CN106335793A - Stacking method for cuboid-shaped cargos and stacking device using stacking method - Google Patents
Stacking method for cuboid-shaped cargos and stacking device using stacking method Download PDFInfo
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- CN106335793A CN106335793A CN201610801046.2A CN201610801046A CN106335793A CN 106335793 A CN106335793 A CN 106335793A CN 201610801046 A CN201610801046 A CN 201610801046A CN 106335793 A CN106335793 A CN 106335793A
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
- B65G57/24—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
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- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention relates to a stacking technology for cuboid-shaped cargos, in particular to a stacking method for cuboid-shaped cargos and a stacking device using the stacking method. According to the stacking method for the cuboid-shaped cargos, the cargos are placed on a pallet which rotates around the center intermittently in the same placing direction and located on the fixed side of the pallet center, the pallet is rotated by 90 degrees in the same direction after each time of cargo stacking, then the next cargo is placed, and four cargos are placed on each layer of the pallet; and when the cargos of a certain layer are stacked on the pallet, the cargos are placed at the end, facing the rotation direction of the pallet, of the edge of a stacking zone close to one side of the placed cargos, and when the cargos of the layers adjacent to the layer are stacked, the cargos are placed at the other end, facing the direction opposite to the rotation direction of the pallet, of the edge of a stacking zone close to one side of the placed cargos. The stacking device using the stacking method comprises a stacking device rack, a vertical conveying part, a first horizontal conveying part, a second horizontal conveying part and a pallet holding device.
Description
Technical field
The present invention relates to the palletizing technology of rectangular-shaped goods, the palletizing method of specially a kind of rectangular-shaped goods and should
Palletizing apparatus with the method.A kind of palletizing method of described rectangular-shaped goods by goods the fixing side of tray center,
Interval is placed on the pallet of center rotating with identical placing direction, after each store items, pallet rotates to same direction
Next goods is placed again, 4 goods of every layer of placement on pallet, when piling up certain layer of goods on pallet, by goods after 90 degree
It is disposed close to arrangement of goods side and piles up regional edge along the one end towards pallet rotation direction, pile up in the layer adjacent with this layer
During goods, then goods is disposed close to arrangement of goods side and piles up regional edge along towards contrary another of pallet rotation direction
End.The palletizing apparatus of described application the method include palletizing apparatus frame, vertical direction transport portion, first level delivery section
Point, the second horizontal feed part and pallet backing device.
Background technology
The piling of rectangular-shaped goods occupies most quantity, the such as bobbin of woven bag packaging in piling demand
Yarn, grain, cement etc..Mainly there are revolute robot's automatic stacking machine, high-order automatic stacking machine and low level in the market certainly
Activity code stack machine.Revolute robot's automatic stacking machine, relatively costly it is adaptable to rate request is relatively low, required precision is higher, multi-thread
The occasion of piling, high-order and low level automatic stacking machine is applied to the piling with packing article.Existing stacking machine, typically in code
Before goods putting thing, using special direction-changing device, according to the method for piling up of design, adjust goods direction, then carry out piling,
This kind of apparatus structure is more complicated.When the cheese in the field of spinning is packed automatically, not high for piling rate request, using pass
Nodal pattern robot is relatively costly, and in this case, the stability improving its piling is even more important.
Content of the invention
To the deficiencies in the prior art, the technical problem to be solved in the present invention is to provide a kind of piling of rectangular-shaped goods
Method and the palletizing apparatus of application the method, apply this device can goods is tidily and orderly, stably pile up on pallet.
The present invention solves a kind of described solution of the palletizing method of rectangular-shaped goods, designs a kind of rectangular-shaped goods
The palletizing method of thing (hereinafter referred to as goods) is it is characterised in that goods is in the fixing side of tray center, with the identical side of putting
To being placed on interval on the horizontal square shape pallet of center rotating, and the length of goods is made to put down with pallet side with width
OK, during store items, pallet is static, and after store items, described pallet rotates 90 degree around its center to same direction each time
Place next goods more afterwards, 4 goods of every layer of placement on pallet, 4 goods outer edges of described every layer of placement surround one
Individual square piles up region；
When piling up certain layer of goods on pallet, pile up regional edge along direction by what goods was disposed close to arrangement of goods side
Goods in the layer store items adjacent with this layer, is then disposed close to arrangement of goods side by one end of pallet rotation direction
Pile up regional edge along towards the contrary other end of pallet rotation direction.Take mutually between the goods adjacent two layers being arranged so that
Connect, in the middle part of pallet, have some spaces, goods stable in placement.
The present invention solves:
Design a kind of palletizing apparatus it is characterised in that described palletizing apparatus apply a kind of described piling of rectangular-shaped goods
Method store items, described palletizing apparatus by palletizing apparatus frame, vertical direction transport portion, first level transport portion,
Two horizontal feed parts (described second horizontal direction is orthogonal with first level direction and vertical in vertical direction) and pallet
Backing device forms；Described palletizing apparatus frame is Frame Structure Componentry；
Described vertical direction transport portion includes vertical direction feed drive element, vertical direction conveying director element and erects
Straight conveying frame, the fixed component of described vertical direction feed drive element is arranged in palletizing apparatus frame, and vertical direction is defeated
The movable part sending driving element connects to vertical conveying frame, and the standing part that vertical direction conveys director element is in plummet
Direction is arranged in palletizing apparatus frame, and the movable part that vertical direction conveys director element is arranged in vertical conveying frame,
The movable part kink that vertical direction conveys director element conveys on the standing part of director element in vertical direction, with vertical side
The vertical conveying frame connecting to the movable part of conveying director element is in the movable part of vertical direction feed drive element
The standing part vertically conveying director element under driving does vertical direction up and down motion；
Described first level transport portion includes first level feed drive element, first level direction conveying director element
And horizontal feed frame, described horizontal feed frame is the Frame Structure Componentry of two-layer, described first level feed drive element
It is arranged in vertical conveying frame, the movable part of first level feed drive element connects to horizontal feed frame, first
The standing part of horizontal direction conveying director element is horizontally arranged at vertical conveying frame up and down motion in vertical conveying frame,
The movable part that first level direction conveys director element is arranged in horizontal feed frame, first level direction conveying guiding unit
The movable part kink of part conveys on the standing part of director element in first level direction, first level direction conveying guiding unit
(moving) direction of part (movable part) is parallel with vertical conveying frame length direction, is led with the conveying of first level direction with limiting
The drive lower edge of the movable part in first level feed drive element for the horizontal feed frame connecting to the movable part of element
The standing part that first level direction conveys director element does the motion of first level direction, and that is, horizontal feed frame conveys along vertical
Rack level length direction moves back and forth；
Described second horizontal feed part includes the second horizontal direction feed drive element, the second horizontal direction conveying guiding
Element and load-carrying device, described second horizontal direction feed drive element is arranged in horizontal feed frame, the second horizontal direction
The movable part of feed drive element is horizontally connected on load-carrying device, the movable part of the second horizontal direction feed drive element
Activity direction vertical with the length direction of vertical conveying frame, the standing part level of the second horizontal direction conveying director element
It is arranged in horizontal feed frame, the movable part that the second horizontal direction conveys director element is arranged on load-carrying device, second
The movable part kink that horizontal direction conveys director element conveys on the standing part of director element in the second horizontal direction, and second
Horizontal direction conveys the direction (the second horizontal direction conveys the direction of motion of director element movable part) and first of director element
The direction of horizontal feed director element is vertical, the load-carrying device that the movable part conveying director element with the second horizontal direction is connected
Under the drive of the movable part of the second horizontal direction feed drive element between two extreme positions, along and vertical conveyer
The horizontal direction that the length direction of frame is perpendicular moves, and described two extreme positions refer to away from the vertical limit position conveying frame
Put with close to the vertical extreme position conveying frame, described load-carrying device is to convey director element level by the second horizontal direction
Hang the plate-shaped member being arranged on below horizontal feed frame；
Described pallet backing device includes gripper shoe, roller, base plate and gripper shoe drive mechanism, described gripper shoe driving machine
Structure includes pallet backing device motor, worm gearing, pallet backing device bearing block, holding bearing and connecting shaft steel
Plate；Described base plate is one block of steel plate on the ground, and the center of base plate is provided with pallet backing device bearing block, pallet holding
Holding bearing is installed in assembly axis bearing, described gripper shoe is by the steel plate group covering one piece of " e " shape on the framework of " e " shape
Become, roller is circumferentially symmetrically mounted on the bottom of gripper shoe；Gripper shoe is located at the top of base plate and center plummet direction is upper and lower
Alignment, described connecting shaft steel plate is the steel plate in the hole symmetrical with 4 circumference, diagonal two holes of connecting shaft steel plate connect to
Fagging drive mechanism, in addition diagonal two holes connect to the bottom surface of gripper shoe, so, connecting shaft steel plate compensates for gripper shoe
Swing in the horizontal plane in rotation process, roller is pressed on base plate, and pallet backing device motor is filled by Worm Wheel System
Put and rotate around its central rotation through connecting shaft steel plate transmission support plate.Pallet backing device is located at vertical conveying frame load-carrying device institute
Side.
On the load-carrying device that first goods is transported to palletizing apparatus from pipeline, load-carrying device is defeated in vertical direction
The drive sending part is moved to suitable height, by goods movement to along the first water under the drive of first level transport portion
Square to the surface piling up position away from the nearlyer one end of goods pipeline, by goods under the drive of the second horizontal feed part
Unload, goods is piled up to holding to be had on the pallet backing device of empty pallet, next goods is piled up in load-carrying device reset wait,
Pallet backing device Ze Raoqi center ratates 90 degrees, and after next goods is transported to load-carrying device, load-carrying device is defeated by goods
Deliver to goods identical locus and piled up (piling device frame relatively), pile up 4 goods according to above-mentioned steps
After thing, palletizing apparatus complete piling up of one layer of goods, and when piling up next layer, the evolution of piling up of goods is along first level
Direction away from goods pipeline one end farther out, constantly piling up with goods, adjacent two layers goods pile up position along the first water
Square to away from goods pipeline is remote, near-end changes repeatedly.After piling up full goods on a pallet, land used cattle or fork truck are at " e "
Gripper shoe is left by carrying it after pallet jack-up in two clearance gap of gripper shoe.
Compared with prior art, the present invention, before store items, adjusts goods without using special direction-changing device
Direction, simplifies the structure of stacking machine.
Brief description
Fig. 1 be application a kind of palletizing method store items of rectangular-shaped goods of the present invention after a certain layer goods put position
Put schematic diagram.
Fig. 2 be application a kind of palletizing method store items of rectangular-shaped goods of the present invention after adjacent with goods shown in Fig. 1
The putting position schematic diagram of one layer of goods.
Fig. 3 is a kind of a kind of structural representation of embodiment of palletizing apparatus of rectangular-shaped goods of the present invention.
Fig. 4 is a kind of a kind of structure schematic front view of embodiment of palletizing apparatus of rectangular-shaped goods of the present invention.
Fig. 5 is a kind of a kind of structure left view schematic diagram of embodiment of palletizing apparatus of rectangular-shaped goods of the present invention.
Fig. 6 is that a kind of a kind of structure bottom of embodiment of palletizing apparatus of rectangular-shaped goods of the present invention regards schematic diagram.
In figure: 1. palletizing apparatus frame 2. vertical direction transport portion 21. vertical direction feed drive element 22. erects
Nogata vertically conveys the conveying of frame 25. pulley 3. first level to conveying director element 23. vertical direction roller bearing 24.
Part 30. first level conveys director element 31. first level feed drive element 32. horizontal guide rail 33. first level
Direction roller bearing 34. horizontal feed frame 4. second horizontal feed part, 41. cylinder, 42. slide block 43. optical axis guide rail 44.
Load-carrying device 45. keeps off goods part 5. pallet backing device, 51. gripper shoe, 52. roller, 53. base plate 54. pallet backing device
Motor 55. pallet backing device reductor, 56. pallet backing device bearing block 57. pallet backing device driven pulley 58.
The rectangular-shaped goods of connecting shaft steel plate 6. pallet 7.
Specific embodiment
A kind of present invention palletizing method of rectangular-shaped goods is given below and applies the concrete of the palletizing apparatus of the method
Embodiment, embodiment be only rectangular-shaped goods a kind of to the present invention palletizing method and application the method palletizing apparatus act
Example explanation, does not constitute limiting to the claimed invention, and the present invention does not address part and is applied to prior art.
The embodiment of the palletizing method of a kind of rectangular-shaped goods of the present invention: (referring to Fig. 1～2)
The palletizing method designing a kind of rectangular-shaped goods (hereinafter referred to as goods) is it is characterised in that have two using one
Goods 7 is piled up on foursquare pallet 6 by individual level, the load-carrying device of a plummet direction freedom of motion, and goods 7 is in support
The fixing side at disk 6 center, with identical placing direction be placed on interval on the horizontal square shape pallet of center rotating, and
Make the length of goods parallel with pallet side with width, on pallet (or on the goods on pallet) to put pallet during goods quiet
Only (not rotating), after each time goods being placed on pallet described pallet around its center to same direction (clockwise or
Next goods is placed again after counterclockwise) rotating 90 degree, 4 goods of every layer of placement on pallet, 4 goods of described every layer of placement
Beyond the region of objective existence edge surrounds a square and piles up region；
When placing certain layer of goods on pallet, as shown in figure 1, piling up area by what goods was disposed close to arrangement of goods side
The direction of goods at the lower left corner in Fig. 1 (or lower right corner) position, towards one end of pallet rotation direction, is pressed in domain edge every time
Goods is put in FIG at the lower left corner (or lower right corner) position；In the layer arrangement of goods adjacent with this layer, then goods is put
Put and piling up regional edge along towards the contrary other end of pallet rotation direction near arrangement of goods side, press Fig. 2 every time
At the middle lower right corner (or lower left corner) position, the direction of goods puts goods in fig. 2 at the lower right corner (or lower left corner) position.This
It is mutually lapped between the goods adjacent two layers that sample is placed, in the middle part of pallet, have some spaces, goods stable in placement.
The embodiment 1 (referring to Fig. 3～5) of the palletizing apparatus of application the method for the present invention:
Described palletizing apparatus by palletizing apparatus frame 1, vertical direction transport portion 2, first level transport portion 3, second
Horizontal feed part 4, pallet backing device 5 forms；Described palletizing apparatus frame 1 is to be welded by square tube (or angle steel, pipe etc.)
The Frame Structure Componentry of (or bolt fix)；
Described vertical direction transport portion 2 includes vertical direction feed drive element 21, vertical direction conveying director element
22 and vertical conveying frame 24, described vertical conveying frame 24 is rectangular Frame Structure Componentry, and described vertical direction is defeated
Send driving element 21 the first motor being mounted in palletizing apparatus frame 1 and the reductor being attached thereto, cylinder, pulley, steel
Cord hoisting structure (is not excluded for Telescopic-cylinder structure, motor, screw mandrel, nut structure or motor, sprocket wheel, chain, synchronization
Band, synchronous belt wheel structure), one end of steel wire rope is connected with described vertical conveying frame 24, and the other end of steel wire rope is arranged on rolling
On cylinder, the square tube that described vertical direction conveys two plummet directions that director element 22 is palletizing apparatus frame 1 both sides (is not excluded for
Two upright guide rails using being arranged in palletizing apparatus frame 1 plummet direction frame) and it is arranged on vertical conveying frame 24
Three pairs of vertical direction roller bearings 23 that two ends, the square tube along two plummet directions of palletizing apparatus frame 1 both sides are moved, wherein
Two pairs of vertical direction roller bearings are clamped in the both sides of two plummet direction square tubes 22, another to vertical direction roller bearing 23
In the inner side of two plummet direction square tubes, vertical direction roller bearing limits vertical conveying frame 24 can only be along palletizing apparatus machine for support
The square tube in two plummet directions of frame 1 both sides moves up and down, and vertical direction feed drive element 21 utilizes rope traction vertical
Conveying frame 24 is run up and down in plummet direction, is limited by conveying director element 22 and vertical direction roller bearing 23 in motor process
Make the degree of freedom of its horizontal direction；Director element can also be conveyed as vertical direction using guide rail slide block structure, slide block is pacified
It is contained in vertical conveying frame 24.
Described first level transport portion 3 includes first level feed drive element 31, first level conveying director element
30 and horizontal feed frame 34, described horizontal feed frame 34 is the frame structure of two-layer, described first level feed drive unit
The second motor that part 31 is mounted in vertical conveying frame 24 and the reductor being attached thereto, belt wheel, synchronous band structure (are not arranged
Except using motor, cylinder, steel cord structure, Telescopic-cylinder structure, motor, screw mandrel, nut structure or motor, sprocket wheel, chain knot
Structure), belt wheel is arranged on the two ends of the horizontal direction of vertical conveying frame, and Timing Belt length direction conveys frame length side along vertical
It is connected to arrangement and with described horizontal feed frame 34, described first level conveying director element 30 includes being arranged on vertical conveying
Two horizontal guide rails 32 in frame (can also be pasted as horizontal guide rail, or thereon with the frame of vertical conveying frame 24
One layer of wear-resistant plastic class material is as guide rail) and six first level direction roller bearings 33 of moving along horizontal guide rail (or adopt
Use guide rail slide block structure), first level direction roller bearing is arranged on one end of horizontal feed frame 34, wherein two the first water
Square way roller bearing hangs on the horizontal guide rail of upper strata, and two first level direction roller bearings are supported on lower floor's horizontal guide rail
On, two first level direction roller bearings then hook the one side away from horizontal feed frame 34 in upper strata horizontal guide rail, limit
The rotation of horizontal feed frame 34, horizontal feed frame 34 hangs over vertical conveying frame by first level direction roller bearing 33
On, and dragged along vertical conveying frame length direction reciprocating motion by first level feed drive element 31.
Described second horizontal feed part 4 includes the second horizontal direction feed drive element, the second horizontal direction conveying is led
To element and load-carrying device 44, described second horizontal direction feed drive element is to be horizontally arranged in horizontal feed frame 34
Cylinder 41 stretching structure (be not excluded for using motor, cylinder, steel cord structure, motor, screw mandrel, nut structure or motor, sprocket wheel,
Chain structure, or Timing Belt, synchronous belt wheel structure), the cylinder rod level of cylinder 41 is connected with load-carrying device 44, cylinder length side
To vertical with the length direction of vertical conveying frame, described second horizontal direction conveying director element is for being arranged on horizontal conveyer
Guide rail slide block structure (two horizontal optical axis guide rails 43 and kink are in the slide block 42 on optical axis guide rail 43) on frame 34, does not arrange
Except the second horizontal direction conveying director element using rolling wheel guide rails structure, rail length direction is put down with cylinder 41 length direction
OK, described load-carrying device 44 is to horizontally suspend to be arranged on the second horizontal direction conveying director element slide block 42 (or roller installing plate)
On plate-shaped member, load-carrying device be located at horizontal feed frame 34 lower section, cylinder 41 is as the second horizontal direction feed drive
Element drives load-carrying device 44 along second horizontal direction convey director element guide rail between two extreme positions, along with vertical
The horizontal direction that the length direction of conveying frame is perpendicular moves, and described two extreme positions refer to away from vertical conveying frame
Extreme position and the extreme position close to vertical conveying frame, when load-carrying device 44 is located remotely from the vertical limit position conveying frame
When putting, face is placed thereon by the goods (cheese of such as knitting bagged) of piling, when load-carrying device is by away from vertically defeated
During sending the extreme position of frame to move to the extreme position close to vertical conveying frame, the goods placed thereon is by level
Conveying frame 34 stops and can not move with load-carrying device, treats that load-carrying device moves adjacent to vertically convey the limit of frame
During position, goods thereon just falls on buttress.
Described pallet backing device 5 includes gripper shoe 51, roller 52, base plate 53 and gripper shoe drive mechanism, described base plate
53 is one block of steel plate on the ground, and the center of base plate 53 is provided with pallet backing device bearing block 56, pallet backing device
Holding bearing is installed in bearing block, horizontally disposed pallet backing device driven pulley 57 is installed to by the axle in plummet direction
In holding brearing bore；Pallet backing device reductor 55 (worm-gear speed reducer) and Timing Belt tensioning are provided with base plate 53
Wheel, pallet backing device motor 54 is horizontally arranged on pallet backing device reductor 55, and pallet backing device reductor 55 is defeated
Holding active synchronization belt wheel is provided with shaft, Timing Belt is enclosed within holding active synchronization belt wheel, tensioning wheel and pallet backing device
On driven pulley 57, by this structure, pallet backing device motor 54 is through dragging pallet backing device reductor 55 and holding for nationality
Active synchronization belt wheel drags pallet backing device driven pulley 57 and rotates, and pallet backing device motor 54, pallet backing device subtract
Fast machine 55, holding active synchronization belt wheel and pallet backing device driven pulley 57 constitute gripper shoe drive mechanism；
Described gripper shoe 51 is made up of the steel plate covering one piece of " e " shape on the framework of " e " shape, and 4 rollers 52 are in circle
It is symmetrically mounted on the bottom of gripper shoe 51 week；Gripper shoe 51 is located at top and the center plummet direction consistency from top to bottom of base plate 53,
The top surface of pallet backing device driven pulley 57 is connected with the bottom surface of gripper shoe 51 by connecting shaft steel plate 58, described connecting shaft steel plate 58
It is the steel plate in the hole symmetrical with 4 circumference, diagonal two holes of connecting shaft steel plate 58 connect driven to pallet backing device
The top surface of belt wheel 57, in addition diagonal two holes connect to the bottom surface of gripper shoe, so, connecting shaft steel plate 58 compensates for supporting
Swing in the horizontal plane in plate 51 rotation process, roller 52 is pressed on base plate 53, and pallet backing device motor 54 can drag
Gripper shoe 51 is around its central rotation.
Nationality is to place one piece of square support in gripper shoe 51 by this structure, the operation principle of palletizing apparatus of the present invention
Disk, vertical direction feed drive element 21 drives vertical conveying, and frame 24 moves up and down, first level feed drive element 31 drives
Dynamic horizontal feed frame 34 is moved horizontally to the position to load-carrying device arrangement of goods along horizontal guide rail 32, and cylinder 41 drives loading
The mobile extreme position extremely away from vertical conveying frame 24 of device, goods to be palletized is placed on load-carrying device 44, vertically
Direction feed drive element 21 drives vertical conveying frame 24 movement to be increased above the certain altitude of piling height, first level
Feed drive element 31 drives horizontal feed frame 34 to be moved horizontally to the position of store items, vertical direction along horizontal guide rail 32
Feed drive element 21 drives vertical conveying frame 24 movement to be reduced to height on buttress for the arrangement of goods, and cylinder 41 drives loading
Device 44 moves adjacent to vertically convey the extreme position of frame 24, and goods is piled up on buttress, and vertical direction conveying afterwards is driven
Dynamic element 21 drives vertical conveying frame 24 movement to be increased above the certain altitude of piling height, pallet backing device motor 54
Gripper shoe is driven to rotate an angle of 90 degrees, first level feed drive element 31 drives horizontal feed frame 34 along horizontal guide rail 32 level
Move to placing goods onto at the position of load-carrying device, load-carrying device 44 re-moves to away from the vertical pole conveying frame 24
Wait at extreme position and continue to repeat piling after again goods being placed on load-carrying device 44.
The embodiment 2 of the palletizing apparatus of application the method for the present invention:
In palletizing apparatus code described in embodiment 1, vertically conveying frame 24, first level transport portion 3, the second level are defeated
Part 4 is sent to move up and down together, they have larger quality, for the ease of reducing the drive of vertical direction feed drive element 21
Dynamic power, the corresponding each installation in the top one set of weights pulley vertically conveying frame 24 end positions in palletizing apparatus frame 1, and
It is part two counterweights of increase moving up and down using the two set of weights pulleys installed, two steel wire ropes and two counterweights, two
One end of steel wire rope is connected respectively to the vertical two ends conveying frame 24, and the other end connects to counterweight.
When goods changes in the size of load-carrying device moving direction, if horizontal feed frame 34 is in load-carrying device
Stop in the direction of motion that the position of goods is identical, put mutual extruding after goods piling can be caused or mutual gap becomes big, be
It is easy to adjust, install and vertical conveying frame length direction away from the end of vertical conveying frame in horizontal feed frame 34
(motion place plane) the parallel, flat-shaped part in plummet direction or frame-like part, as gear goods part 45, keep off goods part
Distance horizontal conveyer frame end apart from scalable, the change being occurred in load-carrying device moving direction size with compensatory goods,
The goods after piling is made not extrude, spacing is not again excessive.Certainly it is not excluded for using various sizes of load-carrying device 44 and level
Conveying frame 34 is in case change.
In order to improve the life-span of gripper shoe drive mechanism and its mechanical strength in pallet backing device 5, with axis plummet
Holding drives turbine to replace pallet backing device driven pulley 57, the worm screw of the output shaft connection of pallet backing device motor 54
(two ends are arranged in worm shaft bearing, and worm shaft bearing is arranged on base plate 53) is directly and holding drives turbine engaged transmission,
The gripper shoe drive mechanism driving-chain of so composition is shorter, more compact structure, and driving force is more greatly it is not excluded that adopt umbrella tooth
Other drive mechanism such as wheel, multi-stage gear.
The invention is not restricted to embodiment discussed above, those skilled in the art can infer other variants according to the present invention
Form, these variant forms fall within subject of the present invention.
Claims (8)
1. a kind of palletizing method of rectangular-shaped goods is it is characterised in that goods is in the fixing side of tray center, with identical
Placing direction is placed on interval on the horizontal square shape pallet of center rotating, and makes length and width and the pallet of goods
Side is parallel, and during store items, pallet is static, and after store items, described pallet rotates to same direction around its center each time
Next goods is placed again after 90 degree, 4 goods of every layer of placement on pallet, 4 goods outer edges of described every layer of placement enclose
A square is become to pile up region.
2. a kind of palletizing method of rectangular-shaped goods according to claim 1 is it is characterised in that pile up certain on pallet
Layer goods when, by goods be disposed close to arrangement of goods side pile up regional edge along towards pallet rotation direction one end,
During adjacent with this layer layer store items, then pile up regional edge along towards pallet by what goods was disposed close to arrangement of goods side
The contrary other end of rotation direction.
3. a kind of palletizing apparatus are it is characterised in that a kind of rectangular-shaped goods described in described palletizing apparatus application claim 1
Palletizing method store items, described palletizing apparatus are by palletizing apparatus frame, vertical direction transport portion, first level delivery section
Divide, the second horizontal feed part and pallet backing device form；Described palletizing apparatus frame is Frame Structure Componentry；
Described vertical direction transport portion includes vertical direction feed drive element, vertical direction conveys director element and vertically defeated
Send frame, described vertical conveying frame is rectangular Frame Structure Componentry, and vertical direction feed drive element drives are vertically defeated
Frame is sent to convey in vertical direction vertically moving under the restriction of director element；
Described first level transport portion includes first level feed drive element, first level direction conveying director element and water
Horizontal conveyor frame, described horizontal feed frame is Frame Structure Componentry, and horizontal feed frame is passed through the conveying of first level direction and led
It is arranged in vertical conveying frame to element and move back and forth along the vertical frame length direction that conveys；
Described second horizontal feed part includes the second horizontal direction feed drive element, the second horizontal direction conveying director element
And load-carrying device, described load-carrying device is to horizontally suspend by the second horizontal direction conveying director element to be arranged on horizontal conveyer
Plate-shaped member below frame；
Described pallet backing device includes gripper shoe, roller, base plate and gripper shoe drive mechanism, and described base plate is layered on ground for one piece
Steel plate on face, gripper shoe is located at top and the center plummet direction consistency from top to bottom of base plate, and roller is arranged under gripper shoe
Face is simultaneously pressed on base plate, and support driving mechanism connects gripper shoe and base plate, supports and drives gripper shoe to rotate.
4. a kind of palletizing apparatus according to claim 3 are it is characterised in that first level direction conveys the side of director element
Xiang Weiyu vertically conveys the parallel horizontal direction of frame length direction, and the direction that the second horizontal direction conveys director element is and the
The vertical horizontal direction in one horizontal feed director element direction.
5. a kind of palletizing apparatus according to claim 3 are it is characterised in that on the framework by " e " shape for the described gripper shoe
Cover the steel plate composition of one piece of " e " shape.
6. a kind of palletizing apparatus according to claim 3 are it is characterised in that in horizontal feed frame away from vertical conveyer
The end of frame is provided with the tabular gear goods part with vertically conveying frame place plane parallel, plummet direction, keeps off goods part
The distance of distance horizontal conveyer frame end is adjustable.
7. a kind of palletizing apparatus according to claim 3 are it is characterised in that described gripper shoe drive mechanism includes pallet support
Hold device motor, worm gearing, pallet backing device bearing block, holding bearing and connecting shaft steel plate, the center of base plate
Pallet backing device bearing block is installed, holding bearing is installed in pallet backing device bearing block, described connecting shaft steel plate is band
There is a steel plate in the symmetrical hole of 4 circumference, diagonal two holes of connecting shaft steel plate connect to gripper shoe drive mechanism, in addition diagonally
Two holes connect to the bottom surface of gripper shoe.
8. a kind of palletizing apparatus according to claim 3 are it is characterised in that corresponding in palletizing apparatus frame vertically convey
The top of frame end positions is each to install a set of weights pulley, and using the two set of weights pulleys installed, two steel wire ropes and two
Individual counterweight is that the part moving up and down increases by two counterweights, and one end of two steel wire ropes is connected respectively to the two of vertical conveying frame
End, the other end connects to counterweight.
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| CN201610801046.2A CN106335793A (en) | 2016-09-05 | 2016-09-05 | Stacking method for cuboid-shaped cargos and stacking device using stacking method |
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| CN201610801046.2A CN106335793A (en) | 2016-09-05 | 2016-09-05 | Stacking method for cuboid-shaped cargos and stacking device using stacking method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114308686A (en) * | 2022-03-16 | 2022-04-12 | 河北化工医药职业技术学院 | Logistics sorting and stacking system |
| CN114890173A (en) * | 2022-06-02 | 2022-08-12 | 未来机器人（深圳）有限公司 | Cargo loading method and device, computer equipment and storage medium |
| CN118458383A (en) * | 2024-07-03 | 2024-08-09 | 重庆宏声纸箱有限责任公司 | Intelligent stacking device and method for carton production |
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| CN114890173A (en) * | 2022-06-02 | 2022-08-12 | 未来机器人（深圳）有限公司 | Cargo loading method and device, computer equipment and storage medium |
| CN118458383A (en) * | 2024-07-03 | 2024-08-09 | 重庆宏声纸箱有限责任公司 | Intelligent stacking device and method for carton production |
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Application publication date: 20170118 |