CN112850219A - Full-automatic material preparation tray-disassembling and loading system and loading method - Google Patents

Abstract

The full-automatic material preparation, disc removal and loading system comprises a material preparation system, a disc removal and arrangement system, a stacking and loading system, a tray recovery system, a tail disc recovery system, a vehicle and a vehicle guide limiting device; the material preparation system comprises a roller conveying device and a combined conveying device; the stacking loading system comprises a buffer storage arrangement device and a lifting stacking device; the tray recovery system comprises a roller conveying device and a combined conveying and tray recovery device; the tail disc recovery system comprises a roller conveying device, a chain conveying device, a combined conveying device and a stretch film packaging device; the tray disassembling and arranging system comprises a robot tray disassembling device, a cargo layer unstacking device, a high-speed belt conveying device, a module belt conveying device, a differential roller conveying device and a walking roller conveying device. The invention completely realizes automatic loading and unmanned loading, improves the production efficiency, saves labor and realizes the automation of production lines.

Description

Full-automatic material preparation tray-disassembling and loading system and loading method

Technical Field

The invention belongs to the technical field of logistics, and relates to a full-automatic material preparation, tray removal and loading system and a loading method.

Background

On production lines of paper making, food, chemical industry and the like, goods are generally loaded through manpower or a forklift in the prior art, the production efficiency is low, the labor cost is high, and the labor intensity is high. Along with the continuous improvement of industrialization, the requirement of production enterprises on automation is also continuously improved, the efficiency requirements of the preparation, loading, conveying and the like of bulk materials such as box-type materials and bag-type materials of food, chemical engineering and household paper stacked on a tray are higher and higher, and a brand-new automatic preparation, tray removal and loading mode is urgently needed to replace the original manual loading, so that the manpower is replaced, and the automation of the whole production line is realized.

Disclosure of Invention

The invention aims to provide a full-automatic material preparing, tray removing and truck loading system and a truck loading method, which replace manual work to realize automatic material preparing and quick loading of various box-type materials, bag-type materials and bulk materials stacked on a tray.

The invention realizes the technical scheme of the above purpose:

the full-automatic material preparation, disc removal and loading system comprises a material preparation system, a disc removal and arrangement system, a stacking and loading system, a tray recovery system, a tail disc recovery system, a vehicle and a vehicle guide limiting device; the material preparing system is in butt joint with the feeding station, the back of the material preparing system is in butt joint with the tray detaching and arranging system, the back of the tray detaching and arranging system is in butt joint with the stacking and loading system, the vehicle is introduced into the vehicle guide limiting device, and the tray detaching and arranging system and the stacking and loading system extend into the carriage through the traveling roller; the tray recovery system is arranged beside the tray disassembling and arranging system and used for carrying out tray recovery treatment on the empty trays treated by the tray disassembling and arranging system; the tail tray recovery system is arranged on the other side of the tray disassembling and arranging system, and the tail trays in the tray disassembling and arranging system are processed through the tail tray recovery system; the tray disassembling and arranging system comprises a robot tray disassembling device, a cargo layer unstacking device, a high-speed belt conveying device, a module belt conveying device, a differential roller conveying device and a walking roller conveying device, wherein the cargo layer unstacking device is in butt joint with the high-speed belt conveying device, the high-speed belt conveying device is in 90-degree butt joint with the module belt conveying device along the material conveying direction, the module belt conveying device is in butt joint with the differential roller conveying device, and the differential roller conveying device is in butt joint with the walking roller conveying device.

The stacking loading system comprises a buffer storage arrangement device and a lifting stacking device; the buffer finishing device and the lifting stacking device are connected through bolts, and the buffer finishing device and the lifting stacking device are in front-back butt joint along the material conveying direction.

The tray recovery system comprises a roller conveying device, a combined conveying device and a tray recovery device. The roller conveying device is in butt joint with a roller conveying mechanism in the combined conveying device along the material conveying direction, and the tray recovery device is arranged on the roller conveying device in a spanning mode.

The tail disc recovery system comprises a roller conveying device, a chain conveying device, a combined conveying device and a stretch film packaging device. The roller conveying device is in butt joint with a roller conveying mechanism in the combined conveying device, the chain conveying device is in butt joint with a chain conveying mechanism in the combined conveying device, the roller conveying device is arranged on one side of the combined conveying device, and the chain conveying device is arranged on one side of the combined conveying device at 90 degrees; the chain conveying device is in butt joint with the stretch film packaging device along the conveying direction.

The dish arrangement system is torn open to the robot, tear dish device open and include six manipulators, material snatch anchor clamps, air supply processing unit and mounting platform. The six-axis manipulator is installed on the installation platform through bolts, the material grabbing clamp is installed on the six-axis manipulator through bolts, and the air source processing unit provides an air source for a vacuum chuck in the material grabbing clamp.

The buffer storage sorting device comprises a buffer storage sorting device electric roller, a buffer storage sorting device driven roller, a buffer storage sorting device positioning mechanism, a buffer storage sorting device walking driving mechanism, a buffer storage sorting device walking roller and a buffer storage sorting device rack, wherein the buffer storage sorting device electric roller, the buffer storage sorting device driven roller, the buffer storage sorting device positioning mechanism and the buffer storage sorting device walking driving mechanism are arranged on the buffer storage sorting device rack through bolts; the electric roller and the driven roller of the buffer finishing device are respectively arranged between two side plates of the rack, and the positioning mechanism of the buffer finishing device is arranged on the side of the rack; the frame of the buffer finishing device is arranged on the walking roller of the buffer finishing device through a bolt.

In the stacking loading system, the lifting stacking device comprises a lifting stacking device lifting mechanism, a lifting stacking device electric roller, a lifting stacking device driven roller, a lifting stacking device swing frame, a lifting stacking device rack and a lifting stacking device walking roller, and the lifting stacking device lifting mechanism, the lifting stacking device electric roller, the lifting stacking device driven roller and the lifting stacking device swing frame are assembled on the lifting stacking device rack through bolts respectively; the lifting mechanism of the lifting stacking device is assembled below the lifting stacking device frame through bolts; the electric roller of the lifting stacking device, the driven roller of the lifting stacking device and the swing frame of the lifting stacking device are respectively assembled between two side plates of a frame of the lifting stacking device through bolts; the lifting stacking device frame is assembled on the lifting stacking device walking roller through a bolt.

The loading method of the full-automatic stock preparation tray-removing and loading system comprises the following steps:

s1, the vehicle is guided to enter a station to be arranged through a limiting guide device, a driving mechanism in the stacking processing system drives the stacking processing system and the walking roller conveying devices to enter the carriage to wait for conveying and loading of materials;

s2, conveying the stacked materials loaded with the belt trays to a tray disassembling device of the robot by using a roller conveying device;

s3, the robot tray detaching device detaches the stacked materials layer by layer, empty trays after tray detachment are conveyed to a tray recovery device through various conveying devices, and stacking recovery is carried out through a tray recovery system; conveying the residual tail trays after the carriage loading is finished to a stretch film packaging device through each conveying device, packaging the tail trays through the stretch film packaging device, and conveying the packaged tail trays to an appointed position; the palletized materials after being disbanded by the robot are conveyed to a processing station of a disbanded finishing system, and are comprehensively processed by a cargo bed unstacking device, a high-speed belt conveying device, a module belt conveying device, a differential roller conveying device and a walking roller conveying device, so that the single materials are conveyed into the palletizing processing system;

s4, the stacking processing system positions the separated single materials through a positioning device, the positioned materials are conveyed to a buffer storage arrangement device, the buffer storage arrangement device combines and shapes the single materials to enable the materials to meet the loading requirement of the carriage width, the shaped material layers are integrally conveyed to a lifting stacking device, the lifting stacking device swings at different angles through an inner swing frame to achieve low-level loading of the materials, and the lifting stacking device drives the materials to integrally lift through an inner lifting mechanism to achieve layer-by-layer height loading of the materials;

and S5, after stacking and loading the materials in the height direction, enabling the loaded materials to reach the height requirement of the carriage, enabling the lifting stacking device to retreat layer by layer through the traveling driving device, and loading the materials layer by layer while retreating layer by layer through the loading system to complete the loading of the whole carriage in the length direction, thereby completing the whole loading of the materials.

The invention has the following advantages: the automatic material preparing, tray removing and loading system can realize the shaping and recombination of stacked materials, so that the internal space of a carriage is utilized to the maximum extent; the automatic separation of the materials and the trays, the automatic recovery of the trays and the automatic packaging of the tail trays for loading the rest materials are finished through the robot tray detaching device; automatic stacking and loading of materials are achieved through the lifting stacking system, automatic loading is achieved completely, unmanned loading is achieved, production efficiency is improved, labor is saved, and automation of production lines is achieved.

Drawings

Fig. 1 is a top view of a fully automatic stock removal and racking system.

Fig. 2 is a perspective view of a full-automatic stock removal and loading system.

FIG. 3 is a schematic material flow diagram.

Fig. 4 is a front view of the roller conveyor.

Fig. 5 is a top view of the roller conveyor.

Fig. 6 is a left side view of the roller conveyor.

Fig. 7 is a front view of the chain conveyor.

Fig. 8 is a top view of the chain conveyor.

Fig. 9 is a front view of the combined conveying apparatus.

Fig. 10 is a top view of the modular conveyor.

Fig. 11 is a left side view of the combined conveying apparatus.

Fig. 12 is a front view of a chain conveying mechanism in the combined conveying apparatus.

Fig. 13 is a top view of the chain conveying mechanism in the combined conveying device.

Fig. 14 is a left side view of the chain conveying mechanism in the combined conveying apparatus.

Fig. 15 is a front view of a roller conveying mechanism in the combined conveying apparatus.

FIG. 16 is a top view of a roller conveyor mechanism in the modular conveyor assembly.

Fig. 17 is a front view of a swing jack in a modular conveyor apparatus.

FIG. 18 is a top view of the swing jack of the modular conveyor apparatus.

Fig. 19 is a left side view of the swing jack in the modular conveyor apparatus.

Fig. 20 is a front view of the tray recovery apparatus.

Fig. 21 is a left side view of the tray recovery apparatus.

Fig. 22 is a front view of a lifting member in the tray recovery apparatus.

Fig. 23 is a left side view of the lifting member in the pallet retrieval device.

Fig. 24 is a front view of the moving parts in the tray recovery apparatus.

Fig. 25 is a left side view of the moving part in the tray recovery apparatus.

Figure 26 is a front view of the clamp arm components of the tray retrieval device.

Figure 27 is a top view of the clamp arm members of the tray retrieval device.

Fig. 28 is a left side view of the gripper arm assembly in the tray retrieval apparatus.

Fig. 29 is an isometric view of a stretch film wrapping apparatus.

Fig. 30 is a front view of a rotary conveyance device in the stretch film wrapping apparatus.

Fig. 31 is a plan view of a rotary transport apparatus in the stretch film wrapping apparatus.

Fig. 32 is a side view of a robot palletizer axis.

Fig. 33 is an axial side view of a cargo layer unstacking apparatus.

Fig. 34 is a side view of a high speed belt conveyor shaft.

FIG. 35 is a side view of a modular belt conveyor shaft.

FIG. 36 is an isometric view of a differential roller conveyor.

Fig. 37 is a side view of the shaft of the telescopic roller conveyor.

Fig. 38 is an isometric view of a cache organization device.

Fig. 39 is a side view of the lift palletiser shaft.

In the figure: 101. the automatic stacking system comprises a roller conveying device, 102 a combined conveying device, 103 a cargo layer unstacking device, 104 a high-speed belt conveying device, 105 a robot stacking device, 106 a module belt conveying device, 107 a differential roller conveying device, 108 a high-position roller conveying device, 109 a middle-position walking roller conveying device, 110 a low-position walking roller conveying device, 111 a vehicle limiting device, 112 a material buffer storage and arrangement device and 113 a lifting stacking device; 114. a carriage, 115, a tray recovery device, 116, a chain conveying device, 117, a stretch film packaging device; 118. 119, single-layer material and 120, single-row material to be loaded; 121. single material, 122, single layer material to be stacked, 123, empty tray, 124, empty tray stack; 125. packing the tail disc materials, 126, packing the tail disc materials, 127, stacking the materials in a whole layer, and 128, stacking the materials in a whole vehicle; 201. roller conveyor supporting legs 202, roller conveyor frames 203, roller conveyor rollers 204 and roller conveyor driving mechanisms; 301. a chain conveying device driving mechanism 302, a chain conveying device driving chain 303, a chain conveying device rack 304 and a chain conveying device return chain wheel; 401. 402, 403, a swing lifting mechanism; 501. a chain conveying mechanism, namely a rack 502, a chain conveying mechanism driving device 503, a chain conveying mechanism driving chain 504, a chain conveying mechanism chain wheel; 601. a roller conveying mechanism driving device 602, a roller conveying mechanism driving chain 603, a roller conveying mechanism roller 604 and a roller conveying mechanism frame; 701. a swing lifting mechanism support 702, a swing lifting mechanism frame 703, a swing lifting mechanism cylinder driving component; 801. lifting part, 802 moving part, 803 clamping arm part; 901. lifting chain, 902, lifting guide rail, 903, lifting driving device and 904, lifting frame; 1001. the horizontal chain, 1002, the linear guide rail pair, 1003, the movable rack, 1004, the horizontal driving device, 1005, the lifting guide wheel; 1101. the clamp arm comprises a clamp arm pull lug, 1102 clamp arm racks, 1103 linear guide rail auxiliary mounting plates, 1104 telescopic springs, 1105 telescopic lifting rods; 1201. a stretching film packaging device lifting driving mechanism, 1202, a stretching film packaging device lifting guide rail pair, 1203, a stretching film packaging device rack, 1204, a stretching film packaging device film rack, 1205, a stretching film packaging device film rack driving mechanism, 1206, a stretching film packaging device pressing mechanism, 1207, a stretching film packaging device rotary conveying device; 1301. the rotary conveying device comprises a rotary conveying device return chain wheel 1302, a rotary conveying device conveying driving mechanism 1303, an upper rack of the rotary conveying device 1304, a rotary conveying device conveying roller 1305, a rotary conveying device rotary support 1306, a rotary conveying device rotary driving mechanism 1307, a lower chassis of the rotary conveying device 1308 and a rotary conveying device transition mechanism; 1401. vacuum chuck, 1402, robot gripper, 1403, six-axis robot; 1501. the device comprises an upper rack of a cargo layer unstacking device, 1502, an electric roller of the cargo layer unstacking device, 1503, a driven roller of the cargo layer unstacking device, 1504, a driving mechanism of the cargo layer unstacking device, 1505, and a lower rack of the cargo layer unstacking device; 1601. a high-speed belt conveyor rack, 1602, a high-speed belt conveyor electric roller, 1603, a high-speed belt conveyor conveying belt, 1604, a high-speed belt conveyor driven roller; 1701. a module belt conveyor frame, 1702, module belt conveyor legs, 1703, a module belt of a module belt conveyor, 1704, a module belt conveyor drive mechanism, 1705, a module belt conveyor driven roller; 1801. a differential roller conveying device rack 1802, a differential roller conveying device supporting leg 1803, a differential roller conveying device electric roller 1804, a differential roller conveying device driven roller; 1901. the telescopic roller conveying device comprises a telescopic roller conveying device rack, 1902, a walking roller conveying device walking roller, 1903, a walking roller conveying device electric roller and 1904, a walking roller conveying device driven roller; 2001. the buffer finishing device comprises an electric roller of a buffer finishing device, 2002 driven rollers of the buffer finishing device, 2003 positioning mechanisms of the buffer finishing device, 2004 walking driving mechanisms of the buffer finishing device, 2005 walking rollers of the buffer finishing device, 2006 racks of the buffer finishing device; 2101. the automatic stacking machine comprises a lifting mechanism of the lifting stacking device, 2102, 2103, a driven roller of the lifting stacking device, 2104, a swing frame of the lifting stacking device, 2105, a rack of the lifting stacking device and 2106, a walking roller of the lifting stacking device.

Detailed Description

The invention will be further described with reference to the following examples.

As shown in fig. 1 and 2, the full-automatic material preparation and loading system comprises a roller conveying device 01, a material 02 with a tray, a combined conveying device 03, a robot stacking device 04, a tray separating device 05, a chain conveying device 06, a tray recycling device 07, a material 08 without a tray, a mobile docking device 09, a material 010 finished to be stacked, a material 011 finished to be shaped, an automatic loading device 012 and a carriage 013.

As shown in fig. 3, a material flow diagram shows that a whole stack of belt tray materials 118 is subjected to whole-layer tray removal by a robot tray removal device 105, a single-layer material 119 subjected to tray removal is separated into single-row materials 120 by a cargo layer unstacking device 103 and a high-speed belt conveying device 104, the separated single-row materials 120 are redirected by a module belt conveyor 106 at 90 degrees, the redirected single-row materials 120 are separated into independent single materials 121 by a differential roller conveying device 107, the single independent materials 121 are conveyed into a buffer storage arrangement device 112 by a high-position roller conveying device 108, a middle-position walking roller conveying device 109 and a low-position walking roller conveying device 110 for shaping and arrangement, the single materials 121 are combined into three rows of material layers 122 with proper width by the buffer storage arrangement device 112, the shaped material layers 122 are stacked layer by layer in the height direction by a lifting and stacking device 113, so that the materials reach the loading height of a carriage 114, after the loading of the whole floor height is finished, the lifting stacking device 113 carries out the loading while retracting, so that the loading of the whole compartment is finished, and the material stack type 128 of the finished vehicle is finally formed.

As shown in fig. 4, 5, and 6, the roller conveyor 101 includes a roller conveyor leg 201, a roller conveyor frame 202, a roller conveyor drum 203, and a roller conveyor drive 204. The roller conveyer roller 203 and the roller conveyer driving device 204 are arranged on the roller conveyer frame 202, the roller conveyer frame 202 and the roller conveyer supporting legs 201 are assembled, the roller conveyer roller 203 is driven by the roller conveyer driving device 204 to enable the roller conveyer roller 203 to rotate, and after materials enter the roller conveyer roller 203, the materials are conveyed back and forth through rolling friction between the roller conveyer roller 203 and the materials.

As shown in fig. 7 and 8, the chain conveyor 116 includes a chain conveyor driving mechanism 301, a chain conveyor driving chain 302, a chain conveyor frame 303, and a chain conveyor return sprocket 304. The chain conveying device driving mechanism 301 is installed on a chain conveying device rack 303, and the materials are conveyed along the chain direction through the driving of the chain conveying device driving mechanism 301, the chain conveying device driving chain 302 and the chain conveying device chain wheel 304.

As shown in fig. 9, 10, and 11, the combined conveying apparatus 102 includes a first chain conveying mechanism 401, a first roller conveying mechanism 402, and a swing elevating mechanism 403. The first roller conveying mechanism 402 is arranged on a swinging lifting mechanism rack 702 on a swinging lifting mechanism 403, the first chain conveying mechanism 401 is arranged on a swinging support 701 of the swinging lifting mechanism 401, and a swinging lifting mechanism cylinder driving part 703 drives the swinging support 701 of the swinging lifting mechanism to lift up and down so as to drive the first chain conveying mechanism 401 to lift up and down; the conveying directions of the first roller conveying mechanism 402 and the first chain conveying mechanism 401 are arranged at 90 degrees, when the first chain conveying mechanism 401 is located at the lowest position, the conveying surface of the first roller conveying mechanism 402 is higher than the conveying surface of the first chain conveying mechanism 401, materials are conveyed onto the combined conveying device 102 through the first roller conveying mechanism 402, when the materials are stopped stably, the first chain conveying mechanism 401 is driven to ascend by the swinging lifting mechanism 403, so that the materials on the first roller conveying mechanism 402 are lifted on the first chain conveying mechanism 401, the materials are separated from the conveying surface of the first roller conveying mechanism 402, at the moment, the first chain conveying mechanism 401 is conveyed through the first chain conveying mechanism driving device 502 and the first chain conveying mechanism driving chain 503 in a matched mode, the materials on the first chain conveying mechanism 401 are conveyed along the chain conveying direction, and 90-degree redirection conveying of the materials is achieved.

As shown in fig. 12, 13 and 14, the first chain conveying mechanism 401 includes a frame 501 of the chain conveying mechanism, a driving device 502 of the chain conveying mechanism, a driving chain 503 of the chain conveying mechanism, and a chain wheel 504 of the chain conveying mechanism; the first chain conveying mechanism driving device 502 is installed on the first chain conveying mechanism rack 501, and the materials are conveyed along the chain direction through the driving of the first chain conveying mechanism driving device 502, the first chain conveying mechanism driving chain 503 and the first chain conveying mechanism chain wheel 504.

As shown in fig. 15 and 16, the first roller conveying mechanism 402 includes a driving device 601 of the roller conveying mechanism, a driving chain 602 of the roller conveying mechanism, a roller 603 of the roller conveying mechanism, and a frame 604 of the roller conveying mechanism; the roller conveying mechanism-roller 603 and the roller conveying mechanism-driving device 601 are arranged on the roller conveying mechanism-roller frame 604, the roller conveying mechanism-roller frame 604 is assembled with the 1 swing lifting mechanism frame 702, the roller conveying mechanism-roller 603 is driven by the roller conveying mechanism-driving device 601 to enable the roller conveying mechanism-roller 603 to rotate, and when materials enter the roller conveying mechanism-roller 603, the materials are conveyed back and forth through rolling friction between the roller conveying mechanism-roller 603 and the materials.

As shown in fig. 17, 18, and 19, the swing lifting mechanism 403 includes a swing lifting mechanism support 701, a swing lifting mechanism frame 702, and a swing lifting mechanism cylinder driving member 703;

as shown in fig. 20, 21, and 22, the tray recovery device 115 includes a lifting member 801, a moving member 802, and a grip arm member 803.

As shown in fig. 23 and 24, the lifting member 801 includes a lifting chain 901, a lifting rail 902, a lifting drive 903, and a lifting frame 904;

as shown in fig. 25 and 26, the moving member 802 includes a horizontal chain 1001, a linear guide pair 1002, a moving frame 1003, a horizontal driving device 1004, and a lifting guide 1005;

as shown in fig. 27, 28, and 29, the arm member 803 includes an arm pulling lug 1101, an arm frame 1102, a linear guide sub-mounting plate 1103, a telescopic spring 1104, and a telescopic lift bar 1105.

In the tray recovery device 115, a linear guide pair 1002 in a moving member 802 is mounted on a linear guide pair mounting plate 1103 in a gripper member 803, the moving member 802 is connected by a lifting chain 901 in a lifting member 801, and is fixed on a lifting guide 902 by a lifting guide 1005 in the moving member 802, and the moving member 802 and the gripper member 803 are moved up and down by driving the lifting chain 901 by a lifting driving device 903; the horizontal chain 1001 in the moving component 802 is fixed with the clamping arm pulling lug 1101 in the clamping arm component 803, and the horizontal driving device 1004 and the horizontal chain 1001 draw the clamping arm component 803 to horizontally move along the linear guide rail pair 1002; when arm lock part 803 level clamp tightly, the support column of tray can be contacted to partial flexible lift bar 1105, flexible lift bar 1105 compression is popped out, detection device through detecting popping out of flexible lift bar 1105, confirm whether the tray presss from both sides tightly targets in place, all the other flexible lift bar 1105 that do not touch female tray support column deepens in female tray collet gap, through the lift of lifting means 801, make the bottom space leave, wait for the arrival of next tray, thereby realize that the whole pile up neatly of tray is retrieved.

As shown in fig. 29, the stretch film wrapping apparatus 117 includes a stretch film wrapping apparatus lifting drive mechanism 1201, a stretch film wrapping apparatus lifting linear guide pair 1202, a stretch film wrapping apparatus frame 1203, a film frame mechanism 1204, a film frame drive mechanism 1205, a sheet pile press mechanism 1206, and a rotary transport apparatus 1207.

As shown in fig. 30 and 31, the rotary transport device includes a rotary transport device sprocket 1301, a rotary transport device transport driving mechanism 1302, a rotary transport device upper frame 1303, a rotary transport device transport roller 1304, a rotary transport device turning mechanism 1305, a rotary transport device rotary driving mechanism 1306, and a rotary transport device lower frame 1307.

The tail disc 125 is conveyed to the stretch film packaging device 117 through the chain conveying device 116, the roller conveying device 101 and the combined conveying device 102, the stretch film packaging device rotary conveying device 1207 drives the tail disc 125 to rotate in situ, meanwhile, a winding film on the film frame mechanism 1204 is wrapped on the tail disc 125, the film frame mechanism 1204 is driven by the stretch film packaging device lifting driving mechanism 1201 to move up and down along the stretch film packaging device lifting linear guide rail pair 1202 when the tail disc 125 rotates, so that the tail disc 125 is wrapped up and down comprehensively, and the tail disc 126 after wrapping is conveyed to a specified position through the stretch film packaging device rotary conveying device 1207 and the roller conveying device 101.

As shown in fig. 32, the robot tray detaching device 105 includes a vacuum chuck 1401, a chuck holder 1402, and a six-axis robot 1403. Wherein vacuum chuck 1401 installs on sucking disc anchor clamps 1402, and sucking disc anchor clamps 1402 installs on six axis robot 1403, treats the pile up neatly material through vacuum chuck 1401 absorption, and the compound motion of six axis robot 1403 of rethread to will treat pile up neatly material sign indicating number on differential roller conveyor, realize whole layer of whole pile up neatly material and tear dish etc. operation open.

As shown in fig. 33, the cargo layer unstacking apparatus 103 includes a cargo layer unstacking apparatus upper frame 1501, a cargo layer unstacking apparatus electric roller 1502, a cargo layer unstacking apparatus driven roller 1503, a cargo layer unstacking apparatus driving mechanism 1504, and a cargo layer unstacking apparatus lower frame 1505. The electric roller 1502 of the cargo layer unstacking device and the driven roller 1503 of the cargo layer unstacking device are arranged on an upper rack 1501 of the cargo layer unstacking device, the driving mechanism 1504 of the cargo layer unstacking device is arranged between the upper rack 1501 of the cargo layer unstacking device and a lower rack 1505 of the cargo layer unstacking device, and the driving mechanism 1504 of the cargo layer unstacking device drives the upper rack 1501 of the cargo layer unstacking device to swing up and down through an internal pneumatic system to be used for butting subsequent equipment.

As shown in fig. 34, the high-speed belt conveyor 104 includes a high-speed belt conveyor electric roller 1601, a high-speed belt conveyor driven roller 1602, a high-speed belt conveyor belt 1603, and a high-speed belt conveyor frame 1604. The high-speed belt conveyor electric roller 1601, the high-speed belt conveyor driven roller 1602 and the high-speed belt conveyor conveying belt 1603 are installed on the high-speed belt conveyor frame 1604, and the high-speed belt conveyor frame 1604 and the high-speed belt conveyor supporting leg 1605 are assembled and connected through bolts.

As shown in fig. 35, the modular belt conveyor 106 includes a modular belt conveyor frame 1701, a modular belt conveyor module belt 1702, a modular belt conveyor driven roller 1703, a modular belt conveyor drive mechanism 1704, and modular belt conveyor legs 1705. The module belt conveyor module belt 1702, the module belt conveyor driven roller 1703, and the module belt conveyor drive mechanism 1704 are mounted on the module belt conveyor frame 1701, and the module belt conveyor frame 1701 and the module belt conveyor legs 1705 are assembled and coupled by bolts.

As shown in FIG. 36, the differential roller conveyor 107 includes a differential roller conveyor frame 1801, a differential roller conveyor motorized roller barrel 1802, a differential roller conveyor driven roller barrel 1803, and differential roller conveyor legs 1804. The differential roller conveyor electric bowl 1802 and the differential roller conveyor driven bowl 1803 are mounted on a differential roller conveyor frame 1801, and the differential roller conveyor frame 1801 and the differential roller conveyor legs 1804 are assembled and coupled by bolts.

As shown in fig. 37, the walking roller conveyor 109 includes a walking roller conveyor walking roller 1901, a walking roller conveyor electric roller 1902, a walking roller conveyor driven roller 1903, a walking roller conveyor frame 1904, and a walking roller conveyor guide plate 1905. The electric roller 1902 of the walking roller conveyor, the driven roller 1903 of the walking roller conveyor, and the guide plate 1905 of the walking roller conveyor are mounted on a frame 1904 of the walking roller conveyor, and the frame 1904 of the walking roller conveyor and the walking roller conveyor 1901 of the walking roller conveyor are assembled and coupled by bolts.

As shown in fig. 38, the buffer finishing device 112 includes a first buffer finishing device electric roller 2001, a second buffer finishing device electric roller 2002, a second buffer finishing device driven roller 2003, a first buffer finishing device positioning mechanism 2004, a buffer finishing device traveling roller 2005, a buffer finishing device traveling driving mechanism 2006, a buffer finishing device rack 2007, a buffer finishing device side positioning mechanism 2008, a buffer finishing device end portion lifting mechanism 2009, and a buffer finishing device driven roller 2010. The buffer finishing device comprises a first electric roller 2001 of the buffer finishing device, a second electric roller 2002 of the buffer finishing device, a second driven roller 2003 of the buffer finishing device, a first positioning mechanism 2004 of the buffer finishing device, a walking driving mechanism 2006 of the buffer finishing device, a side positioning mechanism 2008 of the buffer finishing device, an end lifting mechanism 2009 of the buffer finishing device and a driven roller 2010 of the buffer finishing device, which are arranged on a frame 2007 of the buffer finishing device, the frame 2007 of the buffer finishing device is arranged on a walking roller 2005 of the buffer finishing device through bolts, the walking driving mechanism 2006 of the buffer finishing device drives the walking roller 2005 of the buffer finishing device to rotate, the buffer finishing device 112 moves forwards and backwards through friction between the walking roller 2005 of the buffer finishing device and the ground, each electric roller of the buffer finishing device drives each driven roller of the buffer finishing device to rotate, and through friction between each roller, the drive material gos forward, and each positioning mechanism of buffer finishing device carries out the material location plastic with the material.

As shown in fig. 39, the lifting and stacking device 113 includes a lifting and stacking device lifting mechanism 2105, a lifting and stacking device electric roller first 2101, a lifting and stacking device driven roller first 2102, a lifting and stacking device electric roller second 2103, a lifting and stacking device driven roller second 2104, a lifting and stacking device swing frame 2108, a lifting and stacking device frame 2107, and a lifting and stacking device traveling roller 2106. The electric roller II 2103 of the lifting and stacking device and the driven roller II 2104 of the lifting and stacking device are arranged on the swinging frame 2108 of the lifting and stacking device and swing up and down along with the swinging frame 2108 of the lifting and stacking device; the electric roller I2101 and the driven roller I2102 of the lifting stacking device are arranged on a lifting stacking device frame 2107; the lifting and stacking device rack 2107 and the lifting and stacking device swing frame 2108 are arranged on the lifting and stacking device lifting mechanism 2105 and ascend and descend through the lifting and stacking device lifting mechanism 2105; the lifting mechanism 2105 of the lifting and stacking device is arranged on a walking roller 2106 of the lifting and stacking device and drives the lifting and stacking device 113 to integrally move forward and backward through the power of the buffer finishing device 112. Each electric roller in the lifting stacking device 113 drives each driven roller in the lifting stacking device to rotate, and the materials are driven to advance through friction between each roller and the materials; the low-level loading of materials is realized by swinging the swing frame 2108 of the lifting stacking device up and down at different angles; the layer-by-layer height loading of the materials is realized through the integral lifting of the lifting mechanism 2105 of the lifting stacking device.

The loading method of the full-automatic material preparation tray-removing and loading system adopts the loading system, and specifically comprises the following steps:

s1, the vehicle is guided by a limit guide device 111 to enter a station to be loaded, a traveling driving mechanism 2006 in a buffer finishing device 112 drives a stacking processing system, a middle traveling roller conveying device 109 and a low traveling roller conveying device 110 to enter the interior of a carriage to wait for the conveying and loading of materials;

s2, the roller conveying device 101 conveys the palletized materials 118 with pallets to the robot disc disassembling device 105;

s3, the robot tray disassembling device 105 performs tray disassembling on the stacked materials 118 with trays layer by layer, empty trays 123 after tray disassembling are conveyed to the tray recovery device 115 through the conveying devices, stacking processing is performed through the tray recovery device 115, and empty tray stacks 124 after stacking are conveyed to a designated position through the roller conveying device 101; conveying the residual tail trays 125 after carriage loading to a stretch film packaging device 117 through each conveying device, packaging by the stretch film packaging device 117, and conveying the packaged tail trays 126 to a designated position; the whole layer of materials 120 after the tray is removed by the robot is conveyed to a processing station of the tray removing and arranging system, and after the materials are comprehensively processed by a cargo layer unstacking device 103, a high-speed belt conveying device 104, a module belt conveying device 106, a differential roller conveying device 107 and a walking roller conveying device, single materials are conveyed into the stacking processing system;

s4, the stacking processing system positions the separated single materials through a positioning device, the positioned materials are conveyed to a buffer storage arrangement device 112, the buffer storage arrangement device 112 combines and shapes the single materials to enable the materials to meet the loading requirement of the carriage width, the shaped material layer 122 is integrally conveyed to a lifting stacking device 113, the lifting stacking device 113 swings at different angles through an inner swing frame to achieve low-level loading of the materials, and the lifting stacking device 113 drives the materials to integrally lift through an inner lifting mechanism to achieve layer-by-layer height loading of the materials;

and S5, stacking and loading the materials in the height direction to enable the loaded materials to meet the requirement of the carriage height, retreating the lifting stacking device 113 layer by layer through an internal walking driving device, retreating layer by layer while loading layer by layer through the lifting stacking device 113 to complete the loading of the whole carriage in the length direction, and thus completing the whole vehicle loading of the materials.

Claims (8)

1. Full-automatic prepare material and tear dish loading system open, its characterized in that: the automatic pallet unloading and loading system comprises a material preparation system, a pallet unloading and arranging system, a pallet loading system, a pallet recovery system, a tail pallet recovery system, a vehicle and a vehicle guide limiting device; the material preparing system is in butt joint with the feeding station, the back of the material preparing system is in butt joint with the tray detaching and arranging system, the back of the tray detaching and arranging system is in butt joint with the stacking and loading system, the vehicle is introduced into the vehicle guide limiting device, and the tray detaching and arranging system and the stacking and loading system extend into the carriage through the traveling roller; the tray recovery system is arranged beside the tray disassembling and arranging system and used for carrying out tray recovery treatment on the empty trays treated by the tray disassembling and arranging system; the tail tray recovery system is arranged on the other side of the tray disassembling and arranging system, and the tail trays in the tray disassembling and arranging system are processed through the tail tray recovery system; the tray disassembling and arranging system comprises a robot tray disassembling device, a cargo layer unstacking device, a high-speed belt conveying device, a module belt conveying device, a differential roller conveying device and a walking roller conveying device, wherein the cargo layer unstacking device is in butt joint with the high-speed belt conveying device, the high-speed belt conveying device is in 90-degree butt joint with the module belt conveying device along the material conveying direction, the module belt conveying device is in butt joint with the differential roller conveying device, and the differential roller conveying device is in butt joint with the walking roller conveying device.

2. The full-automatic stock preparation disking and loading system as recited in claim 1, wherein: the stacking loading system comprises a cache arrangement device and a lifting stacking device, the cache arrangement device is connected with the lifting stacking device through bolts, and the cache arrangement device and the lifting stacking device are in front-rear butt joint along the material conveying direction.

3. The full-automatic stock preparation disking and loading system as recited in claim 1, wherein: the tray recovery system comprises a roller conveying device, a combined conveying device and a tray recovery device, wherein the roller conveying device is in butt joint with a roller conveying mechanism in the combined conveying device along the material conveying direction, and the tray recovery device is arranged on the roller conveying device in a spanning mode.

4. The full-automatic stock preparation disking and loading system as recited in claim 1, wherein: the tail disc recovery system comprises a roller conveying device, a chain conveying device, a combined conveying device and a stretched film packaging device, wherein the roller conveying device is in butt joint with a roller conveying mechanism in the combined conveying device, the chain conveying device is in butt joint with a chain conveying mechanism in the combined conveying device, the roller conveying device is arranged on one side of the combined conveying device, the chain conveying device is arranged on one side of the combined conveying device at 90 degrees, and the chain conveying device is in butt joint with the stretched film packaging device along the conveying direction.

5. The full-automatic stock preparation disking and loading system as recited in claim 1, wherein: tear dish arrangement system open, the dish that tears the dish device open of robot includes that six manipulators, material snatch anchor clamps, air supply processing unit and mounting platform, six manipulators pass through the bolt and install on mounting platform, the material snatchs anchor clamps and passes through the bolt and install on six manipulator arms, air supply processing unit snatchs the vacuum chuck in the anchor clamps for the material and provides the air supply.

6. The full-automatic stock removal, coiling and loading system as recited in claim 2, wherein: the buffer storage sorting device comprises a buffer storage sorting device electric roller, a buffer storage sorting device driven roller, a buffer storage sorting device positioning mechanism, a buffer storage sorting device walking driving mechanism, a buffer storage sorting device walking roller and a buffer storage sorting device rack, wherein the buffer storage sorting device electric roller, the buffer storage sorting device driven roller, the buffer storage sorting device positioning mechanism and the buffer storage sorting device walking driving mechanism are arranged on the buffer storage sorting device rack through bolts; the electric roller and the driven roller of the buffer finishing device are respectively arranged between two side plates of the rack, and the positioning mechanism of the buffer finishing device is arranged on the side of the rack; the frame of the buffer finishing device is arranged on the walking roller of the buffer finishing device through a bolt.

7. The full-automatic stock preparation disking and loading system as recited in claim 2, wherein: in the stacking loading system, the lifting stacking device comprises a lifting stacking device lifting mechanism, a lifting stacking device electric roller, a lifting stacking device driven roller, a lifting stacking device swing frame, a lifting stacking device rack and a lifting stacking device walking roller, and the lifting stacking device lifting mechanism, the lifting stacking device electric roller, the lifting stacking device driven roller and the lifting stacking device swing frame are assembled on the lifting stacking device rack through bolts respectively; the lifting mechanism of the lifting stacking device is assembled below the lifting stacking device frame through bolts; the electric roller of the lifting stacking device, the driven roller of the lifting stacking device and the swing frame of the lifting stacking device are respectively assembled between two side plates of a frame of the lifting stacking device through bolts; the lifting stacking device frame is assembled on the lifting stacking device walking roller through a bolt.

8. The loading method of the full-automatic stock disassembling and loading system is characterized by comprising the following steps:

s1, the vehicle is guided to enter a station to be arranged through a limiting guide device, a driving mechanism in the stacking processing system drives the stacking processing system and the walking roller conveying devices to enter the carriage to wait for conveying and loading of materials;

s2, conveying the stacked materials loaded with the belt trays to a tray disassembling device of the robot by using a roller conveying device;

s3, the robot tray detaching device detaches the stacked materials layer by layer, empty trays after tray detachment are conveyed to a tray recovery device through various conveying devices, and stacking recovery is carried out through a tray recovery system; conveying the residual tail trays after the carriage loading is finished to a stretch film packaging device through each conveying device, packaging the tail trays through the stretch film packaging device, and conveying the packaged tail trays to an appointed position; the palletized materials after being disbanded by the robot are conveyed to a processing station of a disbanded finishing system, and are comprehensively processed by a cargo bed unstacking device, a high-speed belt conveying device, a module belt conveying device, a differential roller conveying device and a walking roller conveying device, so that the single materials are conveyed into the palletizing processing system;

s4, the stacking processing system positions the separated single materials through a positioning device, the positioned materials are conveyed to a buffer storage arrangement device, the buffer storage arrangement device combines and shapes the single materials to enable the materials to meet the loading requirement of the carriage width, the shaped material layers are integrally conveyed to a lifting stacking device, the lifting stacking device swings at different angles through an inner swing frame to achieve low-level loading of the materials, and the lifting stacking device drives the materials to integrally lift through an inner lifting mechanism to achieve layer-by-layer height loading of the materials;

and S5, after stacking and loading the materials in the height direction, enabling the loaded materials to reach the height requirement of the carriage, enabling the lifting stacking device to retreat layer by layer through the traveling driving device, and loading the materials layer by layer while retreating layer by layer through the loading system to complete the loading of the whole carriage in the length direction, thereby completing the whole loading of the materials.

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