CN212798611U - Tear a layer equipment and tear a layer longmen robot open - Google Patents
Tear a layer equipment and tear a layer longmen robot open Download PDFInfo
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- CN212798611U CN212798611U CN202021246780.5U CN202021246780U CN212798611U CN 212798611 U CN212798611 U CN 212798611U CN 202021246780 U CN202021246780 U CN 202021246780U CN 212798611 U CN212798611 U CN 212798611U
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Abstract
The utility model provides a tear a layer equipment open and tear a layer longmen robot open. Tear a layer equipment and include the frame and install the sucking disc subassembly on the frame, the sucking disc subassembly includes: the first sucker group is arranged in the first direction and used for sucking the objects placed in the first direction, and the second sucker group is arranged in the second direction and used for sucking the objects in the second direction; the first direction is perpendicular to the second direction. This tear a layer equipment open can be used to tear a layer planer-type robot open for the loading processing is handled in transferring of goods, can be used to carry out operations such as goods loading and unloading, pile up neatly, can realize the differentiation of different rows to the product and handle, improves goods treatment effeciency.
Description
Technical Field
The utility model relates to an intelligence cargo handling technical field, concretely relates to tear a layer equipment open and tear a layer longmen robot open.
Background
The layer splitting gantry equipment has the function of splitting a whole stack of products conveyed by a line body into single-row products according to layers.
CN208453977U discloses an automatic unstacker, which adopts a form of cooperation of a bracket, a clamping arm and a suction cup to complete the taking and placing of a whole layer of products. Specifically, clamping arms are arranged on two symmetrical sides of the mounting platform and used for clamping goods; brackets are symmetrically arranged on two sides of the rotary platform and used for supporting and taking goods; the mounting rack is also provided with a sucker for sucking goods; wherein, the setting direction of the bracket is crossed with the setting direction of the clamping arm.
The structure disclosed in CN208453977U represents a prior art way of unstacking goods. There are at least the following disadvantages: the structure is complex, and multifunctional units are needed to be matched; the stability is poor, and the product is easy to fall off during transportation due to the adoption of double-side clamping; the goods in different arrangement directions can not be distinguished and processed, in the prior art, under certain application environments, the condition that the whole layer of products are not uniformly arranged transversely and longitudinally can exist, and if the whole layer of products are uniformly sucked and conveyed, the subsequent processing efficiency is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a can be scientific, high-efficient tear a layer equipment open and tear a layer longmen robot open that layer stacking handled open to the goods.
In order to achieve the above object, the utility model adopts the following technical scheme:
a layer stripping apparatus comprising a frame and a suction cup assembly mounted on the frame, the suction cup assembly comprising: the first sucker group is arranged in the first direction and used for sucking the objects placed in the first direction, and the second sucker group is arranged in the second direction and used for sucking the objects in the second direction; the first direction is perpendicular to the second direction.
In some embodiments of the present invention, the delamination apparatus further comprises a controller, wherein the controller is configured to control the first suction cup group and the second suction cup group to suck the object, and control the first suction cup group and the second suction cup group to release the object respectively.
In some embodiments of the present invention, the frame comprises a first frame beam, a second frame beam, a third frame beam, and a fourth frame beam, the first frame beam, the second frame beam, the third frame beam, and the fourth frame beam enclosing a closed region; the sucker assembly is arranged in the closed space.
In some embodiments of the present invention, a first auxiliary beam is disposed between the first frame beam and the third frame beam, and a second auxiliary beam is disposed between the first auxiliary beam and the second frame beam;
first-direction sucker mounting beams are arranged between the first auxiliary beam and the fourth frame beam, and each first-direction sucker mounting beam is provided with a first-direction sucker;
and a second direction sucker mounting beam is arranged between the second auxiliary beam and the second frame beam and/or between the second auxiliary beam and the third frame beam, and each second direction sucker mounting beam is provided with a second direction sucker.
The utility model discloses some embodiments further are provided with first direction sucking disc installation roof beam between first auxiliary beam and the second frame roof beam, install a first direction sucking disc on every first direction sucking disc installation roof beam.
The utility model discloses some embodiments, further be provided with at least a set of mechanism of holding tightly on the frame, every group holds tightly the mechanism and holds tightly the mechanism including being the relative first mechanism of holding tightly and the second that sets up, hold tightly the mechanism and include:
a pivot lever: is mounted on the frame;
driving a cylinder: the output power can be applied to the pivot rod to drive the pivot rod to rotate;
holding the claw tightly: the hinge comprises a main body part arranged on a pivot rod, wherein a holding panel is arranged on the main body part;
the clasping mechanism is configured to: the first clasping mechanism and the second clasping mechanism clasping the clasping panel of the claw are oppositely arranged.
In some embodiments of the present invention, the pivot rod includes at least two clasping claws arranged at two ends of the shaft.
In some embodiments of the present invention, a driving block is installed on the pivot rod, and the driving block is configured to contact with a power output shaft of the driving cylinder to drive the pivot rod to rotate.
The utility model discloses some embodiments further provide a tear a layer longmen robot open, including gantry frame, gantry frame is last to install above tear a layer equipment open.
The utility model discloses some embodiments, install vertical walking module on the portal frame, tear a layer equipment fixing on vertical walking module.
Compared with the prior art, the utility model provides a tear a layer equipment open's beneficial effect lie in: the configuration form of sucking disc subassembly has been improved, distinguishes the sucking disc subassembly and sets up to arrange along first direction and second direction, can absorb the goods of equidirectional range simultaneously, distinguishes and deposits, improves the scientificity that the goods was put things in good order, and the follow-up single package plastic of being convenient for is handled. This tear a layer equipment cooperation and tear a layer longmen open, can carry out the goods pile up neatly with high efficiency scientifically and handle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
FIG. 1 is a schematic structural diagram of a layer-splitting device in an unclamped state;
FIG. 2 is a schematic structural diagram of a layer-splitting device in a holding state;
FIG. 3 is a schematic top view of a delaminating apparatus;
FIG. 4 is a schematic perspective view of a delaminating apparatus;
FIG. 5 is a schematic view of a split gantry structure;
FIG. 6 is a schematic top view of a split gantry;
wherein, in the figures, the respective reference numerals:
1-frame, 101-first frame beam, 102-second frame beam, 103-third frame beam, 104-fourth frame beam, 105-first auxiliary beam, 106-second auxiliary beam, 107-first direction suction cup mounting beam, 108-second direction suction cup mounting beam;
2-a pivot rod;
3, driving a cylinder;
4-holding claws, 401-a main body part and 402-a holding panel;
5-a drive block;
6-seat board;
701-first direction suction cup, 702-second direction suction cup;
8-gantry frame, 801-lifting driving module, 802-horizontal moving module and 803-rotating module;
9-auxiliary holding plate.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "disposed on," "connected to" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present invention.
It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not intended to imply relative importance.
A layer-splitting apparatus, referring to fig. 1 to 3, for layer-splitting, handling and palletizing of goods, comprising a frame 1 and a suction cup assembly mounted on the frame 1, said suction cup assembly comprising: the first sucker group is arranged in the first direction and used for sucking the objects placed in the first direction, and the second sucker group is arranged in the second direction and used for sucking the objects in the second direction; the first direction is perpendicular to the second direction.
Usually the whole layer goods includes many packing boxes, and the array orientation of all packing boxes is not all the same, in some embodiments of the utility model, in order to be respectively to the operation of the packing box of equidirectional, the sucking disc subassembly is taken and is divided into groups to be set up, wherein, first sucking disc group includes a plurality of first direction sucking discs 701, and second sucking disc group includes a plurality of second direction sucking discs 702. During operation, according to the arrangement direction of goods, the first direction sucking discs 701 are only used for sucking the goods arranged in the first direction, and the second direction sucking discs 702 are only used for sucking the goods arranged in the second direction, so that different products can be distinguished and processed.
Still further, in some embodiments of the present invention, the delamination apparatus further includes a controller configured to control the first suction cup group and the second suction cup group to suck the object, and to control the first suction cup group and the second suction cup group to release the object, respectively.
The first suction cup 701 is defined as a horizontal suction cup for sucking transversely arranged goods, and the second suction cup 702 is defined as a vertical suction cup for sucking longitudinally arranged goods. When the device works, the whole layer of goods is sucked at the same time, the layer detaching device is controlled to move to a first placing point, and the first sucking disc group is controlled to release the goods which are transversely arranged; after finishing, the layer detaching equipment is controlled to move to a second placing point, the second sucker group is controlled to release longitudinally arranged goods, the goods arranged in different directions are distinguished and placed to different working tables, and subsequent single-bag shaping is facilitated.
In some embodiments of the present invention, the frame 1 includes a first frame beam 101, a second frame beam 102, a third frame beam 103, and a fourth frame beam 104, and the first frame beam 101, the second frame beam 102, the third frame beam 103, and the fourth frame beam 104 enclose a closed area; the sucker assembly is arranged in the closed space.
A first auxiliary beam 105 is arranged between the first frame beam 101 and the third frame beam 103, and a second auxiliary beam 106 is arranged between the first auxiliary beam 105 and the second frame beam 102;
first-direction sucker mounting beams 107 are arranged between the first auxiliary beam 105 and the fourth frame beam 104, and each first-direction sucker mounting beam 107 is provided with at least one first-direction sucker 701;
second direction sucker mounting beams 108 are arranged between the second auxiliary beam 106 and the first frame beam 101, and each second direction sucker mounting beam 108 is at least provided with one second direction sucker 702;
first direction sucker mounting beams 107 are further arranged between the first auxiliary beam 105 and the second frame beam 102, and each first direction sucker mounting beam 107 is provided with a first direction sucker 701.
Taking the specific embodiment shown in the top view as an example, four first-direction suction cup mounting beams 107 are provided between the first auxiliary beam 105 and the fourth frame beam 104, and four first-direction suction cups 701 are mounted thereon, and one first-direction suction cup mounting beam 107 is provided between the first auxiliary beam 105 and the second frame beam 102, and two first-direction suction cups 701 are mounted thereon. Two second auxiliary beams 106 are arranged between the first auxiliary beam 105 and the second frame beam 102, wherein three second-direction suction cup mounting beams 108 are arranged between one second auxiliary beam 106 and the first frame beam 101, and three second-direction suction cups 702 are arranged; three second direction suction cup mounting beams 108 are arranged between the other two auxiliary beams 106 and the third frame beam 103, and three second direction suction cups 702 are mounted.
The arrangement design mode of the sucker components is set based on the goods conveying form in the specific goods stacking structure. In practical application, the arrangement of the first directional suction cups 701 and the second directional suction cups 702 can be improved according to the arrangement form of specific single-layer goods.
The utility model discloses some embodiments, in order to improve the firm centre gripping and the effect of transporting the goods, except the sucking disc subassembly, further be provided with at least a set of mechanism of holding tightly on the frame, every group holds tightly the mechanism and holds tightly the mechanism including the first mechanism of holding tightly and the second that is relative setting, hold tightly the mechanism and include:
the pivot rod 2: is mounted on the frame 1;
the driving cylinder 3: is arranged on the frame 1, can apply output power to the pivot rod 2 to drive the pivot rod 2 to rotate;
the holding claw 4: comprises a main body part 401 arranged on a pivot rod 2, wherein the main body part 401 is provided with a holding panel 402;
the controller can further control the work of the driving cylinder 3 to control the clasping mechanism to execute clasping instructions and clamp goods.
Wherein, the panel 402 of hugging tightly of claw 4 is the relative setting for the first mechanism of hugging tightly and the second mechanism of hugging tightly to make the two cooperation hug closely the goods both sides.
In order to realize more stable quota adding effect, two groups of clamping and clasping mechanisms which are matched for use can be designed. Is configured to: the first enclasping mechanism and the second enclasping mechanism enclasping face plate 402 of the enclasping claw are arranged oppositely, and the third enclasping mechanism and the fourth enclasping mechanism enclasping face plate 402 of the enclasping claw are arranged oppositely. The clasping claw 4 can rotate along with the pivoting rod 2, when the pivoting rod rotates in place, the clasping panel 402 is positioned below the bottom end face of the frame 1, and a cargo accommodating space is formed between the four groups of clasping mechanisms and the bottom end face of the frame 1.
In some embodiments of the present invention, at least two clasping claws 4 are mounted on the pivot rod 2 of each clasping mechanism. Specifically, two clasping claws 4 are symmetrically arranged at two ends of the pivoting rod 2 so as to ensure a more stable clasping effect.
Further, in some embodiments, in order to enhance the holding effect, an auxiliary holding plate 9 may be further installed between the two holding claws 4, and the auxiliary holding plate 9 is installed between the two holding claw holding panels 402, and has a length at least extending to the goods in the same layer, and the outermost container, so as to ensure that the goods in the middle layer can be held tightly.
In some embodiments of the present invention, the clasping claw main body portion 401 is a bending structure, and the clasping panel 402 is located at the end of the clasping claw main body portion 401. The first clasping mechanism and the third clasping mechanism clasping the bending structure of the claw main body part 401 are opposite, and the second clasping mechanism and the fourth clasping mechanism clasping the bending structure of the claw main body part 401 are opposite.
In some embodiments of the present invention, a driving block 5 is installed on the pivot rod, and the driving block 5 is configured to contact or connect with the power output shaft of the driving cylinder 3 to drive the pivot rod 2 to rotate. Each pivot rod 2 is provided with a driving block 5, the driving block 5 can be directly connected with a cylinder shaft of the driving cylinder 3, and can also be arranged in the extending direction of the cylinder shaft of the driving cylinder, so that the driving cylinder 3 can apply acting force to the driving block 5 to drive the pivot rod 2 to rotate.
In some embodiments of the present invention, the frame is provided with a seat plate 6, and the driving cylinder 3 is mounted on the seat plate 6. The seat plate 6 is arranged on the upper end surface of the frame 1, and each driving cylinder 3 corresponds to one seat plate 6.
In some embodiments of the present invention, there is further provided a layer-splitting gantry robot, referring to fig. 5 and 6, including a gantry frame 8, wherein the gantry frame 8 is provided with the layer-splitting device.
A walking module is arranged on the gantry frame 8, and the layer disassembling equipment is arranged on the walking module.
The walking module comprises a lifting driving module 801, a horizontal moving module 802 and a rotating module 803. The delaminating apparatus is mounted on the rotating module 803, and the rotating module 803 can control the delaminating apparatus to pivot 180 degrees at least. Further, the rotation module 803 is connected to the horizontal movement module 802 and the lifting driving module 801, and is used for controlling the layer-splitting device to move in two horizontal degrees of freedom and perform lifting movement to meet the cargo transportation requirement. The horizontal moving module 802 and the lifting driving module 801 may adopt a conventional gantry driving structure, and are not described in detail.
And after the layer splitting gantry robot controls the layer splitting equipment to move in place, the suckers in the corresponding directions are aligned with the goods in the corresponding directions. The controller is started, the goods are tightly held by the holding mechanism from four directions, and the goods are sucked by the suckers. The layer splitting gantry robot controls the first-direction arranged goods to be conveyed to a first position, and the first-direction suckers put down the goods; and the layer splitting gantry robot controls the second direction arrangement goods to be conveyed to a second position, and the second direction suction disc puts down the goods.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a tear layer equipment open which characterized in that, includes the frame and installs the sucking disc subassembly on the frame, the sucking disc subassembly includes: the first sucker group is arranged in the first direction and used for sucking the objects placed in the first direction, and the second sucker group is arranged in the second direction and used for sucking the objects in the second direction; the first direction is perpendicular to the second direction.
2. The delaminating apparatus of claim 1 further comprising a controller configured to simultaneously control the first group of suction cups and the second group of suction cups to suck objects and to separately control the first group of suction cups and the second group of suction cups to release objects.
3. The delaminating apparatus of claim 1 wherein the frame comprises a first frame beam, a second frame beam, a third frame beam, and a fourth frame beam, the first, second, third, and fourth frame beams enclosing a closed area; the sucker assembly is arranged in the closed area.
4. The delamination apparatus of claim 3, wherein a first auxiliary beam is disposed between the first and third frame beams, and a second auxiliary beam is disposed between the first and second frame beams;
first-direction sucker mounting beams are arranged between the first auxiliary beam and the fourth frame beam, and each first-direction sucker mounting beam is provided with a first-direction sucker;
and a second direction sucker mounting beam is arranged between the second auxiliary beam and the second frame beam and/or between the second auxiliary beam and the third frame beam, and each second direction sucker mounting beam is provided with a second direction sucker.
5. The delaminating apparatus of claim 4 wherein first direction suction cup mounting beams are further disposed between the first auxiliary beam and the second edge frame beam, one first direction suction cup being mounted on each first direction suction cup mounting beam.
6. The layer splitting apparatus as claimed in claim 1, wherein at least one set of clasping mechanisms is further provided on the frame, each set of clasping mechanisms comprises a first clasping mechanism and a second clasping mechanism which are oppositely arranged, and the clasping mechanisms comprise:
a pivot lever: is mounted on the frame;
driving a cylinder: the output power can be applied to the pivot rod to drive the pivot rod to rotate;
holding the claw tightly: the hinge comprises a main body part arranged on a pivot rod, wherein a holding panel is arranged on the main body part;
the clasping mechanism is configured to: the first clasping mechanism and the second clasping mechanism clasping the clasping panel of the claw are oppositely arranged.
7. The delamination apparatus of claim 6 wherein the pivot rod comprises at least two clasping claws disposed at opposite ends of the shaft.
8. The delaminating apparatus of claim 6 wherein the pivot rod has a drive block mounted thereon, the drive block being positioned to contact a power output shaft of a drive cylinder to drive the pivot rod in rotation.
9. A layer-splitting gantry robot is characterized by comprising a gantry frame, wherein the layer-splitting equipment of any one of claims 1 to 8 is mounted on the gantry frame.
10. The split-level gantry robot of claim 9, wherein the gantry frame has a motion module mounted thereon, the motion module comprising at least a rotation module and a longitudinal walking module, the split-level apparatus being mounted on the rotation module, the rotation module being mounted on the longitudinal walking module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021246780.5U CN212798611U (en) | 2020-06-30 | 2020-06-30 | Tear a layer equipment and tear a layer longmen robot open |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021246780.5U CN212798611U (en) | 2020-06-30 | 2020-06-30 | Tear a layer equipment and tear a layer longmen robot open |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212798611U true CN212798611U (en) | 2021-03-26 |
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ID=75098946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021246780.5U Active CN212798611U (en) | 2020-06-30 | 2020-06-30 | Tear a layer equipment and tear a layer longmen robot open |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212798611U (en) |
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2020
- 2020-06-30 CN CN202021246780.5U patent/CN212798611U/en active Active
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