CN209922295U - Automatic stacking equipment - Google Patents

Abstract

The utility model relates to the technical field of logistics transportation mechanical equipment, in particular to an automatic stacking device, a transverse walking mechanism is arranged on a track in a matching way, a rotating mechanism is fixed on the transverse walking mechanism, a frame is arranged in front of the rotating mechanism, a queuing belt conveyor is fixed on the frame, the front end of the queuing belt conveyor is connected with the rotating mechanism by a feeding chute, the rear end of the queuing belt conveyor is connected with a fixed belt conveyor by an inclined belt conveyor, the fixed belt conveyor is fixedly arranged on a platform, the platform is fixedly connected on the frame of the inclined belt conveyor by a connecting rod, a stacking mechanism is arranged beside the transverse walking mechanism, the utility model does not need a complex and expensive industrial robot and mechanical arm, has compact structure and convenient maintenance of modular design, and only uses a plurality of small common cylinders and electric push rods to realize efficient and full-automatic stacking action, the input-to-benefit ratio is high, and the stability and compactness of the stacking are ensured.

Description

Automatic stacking equipment

Technical Field

The utility model relates to a commodity circulation transportation mechanical equipment technical field, specific saying is an automatic pile up neatly equipment.

Background

For the stacking of long rectangular goods, the shape is deviated to a long strip shape, and the posture of the goods is not easy to control in the conveying and steering processes, so that the conventional stacker for the goods combined by the belt conveyor and the roller conveyor is not suitable.

At present, most of the solutions used in the industry are stacking robots, which are used for stacking in a mode of taking and turning over by mechanical claws and putting one by one. However, the design needs to invest expensive industrial robots, when a long rectangular section cargo is grabbed, two or more than two grabbing points are needed to prevent tipping, the cargo is easily damaged due to overlarge grabbing force, the cargo is easily dropped due to small grabbing force, and a proper grabbing force is provided for adapting to cargo with different weights, so that a manipulator mechanism for robot stacking is often complex and heavy, after the manipulator grabs and releases the cargo, a gap with at least the thickness of a claw is inevitably formed between the cargo and the cargo, so that the stacking is not stable, an additional lateral pressing mechanism needs to be added, meanwhile, the robot stacking process needs to be completed through manipulator grabbing, posture adjustment, movement, release and free-hand returning, and for a long rectangular cargo with large mass inertia, the whole set of robot moves down at a slow speed, and the robot automatic stacking machine is invested to stack the long rectangular cargo, the income-expense ratio is not high, which causes difficult popularization.

It is therefore necessary to design an automatic palletizing installation which can automatically palletize long rectangular goods without the need to provide expensive industrial robots and manipulators.

Disclosure of Invention

The utility model discloses broken through the difficult problem of prior art, designed the automatic pile up neatly equipment that can realize the long rectangle goods piece of automatic pile up neatly that need not dispose expensive industrial robot and manipulator.

In order to achieve the purpose, the utility model discloses an automatic pile up neatly equipment, including fixed band conveyer, slope band conveyer, the band conveyer of lining up, horizontal running gear, track, pile up neatly platform, its characterized in that: the track is fixed on the ground, a transverse walking mechanism is installed on the track in a matched mode, a rotating mechanism is fixed on the transverse walking mechanism, a rack is arranged in front of the rotating mechanism, the rack is also fixed on the transverse walking mechanism, a queuing belt conveyor is fixed on the rack, the front end of the queuing belt conveyor is connected with the rotating mechanism through a workpiece supply sliding chute, a switch door is arranged on the workpiece supply sliding chute and controlled through an air cylinder, the rear end of the queuing belt conveyor is connected with the fixed belt conveyor through an inclined belt conveyor, the inclined belt conveyor and the fixed belt conveyor share the same driving shaft, the fixed belt conveyor is fixedly installed on a platform, and the platform is fixedly connected to the rack of the inclined belt conveyor through a connecting rod; a stacking mechanism is arranged beside the transverse travelling mechanism and is fixed on the ground; pile up neatly mechanism mainly comprises pile up neatly baffle, pile up neatly platform, strapper, and the pile up neatly platform elevating system in pile up neatly baffle the place ahead is fixed at the both ends of pile up neatly platform on, the strapper then erects the both ends at the pile up neatly platform, and one side of pile up neatly baffle is fixed with pile up neatly baffle electric cylinder.

The rotary mechanism comprises a rotary frame, a rotary frame motor encoder, a goods channel mechanism, a rotary frame fixed on the transverse walking mechanism, the goods channel mechanism fixed on the rotary frame, two ends of the goods channel mechanism respectively fixed with the inner surface of the rotary frame, and the rotary frame motor, the rotary frame motor encoder and an electric control cabinet fixed on one side of the rotary frame; the goods way mechanism mainly comprises a goods way, a goods way occupying judging light eye, a baffle, a goods way pushing cylinder and a goods way baffle cylinder, wherein the goods way occupying judging light eye is positioned inside the goods way, the back of the goods way is fixedly provided with the goods way pushing cylinder and the goods way baffle cylinder, a push rod of the goods way baffle cylinder is connected with the baffle, and the baffle is arranged above the back of the goods way.

The tail part of the piece supplying sliding groove is embedded with a piece supplying sliding groove unthreaded hole, and the outer side of the tail part of the piece supplying sliding groove is further connected with a piece supplying sliding groove cylinder.

A transverse travelling mechanism position sensor is arranged at the front end of the transverse travelling mechanism, and a transverse travelling motor is arranged on one side of the transverse travelling mechanism; the queuing belt conveyor is internally embedded with a queuing belt conveyor unthreaded hole, and a queuing belt conveyor cylinder is connected and arranged below the queuing belt conveyor.

The number of the goods channel mechanisms is 8, and the goods channel mechanisms are uniformly and fixedly distributed on the rotating frame in a rotationally symmetrical mode by taking the central shaft of the rotating frame as an origin.

The stacking platform is a 90-degree V-shaped platform surface with a low-friction adhesive layer on the surface, and the whole platform surface is fixed on 4 stacking platform lifting mechanisms 13, so that the stacking platform can move up and down.

Compared with the prior art, the utility model, need not complicated expensive industrial robot and manipulator, compact structure, the convenient maintenance of modular design only uses 4 motors, 8 rodless cylinders, and some small-size ordinary cylinders, and electric push rod have just realized the full automatic pile up neatly action of efficient, the income of input relative altitude. The design of V type pile up neatly platform can guarantee the stability and the compactness of stack, and the clearance of reserving around the pile up neatly platform can also adapt to the strapper on the market and realize the automatic binding after the pile up neatly.

Drawings

Fig. 1 is an axial view of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is a right side view of the present invention.

Fig. 4 is a front view of the present invention.

Fig. 5 is a side view of the pallet platform according to the present invention.

Fig. 6 is a left side view of the present invention.

Fig. 7 is an enlarged view of a portion a in fig. 3.

Fig. 8 is a partial sectional view at a in fig. 3.

Fig. 9 is a flowchart of the operation of the present invention.

Fig. 10 is a block diagram of the signal connection in the present invention.

Referring to fig. 1 ~ 8, wherein 1 is a track, 2 is a transverse traveling mechanism, 3 is a rotating mechanism, 4 is a frame, 5 is a queuing belt conveyor, 6 is a workpiece supply chute, 7 is an inclined belt conveyor, 8 is a fixed belt conveyor, 9 is a platform, 10 is a stacking baffle, 11 is a plurality of platforms, 12 is a strapping machine, 13 is a stacking platform lifting mechanism, 14 is a stacking baffle electric cylinder, and 15 is an electric control cabinet.

2-1 is a transverse walking mechanism position sensor, and 2-2 is a transverse walking motor.

3-1 is a rotating frame, 3-2 is a rotating frame motor, 3-3 is a rotating frame motor encoder, 3-4 is a cargo channel, 3-5 is a cargo channel occupying judging light eye, 3-6 is a baffle, 3-7 is a cargo channel baffle cylinder, and 3-8 is a cargo channel pushing cylinder.

5-1 is a queue belt conveyor smooth eye, and 5-2 is a queue belt conveyor cylinder.

6-1 is a workpiece supply chute unthreaded hole, and 6-2 is a workpiece supply chute air cylinder.

Detailed Description

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

Referring to fig. 1 ~ 8, the utility model discloses an automatic stacking equipment, including the supply module of lining up that fixed band conveyer, slope band conveyer, the belt conveyer of lining up constitute, the goods gesture adjustment module mainly comprises rotary mechanism, horizontal running gear, the track, the pile up platform, track 1 is fixed on ground, the cooperation is installed on track 1 and is transversely walked mechanism 2, be fixed with rotary mechanism 3 on transversely walked mechanism 2, rotary mechanism 3 the place ahead is equipped with frame 4, frame 4 also fixes on horizontal running mechanism 2, be fixed with the belt conveyer 5 of lining up on frame 4, utilize between the rotary mechanism 3 and the front end of lining up belt conveyer 5 to be connected, be equipped with the switch door on supply spout 6 on the spout 6, the switch door utilizes cylinder control, the rear end of the belt conveyer 5 of lining up utilizes slope band conveyer 7 to be connected with fixed band conveyer 8, slope band conveyer 7 and fixed band conveyer 8 share the same drive shaft, fixed band conveyer 8 is fixed on platform 9, platform 9 utilizes the connecting rod fixed connection to be connected on the frame of slope band conveyer 7, the machine of slope band conveyer 7 is equipped with the baffle 12 of the pile up on the rack of the supply spout of the pile up mechanism, the pile up a goods on the platform, the baffle is fixed according to the regular goods that the pile up a pile up on the lift mechanism 10, the baffle is fixed on the pile up a pile up on the rack, the rack is equipped with the baffle 12, the baffle that the baffle is fixed pile up mechanism is fixed on the pile up and is fixed on the rack, the rack 10, the rack is fixed on the rack, the rack is equipped with a pile up and is fixed on the rack, the rack.

The utility model discloses a middle rotating mechanism 3 comprises a rotating frame 3-1, a rotating frame motor 3-2, a rotating frame motor encoder 3-3 and a goods channel mechanism, wherein the rotating frame 3-1 is fixed on a transverse walking mechanism 2, the goods channel mechanism is fixed on the cylindrical circumference of the rotating frame 3-1, two ends of the goods channel mechanism are respectively fixed with the inner surface of the rotating frame 3-1, and the rotating frame motor 3-2, the rotating frame motor encoder 3-3 and an electric control cabinet 15 are fixed on one side of the rotating frame 3-1; the goods way mechanism mainly comprises a goods way 3-4, a goods way occupation judging light eye 3-5, a baffle plate 3-6, a goods way pushing cylinder 3-8 and a goods way baffle plate cylinder 3-7, wherein the goods way occupation judging light eye 3-5 is positioned in the goods way 3-4, the back of the goods way 3-4 is fixedly provided with the goods way pushing cylinder 3-8 and the goods way baffle plate cylinder 3-7, the goods way pushing cylinder selects a linear rodless cylinder, a push rod of the goods way baffle plate cylinder 3-7 is connected with the baffle plate 3-6, the baffle plate 3-6 is arranged above the back of the goods way 3-4, the goods way baffle plate cylinder controls the extension and retraction of the baffle plate, when the baffle plate extends out, goods pieces can rotate for a circle along with the rotating frame and do not fall, when one goods way rotates clockwise along with the frame to a 2 o' clock position, the baffle plate of the goods way is in a retraction state, then the goods are conveyed to the 3 o 'clock position, the goods are supplied by the goods supply sliding groove and fall onto the goods channel, when the goods channel is conveyed to the 4 o' clock position, the baffle plate extends out to prevent the goods behind from falling off, the goods channels at the 4 o 'clock half position and the 7 o' clock half position are the positions for pushing the goods, the motor controls the whole rotating frame to pause at 45 degrees each time, when the goods channel is paused, the goods channel at the 4 o 'clock half position or the 7 o' clock half position can push the goods to the stacking platform, the goods channel at the 3 o 'clock position can receive the goods which are discharged by the goods supply sliding groove, each goods channel is provided with a goods channel occupation judging light eye 3-5 to know whether the goods channel is empty, if the goods channel at the 3 o' clock position is empty, the goods supply sliding groove releases the next goods onto the goods channel, and the goods posture adjusting module can move.

The utility model discloses in supply a afterbody of spout 6 to inlay and be equipped with and supply a spout light eye 6-1, supply a spout 6's afterbody outside still to connect and be equipped with and supply a spout cylinder 6-2.

The front end of the transverse walking mechanism 2 in the utility model is provided with a transverse walking mechanism position sensor 2-1, and one side of the transverse walking mechanism 2 is provided with a transverse walking motor 2-2; a queuing belt conveyor eyelet 5-1 is embedded in the queuing belt conveyor 5, and a queuing belt conveyor cylinder 5-2 is connected below the queuing belt conveyor 5.

The number of the middle goods channel mechanisms of the utility model is 8, and the middle goods channel mechanisms are uniformly and fixedly distributed on the rotating frame 3-1 in a rotationally symmetrical mode by taking the central shaft of the rotating frame 3-1 as the original point, and can rotate along with the rotating frame 3-1.

The utility model discloses well pile up neatly platform 11 is that the surface that 90V types were arranged has the mesa of low friction veneer gluing, and whole mesa is fixed on 4 pile up neatly platform elevating system for pile up neatly platform 11 can go up and down in the certain limit, and the horizontal migration of cooperation goods posture adjustment module makes the pile up neatly position that every goods can be accurate release in needs, reaches good pile up neatly effect.

Referring to fig. 9, the utility model also designs an automatic pile up neatly equipment's working method, goes on according to following step:

step 1: resetting the positions of all mechanisms to zero, detecting whether the positions of the mechanisms are all at the zero position, and starting the fixed belt conveyor and the queuing belt conveyor if the positions of the mechanisms are all at the zero position; if not, resetting the positions of the mechanisms to zero again until the detection result is yes;

step 2: judging whether the workpiece supply chute 6 is loaded or not by using the workpiece supply chute unthreaded hole 6-1, and waiting for the belt conveyor to unload the workpieces if the workpiece supply chute 6 is loaded with the workpieces; if not, the goods are sent into the supply chute 6 by using a queuing belt conveyor;

and step 3: judging whether goods exist in the goods channel 3-4 by using the goods channel occupation judging light eye 3-5, if so, waiting for the rotating frame 3-1 to rotate to the next empty goods channel 3-4; if not, the goods are sent into a goods channel 3-4;

and 4, step 4: judging whether a goods channel mechanism with goods rotates to a specified position, judging whether the transverse walking mechanism 2 moves in place or not and whether the stacking platform 11 is in place or not, if so, pushing the goods out to the stacking platform 11 by using a goods channel pushing cylinder 3-8, and then returning the goods channel pushing cylinder 3-8; if not, waiting for the selection frame to rotate to a specified push-out position, judging the positions of the goods channel mechanism, the transverse travelling mechanism 2 and the stacking platform 11 again until the judgment result is in place, pushing the goods onto the stacking platform 11 by using the goods channel push-out cylinder 3-8, and returning the goods channel push-out cylinder 3-8;

and 5: the cargo channel occupation judging light eye 3-5 judges whether the cargo channel pushing cylinder 3-8 successfully pushes out the cargo, if so, the rotating frame motor 3-2 is used for driving the rotating frame 3-1 to rotate by 45 degrees, the next cargo channel mechanism is enabled to enter a working position, the transverse travelling mechanism 2 and the stacking platform 11 respectively act, and the pushing port of the cargo channel 3-4 is enabled to be aligned to the position of the next cargo to be stacked; if not, waiting for pushing out the magnetic switch signal pushed to the limit position by the air cylinder, and then entering judgment again until the judgment result is successful;

step 6: after the goods are pushed out to the stacking platform 11, judging whether the stacking platform 11 completes the whole stacking, if so, lowering the stacking platform 11 to the lowest position, and starting the strapping machine 12 to strap the goods; if not, returning to the step 4, and pushing the goods again;

and 7: after the goods are bundled up, the whole bundle of goods is lifted to a truck by using a lifting appliance for loading, the positions of all mechanisms are driven to return to zero, and the stacking work is completed.

Referring to fig. 10, the transmission and processing of signals in the utility model are all completed in the electric control cabinet, the electric control cabinet receives the signals transmitted by the transverse walking mechanism position sensor 2-1, the queue belt conveyor eye 5-1, the feeding chute eye 6-1, the rotary frame motor encoder 3-3 and the cargo way occupation judgment eye 3-5, after the processing and judgment, and corresponding result signals are respectively transmitted to a transverse walking motor 2-2, a fixed belt conveyor 8, a queuing belt conveyor 5, a queuing belt conveyor cylinder 5-2, a workpiece supply chute cylinder 6-2, a stacking platform 11, a binding machine 12, a stacking platform lifting mechanism 13, a stacking baffle electric cylinder 14, a rotating frame motor 3-2, a goods way baffle air cylinder 3-7 and a goods way pushing air cylinder 3-8, so that the movement of each component is controlled.

In particular implementation, the utility model discloses a fixed band conveyer be two narrow belt conveyor, and it is fixed on unmovable platform, and inclination adjustable transition belt feeder and fixed band conveyer dislocation are arranged and public driving motor and drive shaft, have guaranteed the synchronization of speed to can adjust inclination. The queuing belt conveyor is arranged below the fixed belt conveyor and is arranged in a staggered manner with the inclined belt conveyor, so that not only can conveyed goods be smoothly received, but also relative horizontal movement can be realized without interference. The lower part of the queuing belt conveyor is provided with a check block ejected by the cylinder to correct the posture of the goods, and the goods falling through the goods supply sliding groove has a stable posture and also has the function of controlling the rhythm of queuing and goods supply.

The goods way is fixed on a rotating frame by adopting a modularized design, so that the installation and maintenance are convenient, the groove-shaped structure of the goods way ensures that goods can smoothly fall on the goods way at a position of 3 o ' clock, and can be accurately pushed out at a position of 4 o ' clock and 7 o ' clock, the goods way is provided with a low-friction adhesive layer to protect the surface of the goods, the friction force for pushing out the goods is also reduced, the pushing-out action is executed by a rodless cylinder, and the structure is compact.

A small cylinder control extensible stop block is arranged on the side of the rodless cylinder below the cargo channel to prevent cargo which is not pushed out from falling in the process of rotating along with the rotating frame, and the rotating frame is stopped at 45 degrees every time under the driving of a rotating motor with an encoder. Every goods way has the eye to detect whether goods way is empty, can judge the goods way on the control release position and release the cylinder and release the goods piece in the time of pausing, supply a spout cylinder on the loading position and supply a piece, be provided with rotatory air feed unit on revolving frame's main shaft to and rotatory power supply unit makes cylinder and the eye on every goods way can be connected to outside on the electric cabinet, whole gesture adjustment module realizes on lateral shifting's carriage that goods way release point can be released in any position on horizontal.

The stacking platform is of a 90-degree V-shaped structure, the goods can be compactly stacked under the combined action of weight and friction force, no extra gap exists between the goods and the goods, the stacking type is stable, the supporting leg of the stacking platform is a telescopic push rod, the stacking platform can vertically lift, the stacking can be connected and stacked in the vertical direction, and the stacking without dead angles on the stacking platform is realized by matching with the horizontal movement of the posture adjusting module.

Claims (6)

1. The utility model provides an automatic pile up neatly equipment, includes fixed band conveyer, slope band conveyer, the band conveyer of lining up, horizontal running gear, track, pile up neatly platform, its characterized in that: the track (1) is fixed on the ground, the track (1) is provided with a transverse walking mechanism (2) in a matching way, the transverse walking mechanism (2) is provided with a rotating mechanism (3), the front part of the rotating mechanism (3) is provided with a rack (4), the rack (4) is also fixed on the transverse walking mechanism (2), the rack (4) is fixed with a queuing belt conveyor (5), the front end of the queuing belt conveyor (5) is connected with the rotating mechanism (3) by a workpiece supply sliding chute (6), the workpiece supply sliding chute (6) is provided with a switch door which is controlled by an air cylinder, the rear end of the queuing belt conveyor (5) is connected with a fixed belt conveyor (8) by an inclined belt conveyor (7), the inclined belt conveyor (7) and the fixed belt conveyor (8) share the same driving shaft, and the fixed belt conveyor (8) is fixedly arranged on a platform (9), the platform (9) is fixedly connected to a rack of the inclined belt conveyor (7) by a connecting rod; a stacking mechanism is arranged beside the transverse travelling mechanism (2), and is fixed on the ground; the stacking mechanism mainly comprises a stacking baffle (10), a stacking platform (11) and a binding machine (12), wherein two ends of the stacking platform (11) are fixed on a stacking platform lifting mechanism (13) in front of the stacking baffle (10), the binding machine (12) is erected at two ends of the stacking platform (11), and one side of the stacking baffle (10) is fixed with a stacking baffle electric cylinder (14).

2. An automatic palletizing apparatus according to claim 1, characterized in that: the rotary mechanism (3) comprises a rotary frame (3-1), a rotary frame motor (3-2), a rotary frame motor encoder (3-3), a cargo channel mechanism, wherein the rotary frame (3-1) is fixed on the transverse travelling mechanism (2), the cargo channel mechanism is fixed on the rotary frame (3-1), two ends of the cargo channel mechanism are respectively fixed with the inner surface of the rotary frame (3-1), and the rotary frame motor (3-2) and the rotary frame motor encoder (3-3) are fixed on one side of the rotary frame (3-1); the goods way mechanism mainly comprises a goods way (3-4), a goods way occupation judgment light eye (3-5), a baffle (3-6), a goods way push-out cylinder (3-8) and a goods way baffle cylinder (3-7), wherein the goods way occupation judgment light eye (3-5) is positioned inside the goods way (3-4), the back of the goods way (3-4) is fixedly provided with the goods way push-out cylinder (3-8) and the goods way baffle cylinder (3-7), a push rod of the goods way baffle cylinder (3-7) is connected with the baffle (3-6), and the baffle (3-6) is arranged above the back of the goods way (3-4).

3. An automatic palletizing apparatus according to claim 1, characterized in that: a smooth hole (6-1) of the piece supplying sliding groove is embedded in the tail part of the piece supplying sliding groove (6), and a piece supplying sliding groove cylinder (6-2) is further connected and arranged on the outer side of the tail part of the piece supplying sliding groove (6).

4. An automatic palletizing apparatus according to claim 1, characterized in that: a transverse travelling mechanism position sensor (2-1) is arranged at the front end of the transverse travelling mechanism (2), and a transverse travelling motor (2-2) is arranged on one side of the transverse travelling mechanism (2); a queuing belt conveyor eyelet (5-1) is embedded in the queuing belt conveyor (5), and a queuing belt conveyor cylinder (5-2) is connected below the queuing belt conveyor (5).

5. An automatic palletizing apparatus according to claim 2, characterized in that: the number of the goods channel mechanisms is 8, and the goods channel mechanisms are uniformly and fixedly distributed on the rotating frame (3-1) in a rotationally symmetrical mode by taking the central shaft of the rotating frame (3-1) as an origin.

6. An automatic palletizing apparatus according to claim 1, characterized in that: the stacking platform (11) is a 90-degree V-shaped platform surface with a low-friction adhesive layer on the surface, and the whole platform surface is fixed on 4 stacking platform lifting mechanisms (13) so that the stacking platform (11) can move up and down.

Images