CN113734779A

CN113734779A - Full-automatic shaping and stacking device and method

Info

Publication number: CN113734779A
Application number: CN202111039860.2A
Authority: CN
Inventors: 姚奎
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-09-06
Filing date: 2021-09-06
Publication date: 2021-12-03

Abstract

The invention discloses a full-automatic shaping and stacking device and a method, comprising a conveying mechanism, a stacking mechanism and a stacking mechanism, wherein the conveying mechanism can convey materials to a manipulator; the manipulator can receive the materials from the conveying mechanism, reshape the left and right surfaces of the materials, and place the materials on an opening and closing door of the opening and closing door mechanism for preliminary stacking after reshaping; the stacking mechanism comprises a lifting platform, the lifting platform receives the materials falling from the opening and closing door, and the lifting platform moves upwards to enable the upper surface of the materials to touch the lower surface of the opening and closing door to form shaping of the upper surface and the lower surface of the materials; and the output mechanism is used for outputting the material stack on the lifting platform. The automatic stacking machine has the advantages of compact structure, small occupied area, capability of automatically stacking after shaping, realization of 4-surface shaping, smoothness of stacked stacks, convenience in use and high automation degree.

Description

Full-automatic shaping and stacking device and method

Technical Field

The invention relates to stacking, in particular to a full-automatic shaping and stacking device and method.

Background

In recent years, the market for palletizers has developed very rapidly. Along with the development of science and technology, the stacker crane is also rapidly developed for several years, and the world automation stacking industry forms a certain industrial scale and the stacker crane industry. Related industries are gradually improved, but the market of the stacker crane in China is still far from developing to be mature and has a large development space. There is a great gap in this respect in our country compared to some developed countries. With the progress of science and technology, the technical level of the stacker crane is improved, the product quality is improved, and the application field is continuously expanded, so that the market of the stacker crane in China has a bright prospect.

Nowadays, most user enterprises use four stacking modes, one is manual stacking; the second is stacking using a stacker crane in a conventional manner; the third is stacking by using a stacking robot; the fourth is to use fully automatic palletizing equipment to complete palletizing work. Due to some economic and technical conditions, the existing enterprises use more traditional stacking or robot stacking modes, but the development space of the full-automatic stacking equipment cannot be seen in the long-term development trend.

The high-level stacker stacks bagged materials on a tray according to a certain arrangement mode, automatically stacks the materials, can push the materials out after stacking a plurality of layers, and then transports the materials to a warehouse by a forklift for storage. The use of the stacker crane can greatly reduce the number of workers and the labor intensity, and can save space to the maximum extent. In the society with such intense competition today, high-level stackers are an essential set of important equipment in the production line of bagged materials.

Disclosure of Invention

In order to solve the defects of the prior art, the invention provides a full-automatic shaping and stacking device and a full-automatic shaping and stacking method, the full-automatic shaping and stacking device is compact in structure and small in occupied area, can automatically shape and stack, realizes 4-surface shaping, enables stacked stacks to be flat, is convenient to use, and is high in automation degree.

In order to achieve the technical purpose, the invention adopts the following technical scheme: a full-automatic shaping and stacking device comprises

The conveying mechanism can convey materials to the manipulator;

the manipulator can receive the materials from the conveying mechanism, shape the left and right surfaces of the materials, and place the materials on an opening and closing door of the opening and closing door mechanism for preliminary stacking after shaping;

the stacking mechanism comprises a lifting platform, the lifting platform receives the materials falling from the opening and closing door, and the lifting platform moves upwards to enable the upper surface of the materials to touch the lower surface of the opening and closing door to form shaping of the upper surface and the lower surface of the materials;

and the output mechanism is used for outputting the material stack on the lifting platform.

Furthermore, an online frame is fixed at the output end of the conveying mechanism and is fixedly connected to the manipulator; the automatic conveying device is characterized in that a rotating mechanism and a sliding rail are arranged below the conveying mechanism, the rotating mechanism can change the horizontal angle output by the conveying mechanism, the sliding rail can change the horizontal position output by the conveying mechanism, and the manipulator drives the conveying mechanism to rotate horizontally and move horizontally under the action of the rotating mechanism and the sliding rail.

Further, the conveying mechanism adopts a conveying belt structure.

Further, the manipulator driving mechanism comprises an X-axis motion assembly, a Y-axis motion assembly and a horizontal rotation assembly; the mechanical arm driving mechanism drives the mechanical arm to move in the X direction, the Y direction and the horizontal rotating direction so as to place materials at different positions on the opening and closing door.

Furthermore, the manipulator comprises two symmetrically arranged side plates, two symmetrically arranged bottom plates and two symmetrically arranged rear plates, one side plate, one bottom plate and one rear plate form a half frame, and the two half frames form a complete frame; the two half-frames can be opened and closed to receive materials or put down the materials.

Furthermore, the manipulator further comprises a mounting frame, and two opposite outer side surfaces of the mounting frame are provided with frame opening shafts; the back of the rear plate is fixed with driving plates, frame opening cylinders are hinged between the lower ends of the two driving plates, hinge points are respectively arranged on the driving plates, and the two hinge points are respectively connected with the two frame opening shafts, so that the frame opening cylinders can drive the two driving plates to be opened and retracted when extending out, and the two driving plates can be driven to be closed.

Further, the manipulator still includes plastic mechanism, specifically includes two shaping plates, two expansion plates, plastic cylinder, two the shaping plate is located two the curb plate medial surface, two the expansion plate articulates on the installing frame, the shaping cylinder drive is two the expansion plate expands and withdraws the motion in order to drive two the shaping plate is the expansion and withdraws the motion at the left and right sides of material.

Furthermore, the door opening and closing mechanism also comprises a door opening pull rod hinged with the door opening and closing mechanism, a door opening rotating plate hinged with the door opening pull rod, and a flange for fixing the door opening rotating plate on a door opening motor; the opening and closing door is opened to drop materials when the second approach point is close to the second approach switch, and is closed to receive the materials when the first approach point is close to the first approach switch.

The stacking mechanism further comprises a hydraulic cylinder, the hydraulic cylinder is vertically arranged, an output rod faces upwards, a pulley is arranged on the output rod, a transmission chain penetrates through the pulley, one end of the transmission chain is fixed at the lower end of the stacking mechanism, and the other end of the transmission chain is fixedly connected with the lifting platform after bypassing the pulley; still include the lift slide rail, the elevating platform is along lift slide rail lift.

A fully automatic form and stack method, the method comprising the steps of:

in an initial state, the opening and closing door is closed, a tray is placed on the lifting platform and is lifted to a position close to the opening and closing door, and the height of the close gap is larger than the thickness of the material;

the materials enter the conveying mechanism one by one and are conveyed on the conveying mechanism in a transmission way;

in an initial state, the frame opening cylinder retracts to enable the driving plate to drive the rear plate to be closed, so that two half frames formed by the side plates, the bottom plate and the rear plate are closed to form a frame, and materials are received obliquely below an output port of the conveying mechanism;

the shaping cylinder extends to enable the other end of the expansion plate to retract, so that the two shaping plates approach to each other to push materials on the left side and the right side of the materials to shape the left side and the right side; after shaping, the shaping cylinder and the shaping plate reset;

then, the frame opening cylinder extends to enable the driving plate to drive the rear plate to be opened, so that the two half frames are opened, and the materials fall on the opening and closing door; the frame opening cylinder and the two half frames are reset to receive the next material;

the manipulator continuously receives the materials and puts the subsequent materials at different positions: the manipulator driving mechanism drives the manipulator to move to different positions under the action of the X-axis movement assembly and the Y-axis movement assembly, meanwhile, when the manipulator moves, the manipulator drives the conveying mechanism to change the output horizontal angle and the output horizontal position under the action of the rotating mechanism and the sliding rail, materials fall into a frame of the manipulator from the horizontal angle and the output horizontal position, and after shaping of the left surface and the right surface, the manipulator driving mechanism drives the manipulator to rotate for a certain angle under the action of the horizontal rotation assembly and then releases the materials according to the setting of the material placement angle, so that the materials fall onto different positions of the opening and closing door at a certain angle;

after the opening and closing door is initially stacked, the opening and closing door is opened by the action of the opening pull rod, the rotating plate, the opening motor and the flange, so that initially stacked materials fall on the tray, and the opening and closing door is closed;

the lifting platform moves upwards until the upper surface of the preliminarily stacked material touches the lower surface of the opening and closing door to form the shaping of the upper surface and the lower surface of the material, and the lifting platform descends to enable the distance between the upper surface of the material and the opening and closing door to be larger than the thickness of the preliminarily stacked material;

and after the lifting platform is filled with materials, the stacked material stacks are output through the output mechanism.

In conclusion, the invention achieves the following technical effects:

1. when a signal for starting work is received, a rear-end automatic tray mechanism is started, first, two lifting cylinders simultaneously control a clamping arm to unfold, then a first cylinder improves a tray height (the tray height is improved by cylinder type selection), then the two lifting cylinders control the clamping arm to simultaneously clamp a tray on a second layer, after the clamping (judged by a cylinder sensor) improves the tray on the second layer (together with all trays above) by a certain height through the second cylinder, power rollers below the tray on the first layer and in the lower part of a stacker crane are started, and the tray on the first layer is conveyed to the lower part of the stacker crane; after the tray of the first layer is sent out, the power roller stops, the two lifting cylinders descend, and the next signal receiving is waited;

2. when two laser sensors below the power rollers in the lower part of the stacker crane detect that the tray is in place, the two power rollers stop, the automatic tray mechanism resets, a hydraulic cylinder in the lower part of the stacker crane starts, and the tray is lifted to a position (10-20 mm away from an upper door plate) to be stacked on the upper part of the stacker crane;

3. the packaging bag is characterized in that materials are conveyed to a manipulator through a feeding belt and a conveying mechanism, two shaping plates in the manipulator are used for shaping the left side and the right side of the packaging bag, the manipulator is used for placing the finished packaging bag onto an opening and closing door, after the manipulator is used for neatly placing a layer of packaging bag according to the program setting, a drawing driving mechanism is started, the opening and closing door is opened, the neatly placed packaging bag falls onto a supporting plate through the opening and closing door, a hydraulic cylinder drives a tray to be stacked to descend for a certain position, the opening and closing door is closed, the hydraulic cylinder drives the tray to be stacked to ascend for a certain position, the packaging bag on the tray is pressed with the opening and closing door in the ascending process and used for finishing the upper side and the lower side of the packaging bag, and then the packaging bag on the tray descends for a certain distance, so that the distance between the packaging bag and the door plate above the tray is 5-20 mm;

4. when the packaging bag is filled with one layer again by the manipulator above the opening and closing door, the hydraulic cylinder drives the tray to repeat the upward action again until the packaging bag is fully stacked with the required number of layers;

5. the hydraulic cylinder descends the full pallet to the power roller, the four cylinders simultaneously drive the lower part of the stacker crane to be provided with a gate to be opened, the power roller and the motor below the front end rail are simultaneously started, the power roller sends the piled pallet to the front end rail, and after the pallet reaches a designated position (judged by a laser sensor), the power roller stops and is conveyed and taken away by a manual forklift;

6. the space is smaller, and the structure is more compact; the traditional high-level stacking line occupies a large area, and the placement positions of the tray storeroom and the high-speed stacker crane are unreasonable. The stacking line pallet warehouse and the stacking station form a straight line, so that the floor area of the pallet warehouse is reduced, and the floor occupied size is about 9000 x 2500;

7. can be used in various chemical industries, and also can be used in vegetable industry, such as onion, potato package, etc.;

8. four-side shaping; most high-order stacking is three-side shaping, the stacker crane can realize four-side shaping, and packaging bags can be perfectly arranged;

9. compared with the traditional stacker crane, the stacking speed of the high-position stacking is about 1500 packages/hour, the stacking speed of the robot is only 600 packages/hour, and the high-position stacking is far higher than the traditional stacking speed in terms of the stacking speed.

Drawings

FIG. 1 is a schematic diagram of a shaping and palletizing device provided by an embodiment of the present invention;

FIG. 2 is a schematic illustration of the position of the transport mechanism and robot;

FIG. 3 is a schematic view of a transport mechanism;

FIG. 4 is a schematic illustration of the robot drive mechanism with the housing omitted;

FIG. 5 is a schematic view of a robot;

FIG. 6 is another angular schematic of FIG. 5;

FIG. 7 is a side view of the back plate and drive plate portion;

FIG. 8 is a schematic view of the left and right fairing sections;

FIG. 9 is a schematic view of FIG. 8 with parts omitted;

fig. 10 is a schematic view of an expansion board;

FIG. 11 is a schematic view of a door opening and closing mechanism;

FIG. 12 is an enlarged partial schematic view of FIG. 11;

FIG. 13 is a schematic illustration of the stacker portion with the external baffles omitted;

FIG. 14 is a partial schematic view of FIG. 13;

FIG. 15 is a schematic view of a lift table portion;

FIG. 16 is a schematic view of an upper tray mechanism;

FIG. 17 is another angular schematic of FIG. 16;

figure 18 is a schematic view of the robot and transport mechanism cooperation.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the interconnection of two elements or through the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "below," and "beneath" a second feature may be directly or obliquely under the first feature or may simply mean that the first feature is at a lesser elevation than the second feature.

Example (b):

as shown in fig. 1, the full-automatic shaping and stacking device comprises a feeding belt 1, a conveying mechanism 2, a manipulator 4, a manipulator driving mechanism 3, a stacking mechanism 5, a tray feeding mechanism 6 and an output mechanism 7.

The conveying mechanism 2 can convey materials to the manipulator 4; the manipulator 4 can receive the materials from the conveying mechanism 2, shape the left and right surfaces of the materials, and place the materials on the opening and closing door 903 of the opening and closing door mechanism 9 for preliminary stacking after shaping; the stacking mechanism 5 comprises a lifting platform 508, the lifting platform 508 receives materials falling from the opening and closing door 903, and the lifting platform 508 moves upwards to enable the upper surface of the materials to touch the lower surface of the opening and closing door 903 to shape the upper surface and the lower surface of the materials; and the output mechanism 7 is used for outputting the material stack on the lifting platform 508.

As shown in fig. 2, the feeding belt 1 is fixed and conveys materials to the conveying mechanism 2; conveying mechanism 2 is located the below of material loading area 1, and conveying mechanism 2 can stretch out, the retraction motion in the below of material loading area 1, and simultaneously, conveying mechanism 2 can self-rotation to change the angle direction of output. The manipulator driving mechanism 3 drives the manipulator 4 to perform X-direction, Y-direction and horizontal rotation movement within a certain range so as to place the received materials at different positions.

As shown in fig. 3, an online frame 201 is fixed at an output end of the conveying mechanism 2, and the online frame 201 is fixedly connected to the manipulator 4 (specifically, indirectly connected), that is, the conveying mechanism 2 of the present invention moves along with the manipulator 4 to ensure that the material output by the conveying mechanism 2 is always beside the manipulator 4, and to ensure that the material can be received each time; a rotating mechanism 202 and a sliding rail 203 are arranged below the conveying mechanism 2, the rotating mechanism 202 can change the horizontal angle output by the conveying mechanism 2, the sliding rail 203 can change the horizontal position output by the conveying mechanism 2, and the manipulator 4 drives the conveying mechanism 2 to horizontally rotate and horizontally move under the action of the rotating mechanism 202 and the sliding rail 203. The rotating mechanism 202 adopts a supporting structure or other rotatable structures, meanwhile, the power source of the rotating mechanism 202 is the mechanical arm 4, the mechanical arm is not provided with a power source, the sliding rail 203 is used for connecting the conveying mechanism 2 and the rotating mechanism 202, a bearing structure is adopted between the sliding rail and the conveying mechanism 2, the non-blocking movement between the sliding rail and the conveying mechanism is ensured, and when the sliding rail can also adopt other structures, as long as the conveying mechanism can move linearly.

In this embodiment, the conveying mechanism 2 adopts a conveying belt structure, and the structure belongs to the prior art and is not described herein again.

As can be seen from the above, the power source of the conveying mechanism is derived from the robot 4, and no additional power source is provided. This ensures that the movement of the transport mechanism 2 and the movement of the robot are synchronised.

As shown in fig. 2, the robot driving mechanism 3 is further included, and as shown in fig. 4, the robot driving mechanism specifically includes an X-axis moving assembly (an X motor 304 and an X-direction track 302), a Y-axis moving assembly (a Y motor 305 and a Y-direction track 303), and a horizontal rotating assembly 306; here, the protection frame 301 of the robot driving mechanism 3 directly serves as a rail in the X and Y directions. The horizontal rotation assembly 306 is fixedly connected to the connection frame 401 of the robot 4 by using a structure of a rotation motor and a gear, which is also the prior art and will not be described herein. The manipulator driving mechanism 3 drives the manipulator 4 to move in the X direction, the Y direction, and the horizontal rotation direction to place the material at different positions on the opening and closing door 903. These structures are also prior art and will not be described herein.

The manipulator driving mechanism 3 is arranged right above the opening and closing door 903, so that stacking is facilitated.

As shown in fig. 5, the robot 4 includes a connection frame 401 for fixedly connecting the horizontal rotation assembly 306 of the robot driving mechanism 3, and at the same time, the in-line frame 201 of the conveying mechanism 2 is fixedly connected to the protection frame 301 of the robot driving mechanism 3 (in fig. 1, 2 and 4, for convenience of illustration of the conveying mechanism, the conveying mechanism and the protection frame 301 are not connected together, and are connected together in actual use), so that the conveying mechanism 2 and the robot 4 are in a synchronous motion relationship.

As shown in fig. 5, the lower end of the connecting frame 401 is hinged with a rotating shaft 402, two ends of the rotating shaft 402 are hinged with rotating plates 403, a mounting frame 416 is fixed between the rotating plates 403, meanwhile, a power shaft 405 is hinged between the ends of the two rotating plates 403, a power cylinder 404 is hinged on the side surface of the connecting frame 401, and the output end of the power cylinder 404 is hinged with the power shaft 405, so that when the power cylinder 404 extends, the power shaft 405 is pushed to move, then the rotating plates 403 and the mounting frame 416 are driven to rotate around the rotating shaft 402, that is, the lower half frame is driven to rotate, so as to adjust the angle of the half frame when the material is received.

As shown in fig. 5, the manipulator 4 further includes two symmetrically disposed side plates 409, two symmetrically disposed bottom plates 422, and two symmetrically disposed rear plates 410 (shown in fig. 6), wherein one side plate 409, one bottom plate 422, and one rear plate 410 form a half frame, and the two half frames form a complete frame; the two half-frames can be opened and closed to receive materials or put down the materials. The two parts that receive the material are referred to herein as the two half-frames.

The bottom plate 422 is longer and can be placed at the lower part of the conveying mechanism 2, so that the materials can be conveniently and stably received.

However, other structures may be used for the structural composition of the half-frame, such as: the side panels 409 take on a shape larger than a horn and cooperate with a rear panel 410 to form a half frame.

As shown in fig. 6, the manipulator 4 further includes a mounting frame 416, and frame opening shafts 407 are provided on two opposite outer side surfaces of the mounting frame 416, that is, outside the rotating plate 403, through bearings 406; the back of the back plate 410 is fixed with a driving plate 411, and the back plate 410 and the driving plate 411 are fixedly connected and then hinged on a hinge point 413 which takes the open frame shaft 407 as an axis, so that the back plate 410 and the driving plate 411 rotate around the open frame shaft 407 to open and close. An opening cylinder 412 is hinged between the lower ends of the two driving plates 411, each driving plate 411 is provided with a hinge point 413, and the two hinge points 413 are respectively connected with the two opening shafts 407, so that the two driving plates 411 can be driven to open when the opening cylinder 412 extends out and closed when the two driving plates 411 retract. Since the half frame formed by the side plates 409, the bottom plate 422 and the rear plate 410 is an integral structure, the half frame is driven to open and close in the above-described structure.

As can be seen in fig. 7, a respective hinge point 415 is also provided in the vicinity of the two hinge points 413, the two hinge points 415 being located: one below the hinge point 413 and one above the hinge point 413. A stop rod 414 is arranged between the two hinged positions 415 to balance the whole structure, and when the air cylinder extends, the arc degree of rotation of the left hinged position 415 is ensured to be the same as that of the right hinged position 415.

As can be seen in fig. 7, the drive plate 411 is two identical plates with 3 holes, the hinge point 413 using a middle hole and the hinge point 415 using a lower and an upper hole.

In addition, the drive plate 411 is smaller than the rear plate 410 such that the open frame cylinder 412 is located at a middle position of the rear plate 410.

When receiving materials, because the thicknesses of the materials are different, the lifting angle of the half frame can be adjusted when the half frame receives the materials, and the material receiving device can be suitable for the materials with various thicknesses and specifications. When the material is released, the lifting angle can be adjusted again to facilitate the release of the material.

As shown in fig. 8 and 9, the manipulator 4 further includes a shaping mechanism, which specifically includes two shaping plates 421, two expansion plates 418, and a shaping cylinder 417, the two shaping plates 421 are disposed on inner sides of the two side plates 409 (shown in fig. 5), the two expansion plates 418 are hinged to the mounting frame 416, and the shaping cylinder 417 drives the two expansion plates 418 to perform an expansion and retraction motion so as to drive the two shaping plates 421 to perform an expansion and retraction motion on the left and right sides of the material.

The method specifically comprises the following steps: as shown in fig. 10, the expanding plate 418 includes a first segment 4181, a second segment 4182, a third segment 4183 and a fourth segment 4184 connected in sequence, wherein the free end of the first segment 4181 is hinged to the shaping cylinder 417, the second segment 4182 is provided with a hole (indicated by 419 in fig. 10) for hinged installation of the transmission shaft 419, the driven plate 420 is used for driving connection with a driven plate 420, the fourth segment 4184 is used for installation of the shaping plate 421, the expanding plate 418 is in a zigzag shape as a whole, and one free end of the zigzag shape is provided with a bend, namely the first segment 4181.

The transmission shaft 419 is hinged on the mounting frame 416, the driven plate 420 comprises an upper section 4201, a middle section 4202 and a lower section 4203, the upper section 4201 is used for hinging the transmission shaft 419, the lower section 4203 is used for mounting the shaping plate 421, and the driven plate 420 is in a zigzag shape as a whole. The driven plate 420 is actuated by a drive shaft 419.

When the shaping cylinder 417 is extended, the two first sections 4181 are separated from each other, and under the action of the transmission shaft 419, the two fourth sections 4184 are close to each other, so that the two shaping plates 421 are close to each other and close to the left and right surfaces of the material, thereby forming a flapping posture and pushing and leveling the left and right surfaces of the material.

As shown in fig. 9, a limiting cross bar 422 is further provided between the two expansion plates 418 to balance the whole structure, and when the cylinder extends out, the radian of rotation of the left expansion plate 4185 is ensured to be the same as the radian of rotation of the right expansion plate 418.

The opening and closing door mechanism 9 is arranged below the protective frame 301 and at the three-dimensional upper end of the stacking mechanism 5 and used for dropping materials preliminarily stacked on the opening and closing door 903 onto a tray in the stacking mechanism 5.

As shown in fig. 11, the door opening and closing mechanism 9 includes two door rails 901 and two cross beams 902, two opening and closing doors 903 are disposed between the two door rails 901, and two door opening motors 907 are fixed outside the two cross beams 902.

As shown in fig. 12, the door opening and closing mechanism 9 further includes a door opening pull bar 905 hinged to the door 903, a door opening rotating plate 906 hinged to the door opening pull bar 905, and a flange 913 for fixing the door opening rotating plate 906 to the door opening motor 907; when the door opening motor 907 works, the flange 913 and the door opening rotating plate 906 are driven to do circular motion by taking the motor as a circle center, under the hinging action, the door opening pull rod 905 moves to the right and left (in the direction shown in the figure), when the door opening pull rod moves to the right, the door opening and closing 903 starts to be opened, when the door opening pull rod moves to the rightmost side, the door opening and closing 903 is opened to the maximum, when the door opening pull rod moves to the leftmost side from the rightmost side, the door opening and closing 903 starts to be closed, and when the door opening pull rod moves to the leftmost side, the door opening and closing 903 is completely closed.

The device further comprises a first proximity switch 908 and a first proximity point 909, a second proximity switch 910 and a second proximity point 911, wherein the first proximity switch 908 and the second proximity switch 910 are arranged at an angle of 90 degrees, the first proximity point 909 and the second proximity point 911 are arranged at an angle of 90 degrees, and the first proximity point 909 and the second proximity point 911 are studs. The first proximity point 909 is disposed on the door opening rotation plate 906 and rotates therewith, the second proximity point 911 is disposed on the flange 913 and rotates therewith, and as can be seen from the figure, the rotation radius of the first proximity point 909 is larger than that of the second proximity point 911, so that the second proximity switch 910 does not affect the first proximity point 909, when the second proximity point 911 is close to the second proximity switch 910, the opening and closing door 903 is opened for dropping the material, and when the first proximity point 909 is close to the first proximity switch 908, the opening and closing door 903 is closed for receiving the material.

The outer sides of the two door rails 901 are provided with sliding grooves, the side surfaces of the opening and closing door 903 are provided with upward bends, pulleys 912 are mounted on the bends, and the pulleys 912 are arranged in the sliding grooves to assist in movement of the opening and closing door 903.

As shown in fig. 13, the stacker crane 5 includes an outer frame 503 provided outside and an accommodating frame 501 provided inside, the accommodating frame 501 is provided with a door panel 502, and the door opening mechanism of the door panel 502 is provided in the outer frame 503.

As shown in fig. 14, a door pillar 520 is fixed to a side edge of the door panel 502, a door pillar plate 523 is fixed to the door pillar 520, a connecting plate 512 is fixed to the outer frame 503, a short rod 514 is fixed to the connecting plate 512, a first pull rod 515 is hinged to the short rod 514, a second pull rod 518 is hinged to the pull rod 515, and the second pull rod 518 is hinged to the door pillar plate 523. Meanwhile, the middle of the first pull rod 515 is hinged with an outer door cylinder 513, when the outer door cylinder 513 retracts, the first pull rod 515 rotates inwards around the short rod 514, meanwhile, the second pull rod 518 also retracts inwards under the condition that the two ends are hinged, the second pull rod 518 pulls the door column plate 523 to rotate outwards, so that the door plate 502 is opened, a limiting support rod 521 is hinged between the connecting plate 512 and the door column plate 523, the first pull rod and the second pull rod are prevented from being pushed outwards too much when the outer door cylinder 513 resets, and the accuracy in resetting is guaranteed.

The inside of holding frame 501 is used for holding the material of pile up neatly, including setting up at holding frame 501 outside pneumatic cylinder 505, pneumatic cylinder 505 vertical setting and output lever up are equipped with pulley 506 on the output lever, wear to be equipped with transfer chain 507 on the pulley 506, and the lower extreme at pile up neatly mechanism 5 is fixed to the one end of transfer chain 507, and the other end is walked around behind the pulley 506, is arranged in and is received frame 501 inside fixed connection elevating platform 508.

The lifting device further comprises a lifting slide rail 504, and the lifting platform 508 lifts along the lifting slide rail 504. A vertical plate 509 is fixed on the lifting table 508, a roller 510 is arranged on the vertical plate 509, and the roller 510 moves along the lifting slide rail 504.

The lifting table 508 is provided with a roller 511, and the roller 511 is abutted with the roller of the output mechanism 7.

As shown in fig. 13, the door panel 502 is used for feeding out palletized material, and a space is left at the bottom end of the rear face opposite to, i.e. behind, the door panel for feeding in a tray in the rear space.

When the tray on the lifting table 508 receives the primarily stacked materials, the tray moves upwards again, the upper surface of the materials is abutted to the lower surface of the opening and closing door 903, the materials are flattened by the opening and closing door 903, shaping of an upper surface and a lower surface is formed, and the shaping of a left surface and a right surface is matched, so that the 4-surface shaping of the invention is realized.

As shown in fig. 16 and 17, the upper tray mechanism 6 includes a tray conveyor 609 at the bottom, which interfaces with a roller 511 on the lift table 508. The automatic feeding device comprises a feeding frame 601, as shown in fig. 17, the feeding frame 601 comprises a feeding frame 601, a first cylinder 606 and a second cylinder 610 are fixed at the rear end of the feeding frame 601, the output ends of the first cylinder 606 and the second cylinder 610 are simultaneously fixed with a lifting plate 602, both sides of the lifting plate 602 are hinged with lifting cylinders 603, the lifting cylinders 603 are hinged with clamping arms 604, the end parts of the clamping arms 604 are hinged on the lifting plate 602 through hinge shafts 608, and free end parts of the clamping arms 604 are fixed with fixture blocks 605 for being clamped into side holes of the tray 8.

When a stack of pallets arrives and is placed on the pallet conveyor 609, the lifting cylinder 603 controls the clamping arms 604 to open, the first cylinder 606 drives the lifting plate 602 to rise by one pallet height, then the lifting cylinder 603 controls the clamping arms 604 to contract to clamp a second pallet, then the second cylinder 610 drives the lifting plate 602 to rise by one height, and the pallet conveyor 609 conveys the first pallet to the roller 511 on the lifting table 508.

A full-automatic shaping and stacking method comprises the following steps:

the upper tray mechanism 6 conveys a tray to the stacking mechanism 5;

in an initial state, the opening and closing door 903 is closed, a tray 8 is placed on the lifting platform 508, the tray 8 is lifted to a position close to the opening and closing door 903, and the height of the close gap is larger than the thickness of the material;

the materials enter the conveying mechanism 2 from the material loading belt 1 one by one and are conveyed on the conveying mechanism 2 in a transmission way;

in an initial state, the frame opening cylinder 412 retracts to enable the driving plate 411 to drive the rear plate 410 to be closed, so that two half frames formed by the side plate 409, the bottom plate 422 and the rear plate 410 are closed to form a frame, and materials are received obliquely below an output port of the conveying mechanism 2 (the bottom plate 422 extends to the lower side of the output port of the conveying mechanism 2 to receive the materials);

the shaping cylinder 417 is extended to make the other ends of the expansion plates 418 approach each other, so that the two shaping plates 421 approach each other to push the material on the left and right sides of the material to shape the left and right sides; after shaping, the shaping cylinder 417 and the shaping plate 421 are reset;

then, the frame opening cylinder 412 extends to enable the driving plate 411 to drive the rear plate 410 to be opened, so that the two half frames are opened, and the materials fall on the opening and closing door 903; the frame opening cylinder 412 and the two half frames are reset to receive the next material;

as shown in fig. 18, fig. 18 shows only three positions (reference use) of the conveyor 2 and the manipulator 4 moving synchronously, the manipulator 4 continuously receiving the material and placing the following material in different positions: the manipulator driving mechanism 3 drives the manipulator 4 to move to different positions under the action of the X-axis motion assembly and the Y-axis motion assembly, meanwhile, when the manipulator 4 moves, the conveying mechanism 2 is driven to change the output horizontal angle and the output horizontal position under the action of the rotating mechanism 202 and the sliding rail 203, materials fall into a frame of the manipulator 4 from the horizontal angle and the horizontal position, after shaping is carried out on the left side and the right side, according to the setting of the material placing angle, the manipulator driving mechanism 3 drives the manipulator 4 to rotate for a certain angle under the action of the horizontal rotating assembly and then releases the materials, so that the materials fall onto different positions of the opening and closing door 903 at a certain angle; until one or more layers of materials are arranged on the opening and closing door 903, forming preliminary stacking;

after the opening and closing door 903 is initially stacked, the opening and closing door 903 is opened through the actions of the opening and closing pull rod 905, the rotating plate 906, the opening motor 907 and the flange 913, so that initially stacked materials fall onto the tray 8, and the opening and closing door 903 is closed;

the lifting table 508 moves upwards until the upper surface of the preliminary stacked material on the tray 8 touches the lower surface of the opening and closing door 903 to shape the upper and lower surfaces of the material, and the lifting table 508 descends to enable the distance between the upper surface of the material and the opening and closing door 903 to be larger than the thickness of the preliminary stacked material;

after the lifting table 508 is filled with the materials, the stacked material stacks are output through the output mechanism 7.

The technical key point of the invention is the design structure of the tray warehouse, the mechanical arm, the tray lifting device and the feeding mechanism. The tray warehouse has the advantages of simple and compact structure and small occupied area. The tray warehouse is composed of 4 cylinders, two laser sensors and a motor, the maximum tray load is 500KG, the maximum tray size is 1200 multiplied by 1000 multiplied by 160, the clamping jaws can be customized and adjusted according to the tray style of a customer, and the tray warehouse is suitable for most trays in the market;

the manipulator is cooperated with the upper portion of the stacking machine, the left side and the right side of the packaging bag can be shaped by the manipulator, when the packaging bag is filled with one layer by the manipulator, the upper portion of the stacking machine rotates to drive the door plate to be opened, so that the packaging bag drops onto the tray below the door plate, and after the door plate is closed, the tray drives the packaging bag to be pressed with the door plate, and the upper surface and the lower surface of the packaging bag are arranged. The robot can accommodate packages having a size of 850 × 600 × 300 or less.

Pneumatic cylinder 505 can improve the tray to the opening and shutting door below of hacking machine upper portion, and when the manipulator is full of one deck wrapping bag, the opening and shutting door was opened, and the wrapping bag falls down, and opening and shutting door below tray just can catch the wrapping bag that the top fell down. When the opening and closing door is closed, the manipulator continues to grab the materials, meanwhile, the hydraulic cylinder 505 below the opening and closing door drives the tray and the packaging bags to be improved, the packaging bags on the tray and the opening and closing door are subjected to pressing shaping, and the tray and the packaging bags are driven to descend after the shaping is completed to prepare for the next batch of packaging bags to fall down. The total load of the tray lifting device can reach more than 5 tons, and the tray lifting device can be improved according to the requirements of customers.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims

1. The utility model provides a full-automatic plastic pile up neatly device which characterized in that: comprises that

The conveying mechanism (2) can convey materials to the manipulator (4);

the manipulator (4) can receive materials from the conveying mechanism (2), shapes the left and right surfaces of the materials, and can place the materials on an opening and closing door (903) of an opening and closing door mechanism (9) for preliminary stacking after shaping;

the stacking mechanism (5) comprises a lifting platform (508), the lifting platform (508) receives materials falling from the opening and closing door (903), and the lifting platform (508) moves upwards to enable the upper surface of the materials to touch the lower surface of the opening and closing door (903) to shape the upper surface and the lower surface of the materials;

and the output mechanism (7) is used for outputting the material stack on the lifting platform (508).

2. The full-automatic shaping and stacking device according to claim 1, wherein: an online frame (201) is fixed at the output end of the conveying mechanism (2), and the online frame (201) is fixedly connected to the manipulator (4); the automatic conveying device is characterized in that a rotating mechanism (202) and a sliding rail (203) are arranged below the conveying mechanism (2), the rotating mechanism (202) can change the horizontal angle output by the conveying mechanism (2), the sliding rail (203) can change the horizontal position output by the conveying mechanism (2), and the mechanical arm (4) drives the conveying mechanism (2) to rotate horizontally and move horizontally under the action of the rotating mechanism (202) and the sliding rail (203).

3. The full-automatic shaping and stacking device according to claim 2, wherein: the conveying mechanism (2) adopts a conveying belt structure.

4. The full-automatic shaping and stacking device according to claim 2, wherein: the manipulator driving mechanism (3) is further included and specifically comprises an X-axis motion assembly, a Y-axis motion assembly and a horizontal rotation assembly; the mechanical arm driving mechanism (3) drives the mechanical arm (4) to move in the X direction, the Y direction and the horizontal rotation direction so as to place materials at different positions on the opening and closing door (903).

5. The full-automatic shaping and stacking device according to claim 1, wherein: the manipulator (4) comprises two symmetrically arranged side plates (409), two symmetrically arranged bottom plates (422) and two symmetrically arranged rear plates (410), one side plate (409), one bottom plate (422) and one rear plate (410) form a half frame, and the two half frames form a complete frame; the two half-frames can be opened and closed to receive materials or put down the materials.

6. The full-automatic shaping and stacking device according to claim 5, wherein: the manipulator (4) further comprises a mounting frame (416), and two opposite outer side surfaces of the mounting frame (416) are provided with frame opening shafts (407); the back of the rear plate (410) is fixed with driving plates (411), frame opening air cylinders (412) are hinged between the lower ends of the two driving plates (411), each driving plate (411) is provided with a hinge point (413), and the two hinge points (413) are respectively connected with the two frame opening shafts (407), so that the frame opening air cylinders (412) can drive the two driving plates (411) to be opened when extending out and can drive the two driving plates (411) to be closed when retracting.

7. The full-automatic shaping and stacking device according to claim 6, wherein: manipulator (4) still include the plastic mechanism, specifically include two shaping plates (421), two expansion board (418), plastic cylinder (417), two shaping plate (421) are located two curb plate (409) medial surface, two expansion board (418) articulate on installing frame (416), plastic cylinder (417) drive two expansion board (418) expand and retrieve the motion in order to drive two expansion and retrieve the motion is done on the two sides of the left and right sides of material to shaping plate (421).

8. The full-automatic shaping and stacking device according to claim 1, wherein: the door opening and closing mechanism (9) further comprises a door opening pull rod (905) hinged with the door opening and closing mechanism (903), a door opening rotating plate (906) hinged with the door opening pull rod (905), and a flange (913) for fixing the door opening rotating plate (906) on a door opening motor (907); the door opening and closing mechanism further comprises a first proximity switch (908) and a first proximity point (909), a second proximity switch (910) and a second proximity point (911), wherein the first proximity switch (908) and the second proximity switch (910) are arranged at an angle of 90 degrees, the first proximity point (909) and the second proximity point (911) are arranged at an angle of 90 degrees, the first proximity point (909) is arranged on the door opening rotating plate (906) and rotates along with the door opening rotating plate, the second proximity point (911) is arranged on the flange (913) and rotates along with the door opening and closing rotating plate, when the second proximity point (911) is close to the second proximity switch (910), the door opening and closing (903) is in an opening state and used for dropping materials, and when the first proximity point (909) is close to the first proximity switch (908), the door opening and closing (903) is in a closing state and used for receiving materials.

9. The full-automatic shaping and stacking device according to claim 1, wherein: the stacking mechanism (5) further comprises a hydraulic cylinder (505), the hydraulic cylinder (505) is vertically arranged, an output rod faces upwards, a pulley is arranged on the output rod, a transmission chain (507) penetrates through the pulley, one end of the transmission chain (507) is fixed at the lower end of the stacking mechanism (5), and the other end of the transmission chain is fixedly connected with the lifting platform (508) after bypassing the pulley; the lifting device further comprises a lifting slide rail (504), and the lifting platform (508) is lifted along the lifting slide rail (504).

10. A full-automatic shaping and stacking method is characterized by comprising the following steps: the full-automatic shaping and stacking device applied to any one of claims 1 to 9, wherein the method comprises the following steps:

in the initial state, the opening and closing door (903) is closed, a tray (8) is placed on the lifting platform (508) and the tray (8) is lifted to a position close to the opening and closing door (903), and the height of the close gap is larger than the thickness of the materials;

the materials enter the conveying mechanism (2) one by one and are conveyed on the conveying mechanism (2) in a transmission way;

in an initial state, the frame opening cylinder (412) retracts to enable the driving plate (411) to drive the rear plate (410) to close, so that two half frames formed by the side plate (409), the bottom plate (422) and the rear plate (410) are closed to form a frame, and materials are received obliquely below an output port of the conveying mechanism (2);

the shaping cylinder (417) extends to enable the other end of the expansion plate (418) to retract, so that the two shaping plates (421) approach to each other to push the materials on the left and right sides of the materials to carry out shaping on the left and right sides; after shaping, the shaping cylinder (417) and the shaping plate (421) reset;

then, the frame opening cylinder (412) extends to enable the driving plate (411) to drive the rear plate (410) to be opened, so that the two half frames are opened, and materials fall on the opening and closing door (903); the frame opening cylinder (412) and the two half frames are reset to receive the next material;

the manipulator (4) continuously receives the materials and puts subsequent materials at different positions: the manipulator driving mechanism (3) drives the manipulator (4) to move to different positions under the action of the X-axis movement assembly and the Y-axis movement assembly, meanwhile, the manipulator (4) drives the conveying mechanism (2) to change the output horizontal angle and the output horizontal position under the action of the rotating mechanism (202) and the sliding rail (203) when moving, materials fall into a frame of the manipulator (4) from the horizontal angle and the horizontal position, shaping is carried out on the left side and the right side, and then the manipulator driving mechanism (3) drives the manipulator (4) to rotate for a certain angle under the action of the horizontal rotation assembly and releases the materials according to the setting of a material placement angle, so that the materials fall onto different positions of the opening and closing door (903) at a certain angle;

after the initial stacking of the opening and closing door (903) is completed, the opening and closing door (903) is opened by the actions of the opening and closing pull rod (905), the rotating plate (906), the opening motor (907) and the flange (913), so that the initially stacked materials fall on the tray (8), and the opening and closing door (903) is closed;

the lifting platform (508) moves upwards until the upper surface of the primary stacked material touches the lower surface of the opening and closing door (903) to form shaping of the upper surface and the lower surface of the material, and the lifting platform (508) descends to enable the distance between the upper surface of the material and the opening and closing door (903) to be larger than the thickness of the primary stacked material;

and after the lifting platform (508) is filled with materials, the stacked material stacks are output through the output mechanism (7).