Single station de-palletizing apparatus

Abstract

The present application belongs to the technical field of unstacking equipment, in particular to a single-station unstacking equipment, which comprises a feeding roller line, a first unloading roller line, a second unloading roller line, an unloading conveying line and an unstacking robot; an end of the unstacking robot is provided with an effector, the effector comprises a mounting rod, a suction cup and a positioning guide rod are mounted on the mounting rod, the positioning guide rod is symmetrically mounted on the left and right sides of the suction cup, an end of the positioning guide rod is in contact with the side surface of a workpiece, an electromagnet is mounted on the end of the positioning guide rod, a magnetic attraction force exists between the electromagnet and the workpiece, the positioning guide rod is a telescopic rod, and the suction cup adsorbs and grabs the side surface of the workpiece; the present application has a simple structure, when adsorbing and positioning horizontally, the positioning guide rod is used to position and guide the position of the workpiece and adjust the position of the deviated workpiece, so that the positions of the workpieces in a row are all accurate, and the adsorption and fixation of the unstacking robot on the workpieces are firm.

Description

Technical Field

[0001] This invention belongs to the technical field of depalletizing equipment, specifically a single-station depalletizing equipment. Background Technology

[0002] Destacking is a verb, the opposite of stacking. Destacking is the process of separating a pile of materials into individual units. For example, in the production process, to improve the turnover efficiency of workpieces, such as workpieces stretched into cylindrical or pot shapes, multiple layers are usually stacked before being transported. During this process, the workpieces need to be placed on pallets and stacked in multiple layers. When the workpieces need to be transported to the next work station, the destacking equipment separates the multiple pallets layer by layer and places them on the conveyor line. Then, the loading machine loads the workpieces that arrive at the work station and performs subsequent processing on the workpieces.

[0003] During the unpacking process of pot body workpieces, a row of suction cup grippers are usually installed on the robot arm, so that the robot arm can unpack a row of pot bodies at a time and place them on the conveyor line. The distance between each pot body is increased by differential speed. After that, after the pot body arrives at the work station, it is loaded by the feeding machine or flipped by the flipping mechanism or subjected to other processing.

[0004] Meanwhile, due to the potential for positional errors when stacking pots on pallets, the vibrations caused by forklift handling of multi-layered pallets, and the movement of workpieces during destacking, the situation can lead to insufficient contact between some pots and suction cups, and insufficient suction force. This can result in pots slipping and falling during destacking, damaging the surface of the fallen pots and affecting the normal operation of the destacking equipment. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention proposes a single-station destabilizing device that provides positioning guidance for the workpieces, ensuring that the positions of a row of workpieces are accurate and that the destabilizing robot can stably and safely pick up and grab a row of workpieces at once to successfully complete the destabilization.

[0006] The technical solution adopted by the present invention to solve its technical problem is: the single-station destacking equipment of the present invention includes a feeding roller line, a first feeding roller line, a second feeding roller line, a feeding conveyor line and a destacking robot;

[0007] The feeding roller line lifts and transfers the full workpiece pallet to the unloading roller line one. The feeding roller line and the unloading roller line one buffer the full workpiece pallet. The destacking robot transfers the workpieces on the full workpiece pallet to the unloading conveyor line. The destacking robot transfers the partitions on the full workpiece pallet to the unloading roller line two. The unloading roller line one discharges the empty pallet.

[0008] The destacking robot is equipped with an actuator at its end. The actuator includes a mounting rod, on which a suction cup and a positioning guide rod are mounted. The suction cup is connected to an external air source. The positioning guide rod is symmetrically mounted on the left and right sides of the suction cup, and the end of the positioning guide rod is in contact with the side of the workpiece.

[0009] An electromagnet is installed at the end of the positioning guide rod, and there is a magnetic attraction between the electromagnet and the workpiece.

[0010] The positioning guide rod is a telescopic rod. The suction cup first performs horizontal adsorption and positioning on the workpiece, and then performs vertical adsorption and gripping on the workpiece.

[0011] Preferably, the positioning guide rod is slidably mounted on the mounting cylinder, and a spring is installed between the positioning guide rod and the mounting cylinder;

[0012] The mounting cylinder is mounted on the mounting rod, and a buffer sleeve is mounted on the mounting cylinder. The buffer sleeve is located at the connection between the mounting cylinder and the mounting rod. An elastic rod is mounted on one end of the mounting cylinder inside the mounting rod, and the other end of the elastic rod is connected to the inside of the mounting rod through a fixing plate.

[0013] Preferably, a position sensor is installed inside the mounting cylinder, and the position sensor detects the position of the positioning guide rod inside the mounting cylinder;

[0014] The elastic force required for the spring to undergo elastic deformation is less than the static friction force experienced by the workpiece on the pallet.

[0015] Preferably, the symmetrical positioning guide rods have an included angle between them, the distance between the ends of the positioning guide rods closest to the workpiece is greater than the distance between the ends of the positioning guide rods closest to the mounting rod, and the distance between the ends of the positioning guide rods closest to the workpiece is less than or equal to the diameter of the workpiece.

[0016] Preferably, the mounting rod is installed at an angle at the end of the depalletizing robot, and the positioning guide rod and suction cup at one end of the mounting rod first contact the workpiece on the full workpiece tray;

[0017] The suction cups on the mounting rod are each controlled by an independent solenoid valve, and the suction cups on the mounting rod are sequentially subjected to negative pressure adsorption.

[0018] Preferably, an arc-shaped surface is formed on the side of the positioning guide rod near the end of the workpiece, the arc-shaped surface and the side surface of the workpiece are matched with each other, a rubber layer is installed on the surface of the arc-shaped surface, and a grid groove is formed on the rubber layer.

[0019] The working surface of the electromagnet and the side of the rubber layer facing the arc-shaped surface are in contact with each other.

[0020] Preferably, the surface of the rubber layer is roughened.

[0021] Preferably, a cavity is formed in the positioning guide rod, a blowing hole is formed on the surface of the positioning guide rod, the blowing hole is connected with the air source outside the cavity, and the outlet direction of the blowing hole is towards the suction disc.

[0022] The suction disc is first blown by positive pressure and then adsorbed by negative pressure, and the blowing hole blows before the suction disc.

[0023] The beneficial effects of the present application are as follows:

[0024] 1. The single-station unstacking equipment disclosed in the present application, by setting the mounting rod, the positioning guide rod and the suction disc, when the suction disc is first horizontally adsorbed and positioned by the unstacking robot, the suction disc and the positioning guide rod gradually approach the side surface of the workpiece in the horizontal direction, for the workpiece with a large positional deviation, the positioning guide rod will generate a lateral force on the workpiece during the process of the suction disc gradually approaching the workpiece, so as to move the workpiece, so that the position of the workpiece is accurate again, the suction disc is opposite to the side surface of the workpiece, then the unstacking robot continues to drive the suction disc to contact and slightly push the workpiece, so that the positions of the workpieces in a row are accurate and the center points of the workpieces are located on the same straight line, then when the unstacking robot drives the suction disc to vertically adsorb and fix the workpiece, the suction disc and the positioning guide rod gradually approach the workpiece in the vertical direction, so that the suction disc adsorbs and fixes the center point of the inner bottom surface of the workpiece, thereby ensuring that the adsorption and fixing effect of the suction disc on the workpiece is good, avoiding the situation that the unstacking robot appears in the unstacking process that some workpieces are not sufficiently adsorbed and fixed, the fixed point of the workpiece adsorbed and fixed by the suction disc is eccentric, the workpiece slides or falls off, and the unstacking is affected.

[0025] 2. The single-station unstacking equipment according to the present application, by virtue of the positioning guide rod, electromagnet, mounting cylinder, elastic rod, buffer sleeve and rubber layer, the end of the positioning guide rod is tightly attached to the side surface of the workpiece under the action of the electromagnet, the positioning and guiding effect of the positioning guide rod on the workpiece is good, the position of the workpiece is accurate, the friction between the workpiece and the positioning guide rod is increased, the positioning guide rod is prevented from sliding off the surface of the workpiece and affecting the effect of the positioning guide rod, the clamping effect on the workpiece is maintained during the unstacking and transferring process, the stability and safety of the workpiece during unstacking and transferring are further ensured, the situation that the workpiece falls off is avoided, and when the suction cup vertically adsorbs and grabs the workpiece, the rubber layer on the arc surface can avoid the collision or scratching damage of the positioning guide rod to the upper edge of the workpiece. BRIEF DESCRIPTION OF DRAWINGS

[0026] The present application will be further described below in conjunction with the drawings.

[0027] Figure 1 is a perspective view of the unstacking equipment according to the present application;

[0028] Figure 2 is a perspective view of the unstacking robot in the unstacking equipment according to the present application;

[0029] Figure 3 is a position schematic view of the unstacking robot in the unstacking equipment according to the present application when the unstacking robot horizontally adsorbs and positions a row of workpieces;

[0030] Figure 4 is a position schematic view of the unstacking robot in the unstacking equipment according to the present application when the unstacking robot vertically adsorbs and positions a row of workpieces;

[0031] Figure 5 is a structure schematic view of the mounting rod, positioning guide rod and suction cup in the unstacking equipment according to the present application;

[0032] Figure 6 is a structure schematic view of the positioning guide rod in the unstacking equipment according to the present application;

[0033] In the drawings: feeding roller line 1, feeding roller line 1 11, feeding roller line 2 12, feeding conveying line 13, tray 14, partition plate 15, pot body 16, unstacking robot 2, fixing seat 21, mounting rod 3, positioning guide rod 4, mounting cylinder 41, elastic rod 411, buffer sleeve 412, fixed plate 413, electromagnet 42, rubber layer 43, air blowing hole 44, suction cup 5. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application will be further described below in conjunction with specific embodiments.

[0035] As Figures 1 to 6As shown, the single-station unstacking equipment comprises a feeding roller line 1, a first unloading roller line 11, a second unloading roller line 12, an unloading conveying line 13 and an unstacking robot 2.

[0036] The feeding roller line 1 lifts and transplants the full workpiece tray 14 to the first unloading roller line 11, the feeding roller line 1 and the first unloading roller line 11 buffer the full workpiece tray 14, the unstacking robot 2 transfers the workpieces on the full workpiece tray 14 to the unloading conveying line 13, the unstacking robot 2 transfers the partition plate 15 on the full workpiece tray 14 to the second unloading roller line 12, and the first unloading roller line 11 discharges the empty tray 14.

[0037] The end of the unstacking robot 2 is provided with an effector, the effector comprises a mounting rod 3, a suction cup 5 and a positioning guide rod 4 are mounted on the mounting rod 3, the suction cup 5 is in communication with the air source outside, the positioning guide rod 4 is symmetrically mounted on the left and right sides of the suction cup 5, and the end of the positioning guide rod 4 is in contact with the side surface of the workpiece.

[0038] An electromagnet 42 is mounted on the end of the positioning guide rod 4, and magnetic attraction exists between the electromagnet 42 and the workpiece.

[0039] The positioning guide rod 4 is a telescopic rod, the suction cup 5 first horizontally adsorbs and positions the workpiece, and then vertically adsorbs and grabs the workpiece.

[0040] It is specified that the end of the feeding roller line 1 away from the conveying line is the beginning end thereof, the beginning end of the first unloading roller line 11 and the second unloading roller line 12 is close to the conveying line, and the unstacking robot 2 is installed on the ground through a fixed seat 21.

[0041] In work, the full workpiece tray 14 full of workpieces is transferred to the beginning end of the feeding roller line 1 by AGV or forklift, then the full workpiece tray 14 is moved to the end of the feeding roller line 1, then the full workpiece tray 14 is lifted and transplanted to the beginning end of the first unloading roller line 11 at the end of the feeding roller line 1, so that the full workpiece tray 14 is buffered at the beginning end of the feeding roller line 1 and the first unloading roller line 11.

[0042] Then, the unstacking robot 2 unstacks the full workpiece tray 14 at the beginning end of the first unloading roller line 11, in the process, the workpieces are transferred to the unloading conveying line 13, so as to move the workpieces and carry out subsequent processing, at the same time, after the full workpiece tray 14 at the beginning end of the first unloading roller line 11 is unstacked, the empty tray 14 is transferred from the beginning end to the end of the first unloading roller line 11 and taken away by AGV or forklift, and at the same time, the full workpiece tray 14 buffered at the end of the feeding roller line 1 is lifted and transplanted to the beginning end of the first unloading roller line 11, waiting for subsequent unstacking.

[0043] Meanwhile, when the unstacking robot 2 is unstacking, the partitions 15 on the full workpiece tray 14 for isolating the workpieces of each layer are transferred to the beginning end of the second unloading roller line 12 by the unstacking robot 2, and then the partitions 15 are transferred from the beginning end of the second unloading roller line 12 to the end of the second unloading roller line 12 and then taken away by an AGV or a forklift; the plastic or wooden partitions 15 are adsorbed and grabbed by using the suction cups 5, so that the electromagnets 42 cannot adsorb and grab the partitions 15, and cannot be universal, and when the workpieces are skewed or deviated, the gap between the electromagnets 42 and the workpieces is too large, and the electromagnets 42 are prone to unstable adsorption or cannot adsorb and grab the workpieces; meanwhile, the length of the positioning guide rod 4 after contraction is less than the length of the suction cup 5, so that the suction cup 5 can adsorb and grab the partitions 15 and the workpieces;

[0044] During the unstacking process, the end of the unstacking robot 2 gradually approaches the workpieces, i.e., the pots 16 on the full workpiece tray 14; during the horizontal adsorption positioning, the suction cup 5 and the positioning guide rod 4 approach the side surface of the workpiece in the horizontal direction, and the end of the positioning guide rod 4 will first contact the side surface of the workpiece; since the positioning guide rod 4 is symmetrically installed on the left and right sides of the suction cup 5:

[0045] When the workpieces in a row are accurately placed on the tray 14, the ends of the two symmetric positioning guide rods 4 will exactly contact the surface of the workpiece as the suction cup 5 contacts the side surface of the workpiece, and the positioning guide rod 4 will gradually contract so that the positioning guide rod 4 will not push the workpiece to move; then, the suction cup 5 contacts the side surface of the workpiece, and the controller judges the accurate and stable contact between the suction cup 5 and the side surface of the workpiece according to the change of the adsorption pressure of the suction cup 5, so as to fully adsorb and position the workpiece, so that the unstacking robot 2 can stably and safely adsorb and grab one row of pots 16 at a time, and ensure the smooth unstacking;

[0046] When the positions of part of the workpieces in a row are greatly deviated on the tray 14, for the part of the workpieces in a row that are accurately placed, the positioning guide rod 4 acts as described above, and for the workpieces in a row that are greatly deviated in position, one of the two symmetric positioning guide rods 4 will first contact the workpiece; as the suction cup 5 gradually approaches the workpiece, the positioning guide rod 4 that contacts the workpiece will generate a lateral force on the workpiece to move the workpiece, so that the position of the workpiece is accurately repositioned, and the suction cup 5 is repositioned to face the workpiece, so as to facilitate the adsorption and positioning of the workpiece by the suction cup 5; meanwhile, after the suction cup 5 contacts the side surface of the workpiece, the unstacking robot slightly pushes the workpiece along the horizontal direction by the suction cup 5, so that the workpieces in a row are as much as possible located on a straight line, and the position of the workpiece is further adjusted and positioned;

[0047] Meanwhile, when the vertical adsorption and fixation is carried out, the suction disc 5 and the positioning guide rod 4 are first moved away from the workpiece in the horizontal direction, the unstacking robot drives the suction disc 5 and the positioning guide rod 4 to move close to the bottom surface in the workpiece in the vertical direction, so that the suction disc 5 adsorbs and fixes the center point on the bottom surface of the workpiece, and the positioning guide rod 4 contacts and is compressed by the upper edge of the workpiece, thereby enabling the workpieces in a row to be stably adsorbed and fixed, avoiding the instability of adsorption and fixation due to the position deviation of the workpieces, and avoiding the eccentricity of the workpieces when being adsorbed and fixed, so as to ensure that the pot bodies 16 are stable and balanced when the unstacking robot 2 moves the pot bodies 16, and ensure the smooth unstacking.

[0048] Meanwhile, when the horizontal adsorption and positioning is carried out, when the positioning guide rod 4 contacts the workpiece, the controller controls the electromagnet 42 to work, so that the end of the positioning guide rod 4 tightly contacts the side surface of the pot body 16, and when the positioning guide rod 4 generates a lateral force on the workpiece, it is ensured that the workpiece is pushed rather than the positioning guide rod 4 slides along the surface of the workpiece. Meanwhile, when the unstacking robot slightly pushes the workpiece in the horizontal direction, the electromagnet 42 attracts and limits the workpiece, so that the workpieces in a row are pushed in the same direction after contacting the suction disc 5, avoiding deviation and affecting the adjustment and accurate positioning of the workpiece. Meanwhile, when the unstacking robot 2 adsorbs and grabs the pot bodies 16 in a row and unstacks, when the positioning guide rod contacts the upper edge of the workpiece during the vertical adsorption and fixation, the magnetic attraction force of the electromagnet 42 on the workpiece can further improve the firmness of the adsorption and grabbing of the pot bodies 16 by the unstacking robot 2, avoid the shaking or falling of the pot bodies 16 during the transfer process, and ensure the smooth unstacking.

[0049] As an embodiment of the present application, the positioning guide rod 4 is slidably installed on the mounting cylinder 41, and a spring is installed between the positioning guide rod 4 and the mounting cylinder 41.

[0050] The mounting cylinder 41 is installed on the mounting rod 3, a buffer sleeve 412 is installed on the mounting cylinder 41, the buffer sleeve 412 is located at the connection between the mounting cylinder 41 and the mounting rod 3, an elastic rod 411 is installed on one end of the mounting cylinder 41 in the mounting rod 3, and the other end of the elastic rod 411 is connected to the inside of the mounting rod 3 through a fixed plate 413.

[0051] The buffer sleeve 412 is arranged at the connecting position of the mounting cylinder 41 and the mounting rod 3, and the mounting cylinder 41 is connected to the inside of the mounting rod 3 through the elastic rod 411, so that the mounting cylinder 41 can slightly swing relative to the mounting rod 3 when subjected to external force, and thus, when the positioning guide rod 4 contacts the side surface of the workpiece or the positioning guide rod 4 exerts lateral force on the workpiece during the horizontal adsorption positioning process, the positioning guide rod 4 can be fully attached to the side surface of the workpiece, the close contact between the end of the positioning guide rod 4 and the workpiece is ensured, the positioning and guiding effect of the positioning guide rod 4 on the workpiece is improved, the position of the workpiece is ensured to be accurate, and the suction cup 5 can be directly opposite to the side surface of the workpiece and can be adsorbed and positioned;

[0052] Meanwhile, the mounting cylinder 41 can swing relative to the mounting rod 3 through the elastic rod 411 and the buffer sleeve 412, so that when the end of the positioning guide rod 4 contacts the workpiece, the buffer exists between the two, the running speed of the unstacking robot 2 is relatively fast, the collision between the positioning guide rod 4 and the workpiece is avoided, the positioning and guiding effect on the workpiece is affected, the workpiece is displaced, the adsorption and positioning effect of the unstacking robot 2 on the row of pot bodies 16 is affected, the elastic rod 411 is connected to the inner wall of the mounting rod 3 through the fixing plate 413 or the two ends of the elastic rod 411 are directly screwed to the inner wall of the mounting rod 3, so that the positions of the positioning guide rod 4 and the suction cup 5 on the mounting rod 3 can be adjusted, different sizes of workpieces can be adapted, and the application range of the unstacking equipment is expanded.

[0053] As an embodiment of the present application, a position sensor is arranged in the mounting cylinder 41, and the position sensor detects the position of the positioning guide rod 4 in the mounting cylinder 41;

[0054] The elastic force required for the elastic deformation of the spring is smaller than the static friction force of the workpiece on the tray 14;

[0055] When the suction cup 5 contacts the side surface of the workpiece and adsorbs and positions the workpiece, the positioning guide rod 4 contacts the side surface of the workpiece and is extruded by the workpiece, so that the positioning guide rod 4 is retracted into the mounting cylinder 41 by a distance, at this time, the position sensor in the mounting cylinder 41 detects the relative position of the positioning guide rod 4 in the mounting cylinder 41, so that the controller judges whether the suction cup 5 fully contacts the side surface of the workpiece through the position data, the adsorption and positioning effect of the suction cup 5 on the workpiece is ensured, the pot body 16 is stably gripped and fixed when the unstacking robot 2 unstacks and transfers the row of pot bodies 16, the displacement or slipping and falling of the pot body 16 is avoided, and the smooth unstacking is ensured;

[0056] Meanwhile, since the positioning guide rods 4 are retracted by a distance due to the extrusion after the suction cups 5 are fully adsorbed and positioned on the workpieces, in the process that the unstacking robot 2 grabs and moves the row of pot bodies 16 to the unloading conveying line 13, the controller monitors the position data of the positioning guide rods 4 in the mounting cylinder 41 through the position sensor, and when the relative displacement occurs between the pot bodies 16 and the suction cups 5, the controller sends a control signal to the external air source in time, so that the external air source can automatically increase the negative pressure to ensure the stable adsorption and fixation of the pot bodies 16.

[0057] Meanwhile, since the elastic force required for the elastic deformation is smaller than the friction force of the workpiece sliding, when the workpiece position deviates and the positioning guide rods 4 abut against the workpiece, the positioning guide rods 4 can be retracted in time to avoid the workpiece being pushed open by the positioning guide rods 4, which not only cannot make the workpiece return to the accurate position, but also makes the workpiece misalignment more serious.

[0058] As an embodiment of the present application, there is an included angle between the symmetrical positioning guide rods 4, the distance between the ends of the positioning guide rods 4 close to the workpieces is greater than the distance between the ends of the positioning guide rods 4 close to the mounting rods 3, and the distance between the ends of the positioning guide rods 4 close to the workpieces is less than or equal to the diameter of the workpiece.

[0059] In the horizontal adsorption and positioning, the included angle between the positioning guide rods 4 forms a V-shaped structure between the two positioning guide rods 4, so that in the process that the positioning guide rods 4 contact the workpiece and the suction cup 5 approaches the workpiece, for the workpiece with position deviation, the positioning guide rods 4 generate a lateral force on the workpiece, so that the workpiece moves to the position between the two positioning guide rods 4, so as to make the suction cup 5 face the pot body 16, and ensure the good adsorption and positioning of the suction cup 5 on the pot body 16, and meanwhile, the V-shaped structure formed by the positioning guide rods 4 further makes the workpiece face and approach the suction cup 5 when the unstacking robot slightly pushes the workpiece in the horizontal direction, improves the adsorption and positioning effect, and then makes the suction cup 5 accurately adsorb and fix at the center point of the inner bottom surface of the workpiece in the subsequent vertical adsorption and fixation, ensures the firm and stable adsorption and fixation, and makes the unstacking process smoothly.

[0060] As an embodiment of the present application, the mounting rods 3 are obliquely installed at the end of the unstacking robot 2, and the positioning guide rods 4 and the suction cups 5 at one end of the mounting rods 3 first contact the workpieces on the full workpiece tray 14.

[0061] The suction cups 5 on the mounting rods 3 are respectively controlled by independent electromagnetic valves, and the suction cups 5 on the mounting rods 3 are sequentially adsorbed by negative pressure.

[0062] Due to the inclined installation of the mounting rod 3 relative to the unstacking robot 2, the positioning guide and the suction cup 5 at one end of the mounting rod 3 first contact the workpiece, and in the process, the positioning guide rod 4 on the mounting rod 3 sequentially positions and pushes the workpiece contacted, so as to ensure the accurate position of the workpiece, and the suction cup 5 is opposite to the side surface of the workpiece, so that the unstacking robot 2 can fine-tune the position according to the slight position error of each workpiece in a row during the process of adsorbing and grabbing a row of workpieces, so that each workpiece is opposite to the suction cup 5, the adsorption and positioning of the suction cup 5 on the workpiece are accurate, and the workpiece is prevented from shaking, sliding or falling during the subsequent unstacking and transferring process, thereby affecting the smooth unstacking.

[0063] Meanwhile, the inclined installation of the mounting rod 3 cooperates with the control of each suction cup 5 by the independent electromagnetic valve, so that the unstacking robot 2 can fully and stably adsorb and fix the workpiece during the unstacking of a row of workpieces, so as to ensure the stability of the workpiece during the grabbing and transferring process, and prevent the workpiece from shaking, so that the unstacking is smoothly carried out.

[0064] As an embodiment of the present application, an arc surface is formed on the side surface of the positioning guide rod 4 close to the workpiece, the arc surface is matched with the shape of the side surface of the workpiece, a rubber layer 43 is installed on the surface of the arc surface, and a grid groove is formed on the rubber layer 43.

[0065] The working surface of the electromagnet 42 and the side of the rubber layer 43 facing the arc surface are in contact with each other.

[0066] The arc surface formed on the positioning guide rod 4 is in contact with the side surface of the workpiece, and the contact area between the two is increased, so that the positioning and guiding effect of the positioning guide rod 4 on the workpiece is good, and the positioning guide rod 4 cannot act on the workpiece when the contact area between the two is too small, so that the positioning guide rod 4 slides off the surface of the workpiece, the positioning and guiding effect of the positioning guide rod 4 on the workpiece with position error is poor, and then the adsorption and positioning effect of the suction cup 5 on the workpiece and the smooth unstacking are affected.

[0067] Meanwhile, since the electromagnet 42 is installed on the positioning guide rod 4 and the positioning guide rod 4 can slightly swing relative to the mounting rod 3, when the electromagnet 42 is started, the end of the positioning guide rod 4 can tightly adhere to the surface of the workpiece to position and guide the workpiece and clamp the workpiece.

[0068] Meanwhile, the rubber layer 43 is installed on the arc surface, and the grid slot is opened on the rubber layer 43, so that the friction between the positioning guide rod 4 and the side surface of the workpiece is further increased after the contact, and the sliding between the positioning guide rod 4 and the workpiece is avoided, so that the positioning and guiding of the workpiece by the positioning guide rod 4 and the clamping and fixing effect of the workpiece during the unstacking and transferring process are affected; meanwhile, the grid slot is opened, so that the rubber layer 43 is fully in contact with the surface of the workpiece, and the interlayer bubble cavity between the rubber layer 43 and the workpiece is avoided, so that the contact effect of the two is affected.

[0069] Meanwhile, when the vertical adsorption and fixation is performed, the arc surface on the positioning guide rod 4 abuts against the upper edge of the workpiece, so that the workpiece is further limited, clamped and positioned, the adsorption disc 5 is adsorbed and fixed at the center of the bottom surface in the workpiece, the workpiece is avoided from shaking during the unstacking and transferring process, and the upper edge of the workpiece is protected by the rubber layer, so that the upper edge of the workpiece is avoided from being collided or scratched by the positioning guide rod 4.

[0070] As an embodiment of the present application, the surface of the rubber layer 43 is roughened;

[0071] Further, the surface of the rubber layer 43 is roughened, so that the friction between the rubber layer 43 and the side surface of the workpiece is increased, the stability of the positioning guide rod 4 when contacting the workpiece is ensured, the relative sliding between the two is avoided, and the positioning and guiding effect of the workpiece is improved.

[0072] As an embodiment of the present application, the positioning guide rod 4 is provided with a cavity, the surface of the positioning guide rod 4 is provided with a blowing hole 44, the blowing hole 44 is connected with the air source outside through the cavity, and the outlet direction of the blowing hole 44 is towards the adsorption disc 5;

[0073] The adsorption disc 5 is first positively pressure blown and then negatively adsorbed, and the blowing hole 44 is blown before the adsorption disc 5;

[0074] Since the dust and impurities attached to the surface of the workpiece will affect the adsorption positioning effect of the suction cup 5 on the workpiece, during the process of the positioning guide rod 4 contacting the workpiece and positioning and guiding the workpiece, the external gas source sends gas into the cavity in the positioning guide rod 4, so that the gas is sprayed out from the blowing hole 44 to blow the side surface of the workpiece, so that the side surface of the workpiece is relatively clean, avoiding the influence of dust and impurities on the adsorption positioning effect of the suction cup 5. At the same time, before the suction cup 5 adsorbs and positions the workpiece, the external gas source supplies gas to the suction cup 5, so that the suction cup 5 blows back the area to be adsorbed and positioned on the workpiece. Since the suction cup 5 just contacts the surface of the workpiece at this time, the gap between the suction cup 5 and the surface of the workpiece is relatively small, so that the gas blown back in the suction cup 5 passes through the narrow gap at high speed, further carrying away the dust between the contact position of the suction cup 5 and the workpiece, avoiding the influence of dust and impurities on the adsorption and fixation of the suction cup 5, and improving the adsorption and positioning effect of the suction cup 5 on the workpiece.

[0075] At the same time, when vertically adsorbing and fixing, the suction cup 5 first blows back when it just contacts the bottom surface in the workpiece, and then adsorbs and fixes.

[0076] The specific working process is as follows:

[0077] It is specified that the end of the feeding roller line 1 away from the conveying line is the beginning of the feeding roller line 1, and the end of the feeding roller line 1 and the feeding roller line 2 close to the conveying line is the beginning of the feeding roller line 1 and the feeding roller line 2; the unstacking robot 2 is installed on the ground through the fixed seat 21;

[0078] When working, the full workpiece tray 14 full of workpieces is transferred to the beginning of the feeding roller line 1 by AGV or forklift, and then the full workpiece tray 14 is moved to the end of the feeding roller line 1, and then the full workpiece tray 14 is lifted and transplanted to the beginning of the feeding roller line 1 at the end of the feeding roller line 1, so that the full workpiece tray 14 is cached at the beginning of the feeding roller line 1 and the feeding roller line 1;

[0079] Then, the unstacking robot 2 unstacks the full workpiece tray 14 at the beginning of the feeding roller line 1, during which the workpieces are transferred to the unloading conveying line 13, and at the same time, after the full workpiece tray 14 at the beginning of the feeding roller line 1 is unstacked, the empty tray 14 is transferred from the beginning to the end of the feeding roller line 1 and taken away by AGV or forklift, and at the same time, the full workpiece tray 14 cached at the end of the feeding roller line 1 is lifted and transplanted to the beginning of the feeding roller line 1, waiting for subsequent unstacking;

[0080] Meanwhile, when the unstacking robot 2 is unstacking, the partitions 15 on the full workpiece tray 14 for isolating the workpieces in each layer are transferred to the beginning of the second unloading roller line 12 by the unstacking robot 2, and then the partitions 15 are taken away by an AGV or a forklift after being transferred from the beginning of the second unloading roller line 12 to the end of the second unloading roller line 12; the partitions 15 are plastic or wooden and are adsorbed and grabbed by the suction cups 5, so that the electromagnets 42 cannot adsorb and grab the partitions 15, and cannot be universal, and so that when the workpieces are skewed or deviated, the gap between the electromagnets 42 and the workpieces is too large, and the electromagnets 42 are prone to unstable adsorption or cannot adsorb and grab the workpieces; meanwhile, the length of the positioning guide rods 4 after contraction is less than the length of the suction cups 5, so that the suction cups 5 can adsorb and grab the partitions 15 and the workpieces;

[0081] During the unstacking process, the end of the unstacking robot 2 gradually approaches the workpieces, i.e., the pots 16 on the full workpiece tray 14; during the horizontal adsorption and positioning, the suction cups 5 and the positioning guide rods 4 approach the side surface of the workpieces in the horizontal direction, and the end of the positioning guide rod 4 on the mounting rod 3 will first contact the side surface of the workpieces, because the positioning guide rods 4 are symmetrically mounted on the left and right sides of the suction cups 5:

[0082] When the workpieces in a row are accurately placed on the tray 14, the ends of the two symmetric positioning guide rods 4 will exactly contact the surface of the workpieces as the suction cups 5 contact the side surface of the workpieces, and the positioning guide rods 4 will gradually contract, so that the positioning guide rods 4 will not push the workpieces to move, and then the suction cups 5 contact the side surface of the workpieces, and the controller judges the accurate and stable contact between the suction cups 5 and the side surface of the workpieces according to the change of the adsorption pressure of the suction cups 5, so as to fully adsorb and position the workpieces;

[0083] When part of the workpieces in a row are deviatedly placed on the tray 14, for the part of the workpieces in a row that are accurately placed, the positioning guide rods 4 act as described above, and for the workpieces in a row that are deviatedly placed, one of the two symmetric positioning guide rods 4 will first contact the workpieces, and as the suction cups 5 gradually approach the workpieces, the positioning guide rod 4 that contacts the workpieces will generate a lateral force on the workpieces to move the workpieces, so that the position of the workpieces is accurately repositioned, the suction cups 5 are repositioned to face the workpieces, the adsorption and positioning of the workpieces by the suction cups 5 are facilitated, and after the suction cups 5 contact the side surface of the workpieces, the unstacking robot slightly pushes the workpieces in the horizontal direction by the suction cups 5, so that the workpieces in a row are as much as possible located on a straight line;

[0084] Meanwhile, when the vertical adsorption fixing is performed, the suction cup 5 and the positioning guide rod 4 are first moved away from the workpiece in the horizontal direction, and the unstacking robot drives the suction cup 5 and the positioning guide rod 4 to move towards the bottom surface in the workpiece in the vertical direction, so that the suction cup 5 adsorbs and fixes the center point on the bottom surface of the workpiece, and the positioning guide rod 4 contacts and is compressed by the upper edge of the workpiece;

[0085] Meanwhile, when the horizontal adsorption positioning is performed, when the positioning guide rod 4 contacts the workpiece, the controller controls the electromagnet 42 to work, so that the end of the positioning guide rod 4 tightly abuts the side surface of the pot body 16, and the magnetic attraction of the electromagnet 42 to the workpiece can further improve the firmness of the adsorption and grabbing of the pot body 16;

[0086] During the horizontal adsorption positioning process, when the positioning guide rod 4 contacts the side surface of the workpiece or the positioning guide rod 4 generates a lateral force on the workpiece, the positioning guide rod 4 can fully abut the side surface of the workpiece, because the mounting cylinder 41 can slightly swing relative to the mounting rod 3 when subjected to an external force;

[0087] Meanwhile, because the mounting cylinder 41 can swing relative to the mounting rod 3 through the elastic rod 411 and the buffer sleeve 412, when the end of the positioning guide rod 4 contacts the workpiece, there is a buffer between them, and the elastic rod 411 is connected to the inner wall of the mounting rod 3 through the fixing plate 413, or the two ends of the elastic rod 411 are directly screwed to the inner wall of the mounting rod 3;

[0088] The position sensor in the mounting cylinder 41 detects the relative position of the positioning guide rod 4 in the mounting cylinder 41, so that the controller determines whether the suction cup 5 fully contacts the side surface of the workpiece through the position data, to ensure the adsorption and positioning effect of the suction cup 5 on the workpiece;

[0089] During the process that the unstacking robot 2 grabs and transfers a row of pot bodies 16 to the unloading conveying line 13, the controller monitors the position data of the positioning guide rod 4 in the mounting cylinder 41 through the position sensor, and when the relative displacement occurs between the pot body 16 and the suction cup 5, the controller sends a control signal to the external air source in time, so that the external air source can automatically increase the negative pressure;

[0090] Meanwhile, because the elastic force required for elastic deformation is smaller than the friction force when the workpiece slides, when the workpiece position deviates and the positioning guide rod 4 abuts the workpiece, the positioning guide rod 4 can shrink in time to avoid the workpiece being pushed away by the positioning guide rod 4;

[0091] When the horizontal adsorption positioning is performed, the included angle between the positioning guide rods 4 is set so that a V-shaped structure is formed between the two positioning guide rods 4, so that when the positioning guide rods 4 are in contact with the workpiece and the suction cup 5 is close to the workpiece, a lateral force is generated on the workpiece by the positioning guide rods 4 to make the workpiece move to the position between the two positioning guide rods 4, so that the suction cup 5 is opposite to the pot body 16, and the adsorption positioning of the suction cup 5 on the pot body 16 is good. At the same time, when the suction cup 5 is slightly pushed by the unstacking robot along the horizontal direction, the V-shaped structure formed by the positioning guide rods 4 further makes the workpiece opposite to and close to the suction cup 5, and the adsorption positioning effect is improved;

[0092] The positioning guide rods 4 on the mounting rod 3 can sequentially position and push the workpieces contacted thereby, so that the positions of the workpieces are accurate, the suction cup 5 is opposite to the side surface of the workpiece, and the unstacking robot 2 can fine-tune the positions of the workpieces in a row according to the slight positional errors of the workpieces in the row during adsorption and grabbing of the workpieces in the row, so that the suction cup 5 is opposite to each workpiece, and the adsorption positioning of the suction cup 5 on the workpiece is accurate;

[0093] The arc-shaped surface on the positioning guide rod 4 is in contact with the side surface of the workpiece, and the contact area between the two is increased, so that the positioning and guiding effect of the positioning guide rod 4 on the workpiece is good;

[0094] At the same time, the electromagnet 42 is mounted on the positioning guide rod 4, and the positioning guide rod 4 can slightly swing relative to the mounting rod 3. When the electromagnet 42 is started, the end of the positioning guide rod 4 can tightly abut on the surface of the workpiece to position and guide the workpiece and clamp the workpiece;

[0095] At the same time, the rubber layer 43 is mounted on the arc-shaped surface, and the grid groove is formed in the rubber layer 43, so that the friction between the positioning guide rod 4 and the side surface of the workpiece is further increased. At the same time, the grid groove is formed, so that the rubber layer 43 is in full contact with the surface of the workpiece to avoid the occurrence of the air bubble chamber between the rubber layer 43 and the workpiece. At the same time, the arc-shaped surface on the positioning guide rod 4 abuts on the upper edge of the workpiece during vertical adsorption and fixation;

[0096] Further, the surface of the rubber layer 43 is roughened, so that the friction between the rubber layer 43 and the side surface of the workpiece is increased, and the stability of the positioning guide rod 4 in contact with the workpiece is ensured;

[0097] In the process of the positioning guide rod 4 contacting the workpiece and positioning and guiding the workpiece, the external gas source sends gas into the cavity in the positioning guide rod 4, so that the gas is sprayed out from the blowing hole 44 to blow the side surface of the workpiece. Meanwhile, before the suction cup 5 adsorbs and positions the workpiece, the external gas source supplies gas to the suction cup 5 to blow back the area of the workpiece to be adsorbed and positioned by the suction cup 5. Since the suction cup 5 just contacts the surface of the workpiece at this time, the gap between the suction cup 5 and the surface of the workpiece is relatively small, so that the gas blown back in the suction cup 5 passes through the narrow gap at high speed, further taking away the dust between the contact position of the suction cup 5 and the workpiece. Meanwhile, when vertically adsorbing and fixing, the suction cup 5 first blows back when contacting the bottom surface of the workpiece, and then adsorbs and fixes.

[0098] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A single-station destacking device, characterized in that: It includes a feeding roller line (1), a first unloading roller line (11), a second unloading roller line (12), an unloading conveyor line (13), and a destacking robot (2); The loading roller line (1) lifts and transfers the full workpiece pallet (14) to the unloading roller line (11). The loading roller line (1) and the unloading roller line (11) buffer the full workpiece pallet (14). The destacking robot (2) transfers the workpieces on the full workpiece pallet (14) to the unloading conveyor line (13). The destacking robot (2) transfers the partition (15) on the full workpiece pallet (14) to the unloading roller line (2) (12). The unloading roller line (11) discharges the empty pallet (14). The destacking robot (2) is equipped with an actuator at its end. The actuator includes a mounting rod (3), on which a suction cup (5) and a positioning guide rod (4) are mounted. The suction cup (5) is connected to an external air source. The positioning guide rod (4) is symmetrically mounted on the left and right sides of the suction cup (5). The end of the positioning guide rod (4) is in contact with the side of the workpiece. An electromagnet (42) is installed at the end of the positioning guide rod (4), and there is a magnetic attraction between the electromagnet (42) and the workpiece; The positioning guide rod (4) is a telescopic rod, and the suction cup (5) first performs horizontal adsorption positioning on the workpiece, and then performs vertical adsorption gripping on the workpiece. The positioning guide rod (4) is slidably mounted on the mounting cylinder (41), and a spring is installed between the positioning guide rod (4) and the mounting cylinder (41); The mounting cylinder (41) is mounted on the mounting rod (3). A buffer sleeve (412) is mounted on the mounting cylinder (41). The buffer sleeve (412) is located at the connection between the mounting cylinder (41) and the mounting rod (3). An elastic rod (411) is mounted on one end of the mounting cylinder (41) inside the mounting rod (3). The other end of the elastic rod (411) is connected to the inside of the mounting rod (3) through a fixing plate (413). There is an included angle between the symmetrical positioning guide rods (4), the distance between the ends of the positioning guide rods (4) closest to the workpiece is greater than the distance between the ends of the positioning guide rods (4) closest to the mounting rod (3), and the distance between the ends of the positioning guide rods (4) closest to the workpiece is less than or equal to the diameter of the workpiece; The positioning guide rod (4) has a cavity inside, and an air blowing hole (44) is provided on the surface of the positioning guide rod (4). The air blowing hole (44) is connected to an external air source through the cavity, and the outlet direction of the air blowing hole (44) is towards the suction cup (5). The suction cup (5) first blows air under positive pressure and then adsorbs under negative pressure, and the air blowing hole (44) blows air before the suction cup (5); A position sensor is installed inside the mounting cylinder (41) to detect the position of the positioning guide rod (4) inside the mounting cylinder (41); The elastic force required for the spring to undergo elastic deformation is less than the static friction force exerted on the workpiece on the tray (14); The mounting rod (3) is installed at an angle at the end of the destacking robot (2). The positioning guide rod (4) and the suction cup (5) at one end of the mounting rod (3) first contact the workpiece on the full workpiece tray (14). The suction cups (5) on the mounting rod (3) are each controlled by an independent solenoid valve, and the suction cups (5) on the mounting rod (3) are sequentially subjected to negative pressure adsorption.

2. The single-station destacking device according to claim 1, characterized in that: The positioning guide rod (4) has an arc-shaped surface on one side near the workpiece. The arc-shaped surface matches the shape of the side of the workpiece. A rubber layer (43) is installed on the surface of the arc-shaped surface. A grid groove is provided on the rubber layer (43). The working surface of the electromagnet (42) is in contact with the side of the rubber layer (43) facing the arc surface.

3. The single-station destacking device according to claim 2, characterized in that: The surface of the rubber layer (43) is roughened.

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