CN211945376U - Unstacking and stacking machine - Google Patents
Unstacking and stacking machine Download PDFInfo
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- CN211945376U CN211945376U CN201922108095.XU CN201922108095U CN211945376U CN 211945376 U CN211945376 U CN 211945376U CN 201922108095 U CN201922108095 U CN 201922108095U CN 211945376 U CN211945376 U CN 211945376U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 230000006870 function Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 claims 1
- 239000000872 buffer Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
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Abstract
The utility model discloses an unstacking and stacking machine, which is provided with a transmission mechanism and an unstacking and stacking mechanism, wherein the transmission mechanism is positioned at the feeding end of the unstacking and stacking mechanism; the unstacking and stacking mechanism comprises a gantry frame body, a movable cross beam, a sliding beam and a tray gripper, wherein the gantry frame body stretches across the transmission mechanism, the movable cross beam is arranged on the gantry frame body and can lift and move along the vertical direction of the gantry frame body, the movable cross beam is connected with the sliding beam through a cross beam hanger, and the sliding beam can slide in a reciprocating manner along the sliding direction; the sliding beam comprises a first sliding beam and a second sliding beam, the second sliding beam is embedded in a sliding groove at the bottom of the first sliding beam, a tray gripper is arranged below the second sliding beam, and the second sliding beam drives the tray gripper to slide in a reciprocating manner along the direction of the sliding groove; therefore, the automatic conveying of the tray stack and the unstacking of the stacked tray rows are realized, or the stacking and the automatic conveying of the single tray are realized, and the technical problem that the tray can not be automatically conveyed and/or the unstacked tray in the prior art can be effectively solved.
Description
Technical Field
The utility model relates to an intelligence of mill is carried and is snatched equipment, specifically is an unstacking and hacking machine for tray.
Background
The universal pallet of punching and shearing procedure, the supplied materials state all is the pile form usually, this kind can not be got and directly provide the use by AGV fork truck fork, so need before AGV fork truck fork gets the pallet, must tear into the state of single tray with the tray of stack state, supplies AGV fork truck fork to get and directly provide the use.
However, the existing unstacking and stacking equipment is generally specific to materials, for example, chinese utility model patent documents with publication number CN208747165U, publication number 2019, 04, month 16, disclose an automatic unstacking device, which comprises an inclined strut bracket, a push-pull cylinder, a main frame, a lifting device, a bag pushing trolley and a control system; the inclined strut bracket and the main frame are connected into a whole through a movable fulcrum at the bottom end and a push-pull cylinder in the middle, and the main frame is inclined and aligned by the push-pull cylinder during operation; the lifting device comprises a lifting bracket, a lifting cylinder, a chain wheel, a chain, a guide rail and a small walking wheel, wherein a piston rod of the lifting cylinder pushes the chain wheel to move up and down, and the chain is driven to realize the up-and-down movement of the lifting bracket; when the main frame inclines, the package pushing trolley can move back and forth to push the packages to enter the slide way, so that the unstacking and subpackaging functions are realized.
At present, the tray is not unstacked and stacked specially, in order to facilitate direct forking of the forklift, the tray needs to be disassembled automatically in a single state in a stacking state, so that the forklift can fork and fetch the unstacker directly, and the unstacker can be controlled and can be reversely used as a tray stacker. In order to improve the production efficiency and reduce the labor cost, the equipment capable of automatically splitting the stacking state tray is urgently needed.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem, the utility model provides a pile up neatly and hacking machine unpick and pile up neatly for tray, this equipment include conveying part and tear open/pile up neatly part, utilize conveying part buffer memory and/or carry the tray of pile up neatly state to the station of unpick, perhaps carry the tray of single state to the pile up neatly station, then utilize the part of unpick and pile up neatly the tray split of state for independent tray, perhaps form the tray of stack state with single tray pile up neatly to the technical problem of can not carry the tray automatically and/or tear the pile up neatly tray among the prior art has been solved.
The technical scheme of the utility model as follows:
the utility model provides an unpick and hacking machine which characterized in that: the stacking device comprises a transmission mechanism and a stacking disassembling mechanism, wherein the transmission mechanism is positioned at a feeding end of the stacking disassembling mechanism; the unstacking and stacking mechanism comprises a gantry frame body, a movable cross beam, a sliding beam and a tray gripper, wherein the gantry frame body stretches across the conveying mechanism and is fixed on the ground; the tray comprises a tray body, a tray handle and a sliding beam, wherein the sliding beam comprises a first sliding beam and a second sliding beam, a sliding groove is formed in the bottom of the first sliding beam, the second sliding beam is embedded in the sliding groove, the tray handle is installed and connected below one end of the second sliding beam, and the second sliding beam drives the tray handle to slide in a reciprocating mode along the direction of the sliding groove.
The first sliding beam and the second sliding beam are driven by rodless cylinders.
The beam hanger is fixed on the middle section part of the movable beam, and the first sliding beam is connected with the movable beam through the beam hanger so as to enable the first sliding beam to move in the horizontal direction, and therefore the second sliding beam and the tray gripper are driven to reciprocate in the conveying direction.
The beam hanger is provided with a translation motor and a driving gear which are used for driving the first sliding beam, the upper end face of the first sliding beam is provided with a rack matched with the driving gear, and the translation motor is in transmission connection with the rack through the gear to drive the first sliding beam.
The tray tongs are symmetrically provided with at least four grabbing pieces in the central position, and the grabbing pieces are all controlled by the air cylinder, so that the grabbing pieces can be hooked and/or extruded on the side wall of the tray, and the tray is fixed.
Furthermore, each grabbing piece is provided with a distance sensor, and the distance between the tray and the tray grabbers is sensed through the distance sensors. Specifically, when the distance between the tray and the tray gripper is smaller than or equal to a set value, the gripping member grips the tray and puts down the tray under the pushing of the air cylinder.
The movable cross beam is arranged on the gantry frame body through a chain wheel structure, so that the movable cross beam can move up and down along the gantry frame body under the driving of the chain wheel structure.
The transmission mechanism is designed as a roller conveyor, and guard rails are arranged on two sides of the roller conveyor; wherein, roller conveyer is used for placing and carrying the tray, and the industrial guardrail plays the guard action.
Specifically, according to actual conditions, the roller conveyor can be designed into a multi-section conveyor and an industrial protecting net, and segmented control is realized by a sensor and a control system. When the machine is used as an unstacker, the control principle is as follows: when the (N + 1) th conveyor has no tray and the (N) th conveyor has a tray, the tray is conveyed to the (N + 1) th conveyor, wherein N is more than or equal to 1. When the stacker crane is used as a stacker crane, the control principle is as follows: when the N section conveyor has no tray and the N + section conveyor has a tray, the tray is conveyed to the N +1 section conveyor, wherein N is more than or equal to 1.
The multi-section conveyor is designed by mainly adopting a sensor to sense whether a tray exists on the conveyor or not. Specifically, each conveyor segment is provided with a correlation sensor to sense whether a tray is on the conveyor segment.
The unstacking and stacking machine can be logically controlled by a SIEMENS 1200 series PLC, SIEMENS HMI is used as a human-computer interaction interface, and the design is centrally controlled by the PLC.
The technical effects of the utility model are as follows:
the utility model designs a transmission device and pile up neatly mechanism of tearing open, can utilize transmission device to carry the tray of pile up state to the station of breaking a jam and easily divide and tear open, also can carry out the stack with single tray one by one at the pile up neatly station, can easily realize the transport of tray and the operation of breaking a jam, can reduce a large amount of manpower car power, practice thrift the pile up neatly time of breaking a jam of tray, effectively improve automatic production efficiency; in addition, the first sliding beam and the second sliding beam are arranged in the pile removing mechanism, so that the length of the sliding beams can be shortened, and the space occupied by the pile removing device during installation and/or work can be effectively reduced; through the cooperation of the sensor and the control system, the operation of automatically controlling the unstacking and stacking can be realized.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the conveying mechanism of the present invention.
Fig. 3 is a schematic structural view of the unstacking and stacking mechanism of the present invention.
Fig. 4 is another view structure diagram of the unstacking and stacking mechanism of the present invention.
Fig. 5 is another view structure diagram of the unstacking and stacking mechanism of the present invention.
Wherein the reference numerals are: the automatic conveying device comprises a 1 supporting placing position, 2 lifting motors, 3 racks, 4 fixed cross beams, 5 cross beam hangers, 6 movable cross beams, 7 lifting pulley seats, 8 first sliding beams, 9 second sliding beams, 10 tray grippers, 11 industrial protecting nets, 12 tray stacks, 13 conveying mechanisms, 14 control boxes, 15 first section conveyors, 16 second section conveyors, 17 third section conveyors, 19 grabbing pieces, 20 lifting chain wheel mechanisms, 21 translation motors, 22 positioning sensors/buffers, 23 baffles and 24 air cylinders.
Detailed Description
Example 1
As shown in fig. 1, the unstacking and stacking machine comprises a transmission mechanism 13 and a unstacking and stacking mechanism, wherein fences 11 with protection and isolation functions are arranged on two sides of the transmission mechanism 13 and the unstacking and stacking mechanism.
The transmission mechanism 13 is located at a feeding end of the pile removing mechanism, and a support placing position 1 is arranged at the front end of the pile removing mechanism.
The unstacking and stacking mechanism comprises a gantry frame body, a movable cross beam 6, a sliding beam and a tray gripper 10, wherein the gantry frame body stretches across a transmission mechanism 13 and is fixed on the ground, two ends of the movable cross beam 6 are arranged on a fixed cross beam 4 of the gantry frame body, the movable cross beam 6 can lift and move along the vertical direction of the gantry frame body, the movable cross beam 6 is connected with the sliding beam through a cross beam hanger 5, the sliding direction of the sliding beam is consistent with the conveying direction of the transmission mechanism 13, and the sliding beam can slide back and forth along the sliding direction; the sliding beam comprises a first sliding beam 8 and a second sliding beam 9, a sliding groove is formed in the bottom of the first sliding beam 8, the second sliding beam 9 is embedded in the sliding groove, a tray hand grip 10 is installed and connected below one end of the second sliding beam 9, and the second sliding beam 9 drives the tray hand grip 10 to slide in a reciprocating mode along the sliding groove.
The end of the first sliding beam 8 is provided with a baffle 23 which prevents the second sliding beam 9 from falling off interactively.
The movable cross beam 6 is lifted and moved along the vertical direction of the gantry frame body through the lifting motor 2. As shown in fig. 3, the lifting motor 2 is mainly a lifting sprocket mechanism 20.
An independent control box 14 is arranged outside the gantry body and is specially used for controlling the unstacking and stacking operation modes of the equipment.
By adopting the device, the automatic conveying of the tray stack 12 and the unstacking of the stacked tray rows are realized, or the stacking and the automatic conveying of the individual trays are realized.
Example 2
As shown in fig. 3 to 5, on the basis of the structure of embodiment 1, the sliding beam can be specifically designed as follows:
the first sliding beam 8 and the second sliding beam 9 are driven by rodless cylinders.
The crossbeam gallows 5 is fixed in the middle section part of movable crossbeam 6, and first sliding beam 8 passes through crossbeam gallows 5 and is connected with the walking beam to make first sliding beam 8 can move in the horizontal direction, thereby drive second sliding beam 9, tray tongs 10 and reciprocate along the direction of delivery in the lump.
The beam hanger 5 is provided with a translation motor 21 and a driving gear, the translation motor 21 and the driving gear are used for driving the first sliding beam 8, the upper end face of the first sliding beam 8 is provided with a rack 3 matched with the driving gear, and the translation motor 21 is in transmission connection with the rack 3 through the gear to drive the first sliding beam 8.
Specifically, if the sliding beam is a single sliding beam, the minimum range of horizontal movement of the unstacking and stacking machine is the distance between one side of the tray grabbing position far away from the gantry frame body and one side of the tray placing position far away from the gantry frame body plus the distance between the tray grabbing positions (in order to ensure that the tray grabbing hand 10 can move right above the tray grabbing position, the sliding beam must protrude out of one side of the tray grabbing hand 10 close to the tray placing position, and the protruding minimum distance is the distance between the tray grabbing positions and the gantry frame body; in order to ensure that the tray grabbing hand 10 can move right above the tray placing position, the sliding arm must protrude out of one side of the tray grabbing hand 10 close to the tray grabbing position, and the protruding minimum distance is the distance between the gantry frame body and the tray placing position). The sliding beams are arranged into a first sliding beam 8 and a second sliding beam 9, so that the moving range of the unstacking and stacking mechanism in the horizontal direction is reduced to the side, away from the gantry frame body, of the tray grabbing position and the side, away from the gantry frame body, of the tray placing position. And the arrangement of a single sliding beam requires that the distance between the pallet stacks is not less than the distance between the gantry frame body and the pallet placing position and the width of the pallet gripping member 19 (in order to avoid the sliding beam protruding out of one side of the pallet gripper 10 from pushing and/or pressing on the adjacent pallet stacks); it is sufficient to arrange the sliding beams as a first 8 and a second 9 sliding beam so that the distance between adjacent stacks of pallets is larger than the width of the pallet gripper 19. Therefore, the arrangement of the first sliding beam 8 and the second sliding beam 9 can reduce the moving space of the pile removing mechanism during working, and can also reduce the installation space of the pile removing and stacking machine, thereby achieving the purpose of saving space.
Example 3
As shown in fig. 3 to 5, in the structure of embodiment 2, a positioning sensor/or a buffer 22 and an air cylinder 24 are mounted on the pallet hand grip 10. The position sensor/buffer 22 is used for sensing the moving distance of the tray turner 10, and plays a role in buffering and safety protection.
At least four grabbing pieces 19 are symmetrically arranged on the tray grabbing hand 10 in the central position, and the grabbing pieces 19 are all controlled by the air cylinder, so that the grabbing pieces 19 can be hooked and/or extruded on the side wall of the tray, and the tray can be fixed.
Further, each of the gripping members 19 is provided with a distance sensor by which a distance between the pallet and the pallet grip 10 is sensed. Specifically, when the distance between the pallet and the pallet gripper 10 is less than or equal to a set value, the gripping member 19 grips the pallet and puts down the pallet under the pushing of the air cylinder.
Example 4
As shown in fig. 3, on the basis of any of the structures of embodiments 1 to 3, the movable beam 6 is mounted on the gantry body through a sprocket structure, so that the movable beam 6 can move up and down along the gantry body under the driving of the sprocket structure.
Example 5
As shown in fig. 2, on the basis of any of the structures of embodiments 1 to 4, the conveying mechanism 13 is designed as a roller conveyor, and guard rails are arranged on both sides of the roller conveyor; wherein, roller conveyer is used for placing and carrying the tray, and the industrial guardrail plays the guard action.
Specifically, according to actual conditions, the roller conveyor can be designed into a multi-section conveyor and an industrial protecting net, and segmented control is realized by a sensor and a control system. When the machine is used as an unstacker, the control principle is as follows: when the (N + 1) th conveyor has no tray and the (N) th conveyor has a tray, the tray is conveyed to the (N + 1) th conveyor, wherein N is more than or equal to 1. Referring to fig. 2, when the third conveyor 17 has no tray and the first conveyor 15 or the second conveyor 16 has a tray, the tray is conveyed to a set position of the third conveyor 17; when the second conveyor 16 has no tray and the first conveyor 15 has a tray, the tray is conveyed to the set position of the second conveyor 16; when the first conveyor, the second conveyor and the third conveyor have no tray, the control system sends a signal to prompt that no tray exists. When the stacker crane is used as a stacker crane, the control principle is as follows: when the N section conveyor has no tray and the N + section conveyor has a tray, the tray is conveyed to the N +1 section conveyor, wherein N is more than or equal to 1. Also if for the three-stage conveyor design in fig. 2, the conveying principle is: the left side of the third section of conveyor 17 is a feeding end, and when the third section of conveyor 17 has a tray, the tray is conveyed to the second section of conveyor 16, and then the tray is conveyed to the set position of the first section of conveyor 15; when the first conveyor, the second conveyor and the third conveyor have no tray, the control system sends a signal to prompt that no tray exists.
Example 6
In any of the configurations of embodiment 5, the multi-stage conveyor is designed to mainly use a sensor to sense whether a tray is on the conveyor. Specifically, each conveyor segment is provided with a correlation sensor to sense whether a tray is on the conveyor segment.
The control system can adopt SIEMENS 1200 series PLC to carry out logic control, SIEMENS HMI is used as a human-computer interaction interface, and design is controlled in a centralized way through the PLC.
Claims (10)
1. The utility model provides an unpick and hacking machine which characterized in that: comprises a transmission mechanism (13) and an unstacking and stacking mechanism; protective guards (11) with protection and isolation functions are arranged on the two sides of the transmission mechanism (13) and the unstacking mechanism, and the transmission mechanism (13) is positioned at the feeding end of the unstacking mechanism; the unstacking and stacking mechanism comprises a gantry frame body, a movable cross beam (6), a sliding beam and a tray gripper (10), the gantry frame body stretches across the transmission mechanism (13) and is fixed on the ground, two ends of the movable cross beam (6) are mounted on the gantry frame body, the movable cross beam (6) can move up and down along the vertical direction of the gantry frame body, the movable cross beam (6) is connected with the sliding beam through a cross beam hanger (5), the sliding direction of the sliding beam is consistent with the conveying direction of the transmission mechanism (13), and the sliding beam can slide back and forth along the sliding direction; the sliding beam comprises a first sliding beam (8) and a second sliding beam (9), a sliding groove is formed in the bottom of the first sliding beam (8), the second sliding beam (9) is embedded in the sliding groove, a tray gripper (10) is installed and connected below one end of the second sliding beam (9), and the second sliding beam (9) drives the tray gripper (10) to slide in a reciprocating mode along the direction of the sliding groove; the movable cross beam (6) is lifted and moved along the vertical direction of the gantry frame body through a lifting motor (2); the lifting motor (2) adopts a lifting chain wheel mechanism (20).
2. An unstacking and stacking machine as in claim 1 wherein: the first sliding beam (8) and the second sliding beam (9) are driven by rodless cylinders.
3. An unstacking and stacking machine as in claim 1 wherein: the crossbeam hanger (5) is fixed at the middle section part of the movable crossbeam (6), and the first sliding beam (8) is connected with the movable beam through the crossbeam hanger (5); the first sliding beam (8) can move along the horizontal direction to drive the second sliding beam (9) and the tray gripper (10) to move together.
4. An unstacking and stacking machine as in claim 1 or 3 wherein: the beam hanger (5) is provided with a translation motor (21) and a driving gear, the translation motor is used for driving the first sliding beam (8), the upper end face of the first sliding beam (8) is provided with a rack (3) matched with the driving gear, and the translation motor (21) is in transmission connection with the rack (3) through the gear to drive the first sliding beam (8).
5. An unstacking and stacking machine as in claim 1 wherein: the tray gripper (10) is symmetrically provided with at least four gripping parts (19) at the central position, and the gripping parts (19) control the gripping or putting down action through cylinders.
6. An unstacking and stacking machine as in claim 1 wherein: a distance sensor for sensing the distance between the pallet and the pallet gripper (10) is arranged on each gripping element (19).
7. An unstacking and stacking machine as in claim 1 wherein: the movable cross beam (6) is arranged on the gantry frame body through a chain wheel structure, and the chain wheel structure drives the movable cross beam (6) to move up and down along the gantry frame body.
8. An unstacking and stacking machine as in claim 1 wherein: the conveying mechanism (13) is designed as a roller conveyor, and fences are arranged on two sides of the roller conveyor.
9. An unstacking and stacking machine as in claim 8 wherein: the roller conveyor comprises a multi-section conveyor, and each section of conveyor is provided with a correlation sensor.
10. An unstacking and stacking machine as in claim 1 wherein: logic control is carried out by adopting SIEMENS 1200 series PLC, SIEMENS HMI is used as a human-computer interaction interface, and the unstacking and stacking machine is controlled in a centralized way by the PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922108095.XU CN211945376U (en) | 2019-11-29 | 2019-11-29 | Unstacking and stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922108095.XU CN211945376U (en) | 2019-11-29 | 2019-11-29 | Unstacking and stacking machine |
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| Publication Number | Publication Date |
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| CN211945376U true CN211945376U (en) | 2020-11-17 |
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| CN201922108095.XU Active CN211945376U (en) | 2019-11-29 | 2019-11-29 | Unstacking and stacking machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112811197A (en) * | 2020-12-23 | 2021-05-18 | Tcl海外电子（惠州）有限公司 | Stacking equipment |
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2019
- 2019-11-29 CN CN201922108095.XU patent/CN211945376U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112811197A (en) * | 2020-12-23 | 2021-05-18 | Tcl海外电子（惠州）有限公司 | Stacking equipment |
| CN112811197B (en) * | 2020-12-23 | 2022-11-04 | 茂佳科技(广东)有限公司 | Stacking equipment |
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