阅读说明：本技术 自动托盘机及其控制方法 (Automatic tray machine and control method thereof ) 是由 施红文 王正文 吴毅斌 魏黎明 于 2019-11-21 设计创作，主要内容包括：本发明涉及一种自动托盘机及其控制方法,该自动托盘机包括机架、载料托盘输送机构、载料托盘升降平台、载料托盘升降机构、物料取放机构、载料托盘移载机构、空托盘升降平台、空托盘升降机构、空托盘输送机构和控制终端。装载有物料的托盘可以被该自动托盘机依次做输送、随载料托盘升降平台升高至预设高度、托盘内的物料被取出、托盘被移载至空托盘升降平台,并随空托盘升降平台下降,然后再由空托盘输送机构将此时的托盘输出,从而满足了利用该自动托盘机可以实现针对装载有物料的托盘的自动取放工作,有序地输出取空后的空托盘,提高工作效率。(The invention relates to an automatic tray machine and a control method thereof, wherein the automatic tray machine comprises a rack, a material carrying tray conveying mechanism, a material carrying tray lifting platform, a material carrying tray lifting mechanism, a material taking and placing mechanism, a material carrying tray transferring mechanism, an empty tray lifting platform, an empty tray lifting mechanism, an empty tray conveying mechanism and a control terminal. The tray that the loading has the material can be done the transport in proper order by this automatic tray machine, rise to predetermineeing the height along with carrying material tray lift platform, the material in the tray is taken out, the tray is moved and is carried to empty tray lift platform, and descend along with empty tray lift platform, then export the tray output this moment by empty tray conveying mechanism, thereby satisfied and utilized this automatic tray machine can realize getting the automation of the tray that has the loading material and put work, output the empty tray after getting the sky in an orderly manner, and the work efficiency is improved.)

1. Automatic tray machine, including frame (100), its characterized in that still includes:

the material loading tray conveying mechanism (101) is used for conveying the tray (2) filled with the materials (3);

the material loading tray lifting platform (102) is used for loading the tray conveyed by the material loading tray conveying mechanism (101);

the material loading tray lifting mechanism (103) is used for lifting or lowering the height of the material loading tray lifting platform (102);

the material taking and placing mechanism (104) is used for taking out materials in the tray loaded by the material loading tray lifting platform (102) after the height is lifted; wherein the material taking and placing mechanism (104) at least comprises a material clamping mechanism (1041) for clamping materials;

a material loading tray transfer mechanism (105) for moving the tray after the material is taken out by the material taking and placing mechanism (104);

an empty tray lifting platform (106) for containing the trays moved by the material loading tray transfer mechanism (105);

an empty tray lifting mechanism (107) for lifting or lowering the height of the empty tray lifting platform (106);

an empty tray conveying mechanism (108) for outputting the tray on the empty tray lifting platform (106) after the height is lowered;

and the control terminal (109) is provided with a control display screen, and the control terminal (109) respectively controls the material loading tray conveying mechanism (101), the material loading tray lifting mechanism (103), the material taking and placing mechanism (104), the material loading tray transferring mechanism (105), the empty tray lifting mechanism (107) and the empty tray conveying mechanism (108).

2. The automatic tray machine according to claim 1, characterized by further comprising a material residue detection device (110) for detecting whether materials exist in the trays on the empty tray lifting platform (106), wherein the material residue detection device (110) is connected with the control terminal (109); or/and the automatic tray machine further comprises a tray position correction mechanism (111) for correcting the positions of all trays on the material loading tray transfer mechanism, and the tray position correction mechanism (111) is connected with the control terminal (109).

3. The automatic pallet machine of claim 2, further comprising a pallet securing mechanism (112) capable of holding a pallet on which the material is placed when the material pick and place mechanism (104) picks the material, the pallet securing mechanism (112) being connected to the control terminal (109).

4. The automatic pallet machine according to claim 3, characterized in that the pallet fixing mechanism (112) is a pneumatic cylinder connected to a control terminal (109).

5. The automatic pallet machine according to any of claims 1 to 4, characterized in that the rack (100) is provided with a protective cover (113) arranged along the circumference of the rack.

6. The automatic tray machine according to any one of claims 1 to 4, characterized in that the loading tray conveying mechanism (101) and the empty tray conveying mechanism (108) each comprise a motor (114) and a transmission belt (115) in transmission connection with the motor (114), and the motor (114) is connected with the control terminal (109); wherein the tray (2) filled with the materials is loaded on the transmission belt (115).

7. The automatic pallet machine of claim 6, further comprising a limit structure (116) for limiting the position of the pallet on the conveyor belt (115); or/and the material loading tray lifting mechanism (103) and the empty tray lifting mechanism (107) both adopt electric cylinders.

8. A control method of the automatic pallet machine according to claim 3, characterized by comprising the steps of:

step 1, starting a tray machine by operating a control terminal;

step 2, placing at least one tray containing materials at a tray placing position on a tray machine;

step 3, conveying the tray filled with the materials to a material loading tray lifting platform by a material loading tray conveying mechanism;

step 4, the height of the material loading tray lifting platform is lifted to a preset height by the material loading tray lifting mechanism;

step 5, the material taking and placing mechanism takes out the materials in the tray on the material carrying tray lifting platform after the height is lifted;

step 6, the material loading tray transfer mechanism transfers the tray with the taken materials to an empty tray lifting platform;

step 7, the height of the empty tray lifting platform is reduced to a preset height by the empty tray lifting mechanism;

and 8, outputting the tray on the empty tray lifting platform with the height reduced by the empty tray conveying mechanism.

9. The control method of the automatic pallet machine according to claim 8, wherein the material remaining detecting means detects whether there is material on the empty pallet before the pallet on the empty pallet lifting platform is output: when the empty tray has the materials, prompting to manually remove the materials on the empty tray; otherwise, executing the subsequent output action of the empty tray; or/and the first and/or second light-emitting diodes are arranged in the light-emitting diode,

the control method of the automatic tray machine further comprises the step that the tray position correction mechanism corrects the positions of all trays on the material loading tray transfer mechanism.

10. The method of controlling an automatic pallet machine according to claim 9, further comprising: when the material taking and placing mechanism takes out the material in the tray on the material carrying tray lifting platform, the tray fixing mechanism supports the tray where the material is located.

Technical Field

The invention relates to the field of tray machines, in particular to an automatic tray machine and a control method thereof.

Background

During the product processing, it is often necessary to collect and convey the manufactured products (also called "materials") to facilitate the subsequent processing or packaging processes.

In the existing product collection and delivery processes, it is often more dependent on the manual work to first arrange a large number of products to be collected on trays (which may be referred to as "full trays") and then to deliver the trays. However, this method is labor intensive, and is also prone to operator errors due to human subjectivity, which reduces the efficiency of product collection and delivery.

Disclosure of Invention

The first technical problem to be solved by the present invention is to provide an automatic tray machine in view of the above prior art. This automatic tray machine can realize getting to the automation of the tray that loads the material and put collection work, accomplishes the automatic output of empty tray, improves work efficiency.

The second technical problem to be solved by the present invention is to provide a control method for the above automatic tray machine in view of the above prior art.

The technical scheme adopted by the invention for solving the first technical problem is as follows: automatic tray machine, including the frame, its characterized in that still includes:

the material loading tray conveying mechanism is used for conveying a tray filled with materials;

the material carrying tray lifting platform is used for carrying the tray conveyed by the material carrying tray conveying mechanism;

the material carrying tray lifting mechanism is used for lifting or lowering the height of the material carrying tray lifting platform;

the material taking and placing mechanism is used for taking out materials in the tray loaded by the material loading tray lifting platform after the height is lifted; the material taking and placing mechanism at least comprises a material clamping mechanism;

the material carrying tray transferring mechanism is used for moving the tray after the material is taken out by the material taking and placing mechanism;

the empty tray lifting platform is used for containing the trays moved by the material-carrying tray transfer mechanism;

the empty tray lifting mechanism is used for lifting or lowering the height of the empty tray lifting platform;

the empty tray conveying mechanism is used for outputting the tray on the empty tray lifting platform after the height is reduced;

and the control terminal is provided with a control display screen and respectively controls the material carrying tray conveying mechanism, the material carrying tray lifting mechanism, the material taking and placing mechanism, the material carrying tray transferring mechanism, the empty tray lifting mechanism and the empty tray conveying mechanism.

The automatic tray machine comprises an empty tray lifting platform, a material residue detection device and a control terminal, wherein the empty tray lifting platform is provided with a tray, the tray is provided with a material residue detection device, and the material residue detection device is connected with the control terminal.

Further, the automatic tray machine further comprises a tray position correction mechanism for correcting the positions of all trays on the material carrying tray transfer mechanism, and the tray position correction mechanism is connected with the control terminal.

Further, the automatic tray machine also comprises a tray fixing mechanism which can support a tray where the material is located when the material taking and placing mechanism takes out the material, and the tray fixing mechanism is connected with the control terminal.

Preferably, in the automatic tray machine, the tray fixing mechanism is an air cylinder connected with the control terminal.

In the automatic tray machine, a protective cover is arranged on the bracket along the periphery of the bracket.

In the automatic tray machine, the material loading tray conveying mechanism and the empty tray conveying mechanism respectively comprise a motor and a transmission belt in transmission connection with the motor, and the motor is connected with a control terminal; wherein the tray filled with the material is carried on the transmission belt.

The automatic tray machine is improved, and the automatic tray machine also comprises a limiting structure for limiting the tray positioned on the transmission belt; or/and the material loading tray lifting mechanism and the empty tray lifting mechanism both adopt electric cylinders.

The technical scheme adopted by the invention for solving the second technical problem is as follows: a control method of the automatic tray machine is characterized by comprising the following steps:

step 1, starting a tray machine by operating a control terminal;

step 2, placing at least one tray containing materials at a tray placing position on a tray machine;

step 3, conveying the tray filled with the materials to a material loading tray lifting platform by a material loading tray conveying mechanism;

step 4, the height of the material loading tray lifting platform is lifted to a preset height by the material loading tray lifting mechanism;

step 5, the material taking and placing mechanism takes out the materials in the tray on the material carrying tray lifting platform after the height is lifted;

step 6, the material loading tray transfer mechanism transfers the tray with the taken materials to an empty tray lifting platform;

step 7, the height of the empty tray lifting platform is reduced to a preset height by the empty tray lifting mechanism;

and 8, outputting the tray on the empty tray lifting platform with the height reduced by the empty tray conveying mechanism.

In an improvement, in the control method of the automatic pallet machine, before outputting the pallet on the empty pallet lifting platform, the method further includes: whether material residue detection device has the material to make the detection on the empty tray: when the empty tray has the materials, prompting to manually remove the materials on the empty tray; otherwise, executing the subsequent output action of the empty tray.

Further, the tray position correcting mechanism of the automatic tray machine corrects the positions of all trays on the material loading tray transfer mechanism.

Further, the control method of the automatic tray machine further comprises the following steps: when the material taking and placing mechanism takes out the material in the tray on the material carrying tray lifting platform, the tray fixing mechanism supports the tray where the material is located.

Compared with the prior art, the invention has the advantages that:

firstly, the automatic tray machine can realize the automatic picking and placing work aiming at the tray loaded with materials, complete the automatic ordered output of the emptied tray and improve the working efficiency;

secondly, because the tray for loading the materials is supported and loaded by the transmission belt, the tray moves along with the transmission belt by virtue of static friction between the tray and the transmission belt, so that the vibration of the materials in the process of conveying along with the tray can be avoided, the materials in the tray cannot be mutually rubbed and collided, and the material conveying requirement with strict corresponding appearance requirement is effectively met;

finally, this automatic tray machine can put into the tray of multilayer loading material simultaneously, gets the material according to the order is automatic to can collect and range upon range of neatly orderly the empty tray of having got the material, then automatic output to safe position, make things convenient for the manual work to take out empty tray.

Drawings

FIG. 1 is a schematic structural diagram of an automatic pallet loader according to an embodiment of the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is a schematic view of the automatic pallet machine of FIG. 1 with the protective cover removed;

FIG. 4 is an enlarged view of the portion B of FIG. 3;

FIG. 5 is an enlarged view of the portion C of FIG. 3;

FIG. 6 is a schematic view of the automated palletizer (with the protective cover removed) shown in FIG. 3 from another perspective;

FIG. 7 is a schematic view of the automated palletizer configuration shown in FIG. 6 from another perspective;

fig. 8 is a flowchart illustrating a control method of the automatic pallet loader according to an embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the accompanying examples.

As shown in fig. 1 to 3, the automatic pallet machine in the present embodiment includes:

a frame 100 including a bottom plate 11 and a top plate 12; the bracket 100 is provided with a protective cover 113 arranged along the periphery of the bracket;

the material loading tray conveying mechanism 101 is arranged on the bottom plate of the rack 100 and is used for conveying the tray 2 filled with the materials 3;

a material loading tray lifting platform 102 which can move in the space between the bottom plate and the bottom plate, wherein the material loading tray lifting platform 102 is used for loading the tray conveyed by the material loading tray conveying mechanism 101;

the material loading tray lifting mechanism 103 is positioned between the bottom plate 11 and the top plate 12 and is used for lifting or lowering the height of the material loading tray lifting platform 102;

the material taking and placing mechanism 104 is arranged on the top plate 12 of the bracket, and the material taking and placing mechanism 104 is used for taking out materials in the tray loaded by the material loading tray lifting platform 102 after the height is lifted; the material taking and placing mechanism 104 at least comprises a material clamping mechanism 1041; after the height of the material loading tray lifting platform 102 is lifted by the material loading tray lifting mechanism 103, the material in the tray can be taken out by the material taking and placing mechanism 104; under normal conditions, the materials in the tray are all taken out by the material taking and placing mechanism 104, and the tray becomes an empty tray;

a material-carrying tray transfer mechanism 105, provided on the top plate 12 of the rack, for moving the tray from which the material is taken out by the material taking and placing mechanism 104;

an empty tray lifting platform 106 movable in the space between the bottom plate 11 and the top plate 12, the empty tray lifting platform 106 being used for loading the tray moved by the loading tray transfer mechanism 105; wherein, the empty tray lifting platform 106 and the material loading tray lifting platform 102 are both located above the bracket 100 in respective initial states, and the material loading tray lifting platform 102 and the empty tray lifting platform 106 are arranged side by side; under normal conditions, the pallet being transferred onto the empty pallet lift platform 106 has become an empty pallet that is not carrying material;

an empty tray lifting mechanism 107, located between the bottom plate 11 and the top plate 12, for raising or lowering the height at which the empty tray lifting platform 106 is located; wherein, the material loading tray lifting mechanism 103 and the empty tray lifting mechanism 107 are both electric cylinders;

an empty tray conveying mechanism 108, which is arranged on the bottom plate of the frame 100 and is used for outputting the tray on the empty tray lifting platform 106 after the height is reduced; in this embodiment, the material loading tray conveying mechanism 101 and the empty tray conveying mechanism 108 both include a motor 114 and a transmission belt 115 in transmission connection with the motor 114, and the motor 114 is connected with the control terminal 109; wherein the tray with the material is carried on a conveyor belt 115.

And the control terminal 109 is provided with a control display screen, and the control terminal 109 controls the material loading tray conveying mechanism 101, the material loading tray lifting mechanism 103, the material taking and placing mechanism 104, the material loading tray transferring mechanism 105, the empty tray lifting mechanism 107 and the empty tray conveying mechanism 108 respectively. Wherein:

referring to fig. 3 and 6, the automatic pallet machine may further include a material residue detection device 110 for detecting whether there is material on the pallet on the empty pallet lifting platform 106, and the material residue detection device 110 is connected to the control terminal 109.

Of course, the tray position correcting mechanism 111 may be further provided for correcting the positions of all the trays positioned on the tray transfer mechanism 105, and the tray position correcting mechanism 111 may be connected to the control terminal 109.

Of course, referring to fig. 1, 3 and 4, in order to ensure the stability of the tray when the material is taken out by the material taking and placing mechanism, the automatic palletizer in this embodiment also has a tray fixing mechanism 112 capable of holding the tray on which the material is located when the material is taken out by the material taking and placing mechanism 104, and the tray fixing mechanism 112 is connected with the control terminal 109. Here, the tray fixing mechanism 112 is a cylinder connected to the control terminal 109.

In order to ensure the stability of the pallet during the transportation, as shown in fig. 6, the automatic pallet loading machine of this embodiment further has a stopper structure 116 for stopping the pallet on the belt 115.

The following explains a control method of the automatic pallet machine in the present embodiment. Referring to fig. 8, the method for controlling the automatic pallet loader in this embodiment includes the following steps:

step 1, starting a tray machine by operating a control terminal 109;

step 2, placing at least one tray 2 containing materials at a tray placing position on a tray machine;

step 3, the material loading tray conveying mechanism 101 conveys the tray 2 filled with the materials to the material loading tray lifting platform 102;

step 4, the height of the material loading tray lifting platform 102 is lifted to a preset height by the material loading tray lifting mechanism 103;

step 5, the material taking and placing mechanism 104 takes out the materials in the tray on the material loading tray lifting platform 102 after the height is lifted; in the embodiment, when the material picking and placing mechanism 104 performs a material picking operation on a material in a tray on the material loading tray lifting platform 102, the tray fixing mechanism 112 holds the tray on which the material is located;

step 6, the material loading tray transfer mechanism 105 transfers the tray with the taken material to the empty tray lifting platform 106;

step 7, the empty tray lifting mechanism 107 lowers the height of the empty tray lifting platform 106 to a preset height;

and 8, the empty tray conveying mechanism 108 outputs the tray on the empty tray lifting platform 106 with the lowered height.

The output empty trays can be collected by a subsequent mechanism, and can be collected and taken away by workers.

That is, when N (N is 2 or more) pallets loaded with materials are placed on the material loading pallet conveying mechanism for conveying, the pallets are conveyed to the material loading pallet lifting platform, and then: firstly, a first tray in front of the sorting is lifted to a preset height along with the material loading tray lifting platform; then, the material taking and placing mechanism takes out the materials in the first tray, and then the material carrying tray transferring mechanism moves the emptied first tray to an empty tray lifting platform, at the moment, no tray exists on the material carrying tray lifting platform, and the material carrying tray lifting platform descends to the original position along with the material carrying tray lifting mechanism, so that the second tray which is sorted is conveyed to the material carrying tray lifting platform; the first tray descends to another preset height along with the empty tray lifting platform, then the empty tray conveying mechanism outputs the emptied first tray (also called as an empty tray) to the outer side of the automatic tray machine, and then the empty tray lifting mechanism lifts the current empty tray lifting platform to the original height so as to contain the next moved tray;

the second tray is taken out of the materials, moved to the empty tray lifting platform and then output to the outer side of the automatic tray machine by the empty tray conveying mechanism in sequence in the same conveying procedure as the first tray; like this reciprocating cycle, finally take out the material in this N tray is whole to this N empty tray after will empting the material again exports the outside of automatic tray machine in proper order, has realized collecting in order and stable the carrying to the material, has improved work efficiency.

In order to ensure that the empty tray can be smoothly transferred to the empty tray lifting platform by the material-carrying tray transfer mechanism, in the control method of the automatic tray machine according to this embodiment, specifically in step 8, the material residue detection device 110 is further included to detect whether there is a material on the empty tray before the tray on the empty tray lifting platform 106 is output:

when the empty tray has the materials, prompting to manually remove the materials on the empty tray; otherwise, executing the subsequent output action of the empty tray.

Of course, in the course of executing the control method of the automatic pallet machine, the pallet position correcting mechanism 111 of the automatic pallet machine also performs a correcting work on the positions of all the pallets located on the loading pallet transfer mechanism 105 to ensure that all the pallets are located at appropriate positions on the loading pallet transfer mechanism.

When the automatic tray machine in the embodiment is used for taking and placing materials, the tray for loading the materials is supported and loaded by the transmission belt, and the tray moves along with the transmission belt by virtue of static friction between the tray and the transmission belt, so that the materials can be prevented from vibrating in the process of conveying along with the tray, mutual friction and collision among the materials in the tray can be avoided, and the material conveying requirement with strict corresponding appearance requirement can be effectively met; secondly, can also store the device of material through increasing the setting on this automatic tray machine to realize this automatic tray machine's automatic receipts material and automatic blowing, also can reach the effect of blowing, receipts material simultaneously.

Although preferred embodiments of the present invention have been described in detail hereinabove, it should be clearly understood that modifications and variations of the present invention are possible to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.