CN113697515A - Hollow rubber frame stacking system and control method thereof - Google Patents
Hollow rubber frame stacking system and control method thereof Download PDFInfo
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- CN113697515A CN113697515A CN202111069435.8A CN202111069435A CN113697515A CN 113697515 A CN113697515 A CN 113697515A CN 202111069435 A CN202111069435 A CN 202111069435A CN 113697515 A CN113697515 A CN 113697515A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 230000001939 inductive effect Effects 0.000 claims abstract description 62
- 230000000903 blocking effect Effects 0.000 claims abstract description 59
- 239000000463 material Substances 0.000 claims description 44
- 238000003860 storage Methods 0.000 claims description 39
- 239000003292 glue Substances 0.000 claims description 18
- 239000002356 single layer Substances 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 8
- 239000010410 layer Substances 0.000 description 10
- 239000004033 plastic Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 230000035945 sensitivity Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
- B65G57/24—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
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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
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
Abstract
The invention discloses an empty rubber frame stacking system and a control method thereof, wherein the empty rubber frame stacking system comprises a first conveyor, a second conveyor, a first stacking mechanical arm and a control device, and the running speed of the first conveyor is less than that of the second conveyor; the first blocking mechanism, the second blocking mechanism and the third blocking mechanism are arranged in sequence and at intervals along the conveying direction of the second conveyor so as to divide the second conveyor into a cache region, a grabbing region and an assembling region, and the second conveyor is also provided with a first inductive switch, a second inductive switch and a third inductive switch which are in one-to-one correspondence with the cache region, the grabbing region and the assembling region; the control device is respectively and electrically connected with the first conveyor, the second conveyor, the first stacking mechanical arm, the first inductive switch, the second inductive switch and the third inductive switch. The invention realizes the automatic combination of the three hollow rubber frames into a single-group hollow rubber frame, and has the advantages of high working efficiency, effective reduction of labor intensity and capability of stacking more hollow rubber frames in unit space.
Description
Technical Field
The invention relates to the technical field of stacking, in particular to a hollow rubber frame stacking system and a control method thereof.
Background
The rubber frame is a common storage article, is also called as a plastic basket, and is used for turnover inside warehouses, production lines and factories in a large amount. When depositing the hollow frame, stack the hollow frame range upon range of usually, along with the development of industrial automation technique, this type of pile up neatly mode accessible pile up neatly mechanical arm is direct to be realized, though efficiency has obtained the promotion, but this type of pile up neatly mode occupation space is great, emptys easily moreover. People find in the continuous practical process that two hollow rubber frames can be symmetrically arranged, openings of the two hollow rubber frames are oppositely arranged, a containing space is formed between the two hollow rubber frames, the other hollow rubber frame is just accommodated in the containing space, so that the three hollow rubber frames are combined into a single-unit hollow rubber frame, then the multiple groups of hollow rubber frames are arranged into a single row through a stacking mechanical arm, then the multiple rows of hollow rubber frames are stacked into a single-layer hollow rubber frame, and finally the multiple layers of hollow rubber frames are stacked on a tray (refer to fig. 12); although the space occupied by the stacking mode is greatly reduced, the empty rubber frames are more firmly connected and are not prone to toppling, the operation of stacking the three empty rubber frames into a single empty rubber frame group is difficult to achieve by the existing stacking mechanical arm, and the three empty rubber frames still need to be manually combined into a group in advance. Therefore, there is a need to solve the above problems.
Disclosure of Invention
The invention aims to solve the problems, and provides a hollow rubber frame stacking system and a control method thereof, which realize automatic combination of three hollow rubber frames into a single-group hollow rubber frame, reduce the labor intensity of workers, improve the working efficiency, greatly reduce the occupied space and stack more hollow rubber frames in a unit space.
The invention realizes the purpose through the following technical scheme: a hollow rubber frame stacking system comprises a first conveyor, a second conveyor, a first stacking mechanical arm and a control device, wherein the output end of the first conveyor is arranged corresponding to the input end of the second conveyor, and the running speed of the first conveyor is lower than that of the second conveyor;
a first blocking mechanism, a second blocking mechanism and a third blocking mechanism are sequentially arranged along the conveying direction of the second conveyor at intervals so as to divide the second conveyor into a cache region, a grabbing region and an assembling region, wherein the first blocking mechanism is used for preventing or releasing the empty rubber frames at the cache region from moving to the grabbing region, the second blocking mechanism is used for preventing or releasing the empty rubber frames at the grabbing region from moving to the assembling region, and the third blocking mechanism is used for preventing or releasing the empty rubber frames at the assembling region from moving to the output end of the second conveyor; the second conveyor is also provided with a first inductive switch, a second inductive switch and a third inductive switch which are in one-to-one correspondence with the cache region, the grabbing region and the assembling region;
the first stacking mechanical arm is arranged on the outer side of the second conveyor, and is used for grabbing the hollow rubber frames at the grabbing area, adjusting the positions of the hollow rubber frames and then placing the hollow rubber frames on the hollow rubber frames at the assembling area so as to combine the three hollow rubber frames into a single-unit hollow rubber frame;
the control device is electrically connected with the first conveyor, the second conveyor, the first stacking mechanical arm, the first inductive switch, the second inductive switch and the third inductive switch respectively.
Further, the second conveyor is of a roller type; the bearing capacity is higher, and the installation of each part of being convenient for.
Further, the first blocking mechanism comprises a first driver fixedly connected to the second conveyor and a first baffle connected to an output shaft of the first driver, and the first baffle is arranged between adjacent roller shafts of the second conveyor; the structure is simpler and more compact, the response speed of the first blocking mechanism is improved, and the sensitivity and the working efficiency are ensured.
Further, the second blocking mechanism comprises a second driver fixedly connected to the second conveyor and a second baffle connected to an output shaft of the second driver, and the second baffle is arranged between adjacent roller shafts of the second conveyor; the structure is simpler and more compact, the response speed of the second blocking mechanism is improved, and the sensitivity and the working efficiency are ensured.
Further, the third blocking mechanism comprises a third driver fixedly connected to the second conveyor and a third baffle connected to an output shaft of the third driver, and the third baffle is arranged between adjacent roller shafts of the second conveyor; the structure is simpler and more compact, the response speed of the third blocking mechanism is improved, and the sensitivity and the working efficiency are ensured.
Furthermore, the output end of the second conveyor is provided with a arranging device, and the arranging device is used for arranging the plurality of groups of hollow rubber frames output by the second conveyor into a single-layer hollow rubber frame.
Furthermore, the arrangement device comprises a third conveyor, one end of the third conveyor is arranged corresponding to the output end of the second conveyor, a first limiting plate is arranged at the other end of the third conveyor, a fourth conveyor is arranged on one side of the third conveyor, the running direction of the third conveyor is perpendicular to that of the fourth conveyor, a material pushing mechanism is arranged on the other side of the third conveyor, the material pushing mechanism is used for pushing a plurality of groups of empty rubber frames on the third conveyor to the fourth conveyor side by side, and a fourth induction switch is arranged on the third conveyor; a second limiting plate is arranged at the output end of the fourth conveyor, and a fifth inductive switch is arranged on the fourth conveyor; the automatic arrangement of a plurality of groups of hollow rubber frames into single-layer hollow rubber frames is realized, the automation degree is improved, and the working efficiency is improved.
Further, the pushing mechanism comprises a fourth driver and a push plate, the fourth driver is fixedly connected to the third conveyor, and the push plate is connected to the output end of the fourth driver; the structure is simpler and more compact, the response speed of the pushing mechanism is improved, and the sensitivity and the working efficiency are ensured.
The tray conveying device comprises a material storage rack and a fifth conveyor, a material storage channel vertically penetrates through the material storage rack, the material storage channel is used for stacking trays in a stacking mode, a stop pin mechanism for opening and closing the material storage channel is arranged at the bottom end of the material storage rack, a jacking mechanism is arranged at the input end of the fifth conveyor, and the jacking mechanism is arranged corresponding to the bottom end of the material storage channel; the second stacking mechanical arm is used for stacking the single-layer hollow glue frames on the fourth conveyor on a tray at the output end of the fifth conveyor; realize automatic putting in the tray to the frame sign indicating number of individual layer air cement, improve degree of automation, improve work efficiency.
A control method of an empty rubber frame stacking system comprises the following steps:
step one, a first conveyor conveys a plurality of hollow rubber frames one by one to the input end of a second conveyor, and the second conveyor continuously works;
step two, the third blocking mechanism acts and blocks the empty rubber frame from moving to the output end of the second conveyor;
step three, a third inductive switch detects whether the empty rubber frame of the assembly area moves in place, if so, a second blocking mechanism acts and blocks the subsequent empty rubber frame from moving into the assembly area, if not, the second blocking mechanism acts and releases the empty rubber frame to move into the assembly area, and the step one is executed;
step four, detecting whether the empty rubber frame in the grabbing area moves in place by a second inductive switch, if so, enabling a first blocking mechanism to act and block a subsequent empty rubber frame from moving into the grabbing area, and if not, enabling the first blocking mechanism to act and release the empty rubber frame to move into the grabbing area, and executing the step one;
step five, detecting whether the empty rubber frame of the cache area moves in place or not by the first induction switch, if so, stopping conveying by the first conveyor, and if not, executing the step one;
step six, the first stacking mechanical arm grabs the hollow rubber frame from the grabbing area and adjusts the position of the hollow rubber frame, then the hollow rubber frame is placed on the hollow rubber frame at the assembling area, step four and step five are executed, the first stacking mechanical arm grabs the hollow rubber frame from the grabbing area again and adjusts the position of the hollow rubber frame, then the hollow rubber frame is placed on the hollow rubber frame at the assembling area, the three hollow rubber frames are combined into a single-unit hollow rubber frame, a first signal is sent to the control device, and the program is interrupted;
step seven, after receiving the first signal, the control device controls the third blocking mechanism to act and release, and the single-group empty rubber frame which is combined is conveyed to the output end of the second conveyor;
and step eight, circularly operating the step one to the step seven until stopping.
The invention has the beneficial effects that: the first blocking mechanism, the second blocking mechanism and the third blocking mechanism are arranged on the second conveyor, so that the second conveyor is divided into a cache area, a grabbing area and an assembling area, and the first inductive switch, the second inductive switch and the third inductive switch which are in one-to-one correspondence with the cache area, the grabbing area and the assembling area are arranged on the second conveyor, so that the first stacking mechanical arm arranged outside the second conveyor is matched with the control device, the empty rubber frames at the grabbing area are grabbed and placed on the empty rubber frames at the assembling area after the positions of the empty rubber frames are adjusted, the three empty rubber frames are automatically combined into a single-group empty rubber frame, the problem that in the prior art, only three empty rubber frames can be manually combined into the single-group empty rubber frame is solved, and automatic combination of the single-group empty rubber frame is realized; in general, the invention realizes the automatic combination of three hollow rubber frames into a single-group hollow rubber frame, improves the automation degree, lightens the labor intensity of workers, effectively improves the working efficiency, greatly reduces the occupied space and can stack more hollow rubber frames in unit space.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the construction of a second conveyor according to the present invention;
FIG. 4 is a side schematic view of a second conveyor of the present invention;
FIG. 5 is a schematic top view of a second conveyor of the present invention;
FIG. 6 is a schematic view of a first palletizing robot arm according to the present invention;
FIG. 7 is a schematic view showing the structure of an aligning apparatus according to the present invention;
FIG. 8 is a schematic top view of an alignment device of the present invention;
FIG. 9 is a side schematic view of the pallet transport apparatus of the present invention;
FIG. 10 is a schematic view of the structure of the stocker of the present invention;
FIG. 11 is a schematic diagram of a second palletizing robot according to the present invention;
FIG. 12 is a schematic illustration of a palletizing process for empty rubber frames;
fig. 13 is an exploded view of a single set of blank frames.
The reference numerals are explained below:
1-a first conveyor; 2-a second conveyor; 2.1-cache area; 2.2-grasping zone; 2.3-assembly zone; 21-a first blocking mechanism; 211-a first driver; 212-a first baffle; 22-a second blocking mechanism; 221-a second driver; 222-a second baffle; 23-a third blocking mechanism; 231-a third driver; 232-a third baffle; 24-a first inductive switch; 25-a second inductive switch; 26-a third inductive switch; 3-a first stacking mechanical arm; 31-a first mount; 32-a fifth driver; 33-briquetting; 4-an alignment device; 41-a third conveyor; 411-a first limiting plate; 412-a fourth inductive switch; 42-a fourth conveyor; 421-a second limiting plate; 422-fifth inductive switch; 43-a pushing mechanism; 431-a fourth drive; 432-a push plate; 5-a tray conveying device; 51-a material storage rack; 511-stock channel; 52-a fifth conveyor; 53-stop pin mechanism; 531-seventh driver; 532-stop pin; 54-a jacking mechanism; 541-an eighth driver; 542-a top plate; 6-a second palletizing mechanical arm; 61-a second mount; 62-a sixth driver; 63-Splint.
Detailed Description
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "upper", "lower", "left", "right", "inner", "outer" and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 11, the present embodiment provides an empty plastic frame stacking system, which includes a first conveyor 1, a second conveyor 2, a first stacking mechanical arm 3, and a control device, wherein an output end of the first conveyor 1 is disposed corresponding to an input end of the second conveyor 2, and an operating speed of the first conveyor 1 is lower than an operating speed of the second conveyor 2; a first blocking mechanism 21, a second blocking mechanism 22 and a third blocking mechanism 23 are sequentially arranged along the conveying direction of the second conveyor 2 at intervals so as to divide the second conveyor 2 into a cache area 2.1, a grabbing area 2.2 and an assembling area 2.3, the first blocking mechanism 21 is used for preventing or releasing the empty rubber frames at the cache area 2.1 from moving to the grabbing area 2.2, the second blocking mechanism 22 is used for preventing or releasing the empty rubber frames at the grabbing area 2.2 from moving to the assembling area 2.3, and the third blocking mechanism 23 is used for preventing or releasing the empty rubber frames at the assembling area 2.3 from moving to the output end of the second conveyor 2; the second conveyor 2 is also provided with a first inductive switch 24, a second inductive switch 25 and a third inductive switch 26 which are in one-to-one correspondence with the cache area 2.1, the grabbing area 2.2 and the assembling area 2.3; the first stacking mechanical arm 3 is arranged on the outer side of the second conveyor 2, and the first stacking mechanical arm 3 is used for grabbing the empty rubber frames at the grabbing area 2.2, adjusting the positions of the empty rubber frames and then placing the empty rubber frames on the empty rubber frames at the assembling area 2.3 so as to combine the three empty rubber frames into a single-unit empty rubber frame; the control device is respectively and electrically connected with the first conveyor 1, the second conveyor 2, the first stacking mechanical arm 3, the first inductive switch 24, the second inductive switch 25 and the third inductive switch 26.
Preferably, the first palletizing mechanical arm 3 adopts a six-axis joint type, and can refer to a model disclosed in chinese patent application No. CN201530541958.7 and named as "six-axis robot (HY 6-10)". Specifically, a first clamp is mounted on a wrist portion of the first stacking mechanical arm 3, the first clamp comprises a first mounting seat 31 and a fifth driver 32, the first mounting seat 31 is fixed on the wrist portion of the first stacking mechanical arm 3, and the first mounting seat 31 is shaped like Jiong; the output end of the fifth driver 32 is connected with four press blocks 33, two of the fifth drivers 32 are symmetrically arranged on the inner side wall of the first mounting seat 31 in a group, and the distance between two opposite press blocks 33 is greater than the width of the hollow rubber frame;
when the first stacking mechanical arm 3 works, the first clamp is moved to the grabbing area 2.2 through an internal program, the press blocks 33 are located on two sides of the hollow rubber frame, then the fifth driver 32 acts to drive the press blocks 33 to move oppositely to clamp the hollow rubber frame, otherwise, the fifth driver 32 acts reversely to drive the press blocks 33 to move oppositely, so that the hollow rubber frame is loosened, and the hollow rubber frame is placed in the assembling area 2.3; of course, the first clamp may adopt other structures on the market as equivalent substitutes.
The second conveyor 2 is of a roller shaft type, the first blocking mechanism 21 comprises a first driver 211 fixedly connected to the second conveyor 2 and a first baffle 212 connected to an output shaft of the first driver 211, and the first baffle 212 is arranged between adjacent roller shafts of the second conveyor 2; the second blocking mechanism 22 comprises a second driver 221 fixedly connected to the second conveyor 2 and a second baffle 222 connected to an output shaft of the second driver 221, and the second baffle 222 is arranged between adjacent roller shafts of the second conveyor 2; the third blocking mechanism 23 includes a third driver 231 fixedly connected to the second conveyor 2 and a third baffle 232 connected to an output shaft of the third driver 231, and the third baffle 232 is disposed between adjacent roller shafts of the second conveyor 2.
The output end of the second conveyor 2 is provided with a arranging device 4, and the arranging device 4 is used for arranging a plurality of groups of hollow rubber frames output by the second conveyor 2 into a single-layer hollow rubber frame; the arranging device 4 comprises a third conveyor 41, one end of the third conveyor 41 is arranged corresponding to the output end of the second conveyor 2, the other end of the third conveyor 41 is provided with a first limiting plate 411, one side of the third conveyor 41 is provided with a fourth conveyor 42, the running direction of the third conveyor 41 is perpendicular to the running direction of the fourth conveyor 42, the other side of the third conveyor 41 is provided with a material pushing mechanism 43, the material pushing mechanism 43 is used for pushing a plurality of groups of empty rubber frames on the third conveyor 41 to the fourth conveyor 42 side by side, and the third conveyor 41 is provided with a fourth inductive switch 412; the output end of the fourth conveyor 42 is provided with a second limiting plate 421, and the fourth conveyor 42 is provided with a fifth inductive switch 422.
The pushing mechanism 43 comprises a fourth driver 431 and a push plate 432, the fourth driver 431 is fixedly connected to the third conveyor 41, and the push plate 432 is connected to the output end of the fourth driver 431; it is worth mentioning that the push plate 432 is in a comb shape, and the comb teeth on the push plate 432 and the roller shafts on the third conveyor 41 are arranged in a staggered manner, so that the fourth driver 431 can drive the push plate 432 to move along the extension direction of the roller shafts on the third conveyor 41, and the installation space is reduced to a certain extent, so that the structure is more compact.
Specifically, three fourth inductive switches 412 are arranged at intervals along the running direction of the third conveyor 41, the distance between every two adjacent fourth inductive switches 412 is greater than the width of one empty rubber frame and equal to or less than the sum of the widths of the two empty rubber frames, two fifth inductive switches 422 are arranged at intervals along the running direction of the fourth conveyor 42, and one fifth inductive switch 422 is also arranged at the position of the second limiting plate 421; after the second conveyor 2 inputs one single-group empty rubber frame to the third conveyor 41, the single-group empty rubber frame abuts against the first limiting plate 411 under the transmission of the third conveyor 41, the second conveyor 2 continues to input two single-group empty rubber frames to the third conveyor 41, so that the three single-group empty rubber frames correspond to the three fourth inductive switches 412 one by one, namely the single-group empty rubber frames on the third conveyor 2 are completely arranged, and a second signal is sent to the control device, the control device controls the material pushing mechanism 43 to act after receiving the second signal, the fourth driver 431 works, and the push plate 432 simultaneously pushes the single-group empty rubber frame to the fourth conveyor 42;
under the transmission of the fourth conveyor 42, the single-row empty rubber frame abuts against the second limit plate 421, at this time, the fifth inductive switch 422 at the second limit plate 421 is blocked, and the fifth inductive switch 422 which is farther from the input end of the fourth conveyor 42 in the running direction of the fourth conveyor 42 is also blocked, that is, the single-row empty rubber frame is moved to the right position, after the third conveyor 41 inputs a single-row empty rubber frame to the fourth conveyor 42 again, the other fifth inductive switch 422 is also blocked, that is, the single-layer empty rubber frame with the specification of 3X2 on the fourth conveyor 42 is arranged completely, and a third signal is sent to the control device, and after the control device receives the third signal, the second stacking mechanical arm 6 is controlled to act, the whole layer of empty rubber frame is clamped at the same time, and then the single-row empty rubber frame is stacked on the pallet at the output end of the fifth conveyor 52;
of course, the fourth inductive switch 412 and the fifth inductive switch 422 can be correspondingly arranged more, so that the specification of the single-layer hollow rubber frame is 2X2, 3X3, 4X3 and other specifications, the arrangement is more flexible, the stacking is more convenient, and the single-layer hollow rubber frame is suitable for different storage spaces.
The stacking machine further comprises a tray conveying device 5 and a second stacking mechanical arm 6, wherein the tray conveying device 5 comprises a material storage rack 51 and a fifth conveyor 52, a material storage channel 511 vertically penetrates through the material storage rack 51, the material storage channel 511 is used for stacking trays in a stacking mode, a stop pin mechanism 53 for opening and closing the material storage channel 511 is arranged at the bottom end of the material storage rack 51, a jacking mechanism 54 is arranged at the input end of the fifth conveyor 52, and the jacking mechanism 54 is arranged corresponding to the bottom end of the material storage channel 511; the second stacking mechanical arm 6 is used for stacking the single-layer hollow glue frames on the fourth conveyor 42 on the tray at the output end of the fifth conveyor 52.
Specifically, the pin blocking mechanism 53 is provided with four sets, two sets of which are arranged on one side surface of the material storage frame 51, and the other two sets of which are arranged on the opposite surface of the side surface; the stop pin mechanism 53 comprises a seventh driver 531 and a stop pin 532, the seventh driver 531 is fixed on the material storage rack 51, the stop pin 532 is connected with the output end of the seventh driver 531, the stop pin 532 is slidably arranged on the material storage rack 51, and the sliding direction of the stop pin 532 is perpendicular to the opening direction of the material storage channel 511; when the stop pin mechanism 53 works, the seventh driver 531 acts to drive the stop pin 532 to slide relative to the material storage rack 51 and move towards the material storage channel 511, so that the tray in the material storage channel 511 is prevented from moving downwards, the material storage channel 511 is closed, otherwise, the seventh driver 531 acts in the opposite direction to drive the stop pin 532 to slide relative to the material storage rack 51 and keep away from the material storage channel 511, so that the tray in the material storage channel 511 can move downwards, and the material storage channel 511 is opened;
the lift mechanism 54 includes an eighth driver 541 and a top plate 542, the eighth driver 541 is fixed to the fifth conveyor 52, the top plate 542 is connected to an output end of the eighth driver 541, the eighth driver 541 drives the top plate 542 to move up and down, and a distance that the top plate 542 moves up and down is equal to a height of one tray.
When the tray conveying device 5 works, under the normal condition, the stop pin mechanism 53 closes the material storage channel 511, the stop pin 532 is inserted into the tray at the bottommost layer, and the fifth conveyor 52 does not work; when the trays need to be conveyed, the jacking mechanism 54 works, the eighth driver 541 drives the top plate 542 to move upwards and abut against the bottom of the tray at the bottommost layer, next, the seventh driver 531 drives the stop pin 532 to slide, the material storage channel 511 is opened, then, the eighth driver 541 drives the top plate 542 to move downwards, finally, the seventh driver 531 drives the stop pin 532 to slide, the material storage channel 511 is closed again, the tray at the bottommost layer is just arranged at the input end of the fifth conveyor 52, the control device enables the fifth conveyor 52 to work, as the distance of the up-and-down movement of the top plate 542 is equal to the height of one tray, the stop pin 532 is inserted into the tray at the second last layer at this time, the fifth conveyor 52 can only convey the tray at the bottommost layer, and the conveying of a single tray is realized.
Preferably, the second stacking mechanical arm 6 is of a four-axis articulated type, and the specific structure can refer to a patent with the Chinese patent application number of CN201621012842.X and the name of "a four-axis robot with a bending arm". Specifically, a second clamp is mounted on a wrist of the second stacking mechanical arm 6, the second clamp includes a second mounting seat 61 and a sixth driver 62, the second mounting seat 61 is fixed on the wrist of the second stacking mechanical arm 6, an output end of the sixth driver 62 is connected with a clamping plate 63, the clamping plate 63 is in sliding fit with the second mounting seat 61, and four sixth drivers 62 are arranged, so that the clamping plate 63 is surrounded into a rectangle;
when the second stacking mechanical arm 6 works, the second clamp is moved to the output end of the fourth conveyor 42 through an internal program, then the sixth driver 62 acts to drive the clamping plates 63 to move inwards (which is equivalent to the process that the rectangular area surrounded by the four clamping plates 63 is reduced in an equal proportion), so that single-layer hollow glue frames are clamped at the same time, otherwise, the sixth driver 62 acts in the opposite direction to drive the clamping plates 63 to move outwards (which is equivalent to the process that the rectangular area surrounded by the four clamping plates 63 is enlarged in an equal proportion), so that the single-layer hollow glue frames are loosened, and the single-layer hollow glue frames are placed on a tray at the output end of the fifth conveyor 52; of course, the second clamp may adopt other structures on the market as equivalent substitutes.
Preferably, the second conveyor 2, the third conveyor 41 and the fourth conveyor 42 are also of a roller type, and the fifth conveyor 52 is of a chain type; the first driver 211, the second driver 221, the third driver 231, the fourth driver 431, the fifth driver 32, the sixth driver 62 and the seventh driver 531 all adopt air cylinders, so that the action is fast, the response speed is improved, and the working efficiency is ensured; the eighth driver 541 adopts a hydraulic cylinder to ensure a supporting force enough to support the tray in the stock passage 511; of course, the hollow rubber frame stacking system is also provided with a corresponding pneumatic system and a corresponding hydraulic system. The control device adopts a PLC (programmable logic controller), the control system is also electrically connected with the arrangement device 4, the second stacking mechanical arm 6 and the tray conveying device 5 respectively, and the first stacking mechanical arm 3 and the second stacking mechanical arm 6 can be automatically programmed, so that the accuracy of the grabbing action of the first stacking mechanical arm and the second stacking mechanical arm is ensured.
The control method of the hollow rubber frame stacking system comprises the following steps:
step one, a first conveyor 1 conveys a plurality of hollow rubber frames one by one to the input end of a second conveyor 2, and the second conveyor 2 continuously works;
step two, the third blocking mechanism 23 acts and blocks the empty rubber frame from moving to the output end of the second conveyor 2;
step three, the third inductive switch 26 detects whether the empty rubber frame of the assembly area 2.3 moves in place, if so, the second blocking mechanism 22 acts and blocks the subsequent empty rubber frame from moving into the assembly area 2.3, if not, the second blocking mechanism 22 acts and releases the empty rubber frame from moving into the assembly area 2.3, and step one is executed;
step four, the second inductive switch 25 detects whether the empty rubber frame of the grabbing area 2.2 moves in place, if so, the first blocking mechanism 21 acts and blocks the subsequent empty rubber frame from moving into the grabbing area 2.2, if not, the first blocking mechanism 21 acts and releases the empty rubber frame from moving into the grabbing area 2.2, and the step one is executed;
step five, the first induction switch 24 detects whether the empty rubber frame of the cache area 2.1 moves in place, if so, the first conveyor 1 stops conveying, and if not, the step one is executed;
step six, the first stacking mechanical arm 3 grabs the empty rubber frame from the grabbing area 2.2 and adjusts the position, then places the empty rubber frame on the empty rubber frame at the assembly area 2.3, executes the step four and the step five, the first stacking mechanical arm 3 grabs the empty rubber frame from the grabbing area 2.2 again and adjusts the position, then places the empty rubber frame on the empty rubber frame at the assembly area 2.3, so that the three empty rubber frames are combined into the empty rubber frame, sends a first signal to the control device, and interrupts the program;
step seven, after receiving the first signal, the control device controls the third blocking mechanism 23 to act and release, and the single group of empty rubber frames which are combined are conveyed to the output end of the second conveyor 2;
and step eight, circularly operating the step one to the step seven until stopping.
The specific working principle of the invention is as follows: generally, the input end of the first conveyor 1 is correspondingly installed with a rubber frame recovery position in a factory, or the hollow rubber frames are manually placed at the input end of the first conveyor 1, and the open end of each hollow rubber frame is ensured to be upwards placed; under the work of the first conveyor 1, the first conveyor 1 continuously conveys the hollow glue frames to the input end of the second conveyor 2, and the hollow glue frames are distributed on the second conveyor 2 at equal intervals as the running speed of the first conveyor 1 is lower than that of the second conveyor 2;
when the second conveyor 2 works, the third baffle 232 is driven by the third driver 231 to be in a lifting state generally, so that the third baffle 232 abuts against an empty rubber frame to prevent the empty rubber frame from moving to the output end of the second conveyor 2, at this time, the third inductive switch 26 is blocked, that is, the third inductive switch 26 detects that the empty rubber frame at the assembly area 2.3 has moved to the right position, the second driver 221 drives the second baffle 222 to be lifted, so as to prevent the subsequent empty rubber frame from moving to the assembly area 2.3; under the operation of the first conveyor 1 and the second conveyor 2, the second baffle 222 is made to abut against one empty rubber frame, at this time, the second inductive switch 25 is blocked, that is, the second inductive switch 25 detects that the empty rubber frame at the grabbing area 2.2 has moved to the right position, the first driver 211 drives the first baffle 212 to rise, so as to block the subsequent empty rubber frame from moving into the grabbing area 2.2; under the work of the first conveyor 1 and the second conveyor 2, the first baffle 212 is abutted against an empty rubber frame, at the moment, the first inductive switch 24 is blocked, namely the first inductive switch 24 detects that the empty rubber frame at the buffer area 2.1 is moved in place, the control device can stop the first conveyor 1 to stop working, and the conveying of the empty rubber frame is interrupted;
when the empty rubber frame at the assembly area 2.3 is conveyed away, the third inductive switch 26 detects that no rubber frame exists at the assembly area 2.3, the second driver 221 drives the second baffle 222 to descend, so that the subsequent empty rubber frame is released to move into the assembly area 2.3, under the operation of the second conveyor 2, the empty rubber frame at the grabbing area 2.2 is conveyed into the assembly area 2.3, and until the third inductive switch 26 detects that the empty rubber frame at the assembly area 2.3 is in place again, the second driver 221 drives the second baffle 222 to ascend again; by analogy, the second inductive switch 25 detects that no empty glue frame exists in the grabbing area 2.2, the first driver 211 drives the first baffle 212 to descend, so that subsequent empty glue frames are released to move into the grabbing area 2.2, under the operation of the second conveyor 2, the empty glue frame in the buffer area 2.1 is moved into the grabbing area 2.2, and the first driver 211 drives the first baffle 212 to ascend again until the second inductive switch 25 detects that the empty glue frame in the grabbing area 2.2 is in place again; by analogy, when the first induction switch 24 detects that no empty rubber frame exists at the cache area 2.1, the control device enables the first conveyor 1 to continue to work to convey the empty rubber frame until the first induction switch 24 detects that the empty rubber frame at the cache area 2.1 is in place again, the control device enables the first conveyor 1 to stop working again to interrupt conveying of the empty rubber frame; therefore, under the mutual cooperation of all the parts of the second conveyor 2, the buffer area 2.1, the grabbing area 2.2 and the assembling area 2.3 are respectively kept in the state of having empty rubber frames;
meanwhile, the control device enables the first stacking mechanical arms 3 at the outer side to work cooperatively, runs an internal program, enables the first clamp to run to the grabbing area 2.2, and after the hollow rubber frame is grabbed from the grabbing area 2.2 and adjusted in position (namely, the hollow rubber frame rotates 90 degrees along the horizontal axis and then rotates 90 degrees along the vertical axis), the hollow rubber frame is placed on the hollow rubber frame at the assembly area 2.3 (namely, the lower half section of the hollow rubber frame at the grabbing area 2.2 is accommodated in the hollow rubber frame at the assembly area 2.3, as shown in fig. 12 and 13), under the mutual matching of all parts of the second conveyor 2, the hollow rubber frame is automatically supplemented at the grabbing area 2.2, the first stacking mechanical arms 3 enable the first clamp to run to the grabbing area 2.2 again, after the hollow rubber frame is grabbed from the grabbing area 2.2 and adjusted in position (the hollow rubber frame is rotated 180 degrees along the horizontal axis), the hollow rubber frame is placed on the hollow rubber frame at the assembly area 2.3 again (at the inverted rubber frame at the assembly area 2.2, the upper half section of the empty rubber frame in the previous grabbing area 2.2 is just accommodated in the empty rubber frame at the time, and as shown in fig. 12 and 13), so that automatic combination of a single group of empty rubber frames is realized, the first stacking mechanical arm 3 sends a first signal to the control device, the program is interrupted, the control device receives the first signal and controls the third blocking mechanism 23 to act, the third driver 231 drives the third baffle 233 to descend to release the single group of empty rubber frames, the single group of empty rubber frames are conveyed to the output end of the second conveyor 2, and the first stacking mechanical arm 3 continues to perform combination work of the next group of empty rubber frames, so that the output end of the second conveyor 2 continuously inputs the single group of empty rubber frames to the arranging device 4;
the single group of empty plastic frames are formed into a single-layer empty plastic frame with the specification of 3X2 under the operation of the arranging device 4, the specific operation principle of the arranging device 4 is omitted, and the description of the operation process of the third conveyor 41 and the fourth conveyor 42 can be specifically referred to above, after each layer of empty plastic frames is arranged, a third signal is sent to the control device, the control device receives the third signal and controls the second stacking mechanical arm 6 to act, the second stacking mechanical arm 6 operates an internal program to enable the second clamp to operate to the output end of the fourth conveyor 42, the second clamp simultaneously clamps the whole layer of empty plastic frames, then the empty plastic frames are stacked on the tray at the output end of the fifth conveyor 52 until the stack reaches the specified layer number (a corresponding detection device, such as an induction switch, is arranged on the fifth conveyor 52), the control device gives a prompt to enable an operator to operate a forklift to transport the tray together with the completed empty plastic frames, or the tray conveying device 5 is conveyed away by other transfer devices, at this time, the control device can enable the tray conveying device 5 to work, the output end of the fifth conveyor 52 is always provided with a tray, the specific working principle of the tray conveying device 5 is omitted, and the specific description can be specifically referred to.
The foregoing shows and describes the general principles, features and advantages of the invention. It will be understood by those skilled in the art that the invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a frame pile up neatly system is glued to nothing which characterized in that: the automatic stacking machine comprises a first conveyor (1), a second conveyor (2), a first stacking mechanical arm (3) and a control device, wherein the output end of the first conveyor (1) is arranged corresponding to the input end of the second conveyor (2), and the running speed of the first conveyor (1) is lower than that of the second conveyor (2);
a first blocking mechanism (21), a second blocking mechanism (22) and a third blocking mechanism (23) are sequentially arranged along the conveying direction of the second conveyor (2) at intervals so as to divide the second conveyor (2) into a buffer area (2.1), a grabbing area (2.2) and an assembling area (2.3), wherein the first blocking mechanism (21) is used for preventing or releasing the empty rubber frames at the buffer area (2.1) from moving to the grabbing area (2.2), the second blocking mechanism (22) is used for preventing or releasing the empty rubber frames at the grabbing area (2.2) from moving to the assembling area (2.3), and the third blocking mechanism (23) is used for preventing or releasing the empty rubber frames at the assembling area (2.3) from moving to the output end of the second conveyor (2); the second conveyor (2) is also provided with a first inductive switch (24), a second inductive switch (25) and a third inductive switch (26) which are in one-to-one correspondence with the cache region (2.1), the grabbing region (2.2) and the assembling region (2.3);
the first stacking mechanical arm (3) is arranged on the outer side of the second conveyor (2), and the first stacking mechanical arm (3) is used for grabbing the empty rubber frames at the grabbing area (2.2), adjusting the positions of the empty rubber frames and then placing the empty rubber frames on the empty rubber frames at the assembling area (2.3) so as to combine the three empty rubber frames into a single-unit empty rubber frame;
the control device is electrically connected with the first conveyor (1), the second conveyor (2), the first stacking mechanical arm (3), the first inductive switch (24), the second inductive switch (25) and the third inductive switch (26) respectively.
2. The hollow rubber frame stacking system according to claim 1, wherein: the second conveyor (2) is of a roller shaft type.
3. The hollow glue frame stacking system according to claim 2, wherein: the first blocking mechanism (21) comprises a first driver (211) fixedly connected to the second conveyor (2) and a first baffle (212) connected to an output shaft of the first driver (211), and the first baffle (212) is arranged between adjacent roller shafts of the second conveyor (2).
4. The hollow glue frame stacking system according to claim 3, wherein: the second blocking mechanism (22) comprises a second driver (221) fixedly connected to the second conveyor (2) and a second baffle (222) connected to an output shaft of the second driver (221), and the second baffle (222) is arranged between adjacent roller shafts of the second conveyor (2).
5. The hollow glue frame stacking system according to claim 4, wherein: the third blocking mechanism (23) comprises a third driver (231) fixedly connected to the second conveyor (2) and a third baffle (232) connected to an output shaft of the third driver (231), and the third baffle (232) is arranged between adjacent roller shafts of the second conveyor (2).
6. The hollow rubber frame stacking system according to claim 1, wherein: the output end of the second conveyor (2) is provided with a arranging device (4), and the arranging device (4) is used for arranging a plurality of groups of hollow rubber frames output by the second conveyor (2) into single-layer hollow rubber frames.
7. The hollow glue frame stacking system according to claim 6, wherein: the arranging device (4) comprises a third conveyor (41), one end of the third conveyor (41) corresponds to the output end of the second conveyor (2), a first limiting plate (411) is arranged at the other end of the third conveyor (41), a fourth conveyor (42) is arranged on one side of the third conveyor (41), the running direction of the third conveyor (41) is perpendicular to that of the fourth conveyor (42), a material pushing mechanism (43) is arranged on the other side of the third conveyor (41), the material pushing mechanism (43) is used for pushing a plurality of groups of empty rubber frames on the third conveyor (41) to the fourth conveyor (42) side by side, and a fourth induction switch (412) is arranged on the third conveyor (41);
the output end of the fourth conveyor (42) is provided with a second limiting plate (421), and the fourth conveyor (42) is provided with a fifth inductive switch (422).
8. The hollow glue frame stacking system according to claim 7, wherein: the pushing mechanism (43) comprises a fourth driver (431) and a push plate (432), the fourth driver (431) is fixedly connected to the third conveyor (41), and the push plate (432) is connected to the output end of the fourth driver (431).
9. The hollow glue frame stacking system according to claim 8, wherein: the tray stacking machine is characterized by further comprising a tray conveying device (5) and a second stacking mechanical arm (6), wherein the tray conveying device (5) comprises a material storage rack (51) and a fifth conveyor (52), a material storage channel (511) vertically penetrates through the material storage rack (51), the material storage channel (511) is used for stacking trays in a stacking mode, a stop pin mechanism (53) for opening and closing the material storage channel (511) is arranged at the bottom end of the material storage rack (51), a jacking mechanism (54) is arranged at the input end of the fifth conveyor (52), and the jacking mechanism (54) is arranged corresponding to the bottom end of the material storage channel (511); the second stacking mechanical arm (6) is used for stacking the single-layer empty rubber frames on the fourth conveyor (42) on a tray at the output end of the fifth conveyor (52).
10. A control method for an empty magazine palletizing system as claimed in any one of claims 1 to 9, characterised by comprising the following steps:
step one, a first conveyor (1) conveys a plurality of hollow rubber frames one by one to the input end of a second conveyor (2), and the second conveyor (2) continuously works;
step two, the third blocking mechanism (23) acts and blocks the empty rubber frame from moving to the output end of the second conveyor (2);
step three, a third inductive switch (26) detects whether the empty rubber frame of the assembly area (2.3) moves in place, if so, a second blocking mechanism (22) acts and blocks the subsequent empty rubber frame from moving into the assembly area (2.3), if not, the second blocking mechanism (22) acts and releases the empty rubber frame to move into the assembly area (2.3), and step one is executed;
step four, detecting whether the empty rubber frame of the grabbing area (2.2) moves in place or not by the second inductive switch (25), if so, enabling the first blocking mechanism (21) to act and block the subsequent empty rubber frame from moving into the grabbing area (2.2), otherwise, enabling the first blocking mechanism (21) to act and release the empty rubber frame to move into the grabbing area (2.2), and executing the step one;
step five, detecting whether the empty rubber frame of the cache region (2.1) is moved in place by the first induction switch (24), if so, stopping conveying by the first conveyor (1), and if not, executing the step one;
step six, the first stacking mechanical arm (3) grabs the hollow rubber frame from the grabbing area (2.2) and adjusts the position of the hollow rubber frame, then the hollow rubber frame is placed on the hollow rubber frame at the assembling area (2.3), the step four and the step five are executed, the first stacking mechanical arm (3) grabs the hollow rubber frame from the grabbing area (2.2) again and adjusts the position of the hollow rubber frame, then the hollow rubber frame is placed on the hollow rubber frame at the assembling area (2.3), the three hollow rubber frames are combined into a single-unit hollow rubber frame, a first signal is sent to the control device, and the program is interrupted;
step seven, after receiving the first signal, the control device controls the third blocking mechanism (23) to act and release, and the single group of combined hollow glue frames are conveyed to the output end of the second conveyor (2);
and step eight, circularly operating the step one to the step seven until stopping.
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