CN210735466U - Charging machine and material transfer equipment - Google Patents

Abstract

A charging machine comprises a fixed frame, a tray lifting module and a tray overturning module, wherein the tray overturning module comprises a tray fork connected with a fixed frame rotating pair, a clamp arranged on the tray fork and a tray fork driving part used for driving the tray fork to rotate; the tray lifting module is used for lifting the tray between the clamps and comprises two groups of lifting units which are arranged oppositely, each group of lifting units comprises a lifting arm which is connected with the fixing frame in a sliding mode and a lifting arm driving part which is used for driving the lifting arm to lift, and a gap is reserved between the lifting arms of the two groups of lifting units. The material transfer equipment comprises a tray, a tray transfer trolley and the charging machine, wherein a gap between lifting arms of two groups of lifting units is wider than the width of the tray transfer trolley. The transfer and unloading operation of the materials with lower yield can be realized.

Description

Charging machine and material transfer equipment

Technical Field

The utility model relates to a charging equipment technical field, concretely relates to charger, a material transfer equipment.

Background

When food processing production, because each station is far away, need material transfer equipment to shift the intermediate product to next station. For example, ham sausage and hot dog paste are packaged and then need to be transferred to a sterilizing device for sterilization. Generally, moisture is carried on the surface of a preliminarily packaged ham sausage or hot dog. The disinfection equipment generally adopts a steam disinfection principle to disinfect, the height of the equipment is about 1.5m, and the ambient temperature is about 50-70 ℃.

Chinese patent document CN207434491U, published in 6/1/2018, describes an automatic tray turning and dumping device, which includes a turning and dumping mechanism including a turning support frame and a tray turning mechanism. This technical scheme sets up tray tilting mechanism at tray transfer chain middle part to realize 180 degrees upsets to the tray.

According to the workshop productivity data, the automatic tray overturning and pouring device is not economical and practical.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is how to realize the material transfer and the operation of unloading of less productivity, for this, the utility model provides a loader, a material transfer equipment.

In order to solve the technical problem, the utility model adopts the following technical scheme:

designing a charging machine, which comprises a fixed frame, a tray lifting module and a tray overturning module, wherein the tray overturning module comprises a tray fork connected with a fixed frame rotating pair, a clamp arranged on the tray fork and a tray fork driving part used for driving the tray fork to rotate; the tray lifting module is used for lifting the tray between the clamps and comprises two groups of lifting units which are arranged oppositely, each group of lifting units comprises a lifting arm which is connected with the fixing frame in a sliding mode and a lifting arm driving part which is used for driving the lifting arm to lift, and a gap is reserved between the lifting arms of the two groups of lifting units.

Preferably, the fixing frame comprises two groups of fixing portions which are oppositely arranged, the tray fork comprises a rotating shaft and two fork rods which are fixedly connected, the rotating shaft is connected with two groups of rotating pairs of the fixing portions on two sides, and an output shaft of the driving portion of the tray fork is in transmission connection with the rotating shaft.

Preferably, the clamp also comprises a control module, the lifting arm driving part and the tray fork driving part both select motors, the clamp selects a pneumatic actuator, the control module comprises a controller, a first motor forward and reverse rotation driver, a second motor forward and reverse rotation driver, two tray fork position switches for acquiring the travel range of the tray fork, two lifting arm position switches for acquiring the position of the lifting arm and an electromagnetic valve, the electromagnetic valve is connected in series on the gas circuit of the pneumatic actuator, a plurality of input ends of the controller are respectively and correspondingly and electrically connected with the tray fork position switches and the lifting arm position switches, a plurality of output ends of the controller are respectively and correspondingly and electrically connected with the first motor forward and reverse rotation driver, the second motor forward and reverse rotation driver and the electromagnetic valve, the load end of the first motor forward and reverse rotation driver is connected in series on the power supply circuit of the lifting arm driving part, and the load end of the second motor forward and reverse rotation driver is connected in series with a power circuit of the tray fork driving part.

The material transfer equipment comprises a tray, a tray transfer trolley and the charging machine, wherein a gap between lifting arms of two groups of lifting units is wider than the width of the tray transfer trolley.

Preferably, the two sets of the loading machines are provided, rotating shafts of tray forks of the two sets of the loading machines are vertically arranged, the first set of the loading machine is used for overturning the tray so as to convert the tray into a discharged tray, and the second set of the loading machine is used for transferring the discharged tray to the avoiding position.

Preferably, the tray has a tray body and a stacking fixing portion for statically connecting two trays arranged in a stacking manner in a horizontal direction.

Furthermore, drain holes are formed in the side wall and the bottom wall of the tray body.

Furthermore, the side surface of the tray body is fixedly connected with a fork tool hanging lug.

The utility model has the advantages that:

(1) the loading machine can realize supporting of the high-low tray and turn over the tray to pour out the materials in the tray;

(2) the material transfer equipment can realize the transfer and continuous unloading operation of the tray.

Drawings

Fig. 1 is a structural diagram of the material transfer apparatus of the present invention.

Fig. 2 is a top view of the loader of the material transfer device of the present invention.

Fig. 3 is a front sectional view of the loader of the material transfer device of the present invention.

Fig. 4 is a front view of a loader of the material transfer apparatus of the present invention.

Fig. 5 is a top view of the material transfer apparatus of the present invention.

Fig. 6 is a power circuit diagram of a control module of the charging machine according to the present invention.

Fig. 7 is a circuit diagram of a controller of a control module of a loader according to the present invention.

Fig. 8 is a peripheral circuit diagram of a control module of the charging machine according to the present invention.

In the figure, 1-cart, 2-pallet, 3-loader, 30-mount, 301-vertical guideway, 31-pallet-lift module, 311-lift arm, 3111-runner, 3112-pallet-arm, 3121-lift-arm drive, 3122-first guide wheel, 3123-first traction rope, 3124-second guide wheel, 3125-second traction rope, 32-pallet-tip module, 321-pallet-fork, 3211-spindle, 3212-fork lever, 322-clamp, 3231-pallet-fork drive, 3232-worm wheel, 4-first loader, 5-second loader, 61-lift-arm position sensor.

Detailed Description

The following embodiments are only intended to illustrate the present invention in detail, and do not limit the scope of the present invention in any way.

Example 1: a loader, see fig. 1-4, comprises a mounting frame 30, a pallet lifting module 31, and a pallet turning module 32. Preferably, the fixing frame 30 includes two sets of fixing portions disposed oppositely.

The tray turnover module 32 includes a tray fork 321 connected to a revolute pair of the fixed frame 30, a clamp 322 mounted on the tray fork 321, and a tray fork driving part 3231 for driving the tray fork 321 to rotate. The tray fork 321 includes a rotating shaft 3211 and two fork rods 3212, the rotating shaft 3211 is connected to two sets of fixed part rotating pairs on two sides, and an output shaft of the tray fork driving part 3231 is in transmission connection with the rotating shaft 3211. The clamp 322 selects a pneumatic actuator, a piston rod through hole is arranged on the fork rod 3212, the piston rod of the pneumatic actuator is in clearance fit with the piston rod through hole, a cylinder body of the pneumatic actuator is arranged on the fork rod 3212, a clamping part is arranged on the piston rod on the other side of the fork rod 3212, and one surface of the clamping part connected with the outer wall of the tray is a plane. The grip may be formed of a hard plate and a rubber cleat secured together. To avoid rotation of the clamping portion, a pneumatic actuator preferably has more than two piston rods. The number of the clamps 322 is more than 4, and two clamps are installed on each fork lever 3211 to stably clamp the tray. The tray fork driving part 3231 selects a motor, the motor is fixed on the fixing frame, an output shaft of the motor is fixedly connected with a worm through a coupling, a worm wheel 3232 is fixedly connected with a coaxial key on the rotating shaft 3211, the worm is meshed with the worm wheel 3232, and the worm wheel form reverse self-locking meshing.

The tray lifting module 31 is used for lifting the tray 2 between the clamps 322, and includes two sets of lifting units which are arranged oppositely, each set of lifting unit includes a lifting arm 311 which is connected with the fixing frame 30 in a sliding manner, and a lifting arm driving portion 3121 which is used for driving the lifting arm 311 to lift, and a gap is left between the lifting arms 311 of the two sets of lifting units. Referring to fig. 1-3, the two sets of fixing portions are provided with vertical guide slots 301, the lifting arm 311 includes an "H" shaped frame, a rotating wheel pivotally mounted on a vertical rod of the "H" shaped frame, and a supporting arm 3112 fixedly connected to a cross rod of the "H" shaped frame, each vertical rod of the "H" shaped frame is provided with at least two rotating wheels, and each rotating wheel is wholly or partially disposed in the vertical guide slot 301. The lifting arm driving part selects a motor, the motor is fixed on a fixed frame, a wire winding wheel is installed on an output shaft of the motor, a first guide wheel 3122 and a second guide wheel 3124 are respectively pivoted on each group of fixed parts, a first traction rope 3123 is wound around the first guide wheel 3122, one end of the first traction rope is fixed on the lifting arm 311, the other end of the first traction rope 3122 is fixed on the wire winding wheel, a second traction rope 3125 is wound around the first guide wheel 3122 and the second guide wheel 3124, one end of the second traction rope 3125 is fixed on the lifting arm 311, and the other end of the second traction rope is fixed on the wire winding wheel. Like this, when the motor during operation, the motor output shaft drives the kinking wheel and rotates when twining the wheel with first haulage rope 3123, second haulage rope 3125 winding on the kinking wheel, first haulage rope 3123, second haulage rope 3125 just can stimulate the lifing arm and rise along vertical guide slot 301, and when the motor output shaft drives the kinking wheel and rotates first haulage rope 3123, the slow lax of second haulage rope 3125, the lifing arm will descend under the action of gravity.

Preferably, the system also comprises a control module, wherein the control module comprises a controller U90, a first motor forward and reverse rotation driver, a second motor forward and reverse rotation driver, two tray fork position switches for acquiring a tray fork stroke interval, two lifting arm position switches for acquiring a lifting arm position and an electromagnetic valve, referring to fig. 6-8, the controller U90 selects an STM32F103 type single chip microcomputer, and a peripheral circuit of the controller U90 comprises a storage module, an input module and an output module; the power supply circuit of the control module comprises an MC33063A power supply chip, an AVDD output end outputs 3.3VDC voltage, and a VCC output end outputs 5VDC voltage; the memory module mainly comprises a W25Q64CV type memory chip; the input module mainly comprises a potentiometer RP87, and a pin 26 of a controller U90 is used as an A/D functional pin; the output module is mainly composed of a light emitting diode D871. The electromagnetic valve YV1, the electromagnetic valve YV2, the electromagnetic valve YV3 and the electromagnetic valve YV4 are respectively connected in series on the air path of the corresponding pneumatic actuator, the electromagnetic valve YV1 is controlled by a control circuit formed by a triode Q311 and a direct current relay KM31, the electromagnetic valve YV2 is controlled by a control circuit formed by a triode Q321 and a direct current relay KM32, the electromagnetic valve YV3 is controlled by a control circuit formed by a triode Q331 and a direct current relay KM33, and the electromagnetic valve YV4 is controlled by a control circuit formed by a triode Q341 and a direct current relay KM 34. The forward and reverse rotation driver of the first motor comprises a forward and reverse rotation relay KM71, the forward and reverse rotation driver of the second motor comprises a forward and reverse rotation relay KM72, the forward and reverse rotation relay KM71 and the forward and reverse rotation relay KM72 are selected from SSR-3ZF forward and reverse rotation relays produced by Deleisi corporation, and the triode Q711, the triode Q712, the triode Q721 and the triode Q722 are used as voltage amplification elements. A plurality of input ends of the controller U90 are respectively and correspondingly electrically connected with the lifting arm position switch SQ711, the lifting arm position switch SQ712, the tray fork position switch SQ721 and the tray fork position switch SQ722, a plurality of output ends of the controller U90 are respectively and correspondingly electrically connected with a control end of the first motor forward and reverse rotation driver, a control end of the second motor forward and reverse rotation driver, a control end of the electromagnetic valve YV1, a control end of the electromagnetic valve YV2, a control end of the electromagnetic valve YV3 and a control end of the electromagnetic valve YV4, a load end of the first motor forward and reverse rotation driver is connected in series with a power supply circuit of the lifting arm driving part, and a load end of the second motor forward and reverse rotation driver is connected in series with a power supply circuit of the tray fork driving part. It should be understood that the high level of the controller U90 is lower than 3.3VDC, therefore, the resistor R713, the resistor R714, the resistor R723, and the resistor R724 should be selected with proper specifications to make the high level signals of the signals M71-A3, M71-a4, M72-A3, and M72-a4 meet the high level signal requirements of the controller U90.

Before the lifting arm lifting device is used, a lifting arm position switch SQ711 used for acquiring a lifting arm stroke interval is arranged at the position at the bottom end of a lifting arm moving range, a lifting arm position switch SQ712 used for acquiring a lifting arm stroke interval is arranged at the highest position of a tray on a tray fork, wherein a clamp on the tray fork can clamp the tray at the top of a lifting arm, and when the lifting arm supports the tray to ascend and the clamp on the tray fork can clamp the tray at the top of the lifting arm, the lifting arm position switch SQ712 can send a material sensing signal. A pallet fork position switch SQ721 and a pallet fork position switch SQ722 for acquiring a pallet fork stroke section are respectively provided at both ends of the pallet fork rotation area. The solenoid valve YV1, the solenoid valve YV2, the solenoid valve YV3, and the solenoid valve YV4 are connected to an output air path of the air compressor. The 24VDC input power is connected to the corresponding wiring locations of fig. 6-8.

In the initial state, pin 8, pin 9, pin 10, pin 11, pin 24, pin 25, pin 37, pin 38, pin 39, pin 40, pin 51, pin 52, and pin 28 of the controller U90 are all set to low. When the automatic loading machine is used, after the working mode of the loading machine is set by the rotary potentiometer RP87, the light emitting diode flickers once, the flickering mode corresponding to the working mode of the loading machine is displayed after 3s, and then the working mode is automatically operated. For example, 3 trays are arranged on the lifting arm, and after the working mode of the loader is set to be 3, the light-emitting diode flickers once, and after 3 times of continuous flashing, the loader starts to work after 3 seconds. Pin 8 of the controller U90 sends out a high level, pin 9 sends out a low level, the first motor forward and reverse rotation driver drives the lifting arm driver to rotate forward, the output shaft of the lifting arm driver drives the lifting arm to ascend, after the lifting arm position switch SQ712 sends out a high level signal, pin 8 of the controller U90 sends out a low level, pin 9 sends out a low level, and the lifting arm driver stops. The pin 39, the pin 40, the pin 51 and the pin 52 of the controller U90 simultaneously send high level signals, the corresponding pneumatic actuator is communicated with an output air path of the air compressor by the electromagnetic valve YV1, the electromagnetic valve YV2, the electromagnetic valve YV3 and the electromagnetic valve YV4, a piston rod of the pneumatic actuator extends out, and the tray is clamped. Pin 24 of controller U90 sends high level, and pin 25 sends low level, and the tray fork driver corotation is driven to tray fork driver corotation to the second motor just reverse rotation driver, and the output shaft of tray fork driver drives the tray fork and rotates to target material level side. When the output shaft of the pallet fork driver drives the pallet fork to rotate to the farthest movable end of the target material level side, the pallet fork position switch SQ721 sends out a high-level signal, and the material in the pallet is also poured out. Then, the pin 39, the pin 40, the pin 51, and the pin 52 of the controller U90 simultaneously send low level signals, the solenoid valve YV1, the solenoid valve YV2, the solenoid valve YV3, and the solenoid valve YV4 disconnect the corresponding pneumatic actuator from the output air path of the air compressor, the piston rod of the pneumatic actuator retracts, and the tray is removed by other devices after falling off. Then, pin 24 of controller U90 goes low, pin 25 goes high, the second motor forward/reverse driver drives the tray fork driver to rotate in reverse, and the output shaft of the tray fork driver drives the tray fork to rotate toward the tray side. When the output shaft of the pallet fork driver drives the pallet fork to reset, the pallet fork position switch SQ722 sends out a high level signal, the pin 24 of the controller U90 sends out a low level, the pin 25 sends out a low level, and the pallet fork driver stops working. After so the cubic, 3 trays on the lifting arm are all unloaded, pin 8 of controller U90 sends the low level, pin 9 sends the high level, first motor is just reversing driver drive lifting arm driver reversal, the output shaft of lifting arm driver drives the lifting arm and descends, after lifting arm position switch SQ711 sends the high level signal, pin 8 of controller U90 sends the low level, pin 9 sends the low level, the lifting arm driver is shut down.

In a working cycle, in the resetting process of the pallet fork driver or after the resetting, pin 8 of the controller U90 sends out a high level, pin 9 sends out a low level, the first motor forward and reverse rotation driver drives the lifting arm driver to rotate forward, the output shaft of the lifting arm driver drives the lifting arm to ascend, and when the lifting arm position switch SQ712 sends out a high level signal, pin 8 of the controller U90 sends out a low level, pin 9 sends out a low level, and the lifting arm driver stops. It should be noted that it is to be avoided that the position switch SQ712 is mistaken for the detection of a pallet fork during the resetting of the pallet fork as a result of which the uppermost pallet of the lifting arm has reached a position at which the gripper on the pallet fork can grip.

Example 2: a material transfer apparatus, see Figs. 1-8, comprising a pallet 2, a pallet transfer car 1 and a loader 3 in embodiment 1, wherein in the pallet loader 3, the gap between the lift arms of two sets of lift units is wider than the width of the pallet transfer car 1 but narrower than the width of the pallet 2, so that the pallet on the pallet transfer car 1 can be lifted without affecting the use of the pallet transfer car 1.

Preferably, the loading machines 3 are provided in two sets, the axes of rotation of the pallet forks of which are arranged vertically, a first set of loading machines 4 for turning the pallet 2 over in order to convert it into a discharged pallet, and a second set of loading machines 5 for transferring the discharged pallet to the avoidance position.

Preferably, the tray 2 has a fixedly connected tray body and a stacking fixing portion for statically connecting two trays stacked in a horizontal direction. Furthermore, drain holes are formed in the side wall and the bottom wall of the tray body. Furthermore, the side surface of the tray body is fixedly connected with a fork tool hanging lug. In fig. 4 the flange of the upper part of the pallet body forms a fork lug.

Referring to fig. 5, in use, before the pallet fork of the first set of loader 4 drives the pallet to overturn and unload, the pallet fork of the second set of loader 5 firstly overturns to the farthest position to clamp and accept the unloaded pallet rolled out by the first set of loader 4, and after the pallet fork of the first set of loader 4 is reset, the pallet fork of the second set of loader 5 drives the clamp to clamp the unloaded pallet to be placed on the lifting arm thereof, and unlike the lifting arm of the first set of loader 4 which needs to drive the pallet to ascend, the lifting arm of the second set of loader 5 needs to drive the unloaded pallet to descend.

The present invention has been described in detail with reference to the accompanying drawings and embodiments, but those skilled in the art will understand that various specific parameters in the above embodiments can be changed without departing from the spirit of the present invention to form a plurality of specific embodiments, which are the common variation ranges of the present invention and will not be described in detail herein.

Claims (8)

1. The charging machine is characterized by comprising a fixed frame, a tray lifting module and a tray overturning module, wherein the tray overturning module comprises a tray fork connected with a fixed frame rotating pair, a clamp arranged on the tray fork and a tray fork driving part used for driving the tray fork to rotate; the tray lifting module is used for lifting the tray between the clamps, the tray lifting module comprises two sets of lifting units which are oppositely arranged, each set of lifting unit comprises a lifting arm which is in sliding connection with the fixing frame and a lifting arm driving part which is used for driving the lifting arm to lift, and a gap is reserved between the lifting arms of the two sets of lifting units.

2. The charging machine according to claim 1, wherein the fixed frame comprises two sets of fixed parts which are oppositely arranged, the tray fork comprises a rotating shaft and two fork rods which are fixedly connected, the rotating shaft is connected with two sets of fixed part rotating pairs on two sides, and an output shaft of the driving part of the tray fork is in transmission connection with the rotating shaft.

3. The loading machine according to claim 1, further comprising a control module, wherein the lifting arm driving portion and the tray fork driving portion are both selected by motors, the clamp is selected by a pneumatic actuator, the control module comprises a controller, a first motor forward/reverse driver, a second motor forward/reverse driver, two tray fork position switches for acquiring a tray fork stroke range, two lifting arm position switches for acquiring a lifting arm position, and a solenoid valve, the solenoid valve is connected in series to an air path of the pneumatic actuator, a plurality of input ends of the controller are respectively and electrically connected to the tray fork position switches and the lifting arm position switches, a plurality of output ends of the controller are respectively and electrically connected to the first motor forward/reverse driver, the second motor forward/reverse driver, and the solenoid valve, a load end of the first motor forward/reverse driver is connected in series to a power supply circuit of the lifting arm driving portion, and the load end of the second motor forward and reverse rotation driver is connected in series with a power circuit of the tray fork driving part.

4. A material transfer apparatus comprising a pallet, a pallet car, and characterized by further comprising a loader according to any one of claims 1-3, wherein the gap between the lifting arms of the two sets of lifting units is wider than the width of the pallet car.

5. The material relay apparatus as claimed in claim 4, wherein said loader has two sets, the rotational axes of the pallet forks of the two sets of loaders are arranged vertically, the first set of loader is for turning the pallet upside down to convert it into a discharged pallet, and the second set of loader is for transferring the discharged pallet to the avoidance position.

6. The material transfer apparatus of claim 4, wherein the tray has a tray body and a stacking fixing portion for statically connecting two trays stacked in a horizontal direction.

7. The material transfer apparatus of claim 6, wherein the tray body has drainage holes on the side wall and the bottom wall.

8. The material transfer apparatus of claim 6, wherein a fork hanger is further fixedly connected to a side of the tray body.

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