CN213651236U - Integrated system for unstacking, stacking and loading - Google Patents
Integrated system for unstacking, stacking and loading Download PDFInfo
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- CN213651236U CN213651236U CN202022418020.4U CN202022418020U CN213651236U CN 213651236 U CN213651236 U CN 213651236U CN 202022418020 U CN202022418020 U CN 202022418020U CN 213651236 U CN213651236 U CN 213651236U
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- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 238000007599 discharging Methods 0.000 claims abstract description 9
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- 230000008569 process Effects 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 2
- 230000010354 integration Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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Abstract
The utility model relates to an unstacking, stacking and loading integrated system, which comprises a loading platform, wherein the loading platform is provided with a conveying line, an unstacking and stacking manipulator is arranged on the conveying line, one side of the loading platform is provided with an unstacking and stacking device, the unstacking and stacking device comprises a ground rail, a plurality of conveying sections are arranged on the ground rail, and respectively comprise a tray conveying section, an unstacking and stacking conveying section and a material conveying section, the material conveying section and the tray conveying section are respectively provided with a forward and reverse rotating conveying motor, the unstacking and stacking conveying section comprises a base and a lifting platform arranged on the base, a lifting mechanism is connected between the lifting platform and the base, the lifting platform has an unstacking and stacking position and a feeding and discharging position in the process of being driven to move up and down, the tray unstacking and stacking mechanism is arranged on the tray conveying section, in-place sensors are arranged between the conveying sections, the operation is convenient, and the, the work of unstacking and stacking of materials can be realized without excessive manual control.
Description
Technical Field
The utility model relates to a pile up neatly loading integration system of breaking a jam.
Background
In the prior art, the automatic loading system conveys materials to the loading platform one by one through the conveying belt, and stacks the materials to the traveling crane one by one through the manipulator, but the existing automatic loading system can realize automatic loading, but before loading or when not loading, corresponding materials need to be stacked, or stacked materials need to be unstacked for loading and the like. And generally adopt the form of manual work pile up neatly of breaking a jam in the present field, whole conveying efficiency is lower, wastes a large amount of manpower and materials moreover, increases the cost.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a pile up neatly loading integration system breaks a jam to the problem that needs extravagant a large amount of manpowers when solving the loading platform pile up neatly of breaking a jam among the prior art.
In order to solve the problem, the utility model relates to a pile up neatly loading integration system of breaking a jam adopts following technical scheme:
the unstacking, stacking and loading integrated system comprises a loading platform, wherein the loading platform is provided with a conveying line extending leftwards and rightwards, an unstacking and stacking manipulator is arranged on the conveying line, an unstacking and stacking device is arranged on one side of the loading platform, the unstacking and stacking device comprises a ground rail, a plurality of parallel conveying sections which are sequentially arranged along the left direction and the right direction are arranged on the ground rail, each conveying section is defined to be a tray conveying section, an unstacking and stacking conveying section and a material conveying section respectively, the material conveying section and the tray conveying section are provided with forward and reverse conveying motors respectively, the unstacking and stacking conveying section comprises a base and a lifting platform arranged on the base, a lifting mechanism is connected between the lifting platform and the base, the lifting platform has an unstacking and stacking position which is upwards parallel to the upper end of the conveying line in the process of driving and moving upwards and also has a feeding and discharging position which is downwards parallel to the upper ends of the tray conveying section and, the tray conveying sections are provided with tray unstacking and stacking mechanisms, and in-place sensors are arranged among the conveying sections.
Furthermore, many stands have on the base, be equipped with on the stand be used for with the guide rail of lift platform direction assembly, the guide rail extends along upper and lower direction, be equipped with on the guide rail be used for with lift platform spacing down spacing cooperation in order to with the spacing limit structure at the feeding discharge material level of lift platform.
Furthermore, the lifting mechanism comprises two connecting rods hinged with each other in the middle, one end of one connecting rod is hinged to the base, the other end of the other connecting rod is assembled with the jacking platform in a horizontally-guided sliding mode, one end of the other connecting rod is hinged to the jacking platform, the other end of the other connecting rod is assembled with the base in a horizontally-guided sliding mode, and a driving air cylinder is connected between one connecting rod and the base.
Furthermore, the material conveying section comprises at least two sections of independent conveying belts which are sequentially arranged end to end, and the in-place sensors are uniformly distributed on the conveying belts.
Further, pile up neatly device of breaking a jam all fixes on removing the frame including removing the frame, each transport section, be equipped with on removing the frame and be used for rolling the walking wheel of assembling in order to realize pile up neatly device translation with the ground rail, it is used for the pivoted driving motor of walking wheel to remove to be equipped with on the frame.
Further, the tray unstacking and stacking mechanism comprises unstacking and stacking frames arranged on two sides of the tray conveying section, a longitudinal driving cylinder used for driving the unstacking and stacking frames to move up and down is connected to the tray conveying section, the tray unstacking and stacking mechanism further comprises clamping plates which are horizontally guided and assembled on the unstacking and stacking frames respectively along the conveying direction of the vertical tray conveying section, the two clamping plates move relatively to clamp the trays, the two clamping plates are mutually far away from each other to release the trays, and a transverse driving cylinder used for driving the two clamping plates to move is further arranged on the tray frame.
Furthermore, the material conveying section and the tray conveying section are uniformly provided with an orientation mechanism, the orientation mechanism comprises guide plates arranged on two sides of the corresponding conveying section, the entering end of each guide plate is a wedge-shaped surface extending towards the conveying section in an inclined mode, and the guide plates are provided with a plurality of guide positioning wheels.
The utility model has the advantages as follows: compared with the prior art, the utility model relates to an integrated system for unstacking, stacking and loading, in the actual use process, when loading is not carried out, the manipulator loads each material on the conveying line one by one; when the selective unstacking is carried out, a material stack enters the unstacking and stacking conveying section from the material conveying section, the lifting platform lifts the material entering the lifting platform to an unstacking and stacking position, the material is grabbed by the manipulator to unstack and load, then the lifting platform descends to a feeding and discharging position, and the tray is stacked by the tray stacking mechanism and then conveyed out; when selecting the pile up neatly, empty tray buttress gets into tray transport section from tray transport section, and tray pile up neatly mechanism of breaking a jam sends into the tray on the tray buttress one by one to lift platform, later lift platform with empty tray jacking to pile up neatly position of breaking a jam, snatch the material through the manipulator and pile up neatly, the manipulator snatchs the material from the transfer line and sign indicating number into the material on the tray and chops, later lift platform descends to the feeding material level of leaving, the material chops and is carried out by material transport section, realizes the pile up neatly process of breaking a jam that the material chops.
Overall structure is fairly simple, convenient operation moreover, and whole process is whole automatic, does not need too much manual control can realize the pile up neatly work of breaking a jam of material, and the very big personnel selection cost and the cost that generates that saves mill improve the efficiency of pile up neatly of breaking a jam.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described as follows:
fig. 1 is a schematic structural view of a specific embodiment of the unstacking, stacking and loading integrated system of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic view of the unstacking and stacking apparatus of FIG. 1 in a conveying position with a stack of material and a stack of trays;
FIG. 4 is a schematic view of the lifting platform of FIG. 3 in a lowered position;
FIG. 5 is a top view of FIG. 4;
FIG. 6 is a schematic diagram illustrating a state that the jacking platform is lifted in FIG. 3;
fig. 7 is a schematic view illustrating a state in which the jacking platform of fig. 6 is lowered.
Description of reference numerals: 1-automatic car loader; 2-conveying line; 3-a manipulator; 4-a unstacking and stacking device; 5-a first conveyor; 6-a second conveyor; 7-a third conveyor; 8-a fourth conveyor; 9-a fifth conveyor; 10-a lifting device; 11-a clamping device; 12-a position sensor; 13-a ground rail; 14-a road wheel; 15-a walking trolley; 16-a drive motor; 17-an orientation mechanism; 18-a guide plate; 19-wedge face; 20-micro positioning wheel; 21-a base; 22-upright post; 23-a lifting platform; 24-a lifting mechanism; 25-a stopper; 26-a connecting rod; 27-a driving cylinder; 28-unstacking and stacking rack; 29-a clamping plate; 30-longitudinal driving cylinder; 31-transverse driving cylinder; 32-a stack of pallets; 33-stack of material.
Detailed Description
In order to make the technical purpose, technical solution and advantageous effects of the present invention clearer, the technical solution of the present invention is further described below with reference to the accompanying drawings and specific embodiments.
The utility model relates to a pile up neatly loading integration system's of breaking a jam concrete embodiment: as shown in fig. 1 to 7, fig. 1 and 2 show an unstacking, stacking and loading integrated system, which includes an automatic loader 1 and an unstacking and stacking device 4, wherein the whole structure and the working principle of the automatic loader 1 are in the prior art, and the system mainly includes a manipulator 3 arranged on the conveying line 2 and used for grabbing materials, and the manipulator 3 is a double-vacuum-chuck gripper, and can grab materials from the conveying line 2 and load the materials, also can unstack and grab materials from the unstacking and stacking device 4 and load the materials, and also can grab materials from the conveying line 2 and stack the materials on the unstacking and stacking device 4. The structure of the automatic loading machine 1 is not described in detail because it is a prior art.
For the unstacking and stacking device 4, as shown in the figure, the unstacking and stacking device comprises a first conveyor 5, a second conveyor 6, a third conveyor 7, a lifting device 10 arranged on the third conveyor, a fourth conveyor 8, a clamping device 11 arranged on the fourth conveyor, and a fifth conveyor 9, wherein the conveyors are sequentially arranged end to end along the left-right direction, so that materials and corresponding trays can be smoothly conveyed from left to right or from right to left. Wherein the first conveyor 5 and the second conveyor 6 constitute a material conveying section for conveying material; the fourth conveyor 8 and the fifth conveyor 9 constitute a tray conveying section for conveying trays; the lifting device 10 is provided with a corresponding conveying belt to form a unstacking, stacking and conveying section; the clamping device 11 is used for clamping and releasing the tray to form the tray unstacking and stacking mechanism. Each of the conveyors described above is provided with a forward and reverse rotation drive motor 16.
The conveying sections are fixed on a walking trolley 15, the walking trolley 15 forms a moving frame, a walking wheel 14 which is used for being assembled with a ground rail 13 in a rolling mode to achieve the horizontal movement of the unstacking and stacking device 4 is arranged on the moving frame, a driving motor 16 used for driving the walking wheel 14 to rotate is arranged on the moving frame, and the driving motor 16 in the embodiment is a servo motor.
For a material conveying section, an orientation mechanism 17 of a material stack 33 in the traveling direction is arranged on the first conveyor 5, an orientation mechanism 17 of a tray stack 32 in the traveling direction is arranged on the fifth conveyor 9, the two orientation mechanisms 17 are consistent in structure, the orientation mechanism 17 comprises guide plates 18 arranged on two sides of the corresponding conveying section, the entering end of each guide plate 18 is a wedge-shaped surface 19 extending towards the conveying section in an inclined mode, two micro-motion positioning wheels 20 are arranged on each guide plate 18, induction holes are formed in each guide plate, and each micro-motion positioning hole constitutes a guide positioning wheel.
At the same time, two position sensors for controlling the respective material stacks 33 and pallet stacks 32 to stop on are provided on the first conveyor 5, the second conveyor 6, the fourth conveyor 8 and the fifth conveyor 9 as a reserve buffer.
For the unstacking and stacking conveying section, the unstacking and stacking conveying section comprises a base 21 and a lifting platform 23 arranged on the base 21, the third conveyors 7 are arranged on the lifting platform 23, a lifting mechanism 24 is connected between the lifting platform 23 and the base 21, the lifting platform 23 is provided with unstacking and stacking positions which are upwards flush with the upper end of the conveying line 2 in the process of being driven to move up and down, the third conveyors 7 are also provided with feeding and discharging positions which are downwards flush with the upper ends of the tray conveying section and the material conveying section, the lifting platform 23 is jacked and descended by a driving cylinder 27 connected between the base 21 and the lifting platform 23, and the third conveyors 7 arranged on the lifting platform are also provided with two in-place sensors 12 to determine the stop positions of the tray stack 32 and the material stack 33. Upright columns 22 are arranged at the left end and the right end of the front side and the rear side of the base 21 respectively, guide rails extending up and down are arranged on the upright columns 22, the guide rails are used for being assembled with the lifting platform 23 in a guiding mode, and limiting structures used for limiting the lifting platform 23 at a feeding material discharging position in a downward limiting mode are arranged on the guide rails. The limiting mechanism is a stop 25 provided on each upright 22. The lifting mechanism 24 comprises two hinged connecting rods 26, the middle of each connecting rod 26 is hinged to the base 21, one end of each connecting rod 26 is hinged to the corresponding base 21, the other end of each connecting rod 26 is horizontally guided and slidably assembled with the corresponding jacking platform, one end of each connecting rod 26 is hinged to the corresponding jacking platform, the other end of each connecting rod 26 is horizontally guided and slidably assembled with the corresponding base 21, and the driving cylinder 27 is connected between one connecting rod 26 and the corresponding base 21.
In the actual working process, the lifting platform 23 is lifted to the unstacking and stacking position by driving the connecting rod 26 to move through the driving cylinder 27, so that the unstacking and stacking are facilitated; the lifting platform 23 is lowered to the position of the stop 25 and the third conveyor 7 is in the same plane as the other conveyors, facilitating the transfer of pallets or stacks 33 in and out.
As for the clamping device 11, in this embodiment, the clamping device 11 is a tray unstacking and stacking mechanism, and includes a base disposed at the bottom of the fourth conveyor 8, four guide pillars respectively disposed at two sides of the fourth conveyor 8 are connected to the base, each guide pillar extends in the up-down direction, two unstacking and stacking frames 28 respectively disposed at two sides of the fourth conveyor 8 are guided and assembled on the guide pillars, two in-place sensors 12 are disposed on the fourth conveyor 8 for determining the stop position of the tray stack 32, a longitudinal driving cylinder 30 for driving the unstacking and stacking frames 28 to move up and down is connected to the fourth conveyor 8, in this embodiment, the unstacking and stacking frames are in an angle plate structure, and the longitudinal driving cylinder 30 is a multi-stage cylinder. The tray unstacking and stacking mechanism further comprises clamping plates 29 which are horizontally guided and assembled on the unstacking and stacking frames 28 respectively along the conveying direction perpendicular to the fourth conveyor 8, the two clamping plates 29 move relatively to clamp the trays and move away from each other to release the trays, and transverse driving cylinders 31 used for driving the two clamping plates 29 to move are further arranged on the tray frames.
When the clamping device 11 is used, when a pallet needs to enter the third conveyor 7, the longitudinal driving cylinders 30 on the two sides lift the pallet frame to the position of a second pallet from bottom to top of the pallet stack 32, the transverse driving cylinders 31 on the clamping device 11 work to enable the clamping plates 29 to be relatively close to each other and clamp the two sides of the second pallet, then the longitudinal driving cylinders 30 continue to move upwards, and the first pallet on the lowest position is conveyed to the third conveyor 7 through the fourth conveyor 8; when the tray on the third conveyor 7 needs to be moved out to the fourth conveyor 8 and stacked and collected, the longitudinal driving cylinders 30 on the two sides act to move the clamping plate 29 to the position of the lowest tray to clamp the tray, then the longitudinal driving cylinders 30 lift the tray frame upwards to leave a gap larger than the thickness of the tray, the tray is moved to the fourth conveyor 8 through the third conveyor 7, then the tray frame moves downwards to move the tray stack 32 above downwards to the upper side of the tray which is entered by the cylinders to complete stacking, and then the tray stack 32 is conveyed outwards through the fifth conveyor 9.
When the material unstacking treatment is needed, a material stack 33 enters from the first conveyor 5, enters into the third conveyor 7 after being guided by the orientation mechanism 17, then the third conveyor 7 is jacked to the unstacking and stacking position through the action of the jacking mechanism, the manipulator 3 unstacks the material stack 33, an empty tray after unstacking is moved downwards to the feeding and discharging position along with the third conveyor 7, meanwhile, the clamping device 11 on the fourth conveyor 8 works, the clamping plate 29 clamps the tray stack 32 to move upwards, the empty tray on the third conveyor 7 enters into the fourth conveyor 8 and is positioned under the tray stack 32, and the clamping plate 29 moves downwards and releases the clamped tray stack 32, so that the stacking operation of the tray stack 32 can be completed; when materials need to be stacked, the clamping plate 29 on the tray stack 32 clamps the penultimate tray and moves upwards, the lowest tray is conveyed to the third conveyor 7 through the fourth conveyor 8, the jacking platform is driven upwards through the jacking mechanism to drive the third conveyor 7 to move to the unstacking and stacking position, the manipulator 3 stacks the materials on the conveying line 2 on the tray, after stacking is completed, the jacking platform moves downwards to the feeding and discharging position, and then the material stack 33 is conveyed out through the second conveyor 6 and the first conveyor 5.
Of course, in other embodiments, the guiding of the lifting platform 23 can be directly controlled by the lifting mechanism 24 itself, and the lifting mechanism 24 can be driven by a ball screw mechanism, an air cylinder or a hydraulic cylinder, or the like.
In other embodiments, the lifting mechanism 24 may be a ball screw mechanism, a cam-ram mechanism, or the like.
In other embodiments, the in-place sensor 12 may be implemented using an external monitoring instrument.
In other embodiments, each conveyor section may be individually mounted directly on the ground rail 13. Or may be fixed to the ground rail 13.
In other embodiments, the orientation mechanism 17 may be directly guided by the wedge-shaped surface 19 without the provision of a guide positioning wheel.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating but not limiting the technical solution of the present invention, and any equivalent replacement and modification or partial replacement which do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.
Claims (7)
1. The unstacking, stacking and loading integrated system comprises a loading platform, wherein the loading platform is provided with a conveying line extending leftwards and rightwards, and a unstacking and stacking manipulator is arranged on the conveying line, and is characterized in that one side of the loading platform is provided with an unstacking and stacking device which comprises a ground rail, a plurality of parallel conveying sections which are sequentially arranged along the left direction and the right direction are arranged on the ground rail, each conveying section is defined to be a tray conveying section, an unstacking and stacking conveying section and a material conveying section respectively, the material conveying section and the tray conveying section are both provided with a forward and reverse rotating conveying motor, the unstacking and stacking conveying section comprises a base and a lifting platform arranged on the base, a lifting mechanism is connected between the lifting platform and the base, the lifting platform has an unstacking and stacking position which is upwards parallel to the upper end of the conveying line in the process of driving and vertical movement, and also has a feeding and discharging position which is downwards parallel to the upper ends of the tray conveying section and the material, the tray conveying sections are provided with tray unstacking and stacking mechanisms, and in-place sensors are arranged among the conveying sections.
2. The de-stacking, stacking and loading integrated system as claimed in claim 1, wherein the base is provided with a plurality of vertical columns, guide rails for guiding assembly with the lifting platform are arranged on the vertical columns, the guide rails extend in an up-and-down direction, and the guide rails are provided with limiting structures for limiting and matching with the lifting platform downwards to limit the lifting platform at a feeding and discharging position.
3. The de-stacking, palletizing and loading integrated system as claimed in claim 2, wherein the lifting mechanism comprises two hinged connecting rods, the middle of each connecting rod is hinged with the other connecting rod, one end of one connecting rod is hinged on the base, the other end of the connecting rod is horizontally and slidably assembled with the jacking platform, one end of the other connecting rod is hinged on the jacking platform, the other end of the other connecting rod is horizontally and slidably assembled with the base, and a driving cylinder is connected between one connecting rod and the base.
4. A destacking, stacking and loading integrated system as claimed in any one of claims 1-3, wherein the material conveying section comprises at least two independent conveyor belts arranged end to end in sequence, and the position sensor is arranged on each conveyor belt.
5. The de-stacking and palletizing integrated system as claimed in any one of claims 1 to 3, wherein the de-stacking and palletizing device comprises a moving frame, each conveying section is fixed on the moving frame, a traveling wheel for rolling assembly with a ground rail to realize translation of the de-stacking and palletizing device is arranged on the moving frame, and a driving motor for driving the traveling wheel to rotate is arranged on the moving frame.
6. A destacking, stacking and loading integrated system as claimed in any one of claims 1 to 3, wherein the tray destacking and stacking mechanism comprises destacking and stacking racks arranged on two sides of a tray conveying section, a longitudinal driving cylinder for driving the destacking and stacking racks to move up and down is connected to the tray conveying section, the tray destacking and stacking mechanism further comprises clamping plates horizontally and respectively assembled on the destacking and stacking racks in a guiding mode along a conveying direction perpendicular to the tray conveying section, the two clamping plates move relative to clamp the trays and move away from each other to release the trays, and a transverse driving cylinder for driving the two clamping plates to move is further arranged on the destacking and stacking racks.
7. A destacking, stacking and loading integrated system as claimed in any one of claims 1 to 3, wherein the material conveying section and the tray conveying section are both provided with an orientation mechanism, the orientation mechanism comprises guide plates arranged on both sides of the corresponding conveying section, an inlet end of each guide plate is a wedge-shaped surface extending obliquely towards the conveying section, and the guide plates are provided with a plurality of guide positioning wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022418020.4U CN213651236U (en) | 2020-10-27 | 2020-10-27 | Integrated system for unstacking, stacking and loading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022418020.4U CN213651236U (en) | 2020-10-27 | 2020-10-27 | Integrated system for unstacking, stacking and loading |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213651236U true CN213651236U (en) | 2021-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022418020.4U Expired - Fee Related CN213651236U (en) | 2020-10-27 | 2020-10-27 | Integrated system for unstacking, stacking and loading |
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| Country | Link |
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| CN (1) | CN213651236U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114082862A (en) * | 2021-11-17 | 2022-02-25 | 哈工大机器人南昌智能制造研究院 | Full-automatic unloading pile up neatly device of roll forming equipment |
| CN114132761A (en) * | 2021-12-08 | 2022-03-04 | 珠海格力智能装备有限公司 | Bedplate recovery stacking device |
| CN115520667A (en) * | 2022-11-03 | 2022-12-27 | 云南柔控科技有限公司 | Automatic pile up neatly system of tearing open of multiunit turnover case travelling bogie |
-
2020
- 2020-10-27 CN CN202022418020.4U patent/CN213651236U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114082862A (en) * | 2021-11-17 | 2022-02-25 | 哈工大机器人南昌智能制造研究院 | Full-automatic unloading pile up neatly device of roll forming equipment |
| CN114132761A (en) * | 2021-12-08 | 2022-03-04 | 珠海格力智能装备有限公司 | Bedplate recovery stacking device |
| CN115520667A (en) * | 2022-11-03 | 2022-12-27 | 云南柔控科技有限公司 | Automatic pile up neatly system of tearing open of multiunit turnover case travelling bogie |
| CN115520667B (en) * | 2022-11-03 | 2023-04-04 | 云南柔控科技有限公司 | Automatic pile up neatly system of tearing open of multiunit turnover case travelling bogie |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210709 |