CN113772403B - Apparatus for removing articles from a container - Google Patents
Apparatus for removing articles from a container Download PDFInfo
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- CN113772403B CN113772403B CN202010732212.4A CN202010732212A CN113772403B CN 113772403 B CN113772403 B CN 113772403B CN 202010732212 A CN202010732212 A CN 202010732212A CN 113772403 B CN113772403 B CN 113772403B
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- rotating shaft
- rotating
- container
- driving device
- rotation
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
Abstract
Embodiments of the present disclosure disclose an apparatus for removing items from a container. One embodiment of the apparatus for removing items from a container includes: transport subassembly and base, transport subassembly includes: the clamping device comprises a first rotating part, a second rotating part and a clamping part; the first rotating part comprises a mounting seat, a first rotating shaft and a first rotating driving device for driving the first rotating shaft to rotate, and the bottom of the mounting seat is fixedly connected with the base; the second rotating part comprises a second rotating shaft and a rotating platform, and the second rotating shaft is rotatably connected to the rotating platform; the rotating platform is fixedly connected with the first rotating shaft and is driven by the first rotating shaft to rotate around the first rotating shaft; the clamping part comprises a clamping claw and a second rotation driving device, one end of the second rotation driving device is fixedly arranged on the rotation platform, and the other end of the second rotation driving device is fixedly connected with the clamping claw so as to push the clamping claw to rotate around a second rotating shaft in a vertical plane. The articles in the container can be automatically removed, so that the working strength of workers is reduced, and the working efficiency is improved.
Description
Technical Field
Embodiments of the present disclosure relate to the field of machinery, and more particularly to the field of intelligent warehousing, and in particular to an apparatus for removing items from a container.
Background
When the fresh goods are purchased on line and delivered, the fresh goods are required to be put into an insulation box with an ice plate for preservation. After the delivery is finished, the staff returns the insulation box and the ice plates in the insulation box to the warehouse for recycling.
In the related art, after the incubator returns to a warehouse, the ice plates in the incubator are manually removed and recovered, and the incubator is subjected to centralized treatment and then used next time.
Disclosure of Invention
Embodiments of the present disclosure provide an apparatus for removing items from a container.
In a first aspect, embodiments of the present disclosure provide an apparatus for removing items from a container, comprising: the transport subassembly and be used for bearing the base of transport subassembly, wherein, the transport subassembly includes: the clamping device comprises a first rotating part, a second rotating part and a clamping part; the first rotating part comprises a mounting seat, a first rotating shaft and a first rotating driving device for driving the first rotating shaft to rotate, and the bottom of the mounting seat is fixedly connected with the base; the first rotating shaft and the first rotating driving device are fixedly arranged on the mounting seat; the second rotating part comprises a second rotating shaft and a rotating platform, the second rotating shaft is rotatably connected to the rotating platform, and the axial direction of the second rotating shaft is perpendicular to the axial direction of the first rotating shaft; the rotating platform is fixedly connected with the first rotating shaft and is driven by the first rotating shaft to rotate around the first rotating shaft; the clamping part comprises a clamping claw and a second rotation driving device, one end of the clamping claw is used for clamping the open container, and the other end of the clamping claw is fixedly connected with the second rotating shaft; one end of the second rotation driving device is fixedly arranged on the rotation platform, and the other end of the second rotation driving device is fixedly connected with the clamping claw so as to push the clamping claw to rotate around the second rotating shaft in a vertical plane; when the clamping claw clamps the open container, the second rotation driving device pushes the clamping part to rotate around the second rotating shaft to a preset position, and the first rotation driving device drives the first rotating shaft to drive the rotating platform and the clamping part to rotate so that the opening direction of the open container is downward.
In some embodiments, the base includes a rotating portion including an outer race and a fixedly disposed inner race; the outer ring is of a circular ring structure capable of rotating relative to the inner ring, and is fixedly connected with the mounting seat; the rotary driving device is used for driving the outer ring to rotate around the vertical direction so as to drive the carrying assembly to move circumferentially in the horizontal plane.
In some embodiments, a rack is circumferentially arranged on the outer ring surface of the outer ring; the rotary driving device comprises a transmission gear and a speed reducing motor, and the transmission gear is meshed with the toothed rail; the gear motor is fixedly connected with the base and is configured to drive the transmission gear to rotate so as to drive the outer ring to rotate.
In some embodiments, the gripper jaw includes a fixed portion, a linear motion assembly, a movable portion, and a gripper drive; the fixed part is fixedly connected with the second rotating shaft; the linear motion assembly comprises a sliding block and a linear guide rail fixed on the fixed part, the sliding block is fixedly connected with the movable part, and the linear guide rail is perpendicular to the first rotating shaft; the clamping driving device is connected with the sliding block and is configured to drive the sliding block to move along the linear guide rail so as to drive the movable part to be close to or far away from the fixed part, so that the open container can be clamped or loosened.
In some embodiments, the fixing portion includes a first fixing plate and a second fixing plate, one end of the first fixing plate is fixedly connected with the first rotating shaft, and the other end of the first fixing plate is fixedly connected with the second fixing plate to form a first right angle structure; the upper surface of the first fixed flat plate is fixedly connected with the linear guide rail; the movable part comprises a first movable flat plate and a second movable flat plate, the first movable flat plate and the second movable flat plate are connected into a second right-angle structure, the first movable flat plate is parallel to the first fixed flat plate, and the lower surface of the first movable flat plate is fixedly connected with the sliding block; the first right-angle structure and the second right-angle structure are arranged in parallel, and when the clamping claw clamps the open container, the second fixed flat plate and the second movable flat plate apply opposite pressing force to the side wall of the open container.
In some embodiments, the second rotation driving device includes a jacking cylinder, one end of which is connected to the lower surface of the first fixed plate, and the other end of which is connected to the rotation platform.
In some embodiments, the plurality of carrying assemblies is uniformly distributed on the outer ring in the circumferential direction.
In a second aspect, embodiments of the present disclosure also provide a method for removing an article in a container, an apparatus for removing an article in a container as described above, the method comprising: in response to detecting that the open container to be clamped exists at the first preset position, sending a clamping signal to a clamping driving device, and driving a clamping part to clamp the open container; sending a first rotation signal to a second rotation driving device, driving the clamping part to rotate a first preset angle in a first rotation direction, and lifting the open container from a first preset position; sending a first rotation signal to a rotation driving device, driving a carrying assembly to circumferentially rotate by a second preset angle, and carrying the open container to a second preset position; and sending a second rotation signal to the first rotation driving device, and driving the first rotating shaft to rotate by a third preset angle in a second rotation direction so as to drive the rotating part and the clamping part to rotate, so that the opening direction of the open container is adjusted to be downward at a second preset position.
In some embodiments, after the first shaft rotates a third predetermined angle in the second rotation direction, the method further comprises: transmitting a third rotation signal to the first rotation driving device, and driving the first rotating shaft to rotate by a third preset angle in a direction opposite to the second rotation direction; sending a second rotation signal to the rotation driving device to drive the carrying assembly to circumferentially rotate by a fourth preset angle; transmitting a fourth rotation signal to the second rotation driving device, driving the clamping part to rotate a first preset angle in a direction opposite to the first rotation direction, and placing the open container at a third preset position; sending an open signal to the clamp actuation means such that the clamp portion releases the open container.
In a third aspect, embodiments of the present disclosure also provide a system for removing items from a container, comprising: a first conveying apparatus, a storage apparatus, a second conveying apparatus, and the apparatus for removing articles from a container described above, wherein the first conveying apparatus, the storage apparatus, and the second conveying apparatus are disposed around the apparatus for removing articles from a container; a first conveying device for conveying the open containers to a gripping area of the device for removing articles from the containers; the device for removing the articles in the container is used for pouring the articles in the open container into the storage device and carrying the empty container to the second conveying device; the second conveying device is used for conveying the empty container to a designated position.
According to the equipment for removing the objects in the container, the first rotating part and the second rotating part are used for adjusting the gesture of the clamped open container, so that the objects in the container can be automatically removed, the working strength of workers is reduced, and the working efficiency is improved.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings:
FIG. 1 is a schematic structural view of a handling assembly of one embodiment of an apparatus for removing items from a container of the present disclosure;
FIG. 2 is a general structural schematic diagram of one embodiment of the apparatus of the present disclosure for removing items from a container;
fig. 3 is a flow diagram of one embodiment of a method of an apparatus for removing items from a container of the present disclosure.
FIG. 4 is a general structural schematic diagram of one embodiment of a system of removing items from a container of the present disclosure;
reference numerals: 1-means for removing the articles from the container; 2-a first conveying device; 3-storing the device; 4-a second conveying device;
10-handling assembly; 20-a base; 30-an open container;
110-a first rotating part; 120-a second rotating part; 130-a clamping portion; 131-clamping jaws; 132-a second rotational drive; 210-a rotating part; 220-a rotary drive;
1110-a mount; 1120—a first spindle; 1130-first rotary drive means; 1210-rotating a platform; 1220-second spindle; 1310-a movable part; 1320—a fixing portion; 1330-a linear motion assembly; 1340-grip drive; 2110-outer ring; 2120-inner ring; 2130-toothed rail.
Detailed Description
The present disclosure is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Embodiments of the present disclosure provide an apparatus for removing items from a container, comprising: referring to fig. 1, fig. 1 shows a schematic structural view of a handling assembly of an embodiment of an apparatus for removing articles from a container of the present disclosure, with reference to the handling assembly 10 and a base (not shown in fig. 1) for carrying the handling assembly 10. As shown in fig. 1, the handling assembly 10 includes: a first rotating portion 110, a second rotating portion 120, and a clamping portion 130; the first rotating part 110 comprises a mounting seat 1110, a second rotating shaft 1220 and a first rotating driving device 1130 for driving the second rotating shaft 1220 to rotate, and the bottom of the mounting seat 1110 is fixedly connected with the base 20; the second rotating shaft 1220 and the first rotating driving device 1130 are fixedly arranged on the mounting seat 1110; the second rotating part 120 includes a second rotating shaft 1220 and a rotating platform 1210, the second rotating shaft 1220 is rotatably connected to the rotating platform 1210, and an axial direction of the second rotating shaft 1220 is perpendicular to an axial direction of the second rotating shaft 1220; the rotating platform 1210 is fixedly connected with the second rotating shaft 1220, and is driven by the second rotating shaft 1220 to rotate around the second rotating shaft 1220; the clamping part 130 comprises a clamping claw 131 and a second rotation driving device 132, wherein one end of the clamping claw 131 is used for clamping the open container 30, and the other end of the clamping claw 131 is fixedly connected with a second rotating shaft 1220; one end of the second rotation driving device 132 is fixedly arranged on the rotation platform 1210, and the other end of the second rotation driving device is fixedly connected with the clamping claw 131 so as to push the clamping claw 131 to rotate around the second rotation shaft 1220 in a vertical plane; when the gripping claws 131 grip the open container 30, the second rotation driving device 132 pushes the gripping portion 130 to rotate around the second rotation shaft 1220 to a predetermined position, and the first rotation driving device 1130 drives the second rotation shaft 1220 to rotate the rotation platform 1210 and the gripping portion 130 so as to make the opening direction of the open container 30 downward.
In this embodiment, the carrying assembly 10 can adjust the attitude of the open container 30 based on two degrees of freedom of spatial rotation, so that the articles in the open container 30 slide out of the open container 30. The rotation of the clamping portion 130 around the second rotating shaft 1220 is achieved by pushing the clamping portion 130 by the second rotation driving device 132, and compared with directly driving the second rotating shaft 1220 to rotate, the driving method in this embodiment can avoid the second rotating shaft 1220 from receiving a torsion moment, which is helpful for improving the service life of the second rotating shaft 1220 and improving the reaction speed of the apparatus.
In a specific application scenario, when a worker distributes fresh products, the worker needs to put the ice plates in the heat preservation box to play a role in preserving freshness, after the distribution is finished, the heat preservation box needs to be returned to a warehouse, the ice plates in the heat preservation box are poured out, and then the heat preservation box and the ice plates are respectively stored. In this example of the scenario, the incubator with the ice boards stored therein may be transported by an operator or an item transport apparatus to a work area of the apparatus that removes items in the container; the clamping claw 131 of the apparatus for removing the articles in the container clamps the incubator (for example, may clamp one side wall of the incubator), and the second rotation driving device 132 pushes the clamping portion 130 to rotate around the second rotation shaft 1220 in the first vertical plane, so that the bottom surface of the incubator is suspended; then, the first rotation driving device 1130 drives the second rotation shaft 1120 to rotate, so as to drive the rotation platform 1210 fixedly connected with the second rotation shaft 1120, the clamping claws 131 fixedly connected with the rotation platform 1210, and the incubator clamped by the clamping claws 131 to rotate (for example, 180 °) in the second vertical plane, and adjust the opening direction of the incubator to a downward direction, so that the ice board in the incubator slides out from the incubator.
It will be appreciated that the first rotation axis 1120 and the second rotation axis 1220 in this embodiment are perpendicular, and thus, the first vertical plane and the second vertical plane are perpendicular. Taking the posture of the incubator in the above example as an example, the rotation about the second rotation axis 1220 is a turning motion, the rotation about the second rotation axis 1120 is a lateral turning motion, the turning motion simultaneously changes the posture and the spatial position of the held incubator, and the lateral turning motion only changes the posture of the incubator, and does not change the spatial position of the incubator.
In this embodiment, the device for removing the objects in the container adjusts the gesture of the clamped open container 30 through the first rotating part 110 and the second rotating part 120, so that the objects in the container can be automatically removed, the working strength of the staff is reduced, and the working efficiency is improved.
Referring next to fig. 2, fig. 2 illustrates a general structural schematic of one embodiment of the removal of articles within a container provided by the present disclosure. In the embodiment shown in fig. 2, the base 20 includes a rotating portion 210 and a rotation driving device 220, the rotating portion 210 including an outer ring 2110 and a fixedly disposed inner ring 2120; outer ring 2110 has a circular structure which can rotate relative to inner ring 2120, and outer ring 2110 is fixedly connected with mounting seat 1110; the rotation driving device 220 is used for driving the outer ring 2110 to rotate around the vertical direction so as to drive the carrying assembly 10 to move circumferentially in the horizontal plane.
In the embodiment, the rotating portion 210 of the base 20 drives the carrying assembly 10 to move circumferentially in the horizontal plane, which is helpful to enlarge the working area of the apparatus for removing the objects in the container, thereby improving the working efficiency. For example, when there is a deviation in the placement position of the open container 30 of the object to be removed from the gripping area of the gripper 131, the circumferential position of the handling assembly 10 may be adjusted so that the gripper 131 can smoothly grip the open container 30. For another example, by adjusting the circumferential position of the handling assembly 10, the pour position of the articles within the container may be selected according to actual needs.
In one particular application scenario, inner race 2120 and outer race 2110 may be coupled through a circular slide rail, and outer race 2110 may be coupled to a drive motor through a belt drive. An apparatus for storing items within a container (which may be, for example, an upwardly open containment frame) may be provided around the base 20. After the clamping part 130 clamps the open container 30, the second rotation driving device 132 pushes the clamping part 130 to rotate around the second rotating shaft 1220, so that the bottom surface of the open container 30 is suspended, then the rotation driving device 220 drives the outer ring 2110 to rotate, drives the carrying assembly 10 to move circumferentially in the horizontal plane, and after the carrying assembly reaches the position above the device for storing the objects in the container, the second rotation driving device 132 drives the second rotating shaft 1220 to rotate, so that the objects in the open container 30 are poured into the device for storing the objects in the container.
In some alternative implementations of the present embodiment, the rotating portion 210 may have the following structure: the outer ring surface of the outer ring 2110 is provided with a toothed rail 2130 in a surrounding manner; the rotation driving device 220 includes a transmission gear and a gear motor, the transmission gear being engaged with the rack 2130; the gear motor is fixedly connected with the base 20 and is configured to drive the transmission gear to rotate so as to drive the outer ring 2110 to rotate. The gear meshing transmission has the characteristics of large application range, higher transmission efficiency, long service life, stable transmission, high reliability, capability of ensuring constant instantaneous transmission ratio and the like, and is beneficial to improving the performance and the working efficiency of equipment.
In some alternative implementations of the present embodiment, the clamping jaw 131 includes a stationary portion 1320, a linear motion assembly 1330, a movable portion 1310, and a clamping drive 1340; the fixing part 1320 is fixedly connected with the second rotation shaft 1220; the linear motion assembly 1330 includes a slider fixedly connected to the movable portion 1310 and a linear guide fixed to the fixed portion 1320, the linear guide being perpendicular to the second rotation shaft 1120; the clamping driving device 1340 is connected to the slider and configured to drive the slider to move along the linear guide rail to drive the movable portion 1310 to approach or separate from the fixed portion 1320, so as to clamp or unclamp the open container 30.
In the present embodiment, the fixing portion 1320 of the gripper jaw 131 is connected to the second rotation driving device 132, so that the driving force generated by the second rotation driving device 132 can directly act on the gripper jaw 131, which contributes to improving the reaction speed of the rotation operation of the gripper jaw 131.
Further, the fixing portion 1320 includes a first fixing plate and a second fixing plate, a first side wall of the first fixing plate is fixedly connected with the second rotating shaft 1120, and a second side wall opposite to the first side wall is fixedly connected with a plate surface of the second fixing plate, so as to form a first right angle structure; the upper surface of the first fixed flat plate is fixedly connected with the linear guide rail; the movable part 1310 comprises a first movable flat plate and a second movable flat plate, the first movable flat plate and the second movable flat plate are connected into a second right-angle structure, the first movable flat plate is parallel to the first fixed flat plate, and the lower surface of the first movable flat plate is fixedly connected with the sliding block; the first right angle structure is disposed in parallel with the second right angle structure, and when the clamping claws 131 clamp the open container 30, the second fixed flat plate and the second movable flat plate apply opposing pressing forces to the side walls of the open container 30.
In this embodiment, the upper surface of the first fixed plate is a surface opposite to the first movable plate, and the surface may be used as a mounting surface, and the linear motion assembly 1330 and the clamping driving device 1340 are fixedly disposed. The clamping claw 131 adopts a rectangular flat plate structure, so that the contact area between the clamping claw 131 and the side wall of the open container 30 can be increased, and the clamping capability of the clamping claw 131 can be improved.
As an example, the clamping driving device 1340 may be a cylinder, and the end of the piston rod of the cylinder is fixedly connected with the slider; the second rotation driving device 132 may be a push rod motor, one end of which is rotatably disposed at a side of the rotation platform 1210, and the end of the push rod is rotatably connected to the lower surface of the first fixing plate, and the pushing force generated by the push rod motor drives the clamping jaw 131 to rotate around the second rotation shaft 1220.
Optionally, the second rotation driving device 132 includes a jacking cylinder, one end of which is connected to the lower surface of the first fixed plate, and the other end of which is connected to the rotation platform 1210. The lifting cylinder is adopted as a driving device, so that the structure can be simplified.
With continued reference to fig. 2, in the embodiment shown in fig. 2, the carrier assembly 10 is a plurality of carrier assemblies 10, the plurality of carrier assemblies 10 being circumferentially evenly distributed on the outer race 2110.
In one specific application scenario, 4 handling assemblies 10 are provided on the apparatus for removing articles from a container, and are evenly distributed on the base 20 along the circumferential direction. Each handling assembly 10 may correspond to an article transport apparatus and an article storage apparatus such that each handling assembly 10 may independently perform the task of removing articles from a container.
In this embodiment, the plurality of handling assemblies 10 can process the objects in the plurality of containers simultaneously, and are independent of each other, so that the working efficiency of the apparatus can be further improved.
Referring next to fig. 3, fig. 3 shows a schematic flow chart of one embodiment of a method for removing items in a container provided by an embodiment of the present disclosure, as shown in fig. 3, the method comprising the steps of:
s101, responding to the fact that an open container to be clamped exists at a first preset position, sending a clamping signal to a clamping driving device, and driving a clamping part to clamp the open container.
In this embodiment, the first preset position is used to characterize the placement position of the open container of the article to be removed, and may be, for example, the storage position of the open container on the conveying device. As an example, a sensor may be provided at a first preset position for detecting whether an open container is present at the first preset position.
S102, sending a first rotation signal to the second rotation driving device, driving the clamping part to rotate by a first preset angle in a first rotation direction, and lifting the open container from the first preset position.
In this embodiment, the first preset angle may be determined according to the height of the open container and the rotation radius of the clamping portion, so that after the clamping portion rotates by the first preset angle, the bottom surface of the open container is suspended.
S103, sending a first rotation signal to the rotation driving device, driving the carrying assembly to circumferentially rotate by a second preset angle, and carrying the open container to a second preset position.
In this embodiment, the second predetermined position is used to indicate the position of the article in the container to be removed, and the accommodating frame with the upward opening may be placed below the second predetermined position for accessing and storing the article removed from the open container.
S104, sending a second rotation signal to the first rotation driving device, driving the second rotating shaft 1120 to rotate a third preset angle in a second rotation direction, so as to drive the second rotating part and the clamping part to rotate, and adjusting the opening direction of the opening container to be downward at a second preset position.
In this embodiment, the third preset angle may be preset according to actual requirements, for example, may be 180 ° or may be greater than 180 °, so that after the second rotating shaft drives the rotating portion and the clamping portion to rotate, the open container may adjust the opening direction to a downward direction at the second preset position, so that the objects in the container are poured into the storage device below the second preset position, and the process of removing the objects in the container is completed.
According to the method for removing the objects in the container, provided by the embodiment of the invention, the objects in the container can be automatically removed to the designated position by controlling each action of the device for removing the objects in the container, so that the labor cost is reduced, and the working efficiency is improved.
In some optional implementations of this embodiment, after the second rotating shaft rotates a third preset angle in the second rotating direction, the method may further include the steps of:
first, a third rotation signal is sent to the first rotation driving device, and the second rotation shaft is driven to rotate by a third preset angle in a direction opposite to the second rotation direction, so that the opening direction of the open container is adjusted to be upward.
And then, sending a second rotation signal to the rotation driving device to drive the carrying assembly to circumferentially rotate by a fourth preset angle. In this embodiment, the fourth predetermined angle may be adapted to the storage position of the empty container, for example, above the transport device of the empty container.
And then, sending a fourth rotation signal to the second rotation driving device, driving the clamping part to rotate by a first preset angle in a direction opposite to the first rotation direction, and placing the open container at a third preset position. In this embodiment, the third preset position is used to characterize the storage position of the empty container, for example, it may be a storage device with an upward opening, or may be a conveyor belt of a conveying device, so that the empty container is conveyed to another position later.
Finally, an open signal is sent to the clamp actuation means such that the clamp portion releases the open container.
In the implementation manner, the empty container after the objects are removed can be carried to the designated position through the steps, so that cooperation between equipment for removing the objects in the container and other equipment is realized, and further improvement of working efficiency is facilitated.
Referring next to fig. 4, fig. 4 shows a schematic structural view of one embodiment of a system for removing items from a container provided by an embodiment of the present disclosure, as shown in fig. 4, the system comprising: a first conveying device 2, a storage device 3, a second conveying device 4 and the above-described device 1 for removing objects in containers, wherein the first conveying device 2, the storage device 3 and the second conveying device 4 are arranged around the device 1 for removing objects in containers; the first conveying device 2 is used for conveying the open container to a clamping area of the device 1 for removing the objects in the container; the device 1 for removing articles from containers is used for pouring articles from open containers into a storage device 3 and for transporting empty containers to a second transport device 4; the second conveying device 4 is used for conveying the empty containers to a specified position.
In a specific application scenario, the apparatus 1 for removing objects in a container includes 4 handling assemblies uniformly distributed on a base in a circumferential direction, wherein 3 handling assemblies respectively correspond to the first conveying apparatus 2, the object storing apparatus 3 and the second conveying apparatus 4, and another handling assembly is standby for preventing malfunction from causing the work flow of the system to be blocked. At a certain moment, the first carrying assembly clamps the open container at the first conveying equipment 2, the second carrying assembly adjusts the posture of the open container above the article storage equipment 3, the third carrying assembly places the empty container at the second conveying equipment 4, and the fourth carrying assembly is empty. After the preset time, the corresponding actions of the carrying assemblies are completed, and the rotating part of the device for removing the objects in the container is rotated clockwise by 90 degrees, so that the first carrying assembly moves to the object storage position 3 circumferentially to pour the objects in the container into the object storage device 3; the second handling assembly moves circumferentially to the second conveyor apparatus 4 to place the empty containers on the second conveyor apparatus 4; the third carrying assembly is empty; the fourth handling assembly then moves circumferentially to the first conveyor apparatus 2 to grip the open container of articles to be removed. The cyclic operation can realize the simultaneous operation of 3 groups of carrying components, so that the working efficiency can be further improved.
In this embodiment, the system for removing the objects in the container can automatically complete the removal of the objects in the container and the carrying of the empty container, which is helpful to improve the automation degree and the working efficiency of the production process.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (10)
1. An apparatus for removing items from a container, comprising a handling assembly and a base for carrying the handling assembly, wherein,
the handling assembly includes: the clamping device comprises a first rotating part, a second rotating part and a clamping part;
the first rotating part comprises a mounting seat, a first rotating shaft and a first rotating driving device for driving the first rotating shaft to rotate, and the bottom of the mounting seat is fixedly connected with the base; the first rotating shaft and the first rotating driving device are fixedly arranged on the mounting seat;
the second rotating part comprises a second rotating shaft and a rotating platform, the second rotating shaft is rotatably connected to the rotating platform, the rotating platform is in a flat plate shape, and the axial direction of the second rotating shaft is perpendicular to the axial direction of the first rotating shaft; the rotating platform is fixedly connected with the first rotating shaft and is driven by the first rotating shaft to rotate around the first rotating shaft;
the clamping part comprises a clamping claw and a second rotation driving device, one end of the clamping claw is used for clamping the open container, and the other end of the clamping claw is fixedly connected with the second rotating shaft; one end of the second rotation driving device is fixedly arranged on the rotation platform, and the other end of the second rotation driving device is fixedly connected with the clamping claw so as to push the clamping claw to rotate around the second rotating shaft in a vertical plane;
after the clamping claw clamps the open container, the second rotation driving device pushes the clamping part to rotate around the second rotating shaft to a preset position, and the first rotation driving device drives the first rotating shaft to drive the rotating platform and the clamping part to rotate so that the opening direction of the open container is downward.
2. The apparatus of claim 1, wherein the base comprises a rotating portion and a rotational drive, the rotating portion comprising an outer race and a fixedly disposed inner race;
the outer ring is of a circular ring structure capable of rotating relative to the inner ring, and is fixedly connected with the mounting seat;
the rotary driving device is used for driving the outer ring to rotate around the vertical direction so as to drive the carrying assembly to move circumferentially in the horizontal plane.
3. The apparatus of claim 2, wherein a rack is circumferentially disposed on an outer annulus of the outer race;
the rotary driving device comprises a transmission gear and a gear motor, and the transmission gear is meshed with the toothed rail; the gear motor is fixedly connected with the base and is configured to drive the transmission gear to rotate so as to drive the outer ring to rotate.
4. The apparatus of claim 3, wherein the gripper jaw comprises a stationary portion, a linear motion assembly, a movable portion, and a gripper drive;
the fixed part is fixedly connected with the second rotating shaft;
the linear motion assembly comprises a sliding block and a linear guide rail fixed on the fixed part, the sliding block is fixedly connected with the movable part, and the linear guide rail is perpendicular to the first rotating shaft;
the clamping driving device is connected with the sliding block and is configured to drive the sliding block to move along the linear guide rail so as to drive the movable part to be close to or far away from the fixed part, so that the open container can be clamped or loosened.
5. The apparatus of claim 4, wherein the fixing portion comprises a first fixing plate and a second fixing plate, one end of the first fixing plate is fixedly connected with the first rotating shaft, and the other end of the first fixing plate is fixedly connected with the second fixing plate to form a first right angle structure; the upper surface of the first fixed flat plate is fixedly connected with the linear guide rail;
the movable part comprises a first movable flat plate and a second movable flat plate, the first movable flat plate and the second movable flat plate are connected into a second right-angle structure, the first movable flat plate is parallel to the first fixed flat plate, and the lower surface of the first movable flat plate is fixedly connected with the sliding block; the first right-angle structure is parallel to the second right-angle structure, and when the clamping claws clamp the open container, the second fixed flat plate and the second movable flat plate apply opposite pressing force to the side wall of the open container.
6. The apparatus of claim 5, wherein the second rotation driving means comprises a jacking cylinder having one end connected to a lower surface of the first stationary plate and the other end connected to the rotation platform.
7. The apparatus of one of claims 4 to 6, wherein the handling assemblies are a plurality, the plurality of handling assemblies being circumferentially evenly distributed on the outer race.
8. A method for removing items from a container, apparatus for removing items from a container as claimed in claim 7, comprising:
in response to detecting that an open container to be clamped exists at a first preset position, sending a clamping signal to the clamping driving device, and driving the clamping part to clamp the open container;
sending a first rotation signal to the second rotation driving device, driving the clamping part to rotate a first preset angle in a first rotation direction, and lifting the open container from the first preset position;
sending a first rotation signal to the rotation driving device, driving the carrying assembly to circumferentially rotate by a second preset angle, and carrying the open container to a second preset position;
and sending a second rotation signal to the first rotation driving device, and driving the first rotating shaft to rotate by a third preset angle in a second rotation direction so as to drive the rotating part and the clamping part to rotate, so that the opening direction of the open container is adjusted to be downward at the second preset position.
9. The method of claim 8, the method further comprising, after the first shaft rotates a third predetermined angle in the second rotational direction:
transmitting a third rotation signal to the first rotation driving device, and driving the first rotating shaft to rotate by a third preset angle in a direction opposite to the second rotation direction;
sending a second rotation signal to the rotation driving device to drive the carrying assembly to circumferentially rotate by a fourth preset angle;
transmitting a fourth rotation signal to the second rotation driving device, driving the clamping part to rotate by a first preset angle in a direction opposite to the first rotation direction, and placing the open container at a third preset position;
sending an open signal to the clamp actuation device such that the clamp portion releases the open container.
10. A system for removing items from a container, comprising: a first conveying apparatus, a storage apparatus, a second conveying apparatus, and an apparatus for removing articles from a container according to any one of claims 1-7, wherein,
the first conveying means, the storage means and the second conveying means are arranged around the means for removing articles from containers;
the first conveying device is used for conveying the open container to a clamping area of a device for removing objects in the container;
the apparatus for removing articles from containers is for pouring articles from the open containers into the storage apparatus and for handling empty containers to the second conveying apparatus;
the second conveying device is used for conveying the empty container to a designated position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010732212.4A CN113772403B (en) | 2020-07-27 | 2020-07-27 | Apparatus for removing articles from a container |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010732212.4A CN113772403B (en) | 2020-07-27 | 2020-07-27 | Apparatus for removing articles from a container |
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| CN113772403B true CN113772403B (en) | 2023-05-30 |
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| JP5717007B2 (en) * | 2012-11-19 | 2015-05-13 | 株式会社安川電機 | Robot system, robot hand, robot |
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| FR2391131A1 (en) * | 1977-05-20 | 1978-12-15 | Matra | Automatic postal parcels sorter - has turntable with work heads which orientate parcels enabling reading of labels |
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| CN113772403A (en) | 2021-12-10 |
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