CN111620087A - Flour packaging and stacking system and working method thereof - Google Patents

Abstract

The invention discloses a flour packing and stacking system and a working method thereof, belonging to the field of automatic flour packing and stacking.

Description

Flour packaging and stacking system and working method thereof

Technical Field

The invention relates to a flour packing and stacking system, in particular to a flour packing and stacking system and a working method thereof.

Background

In flour production, a plurality of packing machines are used for packing flour bags, the packing machine layout range is large, a plurality of packing machines are arranged in a workshop, namely, a first floor and a second floor, the packed flour bags are required to be stacked on a tray for convenient transportation, the stacking mode in the prior art adopts a robot for stacking, the stacking efficiency is improved to a certain extent, but the intelligent flour packing stacking system in the prior art is generally good in adaptability to 25 kg of packing bags and incompatible with 40 kg of packing bags, so that the prior art needs at least different packing stacking systems for packing and stacking if two different specifications are required to be packed, the cost of enterprises is greatly increased, meanwhile, the packing stacking occupied area is large, and the two systems with different specifications meet the packing and stacking of different specifications, but the occupied area is large, and the method can not be commonly used for enterprises with small occupied area or small granaries with small area.

Disclosure of Invention

The purpose of the invention is as follows: a flour packing and stacking system and a working method thereof, which aim to solve the problems in the prior art.

The technical scheme is as follows: a flour packing and stacking system, comprising; the stacking system is arranged on the Nth layer, the conveying system is arranged on the (N + 1) th layer, and the spiral chute which is connected with the stacking system at one end and the conveying system at the other end and can convey materials to the Nth layer is arranged.

In a further example, the transportation system comprises a first station arranged on the (N + 1) th layer, a second station arranged on the first station in the first direction, a plurality of packing machines respectively arranged at the first station and the second station at the same time, a first transportation line connected with the packing machines, a first confluence transportation line connected with the transportation lines, and a first layering conveyor connected with the first transportation line and used for shunting flour to the upper part of the corresponding transportation line;

the plurality of packing machines correspond to a plurality of first conveying lines, and the first confluence conveying line is formed by converging the plurality of first conveying lines.

In a further example, the spiral chute comprises a first horizontal section, a second spiral section connected with the first horizontal section and located below the (N + 1) th layer, a third inclined section connected with the second spiral section, and a butt joint buffer belt conveyor connected with the third inclined section and capable of performing butt joint and buffer functions on materials;

the inlet and outlet of the first horizontal section are connected with the outlet of the first shunting conveyor;

and a speed reducing mechanism capable of reducing the speed of the material is arranged on the third inclined section.

In a further example, the stacking system comprises a third station, a fourth station arranged in the first direction of the third station, a fifth station adjacent to the fourth station, a second confluence conveying line arranged between the third station and the fourth station and connected with a buffer belt conveyor, a bearing detection conveyor fixedly arranged on the second confluence conveying line and capable of detecting the weight of materials, a code spraying shaping conveyor connected with the bearing detection conveyor, a code spraying conveyor connected with the code spraying shaping conveyor, a first grabbing conveyor arranged at the end part of the code spraying conveyor and capable of being used for conveying materials of a first specification, a first automatic stacking unit arranged at the right side of the first grabbing conveyor, a third confluence conveying line arranged at the fifth station, and a turning conveyor connected with the third confluence conveying line, the automatic bag pressing and shaping device comprises a bag pressing and shaping machine connected with the turning conveyor, a second grabbing conveyor connected with the bag pressing machine, and a second automatic stacking unit arranged at the end part of the second grabbing conveyor.

In a further example, the bale pressing shaper comprises a supporting seat, a belt conveying piece arranged on the supporting seat and used for conveying materials, a bale pressing support fixedly arranged on the supporting seat, an explosion-proof motor fixedly arranged on the bale pressing support, a first chain wheel arranged on a rotating shaft of the explosion-proof motor, two first bearing seats fixedly arranged on the bale pressing support, a first rotating shaft with two ends arranged on the first bearing seats in an interference fit manner, a second chain wheel fixedly arranged at the end part of the first rotating shaft, a first chain meshed with the first chain wheel and the second chain wheel, and a first pressing arm and a second pressing arm which are arranged on the first rotating shaft at the same time, wherein an included angle of 110-135 degrees is formed between the first pressing arm and the second pressing arm;

the first pressure arm, the second pressure arm and the first rotating shaft are rotating points and rotate clockwise.

In a further example, anti-shaking devices are arranged on two sides of the pressing bag support, each anti-shaking device comprises a U-shaped support fixedly mounted on the pressing bag support, a screw rod nut arranged on the U-shaped support, and a telescopic screw rod, one end of the telescopic screw rod penetrates through the screw rod nut, and the other end of the telescopic screw rod is fixedly mounted on the first pressing arm and the second pressing arm respectively.

In a further example, one end of the first pressure arm is provided with a roller which is arranged in a rotating fit mode, and one end of the second pressure arm is provided with a roller assembly in a rotating fit mode;

the roller wheel assembly comprises a second pressure arm body, a second bearing seat arranged at the end part of the second pressure arm body, a second rotating shaft arranged on the second bearing seat in an interference fit mode, a rotating plate fixedly arranged on the second rotating shaft, and at least 6 roller wheel pieces arranged along the second rotating circumferential direction.

In a further example, the second automatic palletizing unit comprises a frame, a palletizing robot arranged on the frame, and an adjustable bag gripper connected with the palletizing robot.

In a further example, the adjustable bag gripper comprises two cross beams, cushion blocks which are respectively and simultaneously screwed on the cross beams, a top plate which is screwed on the cushion blocks, a left gripping control assembly and a right gripping control assembly which are fixedly arranged on the cross beams and can move left and right along the cross beams, and a gripping tooth interval adjusting device which is connected with the cross beams and has a function of controlling the gripping tooth interval;

the bottom of the cross beam is provided with a sliding mechanism, the sliding mechanism comprises a sliding rail fixedly arranged on the cross beam, a first sliding block arranged together with the sliding rail in a sliding fit manner, and a driving plate in threaded connection with the first sliding block; the left grabbing control assembly and the right grabbing control assembly are left and right pieces with the same structure and are symmetrically arranged at corresponding positions of the cross beam;

the left grabbing control assembly comprises bearing seats arranged at two ends of a driving plate, a rotating shaft arranged together with the bearing seats in an interference fit manner, a rotating crank arranged on the rotating shaft and penetrating through the driving plate, a trunnion seat fixedly arranged on the driving plate, a swing cylinder with one end screwed on the trunnion plate and the other end connected with the rotating crank together, a rotating support shaft sleeve arranged at the end part of the rotating shaft in an interference fit manner, a rotating support plate sleeved on the rotating support shaft sleeve and in an interference fit manner with the rotating support shaft sleeve, and a grabbing hand assembly arranged at the end part of the rotating support plate;

the grabbing tooth spacing adjusting device comprises a second sliding block and a third sliding block which are in sliding fit with a track, a first air cylinder plate which is in threaded connection with the second sliding block, a second air cylinder plate which is in threaded connection with the third sliding block, a first adjusting air cylinder which is in threaded connection with the first air cylinder plate, a first floating joint which is arranged on a driving plate and connected with a telescopic shaft of the first adjusting air cylinder, a second adjusting air cylinder which is in threaded connection with the second air cylinder plate, and a second floating joint which is arranged on the driving plate and connected with the telescopic shaft of the second adjusting air cylinder.

In a further embodiment, a method of operating a flour packing and palletizing system comprises the following steps:

step 1, an operator starts a system, flour discharged from a packing machine at a first station and a second station at an N +1 th layer is converged to a spiral chute through turning, conveying and turning, the flour falls to a second spiral section through a first horizontal end and then enters a third inclined end, and the flour enters the upper surface of a buffer belt conveyor through a speed reducing mechanism at the third inclined end at a constant speed and then enters a second confluence conveying line at an N th layer;

step 2, synchronously starting the packing machines at the third station, the fourth station and the fifth station on the Nth layer to work with the step 1, and converging the flour on the Nth layer onto a second converging conveying line and a third converging conveying line through pouring, conveying and turning respectively;

step 3, when the flour reaches a second confluence line, the flour passes through a bag pressing shaping machine, the flour is driven by a second confluence conveying line to drive a first chain wheel to rotate through the rotation of an explosion-proof motor, and then drives a second chain wheel to rotate so as to drive a roller at the end part of a first pressure arm to lift up, then the flour passes through the roller, the second pressure arm falls down at the moment, then the motor rotates reversely, the second pressure arm rotates anticlockwise so as to drive the second pressure arm to lift up, and the flour is rolled by the second pressure arm again so as to extrude redundant air in the flour;

step 4, after the flour extrusion is finished, weighing, spraying codes, conveying to a grabbing conveyor, and grabbing and stacking by a waiting robot;

5, separating the pallet warehouse pallets, conveying empty pallets to a stacking position, and waiting for stacking by a robot;

step 6, the two robots respectively stack the flour on the second confluence conveying line and the third confluence conveying line to two stacking positions, and after stacking is completed, an alarm is given and the flour is taken away by a manual forklift;

step 7, repeating the work of the steps 1, 2, 3 and 4 until the system stops working;

and 8, when the robot is not adopted for stacking in the steps, the flour can be conveyed to an artificial emergency position for stacking.

Has the advantages that: the invention discloses a flour packing and stacking system, wherein each packing machine corresponds to one conveying line, a plurality of packing machines correspond to a plurality of conveying lines, then the plurality of conveying lines are converged together, and finally the conveying lines are respectively conveyed to a stacking station of a robot by a second converging conveying line and a third converging conveying line.

Drawings

FIG. 1 is a right side view of the present invention;

FIG. 2 is a diagram illustrating the butting of the Nth layer and the (N + 1) th layer in the present invention;

FIG. 3 is a layout diagram of the N +1 th layer in the present invention;

FIG. 4 is a layout diagram of the Nth layer in the present invention;

FIG. 5 is a schematic structural diagram of the bale press shaper of the present invention;

FIG. 6 is a perspective view of the bale press shaper of the present invention;

FIG. 7 is a schematic structural view of an adjustable grip of the present invention;

FIG. 8 is a front view of the adjustable grip of the present invention;

FIG. 9 is a top view of the adjustable grip of the present invention;

FIG. 10 is a schematic view of an adjustable grip of the present invention shown in FIG. 2;

FIG. 11 is a right side view of the adjustable grip of the present invention;

fig. 12 is a top view 2 of the adjustable grip of the present invention.

The reference signs are: the automatic stacking device comprises a first station 1, a second station 2, a packaging machine 3, a first confluence conveyor line 4, a first layering conveyor 5, a first conveyor line 6, a first conveyor line 701, a second spiral section 702, a third inclined section 703, a butt joint buffer belt conveyor 704, a speed reducing mechanism 705, a third station 8, a fourth station 9, a second confluence conveyor line 10, a fifth station 9-1, a bag-turning machine 9-2, a bearing detection conveyor 11, a code-spraying shaping conveyor 12, a code-spraying conveyor 13, a first grabbing conveyor 14, a first automatic stacking unit 15, a third confluence conveyor line 16, a turning conveyor 17, a bag-pressing shaping machine 18, a supporting seat 181, a belt conveying piece 182, a bag-pressing support 183, an explosion-proof motor 184, a first chain wheel 185, a first bearing seat 186, a first rotating shaft 187, a second chain wheel 188, a first chain 189, a first pressure arm 1810, a second pressure arm 1812, an anti-shaking device 1813, U-shaped bracket 1814, lead screw nut 1815, telescopic lead screw 1817, roller 18101, roller assembly 18121, second bearing seat 18122, second rotating shaft 18123, rotating plate 18124, roller member 18125, second grabbing conveyor 19, second automatic palletizing unit 20, rack 201, palletizing robot 202, adjustable gripper 203, cross beam 101a, cushion block 102a, top plate 103a, left grabbing control assembly 104a, right grabbing control assembly 105a, grabbing tooth spacing adjusting device 106a, second slider 1060a, third slider 1061a, first cylinder plate 1062a, second cylinder plate 1063a, first adjusting cylinder 1064a, first floating joint 1065a, second adjusting cylinder 1066a, second floating joint 1067a, sliding mechanism 107a, sliding rail 1071a, first driving plate 1072a, bearing seat 1074a, rotating shaft 1075a, rotating 1076a, ear shaft seat 1077a, swinging cylinder 1078a, rotating shaft 1076a, ear shaft seat 1077a, and 1078a, The device comprises a rotary supporting shaft sleeve 1079a, a rotary support plate 1080a, a gripper assembly 1081a, a pressing mechanism 109a, a pressing support 1091a, a pressing air cylinder 1092a, a connecting block 1093a, a connecting plate 1094a, a pressing plate 1095a, a spacing adjusting screw 2a, a fixing mechanism 3a, a screw support 301a, a screw nut 302a, an adjusting support 303a, a grabbing tooth supporting strip 4a, grabbing teeth 5a, a clamping plate 6a and an empty tray limiting bin 9-3.

Detailed Description

Through research and analysis of the applicant, in flour production, a plurality of packing machines are usually used for packing flour bags, the layout range of the packing machines is large, a plurality of packing machines are arranged on a first floor and a second floor of a workshop, the packed flour bags need to be stacked on a tray for convenient transportation, the stacking mode in the prior art adopts a robot for stacking, the stacking efficiency is improved to a certain extent, but an intelligent flour packing stacking system in the prior art usually has good adaptability to 25 kg of packing bags, but cannot be compatible with 40 kg of packing bags, so that the prior art needs at least different packing stacking systems for packing and stacking if two different specifications need to be packed, the cost of an enterprise is greatly increased, meanwhile, the occupied area of packing and stacking is large, and the two systems with different specifications meet the requirements of packing and stacking with different specifications, but the occupied area is large, and the method cannot be generally used for enterprises with small occupied area. In light of these problems, the applicant proposes a flour packing and palletizing system, and the specific scheme is as follows.

As shown in the attached drawings, the flour packing and stacking system comprises a first station 1, a second station 2, a packing machine 3, a first confluence conveying line 4, a first layering conveyor 5, a first conveying line 6, a first conveying line 701, a second spiral section 702, a third inclined section 703, a butt joint buffer belt conveyor 704, a speed reducing mechanism 705, a frame 201, a stacking robot 202, an adjustable hand grip 203, a cross beam 101a, a cushion block 102a, a top plate 103a, a left gripping control assembly 104a, a right gripping control assembly 105a, a gripping tooth spacing adjusting device 106a, a second slider 1060a, a third slider 1061a, a first cylinder plate 1062a, a second cylinder plate 1063a, a first adjusting cylinder 1064a, a first floating joint 1065a, a second adjusting cylinder 6a, a second floating joint 1067a, a sliding mechanism 107a, a sliding rail 1071a, a first slider 1072a, a driving plate 1073a, a bearing seat 1074a, a rotating shaft 1075a, The device comprises a rotary crank 1076a, an trunnion seat 1077a, a swing cylinder 1078a, a rotary supporting shaft sleeve 1079a, a rotary support plate 1080a, a gripper assembly 1081a, a pressing mechanism 109a, a pressing support 1091a, a pressing cylinder 1092a, a connecting block 1093a, a connecting plate 1094a, a pressing plate 1095a, a spacing adjusting screw 2a, a fixing mechanism 3a, a screw support 301a, a screw nut 302a, an adjusting support 303a, a gripper support bar 4a, a gripper 5a, a clamping plate 6a and an empty tray limiting bin 9-3.

The concrete pile up neatly system sets up on the (N + 1) th layer, and the conveying system sets up on the nth layer, and wherein the nth layer is the initial layer, and spiral chute one end links together with the pile up neatly system, the other end links together with the conveying system, carries the flour on the (N + 1) th layer the second confluence transfer chain 10 through spiral chute.

Specifically, the first station 1 is arranged at the N +1 th layer, the second station 2 is arranged adjacent to the first station 1 and is located in the first direction of the first station 1, the packing machine 3 is simultaneously arranged at the first station 1 and the second station 2, the first conveying line 6 is connected with the packing machine 3 at the first station 1 and the second station 2, the first confluence conveying line 4 is connected with the first conveying line 6, the first layering conveyor 5 is connected with the first conveying line 6, the plurality of packing machines 3 correspond to the plurality of first conveying lines 6, and the first confluence conveying line 4 is formed by converging the plurality of first conveying lines 6; flour on the (N + 1) th layer corresponds a transfer chain through every packagine machine 3, and many packagine machine 3 correspond many transfer chains, then many transfer chains converge together, through spiral chute landing to the nth layer.

The traditional transportation from high to low mostly adopts a linear type and directly slides to the bottom through a sliding chute, the system adopts the direction of a spiral sliding chute to transport to the upper surface of a second confluence conveying line 10, the inlet and outlet of a first horizontal section is connected with the outlet of a first diversion conveyor, a second spiral section 702 is connected with the first horizontal section and is positioned below an (N + 1) th layer, a third inclined section 703 is connected with the second spiral section 702, a butt joint buffer belt conveyor 704 is connected with a third inclined section 703, a speed reducing mechanism 705 is arranged on the upper surface of the third inclined section 703, flour enters a second spiral end through the first horizontal section, the flour has a proper speed reducing function while falling through the spiral design, and the factors of the self weight and the acceleration of the flour are considered when the flour reaches the bottom layer, in order to prevent the flour from sliding down too fast, a speed reducing mechanism 705 is additionally arranged on the third inclined section 703, the flour of the third inclined section 703 is reduced through the speed reducing mechanism 705, the falling safety of the flour is improved, and the flour is stably conveyed to the upper surface of the butt joint buffer belt conveyor 704 on the Nth layer through the speed reduction of the speed reducing mechanism 705.

The stacking system comprises a third station 8, a fourth station 9, a second interflow conveying line 10, a fifth station 9-1, a bag-turning machine 9-2, a bearing detection conveyor 11, a code-spraying shaping conveyor 12, a code-spraying conveyor 13, a first grabbing conveyor 14, a first automatic stacking unit 15, a third interflow conveying line 16, a turning conveyor 17, a bag-pressing shaping machine 18, a supporting seat 181, a belt conveying piece 182, a bag-pressing bracket 183, an explosion-proof motor 184, a first chain wheel 185, a first bearing seat 186, a first rotating shaft 187, a second chain wheel 188, a first chain 189, a first pressing arm 1812, a second pressing arm 1812, an anti-shaking device 1813, a U-shaped bracket 1814, a lead screw nut 1815, a telescopic lead screw 1817, a roller 18101, a roller assembly 18121, a second bearing seat 18122, a second rotating shaft 18123, a rotating plate 18124, a roller assembly 18125, a second grabbing conveyor 19 and a second automatic stacking unit 20, the third station 8 is arranged at the Nth layer, the fourth station 9 is arranged at the first direction of the third station 8, the fifth station 9-1 is arranged at the first direction of the fourth station 9 and is adjacent to the fourth station 9, the second confluence conveyor line 10 is arranged at the middle position of the third station 8 and the fourth station 9 and is connected with a buffer belt conveyor, the bearing detection conveyor 11 is fixedly arranged on the second confluence conveyor line 10, the code spraying shaping conveyor 12 is connected with the bearing detection conveyor 11, the first grabbing conveyor 14 is arranged at the end position of the code spraying conveyor 13 and can be used for conveying first-specification materials or flour, the first automatic stacking unit 15 is arranged at the right side of the first grabbing conveyor 14, the third confluence conveyor line 16 is arranged at the fifth station 9-1, the turning conveyor 17 with the third closed flow conveying line 16 is connected together, press the package trimmer 18 with the turning conveyor 17 is connected together, the second snatch conveyer 19 with press the chartered plane to link together, the automatic pile up neatly unit 20 of second sets up the second snatchs the tip of conveyer 19, first automatic pile up neatly unit 15 and second pile up neatly unit include automatic pile up neatly machine people 202, set up respectively simultaneously automatic adjustable tongs, emergent pile up neatly unit and the spacing unit of adjustable tray above the automatic pile up neatly machine people 202.

In order to expel the redundant air in the flour, the bale press shaping machine 18 is installed in the transportation process, the supporting seat 181 is arranged at a preset position, the belt conveying member 182 is arranged above the supporting seat 181, the bale press bracket 183 is fixedly arranged above the supporting seat 181, the explosion-proof motor 184 is fixedly arranged above the bale press bracket 183, the first chain wheel 185 is arranged above the rotating shaft of the explosion-proof motor 184, the first bearing seat 186 is fixedly arranged above the bale press bracket 183, two first bearing seats 186 are arranged above the bale press bracket 183, the first rotating shaft 187 is arranged above the first bearing seats 186 in an interference fit manner, the second chain wheel 188 is fixedly arranged at the end part of the first rotating shaft 187, and the first chain 189 is meshed with the first chain wheel 185 and the second chain wheel 188, the first pressing arm 1810 and the second pressing arm 1812 are both disposed on the first rotating shaft 187, an included angle of 110-135 ° is formed between the first pressing arm 1810 and the second pressing arm 1812, and the first pressing arm 1810, the second pressing arm 1812 and the first rotating shaft 187 rotate clockwise as a rotation point. The rotation of the explosion-proof motor 184 drives the first chain wheel 185 to rotate, and then drives the second chain wheel 188 to rotate, and further drives the roller 18101 at the end of the first pressing arm 1810 to lift, then the flour passes through the roller 18101, the second pressing arm 1812 falls at the moment, then the motor rotates reversely, the second pressing arm 1812 rotates anticlockwise, and further drives the second pressing arm 1812 to lift, and the flour is rolled by the second pressing arm 1812 again, so that redundant air in the flour is extruded out.

Specifically, in order to prevent the bread bag from being squeezed more smoothly by the first pressing arm 1810 and the second pressing arm 1812, an anti-sloshing device 1813 is provided, the UU type bracket 1814 is fixedly installed on the bread bracket 183, the lead screw nut 1815 is installed on the UU type bracket 1814, one end of the telescopic lead screw 1817 passes through the lead screw nut 1815, the other end of the telescopic lead screw is respectively and fixedly installed on the first pressing arm 1810 and the second pressing arm 1812, the roller 18101 is installed at the end of the first pressing arm 1810 in a rotating fit manner, the roller assembly 18121 is installed at the end of the second pressing arm 1812 in a rotating fit manner, the roller assembly 18121 comprises a second pressing arm 1812 body, the second bearing seat 18122 is arranged at the interference end of the second pressing arm 1812 body, the second rotating shaft 18123 is installed on the second bearing seat 18122 in a rotating fit manner, the rotating plate 18124 is fixedly installed on the second rotating shaft 18123, the roller members 18125 are circumferentially arrayed on the rotating plate 18124 along the second rotating shaft 18123, the telescopic screw 1817 on the first pressing arm 1810 is driven to be lifted upwards through the screw nut 1815 by the lifting of the first pressing arm 1810, the movement of the first pressing arm 1810 and the second pressing arm 1812 is limited through the UU-shaped bracket 1814 and the telescopic screw 1817, the lifting of the first pressing arm 1810 and the second pressing arm 1812 is limited, the shaking in the working process is prevented, and the bag pressing efficiency is improved.

Specifically, the second automatic palletizing unit 20 and the first palletizing unit are arranged on a frame 201 which is preset at a preset position, a palletizing robot 202 is arranged on the frame 201, and adjustable bag grippers which are connected with the palletizing robot 202, the number of the cross beams 101a is two, the two cross beams are arranged at the preset position, the cushion blocks 102a are respectively and simultaneously screwed on the cross beam 101a, the top plate 103a is screwed on the cushion blocks 102a, in order to reduce the weight of the grippers, at least 5 through holes are formed in the top surface of the top plate 103a, the cross beam 101a is made of aluminum alloy materials, the gripper structure is designed to be light, the left gripper control assembly 104a is arranged on the top surface of the cross beam 101a and is positioned on the left side of the cross beam 101a, and the right gripper control assembly 105a is arranged on the top surface of the cross beam 101a, And is located at the right side of the beam 101a, the gripping tooth 5a spacing adjusting device 106a is connected with the beam 101a, in order to save the processing cost and simplify the structure of the gripping member, the left gripping control assembly 104a and the right gripping control assembly 105a are left and right pieces with the same structure and are symmetrically installed at corresponding positions of the beam 101a, in order to facilitate driving the left gripping control assembly 104a and the right gripping control assembly 105a to grip the bag, the slide rail 1071a is fixedly installed on the beam 101a, the first slider 1072a and the slide rail 1071a are installed together in a sliding fit manner, the driving plate 1073a is screwed on the first slider 1072a, the left gripping control assembly 104a and the right gripping control assembly 105a are respectively arranged on the driving plate 1073a, and the bearing seat 1074a is fixedly installed on the driving plate 1073a, and is located at both ends of the driving plate 1073a, the rotating shaft 1075a is installed with the bearing housing 1074a in an interference fit manner, the rotating crank 1076a is disposed on the rotating shaft 1075a and one end thereof passes through the driving plate 1073a, the trunnion housing 1077a is fixedly installed on the driving plate 1073a, the swing cylinder 1078a has one end screwed on the trunnion plate and the other end thereof connected with the rotating crank 1076a, the rotating support sleeve 1079a is installed at the end of the rotating shaft 1075a in an interference fit manner, the rotating support plate 1080a is sleeved on the rotating support sleeve 1079a and is assembled with the rotating support sleeve 1079a in an interference fit manner, the gripper assembly 1081a is disposed at the end of the rotating support plate, the second slider 1060a is slidably fitted on the rail, and the third slider 1061a is slidably fitted on the rail, And is located at the right side of the second slider 1060a, the first cylinder plate 1062a is screwed on the second slider 1060a, the second cylinder plate 1063a is screwed on the third slider 1061a, the first adjusting cylinder 1064a is screwed on the first cylinder plate 1062a, the first floating joint 1065a is disposed on the driving plate 1073a, and the first floating joint 1065a is connected with the telescopic shaft of the first adjusting cylinder 1064a, the second adjusting cylinder 1066a is screwed on the second cylinder plate 1063a, the second floating joint 1067a is disposed on the driving plate 1073a and connected with the telescopic shaft of the second adjusting cylinder 1066a, and is activated simultaneously by the first adjusting cylinder 1064a and the second adjusting cylinder 1066a, thereby pushing the left grip control assembly 104a to move along the rail in the first direction, the right grabbing control assembly 105a wants to move in the second direction, and pushes the distance between the clamping plate 6a and the clamping plate 6a while the left grabbing control assembly 104a and the right grabbing control assembly 105a move, so as to grab the bag with the fixed specification, the universality of the hand grab is improved, the rotating shaft 1075a is driven to rotate by the rotating crank 1076a through the extension of the swinging cylinder 1078a, the rotating shaft 1075a is connected with the hand grab assembly 1081a through the rotating support plate 1080a, the hand grab assembly 1081a starts to fall to prepare for grabbing the bag, the swinging cylinder 1078a contracts and drives the rotating shaft 1075a to rotate reversely, the hand grab assembly 1081a closes to grab the bag, in order to prevent the bag from being thrown out in the process, a pressing mechanism 109a is designed, the pressing support 1091a is screwed on the driving plate 1073a, the pressing cylinder 1092a is screwed on the pressing support 1091a, the connecting block 1093a is screwed on the telescopic end of the pressing cylinder 1092a, the connecting plate 1094a is screwed on the connecting block 1093a, the pressing plate 1095a is screwed on the connecting plate 1094a, in order to prevent the edge of the pressing plate 1095a from being hung on the bag, the bottom of the pressing plate 1095a is rounded, when the gripping assembly 1081a completely grips the bag, the pressing cylinder 1092a acts, the pressing plate 1095a presses the bag to prevent the bag from being thrown out due to inertia, and the gripping safety is improved.

The distance between the clamping plates 6a is adjusted by the air cylinder, so that the clamping plates can be suitable for bag grabbing of different specifications, the air cylinder needs to push the parts of the second slider 1060a and the third slider 1061a which are connected together, wherein the load of accessories has a little influence on the driving of the first adjusting air cylinder 1064a and the second adjusting air cylinder 1066a, the shaking of the gripper assembly 1081a may be caused, and in order to improve the stability of the distance adjusting device 106a for adjusting the gripping teeth 5a and reduce the shaking of the gripper assembly 1081a, the distance adjusting screw rods 2a are arranged on the first air cylinder plate 1062a and the second air cylinder plate 1063 a; the fixing mechanisms 3a are arranged at two ends of an interval adjusting screw rod 2a, the screw rod support 301a is fixedly installed on the first cylinder plate 1062a and the second cylinder plate 1063a, the screw rod nut 302a is sleeved on the interval adjusting screw rod 2a, the side face of the interval adjusting screw rod is in threaded connection with the screw rod support 301a, one end of the adjusting support 303a is fixed on the cross beam 101a, the other end of the adjusting support 303a is connected with the interval adjusting screw rod 2a, and the adjusting support 303a is in contact with the cross beam 101a, so that the stability of the adjusting screw rod is further improved, the shaking of the gripper assembly 1081a is reduced, and the gripping stability is ensured. Grab tooth 5a support bar 4a fixed mounting in the tip of rotation support plate 1080a, for the convenience install the maintenance and grab tooth 5a, grab tooth 5 a's the higher authority and be provided with a plurality of through-hole and the interval between through-hole and the through-hole equals, the higher authority of through-hole is adapted with grabs tooth 5a, the side spiro union of grabbing tooth 5a support bar 4a has splint 6 a. The utility model discloses a set up swing cylinder 1078a, swing crank 1076a through the distance of two splint 6a of regulation lead screw control and realize the snatching of different specification bags, and then snatch the bag of motionless specification, the commonality of tongs has been improved, through stretching out at swing cylinder 1078a, drive rotation axis 1075a through rotatory crank 1076a and rotate, rotation axis 1075a is connected with tongs subassembly 1081a through rotatory mounting plate 1080a, realize opening of tongs, tongs subassembly 1081a begins the whereabouts preparation to snatch the bag after that, swing cylinder 1078a shrink and then drive rotation axis 1075a reverse rotation, tongs subassembly 1081a closed snatchs the bag, when tongs subassembly 1081a is firmly grasping the bag completely, compress tightly the cylinder 1092a action, clamp plate 1095a compresses tightly the bag and prevents because inertia throws out.

The working principle is as follows: an operator starts a system, flour discharged from a first station and a second station at an N +1 th layer of the packaging machine flows through a reverse bag, a conveying and turning confluence to a spiral chute, the flour flows through a first horizontal end and falls to a second spiral section and then enters a third inclined end, the flour enters the upper surface of a buffer belt conveyor through a speed reducing mechanism at the third inclined end at a constant speed and then enters the upper surface of a second confluence conveying line at an N th layer, the packaging machine at the third station, the fourth station and the fifth station of the N th layer synchronously starts to work with the step 1, the flour at the N th layer respectively flows through a reverse bag, a conveying and a turning confluence to the upper surfaces of the second confluence conveying line and the third confluence conveying line, the flour flows through a bag pressing shaping machine when reaching the second confluence conveying line, the flour is driven by the second confluence conveying line to drive a first chain wheel through the rotation of an explosion-proof motor, the second chain wheel is driven to rotate so as to drive the roller at the end part of the first pressure arm to lift, then flour passes through the roller, the second pressure arm falls at the moment, then the motor rotates reversely, the second pressure arm rotates anticlockwise so as to drive the second pressure arm to lift, the flour is rolled by the second pressure arm again so as to extrude redundant air in the flour, the flour is weighed and sprayed to a grabbing conveyor to grab and stack by a standby robot on the waiting for grabbing and stacking after being squeezed, pallets are conveyed to a grabbing conveyor by a code spraying mode, and pallets in the pallet warehouse reach a stacking position after being separated and conveyed by an empty pallet to wait for stacking by a robot; the two robots respectively stack the flour on the second confluence conveying line and the third confluence conveying line to two stacking positions, and after stacking is completed, an alarm is given to the robot to take the flour which is repeatedly transported by a manual forklift until the system stops working; when the robot is not used for stacking, the flour can be conveyed to an artificial emergency position for stacking.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.

Claims (10)

1. A flour package palletizing system, comprising: the stacking system is arranged on the Nth layer, the conveying system is arranged on the (N + 1) th layer, and the spiral chute which is connected with the stacking system at one end and the conveying system at the other end and can convey materials to the Nth layer is arranged.

2. The flour package palletizing system as claimed in claim 1, wherein: the transportation system comprises a first station arranged on the (N + 1) th layer, a second station arranged in the first direction of the first station, a plurality of packing machines respectively and simultaneously arranged at the first station and the second station, a first transportation line connected with the packing machines, a first confluence transportation line connected with the first transportation line, and a first layering conveyor connected with the first transportation line and used for distributing flour to the upper parts of the corresponding transportation lines;

the plurality of packing machines correspond to a plurality of first conveying lines, and the first confluence conveying line is formed by converging the plurality of first conveying lines.

3. The flour package palletizing system as claimed in claim 1, wherein: the spiral chute comprises a first conveying line, a second spiral section, a third inclined section and a butt joint buffer belt conveyor, wherein the second spiral section is connected with the first horizontal section and positioned below the (N + 1) th layer, the third inclined section is connected with the second spiral section, and the butt joint buffer belt conveyor is connected with the third inclined section and can perform butt joint and buffer functions on materials;

the inlet and outlet of the first horizontal section are connected with the outlet of the first shunting conveyor;

and a speed reducing mechanism capable of reducing the speed of the material is arranged on the third inclined section.

4. The flour package palletizing system as claimed in claim 1, wherein: the stacking system comprises a third station, a fourth station arranged in the first direction of the third station, a fifth station adjacent to the fourth station, a second confluence conveying line arranged between the third station and the fourth station and connected with a buffer belt conveyor together, a bearing detection conveyor fixedly arranged on the second confluence conveying line and capable of detecting the weight of materials, a code spraying shaping conveyor connected with the bearing detection conveyor, a code spraying conveyor connected with the code spraying shaping conveyor, a first grabbing conveyor arranged at the end part of the code spraying conveyor and capable of conveying materials of a first specification, a first automatic stacking unit arranged at the right side of the first grabbing conveyor, a third confluence conveying line arranged at the fifth station, and a turning conveyor connected with the third confluence conveying line together, the automatic bag pressing and shaping device comprises a bag pressing and shaping machine connected with the turning conveyor, a second grabbing conveyor connected with the bag pressing machine, and a second automatic stacking unit arranged at the end part of the second grabbing conveyor.

5. The flour packing and palletizing system as set forth in claim 4, wherein: the pressing and bag shaping machine comprises a supporting seat, a belt conveying piece, a pressing and bag support, an explosion-proof motor, a first chain wheel, two first bearing seats, a first rotating shaft, a second chain wheel, a first pressing arm and a second pressing arm, wherein the belt conveying piece is arranged on the supporting seat and used for conveying materials, the pressing and bag support is fixedly arranged on the supporting seat, the explosion-proof motor is fixedly arranged on the pressing and bag support, the first chain wheel is arranged on a rotating shaft of the explosion-proof motor, the two first bearing seats are fixedly arranged on the pressing and bag support, the two ends of the first rotating shaft are arranged on the first bearing seats in an interference fit mode, the second chain wheel is fixedly arranged at the end part of the first rotating shaft, the first chain wheel is meshed with the first chain wheel, the second chain;

the first pressure arm, the second pressure arm and the first rotating shaft are rotating points and rotate clockwise.

6. The flour package palletizing system as claimed in claim 5, wherein: and the two sides of the press bag support are provided with anti-shaking devices, each anti-shaking device comprises a U-shaped support fixedly arranged on the press bag support, a screw nut arranged on the U-shaped support, and a telescopic screw rod, one end of which penetrates through the screw nut, and the other end of which is fixedly arranged on the first press arm and the second press arm respectively.

7. The flour package palletizing system as claimed in claim 5, wherein: one end of the first pressure arm is provided with a roller which is arranged in a rotating matching way, and one end of the second pressure arm is provided with a roller assembly in a rotating matching way;

the roller assembly comprises a second pressure arm body, a second bearing seat arranged at the end part of the second pressure arm body, a second rotating shaft arranged on the second bearing seat in an interference fit manner, a rotating plate fixedly arranged on the second rotating shaft, and at least 6 roller members circumferentially arrayed along the axis of the second rotating shaft.

8. The flour packing and palletizing system as set forth in claim 4, wherein: the second automatic stacking unit comprises a rack, a stacking robot arranged on the rack, and an adjustable bag gripper connected with the stacking robot.

9. The flour package palletizing system as claimed in claim 8, wherein: the adjustable bag gripper comprises two cross beams, cushion blocks which are respectively and simultaneously screwed on the cross beams, a top plate which is screwed on the cushion blocks, a left gripping control assembly and a right gripping control assembly which are fixedly arranged on the cross beams and can move left and right along the cross beams, and a gripping tooth interval adjusting device which is connected with the cross beams and has the function of controlling the gripping tooth interval;

the bottom of the cross beam is provided with a sliding mechanism, the sliding mechanism comprises a sliding rail fixedly arranged on the cross beam, a first sliding block arranged together with the sliding rail in a sliding fit manner, and a driving plate in threaded connection with the first sliding block; the left grabbing control assembly and the right grabbing control assembly are left and right pieces with the same structure and are symmetrically arranged at corresponding positions of the cross beam;

the left grabbing control assembly comprises bearing seats arranged at two ends of a driving plate, a rotating shaft arranged together with the bearing seats in an interference fit manner, a rotating crank arranged on the rotating shaft and penetrating through the driving plate, a trunnion seat fixedly arranged on the driving plate, a swing cylinder with one end screwed on the trunnion plate and the other end connected with the rotating crank together, a rotating support shaft sleeve arranged at the end part of the rotating shaft in an interference fit manner, a rotating support plate sleeved on the rotating support shaft sleeve and in an interference fit manner with the rotating support shaft sleeve, and a grabbing hand assembly arranged at the end part of the rotating support plate;

the grabbing tooth spacing adjusting device comprises a second sliding block and a third sliding block which are in sliding fit with a track, a first air cylinder plate which is in threaded connection with the second sliding block, a second air cylinder plate which is in threaded connection with the third sliding block, a first adjusting air cylinder which is in threaded connection with the first air cylinder plate, a first floating joint which is arranged on a driving plate and connected with a telescopic shaft of the first adjusting air cylinder, a second adjusting air cylinder which is in threaded connection with the second air cylinder plate, and a second floating joint which is arranged on the driving plate and connected with the telescopic shaft of the second adjusting air cylinder.

10. The working method of the flour packing and stacking system is characterized by comprising the following steps:

step 1, an operator starts a system, flour discharged from a packing machine at a first station and a second station at an N +1 th layer is converged to a spiral chute through turning, conveying and turning, the flour falls to a second spiral section through a first horizontal end and then enters a third inclined end, and the flour enters the upper surface of a buffer belt conveyor through a speed reducing mechanism at the third inclined end at a constant speed and then enters a second confluence conveying line at an N th layer;

step 2, synchronously starting the packing machines at the third station, the fourth station and the fifth station on the Nth layer to work with the step 1, and converging the flour on the Nth layer onto a second converging conveying line and a third converging conveying line through pouring, conveying and turning respectively;

step 3, when the flour reaches a second confluence line, the flour passes through a bag pressing shaping machine, the flour is driven by a second confluence conveying line to drive a first chain wheel to rotate through the rotation of an explosion-proof motor, and then drives a second chain wheel to rotate so as to drive a roller at the end part of a first pressure arm to lift up, then the flour passes through the roller, the second pressure arm falls down at the moment, then the motor rotates reversely, the second pressure arm rotates anticlockwise so as to drive the second pressure arm to lift up, and the flour is rolled by the second pressure arm again so as to extrude redundant air in the flour;

step 4, after the flour extrusion is finished, weighing, spraying codes, conveying to a grabbing conveyor, and grabbing and stacking by a waiting robot;

5, separating the pallet warehouse pallets, conveying empty pallets to a stacking position, and waiting for stacking by a robot;

step 6, the two robots respectively stack the flour on the second confluence conveying line and the third confluence conveying line to two stacking positions, and after stacking is completed, an alarm is given and the flour is taken away by a manual forklift;

step 7, repeating the work of the steps 1, 2, 3 and 4 until the system stops working;

and 8, when the robot is not adopted for stacking in the steps, the flour can be conveyed to an artificial emergency position for stacking.

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