CN114084690A

CN114084690A - Multilayer material frame unstacker and material frame conveying method of multilayer material frame unstacker

Info

Publication number: CN114084690A
Application number: CN202010855101.2A
Authority: CN
Inventors: 林金樑
Original assignee: Shanghai Junyi Industrial Automation Co Ltd
Current assignee: Shanghai Junyi Industrial Automation Co Ltd
Priority date: 2020-08-24
Filing date: 2020-08-24
Publication date: 2022-02-25

Abstract

The embodiment of the invention relates to a carrying device, in particular to a multilayer material frame unstacker and a material frame carrying method of the multilayer material frame unstacker, wherein the multilayer material frame unstacker comprises the following components: the device comprises a feeding conveying line, a discharging conveying line, a support, a sliding table mechanism, a first driving device, a second driving device, a clamping mechanism and main control equipment; this support includes: the device comprises a fixed frame and a plurality of stand columns for supporting the fixed frame, wherein the fixed frame is arranged above a feeding conveying line and a discharging conveying line, and two opposite sides of the fixed frame along the conveying direction of the feeding conveying line or the discharging conveying line are provided with cross beams; the slip table mechanism specifically includes: the sliding table comprises a supporting plate and a sliding table body which is arranged below the supporting plate and is opposite to the supporting plate, wherein the supporting plate can slide along the length direction of the cross beam; the first driving device drives the supporting plate to slide along the length direction of the cross beam, and the second driving device drives the sliding table body to vertically move relative to the supporting plate. Compared with the prior art, the efficiency of material frame transport and material is greatly improved.

Description

Multilayer material frame unstacker and material frame conveying method of multilayer material frame unstacker

Technical Field

The embodiment of the invention relates to a carrying device, in particular to a multilayer material frame unstacker and a material frame carrying method of the multilayer material frame unstacker.

Background

At present, with the arrival of the 4.0 era of industry, the requirement on the intelligent level of the manufacturing industry is higher and higher, so in order to enable the manufacturing industry to reach the intelligent level, improve the working efficiency and reduce the labor cost, the manufacturing equipment in each link in the manufacturing industry needs to be upgraded and modified, especially the transmission equipment in the streamlined production process.

However, in the prior art, especially in an automated assembly line process, such as an assembly process of some equipment, materials or parts of the same batch are generally placed in the same material frame, so as to carry the materials from one station to another station for transportation, but since the materials are transported by a trolley, the material or the product parts are generally placed in the material frame in a conventional material taking operation, and each time the materials or the product parts are carried by a manual method, the assembly and transportation efficiency is obviously affected. Of course, some self-animation equipment can transport the material frames at present, but generally only one material frame can be transported from the point a to the point B at a time, and the material handling efficiency is still low.

Disclosure of Invention

The embodiment of the invention aims to provide a multilayer material frame unstacker and a material frame conveying method of the multilayer material frame unstacker, which can finish conveying a plurality of material frames and recycling empty material frames at one time and greatly improve the efficiency of conveying and taking the material frames.

In order to solve the above technical problem, an embodiment of the present invention provides a multi-layer material frame unstacker, including:

a feeding conveying line and a discharging conveying line; the feeding conveying line is positioned on one side of the discharging conveying line, and the conveying direction of the feeding conveying line is parallel to that of the discharging conveying line;

a stent, comprising: the fixed frame is arranged above the feeding conveying line and the discharging conveying line, and two opposite sides of the fixed frame along the conveying direction of the feeding conveying line or the discharging conveying line are provided with cross beams;

slip table mechanism includes: the sliding table comprises supporting plates arranged on the two cross beams in a spanning mode, and a sliding table body arranged below the supporting plates and opposite to the supporting plates;

the first driving device is arranged on the fixed frame, connected with the supporting plate and used for driving the supporting plate to slide along the opposite direction of the feeding conveying line and the discharging conveying line;

the second driving device is arranged on the supporting plate, is connected with the sliding table body and drives the sliding table body to move relative to the supporting plate;

the clamping mechanism is arranged on the sliding table body, is used for clamping the material frame after the supporting plate slides to the first position to be positioned of the fixed frame, and is also used for loosening the material frame after the supporting plate slides to the second position to be positioned of the fixed frame; the first position to be fixed and the second position to be fixed are opposite to each other along the sliding direction of the supporting plate;

and the main control equipment is in communication connection with the first driving device, the second driving device, the clamping mechanism, the feeding conveying line and the discharging conveying line respectively.

In addition, an embodiment of the present invention further provides a material frame conveying method of the multilayer material frame unstacker, including the following steps:

judging whether the material is in the uppermost material frame of the material frame stack conveyed to the preset position by the feeding conveying line or not;

if the material frame on the uppermost layer of the material frame stack is judged to have no material, continuously judging whether the supporting plate of the sliding table mechanism is located at the first position to be set of the fixed frame;

if the supporting plate is judged not to be located at the first position to be located, controlling the first driving device to enable the first driving device to drive the supporting plate to slide towards the first position to be located of the fixed frame;

if the support plate is judged to be positioned at the first pending position, controlling the second driving device to enable the second driving device to drive the sliding table body to move towards the direction far away from the support plate;

after the sliding table body moves to a first designated position in a direction away from the supporting plate, controlling the clamping mechanism to clamp the material frame on the uppermost layer of the material frame stack;

after the clamping mechanism clamps the material frame, the second driving device is controlled to drive the sliding table body to move towards the direction of the supporting plate;

after the sliding table body moves to an initial position in the direction of the supporting plate, controlling the first driving device to enable the first driving device to drive the supporting plate to slide to the second position to be positioned of the fixed frame;

after the supporting plate slides to the second undetermined position of the fixed frame, controlling the second driving device to enable the second driving device to drive the sliding table body to move towards the direction far away from the supporting plate;

after the sliding table body moves to a second designated position in the direction far away from the supporting plate, the clamping mechanism is controlled to release the currently clamped material frame;

after the clamping mechanism loosens the material frame, the second driving device is controlled to drive the sliding table body to move towards the direction of the supporting plate;

after the supporting plate moves to the initial position, detecting the height of the material frame stack on the discharging conveying line, and judging whether the height of the material frame stack meets the conveying requirement;

if the material frame stack is judged to meet the conveying requirement, controlling the discharging conveying line to discharge the current material frame stack;

and if the conveying requirement is not met, sequentially repeating the steps in sequence.

Compared with the prior art, the embodiment of the invention has the advantages that the feeding conveying line is controlled by the main control equipment, so that the feeding conveying line can convey a material frame stack formed by multiple layers of material frames which are stacked in sequence to a preset position to be used by the material taking equipment for taking materials, when the materials in the uppermost layer of material frame are taken, the main control equipment can control the first driving device, the first driving device can drive the supporting plate to slide to a first position to be waited, the clamping mechanism connected with the sliding table body can be located right above the material frame stack, and then the main control equipment can control the second driving device, so that the sliding table body can drive the clamping mechanism to descend to a specified position to meet the clamping requirement of the clamping mechanism on the material frame stack at the uppermost layer. And, after the topmost material frame of material frame buttress is pressed from both sides tightly by fixture, can be with the help of master control equipment to first drive arrangement and second drive arrangement's control once more for fixture can move the material frame that is pressed from both sides tightly at present directly over ejection of compact transfer chain, and finally release through fixture to current material frame, can place the material frame on ejection of compact transfer chain, thereby accomplish the transport to the material frame, from this it is difficult to see, the multilayer material frame unstacker of this embodiment can realize carrying the layer by layer of material frame, consequently can once only realize the transportation and the recovery to the multilayer material frame, thereby very big improvement the efficiency that the material frame carried and the efficiency of getting the material.

In addition, the first driving device includes:

the servo motor is in communication connection with the main control equipment;

the driving wheel is connected with a main shaft of the servo motor;

the driven wheel is arranged opposite to the driving wheel along the sliding direction of the supporting plate;

the transmission belt is wound on the driving wheel and the driven wheel;

the connecting piece is arranged on the transmission belt and connected with the supporting plate.

In addition, the second driving device includes:

the air cylinder is arranged on one side, far away from the sliding table body, of the supporting plate; a piston rod of the air cylinder penetrates through the supporting plate and is connected with the sliding table body; the cylinder is also in communication connection with the main control equipment;

the guide columns penetrate through the supporting plate along the direction perpendicular to the supporting plate and are fixedly connected with the sliding table body; the guide post is connected with the support plate in a sliding mode.

In addition, the guide columns are arranged oppositely in pairs along the sliding direction of the supporting plate;

wherein, all the guide posts positioned on the same side are sequentially connected through connecting blocks.

In addition, the clamping mechanism includes: the driving device drives at least one clamping arm to move relative to the other clamping arm; each said clamp arm includes:

one side of any one of the clamping arm bodies relative to the other clamping arm body is a clamping side, and the clamping arm body extends along the conveying direction of the discharging conveying line or the feeding conveying line;

the clamping arm comprises a clamping arm body, a first clamping component and a second clamping component, wherein the first clamping component and the second clamping component are arranged on the clamping side and are oppositely arranged along the extending direction of the clamping arm body.

In addition, the first clamping member includes:

first stopper set up in the centre gripping side of centre gripping arm body includes: the clamping device comprises a first positioning side and a first limiting side, wherein the first positioning side is arranged to deviate from the clamping side, and the first limiting side is connected with the first positioning side and horizontally extends in a direction perpendicular to the first positioning side;

first swing piece, set up in the upper surface of first stopper, and include: the first longitudinal swing arm and the first transverse swing arm are connected, an included angle is formed between the first longitudinal swing arm and the first transverse swing arm, and the part where the first longitudinal swing arm and the first transverse swing arm are connected is also in rotating connection with the first limiting block;

two first rotating bodies, wherein one first rotating body is arranged at the end part of the first longitudinal swing arm, and the other first rotating body is arranged at the end part of the first transverse swing arm;

the second clamp member includes:

the second stopper set up in the centre gripping side of centre gripping arm body includes: the second limiting side is formed by horizontally extending along a direction perpendicular to the second positioning side;

the second swing piece is arranged on the upper surface of the second limiting block and comprises: the second longitudinal swing arm and the second transverse swing arm are connected with each other, an included angle is formed between the second longitudinal swing arm and the second transverse swing arm, and the part where the second longitudinal swing arm and the second transverse swing arm are connected is also in rotating connection with the second limiting block;

one of the second rotating bodies is arranged at the end part of the second longitudinal swing arm, and the other second rotating body is arranged at the end part of the second transverse swing arm;

the first clamping part and the second clamping part on any clamping arm body are symmetrically arranged along the extending direction of the clamping arm body.

In addition, a first notch is formed on the upper surface of the first limiting block, the first notch extends from the first positioning side to the first limiting side, and the first swinging piece is rotatably arranged in the first notch;

the upper surface of the second limiting block forms a second gap, the second gap extends from the second positioning side to the second limiting side, and the second swinging piece is rotatably arranged in the second gap.

In addition, the first clamping member further includes:

the first limiting shaft is vertically arranged on the first limiting block and is positioned at an included angle of the first longitudinal swing arm and the first transverse swing arm;

the second clamping member further comprises:

and the second limiting shaft is vertically arranged on the second limiting block and is positioned at the included angle of the second longitudinal swing arm and the second transverse swing arm.

In addition, a first limiting protrusion is formed on the upper surface of the first limiting block, and the first swinging piece is arranged on the first limiting protrusion;

the upper surface of the second limiting block forms a second limiting protrusion, and the second swinging piece is arranged on the second limiting protrusion.

Drawings

FIG. 1 is a schematic structural view of a multi-deck material frame unstacker according to a first embodiment of the invention;

FIG. 2 is a schematic structural diagram of a first driving device according to a first embodiment of the present invention;

FIG. 3 is an enlarged view of a portion A of FIG. 1;

FIG. 4 is a schematic structural diagram of a clamping mechanism according to a first embodiment of the present invention;

FIG. 5 is a partial enlarged view of the portion B in FIG. 4;

FIG. 6 is an enlarged view of a portion of FIG. 4 at C;

FIG. 7 is a block diagram of a system for a multi-deck frame unstacker in accordance with a first embodiment of the present invention;

fig. 8 is a block diagram schematically illustrating a flow of a material frame transfer method of a multi-deck material frame unstacker according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.

A first embodiment of the invention relates to a multi-deck material frame unstacker, as shown in fig. 1, comprising: feeding transfer chain 1, ejection of compact transfer chain 2. Wherein, feeding transfer chain 1 is located ejection of compact transfer chain 2's one side to, feeding transfer chain 1's direction of delivery is parallel to each other with ejection of compact transfer chain 2's direction of delivery.

Next, as shown in fig. 1, the multi-deck material frame unstacker of the present embodiment further includes: a support 3, and the support 3 specifically comprises: a fixed frame 31, and a plurality of columns 32 supporting the fixed frame 31. Wherein, this fixed frame sets up in the top of feeding transfer chain 1 and ejection of compact transfer chain 2, and simultaneously, this fixed frame 31 is for crossbeam 311 along the relative both sides of the direction of delivery of feeding transfer chain 1 or ejection of compact transfer chain 2.

Further, as shown in fig. 1 and 3, the multi-deck material frame unstacker of the present embodiment further includes: the slide table mechanism 4, and the slide table mechanism 4 specifically includes: a support plate 41 straddling the two cross beams 311, and a slide table body 42 disposed below the support plate 41 and facing the support plate 41. The supporting plate 41 and the cross beam 311 can be slidably moved along the length direction of the cross beam 311 by the way that the sliding blocks 43 are engaged with the sliding rails 33 between the supporting plate 41 and the cross beam 311.

In addition, as shown in fig. 1, 2, and 3, the multi-deck material frame unstacker of the present embodiment further includes: a first drive means 5 and a second drive means 6. As shown in fig. 3, the first driving device 5 is disposed on the fixed frame 31, and the first driving device 5 is connected to the supporting plate 41 and is used for driving the supporting plate 41 to slide along the length direction of the cross beam 311, that is, the driving supporting plate 41 can slide along the direction opposite to the feeding line 1 and the discharging line 2. Meanwhile, a second driving device 6 is disposed on the support plate 41, and the second driving device 6 is connected to the slide table body 42 and can drive the slide table body 42 to move vertically relative to the support plate 41.

Finally, as shown in fig. 1 and 4, the multi-deck material frame unstacker of the present embodiment further includes: the clamping mechanism 7 is arranged on the sliding table body 42, the clamping mechanism 7 can be used for clamping the material frame 100 after the supporting plate 41 slides to a first undetermined position of the fixed frame 31, and is also used for loosening the material frame 100 after the supporting plate 41 slides to a second undetermined position of the fixed frame 31. Also, in the present embodiment, the first to-be-positioned and the second to-be-positioned are opposed to each other in the sliding direction of the support plate 41.

In order to control the first driving device 5, the second driving device 6, the clamping mechanism 7, the feeding conveyor line 1 and the discharging conveyor line 2, as shown in fig. 7, the multi-layer material frame unstacker of the embodiment further includes: and the main control equipment is in communication connection with the first driving device 5, the second driving device 6, the clamping mechanism 7, the feeding conveying line 1 and the discharging conveying line 2 respectively.

It can be seen from the above that, through the control of the main control device on the feeding conveyor line, the feeding conveyor line 1 can convey the stack of material frames formed by the multiple layers of material frames 100 stacked in sequence to the preset position to allow the material taking device to take the material, when the material in the uppermost layer of material frame 100 is taken out, the main control device can control the first driving device, so that the first driving device 5 can drive the supporting plate 41 to slide to the first position to be waiting, the clamping mechanism 7 connected with the sliding table body 42 can be located right above the stack of material frames, and then the main control device can control the second driving device 6, so that the sliding table body 42 can drive the clamping mechanism 7 to descend to the specified position to meet the clamping requirement of the clamping mechanism 7 on the uppermost layer of material frame stack for the material frame 100. Moreover, after the uppermost material frame 100 of the material frame stack is clamped by the clamping mechanism 7, the first driving device 5 and the second driving device 6 can be controlled by the main control device again, so that the clamping mechanism 7 can move the currently clamped material frame 100 to the position right above the discharging conveying line 1, finally the current material frame 100 is released through the clamping mechanism 7, the material frame 100 can be placed on the discharging conveying line 2, and the conveying of the material frame 100 is completed, therefore, the material frame stacking machine is not difficult to see, the multi-layer material frame stacking machine can carry a plurality of material frames layer by layer, therefore, the multi-layer material frame can be transported and recovered at one time, and the conveying efficiency and the material taking efficiency of the material frame 100 are greatly improved.

Specifically, in the present embodiment, in order to realize the driving of the support plate 41 of the slide table mechanism 4 by the first driving device 5, as shown in fig. 1 and 2, the first driving device 5 includes: a servo motor 51, a driving wheel 52, a driven wheel 53, a transmission belt 54 and a connecting piece (not marked in the figure). The servo motor 51 is in communication connection with the main control device, and the driving wheel 52 is sleeved on the main shaft 511 of the servo motor 51 and is coaxially fixed with the main shaft 511 of the servo motor 52. Meanwhile, the driven pulley 53 is disposed opposite to the driving pulley 52 in the sliding direction of the support plate 41, and the transmission belt 54 is wound around the driving pulley 52 and the driven pulley 53. In order to satisfy the sliding of the support plate 41 on the fixed frame 31, the coupling member 55 is provided on the transmission belt 54 and is fixedly coupled to the support plate 41. It can be seen from this that the servo motor 51 can drive the rotation of the driving wheel 52 under the control of the main control device, so that the transmission belt 54 can drive the supporting plate 41 to slide along the fixing frame 31 through the connecting piece, and the clamping mechanism 7 can be conveyed to the position right above the feeding conveying line 1 or the position right above the discharging conveying line 2.

In addition, in order to satisfy the driving of the slide table body 42 of the slide table mechanism 4 by the second driving device 6, as shown in fig. 1 and 3, the second driving device 6 includes: a cylinder 61 and a plurality of guide posts 62. The cylinder 61 is disposed on a side of the support plate 41 away from the sliding table body 42, a piston rod (not shown) of the cylinder 61 passes through the support plate 41 and is connected to the sliding table body 42, and meanwhile, as shown in fig. 3, the cylinder 51 is further connected to a main control device in a communication manner. Further, each guide post 62 penetrates the support plate 41 in a direction perpendicular to the support plate 41 and is fixedly connected to the slide table body 42, and each guide post 62 is also slidably connected to the support plate 41. Therefore, it is easy to see that the air cylinder 61 can drive the sliding table body 42 to move vertically relative to the supporting plate 41 under the control of the main control device, so that the clamping and carrying work of the clamping mechanism 7 on the material frames 100 in the material frame stack layer by layer can be met, and in the moving process of the sliding table body 42, the linear motion performance and the motion reliability of the sliding table body 42 can be improved by means of the guide columns 62.

Further, in the present embodiment, as shown in fig. 1 and 3, the guide posts 62 are preferably arranged to face each other in pairs along the sliding direction of the support plate 41. Moreover, the guide posts 62 located on the same side are sequentially connected through the connecting block 63, so that a guide support frame can be formed between each guide post 62 on any side of the support plate 41 and the connecting block 63, and the strength of each guide post 62 can be improved by means of the connecting block 63 while the sliding performance of the sliding table body 42 is ensured.

Note that, in the present embodiment, in order to clamp the material frame 100 by the clamping mechanism 7, as shown in fig. 1, 4, 5, and 6, in the present embodiment, the clamping mechanism 7 includes: two clamp arms 71 arranged oppositely in the longitudinal direction of the cross beam 311, and a driving device for driving at least one clamp arm 71 to move relative to the other clamp arm 71. Wherein each gripper arm 71 comprises: a clamp arm body 711, a first clamp part 712, and a second clamp part 713. As shown in fig. 4, one side of any clamping arm body 711 relative to another clamping arm body 711 is a clamping side 7111, and the clamping arm body 711 extends horizontally along the conveying direction of the discharging conveying line 2 or the feeding conveying line 1. Accordingly, as shown in fig. 4, 5, and 6, the first clamping member 712 and the second clamping member 713 are disposed on the clamping side 7111, and the first clamping member 712 and the second clamping member 713 are disposed opposite to each other in the extending direction of the clamping arm body 711, that is, in the present embodiment, as shown in fig. 4, the first clamping member 712 and the second clamping member 713 are disposed at both ends of the clamping arm body 711.

In practical application, as shown in fig. 5 and 6, the upper and lower sides of the clamping arm body 711 are respectively provided with the protection plates 714, and the corresponding protection plates 714 and the sliding table body 42 can be in sliding connection through the matching of the sliding rails 44 and the sliding blocks 715, so that the whole clamping arm 71 can slide along the length direction of the cross beam 311, and the transverse position of the clamping arm 71 on the sliding table body 42 can be adjusted according to the size of the material frame 100 to be clamped. Meanwhile, in order to realize the relative movement between the two clamping arm bodies 711, as shown in fig. 4, at least one of the clamping arm bodies 711 and the protective plate 714 may be connected in a rotating manner, and the driving device is an air cylinder 72 disposed at the bottom of the slider 715, and a piston rod (not shown) of the air cylinder 72 is connected to an end of the clamping arm body 711, so that one of the clamping arm bodies 711 can rotate relative to the other clamping arm body 711 under the telescopic movement of the piston rod of the air cylinder 72, thereby realizing the clamping and fixing of the two first clamping members 712 and the two second clamping members 713 to the material frame 100, and realizing the transportation of the material frame 100.

Specifically, in the present embodiment, as shown in fig. 5, the first clamping member 712 includes: a first stopper 7121, a first swinging member 7122, two first rotating bodies 7123. As shown in fig. 5, the first stopper 7121 is disposed on the clamping side 7111 of the clamping arm body 711, and the first stopper 7121 includes: a first locating side 71211 disposed away from the clamping side 7111, a first stop side 71212 connected to the first locating side 71211. Also, the first limiting side 71212 is formed to extend horizontally in a direction perpendicular to the first positioning side 71211. Next, in the present embodiment, as shown in fig. 5, the first swinging member 7122 is disposed on the upper surface of the first stopper 7121, and the first swinging member 7122 includes: a first longitudinal swing arm 71221, a first transverse swing arm 71222 coupled to the first longitudinal swing arm 71221. Wherein an included angle is formed between the first longitudinal swing arm 71221 and the first transverse swing arm 71222. Meanwhile, the connecting portion of the first longitudinal swing arm 71221 and the first transverse swing arm 71222 is also rotatably connected to the first stop block 7121. In addition, as shown in fig. 5, one of the first rotation bodies 7123 is provided at an end of the first longitudinal swing arm 71221, and the other first rotation body 7123 is provided at an end of the first transverse swing arm 71222.

Accordingly, the second clamping member 713, as shown in fig. 6, includes: a second stopper 7131, a second swinging member 7132, and two second rotating bodies 7133. As shown in fig. 6, the second stopper 7131 is disposed on the clamping side 7111 of the clamping arm body 711, and the second stopper 7131 includes: a second positioning side 71311 disposed away from the clamping side 7111, a second position-defining side (not labeled) connected to the second positioning side 71311. And, the second limit side is formed to extend horizontally in a direction perpendicular to the second positioning side 71311. Next, in the present embodiment, as shown in fig. 6, the second swinging member 7132 is disposed on the upper surface of the second stopper 7131, and the second swinging member 7132 includes: a second longitudinal swing arm 71321, and a second transverse swing arm 71322 coupled to second longitudinal swing arm 71321. Wherein, an included angle is formed between the second longitudinal swing arm 71321 and the second transverse swing arm 71322. Meanwhile, the connecting part of the second longitudinal swing arm 71321 and the second transverse swing arm 71322 is also rotatably connected with the second limit block 7131. In addition, as shown in fig. 6, one of the second rotating bodies 7133 is disposed at an end of the second longitudinal swing arm 71321, and the other second rotating body 7133 is disposed at an end of the second transverse swing arm 71322. In the present embodiment, as shown in fig. 4, the first clamping member 712 and the second clamping member 713 are provided symmetrically with respect to each other in the extending direction of the clamping arm main body 711 on any one of the clamping arm main bodies 711.

It is therefore easy to see that the driving of one of the clamp arm bodies 711 by the air cylinder 72 can make the clamp arm body 711 rotate toward the other clamp arm body 711. Therefore, when the two first clamping members 712 and the two second clamping members 713 clamp the material frame 100, the two first swinging members 7122 and the two second swinging members 7132 can be forced to deflect left and right by the abutting of the first rotating bodies 7123 and the second rotating bodies 7133 against the material frame 100, so that the two first clamping members 712 and the two second clamping members 713 can achieve an optimal clamping position for the material frame 100, and the

first positioning sides

71212 and 71211 of the two first limiting blocks 7121 and the second positioning sides 71311 and the second limiting sides of the two second limiting blocks 7131 can tightly clamp the material frame 100.

In addition, preferably, in order to provide a limit to the left and right rotation of the two first swinging members 7122 and the two second swinging members 7132 and avoid an excessive rotation range of the first swinging members 7122 and the two second swinging members 7132, as shown in fig. 5, the first clamping member 712 further includes: the first limiting shaft 7125 is vertically disposed on the first limiting block 7121, and is located at an included angle between the first longitudinal swing arm 71221 and the first transverse swing arm 71222 of the first swing member 7122. Accordingly, as shown in fig. 6, the second clamping member 713 further includes: the second limiting shaft 7135 is vertically disposed on the second limiting block 7131, and is located at an included angle between the second longitudinal swing arm 71321 and the second transverse swing arm 71322 of the second swinging member 7132. Therefore, the rotation angle of the first driving component 7122 can be interfered by the first limit shaft 7125, and the rotation angle of the second driving component 7132 can be interfered by the second limit shaft 7135, so that the phenomenon that the first swinging component 7122 and the two second swinging components 7132 rotate too much and rotate too much is avoided.

Also, in order to further reduce the volume of the entire first clamping member 712 and the entire second clamping member 713, as shown in fig. 5, a first notch 7124 is further formed on the upper surface of the first stopper 7121. The first gap 7124 extends from the first positioning side 71211 to the first restraining side 71212, and the first swinging member 7122 is rotatably disposed in the first gap 7124. Correspondingly, as shown in fig. 6, a second notch 7134 is formed on the upper surface of the second stopper 7131. The second notch 7134 extends from the second positioning side 71311 to the second limiting side, and the second swinging member 7132 is rotatably disposed in the second notch 7134.

Meanwhile, in the present embodiment, as shown in fig. 5, a first limiting protrusion 7126 is further formed on an upper surface of the first limiting block 7121, so that the first swinging member 7122 may be disposed on the first limiting protrusion 7126. And a second limiting protrusion (not shown) is formed on the upper surface of the second limiting block 7131, such that the second swinging member 7132 can be disposed on the second limiting protrusion. It can be seen that, due to the height of the first limiting protrusion 7126 to the first swinging member 7122 and the height of the second limiting protrusion to the second swinging member 7132, the first swinging member 7122 can bring the two first rotating bodies 7123 into the first notches 7124 respectively during the rotation, and the corresponding second swinging member 7132 can bring the two second rotating bodies 7133 into the second notches 7134 respectively during the rotation, so as to ensure that the clamping and fixing of the frame 100 can be finally achieved by the first positioning side 71211 and the first limiting side 71212 of the first limiting block 7121, and the second positioning side 71311 and the second limiting side of the second limiting block 7131.

A second embodiment of the present invention relates to a material frame conveying method of a multi-deck material frame unstacker according to the first embodiment, as shown in fig. 8, the material frame conveying method including the steps of:

step 801, judging whether the feeding conveying line 1 is conveyed to a preset positionMaterial frame stackWhether there is material in the uppermost frame 100. For example, in the determination of whether a material is in the material frame 100, the material frame 100 may be photographed by a camera, and the photographed image is uploaded to the main control device, and the main control device determines whether the material exists in the material frame 100 according to the obtained image of the material frame 100.

In step 802, after determining that there is no material in the uppermost material frame 100 of the material frame stack, it is determined whether the support plate 41 of the sliding table mechanism 4 is located at the first position to be set of the fixed frame 31. For example, in practical application, the position of the material frame 100 may be monitored in real time by a corresponding position sensor, and the detected position is reported to the main control device, so that the main control device finally determines whether the supporting plate 41 is located at the first position to be set.

In step 803, after it is determined that the support plate 41 is not located at the first waiting position, the first driving device 5 is controlled to make the first driving device 5 drive the support plate 41 to slide to the first waiting position of the fixed frame 31.

In step 804, after the support plate 41 is determined to be in the first pending position, the second driving device 6 is controlled, so that the second driving device 6 drives the sliding table body 42 to move in the direction away from the support plate 41.

In step 805, after the sliding table main body 42 moves to the first designated position in the direction away from the supporting plate 41, the clamping mechanism 7 is controlled to clamp the material frame 100 on the uppermost layer of the current material frame stack. For example, in practical application, the position of the sliding table body 42 may be detected in real time by the position sensor, and the detected position is reported to the main control device, so that the main control device may correspondingly control the second driving device 6.

Step 806, after the clamping mechanism 7 clamps the material frame 100, controlling the second driving device 6 to drive the sliding table body 42 to move toward the supporting plate 41 by the second driving device 6.

In step 807, after the sliding table main body 42 moves toward the direction of the supporting plate 41 to the initial position, the first driving device 5 is controlled to make the first driving device 5 drive the supporting plate 41 to slide toward the second position to be located of the fixed frame 31.

Step 808, after the supporting plate 41 slides to the second pending position of the fixed frame 31, controlling the second driving device 6 to make the second driving device 6 drive the sliding table body 42 to move in the direction away from the supporting plate 41.

And step 809, after the sliding table main body 42 moves to the second designated position in the direction away from the supporting plate 41, controlling the clamping mechanism 7 to loosen the currently clamped material frame 100.

Step 810, after the clamping mechanism 7 releases the material frame 100, controlling the second driving device 6 to make the second driving device 6 drive the sliding table body 42 to move towards the direction of the supporting plate 41.

Step 811, after the support plate 41 moves to the initial position, the height of the material frame stack on the discharging conveyor line 2 is detected, and whether the height of the material frame stack meets the conveying requirement is judged.

And step 812, if the conveying requirement is judged to be met, controlling the discharging conveying line 2 to discharge the current material frame stack.

If it is determined that the transport request is not satisfied, the above steps are sequentially repeated, i.e., the process returns to step 801.

As is apparent from the above description, the present embodiment is a method example corresponding to the first embodiment, and can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims

1. A multi-deck material frame unstacker comprising:

the clamping mechanism is arranged on the sliding table body, is used for clamping the material frame after the supporting plate slides to a first pending position of the fixed frame, and is also used for loosening the material frame after the supporting plate slides to a second pending position of the fixed frame; the first position to be fixed and the second position to be fixed are opposite to each other along the sliding direction of the supporting plate;

2. A multi-deck material frame unstacker according to claim 1, wherein the first drive means comprises:

the servo motor is in communication connection with the main control equipment;

the driving wheel is connected with a main shaft of the servo motor;

the transmission belt is wound on the driving wheel and the driven wheel;

3. A multi-deck material frame unstacker according to claim 1, wherein the second drive means comprises:

4. A multi-deck material frame unstacker according to claim 3, wherein the guide posts are arranged opposite to each other in pairs along the sliding direction of the support plate;

5. A multi-deck material frame unstacker according to claim 1, wherein the clamping mechanism comprises: the driving device drives at least one clamping arm to move relative to the other clamping arm; each said clamp arm includes:

6. A multi-deck material frame unstacker according to claim 5, wherein the first clamping member comprises:

the second clamp member includes:

7. The multi-deck material frame unstacker of claim 6, wherein the upper surface of the first stopper forms a first notch extending from the first positioning side to the first stopper side, the first swinging member being rotatably disposed in the first notch;

8. A multi-deck material frame unstacker according to claim 6, wherein the first clamping member further comprises:

the second clamping member further comprises:

9. The multi-layer material frame unstacker according to any one of claims 6 to 8, wherein the upper surface of the first limiting block is formed with a first limiting protrusion, and the first swinging member is arranged on the first limiting protrusion;

10. A method of handling a material frame of a multi-deck material frame unstacker according to any one of claims 1 to 9, comprising the steps of: