CN107934572B - Destacking device and destacking robot - Google Patents
Destacking device and destacking robot Download PDFInfo
- Publication number
- CN107934572B CN107934572B CN201711365985.8A CN201711365985A CN107934572B CN 107934572 B CN107934572 B CN 107934572B CN 201711365985 A CN201711365985 A CN 201711365985A CN 107934572 B CN107934572 B CN 107934572B
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- swing rod
- box body
- supporting
- rotating shaft
- unstacking
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- 230000008093 supporting effect Effects 0.000 claims abstract description 134
- 238000000034 method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 12
- 230000000903 blocking effect Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 description 12
- 239000000463 material Substances 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- 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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
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- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Abstract
The invention provides an unstacking device and an unstacking robot, wherein the unstacking device comprises: the sucking disc structure is connected with the execution structure of the unstacking robot and is used for sucking the box body of the goods; the bottom supporting structure comprises a driving part and a bottom supporting part connected with the driving part, the bottom supporting part is connected with the sucker structure, and the driving part can drive the bottom supporting part to move and is used for dragging or loosening the bottom of the box body. According to the unstacking device provided by the invention, the sucker structure is connected with the execution structure of the unstacking robot, the sucker structure sucks the upper surface of the box body, and the bottom of the support pulls the lower surface of the box body, so that the unstacking device is more reliable, the falling of cargoes or the damage of the box body is avoided, further, the sucker structure is matched with the bottom support structure, multiple cargoes can be sucked at one time, meanwhile, the unstacking device can be unstacked in one row or one column at one time, the cargoes do not need to be subsequently unstacked into one row or one column, and the unstacking efficiency is further improved.
Description
Technical Field
The invention relates to the technical field of unstacking, in particular to an unstacking device and an unstacking robot.
Background
At present, the intelligent degree in the logistics field is changing suddenly and rapidly, and the application of robots is developed at a high speed and is more common. The palletizing robot is used gradually, and the unstacking robot is used more and more.
In the related art, the operation mode and the result type of the gripper part of the unstacking robot are relatively single, and the gripper part is limited to two modes of single-piece grabbing unstacking or single-layer grabbing unstacking. The disadvantage of single grabbing and unstacking is low efficiency and serious energy waste; the disadvantage of single whole-layer grabbing and unstacking is that the bottom of the material is not provided with a bottom covering mechanism, the reliability is low, the material is easy to fall off during high-speed movement, the robot load is huge, the purchasing cost is increased, meanwhile, the detached material is multi-row and multi-column, and the material is required to be rearranged into a single row or a single column for backward conveying at a subsequent station.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art or related art.
To this end, a first aspect of the invention provides a destacking apparatus.
The second aspect of the invention also provides a destacking robot.
In view of this, a first aspect of the present invention proposes an unstacking device for an unstacking robot, the unstacking device comprising: the sucking disc structure is connected with the execution structure of the unstacking robot and is used for sucking the box body of the goods; the bottom supporting structure comprises a driving part and a bottom supporting part connected with the driving part, the bottom supporting part is connected with the sucker structure, and the driving part can drive the bottom supporting part to move and is used for dragging or loosening the bottom of the box body.
The invention provides an unstacking device which comprises a sucker structure and a bottom supporting structure, wherein the sucker structure is connected with an execution structure of an unstacking robot, such as a manipulator of the unstacking robot, and can suck a box body of goods; the bottom supporting structure comprises a driving part and a bottom supporting part, the driving part drives the bottom supporting part to move, so that the bottom supporting part can drag or loosen the bottom of the box body, the upper surface of the box body is sucked by the sucker structure in the unstacking process, the lower surface of the box body is dragged by the bottom supporting part, the unstacking device is more reliable, the falling of goods or the damage of the box body is avoided, further, the sucker structure is matched with the bottom supporting structure, multiple boxes of goods can be sucked once, meanwhile, the unstacking device can also be used for unstacking in one row or one column once, the follow-up unstacking of the goods is not needed, and the unstacking efficiency is further improved.
The unstacking device provided by the invention can also have the following additional technical characteristics:
in the above technical solution, preferably, the supporting base portion includes: one end of the supporting part is connected with the sucker structure, and the other end of the supporting part extends towards the direction close to the bottom of the box body; the supporting part is respectively connected with the supporting part and the driving part; the driving part can drive the lifting part to move, and the lifting part can slide on the supporting part.
In the technical scheme, the bottom supporting part comprises a supporting part and a supporting part, one end of the supporting part is connected with the sucker structure, and the other end extends to a direction close to the bottom of the box body; the supporting portion is connected with the supporting portion and the driving portion respectively, and the driving portion drives the supporting portion to move to drive the supporting portion to slide on the supporting portion, so that the supporting portion can slide back and forth in the direction from the upper portion to the bottom of the box body, and further the technical effects that the supporting portion stretches into the bottom of the box body and stretches out of the bottom of the box body are achieved.
In any of the above-described aspects, preferably, the support portion includes: the vertical rod seat is connected with the sucker structure and is provided with a through hole; one end of the vertical rod penetrates through the through hole to be connected with the driving part, and the other end of the vertical rod extends towards the direction close to the bottom of the box body; the bearing seat is sleeved on the vertical rod and is positioned on one side of the vertical rod seat, which is close to the bottom of the box body, and the bearing seat can slide on the vertical rod; and the baffle is arranged at one end of the vertical rod, which is close to the bottom of the box body, and is used for blocking the bearing seat.
In this technical scheme, supporting part includes pole setting seat, pole setting, bearing frame and separation blade, pole setting seat is connected with the sucking disc structure, play the effect of support, the pole setting seat will hold in the palm bottom and sucking disc structure links together simultaneously, make the structure compacter, the through-hole on the pole setting seat is passed to the pole setting, one end is connected with drive portion, play the effect of supporting to drive portion, the other end extends to the bottom direction of box, make the portion of holding up can remove between the upper portion of box to lower part, the bearing seat cover is established in the pole setting, be located one side near the bottom of the box, the bearing frame can slide in the pole setting, and then can drive the portion of holding up and slide, in addition, the one end near the bottom of pole setting is provided with the separation blade, play the effect of keeping out to the bearing frame, avoid the bearing frame to deviate from the pole setting at gliding in-process.
In any of the above aspects, preferably, the supporting portion includes: the first rotating shaft penetrates through the bearing seat and is arranged along the side wall direction of the box body close to one side of the vertical rod, and the axis of the first rotating shaft can move along the movement direction of the bearing seat; the first swing rod is sleeved on the first rotating shaft, one end of the first swing rod is rotationally connected with the driving part, the other end of the first swing rod is connected with the supporting plate, and the supporting plate is used for supporting the bottom of the box body.
In this technical scheme, hold up the portion and include first pivot and first pendulum rod, first pivot passes the bearing frame for connect first pendulum rod, and further, first pivot sets up along the lateral wall direction of the box that is close to pole setting one side, and the axis of first pivot is parallel with the plane that is close to the lateral wall place of the box of pole setting one side promptly for the position of first pivot does not interfere with the lateral wall of box, and when the bearing frame was slided along the pole setting from top to bottom, the axis of first pivot also was reciprocated along the pole setting, specifically, the axis of first pivot was mutually perpendicular with the axis of pole setting. The first swing rod is sleeved on the first rotating shaft and can synchronously move with the bearing seat, one end of the first swing rod is connected with the driving part, the other end of the first swing rod is connected with the supporting plate, when the driving part drives the first swing rod to move towards the bottom of the box body, the first swing rod drives the first rotating shaft and the bearing seat to move towards the bottom of the box body, when the bearing seat moves to the position of the baffle, the movement is stopped, the first swing rod is further stopped to move along the up-down direction, and as the first swing rod is rotationally connected with the driving part, the first swing rod drives the supporting plate to rotate towards the bottom of the box body under the continuous driving of the driving part, the supporting plate rotates to the bottom of the box body, and the supporting effect is realized on the bottom of the box body.
Further, the first rotating shaft is located on one side, close to the box, of the bearing seat, and a connection point of the driving part and the first swing rod is located on one side, far away from the box, of the bearing seat.
In any of the above aspects, preferably, the lifting portion further includes: the second swing rod is arranged opposite to the first swing rod, one end of the second swing rod is sleeved on the first rotating shaft, and the other end of the second swing rod is connected with the supporting plate; when the driving part drives the first swing rod to move, the first rotating shaft and the second swing rod synchronously move.
In the technical scheme, the supporting part further comprises a second swing rod, one end of the second swing rod is sleeved on the first rotating shaft, the other end of the second swing rod is connected with the supporting plate, the second swing rod is arranged opposite to the first swing rod, and further, the first swing rod and the second swing rod are respectively located on two sides of the bearing seat. When the driving part drives the first swing rod to move, the second swing rod and the first swing rod move simultaneously, namely, the second swing rod and the first swing rod simultaneously play a role in supporting the bottom of the box body, so that the supporting strength of the supporting part to the bottom of the box body is enhanced, and the unstacking device is safer and more reliable.
In any of the above embodiments, preferably, the base further includes: the spring is sleeved on the upright rod in a compressed state, one end of the spring is connected with the upright rod seat, and the other end of the spring is connected with the bearing seat through the spring retaining piece; the rotation stopping block is arranged on the bearing seat and is positioned at one side close to the first swing rod; the first swing rod can be contacted with the rotation stopping block in the rotation process and is used for limiting the rotation of the first swing rod.
In the technical scheme, the support bottom further comprises a spring and a rotation stopping block, the spring is sleeved on the upright rod, and two ends of the spring are respectively connected with the upright rod seat and the bearing seat, so that the spring can move along with the bearing seat in the moving process of the bearing seat, and downward thrust is exerted on the bearing seat; the rotation stopping block is arranged on the bearing seat, and in the process of rotating the first swing rod, the first swing rod can be in contact with the rotation stopping block, so that the rotation of the first swing rod is prevented.
Further, the spring is sleeved on the upright rod in a compressed state, and when the bearing seat slides to the baffle plate, the spring is also in a compressed state.
Specifically, the unstacking robot drives the unstacking device to be close to the box body, after the box body is sucked by the sucker structure, the unstacking robot drives the unstacking device and goods to move upwards for a certain distance, the distance can be 200mm or other proper distances, then the driving part drives the first swing rod to move, when the driving part drives the first swing rod to move towards the bottom of the box body, the pressure of the spring can push the bearing seat to move towards the bottom of the box body, the first swing rod, the second swing rod and the first rotating shaft also move towards the bottom of the box body at the same time, when the bearing seat is contacted with the baffle, the bearing seat stops moving, the first swing rod is driven along with the driving part, the first swing rod and the second swing rod rotate around the first rotating shaft, so as to drive the supporting plate to move to the bottom of the box body, and when the driving part stops driving, the first swing rod and the second swing rod are parallel to the bottom of the box body, and the bottom of the box body is supported by the supporting plate is completed; the unstacking robot drives the unstacking device and the goods to rapidly move to the position above the goods placing station, the driving part starts to drive the first swing rod to move upwards, and because the spring is in a compressed state at the moment, the spring still plays a downward thrust role on the bearing seat, namely, when the driving part drives the first swing rod to move upwards, the bearing seat keeps still at the baffle position, the first swing rod can only rotate around the first rotating shaft in the direction away from the bottom of the box body, the second swing rod and the supporting plate are driven to leave the bottom of the box body, when the first swing rod rotates to a preset angle, the rotation of the first swing rod is prevented by the rotation stopping block, the first swing rod is driven by the driving part to move upwards, the second swing rod, the first rotating shaft and the bearing seat are driven to move upwards until the driving action of the driving part is completed, the unstacking device and the goods are driven to descend for a distance, the distance can be 200mm or other proper distances, and then the sucker structure is separated from the box body, and a single unstacking process is completed.
Preferably, the bottom supporting part further comprises a bearing sleeve, a check ring and a shaft end baffle plate, and the bearing sleeve, the check ring and the shaft end baffle plate are used for fixing the first swing rod and the second swing rod.
In any of the above solutions, preferably, the suction cup structure includes: the sucking disc can suck the box body; the mounting plate is connected with the sucker; and the connecting plate is connected with the mounting plate and the execution structure.
In the technical scheme, the sucker structure comprises a sucker, a mounting plate and a connecting plate, wherein the sucker is used for sucking the box body, and further, the sucker can be connected with a vacuum air source, so that the sucker sucks the box body; the mounting panel is connected with sucking disc and connecting plate, and then makes sucking disc and executive structure be connected, and when the sucking disc sucked the box, executive structure can drive the sucking disc and by the box removal that the sucking disc sucked, realizes the effect of destacking.
In any of the above technical solutions, preferably, the suction cup is a sponge suction cup.
In this technical scheme, the sucking disc is sponge sucking disc, and sponge sucking disc can carry the object to surface unevenness, has avoided the in-process of carrying because the rugged emergence that influences the transport condition on the box, but sponge sucking disc embeds the check valve of vacuum generator, also does not influence its suction effect under the not totally adsorbed condition of being inhaled the thing, simultaneously, sponge sucking disc weight is lighter, is favorable to reducing handling system's cost.
In any of the above aspects, preferably, the driving section includes: the bottom plate is connected with one end of the vertical rod and is positioned at one side close to the sucker structure; the cylinder is connected with the bottom plate through the second rotating shaft and the rotating shaft seat; the cylinder is connected with the first swing rod, the axis of the second rotating shaft is parallel to the axis of the first rotating shaft, and the cylinder can rotate around the second rotating shaft.
In this technical scheme, drive division includes bottom plate, cylinder and connect the second pivot and the pivot seat of bottom plate and cylinder, and the bottom plate is connected with the pole setting one end of keeping away from the bottom half, plays the effect of supporting the cylinder, and the cylinder passes through second pivot and pivot seat to be connected to the bottom plate for the cylinder can rotate around the second pivot, and then at the first pendulum rod pivoted in-process of cylinder drive, the cylinder can be through rotating around the second pivot, realizes the rotation of first pendulum rod around first pivot.
When the cylinder stretches out, the unstacking device carries out bottom supporting action, and when the cylinder retracts, the supporting part of the unstacking device leaves the bottom of the box body.
In any of the above-described aspects, preferably, the driving portion includes a plurality of driving portions, the plurality of driving portions being disposed along an axial direction of the first rotating shaft; the plurality of support bottom parts are arranged corresponding to the plurality of driving parts; the bottom plates of the driving parts are of an integrated structure or a split structure, and the first rotating shafts of the supporting bottoms are of an integrated structure or a split structure.
In this technical scheme, drive division includes a plurality ofly, and a plurality of drive division set up along the axis direction of first pivot, and equally holds in the palm the bottom and also includes a plurality ofly, and drive division cooperatees with holding in the palm the bottom, realizes holding in the palm the bottom effect to the box, and further, realizes holding in the palm the bottom effect of lining up or lining up the box, wherein, the bottom plate of a plurality of drive division is integrated into one piece structure, and a plurality of first pivots that hold in the palm the bottom are integrated into one piece structure, and then strengthened the joint strength of a plurality of drive division and a plurality of support bottom, of course, the bottom plate of a plurality of drive division also can be split type structure, and a plurality of first pivots that hold in the palm the bottom also can be split type structure.
An embodiment of the second aspect of the present invention provides an unstacking robot comprising: executing a structure; and the unstacking device according to any one of the above technical solutions, wherein the unstacking device is connected with the executing structure.
The unstacking robot provided according to the second aspect of the present invention has the unstacking device provided by any one of the embodiments of the first aspect, and therefore, the unstacking robot provided by the embodiment of the present invention has all the advantages of the unstacking device provided by any one of the embodiments of the first aspect, which are not listed here.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 shows a schematic view of the unstacking apparatus of an embodiment of the present invention with the cylinder in a retracted state;
FIG. 2 shows a schematic diagram of the structure at A in FIG. 1;
FIG. 3 is a schematic view showing another construction of the unstacking apparatus in which the cylinder is in a retracted state according to one embodiment of the present invention;
FIG. 4 shows a further schematic view of the unstacking apparatus with the cylinders in a retracted state according to one embodiment of the present invention;
FIG. 5 shows a further schematic view of the unstacking apparatus with the cylinders in a retracted state according to one embodiment of the present invention;
FIG. 6 is a schematic view showing the structure of the unstacking apparatus in which the cylinder is in an extended state according to one embodiment of the present invention;
FIG. 7 shows a schematic diagram of the structure at B in FIG. 6;
FIG. 8 is a schematic view showing another construction of the unstacking apparatus in which the cylinder is in an extended state according to one embodiment of the present invention;
FIG. 9 is a schematic view showing still another construction of the unstacking apparatus in which the cylinder is in an extended state according to one embodiment of the present invention;
fig. 10 shows still another schematic structure of the unstacking apparatus in which the cylinder is in an extended state according to an embodiment of the present invention.
The correspondence between the reference numerals and the component names in fig. 1 to 10 is:
the novel lifting device comprises a suction cup structure 1, a suction cup 10, a mounting plate 12, a connecting plate 14, a driving part 2, a bottom plate 20, a cylinder 22, a rotating shaft seat 24, a second rotating shaft 26, a supporting part 3, a vertical rod 30, a vertical rod seat 32, a bearing seat 34, a baffle plate 36, a lifting part 4, a first rotating shaft 40, a first swing rod 42, a second swing rod 44, a supporting plate 46, a spring 5 and a rotation stopping block 6.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
An unstacking apparatus according to some embodiments of the present invention is described below with reference to fig. 1 to 10.
According to an embodiment of the first aspect of the present invention, the present invention proposes an unstacking device for an unstacking robot, the unstacking device comprising: the sucking disc structure 1 is connected with an execution structure of the unstacking robot and is used for sucking a box body of goods; the bottom supporting structure comprises a driving part 2 and a bottom supporting part connected with the driving part 2, wherein the bottom supporting part is connected with the sucker structure 1, and the driving part 2 can drive the bottom supporting part to move and is used for dragging or loosening the bottom of the box body.
As shown in fig. 1 to 10, the unstacking device provided by the invention comprises a sucker structure 1 and a bottom supporting structure, wherein the sucker structure 1 is connected with an execution structure of an unstacking robot, such as a manipulator of the unstacking robot, the sucker structure 1 can absorb a box body of goods, and further, the sucker structure 1 can absorb the upper surface of the box body of goods; the bottom supporting structure comprises a driving part 2 and a bottom supporting part, the driving part 2 drives the bottom supporting part to move, so that the bottom supporting part can drag or loosen the bottom of the box body, the upper surface of the box body is sucked by the sucker structure 1 in the unstacking process, the lower surface of the box body is dragged by the bottom supporting part, the unstacking device is more reliable, the falling of cargoes or the damage of the box body is avoided, the sucker structure 1 is matched with the bottom supporting structure, multiple cargoes can be sucked once, meanwhile, the unstacking device can also be used for unstacking in one row or one column once, the cargoes do not need to be detached into one row or one column subsequently, and the unstacking efficiency is further improved.
In the above embodiment, preferably, the tray base includes: the supporting part 3, one end of the supporting part 3 is connected with the sucker structure 1, and the other end of the supporting part 3 extends towards the direction close to the bottom of the box body; a supporting part 4, wherein the supporting part 4 is respectively connected with the supporting part 3 and the driving part 2; wherein the driving part 2 can drive the lifting part 4 to move, and the lifting part 4 can slide on the supporting part 3.
As shown in fig. 1 and 6, in this embodiment, the supporting base includes a supporting portion 3 and a supporting portion 4, one end of the supporting portion 3 is connected to the suction cup structure 1, and the other end extends in a direction approaching the bottom of the case; the supporting part 4 is respectively connected with the supporting part 3 and the driving part 2, and the driving part 2 drives the supporting part 4 to move, so that the supporting part 4 is driven to slide on the supporting part 3, the supporting part 4 can slide back and forth in the direction from the upper part to the bottom of the box body, and the technical effects that the supporting part 4 stretches into the bottom of the box body and stretches out of the bottom of the box body are realized.
In any of the above embodiments, preferably, the support portion 3 includes: the vertical rod seat 32 is connected with the sucker structure 1, and a through hole is formed in the vertical rod seat 32; one end of the upright rod 30 penetrates through the through hole to be connected with the driving part 2, and the other end of the upright rod 30 extends towards the direction close to the bottom of the box body; the bearing seat 34 is sleeved on the upright rod 30 and is positioned on one side of the upright rod seat 32 close to the bottom of the box body, and the bearing seat 34 can slide on the upright rod 30; a blocking piece 36 is provided at one end of the upright 30 near the bottom of the case for blocking the bearing housing 34.
As shown in fig. 3, in this embodiment, the supporting portion 3 includes a vertical rod seat 32, a vertical rod 30, a bearing seat 34 and a blocking piece 36, where the vertical rod seat 32 is connected with the suction cup structure 1 to play a role in supporting, meanwhile, the vertical rod seat 32 connects the bottom supporting portion with the suction cup structure 1, so that the structure is more compact, the vertical rod 30 passes through a through hole in the vertical rod seat 32, one end of the vertical rod seat is connected with the driving portion 2 to play a role in supporting the driving portion 2, the other end extends towards the bottom of the box, so that the supporting portion 4 can move between the upper portion and the lower portion of the box, the bearing seat 34 is sleeved on the vertical rod 30 and located on a side close to the bottom of the box, the bearing seat 34 can slide on the vertical rod 30, and then the supporting portion 4 can be driven to slide, and in addition, the blocking piece 36 is arranged at one end of the vertical rod 30 close to the bottom to play a role in blocking the bearing seat 34, so as to avoid the bearing seat 34 from being separated from the vertical rod 30 in the sliding process.
In any of the above embodiments, preferably, the stand-up portion 4 includes: the first rotating shaft 40 passes through the bearing seat 34, is arranged along the side wall direction of the box body close to one side of the upright 30, and the axis of the first rotating shaft 40 can move along the movement direction of the bearing seat 34; the first swing rod 42 is sleeved on the first rotating shaft 40, one end of the first swing rod 42 is rotationally connected with the driving part 2, the other end of the first swing rod 42 is connected with the supporting plate 46, and the supporting plate 46 is used for supporting the bottom of the box body.
As shown in fig. 1 and 6, in this embodiment, the supporting portion 4 includes a first rotation shaft 40 and a first swing link 42, the first rotation shaft 40 passes through the bearing housing 34 for connecting the first swing link 42, further, the first rotation shaft 40 is disposed along a sidewall direction of the case near one side of the vertical rod 30, that is, an axis of the first rotation shaft 40 is parallel to a plane of the sidewall of the case near one side of the vertical rod 30, so that the position of the first rotation shaft 40 does not interfere with the sidewall of the case, and when the bearing housing 34 slides up and down along the vertical rod 30, an axis of the first rotation shaft 40 also moves up and down along the vertical rod 30, specifically, an axis of the first rotation shaft 40 is perpendicular to an axis of the vertical rod 30. The first swing rod 42 is sleeved on the first rotating shaft 40 and can synchronously move with the bearing seat 34, one end of the first swing rod 42 is connected with the driving part 2, the other end of the first swing rod 42 is connected with the supporting plate 46, when the driving part 2 drives the first swing rod 42 to move towards the bottom of the box, the first swing rod 42 drives the first rotating shaft 40 and the bearing seat 34 to move towards the bottom of the box, when the bearing seat 34 moves to the position of the baffle 36, the movement is stopped, the first swing rod 42 stops moving along the up-down direction, and as the first swing rod 42 is in rotary connection with the driving part 2, the first swing rod 42 drives the supporting plate 46 to rotate towards the bottom of the box under the continuous driving of the driving part 2, so that the supporting plate 46 rotates towards the bottom of the box and plays a role in supporting the bottom of the box.
Further, the first rotating shaft 40 is located at a side of the bearing seat 34 close to the box, and a connection point of the driving part 2 and the first swing rod 42 is located at a side of the bearing seat 34 far from the box.
In any of the above embodiments, preferably, the lifting portion 4 further includes: the second swing rod 44 is arranged opposite to the first swing rod 42, one end of the second swing rod 44 is sleeved on the first rotating shaft 40, and the other end of the second swing rod 44 is connected with the supporting plate 46; wherein, when the driving part 2 drives the first swing link 42 to move, the first rotating shaft 40 and the second swing link 44 move synchronously.
As shown in fig. 1 and 6, in this embodiment, the supporting portion 4 further includes a second swing link 44, one end of the second swing link 44 is sleeved on the first rotating shaft 40, the other end is connected with the supporting plate 46, and the second swing link 44 is disposed opposite to the first swing link 42, further, the first swing link 42 and the second swing link 44 are respectively located at two sides of the bearing seat 34. When the driving part 2 drives the first swing rod 42 to move, the second swing rod 44 and the first swing rod 42 move simultaneously, namely, the second swing rod 44 and the first swing rod 42 simultaneously play a role in supporting the bottom of the box body, so that the supporting strength of the supporting part 4 on the bottom of the box body is enhanced, and the unstacking device is safer and more reliable.
In any of the above embodiments, preferably, the base portion further comprises: the spring 5 is sleeved on the upright rod 30 in a compressed state, one end of the spring 5 is connected with the upright rod seat 32, and the other end of the spring 5 is connected with the bearing seat 34 through a baffle 36 of the spring 5; the rotation stopping block 6 is arranged on the bearing seat 34 and is positioned at one side close to the first swing rod 42; the first swing rod 42 can be contacted with the rotation stop block 6 in the rotation process, and is used for limiting the rotation of the first swing rod 42.
In the embodiment, the support bottom further comprises a spring 5 and a rotation stopping block 6, as shown in fig. 3 and 8, the spring 5 is sleeved on the upright rod 30, two ends of the spring are respectively connected with the upright rod seat 32 and the bearing seat 34, and further, in the moving process of the bearing seat 34, the spring 5 can move along with the bearing seat 34 to exert downward thrust on the bearing seat 34; as shown in fig. 2 and 7, the rotation stop block 6 is disposed on the bearing seat 34, and during the rotation of the first swing link 42, the first swing link 42 can contact with the rotation stop block 6, thereby preventing the rotation of the first swing link 42.
Further, the spring 5 is sleeved on the upright 30 in a compressed state, and when the bearing seat 34 slides to the position of the baffle 36, the spring 5 is also in a compressed state.
Specifically, as shown in fig. 6 to 10, after the unstacking robot drives the unstacking device to approach the box, and the suction disc structure 1 sucks the box, the unstacking robot drives the unstacking device and the goods to move upwards for a distance which may be 200mm or other suitable distance, then the driving part 2 drives the first swing rod 42 to move, when the driving part 2 drives the first swing rod 42 to move towards the bottom of the box, the pressure of the spring 5 can push the bearing seat 34 to move towards the bottom of the box, the first swing rod 42, the second swing rod 44 and the first rotating shaft 40 also move towards the bottom of the box at the same time, when the bearing seat 34 contacts with the baffle 36, the bearing seat 34 stops moving, and as the driving part 2 continues to drive the first swing rod 42 and the second swing rod 44 to rotate around the first rotating shaft 40, and then drives the supporting plate 46 to move towards the bottom of the box, and when the driving part 2 stops driving, the first swing rod 42 and the second swing rod 44 are parallel to the bottom of the box, and the supporting plate 46 supports the box from the bottom of the box to complete the bottom motion; thus, the unstacking robot drives the unstacking device and the goods to move quickly to the position above the goods placing station, as shown in fig. 1 to 5, the driving part 2 starts to drive the first swing rod 42 to move upwards, and because the spring 5 is in a compressed state at this time, the spring still plays a downward thrust to the bearing seat 34, that is, when the driving part 2 drives the first swing rod 42 to move upwards, the bearing seat 34 keeps still at the position of the baffle 36, so that the first swing rod 42 can only rotate around the first rotating shaft 40 to the bottom direction away from the box body, further drives the second swing rod 44 and the supporting plate 46 to leave the bottom of the box body, when the first swing rod 42 rotates to a preset angle, the rotation of the first swing rod 42 is stopped by the rotation stopping block 6, so that the first swing rod 42 is driven by the driving part 2 to move upwards, further drives the second swing rod 44, the first rotating shaft 40 and the bearing seat 34 to move upwards, until the driving part 2 completes the driving action, the unstacking device and the goods are lowered for a distance, and the distance can be 200mm or other proper distances, and then the sucker 1 is separated from the box body once, and the unstacking process is completed.
Wherein the base portion preferably further includes a bearing housing, a retainer ring, and a shaft end stop 36 for securing the first and second swing links 42, 44.
In any of the above embodiments, preferably, the suction cup structure 1 includes: the sucking disc 10, sucking disc 10 can suck the box; the mounting plate 12 is connected with the sucker 10; a connection plate 14 connected to the mounting plate 12 and the actuating structure.
In this embodiment, the suction cup structure 1 comprises a suction cup 10, a mounting plate 12 and a connecting plate 14, wherein the suction cup 10 is used for sucking the box body, and further, the suction cup 10 can be connected with a vacuum air source so that the suction cup 10 sucks the box body; the mounting panel 12 is connected with sucking disc 10 and connecting plate 14, and then makes sucking disc 10 and executive structure be connected, and when sucking disc 10 sucked the box, executive structure can drive sucking disc 10 and by the box removal that sucking disc 10 sucked, realizes the effect of unstacking.
In any of the above embodiments, the suction cup 10 is preferably a sponge suction cup.
In this embodiment, sucking disc 10 is sponge sucking disc, and sponge sucking disc can carry the object of surface unevenness, has avoided the emergence because unsmooth influence the transport condition on the box in the handling, but sponge sucking disc embeds the vacuum generator check valve, also does not influence its suction effect under the not complete circumstances of being adsorbed of object of being absorbed, and simultaneously, sponge sucking disc weight is lighter, is favorable to reducing handling system's cost.
In any of the above embodiments, preferably, the driving section 2 includes: the bottom plate 20 is connected with one end of the vertical rod 30 and is positioned at one side close to the sucker structure 1; the cylinder 22 is connected with the bottom plate 20 through a second rotating shaft 26 and a rotating shaft seat 24; the cylinder 22 is connected with the first swing rod 42, the axis of the second rotating shaft 26 is parallel to the axis of the first rotating shaft 40, and the cylinder 22 can rotate around the second rotating shaft 26.
As shown in fig. 1 and 6, in this embodiment, the driving part 2 includes a bottom plate 20, a cylinder 22, and a second rotating shaft 26 and a rotating shaft seat 24 connecting the bottom plate 20 and the cylinder 22, the bottom plate 20 is connected with one end of the upright 30 away from the bottom of the box body, which supports the cylinder 22, and the cylinder 22 is connected to the bottom plate 20 through the second rotating shaft 26 and the rotating shaft seat 24, so that the cylinder 22 can rotate around the second rotating shaft 26, and further in the process of the cylinder 22 driving the first swing rod 42 to rotate, the cylinder 22 can rotate around the second rotating shaft 26, thereby realizing the rotation of the first swing rod 42 around the first rotating shaft 40.
When the cylinder 22 extends out, the unstacking device carries out bottom supporting action, and when the cylinder 22 retracts, the supporting part 4 of the unstacking device leaves the bottom of the box body.
In any of the above embodiments, it is preferable that the driving portion 2 includes a plurality of driving portions 2, the plurality of driving portions 2 being disposed along the axial direction of the first rotation shaft 40; the plurality of support bottom parts are arranged corresponding to the plurality of driving parts 2; the bottom plates 20 of the driving parts 2 are of an integral structure or a split structure, and the first rotating shafts 40 of the supporting bottoms are of an integral structure or a split structure.
In this embodiment, the driving portion 2 includes a plurality of driving portions 2 disposed along the axial direction of the first rotating shaft 40, and the supporting portion also includes a plurality of driving portions 2 matched with the supporting portion to achieve the supporting effect on the box body, and further, the supporting effect on the box body in rows or columns is achieved, wherein the bottom plates 20 of the driving portions 2 are in an integral structure, the first rotating shafts 40 of the supporting portions are in an integral structure, and further, the connection strength of the driving portions 2 and the supporting portions is enhanced, and of course, the bottom plates 20 of the driving portions 2 may also be in a split structure, and the first rotating shafts 40 of the supporting portions may also be in a split structure.
An embodiment of the second aspect of the present invention provides an unstacking robot (not shown in the drawings), comprising: executing a structure; and the unstacking device according to any one of the embodiments, wherein the unstacking device is connected with the executing structure.
The unstacking robot provided according to the second aspect of the present invention has the unstacking device provided by any one of the embodiments of the first aspect, and therefore, the unstacking robot provided by the embodiment of the present invention has all the advantages of the unstacking device provided by any one of the embodiments of the first aspect, which are not listed here.
In the present invention, the term "plurality" means two or more, unless explicitly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An unstacking apparatus for an unstacking robot, comprising:
the sucking disc structure is connected with the execution structure of the unstacking robot and is used for sucking the box body of the goods;
the bottom supporting structure comprises a driving part and a bottom supporting part connected with the driving part, the bottom supporting part is connected with the sucker structure, and the driving part can drive the bottom supporting part to move and is used for dragging or loosening the bottom of the box body;
the base portion includes:
the supporting part is connected with the sucker structure at one end, and the other end of the supporting part extends towards the direction close to the bottom of the box body;
a supporting portion connected to the supporting portion and the driving portion, respectively;
wherein the driving part can drive the lifting part to move, and the lifting part can slide on the supporting part;
the support portion includes:
the vertical rod seat is connected with the sucker structure and is provided with a through hole;
one end of the upright rod penetrates through the through hole to be connected with the driving part, and the other end of the upright rod extends towards the direction close to the bottom of the box body;
the bearing seat is sleeved on the vertical rod and is positioned on one side of the vertical rod seat, which is close to the bottom of the box body, and the bearing seat can slide on the vertical rod;
the baffle is arranged at one end of the vertical rod, which is close to the bottom of the box body, and is used for blocking the bearing seat;
the lifting portion includes:
the first rotating shaft penetrates through the bearing seat and is arranged along the side wall direction of the box body close to one side of the vertical rod, and the axis of the first rotating shaft can move along the movement direction of the bearing seat;
the first swing rod is sleeved on the first rotating shaft, one end of the first swing rod is rotationally connected with the driving part, the other end of the first swing rod is connected with a supporting plate, and the supporting plate is used for supporting the bottom of the box body;
the second swing rod is arranged opposite to the first swing rod, one end of the second swing rod is sleeved on the first rotating shaft, and the other end of the second swing rod is connected with the supporting plate;
and the spring is sleeved on the vertical rod in a compressed state, one end of the spring is connected with the vertical rod seat, and the other end of the spring is connected with the bearing seat through a spring baffle.
2. The destacking apparatus as in claim 1, wherein,
when the driving part drives the first swing rod to move, the first rotating shaft and the second swing rod synchronously move.
3. The unstacking apparatus of claim 1 wherein said base portion further comprises:
the rotation stopping block is arranged on the bearing seat and is positioned at one side close to the first swing rod;
the first swing rod can be contacted with the rotation stopping block in the rotation process of the first swing rod, and the rotation stopping block is used for limiting the rotation of the first swing rod.
4. A destacking apparatus as in any of claims 1-3, wherein the suction cup structure comprises:
the sucking disc can suck the box body;
the mounting plate is connected with the sucker;
and the connecting plate is connected with the mounting plate and the execution structure.
5. The destacking apparatus as in claim 4, wherein,
the sucker is a sponge sucker.
6. A destacking apparatus as in any of claims 1-3, wherein the drive portion comprises:
the bottom plate is connected with one end of the vertical rod and is positioned at one side close to the sucker structure;
the cylinder is connected with the bottom plate through a second rotating shaft and a rotating shaft seat;
the cylinder is connected with the first swing rod, the axis of the second rotating shaft is parallel to the axis of the first rotating shaft, and the cylinder can rotate around the second rotating shaft.
7. The destacking apparatus as in claim 6, wherein,
the driving part comprises a plurality of driving parts, and the driving parts are arranged along the axial direction of the first rotating shaft;
the plurality of support bottom parts are arranged corresponding to the plurality of driving parts;
the bottom plates of the driving parts are of an integrated structure or a split structure, and the first rotating shafts of the supporting bottoms are of an integrated structure or a split structure.
8. A destacking robot, comprising:
executing a structure; and
destacking apparatus as claimed in any of claims 1 to 7, the destacking apparatus being connected to the actuating structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711365985.8A CN107934572B (en) | 2017-12-18 | 2017-12-18 | Destacking device and destacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711365985.8A CN107934572B (en) | 2017-12-18 | 2017-12-18 | Destacking device and destacking robot |
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| CN107934572A CN107934572A (en) | 2018-04-20 |
| CN107934572B true CN107934572B (en) | 2024-03-01 |
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| CN201711365985.8A Active CN107934572B (en) | 2017-12-18 | 2017-12-18 | Destacking device and destacking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109178902A (en) * | 2018-11-06 | 2019-01-11 | 广东美的智能机器人有限公司 | It keeps off draw box mechanism and piles up device |
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| US5630695A (en) * | 1995-09-14 | 1997-05-20 | Flomat Pty Ltd | Pallet sorting machine |
| JPH09267284A (en) * | 1996-04-03 | 1997-10-14 | Kubota Corp | Hand device for robot |
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| CN107934572A (en) | 2018-04-20 |
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