An intelligent hanging conveying device with palletizing

Abstract

The present invention discloses an intelligent hanging conveying device with stacking, which specifically relates to the technical field of plate transfer, including a support seat, a conveying assembly provided on the support seat, and the conveying assembly including a reinforcing frame provided on one side of the top of the support seat, two transverse plates provided on one side of the reinforcing frame, the two transverse plates being arranged opposite to each other, and a plurality of picking rods provided on each transverse plate. The present invention uses an elastic clamping structure of a picking rod in conjunction with a rubber rod. When the hydraulic rod drives the rubber rod to displace, the picking rod can adaptively fit the concave and convex surface of the plate, avoiding grabbing deviation caused by wavy edges or bark residues. The L-shaped insert plate design at the bottom end of the picking rod can be inserted into the bottom of the plate, and combined with the picking trough to avoid interference from the outside of the plate, thereby achieving stable clamping of special-shaped plates and reducing the risk of plate falling compared to traditional vacuum suction cups or clamps.

Description

Technical Field

[0001] The present invention relates to the technical field of plate transport, and more particularly to an intelligent hanging conveying device with palletizing. Background Art

[0002] Wood, a typical natural fiber-based material, undergoes drying to form standardized boards (such as rectangular boards of uniform thickness). Large-scale processing generally follows the process logic of "warehouse stacking - intelligent sorting - single-line conveying." In current industry practice, dried boards are stacked using spacers to ensure dimensional regularity (uniform length and thickness). The height of a single stack is controlled at 1.5-2.0 meters, and the width of a single layer is achieved by horizontally splicing multiple boards to form a standard width of 1.2-1.3 meters. This stacking method utilizes three-dimensional storage space while preventing friction damage through physical isolation. It also facilitates the transfer of entire stacks by forklifts equipped with customized pallets.

[0003] The current mainstream equipment uses a combination of "robotic arm grasping + conveyor belt transport", using visual sensors to identify the edge position of the plate and using vacuum suction cups or grippers to separate the individual pieces. It is widely used in large-scale production scenarios of a single variety.

[0004] However, due to the natural growth characteristics of wood, some boards (such as narrow solid wood boards and shaped laminated lumber) may exhibit residual bark on the outside, wavy edges caused by growth rings, or diagonal deviations due to drying shrinkage. Traditional robotic arms rely on flat gripping surfaces, which reduces grip stability on uneven surfaces. Furthermore, gripper-type equipment is prone to misalignment due to irregular edges, causing boards to drop or jams in conveying. When stacking mixed boards of varying sizes, the equipment cannot identify the actual width of individual boards, resulting in excessive layer widths during stacking and requiring manual secondary adjustments. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an intelligent hanging conveying device with palletizing, which aims to solve the problems raised in the above-mentioned background technology.

[0006] The present invention provides the following technical solution: an intelligent hanging conveying device with palletizing, comprising a support base, on which a conveying assembly is provided;

[0007] The conveying assembly includes a reinforcement frame arranged on one side of the top of the support base, and two horizontal plates are provided on one side of the reinforcement frame. The two horizontal plates are arranged opposite to each other, and each of the horizontal plates is provided with a plurality of material-taking rods, and the bottom ends of the plurality of material-taking rods are provided with a material-taking trough, and a first displacement sensor is provided on one side of the surface of each material-taking trough;

[0008] Both ends of the transverse plate are provided with hinged seats respectively, and the bottom of each hinged seat is hinged with a hydraulic rod, and the output ends of the two hydraulic rods are rotatably connected to a rubber rod, and the rubber rod is located outside the material taking rod.

[0009] Optionally, in a possible embodiment, a gear is provided in the middle of the support seat, a first cross bar is provided on one side of the gear, and a second cross bar is provided on the other side of the gear, racks are respectively provided on the sides of the first cross bar and the second cross bar facing the gear, and both racks are meshed with the gear, a stopper is respectively provided at one end of the first cross bar and the second cross bar, and a second displacement sensor is respectively embedded in each of the stoppers, and a slot is provided on the side where the two stoppers are close to each other, a stepped slot is provided in the slot, a tray is provided on the top of the inner cavity of the support seat, and a second motor for driving the gear to rotate is provided on the tray;

[0010] Optionally, in a possible embodiment, a top plate is provided on the top of the support seat, and an articulated rod is hinged on the top plate, and one end of the hydraulic rod extends to the reinforcing frame and is hinged to the reinforcing frame, and the top plate and the articulated rod are respectively provided with a first motor for driving the articulated rod and the reinforcing frame to rotate, and an axle is provided on the cross plate, and a plurality of guide frames are rotatably connected to the axle, and each guide frame is respectively located at one end of a corresponding feeding rod, and the guide frame is mounted on the cross plate by bolts, and the feeding rod is rotatably connected to the guide frame, and a spring is provided on one side of the guide frame, one end of the spring is tilted upward, and a slider is provided on one end of the spring, and the slider is located on the feeding rod and is slidably connected to the feeding rod, and the vertical cross-section shape of each feeding rod is set to be L-shaped, and the bottom end of each feeding rod is provided with a plug plate;

[0011] Technical effects and advantages of the present invention:

[0012] 1. The present invention utilizes a resilient clamping structure incorporating a pick-up lever and a rubber lever. When a hydraulic lever drives the rubber lever to move, the pick-up lever can adaptively conform to the uneven surface of the sheet material, avoiding gripping deviations caused by undulating edges or residual bark. The deformation of the rubber lever compensates for differences in sheet material contours, enabling independent deflection and coordinated clamping of multiple pick-up levers.

[0013] 2. The L-shaped insert at the bottom of the pick-up rod of the present invention can be inserted into the bottom of the plate. Combined with the pick-up trough, it avoids interference from the outside of the plate, achieving stable clamping of special-shaped plates. Compared with traditional vacuum suction cups or clamps, the risk of plate dropping is significantly reduced.

[0014] 3. The first displacement sensor on the surface of the material chute of the present invention detects the deflection stroke of the material taking rod in real time, and accurately calculates the width of the plate by the data difference between the sensors on both sides. The gear and rack mechanism in the middle of the support seat drives the movement of the stopper, and the second displacement sensor simultaneously monitors the distance between the stoppers. This dual detection mechanism ensures the consistency of the layer width of plates of different sizes, preventing the layer width from exceeding during stacking, and eliminating the manual secondary adjustment process.

[0015] 4. The first motor-driven structure connecting the top plate and the hinged rod of the present invention enables the reinforcement frame to rotate at multiple angles. Combined with the lifting and lowering adjustment of the hydraulic rod, the material-grabbing rod can wrap the plates from multiple angles, adapting to the grabbing needs of stacks of different heights in three-dimensional storage. The linkage design of the guide frame and the spring ensures that the material-grabbing rod automatically resets after deflection, improving conveying efficiency.

[0016] 5. The spacing of the material-retrieving rods on the horizontal plate of the present invention can be adjusted by bolts. Combined with the gear-driven block and stepped groove design, it can handle not only standard rectangular plates, but also special-shaped plates such as solid wood narrow boards and integrated materials, thus expanding the scope of application of the equipment.

[0017] To summarize, through the elastic clamping structure of the picking rod and the rubber rod, when the hydraulic rod drives the rubber rod to move, the picking rod can adaptively fit the concave and convex surface of the plate, avoiding the grasping deviation caused by the wavy edge or bark residue. The L-shaped plug design at the bottom of the picking rod can be inserted into the bottom of the plate, and combined with the picking trough to avoid interference from the outside of the plate, it can achieve stable clamping of special-shaped plates, reducing the risk of plate falling compared to traditional vacuum suction cups or clamps. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the technical solutions of the present disclosure, the following briefly introduces the drawings required for use in some embodiments. Obviously, the drawings described below are only drawings of some embodiments of the present disclosure, and those skilled in the art can also derive other drawings based on these drawings. Furthermore, the drawings described below are schematic diagrams and are not intended to limit the actual dimensions of the products, actual processes of the methods, actual timing of signals, and the like involved in the embodiments of the present disclosure.

[0019] Figure 1 It is the main view of the overall structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the cross plate, material taking rod, rubber rod, shaft rod and guide frame of the present invention.

[0021] Figure 3 It is a schematic diagram of the support base, top plate, first motor of the hinged rod, reinforcement frame, first cross bar and second cross bar of the present invention.

[0022] Figure 4It is a schematic diagram of the support base, the second motor, the first cross bar, the second cross bar and the rack of the present invention.

[0023] Figure 5 Schematic diagram of the top plate, hinged rod, reinforcement frame and first motor of the present invention.

[0024] Figure 6 Schematic diagram of the first cross bar, the second cross bar, the rack, the gear and the stopper of the present invention.

[0025] Figure 7 This is a schematic diagram of the material picking rod, first displacement sensor, guide frame, spring and slider of the present invention.

[0026] Figure 8 It is a schematic diagram of the articulated seat, hydraulic rod and rubber rod of the present invention.

[0027] The accompanying drawings are marked as follows: 1. Support seat; 2. Reinforcement frame; 3. Cross plate; 4. Material picking rod; 5. Material picking trough; 6. First displacement sensor; 7. Articulated seat; 8. Hydraulic rod; 9. Rubber rod; 10. Gear; 11. First cross bar; 12. Second cross bar; 13. Rack; 14. Stop block; 15. Second displacement sensor; 16. Step groove; 17. Top plate; 18. Articulated rod; 19. First motor; 20. Shaft; 21. Guide frame; 22. Spring; 23. Slider; 24. Second motor. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] As attached Figure 1 -Attached Figure 8 The intelligent hanging conveying device with stacking shown in the figure has a conveying assembly set on the support base 1, and a material picking rod 4 cooperates with the elastic clamping structure of the rubber rod 9. When the hydraulic rod 8 drives the rubber rod 9 to move, the material picking rod 4 can adaptively fit the concave and convex surface of the plate to avoid grasping deviation caused by wavy edges or bark residue. The L-shaped plug design at the bottom end of the material picking rod 4 can be inserted into the bottom of the plate. Combined with the material picking trough 5, it avoids interference from the outside of the plate, thereby achieving stable clamping of special-shaped plates. Compared with traditional vacuum suction cups or clamps, the risk of plate falling is reduced. The specific structural arrangement of the assembly is as follows;

[0030] The conveying assembly includes a reinforcement frame 2 arranged on one side of the top of the support base 1, and two horizontal plates 3 are provided on one side of the reinforcement frame 2. The two horizontal plates 3 are arranged opposite to each other, and each horizontal plate 3 is provided with a plurality of material-taking rods 4. The bottom ends of the plurality of material-taking rods 4 are provided with a material-taking trough 5, and a first displacement sensor 6 is provided on one side of the surface of each material-taking trough 5.

[0031] As attached Figure 1 , Attachment Figure 2 and attached Figure 7 As shown, the picking rod 4 deflects at the top of the transverse plate 3, and then the bottom end of the picking rod 4 approaches the axial direction of the transverse plate 3 to clamp the plate. At the same time, the picking groove 5 staggers the interference between the outer side of the plate and the picking rod 4, so that the plate is stuck on the picking rod 4 in an embedded form, and the displacement stroke of the corresponding picking rod 4 is detected by each first displacement sensor 6. The size of the plate is detected by two opposite first displacement sensors 6, so as to record the size of a single plate and adjust the position when stacking;

[0032] The two ends of the horizontal plate 3 are respectively provided with a hinge seat 7, and the bottom of each hinge seat 7 is hinged with a hydraulic rod 8. The output ends of the two hydraulic rods 8 are rotatably connected to a rubber rod 9, which is located on the outside of the material taking rod 4;

[0033] As attached Figure 1 , Attachment Figure 2 and attached Figure 8 As shown, the rubber rod 9 is driven to move by the hydraulic rod 8. When the rubber rod 9 moves, it contacts the picking rod 4, which causes the picking rod 4 to deflect on the cross plate 3. When the rubber rod 9 moves, it pressurizes the picking rod 4. When the picking rod 4 hits the outside of the plate and is limited, the displacement of the rubber rod 9 is blocked, which causes the rubber rod 9 to deform. The rubber rod 9 is continuously displaced and drives the remaining picking rods 4 to clamp the plate, so that each picking rod 4 is deflected at the same time to adaptively detect the contour of the plate.

[0034] A gear 10 is provided in the middle of the support base 1, a first cross bar 11 is provided on one side of the gear 10, a second cross bar 12 is provided on the other side of the gear 10, and racks 13 are provided on the sides of the first cross bar 11 and the second cross bar 12 facing the gear 10, respectively, and both racks 13 are meshed with the gear 10; as shown in the attached figure Figure 4 and attached Figure 6 As shown, the gear 10 is engaged with the rack 13, so that when the gear 10 rotates, it can drive the first cross bar 11 and the second cross bar 12 to extend in opposite directions, so that the first cross bar 11 and the second cross bar 12 can extend from the support base 1, making it convenient for the first cross bar 11 and the second cross bar 12 to clamp and position the plate; a stopper 14 is provided at one end of the first cross bar 11 and the second cross bar 12, and a second displacement sensor 15 is embedded in each stopper 14, and a slot is provided on the side where the two stops 14 are close to each other, and a stepped slot 16 is provided in the slot, as shown in the attached figure. Figure 4 and attached Figure 6 As shown, the position of each stopper 14 is adjusted by the opposite displacement of the first cross bar 11 and the second cross bar 12, so that each stopper 14 is respectively covered on both sides of the plate, and the plate is limited by the card slot, and the second displacement sensor 15 is convenient for detecting the displacement stroke of the two stops 14 and the size of the plate.

[0035] A top plate 17 is provided on the top of the support base 1, and a hinged rod 18 is hinged on the top plate 17. One end of the hydraulic rod 8 extends to the reinforcement frame 2 and is hinged to the reinforcement frame 2. A first motor 19 for driving the hinged rod 18 and the reinforcement frame 2 to rotate is provided on the top plate 17 and the hinged rod 18 respectively.

[0036] As attached Figure 5 As shown, the first motor 19 on the top plate 17 drives the articulated rod 18 to rotate, and the first motor 19 on the articulated rod 18 drives the reinforcement frame 2 to rotate, so that the cross plate 3 can follow the rotation trajectory of the reinforcement frame 2 and be adjusted, so that each material picking rod 4 is wrapped around the outside of the plate, and the angle of the reinforcement frame 2 is adjusted on the top of the support seat 1, so that the reinforcement frame 2 and the articulated rod 18 can be set horizontally with the plate to ensure the stability of plate transportation.

[0037] The horizontal plate 3 is provided with a shaft 20, and the shaft 20 is rotatably connected to a plurality of guide frames 21, and each guide frame 21 is located at one end of the corresponding material taking rod 4, and the guide frame 21 is mounted on the horizontal plate 3 by bolts, and the material taking rod 4 is rotatably connected to the guide frame 21; Figure 2 As shown, the feeding rod 4 rotates along the axis point of the connection between the feeding rod 4 and the shaft rod 20, thereby realizing the function of adjusting the angle of the feeding rod 4, so that the feeding rod 4 is stuck on the outside of the plate. At the same time, the setting of the guide frame 21 can guide the feeding rod 4 when it is deflected, thereby ensuring the stability of the feeding rod 4 when it is deflected; a spring 22 is provided on one side of the guide frame 21, and one end of the spring 22 is inclined upward, and a slider 23 is provided on one end of the spring 22. The slider 23 is located on the feeding rod 4 and is slidably connected to the feeding rod 4; as shown in the attached figure Figure 1 , Attachment Figure 2 and attached Figure 7 As shown, when the picking rod 4 is deflected, the slider 23 slides at the bottom of the picking rod 4 and compresses the spring 22, so that the hydraulic rod 8 drives the rubber rod 9 to reset so that the picking rod 4 loses its limit. The slider 23 drives the picking rod 4 to reset due to the elasticity of the spring 22 itself, making it convenient for the picking rod 4 to transport the plate to the designated area and then automatically feed the material.

[0038] A tray is provided on the top of the inner cavity of the support base 1, and a second motor 24 for driving the gear 10 to rotate is provided on the tray;

[0039] As attached Figure 4As shown, the second motor 24 is installed in the support base 1 with the tray as a support point. The second motor 24 drives the gear 10 to rotate, so as to adjust the positions of the first crossbar 11 and the second crossbar 12.

[0040] The vertical cross-section of each material taking rod 4 is set to be L-shaped, and the bottom end of each material taking rod 4 is provided with an insert plate;

[0041] As attached Figure 1 As shown, the L-shaped cross-section of the material picking rod 4 makes it easy for the material picking rod 4 to cover the plate when picking up materials, and the setting of the inserting plate makes it convenient for the inserting plate to be inserted into the bottom of the plate when the material picking rod 4 is deflected, thereby improving the convenience and stability of the material picking rod 4 when picking up materials from the plate.

[0042] The specific working principle is as follows: the device can be installed on a robotic arm or a slide device with the support seat 1 as a support point. When the device moves to the top of the plate stack, the first motor 19 on the top plate 17 drives the hinged rod 18 to rotate, so that the reinforcement frame 2 drives the cross plate 3 to align horizontally with the top surface of the plate; the hydraulic rod 8 extends downward, pushing the rubber rod 9 to contact the feeding rod 4 at the edge, and the elastic extrusion of the rubber rod 9 drives the feeding rod 4 to deflect around the shaft rod 20. The insert plate of the L-shaped feeding rod 4 is inserted into the bottom of the plate, and the feeding trough 5 clamps the outside of the plate.

[0043] The first displacement sensor 6 next to the material taking chute 5 records the deflection angle of the material taking rod 4 in real time, and calculates the actual width of the plate through the sensor data on both sides.

[0044] At the same time, the first cross bar 11 and the second cross bar 12 can be placed horizontally at the bottom of the reinforcement frame 2 as needed. The second motor 24 drives the gear 10 to rotate, and the gear 10 engages the rack 13 to make the first cross bar 11 and the second cross bar 12 move toward each other. The second displacement sensor 15 on the stop block 14 detects the length of the plate to provide data support for subsequent palletizing.

[0045] The rubber rod 9 applies continuous pressure. If the sheet material's surface is uneven, the rubber rod 9 will deform due to the uneven force, pushing the pick-up rods 4 in different positions to adaptively deflect, ensuring that all pick-up rods 4 evenly grip the sheet material. The articulated rod 18 works in conjunction with the first motor 19 of the reinforcement frame 2 to adjust the angle of the conveyor assembly, keeping the sheet material suspended horizontally and preventing conveying jams. Furthermore, based on the sheet material size detected by each sensor, the control system drives the support base 1 to move to the designated stacking area. During this process, the spring 22 in the guide frame 21 applies reset tension to the pick-up rods 4 via the slider 23, ensuring stable clamping force and preventing sheet material from shaking.

[0046] When the conveyor assembly reaches the palletizing position, hydraulic rod 8 retracts, rubber rod 9 releases pressure on pick-up rod 4, and spring 22 pushes slider 23 to reset pick-up rod 4, allowing the sheet to fall into the slot of stopper 14. Gear 10 then drives stopper 14 to move, and stepped groove 16 engages the edge of the sheet, ensuring accurate positioning during stacking. After the sheet is dropped, the conveyor assembly resets, and the second motor 24 drives gear 10 to open stopper 14, returning the assembly to the pick-up position and entering the next cycle of grabbing, conveying, and palletizing.

[0047] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent hanging conveying device with palletizing, comprising a support base, characterized in that: A conveying assembly is provided on the support seat; The conveying assembly includes a reinforcement frame arranged on one side of the top of the support base, and two horizontal plates are provided on one side of the reinforcement frame. The two horizontal plates are arranged opposite to each other, and each of the horizontal plates is provided with a plurality of material-taking rods, and the bottom ends of the plurality of material-taking rods are provided with a material-taking trough, and a first displacement sensor is provided on one side of the surface of each material-taking trough; Both ends of the horizontal plate are provided with hinged seats, and the bottom of each hinged seat is hinged with a hydraulic rod, and the output ends of the two hydraulic rods are rotatably connected to a rubber rod, and the rubber rod is located on the outside of the material taking rod; A gear is provided in the middle of the support seat, a first crossbar is provided on one side of the gear, and a second crossbar is provided on the other side of the gear, and racks are respectively provided on the sides of the first crossbar and the second crossbar facing the gear, and both racks are meshed with the gear; A top plate is provided on the top of the support seat, a hinged rod is hinged on the top plate, one end of the hydraulic rod extends to the reinforcement frame and is hinged to the reinforcement frame, and a first motor for driving the hinged rod and the reinforcement frame to rotate is provided on the top plate and the hinged rod respectively; The horizontal plate is provided with a shaft, and a plurality of guide frames are rotatably connected to the shaft, and each guide frame is located at one end of a corresponding feeding rod, and the guide frame is mounted on the horizontal plate by bolts, and the feeding rod is rotatably connected to the guide frame; A spring is provided on one side of the guide frame, one end of the spring is inclined upward, and one end of the spring is provided with a slider, which is located on the material picking rod and is slidably connected to the material picking rod.

2. The intelligent hanging conveying device with palletizing according to claim 1, characterized in that: A stopper is provided at one end of the first cross bar and the second cross bar respectively, and a second displacement sensor is embedded in each stopper respectively. A card slot is provided on one side of the two stoppers close to each other, and a stepped slot is provided in the card slot.

3. The intelligent hanging conveying device with palletizing according to claim 1, characterized in that: A tray is provided on the top of the inner cavity of the support base, and a second motor for driving the gear to rotate is provided on the tray.

4. The intelligent hanging conveying device with palletizing according to claim 1, characterized in that: The vertical cross-section of each of the material-taking rods is set to be L-shaped, and the bottom end of each of the material-taking rods is provided with an inserting plate.

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