CN101531284A - Destacking device - Google Patents
Destacking device Download PDFInfo
- Publication number
- CN101531284A CN101531284A CN200810134675A CN200810134675A CN101531284A CN 101531284 A CN101531284 A CN 101531284A CN 200810134675 A CN200810134675 A CN 200810134675A CN 200810134675 A CN200810134675 A CN 200810134675A CN 101531284 A CN101531284 A CN 101531284A
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- CN
- China
- Prior art keywords
- complex
- tooth bar
- article
- parts
- destacking device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005764 inhibitory process Effects 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 230000000452 restraining effect Effects 0.000 abstract 2
- 230000001629 suppression Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 10
- 230000001737 promoting effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005755 formation reaction Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0457—Storage devices mechanical with suspended load carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
Abstract
Problem: a destacking device for holding and carrying a topside aggregate by four side faces from a article group stacked by a plurality of aggregates, is capable of restraining a haunchup due to the deformation of the article when holding the aggregate and preventing a face structure from being broke. A method for solving the problem is that a lower of a holding face of a holding component (4a) is more inclined than a top towards the aggregate (Ba), the top of a article group (B) is provided with a suppression component (6) for restraining the haunchup due to the deformation of the article when holding. When holding the topside aggregate (Ba) by four side faces, the haunchup may be restrained by the suppression component (6) even though the article (b) is deformed, thus the face structure of the aggregate (Ba) will not be broke, and holding is stable.
Description
Technical field
The present invention relates to from the article group that the complex of a plurality of article stacks, with the complex of the superiors Destacking device from four side clampings carryings.
Background technology
Destacking device is always disclosed among the patent documentation 1-6.These technology are characterised in that, possess the bay-lift of the article group that the complex of loading, a plurality of article of lifting stacks; From the article group that rises, with the hold assembly that the complex of the superiors is carried from four side clampings, hold assembly has vertical clamping face, advances and retreat in the horizontal direction with respect to the side of complex.Yet these technology exist in when leaving the complex of lower floor after the clamping, owing to the reasons such as deformation extent of the article of the complex that is held cause the reduction of friction drag, goods come off can not clamping problem.
To this, the technology that addresses the above problem is disclosed in the patent documentation 7.This technology is characterised in that, hold assembly tilts to complex than top slightly in the bottom of its clamping face, even article depart from the bottom that also can hang over hold assembly downwards owing to the reduction of friction drag, can not take place to make its distortion owing to applying excessive pressure, can prevent falling of article, carry out clamping.But, this technology exists because the inclination of hold assembly makes the signature power on top be lower than the bottom, as shown in Figure 9, and when complex Ba is held, the article b of central part is because distortion and arch upward the problem that the face of complex Ba is destructurized like escaping to the little top of signature power.Among the figure, 10 is hold assembly, and B is an article group.
[patent documentation 1] spy opens clear 59-138529 communique
[patent documentation 2] special fair 1-29668 communique
[patent documentation 3] spy opens flat 7-196109 communique
[patent documentation 4] spy opens the 2001-72244 communique
[patent documentation 5] spy opens the 2002-128275 communique
[patent documentation 6] spy opens the 2005-34969 communique
[patent documentation 7] spy opens the 2007-204174 communique
Summary of the invention
The problem that invention will solve
The problem that the present invention will solve is, solves those technical matterss always, and the distortion of the article when suppressing owing to the clamping complex is arched upward, and prevents the face structural damage.
The solution of problem
The structure of the present invention that solves relevant problem is:
A kind of Destacking device, it is for a kind of for the complex of laterally being pieced together the integrated planar rectangular shape by a plurality of article, with a plurality of hold assemblies of advancing and retreat in the horizontal direction, the Destacking device that carry four sides of the complex of the superiors in the article group that this complex of clamping is piled into, it is characterized in that, the bottom of the clamping face of hold assembly tilts to complex than top, the inhibition parts that the article distortion is arched upward when being provided with inhibition because of clamping in the top position of article group.
Above-mentioned 1) Destacking device described in suppresses parts and is arranged on the position that certain intervals is arranged above complex.
Above-mentioned 2) Destacking device described in is provided with and is suppressing parts because of deadweight spurs it with being abutted against the back above the complex, makes it remain on the locational pulling mechanism of above complex certain intervals.
Above-mentioned 3) Destacking device described in, the lifting cylinder that pulling mechanism is undertaken by the decline low speed that makes the inhibition position produce because of deadweight; Be installed in the lifter rack (rackgear) that suppresses upper parts of components; Miniature gears (pinion gear) with the driven lifting of tooth bar engagement energy; Can pin with the bottom ingear of miniature gears and use tooth bar; And make pin with tooth bar with pinion, make tooth bar rising institute's set a distance and pinning constituted with cylinder from the pinning that miniature gears separates with tooth bar.
Above-mentioned 2)～4) Destacking device described in each, suppress parts and above the complex between institute decide the interval in the scope of 4～6mm.
Above-mentioned 1)～5) Destacking device described in each, the angle of inclination of hold assembly, with respect to vertical direction in 0.5～2 ° scope.
The effect of invention
According to the present invention, during from the complex of the four side clamping the superiors, even because article arch upward because of distortion also can be suppressed with suppressing parts, so the face structure of complex can not destroy, and clamping is stable.
Description of drawings
Fig. 1 is the lateral plan of the Destacking device of embodiment.
Fig. 2 is the birds-eye view of the Handling device of embodiment.
Fig. 3 is the enlarged drawing of the hold assembly of embodiment.
Fig. 4 is the instruction diagram of the inhibition parts of embodiment.
Fig. 5 is the left view that omits the part of Fig. 4.
Fig. 6 is the instruction diagram of the pulling mechanism of embodiment.
Fig. 7 a～Fig. 7 d is the instruction diagram of action of the inhibition parts of expression embodiment.
Fig. 8 is the instruction diagram of clamp position of the complex of expression embodiment.
Fig. 9 is an instruction diagram of representing the clamp position of complex always.
Nomenclature
1 Destacking device
The 1a framework
2 continuous conveyors
3 bay-lifts
The 3a pedestal
4 Handling devices
The 4a hold assembly
The 4b driving and reversing mechanism
The 4c wheel
5 discharge conveyers
The 5a bay-lift
6 suppress parts
7 pulling mechanisms
The 7a tooth bar
7b promotes and uses cylinder
The 7c bar
The 7d miniature gears
7e tooth bar support
7f pins and uses cylinder
The 7g bar
7h pins and uses tooth bar
The 7i bracing frame
The 7j guide rail bracket
The 7k guide rail
The 7m fork
The 7n hill holder
The 7p check plate
The 7q framework
The B article group
The Ba complex
The b article
The P pallet
The specific embodiment
Among the present invention, suppress parts and be arranged on the position that certain intervals is arranged above complex, when goods arched upward slightly in the non-destructive scope of face structure of complex, the signature power that can decontrol hold assembly prevented the remarkable distortion of article.Suppress parts and above the complex between institute to decide the interval be suitable in the scope of 4～6mm, but can carry out suitable change according to the degree of the size of goods and intensity, distortion.These inhibition parts be provided with suppress parts because of deadweight be abutted against the back above the complex and lifted, make that suppressing parts remains on the locational pulling of set a distance mechanism of institute above complex, even the height of complex is different when each clamping, can both remain on the position of deciding the interval above the distance set zoarium suppressing parts.Specify embodiments of the invention below with reference to the accompanying drawings.
Embodiment shown in Fig. 1～8 is the example that the cardboard box group of multilayer is unloaded from level to level the Destacking device of carrying.Fig. 1 is the lateral plan of the Destacking device of embodiment, Fig. 2 is the birds-eye view of the Handling device of embodiment, Fig. 3 is the enlarged drawing of the hold assembly of embodiment, Fig. 4 is the instruction diagram of the inhibition parts of embodiment, Fig. 5 is the left view that omits the part of Fig. 4, Fig. 6 is the instruction diagram of the pulling mechanism of embodiment, and Fig. 7 a～Fig. 7 d is the instruction diagram of action of the inhibition parts of expression embodiment, and Fig. 8 is the instruction diagram of clamp position of the complex of expression embodiment.
Among the figure, the 1st, Destacking device, 1a are framework (frame), the 2nd, continuous conveyor (conveyer), the 3rd, bay-lift, 3a are pedestals, the 4th, Handling device, 4a are hold assemblies, and 4b is a driving and reversing mechanism, 4c is a wheel, the 5th, and discharge conveyer, 5a are bay-lifts, the 6th, suppress parts, the 7th, pulling mechanism, 7a is a tooth bar, 7b promotes that to use cylinder, 7c be bar (rod), and 7d is a miniature gears, 7e is tooth bar support (rack holder), and 7f pins that to use cylinder, 7g be bar, 7h pins that to use tooth bar, 7i be bracing frame, and 7j is saddle (guide bracket), 7k is guide rail (Slide guide), and 7m is a fork, and 7n is hill holder (stopper), 7p is a check plate, 7q is a framework, and B is an article group, and Ba is a complex, b is article, and P is a pallet.
The Destacking device 1 of present embodiment, as shown in Figure 1, be deposited in the continuous conveyor 2 of the article group B on the pallet P by a plurality of carryings, make the bay-lift 3 of continuous conveyor 2 lifting between the clip position of pedestal 3a and complex Ba of loaded with articles group B, from the article group B that rises, with the Handling device 4 that the complex of the superiors is carried from four side clampings, the complex Ba of clamping is unloaded, transports discharge conveyer 5 formations on carrying ground.Discharge conveyer 5 can utilize bay-lift 5a lifting.
Shifting apparatus 4 as shown in Figure 2, has the driving and reversing mechanism 4b that surrounding of complex Ba is made its start all around with 4 hold assembly 4a, can move to the carrying position in framework 1a motion by the wheel 4c that is installed in four jiaos.The angle θ of 4 hold assembly 4a as shown in Figure 3, its underpart than its top to complex Ba direction tilt respectively 1 ° (diagram exaggeration) a little.Suppress parts 6 and be provided with 4, can fall by deadweight at the middle position of Handling device 4.
Pulling mechanism 7, shown in Fig. 4～6, on the top that suppresses parts 6 tooth bar 7a is installed, be installed in the fork 7m that front end forms breach on the top of tooth bar 7a, the breach of fork 7m is passed in lifting with the bottom of the bar 7c of cylinder 7b, in the lower end of this bar 7c the check plate 7p that can tangle is installed below fork 7m, but the miniature gears 7d free lifting ground driven with tooth bar 7a engagement is provided with, tooth bar support 7e is arranged on the bar 7g that pins with cylinder 7f, but axle supporting miniature gears 7d is free lifting also, is provided with in the lower end of tooth bar support 7e to pin with the bottom ingear of miniature gears 7d to use tooth bar 7h.Promoting with cylinder 7b is to suppress parts because of the decline of deadweight low speed in order to make.Bracing frame 7i is for miniature gears 7d is remained on the lower position.Usefulness does not take place to support discretely with miniature gears 7d in order to make tooth bar 7a in the guide rail 7k that is installed on the guide rail bracket 7j.The hill holder 7n that installs below of fork 7m is when inhibition parts 6 are fallen and framework 7q is abutted against, and the lower position of qualification inhibition parts 6 is used.
In the present embodiment, shown in Fig. 7 a, uphold to pin and use cylinder 7f, make to pin and separate, suppress parts 6 because deadweight drops to lower position (miniature gears 7d is driven) from pinion rack 7d with tooth bar 7h.Suppressing parts 6 slowly falls with cylinder 7b because of promoting.Shown in Fig. 7 b, when the continuous conveyor 2 of delivery article group B rises it by bay-lift 3, the top of the complex Ba of the superiors just can be abutted against with inhibition parts 6, tooth bar 7a goes up the fork 7m that installs and suppresses parts 6 (miniature gears 7d is driven) along the bar 7c lifting that promotes with cylinder 7b, and bay-lift 3 quits work after the complex Ba of the superiors rises to clip position.
Shown in Fig. 7 c, allow pin and shrink back with cylinder 7f, make to pin to be meshed with pinion rack 7d with tooth bar 7h.In this state, tooth bar 7a is pinned by miniature gears 7d.Shown in Fig. 7 d, make the miniature gears 7d under tooth bar 7a and the locking-in state together rise thereby allow locking further shrink back, the interval H of formation 5mm below inhibition parts 6 and between above the complex with cylinder 7f.By these operations,, suppress parts 6 and also can remain on the position of certain intervals above complex Ba even the height of complex Ba is different during each clamping.
So, as shown in Figure 8, four sides of complex Ba are clamped by 4 hold assembly 4a.At this moment, though because the inclination of hold assembly 4a may make the article b of central portion arch upward, can suppress above arching upward owing to be abutted against the inhibition parts 6 of top, the face structure can not destroyed, and clamping is stable.And, owing to suppress to form H at interval between parts 6 and complex Ba top, decontroled the signature power of hold assembly 4a, can prevent the remarkable distortion of article b.
Afterwards, bay-lift 3 is descended, after the complex Ba separation of lower floor, Handling device 4 moves to the carrying position, utilize bay-lift 5a that discharge conveyer 5 is risen to unloading position, when unclamping hold assembly 4 complex Ba and being loaded on the discharge conveyer 5, discharge conveyer 5 drops to the position before rising and complex Ba is sent.Handling device 4 turns back to original position, allows pin the extension with cylinder 7f, makes to pin with tooth bar 7h and separates from miniature gears 7d, makes inhibition parts 6 drop to the lower position standby until promoting next complex Ba by deadweight.
Utilize possibility on the industry
Destacking device of the present invention unloads useful to removing of the yielding goods of appearance such as cardboard box.
Claims (6)
1. Destacking device, it is for a kind of for the complex of laterally being pieced together the integrated planar rectangular shape by a plurality of article, with a plurality of hold assemblies of advancing and retreat in the horizontal direction, the Destacking device that carry four sides of the complex of the superiors in the article group that this complex of clamping is piled into, it is characterized in that, the bottom of the clamping face of hold assembly tilts to complex than top, the inhibition parts that the article distortion is arched upward when being provided with inhibition because of clamping in the top position of article group.
2. Destacking device according to claim 1 suppresses parts and is arranged on the position that certain intervals is arranged above complex.
3. Destacking device according to claim 2 is provided with and is suppressing parts because of deadweight spurs it with being abutted against the back above the complex, makes it remain on the locational pulling mechanism of above complex certain intervals.
4. Destacking device according to claim 3, the lifting cylinder that pulling mechanism is undertaken by the decline low speed that makes the inhibition position produce because of deadweight; Be installed in the lifter rack that suppresses upper parts of components; Miniature gears with the driven lifting of tooth bar engagement energy; Can pin with the bottom ingear of miniature gears and use tooth bar; And make pin with tooth bar with pinion, make tooth bar rising institute's set a distance and pinning constituted with cylinder from the pinning that miniature gears separates with tooth bar.
5. according to the Destacking device described in the claim 2～4 each, suppress parts and above the complex between institute decide the interval in the scope of 4～6mm.
6. according to the Destacking device described in the claim 1～4 each, the angle of inclination of hold assembly, with respect to vertical direction in 0.5～2 ° scope.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008062387A JP4683666B2 (en) | 2008-03-12 | 2008-03-12 | Stage equipment |
| JP2008-062387 | 2008-03-12 | ||
| JP2008062387 | 2008-03-12 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101531284A true CN101531284A (en) | 2009-09-16 |
| CN101531284B CN101531284B (en) | 2012-05-16 |
Family
ID=41102180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810134675XA Expired - Fee Related CN101531284B (en) | 2008-03-12 | 2008-08-15 | Destacking device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4683666B2 (en) |
| KR (1) | KR20090097760A (en) |
| CN (1) | CN101531284B (en) |
| TW (1) | TW200938469A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054957A (en) * | 2013-03-15 | 2017-08-18 | 株式会社大福 | The handling device of article carrying case |
| CN109071134A (en) * | 2015-12-22 | 2018-12-21 | 图坦服务公司 | Import the method and apparatus for converting the sheet material of the machine of the sheet material of corrugated plating or microwave card |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201103450D0 (en) * | 2011-03-01 | 2011-04-13 | Meadwestvaco Packaging Systems | Apparatus and method of manipulation of articles |
| CN103144797B (en) * | 2013-03-04 | 2014-09-17 | 江苏迅捷装具科技有限公司 | Separating and taking device for basket distribution machine |
| JP6637789B2 (en) * | 2016-02-26 | 2020-01-29 | 株式会社ナベル | Shedding device |
| JP6626411B2 (en) * | 2016-06-06 | 2019-12-25 | 川崎重工業株式会社 | Food stuffing equipment |
| CN114701780A (en) * | 2022-03-25 | 2022-07-05 | 深圳市海柔创新科技有限公司 | Container taking method, robot and storage system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0832403B2 (en) * | 1989-09-29 | 1996-03-29 | 株式会社アサヒビールパックス | Industrial robot hand device |
| JPH08188247A (en) * | 1994-12-31 | 1996-07-23 | Daiwa House Ind Co Ltd | Plate-form material equally dividing device |
| JP3444838B2 (en) * | 2000-04-17 | 2003-09-08 | 村田機械株式会社 | Load handling equipment |
| JP4049292B2 (en) * | 2000-06-27 | 2008-02-20 | オークラ輸送機株式会社 | Article holding device and article transfer device |
| JP2007204174A (en) * | 2006-01-31 | 2007-08-16 | Seibu Electric & Mach Co Ltd | Destacking device |
-
2008
- 2008-03-12 JP JP2008062387A patent/JP4683666B2/en active Active
- 2008-08-05 TW TW097129694A patent/TW200938469A/en not_active IP Right Cessation
- 2008-08-14 KR KR1020080079858A patent/KR20090097760A/en active Search and Examination
- 2008-08-15 CN CN200810134675XA patent/CN101531284B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054957A (en) * | 2013-03-15 | 2017-08-18 | 株式会社大福 | The handling device of article carrying case |
| CN109071134A (en) * | 2015-12-22 | 2018-12-21 | 图坦服务公司 | Import the method and apparatus for converting the sheet material of the machine of the sheet material of corrugated plating or microwave card |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4683666B2 (en) | 2011-05-18 |
| CN101531284B (en) | 2012-05-16 |
| TWI354644B (en) | 2011-12-21 |
| JP2009215026A (en) | 2009-09-24 |
| KR20090097760A (en) | 2009-09-16 |
| TW200938469A (en) | 2009-09-16 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120516 Termination date: 20210815 |