CN116198995B - A palletizing device - Google Patents
A palletizing deviceInfo
- Publication number
- CN116198995B CN116198995B CN202310106015.5A CN202310106015A CN116198995B CN 116198995 B CN116198995 B CN 116198995B CN 202310106015 A CN202310106015 A CN 202310106015A CN 116198995 B CN116198995 B CN 116198995B
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- CN
- China
- Prior art keywords
- clamping
- frame
- lifting
- assembly
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
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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
- B65G47/905—Control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种拆码垛装置，属于拆码垛技术领域，包括机架组件、横移组件、夹抱机构和夹紧机构，所述机架组件包括顶部机架以及与所述顶部机架连接的侧部机架；所述横移组件包括侧框架和滑动的设置于所述顶部机架的顶板，所述侧框架与所述顶板连接，所述顶板沿所述顶部机架的前后方向移动；所述夹抱机构包括安装于所述顶板的第一提拉组件、两个夹抱组件，两个所述夹抱组件与所述第一提拉组件连接，所述夹抱组件与所述侧框架滑动连接，以通过所述第一提拉组件带动所述夹抱组件沿所述侧框架的上下方向移动，两个夹抱组件之间形成夹抱区，侧框架的上下方向与顶部机架的前后方向相垂直。本发明达到提高兼容性，提升自动化程度的技术效果。
The present invention discloses a depalletizing device, belonging to the field of depalletizing technology, comprising a frame assembly, a transverse movement assembly, a clamping mechanism, and a clamping mechanism. The frame assembly comprises a top frame and a side frame connected to the top frame; the transverse movement assembly comprises a side frame and a top plate slidingly arranged on the top frame, the side frame being connected to the top plate, and the top plate moving along the front-to-back direction of the top frame; the clamping mechanism comprises a first lifting assembly mounted on the top plate, and two clamping assemblies, the two clamping assemblies being connected to the first lifting assembly, the clamping assemblies being slidably connected to the side frames so as to drive the clamping assemblies to move along the up-and-down direction of the side frames via the first lifting assembly, forming a clamping area between the two clamping assemblies, and the up-and-down direction of the side frames being perpendicular to the front-to-back direction of the top frame. The present invention achieves the technical effect of improving compatibility and enhancing the degree of automation.
Description
Technical Field
The invention belongs to the technical field of unstacking, and particularly relates to an unstacking device.
Background
In the intelligent power grid vertical warehouse system, the electric energy metering equipment needs to be automatically accessed in the intelligent vertical warehouse, and the seamless butt joint with production and distribution links outside the intelligent vertical warehouse is met.
At present, in the unstacking technology, unstacking and stacking can only be carried out on a turnover box, and when single high-voltage transformer products need to be sorted, the single high-voltage transformer products need to be sorted by an independent sorting special machine which is specially arranged in a manual conveying mode. The manual carrying mode consumes more manpower, the automation degree is low, the special machine is independently arranged, so that the equipment for disassembling and stacking the turnover box cannot realize the unstacking of the turnover box and the sorting of single high-voltage transformer products at the same time, and the compatibility of the equipment is low. In summary, in the existing unstacking technology, there is a technical problem of low compatibility and low automation degree.
Disclosure of Invention
The invention aims to solve the technical problems of low compatibility and low automation degree.
The invention provides a destacking device which is characterized by comprising a frame assembly, a traversing assembly, a clamping and holding mechanism and a clamping mechanism, wherein the frame assembly comprises a top frame and a side frame connected with the top frame, the traversing assembly comprises a side frame and a top plate which is arranged on the top frame in a sliding manner, the side frame is connected with the top plate, the top plate moves along the front-back direction of the top frame, the clamping and holding mechanism comprises a first lifting and pulling assembly arranged on the top plate, two clamping and holding assemblies, the two clamping and holding assemblies are connected with the first lifting and pulling assembly, the clamping and holding assemblies are in sliding connection with the side frame, so that the clamping and holding assemblies are driven to move along the up-down direction of the side frame through the first lifting and pulling assembly, the up-down direction of the side frame is perpendicular to the front-back direction of the top frame, the clamping and holding mechanism comprises a second lifting and pulling assembly arranged on the top plate, two clamping and holding assemblies are arranged on the side frame, a rack is connected with a rack and a fixed seat which is arranged on the side frame through a rack, the rack and a fixed seat which is connected with the rack and a fixed seat which is arranged on the side frame in a sliding manner, so as to drive the two racks to approach or separate from each other.
Further, the frame assembly further comprises a bottom frame and pulleys, wherein the bottom frame is connected with the side frames, the bottom frame is provided with sliding grooves which are connected with the pulleys in a sliding mode, and the pulleys are connected with the side frames.
Further, the transverse moving assembly further comprises a transverse moving sliding rail arranged on the top frame and a transverse moving sliding block in sliding connection with the transverse moving sliding rail, wherein the transverse moving sliding block is connected with the top plate and moves along the length extending direction of the transverse moving sliding rail, and the length extending direction of the transverse moving sliding rail is the same as the front-back direction of the top frame.
Further, the transverse moving assembly further comprises a transverse moving driving part, wherein the transverse moving driving part comprises a driving motor arranged on the top frame and a driving belt connected with the driving motor, and the driving motor is connected with the top plate through the driving belt.
The side frame comprises a first frame and a second frame, wherein the first frame and the second frame are connected with the top frame, the clamping mechanism comprises a first sliding rail arranged on the first frame, a first sliding block connected with the first sliding rail in a sliding mode, a second sliding rail arranged on the second frame and a second sliding block connected with the second sliding rail in a sliding mode, the first sliding block is connected with one clamping assembly, the first sliding block moves along the length extending direction of the first sliding rail, the second sliding block is connected with the other clamping assembly, the second sliding block moves along the length extending direction of the second sliding rail, and the length extending direction of the first sliding rail and the length extending direction of the second sliding rail are identical to the up-down direction of the side frame.
The clamping assembly further comprises a supporting plate, clamping plates and air cylinders arranged on the supporting plate, the supporting plate is connected with the first lifting assembly, push rods of the air cylinders penetrate through the supporting plate and are connected with the clamping plates so as to push the two clamping plates to be close to or far away from each other through the push rods of the two air cylinders, and the clamping area is located between the two clamping plates.
Further, the clamping plate comprises a plate body and a lifting block, wherein the plate body is connected with the push rod, the lifting block is connected with the plate body, and the lifting block is perpendicular to the plate body.
Further, the fixing seat comprises a seat body, a first limit groove and a second limit groove, wherein the first limit groove and the second limit groove are formed in the seat body, the gear is rotatably arranged in the seat body, the gear is located between the first limit groove and the second limit groove and is in sliding connection with the side frame, one rack is slidably arranged in the first limit groove, the other rack is slidably arranged in the second limit groove, and the two racks are parallel to each other.
Further, the clamping mechanism further comprises an electromagnetic lifting structure, the electromagnetic lifting structure comprises a lifting driver and an electromagnetic attraction assembly, the lifting driver comprises a first driver and a second driver, the first driver is connected with one rack, the second driver is connected with the other rack, the electromagnetic attraction assembly comprises a first electromagnet and a second electromagnet, the first electromagnet is connected with the first driver, and the second electromagnet is connected with the second driver.
Further, the unstacking device further comprises a conveying assembly, wherein the conveying assembly comprises a bearing frame and a jacking piece arranged on the bearing frame, and a jacking rod of the jacking piece moves towards a direction close to the clamping assembly or the clamping jaw.
The beneficial effects are that:
The invention provides a destacking device, which is characterized in that a side frame in a frame assembly is connected with a top frame, a top plate in a traversing assembly is arranged on the top frame in a sliding manner, the top plate is connected with the side frame, and the top plate moves along the front-back direction of the top frame. The first lifting assembly of the clamping mechanism is arranged on the top plate, the two clamping assemblies are connected with the first lifting assembly, the clamping assemblies are in sliding connection with the side frames, the clamping assemblies are driven to move along the vertical direction of the side frames through the first lifting assemblies, clamping areas are formed between the two clamping assemblies, and the vertical direction of the side frames is mutually perpendicular to the front-rear direction of the top frame. The clamping mechanism comprises a first lifting assembly, a second lifting assembly, a fixed seat, a side frame, a clamping jaw, a driver, a clamping jaw, a gear, a driving device and a driving device, wherein the first lifting assembly is arranged on the top plate, the fixed seat is connected with the first lifting assembly in a sliding mode, the fixed seat is driven by the first lifting assembly to move along the vertical direction of the side frame, the two racks are arranged on the fixed seat in a sliding mode, the clamping jaw is arranged between the two clamping assemblies, the gear is arranged on the fixed seat in a rotating mode, the gear is connected with the two racks, the driver is arranged on the fixed seat, the driver is connected with one rack, and the driver drives one rack to move so as to push the gear to drive the two racks to move towards each other or away from each other. The roof that slides to turnover case top like this can drive to press from both sides and hold the mechanism and clamp the mechanism and remove to the top of turnover case, and first lifting subassembly drives two and presss from both sides and hold the subassembly and remove to the both sides of turnover case, and the turnover case is located two and presss from both sides and hold the district that forms between holding the subassembly this moment, and two are pressed from both sides and are held the subassembly and be used for the centre gripping turnover case. The second lifting assembly drives the two clamping jaws to move to two sides of a single transformer in the turnover box, the driver drives one rack to move, and the rack pushes the gear to rotate so as to drive the clamping jaws on the two racks to approach each other from the two sides of the single transformer, so that the single transformer is clamped and lifted. The turnover boxes can be unstacked and stacked in the warehouse-in process, and the single turnover boxes can be carried for multiple stacking in the warehouse-out process, or the single transformer can be clamped and pulled to sort the single transformer. Meanwhile, the stacking removal of the turnover box and the sorting of single high-voltage transformer products are realized, the compatibility is improved, and the degree of automation is improved. Thereby achieving the technical effects of improving compatibility and improving automation degree.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a unstacking device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram II of a unstacking device according to an embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a traversing assembly in an unstacking device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a traversing assembly in an unstacking device according to an embodiment of the present invention;
Fig. 5 is a schematic structural diagram of a first lifting assembly in an unstacking device according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a lateral movement driving component in an unstacking device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a clamping assembly in a unstacking device according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a conveying assembly in a unstacking device according to an embodiment of the present invention;
Fig. 9 is a schematic structural view of a clamping mechanism in a unstacking device according to an embodiment of the present invention;
Fig. 10 is a schematic structural diagram II of a clamping mechanism in a unstacking device according to an embodiment of the present invention;
fig. 11 is a schematic structural view of a clamping mechanism in a unstacking device according to an embodiment of the present invention;
Fig. 12 is a schematic structural diagram of a gear and a rack in a destacking device according to an embodiment of the present invention;
Fig. 13 is a schematic diagram of a gear and a rack in a destacking device according to a second embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments of the present invention are within the scope of the present invention, wherein the "and/or" keyword "referred to in this embodiment indicates and/or both cases, in other words, a and/or B mentioned in the embodiments of the present invention indicates both cases a and B, A or B, and three states in which a and B exist are described, such as a and/or B, indicating that a is included only without B, B is included only without a, and a and B are included.
It will be understood that, although the terms "first," "second," etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments. Spatially relative terms, such as "below," "above," and the like, may be used herein to facilitate a description of one element or feature's relationship to another element or feature. It will be understood that the spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" would then be oriented "on" other elements or features. Thus, the exemplary term "below" may include both above and below orientations. The device may be oriented (rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Also, in embodiments of the present invention, when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and the like are used in the embodiments of the present invention for illustrative purposes only and are not intended to limit the present invention.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12 and fig. 13, fig. 1 is a schematic structural diagram of an unstacking device according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of a second traverse assembly 2 in an unstacking device according to an embodiment of the present invention, fig. 3 is a schematic structural diagram of a second traverse assembly 2 in an unstacking device according to an embodiment of the present invention, fig. 5 is a schematic structural diagram of a first lifting assembly 31 in an unstacking device according to an embodiment of the present invention, fig. 6 is a schematic structural diagram of a traverse driving member 25 in an unstacking device according to an embodiment of the present invention, fig. 7 is a schematic structural view of a clamping assembly 32 in an unstacking device according to an embodiment of the present invention, fig. 8 is a schematic structural view of a conveying assembly 5 in an unstacking device according to an embodiment of the present invention, fig. 9 is a schematic structural view of a clamping mechanism 4 in an unstacking device according to an embodiment of the present invention, fig. 10 is a schematic structural view of a clamping mechanism 4 in an unstacking device according to an embodiment of the present invention, fig. 11 is a schematic structural view of a clamping mechanism 4 in an unstacking device according to an embodiment of the present invention, fig. 12 is a schematic structural view of a gear 45 and a rack 43 in an unstacking device according to an embodiment of the present invention, and fig. 13 is a schematic structural view of a gear 45 and a rack 43 in an unstacking device according to an embodiment of the present invention. The embodiment of the invention provides a destacking device, which comprises a frame component 1, a traversing component 2, a clamping mechanism and a clamping mechanism 4, wherein the frame component 1, the traversing component 2, the clamping mechanism and the clamping mechanism 4 are respectively described in detail below:
For the frame assembly 1 and traversing assembly 2:
The rack assembly 1 comprises a top rack 11 and side racks connected to the top rack 11. The frame assembly 1 further comprises a bottom frame 13 and pulleys, the bottom frame 13 being connected with the side frames, the bottom frame 13 being provided with a chute 12 in sliding connection with the pulleys, the pulleys being connected with the side frames 21. The side frames include a first frame 121 and a second frame 122, and both the first frame 121 and the second frame 122 are connected to the top frame 11. The traverse assembly 2 includes a side frame 21 and a top plate 22 slidably provided to the top chassis 11, the side frame 21 being connected to the top plate 22, the top plate 22 being moved in the front-rear direction of the top chassis 11. The traversing assembly 2 further comprises a traversing slide rail 23 arranged on the top frame 11 and a traversing slide block 24 in sliding connection with the traversing slide rail 23, wherein the traversing slide block 24 is connected with the top plate 22, the traversing slide block 24 moves along the length extending direction of the traversing slide rail 23, and the length extending direction of the traversing slide rail 23 is the same as the front-back direction of the top frame 11. The traverse assembly 2 further includes a traverse driving part 25, and the traverse driving part 25 includes a driving motor 251 mounted to the top chassis 11, and a driving belt 252 connected to the driving motor 251, the driving motor 251 being connected to the top plate 22 through the driving belt 252.
Specifically, the top frame 11 has a space for accommodating the traversing assembly 2, and the first frame 121 and the second frame 122 are respectively located at two sides of the top frame 11 in the side frames, and the first frame 121 and the second frame 122 are connected to the top frame 11, and the first frame 121 and the second frame 122 provide support for the top frame 11. The bottom frame 13 disposed at a position opposite to the top frame 11 is connected to the first frame 121 and the second frame 122, respectively, and a sliding groove 12 for sliding a pulley is disposed on the bottom frame 13, for example, one sliding groove 12 is disposed at one end of the first frame 121 far away from the top frame 11, the other sliding groove 12 is disposed at one end of the second frame 122 far away from the top frame 11, the two sliding grooves 12 are parallel to each other, and the sliding direction of the pulley in the sliding groove 12 is the same as the length extending direction of the traverse sliding rail 23. The pallet truck positioning assembly 6 can also be mounted on the bottom frame 13, and the pallet truck positioning assembly 6 is used for positioning pallet trucks.
It should be noted that, in the traversing assembly 2, the top plate 22 is connected with the traversing slide blocks 24, the top plate 22 can slide along the length extending direction of the traversing slide rails 23 through the traversing slide blocks 24, the number of traversing slide rails 23 can be 2,2 traversing slide rails 23 are installed on the top frame 11, 2 traversing slide rails 23 can be respectively close to two sides of the top plate 22, and the top plate 22 is respectively connected with 2 traversing slide rails 23 in a sliding manner through 2 traversing slide blocks 24. The driving motor 251 of the traverse driving part 25 is installed at one side of the top frame 11, and the driving motor 251 drives the top plate 22 to move along the length extending direction of the traverse sliding rail 23 through the driving belt 252. If the drive mounting plate 256 is mounted on one side of the top frame 11, the motor base 254 and the bearing block 257 are mounted on the drive mounting plate 256, the drive motor 251 is connected with the speed reducer 253, the speed reducer 253 is connected with the first coupling 255, the first coupling 255 is rotationally connected with one end of the drive belt 252, and if the first coupling 255 drives the rotating wheel matched with the drive belt 252 to rotate so as to drive the drive wound on the rotating wheel to rotate, and the bearing block 257 can provide support for the first coupling 255. The bearing seat mounting plate 258 is mounted on the top plate 22, and the other end of the driving belt 252 is rotatably connected with the bearing seat mounting plate 258, and the tightness of the driving belt 252 can be adjusted through the synchronous wheel tensioning block 259. The top plate 22 is connected with the side frames 21, and the side frames 21 may include two side brackets located at two sides of the top plate 22, and the two side brackets are slidably connected with the corresponding sliding grooves 12 through pulleys, respectively. In the traverse driving part 25, the driving motor 251 drives the side frame 21 connected with the top plate 22 to slide in the chute 12 through the driving belt 252, so as to realize the adjustment of the position of the top plate 22.
For a clasping mechanism:
The clamping mechanism comprises a first lifting component 31 arranged on the top plate 22, two clamping components 32, wherein the two clamping components 32 are connected with the first lifting component 31, the clamping components 32 are slidably connected with the side frames 21 so as to drive the clamping components 32 to move along the up-down direction of the side frames 21 through the first lifting component 31, a clamping area 335 is formed between the two clamping components 32, and the up-down direction of the side frames 21 is perpendicular to the front-back direction of the top frame 11. The clamping assembly 32 comprises a supporting plate 321, clamping plates 322 and an air cylinder 323 arranged on the supporting plate 321, the supporting plate 321 is connected with the first lifting assembly 31, a push rod 3231 of the air cylinder 323 penetrates through the supporting plate 321 and is connected with the clamping plates 322 so as to push the two clamping plates 322 to be close to or far away from each other through the push rods 3231 of the two air cylinders 323, and the clamping area 335 is located between the two clamping plates 322. The clamping plate 322 comprises a plate body 3221 and a lifting block 3222, wherein the plate body 3221 is connected with a push rod 3231, the lifting block 3222 is connected with the plate body 3221, and the lifting block 3222 is mutually perpendicular to the plate body 3221. In addition, the clamping mechanism comprises a first sliding rail installed on the first rack 121, a first sliding block in sliding connection with the first sliding rail, a second sliding rail installed on the second rack 122, and a second sliding block in sliding connection with the second sliding rail, wherein the first sliding block is connected with the clamping assembly 32 and moves along the length extending direction of the first sliding rail, the second sliding block is connected with the clamping assembly 32 and moves along the length extending direction of the second sliding rail, and the length extending direction of the first sliding rail and the length extending direction of the second sliding rail are identical to the up-down direction of the side frame 21.
Specifically, the structure and principle of two clamping assemblies 32 in the clamping mechanism are the same, and the following description will be made by taking one of the clamping assemblies 32 as an example, where a supporting plate 321 in the clamping assembly 32 is connected to a first slider, and the supporting plate 321 can move along the length extending direction of the first sliding rail through the first slider. The first slide rail is installed on the first frame 121, that is, after the first pulling assembly 31 pulls the support plate 321, the support plate 321 may be moved in a direction approaching the top frame 11 or moving away from the top frame 11 by the first slider. If the servo drive motor 315 of the first pulling component 31 is mounted on the top plate 22, the servo drive motor 315 is connected with the transmission shaft 314, the transmission shaft 314 is connected with the second coupling 313, the second coupling 313 is connected with a driving wheel group 319, the driving wheel group 319 is connected with a driven wheel group 311 through a synchronous belt 312, and the driven wheel group 311 is rotatably mounted on a supporting plate 321 of the clamping component 32. The servo drive motor 315 may be operated to move the support plate 321 of the clamping assembly 32 to a position near the top frame 11 or away from the top frame 11. The servo drive motor 315 is further connected to a speed reducer 316 in the first pulling component 31, the speed reducer 316 in the first pulling component 31 is connected to a transmission member 317, the transmission member 317 may be a gear, the transmission member 317 is connected to a third coupling 318, the third coupling 318 is connected to another driving wheel set 319, and the other driven wheel set 311 is rotatably mounted on a support plate 321 in the other clamping component 32. The servo drive motor 315 may also drive the support plate 321 of the other clamping assembly 32 to move to a position close to the top frame 11 or away from the top frame 11. The clamping area 335 between the two clamping assemblies 32 has a space for accommodating the transfer case 8.
It should be noted that the air cylinder 323 in the clamping assembly 32 is mounted on the supporting plate 321, the push rod 3231 of the air cylinder 323 penetrates through the supporting plate 321 to be connected with the plate 3221 in the clamping plate 322, the push rod 3231 of the air cylinder 323 can push the clamping plate 322 to be close to the supporting plate 321 or far away from the supporting plate 321, the lifting block 3222 is arranged on the clamping plate 322, and the lifting block 3222 can lift the turnover box 8. Two guide shafts 324 can also be installed on the support plate 321, the two guide shafts 324 are respectively installed at positions close to two sides of the clamping plate 322, the two guide shafts 324 respectively move to penetrate the support plate 321, and the push rod 3231 is located between the two guide shafts 324, so that the clamping plate 322 can move more stably. After the two clamping assemblies 32 are moved to two sides of the turnover box 8, the clamping plates 322 in the two clamping assemblies 32 are pushed to be close to each other, lifting blocks 3222 fixedly connected with the clamping plates 322 lift the turnover box 8 from two sides of the bottom of the turnover box 8, the clamping plates 322 are contacted with two sides of the turnover box 8, and the two clamping plates 322 clamp the turnover box 8 from two sides of the turnover box 8. The position of the transfer case 8 is then adjusted by moving the horizontal position of the top plate 22 and moving the height of the two clamping assemblies 32.
For the clamping mechanism 4:
The clamping mechanism 4 comprises a second lifting assembly 41 mounted on the top plate 22, a fixed seat 42, two racks 43 slidably arranged on the fixed seat 42, a clamping jaw 44 arranged on each rack 43, a gear 45 rotatably mounted on the fixed seat 42, and a driver 46 mounted on the fixed seat 42, wherein the fixed seat 42 is connected with the second lifting assembly 41, the fixed seat 42 is slidably connected with the side frame 21 so as to drive the fixed seat 42 to move along the up-down direction of the side frame 21 through the second lifting assembly 41, the clamping jaw 44 is positioned between the two clamping assemblies 32, the gear 45 is connected with the two racks 43, the driver 46 is connected with one rack 43, and the driver 46 drives the movement of one rack 43 so as to drive the two racks 43 to be close to or far away from each other. The fixing seat 42 includes a seat body 421, a first limiting groove 422 and a second limiting groove 423 disposed in the seat body 421, the gear 45 is rotatably mounted in the seat body 421, the gear 45 is located between the first limiting groove 422 and the second limiting groove 423, and the seat body 421 is slidably connected with the side frame 21. One rack 43 is slidably disposed in the first limiting groove 422, the other rack 43 is slidably disposed in the second limiting groove 423, and the two racks 43 are parallel to each other. The clamping mechanism 4 further comprises an electromagnetic lifting structure, the electromagnetic lifting structure comprises a lifting driver 46 and an electromagnetic attraction assembly, the lifting driver 46 comprises a first driver 4711 and a second driver 4712, the first driver 4711 is connected with one rack 43, the second driver 4712 is connected with the other rack 43, the electromagnetic attraction assembly comprises a first electromagnet 4721 and a second electromagnet 4722, the first electromagnet 4721 is connected with the first driver 4711, and the second electromagnet 4722 is connected with the second driver 4712.
Specifically, the second lifting assembly 41 of the clamping mechanism 4 is mounted on the top plate 22, and the structure and principle of the second lifting assembly 41 are the same as those of the first lifting assembly 31, so that no description will be given here. The seat body 421 in the fixing base 42 is slidably connected to the side frame 21, and the manner in which the seat body 421 in the fixing base 42 is slidably connected to the side frame 21 is the same as the manner in which the support plate 321 in the clamping assembly 32 is slidably connected to the side frame 21, which will not be described again here. If a slide rail is provided on the side frame 21, the seat 421 is slidably connected to the slide rail through a slider. The second lifting assembly 41 can drive the seat 421 in the fixing seat 42 to move along the direction approaching the top frame 11 or moving away from the top frame 11. The gear 45 can be installed at the fixing base 42 through pivot pivoted, and two racks 43 imbeds first spacing groove 422 and second spacing groove 423 respectively, and two racks 43 can carry out free removal in first spacing groove 422 and second spacing groove 423 respectively, and the driver 46 can refer to cylinder 323 or motor, and when driving one rack 43 through driver 46 and remove, this rack 43 can drive gear 45 and rotate, and pivoted gear 45 can drive another rack 43 and remove towards opposite direction. At this time, the jaws 44 mounted on the two racks 43 come close to or far from each other. When the single transformer 7 needs to be clamped and pulled, the second pulling component 41 can drive the two clamping jaws 44 to move to two sides of the single transformer 7, and the driver 46 pushes the two clamping jaws 44 to clamp the single transformer 7. Meanwhile, the first driver 4711 and the second driver 4712 are installed on the seat body 421, the first driver 4711 and the second driver 4712 can both refer to a duplex cylinder 323, after the two clamping jaws 44 grab the single transformer 7, the first driver 4711 pushes the first electromagnet 4721 to be close to one side of the single transformer 7, the second driver 4712 pushes the second electromagnet 4722 to be close to the other side of the single transformer 7, the single transformer 7 is attracted through the first electromagnet 4721 and the second electromagnet 4722 after being electrified, and the situation that the transformer 7 falls down in the picking, placing and carrying process can be avoided.
The unstacking device provided by the embodiment of the invention further comprises a conveying assembly 5, wherein the conveying assembly 5 comprises a bearing frame 51 and a jacking piece 52 arranged on the bearing frame 51, and a jacking rod of the jacking piece 52 moves towards a direction approaching to the clamping assembly 32 or the clamping jaw 44.
Specifically, the bearing frame 51 provides support for the jacking member 52, and the jacking member 52 may include an air cylinder 323, and the turnover box 8 may be pushed up or down by a push rod 3231 of the air cylinder 323, and a space for accommodating a plurality of transformers 7 is provided in the turnover box 8. The bottom of the turnover box 8 can be provided with a through groove for the push rod 3231 of the air cylinder 323 to penetrate, the push rod 3231 of the air cylinder 323 can also be contacted with the single transformer 7 after extending into from the bottom of the turnover box 8, and the push rod 3231 of the air cylinder 323 can push the single transformer 7 to ascend or descend. A roller conveyor line 53 may be mounted on the carrier frame 51, the roller conveyor line 53 being used for conveying the transfer boxes 8. Thus, when the two clamping and holding assemblies 32 are used for clamping the single turnover box 8 provided with the mutual inductor 7 and positioned on the pallet during warehouse entry, the turnover box 8 positioned on the two clamping and holding assemblies 32 is placed on the roller conveying line 53 of the bearing frame 51 through the transverse moving assembly 2. When the turnover box 8 is required to be clamped in a warehouse-out process, the turnover box 8 is conveyed to the upper part of a push rod 3231 of the air cylinder 323 by the roller conveying line 53, the turnover box 8 is pushed to rise to be close to a clamping area 335 between two clamping components 32 by the push rod 3231 of the air cylinder 323, so that the turnover box 8 can be conveniently disassembled and stacked, or a single transformer 7 is pushed to be close to an area between two clamping jaws 44 by the push rod 3231 of the air cylinder 323, so that the single high-voltage transformer 7 products can be conveniently sorted.
The invention provides a destacking device, which is characterized in that a side frame in a frame assembly 1 is connected with a top frame 11, a top plate 22 in a traversing assembly 2 is arranged on the top frame 11 in a sliding manner, the top plate 22 is connected with a side frame 21, and the top plate 22 moves along the front-back direction of the top frame 11. The first lifting component 31 in the clamping mechanism is arranged on the top plate 22, the two clamping components 32 are connected with the first lifting component 31, the clamping components 32 are slidably connected with the side frames 21, the clamping components 32 are driven to move along the up-down direction of the side frames 21 by the first lifting component 31, a clamping area 335 is formed between the two clamping components 32, and the up-down direction of the side frames 21 is mutually perpendicular to the front-back direction of the top frame 11. The second lifting assembly 41 in the clamping mechanism 4 is arranged on the top plate 22, the fixed seat 42 is connected with the second lifting assembly 41, the fixed seat 42 is in sliding connection with the side frame 21 so as to drive the fixed seat 42 to move along the up-down direction of the side frame 21 through the second lifting assembly 41, two racks 43 are arranged on the fixed seat 42 in a sliding mode, a clamping jaw 44 is arranged on each rack 43, the clamping jaw 44 is positioned between the two clamping assemblies 32, a gear 45 is rotatably arranged on the fixed seat 42 and connected with the two racks 43, a driver 46 is arranged on the fixed seat 42 and connected with one rack 43, and the driver 46 drives one rack 43 to move through the driver 46 so as to push the gear 45 to drive the two racks 43 to be close to or far away from each other. The roof 22 that slides to turnover case 8 top like this can drive to press from both sides and hold mechanism and clamping mechanism 4 and remove to the top of turnover case 8, and first lifting assembly 31 drives two and presss from both sides and hold subassembly 32 and remove to the both sides of turnover case 8, and turnover case 8 is located the clamp that forms between two clamp and holds subassembly 32 and holds district 335 this moment, and two clamp are held subassembly 32 and are used for the centre gripping turnover case 8. The second pulling component 41 drives the two clamping jaws 44 to move to two sides of the single transformer 7 in the turnover box 8, the driver 46 drives one rack 43 to move, and the rack 43 pushes the gear 45 to rotate so as to drive the clamping jaws 44 on the two racks 43 to approach each other from two sides of the single transformer 7, so that the single transformer 7 is clamped and pulled. The turnover boxes 8 can be unstacked and piled in the warehouse-in process, and the single turnover boxes 8 can be carried for multiple stacking in the warehouse-out process, or the single mutual inductor 7 can be clamped and lifted to sort the single mutual inductor 7. Meanwhile, the disassembly and stacking of the turnover box 8 and the sorting of the single high-voltage transformer 7 products are realized, the compatibility is improved, and the degree of automation is improved. Thereby achieving the technical effects of improving compatibility and improving automation degree.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and all such modifications and equivalents are intended to be encompassed in the scope of the claims of the present invention.
Claims (9)
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368615A (en) * | 2021-12-17 | 2022-04-19 | 西安翼渡电子科技有限公司 | A kind of zinc oxide resistance sheet automatic matching system and using method thereof |
| CN114455332A (en) * | 2020-11-10 | 2022-05-10 | 顺丰科技有限公司 | Sorting system, stacking device and stacking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8074431B1 (en) * | 2009-06-01 | 2011-12-13 | Top Tier, Inc. | Hybrid palletizer |
| CN208775954U (en) * | 2018-08-10 | 2019-04-23 | 浙江大源机械有限公司 | Mould product slicing apparatus |
| EP3885291A1 (en) * | 2020-03-23 | 2021-09-29 | Avanti Conveyors | Palletizing apparatus |
| CN115057246B (en) * | 2022-07-29 | 2025-05-02 | 北京理工大学珠海学院 | Palletizing freight robot and palletizing method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455332A (en) * | 2020-11-10 | 2022-05-10 | 顺丰科技有限公司 | Sorting system, stacking device and stacking method |
| CN114368615A (en) * | 2021-12-17 | 2022-04-19 | 西安翼渡电子科技有限公司 | A kind of zinc oxide resistance sheet automatic matching system and using method thereof |
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