CN216917773U

CN216917773U - Combined unstacking mechanism

Info

Publication number: CN216917773U
Application number: CN202220385009.9U
Authority: CN
Inventors: 蔚原野; 汪骥; 笪良栋; 潘赵勇; 周子龙
Original assignee: Hefei Sairuitan Automation Technology Co ltd
Current assignee: Hefei Sairuitan Automation Technology Co ltd
Priority date: 2022-02-23
Filing date: 2022-02-23
Publication date: 2022-07-08
Anticipated expiration: 2032-02-23

Abstract

The utility model relates to the technical field of mechanical automation, and discloses a combined unstacking mechanism which is arranged on a robot arm and comprises a robot connecting flange fixedly arranged at the tail end of the robot arm and at least one gripper mechanism transversely connected with the robot connecting flange in a sliding manner; tongs mechanism includes: a gripper frame; the sucker and the material pressing plate are arranged on one side of the gripper frame and can lift; the sucking disc is used for sucking the side face of the goods, and the material pressing plate is positioned above the sucking disc; the material supporting plate is positioned below the sucker and can perform longitudinal telescopic motion; according to the utility model, after the side surface of the goods is sucked by the sucking disc, one side of the goods is lifted, the material supporting plate longitudinally extends into the bottom of the goods to lift the goods, the material pressing plate tightly presses the goods, at the moment, the goods are firmly grabbed by the unstacking mechanism, and the goods can be transferred to other places to be placed through the robot arm.

Description

Combined unstacking mechanism

Technical Field

The utility model relates to the technical field of mechanical automation, in particular to a combined unstacking mechanism.

Background

After the goods stack is put things in good order, need the unstacking, then put things in good order one by one on the goods conveyer line to carry other positions with the goods.

Before not carrying out automatic transformation, need break a jam to the goods through manual work mode or with the help of the semi-automatic mode of mechanical assistance, then put things in good order the goods on the conveyer line, inefficiency can't follow the production rhythm, and the cost of labor is high.

Among the prior art, adopt the mode at sucking disc absorption goods top, unstack and remove the goods to the goods, but the mode that the goods was absorbed at the top has the restriction to the translation rate of goods, and the translation rate drops easily when too fast.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a combined unstacking mechanism.

In order to solve the technical problems, the utility model adopts the following technical scheme:

a combined unstacking mechanism is arranged on a robot arm and comprises a robot connecting flange fixedly arranged at the tail end of the robot arm and at least one gripper mechanism which is transversely connected with the robot connecting flange in a sliding manner; the tongs mechanism includes:

a gripper frame;

the sucker is fixedly arranged on one side of the gripper frame;

the material pressing plate is positioned above the sucker and can lift; the material pressing plate is used for pressing the upper part of the goods;

the material supporting plate is positioned below the sucker and can perform longitudinal telescopic motion; the material supporting plate extends into the bottom of the goods.

Further, including setting up the gyro wheel at material layer board both ends, walk around material layer board both ends gyro wheel and around the belt that material layer board set up, along vertical the chucking cylinder that sets firmly on the tongs frame, with the chucking board of the removal end fixed connection of chucking cylinder, the belt sets up between chucking cylinder and chucking board.

Further, the material loading device comprises a rack longitudinally arranged on the material supporting plate, a gear which is rotatably connected with the gripper frame and is meshed with the rack, and a supporting plate driving motor which is fixedly arranged on the gripper frame and drives the gear to rotate.

Further, the robot comprises a transverse guide rail and a width adjusting cylinder which are fixedly arranged on a robot connecting flange along the transverse direction; the gripper frame is fixedly connected with the moving pair of the transverse guide rail, and the moving end of the width adjusting cylinder is fixedly connected with the gripper frame.

Further, the device comprises a material pressing cylinder which is vertically and fixedly arranged on the gripper frame; the material pressing plate is fixedly connected with the moving end of the material pressing cylinder.

Further, including vertical setting and with robot flange fixed connection's altitude mixture control cylinder, with the bag sucking disc of the removal end fixed connection of altitude mixture control gas.

Compared with the prior art, the utility model has the beneficial technical effects that:

according to the utility model, after the side surface of the goods is sucked by the sucking disc, one side of the goods is lifted, the material supporting plate longitudinally extends into the bottom of the goods to lift the goods, the material pressing plate tightly presses the goods, at the moment, the goods are firmly grabbed by the unstacking mechanism, and the goods can be transferred to other places to be placed through the robot arm.

Drawings

FIG. 1 is a schematic structural view of the present invention as a whole;

FIG. 2 is a schematic structural view of the present invention as a whole;

FIG. 3 is a schematic structural diagram of a pallet drive motor, a gear and a rack according to the present invention;

fig. 4 is a schematic structural diagram of a clamping cylinder and a clamping plate of the utility model.

Detailed Description

A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1 and 2, the combined unstacking mechanism of the utility model is mounted on a robot arm and comprises a robot connecting flange 1, a gripper mechanism 5, a transverse guide rail 3, a width adjusting cylinder 2, a height adjusting cylinder 41 and a bag suction cup 42.

The robot connecting flange 1 is fixedly arranged at the tail end of a robot arm.

At least one gripper mechanism 5; the transverse guide rail 3 is fixedly arranged on the robot connecting flange 1, and the gripper frame 58 is fixedly connected with the moving pair of the transverse guide rail 3; the width adjusting cylinder 2 is fixedly connected with the robot connecting flange 1, and the moving end of the width adjusting cylinder 2 is fixedly connected with the gripper frame 58. The width adjusting cylinder 2 can drive the gripper mechanism 5 to move transversely through the moving end of the width adjusting cylinder.

As shown in fig. 1 to 4, the gripper mechanism 5 includes a gripper frame 58, a suction cup 52, a material pressing plate 512, a material supporting plate 57, a roller 56, a belt 53, a clamping cylinder 55, a clamping plate 551, a rack 542, a gear 541, a supporting plate driving motor 54, a material pressing cylinder 511, and a suction cup lifting cylinder. Wherein the suction cup lifting cylinder is not shown in the drawings.

The suction cup 52 and the material pressing plate 512 are both positioned on one side of the gripper frame 58 and can be lifted and lowered; the suction cups 52 are used for sucking the side of the goods, and the material pressing plate 512 is positioned above the suction cups 52 and used for pressing the goods.

The material pallet 57 is located below the suction cup 52 and can be moved in a longitudinal telescopic manner for picking up goods.

As shown in fig. 3, the rack 542 is longitudinally installed on the material supporting plate 57, the gear 541 is rotatably connected with the gripper frame 58 and meshed with the rack 542, the supporting plate driving motor 54 is fixedly installed on the gripper frame 58 and drives the gear 541 to rotate, when the supporting plate driving motor 54 rotates, the gear 541 can be driven to rotate, and the gear 541 is meshed with the rack 542 to further drive the material supporting plate 57 to extend and retract.

The rollers 56 are arranged at two ends of the material supporting plate 57, the belt 53 bypasses the rollers 56 at two ends of the material supporting plate 57 and is arranged around the material supporting plate 57, the clamping cylinder 55 is fixedly arranged on the gripper frame 58 along the vertical direction, the moving end of the clamping cylinder 55 is fixedly connected with the clamping plate 551, and the belt 53 is arranged between the clamping cylinder 55 and the clamping plate 551. When the goods was placed on material layer board 57, goods and belt 53 direct contact avoided material layer board 57 flexible, produced the friction between material layer board 57 and the goods. When the clamping cylinder 55 drives the clamping plate 551 to retract, force is applied to the belt 53 to clamp the belt 53, and relative movement between the belt 53 and the clamping plate 551 is prevented. When the belt 53 is not clamped, the belt 53 integrally moves along with the material supporting plate 57, and the rollers 56 at the two ends of the material supporting plate 57 do not rotate; when the belt 53 is clamped, when the material supporting plate 57 stretches and retracts along the longitudinal direction, no friction exists between the goods placed on the material supporting plate 57 and the belt 53, the goods are attached to or separated from each other in a book turning-like manner, before the material supporting plate 57 retracts to unload the goods, the belt 53 needs to be clamped by the clamping plate 551, the friction between the goods and the belt 53 in the unloading process can be avoided, and the appearance of the goods can be protected.

The material pressing cylinder 511 is fixedly arranged on the gripper frame 58 along the vertical direction, and the material pressing plate 512 is fixedly connected with the moving end of the material pressing cylinder 511. The material pressing cylinder 511 can drive the material pressing plate 512 to lift.

The sucker lifting cylinder is fixedly mounted on the gripper frame 58 along the vertical direction, the moving end of the sucker lifting cylinder is fixedly connected with the sucker 52, and the sucker lifting cylinder can drive the sucker 52 to lift.

The height adjusting cylinder 41 is vertically arranged and fixedly connected with the robot connecting flange 1, and the bag sucker 42 is fixedly connected with the moving end of the height adjusting gas.

In the utility model, each cylinder is provided with a fixed end and a movable end which moves linearly relative to the fixed end.

The working principle of the utility model is as follows:

when the goods need to be unstacked, the robot arm moves the unstacking mechanism to the goods, the material supporting plate 57 retracts, one side of the goods is sucked through the sucking disc 52, the sucking disc 52 ascends to lift one side of the goods, the material supporting plate 57 stretches into the bottom of the goods to lift the goods, the material pressing plate 512 descends to press the top of the goods, and the goods are prevented from falling off in the moving process; the robot arm drives the goods to move to the conveying device, the clamping plate 551 clamps the belt 53, the material supporting plate 57 retracts, and the goods fall onto the conveying device to finish the conveying of the goods.

When the bagged materials need to be unstacked, the strip-shaped materials are sucked by the bag suction cups 42 and placed on the conveying device, so that the unstacking and conveying of the bagged materials are completed. When the bagged materials are not required to be unstacked at ordinary times, the height adjusting air cylinder 41 retracts, and the bag suction disc 42 is prevented from moving and interfering with the gripper mechanism 5.

In addition, the number of the gripper mechanisms 5 can be one and multiple, when the number of the gripper mechanisms 5 is multiple and the size of the goods is large, the gripper mechanisms 5 can be driven by the width adjusting cylinder 2, the distance between the gripper mechanisms 5 can be adjusted, the goods can be supported by a large span, and the stability of goods conveying is improved.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A combined unstacking mechanism is arranged on a robot arm and is characterized by comprising a robot connecting flange fixedly arranged at the tail end of the robot arm and at least one gripper mechanism which is transversely connected with the robot connecting flange in a sliding manner; the tongs mechanism includes:

a gripper frame;

the sucker and the material pressing plate are arranged on one side of the gripper frame and can lift; the sucking disc is used for sucking the side face of the goods, and the material pressing plate is positioned above the sucking disc;

and the material supporting plate is positioned below the sucker and can perform longitudinal telescopic motion.

2. The combination unstacking mechanism as recited in claim 1 wherein: the gripper mechanism comprises idler wheels arranged at two ends of the material supporting plate, a belt, a clamping cylinder and a clamping plate, wherein the belt is arranged around the idler wheels at two ends of the material supporting plate and surrounds the material supporting plate, the clamping cylinder is vertically and fixedly arranged on the gripper frame, the clamping plate is fixedly connected with a moving end of the clamping cylinder, and the belt is arranged between the clamping cylinder and the clamping plate.

3. The combination unstacking mechanism as recited in claim 1 wherein: the gripper mechanism comprises a rack longitudinally arranged on the material supporting plate, a gear which is rotatably connected with the gripper frame and meshed with the rack, and a supporting plate driving motor which is fixedly arranged on the gripper frame and drives the gear to rotate.

4. The combination unstacking mechanism as recited in claim 1 wherein: comprises a transverse guide rail and a width adjusting cylinder which are fixedly arranged on a robot connecting flange along the transverse direction; the gripper frame is fixedly connected with the moving pair of the transverse guide rail, and the moving end of the width adjusting cylinder is fixedly connected with the gripper frame.

5. The combination unstacking mechanism of claim 1 wherein: the gripper mechanism comprises a material pressing cylinder which is vertically and fixedly arranged on the gripper frame; the material pressing plate is fixedly connected with the moving end of the material pressing cylinder.

6. The combination unstacking mechanism as recited in claim 1 wherein: the robot comprises a height adjusting cylinder which is vertically arranged and is fixedly connected with a robot connecting flange, and a bag sucker which is fixedly connected with a moving end of a height adjusting gas.