CN109110511B - Automatic tray unstacking and stacking mechanism and automatic unstacking and stacking method - Google Patents
Automatic tray unstacking and stacking mechanism and automatic unstacking and stacking method Download PDFInfo
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- CN109110511B CN109110511B CN201811101141.7A CN201811101141A CN109110511B CN 109110511 B CN109110511 B CN 109110511B CN 201811101141 A CN201811101141 A CN 201811101141A CN 109110511 B CN109110511 B CN 109110511B
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- conveying mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G60/00—Simultaneously or alternatively stacking and de-stacking of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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Abstract
The invention provides an automatic tray unstacking and stacking mechanism, and belongs to the field of automatic production unstacking and stacking. The invention provides a full-automatic tray unstacking and stacking mechanism which is used for solving the problems that an existing tray unstacking and stacking device cannot be adapted to products with different sizes and specifications, cannot realize separation of multiple charging baskets and cannot simultaneously perform unstacking and stacking operation and combines the characteristics of loading and unloading operation environment and requirements. The mechanism comprises: the device comprises a unstacker, a tray conveying mechanism, a stacker, a rack, a charging basket conveying mechanism, a feeding operation station and the like. According to the invention, the stacked charging baskets can be unstacked, the tray is conveyed to the stacker crane through the tray conveying mechanism, the charging baskets are sequentially conveyed to the charging operation stations, and when the charging operation is completed, the empty charging baskets are conveyed to the stacker crane and stacked. The invention can also realize the operation of unstacking and stacking for stacking a plurality of charging baskets, has low requirement on the positioning precision of the charging baskets, can simultaneously carry out the operation of unstacking and stacking, and can continuously work without intermission.
Description
Technical Field
The invention relates to the field of automatic production pile removing, in particular to an automatic pile removing mechanism for a tray.
Background
In the production operation, in order to improve the space utilization rate, a plurality of materials or trays need to be stacked layer by layer, and then taken out layer by layer in sequence during feeding, and the process is called as code removal. The pile removing mechanism is used in automatic automobile, chemical industry, food and other production enterprises to separate and pile tray and material for packing in various shapes, including paper box, material basket, etc.
In the automatic production feeding operation, the tray carrying the charging basket is often required to be unstacked and stacked. The current common technical means include manual pile removing and mechanical pile removing. The manual pile removing mode is simple in technology and strong in adaptability, but the problems of low operation efficiency, high labor intensity of workers, irregular pile stacking and the like are solved; the manipulator can adapt to the unstacking and stacking operation of various complex stacking types, the working efficiency is high, manual work is not needed, the equipment investment is large, the use and maintenance cost is high, the operation radius of the manipulator is large, and the occupied area is large.
The existing pile removing mechanism is usually designed aiming at products with specific specifications, such as the size and the height of a charging basket, and if products with different specifications are encountered, the pile removing mechanism needs to be redesigned to match the products with the corresponding specifications, so that the waste of the pile removing mechanism and the complexity of the whole layout space are caused, and meanwhile, the variety and the number of equipment are increased, so that the overall manufacturing cost is high, the production efficiency is low, and the layout space is not compact enough. Secondly, the separation of many charging baskets is difficult to realize to current pile up neatly mechanism of tearing open, needs the manual work to transport the tray repeatedly, has consequently caused the increase of cost of labor to and material loading work is difficult to go on in succession, leads to whole material loading inefficiency. Meanwhile, the existing unstacking and stacking mechanism usually uses a special machine for operation, and unstacking and stacking operations cannot be performed simultaneously. Therefore, in the field of automatic loading and unloading, the development of a full-automatic tray unstacking mechanism is urgently needed.
Disclosure of Invention
Aiming at the three disadvantages that the existing tray unstacking and stacking device can not adapt to products with different sizes and specifications, can not realize the separation of a plurality of charging baskets, and can not unstack and stack simultaneously. The invention aims to provide an automatic tray unstacking and stacking mechanism which can be adapted to baskets with different sizes, complete separation of multiple baskets and realize simultaneous unstacking and stacking operation and uninterrupted feeding and discharging operation by combining the characteristics of the loading and unloading operation environment and requirements.
The purpose of the invention is mainly realized by the following technical scheme:
an automatic pile up neatly mechanism of tearing open of tray which characterized in that includes: the device comprises a unstacker, a tray conveying mechanism, a stacker, a rack, a charging basket conveying mechanism and a feeding operation station;
the unstacker and the stacker are arranged on the rack;
the tray conveying mechanism is arranged between the unstacker and the stacker and is used for conveying the trays separated by the unstacker to the stacker;
and the charging basket conveying mechanism is arranged at the periphery of the unstacker and the stacker and is used for conveying the charging basket from the unstacker to the feeding operation station and the stacker.
The unstacker includes: the device comprises a roller conveying mechanism, a charging basket separating device and a stopper.
The roller conveying mechanism is arranged at the bottom of the unstacking machine and is provided with a jacking cylinder and a rotating motor, so that the roller conveying belt rotates and goes up and down.
The charging basket separating device is arranged on two sides of the rack and comprises a pneumatic clamping jaw, a clamping cylinder and a lifting oil cylinder; the pneumatic clamping jaws are driven by the clamping cylinder to clamp or release the charging basket, and when the charging basket is clamped by the pneumatic clamping jaws, the charging basket is lifted or lowered by stretching of the lifting oil cylinder.
The stopper is used for stopping and limiting the tray stack.
The hacking machine includes: the device comprises a roller conveying mechanism, a charging basket separating device and a stopper.
The tray conveying mechanism is connected with the unstacker and the roller conveying mechanism at the bottom of the stacker crane.
The conveying track of the charging basket conveying mechanism is semicircular, and the two ends of the track are respectively connected with the unstacker and the roller conveying mechanism at the bottom of the palletizer.
The feeding operation station is arranged in the middle of the charging basket conveying mechanism, and charging basket taking operation is completed.
A method for unstacking and stacking a tray automatic unstacking and stacking mechanism; the method comprises the following specific steps:
s1, unstacking operation, namely placing a tray stack on an unstacker, clamping and lifting a charging basket by a charging basket separation device, conveying a tray to a tray conveying mechanism by a roller conveying mechanism at the bottom of the unstacker, and completing the separation process of the tray and the charging basket; after the trays are separated, the charging basket separation device places the charging basket stack on the roller conveying mechanism, the stack removal is started from the lowest charging basket, the charging baskets are sequentially separated and are conveyed to the charging basket conveying mechanism by the bottom roller conveying mechanism, and the stack removal process is completed;
s2, conveying the charging baskets, wherein the charging baskets are sequentially conveyed to a charging operation station by a charging basket conveying mechanism, and the charging baskets complete charging basket material taking operation at the charging operation station;
and S3, stacking operation, wherein the emptied charging basket is conveyed to a stacker crane by a charging basket conveying mechanism and is stacked.
Compared with the prior art, the invention has the beneficial effects that:
(1) the structure of the invention comprises an unstacker, a feeding operation station, a stacker, a tray conveying mechanism and a charging basket conveying mechanism, all the mechanisms are connected with each other to form a closed loop, the simultaneous operation of unstacking and stacking can be realized, and the feeding operation can be continuously operated without intermission.
(2) The tray in a fixed form is used for bearing the charging basket, the tray can be moved by using a forklift, is not limited by the size of the charging basket, and can be adapted to products with different sizes and specifications.
(3) The design of the charging basket separating device provided by the invention uses the pneumatic clamping jaws for clamping and the oil cylinder for lifting, has no specific requirements on the size of the charging basket, has low requirements on the positioning accuracy of the charging basket, and can be suitable for products with larger quality.
(4) Under the condition that the number of the charging trays is not fixed, all the charging baskets except the lowest tray or the charging basket can be accurately identified and clamped, separation of the trays and pile removing of the charging baskets are achieved, and pile removing operation of stacking multiple charging baskets can be achieved.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic diagram of the structure of the apparatus of the present invention;
FIG. 2 is a schematic view of a structural subdivision of an unstacker or stacker;
fig. 3 is a rotary jacking mechanism.
In the figure:
1-unstacker; 2-a tray conveying mechanism; 3-a stacker crane; 4-a frame; 5-a basket conveying mechanism; 6-feeding operation station; 7-a clamping cylinder; 8-lifting oil cylinder; 9-a roller conveying mechanism; 10-a rotating electrical machine; 11-a jacking cylinder; 12-a stopper; 13-pneumatic gripper.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention discloses an automatic pallet removing mechanism, which comprises: the device comprises a unstacker 1, a tray conveying mechanism 2, a stacker 3, a rack 4, a charging basket conveying mechanism 5 and a feeding operation station 6;
the unstacker 1 and the stacker 3 are arranged on the frame 4; the tray conveying mechanism 2 is arranged between the unstacker 1 and the stacker 3 and is used for conveying the trays separated by the unstacker 1 to the stacker 3; and the charging basket conveying mechanism 5 is arranged at the periphery of the unstacker 1 and the stacker 3 and is used for conveying charging baskets from the unstacker 1 to the feeding operation station 6 and the stacker 3.
Compared with the prior art, the automatic unstacking and stacking mechanism for the trays can realize the simultaneous unstacking operation and stacking operation.
In order to achieve tray and basket separation, the unstacker 1 comprises: a roller conveying mechanism 9, a basket separating device and a stopper 12.
Since the roller conveying mechanism 9 needs to cooperate with the tray conveying mechanism 2 and the basket conveying mechanism 5 to respectively convey the tray and the basket, in the process, the roller conveying mechanism 9 needs to complete the rotating and lifting functions.
Illustratively, a jacking cylinder 11 and a rotating motor 10 are installed below the roller conveying mechanism 9 at the bottom of the unstacker 1, the roller conveying mechanism 9 is lifted through the extension and retraction of the jacking cylinder 11, and the rotating motor 10 drives the roller conveying mechanism 9 to rotate, so that the roller conveying mechanism 9 can rotate and lift. Further, the roller conveying mechanism 9 can be matched with the tray conveying mechanism 2 and the basket conveying mechanism 5 by rotating to change the conveying direction and simultaneously lifting or lowering the position to realize conveying connection; furthermore, the roller conveying mechanism 9 at the bottom of the unstacker can convey the tray to the tray conveying mechanism 2 and the material basket to the material basket conveying mechanism 5;
specifically, the charging basket separating device comprises a pneumatic clamping jaw 13, a clamping cylinder 7 and a lifting oil cylinder 8; the pneumatic clamping jaws 13 are arranged on two sides of the rack 4 and horizontally move under the driving of the two clamping cylinders 7 arranged on the top of the rack 4, and the distance between the clamping jaws on the two sides is increased or shortened, so that the clamping and releasing of the pneumatic clamping jaws 13 on the charging basket are realized; the lifting oil cylinder 8 is arranged on the pneumatic clamping jaw, the pneumatic clamping jaw 13 is divided into a clamping jaw frame and a charging basket clamping part, and the vertical extension of the oil cylinder can drive the charging basket clamping part in the middle of the pneumatic clamping jaw 13 to lift or descend in the vertical direction; therefore, the pneumatic clamping jaws 13 can clamp or release the charging basket under the driving of the clamping air cylinders 7, the charging basket is lifted or lowered by the lifting oil cylinders 8, the flexible movement of the charging basket can be realized, and the unstacking operation of multiple charging basket stacks can be further completed.
For tray stack separation, the unstacker 1 works as follows:
placing a tray stack (a tray bearing 1-3 charging baskets) into the unstacker 1 by a forklift, wherein the roller conveying mechanism 9 of the unstacker 1 is at the lowest position;
separating the trays, clamping the lowest charging basket by a pneumatic clamping jaw 13 under the driving of a clamping cylinder 7, lifting the stack of the charging baskets by a lifting oil cylinder 8, rotating a roller conveying mechanism 9 clockwise by 90 degrees, conveying the trays onto a tray conveying mechanism 2 by the roller conveying mechanism 9 at the bottom of the unstacker 1, and completing the separation process of the trays and the charging baskets;
further, carrying out basket separation, enabling the roller conveying mechanism 9 to rotate 90 degrees anticlockwise and lift to be horizontal to the basket conveying mechanism 5, enabling a conveying rail of the roller conveying mechanism 9 to be connected with a conveying rail of the basket conveying mechanism 5, enabling a basket separating device clamped with baskets to descend, placing a basket stack on the roller conveying mechanism 9 at the bottom of the unstacker 1, then loosening the bottommost basket, then clamping the second basket from bottom to bottom, lifting the rest baskets except the bottommost basket by the lifting oil cylinder 8, and sending the bottommost basket to the basket conveying mechanism 5 by the bottom roller conveying mechanism 9 to complete unstacking operation of the bottommost basket;
and repeating the steps to complete the unstacking operation of all the charging baskets.
It is worth noting that in order to ensure accurate gripping of the baskets by the pneumatic jaws 13 and smooth transfer of the trays and baskets by the drum conveyor 9 at the bottom of the unstacker 1, stoppers 12 are provided for stopping the stack, considering that the improper placement of the stack may have an effect on the accurate operation of the unstacker 1. As shown in fig. 3, a stop 12 is provided at the edge of the roller conveyor 9, and when the forklift is fed into the stack, the stop 12 is raised to ensure that the stack is stopped at the desired position (not beyond the edge of the roller conveyor), and after the loading is completed, the stop 12 is dropped.
Further, the charging basket conveying mechanism 5 conveys the charging basket to the charging operation station 6 and the stacker crane 3 in sequence, and the charging basket finishes charging basket material taking operation at the charging operation station 6.
In order to collect the tray and the empty basket which completes the feeding operation again, a stacker crane 3 is arranged at the tail ends of the tray conveying mechanism 2 and the basket conveying mechanism 5 for stacking.
The stacker crane 3 includes: the roller conveying mechanism 9, the charging basket separating device and the stopper 12; the mechanical structure and the working principle of the stacker crane 3 are the same as those of the unstacker 1, and the action sequence is opposite;
after the material loading operation is completed, in order to pile up neatly again the tray and the basket of separation, the working process of the stacker crane 3 is:
the emptied charging basket is conveyed to the stacker crane 3 by the charging basket conveying mechanism 5, the charging basket separating device 5 of the stacker crane 3 always clamps and lifts the lowest charging basket, and the newly conveyed charging basket is placed under the previous charging basket until the stacking of the charging basket stack is completed;
after the stacking of the material basket stacks is completed, the material basket separating device 5 clamps the material basket stacks and lifts the material basket stacks, the tray is conveyed to the stacking machine 3 through the tray conveying mechanism 2, the stopper 12 ensures that the tray stops at a required position, and the material basket separating device enables the lifted material basket stacks to descend and be placed on the tray, so that all stacking work is completed.
Specifically, the tray conveying mechanism 2 is connected with the roller conveying mechanisms 9 at the bottom of the unstacker 1 and the stacker 3. The conveying track of the tray conveying mechanism 2 is in a straight line with the roller conveying mechanism at the bottom of the unstacker 1 and the roller conveying mechanism 9 at the bottom of the stacker 3.
Specifically, a conveying track of the charging basket conveying mechanism 5 is semicircular, and two ends of the conveying track are respectively connected with a roller conveying mechanism 9 at the bottom of the unstacker 1 and the stacker 3; in order to facilitate the unstacking operation, the conveying track of the basket conveying mechanism 5 is higher than the conveying track of the tray conveying mechanism 2.
Specifically, material loading operation station 6 sets up in charging basket conveying mechanism's middle part, and semicircular delivery track's intermediate position promptly carries out the charging basket and gets the material operation.
Specifically, the track conveying manner of the basket conveying mechanism 5 may be a drum conveying manner or a belt conveying manner.
Specifically, a master control cabinet controls the coordination operation among all mechanisms.
In conclusion, the invention provides an automatic tray unstacking and stacking mechanism which can be adapted to charging baskets with different sizes, complete separation of a plurality of charging baskets, and realize simultaneous unstacking and stacking operation and uninterrupted feeding and discharging operation.
It will be understood by those skilled in the art that while the present invention has been described in detail with respect to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. An automatic pile up neatly mechanism of tearing open of tray which characterized in that includes: the device comprises a unstacker (1), a tray conveying mechanism (2), a stacker (3), a rack (4), a charging basket conveying mechanism (5) and a feeding operation station (6);
the unstacker (1) and the stacker (3) are arranged on the rack (4);
the tray conveying mechanism (2) is arranged between the unstacker (1) and the stacker (3) and is used for conveying the trays separated by the unstacker (1) to the stacker (3);
the charging basket conveying mechanism (5) is arranged at the periphery of the unstacker (1) and the stacker (3) and is used for conveying charging baskets from the unstacker (1) to the feeding operation station (6) and the stacker (3);
the unstacker (1) comprises: the device comprises a roller conveying mechanism (9), a charging basket separating device and a stopper (12);
the roller conveying mechanism (9) is arranged at the bottom of the unstacker (1) and is provided with a jacking cylinder (11) and a rotating motor (10) to enable the roller conveying belt to rotate and lift;
the charging basket separating device is arranged on two sides of the rack (4) and comprises a pneumatic clamping jaw (13), a clamping cylinder (7) and a lifting oil cylinder (8); the pneumatic clamping jaws (13) are driven by the clamping cylinder (7) to clamp or release the charging basket, and when the pneumatic clamping jaws (13) clamp the charging basket, the charging basket is lifted or lowered through the stretching of the lifting oil cylinder (8).
2. An automatic pallet unstacking mechanism according to claim 1, characterised in that the stop (12) is used for stopping the stack.
3. An automatic pallet unstacking mechanism according to claim 1, characterised in that the palletizer (3) comprises: a roller conveying mechanism (9), a charging basket separating device and a stopper (12).
4. An automatic pallet unstacking mechanism according to claim 1, characterised in that the pallet conveying mechanism (2) is connected to a roller conveying mechanism (9) at the bottom of the unstacker (1) or the stacker (3).
5. The automatic pallet unstacking and stacking mechanism according to claim 1, wherein the conveying track of the basket conveying mechanism (5) is semicircular, and two ends of the track are respectively connected with the roller conveying mechanisms (9) at the bottoms of the unstacker (1) and the stacker (3).
6. The automatic pallet unstacking mechanism as claimed in claim 1, characterized in that the loading operation station (6) is arranged in the middle of the basket conveying mechanism (5) and is used for taking the basket.
7. A method of unstacking an automatic pallet unstacking mechanism as claimed in any one of claims 1 to 6; the method comprises the following specific steps:
s1, unstacking operation, namely placing a tray stack on an unstacker (1), clamping and lifting a charging basket by a charging basket separation device, and conveying a tray to a tray conveying mechanism (2) by a roller conveying mechanism (9) at the bottom of the unstacker (1) to complete the separation process of the tray and the charging basket; after the trays are separated, the charging basket separating device places the charging basket stack on the roller conveying mechanism (9), the stack removal is started from the lowest charging basket, the charging baskets are sequentially separated and are conveyed to the charging basket conveying mechanism (5) through the bottom roller conveying mechanism (9), and the stack removal process is completed;
s2, conveying the charging basket, wherein the charging basket is sequentially conveyed to a charging operation station (6) by a charging basket conveying mechanism (5), and the charging basket finishes charging operation on the charging operation station (6);
and S3, stacking operation, wherein the emptied charging basket is conveyed to a stacker crane (3) by a charging basket conveying mechanism (5) and is stacked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811101141.7A CN109110511B (en) | 2018-09-20 | 2018-09-20 | Automatic tray unstacking and stacking mechanism and automatic unstacking and stacking method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811101141.7A CN109110511B (en) | 2018-09-20 | 2018-09-20 | Automatic tray unstacking and stacking mechanism and automatic unstacking and stacking method |
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| CN109110511A CN109110511A (en) | 2019-01-01 |
| CN109110511B true CN109110511B (en) | 2020-03-17 |
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| CN110255204B (en) * | 2019-06-26 | 2021-09-14 | 中日龙(襄阳)机电技术开发有限公司 | Unstacking, stacking and feeding system |
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| CN113322704B (en) * | 2021-06-09 | 2022-12-27 | 新疆雅澳科技有限责任公司 | Conveying method of automatic batch feeder |
| CN113306816B (en) * | 2021-06-09 | 2022-09-09 | 新疆雅澳科技有限责任公司 | Automatic batch feeder |
| CN113306963B (en) * | 2021-06-09 | 2022-08-30 | 新疆雅澳科技有限责任公司 | Automatic pulp feeding process |
| CN115303760B (en) * | 2022-07-04 | 2024-11-01 | 青岛欣欣向荣智能设备有限公司 | Tray separating device and using method thereof |
| CN115339900B (en) * | 2022-08-12 | 2024-06-25 | 宁波正力药品包装有限公司 | Automatic support changing machine |
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| JPH043725A (en) * | 1990-04-19 | 1992-01-08 | M S Kogyo Kk | Automatic feeder for refrigerated bread product |
| JP3024395B2 (en) * | 1992-09-08 | 2000-03-21 | スズキ株式会社 | Plate transfer device for aggregation pattern determination |
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| CN103112683B (en) * | 2013-03-01 | 2015-07-29 | 青岛诺力达智能科技有限公司 | Two main line dual output tray library automatic stacking system |
| CN104003095B (en) * | 2014-04-29 | 2016-03-30 | 雄华机械(苏州)有限公司 | A kind of pallet separating transport mechanism |
| CN104340668A (en) * | 2014-10-20 | 2015-02-11 | 苏州互强工业设备有限公司 | Automatic rotating joining table |
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