CN207566491U - Full-automatic de-stacking unit - Google Patents

Abstract

The utility model provides a kind of full-automatic de-stacking unit, and including mobile platform and hoistable platform, the hoistable platform level is fixed on mobile platform upper surface, and it is located at the table top vertically elevating movement setting on top；Capture mechanical arm, the crawl mechanical arm is distributed in the table top side of the hoistable platform one end, and its end close to respective side edges drive and rotatable, and the mechanical arm other end that captures is provided with for the grabber for cargo of taking.The utility model provides a kind of full-automatic de-stacking unit, the demand for carrying out de-stacking is may be implemented in from anywhere in factory or transfer house on a mobile platform by carrying, compared with the de-stacking unit set on fixed position, the progress of de-stacking process is greatly facilitated, improves the efficiency of de-stacking process.

Description

Full-automatic de-stacking unit

Technical field

The utility model is related to technical field of mechanical automation, specifically, being related to full-automatic de-stacking unit.

Background technology

De-stacking belongs to the essential step of plant produced logistics transportation, at present or mainly using artificial de-stacking as It is main, and artificial de-stacking labor intensity is big, inefficiency, under particularly toxic, hostile environment, while the rising of labor cost and Market competition etc. requires that enterprise must improve production efficiency, by manually turning to automation.Unstacking robot can be that enterprise produces Wider array of production space and more production times are provided, controllable production is implemented to industrial each step, is enterprise's band Carry out more macroscopical economic benefit.This belongs to the developing direction of full intelligent plant and the production model of following enterprise, although robot Code de-stacking technology has obtained large development, but robot de-stacking technology is widely used using no palletizing technology, this is mainly Since de-stacking system needs first to position target.

Chinese patent CN105217324A discloses a kind of novel de-stacking method and system, mainly includes：Mechanical arm is complete Section installation binocular camera, makes binocular camera be moved with mechanical arm, de-stacking system is arrived according to partitioning scenario mobile mechanical arm front end Suitable position, then synchronous acquisition binocular image, identification position target；Then according to the posture of unstacking robot, by camera Target bearing under coordinate system is converted into the target bearing under robot coordinate system；Unstacking robot is grabbed according to target bearing It takes, de-stacking is carried out so as to fulfill successively partitioned mode.Correspondingly, the invention also discloses a kind of de-stacking systems.Implement the present invention, The accurately and reliably automatic de-stacking of robot can be achieved, expand the Work Space Range of unstacking robot and tearing open for robot Pile range improves de-stacking flexibility, efficiently solves the orientation problem that unstacking robot is faced.But the patent need to be set in Fixed position, in actual job environment, de-stacking demand is can be happened at factory and any of transfer house is not fixed position Place, fixed equipment can not use.

Utility model content

In order to achieve the above objectives, the utility model discloses full-automatic de-stacking units, which is characterized in that including：

Mobile platform；

Hoistable platform, level are fixed on mobile platform upper surface, and it is located at the table top on top vertically Elevating movement is set；

Mechanical arm is captured, the crawl mechanical arm is distributed in the table top side of the hoistable platform one end, and it is leaned on The end of nearly respective side edges drive and rotatable, and the mechanical arm other end that captures is provided with grabbing for cargo of taking Take device.

For the ease of realizing that crawl mechanical arm planar flexible pulls function, preferred technical solution is, described to grab Mechanical arm is taken to include first mechanical arm and second mechanical arm, described first mechanical arm one end is rotated by the first driving motor to be connected Connect, first mechanical arm described in the second mechanical arm vertical connection and by the second driving motor be rotationally connected with first machinery Arm, the grabber are connected at the second mechanical arm far from first mechanical arm one end.

For the ease of realizing the elevating function of hoistable platform, preferred technical solution is that the hoistable platform includes level The elevating mechanism being fixed on the upper surface of mobile platform and the platform being fixed on the elevating mechanism top end face Face.

For the ease of utilizing visual recognition, the position of cargo is found, goes to grab folder, preferred technology before guiding crawl mechanical arm Scheme is that the mechanical nearly grabber end of arm rest of crawl is equipped with automatic identification camera lens.

When capturing mechanical arm when capturing carton cargo, cargo is directly sucked by sucker gripper and is dragged to hoistable platform On, and when capturing mechanical arm crawl bag cargo, it can only be gripped using the small side of bag cargo both sides package, in order to keep away Exempt from when cargo is pulled, the phenomenon that with cargo by oblique pull when tears sack, preferred technical solution is the crawl Device be capture carton cargo sucker gripper or crawl bag cargo be freely rotated folder.

In order to realize the automation control of complete equipment and increase equipment movement cruising ability, preferred technical solution It is to further include control panel and electrical storage device, the control panel is electrically connected and controls mobile platform, hoistable platform, gripper Tool arm and identification camera lens, the electrical storage device are electrically connected with control device.

In order to reduce crawl mechanical arm bear vertically bear a heavy burden and preferably complete crawl mechanical arm grab folder action, prevent work as When grabbing the cargo that folder is located on lowest level ground, since hoistable platform oneself height is plus mobile platform oneself height, goods is caused Object, which can not be grabbed, clips to happening on hoistable platform, and preferred technical solution is that the flat surface side extension is equipped with can Collapsed transportable plate, the foldable transportation plate upper surface and the flat surface upper surface are coplanar, described foldable transportation plate one end It being hinged with the flat surface side, the foldable transportation plate lower end is connect with the flat surface side by electric telescopic rod, The electric telescopic rod is electrically connected to control device.

The utility model has the following advantages that：

(1) the full-automatic de-stacking unit may be implemented in any of factory or transfer house on a mobile platform by carrying Place carries out the demand of de-stacking, compared with the de-stacking unit set on fixed position, greatly facilitates the progress of de-stacking process, improves The efficiency of de-stacking process.

(2) the full-automatic de-stacking unit carries out visual recognition using automatic identification camera lens, finds the position of cargo, then It goes to grab folder before guiding crawl mechanical arm, the crawl mechanical arm is set on hoistable platform upper end, horizontal by the crawl mechanical arm Crawl cargo is dragged on hoistable platform, is then changed to the three-dimensional manipulating (top to bottom, left and right, front and rear) of original de-stacking by lifting Two-dimensional operation (left and right, front and rear) removes dimension up and down from, can avoid in general de-stacking scheme, and freight lifting is being put down It is vertical to bear a heavy burden, driving end and elevator group can be made to become light-dutyer, electrical storage device also naturally can be relatively light, and movement is allowed to become It is feasible.

Description of the drawings

It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution of the prior art Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below In attached drawing be some embodiments of the present invention, for those of ordinary skill in the art, do not making the creative labor Under the premise of, it can also be obtained according to these attached drawings other attached drawings.

Fig. 1 is the full-automatic de-stacking unit structure diagram of the utility model；

Fig. 2 is the full-automatic de-stacking unit allocation connection figure of the utility model；

Fig. 3 is the utility model foldable transportation plate structure schematic diagram one；

Fig. 4 is the utility model foldable transportation plate structure schematic diagram two.

In figure：1st, mobile platform；2nd, hoistable platform；3rd, mechanical arm is captured；4th, automatic identification camera lens；5th, control panel；6、 Electrical storage device；7th, foldable transportation plate；2-1, elevating mechanism；2-2, flat surface；3-1, grabber；3-2, first mechanical arm；3- 3rd, second mechanical arm；3-4, the first driving motor；3-5, the second driving motor；7-1, electronic telescopic rod.

Specific embodiment

The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described Embodiment is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment in the utility model, this field Those of ordinary skill's all other embodiments obtained without making creative work, belong to the utility model The range of protection.

Embodiment：

The utility model is described further below in conjunction with attached drawing.

As shown in Figure 1, full-automatic de-stacking unit provided in this embodiment, which is characterized in that including：

Mobile platform 1；

Hoistable platform 2, level are fixed on 1 upper surface of mobile platform, and it is located at the table top on top along vertical side It is set to elevating movement；

Mechanical arm 3 is captured, the crawl mechanical arm 3 is distributed in the table top side of 2 one end of hoistable platform, and its It is driven close to the end of respective side edges and rotatable, crawl 3 other end of mechanical arm is provided with for cargo of taking Grabber 3-1.

For the ease of realizing that crawl mechanical arm 3 planar flexible pulls function, the embodiment of the utility model is, The crawl mechanical arm 3 includes first mechanical arm 3-2 and second mechanical arm 3-3, described first mechanical arm 3-2 one end pass through first Driving motor 3-4 be rotatablely connected, first mechanical arm 3-2 described in the second mechanical arm 3-3 vertical connections and pass through second drive Dynamic motor 3-5 is rotationally connected with first mechanical arm 3-2, and the grabber 3-1 is connected at the second mechanical arm 3-3 far from the One mechanical arm 3-2 one end.

For the ease of realizing the elevating function of hoistable platform 2, the embodiment of the utility model is the hoistable platform 2 Including the horizontal elevating mechanism 2-1 being fixed on the upper surface of mobile platform and it is fixed at the elevating mechanism 2-1 tops Flat surface 2-2 on end face.

For the ease of utilizing visual recognition, the position of cargo is found, goes to grab folder before guiding crawl mechanical arm 3, this practicality is new The embodiment of type is that the crawl mechanical arm 3 is equipped with automatic identification camera lens 4 close to grabber 3-1 ends.

When capturing mechanical arm 3 when capturing carton cargo, cargo is directly sucked to be dragged to lift by sucker gripper and is put down On platform, and when capturing the crawl bag cargo of mechanical arm 3, it can only be gripped using the small side of bag cargo both sides package, be It avoids when cargo is pulled, the phenomenon that with cargo by oblique pull when tears sack, the embodiment of the utility model Be, the grabber 3-2 be capture carton cargo sucker gripper or crawl bag cargo folder is freely rotated.

As shown in Fig. 2, in order to realize the automation control of complete equipment and increase equipment movement cruising ability, this practicality Novel embodiment is to further include control panel 5 and electrical storage device 6, and the control panel 5 is electrically connected and controls mobile platform 1st, hoistable platform 2, crawl mechanical arm 3 and automatic identification camera lens 4, the electrical storage device 6 are electrically connected with control device 5.

As shown in figure 3, in order to reduce, crawl mechanical arm 3 bears vertically to bear a heavy burden and preferably completion crawl mechanical arm 3 is grabbed Folder acts, and prevents when grabbing the cargo that folder is located on lowest level ground, since hoistable platform oneself height adds mobile platform certainly Height degree causes cargo that can not be grabbed and clips to happening on hoistable platform, and the embodiment of the utility model is, described flat The extension of table top 2-2 sides is equipped with foldable transportation plate 7,7 upper surface of foldable transportation plate and the flat surface 2-2 upper surfaces Coplanar, described 7 one end of foldable transportation plate is hinged with the flat surface 2-2 sides, 7 lower end of foldable transportation plate with it is described Flat surface 2-2 sides are connected by electric telescopic rod 7-1, and the electric telescopic rod 7-1 is electrically connected to control panel 5.

The hoistable platform 2 for being mounted in the upper end is moved to factory and middle roll-over by a kind of destacking apparatus by mobile platform 1 The place of any required de-stacking in library, equipment is rested in by cargo, as shown in figure 4, by foldable transportation plate 7 by flat surface 2-2 is carried to cargo de-stacking layer, by the way that the first driving motor 3-4 and the second driving motor 3-5 of control is controlled to drive crawl machinery Arm 3 realizes all around moving in plane, carries out visual recognition by capturing 3 front end automatic identification camera lens 4 of mechanical arm, realizes The crawl of cargo is realized in the positioning of cargo by the grabber 3-2 for being located at 3 front end of crawl mechanical arm, when crawl mechanical arm 3 is being grabbed When taking carton cargo, cargo is directly sucked by sucker gripper and is dragged on flat surface 2-2 by foldable transportation plate 7, And when capturing the crawl bag cargo of mechanical arm 3, it can only be gripped using the small side of bag cargo both sides package, in order to avoid When cargo is pulled, the phenomenon that with cargo by oblique pull when tears sack, by the way that folder is freely rotated by cargo by can Collapsed transportable plate 7 is dragged on flat surface 2-2, completes the individual layer de-stacking of cargo since then, then drives position by elevating mechanism 2-1 In on flat surface 2-2 cargo lifting completed subsequent stacking process, so move in circles when de-stacking to be located at ground most During bottom cargo, since mobile platform 1 and hoistable platform 2 with respect to ground have difference in height, as shown in figure 3, at this time by the way that be located at can The electric telescopic rod 7-1 of 7 lower end of collapsed transportable plate adjusts angle of the foldable transportation plate 7 relative to flat surface 2-2, oblique to manufacture Slope come facilitate crawl mechanical arm 3 draw on cargo to flat surface 2-2.

Obviously, the above embodiments are merely examples for clarifying the description, and is not intended to limit the embodiments.It is right For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or It changes.There is no necessity and possibility to exhaust all the enbodiments.And the obvious variation thus extended out or Among changing still in the protection domain of the invention.

Claims (6)

1. a kind of full-automatic de-stacking unit, which is characterized in that including:

Mobile platform (1)；

Hoistable platform (2), level are fixed on mobile platform (1) upper surface, and it is located at the table top on top along vertical side It is set to elevating movement；

Mechanical arm (3) is captured, the crawl mechanical arm (3) is distributed in the table top side of the hoistable platform (2) one end, and Its end close to respective side edges is driven and rotatable, and described crawl mechanical arm (3) other end is provided with to take The grabber (3-1) of cargo.

2. a kind of full-automatic de-stacking unit according to claim 1, which is characterized in that the crawl mechanical arm (3) includes First mechanical arm (3-2) and second mechanical arm (3-3), described first mechanical arm (3-2) one end pass through the first driving motor (3-4) Rotation connection, first mechanical arm (3-2) described in second mechanical arm (3-3) vertical connection and passes through the second driving motor (3-5) is rotationally connected with first mechanical arm (3-2), and it is separate that the grabber (3-1) is connected at the second mechanical arm (3-3) First mechanical arm (3-2) one end.

3. a kind of full-automatic de-stacking unit according to claim 1, which is characterized in that the hoistable platform (2) is including water It puts down the elevating mechanism (2-1) being fixed on the upper surface of mobile platform and is fixed at the elevating mechanism (2-1) top Flat surface (2-2) on face.

4. a kind of full-automatic de-stacking unit according to claim 1, which is characterized in that the crawl mechanical arm (3) is close Grabber (3-1) end is equipped with automatic identification camera lens (4).

5. a kind of full-automatic de-stacking unit according to claim 4, which is characterized in that further include control panel (5) and store Electric installation (6), the control panel (5) is electrically connected and controls mobile platform (1), hoistable platform (2), crawl mechanical arm (3) and Automatic identification camera lens (4), the electrical storage device (6) are electrically connected with control device (5).

6. a kind of full-automatic de-stacking unit according to claim 1, which is characterized in that prolong flat surface (2-2) side It stretches equipped with foldable transportation plate (7), foldable transportation plate (7) upper surface and the flat surface (2-2) upper surface are coplanar, institute It is hinged to state foldable transportation plate (7) one end and the flat surface (2-2) side, foldable transportation plate (7) lower end with it is described Flat surface (2-2) side is connected by electric telescopic rod (7-1), and the electric telescopic rod (7-1) is electrically connected to control panel (5)。