transition transverse conveying mechanism (12), carry between transition transverse conveying mechanism (12) and feeding transverse conveying mechanism (10) and link up, one side of transition transverse conveying mechanism (12) is equipped with vertical conveying mechanism (14) of ejection of compact, carry between vertical conveying mechanism (14) of ejection of compact and the transition transverse conveying mechanism (12) and link up, first pile up neatly space (7) have between one side of vertical conveying mechanism (14) of ejection of compact and feeding transverse conveying mechanism (10), the opposite side of vertical conveying mechanism (14) of ejection of compact has second pile up neatly space (8).
2. The material palletising conveyor according to claim 1, wherein: the transition transverse conveying mechanism (12) and the feeding transverse conveying mechanism (10) are connected in a conveying mode through a first conveying belt mechanism (11), the first conveying belt mechanism (11) comprises a first conveying belt (110), the feeding transverse conveying mechanism (10) comprises a plurality of feeding conveying rollers (100), the transition transverse conveying mechanism (12) comprises a plurality of transition conveying rollers (120), the first conveying belt (100) extends between the two transition conveying rollers (120) from the two feeding conveying rollers (100), and the first conveying belt mechanism (11) is in transmission connection with a first lifting power source which drives the first conveying belt mechanism (11) to lift up and down.
3. The material palletising conveyor according to claim 1, wherein: the transition transverse conveying mechanism (12) is connected with the discharge longitudinal conveying mechanism (14) in a conveying mode through a second conveying belt mechanism (13), the second conveying belt mechanism (13) comprises a second conveying belt (130), the transition transverse conveying mechanism (12) comprises a plurality of transition conveying rollers (120), the second conveying belt (130) is located between the two transition conveying rollers (120), and the second conveying belt mechanism (13) is in transmission connection with a second lifting power source for driving the second conveying belt mechanism (13) to ascend and descend.
4. The utility model provides a material hacking machine, including pile up neatly machinery hand, its characterized in that: the material stacking and conveying device as claimed in any one of claims 1 to 3 is arranged in front of the stacking manipulator (2), and the stacking manipulator (2) can move materials on the discharging longitudinal conveying mechanism (10) to the first stacking space (7) and the second stacking space (8).
5. The material stacker according to claim 4, wherein: pile up neatly machinery hand (2) are installed on horizontal slide (3), horizontal slide (3) slide and set up on transverse guide (4), horizontal slide (3) are connected with horizontal power supply (5) transmission that horizontal slide (3) of drive removed.
6. The material stacker according to claim 5, wherein: pile up neatly machinery hand (2) package has frame (21), big arm (22), forearm (23) and inhales utensil (20), the lower extreme of big arm (22) articulates on frame (21) and is connected with first power supply (220) transmission, the upper end and forearm (23) of big arm (22) are articulated, the one end and the inhaling of forearm (23) have a seat (24) articulated, inhale utensil (20) and connect on inhaling utensil seat (24), the other end and the one end of transmission connecting rod (29) of forearm (23) are articulated, the other end and transmission arm (290) of transmission connecting rod (29) are articulated, transmission arm (29) articulate on frame (21) and are connected with second power supply (230) transmission.
7. The material stacker according to claim 6, wherein: be connected with down connecting arm (210) on frame (21), connecting arm (210) is articulated with the one end of lower parallel connecting rod (28) down, the other end of lower parallel connecting rod (28) is articulated with the first angle of triangle connecting piece (25), the second angle of triangle connecting piece (25) is articulated on forearm (23), the third angle of triangle connecting piece (25) is articulated with the one end of last parallel connecting rod (26), the other end of going up parallel connecting rod (26) is articulated with suction tool seat (24).
8. The material stacker according to claim 6, wherein: the suction device (20) is a sponge vacuum suction device.
9. A material stacking method is characterized by comprising the following steps: s1, placing the materials on the feeding transverse conveying mechanism (10), and transversely conveying the materials by the feeding transverse conveying mechanism (10); s2, arranging a transition transverse conveying mechanism (12) on one side of the feeding transverse conveying mechanism (10), conveying the materials from the feeding transverse conveying mechanism (10) to the transition transverse conveying mechanism (12), and transversely conveying the materials by the transition transverse conveying mechanism (12); s3, arranging a discharge longitudinal conveying mechanism (14) on one side of the transition transverse conveying mechanism (12), conveying the materials from the transition transverse conveying mechanism (12) to the discharge longitudinal conveying mechanism (14), and longitudinally conveying the materials by the discharge longitudinal conveying mechanism (14); s4, a first stacking space (7) is arranged between one side of the longitudinal discharging conveying mechanism (14) and the transverse feeding conveying mechanism (10), a second stacking space (8) is arranged on the other side of the longitudinal discharging conveying mechanism (14), and the stacking manipulator (2) moves materials on the longitudinal discharging conveying mechanism (14) to the first stacking space (7) and the second stacking space (8).
10. The material palletization method according to claim 9, wherein: the materials are conveyed from the feeding transverse conveying mechanism (10) to the transition transverse conveying mechanism (12) in a mechanical pushing or mechanical conveying mode, and the materials are conveyed from the transition transverse conveying mechanism (12) to the discharging longitudinal conveying mechanism (14) in a mechanical pushing or mechanical conveying mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011198162.2A CN112173739A (en) | 2020-10-31 | 2020-10-31 | Material stacking and conveying device, stacker crane applying device and stacking method |
| PCT/CN2021/071655 WO2022088513A1 (en) | 2020-10-31 | 2021-01-14 | Conveying device for material stacking, stacking machine using device, and stacking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011198162.2A CN112173739A (en) | 2020-10-31 | 2020-10-31 | Material stacking and conveying device, stacker crane applying device and stacking method |
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| CN112173739A true CN112173739A (en) | 2021-01-05 |
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| CN202011198162.2A Pending CN112173739A (en) | 2020-10-31 | 2020-10-31 | Material stacking and conveying device, stacker crane applying device and stacking method |
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| CN (1) | CN112173739A (en) |
| WO (1) | WO2022088513A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022088513A1 (en) * | 2020-10-31 | 2022-05-05 | 浙江希望机械有限公司 | Conveying device for material stacking, stacking machine using device, and stacking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115057219B (en) * | 2022-06-23 | 2023-07-28 | 中南大学 | Automatic pile up neatly device of package piece formula steel scrap |
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| DE4237937C2 (en) * | 1992-11-11 | 2001-09-13 | Focke & Co | Device for transporting stacks of blanks |
| CN204078830U (en) * | 2014-07-04 | 2015-01-07 | 上海汇众汽车制造有限公司 | The right angle side steering of right-angled bend rollgang and rollgang |
| CN106217362A (en) * | 2016-08-30 | 2016-12-14 | 四川大友机器人有限公司 | Heavy piling transfer robot |
| CN206679878U (en) * | 2017-04-24 | 2017-11-28 | 云南鼎彩瓦业有限公司 | A kind of synthetic resin watt carries palletizing apparatus |
| CN208103828U (en) * | 2018-04-09 | 2018-11-16 | 三门峡三星智能装备制造有限公司 | A kind of work-piece pile system and its work-piece pile device |
| CN108247621A (en) * | 2018-04-13 | 2018-07-06 | 广东途达智能科技有限公司 | A kind of four joint Manipulators |
| CN112193849A (en) * | 2020-10-31 | 2021-01-08 | 浙江希望机械有限公司 | Full-automatic unpacking, packing and stacking all-in-one machine |
| CN112173739A (en) * | 2020-10-31 | 2021-01-05 | 浙江希望机械有限公司 | Material stacking and conveying device, stacker crane applying device and stacking method |
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2020
- 2020-10-31 CN CN202011198162.2A patent/CN112173739A/en active Pending
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- 2021-01-14 WO PCT/CN2021/071655 patent/WO2022088513A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022088513A1 (en) * | 2020-10-31 | 2022-05-05 | 浙江希望机械有限公司 | Conveying device for material stacking, stacking machine using device, and stacking method |
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