CN219469044U

CN219469044U - Automatic unstacking device

Info

Publication number: CN219469044U
Application number: CN202320297266.1U
Authority: CN
Inventors: 吴云水; 吴杰
Original assignee: Jiangsu Zhengjia Intelligent Control System Co ltd
Current assignee: Jiangsu Zhengjia Intelligent Control System Co ltd
Priority date: 2023-02-23
Filing date: 2023-02-23
Publication date: 2023-08-04
Anticipated expiration: 2033-02-23

Abstract

The utility model relates to an automatic unstacking device which comprises a bracket, a conveying line for conveying materials, a grabbing device for grabbing the materials, a rotating device for rotating the grabbing device, an adjusting device for adjusting the angle of the grabbing device, a moving device for adjusting the position of the grabbing device and a camera for observing the condition of the materials, wherein the moving device is arranged on the bracket; the camera is positioned above the conveying line; the grabbing device is arranged at the adjusting end of the adjusting device; the adjusting device is arranged at the rotating end of the rotating device; the adjusting device is arranged at the moving end of the moving device; the moving device is arranged on the bracket. Has the advantages of grabbing the material bags with disordered stacking, uneven height and twisting left and right.

Description

Automatic unstacking device

Technical Field

The utility model relates to the technical field of warehouse goods conveying equipment, in particular to an automatic unstacking device.

Background

Unstacking is a common operation, namely reverse stacking, namely, the stacked objects are taken away one by one, and the operation mode is completed by people since ancient times. Palletizing automation has been a common automated work since palletizing robots have emerged. However, the unstacking automation requirement is relatively high, namely, workers are required to have precision requirements on the placement positions of pallets, the full pallet is generally heavier, manual accurate placement is relatively difficult, and the flexibility is relatively poor.

In the transportation or storage process, a plurality of cargoes are often stacked to form a stack, so that the space can be saved, and the cargoes are convenient to place. However, during shipment, the stack is often required to be unstacked. The normal unstacking equipment can only grasp orderly stacked materials, and the utility model has the advantages of grasping the material bags with disordered stacking, uneven stacking and left-right twisting.

Disclosure of Invention

The embodiment of the application provides an automatic unstacking device, which has the advantages of grabbing the material bags with messy, uneven, left-right twisting of stacking.

The technical scheme adopted by the embodiment of the application is as follows.

An automatic unstacking device comprises a bracket, a conveying line for conveying materials, a grabbing device for grabbing the materials, a rotating device for rotating the grabbing device, an adjusting device for adjusting the angle of the grabbing device, a moving device for adjusting the position of the grabbing device and a camera for observing the condition of the materials; the camera is positioned above the conveying line; the grabbing device is arranged at the adjusting end of the adjusting device; the adjusting device is arranged at the rotating end of the rotating device; the adjusting device is arranged at the moving end of the moving device; the moving device is arranged on the bracket.

The further technical scheme is as follows: the adjusting device comprises a first driving device, a first fixed block arranged at the rotating end of the rotating device and a rotating block rotatably connected to the first fixed block; the driving end of the first driving device is fixedly connected with the rotating block; the rotating block is fixedly connected to the grabbing device.

The further technical scheme is as follows: the rotating device comprises a second driving device, a second fixed block arranged at the moving end of the moving device, a first gear for driving the adjusting device to rotate and a second gear for driving the first gear to rotate; the second driving device is arranged on the second fixed block; the second gear is arranged at the driving end of the second driving device; the first gear is meshed with the second gear; the first gear is rotatably connected to the second fixed block.

The further technical scheme is as follows: the moving device comprises a Z-direction moving component for controlling the Z-axis direction of the grabbing device, a Y-direction moving component for controlling the Y-axis direction of the grabbing device and an X-direction moving component for controlling the X-axis direction of the grabbing device; the X-direction moving component is arranged on the bracket; the Y-direction moving component is arranged at the moving end of the X-direction moving component; the Z-direction moving component is arranged at the moving end of the Y-direction moving component; the rotating device is arranged at the moving end of the Z-direction moving assembly.

The further technical scheme is as follows: the X-direction moving assembly comprises a first sliding rail arranged on the bracket, a first sliding block connected to the first sliding rail in a sliding way, a first rack arranged on the first sliding rail, a first supporting plate for supporting the Y-direction moving assembly, a third gear connected to the first supporting plate in a rotating way and a third driving device for driving the third gear to rotate; the first supporting plate is arranged on the first sliding block; the driving end of the third driving device is connected with the third gear; the third gear is meshed with the first rack; the third driving device is arranged on the Y-direction moving assembly.

The further technical scheme is as follows: the X-direction moving component is arranged opposite to the X-direction moving component.

The further technical scheme is as follows: the Y-direction moving assembly comprises a second sliding rail arranged on the first supporting plate, a second sliding block connected to the second sliding rail in a sliding way, a second rack arranged on the second sliding rail, a second supporting plate for supporting the Y-direction moving assembly, a fourth gear connected to the second supporting plate in a rotating way and a fourth driving device for driving the fourth gear to rotate; the second supporting plate is arranged on the second sliding block; the second sliding rail is arranged vertically to the first sliding rail; the driving end of the fourth driving device is connected with the fourth gear; the fourth gear engages the second rack.

The further technical scheme is as follows: the Z-direction moving assembly comprises a fixing piece arranged on the second supporting plate, a third sliding block arranged on the fixing piece, a third guide rail connected to the third sliding block in a sliding manner, a fifth gear connected to the fixing piece in a rotating manner, a third rack arranged on the third guide rail and a fifth driving device for driving the fifth gear to rotate; the fifth driving device is arranged on the second supporting plate; the fifth gear is arranged at the driving end of the fifth driving device; the fifth gear is meshed with the third rack; the third guide rail is connected in the fixing piece in a sliding way; one end of the third guide rail is fixedly connected with the rotating device.

One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

1. because the mobile device is arranged on the support, the rotating device is arranged at the moving end of the mobile device, the adjusting device is arranged at the rotating end of the rotating device, the gripping device is arranged at the acting end of the adjusting device, the camera is arranged above the conveying line, so that the situation of materials is observed, the position of the gripping device is controlled by the mobile device, the horizontal rotating angle of the gripping device is controlled by the rotating device, the vertical rotating angle of the gripping device is controlled by the adjusting device, and the situation that the materials are observed through the camera is further realized, so that the gripping device is driven to accurately grip the materials until the discharging port.

2. Because adopted first fixed block setting at rotary device's rotating end, first drive arrangement sets up on first fixed block, and rotary block is connected to first drive arrangement's drive end, and the rotary block is connected on grabbing device, and rotary block swivelling joint is on first fixed block, thereby has realized that the rotatory rotary block of drive first drive arrangement drives grabbing device vertical direction rotation angle.

3. Because the second fixed block is arranged at the moving end of the moving device, the second driving device is arranged on the second fixed block, the second gear is arranged at the driving end of the second driving device, the first gear is rotationally connected to the second fixed block, the second gear is meshed with the first gear, the first gear is fixedly connected with the second fixed block, and further, the second driving device is driven to drive the second gear to rotate, and accordingly the second gear drives the first gear to rotate, and the grabbing device can rotate by a horizontal direction.

4. Because the X-direction moving assembly is arranged on the bracket, the Y-direction moving assembly is arranged at the moving end of the X-direction moving assembly, the Z-direction moving assembly is arranged at the moving end of the Y-direction moving assembly, and the rotating device is arranged at the moving end of the Z-direction moving assembly, so that the space position of the grabbing device is controlled.

Drawings

Fig. 1 is a schematic structural view of an automatic unstacking device in the present utility model.

Fig. 2 is an exploded view of the mobile device according to the present utility model.

Fig. 3 is an exploded view of the mobile device according to the present utility model.

Fig. 4 is a partial enlarged view of a in fig. 1.

Fig. 5 is a partial enlarged view of B in fig. 2.

In the figure: 1. a bracket; 11. a camera; 2. a conveying line; 3. a gripping device; 4. a rotating device; 41. a second driving device; 42. a second fixed block; 43. a first gear; 44. a second gear; 5. an adjusting device; 51. a first driving device; 52. a first fixed block; 53. a rotating block; 6. a mobile device; 7. a Z-direction moving assembly; 71. a fixing member; 72. a third slider; 73. a third guide rail; 74. a fifth gear; 75. a third rack; 76. a fifth driving device; 8. a Y-direction moving component; 81. a second slide rail; 82. a second slider; 83. a second rack; 84. a second support plate; 85. a fourth gear; 86. a fourth driving device; 9. an X-direction moving assembly; 91. a first slide rail; 92. a first slider; 93. a first rack; 94. a first support plate; 95. a third gear; 96. and a third driving device.

Detailed Description

In order to solve the above problems, the technical solution in the embodiments of the present application is as follows

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural view of an automatic unstacking device in the present utility model. Fig. 2 is an exploded view of the mobile device according to the present utility model. Fig. 3 is an exploded view of the mobile device according to the present utility model. Fig. 4 is a partial enlarged view of a in fig. 1. Fig. 5 is a partial enlarged view of B in fig. 2. The utility model discloses an automatic unstacking device, which is shown in combination with fig. 1, 2, 3, 4 and 5. The direction of Y in the figure is the right end of the structural schematic diagram of the utility model, and the direction of X in the figure is the upper end of the structural schematic diagram of the utility model.

An automatic unstacking device comprises a bracket 1, a conveying line 2 for conveying materials, a grabbing device 3 for grabbing the materials, a rotating device 4 for rotating the grabbing device 3, an adjusting device 5 for adjusting the angle of the grabbing device 3, a moving device 6 for adjusting the position of the grabbing device 3 and a camera 11 for observing the condition of the materials; the camera 11 is positioned above the conveying line 2; the grabbing device 3 is arranged at the adjusting end of the adjusting device 5; the adjusting device 5 is arranged at the rotating end of the rotating device 4; the adjusting device 5 is arranged at the moving end of the moving device 6; the moving means 6 are arranged on the support 1.

The bracket 1 is arranged on the ground. The support 1 is provided with a moving device 6. The front and the back of the bracket 1 are respectively provided with a group. The moving end of the moving means 6 is provided with a rotating means 4. The rotating end of the rotating means 4 is provided with adjusting means 5. The active end of the adjusting device 5 is provided with a gripping device 3. The gripping device 3 grips the material. The camera 11 is provided on the ceiling. The camera 11 is aligned with the conveyor line 2.

The camera 11 is activated to observe the position of the material, and the moving means 6, the rotating means 4 and the adjusting means 5 are then activated until the gripping means 3 grips the material, which is then transported to the discharge opening.

Owing to adopted mobile device 6 to set up on support 1, rotary device 4 sets up the removal end at mobile device 6, adjusting device 5 sets up the rotating end at rotary device 4, grabbing device 3 sets up on adjusting device 5's effect end, camera 11 sets up the top at transfer chain 2, thereby observe the condition of material, mobile device 6 controls grabbing device 3's position, rotary device 4 controls grabbing device 3's horizontal rotation angle, adjusting device 5 controls grabbing device 3's vertical rotation angle, and then realized observing the condition of material through camera 11, thereby the accurate grabbing material of drive grabbing device 3 reaches the drain hole.

The adjusting device 5 includes a first driving device 51, a first fixed block 52 provided at the rotating end of the rotating device 4, and a rotating block 53 rotatably connected to the first fixed block 52; the driving end of the first driving device 51 is fixedly connected with a rotating block 53; the rotating block 53 is fixedly connected to the gripping device 3.

Preferably, the first driving device 51 is a gear motor. The lower surface of the rotating block 53 is fixedly connected with the upper surface of the grabbing device 3. The first driving device 51 is provided on the first fixed block 52. The driving end of the first driving device 51 is fixedly connected with a rotating block 53. The first fixed block 52 is fixedly connected to the rotating end of the rotating device 4.

Because the first fixed block 52 is arranged at the rotating end of the rotating device 4, the first driving device 51 is arranged on the first fixed block 52, the driving end of the first driving device 51 is connected with the rotating block 53, the rotating block 53 is connected with the grabbing device 3, and the rotating block 53 is rotationally connected with the first fixed block 52, so that the first driving device 51 is driven to rotate the rotating block 53 to drive the grabbing device 3 to rotate by an angle in the vertical direction.

The rotating device 4 comprises a second driving device 41, a second fixed block 42 arranged at the moving end of the moving device 6, a first gear 43 for driving the adjusting device 5 to rotate and a second gear 44 for driving the first gear 43 to rotate; the second driving device 41 is provided on the second fixed block 42; the second gear 44 is provided at the driving end of the second driving device 41; the first gear 43 meshes with the second gear 44; the first gear 43 is rotatably coupled to the second fixed block 42.

Preferably, the second driving means 41 is a motor. The second driving means 41 are placed up and down. The drive end of the second drive means 41 faces downwards. The driving end of the second driving device 41 is fixedly connected with a second gear 44. The second fixed block 42 is fixedly connected to the moving end of the moving device 6. The second driving device 41 is provided on the second fixed block 42. The first gear 43 is rotatably coupled to the second fixed block 42. The first gear 43 is fixedly connected to the first fixed block 52. The first gear 43 is meshed with the second gear 44.

Because the second fixed block 42 is adopted to be arranged at the moving end of the moving device 6, the second driving device 41 is arranged on the second fixed block 42, the second gear 44 is arranged at the driving end of the second driving device 41, the first gear 43 is rotationally connected to the second fixed block 42, the second gear 44 is meshed with the first gear 43, the first gear 43 is fixedly connected with the second fixed block 42, and further, the second driving device 41 is driven to drive the second gear 44 to rotate, and accordingly the second gear 44 drives the first gear 43 to rotate, and the grabbing device 3 can rotate by an angle in the horizontal direction.

The moving device 6 comprises a Z-direction moving component 7 for controlling the Z-axis direction of the grabbing device 3, a Y-direction moving component 8 for controlling the Y-axis direction of the grabbing device 3 and an X-direction moving component 9 for controlling the X-axis direction of the grabbing device 3; the X-direction moving component 9 is arranged on the bracket 1; the Y-direction moving component 8 is arranged at the moving end of the X-direction moving component 9; the Z-direction moving component 7 is arranged at the moving end of the Y-direction moving component 8; the rotating device 4 is arranged at the moving end of the Z-direction moving assembly 7.

The X-direction moving assembly 9 comprises a first slide rail 91 arranged on the bracket 1, a first sliding block 92 connected on the first slide rail 91 in a sliding way, a first rack 93 arranged on the first slide rail 91, a first supporting plate 94 for supporting the Y-direction moving assembly 8, a third gear 95 connected on the first supporting plate 94 in a rotating way and a third driving device 96 for driving the third gear 95 to rotate; the first support plate 94 is provided on the first slider 92; the driving end of the third driving device 96 is connected with a third gear 95; the third gear 95 engages the first rack 93; the third driving device 96 is provided on the Y-direction moving assembly 8.

The X-direction moving assemblies 9 are oppositely arranged.

The Y-direction moving assembly 8 comprises a second sliding rail 81 arranged on a first supporting plate 94, a second sliding block 82 connected on the second sliding rail 81 in a sliding way, a second rack 83 arranged on the second sliding rail 81, a second supporting plate 84 supporting the Y-direction moving assembly 8, a fourth gear 85 connected on the second supporting plate 84 in a rotating way and a fourth driving device 86 driving the fourth gear 85 to rotate; the second support plate 84 is provided on the second slider 82; the second sliding rail 81 is arranged vertically to the first sliding rail 91; the driving end of the fourth driving device 86 is connected with a fourth gear 85; the fourth gear 85 engages the second rack 83.

The Z-direction moving assembly 7 includes a fixing member 71 provided on a second support plate 84, a third slider 72 provided on the fixing member 71, a third guide rail 73 slidably connected to the third slider 72, a fifth gear 74 rotatably connected to the fixing member 71, a third rack 75 provided on the third guide rail 73, and a fifth driving device 76 driving the fifth gear 74 to rotate; the fifth driving means 76 is provided on the second support plate 84; the fifth gear 74 is disposed at the drive end of the fifth drive 76; the fifth gear 74 engages the third rack 75; the third rail 73 is slidably coupled within the fixing member 71; one end of the third guide rail 73 is fixedly connected with the rotating device 4.

Preferably, the third drive 96 is a dual rod motor. The third driving device 96 is disposed on the left and right sides of the first rail 91. The first slide rail 91 is slidably connected to the first slider 92. The first slide rail 91 is fixedly connected to the bracket 1. The first rail 91 is provided with a first rack 93. The first rack 93 is disposed right and left. The upper surface of the first slider 92 is fixedly connected with a first supporting plate 94. The first support plate 94 is provided with the Y-direction moving assembly 8. The third driving device 96 is provided at the Y-direction moving assembly 8. A third gear 95 is provided on the drive end of the third drive 96. The third gear 95 engages the first rack 93.

The second slide rail 81 is provided on the first support plate 94. The second sliding rail 81 is slidably connected with a second sliding block 82. The second slide rail 81 is disposed back and forth. The second slider 82 is provided with a second support plate 84. The second support plate 84 is provided with a third drive 96 and a fourth drive 86. The third driving means 96 are arranged back and forth. The fourth driving means 86 is arranged up and down. The driving end of the fourth driving means 86 is provided with a fourth gear 85. The second slide rail 81 is provided with a second rack 83. The fourth gear 85 engages the second rack 83.

The fixing piece 71 is provided on the left side surface of the second support plate 84. The fixing member 71 is opened vertically. A third slider 72 is provided in the fixing member 71. The third rail 73 is connected to the third slider 72 in a vertically sliding manner. The third rail 73 is provided with a third rack 75 up and down. The second support plate 84 is provided with a fifth driving device 76. Preferably, the fifth drive 76 is an electric motor. The fifth driving device 76 is provided right and left. The driving end of the fifth driving means 76 is directed to the left. The driving end of the fifth driving device 76 is fixedly connected to the fifth gear 74. The fifth gear 74 engages the third rack 75.

The upper surface of the bracket 1 is fixedly connected with an X-direction moving component 9. The X-direction moving assembly 9 is placed right and left. The X-direction moving assemblies 9 are oppositely arranged. The X-direction moving end is fixedly connected with the Y-direction moving assembly 8. The Y-direction moving assembly 8 is arranged back and forth. The moving end of the Y-direction moving component 8 is fixedly connected with the Z-direction moving component 7.

Because the X-direction moving assembly 9 is arranged on the bracket 1, the Y-direction moving assembly 8 is arranged at the moving end of the X-direction moving assembly 9, the Z-direction moving assembly 7 is arranged at the moving end of the Y-direction moving assembly 8, and the rotating device 4 is arranged at the moving end of the Z-direction moving assembly 7, so that the space position of the grabbing device 3 is controlled.

While preferred embodiments of the present utility model have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the utility model.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. An automatic unstacking device is characterized by comprising a bracket, a conveying line for conveying materials, a grabbing device for grabbing the materials, a rotating device for rotating the grabbing device, an adjusting device for adjusting the angle of the grabbing device, a moving device for adjusting the position of the grabbing device and a camera for observing the condition of the materials; the camera is positioned above the conveying line; the grabbing device is arranged at the adjusting end of the adjusting device; the adjusting device is arranged at the rotating end of the rotating device; the adjusting device is arranged at the moving end of the moving device; the moving device is arranged on the bracket.

2. The automatic unstacking apparatus according to claim 1 wherein said adjustment means comprises first drive means, a first fixed block provided at a rotational end of said rotation means, and a rotating block rotatably connected to said first fixed block; the driving end of the first driving device is fixedly connected with the rotating block; the rotating block is fixedly connected to the grabbing device.

3. The automatic unstacking apparatus according to claim 2, wherein said rotating means includes second driving means, a second fixed block provided at a moving end of said moving means, a first gear for driving said adjusting means to rotate, and a second gear for driving said first gear to rotate; the second driving device is arranged on the second fixed block; the second gear is arranged at the driving end of the second driving device; the first gear is meshed with the second gear; the first gear is rotatably connected to the second fixed block.

4. The automated unstacking apparatus of claim 1 wherein said moving means comprises a Z-direction moving assembly controlling the Z-axis direction of said gripping means, a Y-direction moving assembly controlling the Y-axis direction of said gripping means, and an X-direction moving assembly controlling the X-axis direction of said gripping means; the X-direction moving component is arranged on the bracket; the Y-direction moving component is arranged at the moving end of the X-direction moving component; the Z-direction moving component is arranged at the moving end of the Y-direction moving component; the rotating device is arranged at the moving end of the Z-direction moving assembly.

5. The automatic unstacking apparatus according to claim 4 wherein said X-direction moving assembly comprises a first slide rail provided on said support, a first slider slidably coupled to said first slide rail, a first rack provided on said first slide rail, a first support plate supporting said Y-direction moving assembly, a third gear rotatably coupled to said first support plate, and a third drive means for driving said third gear in rotation; the first supporting plate is arranged on the first sliding block; the driving end of the third driving device is connected with the third gear; the third gear is meshed with the first rack; the third driving device is arranged on the Y-direction moving assembly.

6. The automated unstacking apparatus according to claim 5 wherein said X-direction moving assemblies are disposed opposite each other.

7. The automatic unstacking apparatus according to claim 6 wherein said Y-direction moving assembly includes a second slide rail provided on said first support plate, a second slider slidably connected to said second slide rail, a second rack provided on said second slide rail, a second support plate supporting said Y-direction moving assembly, a fourth gear rotatably connected to said second support plate, and fourth driving means for driving said fourth gear to rotate; the second supporting plate is arranged on the second sliding block; the second sliding rail is arranged vertically to the first sliding rail; the driving end of the fourth driving device is connected with the fourth gear; the fourth gear engages the second rack.

8. The automatic unstacking apparatus according to claim 7, wherein said Z-direction moving assembly comprises a fixing member provided on said second support plate, a third slider provided on said fixing member, a third rail slidably connected to said third slider, a fifth gear rotatably connected to said fixing member, a third rack provided on said third rail, and fifth driving means for driving said fifth gear to rotate; the fifth driving device is arranged on the second supporting plate; the fifth gear is arranged at the driving end of the fifth driving device; the fifth gear is meshed with the third rack; the third guide rail is connected in the fixing piece in a sliding way; one end of the third guide rail is fixedly connected with the rotating device.