CN109279372B - Automatic stacking equipment and method for flat corner protectors - Google Patents
Automatic stacking equipment and method for flat corner protectors Download PDFInfo
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- CN109279372B CN109279372B CN201811250075.XA CN201811250075A CN109279372B CN 109279372 B CN109279372 B CN 109279372B CN 201811250075 A CN201811250075 A CN 201811250075A CN 109279372 B CN109279372 B CN 109279372B
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- 230000001012 protector Effects 0.000 title claims abstract description 165
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 320
- 230000007306 turnover Effects 0.000 claims abstract description 71
- 230000000903 blocking effect Effects 0.000 claims description 23
- 238000012790 confirmation Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000000926 separation method Methods 0.000 abstract description 8
- 239000011324 bead Substances 0.000 description 9
- 230000009471 action Effects 0.000 description 8
- 230000008602 contraction Effects 0.000 description 5
- 238000003825 pressing Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000003578 releasing effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 125000006239 protecting group Chemical group 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention provides automatic stacking equipment and method for flat protection angles, wherein the automatic stacking equipment for the flat protection angles comprises a first conveying mechanism, a second conveying mechanism, a turnover mechanism, a stacking mechanism and a control system, wherein the turnover mechanism is arranged above the input end of the second conveying mechanism and is positioned at the tail end of the first conveying mechanism, and is used for turning over the flat protection angles conveyed by the first conveying mechanism by 180 degrees and then placing the flat protection angles on the second conveying mechanism; the stacking mechanism is used for sequentially stacking the flat protection angles turned by the turning mechanism in groups according to a preset number to form an protection angle group; the stacking mechanism is used for stacking the corner protector group. According to the invention, the separation, the limiting, the overturning and the stacking are respectively finished on the conveying mechanisms in two directions, and the multi-axis mechanical arm is utilized for positioning, moving and fixed-point stacking, so that the full automation of the whole process is realized, the labor intensity is effectively reduced, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of packaging structure production, in particular to the technical field of flat corner protector production.
Background
The flat corner protector is a common packaging material and structure for packaging, protecting and the like of cylindrical products such as yarn clusters and the like, can well protect the products, and avoids damage to the products in the storage and transportation process, and the structure is tile-shaped.
On the existing flat corner protector production line, automatic stacking equipment is not available, and flat corner protection plates produced in the previous working procedure are conveyed and stacked completely by manpower. Because the concave surface of the produced flat angle guard plate faces upwards, the concave surface needs to be manually turned over, turned over downwards, and then stacked on a tray. The operation has the advantages of high manual requirement, high labor intensity and low production efficiency.
Disclosure of Invention
The present invention is directed to solving the problems described above. It is an object of the present invention to provide an automatic palletising apparatus and an automatic palletising method which address any of the above problems. Specifically, the invention provides the automatic stacking equipment for the flat corner protector and the automatic stacking method thereof, which can liberate manual labor force and improve production efficiency.
According to a first aspect of the invention, the invention provides automatic stacking equipment for flat protection angles, which comprises a first conveying mechanism, a second conveying mechanism, a turnover mechanism, a stacking mechanism and a control system, wherein the input end of the second conveying mechanism is arranged adjacent to the output end of the first conveying mechanism;
The turnover mechanism is arranged above the input end of the second conveying mechanism and positioned at the tail end of the first conveying mechanism, and is used for turning over the flat protection angle conveyed by the first conveying mechanism by 180 degrees and then placing the flat protection angle on the second conveying mechanism;
the stacking mechanism is positioned between the turnover mechanism and the output end of the second conveying mechanism, and is used for sequentially stacking the flat protection angles turned over by the turnover mechanism in groups according to a preset number to form an protection angle group;
the stacking mechanism is positioned at the output end of the second conveying mechanism and is used for stacking the corner protector group;
the first conveying mechanism, the second conveying mechanism, the turnover mechanism, the stacking mechanism and the stacking mechanism are all electrically connected with the control system.
The input end of the second conveying mechanism is positioned below the extension line of the output end of the first conveying mechanism, and the conveying direction of the second conveying mechanism is perpendicular to the conveying direction of the first conveying mechanism.
The automatic stacking equipment for the flat protection angles further comprises at least one set of separating mechanism, wherein the separating mechanism is positioned above the first conveying mechanism and is used for separating the flat protection angles which are mutually overlapped on the first conveying mechanism.
The separation mechanism comprises a first installation frame and a separation strip, wherein the first installation frame is fixed on the first conveying mechanism, the separation strip is fixed at the bottom of the first installation frame and suspended above the first conveying mechanism, and the interval between the separation strip and the conveying surface of the first conveying mechanism is greater than the thickness of the flat corner protector and less than twice the thickness of the flat corner protector.
The automatic stacking device for the flat panel corner protectors further comprises a limiting mechanism, wherein the limiting mechanism is located above the output end of the first conveying mechanism and used for controlling adjacent flat panel corner protectors on the first conveying mechanism to be conveyed to the second conveying mechanism at preset intervals.
The limiting mechanism comprises a second mounting frame, a limiting cylinder and a pressure head, wherein the second mounting frame is fixed at the output end of the first conveying mechanism, the limiting cylinder is fixed on the second mounting frame, and the pressure head is fixed at the output end of the limiting cylinder; the input end of the limiting cylinder is electrically connected with the control system; when the limiting cylinder stretches out, the distance between the pressure head and the conveying surface of the first conveying mechanism is smaller than the thickness of the flat protection angle.
The turnover mechanism comprises a turnover support, a turnover body, a turnover motor, a first sensor and a fixed grabbing module, wherein the bottom end of the turnover support is fixed on a frame body of the second conveying mechanism, and the turnover body is hinged with the top end of the turnover support and is positioned above the input end of the second conveying mechanism; the turnover motor is electrically connected with the control system, and the output end of the turnover motor is in transmission connection with the turnover body; the first inductor is positioned on the overturning bracket, is electrically connected with the control system and is used for inducing whether the overturning body overturns in place.
The overturning body is provided with a concave cavity, and the fixed grabbing module is arranged in the concave cavity.
The overturning body is provided with two concave cavities with opposite directions, and the concave cavities are provided with detectors for sensing whether the panel corner protector is conveyed into the concave cavities or not; the detector is electrically connected with the control system or the overturning motor.
The stacking mechanism comprises a bracket, a lifting cylinder, a clamping assembly and a second inductor, wherein the bracket is fixed on the second conveying mechanism, the lifting cylinder is fixed on the bracket, and the output end of the lifting cylinder is fixedly connected with the clamping assembly; the second sensor is arranged on the bracket and used for sensing whether the panel corner protector is conveyed below the clamping assembly or not; the lifting cylinder, the clamping assembly and the second sensor are all electrically connected with the control system.
The clamping assembly comprises a clamping frame, a lateral clamping plate and a clamping plate cylinder, wherein the clamping frame is fixedly connected with the output end of the lifting cylinder, and the lateral clamping plate is fixedly connected with the output end of the clamping plate cylinder and is in sliding connection with the clamping frame; the clamping plate cylinder is fixed on the clamping frame and is electrically connected with the control system.
The automatic stacking device for the flat corner protector further comprises a blocking device, wherein the blocking device is located between the stacking mechanism and the output end of the second conveying mechanism and used for blocking the side edges of the corner protector in the corner protector group.
The side baffle is fixedly connected with the output end of the side baffle cylinder, and the side baffle cylinder is electrically connected with the control system; and in a state that the output end of the side baffle cylinder extends out, the interval between the side baffle and the conveying surface of the second conveying mechanism is smaller than the thickness of the flat plate corner protector.
The stacking mechanism comprises a fixing seat, a rotating arm and a cylinder clamp, wherein a first end of the rotating arm is rotatably connected with the fixing seat, and a second end of the rotating arm is fixedly connected with the cylinder clamp; the rotating arm is of a multi-axis structure, and can rotate in multiple dimensions; the rotating arm and the cylinder clamp work under the control of the control system.
The cylinder clamp comprises a telescopic frame, a telescopic cylinder, a side plate and a grabbing head assembly, wherein the telescopic cylinder is fixed on the telescopic frame, the output end of the telescopic cylinder is fixedly connected with the side plate, the side plate is positioned at two ends of the telescopic frame, and the grabbing head assembly is fixed at the bottom of the side plate; the input end of the telescopic cylinder is electrically connected with the control system, and the control system controls the telescopic cylinder to stretch and drive the side plate to slide along the telescopic frame, so that the grabbing and releasing actions of the grabbing head assembly are realized.
The grabbing head assembly comprises grabbing heads and grabbing head cylinders, the grabbing heads are fixedly connected with the output ends of the grabbing head cylinders, and the grabbing head cylinders are fixed at the bottoms of the side plates and are electrically connected with the control system; the telescopic direction of the grabbing head cylinder is opposite to the telescopic direction of the telescopic cylinder.
According to another aspect of the present invention, the present invention further provides an automatic stacking method for flat panel corner protectors, the automatic stacking method for flat panel corner protectors comprising the steps of:
the control system controls the first conveying mechanism to sequentially convey the flat protection angles, controls the turnover mechanism to turn the flat protection angles conveyed by the first conveying mechanism by 180 degrees and then put the flat protection angles on the second conveying mechanism, and the second conveying mechanism continues conveying the flat protection angles;
The control system controls the stacking mechanism to sequentially stack the flat protection angles on the second conveying mechanism in groups according to a preset number to form a protection angle group, and then the second conveying mechanism continues to convey the protection angles;
the control system controls the stacking mechanism to stack the corner protector group.
Wherein, control system control first conveying mechanism carries dull and stereotyped angle bead in proper order includes: the control system controls the separating mechanism to separate and convey the mutually overlapped flat protection angles on the first conveying mechanism.
Wherein, control system control first conveying mechanism carries dull and stereotyped angle bead in proper order includes: the control system controls adjacent flat protection angles on the first conveying mechanism to be conveyed to the turnover mechanism at preset intervals through the limiting mechanism.
Wherein, control tilting mechanism will the dull and stereotyped angle bead upset 180 that first conveying mechanism carried includes: after the control system receives a confirmation signal that the detector transmits the flat protection angle in place, the overturning motor is driven to drive the overturning body to overturn 180 degrees.
The forming method of the corner protector group comprises the following steps:
when the control system receives a confirmation signal of the flat angle bead sensed by the second sensor, the control system drives the side baffle cylinder to put down the side baffle, controls the lifting cylinder to put down the clamping assembly, simultaneously controls the clamping plate cylinder to drive the side clamping plate to be opened and then to be retracted, and then controls the lifting cylinder to lift the clamping assembly, so that the preset times are repeated, and the preset times are smaller than the stacking times of the flat angle bead of each group of angle bead groups by 1;
When the control system receives the confirmation signal of the second sensor again, the side baffle cylinder is driven to lift the side baffle plate, meanwhile, the lifting cylinder is controlled to put down the clamping assembly again, the clamping plate cylinder is controlled to drive the lateral clamping plate to open, and then the lifting cylinder is controlled to lift the clamping assembly, and then the clamping plate cylinder is controlled to drive the lateral clamping plate to retract.
Wherein, control system control pile up neatly mechanism is right the angle bead group carries out the pile up neatly includes: the control system controls the rotating arm to drive the air cylinder clamp to move the corner protection group to a preset position from the output end of the second conveying mechanism, and stacking is carried out according to a preset rule.
According to the automatic stacking equipment and method for the flat corner protector, the separation, the limiting, the overturning and the stacking are respectively completed on the conveying mechanisms in two directions, and the multi-axis mechanical arm is used for positioning, moving and fixed-point stacking, so that the full automation of the whole process is realized, the labor requirement is effectively reduced, the labor intensity is reduced, the production cost is saved, the equipment automation level is improved, and the production efficiency is improved.
Other characteristic features and advantages of the invention will become apparent from the following description of exemplary embodiments, which is to be read with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to identify like elements. The drawings, which are included in the description, illustrate some, but not all embodiments of the invention. Other figures can be derived from these figures by one of ordinary skill in the art without undue effort.
Fig. 1 exemplarily shows a schematic structural view of a flat panel corner bead automatic palletizing apparatus of the present invention;
fig. 2 shows an exemplary schematic side view of a second conveyor mechanism;
fig. 3 shows an enlarged view of the portion a in fig. 2;
FIG. 4 schematically illustrates a structural view of the separation mechanism;
FIG. 5 schematically illustrates a structural view of a spacing mechanism;
fig. 6 exemplarily shows a schematic structural view of the stacking mechanism;
FIG. 7 is a schematic view exemplarily showing the structure of a cylinder jig
FIG. 8 illustrates a flow chart of the flat panel corner bead auto palletizing method of the present invention;
fig. 9 illustrates a flowchart of one embodiment of the method of automatic palletizing of flat corner protectors of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be arbitrarily combined with each other.
The automatic stacking equipment for the flat protection angles adopts the conveying mechanisms in two directions to convey the flat protection angles, and the first conveying mechanism conveying the flat protection angles along the length direction of the conveying mechanism effectively separates and limits the flat protection angles so as to ensure that the flat protection angles conveyed to the second conveying mechanism are not overlapped; after the flat corner protector is separated from the first conveying mechanism and reaches between the second conveying mechanisms, the flat corner protector is turned over, so that the concave surface of the flat corner protector faces downwards, and later stacking and stacking are facilitated; and the flat protection angles are stacked in groups according to a preset quantity on a second conveying mechanism which conveys the flat protection angles along the width direction, so that the stacking efficiency of the stacking mechanism is improved. The automatic stacking equipment and the stacking method for the flat corner protector are automatically controlled by the control system in the whole course, so that labor is effectively saved, the labor intensity is reduced, and the production efficiency is improved.
The automatic stacking equipment and the method for the panel corner protectors provided by the invention are described in detail below with reference to the accompanying drawings.
Fig. 1 shows a schematic structural view of an embodiment of the automatic stacking apparatus for flat panel corner protectors according to the present invention, and referring to fig. 1, the automatic stacking apparatus for flat panel corner protectors includes a first conveying mechanism 1, a second conveying mechanism 2, a turning mechanism 3, a stacking mechanism 4, a stacking mechanism 5 and a control system 6, and an arrow direction in the figure is a conveying direction of the flat panel corner protector. Fig. 2 shows a schematic side view of the second conveying mechanism 2, and fig. 3 is an enlarged view of a portion a in fig. 2. As shown in fig. 1 and 2 in combination, the input end of the second conveying mechanism 2 is located below the extension line of the output end of the first conveying mechanism 1, and the conveying direction of the second conveying mechanism 2 is perpendicular to the conveying direction of the first conveying mechanism 1. In the present embodiment, the first conveying mechanism 1 is used for conveying along the extending direction of the length of the flat panel corner protector, and the second conveying mechanism 2 is used for conveying along the width direction of the flat panel corner protector.
The turning mechanism 3 is arranged above the input end of the second conveying mechanism 2, on the extension line of the first conveying mechanism 1, and below the upper surface of the first conveying mechanism 1. The concave surface of the flat protection angle 10 produced in the previous procedure is upwards conveyed to the first conveying mechanism 1, the flat protection angle 10 on the first conveying mechanism 1 falls onto the turnover mechanism 3 before being conveyed to the second conveying mechanism 2, the turnover mechanism 3 turns over the flat protection angle 10 for 180 degrees and then places the flat protection angle onto the second conveying mechanism 2, and the concave surface of the flat protection angle 10 is downwards conveyed on the second conveying mechanism 2 so as to facilitate subsequent stacking and stacking, ensure that the flat protection angle is stably stacked and cannot be inclined and scattered.
The stacking mechanism 4 is located between the turning mechanism 3 and the output end of the second conveying mechanism 2, and the stacking mechanism 4 is used for sequentially stacking the flat protection angles 10 turned by the turning mechanism 3 in groups according to a preset number to form an protection angle group 20. For example, the stacking mechanism 4 stacks the panel corner protectors 10 turned by the turning mechanism 3 in groups of 8 or 6, so that the subsequent stacking mechanism 5 stacks, and the stacking efficiency is improved.
Specifically, the stacking mechanism 5 is located at the output end of the second conveying mechanism 2, and is used for moving the corner protection group 20 to a predetermined position and stacking according to a predetermined rule.
In order to improve the automation degree of the equipment, save manpower and reduce the labor intensity, in the automatic stacking equipment for the flat panel corner protector, the first conveying mechanism 1, the second conveying mechanism 2, the turnover mechanism 3, the stacking mechanism 4 and the stacking mechanism 5 are all electrically connected with the control system 6, and all the conveying, turnover, stacking and other processes are automatically completed under the control of the control system 6, so that the production efficiency is effectively improved.
In order to prevent the process of overturning, subsequent conveying, stacking and the like from being influenced by the fact that the flat corner protectors are alternately stacked in the overturning process, the flat corner protector automatic stacking device further comprises at least one set of separating mechanism 7, wherein the separating mechanism 7 is positioned above the first conveying mechanism 1 and is used for separating the flat corner protectors which are mutually stacked on the first conveying mechanism 1, and the flat corner protectors conveyed to the second conveying mechanism 2 are ensured to be single and single in layer, so that the overturning mechanism 3 can overturn conveniently.
Fig. 4 shows a schematic structural view of the separating mechanism 7 in an embodiment, and it is understood from fig. 1 and fig. 4 that in this embodiment, the separating mechanism 7 includes a first mounting frame 71 and a separating strip 72. Wherein, the first mounting frame 71 is fixed on the first conveying mechanism 1, and the separation strip 72 is fixed at the bottom of the first mounting frame 71 and suspended above the first conveying mechanism 1, for separating a plurality of panel corner protectors overlapped with each other. Specifically, the flat corner protector 10 conveyed on the first conveying mechanism 1 is conveyed via the lower part of the separating strip 72, and the interval between the separating strip 72 and the conveying surface of the first conveying mechanism 1 is larger than the thickness of the flat corner protector and smaller than twice the thickness of the flat corner protector, so that only one flat corner protector is ensured to pass at a time, and the overlapped plurality of flat corner protectors are effectively separated.
In addition, in order to prevent that the space between two adjacent flat protection angles is too small, so that the overturning mechanism 3 does not finish overturning the previous flat protection angle even just at the beginning, the next flat protection angle is conveyed to influence the overturning effect, even the next flat protection angle directly falls on the second conveying mechanism 2 to influence the subsequent conveying, stacking and even stacking, the flat protection angle automatic stacking device further comprises a limiting mechanism 8, wherein the limiting mechanism 8 is positioned above the output end of the first conveying mechanism 1 and is used for controlling the adjacent flat protection angles 10 on the first conveying mechanism 1 to be conveyed to the second conveying mechanism 2 at preset intervals, namely ensuring the minimum space between the adjacent flat protection angles 10 conveyed to the overturning mechanism 3 (the second conveying mechanism 2) and ensuring the ordered and stable operation of the subsequent process.
Fig. 5 shows a schematic structural view of a specific embodiment of the limiting mechanism 8, in this embodiment, the limiting mechanism 8 includes a second mounting frame 81, a limiting cylinder 82, and a ram 83. The second mounting frame 81 is fixed at the output end of the first conveying mechanism 1, the limiting cylinder 82 is fixed on the second mounting frame 81, the output end of the limiting cylinder 82 faces the conveying surface of the first conveying mechanism 1, and the pressure head 83 is fixed at the output end of the limiting cylinder 82; the input end of the limiting cylinder 82 is electrically connected with the control system 6. The control system 6 controls the expansion and contraction of the limit cylinder 82, and further controls the distance between the ram 83 and the conveying surface of the first conveying mechanism 1.
Specifically, when the limiting cylinder 82 extends, the distance between the pressing head 83 and the conveying surface of the first conveying mechanism 1 is smaller than the thickness of the flat corner protector 10, so that the flat corner protector 10 is effectively blocked from passing through; when the limit cylinder 82 is retracted, the distance between the pressure head 83 and the conveying surface of the first conveying mechanism 1 is better than the thickness of the flat corner protector 10, so that the flat corner protector 10 can pass smoothly.
In order to ensure that the turnover mechanism 3 can effectively turn over each flat corner protector 10 and then put the flat corner protector on the second conveying mechanism, the limiting cylinder 82 drives the pressure head 83 to lift at a certain time interval frequency, so that the operation of the turnover mechanism 3 is not influenced by too small interval between two adjacent flat corner protectors 10. In a typical embodiment, the lifting frequency of the limiting cylinder 82 may be consistent with the turning frequency of the turning mechanism 3, or may be smaller than the turning frequency of the turning mechanism 3, that is, the period of time during which the limiting cylinder 82 is lifted once may be equal to or greater than the period during which the turning mechanism 3 turns once.
Illustratively, in combination with the conveying speed of the first conveying mechanism 1, the duration of the lifting of the pressing head 83 by the limiting cylinder 82 is the duration of a preset length of the flat protection angle 10 passing through the lower part of the pressing head 83 completely, and the duration of the lifting of the pressing head 83 by the limiting cylinder 82 is at least the duration required by the overturning mechanism 3 to overturn the flat protection angle 180 degrees, so that the two continuous flat protection angles 10 can be ensured to be conveyed in an isolated manner, each flat protection angle can be ensured to be overturned effectively, and the stability of subsequent stacking is ensured.
Referring back to fig. 1 to 3, the tilting mechanism 3 includes a tilting bracket 31, a tilting body 32, a tilting motor 33, a first sensor, and a fixed grasping module 34. The bottom end of the turnover support 31 is fixed on the frame body of the second conveying mechanism 2, and the turnover body 32 is hinged with the top end of the turnover support 31 and is arranged above the input end of the second conveying mechanism 2 and lower than the output end of the first conveying mechanism 1; the turning body 32 is arranged in the extending direction of the first conveying mechanism 1, so that it is ensured that the flat protection angle conveyed by the first conveying mechanism 1 can fall onto the turning body 32 to be turned. The turnover motor 33 is electrically connected with the control system 6, the output end of the turnover motor 33 is in transmission connection with the turnover body 32, and the control system 6 controls the starting and stopping of the turnover motor 33, so as to control the turnover body 32 to turn over and control the turnover frequency of the turnover body 32. The first sensor is located on the turnover support 31 and is electrically connected with the control system 6, and is used for sensing whether the turnover body 32 is turned in place or not, so that the flat protection angle can be turned 180 degrees by the turnover body 32 each time.
Illustratively, the fixed grabbing module 34 may be a suction cup mechanism or may be a telescopic grabbing mechanism (for example, may be set to be controlled by a cylinder) located at two ends of the turning body 32, so as to prevent the corner protector from falling during the turning process, and release the corner protector after the turning is completed, so that the corner protector falls onto the second conveying mechanism 2.
Specifically, the overturning body 32 is provided with a cavity 321 for accommodating the flat corner protector conveyed by the first conveying mechanism 1, and the shape and depth of the cavity 321 are adapted to the shape of the flat corner protector. When the fixed grabbing module 34 is a sucker mechanism, the fixed grabbing module can be arranged in the concave cavity 321 and used for adsorbing the panel corner protector, so that the panel corner protector cannot fall off before being turned in place. When the turnover body 32 turns over to 180 degrees, the first sensor sends a confirmation signal to the control system 6, and the control system controls the fixed grabbing module 34 to release the flat protection angle, so that the flat protection angle falls on the second conveying mechanism 2 to be conveyed.
As shown in fig. 2 and 3, in this embodiment, two cavities 321 facing opposite directions are provided on the turning body 32, and a detector (not shown in the drawing) is provided on each cavity 321, for example, a pressure sensor or a photoelectric sensor is used for sensing whether the panel corner protector is conveyed into the cavity 321; the detector is electrically connected with the control system 6 or the overturning motor 33, and when the detector senses that the panel corner protector falls into the concave cavity 321, a confirmation signal is sent to the control system 6 or the overturning motor 33, and then the control system 6 controls the overturning motor 33 to start so as to drive the overturning body 32 to overturn or the confirmation signal directly starts the overturning motor 33 so as to drive the overturning body 32 to overturn. The two concave cavities 321 with opposite directions can ensure that after one concave cavity drives the panel corner protector to turn over, the other concave cavity faces upwards just, and the next conveyed panel corner protector can be received, so that the turning over efficiency is effectively improved; if only one cavity 321 is provided on one overturning body 32, after the flat protection angle is overturned 180 °, the overturning body 32 needs to be overturned 180 ° again or returned, and after the cavity 321 returns to the original position, the next flat protection angle can be continuously received, which not only consumes longer time and lower efficiency, but also wastes energy sources for running the overturning motor 33 and the like and costs.
Fig. 6 shows a schematic structural view of a specific embodiment of a stacking mechanism, and referring to fig. 1, 2 and 6, in the automatic stacking apparatus for flat panel corner protectors of the present invention, the stacking mechanism 4 includes a bracket 41, a lifting cylinder 42, a clamping assembly 43 and a second sensor 44. The support 41 is fixed on the second conveying mechanism 2, the lifting air cylinder 42 is fixed on the support 41, and an output end of the lifting air cylinder 42 is fixedly connected with the clamping component 43 to control the clamping component 43 to drive the stacked flat corner protector to be improved, and the flat corner protector is placed after being conveyed, so that a plurality of flat corner protectors are stacked. A second sensor 44 is provided on the bracket 41 for sensing whether the panel corner protector is conveyed below the clamping assembly 43; the lift cylinder 42, the clamping assembly 43, and the second sensor 44 are all electrically connected to the control system 6.
When the second sensor 44 senses that the flat corner protector is conveyed, a confirmation signal is sent to the lifting air cylinder 42 or the control system 6, the lifting air cylinder 42 is started to drive the clamping assembly 43 to descend after receiving the signal, or the control system 6 is started to drive the lifting air cylinder 42 to drive the clamping assembly 43 to descend after receiving the signal, the clamping assembly 43 is controlled to release the flat corner protector clamped by the clamping assembly and stack the flat corner protector conveyed below, then the flat corner protector is retracted, the stacked flat corner protector is clamped together, and meanwhile the lifting air cylinder 42 is controlled to drive the clamping assembly 43 to lift, so that the next flat corner protector is waited for being conveyed; after the control system 6 controls and judges that the plate corner protector is reciprocated for a preset number of times, when the second sensor 44 senses that the plate corner protector is conveyed again, after the control system 6 receives a confirmation signal sent by the second sensor 44, the lifting cylinder 42 is started to drive the clamping assembly 43 to descend and control the clamping assembly 43 to release the clamped plate corner protector, and the second conveying mechanism 3 conveys the stacked corner protector groups 20; the control system 6 then controls the lifting cylinder 42 to lift, or after the next panel corner protector 10 is conveyed, the clamping assembly 43 clamps the panel corner protector 10, and then controls the lifting cylinder 42 to lift. The flat protection angles conveyed by the second conveying mechanism 2 are stacked into the protection angle group 20 according to a preset number and then conveyed to the tail end, and the mechanism 5 to be stacked is moved and stacked, so that the stacking efficiency is improved.
Specifically, the clamping assembly 43 includes a clamping frame 431, a lateral clamping plate 432 and a clamping plate cylinder 433, wherein the clamping frame 431 is fixedly connected with the output end of the lifting cylinder 42, and the lateral clamping plate 432 is fixedly connected with the output end of the clamping plate cylinder 433 and is in sliding connection with the clamping frame 431; the action of lowering or gripping the panel corner protector is achieved by sliding the two lateral clamping plates 432 in opposite directions along the gripping brackets 431. The clamping plate air cylinder 433 is fixed on the clamping frame 431 and is electrically connected with the control system 6, the control system 6 controls the expansion and contraction of the clamping plate air cylinder 433, and then the lateral clamping plate 432 is driven to be opened or retracted, so that the flat protection angle is put down and clamped.
Referring back to fig. 1 and 2, in order to ensure that the positions of each flat corner protector 10 are uniform when stacked, and that the side edges of the stacked flat corner protectors are aligned, and further, the stability of the corner protector group 20 is ensured, the automatic stacking apparatus for flat corner protectors according to the present invention further includes a blocking device 9, where the blocking device 9 is located between the stacking mechanism 4 and the output end of the second conveying mechanism 2, and is used for performing side edge blocking on the corner protectors in the corner protector group 20.
Specifically, the blocking device 9 includes a mounting frame 91, a side blocking cylinder 92 and a side blocking plate 93, wherein the mounting frame 91 is disposed on the second conveying mechanism 2, the side blocking cylinder 92 is mounted on the mounting frame 91, the side blocking plate 93 is fixedly connected with an output end of the side blocking cylinder 92, and the side blocking cylinder 92 is electrically connected with the control system 6. The control system 6 controls the expansion and the start and the stop of the side baffle cylinder 92, and drives the side baffle 93 to move up and down when the output end of the side baffle cylinder 92 contracts and stretches out. When the extending end of the side baffle cylinder 92 extends outwards, the side baffle 93 blocks and limits the panel corner protector on the second conveying mechanism 2, so that the stacking mechanism 4 is convenient to stack in groups; when the output end of the side baffle cylinder 92 contracts, the side baffle 93 is driven to lift, and under the conveying action of the second conveying mechanism 2, the stacked corner protector group 20 is continuously conveyed; then put down the side baffle 93, block and limit the next panel corner protector, and stack the mechanism 4 to be stacked.
In order to ensure that the side baffle 93 can effectively limit the flat corner protector 10, and ensure that the corner protector group 20 is stacked neatly, the interval between the side baffle 93 and the conveying surface of the second conveying mechanism 2 needs to be smaller than the thickness of the flat corner protector in the state that the output end of the side baffle cylinder 92 extends.
In addition, in order to prevent the stacked corner protector groups 20 from falling between being moved and stacked after being conveyed to the output end of the second conveying mechanism 2, a blocking device 40 is disposed above the output end of the second conveying mechanism 2, so as to sequentially block the multiple corner protector groups conveyed to the output end of the second conveying mechanism 2, so that the stacking mechanism 5 can be moved at fixed points. Specifically, the blocking device 40 includes a blocking plate, the bottom end of which is higher than the conveying surface of the second conveying mechanism 2, and the distance between the bottom end of which and the conveying surface of the second conveying mechanism 2 is smaller than the thickness of the flat protection angle 10, so as to prevent the flat protection angle from sliding off under the action of the conveying friction force of the second conveying mechanism. Further, the height of the blocking plate may be higher than or equal to the height of the corner protector group 20, so as to avoid the flat corner protector at the top of the corner protector group 20 from slipping under the conveying inertia of the second conveying mechanism.
In the automatic stacking device for the flat corner protector, a mechanical arm mechanism is adopted as the stacking mechanism 5 in order to improve the automation degree of the device. Specifically, the stacking mechanism 5 comprises a fixing seat 51, a rotating arm 52 and a cylinder clamp 53, wherein the fixing seat 51 is fixed on the ground, a first end of the rotating arm 52 is rotatably connected with the fixing seat 51, and a second end of the rotating arm 52 is fixedly connected with the cylinder clamp 53; the movements of the rotary arm 52 and the cylinder clamp 53 are controlled by the control system 6. Specifically, the rotating arm 52 has a multi-axis structure, so that rotation in multiple dimensions can be completed, for example, the stacking mechanism 5 can be a four-axis manipulator, that is, the rotating arm 52 includes four rotating shafts, rotation in at least four dimensions can be completed, and carrying and stacking in a larger range and at a more accurate position can be realized.
Fig. 7 shows a schematic structural view of the cylinder clamp 53 of the palletizing mechanism 5 in a specific embodiment, and as shown, in this embodiment, the cylinder clamp 53 includes a telescopic bracket 531, a telescopic cylinder 532, a side plate 533, and a gripper assembly 534. The middle part of the telescopic bracket 531 is fixedly connected or rotatably connected with the second end of the rotary arm 52; the telescopic cylinder 532 is fixed on the telescopic frame 531, and the output and the curb plate 533 fixed connection of telescopic cylinder 532, curb plate 533 are located the both ends of telescopic frame 531, drive curb plate 533 along with the flexible and removal of telescopic frame 531 through the flexible of the output of telescopic cylinder 532, and telescopic frame 531 plays the balancing action to the removal of curb plate 533, guarantees the stability that curb plate 533 removed. The gripper assembly 534 is fixed to the bottom of the side plate 533, and the gripper assembly 534 grips and releases the corner protector group 20 with the movement of the side plate 533. The input end of the telescopic cylinder 532 is electrically connected with the control system 6, and the control system 6 controls the telescopic driving side plate 533 of the telescopic cylinder 532 to slide along the telescopic frame 531, so that the grabbing head assemblies 534 at the bottom ends of the side plates 533 at two ends of the telescopic frame 531 are far away from or close to each other, and grabbing and releasing actions of the grabbing head assemblies 534 are realized. Illustratively, in the structure of one cylinder jig 53, two telescopic cylinders 532 are provided, the movements of the side plates 533 fixed to both ends of the telescopic frame 531 are controlled respectively, and the telescopic directions of the two telescopic cylinders 532 are opposite.
In an exemplary embodiment, the head assembly 534 includes a head 535 and a head cylinder 536, the head 535 being fixedly connected to an output end of the head cylinder 536, the head cylinder 536 being secured to a bottom of the side plate 533 and being electrically connected to the control system 6, the telescoping action of the head cylinder 536 being controlled by the control system 6. It should be noted that the direction of expansion and contraction of the head cylinder 536 in the head assembly 534 at the bottom of one side plate 533 is opposite to the direction of expansion and contraction of the expansion and contraction cylinder 532 that controls the movement of that side plate 533.
In practical application, the palletizing of the palletizing mechanism 5 may be controlled by inputting coordinate points in the control system 6. For example, with the center of the fixing seat 51 of the stacking mechanism 5 as the origin, the conveying start point is always a coordinate point located at the output end of the second conveying mechanism 2 and close to the center of the corner protection set 20 of the blocking device 40, and the conveying end point is that coordinates of the stacking point of the corner protection set 20 are all coordinate points where corresponding stacking positions are located on the tray 30 of the stacking area, and the stacking mechanism 5 can be controlled by the control system 6 to sequentially perform stacking according to a predetermined rule according to a certain stacking rule. For example, if two or more corner protector groups 20 are stacked at the same coordinate point, the height (i.e., Z-axis) coordinate of the coordinate point needs to be adjusted according to the height of the corner protector group 20.
The invention also provides a method for automatically stacking the flat corner protector, wherein fig. 8 shows a flow chart of the method for automatically stacking the flat corner protector, and the method for automatically stacking the flat corner protector is controlled by the control system 6 to complete an automatic stacking process under the control of the control system 6, and specifically comprises the following steps:
the control system 6 controls the first conveying mechanism 1 to sequentially convey the flat protection angles to the turnover mechanism 3, controls the turnover mechanism 3 to turn over the flat protection angles conveyed by the first conveying mechanism 1 by 180 degrees and then put the flat protection angles on the second conveying mechanism 2, and the flat protection angles are continuously conveyed by the second conveying mechanism 2; the turnover mechanism 3 turns the flat corner protector 10 with the upward concave surface conveyed by the first conveying mechanism 1 by 180 degrees, and then the concave surface of the flat corner protector 10 is downwards placed on the second conveying mechanism, so that subsequent stacking and stacking are facilitated, the problem that the bottom surface is uneven due to the upward concave surface of a stacked corner protector group or a stacked corner protector stack is avoided, and the flat corner protector is difficult to sort due to falling and scattering due to inertia in the moving or conveying process;
the control system 6 controls the stacking mechanism 4 to sequentially stack the flat protection angles on the second conveying mechanism 2 in groups according to a preset number to form a protection angle group 20, and then the protection angles are continuously conveyed by the second conveying mechanism 2 to the output end of the second conveying mechanism 2 to wait for the stacking mechanism 5 to carry out moving and stacking;
The control system 6 controls the stacking mechanism 5 to move the corner protector group 20 to a preset position for stacking.
Specifically, the control system 6 controls the first conveying mechanism 1 to sequentially convey the flat panel corner protectors includes: the control system 6 controls the separating mechanism 7 to separate and convey the mutually overlapped flat protection angles on the first conveying mechanism 1, ensures that the flat protection angles are all independent flat protection angles which are conveyed to the turning mechanism 3 each time, and avoids turning errors caused by overlapping of the flat protection angles, so that the situation that the overlapped flat protection angles cannot be absorbed by the fixed grabbing module 34 to slip off, and the direction errors caused by the fact that the overlapped flat protection angles cannot be turned over and even fall on the second conveying mechanism affect the follow-up procedure is avoided.
In addition, in order to prevent two or even more continuous flat corner protectors from being continuously conveyed to the turnover mechanism, and the turnover mechanism does not turn one by one, so that some flat corner protectors directly fall onto the second conveying mechanism 2 to affect subsequent conveying and stacking, the control system 6 controls the first conveying mechanism 1 to sequentially convey the flat corner protectors further comprises:
the control system 6 controls adjacent flat protection angles on the first conveying mechanism 1 to be conveyed to the turnover mechanism 3 at preset intervals through the limiting mechanism 8. That is, the spacing mechanism 8 is used for spacing the panel corner protectors 10, so that after the previous panel corner protector 10 is overturned, the other panel corner protector is conveyed to the overturning mechanism 3, and the orderly progress of the overturning process is ensured.
Specifically, controlling the turning mechanism 3 to turn the flat panel corner protector conveyed by the first conveying mechanism 1 by 180 ° includes: after receiving the confirmation signal of the detector to the flat protection angle being conveyed in place, the control system 6 drives the overturning motor 33 to drive the overturning body 32 to overturn 180 degrees. Wherein, whether the turnover body 32 turns in place is sensed by the first sensor, and a signal is fed back to the control system 6, so that the control system 6 controls the turnover motor 33 to stop, and the turnover body 32 stops turning.
In an exemplary embodiment, the actuation of the fixed grasping module 34 may also be controlled by the control system 6. For example, when the control system 6 receives a confirmation signal that the detector is used for conveying the flat corner protector in place, the fixed grabbing module 34 is controlled to adsorb the flat corner protector 10, then the turning motor 33 is driven to drive the turning body 32 to turn 180 degrees, and then the fixed grabbing module 34 is controlled to release the flat corner protector, so that the turned flat corner protector is conveyed continuously after being conveyed onto the second conveying mechanism 2.
In the above method, the forming method of the corner protection group 20 specifically includes:
when the control system 6 receives the confirmation signal of the second sensor 44 sensing the panel corner protector, the control system 6 drives the side baffle cylinder 92 to put down the side baffle 93, controls the lifting cylinder 42 to put down the clamping assembly 43, simultaneously controls the clamping plate cylinder 433 to drive the side clamping plate 432 to be opened and then to retract, and then controls the lifting cylinder 42 to lift the clamping assembly 43, and the preset times are repeated according to the preset times, wherein the preset times are smaller than the preset number of panel corner protectors in the corner protector groups 20 by 1, namely smaller than the stacking times of the panel corner protectors in each corner protector group 20;
When the control system 6 receives the confirmation signal of the second sensor 44 again, the side baffle cylinder 92 is driven to lift the side baffle 93, meanwhile, the lifting cylinder 42 is controlled to put down the clamping assembly 43 again, the clamping plate cylinder 433 is controlled to drive the side clamping plate 432 to open, and then the lifting cylinder 42 is controlled to lift the clamping assembly 43, and the clamping plate cylinder 433 is controlled to drive the side clamping plate 432 to retract.
Specifically, the control system 6 controls the palletizing mechanism 5 to palletize the corner protecting group 20 includes:
the control system 6 controls the rotating arm 52 to drive the air cylinder clamp 53 to move the corner protection group 20 to a preset position from the output end of the second conveying mechanism 2, and stacking is carried out according to a preset rule. Illustratively, the control system 6 controls the rotating arm 52 to drive the clamp cylinder 53 to sequentially move the corner protection groups 20 at the output end of the second conveying mechanism 2 onto a tray 30 to be sequentially full in an array manner, and then covers the tray layer by layer until a predetermined number of layers are stacked.
Fig. 9 shows a flowchart of an implementation of an automatic stacking method in a specific embodiment, in this embodiment, firstly, the thickness of a flat corner protector 10 is input into a control system 6, the distance between a separating strip 72 of a separating mechanism 7 and a conveying surface of a first conveying mechanism 1 is adjusted according to the thickness of the flat corner protector 10, parameters such as start-stop frequency, travel and the like of a limiting cylinder 82 of a limiting mechanism 8 are input into the control system 6 according to the thickness and the length of the flat corner protector 10, and stacking times of a stacking mechanism 4 are input (for example, each corner protector group 20 comprises 8 flat corner protectors 10, namely, each corner protector group 20 needs to be stacked 7 times), and parameters such as moving coordinates, stacking rules and the like of the stacking mechanism 5; then starting the equipment and the control system 6, wherein the stacking method is carried out according to the following steps:
The control system 6 controls the first conveying mechanism 1 to sequentially convey the flat protection angles 10, and the flat protection angles 10 are confirmed to be separated by the separating mechanism 7;
the control system 6 controls the limiting mechanism 8 to sequentially convey the flat protection angles 10 to the turnover mechanism 3 at a preset interval (time interval or conveying distance interval) frequency, and controls the turnover mechanism 3 to turn the flat protection angles 10 180 degrees and then put the flat protection angles on the second conveying mechanism 2, and the flat protection angles are continuously conveyed by the second conveying mechanism 2;
the overturning process is as follows: after receiving a confirmation signal of the detector for conveying the flat corner protector 10 in place, the control system 6 controls the fixed grabbing module 34 to adsorb the flat corner protector 10, drives the overturning motor 33 to drive the overturning body 32 to overturn 180 degrees, and then controls the fixed grabbing module 34 to release the flat corner protector 10, and the flat corner protector 10 is continuously conveyed after falling onto the second conveying mechanism 2;
when the control system 6 receives the confirmation signal of the flat panel corner protector 10 sensed by the second sensor 44, the side baffle cylinder 92 is driven to put down the side baffle 93, the lifting cylinder 42 is controlled to put down the clamping assembly 43, meanwhile, the clamping plate cylinder 433 is controlled to drive the side clamping plate 432 to be opened and then to be retracted, and then the lifting cylinder 42 is controlled to lift the clamping assembly 43; after repeating the above steps for 6 times, after the control system 6 receives the confirmation signal of the second sensor 44 for 7 th time, the side baffle cylinder 92 is driven to lift the side baffle 93, meanwhile, the lifting cylinder 42 is controlled again to put down the clamping assembly 43, the clamping plate cylinder 433 is controlled to drive the side clamping plate 432 to open, the stacked flat corner protector is put on the flat corner protector just conveyed to finish stacking, and then, the lifting cylinder 42 is controlled to lift the clamping assembly 43, the clamping plate cylinder 433 is controlled to drive the side clamping plate 432 to retract, so that the stacked corner protector group 20 is ensured to be conveyed away; then, when the next panel corner protector 10 is conveyed, stacking the next round;
The corner protector group 20 is blocked by the blocking device 40 in sequence under the conveying of the second conveying mechanism 2;
the control system 6 controls the rotating arm 52 to drive the air cylinder clamp 53 to move the corner protection group 20 adjacent to the blocking device 40 to a preset position on the tray 30, and stacking is carried out sequentially according to a preset rule.
Specifically, when stacking on one tray 30 is completed, the control system 6 may also send an alarm signal to remind the staff to remove the stacked tray 30 and prevent the empty tray 30 from waiting for the next round of stacking.
The above description may be implemented alone or in various combinations and these modifications are within the scope of the present invention.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the methods described above may be implemented by a program that instructs associated hardware, and the program may be stored on a computer readable storage medium such as a read-only memory, a magnetic or optical disk, etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting. Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The automatic stacking equipment for the flat corner protector is characterized by comprising a first conveying mechanism (1), a second conveying mechanism (2), a turnover mechanism (3), a stacking mechanism (4), a stacking mechanism (5) and a control system (6), wherein,
the input end of the second conveying mechanism (2) is arranged adjacent to the output end of the first conveying mechanism (1);
the turnover mechanism (3) is arranged above the input end of the second conveying mechanism (2) and is positioned at the tail end of the first conveying mechanism (1), and the turnover mechanism (3) is used for turning over the flat protection angle (10) conveyed by the first conveying mechanism (1) by 180 degrees and then placing the flat protection angle on the second conveying mechanism (2);
The stacking mechanism (4) is positioned between the turnover mechanism (3) and the output end of the second conveying mechanism (2), and the stacking mechanism (4) is used for sequentially stacking the flat protection angles (10) turned by the turnover mechanism (3) in groups according to a preset number to form an protection angle group (20);
the turnover mechanism (3) comprises a turnover support (31), a turnover body (32), a turnover motor (33), a first sensor and a fixed grabbing module (34), wherein the bottom end of the turnover support (31) is fixed on the frame body of the second conveying mechanism (2), and the turnover body (32) is hinged with the top end of the turnover support (31) and is positioned above the input end of the second conveying mechanism (2); the turnover motor (33) is electrically connected with the control system (6), and the output end of the turnover motor (33) is in transmission connection with the turnover body (32); the first sensor is positioned on the overturning bracket (31), is electrically connected with the control system (6) and is used for sensing whether the overturning body (32) overturns in place or not;
the stacking mechanism (4) comprises a support (41), a lifting air cylinder (42), a clamping assembly (43) and a second sensor (44), wherein the support (41) is fixed on the second conveying mechanism (2), the lifting air cylinder (42) is fixed on the support (41), and the output end of the lifting air cylinder (42) is fixedly connected with the clamping assembly (43); the second sensor (44) is arranged on the bracket (41) and is used for sensing whether the panel corner protector is conveyed to the lower part of the clamping assembly (43);
The stacking mechanism (5) is positioned at the output end of the second conveying mechanism (2) and is used for stacking the corner protection group (20);
the first conveying mechanism (1), the second conveying mechanism (2), the turnover mechanism (3), the stacking mechanism (4) and the stacking mechanism (5) are electrically connected with the control system (6);
wherein, lifting cylinder (42), clamping component (43), second inductor (44) all with control system (6) electricity is connected.
2. The automatic stacking device for flat corner protectors according to claim 1, further comprising at least one set of separating mechanisms (7), wherein the separating mechanisms (7) are located above the first conveying mechanism (1) and are used for separating flat corner protectors stacked on the first conveying mechanism (1).
3. The automatic palletizing device for flat corner protectors according to claim 1, further comprising a limiting mechanism (8), wherein the limiting mechanism (8) is located above the output end of the first conveying mechanism (1) and is used for controlling adjacent flat corner protectors (10) on the first conveying mechanism (1) to be conveyed onto the second conveying mechanism (2) at preset intervals.
4. The automatic palletizing device for flat corner protectors according to claim 1, further comprising a blocking device (9), said blocking device (9) being located between the stacking mechanism (4) and the output of the second conveying mechanism (2) for lateral blocking of the corner protectors in the corner protector group (20).
5. A method of automatic palletizing of flat corner protectors, characterized in that it is performed by an automatic palletizing device of flat corner protectors according to any one of claims 1 to 4, comprising the steps of:
the control system (6) controls the first conveying mechanism (1) to sequentially convey the flat protection angles, controls the overturning mechanism (3) to overturn the flat protection angles conveyed by the first conveying mechanism (1) by 180 degrees and then put the flat protection angles on the second conveying mechanism (2), and the second conveying mechanism (2) continues conveying the flat protection angles;
the control system (6) controls the stacking mechanism (4) to sequentially stack the flat protection angles on the second conveying mechanism (2) in groups according to a preset number to form a protection angle group (20), and then the second conveying mechanism (2) continues conveying;
The control system (6) controls the stacking mechanism (5) to stack the corner protection group (20).
6. A method of automatic palletizing of flat corner protectors, as in claim 5, characterized in that said control system (6) controlling the first conveying mechanism (1) to convey the flat corner protectors in succession comprises:
the control system (6) controls the separating mechanism (7) to separate and convey the mutually overlapped flat protection angles on the first conveying mechanism (1).
7. A method of automatic palletizing of flat corner protectors, as in claim 5, characterized in that said control system (6) controlling the first conveying mechanism (1) to convey the flat corner protectors in succession comprises:
the control system (6) controls adjacent flat protection angles on the first conveying mechanism (1) to be conveyed to the turnover mechanism (3) at preset intervals through the limiting mechanism (8).
8. A method of automatically palletizing flat corner protectors according to claim 5, characterized in that said group of corner protectors (20) is formed by a method comprising:
when the control system (6) receives a confirmation signal of the second sensor (44) sensing the panel corner protector, the control system (6) drives the side baffle cylinder (92) to put down the side baffle (93), controls the lifting cylinder (42) to put down the clamping assembly (43) and simultaneously controls the clamping plate cylinder (433) to drive the side clamping plate (432) to be opened and then to retract, and then controls the lifting cylinder (42) to lift the clamping assembly (43), and the preset times are repeated according to the preset times, wherein the preset times are smaller than the stacking times of the panel corner protector of each corner protector group (20);
When the control system (6) receives the confirmation signal of the second sensor (44) again, the side baffle cylinder (92) is driven to lift the side baffle (93), meanwhile, the lifting cylinder (42) is controlled to put down the clamping assembly (43) again, the clamping plate cylinder (433) is controlled to drive the lateral clamping plate (432) to be opened, and then the lifting cylinder (42) is controlled to lift the clamping assembly (43) and then the clamping plate cylinder (433) is controlled to drive the lateral clamping plate (432) to be retracted.
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| CN110842502B (en) * | 2019-11-14 | 2020-10-20 | 诸暨企周企业管理有限公司 | Semi-automatic plate spring assembling equipment |
| CN110950093A (en) * | 2019-12-10 | 2020-04-03 | 安徽佳森精密科技有限公司 | Television backboard stacking system |
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