WO2022088513A1

WO2022088513A1 - Conveying device for material stacking, stacking machine using device, and stacking method

Info

Publication number: WO2022088513A1
Application number: PCT/CN2021/071655
Authority: WO
Inventors: 李文磊; 杨益服; 李俊杰
Original assignee: 浙江希望机械有限公司
Priority date: 2020-10-31
Filing date: 2021-01-14
Publication date: 2022-05-05
Also published as: CN112173739A

Abstract

A conveying device for material stacking which is capable of arranging a left and a right stacking space (7, 8) independent of each other, a stacking machine using the device, and a stacking method. The conveying device for material stacking comprises a fed material transverse conveying mechanism (10), wherein a transitional transverse conveying mechanism (12) is arranged at one side of the fed material transverse conveying mechanism; the transitional transverse conveying mechanism is in conveying connection with the fed material transverse conveying mechanism; a discharged material longitudinal conveying mechanism (14) is arranged at one side of the transitional transverse conveying mechanism; and the discharged material longitudinal conveying mechanism is in conveying connection with the transitional transverse conveying mechanism. A first stacking space (7) is arranged between one side of the discharged material longitudinal conveying mechanism and the fed material transverse conveying mechanism, and a second stacking space (8) is arranged on the other side of the discharged material longitudinal conveying mechanism. The conveying device for material stacking can change the transverse conveying of cardboard boxes to longitudinal conveying, so that the left stacking space and the right stacking space which are independent of each other can be obtained.

Description

A material stacking and conveying device, a stacker using the device, and a stacking method

technical field

The invention relates to the field of pharmaceutical carton packaging, in particular to a material stacking and conveying device for stacking pharmaceutical carton boxes, a stacker using the device and a stacking method.

Background technique

General cartons (such as pill boxes or other small cartons) are bundled and packed into cartons. Currently, cartons are bundled by a carton strapping machine, and then packed manually. In order to realize automatic cartoning, the applicant designed a fully automatic cartoning equipment. After the carton is packed by the automatic carton packing equipment, it needs to be palletized and then transported away by forklift. The existing common palletizing method is to output the material horizontally through a conveying mechanism (the discharge direction of the automatic carton packing equipment is horizontal), and then use the palletizing robot to palletize the carton. However, this method can only Palletize cartons to the front of the conveyor. As shown in the figure, if the left and right palletizing spaces are arranged at the front end of the conveying mechanism, the palletizing robot cannot transition to the right palletizing space when the left palletizing space is full (the boxes in the left palletizing space will interfere with each other). The palletizing manipulator transitions to the right palletizing space), so it can only continue after the cartons in the left palletizing space are transported by the forklift. Obviously, this method is discontinuous and directly affects the efficiency. If the box equipment is designed to discharge continuously, this palletizing method cannot be properly matched. If the front and rear stacking spaces are arranged at the front end of the conveying mechanism, the forklift truck needs to remove the cartons in the front stacking space from the front side, and remove the cartons in the rear stacking space from the rear side. For forklifts, this method is It is very inconvenient, and it requires a lot of space on the rear side for the forklift to pass and adjust. This method is obviously unreasonable for the factory where the land is expensive.

technical problem

In view of the shortcomings of the prior art, the present invention innovatively provides a material stacking and conveying device capable of arranging left and right stacking spaces that do not interfere with each other, a stacker using the device, and a stacking method.

technical solutions

The material stacking and conveying device includes a feeding transverse conveying mechanism. One side of the transitional transverse conveying mechanism is provided with a discharge longitudinal conveying mechanism, the discharge longitudinal conveying mechanism and the transitional transverse conveying mechanism are conveyed and connected, and one side of the discharging longitudinal conveying mechanism is connected to the infeed longitudinal conveying mechanism. A first stacking space is provided between the material transverse conveying mechanisms, and a second stacking space is provided on the other side of the material discharging longitudinal conveying mechanism.

The transitional transverse conveying mechanism and the feeding transverse conveying mechanism realize conveying connection through a first conveying belt mechanism, the first conveying belt mechanism includes a first conveying belt, and the feeding transverse conveying mechanism includes a plurality of feeding material conveying rollers, the transition transverse conveying mechanism includes a plurality of transition conveying rollers, the first conveying belt extends from between two feeding conveying rollers to between two transition conveying rollers, the first conveying belt mechanism It is drivingly connected with the first lifting power source that drives the first conveyor belt mechanism to lift up and down.

The transitional transverse conveying mechanism and the discharge longitudinal conveying mechanism are conveyed through a second conveyor belt mechanism, the second conveyor belt mechanism includes a second conveyor belt, and the transitional transverse conveying mechanism includes a plurality of transition conveyors rollers, the second conveyor belt is located between the two transition conveyor rollers, and the second conveyor belt mechanism is drivingly connected with a second lifting power source that drives the second conveyor belt mechanism to ascend and descend up and down.

The material palletizer includes a palletizing manipulator, and is characterized in that: the material palletizing and conveying device according to any one of claims 1-3 is arranged in front of the palletizing manipulator, and the palletizing manipulator can The material on the discharge longitudinal conveying mechanism is moved to the first stacking space and the second stacking space.

The stacking manipulator is mounted on a lateral sliding seat, which is slidably arranged on a lateral guide rail, and the lateral sliding seat is drivingly connected with a lateral power source that drives the lateral sliding seat to move.

The suction tool is a sponge vacuum suction tool.

This material stacking method is characterized by comprising the following steps: S1, placing the material on the feeding transverse conveying mechanism, and the material is transversely conveyed by the feeding transverse conveying mechanism; S2, one side of the feeding transverse conveying mechanism is provided with The transitional transverse conveying mechanism transports the material from the feeding transverse conveying mechanism to the transitional transverse conveying mechanism, and the material is conveyed transversely by the transitional transverse conveying mechanism; The material is conveyed from the transitional transverse conveying mechanism to the discharging longitudinal conveying mechanism, and the material is conveyed longitudinally by the discharging longitudinal conveying mechanism; s4, there is a first stacking space between one side of the discharging longitudinal conveying mechanism and the feeding transverse conveying mechanism , the other side of the discharging longitudinal conveying mechanism has a second stacking space, and the stacking robot moves the materials on the discharging longitudinal conveying mechanism into the first stacking space and the second stacking space.

The material is conveyed from the feed transverse conveying mechanism to the transition transverse conveying mechanism by mechanical pushing or mechanical transmission, and the material is conveyed from the transition transverse conveying mechanism to the discharging longitudinal conveying mechanism by mechanical pushing or mechanical transmission.

beneficial effect

According to the material stacking and conveying device provided by the present invention, the transverse conveying of cartons can be transformed into longitudinal conveying, so that two left and right stacking spaces that do not interfere with each other can be obtained, and the palletizer using the device can stack the cartons in this place. Two palletizing spaces.

Description of drawings

Figure 1 is a perspective view of a palletizer;

Figure 2 is a top view of the palletizer;

Figure 3 is a top view of the material stacking conveying device;

Fig. 4 is the structural schematic diagram of the palletizing manipulator;

Fig. 5 is the front view of the palletizing manipulator;

Figure 6 is a parallel schematic diagram of a palletizing robot.

Embodiments of the present invention

As shown in Fig. 1, this material palletizer includes a palletizing manipulator 2 and a material palletizing conveying device. The material palletizing conveying device is located in front of the palletizing manipulator 2. As shown in Fig. 2, the carton 1 passes through the material palletizing The conveying device is transported over, and the palletizing robot 2 moves the carton 1 into the first palletizing space 7 and the second palletizing space 8. After the carton is palletized in the first palletizing space 7, the palletizing robot 2 arrives. The second palletizing space 8 continues to palletize, and the cartons in the first palletizing space 7 are transported away by a forklift.

As mentioned above, the material palletizer has two mutually non-dry first palletizing spaces 7 and second palletizing spaces 8. In order to form such a space layout, the present invention improves a unique material palletizing and conveying device. As shown in FIGS. 2 and 3 , this material stacking and conveying device includes a feeding transverse conveying mechanism 10 , a transition transverse conveying mechanism 12 is provided on one side of the feeding transverse conveying mechanism 10 , and the transition transverse conveying mechanism 12 is connected to the feeding transverse conveying mechanism 12 The conveying mechanisms 10 are connected with each other, and a discharge longitudinal conveying mechanism 14 is provided on one side of the transitional transverse conveying mechanism 12. The conveying connection between the discharging longitudinal conveying mechanism 14 and the transitional transverse conveying mechanism 12, the discharging longitudinal conveying mechanism A first stacking space 7 is provided between one side of the 14 and the transverse feeding mechanism 10 , and a second stacking space 8 is provided on the other side of the longitudinal feeding mechanism 14 .

Through the material stacking and conveying device of the above structure, the carton 1 changes from horizontal conveying to vertical conveying, and finally reaches the discharging longitudinal conveying mechanism 14, and the discharging longitudinal conveying mechanism 14 has a first stacking space 7 on the left and a first stacking space 7 on the right. Two stacking spaces 8, so that the stacking robot 2 can first stack the cartons A on the discharge longitudinal conveying mechanism 14 in the first stacking space 7, and after the first stacking space 7 is full, the stacking robot 2 The cartons 1 on the discharge longitudinal conveying mechanism 14 are stacked in the second stacking space 8. Since the first stacking space 7 and the second stacking space 8 are distributed on both sides of the discharge point, the stacking manipulator 2 moves from The transition from one palletizing space to another will not interfere, and the palletizing robot 2 can work continuously. At the same time, due to such a stacking space layout, the discharge direction of the carton packing equipment and the two stacking spaces of the material stacker are on the same horizontal line, and the whole machine is only lengthened in the horizontal direction, which is completely in line with the overall Machine design specifications, and the forklift only needs to be operated on the front side of the material stacker, without going around the back, which greatly facilitates forklift transportation.

As described above, the transitional transverse conveying mechanism 12 and the feeding transverse conveying mechanism 10 are connected in conveyance, that is, the cartons 1 on the feeding transverse conveying mechanism 10 can be conveyed to the transitional transverse conveying mechanism 12 . There are many ways to transport the carton 1 from the feeding transverse conveying mechanism 10 to the transition transverse conveying mechanism 12: for example, the carton 1 is pushed from the feeding transverse conveying mechanism 10 to the transition transverse conveying mechanism 12 by means of a cylinder-driven push plate; Set up the conveyor belt. There are several push blocks equally divided along the length of the belt. The conveyor belt is driven longitudinally. Before the carton comes to the push block, it is driven by the conveyor belt, and the push block can push the carton 1 to the transition. On the transverse conveying mechanism 12; for example, a manipulator is provided to move the carton 1 from the feeding transverse conveying mechanism 10 to the transition transverse conveying mechanism 12.

However, the above methods are not very compact in structure, occupy a large space, and have a high cost. To this end, the present invention also provides a way to realize the conveying connection through the first conveyor belt mechanism 11. As shown in FIG. 3, the first conveyor belt mechanism 11 includes a first conveyor belt 110, and the feeding transverse conveyor mechanism 10 It includes a plurality of feeding conveying rollers 100 , the transition transverse conveying mechanism 12 includes a plurality of transition conveying rollers 120 , and the first conveyor belt 110 extends from between the two feeding conveying rollers 100 to between the two transition conveying rollers 120 , the first conveyor belt mechanism 11 is drivingly connected with the first lifting power source that drives the first conveyor belt mechanism 11 to move up and down. When the carton 1 enters the feeding transverse conveying mechanism 10, the first lifting power source drives the first conveyor belt mechanism 11 to rise, so that the first conveyor belt 110 lifts the carton 1, and at the same time the first conveyor belt 110 transports the carton to the Above the transitional transverse conveying mechanism 12, then the first lifting power source drives the first conveyor belt mechanism 11 to descend, so that the carton 1 is placed on the transitional conveying roller 120 of the transitional transverse conveying mechanism 12, and the transitional transverse conveying mechanism 12 passes its transitional conveying roller. 120 transports the carton 1 forward.

The transitional transverse conveying mechanism 12 and the discharging longitudinal conveying mechanism 14 are connected in conveyance, that is, the cartons 1 on the transitional transverse conveying mechanism 12 can be conveyed to the discharging longitudinal conveying mechanism 14 . There are also many ways of conveying the carton 1 from the transition transverse conveying mechanism 12 to the discharging longitudinal conveying mechanism 14 , which is the same as the way of conveying from the feeding transverse conveying mechanism 10 to the transition transverse conveying mechanism 12 , and the description is not repeated here.

For the same reason, the transitional transverse conveying mechanism 12 and the discharging longitudinal conveying mechanism 14 are conveyed through the second conveying belt mechanism 13. The second conveying belt mechanism 13 includes a second conveying belt 130, and the transitional transverse conveying mechanism 12 It includes a plurality of transition conveying rollers 120, the second conveying belt 130 is located between the two transition conveying rollers 120, and the second conveying belt mechanism 13 is drivingly connected with a second lifting power source that drives the second conveying belt mechanism 13 to ascend and descend. When the carton 1 enters the end of the transitional transverse conveying mechanism 12, the second lifting power source drives the second conveyor belt mechanism 13 to rise, so that the second conveyor belt 130 lifts the carton 1, and at the same time the second conveyor belt 130 transports the carton 1 to the The front end of the discharging longitudinal conveying mechanism 14 is discharged, and then the second lifting power source drives the second conveyor belt mechanism 13 to descend, so that the carton 1 is placed on the discharging longitudinal conveying mechanism 14, and the discharging longitudinal conveying mechanism 14 conveys the carton 1 longitudinally.

As mentioned above, the cartons are stacked by the palletizing manipulator 2. In order to enable the palletizing manipulator 2 to have a larger moving range, as shown in Figure 4, the palletizing manipulator 2 is installed on the lateral slide 3 (the palletizing manipulator 2). 2 is a common manipulator, such as a KUKA articulated robot), the lateral sliding seat 3 is slidably arranged on the lateral guide rail 4, and the lateral sliding seat 3 is drivingly connected with the lateral power source 5 that drives the lateral sliding seat 3 to move. Driven by the lateral power source 5 , the lateral slide 3 carries the palletizing robot 2 to move laterally, so that the palletizing robot 2 can move between the first palletizing space 7 and the second palletizing space 8 . Of course, a manipulator with a wider range of motion can also be used, so that the lateral sliding seat 3 and the lateral guide rail 4 do not need to be installed.

As shown in FIG. 4 and FIG. 5 , the palletizing robot 2 includes a machine base 21 , a large arm 22 , a small arm 23 and a gripper 20 . The lower end of the large arm 22 is hinged on the machine base 21 and is connected with the first power source 220 Transmission connection, the upper end of the big arm 22 is hinged with the small arm 23, one end of the small arm 23 is hinged with the suction tool seat 24, the suction tool 20 is connected on the suction tool seat 24, and the other end of the small arm 23 is connected with one end of the transmission link 29 In hinged connection, the other end of the transmission link 29 is hinged with the transmission arm 290 , and the transmission arm 29 is hinged on the base 21 and connected with the second power source 230 in a transmission manner. The first power source 220 drives the big arm 22 to rotate around its hinge point, the second power source 230 drives the transmission arm 290 to rotate, and the transmission arm 290 pulls the small arm 23 to rotate around its hinge point through the transmission link 29. , the suction tool 20 can move up and down, back and forth, so as to absorb the carton 1, and then move on the lateral guide rail 4 through the palletizing manipulator 2, and the palletizing manipulator 2 can move in the first palletizing space 7 and the second palletizing space 8. Palletizing.

In addition, in order to keep the gripper base 24 always horizontal, as shown in FIG. 5 , the present invention is connected with a lower connecting arm 210 on the holding base 21, the lower connecting arm 210 is hinged with one end of the lower parallel link 28, and the lower parallel connecting The other end of the rod 28 is hinged with the first corner of the triangular link 25, the second corner of the triangular link 25 is hinged on the forearm 23, and the third corner of the triangular link 25 is hinged with one end of the upper parallel link 26, the upper parallel The other end of the connecting rod 26 is hinged with the holder 24 . As shown in FIG. 6 , the distance from the hinge point of the gripper base 24 and the forearm 23 to the hinge point of the upper parallel link 26 and the gripper base 24 is K1; The distance between the hinge point of the triangular connection piece 25 and the forearm 23 is K2; the distance from the hinge point of the upper parallel link 26 and the suction holder 24 to the hinge point of the upper parallel link 26 and the triangular connection piece 25 is K3; The distance from the hinge point of the seat 24 and the forearm 23 to the hinge point of the triangular connection piece 25 and the forearm 23 is K4; is K5; the distance from the hinge point of the triangle connecting piece 25 and the lower parallel link 28 to the hinge point of the lower parallel link 28 and the lower connecting arm 210 is K6; the hinge point of the triangle connecting piece 25 and the forearm 23 is to the triangle connecting piece The distance between 25 and the hinge point of the lower parallel link 28 is K7; As long as K1=K2, K3=K4, K5=K6, K7=K8 are satisfied, the holder 24 and the holder 20 can always be kept parallel.

It is worth mentioning here that the suction tool 20 of the palletizing robot 2 is a sponge vacuum suction tool. The sponge vacuum sucker can hold the carton 1 more stably and prevent the carton 1 from falling.

Based on this material stacking machine, the present invention provides a material stacking method, which includes the following steps: S1, placing the material on the feeding transverse conveying mechanism 10, and the material is transversely conveyed by the feeding transverse conveying mechanism 10; S2. A transition transverse conveying mechanism 12 is provided on one side of the feeding transverse conveying mechanism 10, and the material is conveyed from the feeding transverse conveying mechanism 10 to the transition transverse conveying mechanism 12, and the material is transversely conveyed by the transition transverse conveying mechanism 12; S3, in One side of the transitional transverse conveying mechanism 12 is provided with a discharging longitudinal conveying mechanism 14, which transports the material from the transitional transverse conveying mechanism 12 to the discharging longitudinal conveying mechanism 14, and the material is longitudinally conveyed by the discharging longitudinal conveying mechanism 14; s4, out There is a first stacking space 7 between one side of the material longitudinal conveying mechanism 14 and the feeding transverse conveying mechanism 10, and the other side of the material discharging longitudinal conveying mechanism 14 has a second stacking space 8, and the stacking robot 7 will discharge the material. The materials on the longitudinal conveying mechanism 14 are moved into the first stacking space 7 and the second stacking space 8 . Through the above-mentioned palletizing method, the cartons 1 can be palletized in the first palletizing space 7 and the second palletizing space 8, and the palletizing robot 2 can work continuously.

There are many ways for materials to be transported from the feed transverse conveying mechanism 10 to the transition transverse conveying mechanism 12 , which can be conveyed from the feed transverse conveying mechanism 10 to the transition transverse conveying mechanism 12 by mechanical push or mechanical transmission. Both methods can be realized. For details, please refer to the above-mentioned conveying connection method. There are also many ways for materials to be transported from the transitional transverse conveying mechanism 12 to the discharging longitudinal conveying mechanism 14 , which can be conveyed from the transitional transverse conveying mechanism 12 to the discharging longitudinal conveying mechanism 14 by mechanical push or mechanical transmission, both of which can be achieved. , see the connection method described above for details.

Claims

A material stacking and conveying device, comprising a feeding transverse conveying mechanism (10), characterized in that a transition transverse conveying mechanism (12) is provided on one side of the feeding transverse conveying mechanism (10), and the transition transverse conveying mechanism (12) There is a conveying connection between the conveying mechanism (12) and the feeding transverse conveying mechanism (10). One side of the transition transverse conveying mechanism (12) is provided with a discharging longitudinal conveying mechanism (14), and the discharging longitudinal conveying mechanism ( 14) Conveying connection with the transitional transverse conveying mechanism (12), there is a first stacking space (7) between one side of the discharging longitudinal conveying mechanism (14) and the feeding transverse conveying mechanism (10). The other side of the longitudinal conveying mechanism (14) for discharging is provided with a second stacking space (8).
A material stacking and conveying device according to claim 1, characterized in that: the first conveyor belt mechanism (11) is used for conveying between the transition transverse conveying mechanism (12) and the feeding transverse conveying mechanism (10). In connection, the first conveyor belt mechanism (11) includes a first conveyor belt (110), the feed transverse conveyance mechanism (10) includes a plurality of feed conveyor rollers (100), and the transition transverse conveyance mechanism (12) including a plurality of transition conveying rollers (120), the first conveying belt (100) extends from between two feeding conveying rollers (100) to between two transition conveying rollers (120), the The first conveyor belt mechanism (11) is in transmission connection with a first lifting power source that drives the first conveyor belt mechanism (11) to ascend and descend up and down.
A material stacking and conveying device according to claim 1, characterized in that: the conveying between the transition transverse conveying mechanism (12) and the discharging longitudinal conveying mechanism (14) is realized by a second conveying belt mechanism (13). In connection, the second conveyor belt mechanism (13) includes a second conveyor belt (130), the transition transverse conveyor mechanism (12) includes a plurality of transition conveyor rollers (120), and the second conveyor belt (130) ) is located between the two transition conveying rollers (120), and the second conveying belt mechanism (13) is drivingly connected with a second lifting power source that drives the second conveying belt mechanism (13) to rise and fall up and down.
A material palletizer, comprising a palletizing manipulator, characterized in that: the material palletizing and conveying device according to any one of claims 1-3 is arranged in front of the palletizing manipulator (2), the palletizing The manipulator (2) can move the material on the discharge longitudinal conveying mechanism (10) into the first stacking space (7) and the second stacking space (8).
The material palletizer according to claim 4, characterized in that: the palletizing manipulator (2) is mounted on a lateral sliding seat (3), and the lateral sliding seat (3) is slidably arranged on a lateral guide rail (4) On the upper side, the transverse sliding seat (3) is drivingly connected with the transverse power source (5) that drives the transverse sliding seat (3) to move.
The material palletizer according to claim 5, characterized in that: the palletizing manipulator (2) includes a machine base (21), a large arm (22), a small arm (23) and a suction tool (20), so The lower end of the big arm (22) is hinged on the machine base (21) and is connected to the first power source (220) in a driving manner, the upper end of the big arm (22) is hinged with the small arm (23), and the small arm ( One end of 23) is hinged with the suction tool seat (24), the suction tool (20) is connected on the suction tool seat (24), and the other end of the small arm (23) is hinged with one end of the transmission link (29) , the other end of the transmission link (29) is hinged with the transmission arm (290), and the transmission arm (29) is hinged on the machine base (21) and connected with the second power source (230) in a transmission manner.
The material palletizer according to claim 6, characterized in that: a lower connecting arm (210) is connected to the base (21), and the lower connecting arm (210) is connected to the lower parallel link (28). One end is hinged, the other end of the lower parallel link (28) is hinged with the first corner of the triangular connecting piece (25), and the second corner of the triangular connecting piece (25) is hinged on the forearm (23), so The third corner of the triangular connecting piece (25) is hinged with one end of the upper parallel link (26), and the other end of the upper parallel link (26) is hinged with the suction tool seat (24).
The material palletizer according to claim 6, wherein the suction tool (20) is a sponge vacuum suction tool.
A material stacking method, which is characterized by comprising the following steps: S1, placing the material on the feeding transverse conveying mechanism (10), and transversely conveying the material by the feeding transverse conveying mechanism (10); S2, feeding the material transversely One side of the conveying mechanism (10) is provided with a transitional transverse conveying mechanism (12), which transports the material from the feeding transverse conveying mechanism (10) to the transitional transverse conveying mechanism (12), and the material is laterally transported by the transitional transverse conveying mechanism (12). Conveying; S3. A discharge longitudinal conveying mechanism (14) is provided on one side of the transitional transverse conveying mechanism (12), and the material is conveyed from the transitional transverse conveying mechanism (12) to the discharging longitudinal conveying mechanism (14), and the material is discharged by the discharging longitudinal conveying mechanism (12). The longitudinal conveying mechanism (14) conveys the material longitudinally; s4, a first stacking space (7) is provided between one side of the discharging longitudinal conveying mechanism (14) and the feeding transverse conveying mechanism (10), and the discharging is conveyed longitudinally. The other side of the mechanism (14) has a second stacking space (8), and the stacking manipulator (2) moves the material on the discharge longitudinal conveying mechanism (14) into the first stacking space (7) and the second stacking space (7). Palletizing space (8).
The material stacking method according to claim 9, characterized in that: the material is conveyed from the feed transverse conveying mechanism (10) to the transition transverse conveying mechanism (12) by means of mechanical pushing or mechanical transmission, and the material is conveyed by mechanical pushing or mechanical conveying. The conveying method is conveyed from the transitional transverse conveying mechanism (12) to the discharging longitudinal conveying mechanism (14).