CN112678542A

CN112678542A - Chain-driven parallel distributed automatic unstacking robot with sucker grippers

Info

Publication number: CN112678542A
Application number: CN202110267476.1A
Authority: CN
Inventors: 刘旭; 李绍起; 王文海; 刘梦莹
Original assignee: Shandong Fajia Intelligent Technology Co ltd
Current assignee: Shandong adder Intelligent Technology Co.,Ltd.
Priority date: 2021-03-11
Filing date: 2021-03-11
Publication date: 2021-04-20
Anticipated expiration: 2041-03-11
Also published as: CN112678542B

Abstract

The invention discloses a chain-driven parallel distributed automatic unstacking robot with a sucker gripper, which comprises a belt conveyor and automatic unstacking robots, wherein the automatic unstacking robots are arranged in parallel, and the automatic unstacking robots arranged in parallel are respectively matched with the belt conveyor for use; the automatic unstacking robot comprises a mounting frame, an automatic lifting system arranged in the mounting frame and a trolley unstacking system arranged at the top of the mounting frame, wherein the trolley unstacking system comprises a movable trolley assembly arranged at the top end of the mounting frame and a sucker type mechanical arm arranged on the movable trolley assembly, the sucker type mechanical arm is matched with the automatic lifting system for use, materials are lifted through the automatic lifting system, the sucker type mechanical arm absorbs the lifted materials, the movable trolley assembly transfers the absorbed materials to a belt conveyor, and the belt conveyor transports the materials away to realize unstacking.

Description

Chain-driven parallel distributed automatic unstacking robot with sucker grippers

Technical Field

The invention relates to the field of stacking or unstacking objects by using a picking or transferring device or a manipulator, in particular to a chain-driven parallel distributed automatic unstacking robot with sucker grippers.

Background

At present, the unstacking of packaging materials mainly has two ways: manual unstacking and mechanical unstacking; manual unstacking belongs to heavy physical labor, not only is production efficiency low, but also labor intensity of workers is high, and particularly in hot summer, physical strength of the unstacking workers is often severely overdrawn.

The utility model with the publication number of CN211109980U discloses an automatic unstacking robot and punching unstacking device, which comprises a base, two symmetrically arranged support plates are fixedly connected to the upper end of the base, a top plate is fixedly connected to the upper ends of the two support plates, two first electric guide rails are fixedly connected to the lower end of the top plate symmetrically, a second electric guide rail is fixedly connected to the output ends of the two first electric guide rails, a holding robot is fixedly connected to the output end of the second electric guide rail, the upper end of the base is connected to a loading plate through two hydraulic push rods, a workpiece is stacked on the upper end of the loading plate, the holding robot comprises a movable plate, a driving motor, a screw rod, a threaded sleeve and a clamping plate, the movable plate is fixedly connected to the output end of the second electric guide rail, the driving motor is in a double-end output arrangement and is fixedly connected to the center of the lower end of the movable plate, the failure is not easy to occur, and the reliability is improved; in this scheme, drive the lift that the loading board goes up and down to realize the material through the hydraulic stem and transport, this kind of mode directly makes the whole lifts and falls doing work of material buttress when the lift is transported, and the power consumption is great, and the hydraulic stem relates to hydraulic control system moreover, and overall cost is high.

The utility model discloses a utility model patent of grant publication No. CN211945388U discloses a pile up neatly unpiler with vacuum chuck, belongs to concrete product production technical field, including portal frame, pile up neatly dolly, elevating system, pile up neatly clamp and vacuum chuck mechanism, and the pile up neatly dolly is installed on the portal frame, and elevating system links to each other with the pile up neatly dolly, and the pile up neatly clamp is installed at the lower extreme of elevating system, and the vacuum chuck mechanism includes fan, sponge sucking disc and tuber pipe, and the fan is installed on the pile up neatly dolly; the sponge sucker is arranged on the lower end face of the stacking clamp and is used for sucking the concrete product by means of negative pressure generated by the fan; one end of the air pipe is connected with the fan, and the other end of the air pipe is downwards connected with the sponge sucker; the rotary machine in this scheme includes mount, rotating electrical machines, main synchronous pulley, hold-in range and driven synchronous pulley, and overall structure is more complicated, and parts such as sponge sucking disc, clamping jaw, hydraulic pressure station, fan in this scheme make whole manufacturing cost higher, and it is difficult to overhaul and maintain, and general middle-size and small-size enterprise is difficult to bear.

The following problems are common to the existing unstacking machines: 1. the animal material stack is required to be lifted and lowered completely to do work, so that the energy consumption is high, the cost is high, 2, the structure is complex, the manufacturing cost is high, and the overhauling and maintenance difficulty is high; 3. in order to prevent the material buttress from scattering, increase its polymerization ability, every layer of material buttress usually all is that horizontal vertical crisscross concatenation pile is placed, vacuum chuck's cross-section is the shape behind the rectangle chamfer usually, vacuum chuck among the prior art is generally unable rotatory, when absorbing the material, vacuum chuck's length direction can only keep unanimous with the material length that one of them orientation was placed, can't keep unanimous with the material length that another orientation was placed, the atress is inhomogeneous when absorbing for the material that leads to another orientation to place, lead to the material breakage rate high.

Disclosure of Invention

The invention aims to solve the technical problems of large energy consumption, high cost, complex structure, high manufacturing cost, high difficulty in maintenance and repair and the technical problems of uneven stress and high breakage rate of materials due to the fact that the direction of a sucking disc cannot be adjusted, and the problems that a material stack needs to be driven to completely lift to do work.

The technical scheme of the invention is realized as follows: a chain-driven parallel distributed automatic unstacking robot with a sucker gripper comprises a belt conveyor and automatic unstacking robots, wherein the automatic unstacking robots are arranged in parallel, and the automatic unstacking robots arranged in parallel are respectively matched with the belt conveyor for use; the automatic unstacking robot comprises a mounting frame, an automatic lifting system and a trolley unstacking system, wherein the automatic lifting system is mounted in the mounting frame, the trolley unstacking system is mounted at the top of the mounting frame and comprises a moving trolley assembly and a sucker type mechanical arm, the moving trolley assembly is arranged on the top of the mounting frame, the sucker type mechanical arm is matched with the automatic lifting system for use, materials are lifted through the automatic lifting system, the sucker type mechanical arm absorbs the lifted materials, the moving trolley assembly transfers the absorbed materials to a belt conveyor, and the belt conveyor transports the materials away to realize unstacking.

Further, the automatic lifting system comprises a steering unit fixed at the bottom of the mounting frame, a lifting frame arranged in the mounting frame, a first chain fixed on a driven chain wheel and a transmission chain wheel outside the top end of the mounting frame, a first chain and a lifting frame fixed connection on an inner side of the first chain, a balancing weight fixed on the first chain outside the first chain through a fastener, two chains symmetrically arranged on two sides of the mounting frame, and a material bearing frame mainly used for bearing the material and providing power for the steering unit.

Further, turn to the unit and install two steering gears in mounting bracket bottom both sides including fixing motor one and the symmetry on the mounting bracket, the output shaft both ends correspondence of steering gear is fixed with two drive sprocket, and two drive sprocket correspond the transmission with two chains of homonymy and are connected, motor one drives two steering gear synchronous working, the input of motor one is connected with external circuit control system's output electricity, and the steering gear mainly plays the effect of turning to, drives a motion of chain with the power switching of motor one simultaneously.

Further, the travelling car assembly is including setting up the track roof beam in mounting bracket top both sides, setting up the trolley frame in the mounting bracket top and installing the drive structure in mounting bracket one side, the drive structure drives the trolley frame motion, the rail wheel of trolley frame bottom cooperates the roll on the track roof beam, two anticreep frames are installed to the bilateral symmetry of mounting bracket, the trolley frame top is provided with the pulley that corresponds with the anticreep frame, the pulley is inconsistent with the interior top of the anticreep frame that corresponds, and the drive structure mainly drives the trolley frame and moves, and the trolley frame mainly removes and transports the material.

Further, the drive structure is including fixing motor two on one side of the mounting bracket, installing at the cooperation sprocket of mounting bracket opposite side, fixing at the drive sprocket of two output shaft ends of motor, the chain two of drive connection cooperation sprocket and drive sprocket, the chain on two top sides of chain is fixed on the trolley frame top, the input of motor two is connected with external circuit control system's output electricity, and the drive structure mainly drives the trolley frame motion through chain two, realizes the transfer of material.

Further, sucking disc formula manipulator is including fixing the structure that turns to in the dolly both sides, installing a sucking disc tongs in the middle of the dolly and correspond and install two sucking disc tongs on two structure that turn to, the sucking disc tongs is provided with threely altogether, turns to the structure and mainly turns to the sucking disc tongs, and the sucking disc tongs is mainly snatched the material.

Furthermore, the sucker gripper comprises a sucker mounting plate, a lifting shaft which is slidably connected inside the sucker mounting plate, a vacuum sucker which is arranged at the bottom end of the lifting shaft through a shaft joint, a position measuring plate which is fixed at the top end of the lifting shaft and a position measuring frame which is fixed at one side of the sucker mounting plate, wherein the position measuring plate is arranged in the position measuring frame, one side of the position measuring frame is fixedly provided with a proximity switch which is matched with the position measuring plate for use, the trolley frame is fixedly provided with a vacuum generator, the vacuum generator is communicated with the vacuum sucker through an air passage, the electric control input end of the vacuum generator is electrically connected with the output end of an external circuit control system, the sucker mounting plate at the middle position of the trolley frame is fixed on the trolley frame, the output end of the proximity switch is electrically connected with the input end of the external circuit control system, and the proximity switch mainly detects the position of the position, and then judge whether the material targets in place, the position survey board is established in the position survey frame, mainly plays the effect that prevents the lift axle rotation.

Furthermore, the steering structure comprises an air cylinder fixed on the outer side of the trolley frame, a sliding rail arranged at the top end of the trolley frame and a sliding plate connected to the sliding rail in a sliding mode, the end of the air cylinder is fixed at one end of the sliding plate, the sucker mounting plates on the two sides of the trolley frame are correspondingly connected to the sliding plates on the two sides in a rotating mode, gears are respectively fixed to the top ends of the sucker mounting plates on the two sides of the trolley frame, racks corresponding to the gears are fixed to the trolley frame, the racks are meshed with the corresponding gears, the air cylinder is communicated with an external air pressure control system through an air path, the direction of the vacuum sucker is mainly changed through steering, and therefore stress is more uniform when materials are sucked.

Further, still include the take-up pulley, the take-up pulley is installed to the bottom of trolley frame, the take-up pulley is connected with two transmission of chain, and the take-up pulley mainly is the elasticity of being convenient for adjust two chains.

Further, install the blotter between position survey board and the sucking disc mounting panel, the blotter mainly reduces the striking between position survey board and the sucking disc mounting panel, reduces wearing and tearing.

The beneficial effects of the invention are summarized as follows: firstly, the weight of the material stack on a part of the lifting frame is balanced by the weight of the weight block, so that the material stack on the lifting frame is relatively lighter, which is equivalent to that a steering unit provides less power to drive a part of unbalanced material stack to lift and do work, therefore, the motor can select a motor with less power, the energy consumption is reduced, and meanwhile, the manufacturing cost is reduced by adopting chain transmission; secondly, the automatic lifting system works through the transmission of the first chain, the moving trolley assembly is driven through the transmission of the second chain, the chain structure is relatively simple, the manufacturing cost is low, and the overhauling and maintenance difficulty is small; thirdly, control the cylinder extension through external circuit control system, the cylinder promotes the sliding plate and slides, and then the sliding plate drives the motion of sucking disc mounting panel, and then the gear relatively rolls on the rack, the gear drives the sucking disc mounting panel rotatory, it is rotatory to fix the position determination frame on the sucking disc mounting panel, the position determination frame drives the position determination board rotatory, the position determination board drives the lift axle rotatory, and then install the axle joint and the rotatory redirecting of vacuum chuck at lift axle bottom end, make vacuum chuck's length direction unanimous with the material length direction of horizontal stacking through this kind of mode, and then make the material atress of horizontal stacking more even, very big reduction the breakage rate.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of the automatic lifting system of the present invention;

FIG. 3 is a schematic structural view of a mobile cart assembly and a suction cup type manipulator according to the present invention;

FIG. 4 is a schematic structural diagram of a driving structure according to the present invention;

FIG. 5 is an enlarged view of a portion of the structure at A in FIG. 3;

fig. 6 is an enlarged view of a portion of the structure at B in fig. 3.

In the figure: the automatic unstacking and stacking system comprises a belt conveyor 1, an automatic unstacking robot 2, a 21-mounted frame, an automatic lifting system 3, a 31-steering unit, a 311 motor I, a 312-steering device, a 313 driving sprocket, a 32 lifting frame, a 33 driven sprocket, a 34 chain I, a 35 balancing weight, a 4-trolley unstacking system, a 5-moving trolley assembly, a 51 track beam, a 52-trolley frame, a 53-anti-dropping frame, a 54 pulley, a 6-sucker-type manipulator, a 7-driving structure, a 71 motor II, a 72-matching sprocket, a 73-driving sprocket, a 74 chain II, an 8-sucker gripper, an 81-sucker mounting plate, an 82-lifting shaft, an 83-vacuum sucker, an 84-position measuring plate, an 85-position measuring frame, an 86-approach switch, an 87-vacuum generator, an 88-shaft joint, a 9-steering structure, a 91 cylinder, a 92 slide rail.

Detailed Description

In order to further understand the present invention, the following will further describe the chain-driven parallel distributed suction cup gripper automatic unstacking robot of the present invention with reference to the examples and the accompanying drawings, and the examples are only used for explaining the present invention and do not limit the protection scope of the present invention.

As shown in fig. 1 to 6, the chain-driven parallel distributed automatic unstacking robot with the sucker grippers comprises a belt conveyor 1 and an automatic unstacking robot 2, wherein the automatic unstacking robots 2 are arranged in parallel, and the automatic unstacking robots 2 arranged in parallel are respectively matched with the belt conveyor 1 for use; the automatic unstacking robot 2 comprises a mounting frame 21, an automatic lifting system 3 arranged in the mounting frame 21 and a trolley unstacking system 4 arranged at the top of the mounting frame 21, the trolley unstacking system 4 comprises a moving trolley assembly 5 arranged at the top end of the mounting frame 21 and a sucker type manipulator 6 arranged on the moving trolley assembly 5, the sucker type manipulator 6 is matched with the automatic lifting system 3 for use, materials are lifted through the automatic lifting system 3 firstly, the sucker type manipulator 6 sucks the lifted materials, the moving trolley assembly 5 transfers the sucked materials to the belt conveyor 1, and the belt conveyor 1 conveys the materials away to realize unstacking; the automatic lifting system 3 comprises a steering unit 31 fixed at the bottom of the mounting frame 21, a lifting frame 32 arranged in the mounting frame 21, a driven chain wheel 33 fixed at the outer side of the top end of the mounting frame 21, a first chain 34 in transmission connection with the driven chain wheel 33 and the chain wheel of the steering unit 31, a chain at the inner side of the first chain 34 is fixedly connected with the lifting frame 32, a balancing weight 35 is fixed on the chain at the outer side of the first chain 34 through a fastening piece, the first chain 34 is symmetrically arranged at two sides of the mounting frame 21, two chains are arranged at each side, the lifting frame 32 mainly bears materials, and the steering unit 31 mainly provides power; the steering unit 31 comprises a first motor 311 fixed on the mounting frame 21 and two steering gears 312 symmetrically installed on two sides of the bottom of the mounting frame 21, two driving sprockets 313 are correspondingly fixed at two ends of an output shaft of the steering gears 312, the two driving sprockets 313 are correspondingly in transmission connection with two first chains 34 on the same side, the first motor 311 drives the two steering gears 312 to synchronously work, an input end of the first motor 311 is electrically connected with an output end of an external circuit control system, the steering gears 312 mainly play a steering role, and meanwhile, power of the first motor 311 is switched to drive the first chains 34 to move; the movable trolley assembly 5 comprises rail beams 51 arranged on two sides of the top end of the mounting frame 21, a trolley frame 52 arranged above the mounting frame 21 and a driving structure 7 arranged on one side of the mounting frame 21, the driving structure 7 drives the trolley frame 52 to move, rail wheels at the bottom end of the trolley frame 52 roll on the rail beams 51 in a matching mode, two anti-falling frames 53 are symmetrically arranged on two sides of the mounting frame 21, pulleys 54 corresponding to the anti-falling frames 53 are arranged on the top end of the trolley frame 52, the pulleys 54 are abutted to the inner tops of the corresponding anti-falling frames 53, the driving structure 7 mainly drives the trolley frame 52 to move, and the trolley frame 52 mainly carries out moving and conveying materials; the driving structure 7 comprises a second motor 71 fixed on one side of the mounting frame 21, a matching chain wheel 72 arranged on the other side of the mounting frame 21, a driving chain wheel 73 fixed at the output shaft end of the second motor 71, and a second chain 74 in transmission connection with the matching chain wheel 72 and the driving chain wheel 73, wherein the chain on the top side of the second chain 74 is fixed at the top end of the trolley frame 52, the input end of the second motor 71 is electrically connected with the output end of an external circuit control system, and the driving structure 7 mainly drives the trolley frame 52 to move through the second chain 74 to realize the transfer of materials; the sucker type manipulator 6 comprises steering structures 9 fixed on two sides of a trolley frame 52, a sucker gripper 8 arranged in the middle of the trolley frame 52 and two sucker grippers 8 correspondingly arranged on the two steering structures 9, the number of the sucker grippers 8 is three, the steering structures 9 mainly steer the sucker gripper 8, and the sucker gripper 8 mainly grips materials; the sucker gripper 8 comprises a sucker mounting plate 81, a lifting shaft 82 connected inside the sucker mounting plate 81 in a sliding manner, a vacuum sucker 83 mounted at the bottom end of the lifting shaft 82 through a shaft joint 88, a position measuring plate 84 fixed at the top end of the lifting shaft 82 and a position measuring frame 85 fixed at one side of the sucker mounting plate 81, wherein the position measuring plate 84 is arranged in the position measuring frame 85, one side of the position measuring frame 85 is fixed with a proximity switch 86, the proximity switch 86 is matched with the position measuring plate 84 for use, a vacuum generator 87 is fixed on the trolley frame 52, the vacuum generator 87 is communicated with the vacuum sucker 83 through an air passage, an electric control input end of the vacuum generator 87 is electrically connected with an output end of an external circuit control system, the sucker mounting plate 81 at the middle position of the trolley frame 52 is fixed on the trolley frame 52, an output end of the proximity switch 86 is electrically connected with an input end of the external circuit control system, and the proximity switch 86 mainly detects the, further judging whether the material is in place, the position determination plate 84 is arranged in the position determination frame 85 and mainly plays a role in preventing the lifting shaft 82 from rotating; the steering structure 9 comprises an air cylinder 91 fixed on the outer side of the trolley frame 52, a slide rail 92 arranged on the top end of the trolley frame 52 and a sliding plate 93 connected to the slide rail 92 in a sliding manner, the end of the air cylinder 91 is fixed at one end of the sliding plate 93, the sucker mounting plates 81 on the two sides of the trolley frame 52 are correspondingly and rotatably connected to the sliding plates 93 on the two sides, gears 94 are respectively fixed at the top ends of the sucker mounting plates 81 on the two sides of the trolley frame 52, racks 95 corresponding to the gears 94 are fixed on the trolley frame 52, the racks 95 are meshed with the corresponding gears 94, the air cylinder 91 is communicated with an external air pressure control system through an air passage, the steering structure 9 mainly changes the direction of the vacuum sucker 83 through steering, and; the tensioning wheel 10 is further included, the tensioning wheel 10 is mounted at the bottom end of the trolley frame 52, the tensioning wheel 10 is in transmission connection with the second chain 74, and the tensioning wheel 10 is mainly used for conveniently adjusting the tightness of the second chain 74; a cushion pad 11 is arranged between the position measuring plate 84 and the sucker mounting plate 81, and the cushion pad 11 mainly reduces the impact between the position measuring plate 84 and the sucker mounting plate 81 and reduces the abrasion.

Instructions for use: the invention is mainly realized by the following three steps;

first step, lifting and conveying materials: initially, the length direction of the vacuum chuck 83 is consistent with the length direction of the vertically stacked materials, the lifting frame 32 is located at the bottommost part of the mounting frame 21, the material stack is firstly sent to the lifting frame 32, then the automatic lifting system 3 starts to work, the first motor 311 is controlled to drive the two steering gears 312 to synchronously work, then the two driving sprockets 313 of each steering gear 312 rotate, the four driving sprockets 313 synchronously rotate, the four driving sprockets 313 simultaneously drive the four driven sprockets 33 to rotate through the first four chains 34, the first chains 34 on the two sides drive the lifting frame 32 to lift, so as to realize the lifting of the materials, meanwhile, the balancing weight 35 fixed outside the first chains 34 descends, the balancing weight 35 mainly balances the weight of the material stack on a part of the lifting frame 32 through the self weight, so that the material stack on the lifting frame 32 is relatively lightened, and then the steering unit 31 provides smaller power to drive the lifting frame 32 to lift the materials, and further, the first motor 311 can be a motor with smaller power, so that the energy consumption is reduced, and meanwhile, the chain transmission mode reduces the cost.

Secondly, grabbing and transferring the materials: the materials are lifted upwards through the automatic lifting system 3, when the materials are conveyed to the top, the materials are firstly contacted with the vacuum chuck 83 and then continuously abut against the vacuum chuck 83 to move upwards, then the vacuum chuck 83 pushes the lifting shaft 82 upwards, further the position determining plate 84 at the top end of the lifting shaft 82 moves upwards in the position determining frame 85, when the position determining plate 84 moves to the front side of the proximity switch 86, the proximity switch 86 detects the position of the position determining plate 84 and sends a signal to the external circuit control system, at the moment, the external circuit control system controls the vacuum generator 87 to work, the vacuum generator 87 controls the vacuum chuck 83 to generate suction to suck the materials, then the automatic lifting system 3 is controlled to work, the sucked materials are completely separated from the material stack, then the second motor 71 is controlled to work, the second motor 71 drives the driving chain wheel 73 to rotate, the driving chain wheel 73 drives the matching chain wheel 72 to rotate through the second chain 74, and then the trolley frame 52 fixedly connected with the second chain 74 moves along the track beam 51, and then the trolley frame 52 drives the materials sucked by the sucker grips 8 to move, when the materials move to the top of the belt conveyor 1, the vacuum generator 87 is controlled to stop working, and then the suction force of the vacuum sucker 83 disappears, the materials fall on the belt conveyor 1 and are transported away, and primary unstacking is completed, and then the steps are repeated, the pulley 54 slides in contact with the inner top of the anti-falling frame 53, the trolley frame 52 is limited to move upwards, the track wheel at the bottom of the trolley frame 52 is always made to ride on the track beam 51, and the trolley frame 52 can be effectively prevented from falling off from the top of the mounting frame 21.

Thirdly, sucking materials: in order to prevent the material stack from being scattered and increase the polymerization performance of the material stack, each layer of materials are transversely and vertically spliced and stacked in a staggered manner, the cross section of each vacuum chuck 83 is in a shape of a rectangular chamfer, when the vertically placed materials are sucked, the length direction of each vacuum chuck 83 is consistent with the length direction of the materials, the vertical materials are uniformly stressed, when the horizontal materials are sucked, the length direction of each vacuum chuck 83 is inconsistent with the length direction of the horizontally placed materials, so that the horizontal materials are not uniformly stressed and are easy to damage, the direction of each vacuum chuck 83 needs to be changed, when the direction is changed, the cylinder 91 is controlled to extend, the cylinder 91 pushes the sliding plate 93 to slide, the sliding plate 93 drives the sucker mounting plate 81 to move, the gear 94 rolls relatively on the rack 95, the gear 94 drives the sucker mounting plate 81 to rotate, and the position measuring frame 85 fixed on the sucker mounting plate 81 rotates, position determination frame 85 drives position determination board 84 rotatory, position determination board 84 drives lift axle 82 rotatory, and then install the rotatory redirecting of axle joint 88 and the vacuum chuck 83 in lift axle 82 bottom, stop motion when the length direction of vacuum chuck 83 is unanimous with the length direction of the material of transversely piling up, the length direction that makes vacuum chuck 83 through this kind of mode is unanimous with the material length direction of transversely piling up, and then the material atress that makes transversely piling up is more even, very big reduction the breakage rate.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides an automatic robot that breaks a jam of distributed sucking disc tongs side by side of chain drive which characterized in that: the automatic unstacking machine comprises a belt conveyor (1) and automatic unstacking robots (2), wherein the automatic unstacking robots (2) are arranged in parallel, and the automatic unstacking robots (2) arranged in parallel are respectively matched with the belt conveyor (1) for use;

automatic robot (2) of breaking a jam includes mounting bracket (21), installs automatic rising system (3) in mounting bracket (21) and installs dolly system (4) of breaking a jam at mounting bracket (21) top, dolly system (4) of breaking a jam is including setting up travelling car assembly (5) on mounting bracket (21) top and installing sucking disc formula manipulator (6) on travelling car assembly (5), sucking disc formula manipulator (6) use with automatic rising system (3) cooperation.

2. The chain-driven parallel distributed suction cup gripper automatic unstacking robot as claimed in claim 1, characterized in that: automatic operating system (3) including fixing at the unit (31) that turns to of mounting bracket (21) bottom, set up crane (32) in mounting bracket (21), fix driven sprocket (33), the transmission in mounting bracket (21) top outside and connect driven sprocket (33) and turn to chain (34) of unit (31) sprocket, chain (34) inboard chain and crane (32) fixed connection, be fixed with balancing weight (35) through the fastener on the chain in chain (34) outside, chain (34) set up at the bilateral symmetry of mounting bracket (21), and every side is provided with two.

3. The chain-driven parallel distributed suction cup gripper automatic unstacking robot as claimed in claim 2, characterized in that: the steering unit (31) comprises a first motor (311) fixed on the mounting frame (21) and two steering gears (312) symmetrically arranged on two sides of the bottom of the mounting frame (21), two driving sprockets (313) are correspondingly fixed at two ends of an output shaft of each steering gear (312), the two driving sprockets (313) are in transmission connection with two chains (34) on the same side, the first motor (311) drives the two steering gears (312) to work synchronously, and the input end of the first motor (311) is electrically connected with the output end of an external circuit control system.

4. The chain-driven parallel distributed suction cup gripper automatic unstacking robot as claimed in claim 1, characterized in that: travelling car assembly (5) are including setting up track roof beam (51) in mounting bracket (21) top both sides, setting up trolley frame (52) in mounting bracket (21) top and installing drive structure (7) in mounting bracket (21) one side, drive structure (7) drive trolley frame (52) motion, the rail wheel of trolley frame (52) bottom cooperates the roll on track roof beam (51), two anticreep frames (53) are installed to the bilateral symmetry of mounting bracket (21), trolley frame (52) top is provided with pulley (54) that correspond with anticreep frame (53), top is inconsistent in pulley (54) and corresponding anticreep frame (53).

5. The chain-driven parallel distributed suction cup gripper automatic unstacking robot as claimed in claim 4, characterized in that: drive structure (7) including fix motor two (71) in mounting bracket (21) one side, install cooperation sprocket (72) at mounting bracket (21) opposite side, fix drive sprocket (73), the chain two (74) of drive connection cooperation sprocket (72) and drive sprocket (73) at motor two (71) output shaft end, the chain on two (74) top sides is fixed on trolley frame (52) top, the input of motor two (71) is connected with external circuit control system's output electricity.

6. The chain-driven parallel distributed suction cup gripper automatic unstacking robot as claimed in claim 4, characterized in that: sucking disc formula manipulator (6) are including fixing turning to structure (9) of trolley frame (52) both sides, installing a sucking disc tongs (8) in the middle of trolley frame (52) and correspond two sucking disc tongs (8) of installing on two turning to structures (9), sucking disc tongs (8) are provided with three altogether.

7. The chain-driven parallel distributed suction cup gripper automatic unstacking robot as claimed in claim 6, characterized in that: the sucking disc tongs (8) include sucking disc mounting panel (81), sliding connection at inside lift axle (82) of sucking disc mounting panel (81), install vacuum chuck (83) in lift axle (82) bottom, fix position survey board (84) on lift axle (82) top and fix position survey frame (85) in sucking disc mounting panel (81) one side through axle joint (88), position survey board (84) are established in position survey frame (85), one side of position survey frame (85) is fixed with proximity switch (86), proximity switch (86) and position survey board (84) cooperation use, be fixed with vacuum generator (87) on dolly frame (52), vacuum generator (87) are put through with vacuum chuck (83) through the gas circuit, vacuum generator (87)'s automatically controlled input and external circuit control system's output electricity are connected, the sucking disc mounting plate (81) in the middle of the trolley frame (52) is fixed on the trolley frame (52), and the output end of the proximity switch (86) is electrically connected with the input end of an external circuit control system.

8. The chain-driven parallel distributed suction cup gripper automatic unstacking robot as claimed in claim 7, characterized in that: the steering structure (9) comprises an air cylinder (91) fixed on the outer side of the trolley frame (52), a sliding rail (92) arranged at the top end of the trolley frame (52) and a sliding plate (93) connected to the sliding rail (92) in a sliding mode, the end of the air cylinder (91) is fixed at one end of the sliding plate (93), suction cup mounting plates (81) on two sides of the trolley frame (52) are correspondingly and rotatably connected to the sliding plates (93) on two sides, gears (94) are respectively fixed at the top ends of the suction cup mounting plates (81) on two sides of the trolley frame (52), racks (95) corresponding to the gears (94) are fixed on the trolley frame (52), the racks (95) are meshed with the corresponding gears (94), and the air cylinder (91) is communicated with an external air pressure control system through an air path.

9. The chain-driven parallel distributed suction cup gripper automatic unstacking robot as claimed in claim 5, characterized in that: the tensioning device is characterized by further comprising a tensioning wheel (10), wherein the tensioning wheel (10) is installed at the bottom end of the trolley frame (52), and the tensioning wheel (10) is in transmission connection with the second chain (74).

10. The chain-driven parallel distributed suction cup gripper automatic unstacking robot as claimed in claim 7, characterized in that: a cushion pad (11) is arranged between the position determination plate (84) and the sucker mounting plate (81).