CN108750690A - Suction means, de-stacking device and de-stacking method - Google Patents
Suction means, de-stacking device and de-stacking method Download PDFInfo
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- CN108750690A CN108750690A CN201810832728.9A CN201810832728A CN108750690A CN 108750690 A CN108750690 A CN 108750690A CN 201810832728 A CN201810832728 A CN 201810832728A CN 108750690 A CN108750690 A CN 108750690A
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- suction means
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- 238000009434 installation Methods 0.000 description 2
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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
- 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
- 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
Abstract
The invention discloses suction means, de-stacking device and de-stacking methods, are related to cargo de-stacking technical field.A kind of suction means, including embrace clip assembly, pick-up component and mounting body；It includes that first movement structure and two embrace clamping plates to embrace clip assembly, and first movement structure is connected to mounting body, embraces clamping plates for two and is connected to first movement structure, and to embrace clamping plate close to each other or be located remotely from each other for driving for first movement structure；Pick-up component is movably connected on mounting body；It embraces and is provided with through-hole on clamping plate, through-hole face pick-up component, when an armful clamping plate moves toward one another, through-hole can avoid Suction cup assembly.A kind of de-stacking device, which employs above-mentioned suction means.A kind of de-stacking method is applied to above-mentioned de-stacking device.Suction means, de-stacking device and de-stacking method provided by the invention can improve versatility and de-stacking efficiency.
Description
Technical field
The present invention relates to cargo de-stacking technical fields, in particular to suction means, de-stacking device and de-stacking method.
Background technology
Container is the common goods packing mode of production field.Durings stacking, de-stacking, carrying etc., need box
Cargo is moved to another position from a position.Sometimes according to follow-up process requirement, also need container to removing into line direction
Artificial mode of transport labor intensity traditional adjustment is big, and efficiency is low.It replaces manually transporting goods using mechanical system extensive
Using.
But existing current mechanical system mainly has hand type and sucked type.It is very that hand type, which takes the shortcomings that case apparatus,
Difficulty takes out one or more containers from the container of a row marshalling.Existing updraft type takes on case apparatus related patents can overcome
Disadvantage is stated, but when drawing the container of different specification size, versatility is poor, and the degree of automation is low.
Invention content
The purpose of the present invention is to provide a kind of suction means, can improve versatility, and can improve the efficiency of de-stacking.
The purpose of the present invention is to provide a kind of de-stacking devices, can improve versatility, and can improve the efficiency of de-stacking.
Another object of the present invention is to provide a kind of de-stacking methods, can improve versatility, and can improve the effect of de-stacking
Rate.
The present invention provides a kind of technical solution：
A kind of suction means, including embrace clip assembly, pick-up component and mounting body；Described armful of clip assembly includes first movement
Structure and two armfuls of clamping plates, the first movement structure are connected to the mounting body, and a clamping plate is embraced described in two and is connected to
The first movement structure, the first movement structure is for driving described armful of clamping plate close to each other or being located remotely from each other；It is described
Pick-up component is movably connected on the mounting body, and can be moved along first direction relative to the mounting body；Described armful of clamping plate
On be provided with through-hole, pick-up component described in the through-hole face, when described armful of clamping plate moves toward one another, the through-hole can avoid sucker
Component.
Further, the pick-up component includes the second moving structure, connection component and multiple sucker structures；Described second
Moving structure is connected to mounting body；The connection component is connected to second moving structure, and the second movement knot
Structure can drive the connection component to be moved along first direction；Multiple sucker structures are all connected to the connection component.
Further, second moving structure includes the second driving structure and multiple guide rods, multiple guide rods
It is movably connected on second driving structure, and is extended along the first direction, the end of multiple guide rods is all connected with
In the connection component.
Further, the multiple sucker structure includes multiple independent vacuum cups and sucker control system, Mei Gesuo
Vacuum cup is stated respectively by the sucker control system independent control.
Further, the connection component includes connecting plate and loading plate, and the loading plate is connected to second movement
Structure, the connecting plate fit in side of the loading plate far from second moving structure, and the connecting plate prolongs
The extending direction for stretching direction and the loading plate is perpendicular, and multiple sucker structures are connected to the connecting plate and along the company
The extending direction of fishplate bar arranges.
Further, the mounting body includes rotary flange, erecting bed and two interconnecting pieces；The rotary flange connection
In the side of the erecting bed；Two interconnecting pieces are connected to the opposite both sides of the erecting bed；The first movement
Structure is connected to two interconnecting pieces and between two interconnecting piece；The pick-up component is connected to the interconnecting piece
And it is located at two ends of the interconnecting piece far from the erecting bed；The first direction is vertical with rotary flange plane.
A kind of de-stacking device, including motion platform, hoistable platform and suction means, the suction means include embracing folder group
Part, pick-up component and mounting body；Described armful of clip assembly includes that first movement structure and two embrace clamping plate, the first movement knot
Structure is connected to the mounting body, and clamping plate is embraced described in two and is connected to the first movement structure, the first movement knot
Structure is for driving described armful of clamping plate close to each other or being located remotely from each other；The pick-up component is movably connected on the mounting body；
It is provided with through-hole on described armful of clamping plate, pick-up component described in the through-hole face, when described armful of clamping plate moves toward one another, the through-hole
It can avoid Suction cup assembly.The suction means is installed on the motion platform, and the hoistable platform is located at the suction means
Lower section.
Further, the de-stacking device further includes device for visual identification and control system；The mounting body rotation connects
It is connected to the motion platform, the device for visual identification is installed on motion platform, for identification the position and direction of stack；Institute
Control system is stated, for information controlled motion platform, stack lifting gear and the suction means according to device for visual identification acquisition
Movement.
Further, the de-stacking device further includes stack input line, cargo output line and pallet retracting device；It is described
Stack input line is divided into upstream and downstream, is located at the both sides of hoistable platform, and upstream is used to convey stack for hoistable platform, and downstream is used
In the empty pallet of transmission；The pallet retracting device is located at the side in downstream, for receiving empty pallet.
A kind of cargo de-stacking method carried out using de-stacking device, the de-stacking device includes motion platform, hoistable platform
And suction means, the suction means include embracing clip assembly, pick-up component and mounting body；Described armful of clip assembly includes the first shifting
Dynamic structure and two armfuls of clamping plates, the first movement structure are connected to the mounting body, and a clamping plate is embraced described in two and is separately connected
In the first movement structure, the first movement structure is for driving described armful of clamping plate close to each other or being located remotely from each other；Institute
It states pick-up component and is movably connected on the mounting body；It is provided with through-hole on described armful of clamping plate, is drawn described in the through-hole face
Component, when described armful of clamping plate moves toward one another, the through-hole can avoid Suction cup assembly.It is flat that the suction means is installed on the movement
On platform, the hoistable platform is located at the lower section of the suction means.The cargo de-stacking method includes the following steps：
Stack is transported on hoistable platform by S1, stack input line；
S2, hoistable platform promote stack to specified altitude assignment；
The position and direction of S3, device for visual identification identification upper layer stack；
The information of S4, control system according to device for visual identification acquisition, the movement of controlled motion platform, suction means；
S5, suction means will be in Cargo Claims to cargo output line；
S6, repeating said steps S2 are to the step S5, after the cargo in stack is extracted, hoistable platform band
Dynamic empty pallet drops to initial position, and empty pallet is delivered to pallet retracting device；
S7, repeating said steps S1 carry out the de-stacking of a new round to the step S6.
Compared with prior art, the advantageous effect of suction means provided by the invention and de-stacking device is：
Suction means provided by the invention and de-stacking device can embrace the through-hole being arranged on clamping plate by two so that two are embraced
Clamping plate is moving towards when embracing folder of progress cargo, first movement structure can be avoided by through-hole, convenient for armful clamping plate to different rulers
Very little cargo carries out embracing folder, improves the universal performance of suction means and de-stacking device.
Compared with prior art, the advantageous effect of de-stacking method provided by the invention is opposite with de-stacking device provided by the invention
Identical in the advantageous effect of the prior art, details are not described herein.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram for the de-stacking device that the first embodiment of the present invention provides；
Fig. 2 is the structural schematic diagram at the first visual angle of suction means that the first embodiment of the present invention provides；
Fig. 3 is the structural schematic diagram at the second visual angle of suction means that the first embodiment of the present invention provides；
Fig. 4 is the structural schematic diagram at the suction means third visual angle that the first embodiment of the present invention provides；
Fig. 5 is the structural schematic diagram at the 4th visual angle of suction means that the first embodiment of the present invention provides；
Fig. 6 is the structural schematic diagram of suction means provided by the invention；
Fig. 7 is the flow chart for the de-stacking method that second embodiment of the invention provides；
Fig. 8 is the flow chart for the de-stacking method that the third embodiment of the present invention provides.
Icon：10- de-stacking devices；11- suction means；100- mounting bodies；110- erecting beds；120- rotary flanges；
130- interconnecting pieces；140- rotating servo motors；200- embraces clip assembly；210- carriers；220- first movement structures；230- embraces folder
Plate；231- through-holes；300- pick-up components；The second moving structures of 310-；The second driving structures of 311-；312- guide rods；320- connects
Connected components；321- loading plates；322- connecting plates；330- sucker structures；12- motion platforms；410- supporting racks；420- first is slided
Structure；The second slide constructions of 430-；13- hoistable platforms；14- device for visual identification；15- stack input lines；16- cargos export
Line；17- pallet retracting devices.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is to be understood that, the instructions such as term "upper", "lower", "inner", "outside", "left", "right"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship or the orientation or positional relationship that usually understands of those skilled in the art, be merely for convenience of retouching
It states the present invention and simplifies description, do not indicate or imply the indicated equipment or element must have a particular orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, " setting ", " even
Connect " etc. terms shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, can also be electrical connection；Can be directly connected to, can also be indirectly connected with by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, the specific implementation mode of the present invention is described in detail.
First embodiment
Referring to Fig. 1, providing a kind of de-stacking device 10 in the present embodiment, it to be used for the sorting of cargo.That is, de-stacking device
10 can by the goods sorting of pile at multiple cargos, in order to the classification and carrying of multiple cargos.De-stacking device 10 can improve
Versatility convenient for automation, and can improve the efficiency of de-stacking.Wherein, also it is stack at the cargo of pile.
De-stacking device 10 includes motion platform 12, suction means 11 and hoistable platform 13.Wherein, suction means 11 is connected to
Motion platform 12, and motion platform 12 can drive suction means 11 to move, so that the cargo of 11 self-contained pile of suction means
Top carries out the sorting of cargo.Hoistable platform 13 is set to the bottom inside motion platform 12, and hoistable platform 13 is for holding
The cargo of pile is carried into, and can be used to lift to height appropriate at the cargo of pile, in order to which suction means 11 carries out cargo
Sorting.
It should be noted that in the present embodiment, motion platform 12 can drive suction means 11 mutual in the horizontal direction
It is moved on vertical direction, to ensure that suction means 11 can be moved to the absorption sorting that specified position carries out cargo.
Motion platform 12 includes supporting rack 410, the first slide construction 420 and the second slide construction 430, wherein supporting rack
410 for being connected to the loading ends such as ground, to provide carrying to the first slide construction 420 and the second slide construction 430.First slides
Dynamic structure 420 is slidably connected to supporting rack 410, and can the opposite sliding of supporting rack 410.Second slide construction 430 is slidably connected
In the first slide construction 420, and can opposite first slide construction 420 sliding.Wherein, the first slide construction 420 is relative to branch
The glide direction of support 410 and the second slide construction 430 are perpendicular relative to the glide direction of the first slide construction 420.It draws
Device 11 is connected to the second slide construction 430, that is, the first slide construction 420 can drive the second slide construction 430 slide and simultaneously
Suction means 11 is driven to slide, the second slide construction 430 can drive suction means 11 to be slided.In addition, 11 energy of suction means
Relative to the second slide construction 430 move, and suction means 11 relative to the second slide construction 430 moving direction, first
Slide construction 420 is relative to the glide direction of supporting rack 410 and the second slide construction 430 relative to the first slide construction 420
Glide direction it is vertical two-by-two, can by while three orthogonal moving directions act on enable suction means 11 movement
The absorption and sorting of cargo are carried out to arbitrary position.
Further, the first slide construction 420 and the second slide construction 430 are set to the top of supporting rack 410, and
One slide construction 420, the second slide construction 430 and supporting rack 410 surround processing space (figure is not marked) jointly, and hoistable platform 13 is then
It is set to inside processing space, and positioned at the bottom of processing space.
Fig. 2, Fig. 3, Fig. 4 and Fig. 5 are please referred to, suction means 11 includes mounting body 100, embraces clip assembly 200 and inhale
Take component 300.It embraces clip assembly 200 and pick-up component 300 and is all connected to mounting body 100, it can be by mounting body 100 to embracing
Clip assembly 200 and pick-up component 300 provide carrying, have stable building ring to ensure to embrace clip assembly 200 and pick-up component 300
Border.
Wherein, mounting body 100 is for being rotationally connected with motion platform 12.I.e., wherein can drive peace in motion platform 12
While dress main body 100 moves in the horizontal direction, mounting body 100 can also be rotated relative to motion platform 12 simultaneously, also,
In the present embodiment, mounting body 100 is parallel to horizontal plane relative to the Plane of rotation of motion platform 12, can be for being installed on
Armful clip assembly 200 of mounting body 100 and the location fix of pick-up component 300 are adjusted, and just can will be embraced clip assembly 200 and be inhaled
It takes component 300 to adjust to position appropriate, convenient for cargo is carried out embracing folder and be drawn, the efficiency to goods sorting can be improved.
In the present embodiment, mounting body 100 includes rotary flange 120, erecting bed 110 and two interconnecting pieces 130.Rotation
Flange 120 is connected to the side of erecting bed 110, and rotary flange 120 can pass through for being rotationally connected with motion platform 12
Rotary flange 120 drives erecting bed 110 to be rotated relative to motion platform 12 relative to the rotation of motion platform 12.Two companies
Socket part 130 is connected to the opposite both sides of erecting bed 110, and makes erecting bed 110 and two interconnecting pieces 130 that U be collectively formed
Shape structure.Also, two interconnecting pieces 130 are respectively positioned on the side far from rotary flange 120 on erecting bed 110.Embrace 200 He of clip assembly
Pick-up component 300 is all connected to two interconnecting pieces 130, with by two interconnecting pieces 130 to embrace clip assembly 200 and a pick-up component
300 provide carrying.
It should be noted that in the present embodiment, rotating servo motor 140 is additionally provided in mounting body 100, rotation is watched
It takes motor 140 and is connected to rotary flange 120, so that providing the dynamic of rotation to rotary flange 120 by rotating servo motor 140
Power drives rotary flange 120 to be rotated relative to motion platform 12.
Pick-up component 300 is movably connected on mounting body 100, and pick-up component 300 can be done back and forth in a first direction
Movement.That is, pick-up component 300 can in a first direction move reciprocatingly relative to mounting body 100.In the present embodiment, when
When suction means 11 works normally, what first direction referred to is vertical direction, that is, pick-up component 300 can be led relative to installation
Body 100 moves up and down, can be so that pick-up component 300 is inhaled close to cargo and to cargo when pick-up component 300 moves downward
It takes；After pick-up component 300 draws cargo, it can move upwards and lift cargo, be convenient for the transport of cargo.
In the present embodiment, pick-up component 300 includes the second moving structure 310, connection component 320 and multiple sucker structures
330, connection component 320 is connected to the second moving structure 310, and the second moving structure 310 can drive connection component 320 along
One direction is moved, in addition, multiple sucker structures 330 are all connected to connection component 320, so that connection component 320 is along first
Direction can drive multiple sucker structures 330 to be moved along first direction when moving.Wherein, the second moving structure 310 is movably connected on
Mounting body 100, in the present embodiment, specifically, the second moving structure 310 is two, and two the second moving structures 310
The both sides of mounting body 100 are connected to, so that two the second moving structures 310 can steadily drive connection component 320
And multiple sucker structures 330 move.That is, two the second moving structures 310 are connected to the outside of two interconnecting pieces 130,
And two the second moving structures 310 are connected to the opposite both sides of connection component 320.In another embodiment, as schemed
5, the second moving structure 310 is one, and the second moving structure 310 is connected to the inner hub location of mounting body 100, with
Enable the second moving structure 310 that connection component 320 and multiple sucker structures 330 is steadily driven to move.
Wherein, the second moving structure 310 includes the second driving structure 311 and multiple guide rods 312, multiple guide rods 312
It is movably connected on the second driving structure 311, and multiple guide rods 312 extend in a first direction, multiple guide rods 312
End is all connected to connection component 320.That is, multiple guide rods 312 can be driven to move along first direction by the second driving structure 311
It is dynamic, just connection component 320 can be made to be moved along first direction.
It should be noted that in the present embodiment, the second driving structure 311 uses air cylinder structure, so that the second driving
Structure 311 can smoothly drive multiple guide rods 312 to move.It should be appreciated that in other embodiments, the second driving structure 311
Other type of drive can also be used, for example, screw structure, gear & rack structure or motor-driven structure etc..
Connection component 320 includes loading plate 321 and connecting plate 322, and loading plate 321 is connected to the second moving structure 310, even
Fishplate bar 322 fits in side of the loading plate 321 far from the second moving structure 310.Also, the extending direction of connecting plate 322 is vertical
In the extending direction of loading plate 321.In another embodiment, loading plate 321 and connecting plate 322 can be integrally formed.It is multiple
Sucker structure 330 is connected to connecting plate 322 and is arranged along the extending direction of connecting plate 322.
It should be noted that in the present embodiment, wherein the opposite both sides of loading plate 321 are connected to two second
Moving structure 310 is considered as loading plate 321 and extends to another the second movement knot from one of them second moving structure 310
Structure 310.The extending direction of connecting plate 322 refers to, the length direction of connecting plate 322, that is, connecting plate 322 is rectangle, even
Straight line where the long side of fishplate bar 322 is mutually parallel with the straight line where the extending direction of connecting plate 322.In another embodiment,
The center of side of the loading plate 321 far from sucker structure 330 is connected to the second moving structure inside mounting body 100
310。
In addition, in the present embodiment, multiple sucker structures 330 are arranged in the extending direction of 322 upper edge connecting plate 322 of connecting plate
Multirow is arranged into, often the orientation of row sucker structure 330 is parallel with the extending direction of connecting plate 322.And multiple suckers
Structure 330 is directed away from the direction of connecting plate 322, so that sucker structure 330 can carry out the absorption of cargo.
It should be noted that multiple sucker structures 330 include multiple independent vacuum cups and sucker control system, each
Vacuum cup passes through sucker control system independent control respectively.That is, in the present embodiment, each vacuum cup can be by opposite
The sucker control system answered carries out the independent control of suction, can be convenient for face different configuration, different weight or different materials
Cargo carries out absorption work.
It includes carrier 210, first movement structure 220 and two armfuls of clamping plates 230 to embrace clip assembly 200.Wherein, carrier
210 are connected to two interconnecting pieces 130, and carrier 210 is located between two interconnecting pieces 130, to pass through two interconnecting pieces 130
Stable carrying is provided to carrier 210.First movement structure 220 then connects carrier 210, i.e. first movement structure 220 is logical
It crosses carrier 210 and is connected to mounting body 100.It embraces clamping plate 230 for two and is connected to first movement structure 220, first movement
Structure 220 can drive two armfuls of clamping plates 230 close to each other or be located remotely from each other, so that it is close to each other to embrace clamping plate 230 at two
When to cargo carry out embrace folder, ensure the stability of cargo；Or so that two are embraced clamping plate 230 when being located remotely from each other, to unclamp goods
Object, convenient for the stacking to cargo.
In the present embodiment, grasping part is formed between two armfuls of clamping plates 230, grasping part is used for goods clamping.And
Pick-up component 300 is located inside grasping part, so that when pick-up component 300 is after having drawn cargo, it can be so that cargo be same
Sample is located inside grasping part, and just can embrace clamping plate 230 by two at this time carries out cargo to embrace folder.
Further, in the present embodiment, through-hole 231, and 231 face of through-hole are offered on two armfuls of clamping plates 230
In pick-up component 300.It should be noted that through-hole 231 can be more than pick-up component 300 where embracing clamping plate 230 by area
Plane in projected area, and enable pick-up component 300 by through-hole 231 pass through embrace a clamping plate 230.That is, embracing folder when two
Plate 230 is in goods clamping, it is possible that the situation that cargo is smaller, pick-up component 300 can pass through through-hole 231 at this time, avoid
The movement that pick-up component 300 embraces two on clamping plate 230 impacts, and ensures that cargo can be carried out stable clamping by embracing clamping plate 230.
It should be noted that wherein, when multiple sucker structures 330 have drawn the smaller cargo of size, and two to embrace clamping plates 230 mutual
Close to when embracing folder of cargo is carried out, connecting plate 322 and part sucker structure 330 can extend out to grasping part across through-hole 231
Outside so that can steadily cargo be carried out embracing folder effect by embracing clamping plate 230.
In the present embodiment, the extending direction of carrier 210 is identical as the extending direction of connecting plate 322, i.e. carrier 210
Long side where the long side place straight line of straight line and connecting plate 322 it is parallel.It is provided with along second party in the long side of carrier 210
It to the rail structure of extension, embraces clamping plate 230 for two and is all connected to rail structure, so that two armfuls of clamping plates 230 can be along second
It moves in direction.Wherein, second direction is perpendicular to first direction, i.e., straight line parallel where second direction is in the rotation of mounting body 100
Turn plane.
In addition, in the present embodiment, first movement structure 220 is connected on carrier 210, and first movement structure
220 extend in a second direction.Specifically, first movement structure 220 is two, two first movement structures 220 are connected to
Two are embraced clamping plate 230, i.e. two first movement structures 220 respectively drive two armfuls of clamping plates 230 and move in a second direction.
It should be noted that in the present embodiment, first movement structure 220 uses air cylinder structure, to ensure to embrace clamping plate 230
Mobile stability.It should be appreciated that in other embodiments, other driving structures, example may be used in first movement structure 220
Such as screw structure, gear & rack structure or motor-driven structure.
De-stacking device 10 further includes device for visual identification 14 and control system (not shown), and mounting body 100 is caught lane and connected
It is connected to motion platform 12, device for visual identification 14 is installed on motion platform 12, and the position and direction of stack for identification.
Control system is connected to device for visual identification 14, and the information controlled motion that can be used to acquire according to device for visual identification 14 is flat
The movement of platform 12, hoistable platform 13 and suction means 11.
In addition, de-stacking device 10 further includes stack input line 15, cargo output line 16 and pallet retracting device 17.Stack
Input line 15 is divided for upstream (figure do not mark) and downstream (scheming not mark), and upstream and downstream is located at the two of hoistable platform 13
Side, upstream are used to convey stack for hoistable platform 13, and downstream is used for transmission empty pallet.Pallet retracting device 17 is located at downstream
Side, and pallet retracting device 17 is used to recycle empty pallet.
The de-stacking device 10 provided in the present embodiment can be rotationally connected with motion platform 12 by mounting body 100 so that
Mounting body 100 can be rotated with relative motion platform 12, in order to be installed on the pick-up component 300 in mounting body 100
It is adjusted to position appropriate with an armful clip assembly 200 and cargo is carried out to draw and embrace folder.It wherein, can be right by pick-up component 300
Cargo is drawn, and carries out embracing folder to cargo by embracing clip assembly 200, by embracing while cargo is drawn in guarantee
Folder ensures the stability of cargo, can improve the efficiency for goods sorting, can improve the efficiency of de-stacking.Also, for inhaling
The action for taking and embracing folder is easier to realize, convenient for the automated setting of suction means 11 and de-stacking device 10.And pass through lifting
Platform 13 will be lifted at the cargo of pile to height appropriate, can guarantee that suction means 11 quickly and efficiently draws sorting cargo, energy
Further increase the efficiency of de-stacking.
Second embodiment
Fig. 1 and Fig. 7 are please referred to, a kind of de-stacking method is provided in the present embodiment, is applied in first embodiment
The de-stacking device 10 of offer.Also, the de-stacking method can improve versatility, convenient for automation, and can improve the efficiency of de-stacking.
Wherein, de-stacking method includes：
Stack is transported on hoistable platform 13 by S1, stack input line 15.
S2, hoistable platform 13 promote stack to specified altitude assignment.
S3, device for visual identification 14 identify the position and direction of upper layer stack.
S4, control system according to device for visual identification 14 acquire information, controlled motion platform 12, suction means 11 fortune
It is dynamic.
S5, suction means 11 will be in Cargo Claims to cargo output line 16.
S6, repeating said steps S2 are to the step S5, after the cargo in stack is extracted, hoistable platform 13
It drives empty pallet to drop to initial position, and empty pallet is delivered to pallet retracting device 17.
S7, repeating said steps S1 carry out the de-stacking of a new round to the step S6.
3rd embodiment
Fig. 1 and Fig. 8 are please referred to, a kind of de-stacking method is provided in the present embodiment, is applied in first embodiment
The de-stacking device 10 of offer.Also, the de-stacking method can improve versatility, convenient for automation, and can improve the efficiency of de-stacking.
Wherein, de-stacking method includes：
S101, hoistable platform 13 lift cargo and make cargo close to suction means 11.
That is, cargo to be lifted to certain height by hoistable platform 13 so that cargo is drawn close to suction means 11
Device 11 just can be drawn and sorted to cargo by smaller displacement.
S102, the drive suction means 11 of motion platform 12 are moved to the top of cargo.
Wherein, suction means 11 is driven to move by the associated movement of the first slide construction 420 and the second slide construction 430
To the top of cargo.
S103, rotational installation main body 100 so that cargo is located between two armfuls of clamping plates 230.
That is, by being rotatablely installed main body 100 so that grasping part can be to being located at cargo, and cargo is enable to be placed in
Inside grasping part, and further such that embrace clamping plates 230 with two respectively parallel two sides opposite on cargo, so that
Must embrace clamping plate 230 it is close to each other when can fit in the side of cargo, embracing clamping plates 230 convenient for two carries out cargo to embrace folder.
S104, suction means 11 are moved along first direction to draw cargo.
Wherein, in the present embodiment, by pick-up component 300 relative to mounting body 100 moving on first direction,
So that pick-up component 300 draws cargo.
S105, first movement structure 220 drive two to embrace 230 goods clamping of clamping plate.
S106, motion platform 12 drive suction means 11, to transport cargo.
That is, completing the sorting for cargo.
Fourth embodiment
A kind of cargo de-stacking system (not shown) is provided in the present embodiment, which employs what is provided in first embodiment to tear open
Pile device 10.And the cargo de-stacking system can improve versatility, convenient for automation, and can improve the efficiency of de-stacking.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of suction means, it is characterised in that：Including embracing clip assembly, pick-up component and mounting body；Described armful of clip assembly packet
It includes first movement structure and two is embraced clamping plate, the first movement structure is connected to the mounting body, and clamping plate is embraced described in two
It is connected to the first movement structure, the first movement structure is close to each other or mutual for driving described armful of clamping plate
It is separate；The pick-up component is movably connected on the mounting body, and can be moved along first direction relative to the mounting body；Institute
It states to embrace and is provided with through-hole on clamping plate, pick-up component described in the through-hole face, when described armful of clamping plate moves toward one another, the through-hole can
Avoid Suction cup assembly.
2. a kind of suction means according to claim 1, which is characterized in that the pick-up component includes that the second movement is tied
Structure, connection component and multiple sucker structures；Second moving structure is connected to mounting body；The connection component is connected to institute
The second moving structure is stated, and second moving structure can drive the connection component to be moved along the first direction；It is multiple
The sucker structure is all connected to the connection component.
3. a kind of suction means according to claim 2, which is characterized in that second moving structure includes the second driving
Structure and multiple guide rods, multiple guide rods are movably connected on second driving structure, and along the first direction
Extend, the end of multiple guide rods is all connected to the connection component.
4. a kind of suction means according to claim 2, which is characterized in that the multiple sucker structure includes multiple independences
Vacuum cup and sucker control system, each vacuum cup pass through the sucker control system independent control respectively.
5. a kind of suction means according to claim 2, which is characterized in that the connection component includes connecting plate and carrying
Plate, the loading plate are connected to second moving structure, and the connecting plate fits in the loading plate and moved far from described second
The side of dynamic structure, and the extending direction of the extending direction of the connecting plate and the loading plate is perpendicular, multiple suctions
Dish structure is connected to the connecting plate and is arranged along the extending direction of the connecting plate.
6. a kind of suction means according to claim 1, which is characterized in that the mounting body includes rotary flange, peace
Fill platform and two interconnecting pieces；The rotary flange is connected to the side of the erecting bed；Two interconnecting pieces are connected to
The opposite both sides of the erecting bed；The first movement structure is connected to two interconnecting pieces and is located at two interconnecting pieces
Between；The pick-up component is connected to the interconnecting piece and is located at two ends of the interconnecting piece far from the erecting bed；Institute
It is vertical with rotary flange plane to state first direction.
7. a kind of de-stacking device, which is characterized in that including motion platform, hoistable platform and the absorption as described in claim 1-6
Device, the suction means are installed on the motion platform, and the hoistable platform is located at the lower section of the suction means.
8. a kind of de-stacking device according to claim 7, which is characterized in that further include that device for visual identification is with control
System；The mounting body is rotationally connected with the motion platform, and the device for visual identification is installed on motion platform, for knowing
The position and direction of other stack；The control system, for information controlled motion platform, the goods according to device for visual identification acquisition
The movement of pile lifting gear and suction means.
9. a kind of de-stacking device according to claim 7, which is characterized in that further include stack input line, cargo output line
And pallet retracting device；The stack input line is divided into upstream and downstream, is located at the both sides of hoistable platform, and upstream is used to rise
It drops platform and conveys stack, downstream is used for transmission empty pallet；The pallet retracting device is located at the side in downstream, for receiving sky
Pallet.
10. a kind of cargo de-stacking method that de-stacking device using described in claim 7 carries out, which is characterized in that the goods
Object de-stacking method includes the following steps：
Stack is transported on hoistable platform by S1, stack input line；
S2, hoistable platform promote stack to specified altitude assignment；
The position and direction of S3, device for visual identification identification upper layer stack；
The information of S4, control system according to device for visual identification acquisition, the movement of controlled motion platform, suction means；
S5, suction means will be in Cargo Claims to cargo output line；
S6, repeating said steps S2 are to the step S5, and after the cargo in stack is extracted, hoistable platform drives empty
Pallet drops to initial position, and empty pallet is delivered to pallet retracting device；
S7, repeating said steps S1 carry out the de-stacking of a new round to the step S6.
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| CN201810832728.9A CN108750690B (en) | 2018-07-23 | 2018-07-23 | Suction device, unstacking device and unstacking method |
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| CN201810832728.9A CN108750690B (en) | 2018-07-23 | 2018-07-23 | Suction device, unstacking device and unstacking method |
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| CN109484866A (en) * | 2019-01-09 | 2019-03-19 | 合肥泰禾光电科技股份有限公司 | Veneer retracts mechanism, device, method and Transmission system |
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| CN110127382A (en) * | 2019-04-02 | 2019-08-16 | 河南中烟工业有限责任公司 | A kind of de-stacking blanking integrated production line using radio frequency identification |
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| CN110228678A (en) * | 2019-07-26 | 2019-09-13 | 南京斯杩克机器人技术有限公司 | A kind of Active Compensation formula vision is to positive Stacking Robots and its to positive compensation method |
| CN110228678B (en) * | 2019-07-26 | 2021-05-04 | 南京斯杩克机器人技术有限公司 | Alignment compensation method for active compensation type visual alignment stacking robot |
| CN111498406A (en) * | 2020-04-26 | 2020-08-07 | 广东龙丰精密铜管有限公司 | Automatic stacking machine and stacking method thereof |
| CN112047120A (en) * | 2020-07-31 | 2020-12-08 | 南京灵雀智能制造有限公司 | Fragile dinner plate stacking tray clamp and clamping method |
| CN113636359B (en) * | 2021-09-06 | 2023-02-24 | 烟台杰力自动化设备有限公司 | Automatic wood unstacking and sorting equipment |
| CN113636359A (en) * | 2021-09-06 | 2021-11-12 | 烟台杰力自动化设备有限公司 | Automatic wood unstacking and sorting equipment |
| CN113753484A (en) * | 2021-09-27 | 2021-12-07 | 长沙盈源信息技术有限公司 | Automatic sorting and stacking system |
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| CN114030843A (en) * | 2021-10-27 | 2022-02-11 | 因格(苏州)智能技术有限公司 | Article circulation method and system |
| CN114955576A (en) * | 2022-04-27 | 2022-08-30 | 芜湖固高自动化技术有限公司 | Stacking robot based on 3D vision and end effector thereof |
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