CN202481764U - Stacking equipment for tidying columnar materials - Google Patents
Stacking equipment for tidying columnar materials Download PDFInfo
- Publication number
- CN202481764U CN202481764U CN2012200471472U CN201220047147U CN202481764U CN 202481764 U CN202481764 U CN 202481764U CN 2012200471472 U CN2012200471472 U CN 2012200471472U CN 201220047147 U CN201220047147 U CN 201220047147U CN 202481764 U CN202481764 U CN 202481764U
- Authority
- CN
- China
- Prior art keywords
- column
- belt conveyor
- feed back
- columnar
- holding tank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 239000000463 material Substances 0.000 title claims abstract description 227
- 238000010415 tidying Methods 0.000 title abstract 4
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 238000012856 packing Methods 0.000 claims abstract description 19
- 238000003860 storage Methods 0.000 claims description 12
- 238000012546 transfer Methods 0.000 claims description 9
- 230000008713 feedback mechanism Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 239000002360 explosive Substances 0.000 abstract description 4
- 235000013580 sausages Nutrition 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000004806 packaging method and process Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
- 229920006255 plastic film Polymers 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Images
Landscapes
- Specific Conveyance Elements (AREA)
Abstract
The utility model is suitable for the technical field of production of automatic production line equipment, and provides stacking equipment for tidying columnar materials. The stacking equipment comprises three mechanisms, namely a straightening device which is used for straightening disordered columnar materials into an ordered arrangement state, a gripping device which is used for gripping the columnar materials straightened by the straightening device to the downstream side of a production line system for stacking, and a stacking device which is used for matching with the gripping device to realize modularized stacking of the columnar materials and conveying the columnar materials to the downstream side of the production line system for packing. The stacking equipment for tidying the columnar materials is arranged on a full-automatic production line, is used for tidying the columnar materials such as explosives, ham sausages and the like, can completely replace manpower, and is accurate in gripping and high in speed, so that the labor cost can be greatly saved, the labor intensity is reduced, the production efficiency of the production line is improved, the equipment and the environment are not polluted when the stacking equipment is operated, impacts and sparks are not generated in use, damages to the columnar materials can not be caused, and the safety and the reliability are high.
Description
Technical field
The utility model belongs to automatic assembly line production facilities technical field, more particularly, relates to a kind of columnar material arrangement piling equipment.
Background technology
Columnar material (like the ham sausage of plastic film packing, commercial explosive etc.) because output is big, needs high-revolving arrangement and packing.At present, columnar material needs manual work or equipment arrangement mostly, utilizes manual sorting, and speed of production is slow, has also increased working strength of workers greatly; In addition, existing material collator is counted inaccurately, can cause simultaneously the breakage of some materials unavoidably, and safe reliability is not high.
The utility model content
The utility model technical matters to be solved be to provide a kind of safe and reliable, speed fast, count the piling of columnar material arrangement accurately equipment; Be intended to reduce the cost of labor of the finishing and packing link in the column production process; Increase work efficiency, reduce labor intensity, and promote arrangement process safe reliability.
For solving the problems of the technologies described above, the technical scheme of the employing of the utility model is: a kind of columnar material arrangement piling equipment is provided, comprises:
One makes device in order; Be used in disorder column made in order and be orderly ordered state, it comprises feeding mechanism, be located at the material receiving mechanism in said feeding mechanism downstream, be located at said material receiving mechanism downstream the arranging machine structure, be located at the material grasping conveying mechanism in said arranging machine structure downstream and be located at and be used between said material grasping conveying mechanism and the said feeding mechanism not crawled and column that stay on the said material grasping conveying mechanism is recycled to the feed back mechanism on the said feeding mechanism;
One grabbing device; Be used for making the column that device makes in order in order and grabbing the flowing water system downstream for piling with said; It comprises fixed support, be located at least one robot on the said fixed support and receive at least one column handgrip of said robot control and be used for to the column on the said material grasping conveying mechanism of making device in order take and feed back to said robot camera head, be located at the backlight on the said material grasping conveying mechanism of making device in order, also be provided with first inductor that is used to detect column on the said column handgrip;
One palletizing apparatus; Be used to cooperate said grabbing device to realize the modularization piling of column and be delivered to the flowing water system downstream for packing; It comprises a side temporary storage mechanism and a conveying mechanism of being located at said grabbing device; Said apparatus for temporary storage comprises at least one material holding tank, and each said material holding tank is provided with second inductor that links to each other with said robot.
Further, said feeding mechanism comprises charging actuating device and feed conveyor belt; Said material receiving mechanism comprises the connect material actuating device and the belt conveyor that connects material; Said arranging machine structure comprises reason material actuating device and is managed the material section and be located at the high speed reason material section that said low speed reason is expected section downstream by the low speed of said reason material actuating device driving; Said material grasping conveying mechanism comprises material grasping actuating device and material grasping carrier bar; Said feed back mechanism comprises feed back actuating device and feed back belt conveyor.
Further, said low speed reason material section is provided with the first reason material belt conveyor, and said high speed reason material section is provided with the second reason material belt conveyor that a transfer rate is higher than the transfer rate of the said first reason material belt conveyor; The said first reason material belt conveyor is provided with a plurality of directed dividing plates; The top of the said first reason material belt conveyor and the second reason material belt conveyor is provided with the blend stop that prevents that column from rolling back and forth and column is separated.
Further; Said feed back belt conveyor comprises the first feed back belt conveyor and is located at the second feed back belt conveyor in the said first feed back belt conveyor downstream and is located at the 3rd feed back belt conveyor in the said second feed back belt conveyor downstream; Said the 3rd feed back belt conveyor is located at the upper reaches of said feed conveyor belt and is positioned at its side, and the said first feed back belt conveyor, the second feed back belt conveyor, the 3rd feed back belt conveyor are provided with a plurality of and the perpendicular fin of its direction of transfer.
Further, said column handgrip comprises a plurality of arms that receive the control of said robot and work in coordination and the suction pawl of being located at said arm lower end.
Further, said suction pawl comprises suction pawl support, is located at least one cylinder on the said suction pawl support, the be in line at least one group of sucker that distributes, the vacuum generator that links to each other with said sucker that links to each other with the output shaft of said cylinder.
Further, said temporary storage mechanism comprises a plurality of material holding tanks, and said material holding tank has a plurality of perpendicular lattice, but its number of plies that vertically goes up the piling column equates with the quantity of said material holding tank; Said conveying mechanism is a drive motor and a link chain mechanism, and a plurality of said material holding tanks are series on the said link chain mechanism.
Further; Said link chain mechanism be provided with a plurality of be equidistant distribution and can cooperate with the perpendicular lattice of said material holding tank column is scraped the material putter component of another material holding tank from a material holding tank, the push rod quantity of said material putter component equates with the quantity of the perpendicular lattice of said material holding tank.
Perhaps; Further; Said temporary storage mechanism comprises at least two material holding tanks; Each said material holding tank is located at the homonymy of said column grabbing device side by side, and said conveying mechanism comprises the transverse moving mechanism and a vertical chain mechanism that can the column in the material holding tank be pushed away away, is the column packing element module transportation frame that equidistantly is distributed with a plurality of lateral openings in the said vertical chain mechanism.
Further, said transverse moving mechanism comprises support and is located at slide rail, intermediate transportation frame, the cylinder assembly on the said support and is used for the steering hardware with the column unit module unitary rotation of piling shaping.
The beneficial effect of columnar material that the utility model provides arrangement piling equipment is: the utility model columnar material arrangement piling equipment is made the big running of device, grabbing device, palletizing apparatus three mechanisms in order through column and is cooperated in order; Through making device in order confused and disordered column is organized into the robot commander suction pawl extracting of parastate for grabbing device in advance earlier; Put into the packaging facilities that column module that a plurality of columns that the palletizing apparatus pile becomes to meet packing specification form is delivered to downstream more then and pack, whole process realizes automation fully; This columnar material arrangement piling equipment is installed in and is used to put in order the columnar material like explosive, ham sausage and so on the automatic production line; Can replace manual work fully, it grasps accurately, and speed is fast; So can practice thrift cost of labor greatly, reduce labour intensity, improve Production Line efficient; And can contaminated equipment and environment in the operational process, not having in the use and impact, no spark can not cause the breakage of column yet, and its safe reliability is high.
Description of drawings
The columnar material that Fig. 1 provides for the utility model embodiment one is put the structural representation of facing of piling equipment in order;
The plan structure scheme drawing of the columnar material arrangement piling equipment that Fig. 2 provides for the utility model embodiment one;
The main TV structure scheme drawing of the columnar material arrangement piling equipment that Fig. 3 provides for the utility model embodiment two;
The plan structure scheme drawing of the columnar material arrangement piling equipment that Fig. 4 provides for the utility model embodiment two;
Fig. 5 is for making the structural representation of facing of device in order among the utility model embodiment;
Fig. 6 is for making the plan structure scheme drawing of device in order among the utility model embodiment;
Fig. 7 is the structural representation of facing of grabbing device among the utility model embodiment;
Fig. 8 is the three-dimensional structure diagram of suction pawl under retracted mode that grabbing device adopted among the utility model embodiment;
Fig. 9 for grabbing device adopted among the utility model embodiment suction pawl at the three-dimensional structure diagram that stretches out under the state;
Figure 10 is the structural representation of looking up of grabbing device adopted among the utility model embodiment suction pawl;
Figure 11 is the structural representation of facing of grabbing device adopted among the utility model embodiment suction pawl;
The perspective view of grabbing device and palletizing apparatus in the columnar material arrangement piling equipment that Figure 12 provides for the utility model embodiment one;
Figure 13 is the local structure for amplifying scheme drawing at A place among Figure 12;
Figure 14 is the left TV structure scheme drawing of Figure 12;
Grabbing device and palletizing apparatus faces structural representation in columnar material that Figure 15 provides for the utility model embodiment one arrangement piling equipment;
The plan structure scheme drawing of grabbing device and palletizing apparatus in the columnar material arrangement piling equipment that Figure 16 provides for the utility model embodiment one;
The perspective view of grabbing device and palletizing apparatus in the columnar material arrangement piling equipment that Figure 17 provides for the utility model embodiment two;
The plan structure scheme drawing of grabbing device and palletizing apparatus in the columnar material arrangement piling equipment that Figure 18 provides for the utility model embodiment two;
Figure 19 is the three-dimensional structure diagram of the robot mounting bracket that grabbing device adopted among the utility model embodiment.
The specific embodiment
In order to make the utility model technical matters to be solved, technical scheme and beneficial effect clearer,, the utility model is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
Please in the lump referring to figs. 1 through Fig. 4, the existing columnar material arrangement piling equipment that the utility model is provided describes.Said columnar material arrangement piling equipment; Comprise three great institutions; That is: be used in disorder column 101 made in order and be the making device 1 in order, be used for the said device of making in order is managed 1 suitable column 101 and grabbed the flowing water system downstream for the grabbing device 2 of piling be used to cooperate said grabbing device 2 to realize the modularization piling of columns 101 and be delivered to the palletizing apparatus 3 of flowing water system downstream for packing of orderly ordered state, existing concrete structure explanation with each mechanism as follows:
At first please specifically referring to Fig. 5 and Fig. 6; This make in order device 1 comprise feeding mechanism 11, be located at said feeding mechanism 11 downstream material receiving mechanism 12, be located at said material receiving mechanism 12 downstream arranging machine structure 13, be located at the material grasping conveying mechanism 14 in said arranging machine structure 13 downstream and be located at and be used between said material grasping conveying mechanism 14 and the said feeding mechanism 11 not crawled and column 101 that stay on the said material grasping conveying mechanism 14 is recycled to the feed back mechanism 15 on the said feeding mechanism 11; The whole device of making in order forms a complete loop; Both can the column that is in order state 101 that be fit to extracting be provided grabbing device 2 downstream; Can return again the column 101 that not crawled device 2 grasps again to enter in the feeding mechanism 11 and rearrange and the feeder process of ordering, grasped fully and by piling until column 101;
See also Fig. 7 then; This grabbing device 2; Comprise fixed support 21, be located at least one robot 22 on the said fixed support 21 and receive at least one column handgrip 23 of said robot 22 controls and be used for to the column 101 on the said material grasping conveying mechanism 14 of making device 1 in order take and feed back to said robot 22 camera head 25, be located at the backlight 24 on the said material grasping conveying mechanism 14 of making device 1 in order; Also be provided with first inductor (figure is invisible) that is used for detecting column on the said column handgrip 23; Wherein, Robot 22 is an existing installation, and predefined control program is equipped with in its inside, thereby can accept the information that camera head 25 and first inductor feed back to and calculate and accurately judge the particular location of column 101 on material grasping conveying mechanism 14; And column handgrip 23 sent instruction, the column 101 that will be in best crawl position is picked up;
See also Figure 12 to Figure 18 again; Palletizing apparatus 3 comprises a side temporary storage mechanism 31 and the conveying mechanism 32 of being located at said grabbing device 2; Said apparatus for temporary storage 31 comprises at least one material holding tank 311; Robot 2 puts it into earlier in the material holding tank 311 after column 101 is picked up, and each said material holding tank 311 is provided with the second inductor (not shown) that links to each other with said robot 2, can detect the situation of piling up of each material holding tank 311 cylindrical things 101.
Columnar material that the utility model provides arrangement piling equipment is made the big running of device 1, grabbing device 2, palletizing apparatus 3 three mechanisms in order through column and is cooperated in order; Through making device 1 in order confused and disordered column 101 is organized into robot 22 commander suction pawls 23 extractings of parastate for grabbing device 2 in advance earlier; Put into the packaging facilities that column packing module that a plurality of columns 101 that palletizing apparatus 3 piles become to meet packing specification form is delivered to downstream more then and pack, whole process realizes automation fully; This columnar material arrangement piling equipment is installed in and is used to put in order the columnar material like explosive, ham sausage and so on the automatic production line; Can replace manual work fully, it grasps accurately, and speed is fast; So can practice thrift cost of labor greatly, reduce labour intensity, improve Production Line efficient; And can contaminated equipment and environment in the operational process, not having in the use and impact, no spark can not cause the breakage of column yet, and its safe reliability is high.
Further; See also Fig. 5, Fig. 6; A kind of specific embodiment of the columnar material arrangement piling equipment that provides as the utility model; Said feeding mechanism 11 comprises that charging actuating device and feed conveyor belt 111 these charging actuating devices comprise drive motor 100 and charging drive roller wheel (invisible among the figure), and feed conveyor belt 111 is located on the said running roller; Said machine 12 structures that connect material comprise the connect material actuating device and the belt conveyor 121 that connects material; The actuating device that connects material is set to motor and cooperates the drive roller wheel (invisible among the figure) that connects material; The belt conveyor 121 that connects material is located on the drive roller wheel that connects material, and the position of the belt conveyor 121 that connects material is lower than the position of feed conveyor belt 111; Said arranging machine structure 13 comprises reason material actuating device and by said reason material actuating device low speed reason material section 131 that drives and the high speed reason material section 132 of being located at said low speed reason material section 131 downstream, reason material actuating device also is made as the structure that drive motor adds reason material drive roller wheel; Said material grasping conveying mechanism 14 comprises material grasping actuating device and material grasping carrier bar 141, and the material grasping actuating device comprises motor 200 and material grasping drive roller wheel (invisible among the figure), and material grasping carrier bar 141 is located on the material grasping drive roller wheel; Said feed back mechanism 15 comprises feed back actuating device and feed back belt conveyor, and wherein the feed back actuating device comprises motor 300.Column 101 is sent into through feed conveyor belt 111; Drop on the belt conveyor 121 that connects material, and take on the arranging machine structure 13, and it is organized into orderly ordered state by the belt conveyor 121 that connects material; Last column 101 advances on the material grasping carrier bar 141; Deliver to the position that makes things convenient for robot 22 to grasp, supply robot 22 to grasp, and the column 101 that is not grasped by robot 22 is got back on the feed back belt conveyor; Send back on the belt conveyor 111 that connects material by the feed back belt conveyor and to get into once more in the arranging order, until being grasped by robot 22.
Further; See also Fig. 6; A kind of specific embodiment of the columnar material arrangement piling equipment that provides as the utility model; Said low speed reason material section 131 is provided with the first reason material belt conveyor 1311, and said high speed reason material section 132 is provided with the second reason material belt conveyor 1321 that a transfer rate is higher than the transfer rate of the said first reason material belt conveyor 1311; The said first reason material belt conveyor 1311 is provided with a plurality of directed dividing plates 1312; When column 101 is transferred into 1311 last times of the first reason material belt conveyor; Because the effect of directed dividing plate 1312; In disorder column 101 is arranged in parallel shape basically, and owing to have velocity contrast between the first reason material belt conveyor 1311 and the second reason material belt conveyor 1321, so when column 101 advances to both intersections; Column 101 just constantly separates, stretching, form and make things convenient for robot 22 to draw the ordering states; The top of the said first reason material belt conveyor 1311 and the second reason material belt conveyor 1321 is provided with the blend stop (not shown), to prevent that column 101 from rolling back and forth and conveniently column 101 to be separated.
Further; Also see also Fig. 6; A kind of specific embodiment of the columnar material arrangement piling equipment that provides as the utility model; Said feed back belt conveyor comprises the first feed back belt conveyor 151 and is located at the second feed back belt conveyor 152 in the said first feed back belt conveyor 151 downstream and is located at the 3rd feed back belt conveyor 153 in the said second feed back belt conveyor 152 downstream that said the 3rd feed back belt conveyor 153 is located at the upper reaches of said feed conveyor belt 151 and is positioned at its side, like this; Form an on-cycle loop; The column 101 that is not grasped by robot 22 is got back to the first feed back belt conveyor 151, is sent on the second feed back belt conveyor 152 and the 3rd feed back belt conveyor 153 then in order and passes back on the belt conveyor 111 that connects material to get into once more in the arranging order, until being grasped by robot 22; Be respectively equipped with a plurality of and perpendicular fin 1511, fin 1521, the fin 1531 of its direction of transfer on the said first feed back belt conveyor 151, the second feed back belt conveyor 152, the 3rd feed back belt conveyor 153; Increase the friction between column 101 and each the feed back belt conveyor like this, prevent that column 101 is because of running into the slope rollback.
Further; See also Fig. 7; A kind of specific embodiment of the columnar material arrangement piling equipment that provides as the utility model, said column handgrip 23 comprise and receive said robot 2 controls and a plurality of arms 231 of working in coordination and the suction pawl 232 of being located at said arm 231 lower ends.Between these arms 231 and the robot 22 and and inhale between the pawl 232 and be flexible connection; Under the instruction of the control system of robot 22, can let and inhale pawl 232 and all around move in the horizontal direction; So that after moving to the optimum position column 101 is grasped, guarantees the success of grasping.
Further; See also Fig. 8 to Figure 11; A kind of specific embodiment of the columnar material arrangement piling equipment that provides as the utility model, said suction pawl 232 comprise inhales pawl support 2321, is located at least one cylinder 2322 on the said suction pawl support 2321, the be in line at least one group of sucker 2323 of distribution, the vacuum generator 2324 that links to each other with said sucker 2323 that links to each other with the output shaft of said cylinder 2322.In this embodiment; When suction pawl 232 moves to the best crawl position, top on one of them column 101; Cylinder 2322 action and with sucker 2323 fall and press to downwards column 101 and with column 101 surperficial closed contacts, the air in the sucker 2323 is taken in vacuum generator 2324 work simultaneously away, like this; Sucker 2323 just holds column 101 steadily under the atmospheric effect in the external world, puts into then in the material holding tank 311.
Further; Referring to Figure 12 to Figure 16; A kind of specific embodiment of the columnar material arrangement piling equipment that provides as the utility model embodiment one; Said temporary storage mechanism 31 comprises a plurality of material holding tanks 311, and said material holding tank 311 has a plurality of perpendicular lattice 3111, but its number of plies that vertically goes up piling column 101 equates with the quantity of said material holding tank 311; Said conveying mechanism 32 is drive motor 321 and link chain mechanism 322, and a plurality of said material holding tanks 311 are series on the said link chain mechanism 322.Series connection form like this is that a plurality of material holding tanks 311 cooperatively interact; Combined action; Each material holding tank 311 is responsible for the piling of one deck columns 101, and after full with 3111 yards of the perpendicular lattice of one deck, the column 101 of this layer just is brought into material holding tank 311 the insides of closing on; Become the column of a standard to pack module until rightmost last material holding tank 311 final piling, for the packaging facilities packing in downstream.
Further; See also Fig. 1 to Fig. 4; A kind of specific embodiment of the columnar material arrangement piling equipment that provides as the utility model embodiment one; Said link chain mechanism 322 be provided with a plurality of be equidistant distribution and can cooperate with the perpendicular lattice 3111 of said material holding tank 311 column 101 is scraped the material putter component 3221 of another material holding tank 311 from a material holding tank 311, the push rod quantity of said material putter component 3221 equates with the quantity of the perpendicular lattice 3111 of said material holding tank 311.Specifically by way of example, five material holding tanks 311 are set, each material holding tank 311 has four perpendicular lattice 3111; The push rod quantity of material putter component 3221 also is made as four; After one deck column 101 one-size-fits-alls of five material holding tanks 311 were full, material putter component 3221 is parallel motion from left to right just, and through each material holding tank 311; Release one deck material for 311 li from the material holding tank; Behind five material holding tanks 311, form five layers 20 column packing module, and the packaging facilities that is advanced to downstream is packed; The series connection form is that 22 of every robots are responsible for accomplishing one deck of material holding tank 311 or two layers material is piled up, and has only when all material being arranged in each material holding tank 311, and material putter component 3221 just can move.
Perhaps; Further; See also Figure 17 and Figure 18; A kind of specific embodiment of the columnar material arrangement piling equipment that provides as the utility model embodiment two, said temporary storage mechanism 31 comprises at least two material holding tanks 311, each said material holding tank 311 is located at the homonymy of said column grabbing device 2 side by side; Said conveying mechanism comprises the transverse moving mechanism and a vertical chain mechanism 333 that can the columns 101 in the material holding tank 311 be pushed away away, is the column packing element module transportation frame 3331 that equidistantly is distributed with a plurality of lateral openings in the said vertical chain mechanism 333.In this embodiment, each material holding tank 311 is a parallel connection setting, specifically by way of example; Every robot 22 corresponding two material holding tanks 311; Each material holding tank 311 has four perpendicular lattice 3111, can deposit five layers of material, and robot is grabbed enough five layers of columns 101 to a material holding tank 311; The columnar material of material holding tank 311 is urged in the piling conveying device 3, and the packaging facilities that is advanced to downstream is packed; Meanwhile robot 22 removes to grasp column 101 again and puts another material holding tank 311 into; So that can not cause the wait of robot 22, the palletizing apparatus of parallel form is every robot 22 independent material pilings of accomplishing, and does not disturb mutually; Can make full use of equipment, improve the efficient of material arrangement.
Further; See also Figure 17 and Figure 18 again; A kind of specific embodiment of the columnar material arrangement piling equipment that provides as the utility model embodiment two, said transverse moving mechanism comprise support 330 and are located at slide rail, intermediate transportation frame 3321, the cylinder assembly 3322 on the said support 330 and the steering hardware of the column unit module unitary rotation that is used for piling is shaped.In this embodiment, the propulsive effort of transverse moving mechanism is realized by cylinder assembly 3322 fully, so that operate steadily, avoids circular column 101 to be scattered; Because column 101 is vertically to place in material holding tank 311; For ease of the needs of carrying and packing; Needed in 333 last times its horizontal placement to vertical chain mechanism; Steering hardware just can achieve this end, and after turning to, the direct side direction of the packing module of the columns in the intermediate transportation frame 3321 is shifted onto in the column packing element module transportation frame 3331 of lateral openings and is got final product.Wherein, can have rotating shaft (invisible among the figure) at intermediate transportation frame 3321, steering hardware be made as a telescopic cylinder and be located on the output shaft of said telescopic cylinder tooth bar be located at the gear that matches with said tooth bar in the said rotating shaft.This cylinder cooperates the steering mode of tooth bar, gear to make intermediate transportation frame 3321 operate steadily when turning to, and good column packing module is scattered to prevent piling.
In addition; See also Fig. 7 and Figure 19; The fixed support 21 of said grabbing device 2 comprises that top frame 211, at least four columns 212 and at least four columns connect foot lever 213; Each said column 212 comprises cylinder 2121 and lower prop 2122, and the said cylinder 2121 of going up is with said lower prop 2122 and removably connects, said top frame 211 with said on the top of cylinder 2121 be connected; Connect foot lever 213 through said column between the adjacent said lower prop 2111 and connect, also be provided with the installation frame 214 that is used for mounting robot 22 on the said top frame 211; Said installation frame 214 comprises a balance frame 2141 and four cantilever beams 2142 of being located at each middle part, limit of said top frame 211, and said balance frame 2141 is captiveed joint with said top frame 211 through four said cantilever beams 2142; Each said cantilever beam 211 be provided with one be used for fixing robot 22 Connection Block 2143; The bight that the bight of junction and said column connect foot lever 213 and said lower pillar stand 2122 junctions between said top frame 211 and each the said upper pillar stand 2121 respectively be provided with one be used to increase connective stability tiltedly draw frame 215; The lower end of each said lower pillar stand 2122 be respectively equipped with one be used for fixed support 21 is fixed in application places permanent seat 216; Said top frame 211, column 212, column connect foot lever 213 and tiltedly draw between the frame 215 to being welded to connect.This fixed support is through finite element analysis, optimal design, and its column is detachable structure, and its stable mechanical property, carrying and easy for installation, and cost and space are saved in the technical requirements in the time of can satisfying the robot operation again.
The above is merely the preferred embodiment of the utility model; Not in order to restriction the utility model; Any modification of being done within all spirit and principles at the utility model, be equal to replacement and improvement etc., all should be included within the protection domain of the utility model.
Claims (10)
1. a columnar material arrangement piling equipment is characterized in that, comprising:
One makes device in order; Be used in disorder column made in order and be orderly ordered state, it comprises feeding mechanism, be located at the material receiving mechanism in said feeding mechanism downstream, be located at said material receiving mechanism downstream the arranging machine structure, be located at the material grasping conveying mechanism in said arranging machine structure downstream and be located at and be used between said material grasping conveying mechanism and the said feeding mechanism not crawled and column that stay on the said material grasping conveying mechanism is recycled to the feed back mechanism on the said feeding mechanism;
One grabbing device; Be used for making the column that device makes in order in order and grabbing the flowing water system downstream for piling with said; It comprises fixed support, be located at least one robot on the said fixed support and receive at least one column handgrip of said robot control and be used for to the column on the said material grasping conveying mechanism of making device in order take and feed back to said robot camera head, be located at the backlight on the said material grasping conveying mechanism of making device in order, also be provided with first inductor that is used to detect column on the said column handgrip;
One palletizing apparatus; Be used to cooperate said grabbing device to realize the modularization piling of column and be delivered to the flowing water system downstream for packing; It comprises a side temporary storage mechanism and a conveying mechanism of being located at said grabbing device; Said apparatus for temporary storage comprises at least one material holding tank, and each said material holding tank is provided with second inductor that links to each other with said robot.
2. columnar material arrangement piling equipment as claimed in claim 1 is characterized in that said feeding mechanism comprises charging actuating device and feed conveyor belt; Said material receiving mechanism comprises the connect material actuating device and the belt conveyor that connects material; Said arranging machine structure comprises reason material actuating device and is managed the material section and be located at the high speed reason material section that said low speed reason is expected section downstream by the low speed of said reason material actuating device driving; Said material grasping conveying mechanism comprises material grasping actuating device and material grasping carrier bar; Said feed back mechanism comprises feed back actuating device and feed back belt conveyor.
3. columnar material arrangement piling equipment as claimed in claim 2; It is characterized in that; Said low speed reason material section is provided with the first reason material belt conveyor, and said high speed reason material section is provided with the second reason material belt conveyor that a transfer rate is higher than the transfer rate of the said first reason material belt conveyor; The said first reason material belt conveyor is provided with a plurality of directed dividing plates; The top of the said first reason material belt conveyor and the second reason material belt conveyor is provided with the blend stop that prevents that column from rolling back and forth and column is separated.
4. like claim 2 or 3 described columnar material arrangement piling equipment; It is characterized in that; Said feed back belt conveyor comprises the first feed back belt conveyor and is located at the second feed back belt conveyor in the said first feed back belt conveyor downstream and is located at the 3rd feed back belt conveyor in the said second feed back belt conveyor downstream; Said the 3rd feed back belt conveyor is located at the upper reaches of said feed conveyor belt and is positioned at its side, and the said first feed back belt conveyor, the second feed back belt conveyor, the 3rd feed back belt conveyor are provided with a plurality of and the perpendicular fin of its direction of transfer.
5. columnar material as claimed in claim 1 arrangement piling equipment is characterized in that, said column handgrip comprises and receives said robot control and a plurality of arms of working in coordination and the suction pawl of being located at said arm lower end.
6. columnar material arrangement piling equipment as claimed in claim 5; It is characterized in that said suction pawl comprises suction pawl support, is located at least one cylinder on the said suction pawl support, the be in line at least one group of sucker that distributes, the vacuum generator that links to each other with said sucker that links to each other with the output shaft of said cylinder.
7. columnar material arrangement piling equipment as claimed in claim 1; It is characterized in that; Said temporary storage mechanism comprises a plurality of material holding tanks, and said material holding tank has a plurality of perpendicular lattice, but its number of plies that vertically goes up the piling column equates with the quantity of said material holding tank; Said conveying mechanism is a drive motor and a link chain mechanism, and a plurality of said material holding tanks are series on the said link chain mechanism.
8. columnar material arrangement piling equipment as claimed in claim 7; It is characterized in that; Said link chain mechanism be provided with a plurality of be equidistant distribution and can cooperate with the perpendicular lattice of said material holding tank column is scraped the material putter component of another material holding tank from a material holding tank, the push rod quantity of said material putter component equates with the quantity of the perpendicular lattice of said material holding tank.
9. columnar material arrangement piling equipment as claimed in claim 1; It is characterized in that; Said temporary storage mechanism comprises at least two material holding tanks; Each said material holding tank is located at the homonymy of said column grabbing device side by side, and said conveying mechanism comprises the transverse moving mechanism and a vertical chain mechanism that can the column in the material holding tank be pushed away away, is the column packing element module transportation frame that equidistantly is distributed with a plurality of lateral openings in the said vertical chain mechanism.
10. columnar material arrangement piling equipment as claimed in claim 9; It is characterized in that said transverse moving mechanism comprises support and is located at slide rail, intermediate transportation frame, the cylinder assembly on the said support and is used for the steering hardware with the column unit module unitary rotation of piling shaping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200471472U CN202481764U (en) | 2012-02-14 | 2012-02-14 | Stacking equipment for tidying columnar materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200471472U CN202481764U (en) | 2012-02-14 | 2012-02-14 | Stacking equipment for tidying columnar materials |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202481764U true CN202481764U (en) | 2012-10-10 |
Family
ID=46956208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200471472U Expired - Lifetime CN202481764U (en) | 2012-02-14 | 2012-02-14 | Stacking equipment for tidying columnar materials |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202481764U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103129766A (en) * | 2013-03-15 | 2013-06-05 | 福建敏捷机械有限公司 | Ceramic tile full-automatic packaging production line |
| CN103241545A (en) * | 2012-02-14 | 2013-08-14 | 深圳市金奥博科技有限公司 | Columnar material arranging and stacking pipeline system |
| CN104209273A (en) * | 2014-09-02 | 2014-12-17 | 天津步捷慧通科技有限公司 | A defect detecting device for a bottle cap |
| WO2016119278A1 (en) * | 2015-01-29 | 2016-08-04 | 海口高新区宏邦机械有限公司 | Integrated system for container unloading, stacking and detection |
| CN114401907A (en) * | 2019-09-10 | 2022-04-26 | 海箱公司 | Intermodal warehousing system |
| CN114590603A (en) * | 2022-03-30 | 2022-06-07 | 山东南山铝业股份有限公司 | Automatic aluminum round bar stacking equipment |
-
2012
- 2012-02-14 CN CN2012200471472U patent/CN202481764U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241545A (en) * | 2012-02-14 | 2013-08-14 | 深圳市金奥博科技有限公司 | Columnar material arranging and stacking pipeline system |
| CN103241545B (en) * | 2012-02-14 | 2015-12-02 | 深圳市金奥博科技有限公司 | Columnar material arranges piling water system |
| CN103129766A (en) * | 2013-03-15 | 2013-06-05 | 福建敏捷机械有限公司 | Ceramic tile full-automatic packaging production line |
| CN104209273A (en) * | 2014-09-02 | 2014-12-17 | 天津步捷慧通科技有限公司 | A defect detecting device for a bottle cap |
| CN104209273B (en) * | 2014-09-02 | 2017-04-19 | 天津步捷慧通科技有限公司 | A defect detecting device for a bottle cap |
| WO2016119278A1 (en) * | 2015-01-29 | 2016-08-04 | 海口高新区宏邦机械有限公司 | Integrated system for container unloading, stacking and detection |
| CN114401907A (en) * | 2019-09-10 | 2022-04-26 | 海箱公司 | Intermodal warehousing system |
| CN114590603A (en) * | 2022-03-30 | 2022-06-07 | 山东南山铝业股份有限公司 | Automatic aluminum round bar stacking equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202481764U (en) | Stacking equipment for tidying columnar materials | |
| CN103241545A (en) | Columnar material arranging and stacking pipeline system | |
| CN107697646A (en) | The packing case automatic stacking machine that alternative is piled up | |
| CN207467723U (en) | The packing case automatic stacking machine that alternative is piled up | |
| CN104828449B (en) | Powder material bag warehouse entry and the automatic integrated system of dispensing | |
| CN202481733U (en) | Columnar material straightening-out device | |
| CN105197506B (en) | Feeding device | |
| CN105197603B (en) | Automatic flexible angle iron stacking system and method | |
| CN103010759A (en) | Profile steel stacking device | |
| KR100978100B1 (en) | Steel-frame automatic bending and transfer device | |
| CN205525124U (en) | Packing apparatus is collected to steel pipe finished product | |
| CN202201478U (en) | Automatic bottle body overturning and conveying mechanism | |
| CN103029993A (en) | Stacking device suitable for layered staggered superposition of goods of stacking machine | |
| CN203865614U (en) | Automatic cargo truck loading and stacking all-in-one machine | |
| CN205855410U (en) | Dual channel machine people's Palletizer | |
| CN105692230A (en) | Intelligent low-position brick stacking machine | |
| CN102700757A (en) | Boxing equipment for large-diameter industrial explosive cartridges | |
| CN104670556A (en) | Automatic iron nail packing machine | |
| CN106672293A (en) | Tile cartonning device and application process | |
| CN111302076A (en) | High-speed intelligent manipulator stacking system | |
| CN208360589U (en) | A kind of vertical vertical dress recrater | |
| CN112027617B (en) | Automatic weld net machine and indulge muscle conveyor | |
| CN206842543U (en) | The automatic of air-entrained concrete building block pallet divides pile induction system | |
| CN204184945U (en) | A kind of automatic stacking flow-line equipment of 6 positions | |
| CN203545084U (en) | Efficient bobbin arranging machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Shenzhen Meige Packing Equipment Co. Ltd. Assignor: Jin'aobo Science and Technology Co., Ltd., Shenzhen City Contract record no.: 2014440020339 Denomination of utility model: Stacking equipment for tidying columnar materials Granted publication date: 20121010 License type: Exclusive License Record date: 20140917 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518057, R2-A building, 4 floor, Nanshan District hi tech Industrial Park (South District), Guangdong, Shenzhen Patentee after: SHENZHEN KING EXPLORER SCIENCE & TECHNOLOGY CO., LTD. Address before: 518057, R2-A building, 4 floor, Nanshan District hi tech Industrial Park (South District), Guangdong, Shenzhen Patentee before: Jin'aobo Science and Technology Co., Ltd., Shenzhen City |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121010 |