WO2020143224A1 - 单板拆取机构、装置、方法及传输系统 - Google Patents

单板拆取机构、装置、方法及传输系统 Download PDF

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Publication number
WO2020143224A1
WO2020143224A1 PCT/CN2019/099672 CN2019099672W WO2020143224A1 WO 2020143224 A1 WO2020143224 A1 WO 2020143224A1 CN 2019099672 W CN2019099672 W CN 2019099672W WO 2020143224 A1 WO2020143224 A1 WO 2020143224A1
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WIPO (PCT)
Prior art keywords
toggle
removal
veneer
stack
goods
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Application number
PCT/CN2019/099672
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English (en)
French (fr)
Inventor
许大红
石江涛
田艺
张�杰
饶树林
黄盼龙
Original Assignee
合肥泰禾光电科技股份有限公司
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Publication of WO2020143224A1 publication Critical patent/WO2020143224A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/023—De-stacking from the top of the stack by means insertable between the stacked articles or layers

Definitions

  • the present disclosure relates to the technical field of logistics equipment, and in particular, to a veneer removal mechanism, device, method, and transmission system.
  • the existing methods of removing the stack generally include manual demolition Picking, robotic gripping and disassembling and dumping and disassembling.
  • manual removal method its efficiency is low, and it is easy to deform the goods when the goods are heavy or the goods are in bags, which affects the subsequent other operations on the goods;
  • the manipulator holding the function holds the cargo to the target position from the stack.
  • the size of the gripped cargo is limited, the removal efficiency is low, and it is also easy to load the cargo when it is heavy or the cargo is bagged.
  • the method of dumping and removing is to dump the stack to make the goods slide off the pallet.
  • This method of disassembly and removal easily leads to the stacking and stacking of the goods, which makes the subsequent operations difficult and also causes the bagging.
  • the goods are deformed.
  • this method requires tilting the entire stack. The volume and weight of the equipment are large, which is more energy-intensive.
  • the purposes of the present disclosure include, for example, to provide a veneer removal mechanism that has a high removal efficiency and that during the removal process, the amount of the goods being removed is small in deformation and can be applied to Demolition of various goods.
  • the purpose of the present disclosure also includes, for example, to provide a veneer removal device that has high removal efficiency, during the removal process, the amount of deformation of the removed goods is small, and is suitable for many The removal of various goods.
  • the purpose of the present disclosure also includes, for example, providing a transmission system that has a high disassembly efficiency, and during the disassembly process, the amount of deformation of the goods to be removed is small, and is suitable for the removal of a variety of goods.
  • the purpose of the present disclosure also includes, for example, to provide a veneer removal method, which has a high removal efficiency, during the removal process, the amount of deformation of the removed goods is small, and is suitable for many The removal of various goods.
  • an embodiment of the present disclosure provides a veneer removal mechanism, which is applied to a veneer removal device, and includes a toggle member and a limiter; the upper end of the toggle member is configured to rotationally connect to the veneer A disassembly movement mechanism of the disassembly device; the dialing member is configured to dial the goods on the stack away from the stack, the limiting member is disposed on one side of the dialing member, and is located on the dial Between the upper and lower ends of the movable member, the limit position at which the toggle member can rotate downward can be adjusted.
  • the limiter includes a connection part and a limiter; the connection part is configured to be connected to the disassembly movement mechanism and movably connected to the limiter, the limiter can resist The toggle member, and the limit portion can move toward or away from the toggle member to adjust the position relative to the connecting portion, to adjust the limit position of the toggle member rotating downward.
  • the limiting portion can bear against the side below the toggle member.
  • the limiting portion is screwed to the connecting portion, and when the limiting portion rotates relative to the connecting portion, the position relative to the connecting portion can be adjusted.
  • the toggle includes a toggle portion and a toggle pad; the upper end of the toggle portion and/or the upper end of the toggle pad are configured to be rotationally connected to the disassembly movement mechanism, and the dial
  • the moving pad is connected to the toggle part, and the limiting member can bear against the toggle pad to adjust the limit position at which the toggle part rotates downward.
  • the veneer removal mechanism further includes a partition member; the partition member is disposed on a side of the dial member away from the limit member, and can form an angle with the dial member Provision is made so that the baffle and the toggle can jointly resist the cargo.
  • the dialing member is provided with a plurality of dialing holes; the plurality of dialing holes are all strip-shaped holes, and all extend from the upper end of the dialing member to the lower end of the dialing member .
  • an embodiment of the present disclosure provides a veneer removal device, including a removal movement mechanism and a veneer removal mechanism; the veneer removal mechanism includes a toggle and a limiter; the toggle The piece is configured to dial the goods on the stack away from the stack, the limit piece is disposed on one side of the dial, and is located between the upper and lower ends of the dial, and can Adjust the limit position where the toggle rotates downward.
  • the disassembly movement mechanism is located close to the disassembly station, and is rotatably connected to the upper end of the toggle member, and the toggle member can rotate up and down relative to the disassembly movement mechanism.
  • the disassembly station is Where the stack is placed, the disassembly movement mechanism can drive the dial to move on the disassembly station.
  • the single-board removal device further includes a support member, the toggle member is rotatably connected to the support member, and the support member is connected to the removal movement mechanism.
  • the disassembly movement mechanism can also drive the toggle member to rotate about an axis arranged vertically.
  • the disassembly movement mechanism includes a multi-axis movement platform or/and a joint robot.
  • the veneer removal device further includes a removal output mechanism, and the removal output mechanism includes an output transmission member; the output transmission member is configured to accept the removal from the stack Goods, and can transport the goods back to the removal station.
  • the disassembly output mechanism further includes a resisting portion; the resisting portion is provided at an end of the output conveying member close to the disassembly station, and can resist the stack close to the output conveying member Side.
  • the disassembly output mechanism further includes an output moving member; the output moving member is connected to the output conveying member, and can drive the output conveying member to move closer to or away from the disassembly station.
  • the veneer removal device further includes an auxiliary removal mechanism, and the auxiliary removal mechanism includes an auxiliary lifting member configured to raise or lower the stack; the auxiliary lifting member is provided at the removal Station.
  • the disassembling auxiliary mechanism further includes an auxiliary rotating member; the auxiliary rotating member is connected to the auxiliary lifting member, the auxiliary lifting member can carry the cargo stack through the auxiliary rotating member, and the The auxiliary rotating member can drive the stack to rotate about a vertically arranged axis.
  • the single-board removal device further includes a visual identification mechanism, which is provided above the removal station and is in communication with the removal movement mechanism; the visual identification mechanism is configured Collect the cargo image of the top layer of the stack and identify the position information that can characterize the quantity, size, direction or spatial position information of the goods on the top layer, and the disassembly movement mechanism can drive the goods according to the position information Toggle movement.
  • a visual identification mechanism which is provided above the removal station and is in communication with the removal movement mechanism; the visual identification mechanism is configured Collect the cargo image of the top layer of the stack and identify the position information that can characterize the quantity, size, direction or spatial position information of the goods on the top layer, and the disassembly movement mechanism can drive the goods according to the position information Toggle movement.
  • an embodiment of the present disclosure provides a transmission system including a transmission mechanism and the single-board removal device.
  • the single-board removal device includes a removal movement mechanism and a single-board removal mechanism;
  • the single-board The disassembly mechanism includes a dialing member and a limiter member; the dialer member is configured to dial the goods on the stack away from the stack, the limiter member is disposed on one side of the dialer member, and is located Between the upper and lower ends of the toggle member, the limit position at which the toggle member can rotate downward can be adjusted.
  • the disassembly movement mechanism is located close to the disassembly station, and is rotatably connected to the upper end of the toggle member, and the toggle member can rotate up and down relative to the disassembly movement mechanism.
  • the disassembly station is Where the stack is placed, the disassembly movement mechanism can drive the dial to move on the disassembly station.
  • the transfer mechanism is located close to the removal station, and the transfer mechanism is configured to transfer the stack to the removal station.
  • an embodiment of the present disclosure provides a method for removing a single board, which is applied to the device for removing a single board.
  • the method for removing a single board includes:
  • the disassembly movement mechanism drives the toggle member to move on the cargo on the top layer of the stack, and causes the toggle member to fall to one side of the cargo under the effect of gravity;
  • the disassembly movement mechanism drives the dialing member to move in a first direction to detach the goods located in the first direction from the stack, wherein the first direction is the dialing member The direction that the upper side faces.
  • the disassembly movement mechanism can also drive the dial member to rotate.
  • the veneer removal method also includes:
  • the displacing movement mechanism drives the dialing member to move in the second direction to detach the goods located in the second direction from the stack, wherein the second direction is the dialing after rotation The direction that the side above the piece faces.
  • the beneficial effects of the board removal mechanism, device, method and transmission system include, for example:
  • the toggle member is rotatably connected to the disassembly movement mechanism of the veneer demolition device, and the toggle member is configured to dispense the goods on the stack from the stack, or to push the goods off the stack through the toggle Pallet.
  • the part where the toggle member is rotatably connected to the disassembly movement mechanism is the upper end of the toggle member. In other words, after the toggle member is assembled with the disassembly movement mechanism, the toggle member is generally arranged upright and can be used to move goods through its side.
  • the limiting member is disposed on one side of the dialing member, and the limiting member is located between the upper and lower ends of the dialling member, and is configured to limit the rotating range of the dialling member, and can move relative to the dialling member to realize the dialing
  • the limit position of the downward rotation of the piece is adjusted.
  • the limit piece is provided on the side below the toggle piece, and can resist the side of the toggle piece away from the toggle goods at different positions, so that the toggle piece is
  • the vertical direction assumes a certain angle of posture, and cannot rotate downward at the limit position, but can only turn away from the limit member and rotate upward.
  • the one-way rotatable toggle member can be driven by the disassembly movement mechanism, and the lower side of the toggle member can lean on the stack, as the toggle member moves along
  • the top cargo of the stack moves, and because the dial can rotate in one direction, the side where the dial and the stack rest against each other can be rotated downward by gravity and fall to the gap when it is located in the gap between the cargo in.
  • the toggle moves in the direction toward the upper side, the toggle is further extended into the above-mentioned gap, but the second layer of goods is not pressed.
  • the toggle moves toward When turning down to the limit position, it will not continue to rotate and remain in the limit position.
  • the toggle can push the goods in the above direction to separate the goods from the stack and complete the disassembly operation. Its disassembly efficiency is high, and, in During the disassembly process, the toggle is at an angle to the vertical plane, or roughly wedge-shaped to the horizontal plane.
  • the toggle can be partially or fully squeezed under the cargo, thereby reducing the compression of the side of the cargo, especially It is the case that the goods are bagged goods, thereby reducing the amount of deformation of the removed goods.
  • the limit member can adjust the limit position of the downward rotation of the toggle member, for different goods, the limit member can be used Change the angle of the wedge shape formed by the toggle and the horizontal plane, so as to be suitable for the removal of various goods.
  • FIG. 1 is a schematic structural view of a single-board removal mechanism provided by the present disclosure from a first perspective.
  • FIG. 2 is a schematic diagram of actions during the removal process of the single-board removal mechanism provided by the present disclosure.
  • FIG. 3 is a second perspective structural diagram of a single board removal mechanism provided by the present disclosure.
  • FIG. 4 is a schematic diagram of a removal process of a single-board removal mechanism provided by the present disclosure.
  • FIG. 5 is a structural schematic diagram of a single-board removal device provided by the present disclosure applied to a transmission system.
  • FIG. 6 is another schematic structural view of the single-board removal device provided by the present disclosure applied to a transmission system.
  • FIG. 7 is a schematic structural diagram of a single-board removal device provided by the present disclosure when a three-axis motion platform is used.
  • FIG. 8 is a schematic structural view of a single-board removal device provided by the present disclosure when a joint robot is used.
  • FIG. 9 is a schematic structural view of a disassembly output mechanism of a single board disassembly device provided by the present disclosure.
  • FIG. 10 is a schematic structural view of a removal assist mechanism of a single-board removal device provided by the present disclosure.
  • FIG. 11 is a schematic diagram of the application of the single-board removal device provided by the present disclosure.
  • FIG. 12 is a schematic flowchart of a method for removing a single board provided by the present disclosure.
  • Icon 100-single board removal device; 20-removal movement mechanism; 21-removal station; 30-removal output mechanism; 31-output transmission part; 32-resisting part; 33-output moving part; 40- Removal auxiliary mechanism; 41- auxiliary lifting member; 42- auxiliary rotating member; 43- auxiliary limit member; 50- visual recognition mechanism; 10- single board removal mechanism; 12- support member; 121- connecting plate; 1211- First plate part; 1212-second plate part; 1213-connecting hole; 122-reinforcement plate; 123-rotation shaft; 13-barrier; 15-dial; 151-dial; 152-dial pad; 153-toggle hole; 1-transport system; 17-stopper; 171-connecting part; 172-stopper; 200-transport mechanism; 300-pallet recycling mechanism; 310-pallet conveyer; 320-pallet recycling rack ; 900-pallet; 910-cargo; 920-pallet.
  • connection may be a fixed connection, a detachable connection, or an integral connection ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be a connection between two components.
  • connection may be a fixed connection, a detachable connection, or an integral connection ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be a connection between two components.
  • FIG. 1 is a schematic structural view of a single-board removal mechanism 10 provided by the present disclosure from a first perspective.
  • FIG. 2 is a schematic diagram of actions during the removal process of the single-board removal mechanism 10 provided by the present disclosure.
  • the present disclosure provides a veneer removal mechanism 10 that is applied to the veneer removal device 100 and cooperates with the removal movement mechanism 20 of the veneer removal device 100 to remove the stack 900
  • the above-mentioned goods 910 have high removal efficiency. During the removal process, the amount of deformation of the removed goods 910 is small, and it is suitable for the removal of a variety of goods 910.
  • the veneer removal mechanism 10 can be applied to the veneer removal device 100, palletizing device, transmission system 1, production line, automated warehouse, logistics system or automated factory, etc. Of course, the veneer removal mechanism 10 can also only cooperate with The movement mechanism 20 is disassembled or a sliding mechanism slidingly connected to the movement mechanism 20 is used.
  • the veneer removal mechanism 10 includes a toggle 15 and a limiter 17.
  • the toggle 15 is configured to toggle the cargo 910 so that the towed cargo 910 and the stack 900
  • the limiting member 17 is configured to limit the rotation range of the dial 15, thereby enabling the dial 15 to dial the cargo 910 on the stack 900 and changing the posture of the dial 15 when the cargo 910 is dialed
  • the veneer detaching mechanism 10 can be applied to detaching a variety of goods 910.
  • the toggle 15 is rotatably connected to the disassembly movement mechanism 20 of the veneer disassembly device 100, and the toggle 15 is configured to dispense the goods 910 on the stack 900 from the stack 900, or, by dialing The piece 15 pushes the goods 910 on the stack 900 away from the stack 900.
  • the part of the toggle 15 that is connected to the disassembly movement mechanism 20 is the upper end of the toggle 15. In other words, after the toggle 15 is assembled with the disassembly movement mechanism 20, the toggle 15 is substantially upright and can pass Its side dials the cargo 910.
  • the limiting member 17 is disposed on one side of the toggle member 15, and the limiting member 17 is located between the upper and lower ends of the toggle member 15, and is configured to limit the rotation range of the toggle member 15 and can be relative to the toggle member 15 Movement to adjust the limit position of the downward rotation of the toggle 15, in other words, the limiter 17 is provided on the side below the toggle 15 and can resist the toggle 15 in different positions away from the goods The side of 910, so that the toggle member 15 is at a certain angle with the vertical direction, cannot rotate downward at the limit position, and can only turn away from the limit member 17 and rotate upward.
  • the one-way rotatable toggle member 15 can be driven by the disassembly movement mechanism 20, so that the lower side of the toggle member 15 can rest on the stack 900, with The toggle 15 moves along the top cargo 910 of the stack 900, and since the toggle 15 can rotate in one direction, the side where the toggle 15 and the stack 900 abut is in the gap between adjacent goods 910 It can be turned downward and fall into the above-mentioned gap under the action of gravity.
  • the toggle member 15 moves toward the upper side, the toggle member 15 is further extended into the above-mentioned gap, but the second layer of goods 910 is not pressed.
  • the toggle member 15 When the movable member 15 rotates downward to the limit position, it does not continue to rotate and remains at the limit position.
  • the dial 15 can push the goods 910 in the above direction to separate the goods 910 from the stack 900, and complete the disassembly and removal operation. High efficiency.
  • the toggle 15 is at an angle with the vertical plane, or the toggle 15 is approximately wedge-shaped with the horizontal plane.
  • the toggle 15 can be partially or fully squeezed under the cargo 910, thereby reducing Small squeeze on the side of the cargo 910, especially if the cargo 910 is a bagged cargo 910, thereby reducing the amount of deformation of the disassembled cargo 910.
  • the stopper 17 can be used to change the angle of the wedge shape formed by the dial 15 and the horizontal plane, so as to be suitable for the removal of various goods 910.
  • the limiting member 17 is located on the lower side of the dial 15, which does not affect the dial 15 to move the goods 910, avoiding the contact between the cargo 910 and the limiting member 17 and resisting the dial
  • the limiter 17 between the upper and lower ends of the movable member 15 can directly adjust the angle of the dial 15 without affecting the rotation of the dial 15, the dial 15 can also be rotated to an upright posture to adapt to more Flip the scene.
  • the toggle 15 when the toggle 15 disassembles the cargo 910 such as a box that is upright or has a small gap, the toggle 15 can be rotated to an upright posture; when the cargo 910 is heavy, the toggle 15 15 is set to a tilted toggle posture to dial the cargo 910, so that the dial 15 can be more squeezed under the cargo 910, so as to reduce the friction between the cargo 910 and the underlying cargo 910 or tray 920, to facilitate The disassembly operation is carried out; when the cargo 910 is light, the toggle 15 is set to a more upright toggle posture to toggle the cargo 910, to avoid that the toggle 15 squeezes too much into the bottom of the cargo 910, which affects the toggle effect.
  • the toggle member 15 can also be connected to the disassembly movement mechanism 20 through the support member 12.
  • the support member 12 can be a component of the disassembly movement mechanism 20 or a component of the veneer removal mechanism 10.
  • the toggle 15 can also be directly connected to the detaching and moving mechanism 20 in rotation.
  • the veneer removal mechanism 10 may further include a blocking member 13, the blocking member 13 is disposed on the side of the toggle member 15 away from the limiting member 17, or the blocking member 13 is located The side above the toggle 15 is located above the toggle 15 in the toggle posture.
  • the toggle 15 moves the cargo 910, the partition 13 and the toggle 15 form a certain angle.
  • the baffle 13 and the toggle 15 can share It resists the cargo 910, and then controls the part of the squeezing member 15 squeezed into the lower part of the cargo 910 to prevent the squeezing member 15 from squeezing too much into the stolen goods 910, so as to ensure the stability of the dialing effect.
  • the baffle 13 can hold the cargo 910 above the cargo 910, thereby further reducing the amount of deformation when the cargo 910 is removed.
  • the baffle 13 may be connected to the support 12 or the disassembly movement mechanism 20, etc., so that the baffle 13 is located on the side of the toggle 15 away from the limiter 17 and can bear the cargo downward 910 location.
  • the baffle 13 may be provided as a plate-shaped structure, such as but not limited to a rectangular plate.
  • holes may be provided in the partition 13, and the holes may be through holes or blind holes to reduce the weight of the partition 13 and save material.
  • the number of holes may be one or more. When the number of holes is multiple, the multiple holes are evenly spaced.
  • FIG. 3 is a schematic structural view of the single-board removal mechanism 10 provided by the present disclosure from a second perspective.
  • the limiting member 17 includes a connecting portion 171 and a limiting portion 172 that are connected.
  • the connection portion 171 may be connected to the detachment movement mechanism 20 through the support 12, or the connection portion 17 may be directly connected to the detachment movement mechanism 20.
  • the connecting portion 171 and the limiting portion 172 are movably connected, the limiting portion 172 can bear on the side below the dial 15, and the limiting portion 172 can move toward or away from the dial 15 to adjust relative to The position of the connecting portion 171, in other words, the limiting portion 172 can move toward or away from the dial 15 to further adjust the relative positional relationship between the limiting portion 172 and the connecting portion 171, thereby changing the dial 15 to rotate downward Limit position.
  • the limiting member 17 may also be integrally formed with the supporting member 12. It should be understood that the connecting portion 171 may be integrally formed with the support 12, and the limiting portion 172 is movably connected to the connecting portion 171.
  • the limiting portion 172 is a rod-shaped member with an external thread, and the limiting portion 172 is screwed to the connecting portion 171, so that the limiting portion 172 can be adjusted relative to the connection by rotating relative to the connecting portion 171
  • the position of the portion 171 adjusts the toggle posture of the toggle 15 to continuously adjust the limit position at which the toggle 15 turns downward.
  • connection mode of the limiting portion 172 and the connecting portion 171 may also be a multi-gear connection relationship, for example, the connection between the limiting portion 172 and the connecting portion 171 is achieved by providing a matching buckle and a slot By placing the buckles in different slots, the limit portion 172 adjusts the different toggle postures of the toggle 15, and the adjustment is faster.
  • the limiting portion 172 and the connecting portion 171 can also be electric, oil-driven, or pneumatic telescopic driving members. The position of the limiting portion 172 relative to the connecting portion 171 can be adjusted by adjusting the telescopic distance to achieve the toggle posture of the toggle 15 Adjustments to increase the degree of automation of the veneer removal mechanism 10.
  • the support 12 includes a bent connecting plate 121 and a plurality of reinforcing plates 122.
  • the connecting plate 121 is bent at approximately 90°.
  • the connecting plate 121 includes a first plate portion 1211 and a
  • the second plate portion 1212, the first plate portion 1211 and the second plate portion 1212 may be made by bending one rectangular plate, or by making two rectangular plates fixedly connected. It should be understood that the first plate portion 1211 and the second plate portion 1212 may also be disposed at other angles.
  • the first plate portion 1211 is provided with at least one connection hole 1213 configured to pass through a bolt to fix the connection plate 121 and the detachment movement mechanism 20 through the bolt.
  • the plurality of reinforcing plates 122 are all fixedly connected to the inside of the connecting plate 121, and the plurality of reinforcing plates 122 are arranged at regular intervals along the extending direction of the bending line of the connecting plate 121.
  • Each reinforcing plate 122 is provided as a right-angled triangular plate, and the two sides of each reinforcing plate 122 forming a right angle are respectively connected to the inner side of the first plate portion 1211 and the inner side of the second plate portion 1212, and the right angle of the reinforcing plate 122 is
  • the connection plate 121 corresponds to a right angle.
  • the toggle 15 and the side of the second plate portion 1212 away from the first plate portion 1211 are rotatably connected by a rotating shaft 123.
  • the toggle 15 includes a toggle portion 151 and a toggle pad 152, wherein the upper end of the toggle portion 151 and/or the upper end of the toggle pad 152 is rotatably connected to the disassembly movement mechanism 20, and the toggle pad 152 Connected to the toggle portion 151, the stopper 17 can bear against the toggle pad 152 to adjust the limit position at which the toggle portion 151 rotates downward.
  • the acting force of the limiting member 17 against the toggle member 15 is dispersed to prevent the acting force from being too concentrated.
  • the toggle portion 151 can also be rotationally connected to the detaching and moving mechanism 20 through the support 12.
  • the toggle portion 151 may be in the shape of a flat plate, a wavy plate, an arc plate, a bent plate, or the like, or may be tapered, stick, or comb-toothed.
  • the shape of the toggle portion 151 in the present disclosure No specific restrictions.
  • a plurality of toggle holes 153 may be opened on the toggle member 15 to reduce the weight of the veneer removal mechanism 10, so as to facilitate the removal movement mechanism 20 to drive the veneer removal mechanism 10 to move.
  • the plurality of toggle holes 153 may all be bar-shaped holes, and the extending direction of the toggle holes 153 are all from the upper end of the toggle member 15 to the lower end of the toggle member 15, so that When the goods 910, the goods 910 can slide relatively smoothly with respect to the toggle hole 153, which facilitates the squeezing member 15 to squeeze under the goods 910.
  • the above-mentioned toggle hole 153 may be a through hole penetrating the toggle 15 or a non-through hole.
  • FIG. 4 is a schematic diagram of the disassembly process of the single board disassembly mechanism 10 provided by the present disclosure.
  • the arrows in the figure represent the movement direction of the removal movement mechanism 20 to drive the veneer removal mechanism 10 during the removal of the stack 900 below
  • FIGS. 4-1, 4-2, 4-3, and 4 -4 and FIGS. 4-5 are sequential removal steps, and the following are only examples, and the disclosure does not limit the specific removal steps.
  • the veneer removal mechanism 10 moves from the left to the right on the top layer of the stack 900.
  • the toggle 15 is not restricted by the position piece 17 and can Turn left.
  • the toggle 15 moves from the right side to the left side on the layer of goods 910.
  • the toggle 15 will rotate under the action of gravity and be inserted into the gap, of course, the toggle 15 may be During the movement from the left side to the right side of the top layer of the stack 900, when it reaches the gap, its lower end falls into the gap.
  • the toggle 15 falls into the gap, it continues to move from the right side above the layer of goods 910 to the left, so that the left side of the goods 910 moves from the right to the left until The bagged goods 910 on the left are taken out of the stack 900.
  • the limiting member 17 can resist the toggle member 15 to restrict the toggle member 15 from turning to the lower right, and make the toggle member 15 be wedge-shaped with the horizontal plane.
  • Good adaptive removal ability For bagged goods 910 with a certain fluidity, Good adaptive removal ability.
  • the removal movement mechanism 20 drives the single-board removal mechanism 10 to rotate in the horizontal direction, so that the toggle 15 is configured to The side where the goods bear is directed to the un-decomposed goods 910 on the right side, and then, the removing movement mechanism 20 drives the dial 15 toward the un-deleted goods 910 on the right side.
  • the toggle 15 moves from the left to the right, and drives the bagged goods 910 on the right to separate from the stack 900.
  • the disassembly movement mechanism 20 drives the dial 15 to move to the left and is close to the top layer of the stack 900 to remove the next layer of goods 910. This is repeated, and the disassembly of the stack 900 is completed.
  • the working principle of the single-board removal mechanism 10 provided by the present disclosure is:
  • the toggle 15 is rotatably connected to the disassembly movement mechanism 20 of the veneer disassembly device 100, and the toggle 15 is configured to dispense the goods 910 on the stack 900 from the stack 900, or through the toggle 15 The goods 910 on the stack 900 are pushed away from the stack 900.
  • the part of the toggle 15 that is connected to the disassembly movement mechanism 20 is the upper end of the toggle 15. In other words, after the toggle 15 is assembled with the disassembly movement mechanism 20, the toggle 15 is substantially upright and can pass Its side dials the cargo 910.
  • the limiting member 17 is disposed on one side of the toggle member 15, and the limiting member 17 is located between the upper and lower ends of the toggle member 15, and is configured to limit the rotation range of the toggle member 15 and can be relative to the toggle member 15 Movement to adjust the limit position of the downward rotation of the toggle 15, in other words, the limiter 17 is provided on the side below the toggle 15 and can resist the toggle 15 in different positions away from the goods The side of 910, so that the toggle member 15 is at an angle with the vertical direction, cannot rotate downward at the limit position, and can only turn away from the limit member 17 and rotate upward.
  • the one-way rotatable dial 15 can be driven by the disassembly movement mechanism 20, and the lower side of the dial 15 can rest on the stack 900 and follow
  • the toggle 15 moves along the top cargo 910 of the stack 900, and since the toggle 15 can rotate in one direction, the side where the toggle 15 and the stack 900 abut is in the gap between adjacent goods 910 It can be turned downward and fall into the above-mentioned gap under the action of gravity.
  • the toggle member 15 moves toward the upper side, the toggle member 15 is further extended into the above-mentioned gap, but the second layer of goods 910 is not pressed.
  • the toggle member 15 When the movable member 15 rotates downward to the limit position, it does not continue to rotate and remains at the limit position.
  • the dial 15 can push the goods 910 in the above direction to separate the goods 910 from the stack 900, and complete the disassembly and removal operation. High efficiency.
  • the toggle 15 is at a certain angle with the vertical plane, or the wedge 15 is approximately wedge-shaped with the horizontal plane, and the toggle 15 can be partially or fully squeezed under the cargo 910, and Reduce the squeezing of the sides of the goods 910, especially the case where the goods 910 are bagged goods 910, thereby reducing the amount of deformation of the detached goods 910, in addition, because the limit member 17 can adjust the dial 15 For the limit position of downward rotation, for different goods 910, the limit member 17 can be used to change the angle of the wedge shape formed by the dial 15 and the horizontal plane, so as to be suitable for the removal of various goods 910.
  • the present disclosure provides a veneer removal mechanism 10, which has a high removal efficiency, and during the removal process, the amount of deformation of the removed goods 910 is small, and can be applied to a variety of goods Demolition of 910.
  • FIG. 5 is a schematic structural view of the single-board removal device 100 provided by the present disclosure applied to the transmission system 1.
  • FIG. 6 is another structural schematic diagram of the single-board removal device 100 provided by the present disclosure applied to the transmission system 1.
  • the present disclosure provides a veneer removal device 100 that uses the above-described veneer removal mechanism 10, which also has a high removal efficiency, during the removal process, the amount of deformation of the removed goods 910 is small, and It is suitable for the dismantling of multiple goods 910.
  • the veneer removal device 100 can be applied to a palletizing system, a transmission system 1, a production line, an automated warehouse, a logistics system, an automated factory, etc. Of course, the veneer removal device 100 can also be used independently.
  • the transmission system 1 includes a veneer removal device 100, and the transfer system 1 completes the removal of the goods 910 on the stack 900 through the veneer removal device 100 The removal operation.
  • the transmission system 1 may further include a transmission mechanism 200 configured to transfer the stack 900 to the veneer removal device 100.
  • the transmission system 1 may further include a tray recovery mechanism 300 connected to each other, which includes a tray conveying member 310 and a tray recycling rack 320, and the tray conveying member 310 is disposed near the veneer removal device 100 and is configured to be
  • the tray 920 to which the detaching device 100 is transferred is transferred to the tray recovery rack 320, and the tray recovery rack 320 is configured to store the tray 920.
  • the transmission system 1 adopts the veneer removal device 100 provided by the present disclosure, the transmission system 1 also has high removal efficiency. During the removal process, the amount of deformation of the removed goods 910 is small, and it is suitable for Features of the dismantling of multiple goods 910.
  • FIG. 7 is a schematic structural diagram of a single-board removal device 100 provided by the present disclosure when a three-axis motion platform is used.
  • FIG. 8 is a schematic structural diagram of a single-board removal device 100 provided by the present disclosure when an articulated robot is used.
  • the veneer removal device 100 includes a removal movement mechanism 20 and the above-mentioned veneer removal mechanism 10, wherein the removal movement mechanism 20 is disposed near the removal station 21 and is rotatably connected with the toggle 15 and dialed
  • the piece 15 can swing up and down relative to the removal movement mechanism 20 to facilitate the removal of the cargo 910, wherein the removal station 21 is the position where the stack 900 is placed, and the removal movement mechanism 20 can drive the toggle 15 to the removal operation Exercise on bit 21.
  • the disassembly movement mechanism 20 drives the one-way rotatable toggle 15 to move, and enables the lower side of the toggle 15 to rest on the stack 900, as the disassembly
  • the movement mechanism 20 moves relative to the top cargo 910 of the stack 900, and since the toggle 15 can swing up and down in one direction, the lower end of the toggle 15 can be under the force of gravity when it is located in the gap between adjacent goods 910 Falling into the above-mentioned gap, the toggle 15 moves with the removal movement mechanism 20 in the direction toward the upper side, so that the toggle 15 extends into the above-mentioned gap, but does not hold the second layer of goods 910, The toggle 15 further moves with the disassembly movement mechanism 20 and pushes the goods 910 in the above-mentioned direction, so that the goods 910 are separated from the stack 900, the disassembly operation is automatically completed, and the disassembly efficiency is high.
  • the dial 15 is at an angle with the vertical plane, or roughly wedge-shaped with the horizontal plane, the dial 15 can be partially or fully squeezed under the goods 910, thereby reducing the dial 15 squeezing the sides of the cargo 910, especially if the cargo 910 is a bagged cargo 910, thereby reducing the amount of deformation of the disassembled cargo 910.
  • the limiter 17 can adjust the limit of the downward rotation of the dial 15, for different goods 910, the angle of the wedge shape formed by the dial 15 and the horizontal plane can be changed by the limiter 17 to be suitable for Demolition of multiple goods 910.
  • the stack 900 may also be a case where only the goods 910 are stacked in units, and the tray 920 is not included.
  • the transport mechanism 200 is located near the removal station 21 and the tray recovery mechanism 300 is located near the removal station 21.
  • the disassembly movement mechanism 20 can also drive the dial 15 to rotate in a horizontal plane, so as to drive the side above the dial 15 to the side edge of the stack 900, in other words, the disassembly movement mechanism 20 can drive the dial 15 rotates in a substantially horizontal plane, so that the side above the toggle 15 can point in the directions around the stack 900, so that the veneer removal mechanism 10 can be on the top layer of the stack 900, facing all directions of the horizontal plane
  • the cargo 910 is dialed up so that the single-board removal mechanism 10 can quickly turn to other cargo 910 after completing the removal of one cargo 910, improving the efficiency of the removal operation.
  • the disassembly movement mechanism 20 may be a multi-axis movement platform or an articulated robot.
  • the multi-axis movement platform includes a generally horizontal plane motion frame, a motion slide rail and a motion guide rail .
  • the multi-axis motion platform is a two-axis motion platform to drive the one-plane movement of the veneer removal mechanism 10 on the removal station 21, and the removal of the top-layer cargo 910 has been completed.
  • the removal assisting mechanism 40 completes the removal of the entire stack 900.
  • the multi-axis motion platform also has a rotation driving member (not shown in the figure) that drives the dial member 15 to rotate in a horizontal plane, to drive the veneer disassembly mechanism 10 to rotate to change the direction of the dial member 15, the need to explain is
  • the multi-axis motion platform may also include a vertical motion and horizontal motion frame, a motion slide rail and a motion guide rail to drive the three-dimensional space movement of the single-board removal mechanism 10 on the removal station 21.
  • the multi-joint robot is at least a four-axis articulated robot to drive the veneer disassembly mechanism 10 close to the disassembly station 21 in the three-dimensional space While moving, it can also drive the dial 15 to rotate about the vertical axis.
  • the disassembly movement mechanism 20 is an articulated robot
  • a plurality of disassembly stations 21 may be provided, and the plurality of disassembly stations 21 are arranged around the articulated robot, so that the articulated robot can simultaneously Dismantle the surrounding goods 910 to improve operation efficiency.
  • two sets of disassembling auxiliary mechanisms 40 and disassembly output mechanisms 30 are provided on both sides of the joint robot, and one joint robot is used to take off the goods 910 on both sides in turn to improve efficiency and reduce equipment costs.
  • FIG. 9 is a schematic structural diagram of the disassembly output mechanism 30 of the single board disassembly device 100 provided by the present disclosure.
  • the veneer removal device 100 may further include a removal output mechanism 30 including an output conveyor 31 configured to receive goods 910 removed from the stack 900, wherein the output conveyor 31 The side of is located near the removal station 21, and can be close to the bottom edge of the goods 910 on the top layer of the stack 900, and can transport the goods 910 in a horizontal direction away from the removal station 21.
  • a removal output mechanism 30 including an output conveyor 31 configured to receive goods 910 removed from the stack 900, wherein the output conveyor 31 The side of is located near the removal station 21, and can be close to the bottom edge of the goods 910 on the top layer of the stack 900, and can transport the goods 910 in a horizontal direction away from the removal station 21.
  • the output conveying member 31 may be a conveying mechanism in the form of a belt, roller, or chain driven by a motor, so as to receive the removed goods 910 in time and transport them outward to avoid the removed goods 910 Stacking is convenient for the downstream equipment to further perform other operations on the goods 910, and the number of the output conveying member 31 can also be multiple, which are respectively arranged around the removal station 21, and have received the goods removed in the corresponding direction 910.
  • the disassembly output mechanism 30 may further include a disassembly output lifting mechanism (not shown), which is connected to the output conveying member 31 and can drive the output conveying member 31 to rise and fall to adapt to different heights or the disassembly process
  • a disassembly output lifting mechanism (not shown), which is connected to the output conveying member 31 and can drive the output conveying member 31 to rise and fall to adapt to different heights or the disassembly process
  • the change of the height of the middle stack 900 improves the adaptability of the veneer removal device 100.
  • the disassembly output mechanism 30 may further include a blocking portion 32 that is disposed at an end of the output conveyor 31 near the disassembly station 21 and can hold the side of the stack 900 near the output conveyor 31 ,
  • a blocking portion 32 that is disposed at an end of the output conveyor 31 near the disassembly station 21 and can hold the side of the stack 900 near the output conveyor 31 ,
  • the toggle member 15 dials the cargo 910 to the output conveying member 31
  • it can make the cargo 910 located at the lower layer of the dismantled cargo 910 not easy to move with the upper cargo 910 under the action of friction, the resistance
  • the part 32 can resist the goods 910 of the layer below the top layer, or can resist the goods 910 of the layer below the top layer. Even against the edges of the tray 920, the present disclosure does not limit its specific size.
  • the resisting portion 32 may be a rectangular plate.
  • the disassembly output mechanism 30 may further include an output moving member 33, which is connected to the output conveying member 31, which can drive the output conveying member 31 to move toward or away from the disassembly station 21, so as to facilitate The operation of entering and exiting the stacking station 21 for the stack 900 and the operation of rotating or lifting the stack 900 are facilitated.
  • an output moving member 33 which is connected to the output conveying member 31, which can drive the output conveying member 31 to move toward or away from the disassembly station 21, so as to facilitate The operation of entering and exiting the stacking station 21 for the stack 900 and the operation of rotating or lifting the stack 900 are facilitated.
  • the output moving member 33 includes a sliding-fitting slide rail (not shown in the figure) and a slider (not shown in the figure), the slider is connected to the output conveying member 31, and the slide rail is close to the output conveying member 31 Or it is set away from the removal station 21 so that the output conveyor 31 can slide relative to the removal station 21.
  • the output moving member 33 further includes an output moving driving member (not shown), which is connected to the output conveying member 31 through a slider, and drives the output conveying member 31 to move closer to or while driving the slider relative to the slide rail Moving away from the disassembly station 21, the output moving driving member may be a driving member such as a motor, a cylinder or an oil cylinder.
  • FIG. 10 is a schematic structural diagram of a removal auxiliary mechanism 40 of the single-board removal device 100 provided by the present disclosure.
  • the veneer removal device 100 may further include a removal auxiliary mechanism 40, which includes an auxiliary lifting member 41, which is provided at the removal station 21 and is configured to carry a stack 900, and the auxiliary lifting member 41 is capable of Raise or lower the stack 900.
  • a removal auxiliary mechanism 40 which includes an auxiliary lifting member 41, which is provided at the removal station 21 and is configured to carry a stack 900, and the auxiliary lifting member 41 is capable of Raise or lower the stack 900.
  • the multi-axis motion platform is a motion platform that can only move in a plane
  • the auxiliary lifting member 41 lifts the stack 900 to make the stack 900 new
  • the top layer cargo 910 is close to the dial 15 so that the veneer removal mechanism 10 can continue to complete the removal of the new top layer cargo 910.
  • the movement mechanism 20 and the auxiliary lifting member 41 are simultaneously removed, and the movement of the toggle member 15 and the lifting operation of the stack 900 are performed at the same time, so that the coordinated movement of the two further improves the removal rate and reduces Removal difficulty.
  • the disassembling auxiliary mechanism 40 may further include an auxiliary rotating member 42 connected to the auxiliary lifting member 41.
  • the auxiliary lifting member 41 can carry the stack 900 through the auxiliary rotating member 42 and the auxiliary rotating member 42
  • the stack 900 can be driven to rotate.
  • both the auxiliary rotating member 42 and the disassembly movement mechanism 20 can independently achieve the effect that the dial 15 rotates relative to the stack 900 in the horizontal plane. In this way, the movement of the toggle 15 and the lifting and rotating operation of the stack 900 can be controlled separately and simultaneously, further increasing the removal rate.
  • the disassembling auxiliary mechanism 40 may further include an auxiliary limiter 43, which is disposed on opposite sides of the auxiliary rotating member 42 and configured to limit the position of the tray 920, so that the tray 920 is not easy to be removed from the stack with being removed 900 cargo 910 movement.
  • the auxiliary limiting member 43 is disposed around the auxiliary rotating member 42 to limit the position of the tray 920 in more directions and improve the stability of the tray 920.
  • the single-board removal and removal device 100 may further include a visual identification mechanism 50 that is disposed above the removal and removal station 21 and is communicatively connected to the removal and movement mechanism 20, which can collect the most of the stack 900 Image information of the upper layer of goods 910, etc., and identify the number, size, direction and spatial position of the top layer of goods 910 in the stack 900, and transmit position information characterizing the above data to the removal movement mechanism 20 to guide the removal
  • the picking mechanism 20 drives the dial 15 to move to the corresponding disassembly position, and rotates to an appropriate direction, directly tossing and disassembling, so as to improve disassembly efficiency.
  • the working principle of the single board removing device 100 provided by the present disclosure is:
  • the single-board removal device 100 includes a removal movement mechanism 20 and a single-board removal mechanism 10, wherein the removal movement mechanism 20 is disposed near the removal station 21 and is rotatably connected to the dial 15 and the dial 15 can Relative to the disassembly movement mechanism 20 swings up and down to facilitate disassembly of the goods 910, wherein the disassembly station 21 is the position where the stack 900 is placed, the disassembly movement mechanism 20 can drive the dial 15 on the disassembly station 21 movement.
  • the disassembly movement mechanism 20 drives the one-way rotatable toggle 15 to move, and enables the lower side of the toggle 15 to rest on the stack 900, as the disassembly
  • the movement mechanism 20 moves relative to the top cargo 910 of the stack 900, and because the toggle 15 can rotate in one direction, its lower end can fall into the gap under the force of gravity when it is located in the gap between the adjacent cargo 910
  • the toggle member 15 moves with the removal movement mechanism 20 in the direction toward the upper side, the toggle member 15 is further extended into the above-mentioned gap, but the second layer of goods 910 is not pressed.
  • the toggle piece 15 Due to the restriction effect of the position piece 17, the toggle piece 15 will not continue to rotate and keep at the limit position when it rotates down to the limit position, and the toggle piece 15 further moves with the removal movement mechanism 20 to push the goods 910 in the above direction, The goods 910 are separated from the stack 900, and the disassembly operation is automatically completed, and the disassembly efficiency is high. Moreover, during the disassembly process, the toggle 15 is at an angle with the vertical plane, or the toggle 15 is approximately wedge-shaped with the horizontal plane.
  • the toggle 15 can be partially or fully squeezed under the cargo 910, thereby reducing Small squeeze on the side of the cargo 910, especially if the cargo 910 is a bagged cargo 910, thereby reducing the amount of deformation of the disassembled cargo 910.
  • the limit member 17 can adjust the direction of the dial 15 For the limit position of the lower rotation, for different goods 910, the stopper 17 can be used to change the angle of the wedge shape formed by the dial 15 and the horizontal plane, so as to be suitable for the removal of various goods 910.
  • the present disclosure provides a veneer removal device 100, which has a high removal efficiency, during the removal process, the amount of deformation of the removed goods 910 is small, and is suitable for a variety of goods 910 Remove.
  • FIG. 12 is a schematic flowchart of a method for removing a single board provided by the present disclosure.
  • the present disclosure provides a veneer removal method, which is applied to the veneer removal mechanism 10 and the veneer removal device 100 described above.
  • the board removal method includes:
  • the disassembly movement mechanism 20 drives the dial 15 to move on the cargo 910 on the top layer of the stack 900, and causes the dial 15 to fall to the side of the cargo 910 under the influence of gravity.
  • the toggle member 15 since the toggle member 15 is limited by the limit member 17, its limit position for downward rotation is limited, but it can freely rotate upward, and it can rotate under the resistance of the cargo 910 and ride on the cargo 910 When the toggle 15 encounters undulation during the movement relative to the cargo 910, it rotates accordingly, such as when the top layer of the stack 900 formed by the cargo 910 to be removed is undulated.
  • the falling of the above-mentioned toggle 15 to the side of the cargo 910 may include the following cases: the toggle 15 falls to the gap between two cargoes 910, and the gap may be a gap between two adjacent cargoes 910 It can also be a thicker cargo 910 on both sides, a notch formed by a thinner cargo 910 in the middle, or a side of the cargo 910, for example, when the toggle 15 moves to the side of the top cargo 910.
  • the toggle member 15 Drive the toggle member 15 to move in the first direction by the disassembly movement mechanism 20, so as to detach the goods 910 in the first direction from the stack 900.
  • the first direction is the direction that the side above the toggle 15 faces, and when the toggle 15 moves in the first direction, since the position of the toggle 15 is restricted by the limiter 17, the toggle 15 can Resist the stopper 17 so that the toggle 15 is in a wedge-shaped position with respect to the horizontal plane.
  • the part of the toggle 15 can be squeezed under the towed cargo 910 to accommodate the removal of different cargo 910. And it makes the cargo 910 easier to be moved.
  • the method for removing a single board may further include:
  • the displacing movement mechanism 20 drives the dial 15 to move in the second direction to detach the goods 910 in the second direction from the stack 900.
  • the second direction is the direction that the side above the toggle 15 after turning faces.
  • the second direction may be a direction opposite to the first direction or a direction at another angle from the first direction. There is no specific restriction on the second direction.
  • the toggle 15 after the toggle 15 completes the toggle removal operation in the first direction, it can also rotate the set direction to continue to complete the removal of the goods 910 in other directions on the floor, further Improve the efficiency of disassembly operations.
  • the working principle of the single board removal method provided by the present disclosure is:
  • the disassembly movement mechanism 20 drives the dial 15 to move on the cargo 910 on the top layer of the stack 900 to adapt to the undulation above the cargo 910, and causes the dial 15 to fall to the side of the cargo 910 under the influence of gravity Then, the detaching movement mechanism 20 drives the dial 15 to move in the first direction to detach the goods 910 in the first direction from the stack 900.
  • the toggle 15 and the limiter 17 can resist, so that the toggle 15 In a position that is substantially wedge-shaped from the horizontal plane, the part of the toggle 15 can be squeezed under the towed cargo 910 to accommodate different cargo 910, and can reduce the force applied to the side of the cargo 910, thereby reducing
  • the deformation of the goods 910 during the dismantling process makes the goods 910 easier to be moved.
  • the present disclosure provides a method for removing a single board.
  • the method for removing a single board has high removal efficiency. During the removal process, the amount of deformation of the removed goods 910 is small, and it is suitable for the removal of multiple goods 910 .
  • the present disclosure provides a single-board removal mechanism, device, method, and transmission system, with high removal efficiency and strong adaptability.

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Abstract

一种单板拆取机构（10）、单板拆取装置（100）、单板拆取方法及传输系统（1），涉及物流设备技术领域。该单板拆取机构包括拨动件（15）和限位件（17），拨动件（15）的上端配置成转动连接单板拆取装置（100）的拆取运动机构（20），拨动件（15）配置成将货垛（900）上的货物（910）拨离货垛（900），限位件（17）设置于拨动件（15）的一侧，且位于拨动件（15）的上下两端之间，并能够对拨动件（15）向下转动的极限位置进行调节。该单板拆取机构（10）、单板拆取装置（100）、单板拆取方法及传输系统（1）的拆取效率高，且在拆取过程中，被拆取的货物（910）的变形量小，并能够适用于多种货物（910）的拆取。

Description

单板拆取机构、装置、方法及传输系统
相关申请的交叉引用
本公开要求于2019年01月09日提交中国专利局的申请号为2019100214766、名称为“单板拆取机构、装置、方法及传输系统”的中国专利申请的优先权。
技术领域
本公开涉及物流设备技术领域，具体而言，涉及一种单板拆取机构、装置、方法及传输系统。
背景技术
随着现代自动化程度的提高，以及无人工厂、智能工厂的普及，越来越多的企业采用以货垛的形式存放、周转及外运对应货物，并通过相应的输送设备来进行转移，以提高移动货物的效率，降低人工成本。
除了码放货物至托盘形成货垛，以便存放和周转，常常还需要拆取货垛上的货物以供后续分装外运等，但是，现有的拆取货垛的拆取方式一般包括人工拆取、机械手夹持拆取及倾倒拆取。对于人工拆取的方式，其效率较低，且在货物较重或者货物为袋装的情况下容易造成货物的变形，影响后续对货物进行其他操作；机械手夹持拆取的方式是通过具有夹持功能的机械手由货垛夹持货物至目标位置，其在操作过程中，所夹持的货物尺寸大小有限，拆取效率较低，且在货物较重或者货物为袋装的情况下同样容易造成货物的变形；倾倒拆取的方式是通过倾倒货垛，使得货物从托盘上滑下，该拆取方式容易导致货物层叠、堆积在一起，给后续操作带来难度，也会导致袋装的货物变形，另外，这种方式需要把整个货垛倾斜，设备的体积和重量较大，较费能源。
有鉴于此，研发设计出一种能够解决上述技术问题的单板拆取机构、装置、方法及传输系统显得尤为重要。
发明内容
本公开的目的包括，例如，提供一种单板拆取机构，该单板拆取机构的拆取效率高，且在拆取过程中，被拆取的货物的变形量小，并能够适用于多种货物的拆取。
本公开的目的还包括，例如，提供一种单板拆取装置，该单板拆取装置的拆取效率高，在拆取过程中，被拆取的货物的变形量小，且适用于多种货物的拆取。
本公开的目的还包括，例如，提供一种传输系统，该传输系统的拆取效率高，在拆取过程中，被拆取的货物的变形量小，且适用于多种货物的拆取。
本公开的目的还包括，例如，提供一种单板拆取方法，该单板拆取方法的拆取效率高，在拆取过程中，被拆取的货物的变形量小，且适用于多种货物的拆取。
本公开的实施例是这样实现的：
第一方面，本公开实施例提供了一种单板拆取机构，应用于单板拆取装置，包括拨动件和限位件；所述拨动件的上端配置成转动连接所述单板拆取装置的拆取运动机构；所述拨动件配置成将货垛上的货物拨离所述货垛，所述限位件设置于所述拨动件的一侧，且位于所述拨动件的上下两端之间，并能够对所述拨动件向下转动的极限位置进行调节。
可选的，所述限位件包括连接部和限位部；所述连接部配置成连接于所述拆取运动机构，并和所述限位部活动连接，所述限位部能够抵持于所述拨动件，且所述限位部能够朝向或者远离所述拨动件运动以调节相对于所述连接部的位置，以调节所述拨动件向下转动的极限位置。
可选的，所述限位部能够抵持于所述拨动件下方的一侧。
可选的，所述限位部与所述连接部螺纹连接，且当所述限位部相对于所述连接部转动时能够调节相对于所述连接部的位置。
可选的，所述拨动件包括拨动部和拨动垫；所述拨动部的上端和/或所述拨动垫的上端配置成与所述拆取运动机构转动连接，所述拨动垫连接于所述拨动部，所述限位件能够抵持于所述拨动垫，以对所述拨动部向下转动的极限位置进行调节。
可选的，所述单板拆取机构还包括隔挡件；所述隔挡件设置于所述拨动件远离所述限位件的一侧，且能够与所述拨动件呈夹角设置，以使所述隔挡件与所述拨动件能够共同与所述货物抵持。
可选的，所述拨动件上开设有多个拨动孔；多个所述拨动孔均为条形孔，且均由所述拨动件的上端延伸至所述拨动件的下端。
第二方面，本公开实施例提供了一种单板拆取装置，包括拆取运动机构和单板拆取机构；所述单板拆取机构包括拨动件和限位件；所述拨动件配置成将货垛上的货物拨离所述货垛，所述限位件设置于所述拨动件的一侧，且位于所述拨动件的上下两端之间，并能够对所述拨动件向下转动的极限位置进行调节。所述拆取运动机构靠近拆取工位设置，并与所述拨动件的上端转动连接，且所述拨动件能够相对于所述拆取运动机构上下转动，所述拆取工位为放置所述货垛的位置，所述拆取运动机构能够带动所述拨动件于所述拆取工位上运动。
可选的，所述单板拆取装置还包括支撑件，所述拨动件与所述支撑件转动连接，所述支撑件与所述拆取运动机构连接。
可选的，所述拆取运动机构还能够带动所述拨动件绕竖向设置的轴线转动。
可选的，所述拆取运动机构包括多轴运动平台或/和关节机器人。
可选的，所述单板拆取装置还包括拆取输出机构，所述拆取输出机构包括输出传送件；所述输出传送件配置成承接从所述货垛上被拆取下来的所述货物，并能够背向所述拆取工位传送所述货物。
可选的，所述拆取输出机构还包括抵挡部；所述抵挡部设置于所述输出传送件靠近所述拆取工位的一端，并能够抵持所述货垛靠近所述输出传送件的一侧。
可选的，所述拆取输出机构还包括输出移动件；所述输出移动件与所述输出传送件连接，并能够带动所述输出传送件靠近或远离所述拆取工位运动。
可选的，所述单板拆取装置还包括拆取辅助机构，所述拆取辅助机构包括配置成提升或者降低所述货垛的辅助升降件；所述辅助升降件设置于所述拆取工位。
可选的，所述拆取辅助机构还包括辅助旋转件；所述辅助旋转件连接于所述辅助升降件，所述辅助升降件能够通过所述辅助旋转件承载所述货垛，且所述辅助旋转件能够带动 所述货垛绕竖向设置的轴线转动。
可选的，所述单板拆取装置还包括视觉识别机构，所述视觉识别机构设置于所述拆取工位的上方，并与所述拆取运动机构通信连接；所述视觉识别机构配置成采集所述货垛顶层的货物图像，并识别出能够表征顶层的所述货物的数量、尺寸、方向或空间位置信息的位置信息，所述拆取运动机构能够依据所述位置信息带动所述拨动件运动。
第三方面，本公开实施例提供了一种传输系统，包括传输机构和所述的单板拆取装置，单板拆取装置，包括拆取运动机构和单板拆取机构；所述单板拆取机构包括拨动件和限位件；所述拨动件配置成将货垛上的货物拨离所述货垛，所述限位件设置于所述拨动件的一侧，且位于所述拨动件的上下两端之间，并能够对所述拨动件向下转动的极限位置进行调节。所述拆取运动机构靠近拆取工位设置，并与所述拨动件的上端转动连接，且所述拨动件能够相对于所述拆取运动机构上下转动，所述拆取工位为放置所述货垛的位置，所述拆取运动机构能够带动所述拨动件于所述拆取工位上运动。所述传输机构靠近所述拆取工位设置，且所述传输机构配置成向所述拆取工位传送所述货垛。
第四方面，本公开实施例提供了一种单板拆取方法，应用于所述的单板拆取装置，所述单板拆取方法包括：
通过所述拆取运动机构带动所述拨动件搭在货垛顶层的货物上移动，并使得所述拨动件在重力的作用下，落至所述货物的一侧；
通过所述拆取运动机构带动所述拨动件沿第一方向运动，以将位于所述第一方向上的货物拆离所述货垛，其中，所述第一方向为所述拨动件上方的一侧朝向的方向。
可选的，所述拆取运动机构还能够带动所述拨动件转动，在通过所述拆取运动机构带动拨动件沿所述第一方向运动的步骤之后，所述单板拆取方法还包括：
通过拆取运动机构带动所述拨动件转动；
通过拆取运动机构带动所述拨动件沿第二方向运动，以将位于所述第二方向上的货物拆离所述货垛，其中，所述第二方向为转动后的所述拨动件上方的一侧朝向的方向。
相比现有技术，本公开实施例提供的单板拆取机构、装置、方法及传输系统的有益效果包括，例如：
拨动件转动连接于单板拆取装置的拆取运动机构上，该拨动件配置成将货垛上的货物拨离货垛，或者说，通过拨动件将货垛上的货物推离货垛。拨动件转动连接于拆取运动机构的部分为拨动件的上端，换言之，拨动件与拆取运动机构装配后，拨动件大致为直立的设置，并能够通过其侧面拨动货物。限位件设置于拨动件的一侧，且限位件位于拨动件的上下两端之间，配置成限制拨动件的转动范围，且能够相对于拨动件运动以实现对拨动件向下转动的极限位置进行调节，换言之，限位件设置于拨动件下方的一侧，且能够于不同的位置抵持拨动件背离拨动货物的侧面，以使得拨动件为与竖直方向呈一定夹角的姿态，在极限位置不能向下转动，仅能背离限位件，向上转动。
这样一来，在拆取过程中，单方向上可转动的拨动件能够在拆取运动机构的带动下，拨动件的下方的一侧可以搭靠于货垛上，随着拨动件沿货垛的顶层货物运动，且由于拨动件可单方向的转动，拨动件与货垛搭靠的一侧在位于货物之间的缝隙时能够在重力作用下向下转动并下落至上述缝隙中。当拨动件在向其上方一侧的朝向方向运动时，便使得拨动件进一步伸入上述缝隙中，但未压持第二层货物，同时由于限位件的限制作用，拨动件向 下转动至极限位置时不会继续转动而保持在极限位置，拨动件能够推动上述方向上的货物，以使该货物与货垛分离，完成拆取作业，其拆取效率高，并且，在拆取过程中，拨动件与竖直面方向呈一定夹角，或者说与水平面大致呈楔形，拨动件可部分或者全部挤入货物下方，进而减小对货物侧部的挤压，特别是货物为袋装货物的情况，进而减小被拆取的货物的变形量，此外，由于限位件可调节拨动件的向下转动的极限位置，对于不同的货物，可通过限位件改变拨动件与水平面构成的楔形状的角度，以适用于多种货物的拆取。
为使本公开的上述目的、特征及优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍。应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定。对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本公开提供的单板拆取机构的第一视角的结构示意图。
图2为本公开提供的单板拆取机构拆取过程中的动作示意图。
图3为本公开提供的单板拆取机构的第二视角的结构示意图。
图4为本公开提供的单板拆取机构的拆取流程示意图。
图5为本公开提供的单板拆取装置应用于传输系统的结构示意图。
图6为本公开提供的单板拆取装置应用于传输系统的另一结构示意图。
图7为本公开提供的单板拆取装置的采用三轴运动平台时的结构示意图。
图8为本公开提供的单板拆取装置的采用关节机器人时的结构示意图。
图9为本公开提供的单板拆取装置的拆取输出机构的结构示意图。
图10为本公开提供的单板拆取装置的拆取辅助机构的结构示意图。
图11为本公开提供的单板拆取装置的应用示意图。
图12为本公开提供的单板拆取方法的流程示意图。
图标：100-单板拆取装置；20-拆取运动机构；21-拆取工位；30-拆取输出机构；31-输出传送件；32-抵挡部；33-输出移动件；40-拆取辅助机构；41-辅助升降件；42-辅助旋转件；43-辅助限位件；50-视觉识别机构；10-单板拆取机构；12-支撑件；121-连接板；1211-第一板部；1212-第二板部；1213-连接孔；122-加强板；123-转轴；13-隔挡件；15-拨动件；151-拨动部；152-拨动垫；153-拨动孔；1-传输系统；17-限位件；171-连接部；172-限位部；200-传输机构；300-托盘回收机构；310-托盘传送件；320-托盘回收架；900-货垛；910-货物；920-托盘。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的 附图，对本公开实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本公开实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围，而是仅仅表示本公开的选定实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。术语“上”、“下”、“内”、“外”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该发明产品使用时惯常摆放的方位或位置关系，或者是本领域技术人员惯常理解的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的设备或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
还需要说明的是，除非另有明确的规定和限定，“设置”、“连接”等术语应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接连接，也可以通过中间媒介间接连接，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
需要说明的是，在不冲突的情况下，本公开的实施例中的特征可以相互结合。
下面结合附图，对本公开的具体实施方式进行详细说明。
请参阅图1和图2，图1为本公开提供的单板拆取机构10的第一视角的结构示意图。图2为本公开提供的单板拆取机构10拆取过程中的动作示意图。
本公开提供一种单板拆取机构10，该单板拆取机构10应用于单板拆取装置100，并与单板拆取装置100的拆取运动机构20配合，以拆取货垛900上的货物910，其拆取效率高，在拆取过程中，被拆取的货物910的变形量小，且适用于多种货物910的拆取。该单板拆取机构10能够应用于单板拆取装置100、码垛装置、传输系统1、生产线、自动化仓库、物流系统或者自动化工厂等，当然，该单板拆取机构10也能够仅配合拆取运动机构20或与运动机构20滑动连接的滑动机构使用。
以下将具体介绍本公开提供的单板拆取机构10的结构组成、工作原理及有益效果。
请继续参阅图1和图2，该单板拆取机构10包括拨动件15和限位件17，拨动件15配置成拨动货物910，以使被拨动的货物910与货垛900分离，限位件17配置成限制拨动件15的转动范围，进而使得拨动件15能够拨动货垛900上的货物910，且能够改变拨动件15在拨动货物910时的姿态以使单板拆取机构10能够适用多种货物910的拆取。
其中，拨动件15转动连接于单板拆取装置100的拆取运动机构20上，该拨动件15配 置成将货垛900上的货物910拨离货垛900，或者说，通过拨动件15将货垛900上的货物910推离货垛900。拨动件15转动连接于拆取运动机构20的部分为拨动件15的上端，换言之，拨动件15与拆取运动机构20装配后，拨动件15大致为直立的设置，并能够通过其侧面拨动货物910。限位件17设置于拨动件15的一侧，且限位件17位于拨动件15的上下两端之间，配置成限制拨动件15的转动范围，且能够相对于拨动件15运动以实现对拨动件15向下转动的极限位置进行调节，换言之，限位件17设置于拨动件15下方的一侧，且能够于不同的位置抵持拨动件15背离拨动货物910的侧面，以使得拨动件15为与竖直方向呈一定夹角的姿态，在极限位置时不能向下转动，仅能背离限位件17，向上转动。
这样一来，在拆取过程中，单方向上可转动的拨动件15能够在拆取运动机构20的带动下，使得拨动件15的下方的一侧可以搭靠于货垛900上，随着拨动件15沿货垛900的顶层货物910运动，且由于拨动件15可单方向的转动，拨动件15与货垛900搭靠的一侧在位于相邻货物910之间的缝隙时能够在重力作用下向下转动并下落至上述缝隙中。拨动件15在向其上方一侧的朝向方向运动时，便使得拨动件15进一步伸入上述缝隙中，但未压持第二层货物910，同时由于限位件17的限制作用，拨动件15向下转动至极限位置时不会继续转动而保持在极限位置，拨动件15能够推动上述方向上的货物910，以使该货物910与货垛900分离，完成拆取作业，拆取效率高。并且，在拆取过程中，拨动件15与竖直面方向呈一定夹角，或者说拨动件15与水平面大致呈楔形，拨动件15可部分或者全部挤入货物910下方，进而减小对货物910侧部的挤压，特别是货物910为袋装货物910的情况，进而减小被拆取的货物910的变形量，此外，由于限位件17可调节拨动件15的向下转动的极限位置，对于不同的货物910，可通过限位件17改变拨动件15与水平面构成的楔形状的角度，以适用于多种货物910的拆取。
需要说明的是，限位件17位于拨动件15的较低的一侧，其不会影响拨动件15拨动货物910，避免货物910与限位件17接触，并且，抵持于拨动件15上下两端之间的限位件17能够直接的调节拨动件15的角度，不影响拨动件15的转动，拨动件15也可以转动至直立的姿态，以适应更多的拨动场景。例如，在拨动件15对箱体等侧边直立或缝隙较小的货物910进行拆取作业时，拨动件15可以转动至呈直立的姿态；而在货物910较重时，拨动件15设置为较倾斜的拨动姿态来拨动货物910，使得拨动件15能够更多的挤入该货物910下方，以减少该货物910与下方货物910或者托盘920之间的摩擦力，便于拆取作业的进行；而在货物910较轻时，拨动件15设置为较直立的拨动姿态来拨动货物910，避免拨动件15挤入货物910下方的部分太多，影响拨动效果。
可以理解的是，拨动件15也可以通过支撑件12连接于拆取运动机构20，该支撑件12可以为拆取运动机构20的部件，也可以为单板拆取机构10的所属部件，当然，拨动件15也可以直接转动连接于拆取运动机构20。
请继续参阅图1，该单板拆取机构10还可以包括隔挡件13，该隔挡件13设置于拨动件15远离限位件17的一侧，或者说，该隔挡件13位于拨动件15上方的一侧，且位于拨动件15在拨动姿态时的上方。在拨动件15拨动货物910时，该隔挡件13与拨动件15呈一定夹角，随着拨动件15挤入货物910的下方，隔挡件13与拨动件15能够共同与货物910抵持，进而控制拨动件15挤入货物910下方的部分，避免拨动件15挤入被拨动的货物910的部分过多，保证拨动效果的稳定。且该隔挡件13能够于货物910的上方抵持货物910，进而进一步减少货物910被拆取时的变形量。此外，该隔挡件13可以连接于支撑件12，也可以连接于拆取运动机构20等，使得隔挡件13位于拨动件15远离限位件17的一侧且能向下抵持货物910的位置。
可选的，隔挡件13可以设置为板状结构，例如可以是但不限于是矩形板。另外，可以 在隔档件13上设置孔，孔可以是通孔或者盲孔，以减轻隔挡件13的重量，以及节省材料。孔的数量可以是一个或者多个，当孔的数量为多个时，多个孔均匀间隔排布。
请参阅图3，图3为本公开提供的单板拆取机构10的第二视角的结构示意图。
在本公开中，限位件17包括相连的连接部171和限位部172。连接部171可以通过支撑件12实现与拆取运动机构20的连接，或者，连接部17也可以直接连接于拆取运动机构20。可选的，连接部171和限位部172活动连接，限位部172能够抵持于拨动件15下方的一侧，且限位部172能够朝向或者远离拨动件15运动以调节相对于连接部171的位置，换言之，限位部172能够朝向或者远离拨动件15移动，进而实现限位部172和连接部171之间的相对位置关系可调节，进而改变拨动件15向下转动的极限位置。
需要说明的是，限位件17也可以与支撑件12一体成型。应当理解，连接部171可以与支撑件12一体成型，限位部172与连接部171可活动的连接。
可选的，限位部172为具有外螺纹的杆状件，且限位部172螺纹连接于连接部171，这样一来，限位部172能够通过相对于连接部171转动来调节相对于连接部171的位置，进而调节拨动件15的拨动姿态，以连续地调节拨动件15向下转动的极限位置。
需要说明的是，限位部172和连接部171的连接方式也可以为多档位的连接关系，例如，通过设置相配合的卡扣和卡槽来实现限位部172和连接部171的连接，通过将卡扣放置于不同的卡槽来实现限位部172对拨动件15不同拨动姿态的调节，且调节较快。当然，限位部172和连接部171还可以为电动、油动或者气动伸缩驱动件，通过调节伸缩距离来调节限位部172相对于连接部171的位置以实现拨动件15的拨动姿态的调节，提高单板拆取机构10的自动化程度。
可选的，支撑件12包括呈弯折状的连接板121以及多个加强板122，连接板121大致呈90°弯折，换言之，连接板121包括呈垂直设置的第一板部1211和第二板部1212，第一板部1211和第二板部1212可以是通过一个矩形板弯折制成，或者通过两个矩形板固定连接制成。应当理解，第一板部1211和第二板部1212还可以呈其他角度设置。可选的，第一板部1211设置有至少一个连接孔1213，配置成供螺栓穿过以通过螺栓将连接板121与拆取运动机构20固定连接。多个加强板122均与连接板121的内侧固定连接，多个加强板122沿连接板121的弯折线的延伸方向均匀间隔排布。每个加强板122设置为直角三角形板，每个加强板122构成直角的两个侧面分别与第一板部1211的内侧面以及第二板部1212的内侧面连接，且加强板122的直角与连接板121的直角对应。拨动件15与第二板部1212远离第一板部1211的一侧通过转轴123转动连接。
可选的，拨动件15包括拨动部151和拨动垫152，其中，拨动部151的上端和/或拨动垫152的上端与拆取运动机构20转动连接，该拨动垫152连接于拨动部151，限位件17能够抵持于拨动垫152，以对拨动部151向下转动的极限位置进行调节。通过拨动垫152的设置，来分散限位件17抵持于拨动件15的作用力，避免作用力过于集中。
需要说明的是，拨动部151也可以通过支撑件12与拆取运动机构20转动连接。此外，拨动部151可以为平板状、波浪板状、弧形板状或折弯板状等，也可以为锥状、棍状或梳齿状等，本公开中对于拨动部151的形状不作具体限制。
可选的，在拨动件15上还可以开设有多个拨动孔153，以减轻单板拆取机构10的重量，以便于拆取运动机构20带动单板拆取机构10运动。
需要说明的是，多个拨动孔153可以均为条形孔，并且，拨动孔153的延伸方向均为拨动件15的上端至拨动件15的下端，这样一来，在拨动货物910时，货物910可较顺利的相对于拨动孔153滑动，便于拨动件15挤入货物910下方。当然，上述的拨动孔153可以为贯穿拨动件15的通孔，也可以为非贯穿孔。
请参阅图4，图4为本公开提供的单板拆取机构10的拆取流程示意图。图中箭头表征拆取运动机构20带动单板拆取机构10在拆取下方的货垛900的作业过程中的运动方向，且图4-1、图4-2、图4-3、图4-4及图4-5为依序的拆取步骤，且以下仅为举例说明，本公开不限制其具体的拆取步骤。
如图4-1所示，单板拆取机构10从该货垛900的顶层上的左侧向右侧移动，在运动过程中，拨动件15不受限位件17的限制，可向左上方转动。
如图4-2所示，紧接着，在拨动件15移动至指定位置后，拨动件15从该层货物910上的右侧向左侧移动。此过程中，拨动件15的下端到达两个货物910之间的缝隙处时，拨动件15会在重力作用下转动，并插入上述缝隙中，当然，也可以为，拨动件15在货垛900的顶层上的左侧向右侧移动过程中，到达缝隙时，其下端落入缝隙。
如图4-3所示，拨动件15在落入缝隙中后继续从该层货物910上方的右侧向左侧移动，从而拨动左侧的货物910由右侧向左侧移动，直到左侧的袋装货物910被拆取出货垛900。此过程中，限位件17能够抵持于拨动件15，限制拨动件15向右下方转动，并使得拨动件15与水平面呈楔形，对于具有一定流动性的袋装的货物910有良好的自适应拆取能力。
如图4-4所示，可选的，在左侧袋装货物910被拆取后，拆取运动机构20带动单板拆取机构10在水平面内转动方向，使拨动件15配置成与货物抵持的侧面朝向右侧未被拆取的货物910，然后，拆取运动机构20带动拨动件15朝向右侧未被拆取的货物910运动。
然后，如图4-5所示，拨动件15从左侧向右侧移动，并带动右侧的袋装货物910与货垛900分离。此时拆取运动机构20再带动拨动件15向左移动且靠近货垛900的顶层，以拆取下一层货物910，这样重复进行，便完成了货垛900的拆取作业。
本公开提供的单板拆取机构10的工作原理是：
拨动件15转动连接于单板拆取装置100的拆取运动机构20上，该拨动件15配置成将货垛900上的货物910拨离货垛900，或者说，通过拨动件15将货垛900上的货物910推离货垛900。拨动件15转动连接于拆取运动机构20的部分为拨动件15的上端，换言之，拨动件15与拆取运动机构20装配后，拨动件15大致为直立的设置，并能够通过其侧面拨动货物910。限位件17设置于拨动件15的一侧，且限位件17位于拨动件15的上下两端之间，配置成限制拨动件15的转动范围，且能够相对于拨动件15运动以实现对拨动件15向下转动的极限位置进行调节，换言之，限位件17设置于拨动件15下方的一侧，且能够于不同的位置抵持拨动件15背离拨动货物910的侧面，以使得拨动件15为与竖直方向呈一定夹角的姿态，在极限位置不能向下转动，仅能背离限位件17，向上转动。
这样一来，在拆取过程中，单方向上可转动的拨动件15能够在拆取运动机构20的带动下，拨动件15的下方的一侧可以搭靠于货垛900上，并随着拨动件15沿货垛900的顶层货物910运动，且由于拨动件15可单方向的转动，拨动件15与货垛900搭靠的一侧在位于相邻货物910之间的缝隙时能够在重力作用下向下转动并下落至上述缝隙中。拨动件15在向其上方一侧的朝向方向运动时，便使得拨动件15进一步伸入上述缝隙中，但未压持第二层货物910，同时由于限位件17的限制作用，拨动件15向下转动至极限位置时不 会继续转动而保持在极限位置，拨动件15能够推动上述方向上的货物910，以使该货物910与货垛900分离，完成拆取作业，拆取效率高。并且，在拆取过程中，拨动件15与竖直面方向呈一定夹角，或者说与拨动件15与水平面大致呈楔形，拨动件15可部分或者全部挤入货物910下方，进而减小对货物910侧部的挤压，特别是货物910为袋装货物910的情况，进而减小被拆取的货物910的变形量，此外，由于限位件17可调节拨动件15的向下转动的极限位置，对于不同的货物910，可通过限位件17改变拨动件15与水平面构成的楔形状的角度，以适用于多种货物910的拆取。
综上所述：
本公开提供一种单板拆取机构10，该单板拆取机构10的拆取效率高，且在拆取过程中，被拆取的货物910的变形量小，并能够适用于多种货物910的拆取。
请参阅图5-图6，图5为本公开提供的单板拆取装置100应用于传输系统1的结构示意图。图6为本公开提供的单板拆取装置100应用于传输系统1的另一结构示意图。
本公开提供一种单板拆取装置100，该装置采用上述的单板拆取机构10，其也具有拆取效率高，在拆取过程中，被拆取的货物910的变形量小，且适用于多种货物910的拆取的特点。该单板拆取装置100能够应用于码垛系统、传输系统1、生产线、自动化仓库、物流系统或者自动化工厂等，当然，该单板拆取装置100也能够独立使用。
其中，以单板拆取装置100应用于传输系统1为例，该传输系统1包括单板拆取装置100，该传输系统1通过单板拆取装置100完成于货垛900上拆取货物910的拆取作业。当然，该传输系统1还可以包括传输机构200，该传输机构200配置成向单板拆取装置100传送货垛900。
需要说明的是，传输系统1还可以包括相互连接的托盘回收机构300，其包括托盘传送件310和托盘回收架320，托盘传送件310靠近单板拆取装置100设置，并配置成将由单板拆取装置100传送至的托盘920传送至托盘回收架320，而托盘回收架320配置成储存托盘920。
由于传输系统1采用了本公开提供的单板拆取装置100，所以，该传输系统1也具有拆取效率高，在拆取过程中，被拆取的货物910的变形量小，且适用于多种货物910的拆取的特点。
以下将具体介绍本公开提供的单板拆取机构10的结构组成、工作原理及有益效果。
请结合图5和图6，并请参阅图7和图8，图7为本公开提供的单板拆取装置100的采用三轴运动平台时的结构示意图。图8为本公开提供的单板拆取装置100的采用关节机器人时的结构示意图。
该单板拆取装置100包括拆取运动机构20和上述的单板拆取机构10，其中，拆取运动机构20靠近拆取工位21设置，并与拨动件15转动连接，且拨动件15能够相对于拆取运动机构20上下摆动，以便于拆取货物910，其中，拆取工位21为放置货垛900的位置，拆取运动机构20能够带动拨动件15于拆取工位21上运动。
这样一来，在拆取过程中，拆取运动机构20带动单方向上可转动的拨动件15运动，并使得拨动件15的下方的一侧能够搭靠于货垛900上，随着拆取运动机构20相对于货垛900的顶层货物910运动，且由于拨动件15可单方向的上下摆动，拨动件15的下端在位于相邻货物910之间的缝隙时能够在重力作用下下落至上述缝隙中，拨动件15随拆取运动 机构20在向其上方一侧所朝向的方向运动，便使得拨动件15伸入上述缝隙中，但未压持第二层货物910，拨动件15进一步随拆取运动机构20运动且推动上述方向上的货物910，以使该货物910与货垛900分离，自动完成拆取作业，拆取效率高。并且，在拆取过程中，拨动件15与竖直面方向呈一定夹角，或者说与水平面大致呈楔形，拨动件15可部分或者全部挤入货物910下方，进而减小拨动件15对货物910侧部的挤压，特别是货物910为袋装货物910的情况，进而减小被拆取的货物910的变形量。此外，由于限位件17可调节拨动件15的向下转动的极限位置，对于不同的货物910，可通过限位件17改变拨动件15与水平面构成的楔形状的角度，以适用于多种货物910的拆取。
需要说明的是，货垛900也可以仅为货物910堆叠单元，而不包括托盘920的情况。此外，传输机构200靠近拆取工位21设置，且托盘回收机构300靠近拆取工位21设置。
可选的，拆取运动机构20还能够带动拨动件15在水平面内转动，以带动拨动件15上方一侧转向货垛900的侧边沿，换言之，拆取运动机构20能够带动拨动件15于大致水平的平面内转动，以使得拨动件15上方的一侧能够指向货垛900的四周等方向，以便于单板拆取机构10能够于货垛900的顶层，朝向水平面的各个方向上拨动货物910，以使单板拆取机构10在完成一个货物910的拆取后能够迅速的转向其他货物910，提高拆取作业的效率。
可选的，拆取运动机构20可以为多轴运动平台或关节机器人。其中，在拆取运动机构20为多轴运动平台时，如图5和图7所示，在本公开中，该多轴运动平台包括大致为水平的平面运动的框架、运动滑轨及运动导轨。可选的，多轴运动平台为两轴运动平台，以带动单板拆取机构10于拆取工位21上的一平面运动，已完成顶层货物910的拆取作业，还可以配合下述的拆取辅助机构40完成整个货垛900的拆取作业。且该多轴运动平台还具有带动拨动件15于水平面转动的转动驱动件(图未标)，以带动单板拆取机构10转动以改变拨动件15的拨动方向，需要说明的是，可选的，多轴运动平台也可以包括竖直运动和水平面运动的框架、运动滑轨及运动导轨，以带动单板拆取机构10于拆取工位21上的三维空间运动。
在拆取运动机构20为关节机器人时，如图6和图8所示，该多关节机器人至少为四轴的关节机器人，以带动单板拆取机构10靠近拆取工位21的三维空间内运动的同时，还能够带动拨动件15绕竖直轴旋转。请参阅图11，需要说明的是，在拆取运动机构20为关节机器人时，可以设置多个拆取工位21，且多个拆取工位21绕关节机器人设置，以使关节机器人能够同时拆取四周的货物910，提高作业效率。例如，在关节机器人的两侧设置有两套拆取辅助机构40和拆取输出机构30，并使用一个关节机器人轮流拆取两侧的货物910，以提高效率，并降低了设备成本。
请参阅图9，并结合图8及图7，图9为本公开提供的单板拆取装置100的拆取输出机构30的结构示意图。
该单板拆取装置100还可以包括拆取输出机构30，该拆取输出机构30包括配置成承接从货垛900上被拆取下来的货物910的输出传送件31，其中，输出传送件31的一侧靠近拆取工位21设置，且能够靠近货垛900顶层的货物910的底部边沿，并能够朝远离拆取工位21的方向在水平面内传送货物910。需要说明的是，该输出传送件31可以为通过电机驱动的皮带、辊筒或链条等形式的传送机构，以及时接收被拆取出的货物910，且向外输送，避免被拆取的货物910堆叠，便于下游设备进一步对货物910进行其他操作，并且，该输出传送件31的数量还可以为多个，分别设置于拆取工位21的四周，已接收于对应方向上被拆取的货物910。
可以理解的是，拆取输出机构30还可以包括拆取输出升降机构(图未示)，其与输出传送件31连接，并能够带动输出传送件31升降，以适配不同高度或者拆取过程中货垛900高度的变化，提高单板拆取装置100的适配性。
可选的，拆取输出机构30还可以包括抵挡部32，该抵挡部32设置于输出传送件31靠近拆取工位21的一端，并能够抵持货垛900靠近输出传送件31的一侧，这样一来，在拨动件15拨动货物910至输出传送件31的同时，可以使得位于被拆取货物910下层的货物910不易在摩擦力的作用下随其上层货物910运动，该抵挡部32可以抵持于顶层下一层的货物910，也可以抵持于顶层下多层货物910。甚至抵持于托盘920的边沿，本公开不限制其具体尺寸。抵挡部32可以是矩形板。
可选的，该拆取输出机构30还可以包括输出移动件33，该输出移动件33与输出传送件31连接，其能够带动输出传送件31靠近或远离拆取工位21运动，以便于进行对货垛900进出拆取工位21的操作，以及便于进行转动或者升降货垛900的操作。
需要说明的是，在公开中，输出移动件33包括滑动配合的滑轨(图未标)和滑块(图未标)，滑块连接于输出传送件31，滑轨沿输出传送件31靠近或远离拆取工位21的方向设置，以使输出传送件31能够相对于拆取工位21滑动。可选的，输出移动件33还包括输出移动驱动件(图未示)，其通过滑块连接于输出传送件31，在驱动滑块相对于滑轨运动的同时以带动输出传送件31靠近或者远离所述拆取工位21移动，输出移动驱动件可以为电机、气缸或者油缸等驱动件。
请参阅图10，图10为本公开提供的单板拆取装置100的拆取辅助机构40的结构示意图。
单板拆取装置100还可以包括拆取辅助机构40，该拆取辅助机构40包括辅助升降件41，其设置于拆取工位21，并配置成承载货垛900，且辅助升降件41能够提升或降低货垛900。例如，在多轴运动平台为仅能够在平面移动的运动平台时，在单板拆取装置100完成顶层货物910的拆取后，辅助升降件41提升货垛900，以使货垛900新的顶层货物910靠近拨动件15，以便于单板拆取机构10继续完成新的顶层货物910的拆取。此外，在拆取时，通过拆取运动机构20和辅助升降件41，同时进行拨动件15的运动和货垛900的升降操作，使二者的配合运动，进一步提高了拆取速率以及降低拆取难度。
可选的，该拆取辅助机构40还可以包括辅助旋转件42，该辅助旋转件42连接于辅助升降件41，辅助升降件41能够通过辅助旋转件42承载货垛900，且辅助旋转件42能够带动货垛900转动，换言之辅助旋转件42和拆取运动机构20均能够独立地达到拨动件15相对于货垛900于水平面内转动的效果。这样一来，使得拨动件15的运动和货垛900的升降旋转操作能够分别控制且同时进行，进一步提高了拆取速率。
需要说明的是，该拆取辅助机构40还可以包括辅助限位件43，其设置于辅助旋转件42相对的两侧，配置成限制托盘920的位置，使得托盘920不易随被拆离货垛900的货物910运动。可选的，辅助限位件43设置于辅助旋转件42的四周，更多方向的限制托盘920的位置，提高托盘920的稳定性。
可选的，单板拆取装置100还可以包括视觉识别机构50，该视觉识别机构50设置于拆取工位21上方，并与拆取运动机构20通信连接，其能够采集货垛900中最上层的货物910的图像信息等，并识别货垛900中最上层的货物910的数量、尺寸、方向和空间位置等数据，并向拆取运动机构20传输表征上述数据的位置信息，以指引拆取运动机构20带动拨动件15运动至相应的拆取位置，并旋转至适当的方向，直接进行拨动拆取，以提高拆 取效率。
本公开提供的单板拆取装置100的工作原理是：
单板拆取装置100包括拆取运动机构20和单板拆取机构10，其中，拆取运动机构20靠近拆取工位21设置，并与拨动件15转动连接，且拨动件15能够相对于拆取运动机构20上下摆动，以便于拆取货物910，其中，拆取工位21为放置货垛900的位置，拆取运动机构20能够带动拨动件15于拆取工位21上运动。
这样一来，在拆取过程中，拆取运动机构20带动单方向上可转动的拨动件15运动，并使得拨动件15的下方的一侧能够搭靠于货垛900上，随着拆取运动机构20相对于货垛900的顶层货物910运动，且由于拨动件15可单方向的转动，其下端在位于相邻货物910之间的缝隙时能够在重力作用下下落至上述缝隙中，拨动件15随拆取运动机构20在向其上方一侧所朝向的方向运动时，便使得拨动件15进一步伸入上述缝隙中，但未压持第二层货物910，同时由于限位件17的限制作用，拨动件15向下转动至极限位置时不会继续转动而保持在极限位置，拨动件15进一步随拆取运动机构20运动进而推动上述方向上的货物910，以使该货物910与货垛900分离，自动完成拆取作业，其拆取效率高。并且，在拆取过程中，拨动件15与竖直面方向呈一定夹角，或者说拨动件15与水平面大致呈楔形，拨动件15可部分或者全部挤入货物910下方，进而减小对货物910侧部的挤压，特别是货物910为袋装货物910的情况，进而减小被拆取的货物910的变形量，此外，由于限位件17可调节拨动件15的向下转动的极限位置，对于不同的货物910，可通过限位件17改变拨动件15与水平面构成的楔形状的角度，以适用于多种货物910的拆取。
综上所述：
本公开提供一种单板拆取装置100，该单板拆取装置100的拆取效率高，在拆取过程中，被拆取的货物910的变形量小，且适用于多种货物910的拆取。
请参阅图12，图12为本公开提供的单板拆取方法的流程示意图。
本公开提供一种单板拆取方法，应用于上述的单板拆取机构10和上述的单板拆取装置100。
该单板拆取方法包括：
S101:通过拆取运动机构20带动拨动件15搭靠在货垛900顶层的货物910上移动，并使得拨动件15在重力的作用下，落至货物910的一侧。
其中，由于拨动件15在限位件17的作用下，其向下转动的极限位置被限制，但其可以自由的向上转动，其可以在货物910的抵持下转动，并搭在货物910上，且拨动件15相对于货物910运动的过程中遇见起伏时，作相应的转动，如在待拆取的货物910形成的货垛900顶层起伏不平时。此外，上述拨动件15落至货物910的一侧可以包括以下情况：拨动件15落至两个货物910之间的空档，该空档可以为相邻两个货物910之间的缝隙，也可以为两侧厚度较厚的货物910，中间较薄的货物910形成的凹口，当然也可以为货物910的侧部，比如，拨动件15移动至顶层货物910的一侧时。
S102:通过拆取运动机构20带动拨动件15沿第一方向运动，以将位于第一方向上的货物910拆离货垛900。其中，第一方向为拨动件15上方的一侧朝向的方向，并且，拨动件15在向第一方向运动时，由于限位件17限制拨动件15的位置，拨动件15能够与限位件17抵持，使得拨动件15处于大致与水平面呈楔形的位置，拨动件15的部分能够被挤入被 拨动的货物910下方，以适应不同的货物910的拆取，且使得货物910更易被拨动。
可选的，在步骤S102之后，该单板拆取方法还可以包括：
S103：通过拆取运动机构20带动拨动件15转动；
S104：通过拆取运动机构20带动拨动件15沿第二方向运动，以将位于第二方向上的货物910拆离货垛900。
其中，第二方向为转动后的拨动件15上方的一侧朝向的方向，该第二方向可以为与第一方向相反的方向，也可以与第一方向呈其他角度的方向，本公开中对第二方向不做具体限制，换言之，拨动件15在沿第一方向完成拨动拆取作业后，还可以转动设定方向继续完成该层的其他方向上的货物910的拆取，进一步提高拆取作业效率。
本公开提供的单板拆取方法的工作原理是：
通过拆取运动机构20带动拨动件15搭在货垛900顶层的货物910上移动，以适应货物910上方的起伏，并使得拨动件15在重力的作用下，落至货物910的一侧，再通过拆取运动机构20带动拨动件15沿第一方向运动，以将位于第一方向上的货物910拆离货垛900。落至货物910一侧的拨动件15在向第一方向运动时，由于限位件17限制拨动件15的位置，拨动件15和限位件17能够抵持，使得拨动件15处于大致与水平面呈楔形的位置，拨动件15的部分能够被挤入被拨动的货物910下方，以适应不同的货物910，且能够减小施加于货物910侧部的作用力，进而减少货物910在被拆取过程中的形变量，使得货物910更易被拨动。
综上所述：
本公开提供一种单板拆取方法，该单板拆取方法的拆取效率高，在拆取过程中，被拆取的货物910的变形量小，且适用于多种货物910的拆取。
以上所述仅为本公开的优选实施例而已，并不用于限制本公开，对于本领域的技术人员来说，在不冲突的情况下，上述的实施例中的特征可以相互组合，本公开也可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。并且，应将实施例看作是示范性的，而且是非限制性的，本公开的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本公开内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
工业实用性：
综上所述，本公开提供了一种单板拆取机构、装置、方法及传输系统，拆取效率高，适应能力强。

Claims (20)

  1. 一种单板拆取机构，应用于单板拆取装置，其特征在于，包括拨动件和限位件；
    所述拨动件的上端配置成转动连接所述单板拆取装置的拆取运动机构；
    所述拨动件配置成将货垛上的货物拨离所述货垛，所述限位件设置于所述拨动件的一侧，且位于所述拨动件的上下两端之间，并能够对所述拨动件向下转动的极限位置进行调节。
  2. 根据权利要求1所述的单板拆取机构，其特征在于，所述限位件包括连接部和限位部；
    所述连接部配置成连接于所述拆取运动机构，并和所述限位部活动连接，所述限位部能够抵持于所述拨动件，且所述限位部能够朝向或者远离所述拨动件运动以调节相对于所述连接部的位置，进而调节所述拨动件向下转动的极限位置。
  3. 根据权利要求2所述的单板拆取机构，其特征在于，所述限位部能够抵持于所述拨动件下方的一侧。
  4. 根据权利要求2或者3所述的单板拆取机构，其特征在于，所述限位部与所述连接部螺纹连接，且当所述限位部相对于所述连接部转动时能够调节相对于所述连接部的位置。
  5. 根据权利要求1-4中任一项所述的单板拆取机构，其特征在于，所述拨动件包括拨动部和拨动垫；
    所述拨动部和/或所述拨动垫配置成与所述拆取运动机构转动连接，所述拨动垫连接于所述拨动部，所述限位件能够抵持于所述拨动垫，以对所述拨动部向下转动的极限位置进行调节。
  6. 根据权利要求1-5中任一项所述的单板拆取机构，其特征在于，所述单板拆取机构还包括隔挡件；
    所述隔挡件设置于所述拨动件远离所述限位件的一侧，且能够与所述拨动件呈夹角设置，以使所述隔挡件与所述拨动件能够共同与所述货物抵持。
  7. 根据权利要求1-6中任一项所述的单板拆取机构，其特征在于，所述拨动件上开设有多个拨动孔；
    多个所述拨动孔均为条形孔，且均由所述拨动件的上端延伸至所述拨动件的下端。
  8. 一种单板拆取装置，其特征在于，包括拆取运动机构和如权利要求1-7中任意一项所述的单板拆取机构；
    所述拆取运动机构靠近拆取工位设置，并与所述拨动件连接，且所述拨动件能够相对于所述拆取运动机构上下转动，所述拆取工位为放置所述货垛的位置，所述拆取运动机构能够带动所述拨动件于所述拆取工位上运动。
  9. 根据权利要求8所述的单板拆取装置，其特征在于，所述单板拆取装置还包括支撑件，所述拨动件与所述支撑件转动连接，所述支撑件与所述拆取运动机构连接。
  10. 根据权利要求8或者9所述的单板拆取装置，其特征在于，所述拆取运动机构还能 够带动所述拨动件绕竖向设置的轴线转动。
  11. 根据权利要求7-9中任一项所述的单板拆取装置，其特征在于，所述拆取运动机构包括多轴运动平台或/和关节机器人。
  12. 根据权利要求7-10中任一项所述的单板拆取装置，其特征在于，所述单板拆取装置还包括拆取输出机构，所述拆取输出机构包括输出传送件；
    所述输出传送件配置成承接从所述货垛上被拆取下来的所述货物，并背向所述拆取工位传送所述货物。
  13. 根据权利要求12所述的单板拆取装置，其特征在于，所述拆取输出机构还包括抵挡部；
    所述抵挡部设置于所述输出传送件靠近所述拆取工位的一端，并能够抵持所述货垛靠近所述输出传送件的一侧。
  14. 根据权利要求12或者13所述的单板拆取装置，其特征在于，所述拆取输出机构还包括输出移动件；
    所述输出移动件与所述输出传送件连接，并能够带动所述输出传送件靠近或远离所述拆取工位运动。
  15. 根据权利要求8-14中任一项所述的单板拆取装置，其特征在于，所述单板拆取装置还包括拆取辅助机构，所述拆取辅助机构包括配置成提升或者降低所述货垛的辅助升降件；
    所述辅助升降件设置于所述拆取工位。
  16. 根据权利要求15所述的单板拆取装置，其特征在于，所述拆取辅助机构还包括辅助旋转件；
    所述辅助旋转件连接于所述辅助升降件，所述辅助升降件能够通过所述辅助旋转件承载所述货垛，且所述辅助旋转件能够带动所述货垛绕竖向设置的轴线转动。
  17. 根据权利要求8-16中任一项所述的单板拆取装置，其特征在于，所述单板拆取装置还包括视觉识别机构，所述视觉识别机构设置于所述拆取工位的上方，并与所述拆取运动机构通信连接；
    所述视觉识别机构配置成采集所述货垛顶层的货物图像，并识别出能够表征顶层的所述货物的数量、尺寸、方向或空间位置信息的位置信息，所述拆取运动机构能够依据所述位置信息带动所述拨动件运动。
  18. 一种传输系统，其特征在于，包括传输机构和如权利要求8-17中任一项所述的单板拆取装置，所述传输机构靠近所述拆取工位设置，且所述传输机构配置成向所述拆取工位传送所述货垛。
  19. 一种单板拆取方法，其特征在于，应用于如权利要求8所述的单板拆取装置，所述单板拆取方法包括：
    通过所述拆取运动机构带动所述拨动件搭在货垛顶层的货物上移动，并使得所述拨动件在重力的作用下，落至所述货物的一侧；
    通过所述拆取运动机构带动所述拨动件沿第一方向运动，以将位于所述第一方向上的货物拆离所述货垛，其中，所述第一方向为所述拨动件上方的一侧朝向的方向。
  20. 根据权利要求19所述的单板拆取方法，其特征在于，所述拆取运动机构还能够带动所述拨动件转动，在通过所述拆取运动机构带动拨动件沿所述第一方向运动的步骤之后，所述单板拆取方法还包括：
    通过所述拆取运动机构带动所述拨动件转动；
    通过拆取运动机构带动所述拨动件沿第二方向运动，以将位于所述第二方向上的货物拆离所述货垛，其中，所述第二方向为转动后的所述拨动件上方的一侧朝向的方向。
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