CN108750690B - Suction device, unstacking device and unstacking method - Google Patents
Suction device, unstacking device and unstacking method Download PDFInfo
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- CN108750690B CN108750690B CN201810832728.9A CN201810832728A CN108750690B CN 108750690 B CN108750690 B CN 108750690B CN 201810832728 A CN201810832728 A CN 201810832728A CN 108750690 B CN108750690 B CN 108750690B
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- 230000000007 visual effect Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 7
- 238000011144 upstream manufacturing Methods 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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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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Abstract
The invention discloses a suction device, an unstacking device and an unstacking method, and relates to the technical field of cargo unstacking. The suction device comprises a holding and clamping assembly, a suction assembly and a mounting main body; the clamping assembly comprises a first moving structure and two clamping plates, the first moving structure is connected with the mounting main body, the two clamping plates are respectively connected with the first moving structure, and the first moving structure is used for driving the clamping plates to be close to or far away from each other; the suction component is movably connected with the mounting main body; the clamping plate is provided with a through hole, the through hole is opposite to the suction component, and the through hole can avoid the suction disc component when the clamping plate moves in opposite directions. An unstacking device adopts the suction device. The unstacking method is applied to the unstacking device. The suction device, the unstacking device and the unstacking method can improve universality and unstacking efficiency.
Description
Technical Field
The invention relates to the technical field of cargo unstacking, in particular to a suction device, an unstacking device and an unstacking method.
Background
Cargo boxes are a common cargo packaging mode in the production field. During palletizing, unstacking, handling, etc., it is necessary to move the box cargo from one location to another. Sometimes, according to the subsequent process requirement, the direction of the removed container is adjusted, and the traditional manual carrying mode has high labor intensity and low efficiency. The use of mechanical means instead of manual handling of goods has been widely used.
But the current mechanical modes mainly comprise a manipulator mode and a sucker mode. A disadvantage of the robotic box-taking device is that it is difficult to take one or more containers out of a list of aligned containers. The prior up-suction type box taking device can overcome the defects, but has poor universality and low automation degree when containers with different specifications and sizes are taken.
Disclosure of Invention
The invention aims to provide a suction device which can improve universality and improve unstacking efficiency.
The invention aims to provide a destacking device which can improve universality and destacking efficiency.
Another object of the present invention is to provide a destacking method that can improve versatility and can improve destacking efficiency.
The invention provides a technical scheme that:
the suction device comprises a holding and clamping assembly, a suction assembly and a mounting main body; the clamping assembly comprises a first moving structure and two clamping plates, the first moving structure is connected with the installation main body, the two clamping plates are respectively connected with the first moving structure, and the first moving structure is used for driving the clamping plates to be close to or far away from each other; the suction component is movably connected to the mounting main body and can move along a first direction relative to the mounting main body; the clamping plate is provided with a through hole, the through hole is opposite to the suction component, and when the clamping plate moves in opposite directions, the through hole can avoid the suction disc component.
Further, the suction assembly comprises a second moving structure, a connecting assembly and a plurality of sucker structures; the second moving structure is connected to the mounting main body; the connecting component is connected to the second moving structure, and the second moving structure can drive the connecting component to move along the first direction; the sucking disc structures are connected to the connecting assembly.
Further, the second moving structure comprises a second driving structure and a plurality of guide rods, the guide rods are movably connected to the second driving structure and extend along the first direction, and the end parts of the guide rods are connected to the connecting assembly.
Further, the plurality of chuck structures comprise a plurality of independent vacuum chucks and chuck control systems, each of the vacuum chucks being independently controlled by the chuck control systems, respectively.
Further, the connecting assembly comprises a connecting plate and a bearing plate, the bearing plate is connected to the second moving structure, the connecting plate is attached to one side, far away from the second moving structure, of the bearing plate, the extending direction of the connecting plate is perpendicular to the extending direction of the bearing plate, and the sucker structures are connected to the connecting plate and are arranged along the extending direction of the connecting plate.
Further, the mounting main body comprises a rotary flange, a mounting table and two connecting parts; the rotary flange is connected to one side of the mounting table; the two connecting parts are respectively connected to two opposite sides of the mounting table; the first moving structure is connected to the two connecting parts and is positioned between the two connecting parts; the suction component is connected to the connecting parts and is positioned at the end parts of the two connecting parts far away from the mounting table; the first direction is perpendicular to the plane of the rotating flange.
The unstacking device comprises a moving platform, a lifting platform and a suction device, wherein the suction device comprises a holding and clamping assembly, a suction assembly and a mounting main body; the clamping assembly comprises a first moving structure and two clamping plates, the first moving structure is connected with the installation main body, the two clamping plates are respectively connected with the first moving structure, and the first moving structure is used for driving the clamping plates to be close to or far away from each other; the suction component is movably connected to the mounting main body; the clamping plate is provided with a through hole, the through hole is opposite to the suction component, and when the clamping plate moves in opposite directions, the through hole can avoid the suction disc component. The suction device is arranged on the moving platform, and the lifting platform is positioned below the suction device.
Further, the unstacking device further comprises a visual identification device and a control system; the installation main body is rotatably connected to the motion platform, and the visual identification device is installed on the motion platform and used for identifying the position and the direction of the goods stack; the control system is used for controlling the movement of the moving platform, the goods stack lifting device and the suction device according to the information collected by the visual identification device.
Further, the unstacking device further comprises a stack input line, a stack output line and a tray recycling device; the stack input line is divided into an upstream and a downstream, and is positioned at two sides of the lifting platform, wherein the upstream is used for conveying stacks for the lifting platform, and the downstream is used for conveying empty trays; the tray recycling device is located on a downstream side for receiving empty trays.
A method of unstacking cargo using an unstacking apparatus comprising a motion platform, a lifting platform and a suction apparatus comprising a clasping assembly, a suction assembly and a mounting body; the clamping assembly comprises a first moving structure and two clamping plates, the first moving structure is connected with the installation main body, the two clamping plates are respectively connected with the first moving structure, and the first moving structure is used for driving the clamping plates to be close to or far away from each other; the suction component is movably connected to the mounting main body; the clamping plate is provided with a through hole, the through hole is opposite to the suction component, and when the clamping plate moves in opposite directions, the through hole can avoid the suction disc component. The suction device is arranged on the moving platform, and the lifting platform is positioned below the suction device. The cargo unstacking method comprises the following steps:
s1, a stack input line conveys a stack to a lifting platform;
s2, lifting the goods stack to a specified height by the lifting platform;
s3, the visual recognition device recognizes the position and the direction of the upper layer stack;
s4, the control system controls the motion of the motion platform and the suction device according to the information acquired by the visual recognition device;
s5, the sucking device extracts the goods to a goods output line;
s6, repeating the step S2 to the step S5 until the goods on the goods stack are extracted, driving the empty tray to descend to an initial position by the lifting platform, and conveying the empty tray to the tray recovery device;
and S7, repeating the steps S1 to S6, and performing a new round of unstacking.
Compared with the prior art, the suction device and the unstacking device provided by the invention have the beneficial effects that:
according to the suction device and the unstacking device, through the through holes formed in the two clamping plates, when the two clamping plates move in opposite directions to clamp cargoes, the first moving structure can be avoided through the through holes, so that the clamping plates can clamp cargoes with different sizes conveniently, and the universality of the suction device and the unstacking device is improved.
Compared with the prior art, the unstacking method has the same beneficial effects as those of the unstacking device, and the unstacking device is not repeated.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. Other relevant drawings may be made by those of ordinary skill in the art without undue burden from these drawings.
Fig. 1 is a schematic structural view of an unstacking device according to a first embodiment of the present invention;
fig. 2 is a schematic structural view of a suction device according to a first embodiment of the present invention at a first view angle;
fig. 3 is a schematic structural view of a suction device according to a second view angle provided by the first embodiment of the present invention;
fig. 4 is a schematic structural view of a suction device according to a third view angle provided by the first embodiment of the present invention;
fig. 5 is a schematic structural diagram of a fourth view angle of the suction device according to the first embodiment of the present invention;
fig. 6 is a schematic structural view of the suction device provided by the present invention;
FIG. 7 is a flow chart of a destacking method provided by a second embodiment of the present invention;
fig. 8 is a flowchart of a destacking method according to a third embodiment of the present invention.
Icon: 10-unstacking device; 11-suction means; 100-mounting a main body; 110-a mounting table; 120-rotating the flange; 130-a connection; 140-rotating a servo motor; 200-clamping assembly; 210-a carrier; 220-a first mobile structure; 230, clamping plates; 231-through holes; 300-a suction assembly; 310-a second mobile structure; 311-a second drive structure; 312-guide bar; 320-a connection assembly; 321-a carrier plate; 322-connecting plates; 330-a suction cup structure; 12-a motion platform; 410-supporting frame; 420-a first sliding structure; 430-a second sliding structure; 13-lifting platform; 14-visual recognition means; 15-stack input line; 16-cargo output lines; 17-tray recovery device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the inventive product is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, terms such as "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. 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.
The following describes specific embodiments of the present invention in detail with reference to the drawings.
First embodiment
Referring to fig. 1, an unstacking apparatus 10 for sorting goods is provided in this embodiment. That is, the unstacking apparatus 10 can sort stacked goods into a plurality of goods to facilitate sorting and handling of the plurality of goods. The unstacking apparatus 10 can improve versatility, facilitate automation, and improve unstacking efficiency. Wherein the stacked goods are also called stacks.
The unstacking device 10 comprises a moving platform 12, a suction device 11 and a lifting platform 13. Wherein the suction device 11 is connected to the moving platform 12, and the moving platform 12 can drive the suction device 11 to move, so that the suction device 11 sorts the cargos from the top of the piled cargos. The lifting platform 13 is arranged at the bottom inside the moving platform 12, and the lifting platform 13 is used for carrying stacked goods and can be used for lifting the stacked goods to a proper height so that the suction device 11 can sort the goods.
It should be noted that, in the present embodiment, the moving platform 12 can drive the suction device 11 to move in the directions perpendicular to each other in the horizontal direction, so as to ensure that the suction device 11 can move to the designated position for suction sorting of the goods.
The motion platform 12 includes a support frame 410, a first sliding structure 420, and a second sliding structure 430, wherein the support frame 410 is configured to be coupled to a bearing surface such as a floor, to provide a load to the first sliding structure 420 and the second sliding structure 430. The first sliding structure 420 is slidably connected to the support frame 410, and is capable of sliding relative to the support frame 410. The second sliding structure 430 is slidably connected to the first sliding structure 420 and is capable of sliding relative to the first sliding structure 420. Wherein, the sliding direction of the first sliding structure 420 relative to the supporting frame 410 and the sliding direction of the second sliding structure 430 relative to the first sliding structure 420 are perpendicular. The suction device 11 is connected to the second sliding structure 430, that is, the first sliding structure 420 can drive the second sliding structure 430 to slide and simultaneously drive the suction device 11 to slide, and the second sliding structure 430 can drive the suction device 11 to slide. In addition, the suction device 11 can move relative to the second sliding structure 430, and the direction of movement of the suction device 11 relative to the second sliding structure 430, the direction of sliding of the first sliding structure 420 relative to the supporting frame 410, and the direction of sliding of the second sliding structure 430 relative to the first sliding structure 420 are perpendicular to each other, so that the suction device 11 can move to any position for sucking and sorting cargoes by the simultaneous action of the three mutually perpendicular moving directions.
Further, the first sliding structure 420 and the second sliding structure 430 are disposed at the top of the supporting frame 410, and the first sliding structure 420, the second sliding structure 430 and the supporting frame 410 together enclose a processing space (not shown), and the lifting platform 13 is disposed inside the processing space and is located at the bottom of the processing space.
Referring to fig. 2, 3, 4 and 5 in combination, the suction device 11 includes a mounting body 100, a clamping assembly 200 and a suction assembly 300. The holding and clamping assembly 200 and the absorbing assembly 300 are both connected to the mounting main body 100, i.e. the mounting main body 100 can provide bearing for the holding and clamping assembly 200 and the absorbing assembly 300, so as to ensure that the holding and clamping assembly 200 and the absorbing assembly 300 have stable working environments.
Wherein the mounting body 100 is adapted to be rotatably coupled to the motion platform 12. That is, while the moving platform 12 can drive the mounting main body 100 to move in the horizontal direction, the mounting main body 100 can also rotate relative to the moving platform 12 at the same time, and in this embodiment, the rotation plane of the mounting main body 100 relative to the moving platform 12 is parallel to the horizontal plane, that is, the position and orientation of the holding and clamping assembly 200 and the suction assembly 300 mounted on the mounting main body 100 can be adjusted, so that the holding and clamping assembly 200 and the suction assembly 300 can be adjusted to appropriate positions, the holding and suction of the cargoes can be facilitated, and the efficiency of sorting the cargoes can be improved.
In the present embodiment, the mounting body 100 includes a rotary flange 120, a mounting table 110, and two connection parts 130. The rotary flange 120 is connected to one side of the mounting table 110, and the rotary flange 120 is rotatably connected to the moving platform 12, i.e. the rotary flange 120 rotates relative to the moving platform 12 to drive the mounting table 110 to rotate relative to the moving platform 12. The two connection portions 130 are respectively connected to opposite sides of the mounting table 110, and the mounting table 110 and the two connection portions 130 together form a U-shaped structure. And, both the connection parts 130 are located at a side of the mounting table 110 remote from the rotary flange 120. The clasping assembly 200 and the suction assembly 300 are both connected to the two connection portions 130 to provide load bearing to the clasping assembly 200 and the suction assembly 300 through the two connection portions 130.
It should be noted that, in the present embodiment, the installation body 100 is further provided with a rotary servo motor 140, and the rotary servo motor 140 is connected to the rotary flange 120, so that the rotary servo motor 140 provides rotary power to the rotary flange 120 to drive the rotary flange 120 to rotate relative to the motion platform 12.
The suction assembly 300 is movably coupled to the mounting body 100, and the suction assembly 300 can reciprocate in a first direction. That is, the suction assembly 300 can reciprocate in the first direction with respect to the mounting body 100. In the present embodiment, when the suction device 11 is normally operated, the first direction refers to a vertical direction, that is, the suction assembly 300 can be moved up and down with respect to the mounting body 100, and when the suction assembly 300 is moved down, the suction assembly 300 can be made to approach and suck the cargo; after the suction assembly 300 sucks the goods, it can move upward and lift the goods, facilitating the transportation of the goods.
In the present embodiment, the suction assembly 300 includes a second moving structure 310, a connecting assembly 320 and a plurality of sucking disc structures 330, wherein the connecting assembly 320 is connected to the second moving structure 310, and the second moving structure 310 can drive the connecting assembly 320 to move along a first direction, and the plurality of sucking disc structures 330 are connected to the connecting assembly 320, so that the connecting assembly 320 can drive the plurality of sucking disc structures 330 to move along the first direction when moving along the first direction. In this embodiment, two second moving structures 310 are movably connected to the mounting body 100, and in this embodiment, two second moving structures 310 are respectively connected to two sides of the mounting body 100, so that the two second moving structures 310 can stably drive the connecting assembly 320 and the plurality of sucking disc structures 330 to move. That is, the two second moving structures 310 are respectively connected to the outer sides of the two connection parts 130, and the two second moving structures 310 are respectively connected to opposite sides of the connection assembly 320. In another embodiment, as shown in fig. 5, the second moving structure 310 is one, and the second moving structure 310 is connected to the inner center position of the mounting body 100 such that the second moving structure 310 can stably move the connection assembly 320 and the plurality of suction cup structures 330.
The second moving structure 310 includes a second driving structure 311 and a plurality of guide rods 312, the plurality of guide rods 312 are movably connected to the second driving structure 311, and the plurality of guide rods 312 extend along the first direction, and ends of the plurality of guide rods 312 are connected to the connecting assembly 320. That is, the plurality of guide bars 312 can be driven to move in the first direction by the second driving structure 311, so that the connection assembly 320 can be moved in the first direction.
It should be noted that, in the present embodiment, the second driving structure 311 adopts a cylinder structure, so that the second driving structure 311 can smoothly drive the plurality of guide rods 312 to move. It should be appreciated that in other embodiments, the second driving structure 311 can also use other driving methods, such as a screw structure, a rack and pinion structure, or a motor driving structure.
The connecting assembly 320 includes a carrying plate 321 and a connecting plate 322, the carrying plate 321 is connected to the second moving structure 310, and the connecting plate 322 is attached to a side of the carrying plate 321 away from the second moving structure 310. And, the extending direction of the connection plate 322 is perpendicular to the extending direction of the carrier plate 321. In another embodiment, the carrier plate 321 and the connection plate 322 may be integrally formed. The plurality of suction cup structures 330 are connected to the connection plate 322 and are arranged along the extending direction of the connection plate 322.
It should be noted that, in the present embodiment, two opposite sides of the carrier 321 are respectively connected to two second moving structures 310, and the carrier 321 may be considered as extending from one of the second moving structures 310 to the other second moving structure 310. The extending direction of the connection plate 322 refers to the length direction of the connection plate 322, that is, the connection plate 322 is rectangular, and a straight line where the long side of the connection plate 322 is located and a straight line where the extending direction of the connection plate 322 is located are parallel to each other. In another embodiment, the center of the side of the carrier plate 321 remote from the suction cup structure 330 is connected to the second moving structure 310 inside the mounting body 100.
In addition, in the present embodiment, the plurality of suction cup structures 330 are arranged in a plurality of rows on the connection plate 322 along the extending direction of the connection plate 322, and the arrangement direction of each row of suction cup structures 330 is parallel to the extending direction of the connection plate 322. And the plurality of sucker structures 330 are all oriented away from the connecting plate 322, so that the sucker structures 330 can suck cargoes.
It should be noted that the plurality of chuck structures 330 include a plurality of independent vacuum chucks and chuck control systems, and each vacuum chuck is independently controlled by the chuck control system. That is, in this embodiment, each vacuum chuck can independently control suction force through a corresponding chuck control system, so that the suction work can be conveniently performed on cargoes of different structures, different weights or different materials.
The clasping assembly 200 includes a carrier 210, a first moving structure 220, and two clasping plates 230. The carrier 210 is connected to the two connection portions 130, and the carrier 210 is located between the two connection portions 130 to provide stable load to the carrier 210 through the two connection portions 130. The first moving structure 220 is connected to the carrier 210, that is, the first moving structure 220 is connected to the mounting body 100 through the carrier 210. The two holding clamp plates 230 are respectively connected to the first moving structure 220, and the first moving structure 220 can drive the two holding clamp plates 230 to be close to each other or to be far away from each other, so that the goods are held and clamped when the two holding clamp plates 230 are close to each other, and the stability of the goods is ensured; or when the two holding clamping plates 230 are far away from each other, the goods are loosened, so that the goods can be conveniently stacked.
In the present embodiment, a clamping space is formed between the two clamping plates 230, and the clamping space is used for clamping the cargo. And the suction assembly 300 is located inside the holding space so that when the suction assembly 300 sucks the goods, the goods can be located inside the holding space as well, and then the goods can be held by the two holding clamping plates 230.
Further, in the present embodiment, through holes 231 are formed on both holding clamping plates 230, and the through holes 231 are opposite to the suction assembly 300. It should be noted that, the passable area of the through hole 231 is larger than the projected area of the suction assembly 300 in the plane of the clamping plate 230, and the suction assembly 300 can pass through the clamping plate 230 through the through hole 231. That is, when the two holding clamping plates 230 clamp the goods, the situation that the goods are small may occur, and the suction assembly 300 can pass through the through hole 231, so that the suction assembly 300 is prevented from affecting the movement of the two holding clamping plates 230, and the holding clamping plates 230 can clamp the goods stably. It should be noted that, when the plurality of suction cup structures 330 draw the cargo with smaller size and the two holding clamp plates 230 are close to each other to clamp the cargo, the connecting plate 322 and the part of suction cup structures 330 can both pass through the through hole 231 and extend to the outside of the clamping space, so that the holding clamp plates 230 can stably clamp the cargo.
In the present embodiment, the extending direction of the carrier 210 is the same as the extending direction of the connecting plate 322, i.e. the straight line of the long side of the carrier 210 is parallel to the straight line of the long side of the connecting plate 322. The long side of the carrier 210 is provided with a sliding rail structure extending along the second direction, and the two holding clamping plates 230 are both connected to the sliding rail structure, so that the two holding clamping plates 230 can both move along the second direction. Wherein the second direction is perpendicular to the first direction, i.e. the line in which the second direction is located is parallel to the rotation plane of the mounting body 100.
In addition, in the present embodiment, the first moving structure 220 is connected to the carrier 210, and the first moving structure 220 extends along the second direction. Specifically, the two first moving structures 220 are two, and the two first moving structures 220 are respectively connected to the two holding clamping plates 230, that is, the two first moving structures 220 respectively drive the two holding clamping plates 230 to move in the second direction.
It should be noted that, in the present embodiment, the first moving structure 220 adopts a cylinder structure to ensure the moving stability of the clamping plate 230. It should be appreciated that in other embodiments, the first moving structure 220 may employ other drive structures, such as a lead screw structure, a rack and pinion structure, or a motor drive structure.
The destacking apparatus 10 further includes a visual recognition device 14 and a control system (not shown), the mounting body 100 being attached to the motion platform 12, the visual recognition device 14 being mounted on the motion platform 12 and being configured to recognize the position and orientation of the stack. The control system is connected to the visual recognition device 14 and can be used to control the movement of the movement platform 12, the lifting platform 13 and the suction device 11 in dependence on the information collected by the visual recognition device 14.
In addition, the destacking apparatus 10 further includes a stack input line 15, a stack output line 16, and a tray recovery apparatus 17. The stack input line 15 is divided into an upstream (not shown) and a downstream (not shown) and the upstream and downstream are located on both sides of the lift platform 13, respectively, the upstream being for transporting stacks for the lift platform 13 and the downstream being for transporting empty pallets. The tray recovery device 17 is located at a downstream side, and the tray recovery device 17 is used to recover empty trays.
The unstacking device 10 provided in this embodiment can be rotatably connected to the moving platform 12 through the mounting main body 100, so that the mounting main body 100 can rotate relative to the moving platform 12, so that the suction assembly 300 and the holding clamp assembly 200 mounted on the mounting main body 100 can be adjusted to a proper position to suck and hold cargoes. Wherein, can absorb the goods through absorbing subassembly 300 to hold the clamp through holding clamp assembly 200 to the goods, guarantee to absorb the stability of guaranteeing the goods through holding the clamp in the time of holding the clamp, can improve the efficiency to the goods letter sorting, can improve the efficiency of breaking a jam. Moreover, the actions of sucking and holding are easy to realize, and the automatic arrangement of the sucking device 11 and the unstacking device 10 is convenient. And the stacked cargoes are lifted to a proper height through the lifting platform 13, so that the suction device 11 can be ensured to quickly and efficiently suck the sorted cargoes, and the unstacking efficiency can be further improved.
Second embodiment
Referring to fig. 1 and 7 in combination, a destacking method is provided in the present embodiment, which is applied to the destacking apparatus 10 provided in the first embodiment. In addition, the unstacking method can improve universality, is convenient for automation, and can improve unstacking efficiency.
The unstacking method comprises the following steps:
s1, a stack input line 15 conveys stacks to the lifting platform 13.
S2, lifting the goods stack to a specified height by the lifting platform 13.
S3, the visual recognition device 14 recognizes the position and the direction of the upper layer stack.
And S4, the control system controls the motion of the motion platform 12 and the suction device 11 according to the information acquired by the visual recognition device 14.
S5, the suction device 11 extracts cargoes to the cargo output line 16.
And S6, repeating the step S2 to the step S5 until the goods on the goods stack are extracted, and driving the empty tray to descend to the initial position by the lifting platform 13 and conveying the empty tray to the tray recovery device 17.
And S7, repeating the steps S1 to S6, and performing a new round of unstacking.
Third embodiment
Referring to fig. 1 and 8 in combination, there is provided a destacking method applied to the destacking apparatus 10 provided in the first embodiment. In addition, the unstacking method can improve universality, is convenient for automation, and can improve unstacking efficiency.
The unstacking method comprises the following steps:
s101, lifting the goods by the lifting platform 13 and enabling the goods to be close to the suction device 11.
Namely, the goods are lifted to a certain height by the lifting platform 13 so that the goods are close to the suction device 11, and the suction device 11 can suck and sort the goods with a small displacement.
S102, the motion platform 12 drives the suction device 11 to move to the upper side of the goods.
Wherein, the suction device 11 is driven to move above the goods by the common movement of the first sliding structure 420 and the second sliding structure 430.
S103, the mounting body 100 is rotated so that the cargo is located between the two clamping plates 230.
That is, by rotating the mounting body 100, the clamping space can be located at the cargo, and the cargo can be accommodated inside the clamping space, and further, two opposite sides of the cargo can be parallel to the two holding clamp plates 230, so that the holding clamp plates 230 can be attached to the sides of the cargo when being close to each other, so that the two holding clamp plates 230 can hold the cargo.
S104, the suction device 11 moves in the first direction to suck the cargo.
In the present embodiment, the movement of the suction assembly 300 with respect to the mounting body 100 in the first direction causes the suction assembly 300 to suck the cargo.
S105, the first moving structure 220 drives the two holding clamp plates 230 to clamp the goods.
S106, the motion platform 12 drives the suction device 11 to transport goods.
I.e. the sorting of the goods is completed.
Fourth embodiment
In this embodiment, a cargo unstacking system (not shown) employing the unstacking apparatus 10 provided in the first embodiment is provided. And the cargo unstacking system can improve universality, is convenient for automation, and can improve unstacking efficiency.
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 (10)
1. A suction device, characterized in that: comprises a holding clamp assembly, a suction assembly and a mounting main body; the clamping assembly comprises a first moving structure and two clamping plates, the first moving structure is connected with the installation main body, the two clamping plates are respectively connected with the first moving structure, the first moving structure is used for driving the clamping plates to be close to or far away from each other, and a clamping space is formed between the two clamping plates; the first moving structure adopts a cylinder structure; the suction component is movably connected to the mounting main body, is positioned in the clamping space and can move along a first direction relative to the mounting main body; the clamping plate is provided with a through hole, the through hole is opposite to the suction component, and when the clamping plate moves in opposite directions, the through hole can avoid the suction disc component.
2. The suction device of claim 1, wherein the suction assembly comprises a second moving structure, a connecting assembly, and a plurality of suction cup structures; the second moving structure is connected to the mounting main body; the connecting component is connected to the second moving structure, and the second moving structure can drive the connecting component to move along the first direction; the sucking disc structures are connected to the connecting assembly.
3. The suction device as claimed in claim 2, wherein the second moving structure comprises a second driving structure and a plurality of guide rods, wherein the guide rods are movably connected to the second driving structure and extend along the first direction, and the ends of the guide rods are connected to the connecting assembly.
4. A suction device as claimed in claim 2, wherein said plurality of suction cup structures comprises a plurality of independent vacuum suction cups and a suction cup control system, each of said vacuum suction cups being independently controlled by said suction cup control system.
5. The suction device according to claim 2, wherein the connecting assembly comprises a connecting plate and a bearing plate, the bearing plate is connected to the second moving structure, the connecting plate is attached to a side of the bearing plate away from the second moving structure, the extending direction of the connecting plate is perpendicular to the extending direction of the bearing plate, and the plurality of sucker structures are connected to the connecting plate and are arranged along the extending direction of the connecting plate.
6. The suction device as claimed in claim 1, wherein said mounting body comprises a swivel flange, a mounting table and two connection portions; the rotary flange is connected to one side of the mounting table; the two connecting parts are respectively connected to two opposite sides of the mounting table; the first moving structure is connected to the two connecting parts and is positioned between the two connecting parts; the suction component is connected to the connecting parts and is positioned at the end parts of the two connecting parts far away from the mounting table; the first direction is perpendicular to the plane of the rotating flange.
7. A destacking device comprising a moving platform, a lifting platform and a suction device according to any one of claims 1 to 6, the suction device being mounted on the moving platform, the lifting platform being located below the suction device.
8. An unstacking apparatus according to claim 7 further comprising visual identification means and a control system; the installation main body is rotatably connected to the motion platform, and the visual identification device is installed on the motion platform and used for identifying the position and the direction of the goods stack; the control system is used for controlling the movement of the moving platform, the goods stack lifting device and the suction device according to the information collected by the visual identification device.
9. An unstacking apparatus according to claim 7 further comprising a stack input line, a stack output line and a pallet retrieving means; the stack input line is divided into an upstream and a downstream, and is positioned at two sides of the lifting platform, wherein the upstream is used for conveying stacks for the lifting platform, and the downstream is used for conveying empty trays; the tray recycling device is located on a downstream side for receiving empty trays.
10. A method of unstacking cargo using the unstacking apparatus according to claim 7, wherein said method of unstacking cargo comprises the steps of:
s1, a stack input line conveys a stack to a lifting platform;
s2, lifting the goods stack to a specified height by the lifting platform;
s3, the visual recognition device recognizes the position and the direction of the upper layer stack;
s4, the control system controls the motion of the motion platform and the suction device according to the information acquired by the visual recognition device;
s5, the sucking device extracts the goods to a goods output line;
s6, repeating the step S2 to the step S5 until the goods on the goods stack are extracted, driving the empty tray to descend to an initial position by the lifting platform, and conveying the empty tray to the tray recovery device;
and S7, repeating the steps S1 to S6, and performing a new round of unstacking.
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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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| CN108750690A CN108750690A (en) | 2018-11-06 |
| CN108750690B true CN108750690B (en) | 2024-01-19 |
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