Scaffolding crossbar unpacking system and control method thereof

Abstract

The present invention is applicable to the technical field of scaffold assembly, and in particular relates to a scaffold crossbar unpacking system and a control method thereof, wherein the system comprises: a loading mechanism, the loading mechanism comprises a frame and a clamping module, the clamping module is slidably arranged on the frame, the clamping module is used to grab the workpiece at a specified position and transfer it to the conveying mechanism; at least one conveying mechanism is provided, the conveying mechanism is used to sort the workpieces grabbed by the clamping module and convey them to the unloading mechanism; the unloading mechanism is arranged on a side of the conveying mechanism away from the loading mechanism, the unloading mechanism is used to carry the workpieces conveyed by the conveying mechanism and vertically insert them into the grid material frame; and a control mechanism is used to control the operation of the loading mechanism, the conveying mechanism and the unloading mechanism; the present scheme can automatically sort the crossbars to be unpacked, and insert them according to a certain framing method, so as to avoid stacking, causing looseness and collapse, and eliminating safety hazards.

Description

Technical Field

[0001] The invention relates to the technical field of scaffold assembly, in particular to a scaffold crossbar unpacking system and a control method thereof. Background Art

[0002] During the erection and construction process of a building, the construction height also needs to be increased as the building height increases. In order to reduce construction costs, scaffolding is commonly used in the industry to increase the construction platform and construction height. After the construction is completed, the scaffolding is recycled for multiple uses.

[0003] The important components of the scaffolding include vertical poles, horizontal poles and connecting members. After the vertical poles and horizontal poles are processed, the processed horizontal poles are usually stacked in the material frame respectively.

[0004] However, when constructing a scaffold, taking and stacking the overlapping layers of horizontal bars can easily cause the horizontal bars of different layers to become loose or collapse during operation, which is not conducive to safe stacking and transportation. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a scaffolding crossbar unpacking system and method, aiming to solve the problems mentioned in the background technology.

[0006] The embodiment of the present invention is implemented as follows: a scaffolding crossbar unpacking system, comprising:

[0007] A loading mechanism, comprising a frame and a clamping module, wherein the clamping module is slidably disposed on the frame and is used to grab a workpiece at a specified position and transfer it to the conveying mechanism;

[0008] A conveying mechanism, at least one of which is provided, and the conveying mechanism is used to sort the workpieces grasped by the clamping module and convey them to the unloading mechanism;

[0009] The unloading mechanism is arranged on a side of the conveying mechanism away from the loading mechanism, and is used to carry the workpiece conveyed by the conveying mechanism and vertically insert it into the grid material frame;

[0010] And a control mechanism, which is used to control the operation of the loading mechanism, the conveying mechanism and the unloading mechanism.

[0011] Another object of an embodiment of the present invention is to provide a control method for a disc-type scaffold crossbar unpacking system, the method comprising the following steps:

[0012] Get the workpiece location information at the specified location;

[0013] According to the workpiece arrival information, the loading mechanism is controlled to grab the workpiece at the specified position and transfer it to the first buffer position for buffering;

[0014] Controlling the conveying mechanism to lift the workpieces in the first buffer position one by one and convey them to the second buffer position, where they are sorted and conveyed according to a certain spacing;

[0015] Control the unloading mechanism to grab several sorted workpieces at a time and insert them vertically;

[0016] Repeat the above steps until the framing is completed.

[0017] The scaffolding crossbar unpacking system provided by the present invention controls the loading mechanism through a control mechanism to drive the clamping mechanism to move in multiple directions to grab the workpieces at the specified position and transfer them to the conveying mechanism. The conveying mechanism caches and lifts the workpieces, and sorts and conveys them according to a certain interval, so that the unloading mechanism can insert the sorted workpieces in a vertical framing manner, avoid stacking, and eliminate possible safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A front view of a scaffolding crossbar unpacking system provided by an embodiment of the present invention;

[0019] Figure 2 A top view of a scaffolding crossbar unpacking system provided in an embodiment of the present invention;

[0020] Figure 3 A schematic structural diagram of a scaffolding crossbar unpacking system provided by an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the assembly of a two-axis unpacking truss and a conveying mechanism provided in an embodiment of the present invention;

[0022] Figure 5 A schematic structural diagram of a conveying mechanism provided in an embodiment of the present invention;

[0023] Figure 6 A front view of a conveying mechanism provided in an embodiment of the present invention;

[0024] Figure 7 A schematic diagram of a partial structure of a conveying mechanism provided in an embodiment of the present invention;

[0025] Figure 8 A schematic structural diagram of a slide provided in an embodiment of the present invention;

[0026] Figure 9 A front view of a slide provided in accordance with an embodiment of the present invention;

[0027] Figure 10 A schematic structural diagram of a lifting unit provided in an embodiment of the present invention;

[0028] Figure 11A schematic structural diagram of a sorting unit provided in an embodiment of the present invention;

[0029] Figure 12 A schematic structural diagram of a six-axis handling robot provided in an embodiment of the present invention;

[0030] Figure 13 A schematic diagram of the assembly of a grille material frame provided in an embodiment of the present invention;

[0031] Figure 14 A schematic structural diagram of a gripper assembly provided in an embodiment of the present invention;

[0032] Figure 15 A schematic structural diagram of an end effector provided in an embodiment of the present invention;

[0033] Figure 16 A schematic structural diagram of a flow material frame provided in an embodiment of the present invention;

[0034] Figure 17 This is a control block diagram of a control method for a disc-type scaffolding crossbar unpacking system provided by an embodiment of the present invention.

[0035] In the figure: 100-grid material frame, 200-gripper assembly, 300-two-axis unpacking truss, 400-conveyor mechanism, 500-six-axis handling robot, 600-flow material frame, 700-cross bar, 2011-gripper mounting seat, 2012-gripper, 200B-end picker, 2021-mounting seat, 2022-adjustable connecting rod, 301-column, 302-cross beam, 303-longitudinal beam, 304-electromagnetic suction cup, 305-driving unit, 400A-first cache module, 400A1-lifting frame, 400A2-lifting unit, 400B-second cache module, 401-common base, 40 2-Filter pressure reducing valve, 403-Slide, 404-Sorting support, 405-Guide shaft seat, 406-Sorting jacking cylinder, 407-Sorting jacking plate, 408-Stop, 409-Centering plate, 410-Positioning V-plate, 411-Vertical adjustment plate, 412-Adjusting slide, 413-Stepping jacking platform, 414-Adjusting slide rail, 415-Jacking guide shaft, 416-Jacking cylinder, 417-Jacking support, 418-Slider connecting seat I, 419-Guide rail slider, 420-Adjusting bolt, 421-Slider connecting seat II, 422-Sliding guide rail, 423-Sliding cylinder, 424-Moving V-plate. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0038] like Figure 1-Figure 3 FIG. 1 is a structural diagram of a scaffolding crossbar unpacking system provided by one embodiment of the present invention, comprising:

[0039] A loading mechanism, comprising a frame and a clamping module, wherein the clamping module is slidably disposed on the frame and is used to grab a workpiece at a specified position and transfer it to the conveying mechanism;

[0040] A conveying mechanism, at least one of which is provided, and the conveying mechanism is used to sort the workpieces grasped by the clamping module and convey them to the unloading mechanism;

[0041] The unloading mechanism is arranged on a side of the conveying mechanism away from the loading mechanism, and is used to carry the workpiece conveyed by the conveying mechanism and vertically insert it into the grid material frame 100;

[0042] And a control mechanism, which is used to control the operation of the loading mechanism, the conveying mechanism and the unloading mechanism.

[0043] In this embodiment, the frame can adopt a two-axis unpacking truss 300 with a horizontal and vertical axial movement stroke. The conveying mechanism 400 is provided with two, which are respectively arranged at the bottom of the two-axis unpacking truss 300, and a transfer station is provided between the two conveying mechanisms 400 as the above-mentioned designated position, so that the clamping module on the two-axis unpacking truss 300 can grab the workpiece. Figure 7 The crossbar 700 in the two conveying mechanisms is provided with a blanking mechanism on the outside of the two conveying mechanisms away from the two-axis unpacking truss 300. The blanking mechanism can adopt a six-axis handling robot 500 or the above-mentioned two-axis unpacking truss 300; its execution end has multiple degrees of freedom of movement in multiple directions; and the grid material frame 100 is located on both sides of the six-axis handling robot 500; Figure 16 As shown, the transfer material frame 600 is loaded with cross bars 700 and arrives at the transfer station. The control mechanism controls the two-axis unpacking truss 300 to reciprocate and grab the cross bars 700 through the clamping module, and transfers them alternately to the two conveying mechanisms 400. The cross bars 700 are mobile cached by the conveying mechanism 400, and then lifted, sorted, and cached for the second time. During the secondary caching process, the cross bars 700 are sorted and conveyed at a certain interval. Thereafter, the six-axis handling robot 500 drives the gripper assembly 200 to grab the cross bars 700 that have been sorted and conveyed at a certain interval, and vertically insert the cross bars 700 into the grid material frame 100, and reciprocate until the grid material frame 100 is full. Figure 13 shown.

[0044] In an embodiment of the present invention, a conveying mechanism 400 is provided to cache, lift, sort or sequence the cross bars 700, and cooperate with the gripper assembly 200 and the grid material frame 100 to perform sorting and insertion at a certain interval, so as to facilitate the six-axis handling robot 500 to insert the sorted workpieces in a vertical framing manner, thereby improving the unpacking efficiency, replacing the traditional stacking framing method, and avoiding the collapse and loosening of the stacked cross bars 700; it is also conducive to direct and convenient use during the subsequent scaffolding construction, thereby improving the scaffolding construction efficiency.

[0045] In one embodiment of the present invention, four grid material frames 100 can be provided, which are placed in pairs on both sides of the six-axis handling robot 500. In some scenarios, more grid material frames 100 can be provided according to the working rhythm of the six-axis handling robot 500, such as providing a grid material frame 100 at the end of the six-axis handling robot 500 away from the conveying mechanism 400; the conveying mechanism 400 can also be provided with three, which are provided on the outside of the two-axis unpacking truss 300 away from the flow station, and on both sides of the bottom of the two-axis unpacking truss 300; Figure 4 As shown in Table 1, the two-axis unpacking truss 300 is composed of columns 301, crossbeams 302, and longitudinal beams 303, and servo slides are provided on the crossbeams 302 and longitudinal beams 303, which are respectively used for the movement of the longitudinal beams 303 and the clamping module, and the movement directions are perpendicular to each other. The clamping module can adopt an electromagnet suction cup 304, and the electromagnet suction cup 304 is installed at the bottom of the longitudinal beam 303 through a driving part 305. The driving part 305 adopts a conventional stepping motor or cylinder to drive the electromagnet suction cup 304 to rotate, so as to transfer the crossbar 700 sucked from the transfer station to the corresponding position of the conveying mechanism 400; the workpiece is inserted in a vertical framing manner, as shown in FIG. Figure 13 As shown, a grid is extended in a material frame to separate the material frame into insertion holes with a certain aperture, so as to facilitate the vertical insertion of the crossbar 700.

[0046] Table 1 is a detailed list of a scaffolding crossbar unpacking system

[0047]

[0048] Among them, the teaching pendant is a handheld remote control of the six-axis handling robot 500, the external axis servo driver is the factory configuration of the six-axis handling robot 500, and the external air source is a high-pressure air source commonly used in factories. All of them are existing technologies and will not be described in detail.

[0049] like Figure 5-Figure 7 As shown, as a preferred embodiment of the present invention, the conveying mechanism includes a first buffer module 400A, a second buffer module 400B, and a blocking module provided between the first buffer module 400A and the second buffer module 400B;

[0050] The first buffer module 400A includes a horizontally arranged fixed frame, a conveying platform is provided on the top of the fixed frame, and a lifting unit 400A2 is provided on the bottom of the fixed frame, wherein the lifting unit 400A2 is used to push the workpieces contacted by the top thereof one by one on the conveying platform toward the blocking module by reciprocating lifting;

[0051] The blocking module is used to transport the workpieces moving toward the blocking module to the second buffer module 400B at intervals;

[0052] The second buffer module 400B is used to push the workpiece to move in the direction of the unloading mechanism;

[0053] In this embodiment, the conveying platform can be made of a profile with a limit plate on the outside, such as Figure 10 As shown, the lifting unit 400A2 adopts a first lifting cylinder, and the telescopic end of the first lifting cylinder is installed with a lifting frame 400A1. The first lifting cylinder drives the lifting frame 400A1 to rise and fall, and moves the workpieces on the conveying platform, that is, the cross bars 700 one by one on the conveying platform toward the blocking module.

[0054] like Figure 6 、 Figure 7 As shown, as another preferred embodiment of the present invention, the second cache module 400B at least includes a common base 401, a group of slides 403 relatively arranged on the common base 401, and a positioning V-shaped plate 410 and a vertical adjustment plate 411 installed on the top of the slide 403, the positioning V-shaped plate 410 and the vertical adjustment plate 411 are formed with a plurality of limit grooves for limiting each workpiece at equal intervals, and a sliding member is installed on the common base 401, and the free end of the sliding member is connected to the sliding device A lifting support 417 is disposed on the common base 401, and a lifting cylinder 416 is provided on the lifting support 417. The telescopic end of the lifting cylinder 416 is provided with at least two movable V-shaped plates 424 opposite to the positioning V-shaped plate 410. The telescopic end of the lifting cylinder 416 drives the movable V-shaped plates 424 to rise and fall, while the sliding member drives the lifting cylinder 416 and the movable V-shaped plates 424 to move back and forth, thereby pushing the workpieces one by one between the plurality of limit slots toward the direction of the unloading mechanism;

[0055] In this embodiment, the sliding member cooperates with the lifting cylinder 416 to drive the movable V-shaped plate 424 to slide, and the workpieces defined by the positioning V-shaped plate 410 and the vertical adjustment plate 411 are moved one by one in an orderly manner at a certain distance toward the six-axis handling robot 500; so that the six-axis handling robot 500 can clamp and transfer the workpieces, and then load the workpieces through the grid material frame 100; thereby improving the clamping efficiency and loading quality of the six-axis handling robot 500;

[0056] In an example of this embodiment, Figure 8 、 Figure 9 As shown, the slide 403 is composed of a profile truss, and a positioning V-shaped plate 410 and a vertical adjustment plate 411 are set on the top of the slide 403, and one of the positioning V-shaped plate 410 and the vertical adjustment plate 411 is removable to facilitate adjustment of the limiting groove formed between the positioning V-shaped plate 410 and the vertical adjustment plate 411, so as to reasonably limit the workpiece and improve the sorting and transportation accuracy.

[0057] In another example of this embodiment, Figure 6 As shown, the four bottom corners of the common base 401 are installed with adjustment bolts 420 for adjusting the levelness of the four bottom corners of the common base 401; by adjusting the levelness of the common base 401, the installation of various mechanisms thereon and the coordination with other mechanisms are facilitated, thereby improving the sorting and conveying accuracy.

[0058] like Figure 6 As shown, in a preferred example of this embodiment, an adjustment unit is provided between the telescopic end of the lifting cylinder 416 and the movable V-shaped plate 424, and the adjustment unit is used to adjust the distance between the movable V-shaped plate 424 and the positioning V-shaped plate 410;

[0059] In this embodiment, the adjustment unit includes an adjustment slide 412 and a step-by-step lifting platform 413. The movable V-shaped plate 424 is mounted on the adjustment slide 412. The adjustment slide 412 is mounted on the step-by-step lifting platform 413. The step-by-step lifting platform 413 is mounted on the telescopic end of the lifting cylinder 416.

[0060] In another embodiment, the adjustment unit includes a slider assembly, and the movable V-shaped plate 424 is arranged at the telescopic end of the lifting cylinder 416 through the slider assembly, wherein the slider assembly includes a lifting guide shaft 415 and an adjustment slide rail 414, and the adjustment slide 412 is guided and limited by the adjustment slide rail 414 and the lifting guide shaft 415 on the lifting support 417;

[0061] In this embodiment, the adjustment unit provided can adaptively adjust the distance between the movable V-shaped plate 424 and the positioning V-shaped plate 410. On the one hand, it improves the alignment accuracy of the movable V-shaped plate 424 with the positioning V-shaped plate 410 when sliding, and can also compensate for the wear of the movable V-shaped plate 424 and the positioning V-shaped plate 410; on the other hand, it can also adapt to cross bars 700 of different specifications and sizes, and has wider adaptability.

[0062] In this embodiment, the sliding member includes a slider connecting seat II421, a sliding guide rail 422, and a sliding cylinder 423. The sliding guide rail 422 and the sliding cylinder 423 are respectively arranged on the common base 401. The telescopic end of the sliding cylinder 423 is connected to the slider connecting seat II421 slidingly installed on the sliding guide rail 422, driving the slider connecting seat II421 to slide on the sliding guide rail 422. The slider connecting seat II421 is connected and fixed to the lifting support 417. When the slider connecting seat II421 is driven to move, the lifting support 417 and the lifting cylinder 416 thereon are synchronously driven to move, and the sliding of the movable V-shaped plate 424 is realized by cooperating with the extension and contraction of the lifting cylinder 416.

[0063] like Figure 6 As shown, in a preferred example of this embodiment, the slide 403 is movably installed on the common base 401. Specifically, it is slidably installed on the common base 401 through the slider connecting seat I418 and the guide rail slider 419. The position of the slide 403 can be adjusted by moving the slide 403 to adapt to different workpiece sorting and transportation, and to facilitate the arrangement of more cache positions, so as to reasonably increase the number of six-axis handling robots 500 and grid material frames 100, thereby improving the overall unpacking efficiency.

[0064] like Figure 6 、 Figure 7 、 Figure 11 As shown, as an embodiment of the present invention, the blocking module includes a sorting lifting plate 407 and a sorting support 404 installed on a common base 401, and the sorting lifting plate 407 is retractably arranged on the sorting support 404 through a pneumatic member;

[0065] In this embodiment, the pneumatic part may be a sorting jacking cylinder 406, which is mounted on a sorting support 404, and a sorting jacking plate 407 is mounted on the telescopic end of the sorting jacking cylinder 406, and the sorting support 404 is mounted on a base or a common base 401;

[0066] In this embodiment, the sorting lifting plate 407 is guided and limited by the guide shaft seat 405 that is slidingly connected to the sorting support 404, so as to improve the lifting accuracy of the sorting lifting plate 407. The sorting lifting cylinder 406 drives the sorting lifting plate 407 to rise and fall, so as to sort the workpieces moving toward the blocking module to the second cache module at intervals, that is, to lift and sort the workpieces.

[0067] In other embodiments, a stopper 408 may be used to intermittently sort the workpieces. Specifically, the stopper 408 is mounted on a pneumatic cylinder or an electric push rod and is disposed on the outer side of the carriage 403. The pneumatic cylinder or the electric push rod drives the stopper 408 to intermittently extend and retract between the conveyed workpieces to separate the workpieces so that the workpieces moving toward the blocking module are sorted to the second buffer module 400B at intervals.

[0068] like Figure 6 As shown, as an embodiment of the present invention, a centering unit is installed at one end of the second buffer module 400B close to the blocking module, and the centering unit is used to adjust the position of the workpiece pushed by the blocking module to the second buffer module 400B, thereby improving the conveying accuracy;

[0069] In this embodiment, the centering unit includes a centering plate 409. A group of centering plates 409 are relatively installed on the outside of the slide 403 through a centering cylinder and close to one side of the blocking module. The centering cylinder drives the centering plates 409 to move relative to each other, and adjusts the position of the workpieces sorted at intervals by the blocking module to the center of the second cache module 400B, thereby improving the conveying accuracy, facilitating conveying, and also facilitating the grasping of the six-axis handling robot 500.

[0070] As an embodiment of the present invention, the scaffolding crossbar unpacking system further includes a filter pressure reducing valve 402, which is connected to an external high-pressure gas source to provide a gas source with a certain pressure for the conveying mechanism;

[0071] Specifically, such as Figure 17 As shown, the filter pressure reducing valve 402 is connected to the sorting lifting cylinder 406, the centering cylinder, the lifting cylinder 416, and the sliding cylinder 423 through multiple air paths, providing an air source for the operation of the sorting lifting cylinder 406, the centering cylinder, the lifting cylinder 416, and the sliding cylinder 423. Solenoid valves are provided on the multiple air paths to control the on and off of the air paths; the multiple air paths are such as air path #1, air path #2, to air path #5.

[0072] In one embodiment, the control mechanism includes a robot motion controller, specifically an ERC-S1 series electric control cabinet, and is connected to a teach pendant, specifically an ERT1 series teach pendant. Instructions are sent to the robot motion controller through the teach pendant to control the movement of the six-axis handling robot 500 to drive the gripper assembly 200 to transfer the workpiece.

[0073] In this embodiment, the robot motion controller is provided with a module for recording the number of workpieces, counting the number of workpieces, monitoring and transmitting relevant data in real time, and when the number of transported workpieces reaches the set value, the placement is suspended and an alarm is issued to remind the workers that this grid material frame 100 is full and can be transferred; after the alarm is issued, the six-axis transport robot 500 continues to place the workpieces in another grid material frame 100, stacking the workpieces according to a pre-compiled stacking program until this grid material frame 100 is full, and at the same time an alarm is issued to remind the workers that this grid material frame 100 is full and can be transferred.

[0074] In some embodiments, after the first grid material frame 100 is filled with workpieces and transported away, an empty grid material frame 100 needs to be manually transported and placed in a designated location, and then automatically replaced after the second grid material frame 100 is filled, and the above transport process is repeated.

[0075] In another embodiment, the scaffolding crossbar unpacking system further includes a sensor group for monitoring the relative position of the workpiece on the conveying mechanism 400 and sending the monitoring information to the control mechanism.

[0076] The sensor group of this embodiment includes a proximity switch or an infrared distance sensor. By installing multiple proximity switches or infrared distance sensors on the slide 403 or on the outside of the slide 403, they are used to monitor the relative position of the workpiece on the conveying mechanism 400 and send monitoring information to the control mechanism, thereby realizing the automation of workpiece unpacking.

[0077] like Figure 12 、 Figure 14 、 Figure 15 As shown, as one embodiment of the present invention, the unloading mechanism includes a manipulator and a gripper assembly. The gripper assembly is rotatably mounted on the end effector of the manipulator. The gripper assembly 200 includes a gripper 2012 or an end effector 200B. The gripper 2012 or the end effector 200B is rotatably mounted on the end effector of the manipulator. The manipulator can be a six-axis handling robot 500.

[0078] Specifically, the gripper 2012 is rotatably mounted on the execution end of the manipulator through the gripper mounting seat 2011. The execution end of the manipulator uses the gripper 2012 to single-grip multiple workpieces sorted and conveyed by the conveying mechanism 400 and then insert them into the grid material frame 100 on one side.

[0079] Alternatively, the end picker 200B can be rotatably mounted on the execution end of the six-axis handling robot 500, and the end picker 200B includes a mounting base 2021 and a plurality of adjustable connecting rods 2022 detachably mounted on the mounting base 2021, and a plurality of sets of relative grippers 2012 are staggeredly mounted on the adjustable connecting rods 2022 through gripper mounting bases 2011; the execution end of the six-axis handling robot 500 uses the end picker 200B to clamp a plurality of workpieces sorted and conveyed by the conveying mechanism 400 at a time, and then insert them into the grid material frame 100 on one side; the gripper 2012 or end picker 200B of this embodiment can adapt to different workpiece clamping requirements and is easier to promote and apply.

[0080] like Figure 17 As shown, one embodiment of the present invention also provides a control method for a disc-type scaffold crossbar unpacking system, the method comprising the following steps:

[0081] Get the workpiece location information at the specified location;

[0082] According to the workpiece arrival information, the loading mechanism is controlled to grab the workpiece at the specified position and transfer it to the first buffer position for buffering;

[0083] Controlling the conveying mechanism 400 to lift the workpieces in the first buffer position one by one and convey them to the second buffer position, where they are sorted and conveyed according to a certain spacing;

[0084] Control the unloading mechanism to grab several sorted workpieces at a time and insert them vertically;

[0085] Repeat the above steps until the framing is completed.

[0086] Specifically, the flow material frame 600 is transported to the bottom of the two-axis unpacking truss 300 by a forklift, and a signal is manually given to the two-axis unpacking truss 300. After receiving the signal at the operation standby position, the six-axis handling robot 500 picks up the workpiece from the flow material frame 600 and places it on the conveyor mechanism 400. The conveyor mechanism 400 then transports the workpiece, i.e., the crossbar 700, to a fixed position on the conveyor mechanism 400. The six-axis handling robot 500 then picks it up at a fixed position on the conveyor mechanism 400 and transfers it to the grid material frame 100, automatically placing the crossbar 700 as required. When the grid material frame 100 is full, the six-axis handling robot 500 returns to the operation standby position, and this handling mode repeats. The overall structure of the equipment is simple, the layout is compact, reasonable, and beautiful, and it is easy to use, maintain, and debug.

[0087] The above-mentioned embodiment of the present invention provides a control method for a disc-type scaffolding cross bar unpacking system, and based on the control method of the disc-type scaffolding cross bar unpacking system, a scaffolding cross bar unpacking system is provided, including a two-axis unpacking truss 300, a six-axis handling robot 500 and a conveying mechanism 400. The conveying mechanism 400 is provided to cache, lift and sort the cross bars 700, and cooperate with the gripper assembly 200 and the grid material frame 100 to perform sorting and insertion at a certain interval, so that the six-axis handling robot 500 can insert the sorted workpieces in a vertical framing manner, thereby improving the unpacking efficiency, replacing the traditional stacking framing method, and avoiding the collapse and loosening of the stacked cross bars 700; it is also conducive to direct and convenient use during subsequent scaffolding construction, thereby improving the scaffolding construction efficiency.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A scaffolding crossbar unpacking system, characterized in that: The scaffolding crossbar unpacking system comprises: A loading mechanism, comprising a frame and a clamping module, wherein the clamping module is slidably disposed on the frame and is used to grab a workpiece at a specified position and transfer it to the conveying mechanism; A conveying mechanism, at least one of which is provided, and the conveying mechanism is used to sort the workpieces grasped by the clamping module and convey them to the unloading mechanism; The unloading mechanism is arranged on a side of the conveying mechanism away from the loading mechanism, and is used to carry the workpiece conveyed by the conveying mechanism and vertically insert it into the grid material frame; and a control mechanism for controlling the operation of the loading mechanism, the conveying mechanism, and the unloading mechanism; The conveying mechanism includes a first buffer module, a second buffer module, and a blocking module arranged between the first buffer module and the second buffer module; The first buffer module includes a horizontally arranged fixed frame, a conveying platform is provided on the top of the fixed frame, and a lifting unit is provided on the bottom of the fixed frame, wherein the lifting unit is used to push the workpieces contacted by the top of the lifting unit one by one on the conveying platform toward the blocking module through reciprocating lifting; The blocking module is used to transport the workpieces moving toward the blocking module to the second buffer module at intervals; The second buffer module is used to push the workpiece to move in the direction of the unloading mechanism; The second buffer module comprises at least a common base, a set of slides relatively arranged on the common base, and a positioning V-shaped plate and a vertical adjustment plate mounted on top of the slides; The positioning V-shaped plate and the vertical adjustment plate are formed with a plurality of limit grooves, a sliding member is installed on the common base, the free end of the sliding member is connected to a lifting support slidably arranged on the common base, a lifting cylinder is provided on the lifting support, and the telescopic end of the lifting cylinder is provided with at least two movable V-shaped plates opposite to the positioning V-shaped plate, wherein, while the telescopic end of the lifting cylinder drives the movable V-shaped plate to rise and fall, the sliding member drives the lifting cylinder and the movable V-shaped plate to move back and forth, so as to push the workpieces one by one to transfer between the plurality of limit grooves toward the direction of the blanking mechanism; An adjustment unit is provided between the telescopic end of the lifting cylinder and the movable V-shaped plate, and the adjustment unit is used to adjust the distance between the movable V-shaped plate and the positioning V-shaped plate; A centering unit is provided at one end of the second buffer module close to the blocking module, and the centering unit is used to adjust the position of the workpieces that are pushed to the second buffer module at intervals by the blocking module.

2. The scaffolding crossbar unpacking system according to claim 1, characterized in that: The adjusting unit at least comprises a slider assembly, and the movable V-shaped plate is arranged on the telescopic end of the lifting cylinder through the slider assembly.

3. The scaffolding crossbar unpacking system according to claim 2, characterized in that: The blocking module includes a sorting lifting plate and a sorting support mounted on a common base. The sorting lifting plate is telescopically arranged on the sorting support through a pneumatic part.

4. The scaffolding crossbar unpacking system according to claim 1, characterized in that: The scaffolding crossbar unpacking system further comprises a sensor group for monitoring the relative position of the workpiece on the conveying mechanism and sending monitoring information to the control mechanism.

5. The scaffolding crossbar unpacking system according to claim 1, characterized in that: The unloading mechanism includes a manipulator and a gripper assembly, and the gripper assembly is rotatably arranged at the execution end of the manipulator.

6. A control method for a scaffolding crossbar unpacking system, characterized in that: For the scaffolding crossbar unpacking system according to any one of claims 1 to 5, the method comprises the following steps: Get the workpiece location information at the specified location; According to the workpiece arrival information, the loading mechanism is controlled to grab the workpiece at the specified position and transfer it to the first buffer position for buffering; Controlling the conveying mechanism to lift the workpieces in the first buffer position one by one and convey them to the second buffer position, where they are sorted and conveyed according to a certain spacing; Control the unloading mechanism to grab several sorted workpieces at a time and insert them vertically; Repeat the above steps until the framing is completed.

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