CN118125199B - Double-line carton stacking device and working method thereof - Google Patents
Double-line carton stacking device and working method thereof Download PDFInfo
- Publication number
- CN118125199B CN118125199B CN202410460862.6A CN202410460862A CN118125199B CN 118125199 B CN118125199 B CN 118125199B CN 202410460862 A CN202410460862 A CN 202410460862A CN 118125199 B CN118125199 B CN 118125199B
- Authority
- CN
- China
- Prior art keywords
- pallet
- conveying line
- double
- carton
- cartons
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000010410 layer Substances 0.000 claims description 135
- 239000000463 material Substances 0.000 claims description 35
- 238000007405 data analysis Methods 0.000 claims description 24
- 238000007599 discharging Methods 0.000 claims description 24
- 239000011800 void material Substances 0.000 claims description 8
- 239000002355 dual-layer Substances 0.000 claims description 7
- 239000003086 colorant Substances 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 description 19
- 239000000123 paper Substances 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000007664 blowing Methods 0.000 description 4
- 239000002131 composite material Substances 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000011087 paperboard Substances 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H33/00—Forming counted batches in delivery pile or stream of articles
- B65H33/16—Forming counted batches in delivery pile or stream of articles by depositing articles in batches on moving supports
-
- 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
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
- B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
-
- 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
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/56—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections
- B65G47/57—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections for articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H31/00—Pile receivers
- B65H31/34—Apparatus for squaring-up piled articles
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0267—Pallets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/19—Specific article or web
- B65H2701/1944—Wrapping or packing material
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a double-line carton stacking device and a working method thereof, and relates to the field of stacking equipment. According to the double-line carton stacking device, the first conveying mechanism, the second conveying mechanism and the stacking mechanism are arranged, two carton conveying lines in the device share one group of stacking mechanism for stacking, and the two carton conveying lines share one automatic pallet machine, so that the cost is saved, the occupied area can be reduced, and the space utilization rate is improved.
Description
Technical Field
The invention relates to the field of stacking equipment, in particular to a double-line carton stacking device and a working method thereof.
Background
The paper box is used as the most widely used packaging product, and the adopted materials are different according to different application fields, so that the paper box is mainly used for protecting the wrappage.
At present, in order to improve the efficiency of carton production, an automatic production line is adopted, and the produced cartons are piled on a pallet, so that the subsequent treatment or piling is facilitated. At present, the most used carton stacking device is used for stacking, compared with manual stacking, the carton stacking device is used for stacking, so that not only is the precision higher, but also the labor cost is greatly reduced.
But every transfer chain of current carton pile up neatly device all need be equipped with a pile up neatly robot, leads to the existence area of carton pile up neatly device transfer chain great, and space utilization is low shortcoming.
Disclosure of Invention
The invention aims to provide a double-line carton stacking device and a working method thereof, which are used for solving the technical problems of large occupied area and low space utilization rate of a carton stacking device conveying line in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A two-wire carton palletizing device comprising: a first conveying mechanism, comprising: a first carton conveyor line for conveying cartons; the first sorting mechanism is arranged on one side of the discharge end of the first carton conveying line and is used for conveying a plurality of cartons after being shot uniformly; a first double-layer conveying line for conveying pallets; a second conveying mechanism, comprising: a second carton conveyor line for conveying cartons; the second sorting mechanism is arranged on one side of the discharge end of the second carton conveying line and is used for conveying a plurality of cartons after being shot uniformly; the second double-layer conveying line is used for conveying the pallet; the stacking mechanism is arranged between the first double-layer conveying line and the second double-layer conveying line; the control system is used for adjusting the running speeds of the first double-layer conveying line and the second double-layer conveying line after analysis and treatment according to the comprehensive information of the stacking cartons on the pallet; the stacking mechanism stacks the cartons which are shot by the first sorting mechanism on the top surface of the pallet on the first double-layer conveying line; the stacking mechanism stacks the plurality of cartons which are shot by the second sorting mechanism on the top surface of the pallet on the second double-layer conveying line.
Preferably, the first conveying mechanism further includes: the first material taking plate is arranged on one side of the discharge end of the first sorting mechanism and used for supporting a plurality of cartons which are uniformly beaten by the first sorting mechanism; the first pallet lifting conveying line is positioned between the first sorting mechanism and the first double-layer conveying line, can convey pallets in the vertical direction and the horizontal direction and is used for moving the pallets conveyed by the bottom conveying line of the first double-layer conveying line to the upper conveying line.
Preferably, the second conveying mechanism further includes: the second material taking plate is arranged on one side of the discharge end of the second sorting mechanism and used for supporting a plurality of cartons which are uniformly beaten by the second sorting mechanism; the second pallet lifting conveying line is positioned between the second sorting mechanism and the second double-layer conveying line, can convey pallets in the vertical direction and the horizontal direction and is used for moving the pallets conveyed by the bottom conveying line of the second double-layer conveying line to the upper conveying line.
Preferably, the palletizing mechanism comprises: a palletizing robot; and the clamp is arranged on the palletizing robot and used for clamping the cartons on the first material taking plate and the second material taking plate.
Preferably, the first double-layer conveying line includes: the middle position of the top of the first conveyor line is a first carton stacking and discharging point; the second section of the first conveying line is positioned at one side of the first section of the first conveying line far away from the first pallet lifting conveying line; and the first conveying line three sections are positioned on one side, far away from the first pallet lifting conveying line, of the second conveying line two sections.
Preferably, the first double-layer conveying line includes: the middle position of the top of the first conveying line is a first carton stacking and discharging point; the second conveying line second section is positioned at one side of the first conveying line section far away from the second pallet lifting conveying line; and the third section of the second conveying line is positioned on one side, far away from the second pallet lifting conveying line, of the second section of the second conveying line.
Preferably, the two-wire carton palletizing device further comprises an automatic pallet machine, the automatic pallet machine comprises: the pallet conveying platform is used for conveying pallets to the bottom layer conveying lines of the first double-layer conveying line and the second carton conveying line, and the middle position of the pallet conveying platform is a bottom layer pallet feeding point; the pallet shifting rod is arranged on the pallet conveying platform and can move along the pallet conveying platform; when the pallet shifting rod moves, the pallet on the pallet conveying platform is pushed to move.
Preferably, the control system includes: the data acquisition module is used for acquiring comprehensive information of the cartons to be conveyed after stacking on the pallet is completed, wherein the comprehensive information comprises the weight, the height and the volume of the cartons, friction coefficients between adjacent cartons, void ratios between adjacent cartons, inclination angles of stacking of the cartons and deformation rate of the pallet; the data analysis module is used for generating carton stacking stability coefficients according to the comprehensive information and judging and generating corresponding double-layer conveying line speed grades according to the carton stacking stability coefficients; the control module is used for controlling the conveying speeds of the first double-layer conveying line and the second double-layer conveying line according to the corresponding speed grades of the double-layer conveying lines; and the indicator lamp module is used for controlling the indicator lamps to emit light with different colors according to the speed grade of the double-layer conveying line.
Preferably, the speed level of the double-layer conveying line comprises a first-stage moving speed, a second-stage moving speed and a third-stage moving speed, wherein the first-stage moving speed, the second-stage moving speed and the third-stage moving speed are gradually decreased, and the third-stage moving speed is static; the generation mode of the speed grade of the double-layer conveying line is as follows: the method comprises the steps that a first threshold and a second threshold of the carton stacking stability coefficient are preset to be S 1 and S 2 respectively, and S 1＞S2 is preset; if the carton stacking stability coefficient is more than or equal to S 1, generating a first-stage moving speed by the data analysis module; if S 1 is larger than the carton stacking stability coefficient and is larger than or equal to S 2, the data analysis module generates a second-level moving speed; if the carton stacking stability coefficient is less than S 2, the data analysis module generates three-level moving speeds.
The working method of the double-line carton stacking device is characterized by comprising the following steps of: step one, pushing a pallet to move to a bottom layer conveying line of a first double-layer conveying line through a pallet shifting lever, or enabling the pallet shifting lever to push the pallet to move to the bottom layer conveying line of a second double-layer conveying line; step two, a first double-layer conveying line conveys the pallet to a first pallet lifting conveying line, and the first pallet lifting conveying line conveys the pallet to a first carton stacking and discharging point; the second double-layer conveying line conveys the pallet to a second pallet lifting conveying line, and the pallet is conveyed to a second carton stacking and discharging point by the second pallet lifting conveying line; step three, moving the cartons to a first sorting mechanism and a second sorting mechanism by a first carton conveying line and a second carton conveying line; step four, respectively leveling the side surfaces of the cartons through a first arranging mechanism and a second arranging mechanism, after leveling, conveying the cartons onto a first material taking plate through the first arranging mechanism, and conveying the cartons onto a second material taking plate through the second arranging mechanism; fifthly, stacking the cartons on the first material taking plate on the pallet positioned at the first carton stacking and discharging point by the stacking mechanism, and stacking the cartons on the second material taking plate on the pallet positioned at the second carton stacking and discharging point by the stacking mechanism; step six, a data acquisition module in the control system acquires comprehensive information of cartons to be conveyed after stacking on the pallet is completed, and sends the comprehensive information to a data analysis module; the data analysis module generates a carton stacking stability coefficient according to the comprehensive information, and then judges and generates a corresponding double-layer conveying line speed grade according to the carton stacking stability coefficient; the control module controls the conveying speeds of the first double-layer conveying line and the second double-layer conveying line according to the corresponding speed grades of the double-layer conveying lines; and seventhly, the first double-layer conveying line and the second double-layer conveying line respectively drive the two pallets to move, and then the pallets and the cartons on the pallets are forked by a forklift.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. According to the double-line carton stacking device, the first conveying mechanism, the second conveying mechanism and the stacking mechanism are arranged, two carton conveying lines in the device share one group of stacking mechanism for stacking, and the two carton conveying lines share one automatic pallet machine, so that the cost is saved, the occupied area can be reduced, and the space utilization rate is improved.
2. The control system provided by the invention can generate the carton stacking stability coefficient according to the comprehensive information data by arranging the data acquisition module, the data analysis module, the control module and the indicator lamp module, and compare the carton stacking stability coefficient with the carton stacking stability coefficient threshold value, if the carton stacking stability on the pallet is better, the double-layer conveying line is controlled to quickly convey the pallet and the cartons, and the production flow is accelerated while the stacking stability is kept, so that the overall production efficiency is improved; if the stacking stability of the cartons on the pallet is normal, the low-speed pallet and the cartons are controlled to be conveyed by the double-layer conveying line, and the collapse risk caused by unstable stacking is reduced by reducing the conveying speed; if the stability of carton pile up neatly on the pallet is relatively poor, then control double-deck transfer chain pause operation to send red light through the pilot lamp, remind the staff to arrange in order the carton on this pallet, with the stability that improves the carton, avoid the carton to take place to empty, thereby reduce material loss, also can avoid being pounded the staff by the carton, improved the security of workplace.
Drawings
FIG. 1 is a top view of a dual line carton palletizing device of the present invention;
FIG. 2 is a top view of the dual-line carton palletizing device under the carton moving path of the present invention;
fig. 3 is a front view of the dual-wire carton palletizing device of the present invention;
reference numerals: 100. a first conveying mechanism; 110. a first carton conveyor line; 120. a first finishing mechanism; 130. a first take-out plate; 140. a first pallet lifting conveyor line; 150. a first double-layer conveying line; 151. a first conveyor line segment; 1511. stacking and discharging points of the first cartons; 152. a second section of the first conveyor line; 153. a first conveyor line three sections; 200. a second conveying mechanism; 210. a second carton conveyor line; 220. a second finishing mechanism; 230. a second take-out plate; 240. a second pallet lifting conveyor line; 250. a second double layer conveyor line; 251. a second conveyor line segment; 2511. stacking and discharging points of the second cartons; 252. a second conveyor line second section; 253. a second conveyor line three sections; 300. a stacking mechanism; 310. a palletizing robot; 320. a clamp; 400. automatic pallet machine; 410. a pallet transport platform; 420. a bottom pallet feeding point; 430. a pallet shifting lever; 500. and (5) a forklift.
Detailed Description
In order that the manner in which the above recited features, objects and advantages of the present invention are obtained, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Based on the examples in the implementation manner, other examples obtained by a person skilled in the art without making creative efforts fall within the protection scope of the present invention.
Specific embodiments of the present invention are described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1-3, a dual-wire carton palletizing device includes a first conveying mechanism 100, a second conveying mechanism 200, a palletizing mechanism 300, and a control system.
The first conveyor mechanism 100 includes a first carton conveyor line 110, a first collating mechanism 120, and a first double-deck conveyor line 150. The first carton conveying line 110 is used for conveying cartons, and the first carton conveying line 110 is a roller conveying line; the first sorting mechanism 120 is installed at one side of the discharge end of the first carton conveying line 110, the first sorting mechanism 120 is used for conveying a plurality of cartons after being beaten up, the first sorting mechanism 120 is provided with two clamping plates, the two clamping plates can move along the length direction of the first sorting mechanism 120, and when the two clamping plates move towards opposite directions at the same time, the two clamping plates can align the side surfaces of the plurality of cartons; the first double-deck conveyor line 150 is used to convey pallets.
The second conveyor mechanism 200 includes a second carton conveyor line 210, a second collating mechanism 220, and a second double layer conveyor line 250. The second carton conveying line 210 is used for conveying cartons, and the second carton conveying line 210 is a roller conveying line; the second sorting mechanism 220 is installed at one side of the discharge end of the second carton conveying line 210, and the second sorting mechanism 220 is used for conveying a plurality of cartons after being shot uniformly; the second collating mechanism 220 has two jaws movable in the length direction of the second collating mechanism 220, which can align the sides of the plurality of cartons by moving in opposite directions at the same time, and the second double-layered conveyor line 250 is used for conveying pallets.
The palletizing mechanism 300 is mounted between the first dual-layer conveyor line 150 and the second dual-layer conveyor line 250; the control system is used for adjusting the running speed of the first double-layer conveying line 150 and the second double-layer conveying line 250 after analysis and processing according to the comprehensive information of the stacking cartons on the pallet.
Specifically, the stacking mechanism 300 stacks the plurality of cartons after the first sorting mechanism 120 is aligned on the top surface of the pallet on the first double-layer conveying line 150, and then the pallet and the cartons are driven to move by the first double-layer conveying line 150; the stacking mechanism 300 stacks the plurality of cartons after the second sorting mechanism 220 is aligned on the top surface of the pallet on the second double-layer conveying line 250, and the pallet and the cartons are driven to move by the second double-layer conveying line 250.
The first conveyor 100 also includes a first take out plate 130 and a first pallet lift conveyor line 140. The first material taking plate 130 is installed at one side of the discharging end of the first sorting mechanism 120 (the end close to the stacking mechanism 300 is the discharging end, and the end far away from the stacking mechanism 300 is the feeding end), and the first material taking plate 130 is used for supporting a plurality of cartons which are uniformly beaten by the first sorting mechanism 120; the first pallet lift conveyor line 140 is located between the first collating mechanism 120 and the first double-deck conveyor line 150, the first pallet lift conveyor line 140 can convey pallets from a vertical direction and a horizontal direction, and the first pallet lift conveyor line 140 is used for moving the pallets conveyed by the first double-deck conveyor line 150 onto an upper conveyor line.
Specifically, after the first sorting mechanism 120 aligns the sides of the cartons, the cartons are conveyed away from the first carton conveying line 110, so that the cartons are moved onto the first material taking plate 130, and the stacking mechanism 300 moves the cartons on the first material taking plate 130 to the top surface of the pallet located on the first double-layer conveying line 150.
The second conveyor 200 also includes a second take out plate 230 and a second pallet lift conveyor line 240. The second material taking plate 230 is installed at one side of the discharge end of the second sorting mechanism 220, and the second material taking plate 230 is used for supporting a plurality of cartons which are uniformly beaten by the second sorting mechanism 220; the second pallet lifting conveyor line 240 is located between the second sorting mechanism 220 and the second double-layer conveyor line 250, the second pallet lifting conveyor line 240 can convey pallets in the vertical direction and the horizontal direction, and the second pallet lifting conveyor line 240 is used for moving the pallets conveyed by the bottom layer conveyor line of the second double-layer conveyor line 250 onto the upper layer conveyor line.
Specifically, after the second sorting mechanism 220 aligns the sides of the cartons, the cartons are conveyed away from the second carton conveying line 210, so that the cartons are moved onto the second material taking plate 230, and the cartons on the second material taking plate 230 are moved onto the pallet top surface of the second double-layer conveying line 250 by the palletizing mechanism 300.
The palletizing mechanism 300 includes a palletizing robot 310 and a jig 320. The palletizing robot 310 is a six-axis robot; the jigs 320 are mounted on the palletizing robot 310, and the jigs 320 are used to clamp the cartons on the first and second loading plates 130 and 230.
The first two-layer conveyor line 150 includes a first conveyor line first section 151, a first conveyor line second section 152, and a first conveyor line third section 153.
The middle position of the top of the first conveyor line section 151 is a first carton stacking and discharging point 1511, and the length of the first conveyor line section 151 is 2 meters; the second section 152 of the first conveying line is located at one side of the first section 151 of the first conveying line far away from the first pallet lifting conveying line 140, and the length of the second section 152 of the first conveying line is 2 meters; the first third conveyor line segment 153 is located on a side of the second first conveyor line segment 152 remote from the first pallet lift conveyor line 140, and the length of the third conveyor line segment 153 is 2.5 meters.
The first two-layer conveyor line 150 includes a second conveyor line first section 251, a second conveyor line second section 252, and a second conveyor line third section 253.
The middle position of the top of the first section 251 of the second conveying line is a second carton stacking and discharging point 2511, and the length of the first section 251 of the second conveying line is 2 meters; the second conveying line second section 252 is located at one side of the second conveying line first section 251 away from the second pallet lifting conveying line 240, and the length of the second conveying line second section 252 is 2 meters; the second conveyor line three 253 is located on a side of the second conveyor line two section 252 remote from the second pallet elevation conveyor line 240, the length of the second conveyor line three section 253 being 2.5 meters.
The dual-wire carton palletizing device further includes an automatic pallet machine 400, the automatic pallet machine 400 including a pallet transport platform 410 and a pallet shifter 430. The pallet conveying platform 410 is used for conveying pallets to the bottom layer conveying lines of the first double-layer conveying line 150 and the second carton conveying line 210, and the middle position of the pallet conveying platform 410 is a bottom layer pallet feeding point 420; the pallet jack 430 is mounted to the pallet deck 410, and the pallet jack 430 is movable along the pallet deck 410.
Specifically, when the pallet shift lever 430 moves, the pallet on the pallet conveying platform 410 is pushed to move, so that the pallet moves in a direction approaching the first double-layer conveying line 150 or in a direction approaching the second double-layer conveying line 250.
Working principle: in particular use, by placing a pallet at the location of the bottom pallet loading point 420, the pallet pusher bar 430 is actuated to move the pallet pusher bar 430 along the pallet conveyor platform 410, thereby causing the pallet pusher bar 430 to push the pallet to move toward the bottom conveyor line of the first dual-layer conveyor line 150 or causing the pallet pusher bar 430 to push the pallet to move toward the bottom conveyor line of the second dual-layer conveyor line 250.
Then, the bottom layer transfer chain of first double-deck transfer chain 150 can drive the pallet to be close to the direction removal of first pallet lift transfer chain 140, and then make the pallet remove to first pallet lift transfer chain 140 on, upwards promote the pallet by first pallet lift transfer chain 140 again for the bottom height of pallet and the high adaptation of the upper conveying chain of first pallet lift transfer chain 140, when confirming first carton pile up neatly blowing point 1511 department no pallet, first pallet lift transfer chain 140 carries first carton pile up neatly blowing point 1511 department with the pallet.
Then, the bottom layer transfer chain of second double-deck transfer chain 250 can drive the pallet to be close to the direction removal of second pallet lift transfer chain 240, and then make the pallet remove to second pallet lift transfer chain 240 on, upwards promote the pallet by second pallet lift transfer chain 240 again for the bottom height of pallet and the high adaptation of the upper conveying chain of second pallet lift transfer chain 240, when confirming second carton pile up neatly blowing point 2511 department no pallet, second pallet lift transfer chain 240 carries second carton pile up neatly blowing point 2511 department with the pallet.
Then, the cartons are placed on the first carton conveying line 110 and the second carton conveying line 210, the cartons are moved to the first sorting mechanism 120 and the second sorting mechanism 220 by the first carton conveying line 110 and the second carton conveying line 210, the side surfaces of the cartons are respectively leveled by the first sorting mechanism 120 and the second sorting mechanism 220, the cartons are conveyed onto the first material taking plate 130 by the first sorting mechanism 120 after being leveled, and the cartons are conveyed onto the second material taking plate 230 by the second sorting mechanism 220.
Then, the stacking robot 310 and the clamp 320 cooperate to stack the cartons on the first material taking plate 130 on the pallet at the first carton stacking and discharging point 1511, stack the cartons on the second material taking plate 230 on the pallet at the second carton stacking and discharging point 2511, and after the stacking of the cartons on the pallet is completed, the first double-layer conveying line 150 and the second double-layer conveying line 250 are started to respectively drive the two pallets to move, and finally the forklift 500 forks away the pallets and the cartons on the pallets.
Two carton transfer chain in this device share a set of buttress mechanism 300 and pile up neatly, and two carton transfer chain share an automatic pallet machine 400, so not only practiced thrift the cost, can also reduce area.
In fig. 2 and 3 of the specification, the black arrow represents the moving direction of the carton, and the white arrow drives the moving direction of the pallet when no object is carried.
The device can also stack the paperboards.
Example 2
In the case where the other portions are the same as in embodiment 1, this embodiment differs from embodiment 1 in that:
The control system comprises a data acquisition module, a data analysis module, a control module and an indicator light module.
The data acquisition module is used for acquiring comprehensive information of cartons to be conveyed after stacking on the pallet is completed, wherein the comprehensive information comprises the weight, the height and the volume of the cartons, friction coefficients between adjacent cartons, the void ratio between the cartons, the inclination angle of the stacking of the cartons and the deformation rate of the pallet.
The data analysis module is used for generating carton stacking stability coefficients according to the comprehensive information and judging and generating corresponding double-layer conveying line speed grades according to the carton stacking stability coefficients;
The control module is used to control the transport speed of the first and second double-layer transport lines 150, 250 according to the corresponding double-layer transport line speed level.
The indicator lamp module is used for controlling the indicator lamps to emit light with different colors according to the speed grade of the double-layer conveying line.
The speed level of the double-layer conveying line comprises a primary moving speed, a secondary moving speed and a tertiary moving speed, wherein the primary moving speed, the secondary moving speed and the tertiary moving speed are gradually decreased, and the tertiary moving speed is static. The speed grade of the double-layer conveying line is the primary moving speed or the secondary moving speed, and the indicator lamp emits green light; and if the speed level of the double-layer conveying line is three-level moving speed, the indicator lamp emits red light.
The control system comprises the following working steps:
Step 100, receiving a first threshold and a second threshold of a carton stacking stability coefficient preset by a user, and marking the first threshold and the second threshold as S 1 and S 2 respectively, and S 1＞S2;
step 200, the data acquisition module acquires comprehensive information of cartons to be conveyed after stacking on the pallet is completed, and the comprehensive information is generated to the data analysis module;
step 300, a data analysis module generates a carton stacking stability coefficient according to the received comprehensive information and marks the carton stacking stability coefficient as S;
step 400, the data analysis module compares the carton stacking stability coefficient with a carton stacking stability coefficient threshold, and if the carton stacking stability coefficient is more than or equal to S 1, the data analysis module generates a first-stage moving speed; if S 1 is larger than the carton stacking stability coefficient and is larger than or equal to S 2, the data analysis module generates a second-level moving speed; if the carton stacking stability coefficient is less than S 2, at the moment, the data analysis module generates three-level moving speeds; then, the data analysis module sends the speed of the double-layer conveying line to the control module;
step 500, the control module controls the conveying speeds of the first double-layer conveying line 150 and the second double-layer conveying line 250 according to the received double-layer conveying line speed grade;
Step 600, controlling the lamp module to control the indicator lamps to emit light with different colors according to the speed grade of the double-layer conveying line, and emitting green light by the indicator lamps if the speed grade of the double-layer conveying line is the primary moving speed or the secondary moving speed; and if the speed level of the double-layer conveying line is three-level moving speed, the indicator lamp emits red light.
Among the above, the generating mode of the carton stacking stability coefficient is as follows:
wherein S is an output result of a carton stacking stability evaluation system, the value range of the S is (0, 1), the degree of stability is represented, and the closer to 1, the better the stability is represented; w is the average weight of the carton; v is the volume of the carton; μ is the coefficient of friction between the cartons; phi is the void fraction between the cartons; h is the height of the carton; θ is the inclination angle of the stacking of the cartons; delta is the deformation rate of the pallet; f max is the maximum load carrying capacity of the carton; f crit is the bearing capacity of the carton when the carton reaches a critical damage state in stacking; alpha is the influence coefficient of the environmental temperature and humidity on the stability, and is determined according to experimental data; t is the current ambient temperature; t ref is the reference ambient temperature; h is the current ambient humidity; h ref is the reference ambient humidity.
The above formula is explained as follows:
1. The basic structure is as follows:
This is a standard form of sigmoid function, where z is the internally calculated composite score and S is the final stability rating scale of (0, 1).
2. The composite score z is composed of:
z is composed of three parts, and the physical characteristics of the carton, the structural factors of stacking and the influence of environmental conditions on stability are respectively considered.
The first part is as follows:
the method considers positive factors such as weight w and volume v of the cartons, friction coefficient mu between adjacent cartons, void ratio phi between the cartons and the like, and the comprehensive influence of negative factors such as height h of the cartons, inclined angle theta of stacking and deformation rate delta of pallets. w.v.mu.reflects the physical properties of the carton itself and the contribution of friction properties to stability; (1-phi) means that the smaller the void fraction is, the better the stability is; h.theta.1+delta embody the adverse effects of pallet height, tilt and pallet deformation on stability.
The second part is:
The compression resistance of the cartons in stacking is evaluated through the ratio of the maximum bearing capacity f max of the cartons to the bearing capacity f crit of the cartons in a critical breaking state, and the larger the ratio is, the better the compression resistance of the cartons is, and the greater the contribution to stability is.
The third part is as follows:
This part takes into account the influence of the ambient temperature T and humidity H on the stability, and quantifies the negative effect of the ambient factors on the stability by comparison with the reference temperature T ref and the reference humidity H ref, and an influence coefficient α, the greater the influence on the stability when the ambient temperature and humidity deviate more from the reference value.
3. Final evaluation: the composite score z is converted into a stability evaluation index S by a sigmoid function. When the z value is larger, S approaches to 1, which means that the stability is good; when the z value is small, S approaches 0, indicating poor stability.
The control system generates a carton stacking stability coefficient according to comprehensive information data of cartons to be conveyed after stacking on the pallet, compares the carton stacking stability coefficient with a carton stacking stability coefficient threshold, and if S is more than or equal to S 1, the carton stacking stability on the pallet is good, an indicator light emits green light, a double-layer conveying line is controlled to quickly convey the pallet and the cartons, the stacking stability is maintained, and meanwhile, the production flow is accelerated, so that the overall production efficiency is improved;
If S 1＞S≥S2, the stability of stacking the cartons on the pallet is normal, the indicator lights emit green light, the double-layer conveying line is controlled to convey the pallet and the cartons at a low speed, and the collapse risk caused by unstable stacking is reduced by reducing the conveying speed;
if S is less than S 2, the stability of stacking the cartons on the pallet is poor, the double-layer conveying line is controlled to stop running, red light is emitted through the indicator lamp, workers are reminded of sorting the cartons on the pallet, so that the stability of the cartons is improved, the cartons are prevented from toppling over, material loss is reduced, the cartons are prevented from being smashed to the workers, and the safety of workplaces is improved; after finishing, the paper boxes on the pallet are conveyed through the double-layer conveying line.
The method for acquiring the friction coefficient mu between the cartons comprises the following steps: the friction test can be carried out on the surface of the paper box under the specified condition, when in test, one paper box sample is fixed on a testing machine, then the other paper box sample slides on the surface of the paper box sample at a certain speed, and meanwhile, the required force is measured; from the measured force and the weight of the sample, the coefficient of friction between adjacent cartons can be calculated.
The method for obtaining the void ratio phi between the cartons comprises the following steps: can be calculated by measuring the size of the cartons and the total volume of palletizing; firstly, measuring the length, width and height of each carton, then calculating the volume of a single carton, and then measuring the length, width and height of the whole stacking, so as to obtain the total stacking volume; finally, by comparing the sum of the volumes of the individual cartons with the difference in total volume of the stack, the void fraction can be calculated.
The acquisition mode of the inclination angle theta of the carton stacking comprises the following steps: the measuring instrument can be directly measured by using a level meter or an inclination angle measuring instrument, and the measuring instrument needs to be placed at a proper position of stacking during measurement, and the inclination angle value displayed on the instrument is read. Of course, image processing techniques can also be used to calculate the tilt angle indirectly by taking a photograph of the palletize and analyzing its geometry.
The method for obtaining the deformation rate delta of the pallet comprises the following steps: can be calculated by measuring the dimensional change of the pallet before and after loading; specifically, a sensor or a strain gauge is arranged at a key position of the pallet, and an initial reading of the sensor or the strain gauge is recorded; and then, applying a certain load to the pallet, recording the readings of the sensor or the strain gauge again, and finally, calculating the deformation rate of the pallet by comparing the difference of the readings before and after loading. Of course, optical measurement techniques or digital image correlation techniques, etc. may also be used to more accurately measure the pallet deformation rate.
Example 3
As shown in fig. 1-3, a working method of the double-line carton stacking device comprises the following steps:
Step one, placing a pallet at the position of a pallet loading point 420 on the bottom layer, and starting a pallet shifting lever 430, so that the pallet shifting lever 430 pushes the pallet to move towards the bottom layer conveying line of the first double-layer conveying line 150, or the pallet shifting lever 430 pushes the pallet to move towards the bottom layer conveying line of the second double-layer conveying line 250;
step two, conveying the pallet to a first pallet lifting conveying line 140 by a bottom layer conveying line of the first double-layer conveying line 150, and conveying the pallet to a first carton stacking and discharging point 1511 by the first pallet lifting conveying line 140;
The bottom layer conveying line of the second double-layer conveying line 250 conveys the pallet to the second pallet lifting conveying line 240, and the pallet is conveyed to the second carton stacking and discharging point 2511 by the second pallet lifting conveying line 240;
Step three, moving the cartons to the first sorting mechanism 120 and the second sorting mechanism 220 by the first carton conveying line 110 and the second carton conveying line 210;
step four, respectively leveling the side surfaces of the cartons through the first arranging mechanism 120 and the second arranging mechanism 220, after leveling, conveying the cartons onto the first material taking plate 130 by the first arranging mechanism 120, and conveying the cartons onto the second material taking plate 230 by the second arranging mechanism 220;
Fifthly, stacking the cartons on the first material taking plate 130 on the pallet positioned at the first carton stacking and discharging point 1511 by the stacking mechanism 300, and stacking the cartons on the second material taking plate 230 on the pallet positioned at the second carton stacking and discharging point 2511 by the stacking mechanism 300;
Step six, a data acquisition module in the control system acquires comprehensive information of cartons to be conveyed after stacking on the pallet is completed, and sends the comprehensive information to a data analysis module; the data analysis module generates a carton stacking stability coefficient S according to the comprehensive information, and then judges and generates a corresponding double-layer conveying line speed grade according to the carton stacking stability coefficient S; the control module controls the transport speeds of the first and second dual-layer transport lines 150, 250 according to the corresponding dual-layer transport line speed levels; if S is more than or equal to S 1, the stability of stacking the cartons on the pallet is good, so that the indicator lights emit green light, and the double-layer conveying line is controlled to rapidly convey the pallet and the cartons; if S 1＞S≥S2, the stability of stacking the cartons on the pallet is normal, so that the indicator lights emit green light, and the double-layer conveying line is controlled to convey the pallet and the cartons at a low speed; if S is smaller than S 2, the stability of stacking the cartons on the pallet is poor, the double-layer conveying line is controlled to stop running, red light is emitted through the indicator lamp, and workers are reminded of sorting the cartons on the pallet;
Step seven, the first double-layer conveying line 150 and the second double-layer conveying line 250 respectively drive the two pallets to move, and then the pallets and the cartons on the pallets are forked by the forklift 500.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (6)
1. A twin-wire carton palletizing device, comprising:
A first conveying mechanism (100), comprising:
A first carton conveyor line (110) for conveying cartons;
the first sorting mechanism (120) is arranged on one side of the discharge end of the first carton conveying line (110) and is used for conveying a plurality of cartons after being shot uniformly;
a first double-layer conveyor line (150) for conveying pallets;
The first material taking plate (130) is arranged on one side of the discharge end of the first sorting mechanism (120) and used for supporting a plurality of cartons which are beaten up by the first sorting mechanism (120);
The first pallet lifting conveying line (140) is positioned between the first sorting mechanism (120) and the first double-layer conveying line (150) and can be used for conveying pallets in the vertical direction and the horizontal direction and moving the pallets conveyed by the bottom-layer conveying line of the first double-layer conveying line (150) to the upper-layer conveying line;
a second conveying mechanism (200), comprising:
A second carton conveyor line (210) for conveying cartons;
the second sorting mechanism (220) is arranged on one side of the discharge end of the second carton conveying line (210) and is used for conveying a plurality of cartons after being shot uniformly;
a second double-layer conveyor line (250) for conveying pallets;
the second material taking plate (230) is arranged on one side of the discharge end of the second sorting mechanism (220) and used for supporting a plurality of cartons which are uniformly beaten by the second sorting mechanism (220);
A second pallet lifting conveyor line (240) located between the second sorting mechanism (220) and the second double-layer conveyor line (250), capable of conveying pallets in a vertical direction and a horizontal direction, and used for moving the pallets conveyed by the bottom layer conveyor line of the second double-layer conveyor line (250) onto the upper layer conveyor line;
A palletizing mechanism (300) mounted between the first double-layer conveyor line (150) and the second double-layer conveyor line (250);
The control system is used for adjusting the running speeds of the first double-layer conveying line (150) and the second double-layer conveying line (250) after analysis and processing according to the comprehensive information of the stacking cartons on the pallet; the control system includes:
The data acquisition module is used for acquiring comprehensive information of the cartons to be conveyed after stacking on the pallet is completed, wherein the comprehensive information comprises the weight, the height and the volume of the cartons, friction coefficients between adjacent cartons, void ratios among the cartons, inclination angles of stacking of the cartons and deformation rate of the pallet;
the data analysis module is used for generating carton stacking stability coefficients according to the comprehensive information and judging and generating corresponding double-layer conveying line speed grades according to the carton stacking stability coefficients;
A control module for controlling the transport speeds of the first (150) and second (250) double-layer transport lines according to the respective double-layer transport line speed levels;
the indicator lamp module is used for controlling the indicator lamps to emit light with different colors according to the speed grade of the double-layer conveying line;
the generation mode of the carton stacking stability coefficient is as follows:
The speed grade of the double-layer conveying line comprises a primary moving speed, a secondary moving speed and a tertiary moving speed, wherein the primary moving speed, the secondary moving speed and the tertiary moving speed are sequentially decreased, and the tertiary moving speed is static; the generation mode of the speed grade of the double-layer conveying line is as follows: the method comprises the steps that a first threshold and a second threshold of the carton stacking stability coefficient are preset to be S 1 and S 2 respectively, and S 1＞S2 is preset;
if the carton stacking stability coefficient is more than or equal to S 1, generating a first-stage moving speed by the data analysis module;
if S 1 is larger than the carton stacking stability coefficient and is larger than or equal to S 2, the data analysis module generates a second-level moving speed; if the carton stacking stability coefficient is less than S 2, at the moment, the data analysis module generates three-level moving speeds;
the stacking mechanism (300) stacks the cartons which are shot by the first sorting mechanism (120) on the top surface of the pallet on the first double-layer conveying line (150); the stacking mechanism (300) stacks the cartons after the second sorting mechanism (220) is shot on the pallet top surface of the second double-layer conveying line (250).
2. The dual-wire carton palletizing device according to claim 1, wherein the palletizing mechanism (300) comprises:
A palletizing robot (310);
And the clamp (320) is arranged on the palletizing robot (310) and is used for clamping cartons on the first material taking plate (130) and the second material taking plate (230).
3. The dual-wire carton palletizing device according to claim 2, wherein the first dual-layer conveyor line (150) comprises:
a first conveyor line section (151) with a first carton stacking and discharging point (1511) at the middle position of the top;
the first conveying line second section (152) is positioned at one side of the first conveying line first section (151) far away from the first pallet lifting conveying line (140);
and the first conveying line three section (153) is positioned on one side of the first conveying line two section (152) away from the first pallet lifting conveying line (140).
4. A two-wire carton palletizing device according to claim 3, characterized in that the first double-layer conveyor line (150) comprises:
A section (251) of the second conveying line, wherein the middle position of the top of the section is a second carton stacking and discharging point (2511);
a second conveyor line second section (252) located on a side of the second conveyor line first section (251) remote from the second pallet lift conveyor line (240);
and the second conveying line three section (253) is positioned on one side of the second conveying line two section (252) away from the second pallet lifting conveying line (240).
5. The dual-wire carton palletizing device according to claim 4, further comprising an automatic pallet machine (400), the automatic pallet machine (400) comprising:
The pallet conveying platform (410) is used for conveying pallets to the bottom layer conveying lines of the first double-layer conveying line (150) and the second carton conveying line (210), and the middle position of the pallet conveying platform is a bottom layer pallet feeding point (420);
a pallet toggle lever (430) mounted to the pallet transport platform (410) and movable along the pallet transport platform (410);
wherein, when the pallet shifting lever (430) moves, the pallet on the pallet conveying platform (410) is pushed to move.
6. A method of operating a twin-wire carton palletising apparatus as claimed in any one of claims 1 to 5, including the steps of:
step one, pushing a pallet to move to a bottom layer conveying line of a first double-layer conveying line (150) through a pallet shifting lever (430), or enabling the pallet shifting lever (430) to push the pallet to move to the bottom layer conveying line of a second double-layer conveying line (250);
Step two, a first double-layer conveying line (150) conveys the pallet to a first pallet lifting conveying line (140), and the first pallet lifting conveying line (140) conveys the pallet to a first carton stacking and discharging point (1511); the second double-layer conveying line (250) conveys the pallet to the second pallet lifting conveying line (240), and the pallet is conveyed to a second carton stacking and discharging point (2511) by the second pallet lifting conveying line (240);
step three, moving the cartons to a first sorting mechanism (120) and a second sorting mechanism (220) by a first carton conveying line (110) and a second carton conveying line (210);
Step four, respectively leveling the side surfaces of the cartons through a first arranging mechanism (120) and a second arranging mechanism (220), after leveling, conveying the cartons onto a first material taking plate (130) through the first arranging mechanism (120), and conveying the cartons onto a second material taking plate (230) through the second arranging mechanism (220);
Fifthly, stacking the cartons on the first material taking plate (130) on a pallet positioned at a first carton stacking and discharging point (1511) by a stacking mechanism (300), and stacking the cartons on the second material taking plate (230) on a pallet positioned at a second carton stacking and discharging point (2511) by the stacking mechanism (300);
Step six, a data acquisition module in the control system acquires comprehensive information of cartons to be conveyed after stacking on the pallet is completed, and sends the comprehensive information to a data analysis module; the data analysis module generates a carton stacking stability coefficient according to the comprehensive information, and then judges and generates a corresponding double-layer conveying line speed grade according to the carton stacking stability coefficient; the control module controls the conveying speed of the first double-layer conveying line (150) and the second double-layer conveying line (250) according to the corresponding double-layer conveying line speed grade;
and step seven, the first double-layer conveying line (150) and the second double-layer conveying line (250) respectively drive the two pallets to move, and then the pallets and the cartons on the pallets are forked by a forklift (500).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410460862.6A CN118125199B (en) | 2024-04-17 | 2024-04-17 | Double-line carton stacking device and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410460862.6A CN118125199B (en) | 2024-04-17 | 2024-04-17 | Double-line carton stacking device and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118125199A CN118125199A (en) | 2024-06-04 |
| CN118125199B true CN118125199B (en) | 2024-08-09 |
Family
ID=91231887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410460862.6A Active CN118125199B (en) | 2024-04-17 | 2024-04-17 | Double-line carton stacking device and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118125199B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021004121A (en) * | 2019-06-26 | 2021-01-14 | 株式会社前川製作所 | Transshipment device |
| CN216834625U (en) * | 2021-10-12 | 2022-06-28 | 秦翊自动化科技(上海)有限公司 | Automatic change clothes hanger packing discharging device that dries in air |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7780396B2 (en) * | 2005-10-27 | 2010-08-24 | Graphic Packaging International, Inc. | Automatic carton stacker/collator |
| CN104261078B (en) * | 2014-09-10 | 2016-06-01 | 青岛宝佳自动化设备有限公司 | Three pallet-free storehouse, piling position palletizing apparatus on a kind of piling transfer limes |
| DE102019113129B4 (en) * | 2019-05-17 | 2021-12-30 | Illinois Tool Works Inc. | PACKAGING MACHINE FOR ARRANGING ELEMENTS, PREFERABLY CARTONS, ON PALLETS, AND METHOD FOR DOING THIS |
| CN112645128A (en) * | 2019-10-12 | 2021-04-13 | 卢遥 | Four-side beating and aligning machine for manipulator stacking conveying line |
| CN112623701B (en) * | 2020-12-23 | 2024-07-19 | 广州达意隆包装机械股份有限公司 | Track-dividing and grouping stacking system and stacking method |
| CN217576959U (en) * | 2022-07-20 | 2022-10-14 | 苏州斯莱克精密设备股份有限公司 | High-speed full-automatic unstacker |
-
2024
- 2024-04-17 CN CN202410460862.6A patent/CN118125199B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021004121A (en) * | 2019-06-26 | 2021-01-14 | 株式会社前川製作所 | Transshipment device |
| CN216834625U (en) * | 2021-10-12 | 2022-06-28 | 秦翊自动化科技(上海)有限公司 | Automatic change clothes hanger packing discharging device that dries in air |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118125199A (en) | 2024-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1135201C (en) | Method for handling containers and means to carry out method for selecting desired position on stacking target | |
| TW213509B (en) | ||
| CN1077078C (en) | Method of and apparatus for depalletizing commodities | |
| CN111422630B (en) | Unstacking method of unstacking control device based on laser ranging guidance | |
| CN107790393A (en) | A kind of goods Automated Sorting System | |
| CN118125199B (en) | Double-line carton stacking device and working method thereof | |
| CN113526122A (en) | High breast board area cuts off freight train powder bag intelligence loading and unloading car production line | |
| CN115832406A (en) | Automatic assembling system and assembling method for battery stack | |
| CN112850186A (en) | 3D vision-based hybrid unstacking and stacking method | |
| CN206278689U (en) | A kind of piler peculiar to vessel is accurately positioned and transport control system | |
| CN1073956C (en) | Device for handling stacks of blanks | |
| CN109701885B (en) | 3C product size detection equipment | |
| CN105537141B (en) | A kind of plastic pallet mechanical strength detecting system | |
| CN212448410U (en) | Packaging integrated system based on spunlace non-woven industry | |
| KR102171867B1 (en) | Sorting apparatus for carrier breakage reduction | |
| US5097653A (en) | Verification system for detecting the presence and absence of an object | |
| ITMI20010609A1 (en) | AUTOMATED PALLET CONTROL SYSTEM | |
| US11603225B2 (en) | Article processing apparatus | |
| CN112875195B (en) | Logistics conveying device | |
| CN110844609B (en) | Pallet roller way stacking device and control method | |
| CN109720616B (en) | Case throwing and discharging device for packing case | |
| NO20210521A1 (en) | Container handler and method for handling a storage container | |
| CN217877550U (en) | Automatic detection device for seamless steel tube | |
| CN117228124B (en) | Transportation tray for commodity circulation and four-way shuttle | |
| EP2269925A1 (en) | Unload system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |