CN109484865B - Bidirectional disassembling device and bidirectional cargo unstacking equipment - Google Patents
Bidirectional disassembling device and bidirectional cargo unstacking equipment Download PDFInfo
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- CN109484865B CN109484865B CN201910021450.1A CN201910021450A CN109484865B CN 109484865 B CN109484865 B CN 109484865B CN 201910021450 A CN201910021450 A CN 201910021450A CN 109484865 B CN109484865 B CN 109484865B
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- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 87
- 230000008093 supporting effect Effects 0.000 claims abstract description 52
- 230000000670 limiting effect Effects 0.000 claims description 42
- 230000007246 mechanism Effects 0.000 claims description 26
- 230000000007 visual effect Effects 0.000 claims description 15
- 238000004064 recycling Methods 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 3
- 125000006850 spacer group Chemical group 0.000 description 8
- 230000003014 reinforcing effect Effects 0.000 description 7
- 230000002787 reinforcement Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/026—De-stacking from the top of the stack with a stepwise upward movement of the stack
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/56—Reuse, recycling or recovery technologies of vehicles
Abstract
The invention discloses a bidirectional disassembling device and bidirectional cargo unstacking equipment, and relates to the technical field of unstacking equipment. A bidirectional disassembling device comprises a supporting structure, a connecting structure, a first disassembling piece, a second disassembling piece and at least two lifting structures. One end of the connecting structure is connected with the supporting structure. One side of the first disassembling piece and one side of the second disassembling piece are both rotationally connected to one end, far away from the supporting structure, of the connecting structure. The two ends of the at least one lifting structure are respectively connected to the supporting structure and one side, far away from the second disassembling piece, of the first disassembling piece. The two ends of the at least one lifting structure are respectively connected to the supporting structure and one side, far away from the first disassembling piece, of the second disassembling piece. A bidirectional cargo unstacking device adopts the bidirectional unstacking device. Above, can improve the unstacking efficiency of goods.
Description
Technical Field
The invention relates to the technical field of unstacking equipment, in particular to a bidirectional unstacking device and bidirectional cargo unstacking equipment.
Background
In the field of grain, fertilizer, cement and other production, bagged goods are commonly used in packaging forms. The bagged goods are generally stacked on a tray for convenient storage and handling. When the bagged goods are transferred or transported outwards, the manual unstacking operation is generally adopted. The mode is high in labor intensity, low in efficiency and high in labor cost. In recent years, with the popularization of industrial automation, demands for mechanization and automation of bag-opening work have been growing.
The bagged goods generally have certain fluidity, the shape is not fixed when being stacked, and the shape can be changed when being pulled and extruded in the bag opening process, so that the mechanical unstacking device is extremely challenged.
Aiming at the unstacking requirement of the bagged goods, the invention provides a bagged goods unstacking device and a using method thereof, so as to solve the problems of poor universality, complex structure, high cost, low efficiency and the like of the existing bagged goods unstacking device.
Disclosure of Invention
The invention aims to provide a bidirectional disassembling device which is simple in structure, low in cost and high in operability and can improve the efficiency of cargo unstacking.
The invention provides a technical scheme that:
the utility model provides a two-way device of getting is torn open, two-way device of getting is torn open includes bearing structure, connection structure, first piece and second piece and two at least elevation structure of getting of tearing open.
One end of the connecting structure is connected with the supporting structure.
One side of the first disassembling piece and one side of the second disassembling piece are both rotationally connected to one end, far away from the supporting structure, of the connecting structure.
At least one lifting structure's both ends are connected in respectively bearing structure with first tear open and get one side that the piece was got apart from to the second is torn open.
At least one lifting structure's both ends are connected in respectively bearing structure with the second is torn open and is got one side of piece that is away from first is torn open and is got.
Further, the connection structure comprises a first connection frame and a second connection frame, and the first connection frame and the second connection frame are arranged on the same side of the support structure at intervals.
One side of the first disassembling piece is rotatably connected with the first connecting frame.
One side of the second disassembling piece is rotatably connected with the second connecting frame.
Further, the bidirectional dismounting device further comprises two limiting structures.
One of the limiting structures is connected to the first connecting frame and protrudes out of one side, away from the second connecting frame, of the first connecting frame.
The other limit structure is connected with the second connecting frame and protrudes out of one side, far away from the first connecting frame, of the second connecting frame.
Further, the limit structure comprises a connecting part and a limit rod.
One of the connecting parts is connected to one side, close to the second connecting frame, of the first connecting frame, the connecting part extends to the position between the first disassembling piece and the second disassembling piece, and one of the limiting rods is connected to the connecting part, extends towards the first disassembling piece and penetrates through the plane where the first connecting frame is located.
The other connecting part is connected to one side, close to the first connecting frame, of the second connecting frame, the connecting part extends to the position between the first disassembling piece and the second disassembling piece, and the other limiting rod is connected to the connecting part, extends towards the second disassembling piece and penetrates through the plane where the second connecting frame is located.
Further, a first gasket is arranged on one side, close to the limiting structure, of the first disassembling piece, and the limiting structure abuts against the first gasket to abut against the first disassembling piece.
The second disassembly part is provided with a second gasket at one side close to the limiting structure, and the limiting structure is propped against the second gasket to prop against the second disassembly part.
Further, the first removing member and the second removing member are both plate-shaped.
Compared with the prior art, the bidirectional dismounting device provided by the invention has the beneficial effects that:
when the bidirectional disassembling and taking device provided by the invention is used for disassembling and taking cargoes, the first disassembling and taking piece and the second disassembling and taking piece are lifted to a position higher than the stack by the lifting structure, and then the first disassembling and taking piece and the second disassembling and taking piece are moved to corresponding positions on the stack by the movable supporting structure. The first piece or the second piece of getting is torn open through elevation structure and is placed on the goods buttress, and the first piece or the second piece of getting is torn open to this moment only receives self gravity action, makes when removing first piece or the second piece of getting of tearing open, can make first piece or the second piece of getting of tearing open tear down can fall in the gap between the goods in the goods buttress, just can support through first piece or the second piece of getting of tearing open this moment and hold in the goods, and the first piece or the second piece of getting of tearing open then can release the goods, accomplishes the unstacking of goods. Wherein, can be through setting up the first piece of getting of tearing open that sets up relatively and the piece is got to the second piece of getting of tearing open, can both can be to the goods destacking on the round trip, improved destacking efficiency. In addition, the bidirectional dismounting device has the advantages of simple structure, low cost and strong operability.
Another object of the present invention is to provide a bi-directional cargo unstacking apparatus which can improve cargo unstacking efficiency.
The invention provides a technical scheme that:
a bidirectional cargo unstacking device comprises a motion platform and a bidirectional unstacking device. The bidirectional detaching device comprises a supporting structure, a connecting structure, a first detaching part, a second detaching part and at least two lifting structures. One end of the connecting structure is connected with the supporting structure. One side of the first disassembling piece and one side of the second disassembling piece are both rotationally connected to one end, far away from the supporting structure, of the connecting structure. At least one lifting structure's both ends are connected in respectively bearing structure with first tear open and get one side that the piece was got apart from to the second is torn open. At least one lifting structure's both ends are connected in respectively bearing structure with the second is torn open and is got one side of piece that is away from first is torn open and is got.
The motion platform comprises a support, a first slide way and a second slide way, wherein the first slide way is fixedly connected to the top of the support and extends along a first direction. The second slideway is connected with the first slideway in a sliding way and extends along a second direction, and an included angle is formed between the first direction and the second direction.
One side of the supporting structure far away from the connecting structure is connected with the second slideway in a sliding way and can slide along the second slideway.
The connecting structure is arranged on one side, close to the bottom of the bracket, of the supporting structure.
Further, the bi-directional cargo unstacking apparatus further includes a cargo output line.
The goods output line comprises a bearing frame, a supporting platform and a conveying platform, wherein the bearing frame is close to the moving platform.
The supporting platform is arranged on the bearing frame in a sliding manner and can move towards the moving platform to be used for supporting the goods stack.
The conveying table is arranged on the upper side face of the supporting platform and is used for conveying goods.
Further, the cargo unstacking equipment further comprises a cargo stack input line, a cargo stack lifting mechanism, an empty tray recycling line and a visual identification device.
The goods stack lifting mechanism is arranged below the bidirectional detaching device and is used for bearing the goods stack and lifting the goods stack.
The stack infeed line extends to the stack lift mechanism and is configured to deliver a stack to the stack lift mechanism.
The empty tray recycling line is connected to the stack lifting mechanism and is used for receiving the empty tray.
The visual recognition device is arranged on the support, is electrically connected with the bidirectional detaching device, and is used for receiving image information of the goods stack and controlling the bidirectional detaching device to detach the goods according to the image information.
Compared with the prior art, the bidirectional cargo unstacking device has the advantages that the bidirectional cargo unstacking device has the same advantages as the bidirectional unstacking device, and the bidirectional unstacking device is not repeated.
It is a further object of the present invention to provide a bi-directional cargo unstacking apparatus which increases the efficiency of cargo unstacking.
The invention provides a technical scheme that:
a bidirectional cargo unstacking device comprises a mechanical arm and a bidirectional unstacking device. The bidirectional detaching device comprises a supporting structure, a connecting structure, a first detaching part, a second detaching part and at least two lifting structures. One end of the connecting structure is connected with the supporting structure. One side of the first disassembling piece and one side of the second disassembling piece are both rotationally connected to one end, far away from the supporting structure, of the connecting structure. At least one lifting structure's both ends are connected in respectively bearing structure with first tear open and get one side that the piece was got apart from to the second is torn open. At least one lifting structure's both ends are connected in respectively bearing structure with the second is torn open and is got one side of piece that is away from first is torn open and is got. The support structure is far away from one side of the connecting structure and is arranged on the mechanical arm, and the mechanical arm is used for driving the bidirectional dismounting device to dismount cargoes below the bidirectional dismounting device.
Compared with the prior art, the bidirectional cargo unstacking device has the advantages that the bidirectional cargo unstacking device has the same advantages as the bidirectional unstacking device, and the bidirectional unstacking device is not repeated.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. Other relevant drawings may be made by those of ordinary skill in the art without undue burden from these drawings.
Fig. 1 is a schematic structural view of a bi-directional cargo unstacking apparatus according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first view angle of a bidirectional detaching device according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a second view of the two-way removing device according to the first embodiment of the present invention;
fig. 4 is a schematic structural view of a cargo output line according to a first embodiment of the present invention;
fig. 5 is a schematic structural view of a bi-directional cargo unstacking apparatus according to a second embodiment of the present invention.
Icon: 10-two-way cargo unstacking apparatus; 11-a bidirectional detaching device; 12-cargo output lines; 13-a motion platform; 14-stack input line; 15-a stack lifting mechanism; 16-empty tray recovery line; 17-a mechanical arm; 18-visual recognition means; 100-supporting structure; 200-connection structure; 210-a first connection rack; 220-a second link; 230-stiffeners; 310-a first removing member; 311-a first gasket; 320-a second removal; 321-a second gasket; 400-lifting structure; 500-limit structure; 510-a connection; 520-a stop lever; 610-a stent; 620-a first slide; 630-a second slide; 710—a carrier; 720-supporting a platform; 730-conveyor table.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the inventive product is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, terms such as "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The following describes specific embodiments of the present invention in detail with reference to the drawings.
First embodiment
Referring to fig. 1, a bi-directional cargo unstacking apparatus 10 is provided in this embodiment. The bi-directional cargo unstacking apparatus 10 can improve unstacking efficiency for cargo. In addition, the bidirectional cargo unstacking device 11 adopted by the bidirectional cargo unstacking device 10 has simple structure and strong operability, and can improve the unstacking efficiency of cargoes.
It should be noted that, in the present embodiment, the bidirectional cargo unstacking apparatus 10 is used for unstacking a cargo stack, where the cargo stack includes a plurality of cargos accumulated into a stack, and the plurality of cargos are stacked into a plurality of layers, and each layer of cargos has a plurality of cargos, and gaps are formed between the plurality of cargos in the same layer.
The bidirectional cargo unstacking apparatus 10 includes a bidirectional cargo unstacking device 11, a moving platform 13, a cargo output line 12, a cargo stack input line 14, a cargo stack lifting mechanism 15, an empty tray recycling line 16, and a visual recognition device 18. The bidirectional disassembling device 11 is used for disassembling cargoes from a cargo stack, the bidirectional disassembling device 11 is arranged on the moving platform 13, and the moving platform 13 can drive the bidirectional disassembling device 11 to move, so that the cargo in the cargo stack can be disassembled through the bidirectional disassembling device 11. The stack input line 14 is used for conveying the stack to the moving platform 13, so that the moving platform 13 drives the bidirectional detaching device 11 to detach the cargoes in the stack. The cargo output line 12 is disposed near the moving platform 13, and is used for receiving the cargo detached by the two-way detachment device 11 and delivering the cargo to a designated location. The stack lifting mechanism 15 is used for lifting the stack so that the overall height of the stack is reduced after the stack is disassembled to take part of the cargo, and the stack is lifted by the stack lifting mechanism 15 so that the bidirectional disassembling device 11 can be used for unstacking the stack with reduced height. The empty tray recycling line 16 is used for recycling empty trays. The visual recognition device 18 is mounted on the motion platform 13, so that the visual recognition device 18 can receive image information of the goods stack and control the bidirectional detaching device 11 to detach the goods.
Referring to fig. 2 and fig. 3 in combination, the bidirectional removing device 11 includes a supporting structure 100, a connecting structure 200, a first removing member 310, a second removing member 320, and at least two lifting structures 400. One side of the supporting structure 100 is connected to the motion platform 13, and the connecting structure 200, the first removing member 310, the second removing member 320 and the lifting structure 400 are all mounted on the other side of the supporting structure 100, so as to provide a bearing function for the connecting structure 200, the first removing member 310, the second removing member 320 and the lifting structure 400 through the supporting structure 100. One end of the connection structure 200 is connected to the support structure 100, and the first removing member 310 and the second removing member 320 are rotatably connected to the other end of the connection structure 200, respectively. In the present embodiment, the first removing member 310, the second removing member 320 and the connecting structure 200 can rotate freely, and it should be noted that, when the first removing member 310 and the second removing member 320 are only subject to the action of gravity, the first removing member 310 and the second removing member 320 can rotate freely relative to the connecting structure 200. Further, two ends of the at least one lifting structure 400 are respectively connected to the support structure 100 and one side of the first removing member 310 away from the second removing member 320; meanwhile, both ends of the at least one lifting structure 400 are respectively connected to the support structure 100 and a side of the second removing member 320 away from the first removing member 310. It should be noted that, in other embodiments, the support structure 100 and the connection structure 200 may be integrally formed.
It should be noted that, in other embodiments, the connection structure 200 may be omitted, that is, the first disassembling member 310 and the second disassembling member 320 may be directly rotatably connected to the supporting structure 100, and the first disassembling member 310 and the second disassembling member 320 may be rotated to a proper position by the rotation of the first disassembling member 310 and the second disassembling member 320 relative to the supporting structure 100, so as to be used for disassembling the goods.
When the bidirectional disassembling device 11 disassembles goods, the first disassembling piece 310 and the second disassembling piece 320 are lifted to a height higher than the stack of goods through the lifting structure 400. The motion platform 13 then moves the entire bi-directional removal device 11 to a designated location, i.e., the bi-directional removal device 11 above the stack, by moving the support structure 100 over the motion platform 13. When the bidirectional removing device 11 moves to above the stack, the acting force of the lifting structure 400 on the first removing member 310 or the second removing member 320 is cancelled, so that the first removing member 310 or the second removing member 320 is put on the stack, and the whole bidirectional removing device 11 is moved by the moving platform 13, so that the first removing member 310 or the second removing member 320 can be clamped into the gaps of a plurality of cargoes, and the first removing member 310 or the second removing member 320 can be propped against the cargoes. It should be noted that, when the cargo near one side of the first disassembling and taking piece 310 needs to be disassembled and taken, the first disassembling and taking piece 310 falls into the gap, and the motion platform 13 drives the whole bidirectional disassembling and taking device 11 to move towards the cargo at one side of the first disassembling and taking piece 310, so that the cargo can be disassembled by the acting force of the first disassembling and taking piece 310 against the cargo; similarly, when the cargo near one side of the second disassembling and taking piece 320 needs to be disassembled, the second disassembling and taking piece 320 falls into the gap, and the whole bidirectional disassembling and taking device 11 is driven to move towards the cargo on one side of the second disassembling and taking piece 320 by the moving platform 13, so that the cargo can be unstacked by the acting force of the second disassembling and taking piece 320 against the cargo.
In this embodiment, the front ends of the first removing member 310 and the second removing member 320 are both flat, that is, the ends of the first removing member 310 and the second removing member 320 away from the connecting structure 200 are both flat, so as to increase the width of the first removing member 310 and the second removing member 320 against the goods, and further increase the removing success rate of the first removing member 310 and the second removing member 320 against the goods. Specifically, the first removing member 310 and the second removing member 320 each have a plate shape. The other end of the first removing member 310 and the other end of the second removing member 320 are rotatably connected to the connection structure 200 by means of hinge. It should be understood that, in other embodiments, the first removing member 310 and/or the second removing member 320 can be provided in a rod-shaped manner, and in addition, the front ends of the first removing member 310 and the second removing member 320 can be in the form of a wave plate, an arc plate, a bending plate, a cone, a stick, or a comb.
Further, the connection structure 200 includes a first connection frame 210 and a second connection frame 220, the first connection frame 210 and the second connection frame 220 are disposed at the same side of the support structure 100 at intervals, i.e. one end of the first connection frame 210 is connected to the support structure 100, one end of the second connection frame 220 is connected to the support structure 100, and the first connection frame 210 and the second connection frame 220 are disposed at intervals. One side of the first removing member 310 is rotatably connected to the other end of the first connecting frame 210, and the second removing member 320 is connected to the other end of the second connecting frame 220. The first connector 210 and the second connector 220 are arranged at intervals to avoid the mutual influence between the first removing member 310 and the second removing member 320.
In the present embodiment, the support structure 100 is substantially flat. In addition, the first and second connection frames 210 and 220 are substantially plate-shaped, and the first and second connection frames 210 and 220 are perpendicular to the support structure 100. In addition, in the present embodiment, the bidirectional removing device 11 further includes at least two reinforcing members 230, and at least one reinforcing member 230 is connected to the supporting structure 100 and the first connecting frame 210 and located on the same side of the first connecting frame 210 as the lifting structure 400 connected to the first connecting frame 210. Meanwhile, at least one reinforcement 230 is coupled to the support structure 100 and the second link 220 and is located at the same side of the second link 220 as the elevating structure 400 coupled to the second link 220. To provide a supporting effect to the first and second connection frames 210 and 220 through the reinforcement 230, to ensure the stability of the first and second connection frames 210 and 220, to ensure that the first connection frame 210 provides a stable supporting effect to the first removing member 310, and to ensure that the second connection frame 220 provides a stable supporting effect to the second removing member 320.
Specifically, in the present embodiment, four reinforcing members 230 are disposed on the first connection frame 210, two of which are connected to one side of the first connection frame 210 away from the second connection frame 220 and to two side edges of the first connection frame 210. The other two reinforcing members 230 are disposed on one side of the first connection frame 210 near the second connection frame 220 and on two sides of the first connection frame 210. And, the width of the reinforcement 230 on the side of the first connector away from the second connector is greater than the width of the reinforcement 230 on the side of the first connector closer to the second connector. In the present embodiment, four reinforcing members 230 are disposed on the second connecting frame 220, and the manner of disposing the four reinforcing members 230 on the first connecting frame 21O is the same, and will not be described herein. In addition, it should be noted that, the end portion of the lifting structure 400 connected to the supporting structure 100 is located between the two reinforcing members 230, which can reasonably utilize the space and make the bidirectional removing device 11 compact and simple.
In addition, in the present embodiment, the bidirectional removing device 11 further includes two limiting structures 500, wherein one limiting structure 500 is connected to the first connecting frame 210 and protrudes from a side of the first connecting frame 210 away from the second connecting frame 220. The limiting structure 500 can be abutted against the first disassembling and taking piece 310, so that an included angle can be formed between the first disassembling and taking piece 310 and the first connecting frame 210 when the first disassembling and taking piece 310 rotates to the lowest position relative to the first connecting frame 210, the first disassembling and taking piece 310 can form a wedge shape, the first disassembling and taking piece 310 has good self-adaptive disassembling and taking capability when the bagged goods with certain mobility are unstacked, and the goods disassembling and taking success rate and unstacking efficiency can be improved. In addition, the other limiting structure 500 is connected to the second connecting frame 220, and protrudes from the side of the second connecting frame 220 away from the first connecting frame 210. The limiting structure 500 can be abutted against the second disassembling and taking piece 320, so that an included angle can be formed between the second disassembling and taking piece 320 and the second connecting frame 220 when the second disassembling and taking piece 320 rotates to the lowest position relative to the second connecting frame 220, the second disassembling and taking piece 320 can form a wedge shape, the second disassembling and taking piece 320 has good self-adaptive disassembling and taking capability when the bagged goods with certain fluidity are unstacked, and the goods disassembling and taking success rate and unstacking efficiency can be improved.
In addition, the limiting structure 500 may also be disposed on the support structure 100 and extend from the support structure 100 between the first removing member 310 and the second removing member 320.
In this embodiment, the principle of the manner in which the first removing member 310 and the second removing member 320 remove the cargo is the same, and the first removing member 310 is taken as an example. When the first removing member 310 is inserted into the gap between the cargoes, the bidirectional removing device 11 is continuously moved, and the end of the first removing member 310 can be abutted against the cargoes, or the first removing member 310 scoops up the cargoes and drives the cargoes to move. When the end of the first disassembling and taking part 310 abuts against the cargo and drives the cargo, the component force of the acting force of the first disassembling and taking part 310 driving the cargo in the extending direction along the first disassembling and taking part 310 is larger, the component force perpendicular to the first disassembling and taking part 310 is smaller, at this time, the bending force on the first disassembling and taking part 310 can be ensured to be smaller, and the first disassembling and taking part 310 can be prevented from being deformed under force. When the first removing member 310 scoops up the goods and drives the goods to move, the whole side surface of the first removing member 310 is stressed, and the acting force of the goods on the first removing member 310 is uniformly distributed on the side surface of the first removing member 310, so that the stressed deformation of the first removing member 310 can be avoided. Wherein, through limit structure 500 to first tearing open and get the support effect of piece 310, can guarantee that first tearing open and get the relative positional relationship between piece 310 and the first connecting piece, and then guarantee that first tearing open and get piece 310 can stably tear open and get the effect to the goods.
In the present embodiment, the specific structure of the limiting structure 500 connected to the first connecting frame 210 is the same as that of the limiting structure 500 connected to the second connecting frame 220, and the limiting structure 500 connected to the second connecting frame 220 is described as an example here, and the structure of the limiting structure 500 connected to the first connecting frame 210 is not repeated. Wherein the limit structure 500 includes a connection portion 510 and a limit lever 520. The connection portion 510 is connected to a side of the first connection frame 210 near the second connection frame 220, and the connection portion 510 extends between the first removing member 310 and the second removing member 320, i.e., the connection portion 510 extends from the first connection frame 210 and extends toward a side of the first removing member 310, such that an end portion of the connection portion 510 extends to a side of the first removing member 310 near the second removing member 320. The stop lever 520 is connected to the end of the connection portion 510, and one end of the stop lever 520 extends toward the first disassembling piece 310, and the stop lever 520 passes through the plane where the first connection frame 210 is located so that the stop lever 520 protrudes out of the side surface of the first connection frame 210 away from the second connection frame 220, so that the first disassembling piece 310 can be propped against the first disassembling piece 310 when the first disassembling piece 310 freely rotates to the lowest position, and further, the first disassembling piece 310 can be guaranteed to stably disassemble goods.
The connecting portion 510 is L-shaped, that is, one section of the connecting portion 510 extends from the first connecting frame 210 vertically and straightly to the first connecting frame 210, and the other section extends parallel to the first connecting frame 210 and straightly to a side of the first removing member 310 close to the second removing member 320.
In addition, in the present embodiment, the number of the limiting structures 500 connected to the first connecting frame 210 is plural, and the limiting effect is performed on the first disassembling and taking member 310 through the plurality of limiting structures 500, so that the limiting stability of the first disassembling and taking member 310 can be ensured, and the first disassembling and taking member 310 can be supported through the plurality of limiting structures 500 when the goods are disassembled and taken, so that the acting force born by the plurality of limiting structures 500 is reduced, and further the limiting structures 500 are prevented from being damaged. Similarly, the number of the limiting structures 500 connected to the second connecting frame 220 is also plural.
In the present embodiment, a first spacer 311 is disposed on a side of the first removing member 310 near the limiting structure 500, and the limiting structure 500 abuts against the first removing member 310 by abutting against the first spacer 311. Similarly, a second spacer 321 is disposed on a side of the second disassembling and assembling member 320 near the limiting structure 500, and the limiting structure 500 abuts against the second spacer 321 to abut against the second disassembling and assembling member 320. Wherein, through set up first gasket 311 on first piece 310 of getting and set up second gasket 321 on second piece 320 of getting of tearing open, can improve the intensity of first piece 310 of getting of tearing open through first gasket 311, improve the intensity of second piece 320 of getting of tearing open through second gasket 321. In addition, the first spacer 311 and the second spacer 321 may be made of an elastic material, such as rubber, so that the stop lever 520 can be prevented from sliding on the first spacer 311 or the second spacer 321, and further, the bending of the stop lever 520 and the connection portion 510 can be reduced.
In this embodiment, the lifting structure 400 is a cylinder. So as to drive the first and second removing members 310 and 320 to be lifted and lowered by the air cylinder. The lifting structure 400 can cancel the force applied to the first removing member 310 and the second removing member 320, so that the first removing member 310 can rotate freely relative to the first connecting frame 210, and the second removing member 320 can rotate freely relative to the second connecting frame 220.
When the two-way disassembling device 11 provided in the present embodiment is used for disassembling a cargo, the first disassembling piece 310 and the second disassembling piece 320 are lifted to a position higher than the stack by the lifting structure 400, and then the first disassembling piece 310 and the second disassembling piece 320 are moved to corresponding positions on the stack by the moving support structure 100. The first disassembling and taking piece 310 or the second disassembling and taking piece 320 is placed on the goods stack through the lifting structure 400, at this time, the first disassembling and taking piece 310 or the second disassembling and taking piece 320 is only subjected to the action of self gravity, so that when the first disassembling and taking piece 310 or the second disassembling and taking piece 320 is moved, the first disassembling and taking piece 310 or the second disassembling and taking piece 320 can fall into gaps among goods in the goods stack, at this time, the first disassembling and taking piece 310 or the second disassembling and taking piece 320 can be abutted against the goods, and the goods can be pushed out after the first disassembling and taking piece 310 or the second disassembling and taking piece 320 is continuously moved, and the unstacking of the goods is completed. Wherein, can be through setting up the first piece 310 of getting of tearing open and getting with the second piece 320 of getting of tearing open that the relative set up, can both be to the goods destacking on the round trip, improved destacking efficiency. In addition, the bidirectional dismounting device 11 has simple structure, low cost and strong operability.
In addition, with continued reference to fig. 1, the motion platform 13 includes a support 610, a first slide 620, and a second slide 630. The stand 610 is vertically mounted to a load bearing plane such as the ground. The first slide 620 is fixedly coupled to the top of the stand 610 and extends in a first direction. The second slide 630 is slidably connected to the first slide 620 and extends along a second direction, wherein an included angle is formed between the first direction and the second direction. Wherein, the side of the support structure 100 away from the connection structure 200 is slidably connected to the second slideway 630, and can slide along the second slideway 630. The connection structure 200 is disposed on a side of the support structure 100 near the bottom of the stand 610. It should be noted that, the support 610, the first slide 620 and the second slide 630 enclose an unstacking space together, when the stack needs to be unstacked, the stack is conveyed to the unstacking space, and the second slide 630 is located above the stack, so that the bidirectional unstacking device 11 can be conveniently unstacked.
Specifically, in the present embodiment, the first direction is perpendicular to the second direction, so that the sliding direction of the second slide rail 630 relative to the first slide rail 620 and the sliding direction of the bidirectional removing device 11 along the second slide rail 630 are perpendicular, that is, the efficiency of moving the bidirectional removing device 11 for unstacking can be improved.
Further, in the present embodiment, the two first slides 620 are arranged in parallel, and when the motion platform 13 is mounted on the ground, the two first slides 620 are parallel to the ground. The two ends of the second sliding rail 630 are slidably connected to the two first sliding rails 620 and perpendicular to the first sliding rails 620.
It should be noted that, the motion platform 13 has a plurality of motors, and the plurality of motors can control the second slide way 630 to move along the first slide way 620 and control the bi-directional removing device 11 to slide relative to the second slide way 630.
Referring to fig. 1 and 4 in combination, the load output line 12 includes a carrier 710, a holding platform 720, and a transfer platform 730. Wherein, the supporting platform 720 and the conveying platform 730 are both installed on the bearing frame 710, so as to provide bearing function for the supporting platform 720 and the conveying platform 730 through the bearing frame 710. The bearing frame 710 is close to the moving platform 13, and the supporting platform 720 is slidably disposed above the bearing frame 710, and the supporting platform 720 can move towards the moving platform 13 to be used for supporting a stack, that is, in this embodiment, the supporting platform 720 can extend into the unstacking space and can support the goods of the next layer of goods to be unstacked in the stack, so as to avoid the situation that the goods of the next layer are not easy to unstacke or scatter due to loosening of the goods of the next layer. The conveying table 730 is disposed on an upper side of the supporting platform 720 and is used for conveying goods. When the bi-directional disassembling device 11 disassembles the goods from the stack, the goods are moved to the conveying table 730, and the conveying table 730 conveys the goods to the designated position.
It should be noted that, in the present embodiment, at least two cargo output lines 12 are provided, and the two cargo output lines 12 are respectively disposed at two sides of the moving platform 13 opposite to each other, wherein one cargo output line 12 is configured to receive the cargo detached by the first detachment member 310, and the other cargo output line 12 is configured to receive the cargo detached by the second detachment member 320.
In addition, in the present embodiment, the cargo output line 12 has a motor for driving the conveying table 730 to convey the cargo.
The stack lifting mechanism 15 is disposed below the bidirectional removing device 11, and is used for carrying and lifting the stack. That is, in the present embodiment, the stack lifting mechanism 15 is disposed inside the unstacking space, so that the cargo carried by the stack lifting mechanism 15 can be located below the bidirectional unstacking device 11, so that the bidirectional unstacking device 11 can unstack the stack. In addition, after the bidirectional removing device 11 removes the uppermost layer of the stack, the stack is lifted by the stack lifting mechanism 15, so that the next layer of the stack can reach a specified height, so that the bidirectional removing device 11 can effectively remove the stack. When the destacking is completed, the stack lifting mechanism 15 lowers the empty trays to facilitate transport of the empty trays to the designated location.
It should be noted that, in the present embodiment, the side of the conveying platform 730 near the stack is substantially flush with the side of the supporting platform 720 near the stack, so that when the supporting platform 720 is supported on the stack, the conveying platform 730 is substantially attached to the stack, so that after the two-way disassembling device 11 disassembles the goods, the goods can stably move to the conveying platform 730, i.e. the goods can be conveyed to the designated position by the conveying platform 730.
The stack infeed line 14 extends to the stack lift mechanism 15 and is used to transport stacks to the stack lift mechanism 15. Wherein the stack input line 14 extends from the outside of the destacking space to the inside of the destacking space and is connected to the stack lifting mechanism 15 such that the stack input line 14 can convey the stack to the stack lifting mechanism 15.
An empty pallet recovery line 16 is connected to the stack lifting mechanism 15 and is adapted to receive an empty pallet. After the empty trays are lowered to a proper height by the stack lifting mechanism 15, the empty trays can be transported to the empty tray recycling line 16 by the stack lifting mechanism 15, so that the empty trays can be recycled in a concentrated manner.
The visual recognition device 18 is disposed on the support 610, and the visual recognition device 18 is electrically connected with the two-way detaching device 11. The visual recognition device 18 is used for receiving the image information of the goods stack and controlling the bidirectional detaching device 11 to detach the goods according to the image information. That is, in the present embodiment, the bidirectional removing device 11 can be controlled by the visual recognition device 18, and the visual recognition device 18 can recognize the stack in the unstacking space and collect the image information of the stack, and control the bidirectional removing device 11 to move to unstacke according to the collected image information of the stack. In addition, it should be noted that the visual recognition device 18 is further electrically connected to the motor on the moving platform 13, so as to control the motor to start or stop according to the collected image information of the stack, so that the second slide way 630 can slide along the first slide way 620, and the motor controls the whole bidirectional removing device 11 to move for performing the unstacking operation.
In summary, the bidirectional cargo unstacking apparatus 10 provided in the present embodiment can improve the overall unstacking efficiency and unstacking success rate by installing the bidirectional unstacking device 11. In addition, the bidirectional dismounting device 11 has simple structure and strong operability, reduces the cost and further greatly improves the cost performance of the equipment.
Second embodiment
Referring to fig. 5, a bi-directional cargo unstacking apparatus 10 is provided in the present embodiment which improves unstacking efficiency of a cargo stack. The bidirectional cargo unstacking apparatus 10 provided in the present embodiment is different from the bidirectional cargo unstacking apparatus 10 provided in the first embodiment in that the moving platform 13 is replaced with a robot arm 17 in the present embodiment.
In this embodiment, the bidirectional removing device 11 is mounted at the end of the mechanical arm 17, so that the mechanical arm 17 drives the bidirectional removing device 11 to perform the unstacking operation of the goods. In addition, the visual recognition device 18 is electrically connected with the mechanical arm 17, so that the visual recognition device 18 can control the mechanical arm 17 to drive the bidirectional unstacking device 11 to unstack the goods according to the acquired image information of the goods.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The bidirectional disassembling device is characterized by comprising a supporting structure, a connecting structure, a first disassembling piece, a second disassembling piece and at least two lifting structures;
one end of the connecting structure is connected with the supporting structure;
one side of the first disassembling and taking piece and one side of the second disassembling and taking piece are both rotationally connected to one end, far away from the supporting structure, of the connecting structure;
two ends of at least one lifting structure are respectively connected to the supporting structure and one side, far away from the second disassembling piece, of the first disassembling piece;
two ends of at least one lifting structure are respectively connected to the supporting structure and one side, far away from the first detaching piece, of the second detaching piece;
the connecting structure comprises a first connecting frame and a second connecting frame, and the first connecting frame and the second connecting frame are arranged on the same side of the supporting structure at intervals;
one side of the first dismounting piece is rotatably connected to the first connecting frame;
one side of the second disassembling piece is rotatably connected to the second connecting frame;
the bidirectional dismounting device further comprises two limiting structures;
one of the limiting structures is connected with the first connecting frame and protrudes out of one side, far away from the second connecting frame, of the first connecting frame;
the other limit structure is connected with the second connecting frame and protrudes out of one side, far away from the first connecting frame, of the second connecting frame;
the limiting structure comprises a connecting part and a limiting rod;
one of the connecting parts is connected to one side of the first connecting frame, which is close to the second connecting frame, and extends to a position between the first disassembling piece and the second disassembling piece, and one of the limiting rods is connected to the connecting part, extends towards the first disassembling piece and penetrates through a plane where the first connecting frame is located;
the other connecting part is connected to one side, close to the first connecting frame, of the second connecting frame, extends to a position between the first disassembling piece and the second disassembling piece, and the other limiting rod is connected to the connecting part, extends towards the second disassembling piece and penetrates through the plane where the second connecting frame is located;
a first gasket is arranged on one side, close to the limiting structure, of the first disassembling piece, and the limiting structure is abutted against the first gasket to support the first disassembling piece;
the second disassembly part is provided with a second gasket at one side close to the limiting structure, and the limiting structure is propped against the second gasket to prop against the second disassembly part.
2. The two-way release device of claim 1, wherein the first release member and the second release member are each plate-shaped.
3. A bi-directional cargo unstacking apparatus comprising a motion platform and a bi-directional unstacking apparatus according to any one of claims 1-2;
the motion platform comprises a bracket, a first slideway and a second slideway, wherein the first slideway is fixedly connected to the top of the bracket and extends along a first direction; the second slideway is connected with the first slideway in a sliding way and extends along a second direction, and an included angle is formed between the first direction and the second direction;
one side of the supporting structure far away from the connecting structure is connected with the second slideway in a sliding way and can slide along the second slideway;
the connecting structure is arranged on one side, close to the bottom of the bracket, of the supporting structure.
4. A bi-directional cargo unstacking apparatus according to claim 3 wherein said bi-directional cargo unstacking apparatus further comprises a cargo output line;
the goods output line comprises a bearing frame, a supporting platform and a conveying platform, and the bearing frame is arranged close to the moving platform;
the supporting platform is arranged on the bearing frame in a sliding manner and can move towards the moving platform to be used for supporting the goods stack;
the conveying table is arranged on the upper side face of the supporting platform and is used for conveying goods.
5. A bi-directional cargo unstacking apparatus according to claim 3 wherein said cargo unstacking apparatus further comprises a cargo stack input line, a cargo stack lifting mechanism, an empty tray recovery line and a visual identification device;
the goods stack lifting mechanism is arranged below the bidirectional detaching device and is used for bearing the goods stack and lifting the goods stack;
the stack input line extends to the stack lifting mechanism and is used for conveying stacks to the stack lifting mechanism;
the empty tray recycling line is connected to the goods stack lifting mechanism and is used for receiving the empty tray;
the visual recognition device is arranged on the support, is electrically connected with the bidirectional detaching device, and is used for receiving image information of the goods stack and controlling the bidirectional detaching device to detach the goods according to the image information.
6. A bi-directional cargo unstacking apparatus comprising a robotic arm and a bi-directional unstacking device according to any one of claims 1-2;
the support structure is far away from one side of the connecting structure and is arranged on the mechanical arm, and the mechanical arm is used for driving the bidirectional dismounting device to dismount cargoes below the bidirectional dismounting device.
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| CN109484866A (en) * | 2019-01-09 | 2019-03-19 | 合肥泰禾光电科技股份有限公司 | Veneer retracts mechanism, device, method and Transmission system |
| CN110775650A (en) * | 2019-10-15 | 2020-02-11 | 绵阳蓝奥重型机械制造有限公司 | Automatic unstacking system for bagged material bags |
| CN112693907A (en) * | 2020-12-31 | 2021-04-23 | 柳州柳新汽车冲压件有限公司 | Unstacking and feeding device |
| CN113264363A (en) * | 2021-04-23 | 2021-08-17 | 南京工业职业技术大学 | Dustproof bag folding device |
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