CN212291917U

CN212291917U - Multifunctional automatic unstacking equipment

Info

Publication number: CN212291917U
Application number: CN202020749724.7U
Authority: CN
Inventors: 何胜红; 王敏; 尹超; 费庆峰
Original assignee: Dalian Dezhongyuan Industrial Automation Co ltd
Current assignee: Dalian Dezhongyuan Industrial Automation Co ltd
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2021-01-05
Anticipated expiration: 2030-05-07

Abstract

The utility model belongs to the technical field of mechanical equipment, in particular to a multifunctional automatic unstacking device, which comprises a gripping device and a power system for driving the gripping device to move; the grabbing device comprises an installation support connected with the power system and a grabbing unit moving linearly relative to the installation support, wherein the grabbing unit comprises at least one clamping jaw structure, at least one sucker structure and a 3D image acquisition unit; the 3D image acquisition unit is used for obtaining supplied materials position information, and the power system drives the clamping jaw structure and the sucking disc structure to move according to the position information, so that the bagged materials are unstacked. The utility model discloses in aim at using the effective pickup that realizes bagged materials through clamping jaw structure and sucker structure's combination, 3D image acquisition unit provides the data foundation for automated control, guarantees the whole accurate positioning who snatchs the unit, and equipment of breaking a jam through the aforesaid automation has reduced operating personnel's working strength, and has high work efficiency.

Description

Multifunctional automatic unstacking equipment

Technical Field

The utility model belongs to the technical field of mechanical equipment, concretely relates to multi-functional automatic equipment of breaking a jam.

Background

Powdery materials are transported and stored in a bag form in industrial production, and the space is saved in the transferring and storing process through a stacking mode. When the bagged materials are taken, the bagged materials are unstacked manually, so that the bagged materials are conveyed to a conveyor belt one by one for use in the next procedure.

In the above-mentioned in-process, because powdered material disperses to the air easily for staff's operational environment causes the pollution, even if carry out the separation through modes such as wearing the gauze mask, still can bring the threat to operating personnel's occupational health, and the pile up neatly height is higher and the weight of single bagged materials is great, therefore work efficiency also is difficult to obtain the promotion.

In view of the above problems, the present inventors have made extensive research and innovation based on practical experience and professional knowledge in many years of engineering application of such products, and together with the application of theory, in order to create a multifunctional automatic unstacking apparatus, which is more practical.

SUMMERY OF THE UTILITY MODEL

The utility model discloses in provide a multi-functional automatic equipment of breaking a jam to effectively solve the problem among the background art.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

a multifunctional automatic unstacking device comprises a gripping device and a power system for driving the gripping device to move;

the grabbing device comprises a mounting support connected with the power system and a grabbing unit moving linearly relative to the mounting support, wherein the grabbing unit comprises at least one clamping jaw structure, at least one sucker structure and a 3D image acquisition unit;

the 3D image acquisition unit is used for acquiring the position information of supplied materials, and the power system drives the clamping jaw structure and the sucking disc structure to move according to the position information, so that the bagged materials are unstacked.

Further, the power system is a six-axis manipulator.

Further, be provided with the cylinder on the erection support, the piston rod end connection of cylinder has the mounting panel, clamping jaw structure, sucker structure and 3D image acquisition unit all install in on the mounting panel.

Furthermore, the mounting plate is provided with at least one guide rod, and the mounting support is provided with a guide through hole matched with the guide rod.

Furthermore, the clamping jaw structure is a pneumatic structure and is provided with two clamping jaws which are symmetrically arranged, clamping blocks are arranged at the bottoms of the clamping jaws along the horizontal direction, and a plurality of bulges are arranged on the side walls, attached to bagged materials, of the clamping blocks.

Furthermore, the bottom of the clamping block horizontally extends to form an inserting piece, and the inserting piece protrudes out of the clamping block in the direction towards the bagged materials.

Further, the clamping surface of the lug for the bagged materials comprises two symmetrically arranged parts, and the projections of the two parts in the horizontal direction form a V-shaped arrangement.

Further, sucker structures are arranged in parallel, the 3D image acquisition unit is arranged between the two sucker structures, the clamping jaw structures are arranged in two, and the clamping jaw structures are symmetrically arranged on two sides of the sucker structures.

Through the technical scheme of the utility model, can realize following technological effect:

the utility model discloses in aim at using the effective pickup that realizes bagged materials through clamping jaw structure and sucker structure's combination, 3D image acquisition unit provides the data foundation for automated control, guarantees the whole accurate positioning who snatchs the unit, and equipment of breaking a jam through the aforesaid automation has reduced operating personnel's working strength, and has high work efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a multifunctional automated unstacking apparatus;

FIG. 2 is a schematic structural view of the grasping apparatus;

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

FIG. 4 is an enlarged view of a portion of FIG. 2 at B;

reference numerals: the device comprises a grabbing device 1, a mounting support 11, a clamping jaw structure 12, a clamping jaw 12a, a clamping block 12b, an inserting piece 12c, a sucker structure 13, a 3D image acquisition unit 14, an air cylinder 15, a mounting plate 16, a guide rod 17 and a power system 2.

Detailed Description

The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are the directions or positional relationships indicated on the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the device or element indicated must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may include, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. This embodiment is written in a progressive manner.

As shown in fig. 1 and 2, the multifunctional automatic unstacking equipment comprises a gripping device 1 and a power system 2 for driving the gripping device 1 to move; the gripping device 1 comprises a mounting support 11 connected with the power system 2, and a gripping unit which moves linearly relative to the mounting support 11, wherein the gripping unit comprises at least one clamping jaw structure 12, at least one sucker structure 13 and a 3D image acquisition unit 14; the 3D image acquisition unit 14 is used for acquiring the incoming material position information, and the power system 2 drives the clamping jaw structure 12 and the sucking disc structure 13 to move according to the position information, so that the bagged materials are unstacked.

The utility model discloses in aim at using the effective pickup that realizes bagged materials through the combination of clamping jaw structure 12 and sucker structure 13, even if after powdered material caking, still can realize effectual unstacking action, 3D image acquisition unit 14 provides the data foundation for automated control, guarantees the whole accurate positioning who snatchs the unit, has reduced operating personnel's working strength through above-mentioned automatic equipment of unstacking, and has high work efficiency.

In order to realize more flexible material picking, the power system 2 is a six-shaft manipulator. Of course, in order to reduce the cost, other three-axis systems and the like can be adopted, and the protection scope of the utility model is included.

As a preference of the above embodiment, the linear movement of the grabbing unit relative to the mounting support 11 is realized under the driving of a pneumatic system, specifically, an air cylinder 15 is arranged on the mounting support 11, a mounting plate 16 is connected to a piston rod end of the air cylinder 15, and the clamping jaw structure 12, the suction cup structure 13 and the 3D image acquisition unit 14 are all mounted on the mounting plate 16. The linear movement of the gripping unit can be achieved by the telescopic movement of the piston rod of the cylinder 15. In order to ensure the stability during the linear movement, as shown in fig. 2 and 3, at least one guide rod 17 is provided on the mounting plate 16, and the mounting support 11 is provided with a guide through hole adapted to the guide rod 17.

The clamping jaw structure 12 is a pneumatic structure and is provided with two clamping jaws 12a which are symmetrically arranged, the bottom of each clamping jaw 12a is provided with a clamping block 12b along the horizontal direction, and a plurality of bulges are arranged on the side wall of each clamping block 12b, which is attached to the bagged materials. As shown in FIG. 4, the arrangement of the clamping block 12b aims to form a more concentrated force application position at the bottom of the clamping jaw 12a, and the arrangement of the protrusion increases the friction force between the clamping jaw 12a and the bagged materials, thereby effectively ensuring the final grabbing effect.

Preferably, the bottom of the clamping block 12b extends horizontally to form an inserting sheet 12c, the inserting sheet 12c protrudes out of the clamping block 12b in the direction towards the bagged material, that is, the inserting sheet 12c is firstly inserted into the bottom of the edge of the bagged material in the grabbing process, and the inserting sheet 12c can be prevented from damaging the bag body due to the certain radian, and certainly, the edge of the inserting sheet 12c can be subjected to the swelling treatment; in the clamping process of the clamping block 12b, the inserting piece 12c can play a certain supporting role, so that the clamping block 12b is ensured to obtain an effective clamping position.

In order to further improve the clamping effect, the clamping surface of the lug 12b for the bagged materials comprises two symmetrically arranged parts, and the projections of the two parts in the horizontal direction form a V-shaped arrangement.

Preferably, the two sucker structures 13 are arranged side by side, the 3D image acquisition unit 14 is arranged between the two sucker structures 13, and the two clamping jaw structures 12 are arranged symmetrically on two sides of the two sucker structures 13. In the in-process of actual production, sucker structure 13 mainly absorbs to the material caking part, the operating position preferred has comparatively level and smooth surface, consequently, set up between two sucker structure 13, 3D image acquisition unit 14 generally is used for gathering the central point of bagged materials and puts, consequently, after the position is confirmed, sucker structure 13 just in time is located the comparatively level and smooth position department of bagged materials basically, and clamping jaw structure 12 then better is applicable to the clamp of bagged materials edge and gets, be similar to the mode of manual handling, the stationarity of transporting can be guaranteed to the clamp through both sides.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The multifunctional automatic unstacking equipment is characterized by comprising a gripping device (1) and a power system (2) for driving the gripping device (1) to move;

the gripping device (1) comprises a mounting support (11) connected with the power system (2) and a gripping unit which moves linearly relative to the mounting support (11), wherein the gripping unit comprises at least one clamping jaw structure (12) and at least one sucker structure (13) and a 3D image acquisition unit (14);

the 3D image acquisition unit (14) is used for acquiring the incoming material position information, and the power system (2) drives the clamping jaw structure (12) and the sucker structure (13) to move according to the position information, so that the bagged materials are unstacked.

2. A multifunctional automated unstacking apparatus according to claim 1 characterized in that the power system (2) is a six axis robot.

3. The multifunctional automatic unstacking equipment according to claim 1 or 2, wherein an air cylinder (15) is arranged on the mounting support (11), a mounting plate (16) is connected to the end of a piston rod of the air cylinder (15), and the clamping jaw structure (12), the suction cup structure (13) and the 3D image acquisition unit (14) are mounted on the mounting plate (16).

4. A multifunctional automated unstacking apparatus according to claim 3, wherein the mounting plate (16) is provided with at least one guide bar (17), and the mounting support (11) is provided with guide through holes adapted to the guide bar (17).

5. The multifunctional automatic unstacking equipment according to claim 1, wherein the clamping jaw structure (12) is a pneumatic structure and is provided with two symmetrically arranged clamping jaws (12 a), a clamping block (12 b) is arranged at the bottom of each clamping jaw (12 a) along the horizontal direction, and a plurality of protrusions are arranged on the side wall of each clamping block (12 b) attached to the bagged materials.

6. A multi-functional automated unstacking apparatus according to claim 5, characterized in that a tab (12 c) extends horizontally from the bottom of the clamp block (12 b), said tab (12 c) protruding from the clamp block (12 b) in a direction towards the bagged material.

7. A multi-functional automated unstacking apparatus according to claim 5 or 6, characterized in that the clamping surface of the clamp blocks (12 b) for the bagged material comprises two symmetrically arranged parts, and the projections of the two parts in the horizontal direction are arranged in a V-shape.

8. The multifunctional automated unstacking apparatus according to claim 1, wherein two sucker structures (13) are arranged side by side, the 3D image acquisition unit (14) is arranged between the two sucker structures (13), and two clamping jaw structures (12) are arranged symmetrically on both sides of the two sucker structures (13).