CN109867074A - A kind of keel automatic transportation equipment and its control method - Google Patents
A kind of keel automatic transportation equipment and its control method Download PDFInfo
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- CN109867074A CN109867074A CN201711257542.7A CN201711257542A CN109867074A CN 109867074 A CN109867074 A CN 109867074A CN 201711257542 A CN201711257542 A CN 201711257542A CN 109867074 A CN109867074 A CN 109867074A
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Abstract
The present patent application provides a kind of keel automatic transportation equipment, including picking frame, driving means, shift unit, stop device, delivery frame and controller, and driving means is used to keel layer pushing to shift unit from picking frame；Shift unit is used to keel layer being transferred to delivery frame；Stop device is for stopping keel layer to restore with shift unit to initial position.The present patent application additionally provides the control method of above-mentioned keel automatic transportation equipment: controller controls driving means starting, and the keel on picking frame are pushed on shift unit；Controller controls shift unit starting, and keel is driven to be displaced to above delivery frame；Controller controls stop device starting；Controller controls shift unit starting and restores to initial position, completes a secondary joist and carries.The keel automatic transportation equipment and its control method that the present patent application provides can improve handling efficiency by keel layer from picking shelf for conveying to delivery frame, reduce labor intensity of workers, improve production automation.
Description
Technical field
The present application relates to keel production and processing technical field more particularly to a kind of keel automatic transportation equipment and its controls
Method processed.
Background technique
In keel process of manufacture, it usually needs keel layer is carried to another shelf from a shelf, or
Keel layer on shelf being carried on transport vehicle, in the prior art, it usually needs artificial realize is carried, this process increases
The labor intensity of worker, and low efficiency.With the rising of cost of labor, production automation is improved, a kind of keel is needed to remove automatically
Equipment is transported, can be realized from picking on a shelf, then goods is sent to another shelf, whole process is without human intervention.
Summary of the invention
In view of the above-mentioned problems, the present patent application aims to solve the problem that problem as described above.The purpose of the present patent application is to provide
A kind of keel automatic transportation equipment and its control method, can be realized keel automatic transporting.
It is applying according to the present invention in a first aspect, it includes: to take that the present patent application, which provides a kind of keel automatic transportation equipment,
Shelf, driving means, shift unit, stop device, delivery frame and controller, the driving means are set to the picking frame
Two sides, and the second end of the driving means is set to the two sides of the shift unit first end, for by keel layer from described
It is pushed on picking frame on the shift unit；The shift unit first end is disposed adjacent with the picking frame, second end with
The delivery frame is disposed adjacent, and the shift unit is used to keel layer being transferred to the delivery frame；The stop device is set
The two sides of the shift unit second end are placed in, for stopping keel layer to restore with the shift unit to initial position；It is described
Driving means, the shift unit, the stop device are electrically connected with the controller.
Wherein, the driving means includes pushing chain making machine and pushing piece, the pushing piece and the push chain making machine
Chain is fixedly connected, and the motor of the push chain making machine is electrically connected with the controller.
Wherein, the shift unit includes displacement chain making machine, sliding rail, sliding block and pallet fork, the sliding rail and the shift chain
The chain of machine is arranged in parallel, and the sliding block is fixedly connected with the pallet fork close to one end of the picking frame, the sliding block or
The pallet fork is fixedly connected close to one end of the picking frame with the chain of the displacement chain making machine, the electricity of the displacement chain making machine
Machine is electrically connected with the controller.
Wherein, the shift unit further includes hydraulic elevator platform, the first detector and the second detector, wherein the shifting
Position chain making machine is fixed on the top of the hydraulic elevator platform, and the first end of the hydraulic elevator platform is adjacent with the picking frame to be set
It sets, the second end of the hydraulic elevator platform is disposed adjacent with the delivery frame；First detector is located at the displacement chain
The first end of machine, for detecting the upper surface of the pallet fork at a distance from the upper surface of the picking frame；Second detector
Positioned at the second end of the displacement chain making machine, for detecting the upper surface of the displacement chain making machine and the upper surface of the delivery frame
Or the distance of the upper surface of the top keel on the delivery frame；And the hydraulic elevator platform, first detector
It is electrically connected with the controller with second detector.
Wherein, the stop device include two cylinders, described two cylinders respectively with the shift unit second end
Two sides are fixedly connected, and the upper surface setting predetermined angular of the cylinder and the shift unit and the cylinder output are towards institute
State delivery frame；When the cylinder output is in retracted state, the top of the cylinder lower than the shift unit upper surface or
It is concordant with the shift unit upper surface to be arranged；The cylinder input terminal is electrically connected with the controller.
It is applying according to the present invention in a first aspect, the present patent application provides the controlling party of above-mentioned keel automatic transportation equipment
Method, which comprises the steps of: the controller controls the driving means starting, by the dragon on the picking frame
Bone pushes on the shift unit；The controller controls the driving means and restores to initial position；The controller control
The shift unit starting is made, keel is driven to be displaced to above the delivery frame；The controller controls the stop device and opens
It is dynamic；The controller controls the shift unit starting and restores to initial position, then controls the stop device and restores to first
Beginning position is completed a secondary joist and is carried.
Wherein, the driving means includes pushing chain making machine and pushing piece, the pushing piece and the push chain making machine
Chain is fixedly connected, and the motor of the push chain making machine is electrically connected with the controller；The controller controls the push dress
Starting is set, it includes: that the controller controls the push chain making machine that the keel on picking frame, which are pushed on the shift unit,
Motor rotate forward, the first end of pushing piece described in the chain-driving by the push chain making machine from the push chain making machine is mobile
To the second end of push chain making machine, pushing piece pushes to the keel on the picking frame on the shift unit；The control
Device controls the driving means and restores to initial position to include: that the controller controls the motor reversal for pushing chain making machine,
Pushing piece described in chain-driving by the push chain making machine returns to the push chain from the second end of the push chain making machine
The first end of machine.
Wherein, when the shift unit includes displacement chain making machine, sliding rail, sliding block and pallet fork, described in the controller control
Shift unit starting, driving keel to be displaced to above the delivery frame includes: that the controller controls on the displacement chain making machine
After rising or dropping to the top keel flush on the pallet fork lower surface and the delivery frame or the delivery frame, control
The motor of the displacement chain making machine rotates forward, and sliding block described in the chain-driving by the displacement chain making machine is mobile, and the sliding block is logical
Crossing the pallet fork drives keel to be moved to above the delivery frame；The controller controls the shift unit starting and restores to first
Beginning position includes: the motor reversal that the controller controls the displacement chain making machine, passes through the chain band of the displacement chain making machine
It is mobile to move the sliding block, after the sliding block drives the pallet fork to return back to initial position, the controller controls the shift chain
The upper surface of the machine pallet fork and the upper surface flush of the picking frame.
Wherein, when the shift unit further includes hydraulic elevator platform, the first detector and the second detector, the controller
Control the displacement chain making machine rise or fall on the pallet fork lower surface and the delivery frame or the delivery frame most
High-rise keel flush includes: that the controller control hydraulic elevator platform rises or falls, while receiving second inspection
The second signal that device detects is surveyed, and the hydraulic elevator platform is controlled according to the second signal and is stopped；The controller control
The upper surface of the displacement chain making machine pallet fork and the upper surface flush of the picking frame include: described
It is down or up that controller controls the hydraulic elevator platform, while receiving the first signal that first detector detects, and
The hydraulic elevator platform is controlled according to first signal to stop.
Wherein, the stop device includes two cylinders, cylinder two sides with the shift unit second end respectively
It is fixedly connected, predetermined angular is arranged in the upper surface of the cylinder and the shift unit and the cylinder output is sent described in
Shelf；When the cylinder output is in retracted state, the top of the cylinder lower than the shift unit upper surface or with institute
Shift unit upper surface is stated concordantly to be arranged；The cylinder input terminal is electrically connected with the controller；Described in the controller control
Stop device starting includes: that controller controls the cylinder output stretching preset distance；Controller controls the stop device
Restore to initial position to include: that controller controls the cylinder output withdrawal preset distance.
The keel automatic transportation equipment and its control method that the present patent application provides, can be automatically by keel layer from picking frame
It is carried to delivery frame, reduces labor intensity of workers, improves production automation, improves handling efficiency, reduces cost of labor；Further
Ground, the keel automatic transportation equipment and its control method that the present patent application provides, after increasing hydraulic elevator platform in shift unit,
While the keel layer on picking frame can also being carried to delivery frame, keel layer stacking is carried out on delivery frame.
It is read with reference to the drawings being described below for exemplary embodiment, other property features of the present patent application and excellent
Point will become apparent.
Detailed description of the invention
It is incorporated into specification and the attached drawing for constituting part of specification shows the embodiment of the present patent application, and
And it is used to explain the present invention the principle of application together with the description.In the drawings, similar appended drawing reference is for indicating similar
Element.The accompanying drawings in the following description is some embodiments of the present patent application, rather than whole embodiments.It is general for this field
For logical technical staff, without creative efforts, other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 schematically illustrates the top view of the keel automatic transportation equipment of the present patent application.
Fig. 2 schematically illustrates the main view of the keel automatic transportation equipment of the present patent application.
Fig. 3 schematically illustrates the main view of the driving means of the present patent application.
Fig. 4 schematically illustrates the top view of the shift unit of the present patent application.
Fig. 5 schematically illustrates the main view of the shift unit of the present patent application.
Fig. 6 schematically illustrates the partial enlargement diagram of stop device in Fig. 1.
Specific embodiment
To keep the purposes, technical schemes and advantages of the present patent application embodiment clearer, below in conjunction with Shen of the present invention
Please attached drawing in embodiment, the technical solution in the present patent application embodiment is clearly and completely described, it is clear that retouched
The embodiment stated is the present patent application a part of the embodiment, instead of all the embodiments.Based on the implementation in the present patent application
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the present patent application protection.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature can mutual any combination.
The basic thought of the present patent application is to provide a kind of keel automatic transportation equipment and its control method, driving means
Keel layer is pushed on shift unit from picking frame, keel layer is carried to above delivery frame by shift unit, stop device
Output end stretches out, and resists the keel layer on delivery frame, shift unit is retracted into initial position, and the keel layer on shift unit stays in
On delivery frame, to realize automatically by keel layer from picking shelf for conveying to delivery frame.Enable shift unit that there is liftable function, from
And while realizing keel layer from picking shelf for conveying to delivery frame, keel layer automatic stacking is realized on delivery frame.
With reference to the accompanying drawing, keel automatic transportation equipment provided by application according to the present invention and its control method are carried out
Detailed description.
As shown in Fig. 1 to 2, the present patent application provide keel automatic transportation equipment, including picking frame 1, driving means 2,
Shift unit 3, stop device 4, delivery frame 5 and controller, the driving means 2 are set to the two sides of the picking frame 1, and institute
The second end for stating driving means 2 is set to the two sides of 3 first end of shift unit, for by keel layer from the picking frame 1
On push on the shift unit 3；3 first end of shift unit is disposed adjacent with the picking frame 1, second end with it is described
Delivery frame 5 is disposed adjacent, and the shift unit 3 is used to keel layer being transferred to the delivery frame；The stop device 4 is arranged
In the two sides of 3 second end of shift unit, for stopping keel layer to restore with the shift unit 3 to initial position；It is described
Driving means 2, the shift unit 3, the stop device 4 are electrically connected with the controller.Controller controls driving means 2
Starting, the keel layer on picking frame 1 is pushed on shift unit 3, and controller controls shift unit 3 and starts, by shift unit 3
On keel layer be transferred on delivery frame, controller controls stop device 4 and starts, and resists keel layer, controller control displacement dress
It sets 3 to retract, keel layer is stayed under the blocking of stop device 3 on delivery frame 5.
The keel automatic transportation equipment that the present patent application provides, can be carried to delivery from picking frame 1 for keel layer automatically
On frame 5, labor intensity of workers is advantageously reduced, improves keel handling efficiency.
Wherein, driving means 2 can with as shown in figure 3, include push chain making machine 21 and pushing piece 22, the pushing piece 22 with
The chain 211 of the push chain making machine 21 is fixedly connected, and the motor 212 of the push chain making machine 21 is electrically connected with the controller
It connects.Controller control push chain making machine 21 starts, and push chain making machine 21 drives pushing piece 22 mobile, by the keel on picking frame 1
Layer pushes on shift unit 3.
Wherein, shift unit 3 can be as shown in figure 4, include displacement chain making machine 31, sliding rail 32, sliding block 33 and pallet fork 34, institute
It states sliding rail 32 and the chain of the displacement chain making machine 31 is arranged in parallel, the sliding block 33 is with the pallet fork 34 close to the picking frame
1 one end is fixedly connected, the one end and the displacement chain making machine 31 of the sliding block 33 or the pallet fork 34 close to the picking frame 1
Chain 311 be fixedly connected, it is described displacement chain making machine 31 motor 312 be electrically connected with the controller.Controller control displacement
Chain making machine 31 starts, and band movable slider 33 moves on sliding rail 32, and sliding block 33 is enabled to be moved to delivery frame 5 from one end of picking frame 1
One end, correspondingly, pallet fork 34 are moved to 5 top of delivery frame.
In order to which shift unit 3 smoothly gets keel layer from picking frame 1, when picking, controller controls the upper table of pallet fork 34
Face is concordant with the upper surface of picking frame 1.In order to which keel layer is carried on delivery frame 5 by shift unit 3, controller controls pallet fork 34
Lower surface it is concordant with the upper surface of delivery frame 5.
There is difference in height for solve the problems, such as picking frame 1 and delivery frame 5, displacement chain making machine 31 can be fixed on lifting platform
On, the raising and lowering of controller control displacement chain making machine 31 enables pallet fork 34 meet the condition of above-mentioned picking and delivery.
As shown in figure 5, shift unit 3 further includes hydraulic elevator platform 35, the first detector and the second detector, the displacement
Chain making machine 31 is fixed on the top of the hydraulic elevator platform 35, and the first end of the hydraulic elevator platform is adjacent with the picking frame 1
Setting, the second end of the hydraulic elevator platform are disposed adjacent with the delivery frame 5；First detector is located at the shift chain
The first end of machine, for detecting the upper surface of the pallet fork at a distance from the upper surface of the picking frame；Second detection
Device is located at the second end of the displacement chain making machine 31, for detecting the upper surface for shifting chain making machine 31 and the delivery frame
The distance of upper surface or the upper surface of the top keel on the delivery frame；And the hydraulic elevator platform, described first
Detector and second detector are electrically connected with the controller.
Shift unit 3 during carrying keel layer, can in the handling process directly by keel layer stacking at keel pile,
Keel pile is carried out again integrally to carry, and is conducive to the efficiency for further increasing keel carrying.Keel layer surface irregularity, Wu Fazhi
It connects and pushes to keel layer on another keel layer, therefore pallet fork 34 is set, be used for transfer keel layer, realize keel layer stacking.
Wherein, as shown in fig. 6, the stop device 4 include two cylinders 41, described two cylinders 41 respectively with the shifting
The two sides of position 3 second end of device are fixedly connected, upper surface setting predetermined angular and institute of the cylinder 41 with the shift unit 3
41 output end of cylinder is stated towards the delivery frame 5；41 output of cylinder is when retracted state, the top of the cylinder 41
Lower than 3 upper surface of shift unit or concordant with 3 upper surface of shift unit it is arranged；41 input terminal of cylinder with it is described
Controller electrical connection.
The predetermined angular that the upper surface of cylinder 41 and shift unit 3 is arranged is 10 degree~70 degree, guarantees 41 output end of cylinder
When in retracted state, the top of cylinder 41 is lower than the upper surface of shift unit 3, to not influence shift unit 3 for keel layer
On transport to delivery frame 5；When controller controls shift unit 3 and transports keel layer to delivery 5 top of frame, controller controls cylinder
41 output ends stretch out preset distance, and the output end of cylinder 41 is higher than 3 upper surface of shift unit, resist keel layer, controller control
Shift unit 3 restores to initial position, and keel layer then under the backstop of 41 output end of cylinder, stays on delivery frame 5, realizes keel
Layer is carried.The predetermined angular that in a specific embodiment of the present invention, the upper surface of cylinder 41 and shift unit 3 is arranged is 30 degree,
45 degree, 60 degree.
When shift unit 3 includes hydraulic elevator platform 35, cylinder 41 is set to the two sides of hydraulic elevator platform second end, with liquid
35 1 lifting of lifting platform is pressed, keel layer realizes keel layer stacking under the action of cylinder 41 and pallet fork 34.
The present patent application additionally provides the control method of above-mentioned keel automatic transportation equipment, includes the following steps: controller
It controls the driving means 2 to start, the keel on the picking frame 1 is pushed on the shift unit 3；The controller control
The driving means 2 is made to restore to initial position；The controller controls the shift unit 3 and starts, and keel is driven to be displaced to
5 top of delivery frame；The controller controls the stop device 4 and starts；The controller controls the shift unit 3 and opens
It is dynamic to restore to initial position, it then controls the stop device 4 and restores to initial position, complete a secondary joist and carry.
Wherein, driving means 2 includes pushing chain making machine 21 and pushing piece 22, the pushing piece 22 and the push chain making machine
21 chain is fixedly connected, and the motor of the push chain making machine 21 is electrically connected with the controller；Described in the controller control
Driving means 2 starts, and it includes: to push away described in the controller control that the keel on picking frame 1, which are pushed on the shift unit 3,
The motor of chain making machine 21 is sent to rotate forward, pushing piece 22 described in the chain-driving by the push chain making machine 21 is from the push chain
The first end of machine 21 is moved to the second end of push chain making machine 21, and the keel on the picking frame 1 are pushed to institute by pushing piece 22
It states on shift unit 3；The controller controls the driving means 2 and restores to initial position to include: controller control institute
The motor reversal for stating push chain making machine 21, pushing piece 22 described in the chain-driving by the push chain making machine 21 is from the push
The second end of chain making machine 21 returns to the first end of the push chain making machine 21.
Wherein, when shift unit 3 includes displacement chain making machine 31, sliding rail 32, sliding block 33 and pallet fork 34, the controller control
The shift unit 3 starts, and driving keel to be displaced to above the delivery frame 5 includes: that the controller controls the shift chain
Machine rises or falls, until 34 lower surface of the pallet fork is equal with the top keel on the delivery frame or the delivery frame
Qi Hou, the motor for controlling the displacement chain making machine 31 rotate forward, sliding block 33 described in the chain-driving by the displacement chain making machine 31
Mobile, the sliding block 33 drives keel to be moved to 5 top of delivery frame by the pallet fork 34；Described in the controller control
The starting of shift unit 3 restores to initial position to include: that the controller controls the motor reversal for shifting chain making machine 31, passes through
Sliding block 33 described in the chain-driving of the displacement chain making machine 31 is mobile, and the sliding block 33 drives the pallet fork 34 to return back to initial bit
It sets.Then, the upper surface that the controller controls the displacement pallet fork 34 of chain making machine 31 takes with described
The upper surface flush of shelf 1, repeats the above steps, and 1 pliosaur osteoplaque of picking frame is carried to stacking on delivery frame 5.
When shift unit further includes hydraulic elevator platform 35, the first detector and the second detector, the controller controls institute
It states displacement chain making machine 31 to rise or fall, until on 34 lower surface of the pallet fork and the delivery frame 5 or the delivery frame 5 most
High-rise keel flush includes: that the controller control hydraulic elevator platform 35 rises or falls, while receiving described second
The second signal that detector detects, and the hydraulic elevator platform 35 is controlled according to the second signal and is stopped；The controller
Control the upper surface of the displacement pallet fork 34 of chain making machine 31 and the upper surface flush of the picking frame 1
It include: that the controller control hydraulic elevator platform 35 is down or up, while receiving what first detector detected
First signal, and the hydraulic elevator platform 35 is controlled according to first signal and is stopped.
Wherein, stop device 4 include two cylinders 41, the cylinder 41 respectively with 3 second end of shift unit two
Side is fixedly connected, upper surface setting predetermined angular and the cylinder 41 output end court of the cylinder 41 with the shift unit 3
To the delivery frame 5；For 41 output of cylinder when retracted state, the top of the cylinder 41 is lower than the shift unit
3 upper surfaces or it is concordant with 3 upper surface of shift unit be arranged, prevent pallet fork 34 that keel layer is transferred to the process of delivery frame 5
In, stopped by the output end of cylinder 41；41 input terminal of cylinder is electrically connected with the controller；Described in the controller control
The starting of stop device 4 includes: that controller controls 41 output end of the cylinder stretching preset distance, for stopping keel layer by pallet fork
34 take back；Controller controls the stop device 4 and restores to initial position to include: that controller controls 41 output end of the cylinder receipts
Return preset distance.
The keel automatic transportation equipment and its control method that the present patent application provides, can be automatically by keel layer from picking frame
1 is carried to delivery frame 5, reduces labor intensity of workers, improves production automation, improves handling efficiency, reduces cost of labor；Into one
Step ground, the keel automatic transportation equipment and its control method that the present patent application provides, after increasing lifting platform in shift unit 3,
While the keel layer on picking frame 1 can also being carried to delivery frame 5, keel layer stacking is carried out on delivery frame 5.
Descriptions above can combine implementation individually or in various ways, and these variants all exist
Within the protection scope of the present patent application.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion so that keel or equipment including a series of elements not only include those elements, but also is wrapped
Other elements that are not explicitly listed are included, or further include for this keel or the intrinsic element of equipment.Do not having more
In the case where more limitations, the element that is limited by sentence " including ... ", it is not excluded that in the keel including the element or set
There is also other identical elements in standby.
Above embodiments are only to illustrate the technical solution of the present patent application rather than limit, reference only to preferred embodiment pair
The present patent application is described in detail.Those skilled in the art should understand that can be to the technology of the present patent application
Scheme is modified or replaced equivalently, and without departing from the spirit and scope of the present patent application technical solution, should all be covered at this
In the scope of the claims of patent application.
Claims (10)
1. a kind of keel automatic transportation equipment, which is characterized in that the keel automatic transportation equipment includes: picking frame (1), push
Device (2), shift unit (3), stop device (4), delivery frame (5) and controller,
The driving means (2) is set to the two sides of the picking frame (1), and the second end of the driving means (2) is set to
The two sides of shift unit (3) first end, for keel layer to be pushed to the shift unit from the picking frame (1)
(3) on；
Shift unit (3) first end is disposed adjacent with the picking frame (1), and second end is adjacent with the delivery frame (5) to be set
It sets, the shift unit (3) is used to keel layer being transferred to the delivery frame；
The stop device (4) is set to the two sides of the shift unit (3) second end, for stopping keel layer with the displacement
Device (3) restores to initial position；
The driving means (2), the shift unit (3), the stop device (4) are electrically connected with the controller.
2. keel automatic transportation equipment as described in claim 1, which is characterized in that the driving means (2) includes push chain
Machine (21) and pushing piece (22),
The pushing piece (22) is fixedly connected with the chain (211) of push chain making machine (21), the push chain making machine (21)
Motor (212) be electrically connected with the controller.
3. keel automatic transportation equipment as described in claim 1, which is characterized in that the shift unit (3) includes shift chain
Machine (31), sliding rail (32), sliding block (33) and pallet fork (34),
The chain of the sliding rail (32) and displacement chain making machine (31) is arranged in parallel, the sliding block (33) and the pallet fork (34)
One end close to the picking frame (1) is fixedly connected, and the sliding block (33) or the pallet fork (34) are close to the picking frame (1)
One end is fixedly connected with the chain (311) of displacement chain making machine (31), the motor (312) of displacement chain making machine (31) and institute
State controller electrical connection.
4. keel automatic transportation equipment as claimed in claim 2, which is characterized in that the shift unit (3) further includes hydraulic
Lifting platform (35), the first detector and the second detector, wherein the displacement chain making machine (31) is fixed on the hydraulic elevator platform
(35) top, the first end of the hydraulic elevator platform are disposed adjacent with the picking frame, the second end of the hydraulic elevator platform
It is disposed adjacent with the delivery frame；First detector is located at the first end of the displacement chain making machine, for detecting the goods
The upper surface of fork is at a distance from the upper surface of the picking frame；Second detector is located at the of displacement chain making machine (31)
Two ends, for detecting the upper surface of displacement chain making machine (31) and upper surface or the delivery frame of the delivery frame ()
On top keel upper surface distance；And the hydraulic elevator platform, first detector and second detection
Device is electrically connected with the controller.
5. keel automatic transportation equipment as described in claim 1, which is characterized in that the stop device (4) includes two gas
Cylinder (41), described two cylinders (41) are fixedly connected with the two sides of the shift unit (3) second end respectively, the cylinder (41)
Predetermined angular is set with the upper surface of the shift unit (3) and the cylinder (41) output end is towards the delivery frame (5)；
For cylinder (41) output when retracted state, the top of the cylinder (41) is lower than on the shift unit (3)
Surface concordant with the shift unit (3) upper surface is arranged；Cylinder (41) input terminal is electrically connected with the controller.
6. such as the control method of keel automatic transportation equipment according to any one of claims 1 to 5, which is characterized in that including
Following steps:
The controller controls driving means (2) starting, and the keel on the picking frame (1) are pushed to the displacement and are filled
It sets on (3)；
The controller controls the driving means and restores to initial position；
The controller controls shift unit (3) starting, and keel is driven to be displaced to above the delivery frame (5)；The control
Device processed controls stop device (4) starting；The controller controls shift unit (3) starting and restores to initial position,
Then the stop device (4) are controlled to restore to initial position, a secondary joist is completed and carries.
7. the control method of keel automatic transportation equipment as claimed in claim 6, which is characterized in that
The driving means (2) includes pushing chain making machine (21) and pushing piece (22), the pushing piece (22) and the push chain
The chain of machine (21) is fixedly connected, and the motor of push chain making machine (21) is electrically connected with the controller；
The controller controls driving means (2) starting, and the keel on picking frame (1) are pushed to the shift unit
(3) include: on
The motor of controller control push chain making machine (21) rotates forward, and passes through the chain band of push chain making machine (21)
Move the second end that the pushing piece (22) is moved to push chain making machine (21) from the first end of push chain making machine (21), push
Part (22) pushes to the keel on the picking frame (1) on the shift unit (3)；
The controller controls driving means (2) recovery to initial position
The motor reversal of controller control push chain making machine (21), passes through the chain band of push chain making machine (21)
Move the first end that the pushing piece (22) returns to push chain making machine (21) from the second end of push chain making machine (21).
8. the control method of keel automatic transportation equipment as claimed in claim 6, which is characterized in that
When the shift unit (3) includes displacement chain making machine (31), sliding rail (32), sliding block (33) and pallet fork (34),
The controller controls shift unit (3) starting, drives keel to be displaced to above the delivery frame (5) and includes:
The controller controls the displacement chain making machine (31) and rises or falls to the pallet fork (34) lower surface and the delivery
After top keel flush on frame (5) or the delivery frame (5), the motor of displacement chain making machine (31) is being controlled just
Turn, sliding block (33) described in the chain-driving by displacement chain making machine (31) is mobile, and the sliding block (33) passes through the pallet fork
(34) keel are driven to be moved to above the delivery frame (5)；
The controller controls shift unit (3) the starting recovery to initial position
The motor reversal of controller control displacement chain making machine (31), passes through the chain band of displacement chain making machine (31)
Move the sliding block (33) movement, after the sliding block (33) drives the pallet fork (34) to return back to initial position, the controller control
Make upper surface and the upper surface phase of the picking frame (1) of displacement chain making machine (31) pallet fork (34)
Concordantly.
9. the control method of keel automatic transportation equipment as claimed in claim 7, which is characterized in that
When the shift unit further includes hydraulic elevator platform (35), the first detector and the second detector,
The controller controls the displacement chain making machine (31) and rises or falls to the pallet fork (34) lower surface and the delivery
Top keel flush on frame (5) or the delivery frame (5) includes:
The controller controls the hydraulic elevator platform (35) and rises or falls, while receiving what second detector detected
Second signal, and the hydraulic elevator platform (35) is controlled according to the second signal and is stopped；
The upper surface of controller control displacement chain making machine (31) pallet fork (34) takes with described
The upper surface flush of shelf (1) includes:
It is down or up that the controller controls the hydraulic elevator platform (35), while receiving what first detector detected
First signal, and the hydraulic elevator platform (35) is controlled according to first signal and is stopped.
10. the control method of keel automatic transportation equipment as claimed in claim 6, which is characterized in that
The stop device (4) include two cylinders (41), the cylinder (41) respectively with the shift unit (3) second end
Two sides are fixedly connected, the upper surface setting predetermined angular and the cylinder (41) of the cylinder (41) and the shift unit (3)
Output end is towards the delivery frame (5)；For cylinder (41) output when retracted state, the top of the cylinder (41) is low
In the shift unit (3) upper surface or concordant with the shift unit (3) upper surface it is arranged；Cylinder (41) input terminal with
The controller electrical connection；
It includes: that controller controls cylinder (41) the output end stretching in advance that the controller, which controls stop device (4) starting,
Set a distance；
Controller controls the stop device (4) and restores to initial position to include: that controller controls cylinder (41) output end
Withdraw preset distance.
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| CN201711257542.7A CN109867074B (en) | 2017-12-04 | 2017-12-04 | Automatic keel carrying equipment and control method thereof |
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| CN201711257542.7A CN109867074B (en) | 2017-12-04 | 2017-12-04 | Automatic keel carrying equipment and control method thereof |
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| CN109867074B CN109867074B (en) | 2021-03-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111483743A (en) * | 2020-05-01 | 2020-08-04 | 陈佳思 | Intelligent storage tunnel stacker |
| CN115231324A (en) * | 2021-11-09 | 2022-10-25 | 博锲思智能装备(青岛)有限公司 | Automatic stacking mechanism of side bone group |
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| CN115231324A (en) * | 2021-11-09 | 2022-10-25 | 博锲思智能装备(青岛)有限公司 | Automatic stacking mechanism of side bone group |
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| Publication number | Publication date |
|---|---|
| CN109867074B (en) | 2021-03-02 |
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