WO2021022622A1 - Steering apparatus, transmission module, automatic stacking and conveying system and automatic stacking and conveying method - Google Patents

Steering apparatus, transmission module, automatic stacking and conveying system and automatic stacking and conveying method Download PDF

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Publication number
WO2021022622A1
WO2021022622A1 PCT/CN2019/105446 CN2019105446W WO2021022622A1 WO 2021022622 A1 WO2021022622 A1 WO 2021022622A1 CN 2019105446 W CN2019105446 W CN 2019105446W WO 2021022622 A1 WO2021022622 A1 WO 2021022622A1
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WO
WIPO (PCT)
Prior art keywords
transmission
module
goods
rotating shaft
frame
Prior art date
Application number
PCT/CN2019/105446
Other languages
French (fr)
Chinese (zh)
Inventor
洪健荣
陆军
Original Assignee
深圳市华南新海传动机械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201910730466.XA external-priority patent/CN110482133A/en
Priority claimed from CN201910730064.XA external-priority patent/CN110589428A/en
Priority claimed from CN201921279413.2U external-priority patent/CN210794585U/en
Priority claimed from CN201921279412.8U external-priority patent/CN210794828U/en
Application filed by 深圳市华南新海传动机械有限公司 filed Critical 深圳市华南新海传动机械有限公司
Publication of WO2021022622A1 publication Critical patent/WO2021022622A1/en

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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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles

Definitions

  • the invention relates to the field of automated transportation, in particular to a steering device, a transmission module, an automatic palletizing transmission system and an automatic palletizing transmission method.
  • this type of palletizing equipment organizes the goods by recognizing the direction of the goods and then clamping and correcting the direction of the goods by rotating the robotic arm. It takes a certain amount of time to identify and correct the direction of the goods, resulting in lower delivery efficiency of the goods; and the need to match higher identification equipment, resulting in increased equipment costs, which is not conducive to popularization.
  • the purpose of the present invention is to provide a steering device that automatically adjusts the placement direction of the goods transported along the edge of the transport device during transportation, so as to improve the efficiency of subsequent cargo packing and transportation.
  • a steering device which is arranged in a frame located on the side of the transmission device and used to change the placement direction of items transported along the side of the transmission device, includes:
  • Power equipment the power equipment has a fixed end and a movable end;
  • the swinging mechanism includes a connecting piece and a swinging piece.
  • the swinging piece has a first rotating shaft.
  • the first rotating shaft of the swinging piece is arranged in a longitudinal direction. Both ends of the swinging piece are connected to the frame through a bearing seat.
  • the shaft of the first rotating shaft is connected to the movable end of the power device through the connecting piece, and the power device drives the swinging piece to rotate about the first rotating shaft, so that the swinging piece is far away
  • One side of the first rotating shaft is rotated from the frame through the opening on the side of the transmission device to the transmission device.
  • the power equipment is configured as a telescopic rod, the fixed end of the telescopic rod is fixed on the outer side wall of the transmission device or the inner side wall of the frame, and the movable end of the telescopic rod is hinged with the connecting piece.
  • the shaft of the first rotating shaft of the swinging member is provided with a concave ring along the circumferential direction, and one end of the connecting member is fixed on the concave ring of the swinging member, so that the connecting member and the first shaft
  • the shafts are perpendicular to each other.
  • an arc-shaped groove is opened on the connecting piece, and the connecting piece is clamped in the concave ring through the arc-shaped groove.
  • the concave ring of the swing member, the connecting member and the telescopic rod are on the same horizontal line.
  • the fixed end of the telescopic rod is formed as two connecting plates arranged oppositely at intervals, the end of the connecting piece is inserted between the two connecting plates, and the end of the connecting piece is connected to the two connecting plates.
  • the connecting plate is correspondingly provided with connecting holes for rotationally connecting the telescopic rod and the connecting piece.
  • the oscillating member further includes a roller disposed on a side away from the first rotating shaft, the roller is parallel to the first rotating shaft, and a roller shaft penetrates through the roller shaft, and the roller shaft passes through the horizontal shaft.
  • the connecting piece is connected to the first rotating shaft of the swing member.
  • the rotation angle of the roller is set to be 30°-90°.
  • the outer surface of the roller is provided with a buffer plastic layer.
  • the present invention also provides a transmission module, which includes a transmission device for conveying goods and the above-mentioned steering device arranged beside the transmission device.
  • the transmission module further includes a frame connected to the side of the transmission device, the frame is provided with an opening facing the transmission device, the steering device is accommodated in the frame, and the The fixed end of the power equipment is fixedly connected to the outer side wall of the transmission device or the inner side wall of the frame, and the opening is used for allowing the swing member to enter and exit the frame.
  • the vertical projection of the tangent to the outermost end of the roller is coincident with the edge line of the transmission device of the transmission equipment.
  • the outer surface of the roller is provided with a buffer plastic layer.
  • the transmission device includes an oblique transmission belt, a linear transmission belt, and a partition device arranged between the oblique transmission belt and the linear transmission belt, and the steering device is arranged on the side of the oblique transmission belt.
  • the partition device is arranged in front of the oblique transmission belt, the oblique transmission belt includes a connecting module, a support plate and a power device, and each connecting module is evenly provided with a plurality of same direction
  • the adjacent connecting modules are connected and spliced to form a modular conveyor belt;
  • the two power equipment are respectively arranged at both ends of the modular conveyor belt, and the power equipment drives the modular conveyor belt to move;
  • the supporting plate is fixed between the two power equipment, and one side of the supporting plate is provided with a longitudinal rod, and the rotation of the longitudinal rod causes the goods on the conveyor belt to move.
  • connection modules are connected in a staggered position.
  • the power equipment includes a motor, a second rotating shaft, and a gear.
  • a plurality of the gears are connected to the second rotating shaft.
  • the motor is connected to the second rotating shaft and drives the gears on the second rotating shaft. Synchronous rotation.
  • a surface of the connection module in contact with the cargo is provided with a first circular hole extending toward the inside of the connection module, the depth of the first circular hole is less than the thickness of the connection module, and the first circular hole
  • the inner side wall of the circular hole is provided with a plurality of evenly arranged clamping slots, the other surface of the connection module is provided with a second circular hole recessed inward, and the opening position of the second circular hole is the same as that of the first circular hole.
  • the transmission module further includes a ball cover, and the ball cover is configured as a cylinder corresponding to the first round hole Shaped structure, the outer surface of the ball cover is provided with a clip strip corresponding to the card groove, and the ball cover is embedded in the first round hole by the engagement of the card slot with the clip strip
  • the ball cover is provided with frame-shaped holes for connecting the balls on it, and the frame-shaped holes are provided with pin holes in the opposite two inner sides, and the balls are connected with the pin holes.
  • the present invention also provides an automatic palletizing conveying system, which is characterized in that it comprises a palletizing module and the transmission module as described above, the palletizing module is arranged directly above the transmission module and located at the side of the partition module At the front, the neatly arranged batches are picked up and transferred as a whole.
  • the automatic palletizing and conveying system also includes a control system, the partition module includes a telescopic support mechanism, and the telescopic support mechanism is arranged in the transmission of the transmission device. And located in front of the steering device, the control system is electrically connected to the transmission module, the telescopic support mechanism and the palletizing module.
  • the present invention also provides an automatic palletizing transmission method, which is applied to an automatic palletizing transmission system.
  • the automatic palletizing transmission system includes a transmission module, a partition module, a palletizing module, and a control system.
  • the transmission module includes The transport device and the steering device for transportation, the partition module includes a telescopic support mechanism, and the automatic palletizing transfer method includes:
  • Step S1 transporting the goods to the transmission device, and the steering device turns the goods on any side edge of the transmission device during the transportation of the goods;
  • Step S2 blocking the goods by the raised telescopic support mechanism, combined with the forward conveying force of the diagonal transmission belt, so that the goods are output laterally and neatly arranged on one side of the telescopic support mechanism;
  • Step S3 After the goods are arranged according to the set law, the telescopic support mechanism is lowered so that the goods arranged in rows continue to move forward along the transmission device;
  • Step S4 Multiple rows of goods are neatly stacked at the front baffle of the conveying device, and the palletizing module performs overall grabbing and transfer of the bulk goods when the set quantity requirements are met.
  • the present invention has the following beneficial effects:
  • the oscillating member drives the rollers to rotate to the transmission device.
  • the rollers stretch out to block the goods transported along the side of the transmission device.
  • the goods continue to advance under the drive of the transmission device.
  • the sides of the goods rotate along the rollers, making the goods rotate 90° Then continue to move along the side of the conveying device, so as to realize the turning of the goods, thereby achieving the effect of quickly adjusting the direction of the goods.
  • Figure 1 is a schematic diagram of the structure of the automatic palletizing and conveying system of the present invention.
  • Figure 2 is a schematic structural diagram of the internal structure of the display frame in the transmission equipment of the present invention.
  • Figure 3 is a schematic structural diagram of a steering device provided by an embodiment of the present invention.
  • Figure 4 is a schematic diagram of the internal structure of the steering device in Figure 3;
  • Figure 5 is a schematic diagram of the explosive structure of the steering device of the present invention;
  • Figure 6 is a schematic diagram of the cargo steering of the present invention;
  • Fig. 7 is a schematic structural diagram of an oblique transmission belt in a transmission module provided by an embodiment of the present invention;
  • Fig. 8 is a schematic diagram of the split of the diagonal transmission belt in Fig. 7.
  • 100 transmission module; 10, transmission device; 1, diagonal transmission belt; 2, steering device; 3, telescopic support mechanism; 4. linear transmission belt; 101, support plate; 102, longitudinal rod; 103, gear 104, second shaft; 21, frame; 22, telescopic rod; 221, connecting plate; 220, second connecting hole; 23, adapter; 231, arc groove; 232, first connecting hole; 24, bearing Seat; 25, first shaft; 26, concave ring; 27, roller; 28, opening; 51, connecting module; 52, first round hole; 5201, card slot; 53, second round hole; 54, ball cover; 55. Pin hole; 56, pin rod; 5701, clip strip; 58, ball.
  • the present invention also provides an automatic palletizing conveying system, including a palletizing module (not shown in the figure) and a transmission module 100 for transporting goods to the palletizing module.
  • the transmission module includes an oblique transmission belt 1 and The linear conveyor belt 4 in front of the diagonal conveyor belt 1, the partition device arranged between the diagonal conveyor belt 1 and the linear conveyor belt 4, the steering arranged on one side wall of the diagonal conveyor belt 1 Device 2, put the goods on a corner of the diagonal conveyor belt 1 first, so that all goods on the conveyor belt are transported to one side of the conveyor belt during transportation, and the transportation direction of the goods is unified.
  • the goods follow the diagonal conveyor belt. 1 is transported to the steering device 2 in a direction inclined relative to the forward direction.
  • the steering device 2 can turn the goods to unify the placement direction of the goods, and then move along the forward direction with the conveyor belt to move to the stacking module for stacking.
  • an opening 28 is opened on the side of the conveying device 10 for the steering device 2 to extend from the opening 28 to the goods on the conveying device 10 for steering; and the opening 28 corresponds to There is a frame 21 extending from the side of the conveying device 10, and a steering device 2 is installed in the frame 21.
  • the steering device 2 extends from the opening 28 Out of the direction of the goods transported along the edge.
  • the steering device 2 includes a power device and a swing mechanism.
  • the power device is configured as a telescopic rod 22, and the fixed end of the telescopic rod 22 is hinged on the outer side wall of the transmission device 10. , So that one end of the telescopic rod 22 is fixedly connected.
  • the movable end of the telescopic rod 22 is hinged with the joint 23.
  • the joint 23 and the swing member connected with the joint 23 are driven to rotate synchronously.
  • the swing mechanism is configured as a connecting piece 23 and a swinging piece.
  • One end of the connecting piece 23 is hinged with the telescopic rod 22, and the other end is set in a semi-arc structure.
  • the connecting piece 23 is sleeved in the end of the semi-arc structure. Outside the concave ring 26 of the first rotating shaft 25 of the swinging member, the connecting member 23 and the first rotating shaft 25 of the swinging member are fixedly connected by bolts or welding, so that the connecting member 23 and the swinging member can rotate synchronously.
  • the concave ring 26 on the first rotating shaft 25 of the oscillating member is in the same straight line as the connecting member 23 and the telescopic rod 22.
  • the connecting member 23 and the first rotating shaft 25 are perpendicular to each other, which can reduce the phenomenon of deviation during the movement. .
  • An arc-shaped groove 231 is formed on the connecting piece 23, and the connecting piece 23 is clamped in the concave ring 26 through the arc-shaped groove 231.
  • the fixed ends of the telescopic rod 22 are formed as two connecting plates 221 arranged opposite to each other.
  • the end of the connecting piece 23 is inserted between the two connecting plates 221, and the end of the connecting piece 23 is connected to the two connecting plates 221.
  • the connecting plate 221 is provided with a first connecting hole 232 and a second connecting hole 220 for rotatably connecting the telescopic rod 22 and the connecting piece 23.
  • the two ends of the first rotating shaft 25 of the swing member in the power equipment are longitudinally installed, and are connected to the upper and lower inner sides of the frame 21 through the bearing housing 24.
  • the first rotating shaft 25 of the swing member can be driven Rotate in place; both ends of the first rotating shaft 25 of the oscillating member are fixed with horizontal connecting pieces, and a roller rod is fixed between the two horizontal connecting pieces.
  • a roller 27 is installed on the outer shell of the roller rod. The roller 27 takes the roller rod as the axis. Rotate in place.
  • the vertical projection of the tangent to the outermost end of the roller 27 coincides with the edge line of the transmission device 10, thereby filling the opening 28 on the transmission device 10, and the goods move along the transmission device
  • the roller 27 can further assist the cargo transportation and improve the smoothness of cargo transportation when the side of the 10 is transported.
  • the vertical projection of the tangent to the innermost end of the roller 27 coincides with the edge line of the transmission device 10, so that when the goods are transported to the roller 27, the roller 27 protrudes from the transmission device 10 as a whole.
  • the opening 28 increases the contact area between the cargo and the roller 27, which can improve the stability of cargo turning.
  • a cushioning plastic layer is provided on the outer surface of the roller 27 to absorb the impact force and prevent the roller 27 from scratching the outer surface of the goods. , Maintain the quality of goods.
  • the steering device 2 is controlled in real time by the controller.
  • the controller controls the steering device 2 to extend out of the opening 28 of the transmission device 10 to turn the goods.
  • the controller does not send out
  • the control command is to keep the steering device 2 in the frame 21 without steering the goods.
  • the series of operations of the steering device 2 can be executed according to a setting program entered by the controller, which is not described in detail here.
  • the diagonal conveyor belt 1 includes a connecting module 51, a support plate 101 and power equipment.
  • Each connecting module 51 is evenly provided with a plurality of inclined rollers in the same direction, and adjacent connecting modules 51 are adjacent Spliced into a modular transmission belt; two power equipment are respectively arranged at both ends of the modular transmission, the power equipment drives the modular transmission belt to move; the support plate 101 is fixed between the two power equipment, and one side of the support plate 101 is provided with a longitudinal rod 102.
  • the goods on the conveyor belt are moved by rotating the longitudinal rod 102.
  • the palletizing module is arranged directly above the transmission module and in front of the partition module, and the neatly arranged bulk goods are picked up and transferred as a whole.
  • the automatic palletizing and conveying system also includes a control system, and the partition module includes a telescopic The supporting mechanism 3, the telescopic support mechanism 3 is arranged in the transmission direction of the transmission device 10 and located in front of the steering device 2, the control system and the transmission module, the telescopic support mechanism 3 and the The palletizing module is electrically connected.
  • adjacent connecting modules 51 are connected in a staggered position, so that the transportation of goods is faster and more stable.
  • the power equipment includes a motor, a second rotating shaft 104 and a gear 103.
  • a plurality of the gears 103 are connected to the second rotating shaft 104.
  • the motor is connected to the second rotating shaft 104 and drives the gear 103 on the second rotating shaft 104 to rotate synchronously.
  • a surface of the connecting module 51 in contact with the cargo is provided with a first circular hole 52 extending toward the inside of the connecting module 51.
  • the depth of the first circular hole 52 is less than the thickness of the connecting module 51, and the inner side wall of the first circular hole 52 A plurality of evenly arranged card slots 5201 are opened, the other surface of the connection module 51 is provided with a second circular hole 53 recessed inward, and the opening position of the second circular hole 53 corresponds to the opening position of the first circular hole 52,
  • the first round hole 52 is in communication with the second round hole 53
  • the transmission device 10 further includes a ball cover 54 which is arranged in a cylindrical structure corresponding to the first round hole 52, and the outer surface of the ball cover 54 is opened There is a card strip 5701 corresponding to the card slot 5201.
  • the ball cover 54 By engaging the card slot 5201 with the card strip 5701, the ball cover 54 is embedded in the first round hole 52; the ball cover 54 is provided with a frame hole for connecting the upper ball 58 , The two sides of the ball 58 are provided with pin rods 56, and the two inner sides of the frame-shaped hole are provided with pin holes 55, and the balls 58 are connected with the pin holes 55.
  • the ball cover 54 is inserted into the first round hole 52, the card slot 5201 and the card strip 5701 are misaligned and clamped, so that the ball cover 54 is more closely connected to the card slot 5201 and prevents the ball cover 54 from being transferred during cargo transportation.
  • the present invention also provides an automatic palletizing transmission method, which is applied to the above-mentioned automatic palletizing transmission system, and the automatic palletizing transmission method includes:
  • Step S1 The goods are transported to the transmission device 10, and the steering device 2 turns the goods on any side edge of the transmission device 10 during the transportation of the goods;
  • Step S2 blocking the goods by the raised telescopic support mechanism 3, combined with the forward conveying force of the diagonal conveyor belt 1, so that the goods are output laterally and neatly arranged on one side of the telescopic support mechanism 3;
  • Step S3 After the goods are arranged according to the set law, the telescopic support mechanism 3 is lowered so that the goods arranged in rows continue to move forward along the transmission device 10;
  • Step S4 Multiple rows of goods are neatly stacked at the frontmost baffle of the conveying device 10, and the palletizing module performs overall grabbing and transfer of the bulk goods when the set quantity requirements are met.

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  • Mechanical Engineering (AREA)
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Abstract

A steering apparatus, a transmission module, an automatic stacking and conveying system and an automatic stacking and conveying method. A steering apparatus (2) is provided in a frame (21) located at the side edge of a transmission apparatus (10) and used for changing a placement direction of objects transported along the side edge of the transmission apparatus (10); the steering apparatus (2) comprises a power device and a swinging mechanism; the power device is provided with a fixed end and a movable end; the swinging mechanism comprises a linking member (23) and a swinging member; the swinging member is provided with a rotating shaft (25), the rotating shaft (25) of the swinging member is provided longitudinally, and two ends of the swinging member are connected to the frame (21) by means of a bearing base (24); the shaft body of the rotating shaft (25) of the swinging member is connected to the movable end of the power device by means of the linking member (23), the swinging member is driven by the power device to rotate by using the rotating shaft (25) as an axis, so that one side of the swinging member away from the rotating shaft (25) passes through an opening on the side edge of the transmission apparatus (10) from inside the frame (21) and rotates onto the transmission apparatus (10). The placement direction of goods transported along the edge of the transmission apparatus is automatically adjusted during transportation, so that the efficiency of loading and transportation of subsequent goods is improved.

Description

一种转向装置、传输模块、自动码垛传送***和自动码垛传送方法Steering device, transmission module, automatic palletizing transmission system and automatic palletizing transmission method 技术领域Technical field
本发明涉及自动化运输领域，尤其涉及一种转向装置、传输模块、自动码垛传送***和自动码垛传送方法。The invention relates to the field of automated transportation, in particular to a steering device, a transmission module, an automatic palletizing transmission system and an automatic palletizing transmission method.
背景技术Background technique
目前，在自动化运输***中，会通过人工或机械手将货物搬运到传输带上，但是传输带上的货物有可能存在不同的摆放方向，导致不同摆放方向的货物运输到位后无法通过码垛设备抓取货物，导致货物杂乱得堆叠在出货口，影响正常运输流程。At present, in an automated transportation system, goods are transported to the conveyor belt by manual or robotic hands, but the goods on the conveyor belt may be placed in different directions, resulting in goods in different directions that cannot be palletized after being transported in place The equipment grabs the goods, which causes the goods to be stacked in disorder at the outgoing port, affecting the normal transportation process.
虽然市场中存在部分可抓取不同摆放方向的码垛设备，但是此类码垛设备是通过识别货物方向后，通过旋转机械臂夹取并修正货物方向的方式来对货物进行整理，该方式需要花费一定的时间来识别和修正货物方向，导致货物的出厂效率较低；且需要匹配更高的识别装备，导致设备成本增加，不利于推广使用。Although there are some palletizing equipment in the market that can grab different placement directions, this type of palletizing equipment organizes the goods by recognizing the direction of the goods and then clamping and correcting the direction of the goods by rotating the robotic arm. It takes a certain amount of time to identify and correct the direction of the goods, resulting in lower delivery efficiency of the goods; and the need to match higher identification equipment, resulting in increased equipment costs, which is not conducive to popularization.
发明内容Summary of the invention
为了克服现有技术的不足，本发明的目的在于提供一种转向装置，在运输过程中自动对沿传输装置边沿传输的货物的摆放方向进行调整，提高后续货物装箱运输效率。In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a steering device that automatically adjusts the placement direction of the goods transported along the edge of the transport device during transportation, so as to improve the efficiency of subsequent cargo packing and transportation.
本发明的目的采用如下技术方案实现：The purpose of the present invention is achieved by adopting the following technical solutions:
一种转向装置，设置在位于传输装置侧边的框架内，用于改变沿着传输装置侧边运输的物品的摆放方向，包括：A steering device, which is arranged in a frame located on the side of the transmission device and used to change the placement direction of items transported along the side of the transmission device, includes:
动力设备，所述动力设备具有固定端和活动端；Power equipment, the power equipment has a fixed end and a movable end;
摆动机构，包括衔接件和摆动件，所述摆动件具有第一转轴，所述摆动件的第一转轴沿纵向设置，所述摆动件的两端通过轴承座连接在框架上，所述摆动件的第一转轴的轴身通过所述衔接件与所述动力设备的活动端相连接，藉由所述动力设备带动所述摆动件以第一转轴为轴进行旋转，使得所述摆动件远离所述第一转轴的一侧从框架内穿过传输装置侧边上的开口旋转到传输装置上。The swinging mechanism includes a connecting piece and a swinging piece. The swinging piece has a first rotating shaft. The first rotating shaft of the swinging piece is arranged in a longitudinal direction. Both ends of the swinging piece are connected to the frame through a bearing seat. The shaft of the first rotating shaft is connected to the movable end of the power device through the connecting piece, and the power device drives the swinging piece to rotate about the first rotating shaft, so that the swinging piece is far away One side of the first rotating shaft is rotated from the frame through the opening on the side of the transmission device to the transmission device.
进一步地，所述动力设备设置为伸缩杆，所述伸缩杆的固定端固定在传输装置的外侧壁或框架的内侧壁上，所述伸缩杆的活动端与所述衔接件相铰接。Further, the power equipment is configured as a telescopic rod, the fixed end of the telescopic rod is fixed on the outer side wall of the transmission device or the inner side wall of the frame, and the movable end of the telescopic rod is hinged with the connecting piece.
进一步地，所述摆动件的第一转轴的轴身上沿周向开设有凹环，所述衔接件的一端部固定在所述摆动件的凹环上，使得所述衔接件与所述第一转轴互相垂直。Further, the shaft of the first rotating shaft of the swinging member is provided with a concave ring along the circumferential direction, and one end of the connecting member is fixed on the concave ring of the swinging member, so that the connecting member and the first shaft The shafts are perpendicular to each other.
进一步地，所述衔接件上开有弧形凹槽，所述衔接件通过所述弧形凹槽卡接于所述凹环内。Further, an arc-shaped groove is opened on the connecting piece, and the connecting piece is clamped in the concave ring through the arc-shaped groove.
进一步地，所述摆动件的凹环、衔接件与伸缩杆处于同一水平线上。Further, the concave ring of the swing member, the connecting member and the telescopic rod are on the same horizontal line.
进一步地，所述伸缩杆的固定端形成为两间隔相对设置的连接板，所述衔接件的端部插接于两所述连接板之间，且所述衔接件的端部和两所述连接板上对应开设有使所述伸缩杆和所述衔接件转动连接的连接孔。Further, the fixed end of the telescopic rod is formed as two connecting plates arranged oppositely at intervals, the end of the connecting piece is inserted between the two connecting plates, and the end of the connecting piece is connected to the two connecting plates. The connecting plate is correspondingly provided with connecting holes for rotationally connecting the telescopic rod and the connecting piece.
进一步地，所述摆动件还包括远离所述第一转轴的一侧设置的滚轮，所述滚轮与所述第一转轴平行，所述滚轮的轮轴上贯穿有辊杆，所述辊杆通过水平连接片连接在与所述摆动件的第一转轴上。Further, the oscillating member further includes a roller disposed on a side away from the first rotating shaft, the roller is parallel to the first rotating shaft, and a roller shaft penetrates through the roller shaft, and the roller shaft passes through the horizontal shaft. The connecting piece is connected to the first rotating shaft of the swing member.
进一步地，所述滚轮的旋转角度设置为30°～90°。Further, the rotation angle of the roller is set to be 30°-90°.
进一步地，所述滚轮的外表面设置有缓冲塑料层。Further, the outer surface of the roller is provided with a buffer plastic layer.
本发明还提供一种传输模块，包括用于输送货物的传输装置和设于所述传输装置旁侧的如上所述的转向装置。The present invention also provides a transmission module, which includes a transmission device for conveying goods and the above-mentioned steering device arranged beside the transmission device.
进一步地，所述传输模块还包括连接于所述传输装置的侧部上的框架，所述框架上开设有朝向所述传输装置的开口，所述转向装置容置于所述框架内，所述动力设备的固定端固定连接在传输装置的外侧壁或框架的内侧壁上，所述开口用于供所述摆动件进出所述框架。Further, the transmission module further includes a frame connected to the side of the transmission device, the frame is provided with an opening facing the transmission device, the steering device is accommodated in the frame, and the The fixed end of the power equipment is fixedly connected to the outer side wall of the transmission device or the inner side wall of the frame, and the opening is used for allowing the swing member to enter and exit the frame.
进一步地，所述摆动件处于所述框架内时所述滚轮的最外端点所在切线在竖直方向上的正投影与传输设备所述传输装置的边沿线相重合。Further, when the swing member is in the frame, the vertical projection of the tangent to the outermost end of the roller is coincident with the edge line of the transmission device of the transmission equipment.
进一步地，所述摆动件旋转30°时所述滚轮的轮轴在竖直方向上的正投影与传输设备所述传输装置的边沿线相重合。Further, when the swing member rotates by 30°, the orthographic projection of the axle of the roller in the vertical direction coincides with the edge line of the transmission device of the transmission equipment.
进一步地，所述摆动件旋转90°时所述滚轮的最内端点所在切线在竖直方向上的正投影与传输设备所述传输装置的边沿线相重合。Further, when the oscillating member rotates 90°, the vertical projection of the tangent to the innermost end point of the roller coincides with the edge line of the transmission device of the transmission equipment.
进一步地，所述滚轮的外表面设置有缓冲塑料层。Further, the outer surface of the roller is provided with a buffer plastic layer.
进一步地，所述传输装置包括斜向传输带、直线传输带和设置于所述斜向传输带和所述直线传输带之间的隔断装置，所述转向装置设置在所述斜向传输带的一侧壁上，所述隔断装置设置在所述斜向传输带的前方，所述斜向传输带包括连接模块、支撑板和动力设备，每个所述连接模块上均匀设置有多个同向的倾斜滚轮，相邻的所述连接模块相连拼接成模块式传输带；两所述动力设备分别设置在所述模块式传输带的两端，所述动力设备带动所述模块式传输带移动；所述支撑板固定在两所述动力设备之间，所述支撑板的一侧设置有纵向杆， 藉由所述纵向杆转动使得所述传输带上的货物移动。Further, the transmission device includes an oblique transmission belt, a linear transmission belt, and a partition device arranged between the oblique transmission belt and the linear transmission belt, and the steering device is arranged on the side of the oblique transmission belt. On a side wall, the partition device is arranged in front of the oblique transmission belt, the oblique transmission belt includes a connecting module, a support plate and a power device, and each connecting module is evenly provided with a plurality of same direction The adjacent connecting modules are connected and spliced to form a modular conveyor belt; the two power equipment are respectively arranged at both ends of the modular conveyor belt, and the power equipment drives the modular conveyor belt to move; The supporting plate is fixed between the two power equipment, and one side of the supporting plate is provided with a longitudinal rod, and the rotation of the longitudinal rod causes the goods on the conveyor belt to move.
进一步地，相邻所述连接模块错位相连。Further, the adjacent connection modules are connected in a staggered position.
进一步地，所动力设备包括电机、第二转轴和齿轮，所述第二转轴上连接有多个所述齿轮，所述电机与所述第二转轴相连接并带动所述第二转轴上的齿轮同步转动。Further, the power equipment includes a motor, a second rotating shaft, and a gear. A plurality of the gears are connected to the second rotating shaft. The motor is connected to the second rotating shaft and drives the gears on the second rotating shaft. Synchronous rotation.
进一步地，所述连接模块与货物相接触的一表面开设有向所述连接模块的内部延伸的第一圆孔，所述第一圆孔的深度小于所述连接模块的厚度，所述第一圆孔的内侧壁上开设有多个均匀排列的卡槽，所述连接模块的另一表面开设有向内凹陷的第二圆孔，所述第二圆孔的开设位置与所述第一圆孔的开设位置相对应，且所述第一圆孔与所述第二圆孔相连通，所述传输模块还包括滚珠盖，所述滚珠盖设置为与所述第一圆孔相对应的圆柱形结构，所述滚珠盖的外侧面上开设有与所述卡槽相对应的卡条，藉由所述卡槽与所述卡条相咬合使得所述滚珠盖嵌入所述第一圆孔内；所述滚珠盖上开设有用于连接其上滚珠的框形孔，所述框形孔的相对两内侧内开设有销孔，所述滚珠与所述销孔相连接。Further, a surface of the connection module in contact with the cargo is provided with a first circular hole extending toward the inside of the connection module, the depth of the first circular hole is less than the thickness of the connection module, and the first circular hole The inner side wall of the circular hole is provided with a plurality of evenly arranged clamping slots, the other surface of the connection module is provided with a second circular hole recessed inward, and the opening position of the second circular hole is the same as that of the first circular hole. The opening positions of the holes correspond to each other, and the first round hole is communicated with the second round hole, the transmission module further includes a ball cover, and the ball cover is configured as a cylinder corresponding to the first round hole Shaped structure, the outer surface of the ball cover is provided with a clip strip corresponding to the card groove, and the ball cover is embedded in the first round hole by the engagement of the card slot with the clip strip The ball cover is provided with frame-shaped holes for connecting the balls on it, and the frame-shaped holes are provided with pin holes in the opposite two inner sides, and the balls are connected with the pin holes.
本发明还提供一种自动码垛传送***，其特征在于，包括码垛模块和如上所述的传输模块，所述码垛模块设置在所述传输模块的正上方，并位于所述隔断模块的前方，对整齐排列后的批量货物进行整体抓取和转移，所述自动码垛传送***还包括控制***，所述隔断模块包括伸缩支撑机构，所述伸缩支撑机构设置在所述传输装置的传输方向上并位于所述转向装置的前方，所述控制***与所述传输模块、所述伸缩支撑机构和所述码垛模块电连接。The present invention also provides an automatic palletizing conveying system, which is characterized in that it comprises a palletizing module and the transmission module as described above, the palletizing module is arranged directly above the transmission module and located at the side of the partition module At the front, the neatly arranged batches are picked up and transferred as a whole. The automatic palletizing and conveying system also includes a control system, the partition module includes a telescopic support mechanism, and the telescopic support mechanism is arranged in the transmission of the transmission device. And located in front of the steering device, the control system is electrically connected to the transmission module, the telescopic support mechanism and the palletizing module.
本发明还提供一种自动码垛传送方法，应用于自动码垛传送***，所述自动码垛传送***包括传输模块、隔断模块、码垛模块和控制***，所述传输模 块包括用于对货物进行运输的传输装置和转向装置，所述隔断模块包括伸缩支撑机构，所述自动码垛传送方法包括：The present invention also provides an automatic palletizing transmission method, which is applied to an automatic palletizing transmission system. The automatic palletizing transmission system includes a transmission module, a partition module, a palletizing module, and a control system. The transmission module includes The transport device and the steering device for transportation, the partition module includes a telescopic support mechanism, and the automatic palletizing transfer method includes:
步骤S1：将货物搬运到所述传输装置中，货物运输过程中经所述传输装置的任一侧边沿上，所述转向装置对货物进行转向；Step S1: transporting the goods to the transmission device, and the steering device turns the goods on any side edge of the transmission device during the transportation of the goods;
步骤S2：通过升起的所述伸缩支撑机构对货物进行阻挡，结合所述斜向传输带向前输送的力，使得货物横向输出并整齐排列在所述伸缩支撑机构的一侧；Step S2: blocking the goods by the raised telescopic support mechanism, combined with the forward conveying force of the diagonal transmission belt, so that the goods are output laterally and neatly arranged on one side of the telescopic support mechanism;
步骤S3；待货物按照设定规律排列完成后，所述伸缩支撑机构下降使得排列成行的货物沿着所述传输装置继续前行；Step S3: After the goods are arranged according to the set law, the telescopic support mechanism is lowered so that the goods arranged in rows continue to move forward along the transmission device;
步骤S4：多行货物整齐堆积在传输装置最前方的挡板处，满足设定数量要求时所述码垛模块对批量货物进行整体抓取和转移。Step S4: Multiple rows of goods are neatly stacked at the front baffle of the conveying device, and the palletizing module performs overall grabbing and transfer of the bulk goods when the set quantity requirements are met.
相比现有技术，本发明的有益效果在于：Compared with the prior art, the present invention has the following beneficial effects:
摆动件带动滚轮旋转到传输装置上，滚轮伸出对沿着传输装置侧边传输的货物进行阻挡，货物在传输装置的带动下继续前进，货物的侧边顺着滚轮转动，使得货物旋转90°后继续沿着传输装置的侧边前进，从而实现货物转向，从而达到快速调整货物摆放方向的效果。The oscillating member drives the rollers to rotate to the transmission device. The rollers stretch out to block the goods transported along the side of the transmission device. The goods continue to advance under the drive of the transmission device. The sides of the goods rotate along the rollers, making the goods rotate 90° Then continue to move along the side of the conveying device, so as to realize the turning of the goods, thereby achieving the effect of quickly adjusting the direction of the goods.
附图说明Description of the drawings
[根据细则91更正 28.10.2019]　
图1为本发明的自动码垛传送***的结构示意图；[Corrected 28.10.2019 according to Rule 91]
Figure 1 is a schematic diagram of the structure of the automatic palletizing and conveying system of the present invention;
图2为本发明的传输设备中显示框架内部结构的结构示意图；Figure 2 is a schematic structural diagram of the internal structure of the display frame in the transmission equipment of the present invention;
[根据细则91更正 28.10.2019]　
图3为本发明实施例提供的转向装置的结构示意图；[Corrected 28.10.2019 according to Rule 91]
Figure 3 is a schematic structural diagram of a steering device provided by an embodiment of the present invention;
[根据细则91更正 28.10.2019]　
图4为图3中转向装置的内部结构示意图；
图5为本发明的转向装置的***结构示意图；
图6为本发明的货物转向示意图；
图7本发明实施例提供的传输模块中斜向传输带的结构示意图；
图8为图7中斜向传输带的拆分示意图。[Corrected 28.10.2019 according to Rule 91]
Figure 4 is a schematic diagram of the internal structure of the steering device in Figure 3;
Figure 5 is a schematic diagram of the explosive structure of the steering device of the present invention;
Figure 6 is a schematic diagram of the cargo steering of the present invention;
Fig. 7 is a schematic structural diagram of an oblique transmission belt in a transmission module provided by an embodiment of the present invention;
Fig. 8 is a schematic diagram of the split of the diagonal transmission belt in Fig. 7.
图中：100、传输模块；10、传输装置；1、斜向传输带；2、转向装置；3、伸缩支撑机构；4、直线传输带；101、支撑板；102、纵向杆；103、齿轮；104、 第二转轴；21、框架；22、伸缩杆；221、连接板；220、第二连接孔；23、衔接件；231、弧形凹槽；232、第一连接孔；24、轴承座；25、第一转轴；26、凹环；27、滚轮；28、开口；51、连接模块；52、第一圆孔；5201、卡槽；53、第二圆孔；54、滚珠盖；55、销孔；56、销杆；5701、卡条；58、滚珠。In the figure: 100, transmission module; 10, transmission device; 1, diagonal transmission belt; 2, steering device; 3, telescopic support mechanism; 4. linear transmission belt; 101, support plate; 102, longitudinal rod; 103, gear 104, second shaft; 21, frame; 22, telescopic rod; 221, connecting plate; 220, second connecting hole; 23, adapter; 231, arc groove; 232, first connecting hole; 24, bearing Seat; 25, first shaft; 26, concave ring; 27, roller; 28, opening; 51, connecting module; 52, first round hole; 5201, card slot; 53, second round hole; 54, ball cover; 55. Pin hole; 56, pin rod; 5701, clip strip; 58, ball.
具体实施方式detailed description
下面，结合附图以及具体实施方式，对本发明做进一步描述，需要说明的是，在不相冲突的前提下，以下描述的各实施例之间或各技术特征之间可以任意组合形成新的实施例。Hereinafter, the present invention will be further described with reference to the drawings and specific implementations. It should be noted that, provided that there is no conflict, the following embodiments or technical features can be combined to form new embodiments. .
本发明还提供一种自动码垛传送***，包括码垛模块(图中未示)和用于将货物运输至所述码垛模块的传输模块100，传输模块包括斜向传输带1、设于所述斜向传输带1前方的直线传输带4、设置在所述斜向传输带1和所述直线传输带4之间的隔断装置、设置在斜向传输带1的一侧壁上的转向装置2，将货物先放上斜向传输带1的一角，使得传输带上的所有货物在运输过程中均往传输带的一侧边进行运输，统一货物的运输方向，货物随斜向传输带1以相对前进方向倾斜的方向运输至转向装置2，转向装置2即可对货物进行转向，从而统一货物的摆放方向，再随传输带沿前进方向运动，运动到码垛模块进行码垛。The present invention also provides an automatic palletizing conveying system, including a palletizing module (not shown in the figure) and a transmission module 100 for transporting goods to the palletizing module. The transmission module includes an oblique transmission belt 1 and The linear conveyor belt 4 in front of the diagonal conveyor belt 1, the partition device arranged between the diagonal conveyor belt 1 and the linear conveyor belt 4, the steering arranged on one side wall of the diagonal conveyor belt 1 Device 2, put the goods on a corner of the diagonal conveyor belt 1 first, so that all goods on the conveyor belt are transported to one side of the conveyor belt during transportation, and the transportation direction of the goods is unified. The goods follow the diagonal conveyor belt. 1 is transported to the steering device 2 in a direction inclined relative to the forward direction. The steering device 2 can turn the goods to unify the placement direction of the goods, and then move along the forward direction with the conveyor belt to move to the stacking module for stacking.
在一实施例中，如图3所示，在传输装置10的侧边开设有一开口28，供转向装置2从开口28中伸出传输装置10上的货物进行转向；而与开口28相对应的传输装置10侧边向外延伸有框架21，框架21内安装有转向装置2，当货物沿着传输装置10设有转向装置2的一侧的边沿进行传输时，转向装置2从开口28中伸出对沿着边沿传输的货物进行转向。In one embodiment, as shown in FIG. 3, an opening 28 is opened on the side of the conveying device 10 for the steering device 2 to extend from the opening 28 to the goods on the conveying device 10 for steering; and the opening 28 corresponds to There is a frame 21 extending from the side of the conveying device 10, and a steering device 2 is installed in the frame 21. When the goods are transported along the edge of the side of the conveying device 10 where the steering device 2 is provided, the steering device 2 extends from the opening 28 Out of the direction of the goods transported along the edge.
如图4、图5所示，所述转向装置2包括有动力设备和摆动机构，在本实施 例中动力设备设置为伸缩杆22，伸缩杆22的固定端铰接在传输装置10的外侧壁上，使得伸缩杆22的一端固定连接。伸缩杆22的活动端与衔接件23相铰接，伸缩杆22的活动端伸缩往返运动时，带动衔接件23和与衔接件23相连接的摆动件同步转动。As shown in Figures 4 and 5, the steering device 2 includes a power device and a swing mechanism. In this embodiment, the power device is configured as a telescopic rod 22, and the fixed end of the telescopic rod 22 is hinged on the outer side wall of the transmission device 10. , So that one end of the telescopic rod 22 is fixedly connected. The movable end of the telescopic rod 22 is hinged with the joint 23. When the movable end of the telescopic rod 22 telescopes and reciprocates, the joint 23 and the swing member connected with the joint 23 are driven to rotate synchronously.
所述摆动机构设置为衔接件23和摆动件，所述衔接件23的一端与伸缩杆22相铰接，另一端设置为半弧形结构，衔接件23通过其半弧形结构的端部套装在摆动件第一转轴25的凹环26外，并通过螺栓或焊接的方式将衔接件23与摆动件的第一转轴25固定连接在一起，使得衔接件23与摆动件可同步转动。The swing mechanism is configured as a connecting piece 23 and a swinging piece. One end of the connecting piece 23 is hinged with the telescopic rod 22, and the other end is set in a semi-arc structure. The connecting piece 23 is sleeved in the end of the semi-arc structure. Outside the concave ring 26 of the first rotating shaft 25 of the swinging member, the connecting member 23 and the first rotating shaft 25 of the swinging member are fixedly connected by bolts or welding, so that the connecting member 23 and the swinging member can rotate synchronously.
而摆动件第一转轴25上的凹环26与衔接件23、伸缩杆22处于同一直线上，与此同时，衔接件23与第一转轴25互相垂直，可减少运动过程中出现偏移的现象。The concave ring 26 on the first rotating shaft 25 of the oscillating member is in the same straight line as the connecting member 23 and the telescopic rod 22. At the same time, the connecting member 23 and the first rotating shaft 25 are perpendicular to each other, which can reduce the phenomenon of deviation during the movement. .
所述衔接件23上开有弧形凹槽231，所述衔接件23通过所述弧形凹槽231卡接于所述凹环26内。An arc-shaped groove 231 is formed on the connecting piece 23, and the connecting piece 23 is clamped in the concave ring 26 through the arc-shaped groove 231.
所述伸缩杆22的固定端形成为两间隔相对设置的连接板221，所述衔接件23的端部插接于两所述连接板221之间，且所述衔接件23的端部和两所述连接板221上开设有使所述伸缩杆22和所述衔接件23转动连接的第一连接孔232和第二连接孔220。The fixed ends of the telescopic rod 22 are formed as two connecting plates 221 arranged opposite to each other. The end of the connecting piece 23 is inserted between the two connecting plates 221, and the end of the connecting piece 23 is connected to the two connecting plates 221. The connecting plate 221 is provided with a first connecting hole 232 and a second connecting hole 220 for rotatably connecting the telescopic rod 22 and the connecting piece 23.
动力设备中摆动件的第一转轴25的两端纵向设备，并通过轴承座24连接在框架21的上下内侧，在伸缩杆22和衔接件23的作用下可带动摆动件的第一转轴25的原地转动；摆动件的第一转轴25的两端均固定有水平连接片，两块水平连接片之间固定有辊杆，在辊杆外套装有滚轮27，滚轮27以辊杆为轴进行原地旋转。当伸缩杆22伸展时，衔接件23带动摆动件转动时，可带动滚轮27以 摆动件的第一转轴25为轴进行30°～90°角度范围的摆动。The two ends of the first rotating shaft 25 of the swing member in the power equipment are longitudinally installed, and are connected to the upper and lower inner sides of the frame 21 through the bearing housing 24. Under the action of the telescopic rod 22 and the connecting member 23, the first rotating shaft 25 of the swing member can be driven Rotate in place; both ends of the first rotating shaft 25 of the oscillating member are fixed with horizontal connecting pieces, and a roller rod is fixed between the two horizontal connecting pieces. A roller 27 is installed on the outer shell of the roller rod. The roller 27 takes the roller rod as the axis. Rotate in place. When the telescopic rod 22 is extended, when the connecting member 23 drives the swinging member to rotate, the roller 27 can be driven to swing with the first rotating shaft 25 of the swinging member as an axis in an angle range of 30° to 90°.
当摆动件处于框架21内时，滚轮27的最外端点所在切线在竖直方向上的正投影与传输装置10的边沿线相重合，从而填充传输装置10上的开口28，货物沿着传输装置10的侧边进行传输时滚轮27可进一步协助货物运输，提高货物运输流畅性。When the oscillating member is in the frame 21, the vertical projection of the tangent to the outermost end of the roller 27 coincides with the edge line of the transmission device 10, thereby filling the opening 28 on the transmission device 10, and the goods move along the transmission device The roller 27 can further assist the cargo transportation and improve the smoothness of cargo transportation when the side of the 10 is transported.
当摆动件摆动30°时，滚轮27的轮轴在竖直方向上的正投影与传输装置10的边沿线相重合，使得滚轮27存在一部分突出传输装置10的开口28。如图4所示，当货物沿着传输装置10的侧边进行传输时，滚轮27突出部分首先接触货物一端，暂时限制货物前进，其后，传输装置10继续带动货物前进使得货物远离滚轮27的一侧继续往前移动，并在前进的过程中货物靠近滚轮27的一侧沿着滚轮27转动从而实现货物整体旋转90°，使得转向后的货物继续沿着传输装置10的侧边前进，完成货物转向动作。When the swinging member swings 30°, the vertical projection of the axle of the roller 27 coincides with the edge line of the transmission device 10, so that a part of the roller 27 protrudes from the opening 28 of the transmission device 10. As shown in Figure 4, when the goods are transported along the side of the conveying device 10, the protruding part of the roller 27 first contacts one end of the goods to temporarily restrict the advancement of the goods. Thereafter, the conveying device 10 continues to drive the goods forward so that the goods are far away from the roller 27. One side continues to move forward, and the side of the cargo close to the roller 27 rotates along the roller 27 during the forwarding process to realize the overall rotation of the cargo by 90°, so that the steered cargo continues to advance along the side of the conveyor 10, complete The goods turn around.
当摆动件摆动90°时，滚轮27的最内端点所在切线在竖直方向上的正投影与传输装置10的边沿线相重合，使得货物运输到滚轮27处时，滚轮27整体突出传输装置10的开口28，使得货物与滚轮27的接触面积增加，可提高货物转向的稳定性。When the oscillating member swings by 90°, the vertical projection of the tangent to the innermost end of the roller 27 coincides with the edge line of the transmission device 10, so that when the goods are transported to the roller 27, the roller 27 protrudes from the transmission device 10 as a whole. The opening 28 increases the contact area between the cargo and the roller 27, which can improve the stability of cargo turning.
此外，由于货物运输时，货物会撞击滚轮27，为了保证货物外观的质量和完整性，在滚轮27的外表面设置有缓冲塑料层，对撞击力进行吸收，同时避免滚轮27刮损货物外表面，保持货物质量。In addition, because the goods will hit the roller 27 when the goods are transported, in order to ensure the quality and integrity of the appearance of the goods, a cushioning plastic layer is provided on the outer surface of the roller 27 to absorb the impact force and prevent the roller 27 from scratching the outer surface of the goods. , Maintain the quality of goods.
转向装置2由控制器实时控制，当需要对货物进行转向时，控制器控制转向装置2伸出传输装置10的开口28，对货物进行转向，当不需要对货物进行转向时，控制器不发出控制指令，让转向装置2继续处于框架21内，不对货物进 行转向操作。而转向装置2的一系列操作可根据控制器录入的设定程序来执行，该程序在此不做详细描述。The steering device 2 is controlled in real time by the controller. When the goods need to be turned, the controller controls the steering device 2 to extend out of the opening 28 of the transmission device 10 to turn the goods. When the goods do not need to be turned, the controller does not send out The control command is to keep the steering device 2 in the frame 21 without steering the goods. The series of operations of the steering device 2 can be executed according to a setting program entered by the controller, which is not described in detail here.
请参照图7和图8，斜向传输带1包括连接模块51、支撑板101和动力设备，每个连接模块51上均匀设置有多个同向的倾斜滚轮，相邻的连接模块51相邻拼接成模块式传输带；两动力设备分别设置在模块式传输的两端，动力设备带动模块式传输带移动；支撑板101固定在两动力设备之间，支撑板101的一侧设置有纵向杆102，藉由纵向杆102转动使得传输带上的货物移动。码垛模块设置在传输模块的正上方，并位于隔断模块的前方，对整齐排列后的批量货物进行整体抓取和转移，所述自动码垛传送***还包括控制***，所述隔断模块包括伸缩支撑机构3，所述伸缩支撑机构3设置在所述传输装置10的传输方向上并位于所述转向装置2的前方，所述控制***与所述传输模块、所述伸缩支撑机构3和所述码垛模块电连接。Referring to Figures 7 and 8, the diagonal conveyor belt 1 includes a connecting module 51, a support plate 101 and power equipment. Each connecting module 51 is evenly provided with a plurality of inclined rollers in the same direction, and adjacent connecting modules 51 are adjacent Spliced into a modular transmission belt; two power equipment are respectively arranged at both ends of the modular transmission, the power equipment drives the modular transmission belt to move; the support plate 101 is fixed between the two power equipment, and one side of the support plate 101 is provided with a longitudinal rod 102. The goods on the conveyor belt are moved by rotating the longitudinal rod 102. The palletizing module is arranged directly above the transmission module and in front of the partition module, and the neatly arranged bulk goods are picked up and transferred as a whole. The automatic palletizing and conveying system also includes a control system, and the partition module includes a telescopic The supporting mechanism 3, the telescopic support mechanism 3 is arranged in the transmission direction of the transmission device 10 and located in front of the steering device 2, the control system and the transmission module, the telescopic support mechanism 3 and the The palletizing module is electrically connected.
优选相邻连接模块51错位相连，使得货物的运输更加快速稳定。Preferably, adjacent connecting modules 51 are connected in a staggered position, so that the transportation of goods is faster and more stable.
优选动力设备包括电机、第二转轴104和齿轮103，第二转轴104上连接有多个所述齿轮103，电机与第二转轴104相连接并带动第二转轴104上的齿轮103同步转动。Preferably, the power equipment includes a motor, a second rotating shaft 104 and a gear 103. A plurality of the gears 103 are connected to the second rotating shaft 104. The motor is connected to the second rotating shaft 104 and drives the gear 103 on the second rotating shaft 104 to rotate synchronously.
优选连接模块51与货物相接触的一表面开设有向连接模块51的内部延伸的第一圆孔52，第一圆孔52的深度小于连接模块51的厚度，第一圆孔52的内侧壁上开设有多个均匀排列的卡槽5201，连接模块51的另一表面开设有向内凹陷的第二圆孔53，第二圆孔53的开设位置与第一圆孔52的开设位置相对应，且第一圆孔52与第二圆孔53相连通，传输装置10还包括滚珠盖54，滚珠盖54设置为与第一圆孔52相对应的圆柱形结构，滚珠盖54的外侧面上开设有与卡槽5201相对应的卡条5701，藉由卡槽5201与卡条5701咬合使得滚珠盖54 嵌入第一圆孔52内；滚珠盖54上开设有用于连接其上滚珠58的框形孔，滚珠58的两侧设有销杆56，框形孔的相对两内侧内开设有销孔55，滚珠58与销孔55相连接。当滚珠盖54***第一圆孔52内时，卡槽5201与卡条5701错位卡接，使得滚珠盖54于卡槽5201的相连更加紧密，避免滚珠盖54在运输货物时发生转移。Preferably, a surface of the connecting module 51 in contact with the cargo is provided with a first circular hole 52 extending toward the inside of the connecting module 51. The depth of the first circular hole 52 is less than the thickness of the connecting module 51, and the inner side wall of the first circular hole 52 A plurality of evenly arranged card slots 5201 are opened, the other surface of the connection module 51 is provided with a second circular hole 53 recessed inward, and the opening position of the second circular hole 53 corresponds to the opening position of the first circular hole 52, And the first round hole 52 is in communication with the second round hole 53, the transmission device 10 further includes a ball cover 54 which is arranged in a cylindrical structure corresponding to the first round hole 52, and the outer surface of the ball cover 54 is opened There is a card strip 5701 corresponding to the card slot 5201. By engaging the card slot 5201 with the card strip 5701, the ball cover 54 is embedded in the first round hole 52; the ball cover 54 is provided with a frame hole for connecting the upper ball 58 , The two sides of the ball 58 are provided with pin rods 56, and the two inner sides of the frame-shaped hole are provided with pin holes 55, and the balls 58 are connected with the pin holes 55. When the ball cover 54 is inserted into the first round hole 52, the card slot 5201 and the card strip 5701 are misaligned and clamped, so that the ball cover 54 is more closely connected to the card slot 5201 and prevents the ball cover 54 from being transferred during cargo transportation.
本发明还提供一种自动码垛传送方法，应用于如上所述的自动码垛传送***，所述自动码垛传送方法包括：The present invention also provides an automatic palletizing transmission method, which is applied to the above-mentioned automatic palletizing transmission system, and the automatic palletizing transmission method includes:
步骤S1：将货物搬运到所述传输装置10中，货物运输过程中经所述传输装置10的任一侧边沿上，所述转向装置2对货物进行转向；Step S1: The goods are transported to the transmission device 10, and the steering device 2 turns the goods on any side edge of the transmission device 10 during the transportation of the goods;
步骤S2：通过升起的所述伸缩支撑机构3对货物进行阻挡，结合所述斜向传输带1向前输送的力，使得货物横向输出并整齐排列在所述伸缩支撑机构3的一侧；Step S2: blocking the goods by the raised telescopic support mechanism 3, combined with the forward conveying force of the diagonal conveyor belt 1, so that the goods are output laterally and neatly arranged on one side of the telescopic support mechanism 3;
步骤S3；待货物按照设定规律排列完成后，所述伸缩支撑机构3下降使得排列成行的货物沿着所述传输装置10继续前行；Step S3: After the goods are arranged according to the set law, the telescopic support mechanism 3 is lowered so that the goods arranged in rows continue to move forward along the transmission device 10;
步骤S4：多行货物整齐堆积在传输装置10最前方的挡板处，满足设定数量要求时所述码垛模块对批量货物进行整体抓取和转移。Step S4: Multiple rows of goods are neatly stacked at the frontmost baffle of the conveying device 10, and the palletizing module performs overall grabbing and transfer of the bulk goods when the set quantity requirements are met.
上述实施方式仅为本发明的优选实施方式，不能以此来限定本发明保护的范围，本领域的技术人员在本发明的基础上所做的任何非实质性的变化及替换均属于本发明所要求保护的范围。The foregoing embodiments are only preferred embodiments of the present invention, and cannot be used to limit the scope of protection of the present invention. Any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention belong to the present invention. The scope of protection required.

Claims (20)

  1. 一种转向装置，设置在位于传输装置侧边的框架内，用于改变沿着传输装置侧边运输的物品的摆放方向，其特征在于，包括：A steering device, which is arranged in a frame located on the side of the transmission device and used for changing the placement direction of articles transported along the side of the transmission device, characterized in that it comprises:
    动力设备，所述动力设备具有固定端和活动端；Power equipment, the power equipment has a fixed end and a movable end;
    摆动机构，包括衔接件和摆动件，所述摆动件具有第一转轴，所述摆动件的第一转轴沿纵向设置，所述摆动件的两端通过轴承座连接在框架上，所述摆动件的第一转轴的轴身通过所述衔接件与所述动力设备的活动端相连接，藉由所述动力设备带动所述摆动件以第一转轴为轴进行旋转，使得所述摆动件远离所述第一转轴的一侧从框架内穿过传输装置侧边上的开口旋转到传输装置上。The swinging mechanism includes a connecting piece and a swinging piece. The swinging piece has a first rotating shaft. The first rotating shaft of the swinging piece is arranged in a longitudinal direction. Both ends of the swinging piece are connected to the frame through a bearing seat. The shaft of the first rotating shaft is connected to the movable end of the power device through the connecting piece, and the power device drives the swinging piece to rotate about the first rotating shaft, so that the swinging piece is far away One side of the first rotating shaft is rotated from the frame through the opening on the side of the transmission device to the transmission device.
  2. 根据权利要求1所述的转向装置，其特征在于，所述动力设备设置为伸缩杆，所述伸缩杆的固定端固定在传输装置的外侧壁或框架的内侧壁上，所述伸缩杆的活动端与所述衔接件相铰接。The steering device according to claim 1, wherein the power equipment is configured as a telescopic rod, and the fixed end of the telescopic rod is fixed on the outer side wall of the transmission device or the inner side wall of the frame. The end is hinged with the connecting piece.
  3. 根据权利要求1所述的转向装置，其特征在于，所述摆动件的第一转轴的轴身上沿周向开设有凹环，所述衔接件的一端部固定在所述摆动件的凹环上，使得所述衔接件与所述第一转轴互相垂直。The steering device according to claim 1, wherein a concave ring is provided on the shaft of the first rotating shaft of the swing member along the circumferential direction, and one end of the connecting member is fixed on the concave ring of the swing member , Making the connecting piece and the first rotating shaft perpendicular to each other.
  4. 根据权利要求3所述的转向装置，其特征在于，所述衔接件上开有弧形凹槽，所述衔接件通过所述弧形凹槽卡接于所述凹环内。The steering device according to claim 3, wherein an arc-shaped groove is formed on the connecting piece, and the connecting piece is clamped in the concave ring through the arc-shaped groove.
  5. 根据权利要求3所述的转向装置，其特征在于，所述摆动件的凹环、衔接件与伸缩杆处于同一水平线上。The steering device according to claim 3, wherein the concave ring of the swing member, the connecting member and the telescopic rod are on the same horizontal line.
  6. 根据权利要求3所述的转向装置，其特征在于，所述伸缩杆的固定端形成为两间隔相对设置的连接板，所述衔接件的端部插接于两所述连接板之间，且所述衔接件的端部和两所述连接板上开设有使所述伸缩杆和所述衔接件转动 连接的第一连接孔和第二连接孔。The steering device according to claim 3, wherein the fixed end of the telescopic rod is formed as two connecting plates arranged opposite to each other, and the end of the connecting piece is inserted between the two connecting plates, and The end of the connecting piece and the two connecting plates are provided with a first connecting hole and a second connecting hole for rotatably connecting the telescopic rod and the connecting piece.
  7. 根据权利要求1所述的转向装置，其特征在于，所述摆动件还包括远离所述第一转轴的一侧设置的滚轮，所述滚轮与所述第一转轴平行，所述滚轮的轮轴上贯穿有辊杆，所述辊杆通过水平连接片连接在与所述摆动件的第一转轴上。The steering device according to claim 1, wherein the swing member further comprises a roller disposed on a side away from the first rotating shaft, the roller is parallel to the first rotating shaft, and the wheel shaft is A roller rod penetrates, and the roller rod is connected to the first rotating shaft of the swing member through a horizontal connecting piece.
  8. 根据权利要求7所述的转向装置，其特征在于，所述滚轮的旋转角度设置为30°～90°。The steering device according to claim 7, wherein the rotation angle of the roller is set to be 30° to 90°.
  9. 根据权利要求7所述的转向装置，其特征在于，所述滚轮的外表面设置有缓冲塑料层。The steering device according to claim 7, wherein the outer surface of the roller is provided with a buffer plastic layer.
  10. 一种传输模块，其特征在于，包括用于输送货物的传输装置和设于所述传输装置旁侧的如权利要求1-9中任意一项所述的转向装置。A transmission module, which is characterized by comprising a transmission device for conveying goods and the steering device according to any one of claims 1-9 arranged beside the transmission device.
  11. 根据权利要求10所述的传输模块，其特征在于，所述传输模块还包括连接于所述传输装置的侧部上的框架，所述框架上开设有朝向所述传输装置的开口，所述转向装置容置于所述框架内，所述动力设备的固定端固定连接在传输装置的外侧壁或框架的内侧壁上，所述开口用于供所述摆动件进出所述框架。The transmission module according to claim 10, wherein the transmission module further comprises a frame connected to the side of the transmission device, the frame is provided with an opening facing the transmission device, and the steering The device is housed in the frame, the fixed end of the power equipment is fixedly connected to the outer side wall of the transmission device or the inner side wall of the frame, and the opening is used for the swing member to enter and exit the frame.
  12. 根据权利要求11所述的传输模块，其特征在于，所述摆动件处于所述框架内时所述滚轮的最外端点所在切线在竖直方向上的正投影与所述传输装置的边沿线相重合。The transmission module according to claim 11, characterized in that, when the oscillating member is in the frame, the vertical projection of the tangent to the outermost end of the roller is aligned with the edge of the transmission device. coincide.
  13. 根据权利要求11所述的传输模块，其特征在于，所述摆动件旋转30°时所述滚轮的轮轴在竖直方向上的正投影与所述传输装置的边沿线相重合。The transmission module according to claim 11, wherein when the swing member rotates 30°, the vertical projection of the axle of the roller coincides with the edge line of the transmission device.
  14. 根据权利要求11所述的传输模块，其特征在于，所述摆动件旋转90°时所述滚轮的最内端点所在切线在竖直方向上的正投影与所述传输装置的边沿 线相重合。The transmission module according to claim 11, wherein the vertical projection of the tangent to the innermost end of the roller when the swing member rotates 90° coincides with the edge line of the transmission device.
  15. 根据权利要求10所述的传输模块，其特征在于，所述传输装置包括斜向传输带、直线传输带和设置于所述斜向传输带和所述直线传输带之间的隔断装置，所述转向装置设置在所述斜向传输带的一侧壁上，所述隔断装置设置在所述斜向传输带的前方，所述斜向传输带包括连接模块、支撑板和动力设备，每个所述连接模块上均匀设置有多个同向的倾斜滚轮，相邻的所述连接模块相连拼接成模块式传输带；两所述动力设备分别设置在所述模块式传输带的两端，所述动力设备带动所述模块式传输带移动；所述支撑板固定在两所述动力设备之间，所述支撑板的一侧设置有纵向杆，藉由所述纵向杆转动使得所述传输带上的货物移动。The transmission module according to claim 10, wherein the transmission device comprises an oblique transmission belt, a linear transmission belt, and a partition device arranged between the oblique transmission belt and the linear transmission belt, the The steering device is arranged on a side wall of the oblique transmission belt, the partition device is arranged in front of the oblique transmission belt, and the oblique transmission belt includes a connection module, a support plate and power equipment, each of which is A plurality of inclined rollers in the same direction are uniformly arranged on the connecting module, and the adjacent connecting modules are connected and spliced to form a modular conveyor belt; the two power devices are respectively arranged at both ends of the modular conveyor belt, and The power equipment drives the modular conveyor belt to move; the support plate is fixed between the two power equipment, one side of the support plate is provided with a longitudinal rod, and the longitudinal rod rotates to make the transmission belt The goods move.
  16. 根据权利要求15所述的传输模块，其特征在于，相邻所述连接模块错位相连。The transmission module according to claim 15, wherein the adjacent connection modules are connected in a staggered position.
  17. 根据权利要求15所述的传输模块，其特征在于，所动力设备包括电机、第二转轴和齿轮，所述第二转轴上连接有多个所述齿轮，所述电机与所述第二转轴相连接并带动所述第二转轴上的齿轮同步转动。The transmission module according to claim 15, wherein the power equipment includes a motor, a second rotating shaft and a gear, a plurality of the gears are connected to the second rotating shaft, and the motor is in phase with the second rotating shaft. Connecting and driving the gears on the second rotating shaft to rotate synchronously.
  18. 根据权利要求15所述的传输模块，其特征在于，所述连接模块与货物相接触的一表面开设有向所述连接模块的内部延伸的第一圆孔，所述第一圆孔的深度小于所述连接模块的厚度，所述第一圆孔的内侧壁上开设有多个均匀排列的卡槽，所述连接模块的另一表面开设有向内凹陷的第二圆孔，所述第二圆孔的开设位置与所述第一圆孔的开设位置相对应，且所述第一圆孔与所述第二圆孔相连通，所述传输模块还包括滚珠盖，所述滚珠盖设置为与所述第一圆孔相对应的圆柱形结构，所述滚珠盖的外侧面上开设有与所述卡槽相对应的卡条， 藉由所述卡槽与所述卡条相咬合使得所述滚珠盖嵌入所述第一圆孔内；所述滚珠盖上开设有用于连接其上滚珠的框形孔，所述框形孔的相对两内侧内开设有销孔，所述滚珠与所述销孔相连接。The transmission module according to claim 15, wherein a surface of the connection module in contact with the cargo is provided with a first circular hole extending toward the inside of the connection module, and the depth of the first circular hole is less than According to the thickness of the connecting module, the inner side wall of the first circular hole is provided with a plurality of evenly arranged clamping slots, the other surface of the connecting module is provided with a second circular hole recessed inward, and the second The opening position of the circular hole corresponds to the opening position of the first circular hole, and the first circular hole is communicated with the second circular hole, the transmission module further includes a ball cover, and the ball cover is configured to In a cylindrical structure corresponding to the first round hole, the outer surface of the ball cover is provided with a clamping strip corresponding to the clamping groove, and the clamping groove is engaged with the clamping strip so that the The ball cover is embedded in the first round hole; the ball cover is provided with frame-shaped holes for connecting the balls on the ball cover, and the frame-shaped holes are provided with pin holes in two opposite inner sides. The pin holes are connected.
  19. 一种自动码垛传送***，其特征在于，包括码垛模块和如权利要求15所述的传输模块，所述码垛模块设置在所述传输模块的正上方，并位于所述隔断模块的前方，对整齐排列后的批量货物进行整体抓取和转移，所述自动码垛传送***还包括控制***，所述隔断模块包括伸缩支撑机构，所述伸缩支撑机构设置在所述传输装置的传输方向上并位于所述转向装置的前方，所述控制***与所述传输模块、所述伸缩支撑机构和所述码垛模块电连接。An automatic palletizing conveying system, characterized by comprising a palletizing module and the transmission module according to claim 15, the palletizing module is arranged directly above the transmission module and in front of the partition module , For the overall grabbing and transfer of the neatly arranged bulk goods, the automatic palletizing and conveying system also includes a control system, the partition module includes a telescopic support mechanism, the telescopic support mechanism is arranged in the transmission direction of the transmission device And located in front of the steering device, and the control system is electrically connected with the transmission module, the telescopic support mechanism and the palletizing module.
  20. 一种自动码垛传送方法，其特征在于，应用于自动码垛传送***，所述自动码垛传送***包括传输模块、隔断模块、码垛模块和控制***，所述传输模块包括用于对货物进行运输的传输装置和转向装置，所述隔断模块包括伸缩支撑机构，所述自动码垛传送方法包括：An automatic palletizing transmission method, characterized in that it is applied to an automatic palletizing transmission system. The automatic palletizing transmission system includes a transmission module, a partition module, a palletizing module and a control system. The transmission module includes a The transport device and the steering device for transportation, the partition module includes a telescopic support mechanism, and the automatic palletizing transfer method includes:
    步骤S1：将货物搬运到所述传输装置中，货物运输过程中经所述传输装置的任一侧边沿上，所述转向装置对货物进行转向；Step S1: transporting the goods to the transmission device, and the steering device turns the goods on any side edge of the transmission device during the transportation of the goods;
    步骤S2：通过升起的所述伸缩支撑机构对货物进行阻挡，结合所述斜向传输带向前输送的力，使得货物横向输出并整齐排列在所述伸缩支撑机构的一侧；Step S2: blocking the goods by the raised telescopic support mechanism, combined with the forward conveying force of the diagonal conveyor belt, so that the goods are output laterally and neatly arranged on one side of the telescopic support mechanism;
    步骤S3；待货物按照设定规律排列完成后，所述伸缩支撑机构下降使得排列成行的货物沿着所述传输装置继续前行；Step S3: After the goods are arranged according to the set law, the telescopic support mechanism is lowered so that the goods arranged in rows continue to move forward along the transmission device;
    步骤S4：多行货物整齐堆积在传输装置最前方的挡板处，满足设定数量要求时所述码垛模块对批量货物进行整体抓取和转移。Step S4: Multiple rows of goods are neatly stacked at the front baffle of the conveying device, and when the set quantity requirements are met, the palletizing module picks up and transfers the bulk goods as a whole.
PCT/CN2019/105446 2019-08-08 2019-09-11 Steering apparatus, transmission module, automatic stacking and conveying system and automatic stacking and conveying method WO2021022622A1 (en)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN201910730466.XA CN110482133A (en) 2019-08-08 2019-08-08 A kind of transfer
CN201910730064.XA CN110589428A (en) 2019-08-08 2019-08-08 Automatic stacking and conveying system and method
CN201921279413.2 2019-08-08
CN201921279412.8 2019-08-08
CN201910730064.X 2019-08-08
CN201921279413.2U CN210794585U (en) 2019-08-08 2019-08-08 Ball connecting piece of transmission band
CN201921279412.8U CN210794828U (en) 2019-08-08 2019-08-08 Conveying equipment applied to automatic stacking conveying system
CN201910730466.X 2019-08-08

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