CN105583818B - A kind of packed packing materials automatic loading manipulator - Google Patents
A kind of packed packing materials automatic loading manipulator Download PDFInfo
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- CN105583818B CN105583818B CN201610142659.XA CN201610142659A CN105583818B CN 105583818 B CN105583818 B CN 105583818B CN 201610142659 A CN201610142659 A CN 201610142659A CN 105583818 B CN105583818 B CN 105583818B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
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Abstract
The invention discloses a kind of packed packing materials automatic loading manipulator, including frame, the feeding system positioned at its feeding end of frame and the code material system being connected in frame and with feeding system of telescopic adjustment can be carried out according to railway carriage width；The frame includes the main fixed part being made up of large square quarter bend and the movable part driven by small square quarter bend, and large square quarter bend, small square quarter bend are slidably connected by slide rail along railway carriage width；The code material system is connected respectively with large square quarter bend, small square quarter bend.The present invention substitutes the intelligence equipment of the existing workman's modernization worked under high dust atmosphere, it is prevented effectively from the harm that dust atmosphere is likely to result in health, reduce the incidence of disease of the respiratory systems such as pneumoconiosis, the development strategy of national 2025 intelligence manufacture is answered simultaneously, improve operating efficiency and provide maximum help simultaneously for production industry energy conservation consumption reduction, also reduce manufacturing enterprise's production cost.
Description
Technical field
The present invention relates to building materials, metallurgy, chemical powder bagged material truck-loading facilities field, be a kind of bag specifically
Packing material automatic loading manipulator.
Background technology
Powder material generally is carried out into the packed laggard luggage car of packaging in building materials, metallurgy, chemical industry to ship, current entrucking
This entrucking process is mainly still relied on and manually carried.The powder material of packed packaging is transported to by workman from workshop
During railway carriage carries out entrucking, in the environment largely spread in dust, easily trigger the correlation of the respiratory systems such as pneumoconiosis
Disease, not only the physical and mental health to workman bring great harm, return practitioner family and bring white elephant.State-level
It has been attracted great attention that,《National security supervises general bureau on strengthening the powder processing enterprise such as cement manufacture and stone material dust danger
Evil control》File " safety supervision total healthy (2013) No. 112 ", each province is issued 14 parts of November in 2013, autonomous region, straight
Have jurisdiction over city and security production supervision and management office of the Production and Construction Corps of Xinjiang.The entrucking for how solving the powder material of packed packaging is asked
Topic, has also triggered paying close attention to for relevant industries.
The content of the invention
It is an object of the invention to provide a kind of packed packing materials automatic loading manipulator, one is to solve packed packing material
The problem of expecting automatic loading, two be that emphasis solves the problem of equipment is adapted from different railway carriage width during automatic loading.
The plant equipment of one aspect of the present invention modernization substitutes the work of the handle bag packing material under high dust atmosphere
People, is prevented effectively from practitioner's car loading operation in high dust atmosphere, greatly the generation of control pneumoconiosis, reduces Environmental insults
The harm of health, reduces the burden that occupational disease is caused to family；On the other hand on the premise of automatic loading is realized, lifting is passed through
Steel wire rope on hoist engine realizes the lifting or depth movement of whole manipulator, while mainly passing through telescopic frame and and machine
Stacking feed mechanism, pusher manipulator, the palletizing mechanical arm of the flexible adjustment of frame adaptability make the equipment of automatic loading according to railway carriage
Different in width carry out telescopic adjustment, improve operating efficiency, reduce enterprise's production cost.
The present invention is achieved through the following technical solutions：A kind of packed packing materials automatic loading manipulator, including can basis
Railway carriage width carry out the frame of telescopic adjustment, the feeding system positioned at its feeding end of frame and in frame and with feeding system
The code material system of system connection；The frame includes the main fixed part being made up of large square quarter bend and by small square quarter bend drive
Movable part, the large square quarter bend being slidably connected along railway carriage width, small square quarter bend are connected by slide rail；The code material system
It is connected respectively with large square quarter bend, the small square quarter bend for driving its width-telescopic to adjust.
Further, to better implement the present invention, the frame also includes frame motor, is fixed on large square square
The turbine mechanism that is connected on pipe and with frame motor and stretch out turbine mechanism and with the movable part that is driven by small square quarter bend
The screw mandrel of threaded connection.
Further, to better implement the present invention, the code material system includes the stacking feeding being connected respectively with frame
Mechanism, pusher manipulator, palletizing mechanical arm, the pusher manipulator of push-and-pull material bag are located above stacking feed mechanism, take over code
The material bag and the palletizing mechanical arm put to its stacking of the transmission of pile feed mechanism are located at the discharge end of stacking feed mechanism.
Further, to better implement the present invention, the stacking feed mechanism includes endless belt conveyer, the first driving electricity
Machine drive driving drum, the second motor drive tensioning wheel group, the 3rd motor drive fixed pulley and with
The horizontally disposed rack of bearing up pulley group, endless belt conveyer is connected with driving drum, tensioning wheel group, fixed pulley respectively；The stacking
Feed mechanism also includes the stacking feeding baffle plate positioned at endless belt conveyer two ends.
Further, to better implement the present invention, the stacking feed mechanism also includes the conveying being fixedly connected sequentially
Frame, telescoping mechanism frame, pedestal, pedestal are fixed in frame, the sliding block in conveying frame and the code in telescoping mechanism frame
Pile feeding slide rail is correspondingly arranged and by the 4th motor-driven sliding block of driving conveying frame can be driven to be moved along railway carriage width.
Further, to better implement the present invention, the mechanical hand of the pusher includes being erected at the pusher cunning of machine frame inside
Pusher master cylinder along pusher slide track telescopic of rail, the connection end for being fixed on pusher slide rail and stretching out, it is fixed under pusher slide rail
The stretching hand with arm cylinder of side, one end are connected and the other end and stretching hand with arm cylinder by pusher hinge with pusher master cylinder connection end
The pusher arm of connection end connection.
Further, to better implement the present invention, the pusher slide rail includes first be fixed on large square quarter bend
Pusher slide rail and the second pusher slide rail being fixed on small square quarter bend, it is the first pusher slide rail, the first pusher master cylinder, first-hand
Arm stretches cylinder, first axle, the first pusher arm and corresponded and the second pusher slide rail, the second pusher master cylinder, second-hand
Arm stretches cylinder, second hinge, the second pusher arm and corresponded；The first pusher arm, the second pusher arm are along railway carriage
Width is slidably connected.
Further, to better implement the present invention, the palletizing mechanical arm includes being erected at machine frame inside and one a pair
Stacking master cylinder, component arm, right turnover panel, left turnover panel, stacking slide fastener, stacking hinge, the stacking baffle plate answered, through stacking slide fastener
Flexible slide bar is fixed in frame along railway carriage width；The stacking master cylinder is turned over right turnover panel, a left side respectively by component arm
Plate is connected and right turnover panel, the outer end of left turnover panel are connected by stacking hinge with frame respectively, and stacking baffle plate setting is in right turnover panel
The outside and outside of stacking baffle plate is fixedly connected with stacking slide fastener.
Further, to better implement the present invention, the stacking baffle plate includes the first stacking gear being mutually slidably connected
The movable part connection of plate and the second stacking baffle plate, the first stacking baffle plate and frame and the second stacking baffle plate and the fixed part of frame company
Connect, the first stacking baffle plate and the first stacking slide fastener, first yard stamp hinge, the first right turnover panel, the first component arm, the first master cylinder one
One correspondence, the second stacking baffle plate and the second stacking slide fastener, second code stamp hinge, the second right turnover panel, the second component arm, the second main gas
Cylinder is corresponded.
Further, to better implement the present invention, the feeding system include be sequentially connected material bag conveying mechanism,
Shaping commutation manipulator, dress bag conveying mechanism, for the dress bag conveying mechanism to stacking feed mechanism conveying material bag, it discharges
End is connected with the feed end of stacking feed mechanism.
Further, to better implement the present invention, the mechanical hand of shaping commutation includes integrated support frame and is arranged on
The square apparatus for shaping of commutation, the unidirectional driving machine on frame are overally supported, the annular rolling of the square apparatus for shaping bottom surface of commutation is arranged on
The circular orbit connection of integrated support top of support is taken turns and is arranged on, unidirectional driving machine drives the square apparatus for shaping of commutation and makes annular
Roller is moved along circular orbit.
Further, to better implement the present invention, the top of the frame is additionally provided with is rolled up by steel wire rope with lifting
Raise the hanging ring of machine connection.
Further, to better implement the present invention, in addition in frame and with data center communicate what is be connected
Visual scanning survey detecting system.
Further, to better implement the present invention, in addition to installed in the dust-precipitator of bottom of the frame.
The present invention compared with prior art, with advantages below and beneficial effect：
（1）The present invention completes the entrucking operation of packed packing materials using manipulator, artificial carrying can be substituted completely, effectively
Exposure time of the practitioner in high dust atmosphere is reduced, the generation of the respiratory diseases such as pneumoconiosis is effectively reduced；
（2）The present invention is applied to various vehicles, and manipulator is applicable to the width of domestic and international various lorry bodies, matching degree
It is high；
（3）Alternative artificial carrying is invented, production efficiency and production security is effectively improved.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the invention.
Fig. 2 is positive structure schematic of the invention.
Fig. 3 is the structural representation of stacking feed mechanism.
Fig. 4 is the structural representation that endless belt conveyer S-shaped is set.
Fig. 5 is the structural representation of pusher manipulator.
Fig. 6 is the dimensional structure diagram of shaping commutation manipulator.
Fig. 7 is the top surface structure schematic diagram of shaping commutation manipulator.
Wherein：
1st, material bag conveying mechanism；2nd, shaping commutation manipulator；2-1, the square apparatus for shaping of commutation；2-2, annular rollers；
2-3, unidirectional driving machine；2-4, circular orbit；2-5, integrated support frame；3rd, bag conveying mechanism is filled；4th, stacking feed mechanism；4-1、
Endless belt conveyer；4-2, the first motor；4-3, driving drum；4-4, stacking feeding baffle plate；4-5, stacking feeding slide rail；4-
6th, the second motor；4-7, tensioning wheel group；4-8, rack；4-9, the 3rd motor；4-10, fixed pulley；4-11, the 4th
Motor；4-12, conveying frame；4-13, telescoping mechanism frame；4-14, pedestal；5th, pusher manipulator；The main gas of 5-1, pusher
Cylinder；5-2, stretching hand with arm cylinder；5-3, pusher hinge；5-4, pusher arm；5-5, pusher slide rail；6th, palletizing mechanical arm；6-1、
Stacking master cylinder；6-2, component arm；6-3, right turnover panel；6-4, left turnover panel；6-5, stacking slide fastener；6-6, stacking hinge；6-7, code
Pile baffle plate；7th, frame；7-1, hanging ring；7-2, large square quarter bend；7-3, frame motor；7-4, turbine mechanism；7-5, silk
Bar；7-6, small square quarter bend.
Embodiment
The present invention is described in further detail with reference to embodiment, but the implementation of the present invention is not limited to this.
In addition, in order to better illustrate the present invention, numerous details are given in embodiment below.This area skill
Art personnel will be understood that, without these details, the present invention can equally be implemented.It is ripe for everybody in other example
Method, flow, element and the circuit known are not described in detail, in order to highlight the purport of the present invention.
Embodiment 1：
A kind of packed packing materials automatic loading manipulator of the present embodiment, as shown in Figure 1 and Figure 2, including telescopic machine
Frame 7, feeding system and the code material system being connected in frame 7 and with feeding system.The feeding system includes connecting successively
Material bag conveying mechanism 1, shaping commutation manipulator 2, the dress bag conveying mechanism 3 connect.The code material system include respectively with frame 7
Stacking feed mechanism 4, pusher manipulator 5, the palletizing mechanical arm 6 of connection.
Material bag or body feed tank pass sequentially through material bag conveying mechanism 1, shaping commutation manipulator 2, dress bag from workshop
Conveying mechanism 3, stacking feed mechanism 4 are delivered in frame 7, and the material bag or body feed tank on stacking feed mechanism 4 are by pusher
Manipulator 5 laterally pushes away stacking feed mechanism 4 and is adjusted to palletizing mechanical arm 6, and material bag or body feed tank are existed by palletizing mechanical arm 6
Orderly stacking is placed in lorry body.This process is the process that loading manipulator realizes material bag automatic loading.
Further, the frame 7 being erected in railway carriage can be driven by hoist engine by cable wire makes it along railway carriage depth direction
It is mobile, another aspect frame 7 can transversal stretching regulation to adapt to the railway carriage of different in width.
Further, in frame 7 stacking feed mechanism 4, pusher manipulator 5, palletizing mechanical arm 6 width respectively with
The transversal stretching of frame 7 moves and carries out stretching motion, preferably to adapt to the railway carriage of different in width and facilitate material bag whole
Quick stacking in railway carriage.
The frame 7 is telescopic structure, can carry out telescopic adjustment along railway carriage width.The frame 7 includes hanging
It is ring 7-1, large square quarter bend 7-2, frame motor 7-3, turbine mechanism 7-4, small square quarter bend 7-6, main by large square square
The fixed part of pipe 7-2 compositions and the main movable part being made up of small square quarter bend 7-6, large square quarter bend 7-2 and small square quarter bend
7-6 by slide rail realize it is telescopic be slidably connected, frame motor 7-3, turbine mechanism 7-4 are each attached to large square quarter bend
The screw mandrel 7-5 that 7-2 is upper and turbine mechanism 7-4 stretches out is threadedly coupled with movable part.
On the one hand, hanging ring 7-1 of the hoist engine by Steel rope jointing apparatus frame 7 is lifted, with steel wire on lifting hoist engine
Rope is involved in or rolled out, and hanging annulus moves integral-rack 7 and the stacking feed mechanism 4, the pusher manipulator that are arranged on inside frame 7
5th, palletizing mechanical arm 6 simultaneously rise or fall or move forward or after move, so as to so that material bag in railway carriage from bottom to top, by interior
Outwards stack gradually stacking.
On the other hand, the frame motor 7-3 being fixed on large square quarter bend 7-2 is fixed on large square square by main body
Turbine mechanism 7-4 on pipe 7-2 drives its screw mandrel 7-5 to rotate and the movable part of frame 7 and fixed part is occurred stretching motion, this
When, small square quarter bend 7-6 occurs to realize Telescopic with respect to slip with movable part and large square quarter bend 7-2.By above-mentioned
The overall telescopic adjustment of frame 7, adapts to different railway carriage width, facilitates material bag in railway carriage from left to right or from right to left along car
Case width stacks stacking.
Therefore, frame 7 drives the stacking feed mechanism 4, pusher manipulator 5, palletizing mechanical arm 6 of inside to be risen in railway carriage
Drop moves (movable) along railway carriage depth direction or moves and (move left and right) along railway carriage width, makes material bag in railway carriage
In abundant, rational utilization space to realize automatic loading that material bag is tidily and orderly.
As shown in figure 3, the stacking feed mechanism 4 includes endless belt conveyer 4-1, the first motor 4-2, the first driving
Motor 4-2 drive driving drum 4-3, stacking feeding baffle plate 4-4, stacking feeding slide rail 4-5, the second motor 4-6, second
Motor 4-6 drive tensioning wheel group 4-7, with the horizontally disposed rack 4-8 of tensioning wheel group 4-7, the 3rd motor 4-9,
The conveying that fixed pulley 4-10, the 4th motor 4-11, the 4th motor 4-11 of 3rd motor 4-9 drives drive
Frame 4-12, telescoping mechanism frame 4-13 and pedestal 4-14.The pedestal 4-14 is fixed on the fixed part of frame 7, sets sliding block
Conveying frame 4-12 and set stacking feeding slide rail 4-5 telescoping mechanism frame 4-13 be slidably connected, conveying frame 4-12 is
Movable part and telescoping mechanism frame 4-13 are fixed component, and the 4th motor 4-11 passes through sliding block and drives conveying frame 4-12
Occur relative slip with telescoping mechanism frame 4-13, stacking feed mechanism 4 is coordinated frame 7 for the different railway carriage width of adaptation
The telescopic adjustment of progress.The stacking feeding baffle plate 4-4 is used to preventing material bag or body feed tank because being rushed the reason such as inertia is excessive
Go out endless belt conveyer 4-1.
The endless belt conveyer 4-1 realizes material bag along railway carriage by the driving drum 4-3 and fixed pulley 4-10 of rotation
The transmission of width, while endless belt conveyer 4-1 tensioning is realized by the tensioning wheel group 4-7 horizontally disposed with rack 4-8,
So that material bag on railway carriage width after quick positioning by the push-and-pull of pusher manipulator 5 to palletizing mechanical arm 6, and by code
Pile manipulator 6 completes last stacking and placed.
As shown in figure 4, the annular driving band 4-1 in the stacking feed mechanism 4 be with S types mounted in fixed pulley 4-10,
Above tensioning wheel group 4-7, driving drum 4-3, when telescoping mechanism frame 4-13 stretches laterally, the second motor 4-6 drives
Rack 4-8 horizontally disposed tensioning wheel group 4-7 makees the counter motion with telescoping mechanism frame 4-13, realizes to annular biography
The tensioning with 4-1 is sent to adjust.Telescoping mechanism frame 4-13 to inner side shrink when, the second motor 4-6 still drives tensioning wheel
Rack 4-8 horizontally disposed group 4-7 makees the counter motion with telescoping mechanism frame 4-13, remains to annular transmission
Tensioning regulation with 4-1.
As shown in figure 5, the pusher manipulator 5 includes pusher master cylinder 5-1, stretching hand with arm cylinder 5-2, pusher hinge 5-
3rd, pusher arm 5-4 and pusher slide rail 5-5, pusher arm 5-4 one end are by pusher hinge 5-3 and are fixed on pusher slide rail 5-
The connection end connection of pusher master cylinder 5-1 on 5 and the other end and the stretching hand with arm cylinder 5- being fixed on below pusher slide rail 5-5
2 connection end connection.The lower end of the pusher arm 5-4 is flat board, facilitates stable push-and-pull material bag, prevents sharp corner angle
Scratch packaging bag.
During original state, pusher arm 5-4 is receipts perpendicular to pusher slide rail 5-5 lower section, now stretching hand with arm cylinder 5-2
Contracting state.Pusher arm 5-4 one end is driven along pusher by pusher hinge 5-3 when pusher master cylinder 5-1 connection end is flexible
When slide rail 5-5 directions are moved, realize pusher arm 5-4 swing and carried out to transporting to the material bag on endless belt conveyer 4-1
Push-and-pull is operated.The withdrawal of the pusher master cylinder 5-1 and overhanging drive pusher arms swing, so that material bag is drawn or pushed away
Operation, material can be assured true placement by loading manipulator no matter is located at the front portion of railway carriage or afterbody, realize material bag
Put in railway carriage without dead angle.
As shown in Fig. 2 the palletizing mechanical arm 6 includes being erected at the inside of frame 7 and one-to-one stacking master cylinder 6-
1st, component arm 6-2, right turnover panel 6-3, left turnover panel 6-4, stacking slide fastener 6-5, stacking hinge 6-6, stacking baffle plate 6-7.The stacking
Master cylinder 6-1 fixes right turnover panel 6-3 respectively by component arm 6-2 and cooperation, the stacking hinge 6-6 of left turnover panel 6-4 outer ends is controlled
Right turnover panel 6-3, left turnover panel 6-4 folding.The stacking baffle plate 6-7 is used to prevent material bag from departing from palletizing mechanical arm 6 without authorization
Come off.Stretched through contracting slide bar in the stacking slide fastener 6-5, and the slide bar that stretches is set and one end and the work of frame 7 along railway carriage width
The fixed part of dynamic portion's connection, the other end and frame 7 is connected, and has both facilitated fixed stacking baffle plate 6-7, palletizing mechanical arm 6 can be made again
Coordinate the flexible of frame 7 and adjust its width, and then loading manipulator is preferably adapted to different railway carriage width, complete material bag
Automatic boxing.
When carrying out packed packing materials automatic loading using loading manipulator of the present invention：
First, vehicle to be loaded, which is reached, specifies parking stall；
Secondly, the visual scanning survey detecting system of loading manipulator is started working, and one is the car that loading vehicles are treated in positioning
Case, two be to scan and record the master datas such as railway carriage length, and the data of measurement, which are sent to data center, to be analyzed and processed；
Then, the frame 7 of loading manipulator is moved in the railway carriage for treating loading vehicles according to the position for treating loading vehicles, one
Be telescopic adjustment frame 7, code material system to adapt to railway carriage size, two be to reduce the height of frame 7 and make its minimum point and bottom
Distance controlling in 0.1-0.2m, adjustment enters readiness for operation after terminating；
Finally, loading manipulator is started working, and packaging finishes the production of rear bagged material bag or body feed tank from workshop
Shaping commutation manipulator 2 is transferred to through material bag conveying mechanism 1 on line, after the shaping or commutation of shaping commutation manipulator 2
Stacking feed mechanism 4 is sent to by filling bag conveying mechanism 3 tidily and orderlyly, material is delivered into railway carriage by stacking feed mechanism 4
Interior specified location, then by pusher manipulator 5 by the turnover panel of material bag push-and-pull to palletizing mechanical arm 6 on hand, palletizing mechanical arm 9
The instruction transmitted according to data center by material arrange it is smooth after be at horizontality, turnover panel hand rapid vertical is opened, material
Fall under gravity to specified location.
Data center calculates the position that next material is laid according to the detection data of visual scanning survey detecting system.Spread
After one layer, the height that frame 8 is ramped up and control material falls is 0.2-0.3m, then carries out the lay of next layer of material, is filled
The course of work of car manipulator is similar to the above-mentioned course of work, therefore repeats no more.
Because packed packing materials height of drop is 0.2-0.3m, the dust upspring can be effectively controlled, compared to people
The dust that fixture vehicle falls into railway carriage generation from 1.0-1.2m eminences will lack more than 98%.Further, the present invention also assembling is gathered dust
Device, the environment that a small amount of dust be likely to result in during centralized recovery, effectively further environment purification, control entrucking is dirty
Dye.
The present invention has advantages below：
1st, intelligence degree is high, and manipulator is full intellectualized not to need human assistance, and vehicle reaches machinery after specified location
Hand is automatically performed all follow-up works, until entrucking is fully finished；
2nd, suitable for various vehicles, the various lorry bodies for being applied to produce both at home and abroad using same manipulator completion
Width, that is, suitable for various vehicles；
3rd, the occupational disease risk that people's fixture vehicle is brought is solved, is that family alleviates family's burden, is that society alleviates
Social pressures, have prevented due to the healthy harm caused that the secondary pollution that entrucking is produced gives people.
4th, safety and environmental protection, it is not necessary to which artificial operation has prevented the possibility that machinery is hurted sb.'s feelings, has prevented reentrainment of dust and has reduced powder
Pollution of the dirt to environment, protects environment.
Embodiment 2：
The present embodiment does further optimization on the basis of above-described embodiment, as shown in Figure 6, Figure 7, further, described
Shaping commutation manipulator 2 includes commutate square apparatus for shaping 2-1, annular rollers 2-2, unidirectional driving machine 2-3, circular orbit 2-4
With integrated support frame 2-5.The centrally disposed of the integrated support frame 2-5 drives with the square apparatus for shaping 2-1 that the commutates commutations being connected
Motivation 2-3, the square apparatus for shaping 2-1 that commutates are located at the ring of above the integrated support frame 2-5 and square apparatus for shaping 2-1 bottoms of commutation
Shape roller 2-2 connections corresponding with the circular orbit 2-4 that integrated support frame 2-5 top surfaces are set.
The instruction that the shaping commutation manipulator 2 is provided according to visual scanning survey detecting system, to being delivered to commutation side
The material bag placed on its platform of shape apparatus for shaping 2-1 and irregularly carries out shaping on demand, material bag uniformly stand up or traverse after
To the dress feeding of bag conveying device 3.
The visual recognizable shape for being located at material bag on square its platform of apparatus for shaping 2-1 that commutates of scanning survey detecting system
State, and it is compared with the state required by material bag automatic boxing：If two state differences, square whole by commutating
Shape dress puts the states of 2-1 on request and carries out shaping or send material bag to stacking feed mechanism again after orthopedic.Specifically, if carloader
The given instruction of tool hand is " material bag is laterally disposed ", and visual scanning survey detecting system identifies the square apparatus for shaping of commutation
Material bag is vertical on its platform of 2-1, then the square apparatus for shaping 2-1 that commutates is commutated, because powder material is in packaging bag
Mobility only need to carry out mechanical tilt rotation to square apparatus for shaping 2-1 by force shaping can be achieved, form material bag
Shape, unidirectional driving machine 2-3 is rotated by 90 °, then material bag is delivered into stacking feed mechanism 4 on request.
Embodiment 3：
The present embodiment does further optimization on the basis of above-described embodiment, as shown in figure 5, further, the pusher
Slide rail 5-5, which includes the first pusher slide rail being fixed on large square quarter bend 7-2 and second be fixed on small square quarter bend 7-6, to be pushed away
Expect slide rail, the first pusher slide rail, the first pusher master cylinder, the first stretching hand with arm cylinder, first axle, the first pusher arm are one by one
Corresponding and the second pusher slide rail, the second pusher master cylinder, the second stretching hand with arm cylinder, second hinge, the second pusher arm are one by one
Correspondence；The first pusher arm, the second pusher arm are slidably connected along railway carriage width.
In order to adapt to the expanding-contracting action of frame 7, pusher arm 5-5 width can do suitable with the telescopic adjustment of frame 7
Answering property is adjusted.Specifically, the first pusher slide rail, the first pusher master cylinder, the first stretching hand with arm cylinder, first axle, first pushing away
Material arm is corresponded and the first pusher slide rail is secured transverse on large square quarter bend 7-2, i.e., said structure is equivalent to pusher
The fixed part of tool hand 5；Second pusher slide rail, the second pusher master cylinder, the second stretching hand with arm cylinder, second hinge, second push away
Material arm is corresponded and the second pusher slide rail is fixed on small square quarter bend 7-6, i.e., said structure is equivalent to pusher manipulator 5
Movable part.The large square quarter bend 7-2 and small square quarter bend 7-6 of telescopic slide connection can drive first be slidably connected respectively
Pusher arm, the second pusher arm, realize the flexible linkage of pusher manipulator 5 and frame 7.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 4：
The present embodiment does further optimization on the basis of above-described embodiment, further, and the stacking baffle plate 6-7 includes
The the first stacking baffle plate and the second stacking baffle plate being mutually slidably connected, the first stacking baffle plate are connected and with the movable part of frame 7
Two stacking baffle plates are connected with the fixed part of frame 7, the first stacking baffle plate and the first stacking slide fastener, first yard stamp hinge, it is first right
Turnover panel, the first component arm, the first master cylinder are corresponded, and the second stacking baffle plate and the second stacking slide fastener, second code stamp hinge, the
Two right turnover panels, the second component arm, the second master cylinder are corresponded.
In order to adapt to the expanding-contracting action of frame 7, the right turnover panel 6-3 of palletizing mechanical arm 6, left turnover panel 6-4 width can be with
The telescopic adjustment of frame 7 and do accommodation, meanwhile, stacking baffle plate 6-7 width can be done with the telescopic adjustment of frame 7
Accommodation.Specifically, the first stacking baffle plate and the first stacking slide fastener, first yard stamp hinge, the first right turnover panel, the first component
Arm, the first master cylinder correspond and the first stacking baffle plate, first yard stamp fixed part of the hinge respectively with frame 7 and be connected, i.e., on
State fixed part of the structure equivalent to palletizing mechanical arm 6；Second stacking baffle plate and the second stacking slide fastener, second code stamp hinge,
Two right turnover panels, the second component arm, the second master cylinder correspond and the second stacking baffle plate, second code stamp hinge respectively with frame 7
Movable part connection, i.e. movable part of the said structure equivalent to palletizing mechanical arm 6.Said structure realize palletizing mechanical arm 6 with
The flexible linkage of frame 7.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 5：
The present embodiment does further optimization on the basis of above-described embodiment, as shown in figure 1, further, the present embodiment
In, the quantity of code material system is stacking feed mechanism 4, pusher manipulator 5, palletizing mechanical arm 6 in two, each code material system
Correspond.In the present embodiment the fixed position of frame 7 in middle and two moving parts in the both sides of fixed part, i.e. frame 7
Telescopic adjustment can be carried out along the both direction of railway carriage width.Two movable parts of two code material systems and frame 7 are right respectively
It should connect and two code material systems are simultaneously operable, effectively improve the operating efficiency of material bag automatic boxing.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
It is described above, be only presently preferred embodiments of the present invention, any formal limitation not done to the present invention, it is every according to
According to the present invention technical spirit above example is made any simple modification, equivalent variations, each fall within the present invention protection
Within the scope of.
Claims (9)
1. a kind of packed packing materials automatic loading manipulator, it is characterised in that：Including flexible adjust can be carried out according to railway carriage width
The frame of section（7）, positioned at frame（7）The feeding system at its feeding end and installed in frame（7）It is interior and be connected with feeding system
Code material system；The frame（7）Including mainly by large square quarter bend（7-2）The fixed part of composition and by small square quarter bend（7-6）
The movable part of drive, large square quarter bend（7-2）, small square quarter bend（7-6）It is slidably connected by slide rail along railway carriage width；Institute
State code material system and large square quarter bend（7-2）, small square quarter bend（7-6）Connect respectively；
The frame（7）Also include frame motor（7-3）, be fixed on large square quarter bend（7-2）It is upper and electric with frame driving
Machine（7-3）The turbine mechanism of connection（7-4）With stretching turbine mechanism（7-4）And with by small square quarter bend（7-6）The activity of drive
The screw mandrel of portion's threaded connection（7-5）；
The code material system include respectively with frame（7）The stacking feed mechanism of connection（4）, pusher manipulator（5）, palletizing mechanical
Hand（6）, the pusher manipulator of push-and-pull material bag（5）Positioned at stacking feed mechanism（4）Top, takes over stacking feed mechanism（4）Pass
Defeated material bag and the palletizing mechanical arm put to its stacking（6）Positioned at stacking feed mechanism（4）Discharge end；
The stacking feed mechanism（4）Including endless belt conveyer（4-1）, the first motor（4-2）The driving drum of drive（4-
3）, the second motor（4-6）The tensioning wheel group of drive（4-7）, the 3rd motor（4-9）The fixed pulley of drive（4-10）
With with tensioning wheel group（4-7）Horizontally disposed rack（4-8）, endless belt conveyer（4-1）Respectively with driving drum（4-3）, tensioning
Wheel group（4-7）, fixed pulley（4-10）Connection；The stacking feed mechanism（4）Also include being located at endless belt conveyer（4-1）Two ends
Stacking feeding baffle plate（4-4）.
2. a kind of packed packing materials automatic loading manipulator according to claim 1, it is characterised in that：The stacking is sent
Expect mechanism（4）Also include the conveying frame being fixedly connected sequentially（4-12）, telescoping mechanism frame（4-13）, pedestal（4-14）, base
Seat（4-14）It is fixed on frame（7）On, conveying frame（4-12）On sliding block and telescoping mechanism frame（4-13）On stacking give
Expect slide rail（4-5）It is correspondingly arranged and by the 4th motor（4-11）The sliding block of driving can drive conveying frame（4-12）Along railway carriage
Width is moved.
3. a kind of packed packing materials automatic loading manipulator according to claim 1, it is characterised in that：The feeding system
System includes the material bag conveying mechanism being sequentially connected（1）, shaping commutation manipulator（2）, dress bag conveying mechanism（3）, for code
Pile feed mechanism（4）Convey the dress bag conveying mechanism of material bag（3）Its discharge end and stacking feed mechanism（4）Feed end connect
Connect；The shaping commutation manipulator（2）Including integrated support frame（2-5）With installed in integrated support frame（2-5）On commutation side
Shape apparatus for shaping（2-1）, unidirectional driving machine（2-3）, it is arranged on the square apparatus for shaping of commutation（2-1）The annular rollers of bottom surface（2-
2）With being arranged on integrated support frame（2-5）The circular orbit of top surface（2-4）Connection, unidirectional driving machine（2-3）Drive commutation square
Apparatus for shaping（2-1）And make annular rollers（2-2）Along circular orbit（2-4）Motion.
4. a kind of packed packing materials automatic loading manipulator, it is characterised in that：Including flexible adjust can be carried out according to railway carriage width
The frame of section（7）, positioned at frame（7）The feeding system at its feeding end and installed in frame（7）It is interior and be connected with feeding system
Code material system；The frame（7）Including mainly by large square quarter bend（7-2）The fixed part of composition and by small square quarter bend（7-6）
The movable part of drive, large square quarter bend（7-2）, small square quarter bend（7-6）It is slidably connected by slide rail along railway carriage width；Institute
State code material system and large square quarter bend（7-2）, small square quarter bend（7-6）Connect respectively；
The frame（7）Also include frame motor（7-3）, be fixed on large square quarter bend（7-2）It is upper and electric with frame driving
Machine（7-3）The turbine mechanism of connection（7-4）With stretching turbine mechanism（7-4）And with by small square quarter bend（7-6）The activity of drive
The screw mandrel of portion's threaded connection（7-5）；
The code material system include respectively with frame（7）The stacking feed mechanism of connection（4）, pusher manipulator（5）, palletizing mechanical
Hand（6）, the pusher manipulator of push-and-pull material bag（5）Positioned at stacking feed mechanism（4）Top, takes over stacking feed mechanism（4）Pass
Defeated material bag and the palletizing mechanical arm put to its stacking（6）Positioned at stacking feed mechanism（4）Discharge end；
The pusher manipulator（5）Including being erected at frame（7）Internal pusher slide rail（5-5）, be fixed on pusher slide rail（5-5）
The upper and connection end stretched out is along pusher slide rail（5-5）Flexible pusher master cylinder（5-1）, be fixed on pusher slide rail（5-5）Lower section
Stretching hand with arm cylinder（5-2）, one end pass through pusher hinge（5-3）With pusher master cylinder（5-1）Connection end is connected and the other end
With stretching hand with arm cylinder（5-2）The pusher arm of connection end connection（5-4）.
5. a kind of packed packing materials automatic loading manipulator according to claim 4, it is characterised in that：The pusher is slided
Rail（5-5）Including being fixed on large square quarter bend（7-2）On the first pusher slide rail and be fixed on small square quarter bend（7-6）On
Two pusher slide rails, the first pusher slide rail, the first pusher master cylinder, the first stretching hand with arm cylinder, first axle, the first pusher arm
Correspond and the second pusher slide rail, the second pusher master cylinder, the second stretching hand with arm cylinder, second hinge, the second pusher arm
Correspond；The first pusher arm, the second pusher arm are slidably connected along railway carriage width.
6. a kind of packed packing materials automatic loading manipulator according to claim 4, it is characterised in that：The feeding system
System includes the material bag conveying mechanism being sequentially connected（1）, shaping commutation manipulator（2）, dress bag conveying mechanism（3）, for code
Pile feed mechanism（4）Convey the dress bag conveying mechanism of material bag（3）Its discharge end and stacking feed mechanism（4）Feed end connect
Connect；The shaping commutation manipulator（2）Including integrated support frame（2-5）With installed in integrated support frame（2-5）On commutation side
Shape apparatus for shaping（2-1）, unidirectional driving machine（2-3）, it is arranged on the square apparatus for shaping of commutation（2-1）The annular rollers of bottom surface（2-
2）With being arranged on integrated support frame（2-5）The circular orbit of top surface（2-4）Connection, unidirectional driving machine（2-3）Drive commutation square
Apparatus for shaping（2-1）And make annular rollers（2-2）Along circular orbit（2-4）Motion.
7. a kind of packed packing materials automatic loading manipulator, it is characterised in that：Including flexible adjust can be carried out according to railway carriage width
The frame of section（7）, positioned at frame（7）The feeding system at its feeding end and installed in frame（7）It is interior and be connected with feeding system
Code material system；The frame（7）Including mainly by large square quarter bend（7-2）The fixed part of composition and by small square quarter bend（7-6）
The movable part of drive, large square quarter bend（7-2）, small square quarter bend（7-6）It is slidably connected by slide rail along railway carriage width；Institute
State code material system and large square quarter bend（7-2）, small square quarter bend（7-6）Connect respectively；
The frame（7）Also include frame motor（7-3）, be fixed on large square quarter bend（7-2）It is upper and electric with frame driving
Machine（7-3）The turbine mechanism of connection（7-4）With stretching turbine mechanism（7-4）And with by small square quarter bend（7-6）The activity of drive
The screw mandrel of portion's threaded connection（7-5）；
The code material system include respectively with frame（7）The stacking feed mechanism of connection（4）, pusher manipulator（5）, palletizing mechanical
Hand（6）, the pusher manipulator of push-and-pull material bag（5）Positioned at stacking feed mechanism（4）Top, takes over stacking feed mechanism（4）Pass
Defeated material bag and the palletizing mechanical arm put to its stacking（6）Positioned at stacking feed mechanism（4）Discharge end；
The palletizing mechanical arm（6）Including being erected at frame（7）Internal and one-to-one stacking master cylinder（6-1）, component arm
（6-2）, right turnover panel（6-3）, left turnover panel（6-4）, stacking slide fastener（6-5）, stacking hinge（6-6）, stacking baffle plate（6-7）, run through
Stacking slide fastener（6-5）Flexible slide bar be fixed on frame along railway carriage width（7）On；The stacking master cylinder（6-1）Pass through
Component arm（6-2）Respectively with right turnover panel（6-3）, left turnover panel（6-4）Connection and right turnover panel（6-3）, left turnover panel（6-4）Outer end point
Do not pass through stacking hinge（6-6）With frame（7）Connection, stacking baffle plate（6-7）It is arranged on right turnover panel（6-3）Outside and stacking keep off
Plate（6-7）Outside and stacking slide fastener（6-5）It is fixedly connected.
8. a kind of packed packing materials automatic loading manipulator according to claim 7, it is characterised in that：The stacking gear
Plate（6-7）Including the first stacking baffle plate and the second stacking baffle plate being mutually slidably connected, the first stacking baffle plate and frame（7）Work
Dynamic portion's connection and the second stacking baffle plate and frame（7）Fixed part connection, the first stacking baffle plate and the first stacking slide fastener, first yard
Stamp hinge, the first right turnover panel, the first component arm, the first master cylinder to correspond, the second stacking baffle plate and the second stacking slide fastener, the
Stamp hinge, the second right turnover panel, the second component arm, the second master cylinder for two yards to correspond.
9. a kind of packed packing materials automatic loading manipulator according to claim 7, it is characterised in that：The feeding system
System includes the material bag conveying mechanism being sequentially connected（1）, shaping commutation manipulator（2）, dress bag conveying mechanism（3）, for code
Pile feed mechanism（4）Convey the dress bag conveying mechanism of material bag（3）Its discharge end and stacking feed mechanism（4）Feed end connect
Connect；The shaping commutation manipulator（2）Including integrated support frame（2-5）With installed in integrated support frame（2-5）On commutation side
Shape apparatus for shaping（2-1）, unidirectional driving machine（2-3）, it is arranged on the square apparatus for shaping of commutation（2-1）The annular rollers of bottom surface（2-
2）With being arranged on integrated support frame（2-5）The circular orbit of top surface（2-4）Connection, unidirectional driving machine（2-3）Drive commutation square
Apparatus for shaping（2-1）And make annular rollers（2-2）Along circular orbit（2-4）Motion.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610142659.XA CN105583818B (en) | 2016-03-14 | 2016-03-14 | A kind of packed packing materials automatic loading manipulator |
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| CN201610142659.XA CN105583818B (en) | 2016-03-14 | 2016-03-14 | A kind of packed packing materials automatic loading manipulator |
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| CN105583818B true CN105583818B (en) | 2017-10-17 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108275469A (en) * | 2018-03-10 | 2018-07-13 | 海宁金豪机电有限公司 | The automatic piling device of washing machine shell |
| CN108528836A (en) * | 2018-05-20 | 2018-09-14 | 成都鸿源锦程机器人有限公司 | A kind of bags catching manipulator of automatic charge slash pocket machine |
| CN109129174B (en) * | 2018-10-31 | 2023-07-11 | 佛山市尊聚自动化设备有限公司 | Steel pipe polishing blanking machine and feeding control method thereof |
| CN109533932B (en) * | 2018-12-27 | 2024-04-19 | 胡克云 | Bagged material stacking device and stacking method |
| CN109809196A (en) * | 2019-03-19 | 2019-05-28 | 青岛科技大学 | A kind of container robot palletizer |
| CN112374141A (en) * | 2020-11-11 | 2021-02-19 | 深圳市永顺创能技术有限公司 | Track width adjusting and conveying device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007001263B4 (en) * | 2007-01-08 | 2015-07-23 | Kuka Roboter Gmbh | Robot system for loading load carriers with piece goods units |
| CN102774660B (en) * | 2012-08-08 | 2014-07-02 | 江苏中科友特机器人科技有限公司 | Automatic stacker crane |
| CN104117212B (en) * | 2013-04-27 | 2017-02-08 | 上海菲格瑞特汽车科技股份有限公司 | Car model framework |
| CN103964222B (en) * | 2014-05-26 | 2016-01-20 | 山东长江粮油仓储机械有限公司 | Goods automatic loading all-in-one |
| CN204453897U (en) * | 2015-02-12 | 2015-07-08 | 青岛德和丰科贸有限公司 | Full automatic stacking entrucking robot |
| CN205093200U (en) * | 2015-11-10 | 2016-03-23 | 山西农机新技术服务中心 | Tie and pick up car mechatronic stalks left after threshing grass side |
| CN205552526U (en) * | 2016-03-14 | 2016-09-07 | 绵阳蓝奥重型机械制造有限公司 | Packing materials automatic loading manipulator in bags |
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