CN109484864A - Disengaging type retracts mechanism, device, method and Transmission system - Google Patents

Abstract

The invention discloses a kind of disengaging types to retract mechanism, device, method and Transmission system, is related to logistics equipment technical field.It includes supporting element, shifting part and clutch that the disengaging type, which retracts mechanism, and supporting element is connect with shifting part and clutch respectively for connecting with the movement mechanism that retracts of disengaging type cannibalized equipment；Shifting part is used to dial the cargo in stack from stack, and it is rotatablely connected with supporting element, and it is connect with clutch, and when clutch is in discrete state, shifting part can be rotated upwardly and downwardly relative to supporting element, and when clutch is in the lock state, shifting part can not be rotated upwardly and downwardly relative to supporting element, and make shifting part lower section side horizontal by acute angle.The disengaging type retracts that retracting for mechanism, device, method and Transmission system is high-efficient, causes the deformation quantity of cargo smaller during retracting, and be suitable for a variety of cargos retracts operation.

Description

Disengaging type retracts mechanism, device, method and Transmission system

Technical field

The present invention relates to logistics equipment technical fields, retract mechanism, device, method in particular to a kind of disengaging type And Transmission system.

Background technique

With the raising of modern automation degree and unmanned factory, intelligent plant it is universal, more and more enterprises adopt To the form storage of stack, turnover and corresponding cargo is transported outward, and is shifted by corresponding conveying equipment, is moved with improving The efficiency of dynamic cargo, reduces cost of labor.

It usually also needs to split the cargo in stack to store and to have enough to meet the need in addition to store items to pallet form stack For subsequent packing outward transport etc., still, the existing fractionation mode for splitting stack generally comprises artificial fractionation, manipulator clamping is torn open Divide and topple over fractionation.For the mode manually split, efficiency is lower, and in the case where cargo is heavier or cargo is packed It is be easy to cause the deformation of cargo, influences subsequent to carry out other operations to cargo；The mode that manipulator clamping is split is by having The manipulator of clamping function is by stack goods clamping to target position, in operation, clamped cargo size size Limited, fractionation efficiency is lower, and the deformation of cargo is equally be easy to cause in the case where cargo is heavier or cargo is packed；Incline The mode split is by toppling over stack, so that cargo is slided from pallet, which is easy to cause cargo stacking, heap Product together, brings difficulty to subsequent operation, packed cargo deformation is also resulted in, in addition, this mode is needed entire goods Pile inclination, the volume and weight of equipment is larger, relatively takes the energy.

In view of this, R & D design, which goes out a kind of disengaging type for being able to solve above-mentioned technical problem, retracts mechanism, device, method And Transmission system is particularly important.

Summary of the invention

The purpose of the present invention is to provide a kind of disengaging types to retract mechanism, and it is high-efficient which retracts retracting for mechanism, It causes the deformation quantity of cargo smaller during retracting, and retracts operation suitable for a variety of cargos.

Another object of the present invention is to provide a kind of disengaging type cannibalized equipment, which retracts efficiency Height causes the deformation quantity of cargo smaller during retracting, and retracts operation suitable for a variety of cargos.

Another object of the present invention is to provide a kind of Transmission system, retracting for the Transmission system is high-efficient, is retracting It causes the deformation quantity of cargo smaller in the process, and retracts operation suitable for a variety of cargos.

Another object of the present invention is to provide a kind of disengaging types to retract method, and what which retracted method retracts efficiency Height causes the deformation quantity of cargo smaller during retracting, and retracts operation suitable for a variety of cargos.

The present invention provides a kind of technical solution:

In a first aspect, the embodiment of the invention provides a kind of disengaging types to retract mechanism, including supporting element, shifting part and clutch Device；The supporting element for being connect with the movement mechanism that retracts of disengaging type cannibalized equipment, and respectively with the shifting part and described Clutch connection；The shifting part is used to dial the cargo in stack from the stack, and is rotatablely connected with the supporting element, and It is connect with the clutch, and when the clutch is in discrete state, the shifting part can be relative to the supporting element It rotates upwardly and downwardly, and when the clutch is in the lock state, the shifting part can not turn up and down relative to the supporting element It is dynamic, and make the shifting part lower section side horizontal by acute angle.

With reference to first aspect, in the first implementation of first aspect, it further includes turning that the disengaging type, which retracts mechanism, Dynamic actuator；The rotating drive part is installed on the supporting element, and is connected to the clutch, and the rotating drive part can When the clutch is in the lock state, the shifting part is driven to rotate by clutch, and make the shifting part Lower section side horizontal by acute angle.

With reference to first aspect and its above-mentioned implementation, in second of implementation of first aspect, the disengaging type Retracting mechanism further includes rotating drive part and pivot link；The rotating drive part is installed on the supporting element, and the rotation Actuator, the pivot link and the shifting part are sequentially connected, and the rotating drive part can be in institute in the clutch When stating lock state, passes sequentially through the pivot link and the clutch drives the shifting part to be rotated up, and make institute The side of the lower section of shifting part is stated horizontal by acute angle.

With reference to first aspect and its above-mentioned implementation, in the third implementation of first aspect, the rotation is driven Moving part includes rotate driving portion and rotational installation portion；The rotational installation portion is installed on the supporting element, the rotate driving portion It is rotatably connected at the rotational installation portion, and is connect with the pivot link, and the pivot link can be passed sequentially through The shifting part is driven to be rotated up with the clutch, the rotate driving portion turns relative to what the rotational installation portion rotated Moving axis is parallel with the rotation axis that the shifting part is rotated relative to the supporting element.

With reference to first aspect and its above-mentioned implementation, in the 4th kind of implementation of first aspect, the clutch Quantity be two；Two clutches are respectively arranged in the two of the shaft that the shifting part is rotated relative to the supporting element End, and connect with the supporting element.

With reference to first aspect and its above-mentioned implementation, in the 5th kind of implementation of first aspect, the disengaging type Retracting mechanism further includes retaining piece；The retaining piece is installed on the side of the supporting element, and can be with the shifting part in folder Angle setting, the retaining piece can be supported with the cargo jointly with the shifting part.

With reference to first aspect and its above-mentioned implementation, in the 6th kind of implementation of first aspect, the shifting part On offer multiple poke holes；Multiple poke holes are strip-shaped hole, and are extended to by the upper end of the shifting part described The lower end of shifting part.

Second aspect, the embodiment of the invention provides a kind of disengaging type cannibalized equipments, including retract movement mechanism and described Disengaging type retract mechanism；The disengaging type retracts mechanism, including supporting element, shifting part and clutch；The supporting element is used for It connect with the movement mechanism that retracts of disengaging type cannibalized equipment, and is connect respectively with the shifting part and the clutch；Described group Moving part is used to dial the cargo in stack from the stack, and is rotatablely connected with the supporting element, and connect with the clutch, And when the clutch is in discrete state, the shifting part can be rotated upwardly and downwardly relative to the supporting element, and described When clutch is in the lock state, the shifting part can not be rotated upwardly and downwardly relative to the supporting element, and make described stir The side of the lower section of part is horizontal by acute angle.It is described retract movement mechanism close to retract station setting, and with the supporting element Connection, the station that retracts is the position for placing the stack, and the movement mechanism that retracts can be by driving the supporting element Movement, enables the shifting part to move on station in described retract.

In conjunction with second aspect, in the first implementation of second aspect, the movement mechanism that retracts can also be driven The shifting part rotates along the horizontal plane, to be in the lock state in the clutch, and the side of the lower section of the shifting part with When horizontal plane is at an acute angle, the side edge that station is retracted described in turning at the upper side of the shifting part is driven.

It is described to retract fortune in second of implementation of second aspect in conjunction with second aspect and its above-mentioned implementation Motivation structure is multiaxial motion platform or articulated robot.

In conjunction with second aspect and its above-mentioned implementation, in the third implementation of second aspect, the disengaging type Cannibalized equipment further includes splicing output table, and the splicing output table includes output Transmission Part；One end of the output Transmission Part is leaned on The nearly station that retracts is arranged, and is capable of the bottom edge of the cargo of the top layer of the close stack, and can be backwards to institute It states and retracts station transmission cargo.

In conjunction with second aspect and its above-mentioned implementation, in the 4th kind of implementation of second aspect, the splicing is defeated Appearance further includes support division；The support division is set to the output Transmission Part close to described one end for retracting station, and can The stack is supported close to the side of the output Transmission Part.

In conjunction with second aspect and its above-mentioned implementation, in the 5th kind of implementation of second aspect, the splicing is defeated Appearance further includes splicing pusher shoe；The splicing pusher shoe is connect with the output Transmission Part, and is able to drive the output and is passed Defeated part retracts station movement close to or far from described.

In conjunction with second aspect and its above-mentioned implementation, in the 6th kind of implementation of second aspect, the disengaging type Cannibalized equipment further includes stack mobile station, and the stack mobile station includes stack elevating mechanism；The stack elevating mechanism setting Station is retracted in described, and for carrying the stack, and the stack elevating mechanism is able to ascend or reduces the stack.

In conjunction with second aspect and its above-mentioned implementation, in the 7th kind of implementation of second aspect, the stack is moved Dynamic platform further includes stack rotating mechanism；The stack rotating mechanism is connected to the stack elevating mechanism, the stack elevator Structure can carry the stack by the stack rotating mechanism, and the stack rotating mechanism is able to drive the stack and turns It is dynamic.

In conjunction with second aspect and its above-mentioned implementation, in the 8th kind of implementation of second aspect, the disengaging type Cannibalized equipment further includes visual identity mechanism, and the visual identity mechanism is set to the top for retracting station, and with it is described Retract movement mechanism communication connection；The visual identity mechanism is used to acquire the cargo image of the top layer of the stack, and identifies The location information of the quantity of the cargo of top layer, size, direction or spatial positional information can be characterized out, it is described to retract movement Mechanism can drive the shifting part movement according to the location information.

The third aspect, the embodiment of the invention provides a kind of Transmission systems, tear open including transmission mechanism and the disengaging type Take device, the disengaging type cannibalized equipment includes retracting movement mechanism and the disengaging type retracts mechanism；The disengaging type is torn open Take mechanism, including supporting element, shifting part and clutch；The supporting element is used to retract movement mechanism with disengaging type cannibalized equipment Connection, and connect respectively with the shifting part and the clutch；The shifting part is used to dial the cargo in stack from described Stack, and be rotatablely connected with the supporting element, and connect with the clutch, and when the clutch is in discrete state, The shifting part can be rotated upwardly and downwardly relative to the supporting element, and when the clutch is in the lock state, it is described to stir Part can not be rotated upwardly and downwardly relative to the supporting element, and make the shifting part lower section side horizontal by acute angle. The close station that retracts of movement mechanism that retracts is arranged, and connect with the supporting element, described to retract station to place the goods The position of pile, the movement mechanism that retracts can enable the shifting part in described by driving the support movements It retracts and is moved on station.The transmission mechanism retracts station setting close to described, and the transmission mechanism to described for retracting Station transmits the stack.

Fourth aspect, the embodiment of the invention provides a kind of disengaging types to retract method, retracts applied to the disengaging type Device, it includes: to be switched to discrete state by the clutch that the disengaging type, which retracts method, so that the shifting part can be It is freely rotated under the action of gravity to vertical state；The shifting part is driven to ride over stack top layer by the movement mechanism that retracts Cargo on move, and make the shifting part under gravity, drop down onto the side of the cargo；Pass through the clutch It is switched to lock state, so that the shifting part is fixed as side below horizontal by the posture of acute angle；By described Retracting movement mechanism drives the shifting part to move along first direction, the cargo being located on the first direction is separated described Stack, wherein the first direction is the direction of the side direction above the shifting part.

It is described to retract fortune in second of implementation of second aspect in conjunction with fourth aspect and its above-mentioned implementation Motivation structure can also drive the shifting part to rotate along the horizontal plane, drive shifting part described in by the movement mechanism that retracts After the step of first direction moves, the disengaging type retracts method further include: is stirred described in movement mechanism drive by retracting Part rotation；It drives the shifting part to move in a second direction by retracting movement mechanism, will be located in the second direction Cargo separates the stack, wherein the second direction is the direction of the side direction above the shifting part after rotation.

Compared with prior art, disengaging type provided in an embodiment of the present invention retracts having for mechanism, device, method and Transmission system Beneficial effect is:

Shifting part and clutch are mounted on supporting element, and shifting part and supporting element are rotatablely connected, and also connect with clutch It connects, which at least has discrete state and lock state, also, when clutch is in discrete state, shifting part can It is rotated upwardly and downwardly relative to supporting element, when clutch is in the lock state, shifting part can not be rotated upwardly and downwardly relative to supporting element, And make shifting part lower section side horizontal by acute angle, in other words, the rotation axis that shifting part is rotated relative to supporting element Generally horizontal setting, and when clutch is lock state, shifting part is rough wedge-shaped with horizontal plane, and is in clutch When discrete state, shifting part can freely be rotated upwardly and downwardly relative to supporting element.

So, during retracting, the shifting part that can be rotated upwardly and downwardly can be taken under the drive for retracting movement mechanism It is against in stack, and makes top layer cargo upper direction of the shifting part along stack, and since shifting part can be rotated upwardly and downwardly freely, Lower end can be fallen under the effect of gravity in above-mentioned gap at the gap between cargo, and the lower section of shifting part Side can be horizontal by acute angle, and clutch can be switched to lock state at this time, so that the side below shifting part at this time The posture horizontal by acute angle is remain, shifting part is again to institute's direction at the upper side of it under the drive for retracting movement mechanism Direction movement, so that shifting part protrudes into the lower section of corresponding cargo, then pushes the cargo on above-mentioned direction, so that the cargo and stack Separation, is automatically performed and retracts operation, retracts high-efficient, also, during retracting, shifting part and horizontal plane are substantially in wedge Shape, shifting part some or all of can squeeze into the lower section of cargo, and then reduce the extruding to cargo side, and especially cargo is bag When the cargo of dress, and then reduce the deformation quantity of the cargo retracted, also, since the posture of stirring of shifting part is using clutch Come what is locked, for different cargos, the wedge angle of shifting part and horizontal plane can be changed by clutch, it is more to be suitable for Kind cargo retracts.Further, since rotation of the shifting part relative to supporting element is locked using clutch, so, shifting part exists After completing the retracting an of cargo, the state that clutch can be switched is discrete state, and directly retracts stack top layer, is stirred at this time Part can the rotation under the supporting of cargo, and rely on cargo, and when shifting part drops down onto gap again, start above-mentioned Process is stirred, second of operation dialled by stack from cargo is completed, retracting operation can be more smooth, quickly, further Ground, which improves, retracts efficiency.

To enable above-mentioned purpose of the invention, feature and advantage to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate Appended attached drawing, is described in detail below.

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 that the disengaging type that first embodiment of the invention provides retracts mechanism.

Fig. 2 be the disengaging type that provides of first embodiment of the invention retract mechanism retract action schematic diagram.

Fig. 3 is the structural schematic diagram that the disengaging type that first embodiment of the invention provides retracts that mechanism has retaining piece.

Fig. 4 be the disengaging type that provides of first embodiment of the invention retract mechanism retract flow diagram.

Fig. 5 is the structural representation that the disengaging type cannibalized equipment that second embodiment of the invention provides is applied to Transmission system cabinet Figure.

Fig. 6 be the disengaging type cannibalized equipment that provides of second embodiment of the invention using triaxial movement platform when structure show It is intended to.

Fig. 7 be the disengaging type cannibalized equipment that provides of second embodiment of the invention using articulated robot when structural representation Figure.

Fig. 8 is the structural schematic diagram of the splicing output table for the disengaging type cannibalized equipment that second embodiment of the invention provides.

Fig. 9 is the structural schematic diagram of the stack mobile station for the disengaging type cannibalized equipment that second embodiment of the invention provides.

Figure 10 is the flow diagram that the disengaging type that third embodiment of the invention provides retracts method.

Icon: 100- disengaging type cannibalized equipment；20- retracts movement mechanism；21- retracts station；30- splicing output table；31- Export Transmission Part；32- support division；33- splicing pusher shoe；40- stack mobile station；41- stack elevating mechanism；The rotation of 42- stack Mechanism；43- stack locating part；50- visual identity mechanism；10- disengaging type retracts mechanism；12- supporting element；15- shifting part；153- Poke hole；16- rotating drive part；18- pivot link；161- rotate driving portion；162- rotational installation portion；1- Transmission system；17- Clutch；19- retaining piece；200- transmission mechanism；300- pallet recovering mechanism；900- stack；910- cargo；920- pallet.

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.

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.Term " on ", "lower", The orientation or positional relationship of the instructions such as "inner", "outside", "left", "right" be based on the orientation or positional relationship shown in the drawings, or The invention product using when the orientation or positional relationship usually the put or orientation that usually understands of those skilled in the art Or positional relationship, it is merely for convenience of description of the present invention and simplification of the description, rather than the equipment or element of indication or suggestion meaning It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.Term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.Term " includes ", " packet Containing " or any other variant thereof is intended to cover non-exclusive inclusion, so that including the process of a series of elements, side Method, article or equipment not only include those elements, but also including other elements that are not explicitly listed, or further include For elements inherent to such a process, method, article, or device.In the absence of more restrictions, by sentence " including one It is a ... " limit element, it is not excluded that there is also in addition in the process, method, article or apparatus that includes the element Identical element.

It should also be noted that, unless otherwise clearly defined and limited, the terms such as " setting ", " connection " should do broad sense reason Solution, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be mechanical connection, It is also possible to be electrically connected；It can be and be directly connected to, can also be indirectly connected with by intermediary, be can be inside two elements Connection.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood as the case may be Body meaning.

With reference to the accompanying drawing, detailed description of the preferred embodiments.

First embodiment:

Fig. 1 and Fig. 2 are please referred to, Fig. 1 is the structural representation that the disengaging type that first embodiment of the invention provides retracts mechanism 10 Figure.Fig. 2 be the disengaging type that provides of first embodiment of the invention retract mechanism 10 retract action schematic diagram.

First embodiment of the invention provides a kind of disengaging type and retracts mechanism 10, which retracts mechanism 10 applied to clutch Formula cannibalized equipment 100, and cooperate with the movement mechanism 20 that retracts of disengaging type cannibalized equipment 100, to complete by being retracted in stack 900 Cargo 910 retracts operation, which retracts that retracting for mechanism 10 is high-efficient, and cargo 910 is caused during retracting Deformation quantity is smaller, and retracts operation suitable for a variety of cargos 910.The disengaging type, which retracts mechanism 10 and can be applied to disengaging type, to be torn open Device 100, palletizing apparatus, Transmission system 1, production line, Automatic Warehouse, logistics system or automatic factory etc. are taken, certainly, The disengaging type, which retracts mechanism 10 also and can only cooperate, retracts movement mechanism 20 or the sliding equipment being slidably connected therewith uses.

Structure composition, the work that the disengaging type that first embodiment of the invention provides will specifically be introduced and retract mechanism 10 below are former Reason and beneficial effect.

It includes supporting element 12, shifting part 15 and clutch 17 that the disengaging type, which retracts mechanism 10, and shifting part 15 is used for stack Cargo 910 on 900 is dialled from stack 900, and supporting element 12 is used to connect with the movement mechanism 20 that retracts of disengaging type cannibalized equipment 100 It connects, drives shifting part 15 to move in order to retract movement mechanism 20 by supporting element 12, to stir the cargo 910 in stack 900, Clutch 17 is for locking shifting part 15, in order to which shifting part 15 keeps certain posture to stir cargo 910, can also discharge and dial Moving part 15 retracts operation with adapt to different cargos 910 so that shifting part 15 is free to rotate upwardly and downwardly.

Wherein, shifting part 15 and clutch 17 are mounted on supporting element 12, and shifting part 15 and supporting element 12 are rotatablely connected, And also connect with clutch 17, which at least has discrete state and lock state, also, is in and divides in clutch 17 When from state, shifting part 15 can be rotated upwardly and downwardly relative to supporting element 12, when clutch 17 is in the lock state, shifting part 15 Can not be rotated upwardly and downwardly relative to supporting element 12, and make shifting part 15 lower section side horizontal by acute angle, in other words, The generally horizontal setting of rotation axis that shifting part 15 is rotated relative to supporting element 12, and when clutch 17 is lock state, Shifting part 15 and horizontal plane are rough wedge-shaped, and when clutch 17 is discrete state, shifting part 15 can be relative to supporting element 12 freely rotate upwardly and downwardly.

So, during retracting, the shifting part 15 that can be rotated upwardly and downwardly can be in the drive for retracting movement mechanism 20 Under be hooked in stack 900, and as shifting part 15 is along 910 upper direction of top layer cargo of stack 900, and due to shifting part 15 It can freely rotate upwardly and downwardly, lower end can fall to above-mentioned gap at the gap between cargo 910 under the effect of gravity In, and the side of the lower section of shifting part 15 can be horizontal by acute angle, clutch 17 can be switched to lock state at this time, so that The side of 15 lower section of shifting part at this time remains the posture horizontal by acute angle, and shifting part 15 is retracting movement mechanism 20 again Drive under moved to the direction of its upper side institute direction so that shifting part 15 protrudes into the lower section of corresponding cargo 910, then push Cargo 910 on above-mentioned direction is automatically performed so that the cargo 910 is separated with stack 900 and retracts operation, retract it is high-efficient, Also, during retracting, shifting part 15 and horizontal plane are rough wedge-shaped, and shifting part 15 some or all of can squeeze into cargo 910 lower section, and then reduce the extruding to 910 side of cargo, when especially cargo 910 is packed cargo 910, and then reduce The deformation quantity of the cargo 910 retracted, also, stirring posture using clutch 17 and lock due to shifting part 15, it is right In different cargos 910, the wedge angle of shifting part 15 Yu horizontal plane can be changed by clutch 17, to be suitable for a variety of goods Object 910 retracts.Further, since rotation of the shifting part 15 relative to supporting element 12 is locked using clutch 17, so, it stirs For part 15 after completing the retracting of cargo 910, the state that clutch 17 can be switched is discrete state, and directly retracts stack 900 top layers, at this time shifting part 15 can the rotation under the supporting of cargo 910, and rely on cargo 910, and in shifting part 15 When dropping down onto gap again, start above-mentioned process of stirring, completes second and the operation from cargo 910 is dialled by stack 900, tear open Being taken as industry can be more smooth, quickly, further increases and retracts efficiency.

It should be noted that supporting element 12 or retract component on movement mechanism 20, and clutch 17 etc. other Component, which can be directly mounted at, to be retracted on movement mechanism 20, the present embodiment to it with no restrictions.In addition, above-mentioned clutch 17 or Person's clutch enforcement division can be electromagnetic clutch, and the engagement of clutch 17 can be controlled by the power on/off by coil and is divided From；It may be magnetic powder cluth, place magnetic powder between driving link and driven member, magnetic powder is in loose condition (of surface) when no power, So that clutch 17 is in discrete state, magnetic powder is combined when energization, so that clutch 17 is in the lock state；Or friction Clutch is realized separation and locking by the gap eliminated or generate between active part and secondary part, is being eliminated actively Create antagonism the frictional force of external force when gap between part and secondary part, to realize lock state；It is of course also possible to be energy The structure of enough buckle card slots that cooperates realizes separation and the switching of lock state by separating and drawing close buckle and card slot, should The structure of place's buckle and card slot may be the structure of two dentations matched.

Further, the quantity of clutch 17 may be two, and two clutches 17 are respectively arranged in 15 phase of shifting part It for the both ends for the shaft that supporting element 12 rotates, and is connect with supporting element 12, so that shifting part 15 can be by two clutches 17 lock respectively at its both ends, improve the stability for stirring posture of shifting part 15.

Referring to Fig. 3, Fig. 3 is the knot that the disengaging type that first embodiment of the invention provides retracts that mechanism 10 has retaining piece 19 Structure schematic diagram.

It can also include rotating drive part 16 and pivot link 18, the rotating drive part 16 peace that the disengaging type, which retracts mechanism 10, Loaded on supporting element 12, also, rotating drive part 16, pivot link 18 and shifting part 15 are sequentially connected, and rotating drive part 16 can When clutch 17 is in discrete state, shifting part 15 is driven to be rotated up by pivot link 18, and make shifting part 15 The side of lower section is horizontal by acute angle, wherein being rotated up can drive shifting part 15 any for rotating drive part 16 Side is rotated up.In addition, the rotating drive part 16 is linear driving mechanism, e.g., electric telescopic rod, cylinder and oil cylinder etc..

It should be noted that in other embodiments, it can also only include rotating drive part 16 that disengaging type, which retracts mechanism 10, The rotating drive part 16 is installed on supporting element 12, and is connected to clutch 17, likewise, rotating drive part 16 can be in clutch 17 when being in the lock state, and drives shifting part 15 to rotate by clutch 17, and make side and the water of the lower section of shifting part 15 Plane is at an acute angle, which is rotary actuator, such as servo motor, rotary cylinder can directly drive clutch The actuator of 17 rotations.

Further, rotating drive part 16 may include rotate driving portion 161 and rotational installation portion 162, the rotational installation Portion 162 is installed on supporting element 12, and rotate driving portion 161 is rotatably connected at rotational installation portion 162, and with pivot link 18 Connection, which can pass sequentially through pivot link 18 and clutch 17 drives shifting part 15 to be rotated up, and And the rotation axis that rotates relative to rotational installation portion 162 of rotate driving portion 161 and shifting part 15 are rotated relative to supporting element 12 Rotation axis is parallel, in other words, can be 162 turns relative to rotational installation portion in rotate driving portion 161 when pushing drive connecting rod It is dynamic.

It should be noted that the position that the rotational installation portion 162 is connected to supporting element 12 is adjustable, can close or Side far from clutch 17 is adjusted up, so that the angle that rotate driving portion 161 drives clutch 17 to rotate is different, and then is adjusted Rotate driving portion 161 drive shifting part 15 to be rotated up after position, keep shifting part 15 different horizontal by the angle of wedge shape, To be suitable for retracting for a variety of cargos 910.For example, it is more upright to sides such as cabinets in shifting part 15, or the lesser goods in gap When object 910 carries out retracting operation, by adjusting the position in rotational installation portion 162, so that the angle of above-mentioned wedge shape is larger；And in bag When the cargo 910 of dress is thicker, by adjusting the position in rotational installation portion 162, so that the angle of above-mentioned wedge shape is smaller, so that stirring Part 15 can more squeeze into 910 lower section of cargo, to reduce between the cargo 910 and lower section cargo 910 or pallet 920 Frictional force again may be by the position for adjusting rotational installation portion 162 convenient for retracting the progress of operation, and when cargo 910 is lighter It sets, so that the angle of above-mentioned wedge shape is larger, the part for avoiding shifting part 15 from squeezing into 910 lower section of cargo is too many, and effect is stirred in influence.

It is understood that the quantity of rotating drive part 16 may be two, it is connected to 15 both ends of shifting part Clutch 17, with simultaneously in both ends drive shifting part 15 rotate, improve shifting part 15 the stability for stirring posture.Wherein, When two rotating drive parts 16 are linear driving mechanism, two rotating drive parts 16 can be set to drive respectively and dial Moving part 15 is rotated up by its two sides.

With rotating drive part 16, the process of retracting can be more various, for example, what can be rotated upwardly and downwardly dials Moving part 15 can be hooked in stack 900, and as shifting part 15 is along the top of stack 900 under the drive for retracting movement mechanism 20 Layer 910 upper direction of cargo, and since shifting part 15 can be rotated upwardly and downwardly freely, lower end is in the gap between cargo 910 When, can fall under the effect of gravity in above-mentioned gap, and the side of the lower section of shifting part 15 can horizontal by acute angle, Clutch 17 can be switched to lock state at this time, and after clutch 17 is switched to lock state, can pass through rotating drive part 16 Shifting part 15 is driven to turn an angle, so that shifting part 15 and angle wedge-shaped formed by horizontal plane are more suitable for the goods at this time Object 910, shifting part 15 moves under the drive for retracting movement mechanism 20 to the direction of institute's direction at the upper side of it again, so that stirring Part 15 protrudes into the lower section of corresponding cargo 910, then pushes the cargo 910 on above-mentioned direction, so that the cargo 910 divides with stack 900 From, and shifting part 15, after completing the retracting of cargo 910, the state that clutch 17 can be switched is discrete state, at this point, can Shifting part 15 is driven to turn an angle by rotating drive part 16, so that shifting part 15 is partial to retract the direction of stack 900 Rotation so that shifting part 15 and horizontal plane form wedge shape at this time, then directly stirs fortune during retracting 900 top layer of stack Cargo 910 on dynamic direction, enables the disengaging type to retract mechanism 10 and continuously tears open to both direction the case where not rotating Picking object 910, retracting operation can be more smooth, quickly, further increases and retracts efficiency.

Further, it can also include retaining piece 19 which, which retracts mechanism 10, which is installed on supporting element 12 side, and can be arranged with shifting part 15 in angle, retaining piece 19 can be supported with cargo 910 jointly with shifting part 15, And as shifting part 15 squeezes into the lower section of cargo 910, retaining piece 19 can be supported with cargo 910 jointly with shifting part 15, in turn Limitation shifting part 15 squeezes into too many part in 910 lower section of cargo, guarantees the stabilization for stirring effect, and the retaining piece 19 can be in goods The top of object 910 supports cargo 910, and then is further reduced the deformation of cargo 910.

Further, multiple poke holes 153 can also be offered on shifting part 15, retract mechanism 10 to mitigate disengaging type Weight, in order to retract movement mechanism 20 drive disengaging type retract mechanism 10 move.

It should be noted that multiple poke holes 153 can be strip-shaped hole, also, the extending direction of poke hole 153 is The upper end of shifting part 15 to the lower end of shifting part 15, so, when stirring cargo 910, cargo 910 can be dialled more smoothly on edge Dynamic hole 153 is slided, and squeezes into 910 lower section of cargo convenient for shifting part 15.Certainly, above-mentioned poke hole 153 can be for through shifting part 15 through-hole, or non-through hole.In addition, shifting part 15 can be tabular, wave plate, arc plate, bending plate Shape, or cone cell, stick-like or comb teeth-shaped, the present embodiment do not limit its concrete shape.

Referring to Fig. 4, Fig. 4 illustrates for the process that retracts that the disengaging type that first embodiment of the invention provides retracts mechanism 10 Figure.In figure arrow characterization retract movement mechanism 20 drive disengaging type retract mechanism 10 retract lower section stack 900 when movement side To, and 4-1,4-2,4-3,4-4,4-5 and 4-6 are the step that retracts sequentially, and below by way of example only, the present embodiment is unlimited It makes it and specifically retracts step.

Such as Fig. 4-1, clutch 17 is in discrete state, disengaging type retract mechanism 10 by stack 900 top layer it is most left Lateral right side is mobile, and shifting part 15 rotates under the supporting of cargo 910 along supporting element 12 at this time, and horizontal by certain sharp Angle.

As Fig. 4-2 will be moved to two in shifting part 15 from the left side above stack 900 to the right moving process At gap between cargo 910, since clutch 17 is in discrete state, shifting part 15 will drop down onto gap under gravity In.Position where the gap can be designated position, and retract the move distance of movement mechanism 20 by setting to realize dials Moving part 15 reaches designated position, or the position that corresponding detector detects, such as visual sensor and Distance-sensing Device etc..

Such as Fig. 4-3, after shifting part 15 drops down onto gap, clutch 17 is switched to lock state, rotating drive part 16 Shifting part 15 can be driven to turn an angle, so that shifting part 15 and angle wedge-shaped formed by horizontal plane are more suitable at this time The cargo 910 is stirred, shifting part 15 is re-directed towards left side movement, to separate the cargo 910 of the direction of motion in stack 900.

Such as Fig. 4-4, after the cargo 910 in left side is retracted, clutch 17 is switched to discrete state, and shifting part 15 exists at this time It is in a vertical state under gravity, and stack 900 to the right moves, to retract stack 900.

Such as Fig. 4-5, clutch 17 is switched to closed state again, and rotating drive part 16 drives shifting part 15 to rotate, thus It drives shifting part 15 to rotate to upper right, and forms the wedge shape towards right side cargo 910, wherein be first switched to clutch 17 point From state, so that shifting part 15 is in a vertical state under the effect of gravity, it is easy for driving shifting part 15 in rotating drive part 16 The angle of rotation is certain, will not influence because of the indefinite posture of shifting part 15 before rotation.

Such as Fig. 4-6, retracting movement mechanism 20 and moved to the right from left side, shifting part 15 drives the cargo 910 on right side mobile, Make its split taking-up stack 900.

Repeat above-mentioned step, until all cargos 910 of current layer are split take it is complete.

When disengaging type retracts mechanism 10 without rotating drive part 16, after executing the movement such as Fig. 4-3, disengaging type is torn open The process that retracts for taking mechanism 10 may be: the state of switch clutch 17 is discrete state, and is moved to the right, and cross the right side The cargo 910 of side, then it is back to stack 900 to the left, shifting part 15 will rotate under the supporting of cargo 910, and be in the right Wedge-shaped state, then behind the left side that the lower end of shifting part 15 drops down onto the cargo 910, the state of switch clutch 17 is to locking shape State moves to the right, to retract out the cargo 910 to the right.

Alternatively, the state of switch clutch 17 is discrete state, and move to the right, and after crossing the cargo 910 on right side, The state of timely switch clutch 17 is to lock state, herein it should be noted that after the cargo 910 for crossing right side, the goods The right side of object 910 also have cargo 910 perhaps next layer of cargo 910 when can also drop down onto gap or the goods in shifting part 15 The state of switch clutch 17 is to lock state behind the right side of object 910.It connects, the state of timely switch clutch 17 is to locking shape State, and in wedge-shaped state to the left, then move to the left, to retract out the cargo 910 to the left.

The working principle that the disengaging type that first embodiment of the invention provides retracts mechanism 10 is:

Shifting part 15 and clutch 17 are mounted on supporting element 12, and shifting part 15 and supporting element 12 are rotatablely connected, and also It is connect with clutch 17, which at least has discrete state and lock state, also, is in separation shape in clutch 17 When state, shifting part 15 can be rotated upwardly and downwardly relative to supporting element 12, and when clutch 17 is in the lock state, shifting part 15 cannot It is enough to be rotated upwardly and downwardly relative to supporting element 12, and make shifting part 15 lower section side horizontal by acute angle, in other words, stir The generally horizontal setting of rotation axis that part 15 is rotated relative to supporting element 12, and when clutch 17 is lock state, it stirs Part 15 and horizontal plane are rough wedge-shaped, and when clutch 17 is discrete state, shifting part 15 can be relative to supporting element 12 certainly By rotate upwardly and downwardly.

So, during retracting, the shifting part 15 that can be rotated upwardly and downwardly can be in the drive for retracting movement mechanism 20 Under be hooked in stack 900, and make top layer cargo 910 upper direction of the shifting part 15 along stack 900, and due to shifting part 15 It can freely rotate upwardly and downwardly, lower end can fall to above-mentioned gap at the gap between cargo 910 under the effect of gravity In, and the side of the lower section of shifting part 15 can be horizontal by acute angle, clutch 17 can be switched to lock state at this time, so that The side of 15 lower section of shifting part at this time remains the posture horizontal by acute angle, and shifting part 15 is retracting movement mechanism 20 again Drive under moved to the direction of its upper side institute direction so that shifting part 15 protrudes into the lower section of corresponding cargo 910, then push Cargo 910 on above-mentioned direction is automatically performed so that the cargo 910 is separated with stack 900 and retracts operation, retract it is high-efficient, Also, during retracting, shifting part 15 and horizontal plane are rough wedge-shaped, and shifting part 15 some or all of can squeeze into cargo 910 lower section, and then reduce the extruding to 910 side of cargo, when especially cargo 910 is packed cargo 910, and then reduce The deformation quantity of the cargo 910 retracted, also, stirring posture using clutch 17 and lock due to shifting part 15, it is right In different cargos 910, the wedge angle of shifting part 15 Yu horizontal plane can be changed by clutch 17, to be suitable for a variety of goods Object 910 retracts.Further, since rotation of the shifting part 15 relative to supporting element 12 is locked using clutch 17, so, it stirs For part 15 after completing the retracting of cargo 910, the state that clutch 17 can be switched is discrete state, and directly retracts stack 900 top layers, at this time shifting part 15 can the rotation under the supporting of cargo 910, and rely on cargo 910, and in shifting part 15 When dropping down onto gap again, start above-mentioned process of stirring, completes second and the operation from cargo 910 is dialled by stack 900, tear open Being taken as industry can be more smooth, quickly, further increases and retracts efficiency.

To sum up:

The embodiment of the present invention provides a kind of disengaging type and retracts mechanism 10, and it is high-efficient which retracts retracting for mechanism 10, It causes the deformation quantity of cargo 910 smaller during retracting, and retracts operation suitable for a variety of cargos 910.

Second embodiment:

Referring to Fig. 5, Fig. 5 is that the disengaging type cannibalized equipment 100 that second embodiment of the invention provides is applied to Transmission system 1 Structural schematic diagram.

The present embodiment provides a kind of disengaging type cannibalized equipment 100, the disengaging type device using described in first embodiment from It is box-like to retract mechanism 10, also have and retract high-efficient, cause the deformation quantity of cargo 910 smaller during retracting, and is suitable For a variety of cargos 910 the characteristics of retracting operation.The disengaging type cannibalized equipment 100 can be applied to palletizing system, transmission system System 1, production line, Automatic Warehouse, logistics system or automatic factory etc., certainly, which also can It is independent to use.

Wherein, by taking disengaging type cannibalized equipment 100 is applied to Transmission system 1 as an example, which retracts including disengaging type Device 100, the system be completed in by disengaging type cannibalized equipment 100 retract cargo 910 in stack 900 retract operation.Certainly, The Transmission system 1 can also include transmission mechanism 200, which is used to transmit stack to disengaging type cannibalized equipment 100 900,

It should be noted that the Transmission system 1 can also include pallet recovering mechanism 300 interconnected comprising support Disk transmission parts (figure is not marked) and pallet recycling frame (figure is not marked), pallet transmission parts are arranged close to disengaging type cannibalized equipment 100, are used in combination Frame is recycled in the pallet being sent to by disengaging type cannibalized equipment 100 920 is sent to pallet, and pallet recycling frame is for storing support Disk 920.

Since Transmission system 1 uses disengaging type cannibalized equipment 100 provided in an embodiment of the present invention, so, the transmission system System 1 is also high-efficient with retracting, and during retracting, the deformation of the cargo 910 retracted is small, and can be suitable for a variety of goods The characteristics of object 910 is retracted.

Structure composition, the work that the disengaging type that second embodiment of the invention provides will specifically be introduced and retract mechanism 10 below are former Reason and beneficial effect.

Fig. 6 and Fig. 7 are please referred to, Fig. 6 is three axis of use for the disengaging type cannibalized equipment 100 that second embodiment of the invention provides Structural schematic diagram when motion platform.Fig. 7 is the disengaging type cannibalized equipment 100 that second embodiment of the invention provides using joint Structural schematic diagram when robot.

The disengaging type cannibalized equipment 100 includes retracting disengaging type described in movement mechanism 20 and embodiment one to retract mechanism 10, wherein retract movement mechanism 20 and be arranged close to station 21 is retracted, and be rotatablely connected with shifting part 15, and shifting part 15 can It is rotated upwardly and downwardly relative to movement mechanism 20 is retracted, in order to retract cargo 910, wherein retracting station 21 is to place stack 900 Position, retracts movement mechanism 20 and is able to drive shifting part 15 and moved on station 21 in retracting.

So, it during retracting, retracts movement mechanism 20 and the shifting part 15 that can be rotated upwardly and downwardly is driven to be hooked in goods On pile 900, and make top layer cargo 910 upper direction of the shifting part 15 along stack 900, and since shifting part 15 can freely turn up and down Dynamic, lower end can be fallen under the effect of gravity in above-mentioned gap at the gap between cargo 910, and shifting part The side of 15 lower section can be horizontal by acute angle, and clutch 17 can be switched to lock state at this time, so that stirring at this time The side of the lower section of part 15 remains the posture horizontal by acute angle, shifting part 15 again under the drive for retracting movement mechanism 20 to The direction movement of its upper side institute direction, so that shifting part 15 protrudes into the lower section of corresponding cargo 910, then pushes on above-mentioned direction Cargo 910 be automatically performed so that the cargo 910 is separated with stack 900 and retract operation, retract high-efficient, also, tearing open During taking, shifting part 15 and horizontal plane are rough wedge-shaped, and shifting part 15 some or all of can squeeze into the lower section of cargo 910, And then extruding of the reduction to 910 side of cargo, when especially cargo 910 is packed cargo 910, and then reduce the goods retracted The deformation quantity of object 910, also, stirring posture using clutch 17 and lock due to shifting part 15, for different goods Object 910 can change the wedge angle of shifting part 15 Yu horizontal plane by clutch 17, to be suitable for tearing open for a variety of cargos 910 It takes.Further, since rotation of the shifting part 15 relative to supporting element 12 is locked using clutch 17, so, shifting part 15 is complete At after the retracting of cargo 910, the state that clutch 17 can be switched is discrete state, and directly retracts 900 top layer of stack, this When shifting part 15 can the rotation under the supporting of cargo 910, and rely on cargo 910, and drop down onto seam again in shifting part 15 When in gap, start above-mentioned process of stirring, complete second and the operation from cargo 910 is dialled by stack 900, retracting operation can be with It is more smooth, quickly, further increases and retract efficiency.

It should be noted that above-mentioned stack 900 may also be only 910 stackable unit of cargo, without including pallet 920 Situation, the cargo 910 that the directly transmission of transmission mechanism 200 stacks is to retracting station 21.In addition, transmission mechanism 200 is close to retract work Position 21 is arranged, and pallet recovering mechanism 300 is arranged close to station 21 is retracted.

Further, retracting movement mechanism 20 can also drive shifting part 15 to rotate, to drive 15 upper side of shifting part The side edge of stack 900 is turned to, in other words, movement mechanism 20 is retracted and is able to drive shifting part 15 in approximate horizontal plane turns It is dynamic, to be in the lock state in clutch 17, and when the side of the lower section of shifting part 15 is horizontal by acute angle, drive shifting part 15 upper sides turn to the side edge for retracting station 21, so that the side of 15 top of shifting part can point at the surrounding of stack 900 Equal directions, can stir cargo towards all directions of horizontal plane in the top layer of stack 900 in order to which disengaging type retracts mechanism 10 910, so that disengaging type retracts mechanism 10 and can rapidly turn to other cargos 910 after completing the retracting of cargo 910, mention Height retracts the efficiency of operation.So that disengaging type retracts mechanism 10 and adapts to carry out retracting operation to the stack 900 for piling up multiplicity.

Further, retracting movement mechanism 20 can be multiaxial motion platform or articulated robot.Wherein, movement is being retracted When mechanism 20 is multiaxial motion platform, as shown in Figure 5 and Figure 6, in the present embodiment, which includes substantially water Frame, movement sliding rail and the motion guide rail of flat plane motion, are two axle movement platform, to drive disengaging type to retract mechanism 10 In retracting a certain plane motion on station 21, top layer cargo 910 is completed retracts operation, can also cooperate following stacks Mobile station 40 completes the operation that retracts of entire stack 900, and the multiaxial motion platform also has drive shifting part 15 in horizontal plane The rotating drive mechanism (figure is not marked) of rotation stirs direction to drive disengaging type to retract the rotation of mechanism 10, it should be noted that In other embodiments, multiaxial motion platform also may include the frame, movement sliding rail and movement of vertical motion and horizontal plane motion Guide rail, to drive disengaging type to retract mechanism 10 in retracting the three-dimensional space motion on station 21.

When retracting movement mechanism 20 is articulated robot, as shown in figure 8, the articulated robot is at least the pass of four axis Robot is saved, while moving in the three-dimensional space for retracting station 21 to drive disengaging type to retract mechanism 10, additionally it is possible to band Dynamic shifting part 15 is rotated around vertical axes, it should be noted that when retracting movement mechanism 20 is articulated robot, can be set more It is a to retract station 21, and multiple stations 21 that retract are arranged around articulated robot, so that articulated robot can retract surrounding simultaneously Cargo 910, for example, being provided with two sets of stack mobile stations 40, splicing output table 30 in the two sides of articulated robot, and use one A articulated robot or so retracts cargo 910 in turn, to improve efficiency, and reduces equipment cost.

Referring to Fig. 8, Fig. 8 is the splicing output table 30 for the disengaging type cannibalized equipment 100 that second embodiment of the invention provides Structural schematic diagram.

The disengaging type cannibalized equipment 100 can also include splicing output table 30, which includes output transmission Part 31, wherein one end of output Transmission Part 31 is arranged close to station 21 is retracted, and is capable of the cargo 910 close to 900 top layer of stack Bottom edge, and can retract backwards station 21 transmit cargo 910.It should be noted that the output Transmission Part 31 can be The transport mechanism of the forms such as motor-driven belt, roller or chain, to receive the cargo 910 split out in time, and it is defeated outward It send, avoids stacking, other operations further are carried out to cargo 910 convenient for upstream device, also, the output Transmission Part 31 can be with Be it is multiple, be respectively arranged at the surrounding for retracting station 21, be received in the cargo 910 retracted on corresponding direction.

It is understood that splicing output table 30 can also include retracting output elevating mechanism (not shown), with output Transmission Part 31 connects, and is able to drive output Transmission Part 31 and goes up and down, high with stack 900 during being adapted to different height or retracting The variation of degree improves the suitability of disengaging type cannibalized equipment 100.

Further, splicing output table 30 can also include support division 32, which is set to output Transmission Part 31 It is close to retract one end of station 21, and stack 900 can be supported and so stirred close to the side of output Transmission Part 31 While part 15 stirs cargo 910 to output Transmission Part 31, it can be located at the cargo 910 for being split 910 lower layer of picking object not It is easily moved under the action of frictional force with its upper layer cargo 910, which can be held in lower layer of top layer of cargo 910, multilayer cargo 910 under top layer can also be held in.It is even held in 920 edge of pallet, it is specific that the present embodiment does not limit it Size.

Further, which can also include splicing pusher shoe 33, and the splicing pusher shoe 33 and output pass Defeated part 31 connects, and is able to drive output Transmission Part 31 and moves close to or far from station 21 is retracted, in order to progress stack 900 Disengaging retract the operation of station 21, or rotated, gone up and down the operation of stack 900.

It should be noted that in the present embodiment, splicing pusher shoe 33 includes sliding rail (figure is not marked) and sliding block (figure is not marked), It is connected to output Transmission Part 31, and is arranged along output Transmission Part 31 close to or far from the direction for retracting station 21, so that output Transmission Part 31 can be slided relative to station 21 is retracted, and splicing pusher shoe 33 further includes output mobile actuator (not shown), It is connected to output Transmission Part 31, with drive output Transmission Part 31 close to or far from the station 21 that retracts it is mobile, can be with For actuators such as motor, cylinder or oil cylinders.

Referring to Fig. 9, Fig. 9 is the stack mobile station 40 for the disengaging type cannibalized equipment 100 that second embodiment of the invention provides Structural schematic diagram.

Disengaging type cannibalized equipment 100 can also include stack mobile station 40, which includes stack elevator Structure 41 is set to and retracts station 21, and for carrying stack 900, and stack elevating mechanism 41 is able to ascend or reduces stack 900.For example, multiaxial motion platform be only can motion platform in planar movement when, completed in disengaging type cannibalized equipment 100 After the retracting of top layer cargo 910, stack elevating mechanism 41 promotes stack 900, so that 900 top layer of stack is close to shifting part 15, with Mechanism 10, which is retracted, convenient for disengaging type continues to complete retracting for this layer, in addition, when retracting, by retracting movement mechanism 20 and stack Elevating mechanism 41, while the movement of shifting part 15 and the descending operation of stack 900 are carried out, it further improves and retracts rate.

Further, which can also include stack rotating mechanism 42, the stack rotating mechanism 42 connection In stack elevating mechanism 41, stack elevating mechanism 41 can carry stack 900, and stack whirler by stack rotating mechanism 42 Structure 42 is able to drive the rotation of stack 900, in other words stack rotating mechanism 42 and retracts movement mechanism 20 and can independently reach Shifting part 15 is relative to stack 900 in the effect of horizontal rotation in surface.So, so that the movement and stack of shifting part 15 900 lifting rotation operation can carry out simultaneously, further improve and retract rate.

It should be noted that the stack mobile station 40 can also include stack locating part 43, it is set to stack whirler The two sides of structure 42, for limiting the position of pallet 920, so that pallet 920 is not easy the drive of cargo 910 that is struck.

Further, disengaging type cannibalized equipment 100 can also include visual identity mechanism 50, which sets It is placed in and retracts 21 top of station, and communicated to connect with movement mechanism 20 is retracted, the cargo of top layer in stack 900 can be acquired 910 image information etc., and quantity, size, direction and the spatial position of cargo 910 etc. for identifying top layer in stack 900, with Guide, which retracts movement mechanism 20 shifting part 15 is driven to move, retracts position accordingly, and rotates to direction appropriate, directly progress It stirs and retracts.Efficiency is retracted to improve.

The working principle for the disengaging type cannibalized equipment 100 that second embodiment of the invention provides is:

It includes retracting movement mechanism 20 and disengaging type retracts mechanism 10, wherein retracts movement mechanism 20 close to retracting work Position 21 is arranged, and is rotatablely connected with shifting part 15, and shifting part 15 can be rotated upwardly and downwardly relative to movement mechanism 20 is retracted, so as to In retracting cargo 910, wherein retracting station 21 is the position for placing stack 900, retracts movement mechanism 20 and is able to drive shifting part 15 move on station 21 in retracting.

So, it during retracting, retracts movement mechanism 20 and the shifting part 15 that can be rotated upwardly and downwardly is driven to be hooked in goods On pile 900, and make top layer cargo 910 upper direction of the shifting part 15 along stack 900, and since shifting part 15 can freely turn up and down Dynamic, lower end can be fallen under the effect of gravity in above-mentioned gap at the gap between cargo 910, and shifting part The side of 15 lower section can be horizontal by acute angle, and clutch 17 can be switched to lock state at this time, so that stirring at this time The side of the lower section of part 15 remains the posture horizontal by acute angle, shifting part 15 again under the drive for retracting movement mechanism 20 to The direction movement of its upper side institute direction, so that shifting part 15 protrudes into the lower section of corresponding cargo 910, then pushes on above-mentioned direction Cargo 910 be automatically performed so that the cargo 910 is separated with stack 900 and retract operation, retract high-efficient, also, tearing open During taking, shifting part 15 and horizontal plane are rough wedge-shaped, and shifting part 15 some or all of can squeeze into the lower section of cargo 910, And then extruding of the reduction to 910 side of cargo, when especially cargo 910 is packed cargo 910, and then reduce the goods retracted The deformation quantity of object 910, also, stirring posture using clutch 17 and lock due to shifting part 15, for different goods Object 910 can change the wedge angle of shifting part 15 Yu horizontal plane by clutch 17, to be suitable for tearing open for a variety of cargos 910 It takes.Further, since rotation of the shifting part 15 relative to supporting element 12 is locked using clutch 17, so, shifting part 15 is complete At after the retracting of cargo 910, the state that clutch 17 can be switched is discrete state, and directly retracts 900 top layer of stack, this When shifting part 15 can the rotation under the supporting of cargo 910, and rely on cargo 910, and drop down onto seam again in shifting part 15 When in gap, start above-mentioned process of stirring, complete second and the operation from cargo 910 is dialled by stack 900, retracting operation can be with It is more smooth, quickly, further increases and retract efficiency.

To sum up:

The embodiment of the present invention provides a kind of disengaging type cannibalized equipment 100, which, which has, retracts efficiency Height causes the deformation quantity of cargo 910 smaller during retracting, and is suitable for the characteristics of retracting operation of a variety of cargos 910.

3rd embodiment:

Referring to Fig. 10, Figure 10 is the flow diagram that the disengaging type that third embodiment of the invention provides retracts method.

The present embodiment provides a kind of disengaging types to retract method, and the disengaging type applied to above-mentioned first embodiment retracts mechanism 10 With the disengaging type cannibalized equipment 100 of above-mentioned second embodiment.

The disengaging type retracts method

S101: being switched to discrete state by clutch 17, so that shifting part 15 can freely turn under gravity It moves to vertical state.

S102: being moved on the cargo 910 that movement mechanism 20 drives shifting part 15 to ride over 900 top layer of stack by retracting, and So that shifting part 15 is under gravity, the side of cargo 910 is dropped down onto.

Wherein, since clutch 17 is under discrete state, shifting part 15 can be rotated upwardly and downwardly freely, can be in cargo Rotation under 910 supporting, and ride on cargo 910, and when being moved to fluctuating, correspondingly rotate, for example, in stack 900 When being uneven situation above the cargo 910 of top layer, disengaging type is enabled to retract the stack that mechanism 10 is suitable for multiplicity 900, in addition, the side that above-mentioned shifting part 15 drops down onto cargo 910 may include following situations: shifting part 15 drops down onto two cargos Neutral gear between 910, the neutral gear can gaps between two neighboring cargo 910, or the thicker goods of thickness of two sides Object 910, the recess that intermediate relatively thin cargo 910 is formed, naturally it is also possible to be the side of cargo 910, for example, being moved in shifting part 15 When moving to the edge of top layer cargo 910.

S103: being switched to lock state by clutch 17, so that shifting part 15 is fixed as side and level below Face posture at an acute angle.

S104: it drives shifting part 15 to move along first direction by retracting movement mechanism 20, will be located on first direction Cargo 910 separate stack 900, wherein first direction is the direction of the side direction of the top of shifting part 15.

Further, after step s 104, disengaging type retracts method further include:

S105: shifting part 15 is driven to rotate by retracting movement mechanism 20.

S106: it drives shifting part 15 to move in a second direction by retracting movement mechanism 20, will be located in second direction Cargo 910 separate stack 900, wherein second direction is the direction of the side direction of the top of shifting part 15 after rotation.

Wherein, second direction is the direction of the side direction of 15 top of shifting part after rotation, which can be It in the opposite direction with first party, can also be in the direction of other angles with first direction, the present embodiment with no restrictions, changes it Yan Zhi, shifting part 15 can continue to complete other of this layer after stirring along first direction completion and retracting operation with rotation direction Retracting for cargo 910 on direction, further increases and retracts operating efficiency.It should be noted that in step S103 and step In S104, clutch 17 is always maintained at lock state, to keep being formed by wedge-shaped state between shifting part 15 and horizontal plane.

The working principle that the disengaging type that third embodiment of the invention provides retracts method is:

It is switched to discrete state by clutch 17, so that shifting part 15 can be freely rotated under gravity to perpendicular Straight state.It is moved on the cargo 910 that movement mechanism 20 drives shifting part 15 to ride over 900 top layer of stack by retracting again at this time, by It can be freely rotated in shifting part 15, the side of cargo 910 will be dropped down under gravity.It is cut again by clutch 17 It is changed to lock state, so that shifting part 15 is fixed again after dropping down onto gap, so that the side of the lower section of shifting part 15 and horizontal plane For posture at an acute angle.Be further advanced by retract movement mechanism 20 drive shifting part 15 moved along first direction, with push fortune Cargo 910 on dynamic direction, is automatically performed and retracts, retract it is high-efficient, also, during retracting, shifting part 15 and horizontal Face is rough wedge-shaped, and shifting part 15 some or all of can squeeze into the lower section of cargo 910, and then reduce to 910 side of cargo It squeezes, when especially cargo 910 is packed cargo 910, and then reduces the deformation quantity of the cargo 910 retracted, also, due to Shifting part 15 stirs posture using clutch 17 to lock, and for different cargos 910, can be changed by clutch 17 Become the wedge angle of shifting part 15 and horizontal plane, to be suitable for retracting for a variety of cargos 910.

To sum up:

The embodiment of the present invention provides a kind of disengaging type and retracts method, the disengaging type retract method have retract it is high-efficient, It causes the deformation quantity of cargo 910 smaller during retracting, and is suitable for the characteristics of retracting operation of a variety of cargos 910.

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, in the absence of conflict, the feature in the above embodiments be can be combined with each other, and the present invention can also have respectively Kind change and variation.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all wrap Containing within protection scope of the present invention.Also, it should regard embodiment as exemplary, and be non-limiting, this hair Bright range is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in All changes in justice and range are included within the present invention.It should not treat any reference in the claims as involved by limitation And claim.

Claims (19)

1. a kind of disengaging type retracts mechanism, which is characterized in that including supporting element, shifting part and clutch；

The supporting element for being connect with the movement mechanism that retracts of disengaging type cannibalized equipment, and respectively with the shifting part and described Clutch connection；

The shifting part be used for by the cargo in stack dial from the stack, and with the supporting element be rotatablely connected, and with it is described Clutch connection, and when the clutch is in discrete state, the shifting part can turn up and down relative to the supporting element It is dynamic, and when the clutch is in the lock state, the shifting part can not be rotated upwardly and downwardly relative to the supporting element, and be made The side of the lower section of the shifting part is obtained horizontal by acute angle.

2. a kind of disengaging type according to claim 1 retracts mechanism, which is characterized in that the disengaging type retracts mechanism and also wraps Include rotating drive part；

The rotating drive part is installed on the supporting element, and is connected to the clutch, and the rotating drive part can be in institute When stating clutch and being in the lock state, the shifting part is driven to rotate by clutch, and make under the shifting part The side of side is horizontal by acute angle.

3. a kind of disengaging type according to claim 1 retracts mechanism, which is characterized in that the disengaging type retracts mechanism and also wraps Include rotating drive part and pivot link；

The rotating drive part is installed on the supporting element, and the rotating drive part, the pivot link and the shifting part It is sequentially connected, the rotating drive part can pass sequentially through the rotation and connect when the clutch is in the lock state Bar and the clutch drive the shifting part to be rotated up, and make the shifting part lower section side horizontal by sharp Angle.

4. a kind of disengaging type according to claim 3 retracts mechanism, which is characterized in that the rotating drive part includes rotation Driving portion and rotational installation portion；

The rotational installation portion is installed on the supporting element, and the rotate driving portion is rotatably connected at the rotational installation Portion, and connect with the pivot link, and the pivot link and the clutch drive shifting part can be passed sequentially through It is rotated up, the rotation axis that the rotate driving portion is rotated relative to the rotational installation portion is with the shifting part relative to described The rotation axis of supporting element rotation is parallel.

5. a kind of disengaging type according to claim 1 retracts mechanism, which is characterized in that the quantity of the clutch is two It is a；

Two clutches are respectively arranged in the both ends for the shaft that the shifting part is rotated relative to the supporting element, and with The supporting element connection.

6. disengaging type according to claim 1 retracts mechanism, which is characterized in that the disengaging type retract mechanism further include every Block piece；

The retaining piece is installed on the side of the supporting element, and can be arranged with the shifting part in angle, the retaining piece It can be supported jointly with the cargo with the shifting part.

7. disengaging type according to claim 1 retracts mechanism, which is characterized in that offer multiple stir on the shifting part Hole；

Multiple poke holes are strip-shaped hole, and the lower end of the shifting part is extended to by the upper end of the shifting part.

8. a kind of disengaging type cannibalized equipment, which is characterized in that including retracting movement mechanism and such as any one of claim 1-7 The disengaging type retracts mechanism；

The close station that retracts of movement mechanism that retracts is arranged, and connect with the supporting element, described to retract station to place institute State the position of stack, it is described retract movement mechanism can by driving the support movements, enable the shifting part in Described retract moves on station.

9. disengaging type cannibalized equipment according to claim 8, which is characterized in that the movement mechanism that retracts can also drive The shifting part rotates along the horizontal plane, to be in the lock state in the clutch, and the side of the lower section of the shifting part with When horizontal plane is at an acute angle, the side edge that station is retracted described in turning at the upper side of the shifting part is driven.

10. disengaging type cannibalized equipment according to claim 9, which is characterized in that the movement mechanism that retracts is multiaxis fortune Moving platform or articulated robot.

11. disengaging type cannibalized equipment according to claim 9, which is characterized in that the disengaging type cannibalized equipment further includes Splicing output table, the splicing output table include output Transmission Part；

One end of the output Transmission Part retracts station setting close to described, and can be close to the goods of the top layer of the stack The bottom edge of object, and station transmission cargo can be retracted backwards to described.

12. disengaging type cannibalized equipment according to claim 11, which is characterized in that the splicing output table further includes supporting Portion；

The support division is set to the output Transmission Part and retracts one end of station close to described, and can support the stack and lean on The side of the nearly output Transmission Part.

13. disengaging type cannibalized equipment according to claim 12, which is characterized in that the splicing output table further includes splicing Pusher shoe；

The splicing pusher shoe is connect with the output Transmission Part, and is able to drive the output Transmission Part close to or far from described Retract station movement.

14. disengaging type cannibalized equipment according to claim 8, which is characterized in that the disengaging type cannibalized equipment further includes Stack mobile station, the stack mobile station include stack elevating mechanism；

The stack elevating mechanism retracts station described in being set to, and for carrying the stack, and the stack elevating mechanism It is able to ascend or reduces the stack.

15. disengaging type cannibalized equipment according to claim 14, which is characterized in that the stack mobile station further includes stack Rotating mechanism；

The stack rotating mechanism is connected to the stack elevating mechanism, and the stack elevating mechanism can be revolved by the stack Rotation mechanism carries the stack, and the stack rotating mechanism is able to drive the stack rotation.

16. disengaging type cannibalized equipment according to claim 8, which is characterized in that the disengaging type cannibalized equipment further includes Visual identity mechanism, the visual identity mechanism is set to the top for retracting station, and leads to the movement mechanism that retracts Letter connection；

The visual identity mechanism is used to acquire the cargo image of the top layer of the stack, and identifies the institute that can characterize top layer The location information of the quantity of cargo, size, direction or spatial positional information is stated, the movement mechanism that retracts can be according to institute's rheme Confidence breath drives the shifting part movement.

17. a kind of Transmission system, which is characterized in that including transmission mechanism and disengaging type cannibalized equipment as claimed in claim 8, The transmission mechanism retracts station setting close to described, and the transmission mechanism is used to transmit the goods to the station that retracts Pile.

18. a kind of disengaging type retracts method, which is characterized in that be applied to disengaging type cannibalized equipment as claimed in claim 8, institute It states disengaging type and retracts method and include:

It is switched to discrete state by the clutch, so that the shifting part can be freely rotated under gravity to perpendicular Straight state；

It is moved on the cargo that movement mechanism drives the shifting part to ride over stack top layer by described retract, and makes described stir Part under gravity, drops down onto the side of the cargo；

It is switched to lock state by the clutch, so that the shifting part is fixed as side below horizontal by sharp The posture at angle；

It drives the shifting part to move along first direction by the movement mechanism that retracts, will be located on the first direction Cargo separates the stack, wherein the first direction is the direction of the side direction above the shifting part.

19. disengaging type according to claim 18 retracts method, which is characterized in that the movement mechanism that retracts can also band It moves the shifting part to rotate along the horizontal plane, is driving shifting part to move along the first direction by the movement mechanism that retracts After step, the disengaging type retracts method further include:

The shifting part rotation is driven by retracting movement mechanism；

The shifting part is driven to move in a second direction by retracting movement mechanism, the cargo that will be located in the second direction Separate the stack, wherein the second direction is the direction of the side direction above the shifting part after rotation.