CN114933165B - Goods anti-deviation stacking equipment with automatic positioning function - Google Patents
Goods anti-deviation stacking equipment with automatic positioning function Download PDFInfo
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- CN114933165B CN114933165B CN202210709839.7A CN202210709839A CN114933165B CN 114933165 B CN114933165 B CN 114933165B CN 202210709839 A CN202210709839 A CN 202210709839A CN 114933165 B CN114933165 B CN 114933165B
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- positioning
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- plate
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- 230000005540 biological transmission Effects 0.000 claims abstract description 55
- 238000000034 method Methods 0.000 claims description 3
- 238000013508 migration Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- 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
Abstract
The invention relates to the field of goods stacking, in particular to goods anti-offset stacking equipment with an automatic positioning function. The problems to be solved are: when stacking cargoes, the cargoes deviate from the preset position, so that the upper and lower layers of the stacked cargoes are unstable and collapse is easy to occur. The technical scheme of the invention is as follows: the goods anti-deviation stacking device with the automatic positioning function comprises a mounting rack, a conveying belt and the like; the conveyer belt that is used for carrying goods is installed in mounting bracket upper surface left side. The invention realizes that when goods are piled, the deviation caused by the deviation of the size and the position of the goods is automatically adapted, the piled goods are positioned layer by layer, so that the positions of adjacent layers of the piled goods are consistent, and after the goods are piled, the goods are synchronously and automatically restored to the original position, thereby continuously and effectively automatically positioning and positioning the piled goods, further ensuring the smoothness and the safety value of the goods pile, and improving the logistics transmission efficiency.
Description
Technical Field
The invention relates to the field of goods stacking, in particular to goods anti-offset stacking equipment with an automatic positioning function.
Background
Along with the gradual development of logistics transportation, in order to utilize space as much as possible, goods are generally piled, along with the increase of the number of piled layers of the goods, the piled goods deviate from a preset position due to the deviation of the size and the position of the goods, along with the increase of the number of piled goods layers, the offset of the goods is synchronously and gradually overlapped, after the offset reaches a certain value, the position between the upper-layer goods and the lower-layer goods cannot be stabilized, the goods on the upper layer are placed unstably, collapse easily occurs in the piling or transferring process, normal piling and transferring of the goods are affected, the goods are damaged, a large amount of loss is caused, the collapsed goods also threatens the safety of workers nearby, and the workers possibly lose lives seriously;
aiming at the problems, a cargo anti-offset stacking device with an automatic positioning function is provided.
Disclosure of Invention
In order to overcome the defect that when cargoes are piled, the cargoes deviate from a preset position to cause unstable upper and lower layers of the piled cargoes and collapse easily, the invention provides the cargo deviation-preventing piling device with an automatic positioning function.
The technical scheme of the invention is as follows: the goods anti-deviation stacking device with the automatic positioning function comprises a mounting rack, a conveying belt, a stacking robot, a goods shelf, a primary positioning system, a secondary positioning system, a lifting system and a positioning system; the left side of the upper surface of the mounting frame is provided with a conveying belt for conveying goods; the rear side of the upper surface of the mounting frame is provided with a palletizing robot, the lower side of the palletizing robot is provided with a rotating shaft, and the lower side of the rotating shaft is provided with a base; the front side of the upper surface of the mounting frame is provided with a goods shelf, and goods are piled on the goods shelf; the front side of the upper surface of the mounting frame is provided with a primary positioning system which is used for positioning the left side and the right side of the piled goods on the goods shelf; the first-level positioning system is provided with a second-level positioning system which is used for positioning the front side and the rear side of the stacked goods on the goods shelf; the secondary positioning system is connected with the mounting frame; the lifting system is arranged at the rear side of the secondary positioning system, so that the primary positioning system and the secondary positioning system are always at the same height with the uppermost layer of the piled goods, and the primary positioning system and the secondary positioning system can conveniently position the piled goods layer by layer; the lifting system is connected with the mounting frame; the lifting system is connected with the primary positioning system; the rotating shaft is provided with a positioning system which is used for positioning the position of the goods grabbed by the palletizing robot on the goods shelf so as to prevent the deviation; the positioning system is connected with the mounting frame.
As a preferable technical scheme of the invention, the primary positioning system comprises a supporting plate, a screw rod, a limiting plate, a first connecting plate, a sliding plate, a first sliding rail, a first driving piece, a second connecting plate, an air cylinder, a first positioning plate, a first L-shaped plate, a first transmission shaft, a first transmission wheel and a second transmission wheel; the upper surface of the mounting frame is provided with two support plates which are bilaterally symmetrical; two limiting plates are arranged on the upper side of the mounting frame; a screw rod is rotatably connected to each of the two support plates; the lower sides of the two screw rods are rotationally connected with the mounting frame; the lower sides of the two screw rods are fixedly connected with a first driving wheel respectively, and the two first driving wheels are positioned below the mounting frame; the lower sides of the two screw rods are respectively connected with a first connecting plate in a screwed mode, and the two first connecting plates are positioned above the mounting frame; a sliding plate is fixedly connected to each of the two first connecting plates; the two sliding plates are in sliding connection with the adjacent limiting plates; the upper surfaces of the two first connecting plates are fixedly connected with a first sliding rail respectively; a first driving piece is connected in each of the two first sliding rails in a sliding way; the upper surfaces of the two first driving parts are fixedly connected with a second connecting plate respectively; two cylinders are fixedly connected to opposite sides of the two second connecting plates respectively; the output ends of the two cylinders positioned on the right are fixedly connected with a first positioning plate; the output ends of the two cylinders positioned at the left are fixedly connected with a first position adjusting plate; the two first positioning plates are connected with a two-stage positioning system; the middle part of the upper side of the mounting frame is fixedly connected with a first L-shaped plate; the rear part of the lower side of the first L-shaped plate is rotationally connected with a first transmission shaft; the first transmission shaft is rotationally connected with the mounting frame; two second driving wheels are fixedly connected to the upper side of the outer surface of the first transmission shaft; the first transmission shaft is connected with the lifting system; the outer ring surface of the second driving wheel positioned below is in driving connection with the first driving wheel on the right through a belt; the outer ring surface of the second driving wheel positioned above is in driving connection with the first driving wheel at the left through a belt.
As a preferable technical scheme, the two-stage positioning system comprises a second slide rail, a small slide block, a first push plate, a first elastic piece, a second positioning plate, a first wedge block, a third connecting plate, a second wedge block and a limiting block; a second slide rail is fixedly connected to each of the two first positioning plates; a small sliding block is connected in each of the two second sliding rails in a sliding way; a first push plate is fixedly connected to each of the two small sliding blocks; the two small sliding blocks are fixedly connected with a first elastic piece respectively; a second positioning plate is fixedly connected to each of the two first elastic pieces; the two second positioning plates are in sliding connection with the adjacent first positioning plates; the middle parts of the opposite sides of the two second positioning plates are fixedly connected with a first wedge-shaped block respectively; a third connecting plate is fixedly connected to each of the two first positioning plates; a second wedge block is fixedly connected to each of the two third connecting plates; the upper surface of the mounting frame is fixedly connected with two limiting blocks, and the two second positioning plates correspond to the adjacent limiting blocks in position; the second wedge located at the rear is connected to the lifting system.
As a preferable technical scheme of the invention, the lifting system comprises a second push plate, a third slide rail, a slide frame, a second driving piece, a first rack, a flat gear, a round bar and a second elastic piece; the second wedge block positioned at the rear part is fixedly connected with a second push plate; a flat gear is fixedly connected to the upper side of the outer surface of the first transmission shaft; a third sliding rail is fixedly connected to the rear part of the lower side of the mounting frame; the third sliding rail is connected with a sliding frame in a sliding way; the front part of the lower side of the sliding frame is fixedly connected with a second driving piece; a second elastic piece is fixedly connected between the middle part of the sliding frame and the third sliding rail; a round rod is fixedly connected to the lower side of the third sliding rail, and the round rod is positioned at the inner side of the second elastic piece; the sliding frame is in sliding connection with the round rod; the output end of the second driving piece is fixedly connected with a first rack.
As a preferable technical scheme of the invention, the right part of the first rack is provided with a U-shaped opening matched with the second pushing plate.
As a preferable technical scheme of the invention, the positioning system comprises a first connecting frame, a second connecting frame, a third connecting frame, a first infrared transmitter, a first infrared receiver, a second infrared transmitter and a second infrared receiver; a first connecting frame is arranged on the right side of the upper surface of the mounting frame; a second connecting frame is arranged on the front side of the upper surface of the mounting frame; the left part of the upper side of the first connecting frame is provided with a first infrared transmitter; a first infrared receiver is arranged at the front part of the upper side of the second connecting frame; a third connecting frame is arranged on the rotating shaft; a second infrared transmitter is arranged at the rear part of the upper side of the third connecting frame; and a second infrared receiver is arranged at the front part of the upper side of the third connecting frame.
As a preferable technical scheme of the invention, when the rotating shaft rotates ninety degrees anticlockwise by taking the top down as a reference, the second infrared transmitter corresponds to the position of the first infrared receiver, and the second infrared receiver corresponds to the position of the first infrared transmitter.
As a preferable technical scheme of the invention, the invention also comprises a resetting system, wherein the resetting system comprises a second L-shaped plate, a second transmission shaft, a column gear, a third transmission wheel, a fourth transmission wheel, a fixing frame and a second rack; the front part of the lower side of the mounting frame is fixedly connected with a second L-shaped plate; the rear part of the second L-shaped plate is rotationally connected with a second transmission shaft; the second transmission shaft is rotationally connected with the mounting frame; a post gear is fixedly connected on the second transmission shaft; a third driving wheel is fixedly connected to the lower side of the second driving shaft; a fourth driving wheel is fixedly connected to the lower side of the first driving shaft; the outer ring surface of the fourth driving wheel is in driving connection with the third driving wheel through a belt; the lower side of the second push plate is fixedly connected with a fixing frame; the front side of the fixing frame is fixedly connected with a second rack.
The invention has the beneficial effects that: the invention realizes that when cargoes are piled, the cargoes are automatically adapted to the offset caused by the deviation of the size and the position of the cargoes, and then the piled cargoes are adjusted layer by layer, so that the positions of adjacent layers of the piled cargoes are consistent, namely, no offset exists, further, the cargoes after being piled are free from unstable problems, the piled cargoes are ensured not to collapse, the cargoes are prevented from being damaged, the threat of the collapsed cargoes to workers is eliminated, and after the cargoes are piled, the cargoes are synchronously and automatically restored to the original position, further, the cargoes are continuously and effectively automatically adjusted and positioned, the smoothness and the safety value of the cargoes are further ensured, and the logistics transmission efficiency is improved.
Drawings
FIG. 1 is a schematic perspective view of a first embodiment of the present invention;
FIG. 2 is a schematic view of a second perspective structure of the present invention;
FIG. 3 is a schematic view of a third perspective structure of the present invention;
FIG. 4 is a schematic diagram of a first perspective structure of a primary positioning system according to the present invention;
FIG. 5 is a schematic diagram of a second perspective view of the primary positioning system of the present invention;
FIG. 6 is a schematic diagram of a third perspective structure of the primary positioning system of the present invention;
FIG. 7 is a schematic diagram of a first perspective view of a two-stage positioning system according to the present invention;
FIG. 8 is a schematic diagram of a second perspective view of a two-stage positioning system according to the present invention;
FIG. 9 is a schematic view of a first perspective of a lift system according to the present invention;
FIG. 10 is a schematic view of a second perspective of the lift system of the present invention;
FIG. 11 is a schematic view of a first perspective structure of the positioning system of the present invention;
FIG. 12 is a schematic view of a second perspective structure of the positioning system of the present invention;
FIG. 13 is a schematic diagram of a first perspective view of a reset system according to the present invention;
fig. 14 is a schematic diagram of a second perspective structure of the resetting system of the present invention.
Marked in the figure as: 1-mounting rack, 2-transmission belt, 3-palletizing robot, 3 a-rotating shaft, 3 b-base, 4-goods, 5-goods shelf, 201-supporting plate, 202-screw rod, 203-limiting plate, 204-first connecting plate, 205-sliding plate, 206-first sliding rail, 207-first driving piece, 208-second connecting plate, 209-cylinder, 2010-first positioning plate, 2011-first L-shaped plate, 2012-first transmission shaft, 2013-first driving wheel, 2014-second driving wheel, 301-second sliding rail, 302-small sliding block, 303-first pushing plate, 304-first elastic piece, 305-second positioning plate, 306-first wedge block, 307-third connecting plate, 308-second wedge blocks, 309-limiting blocks, 401-second push plates, 402-third slide rails, 403-sliding frames, 404-second driving parts, 405-first racks, 406-flat gears, 407-round bars, 408-second elastic parts, 501-first connecting frames, 502-second connecting frames, 503-third connecting frames, 504-first infrared transmitters, 505-first infrared receivers, 506-second infrared transmitters, 507-second infrared receivers, 601-second L-shaped plates, 602-second transmission shafts, 603-column gears, 604-third transmission wheels, 605-fourth transmission wheels, 606-fixing frames, 607-second racks.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The first driving member 207 is an electric slider, the first elastic member 304 and the second elastic member 408 are springs, and the second driving member 404 is an electric push rod.
Example 1
The goods 4 anti-offset stacking equipment with the automatic positioning function comprises a mounting rack 1, a conveying belt 2, a stacking robot 3, goods 4, a goods shelf 5, a primary positioning system, a secondary positioning system, a lifting system and a positioning system, as shown in fig. 1-12; the left side of the upper surface of the mounting frame 1 is provided with a conveying belt 2 for conveying cargoes 4; the palletizing robot 3 is arranged on the rear side of the upper surface of the mounting frame 1, a rotating shaft 3a is arranged on the lower side of the palletizing robot 3, and a base 3b is arranged on the lower side of the rotating shaft 3 a; a goods shelf 5 is arranged on the front side of the upper surface of the mounting frame 1, and goods 4 are piled on the goods shelf 5; a primary positioning system is arranged on the front side of the upper surface of the mounting frame 1; the primary positioning system is provided with a secondary positioning system; the secondary positioning system is connected with the mounting frame 1; a lifting system is arranged at the rear side of the secondary positioning system; the lifting system is connected with the mounting frame 1; the lifting system is connected with the primary positioning system; a positioning system is arranged on the rotating shaft 3 a; the positioning system is connected to the mounting frame 1.
The primary positioning system comprises a supporting plate 201, a screw rod 202, a limiting plate 203, a first connecting plate 204, a sliding plate 205, a first sliding rail 206, a first driving piece 207, a second connecting plate 208, an air cylinder 209, a first positioning plate 2010, a first L-shaped plate 2011, a first transmission shaft 2012, a first transmission wheel 2013 and a second transmission wheel 2014; the upper surface of the mounting frame 1 is provided with two support plates 201 which are bilaterally symmetrical; two limiting plates 203 are arranged on the upper side of the mounting frame 1; a screw rod 202 is rotatably connected to each of the two support plates 201; the lower sides of the two screw rods 202 are rotationally connected with the mounting frame 1; a first driving wheel 2013 is fixedly connected to the lower sides of the two screw rods 202 respectively, and the two first driving wheels 2013 are positioned below the mounting frame 1; the lower sides of the two screw rods 202 are respectively and rotatably connected with a first connecting plate 204, and the two first connecting plates 204 are positioned above the mounting frame 1; a sliding plate 205 is fixedly connected to each of the two first connecting plates 204; the two sliding plates 205 are in sliding connection with the adjacent limiting plates 203; the upper surfaces of the two first connecting plates 204 are fixedly connected with a first sliding rail 206 respectively; a first driving member 207 is slidably connected to each of the two first sliding rails 206; the upper surfaces of the two first driving pieces 207 are fixedly connected with a second connecting plate 208 respectively; two cylinders 209 are fixedly connected to opposite sides of the two second connecting plates 208 respectively; the output ends of the two cylinders 209 positioned on the right are fixedly connected with a first positioning plate 2010; the output ends of the two cylinders 209 positioned at the left are fixedly connected with a first positioning plate 2010; the two first positioning plates 2010 are connected with a two-stage positioning system; the middle part of the upper side of the mounting frame 1 is connected with a first L-shaped plate 2011 through bolts; the lower rear part of the first L-shaped plate 2011 is rotatably connected with a first transmission shaft 2012; the first transmission shaft 2012 is rotatably connected with the mounting frame 1; two second driving wheels 2014 are fixedly connected to the upper side of the outer surface of the first transmission shaft 2012; the first drive shaft 2012 is connected to a lifting system; the outer ring surface of the second driving wheel 2014 positioned below is in driving connection with the first driving wheel 2013 positioned on the right through a belt; the outer ring surface of the second driving wheel 2014 positioned above is in driving connection with the first driving wheel 2013 positioned on the left through a belt.
The secondary positioning system comprises a second slide rail 301, a small slide block 302, a first push plate 303, a first elastic piece 304, a second positioning plate 305, a first wedge block 306, a third connecting plate 307, a second wedge block 308 and a limiting block 309; two first positioning plates 2010 are fixedly connected with a second sliding rail 301 respectively; a small sliding block 302 is connected in each of the two second sliding rails 301 in a sliding way; a first push plate 303 is fixedly connected to each of the two small sliding blocks 302; a first elastic piece 304 is fixedly connected to each of the two small sliding blocks 302; a second positioning plate 305 is fixedly connected to each of the two first elastic members 304; and two second positioning plates 305 are slidably connected to the adjacent first positioning plates 2010; the middle parts of the opposite sides of the two second positioning plates 305 are fixedly connected with a first wedge-shaped block 306 respectively; a third connecting plate 307 is fixedly connected to each of the two first positioning plates 2010; a second wedge block 308 is fixedly connected to each of the two third connecting plates 307; two limiting blocks 309 are fixedly connected to the upper surface of the mounting frame 1, and the positions of the two second positioning plates 305 correspond to the positions of the adjacent limiting blocks 309; a second wedge 308 located at the rear is connected to the lifting system.
The lifting system comprises a second push plate 401, a third sliding rail 402, a sliding frame 403, a second driving piece 404, a first rack 405, a flat gear 406, a round rod 407 and a second elastic piece 408; the second wedge block 308 positioned at the rear is connected with a second pushing plate 401 through bolts; a flat gear 406 is fixedly connected to the upper side of the outer surface of the first transmission shaft 2012; a third sliding rail 402 is fixedly connected to the rear part of the lower side of the mounting frame 1; a sliding frame 403 is slidably connected to the third sliding rail 402; a second driving piece 404 is fixedly connected to the front part of the lower side of the sliding frame 403; a second elastic piece 408 is fixedly connected between the middle part of the sliding frame 403 and the third sliding rail 402; a round rod 407 is fixedly connected to the lower side of the third sliding rail 402, and the round rod 407 is positioned at the inner side of the second elastic piece 408; the sliding frame 403 is in sliding connection with the round bar 407; the output end of the second driving piece 404 is fixedly connected with a first rack 405.
The right part of the first rack 405 is provided with a U-shaped opening matched with the second pushing plate 401.
The positioning system comprises a first connecting frame 501, a second connecting frame 502, a third connecting frame 503, a first infrared transmitter 504, a first infrared receiver 505, a second infrared transmitter 506 and a second infrared receiver 507; a first connecting frame 501 is arranged on the right side of the upper surface of the mounting frame 1; a second connecting frame 502 is arranged on the front side of the upper surface of the mounting frame 1; a first infrared transmitter 504 is arranged at the left part of the upper side of the first connecting frame 501; a first infrared receiver 505 is arranged at the front part of the upper side of the second connecting frame 502; a third connecting frame 503 is arranged on the rotating shaft 3 a; a second infrared transmitter 506 is arranged at the rear part of the upper side of the third connecting frame 503; a second infrared receiver 507 is installed at the front of the upper side of the third connection frame 503.
Based on the top-down view, when the rotating shaft 3a rotates ninety degrees counterclockwise, the second infrared transmitter 506 corresponds to the position of the first infrared receiver 505, and the second infrared receiver 507 corresponds to the position of the first infrared transmitter 504.
When the goods 4 are piled, the goods 4 are conveyed by the conveying belt 2, the conveyed goods 4 are grabbed by the palletizing robot 3 after being conveyed to a designated position, then the palletizing robot 3 is controlled to transport the goods 4 above the goods shelf 5, the palletizing robot 3 is driven to rotate ninety degrees anticlockwise on the base 3b by the rotating shaft 3a, the third connecting frame 503 arranged on the rotating shaft 3a is driven to rotate ninety degrees anticlockwise, namely the second infrared transmitter 506 and the second infrared receiver 507 are driven to rotate ninety degrees anticlockwise, after the second infrared transmitter 506 and the second infrared receiver 507 rotate ninety degrees anticlockwise, the second infrared receiver 507 is opposite to the first infrared transmitter 504 due to the fact that the second infrared transmitter 506 is opposite to the first infrared receiver 505, when the signal sent by the second infrared transmitter 506 is received by the first infrared receiver 505, after the signal sent by the second infrared receiver 507 is received by the first infrared transmitter 504, which means that the goods 4 are transferred to the upper part of the goods shelf 5 by the palletizing robot 3, then the goods 4 are placed on the goods shelf 5 by the palletizing robot 3, and the palletizing method of the goods 4 on the goods shelf 5 is as shown in fig. 1, when the goods shelf 5 stacks the first layer of goods 4, i.e. the bottommost layer of goods 4, the stacked goods 4 have a position offset, even a slight offset, and the offset of the stacked goods 4 is gradually overlapped with the increase of the stacking layer number of the goods 4, finally resulting in the collapse of the stacked goods 4, therefore, after each layer of goods 4 is stacked, the goods 4 needs to be adjusted, and further, the stacked goods 4 cannot be offset.
After stacking the first layer of goods 4 on the goods shelf 5, four cylinders 209 are controlled to start working, two first positioning plates 2010 are driven to move in opposite directions through the four cylinders 209, when the two first positioning plates 2010 move in opposite directions, the two first positioning plates 2010 are respectively contacted with the left side and the right side of the first layer of goods 4, and the left side and the right side of the first layer of goods 4 are extruded, so that the left side and the right side of the first layer of goods 4 are pushed to the designated positions by the two first positioning plates 2010, namely positions shown in fig. 1, further, offset of the left side and the right side of the first layer of goods 4 is eliminated, and meanwhile, when the two first positioning plates 2010 move in opposite directions, the two second sliding rails 301 and the two third connecting plates 307 are synchronously driven to move in opposite directions, namely, the front third connecting plates 307 move in the left direction, and meanwhile, because the positions of the two second positioning plates 305 are limited by adjacent limiting blocks 309, so that the left side and right side of the two second positioning plates 305 move in the left side and the right side are pushed by the adjacent limiting blocks 309, when the two second positioning plates 305 move in the left side and the right side of the first layer of goods 4 are pushed by the two second positioning plates, the two wedge-shaped goods are further, the two adjacent wedge-shaped goods are driven by the two adjacent plates 308 are not to move in opposite directions, and the two wedge-shaped sides are driven by the two first connecting plates 307 move in opposite directions, and the two wedge-direction, and the wedge-shaped goods are further, and the two adjacent positions are pushed by the two adjacent two second connecting plates are simultaneously, and the two adjacent to move in opposite sides, and the first connecting plates are moved in opposite directions, and the two side, and the position, and the two second layer 4 are moved in opposite sides are right.
Meanwhile, when the second wedge block 308 behind moves rightwards, the second push plate 401 is synchronously driven to move rightwards, because the right part of the first rack 405 is provided with a U-shaped opening matched with the second push plate 401, when the second push plate 401 moves rightwards and contacts with the U-shaped opening arranged on the right part of the first rack 405, the second push plate 401 continues to move rightwards, and then synchronously drives the first rack 405 to move rightwards, and simultaneously drives the second driving piece 404 to move rightwards, namely the sliding frame 403 is driven to slide rightwards in the third sliding rail 402 through the second driving piece 404, and the second elastic piece 408 is compressed through the sliding frame 403, when the first rack 405 moves rightwards and contacts with the flat gear 406, the flat gear 406 is driven to rotate clockwise through the first rack 405, and then the first transmission shaft 2012 is driven to rotate clockwise through the flat gear 406 as a reference from top to bottom, further, the two second driving wheels 2014 are driven to rotate clockwise through the first driving shafts 2012, when the two second driving wheels 2014 rotate clockwise, the two first driving wheels 2013 are synchronously driven to drive the two screw rods 202 to rotate clockwise through the two first driving wheels 2013, when the two screw rods 202 rotate clockwise, the two first connecting plates 204 are driven to move upwards, and when the two screw rods 202 move upwards, the two sliding plates 205 are synchronously driven to slide upwards in the two limiting plates 203, the two sliding plates 205 are further limited through the two limiting plates 203, the first connecting plates 204 are ensured to move upwards vertically, when the two first connecting plates 204 move upwards, the two first sliding rails 206 are synchronously driven to move upwards, namely the two first driving pieces 207 are driven to move upwards through the two first sliding rails 206, then the two second connecting plates 208 are driven to move upwards through the two first driving pieces 207, the four cylinders 209 are further driven to move upwards through the two second connecting plates 208, namely, the four cylinders 209 drive the two first positioning plates 2010 to move upwards, and when the two first positioning plates 2010 move upwards, the two second positioning plates 305 are synchronously driven to move upwards, so that the two first positioning plates 2010 and the two second positioning plates 305 move upwards synchronously for a certain distance, and the second layer of cargoes 4 are ensured to be stacked, and the two first positioning plates 2010 and the two second positioning plates 305 perform positioning on the stacked second layer of cargoes 4.
Then, the four cylinders 209 are controlled to drive the two first positioning plates 2010 to do separation movement, so that the two first positioning plates 2010 are restored to the original positions, namely, the two second positioning plates 305, the two first wedge blocks 306 and the two second wedge blocks 308 are restored to the original positions, when the second wedge blocks 308 at the back restore to the original positions, the second wedge blocks 308 drive the second pushing plate 401 to move leftwards, when the second pushing plate 401 moves leftwards to restore to the original positions, the first racks 405 are synchronously moved leftwards under the resilience force of the second elastic piece 408, in order to prevent the first racks 405 from being meshed with the flat gears 406, so that the flat gears 406 are driven to rotate anticlockwise, so that the two lead screws 202 are reversed, the two first positioning plates 2010 and the two second positioning plates 305 cannot perform positioning on the stacked second layer goods 4, therefore, when the first racks 405 move leftwards, the second driving piece 405 starts to work, the second racks 405 are driven by the second racks 405 to move leftwards, the second racks 404 are not meshed with the second racks 404, and the stacked goods are further guaranteed.
As the number of layers of the stacked goods 4 increases gradually, the heights of the two first positioning plates 2010 and the two second positioning plates 305 synchronously increase gradually along with the number of layers of the stacked goods 4, and then position the stacked goods 4 of each layer.
Example 2
On the basis of the embodiment 1, as shown in fig. 1, 13 and 14, the device further comprises a resetting system, wherein the resetting system comprises a second L-shaped plate 601, a second transmission shaft 602, a post gear 603, a third transmission wheel 604, a fourth transmission wheel 605, a fixing frame 606 and a second rack 607; the lower front part of the mounting frame 1 is connected with a second L-shaped plate 601 through bolts; a second transmission shaft 602 is rotatably connected to the rear part of the second L-shaped plate 601; the second transmission shaft 602 is rotatably connected with the mounting frame 1; a post gear 603 is fixedly connected to the second transmission shaft 602; a third driving wheel 604 is fixedly connected to the lower side of the second driving shaft 602; a fourth driving wheel 605 is fixedly connected to the lower side of the first driving shaft 2012; the outer annular surface of the fourth driving wheel 605 is in driving connection with the third driving wheel 604 through a belt; a fixed frame 606 is fixedly connected to the lower side of the second push plate 401; a second rack 607 is fixedly connected to the front side of the fixing frame 606.
The second rack 607 is matched with the post gear 603, the first rack 405 is matched with the flat gear 406, and the number of teeth of the second rack 607 and the post gear 603 is greater than the number of teeth of the first rack 405 and the flat gear 406.
With the gradual increase of the layer number of the stacking of the cargoes 4, the second pushing plate 401 is synchronously lifted, the fixing frame 606 is driven to move upwards through the second pushing plate 401, namely, the second rack 607 is driven to move upwards through the fixing frame 606, after the cargoes 4 are stacked, the second rack 607 is synchronously lifted to a certain height, then the two first driving parts 207 are controlled to do the separating motion, and further, the second connecting plates 208 are driven to do the separating motion through the two first driving parts 207, namely, the four cylinders 209 are driven to do the separating motion through the two second connecting plates 208, then, the two first positioning plates 2010 are driven to do the separating motion through the four cylinders 209, so that the two first positioning plates 2010 are gradually far away from the stacked cargoes 4, meanwhile, the two first positioning plates 2010 synchronously drive the two second positioning plates 305, the two first wedge blocks 306, the two third connecting plates 307 and the two second wedge blocks 308 to be gradually far away from the stacked cargoes 4, so that the two second positioning plates 305, the two first wedge-shaped blocks 306, the two third connecting plates 307 and the two second wedge-shaped blocks 308 do not obstruct the piled goods 4 from being carried away, and simultaneously, when the second wedge-shaped blocks 308 at the rear move leftwards, the second pushing plate 401 is synchronously driven to move leftwards, the fixing frame 606 and the second rack 607 are driven to move leftwards by the two second pushing plates 401, when the second rack 607 moves leftwards and is meshed with the post gear 603, the post gear 603 is driven to rotate anticlockwise by the second rack 607 according to the top-down looking reference, then the second transmission shaft 602 is driven to rotate anticlockwise by the post gear 603, the third transmission shaft 604 is further driven to rotate anticlockwise by the second transmission shaft 602, the fourth transmission shaft 605 is driven to rotate anticlockwise by the third transmission shaft 604, namely the first transmission shaft 2012 is driven to rotate anticlockwise by the fourth transmission shaft 605, when the first transmission shaft 2012 rotates anticlockwise, the two screw rods 202 are synchronously rotated anticlockwise, so that the two first connecting plates 204 gradually move downwards until the two first connecting plates 204 restore to the original height, that is, the two first positioning plates 2010 and the two second positioning plates 305 synchronously move downwards and restore to the original height, so that the next stacking is facilitated.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted equally without departing from the spirit and scope of the technical solution of the present invention.
Claims (7)
1. The goods anti-deviation stacking device with the automatic positioning function comprises a mounting rack (1), a conveying belt (2), a stacking robot (3) and a goods shelf (5); a conveying belt (2) for conveying goods (4) is arranged on the left side of the upper surface of the mounting frame (1); a palletizing robot (3) is arranged on the rear side of the upper surface of the mounting frame (1), a rotating shaft (3 a) is arranged on the lower side of the palletizing robot (3), and a base (3 b) is arranged on the lower side of the rotating shaft (3 a); a goods shelf (5) is arranged on the front side of the upper surface of the mounting frame (1), and goods (4) are piled on the goods shelf (5); the method is characterized in that: the system also comprises a primary positioning system, a secondary positioning system, a lifting system and a positioning system; the front side of the upper surface of the mounting frame (1) is provided with a primary positioning system which is used for positioning the left side and the right side of the stacked goods (4) on the goods shelf (5); the primary positioning system is provided with a secondary positioning system, and the secondary positioning system is used for positioning the front side and the rear side of the stacked goods (4) on the goods shelf (5); the secondary positioning system is connected with the mounting frame (1); the lifting system is arranged at the rear side of the secondary positioning system, and the lifting system enables the primary positioning system and the secondary positioning system to be always at the same height with the uppermost layer of the piled goods (4), so that the primary positioning system and the secondary positioning system can conveniently position the piled goods (4) layer by layer; the lifting system is connected with the mounting frame (1); the lifting system is connected with the primary positioning system; the rotating shaft (3 a) is provided with a positioning system which is used for positioning the position of the goods (4) grabbed by the palletizing robot (3) on the goods shelf (5) to prevent the deviation; the positioning system is connected with the mounting frame (1);
the primary positioning system comprises a supporting plate (201), a screw rod (202), a limiting plate (203), a first connecting plate (204), a sliding plate (205), a first sliding rail (206), a first driving piece (207), a second connecting plate (208), an air cylinder (209), a first positioning plate (2010), a first L-shaped plate (2011), a first transmission shaft (2012), a first transmission wheel (2013) and a second transmission wheel (2014); the upper surface of the mounting frame (1) is provided with two support plates (201) which are bilaterally symmetrical; two limiting plates (203) are arranged on the upper side of the mounting frame (1); a screw rod (202) is rotatably connected to each of the two support plates (201); the lower sides of the two screw rods (202) are rotationally connected with the mounting frame (1); the lower sides of the two screw rods (202) are fixedly connected with a first driving wheel (2013) respectively, and the two first driving wheels (2013) are positioned below the mounting frame (1); the lower sides of the two screw rods (202) are respectively connected with a first connecting plate (204) in a screwed mode, and the two first connecting plates (204) are positioned above the mounting frame (1); a sliding plate (205) is fixedly connected on each of the two first connecting plates (204); the two sliding plates (205) are in sliding connection with the adjacent limiting plates (203); the upper surfaces of the two first connecting plates (204) are fixedly connected with a first sliding rail (206) respectively; a first driving piece (207) is connected in each of the two first sliding rails (206) in a sliding way; the upper surfaces of the two first driving parts (207) are fixedly connected with a second connecting plate (208) respectively; two cylinders (209) are fixedly connected to the opposite sides of the two second connecting plates (208); the output ends of the two cylinders (209) positioned on the right are fixedly connected with a first positioning plate (2010); the output ends of the two cylinders (209) positioned at the left are fixedly connected with a first position adjusting plate (2010); the two first positioning plates (2010) are connected with a two-stage positioning system; the middle part of the upper side of the mounting frame (1) is fixedly connected with a first L-shaped plate (2011); a first transmission shaft (2012) is rotatably connected to the rear part of the lower side of the first L-shaped plate (2011); the first transmission shaft (2012) is rotationally connected with the mounting frame (1); two second driving wheels (2014) are fixedly connected to the upper side of the outer surface of the first driving shaft (2012); the first transmission shaft (2012) is connected with the lifting system; the outer ring surface of the second driving wheel (2014) positioned below is in driving connection with the first driving wheel (2013) positioned on the right through a belt; the outer ring surface of the second driving wheel (2014) positioned above is in driving connection with the first driving wheel (2013) at the left through a belt.
2. The cargo anti-offset palletizing apparatus with automatic positioning function according to claim 1, wherein: the second-level positioning system comprises a second sliding rail (301), a small sliding block (302), a first push plate (303), a first elastic piece (304), a second positioning plate (305), a first wedge-shaped block (306), a third connecting plate (307), a second wedge-shaped block (308) and a limiting block (309); a second slide rail (301) is fixedly connected to each of the two first positioning plates (2010); a small sliding block (302) is connected in each of the two second sliding rails (301) in a sliding way; a first push plate (303) is fixedly connected to each of the two small sliding blocks (302); a first elastic piece (304) is fixedly connected to each of the two small sliding blocks (302); a second positioning plate (305) is fixedly connected to each of the two first elastic pieces (304); and the two second positioning plates (305) are in sliding connection with the adjacent first positioning plates (2010); the middle parts of the opposite sides of the two second positioning plates (305) are fixedly connected with a first wedge block (306) respectively; a third connecting plate (307) is fixedly connected to each of the two first positioning plates (2010); a second wedge block (308) is fixedly connected to each of the two third connecting plates (307); two limiting blocks (309) are fixedly connected to the upper surface of the mounting frame (1), and the positions of the two second positioning plates (305) correspond to the positions of the adjacent limiting blocks (309); a second wedge (308) located at the rear is connected to the lifting system.
3. The cargo anti-offset palletizing apparatus with automatic positioning function according to claim 1, wherein: the lifting system comprises a second push plate (401), a third slide rail (402), a sliding frame (403), a second driving piece (404), a first rack (405), a flat gear (406), a round rod (407) and a second elastic piece (408); a second wedge block (308) positioned at the rear part is fixedly connected with a second push plate (401); a flat gear (406) is fixedly connected to the upper side of the outer surface of the first transmission shaft (2012); a third sliding rail (402) is fixedly connected to the rear part of the lower side of the mounting frame (1); a sliding frame (403) is connected in a sliding way in the third sliding rail (402); a second driving piece (404) is fixedly connected to the front part of the lower side of the sliding frame (403); a second elastic piece (408) is fixedly connected between the middle part of the sliding frame (403) and the third sliding rail (402); a round rod (407) is fixedly connected to the lower side of the third sliding rail (402), and the round rod (407) is positioned at the inner side of the second elastic piece (408); the sliding frame (403) is in sliding connection with the round rod (407); the output end of the second driving piece (404) is fixedly connected with a first rack (405).
4. A cargo anti-migration palletizing apparatus having an automatic positioning function as claimed in claim 3, wherein: the right part of the first rack (405) is provided with a U-shaped opening matched with the second pushing plate (401).
5. The cargo anti-offset palletizing apparatus with automatic positioning function according to claim 1, wherein: the positioning system comprises a first connecting frame (501), a second connecting frame (502), a third connecting frame (503), a first infrared transmitter (504), a first infrared receiver (505), a second infrared transmitter (506) and a second infrared receiver (507); a first connecting frame (501) is arranged on the right side of the upper surface of the mounting frame (1); a second connecting frame (502) is arranged on the front side of the upper surface of the mounting frame (1); a first infrared transmitter (504) is arranged at the left part of the upper side of the first connecting frame (501); a first infrared receiver (505) is arranged at the front part of the upper side of the second connecting frame (502); a third connecting frame (503) is arranged on the rotating shaft (3 a); a second infrared transmitter (506) is arranged at the rear part of the upper side of the third connecting frame (503); and a second infrared receiver (507) is arranged at the front part of the upper side of the third connecting frame (503).
6. The cargo anti-offset palletizing apparatus with automatic positioning function according to claim 5, wherein: based on the top-down view, when the rotating shaft (3 a) rotates ninety degrees anticlockwise, the second infrared transmitter (506) corresponds to the position of the first infrared receiver (505), and the second infrared receiver (507) corresponds to the position of the first infrared transmitter (504).
7. The cargo anti-offset palletizing apparatus with automatic positioning function according to claim 1, wherein: the device also comprises a resetting system, wherein the resetting system comprises a second L-shaped plate (601), a second transmission shaft (602), a post gear (603), a third transmission wheel (604), a fourth transmission wheel (605), a fixing frame (606) and a second rack (607); the front part of the lower side of the mounting frame (1) is fixedly connected with a second L-shaped plate (601); the rear part of the second L-shaped plate (601) is rotatably connected with a second transmission shaft (602); the second transmission shaft (602) is rotationally connected with the mounting frame (1); a post gear (603) is fixedly connected on the second transmission shaft (602); a third driving wheel (604) is fixedly connected to the lower side of the second driving shaft (602); a fourth driving wheel (605) is fixedly connected to the lower side of the first driving shaft (2012); the outer ring surface of the fourth driving wheel (605) is in driving connection with the third driving wheel (604) through a belt; a fixing frame (606) is fixedly connected to the lower side of the second push plate (401); the front side of the fixing frame (606) is fixedly connected with a second rack (607).
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