CN109436815A - De-stacking device and de-stacking method - Google Patents
De-stacking device and de-stacking method Download PDFInfo
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- CN109436815A CN109436815A CN201910021415.XA CN201910021415A CN109436815A CN 109436815 A CN109436815 A CN 109436815A CN 201910021415 A CN201910021415 A CN 201910021415A CN 109436815 A CN109436815 A CN 109436815A
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- China
- Prior art keywords
- cargo
- mechanical arm
- stack
- stacking device
- toggle mechanism
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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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/026—De-stacking from the top of the stack with a stepwise upward movement of the stack
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
Abstract
The invention discloses de-stacking device and de-stacking methods, are related to cargo de-stacking technical field.A kind of de-stacking device, including supporting mechanism, mechanical arm, toggle mechanism, cargo output line, the upper end of mechanical arm is connected to supporting mechanism, and the lower end of mechanical arm connects toggle mechanism, and mechanical arm is for driving toggle mechanism to stir cargo to cargo output line to designated position.Mechanical arm is rotationally connected with supporting mechanism, and includes at least two swing arm-upper swing arms and lower swing arm, and upper swing arm is rotationally connected with supporting mechanism, and lower swing arm, toggle mechanism are successively rotatedly connected.A kind of de-stacking method is applied to above-mentioned de-stacking device.More than, the efficiency of stack de-stacking can be improved.
Description
Technical field
The present invention relates to cargo de-stacking technical fields, in particular to de-stacking device and de-stacking method.
Background technique
In production fields such as grain, chemical fertilizer, cement, bag cargo is the packaged form generallyd use.Bag cargo is general
It piles up on pallet at pile to facilitate storage and carrying.When bag cargo has enough to meet the need or transports outward, generally carried out using manual type
De-stacking operation.This mode large labor intensity, low efficiency, high labor cost.In recent years, popularizing with industrial automation, it is right
The mechanization of unpacking work and automation demanding increase increasingly.
Bag cargo generally all has certain mobility, and shape is not fixed when stacking, is pulled during unpacking
It can also change with shape when squeezing, this brings great challenge to mechanical de-stacking device.
Summary of the invention
The purpose of the present invention is to provide a kind of de-stacking devices, and structure is simple, at low cost, and versatility is good.
The present invention provides a kind of technical solution:
A kind of de-stacking device, including supporting mechanism, mechanical arm, toggle mechanism, cargo output line, the upper end of the mechanical arm
It is connected to the supporting mechanism, the lower end of the mechanical arm connects the toggle mechanism, and the mechanical arm is for driving described dial
Motivation structure stirs cargo to the cargo output line to designated position.
The mechanical arm is rotationally connected with the supporting mechanism, includes at least two swing arm-upper swing arms and lower swing arm, institute
It states upper swing arm and is rotationally connected with the supporting mechanism, the lower swing arm, the toggle mechanism are successively rotatedly connected.
Further, the mechanical arm is link-type, the rotation of the upper swing arm, the lower swing arm and the toggle mechanism
Direction is that can only turn about the X axis, and the mechanical arm and the toggle mechanism can only be along the two-dimensional activities where YZ axis.
Wherein, Y-axis is the axis parallel with first direction, and X-axis is the axis vertical with Y-axis in horizontal plane, and Z axis is and horizontal plane
Vertical axis.
Further, the cargo output line includes splicing line, keeps out mechanism, slipping mechanism, keeps out mechanism in first party
Upwards positioned at the lower section of the splicing line close to one end of stack, the top surface for keeping out mechanism and the bottom surface of top layer's cargo are neat
It is flat, the slipping mechanism with it is described keep out mechanism and be connected and keep out mechanism described in driving reciprocatingly slide in a first direction, wherein the
One direction is that cargo is struck the direction of transmission.
Further, the mechanical arm is rotatably connected on the supporting mechanism, the width of the toggle mechanism with
Stack equivalent width.
Further, the upper end of the mechanical arm is slidably connected to the supporting mechanism, and the mechanical arm drives described dial
Motivation structure can be along the supporting mechanism transverse shifting, the equivalent width of the width of the toggle mechanism and single cargo.
Further, the de-stacking device further includes stack input line, and stack is delivered to goods by the stack input line
Pile elevating mechanism.
Further, the cargo output line quantity is two, and is separately mounted to the opposite of the stack elevating mechanism
Two sides.
Further, the de-stacking device further includes the pallet exhausting line for recycling empty pallet, the pallet exhausting line
With the stack input line two sides that be separately mounted to the stack elevating mechanism opposite.
Further, the de-stacking device further includes visual identifying system, visual identifying system stack for identification
Quantity, size, direction and the spatial position of middle top layer's bag cargo.
Compared with prior art, the beneficial effect of de-stacking device provided by the invention is:
De-stacking device provided by the invention can drive toggle mechanism to stir cargo to designated position by mechanical arm, by goods
Object dials to cargo output line.Wherein, mechanical arm drives toggle mechanism to stir cargo and adapts to cargo in various states, can mention
The versatility of high de-stacking device.And the structure of the de-stacking device is simple, at low cost, easily operated.In addition, the machine of keeping out can be passed through
The top surface of structure and the bottom surface of top layer's cargo flush, and can support the cargo of top second layer by keeping out mechanism, so into
When row top layer cargo retracts, it is avoided that the cargo of the second layer is affected, and then be avoided that being scattered for second layer cargo, can has
Effect improves the efficiency of de-stacking.
Another object of the present invention is to provide a kind of de-stacking methods, are applied to above-mentioned de-stacking device, can improve and tear open
The efficiency of pile.
The present invention provides a kind of technical solution:
A kind of de-stacking method is applied to de-stacking device, de-stacking device, including supporting mechanism, mechanical arm, toggle mechanism, goods
Object output line, the upper end of the mechanical arm are connected to the supporting mechanism, and the lower end of the mechanical arm connects the toggle mechanism,
The mechanical arm is for driving the toggle mechanism to stir cargo to the cargo output line to designated position.The cargo output
Line includes splicing line, keeps out mechanism, slipping mechanism, keeps out mechanism and is located at the lower section of the splicing line in a first direction close to goods
One end of pile, the top surface for keeping out mechanism are flushed with the bottom surface of top layer's cargo, and the slipping mechanism keeps out mechanism with described
It is connected and drives and described keep out mechanism and reciprocatingly slide in a first direction, wherein first direction is that cargo is struck the direction of transmission.
The de-stacking method includes:
S1, the mechanical arm drive the toggle mechanism be inserted into cargo to be retracted side gap, make described to stir machine
Structure is towards cargo side to be retracted and horizontal by wedge-shaped state；
S2, the mechanical arm drive the toggle mechanism to stir bag cargo to the corresponding cargo output line, and
The toggle mechanism and horizontal plane wedge shaped state always are kept in the process；The splicing line operating simultaneously, until current
Bag cargo integrally enter the cargo output line；
S3, the cargo output line will retract the cargo downstream transport got off；
S4, step S1-S3 is repeated, the cargo of stack top layer is successively retracted；
After S5, top layer's cargo retract, the slipping mechanism drives the splicing line and described to keep out mechanism separate
Stack；
S6, step S1-S5 is repeated, the entire cargo in stack is retracted and is finished.
Compared with prior art, the de-stacking device of the beneficial effect of de-stacking method provided by the invention and above-mentioned offer relative to
The beneficial effect of the prior art is identical, and details are not described herein.
Detailed description of the invention
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 embodiment of the present invention provides；
Fig. 2 is the structural schematic diagram for the de-stacking device part that the embodiment of the present invention provides；
Fig. 3 is the structural schematic diagram for the cargo output line that the embodiment of the present invention provides；
Fig. 4 is the structural schematic diagram for the de-stacking device that the other embodiment of the present invention provides；
Fig. 5 is the flow chart for the de-stacking method that the embodiment of the present invention provides.
Icon: 10- de-stacking device；100- supporting mechanism；200- mechanical arm；210- upper swing arm；220- lower swing arm；300- is dialled
Motivation structure；400- cargo output line；410- splicing line；420- keeps out mechanism；430- slipping mechanism；500- stack elevating mechanism；
600- stack input line；700- pallet exhausting line；800- visual identifying system.
Specific embodiment
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, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is to be understood that, term " on ", "lower", "inner", "outside", "left", "right" etc. indicate
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, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, with specific
Orientation construction 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, be also possible to be electrically connected；It can be and 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.
With reference to the accompanying drawing, detailed description of the preferred embodiments.
Embodiment
Referring to Fig. 1, providing a kind of de-stacking device 10 in the present embodiment, it is applied to the de-stacking of stack.It can pass through
The cargo for being accumulated as pile is split as multiple cargos by the de-stacking device 10.10 structure of de-stacking device is simple, at low cost, is easy to grasp
Make, and the de-stacking device 10 can improve de-stacking efficiency.
It should be noted that stack includes multiple cargos, multiple cargos are accumulated as pile, and multiple cargos form multilayer goods
Object.The de-stacking device 10 provided in the present embodiment since most upper one layer of the cargo of stack for splitting.
De-stacking device 10 includes supporting mechanism 100, mechanical arm 200, toggle mechanism 300 and cargo output line 400.Wherein,
The upper end of mechanical arm 200 is connected to supporting mechanism 100, and the lower end of mechanical arm 200 connects toggle mechanism 300.Also, mechanical arm
200 for driving toggle mechanism 300, so that can be by the drive toggle mechanism 300 of mechanical arm 200 to specified position, and band
Dynamic toggle mechanism 300 stirs cargo to cargo output line 400.
It should be noted that in the present embodiment, cargo output line 400 is used to be set to the side of stack, so that logical
Crossing the cargo that toggle mechanism 300 is split out can fall on cargo output line 400, and by cargo output line 400 be delivered to it is specified
Position.
Fig. 1 and Fig. 3 are please referred to, in the present embodiment, cargo output line 400 includes splicing line 410, keeps out mechanism
420 and slipping mechanism 430.Wherein, it keeps out the top surface of mechanism 420 to flush with the bottom surface of top layer cargo, the machine of keeping out can be made
Structure 420 keeps out the cargo of the second layer, just makes mechanical arm 200 when driving toggle mechanism 300 to stir the cargo of top layer, can keep away
The cargo for exempting from the second layer is affected or even causes the case where being scattered of second layer cargo, and then guarantees de-stacking the operation is stable
Orderly progress.
In addition, slipping mechanism 430 is connected with mechanism 420 is kept out, and keeps out mechanism 420 and be set to slipping mechanism 430
Top, slipping mechanism 430 is kept out mechanism 420 for drive and is moved along first direction, so that goods can be held in by keeping out mechanism 420
Pile, and then realize and keep out the purpose that mechanism 420 is held in second layer cargo.It should be noted that in the present embodiment, sliding plane
Structure 430 also to the offer carrying effect of mechanism 420 is kept out, can be supported steadily to stack offer simultaneously with guaranteeing to keep out mechanism 420
Effect.
It should be noted that in the present embodiment, de-stacking device 10 further includes stack elevating mechanism 500, stack elevator
Structure 500 can lift or reduce stack for carrying stack.In addition, stack elevating mechanism 500 is close to cargo output line
400 settings so that when stack is placed on stack elevating mechanism 500, can guarantee cargo output line 400 can close to stack,
So that keeping out the cargo that mechanism 420 can be held in the second layer in stack.Also, in the present embodiment, when the goods of top layer
After object retracts completion, stack is lifted by stack elevating mechanism 500, so that the cargo bottom surface of top layer and keeping out mechanism
420 top surface flush.
In addition, it is necessary to explanation, in the present embodiment, cargo output line 400 are two, two cargo output lines 400
The opposite two sides of stack elevating mechanism 500 are respectively arranged at, so that toggle mechanism 300 can be driven goods by mechanical arm 200
Pile is split from two cargo output lines 400 respectively, to improve the de-stacking efficiency for stack.
Further, in the present embodiment, mechanism 420 is kept out to be fixedly connected with splicing line 410.Wherein, mechanism 420 is kept out
When being held in stack, splicing line 410 is posted by stack simultaneously at this time, so that the cargo transferred to by toggle mechanism 300
It can relatively easily fall on splicing line 410, and cargo is delivered to by designated position by splicing line 410.It should be noted that
In the present embodiment, be provided with multiple motors on slipping mechanism 430, multiple motors be respectively used to control keep out mechanism 420 relative to
The sliding of slipping mechanism 430, and the power of 410 conveying articles of splicing line is provided.It should be noted that in other embodiments
In, it can also be using other driving devices to keeping out mechanism 420 or splicing line 410 provides power, example on slipping mechanism 430
Such as, hydraulic-driven structure or cylinder etc..
In addition, the lower section that mechanism 420 is resisted against splicing line 410 is kept out, in order to which splicing line 410 receives cargo.And energy
Stable carrying effect is provided to splicing line 410 by keeping out mechanism 420, and then guarantees the carry out goods that splicing line 410 can be stable
The conveying of object.
Fig. 1 and Fig. 2 are please referred to, in the present embodiment, mechanical arm 200 is rotationally connected with supporting mechanism 100, so that
Mechanical arm 200 can be rotated relative to supporting mechanism 100, and then improve 200 motion range of mechanical arm, in order to 200 band of mechanical arm
Dynamic toggle mechanism 300 carries out de-stacking to cargo.And, wherein mechanical arm 200 uses link-type, in order to the drive of mechanical arm 200
Toggle mechanism 300 is mobile, improves the versatility of mechanical arm 200.Specifically, in the present embodiment, mechanical arm 200 includes at least two
A swing arm, i.e. mechanical arm 200 include at least upper swing arm 210 and lower swing arm 220.Upper swing arm 210 is rotatablely connected supporting mechanism 100,
Lower swing arm 220 and toggle mechanism 300 are successively rotatedly connected, i.e. the upper end of upper swing arm 210 is rotationally connected with supporting mechanism 100, under
The upper end of swing arm 220 is rotationally connected with the lower end of upper swing arm 210, and toggle mechanism 300 is then rotationally connected under lower swing arm 220
End.It should be noted that in the present embodiment, the rotation direction of upper swing arm 210, lower swing arm 220 and toggle mechanism 300 is only
It can turn about the X axis, i.e., mechanical arm 200 and toggle mechanism 300 can only be along the two-dimensional activities where YZ axis.Wherein, Y-axis is and first
The parallel axis in direction, X-axis are axis vertical with Y-axis in horizontal plane, and Z axis is the axis of horizontal plane.
In addition, in the present embodiment, mechanical arm 200 is rotationally connected on supporting mechanism 100, and toggle mechanism 300
Width and stack equivalent width, so that can rapidly can be removed the cargo in stack by toggle mechanism 300, it can be simultaneously
Multiple cargos that multiple cargos of top layer are located at the same side are all removed, and then improve de-stacking efficiency.It should be appreciated that at it
In his embodiment, the width of toggle mechanism 300 is also adjustable to be of same size with cargo, such as Fig. 4, in order to cope with needs
The case where single cargo is split is carried out, mechanical arm 200 is slidably connected to supporting mechanism 100 at this time, so that mechanical arm 200 can edge
100 transverse shifting of supporting mechanism, that is, move along the x-axis, in order to mechanical arm 200 adjust position to multiple cargos of different location into
Row retracts.It should be noted that in other embodiments, the width of toggle mechanism 300 can also be using other modes, example
Such as, less than the width of single cargo, or the width greater than single cargo and the width etc. less than stack, that is, toggle mechanism 300
Width be not necessarily the integral multiple of single cargo width.
In addition, in the present embodiment, de-stacking device 10 further includes stack input line 600, stack input line 600 and stack liter
Descending mechanism 500 is connected, so that stack can be delivered on stack elevating mechanism 500 by stack input line 600.
In the present embodiment, de-stacking device 10 further includes the pallet exhausting line 700 for recycling empty pallet, pallet exhausting line
700 and stack input line 600 be respectively arranged in the opposite two sides of stack elevating mechanism 500 so that on stack elevating mechanism 500
Stack retract completion after, empty pallet can be delivered on pallet exhausting line 700, collect recycling in order to empty pallet.
In the present embodiment, de-stacking device 10 further includes visual identifying system 800, and visual identifying system 800 is for identification
The quantity, size of top layer's bag cargo, direction and spatial position in stack.Wherein, visual identifying system 800 and mechanical arm
200 electrical connections, so that visual identifying system 800 can drive according to the image information control mechanical arm 200 of the cargo detected
Toggle mechanism 300 stirs cargo, accurately to carry out the de-stacking work of cargo, and then improves de-stacking efficiency.
In conclusion the de-stacking device 10 provided in the present embodiment can drive toggle mechanism 300 to finger by mechanical arm 200
Positioning, which is set, stirs cargo, and cargo is dialed to cargo output line 400.Wherein, mechanical arm 200 drives shifting part to stir cargo energy
It is adapted to the cargo of various states, the versatility of de-stacking device 10 can be improved.And the structure of the de-stacking device 10 is simple, cost
It is low, it is easily operated.In addition, can flush by the top surface and the bottom surface of top layer's cargo for keeping out mechanism 420, the machine of keeping out can be passed through
Structure 420 supports the cargo of top second layer, and then when progress top layer's cargo retracts, is avoided that the cargo of the second layer by shadow
It rings, and then is avoided that being scattered for second layer cargo, the efficiency of de-stacking can be effectively improved.
Fig. 1 and Fig. 5 are please referred to, a kind of de-stacking method is additionally provided in the present embodiment, is applied to above-mentioned de-stacking
Device 10, and the de-stacking method can improve de-stacking efficiency.
De-stacking method includes:
S1, by mechanical arm 200 drive toggle mechanism 300 be inserted into cargo to be retracted side gap, make toggle mechanism
300 towards cargo sides to be retracted and with horizontal plane wedge shape state.
Wherein, in the present embodiment, quantity, the size, side of multiple cargos in stack are identified by visual identifying system 800
To with spatial position and generate corresponding image information, and drive toggle mechanism according to image information control mechanical arm 200
300 are inserted into the gap of the side of cargo to be retracted, and toggle mechanism 300 is made to form wedge shape.
It should be noted that before step S1, de-stacking method further include: stack enters stack from stack input line 600
Elevating mechanism 500.After stack is raised up to specified altitude assignment by stack elevating mechanism 500, slipping mechanism 430 drives 410 He of splicing line
Mechanism 420 is kept out close to stack, and to keep out mechanism 420 and arrives to second layer cargo above stack.
S2, mechanical arm 200 drive toggle mechanism 300 to stir bag cargo to corresponding cargo output line 400, and herein
Toggle mechanism 300 and horizontal plane wedge shaped state always are kept in the process.Meanwhile splicing line 410 operates, until current is packed
Cargo integrally enters cargo output line 400.
Wherein, mutual rotation between upper swing arm 210 and lower swing arm 220 and upper swing arm 210 and supporting mechanism can be passed through
Rotation between 100, which is realized, keeps toggle mechanism 300 and horizontal plane wedge shaped state always.When toggle mechanism 300 dials cargo
It moves to splicing line 410, cargo is delivered to by splicing line 410 by specified position.
In addition, in the present embodiment, in step s 2, when material toggling, mechanical arm 200 drives toggle mechanism 300 first to the left
It is mobile, all cargos in left side are disposably retracted and are finished.Mechanical arm 200 drives toggle mechanism 300 to move to the right again, will be right
All cargos of side, which disposably retract, to be finished.
It should be noted that in other embodiments, when toggle mechanism 300 width and single cargo it is of same size
When, in step s 2, when material toggling, mechanical arm 200 drives toggle mechanism 300 first to move to the left, retracts first cargo in left side.
Mechanical arm 200 drives toggle mechanism 300 to move to the right again, retracts first cargo in right side.Successive left and right side is mobile again,
Successively retract left and right sides cargo.
S3, cargo output line 400 will retract the cargo downstream transport got off.
S4, step S1- step S3 is repeated, the cargo of stack top layer is successively retracted.
Wherein, it should be noted that in the present embodiment, when mechanical arm 200 drives toggle mechanism 300 by the whole in left side
After cargo retracts, mechanical arm 200 drives toggle mechanism 300 to be posted by right side cargo left side, is then driven by mechanical arm 200
Toggle mechanism 300 retracts the cargo on right side.
After S5, top layer's cargo retract, slipping mechanism 430 drives splicing line 410 and keeps out mechanism 420 far from goods
Pile.
In order to which stack elevating mechanism 500 increases stack, and then 410 He of splicing line can be driven convenient for slipping mechanism 430
Keep out the cargo that mechanism 420 is held in the second layer.Meanwhile the goods of first layer is retracted convenient for the drive toggle mechanism 300 of mechanical arm 200
Object.
S6, step S1- step S5 is repeated, the entire cargo in stack is retracted and is finished.
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, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of de-stacking device, which is characterized in that including supporting mechanism, mechanical arm, toggle mechanism, cargo output line, the machine
The upper end of tool arm is connected to the supporting mechanism, and the lower end of the mechanical arm connects the toggle mechanism, and the mechanical arm is used for
The toggle mechanism is driven to stir cargo to the cargo output line to designated position；
The mechanical arm is rotationally connected with the supporting mechanism, include at least two swing arm-upper swing arms and lower swing arm, it is described on
Swing arm is rotationally connected with the supporting mechanism, and the lower swing arm, the toggle mechanism are successively rotatedly connected.
2. de-stacking device according to claim 1, which is characterized in that the mechanical arm is link-type, the upper swing arm, institute
The rotation direction for stating lower swing arm and the toggle mechanism is that can only turn about the X axis, and the mechanical arm and the toggle mechanism are only
It can be along the two-dimensional activity where YZ axis；
Wherein, Y-axis is the axis parallel with first direction, and X-axis is the axis vertical with Y-axis in horizontal plane, and Z axis is and horizontal plane
Axis.
3. de-stacking device according to claim 1, which is characterized in that the cargo output line includes splicing line, keeps out machine
Structure, slipping mechanism keep out mechanism and are located at the lower section of the splicing line in a first direction close to one end of stack, described to keep out machine
The top surface of structure is flushed with the bottom surface of top layer's cargo, the slipping mechanism with it is described keep out mechanism and be connected and drive described keep out machine
Structure reciprocatingly slides in a first direction, wherein first direction is that cargo is struck the direction of transmission.
4. de-stacking device according to claim 1, which is characterized in that the mechanical arm is rotationally connected with the supporting mechanism
On, the width and stack equivalent width of the toggle mechanism.
5. de-stacking device according to claim 1, which is characterized in that the upper end of the mechanical arm is slidably connected to the branch
Support mechanism, the mechanical arm drive the toggle mechanism can be along the supporting mechanism transverse shifting.
6. de-stacking device according to claim 1, which is characterized in that the de-stacking device further includes stack input line, goods
Pile is delivered to stack elevating mechanism by the stack input line.
7. de-stacking device according to claim 6, which is characterized in that the cargo output line quantity is two, and respectively
It is mounted on the opposite two sides of the stack elevating mechanism.
8. de-stacking device according to claim 6, which is characterized in that the de-stacking device further includes for recycling empty pallet
Pallet exhausting line, the pallet exhausting line is arranged close to the stack elevating mechanism.
9. de-stacking device according to claim 1, which is characterized in that the de-stacking device further includes visual identifying system,
The visual identifying system for identification in stack top layer's bag cargo quantity, size, direction and spatial position.
10. a kind of de-stacking method, which is characterized in that it is applied to de-stacking device as claimed in any one of claims 1-9 wherein, it is described
De-stacking method includes:
S1, the mechanical arm drive the toggle mechanism be inserted into cargo to be retracted side gap, make the toggle mechanism court
To cargo side to be retracted and horizontal by wedge-shaped state；
S2, the mechanical arm drive the toggle mechanism to stir bag cargo to the corresponding cargo output line, and herein
The toggle mechanism and horizontal plane wedge shaped state always are kept in the process；Splicing line operating simultaneously, until current packed goods
Object integrally enters the cargo output line；
S3, the cargo output line will retract the cargo downstream transport got off；
S4, step S1-S3 is repeated, the cargo of stack top layer is successively retracted；
After S5, top layer's cargo retract, slipping mechanism drives the splicing line and keeps out mechanism far from stack；
S6, step S1-S5 is repeated, the entire cargo in stack is retracted and is finished.
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| CN201910021415.XA CN109436815A (en) | 2019-01-09 | 2019-01-09 | De-stacking device and de-stacking method |
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| CN201910021415.XA CN109436815A (en) | 2019-01-09 | 2019-01-09 | De-stacking device and de-stacking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077864A (en) * | 2019-03-27 | 2019-08-02 | 河南中烟工业有限责任公司 | A kind of automatic co-ordinate-type unstacker |
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| CN203728216U (en) * | 2014-01-17 | 2014-07-23 | 河南科伦药业有限公司 | Full-automatic unstacking device |
| CN104003201A (en) * | 2014-06-09 | 2014-08-27 | 扬州市天宝自动化工程有限公司 | Soft body packaging part unstacking device |
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| CN110077864A (en) * | 2019-03-27 | 2019-08-02 | 河南中烟工业有限责任公司 | A kind of automatic co-ordinate-type unstacker |
| CN113148529A (en) * | 2021-04-13 | 2021-07-23 | 河北燕京啤酒有限公司 | Tray can unloading device for irregular pop-top can |
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