Stacking device and method for inter-plant material transport

Abstract

This invention discloses a palletizing device and method for workshop material transportation, relating to the field of material palletizing. The device includes a frame and a control module. A gantry frame is fixedly installed at the front end of the frame, and a storage rack is fixedly installed at the end of the frame. A positioning frame that can move up and down is provided on the gantry frame. A flipping transfer rack is rotatably provided at the front end of the storage rack. A lifting conveyor frame is movably hinged to the back of the positioning frame. The moving speed of the conveyor belt is further adjusted based on the rising speed of the positioning frame to match the flipping speed of the flipping transfer rack. This enables stable material transfer and stacking when the paperboard is being transported at a faster pace, avoiding paperboard flying and jamming caused by excessive speed of the flipping transfer rack and the conveyor belt. At the same time, the speed of the conveyor belt is controlled by the number of paperboards loaded at one time and the rising speed of the positioning frame, ensuring that the conveyor belt can run continuously without stopping, making it more stable and efficient.

Description

Technical Field

[0001] This invention relates to the field of material palletizing, and particularly to palletizing equipment and methods for material transportation in workshops. Background Technology

[0002] Material palletizing is very common in current production and processing processes. Materials are transported to a designated area by a conveyor belt, and then stacked vertically using a pre-set space. Once the material is stacked to a specified height, it is transferred to the next processing area or storage area by a forklift or other transportation equipment.

[0003] However, in current material palletizing technology, to address the issue of materials gradually stacking higher, the positioning frame typically needs to rise with the material stacking, and the feeding conveyor belt needs to change its inclination angle as the material stacks higher. During this process, a laser sensor is required to continuously monitor the material height. Furthermore, as the inclination angle of the feeding conveyor belt increases, its anti-slip capability needs to be modified; currently, negative pressure adsorption is commonly used. For cases with large mass and large inclination angles, this increases costs exponentially. Secondly, during the transfer of materials to the feeding conveyor belt, a flipping frame is typically used for material transfer. If the material speed continuously increases, simply increasing the speed of the flipping frame can easily cause materials to be thrown away during the flipping process. Excessive flipping speed also necessitates further increasing the conveying speed of the feeding conveyor belt to prevent materials from piling up, leading to instability in the entire conveying system and posing risks of material flying and jamming. Therefore, this paper provides a palletizing device and method for workshop material transportation. Summary of the Invention

[0004] The purpose of this invention is to provide palletizing equipment and methods for transporting materials in a workshop, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a palletizing device for transporting materials in a workshop, comprising;

[0006] The machine frame has a gantry frame fixedly installed at its front end and a storage rack fixedly installed at its rear end. The gantry frame is equipped with a positioning frame that can move up and down. The front end of the storage rack is rotatably equipped with a tilting transfer rack. The back of the positioning frame is movably hinged to a lifting conveyor. The two sides of the rear end of the lifting conveyor are slidably equipped with positioning shafts, and the positioning shafts are rotatably connected to the underside of the tilting transfer rack, so that when the positioning frame is lifted to a higher height as the material is stacked, it drives the front end of the lifting conveyor to tilt upward. The bottom end of the lifting conveyor is restricted to the underside of the tilting transfer rack by the positioning shafts.

[0007] The control module is configured as follows:

[0008] The frequency of flipping the transfer rack is controlled based on the material receiving speed of the storage rack, so as to avoid the flipping speed of the transfer rack being too fast;

[0009] The single-rise height of the positioning frame is controlled based on the flipping frequency of the material transfer rack, so that the material can be continuously stacked.

[0010] The feeding speed of the lifting conveyor is controlled based on the single rising height of the positioning frame and the flipping frequency of the material transfer rack, so that the lifting conveyor can operate without stopping.

[0011] Preferably, support beams are fixedly provided on both sides of the frame, the storage rack is fixedly provided between the two support beams, the flipping and transferring rack is rotatably provided on the top of the support beams, and the positioning shaft is rotatably connected between the two support beams.

[0012] Preferably, the storage rack is equipped with two sets of symmetrically arranged friction conveyor belts, and a stop is fixedly installed at the top front end of the storage rack so that the material can move through the friction conveyor belt to a position close to the stop for loading. A position sensor is fixedly installed on one side of the stop.

[0013] Preferably, the material transfer rack includes a rotating shaft and a material transfer bar fixedly disposed on the outer wall of the rotating shaft, and both the storage rack and the lifting conveyor rack are provided with clearance grooves to avoid the material transfer bar.

[0014] Preferably, a conveyor belt is installed on the lifting conveyor frame, and multiple anti-slip strips are equidistantly arranged on the outer surface of the conveyor belt. The anti-slip strips allow the material to move upward along the lifting conveyor frame following the conveyor belt. The front ends of the lifting conveyor frame are integrally formed with hinge seats on both sides. Connecting plates are fixedly welded to both sides of the positioning frame, and connecting columns are fixedly welded to the connecting plates. The connecting columns are rotatably connected in the hinge seats. The side of the lifting conveyor frame is provided with a sliding groove, and the positioning shaft is slidably connected in the sliding groove.

[0015] Preferably, a pusher plate is movably disposed on the inner side wall of the positioning frame, a pusher cylinder is fixedly disposed on the positioning frame, the output end of the pusher cylinder is fixedly connected to the pusher plate, a lifting motor is fixedly installed on the top of the gantry, a lifting chain is installed on the output end of the lifting motor, and the bottom end of the lifting chain is fixedly connected to the positioning frame to pull the positioning frame to move upward along the gantry.

[0016] The method based on palletizing equipment for material transportation in a workshop includes the following steps:

[0017] S1. Initialize the equipment: lower the positioning frame to its lowest point, and start the conveyor belt at minimum speed. During operation, manually adjust the anti-slip strips to below the positioning shaft;

[0018] S2. Real-time monitoring of material receiving speed in the material receiving area. and the current quantity q of materials on the storage rack;

[0019] S3, Setting the counting rules for the number of materials n flipped in a single turn;

[0020] like If q < 2, then n = 1; if If q < 3, then n = 2; If q=3, then n=3;

[0021] S4. Calculate the estimated flip time;

[0022] S5, Set conveyor belt speed ;

[0023] S6. Perform the positioning and flipping action of the anti-slip strip;

[0024] S7. Calculate the conveyor belt speed. With the rising speed of the positioning frame ;

[0025] S8. Synchronously execute conveying and stacking;

[0026] S9. Update system status.

[0027] Preferably, the calculation logic for steps S4 and S6 is as follows;

[0028] The time interval between the cardboard arriving at the buffer area from upstream is;

[0029] ;

[0030] If there are already q sets of materials in the buffer, and nq sheets are still needed to trigger this flip, then;

[0031] ,in For the estimated flip time;

[0032] Secondly, the distance P between two adjacent anti-slip strips is greater than the length of the material. The following continuous speed control is adopted;

[0033] And needs to meet

[0034] Ensure that the conveyor belt every The movement interval is P, ensuring that there is an anti-slip barrier under the material during each flip;

[0035] In step S6, the conveyor belt moves at a speed Continuous operation, when When the countdown reaches zero, the flipping and transferring rack is immediately triggered to rotate, flipping n sets of materials onto the conveyor belt.

[0036] Preferably, in step S7, after the cardboard is placed on the conveyor belt, it needs to be transported from the pivot to the positioning frame. At this time, the conveying speed needs to be adjusted according to the current stacking height H and synchronized with the rise of the positioning frame.

[0037] The straight-line distance from the current axis to the hinge point of the positioning frame ;

[0038] The height required for this ascent

[0039] Set delivery time and ,but , .

[0040] Preferably, in steps S8 and S9, the conveyor belt speed is from Smooth transition to Meanwhile, the positioning frame moves at speed The conveyor belt begins to rise, and once the front end of the cardboard reaches the positioning frame, it switches back to its original position. Waiting for the next cycle, the positioning frame continues to rise until △H is completed;

[0041] Then, the number of cardboard sheets in the buffer area q is reduced by n, and the positioning frame height H is updated to H+AH. If the stacking reaches the preset height, the stacking is completed, the material is unloaded, and the positioning frame is reset. At this point, return to step 2 and continue the loop.

[0042] The technical effects and advantages of this invention are as follows:

[0043] 1. This palletizing equipment for workshop material transportation can implement different flipping strategies based on the cardboard's incoming material speed when the cardboard processing speed increases. This allows the flipping transfer rack to flip two or three sets of cardboard at a time, thereby increasing the material transfer speed without increasing the flipping speed of the transfer rack. At the same time, the rising speed of the positioning frame is changed based on the number of cardboard transferred at one time, and the moving speed of the conveyor belt is further adjusted based on the rising speed of the positioning frame to match the flipping speed of the transfer rack. This ensures stable material transfer and stacking even when cardboard production is accelerated, preventing cardboard from flying or jamming due to excessive speed of the transfer rack and conveyor belt.

[0044] 2. This method, based on palletizing equipment for workshop material transportation, utilizes the mechanical redundancy of anti-slip baffles with a spacing greater than the length of the cardboard to decouple the conveyor belt speed from the expected flipping time, enabling the anti-slip baffles to automatically position themselves at the flipping moment. Simultaneously, it employs continuous speed control, completely avoiding reliance on photoelectric sensors and emergency stop positioning. Throughout the entire operation, the conveyor belt speed is controlled by the quantity of cardboard fed at one time and the rising speed of the positioning frame, ensuring continuous operation without the need for downtime, resulting in greater stability and efficiency. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the side structure of the palletizing equipment of the present invention;

[0046] Figure 2 This is a schematic diagram of the outer surface structure of the palletizing equipment of the present invention;

[0047] Figure 3 This is a side view of the frame and gantry of the present invention;

[0048] Figure 4 This is a schematic diagram of the outer surface structure of the gantry frame and positioning frame of the present invention;

[0049] Figure 5 This is a schematic diagram of the outer surface structure of the lifting conveyor frame of the present invention;

[0050] Figure 6 This is a schematic diagram of the side structure of the lifting conveyor frame of the present invention;

[0051] Figure 7 This is a schematic diagram of the overall process of the palletizing method of the present invention;

[0052] Figure 8 This is a flowchart illustrating the adjustment of conveyor belt speed and positioning frame height in the palletizing method of the present invention.

[0053] Figure 9 This is a logic diagram for adjusting the speed of the conveyor belt in the palletizing method of the present invention.

[0054] In the diagram: 1. Frame; 12. Support beam; 2. Gantry frame; 22. Lifting chain; 23. Lifting motor; 3. Storage rack; 32. Friction conveyor belt; 33. Stop block; 4. Turning and transferring rack; 5. Lifting conveyor frame; 52. Slide chute; 53. Conveyor belt; 54. Anti-slip strip; 55. Clearance groove; 56. Hinge seat; 57. Positioning shaft; 6. Positioning frame; 62. Push plate; 63. Push cylinder; 64. Connecting plate; 65. Connecting column. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] Example 1: The present invention provides as follows Figures 1-6 The palletizing equipment and method for transporting materials in a workshop shown includes a frame 1, a gantry frame 2 fixedly installed at the front end of the frame 1, a storage rack 3 fixedly installed at the end of the frame 1, a positioning frame 6 that can move up and down on the gantry frame 2, a flipping transfer rack 4 rotatably installed at the front end of the storage rack 3, a lifting conveyor 5 movably hinged to the back of the positioning frame 6, and positioning shafts 57 slidably installed on both sides of the end of the lifting conveyor 5, and the positioning shafts 57 are rotatably connected to the underside of the flipping transfer rack 4, so that when the positioning frame 6 is lifted to a higher height as the materials are stacked, it drives the front end of the lifting conveyor 5 to tilt upward, and the bottom end of the lifting conveyor 5 is restricted to the underside of the flipping transfer rack 4 by the positioning shafts 57.

[0057] The control module is configured as follows:

[0058] The frequency of flipping the transfer rack 4 is controlled based on the material receiving speed of the storage rack 3, so as to avoid the transfer rack 4 flipping too fast.

[0059] The single-rise height of the positioning frame 6 is controlled based on the flipping frequency of the material transfer rack 4, so that the material can be continuously stacked.

[0060] The feeding speed of the lifting conveyor frame 5 is controlled by the single lifting height of the positioning frame 6 and the flipping frequency of the transfer rack 4, so that the lifting conveyor frame 5 can operate without stopping.

[0061] Support beams 12 are fixedly installed on both sides of the frame 1. The storage rack 3 is fixedly installed between the two support beams 12. The flipping and transferring rack 4 is rotatably installed on the top of the support beams 12. The positioning shaft 57 is rotatably connected between the two support beams 12.

[0062] Two sets of symmetrically arranged friction conveyor belts 32 are installed on the storage rack 3. A stop block 33 is fixedly installed on the top front end of the storage rack 3 so that the material can move through the friction conveyor belt 32 to the stop block 33 to wait for feeding. A position sensor is fixedly installed on one side of the stop block 33.

[0063] The material transfer rack 4 includes a rotating shaft and a material transfer bar fixedly installed on the outer wall of the rotating shaft. Both the storage rack 3 and the lifting conveyor rack 5 are provided with clearance grooves 55 to avoid the material transfer bar.

[0064] A conveyor belt 53 is installed on the lifting conveyor frame 5. Multiple anti-slip strips 54 are evenly arranged on the outer surface of the conveyor belt 53. The anti-slip strips 54 allow the material to move upward along the lifting conveyor frame 5 following the conveyor belt 53. The front ends of the lifting conveyor frame 5 are integrally formed with hinge seats 56. The two sides of the positioning frame 6 are fixedly welded with connecting plates 64. Connecting columns 65 are fixedly welded on the connecting plates 64. The connecting columns 65 are rotatably connected in the hinge seats 56. The side of the lifting conveyor frame 5 is provided with a sliding groove 52. The positioning shaft 57 is slidably connected in the sliding groove 52.

[0065] A pusher plate 62 is movably installed on the inner side wall of the positioning frame 6. A pusher cylinder 63 is fixedly installed on the positioning frame 6. The output end of the pusher cylinder 63 is fixedly connected to the pusher plate 62. A lifting motor 23 is fixedly installed on the top of the gantry frame 2. A lifting chain 22 is installed on the output end of the lifting motor 23. The bottom end of the lifting chain 22 is fixedly connected to the positioning frame 6 to pull the positioning frame 6 to move upward along the gantry frame 2.

[0066] Working principle: When the device is in use, the storage rack 3 is set at the end of the cardboard processing production line. At this time, the processed cardboard is transported by the conveyor belt and falls to the top of the storage rack 3. Then, the cardboard is picked up and flipped by the flipping transfer rack 4 and placed on the lifting conveyor 5. By controlling the speed of the conveyor belt 53, the anti-slip strip 54 is positioned at the lower edge of the cardboard. At this time, the conveyor belt 53 drives the cardboard to move upward along the lifting conveyor 5 and then falls into the positioning frame 6 for stacking.

[0067] During use, as the material stacking height increases, the lifting motor 23 drives the lifting chain 22 to wind upward. At this time, the bottom end of the lifting chain 22 pulls the positioning frame 6 to slide upward, and the positioning frame 6 drives the top of the lifting conveyor frame 5 to lift upward, which increases the slope of the lifting conveyor frame 5. At this time, the positioning shaft 57 on the side of the lifting conveyor frame 5 remains below the flipping transfer rack 4, thereby anchoring the lower section of the lifting conveyor frame 5. At this time, in order to ensure that the anti-slip strip 54 is below the cardboard when the flipping transfer rack 4 is flipped, the moving speed of the conveyor belt 53 needs to be controlled.

[0068] Simultaneously, when the cardboard processing speed increases, leading to an increase in the material feeding speed, different flipping strategies are implemented based on the cardboard feeding speed. This allows the flipping transfer rack 4 to flip two or three sets of cardboard at a time, thereby increasing the material transfer speed without increasing the flipping speed of the flipping transfer rack 4. At the same time, the rising speed of the positioning frame 6 is changed based on the number of cardboard transferred at one time, and the moving speed of the conveyor belt 53 is further adjusted based on the rising speed of the positioning frame 6 to match the flipping speed of the flipping transfer rack 4. This ensures stable material transfer and stacking when cardboard production is accelerated, preventing cardboard from flying or jamming due to excessive speed of the flipping transfer rack 4 and the conveyor belt 53. Furthermore, the speed of the conveyor belt 53 is controlled by the number of cardboard loaded at one time and the rising speed of the positioning frame 6, ensuring that the conveyor belt 53 can run continuously without stopping, making it more stable and efficient.

[0069] Example 2: The present invention provides as follows Figures 7-9 The method shown, based on palletizing equipment for material transport in a workshop, includes the following steps:

[0070] S1. Initialize the equipment. Positioning frame 6 is lowered to its lowest point, and conveyor belt 53 operates at minimum speed. During operation, manually adjust the anti-slip strip 54 to below the positioning shaft 57;

[0071] S2. Real-time monitoring of material receiving speed in the material receiving area. And the current quantity q of materials on the storage rack 3;

[0072] S3, Setting the counting rules for the number of materials n flipped in a single turn;

[0073] like If q < 2, then n = 1; if If q < 3, then n = 2; If q=3, then n=3;

[0074] S4. Calculate the estimated flip time;

[0075] S5, Set the conveyor belt speed to 53. ;

[0076] S6. Perform the positioning and flipping action of the anti-slip strip 54;

[0077] S7, Calculate the conveyor belt speed 53 With the rising speed of positioning frame 6 ;

[0078] S8. Synchronously execute conveying and stacking;

[0079] S9. Update system status.

[0080] The calculation logic for steps S4 and S6 is as follows;

[0081] The time interval between the cardboard arriving at the buffer area from upstream is;

[0082] ;

[0083] If there are already q sets of materials in the buffer, and nq sheets are still needed to trigger this flip, then;

[0084] ,in For the estimated flip time;

[0085] Secondly, the distance P between two adjacent anti-slip strips 54 is greater than the length of the material. The following continuous speed control is adopted;

[0086] And needs to meet

[0087] Ensure that each of the 53 conveyor belts The movement interval is P, ensuring that there is an anti-slip strip 54 under the material during each flip;

[0088] In step S6, the feeding conveyor belt moves at a speed Continuous operation, when When the countdown reaches zero, the flipping and transferring rack 4 is immediately triggered to rotate, and the flipping and transferring rack 4 flips n sets of materials onto the conveyor belt 53.

[0089] In step S7, after the cardboard is placed on the conveyor belt 53, it needs to be transported from the pivot to the positioning frame 6. At this time, the conveyor speed needs to be adjusted according to the current stacking height H and synchronized with the rise of the positioning frame.

[0090] The straight-line distance from the current axis to the hinge point of the positioning frame ;

[0091] The height required for this ascent

[0092] Set delivery time and ,but , .

[0093] In steps S8 and S9, the speed of the conveyor belt 53 changes from... Smooth transition to Meanwhile, positioning frame 6 moves at speed The conveyor belt 53 begins to rise, and once the front end of the cardboard reaches the positioning frame 6, it switches back to its original position. Waiting for the next cycle, positioning frame 6 continues to rise until △H is completed;

[0094] Then, the number of cardboard sheets in the buffer area q is reduced by n, and the height H of the positioning frame is updated to H+AH. If the stacking reaches the preset height, the stacking is completed, the material is unloaded, and the positioning frame 6 is reset. At this time, return to step 2 and continue the loop.

[0095] Working principle: In this method, the control module reads the speed of the incoming conveyor belt in real time. And the number of cardboard pieces q currently accumulated on the storage rack 3. To prevent the cardboard from being thrown away by the flipping transfer rack 4 under high-frequency operation, the system determines the speed threshold based on the preset speed threshold. The number of cardboard sheets n flipped in a single operation is dynamically determined:

[0096] When the material receiving speed is lower than the threshold Furthermore, when the buffer area has less than two sheets, the system waits for the buffer area to accumulate one sheet of cardboard before flipping the transfer rack 4 once for each sheet of cardboard that arrives.

[0097] When the material receiving speed reaches a certain level In between, the system waits for the buffer area to accumulate 2 cardboard sheets, and the flipping transfer rack 4 operates once for every two cardboard sheets, thus reducing the flipping frequency to half of the original.

[0098] When the material delivery speed exceeds At that time, the transfer rack 4 operates once for every three pieces of cardboard.

[0099] This adaptive rule decouples the operating frequency of the flipping and transferring rack 4 from the material receiving speed, ensuring smooth transfer even at high-speed material receiving.

[0100] Secondly, the control module adjusts according to the current material feeding speed. Given the cardboard length and the number of cardboard pieces still waiting (n - q), calculate the estimated time until the next flipping action. This time is the time window from the current moment until the buffer is full, the cardboard is filled, and the flipping action is triggered.

[0101] Because the spacing P of the anti-slip strips is designed to be greater than the length of the cardboard, the system can utilize this structural redundancy to achieve sensorless positioning. The control module sets the speed of the conveyor belt. for ;

[0102] And it is limited to the speed range allowed by the motor. At this time, the conveyor belt 53 runs continuously at this speed without stopping or stopping abruptly. After a certain time, the conveyor belt 53 moved exactly one anti-slip strip 54 distance P, thus ensuring that at the instant the material transfer rack 4 moves, one anti-slip strip 54 is always directly below the positioning shaft 57. Since the initial phase has been calibrated, P> The front edge of the anti-slip strip 54 must fall behind the bottom edge of the cardboard to reliably support the cardboard.

[0103] When the estimated time When the countdown reaches zero, the control module immediately triggers the rotation of the flipping and transferring rack 4. The flipping and transferring rack 4 flips the n sheets of cardboard accumulated on the storage rack 3 to the conveyor belt 53 in one go. Since the conveyor belt 53 is always moving at a constant speed... With the anti-slip strip 54 in place, the cardboard falls smoothly onto the anti-slip strip 54 without slipping or splashing.

[0104] After the cardboard falls onto the conveyor belt 53, it needs to be sent to the positioning frame 6 for stacking. At this time, the control module calculates the straight distance from the pivot to the hinge point of the positioning frame 6 based on the current stacking height H, as well as the height that the stacking needs to rise, and thus calculates the running speed of the conveyor belt 53 and the rising speed of the positioning frame 6 during the conveying stage.

[0105] Then the control module will change the speed of the conveyor belt 53 from Smoothly switch to Simultaneously drive positioning frame 6 at a speed As the cardboard begins to rise, it moves upward along the conveyor belt 53, and the positioning frame 6 rises synchronously. Once the front end of the cardboard reaches the inside of the positioning frame 6, the conveyor belt 53 switches back to low speed. Waiting for the next cycle.

[0106] This method utilizes the mechanical redundancy of the anti-slip baffles 54 spacing being greater than the length of the cardboard to couple the conveyor belt speed 53 with the expected flipping time. This allows the anti-slip strip 54 to automatically position itself during the flipping process; at the same time, continuous speed control is adopted, which completely avoids the reliance on photoelectric sensors and emergency stop positioning. Throughout the entire operation, the conveyor belt 53 is always in continuous motion, the motor is not impacted, and the system reliability is significantly improved, making it especially suitable for workshop environments with a lot of dust.

[0107] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A palletizing equipment for transporting materials in a workshop, characterized in that, include; A frame (1) is fixedly installed at the front end of the frame (1) and a storage rack (3) is fixedly installed at the end of the frame (1). A positioning frame (6) that can move up and down is provided on the gantry (2). A flipping transfer rack (4) is rotatably provided at the front end of the storage rack (3). A lifting conveyor (5) is movably hinged to the back of the positioning frame (6). A positioning shaft (57) is slidably provided on both sides of the end of the lifting conveyor (5). The positioning shaft (57) is rotatably connected to the bottom of the flipping transfer rack (4) so ​​that when the positioning frame (6) is lifted with the material stacking, the front end of the lifting conveyor (5) is tilted upward. The bottom end of the lifting conveyor (5) is restricted to the bottom of the flipping transfer rack (4) by the positioning shaft (57). The control module is configured as follows: The frequency of flipping of the transfer rack (4) is controlled based on the material receiving speed of the storage rack (3) to avoid the transfer rack (4) flipping too fast; The single-rise height of the positioning frame (6) is controlled based on the flipping frequency of the flipping transfer rack (4) so ​​that the material can be continuously stacked. The feeding speed of the lifting conveyor (5) is controlled based on the single lifting height of the positioning frame (6) and the flipping frequency of the material transfer rack (4) so ​​that the lifting conveyor (5) can run without stopping.

2. The palletizing equipment for workshop material transportation according to claim 1, characterized in that, The frame (1) is fixedly provided with support beams (12) on both sides, the storage rack (3) is fixedly provided between the two support beams (12), the flipping transfer rack (4) is rotatably provided on the top of the support beams (12), and the positioning shaft (57) is rotatably connected between the two support beams (12).

3. The palletizing equipment for workshop material transportation according to claim 2, characterized in that, Two sets of symmetrically arranged friction conveyor belts (32) are installed on the storage rack (3). A stop block (33) is fixedly installed on the top front end of the storage rack (3) so that the material can move through the friction conveyor belt (32) to the stop block (33) to wait for feeding. A position sensor is fixedly installed on one side of the stop block (33).

4. The palletizing equipment for workshop material transportation according to claim 3, characterized in that, The material transfer rack (4) includes a rotating shaft and a material transfer bar fixedly installed on the outer wall of the rotating shaft. Both the storage rack (3) and the lifting conveyor rack (5) are provided with clearance grooves (55) to avoid the material transfer bar.

5. The palletizing equipment for workshop material transportation according to claim 4, characterized in that, The lifting conveyor frame (5) is equipped with a conveyor belt (53). Multiple anti-slip strips (54) are equidistantly arranged on the outer surface of the conveyor belt (53). The anti-slip strips (54) allow the material to move upward along the lifting conveyor frame (5) following the conveyor belt (53). The front end of the lifting conveyor frame (5) is integrally formed with hinge seats (56). The two sides of the positioning frame (6) are fixedly welded with connecting plates (64). The connecting plates (64) are fixedly welded with connecting columns (65). The connecting columns (65) are rotatably connected in the hinge seats (56). The side of the lifting conveyor frame (5) is provided with a sliding groove (52). The positioning shaft (57) is slidably connected in the sliding groove (52).

6. The palletizing equipment for workshop material transportation according to claim 5, characterized in that, A pusher plate (62) is movably arranged on the inner side wall of the positioning frame (6). A pusher cylinder (63) is fixedly arranged on the positioning frame (6). The output end of the pusher cylinder (63) is fixedly connected to the pusher plate (62). A lifting motor (23) is fixedly installed on the top of the gantry frame (2). A lifting chain (22) is installed on the output end of the lifting motor (23). The bottom end of the lifting chain (22) is fixedly connected to the positioning frame (6) to pull the positioning frame (6) to move upward along the gantry frame (2).

7. A method for controlling the palletizing equipment for workshop material transport as described in any one of claims 1-6, characterized in that, Includes the following steps: S1. Initialize the equipment. The positioning frame (6) is lowered to the lowest point, and the conveyor belt (53) moves at the lowest speed. During operation, manually adjust the anti-slip strip (54) to below the positioning shaft (57); S2. Real-time monitoring of material receiving speed in the material receiving area. and the current material quantity q of the storage rack (3); S3, Setting the counting rules for the number of materials n flipped in a single turn; like If q < 2, then n = 1; if If q < 3, then n = 2; If q=3, then n=3; S4. Calculate the estimated flip time; S5, Set the speed of the conveyor belt (53) ; S6. Perform the positioning and flipping action of the anti-slip strip (54); S7. Calculate the conveyor belt (53) conveying speed. With the rising speed of the positioning frame (6) ; S8. Synchronously execute conveying and stacking; S9. Update system status.

8. The method based on palletizing equipment for workshop material transportation according to claim 7, characterized in that, The calculation logic for steps S4 and S6 is as follows; The time interval between the cardboard arriving at the buffer area from upstream is; ； If there are already q sets of materials in the buffer, and nq sheets are still needed to trigger this flip, then; ,in For the estimated flip time; Secondly, the distance P between two adjacent anti-slip strips (54) is greater than the length of the material. The following continuous speed control is adopted; And needs to meet Ensure that the conveyor belt (53) is every The movement interval is P, ensuring that there is an anti-slip strip (54) under the material each time it is flipped; In step S6, the conveyor belt (53) moves at a speed of Continuous operation, when When the countdown reaches zero, the flipping material rack (4) is immediately triggered to rotate, and the flipping material rack (4) flips n sets of materials onto the conveyor belt (53).

9. The method based on palletizing equipment for workshop material transportation according to claim 8, characterized in that, In step S7, after the cardboard is placed on the conveyor belt (53), it needs to be transported from the pivot to the positioning frame (6). At this time, the conveying speed needs to be adjusted according to the current stacking height H and synchronized with the rise of the positioning frame. The straight-line distance from the current pivot to the hinge point of the positioning frame ; The height required for this ascent Set delivery time and ,but , .

10. The method based on palletizing equipment for workshop material transportation according to claim 9, characterized in that, In steps S8 and S9, the speed of the conveyor belt (53) changes from... Smooth transition to Meanwhile, the positioning box (6) moves at a speed It begins to rise, and when the front end of the cardboard reaches the positioning frame (6), the conveyor belt (53) switches back. Waiting for the next cycle, the positioning frame (6) continues to rise until △H is completed; Then, the number of cardboard sheets in the buffer area q is reduced by n, and the height H of the positioning frame is updated to H+AH; if the stacking reaches the preset height, the stacking is completed, the material is unloaded, and the positioning frame is reset (6). At this time, return to step 2 and continue the loop.

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