阅读说明：本技术 一种多层网状木托盘上料控制系统及方法 (Feeding control system and method for multilayer netted wooden pallet ) 是由 马续创 岳国富 俞洪杰 孙亚波 于 2020-07-22 设计创作，主要内容包括：本发明提供了一种多层网状木托盘上料控制系统及方法,包括过桥装配、横移装配和PLC控制系统,横移装配设于过桥装配上且两者滑动连接,横移装配可带动木托盘上下及横向运动,横移装配与PLC控制系统电信号连接。通过PLC控制系统实时检测宽度拉绳编码器和升降拉绳编码器的数据,从而控制调整夹持单元机械手的开口度及升降位置。在机械手下降抓取木托盘的过程中,通过减速位光电开关和停止位光电开关可以判断机械手的位置,并控制进行下一步骤,通过靠近位超声波开关和气动压力继电器,判断木托盘是否已夹紧,确保顺利上料,通过横移激光测距仪、堆垛位接近开关和上料位接近开关的设置,可以在整个上料过程中进行准确定位。(The invention provides a feeding control system and method for a multilayer netted wooden tray. The PLC control system is used for detecting the data of the width stay cord encoder and the lifting stay cord encoder in real time, so that the opening degree and the lifting position of the clamping unit manipulator are controlled and adjusted. The manipulator is grabbed in the manipulator decline in-process, can judge the position of manipulator through speed reduction position photoelectric switch and stop position photoelectric switch to control carries out next step, through being close to position ultrasonic switch and pneumatic pressure relay, judges whether the wooden tray has pressed from both sides tightly, ensures smooth material loading, through sideslip laser range finder, stack position proximity switch and the setting of last material level proximity switch, can carry out accurate positioning at whole material loading in-process.)

1. The utility model provides a netted wooden tray material loading control system of multilayer which characterized in that: the device comprises a gap bridge assembly (1), a transverse moving assembly (2) and a PLC control system, wherein the transverse moving assembly (2) is arranged on the gap bridge assembly (1) and is in sliding connection with the gap bridge assembly (1), a wooden tray (3) is clamped on the transverse moving assembly (2), the transverse moving assembly (2) can drive the wooden tray (3) to move up and down and transversely, and the transverse moving assembly (2) is in electric signal connection with the PLC control system.

2. The multi-layer reticulated wood pallet loading control system of claim 1, wherein: the transverse moving assembly (2) comprises a transverse moving body (10), a cross beam assembly (11) and a clamping unit (12), wherein the transverse moving body (10) and the clamping unit (12) are fixedly arranged at the top and the bottom of the cross beam assembly (11) respectively;

a descending position detection element and an opening degree detection element are arranged on the clamping unit (12), and the descending position detection element is used for detecting the position of the clamping unit (12) away from the wood supporting plate; the cross-sliding mechanism is characterized in that a lifting position detection element is arranged on the cross-sliding main body (10), a cross-sliding position detection element is arranged on the gap bridge assembly (1), and the lifting position detection element, the opening degree detection element, the lifting position detection element and the cross-sliding position detection element are all in electric signal connection with a PLC control system.

3. The multi-layer reticulated wood pallet loading control system of claim 1, wherein: the gap bridge assembly (1) comprises stand columns (4), cross beams (5), a large frame (7) and a small frame (6), wherein the cross beams (5) are arranged between the two stand columns (4) to form a door-type structure, and the two door-type structures are respectively arranged at the starting end and the tail end of a logistics conveying line of the wood tray stack (8);

the small frames (6) are fixedly arranged on the cross beam (5), the large frames (7) are arranged between the small frames (6) and are two and are respectively arranged on two sides of the small frames (6), and the small frames (6) and the large frames (7) form a walking channel of the transverse moving assembly (2).

4. The multi-layer reticulated wood pallet loading control system of claim 2, wherein: the transverse moving body (10) comprises a vehicle body (14), a vertical frame (18), a lifting speed reducing motor (15), a first gear (16) and a transverse moving speed reducing motor (20), wherein the vertical frame (18) penetrates through the vehicle body (14), the vertical frame (18) is fixedly connected with a cross beam assembly (11), the first gear (16) is installed in the vehicle body (14), a first rack (17) is installed on one side of the vertical frame (18), the first gear (16) is connected with an output shaft of the lifting speed reducing motor (15), the first gear (16) is meshed with the first rack (17), and the transverse moving speed reducing motor (20) is connected with wheels (25) of the vehicle body (14);

the lifting position detection element comprises a lifting stay cord encoder (44), the body of the lifting stay cord encoder (44) is installed on the vehicle body (14), and a stay cord head is fixedly connected with the vertical frame (18).

5. The multi-layer reticulated wood pallet loading control system of claim 2, wherein: the clamping unit (12) comprises two suspension beams (28), a mechanical arm (30), a cylinder (32) and a second gear (36), the two mechanical arms (30) are respectively arranged on two sides of the suspension beams (28), the second gear (36) is arranged in the center of the suspension beams (28), two sides of the gear are symmetrically meshed with a second rack (35), the second rack (35) is arranged on a rack substrate (34), the rack substrate (34) is arranged on the mechanical arm (30), the cylinder (32) is arranged on the suspension beams (28) through a cylinder support (31), a piston rod of the cylinder (32) is connected with the mechanical arm (30) through a cylinder joint (33), and the cylinder (32) is in electrical signal connection with a PLC control system through an electromagnetic valve;

descending position detecting element includes speed reduction position photoelectric switch (38), is close to position ultrasonic switch (40) and stops position photoelectric switch (39), speed reduction position photoelectric switch (38), be close to position ultrasonic switch (40) and stop position photoelectric switch (39) and all locate on manipulator (30) and follow supreme setting gradually down, opening degree detecting element includes width stay cord encoder (41), width stay cord encoder (41) body is installed on suspension beam (28), and the stay cord head sets firmly on the support of installation on rack base plate (34).

6. The multi-layer reticulated wood pallet loading control system of claim 2, wherein: sideslip position detecting element includes sideslip laser range finder (47), stack position proximity switch (48) and material loading position proximity switch (49), gap bridge assembly (1) is including big frame (7) and little frame (6), sideslip laser range finder (47) are installed on little frame (6), stack position proximity switch (48) are installed on big frame (7) of wooden tray stack position top correspond the position, material loading position proximity switch (49) are installed on wooden tray (3) and are gone up big frame (7) of material loading top and correspond the position.

7. The multi-layer reticulated wood pallet loading control system of any one of claims 2 to 6, wherein: still include pneumatic pressure relay (43), on crossbeam assembly (11) was located in pneumatic pressure relay (43), pneumatic pressure relay (43) communicate the gas circuit of cylinder (32), pneumatic pressure relay (43) and PLC control system signal connection.

8. The multi-layer reticulated wood pallet loading control system of claim 4, wherein: the lifting position detection element further comprises an upper limit proximity switch (45) and a lower limit proximity switch (46), bodies of the upper limit proximity switch (45) and the lower limit proximity switch (46) are installed on the vehicle body (14), and the induction plates of the upper limit proximity switch (45) and the lower limit proximity switch (46) are installed at the top and the bottom of the vertical frame (18) respectively.

9. The multi-layer reticulated wood pallet loading control system of claim 5, wherein: the opening degree detection element further comprises a maximum opening degree proximity switch (42), the body of the maximum opening degree proximity switch (42) is installed on the suspension beam (28), and the induction plate is installed on the cylinder joint (33).

10. A multi-layer reticular wood pallet feeding control method adopts the multi-layer reticular wood pallet feeding control system of claim 5, and is characterized by comprising the following steps:

step 1) defining an initial bit: the manipulator (30) is opened to the maximum opening degree, the manipulator (30) is lifted to the upper limit, and the vehicle body (14) of the transverse moving main body (10) moves to the stacking position of the wooden tray; the PLC control system judges whether the position is at an initial position or not by monitoring the numerical values of the width pull rope encoder (41), the lifting position detection element and the transverse movement position detection element, if the position is not at the initial position, the step 2 is continued, and if the position is at the initial position, the step 5 is skipped;

step 2) the PLC control system sends a signal to the electromagnetic valve, the air cylinder (32) extends out to open the mechanical arm (30), and the PLC control system monitors the numerical value of the width pull rope encoder (41) in real time until the mechanical arm (30) is opened to the maximum opening degree;

step 3), the PLC control system controls the manipulator (30) to ascend to an upper limit position;

step 4), the PLC control system controls the transverse moving body (10) to move to a stacking position of the wooden supporting plate;

step 5), the PLC control system controls the manipulator (30) to descend;

step 6) in the descending process of the manipulator (30), the PLC control system judges whether the deceleration photoelectric switch (38) is shielded, whether the lower limit approach switch (46) has a signal, and whether the lifting position detection element reaches the lower limit of the mark;

step 7), when the PLC control system judges that the lifting position detection element reaches the lower limit of the mark and the speed reduction position photoelectric switch (38) is shielded, the PLC control system decelerates and descends until the stop position photoelectric switch (39) is shielded, and the PLC control system sends a signal to enable the manipulator (30) to stop descending;

step 8), the PLC control system controls the cylinder (32) to retract, when the approaching ultrasonic switch (40) sends a signal, the mechanical arm (30) clamps one wooden tray (3), and then the PLC control system controls the mechanical arm (30) to ascend to the upper limit position;

step 9), the PLC control system controls the vehicle body (14) to transversely move to a feeding position calibrated by the transverse movement position detection element along the gap bridge assembly (1);

and step 10), the PLC control system controls the mechanical arm (30) to descend to the wood tray logistics platform (50), the air cylinder (32) stretches out, and at the moment, the mechanical arm (30) loosens the wood tray (3) to finish feeding.

Technical Field

The invention belongs to the technical field of aluminum strip cross-cut stacking plates, and particularly relates to a multi-layer reticular wood tray feeding control system and method.

Background

In the aluminum strip finishing industry, especially in the field of plate strip cross-stacking plates, certain consumables are required to be used as a chassis for packaging finished plates. The chassis has the characteristics of one-time use and large consumption. For the principle of economy and practicality, a consumable material with sufficient rigidity and low price needs to be selected. The multi-layer reticular wood pallet is simple to manufacture and low in cost, so that the multi-layer reticular wood pallet becomes a necessary consumable material of the transverse cutting unit.

Such multi-layered, net-like wooden pallets need to be constantly and accurately placed on a production line in order to stack the finished boards without cutting. Often, the tray needs to be placed every 5-20 minutes, and the task weight is heavy. The manual carrying needs 2-4 persons for heavy load work, and is the most clumsy mode with the highest labor cost; fork truck transportation is laborsaving relatively, but needs to possess 1 fork truck and fork truck driver for a long time, compares the manpower slightly excellent, but fork truck puts wooden tray position inaccurate, is difficult to satisfy the technological requirement. The mode not only occupies manpower and material resources and increases the manpower cost, but also has slower rhythm, low automation degree and certain potential safety hazard.

Disclosure of Invention

The invention aims to provide a multi-layer reticular wooden pallet feeding control system, which overcomes the technical problems in the prior art.

The invention also aims to provide a multi-layer reticular wooden pallet feeding control method which is accurate in feeding positioning and high in automation degree.

Therefore, the technical scheme provided by the invention is as follows:

the multi-layer netted wooden tray feeding control system comprises a gap bridge assembly, a transverse moving assembly and a PLC control system, wherein the transverse moving assembly is arranged on the gap bridge assembly and is in sliding connection with the gap bridge assembly, a wooden tray is clamped by the transverse moving assembly, the transverse moving assembly can drive the wooden tray to move up and down and transversely, and the transverse moving assembly is in electric signal connection with the PLC control system.

The transverse moving assembly comprises a transverse moving main body, a cross beam assembly and a clamping unit, wherein the transverse moving main body and the clamping unit are fixedly arranged at the top and the bottom of the cross beam assembly respectively;

the clamping unit is provided with a descending position detection element and an opening degree detection element, and the descending position detection element is used for detecting the position of the clamping unit from the wood supporting plate; the transverse moving main body is provided with a lifting position detection element, the gap bridge assembly is provided with a transverse moving position detection element, and the lifting position detection element, the opening degree detection element, the lifting position detection element and the transverse moving position detection element are all in electric signal connection with a PLC control system.

The gap bridge assembly comprises stand columns, cross beams, a large frame and a small frame, wherein the cross beams are arranged between the two stand columns to form a door-type structure, and the two door-type structures are respectively arranged at the starting end and the tail end of the wood pallet stacking logistics conveying line;

the small frames are fixedly arranged on the cross beam, the two large frames are arranged between the small frames and are respectively arranged on two sides of the small frames, and the small frames and the large frames form a walking channel for transverse moving assembly.

The transverse moving main body comprises a vehicle body, a vertical frame, a lifting gear motor, a first gear and a transverse moving gear motor, wherein the vertical frame penetrates through the vehicle body, the vertical frame is fixedly connected with a cross beam in an assembling way, the first gear is installed in the vehicle body, a first rack is installed on one side of the vertical frame, the first gear is connected with an output shaft of the lifting gear motor, the first gear is meshed with the first rack, and the transverse moving gear motor is connected with wheels of the vehicle body;

the lifting position detection element comprises a lifting stay rope encoder, a body of the lifting stay rope encoder is installed on the vehicle body, and a stay rope head is fixedly connected with the vertical frame.

The clamping unit comprises a suspension beam, a mechanical arm, two air cylinders and a second gear, wherein the two mechanical arms are respectively arranged on two sides of the suspension beam, the second gear is arranged in the center of the suspension beam, two sides of the gear are symmetrically meshed with a second rack, the second rack is arranged on a rack substrate, the rack substrate is arranged on the mechanical arm, the air cylinders are arranged on the suspension beam through air cylinder supports, piston rods of the air cylinders are connected with the mechanical arm through air cylinder connectors, and the air cylinders are in electric signal connection with a PLC control system through electromagnetic valves;

descending position detecting element includes speed reduction position photoelectric switch, is close to position ultrasonic switch and stops position photoelectric switch, speed reduction position photoelectric switch, be close to position ultrasonic switch and stop position photoelectric switch and all locate on the manipulator and follow supreme setting gradually down, opening degree detecting element includes width stay cord encoder, width stay cord encoder body is installed on the mounted beam, and the stay cord head sets firmly on the support of installation on the rack substrate.

The transverse movement position detection element comprises a transverse movement laser range finder, a stacking position proximity switch and a loading position proximity switch, the gap bridge assembly comprises a large frame and a small frame, the transverse movement laser range finder is installed on the small frame, the stacking position proximity switch is installed on a corresponding position of the large frame above a stacking position of the wooden tray, and the loading position proximity switch is installed on a corresponding position of the large frame above the loading position of the wooden tray.

The pneumatic pressure relay is arranged on the beam assembly, the pneumatic pressure relay is communicated with an air passage of the air cylinder, and the pneumatic pressure relay is in electric signal connection with the PLC control system.

The lifting position detection element further comprises an upper limit proximity switch and a lower limit proximity switch, the bodies of the upper limit proximity switch and the lower limit proximity switch are mounted on the vehicle body, and the induction plates of the upper limit proximity switch and the lower limit proximity switch are mounted at the top and the bottom of the vertical frame respectively.

The opening degree detection element further comprises a maximum opening degree proximity switch, a body of the maximum opening degree proximity switch is installed on the suspension beam, and the induction plate is installed on the cylinder joint.

A multi-layer reticular wood pallet feeding control method adopts a multi-layer reticular wood pallet feeding control system, and comprises the following steps:

step 1) defining an initial bit: the manipulator is opened to the maximum opening degree, the manipulator is lifted to the upper limit, and the vehicle body transversely moving the main body moves to a stacking position of the wooden tray; the PLC control system judges whether the width stay cord encoder, the lifting position detection element and the transverse movement position detection element are in an initial position or not by monitoring numerical values of the width stay cord encoder, the lifting position detection element and the transverse movement position detection element, if the width stay cord encoder, the lifting position detection element and the transverse movement position detection element are not in the initial position, the step 2) is continued, and if the width stay cord encoder, the step 5);

step 2) the PLC control system sends a signal to the electromagnetic valve, the cylinder stretches out to open the manipulator, and the PLC control system monitors the numerical value of the width pull rope encoder in real time until the manipulator is opened to the maximum opening degree;

step 3) controlling the manipulator to ascend to an upper limit by the PLC control system;

step 4), the PLC control system controls the transverse moving body to move to a stacking position of the wooden supporting plate;

step 5), the PLC control system controls the manipulator to descend;

step 6) in the descending process of the manipulator, the PLC control system judges whether the speed reduction position photoelectric switch is shielded, whether a lower limit approaching switch has a signal or not, and whether the lifting position detection element reaches the marked lower limit or not;

step 7) when the PLC control system judges that the lifting position detection element reaches the lower limit of the mark and the deceleration position photoelectric switch is shielded, the PLC control system decelerates and descends until the stop position photoelectric switch is shielded, and the PLC control system sends a signal to enable the manipulator to stop descending;

step 8) the PLC control system controls the cylinder to retract, when the ultrasonic switch at the approaching position sends a signal, the manipulator clamps a wood pallet, and then the PLC control system controls the manipulator to ascend to the upper limit position;

step 9) the PLC control system controls the vehicle body to transversely move to a feeding position calibrated by the transverse movement position detection element along the gap bridge assembly;

and step 10) the PLC control system controls the manipulator to descend to the wood tray logistics platform, the air cylinder extends out, and at the moment, the manipulator loosens the wood tray to finish feeding.

The invention has the beneficial effects that:

according to the multi-layer reticular wooden tray feeding control system, the PLC control system is used for detecting the data of the width pull rope encoder and the lifting pull rope encoder in real time, so that the opening degree and the lifting position of the clamping unit manipulator are controlled and adjusted. The manipulator is grabbed in the manipulator decline in-process, can judge the position of manipulator through speed reduction position photoelectric switch and stop position photoelectric switch to control carries out next step, through being close to position ultrasonic switch and pneumatic pressure relay, judges whether the wooden tray has pressed from both sides tightly, ensures smooth material loading, through sideslip laser range finder, stack position proximity switch and the setting of last material level proximity switch, can carry out accurate positioning at whole material loading in-process.

The invention saves the labor cost, and compared with the manual carrying and the forklift conveying, the technical scheme greatly reduces the labor intensity of field workers, improves the production efficiency and accelerates the production rhythm; the detection precision of the laser range finder reaches 0.1mm, which is far greater than the precision of manual judgment, so that the controllable positioning precision is higher; the automation degree is high, various detection switches are arranged, and the high automation degree can be achieved by programming according to the process flow requirements.

In order to make the aforementioned and other objects of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

FIG. 1 is a front view of one embodiment of a bridge assembly;

FIG. 2 is a left side view of one embodiment of a bridge assembly;

FIG. 3 is a schematic structural view of one embodiment of a traversing apparatus;

FIG. 4 is a front view of one embodiment of traversing the body;

FIG. 5 is a schematic A-A diagram of FIG. 4;

FIG. 6 is a top view of one embodiment of a clamping unit;

FIG. 7 is a schematic view B-B of FIG. 6;

FIG. 8 is a front view of the arrangement of the detecting elements in the traverse assembly;

FIG. 9 is a left side view of the arrangement of the detecting elements on the traverse assembly;

FIG. 10 is a top view of an embodiment of the present invention;

FIG. 11 is a left side view of an implementation of the present invention;

fig. 12 is a flow chart of a control method of the present invention.

In the figure:

description of reference numerals:

1. assembling a gap bridge; 2. transversely moving and assembling; 3. a wooden pallet; 4. a column; 5. a cross beam; 6. a small frame; 7. a large frame; 8. stacking the wooden pallets; 9. a drag chain; 10. traversing the body; 11. assembling a cross beam; 12. a clamping unit; 13. transversely moving the drag chain; 14. a vehicle body; 15. a lifting gear motor; 16. a first gear; 17. a first rack; 18. a vertical frame; 19. a first linear guide rail pair; 20. a transverse moving speed reducing motor; 21. a coupling; 22. a drive shaft; 23. a first bearing; 24. a flat bond; 25. a wheel; 26. a driven shaft; 27. lifting a drag chain; 28. a suspension beam; 29. a second linear guide rail pair; 30. a manipulator; 31. a cylinder support; 32. a cylinder; 33. a cylinder joint; 34. a rack substrate; 35. a second rack; 36. a second gear; 37. a second bearing; 38. a deceleration photoelectric switch; 39. a stop position photoelectric switch; 40. a proximity ultrasonic switch; 41. a width pull rope encoder; 42. a maximum opening proximity switch; 43. a pneumatic pressure relay; 44. a lifting stay cord encoder; 45. an upper limit proximity switch; 46. a lower limit proximity switch; 47. traversing the laser range finder; 48. a stacking position proximity switch; 49. a material loading position approach switch; 50. wooden pallet logistics platform.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.

Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.