Automatic discharging equipment

Abstract

The invention discloses automatic discharging equipment which comprises a conveying unit and a multi-stage rotary manipulator, and the conveying unit comprises a first conveying mechanism and a second conveying mechanism; the multi-stage rotating manipulator comprises a manipulator body and a moving mechanism, the manipulator body comprises a plurality of transmission assemblies and a plurality of rotatable clamping jaws, the clamping jaws are linked through the transmission assemblies so as to rotate synchronously, the moving mechanism is connected to the manipulator body, and the moving mechanism body is used for driving the manipulator body to rotate and move integrally. Carriers of the adapters are input into the equipment from the first conveying mechanism and output out of the equipment through the second conveying mechanism, in the process, the multi-stage rotating mechanical arm clamps and conveys the adapters through the multiple clamping jaws which are in mutual linkage, the clamping jaws achieve synchronous rotation of the adapters through mutual linkage, it is guaranteed that the placing directions of the adapters are consistent, and the adapters are placed in the same direction. And the manipulator body can drive all the adapters to rotate integrally, so that the manipulator is suitable for a plurality of conveying lines.

Description

Technical Field

[0001] The present application relates to the technical field of automatic production lines, and in particular to an automatic unloading device. Background Art

[0002] During the production process of the adapters, the placement directions of the adapters in the same batch are inconsistent, but after the adapters in the same batch complete the production and testing process, the directions of the adapters need to be consistent.

[0003] With the improvement of automation in the adapter production process, the adapter conveying process is often completed by robots. However, current robots find it difficult to convert adapters from the same batch with inconsistent placement directions into a consistent placement direction and convey them to multiple conveyor lines, making it difficult to meet production needs. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an automatic unloading device, which can realize the delivery of several adapters to multiple conveyor lines in the same placement direction through a multi-stage rotating manipulator.

[0005] According to the automatic unloading equipment of the first aspect embodiment of the present application, the automatic unloading equipment includes a conveying unit and a multi-stage rotating manipulator, the conveying unit includes a first conveying mechanism and a second conveying mechanism, the first conveying mechanism is used to input the adapter and the carrier of the adapter, and the second conveying mechanism is used to output the carrier; the multi-stage rotating manipulator includes a manipulator body and a moving mechanism, the manipulator body includes a plurality of transmission components and a plurality of rotatable jaws, each of the jaws is linked by the transmission components to rotate synchronously, the moving mechanism is connected to the manipulator body, and the moving mechanism body is used to drive the manipulator body to rotate and move as a whole.

[0006] The automatic unloading equipment according to the embodiment of the present application has at least the following beneficial effects: the carrier of the adapter is input into the equipment from the first conveying mechanism and output from the equipment through the second conveying mechanism. During this process, the multi-stage rotating manipulator clamps and conveys each adapter through a plurality of mutually linked clamps. The clamps realize the synchronous rotation of each adapter through mutual linkage, thereby ensuring that the placement direction of each adapter is consistent, and the manipulator body can drive all the adapters to rotate as a whole, thereby adapting to multiple conveyor lines.

[0007] According to some embodiments of the present application, adjacent jaws are transmission connected via the transmission assembly.

[0008] According to some embodiments of the present application, the transmission assembly includes a flexible transmission component and a transmission wheel fixedly connected to the clamping jaws, and the transmission wheels on adjacent clamping jaws are connected via the flexible transmission component.

[0009] According to some embodiments of the present application, the robot body includes a rotation driver, and the rotation driver drives the other jaws to rotate synchronously by driving a single jaw to rotate.

[0010] According to some embodiments of the present application, the moving mechanism includes a rotating component connected to the manipulator body, and the rotating component is used to drive the manipulator body to rotate as a whole.

[0011] According to some embodiments of the present application, the moving mechanism includes a height adjustment component, a first horizontal moving component and a second horizontal moving component. The height adjustment component is used to drive the manipulator body to adjust the height, and the first horizontal moving component and the second horizontal moving component are used to drive the manipulator body to adjust the horizontal position.

[0012] According to some embodiments of the present application, the first conveying mechanism and the second conveying mechanism are stacked, and a liftable transfer mechanism is provided at the same end of the first conveying mechanism and the second conveying mechanism to connect the first conveying mechanism and the second conveying mechanism.

[0013] According to some embodiments of the present application, the first conveying mechanism is provided with a gripping assembly, wherein the gripping assembly includes a movable gripping claw, and the gripping assembly picks up the AC strip on the adapter through the gripping claw.

[0014] According to some embodiments of the present application, the first conveying mechanism is provided with an unlocking component, and the unlocking component is used to unlock the buckle of the AC strip and the carrier.

[0015] According to some embodiments of the present application, the first conveying mechanism is provided with a lifting component, and the carrier is raised by the lifting component to reach the position of the unlocking component.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present application is further illustrated below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments embodied in the following drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0018] Figure 1 It is a structural schematic diagram of the automatic unloading equipment of the embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of the internal structure of the automatic unloading equipment of the embodiment of the present application;

[0020] Figure 3 It is a structural schematic diagram of a carrier in the automatic unloading equipment of an embodiment of the present application;

[0021] Figure 4 It is a structural schematic diagram of the first conveying mechanism in the automatic unloading equipment of the embodiment of the present application;

[0022] Figure 5 It is a structural schematic diagram of the first conveying mechanism in the automatic unloading equipment of the embodiment of the present application;

[0023] Figure 6 It is a structural schematic diagram of the transfer mechanism in the automatic unloading equipment of the embodiment of the present application;

[0024] Figure 7 It is a structural schematic diagram of a grabbing component in the automatic unloading equipment of an embodiment of the present application;

[0025] Figure 8 It is a structural schematic diagram of an unlocking component in the automatic unloading device of an embodiment of the present application;

[0026] Fig. 9 It is a schematic diagram of the structure of a multi-stage rotary manipulator according to an embodiment of the present application;

[0027] Fig.10 is a top view of a multi-stage rotary manipulator according to an embodiment of the present application;

[0028] Fig.11 It is a structural schematic diagram of a manipulator body in a multi-stage rotating manipulator in an embodiment of the present application;

[0029] Fig.12 It is a schematic diagram of the structure of the gripper in the multi-stage rotary manipulator of the embodiment of the present application;

[0030] Fig.13 It is a structural schematic diagram of a tensioning component in a multi-stage rotary manipulator in an embodiment of the present application;

[0031] Fig.14 It is a schematic diagram of the structure of the rotating component in the multi-stage rotating manipulator in the embodiment of the present application.

[0032] Reference numerals:

[0033] Conveying line 10; conveying position 20;

[0034] Manipulator body 100; support plate 101; clamping claw 102; clamping portion 1021; flexible transmission component 103; transmission wheel 104; rotation driver 105; tensioning component 106;

[0035] Moving mechanism 200; rotating support part 201; height adjustment support part 202; first horizontal moving support part 203; second horizontal moving support part 204;

[0036] Carrier 301 ; first conveying mechanism 302 ; second conveying mechanism 303 ; transfer mechanism 304 ; grabbing assembly 305 ; grabbing claw 306 ; unlocking assembly 307 ; lifting assembly 308 ; buckle 309 . DETAILED DESCRIPTION

[0037] The embodiments of the present application are described in detail below in conjunction with the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0038] In the description of the present application, it should be understood that the terms "center", "middle", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0040] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example: it can 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] In the description of the present application, if there is a description with reference to the terms "one embodiment", "some embodiments", "an embodiment", "some examples", "some embodiments", "illustrative embodiment", "example", "specific example", "some examples", etc., it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0042] like Figure 1 , Figure 2 and Figure 3 As shown, an embodiment of the present application provides an automatic unloading device, which includes a conveying unit and a multi-stage rotary manipulator. The conveying unit is used to input and output a carrier 301 of an adapter, and at the same time, the multi-stage rotary manipulator adjusts the adapter in the conveying position to a consistent placement direction and conveys it to the conveying line.

[0043] In some examples, the carrier 301 includes a plate-shaped base body that carries the adapter, wherein the base body is provided with a plurality of slot structures for mounting the adapter, and each slot structure corresponds to a plug, and when the adapter is mounted in the slot structure, the adapter is plugged into the plug, ensuring that the adapter can be electrically connected to the carrier 301.

[0044] Specifically, the base of a single carrier 301 is provided with 20 slot structures, which are evenly arranged in two rows. It is worth noting that the plug matching the adapter is arranged in the middle of the base, and the placement directions of the adapters installed in different rows of slot structures are opposite. When the multi-stage rotary manipulator grabs the adapters installed in different rows, different measures need to be taken to ensure that the placement directions of all adapters are consistent.

[0045] In addition, when the carrier 301 enters the automatic unloading device, an AC strip is installed on the top of the carrier 301, and a buckle 309 is provided on the edge of the base of the carrier 301. The AC strip is detachably connected to the carrier 301 through the buckle 309. It can be understood that the AC strip is also electrically connected to each adapter.

[0046] In some examples, the conveying unit includes a first conveying mechanism 302 and a second conveying mechanism 303, the first conveying mechanism 302 is used to input the adapter and the carrier 301 of the adapter, and the second conveying mechanism 303 is used to output the carrier 301; the multi-stage rotary manipulator includes a manipulator body and a moving mechanism, the manipulator body includes a plurality of transmission components and a plurality of rotatable jaws, each jaw is linked by the transmission component to rotate synchronously, the moving mechanism is connected to the manipulator body, and the moving mechanism is used to drive the manipulator body to rotate and move as a whole.

[0047] In some examples, Figure 4 and Figure 5 As shown, the first conveying mechanism 302 and the second conveying mechanism 303 are stacked, and the first conveying mechanism 302 is arranged on top of the second conveying mechanism 303. It can be understood that the first conveying mechanism 302 and the second conveying mechanism 303 are spaced apart from each other to ensure that there is a certain space between the first conveying mechanism 302 and the second conveying mechanism 303, so as to avoid interference between the carrier 301 and the first conveying mechanism 302 when the carrier 301 is transported on top of the second conveying mechanism 303.

[0048] The first conveying mechanism 302 and the second conveying mechanism 303 both include conveying chains, which are located at the edges of the first conveying mechanism 302 and the second conveying mechanism 303. When the carrier 301 is carried on the top of the conveying chain, the carrier 301 is transported by the rotation of the conveying chain. Specifically, the transport part of the conveying chain remains horizontal, and the carrier 301 is transported horizontally on the first conveying mechanism 302 and the second conveying mechanism 303.

[0049] In some examples, such as Figure 6 As shown, a liftable transfer mechanism 304 is provided at the same end of the first conveying mechanism 302 and the second conveying mechanism 303, and the transfer mechanism 304 can adjust the height so as to be connected to the first conveying mechanism 302 or the second conveying mechanism 303. Specifically, the transfer mechanism 304 includes a transfer plate and a corresponding support structure, and the support structure is provided with a guide rail extending in the vertical direction, and the transfer plate is slidably connected to the guide rail and the height is adjusted along the guide rail.

[0050] Among them, a conveyor belt for transmitting the carrier 301 is provided on the edge of the transfer plate to facilitate the transition of the carrier 301 from the first conveying mechanism 302 to the transfer plate.

[0051] Furthermore, the carrier 301 passes through the first conveying mechanism 302 and reaches the transfer plate of the transfer mechanism 304. The height of the transfer plate is lowered and connected to the second conveying mechanism 303. The carrier 301 is then transferred from the transfer plate to the second conveying mechanism 303 and finally output to the automatic unloading device. It can be understood that the conveying directions of the first conveying mechanism 302 and the second conveying mechanism 303 are opposite.

[0052] In some examples, such as Figure 7 As shown, the first conveying mechanism 302 is provided with a grabbing assembly 305, which is used to remove the AC strip covering the top of each adapter, so as to ensure that the multi-stage rotary manipulator can perform a grabbing operation from the top of each adapter.

[0053] The grabbing assembly 305 includes a grabbing claw 306, a crossbeam and a bracket. The bracket is fixed in position and supports the crossbeam on opposite sides of the crossbeam, so that the crossbeam has a certain height. It can be understood that the crossbeam is set at the top of the running channel of the carrier 301. At the same time, the grabbing claw 306 is connected to the crossbeam and is used to grab the AC strip.

[0054] Further, the crossbeam is movably connected to the bracket, so that the grab claw 306 on the crossbeam corresponds to the AC bar on the top of the carrier 301. Specifically, the bracket is provided with a corresponding guide rail, and the guide rail here extends horizontally, and the crossbeam is slidably connected to the guide rail.

[0055] Additionally, the gripper 306 can be height-adjusted on the crossbar, for the gripper 306 to reach the height at which the AC bar on top of the carrier 301 is located.

[0056] It can be appreciated that the gripping claws 306 grip the AC strip through an opening and closing motion.

[0057] In some examples, such as Figure 8 As shown, the first conveying mechanism 302 is provided with an unlocking assembly 307, and the unlocking assembly 307 is used to unlock the AC strip from the buckle 309. It can be understood that the grabbing assembly 305 can grab the AC strip only after the buckle 309 is unlocked.

[0058] The unlocking assembly 307 includes a roller, and the roller has a certain height. When the carrier 301 is raised, the buckle 309 on the carrier 301 gradually approaches and contacts the roller, and the buckle 309 is unlocked by the pressure given by the roller.

[0059] In addition, the unlocking component 307 also includes a corresponding driver and a support frame for carrying the roller. The driver here is connected to the roller through the support frame, and the driver is used to drive the support frame and the roller to increase or decrease the height to meet actual needs.

[0060] In some examples, the first conveying mechanism 302 is provided with a lifting component 308. When the first conveying mechanism 302 conveys the carrier 301, the carrier 301 reaches a horizontal position corresponding to the unlocking component 307. At this time, the carrier 301 needs to maintain the current horizontal position and increase the height so that the buckle 309 can resist the roller of the unlocking component 307.

[0061] The lifting assembly 308 applies a vertical upward thrust to the carrier 301 , so that the carrier 301 is separated from the conveying chain of the first conveying mechanism 302 , and the carrier 301 can be kept in the current horizontal position and raised in height.

[0062] In some examples, such as Fig. 9 and Fig.10As shown, the multi-stage rotary manipulator includes a manipulator body 100 and a moving mechanism 200. The manipulator body 100 can clamp several adapters at the same time and adjust each adapter to the same placement direction. At the same time, the manipulator body 100 is rotated as a whole through the moving mechanism 200, so that the multi-stage rotary manipulator can place each adapter on a different conveyor line 10, meeting the user's conveying needs for the multi-stage rotary manipulator.

[0063] The adapters arrive at the conveying position 20 after the manufacturing and testing process, and then the adapters at the conveying position 20 are conveyed to the two conveying lines 10 by a multi-stage rotating manipulator.

[0064] In some examples, such as Figure 3 As shown, the manipulator body 100 includes a support plate 101, a transmission assembly and a clamp 102, and the clamp 102 is used to clamp the adapter. It can be understood that in order to ensure that the multi-stage rotary manipulator can simultaneously transport multiple adapters, multiple clamps 102 are provided, and each clamp 102 is arranged in parallel on the support plate 101.

[0065] Among them, the clamping jaw 102 includes an opening and closing movement component and two clamping parts 1021. The opening and closing movement component includes a guide rail corresponding to the clamping part 1021. The two clamping parts 1021 slide on the guide rail here to achieve opening and closing movement of approaching or moving away from each other, thereby ensuring the clamping process of the adapter.

[0066] Furthermore, each clamping jaw 102 can rotate on the support plate 101 , and each clamping jaw 102 adjusts the placement direction of the clamped adapter by rotating relative to the support plate 101 .

[0067] It is understandable that, although each adapter in a single clamping process is not adjusted to the desired placement direction, the placement directions of each adapter are consistent. Therefore, in order to ensure that each adapter is adjusted to the desired placement direction, the rotation amplitude and rotation direction of each clamping jaw 102 are consistent, and each clamping jaw 102 can complete the adjustment process of the adapter placement direction by synchronously rotating through linkage. Specifically, each clamping jaw 102 is linked through a transmission assembly to perform synchronous rotation.

[0068] In some examples, adjacent clamping jaws 102 are connected by a transmission assembly, thereby ensuring that the clamping jaws 102 are linked.

[0069] Specifically, the clamping portion 1021 of the clamping jaw 102 is located at the bottom of the support plate 101 , and at the same time, the clamping jaw 102 is connected to the transmission assembly at the top of the support plate 101 .

[0070] In some examples, such as Figure 4As shown, the transmission assembly includes a flexible transmission component 103 and a transmission wheel 104. The transmission wheel 104 is fixedly connected to the clamping jaw 102. As the transmission wheel 104 rotates, the clamping jaw 102 also rotates, thereby driving the adapter to rotate to the desired placement direction.

[0071] The transmission wheels 104 on the adjacent clamping jaws 102 are connected by a flexible transmission component 103. Specifically, the transmission wheel 104 is a synchronous pulley, and the flexible transmission component 103 is a synchronous belt. Therefore, the adjacent clamping jaws 102 are synchronously rotated by belt transmission.

[0072] In belt transmission, a single synchronous pulley can only be connected to one synchronous belt. To ensure that each pair of adjacent jaws 102 can achieve transmission connection, the jaws 102 at non-edge positions are provided with two synchronous pulleys. Similarly, the jaws 102 at non-edge positions are connected to two synchronous belts.

[0073] In some examples, in order to realize the rotation of the gripper 102 , the robot body 100 includes a rotation driver 105 . Specifically, the rotation driver 105 may be a motor.

[0074] The rotary driver 105 is connected to a single clamping jaw 102, and the clamping jaw 102 rotates under the driving action of the rotary driver 105. Since the adjacent clamping jaws 102 are connected by belt transmission, the rotation of a single clamping jaw 102 can drive all the clamping jaws 102 to rotate synchronously, thereby realizing the linkage of all the clamping jaws 102 and ensuring that each adapter rotates synchronously to the required placement direction.

[0075] Therefore, a single rotary driver 105 can drive all the grippers 102 to rotate, and there is no need to set up multiple rotary drivers 105, thereby reducing production costs. At the same time, the rotary driver 105 requires a certain amount of installation space, and only setting up a single rotary driver 105 is also conducive to the miniaturization of the multi-stage rotary manipulator and saves installation space.

[0076] In some examples, such as Figure 5 As shown, the manipulator body 100 includes a tensioning component 106, specifically, the tensioning component 106 is a tensioning wheel. The tensioning component 106 is located outside the flexible transmission component 103 and forms a rolling contact with the flexible transmission component 103. The tensioning component 106 can tension the flexible transmission component 103 without affecting the movement of the flexible transmission component 103, ensuring the precise matching of the transmission wheel 104 and the flexible transmission component 103, thereby improving the movement consistency of each clamping jaw 102.

[0077] In some examples, the conveying mechanism is connected to the manipulator body 100. On the one hand, the conveying mechanism is used to drive the manipulator body 100 to rotate as a whole, so as to facilitate the conveying of several adapters clamped by the manipulator body 100 to different conveying lines 10; on the other hand, the conveying mechanism also facilitates the transfer of the multi-stage rotary manipulator between the conveying position 20 and the working position, thereby improving the conveying process of the adapters.

[0078] In some examples, Figure 6 As shown, the conveying mechanism includes a rotating assembly, which is connected to a support plate 101 of the robot body 100 .

[0079] The rotating assembly includes a rotating support portion 201 and a driver for driving the rotating assembly to rotate, and the driver is connected to the rotating support portion 201. It can be understood that when the driver is started, the support plate 101 rotates relative to the rotating support portion 201, thereby driving each clamping jaw 102 to rotate around the rotating support portion 201 as a whole.

[0080] In some examples, the conveying mechanism includes a height adjustment assembly, and the rotating support portion 201 in the rotating assembly is disposed in the height adjustment assembly.

[0081] The height adjustment assembly includes a height adjustment support portion 202, and the height adjustment support portion 202 is provided with a corresponding guide rail, and the rotating support portion 201 is slidably connected to the guide rail here. It can be understood that the guide rail here extends in the vertical direction. When the rotating support portion 201 slides along the guide rail, the height of the rotating support portion 201 changes, thereby driving the support plate 101 to adjust its height.

[0082] In some examples, the conveying mechanism includes a first horizontal moving assembly, and the height adjustment support portion 202 in the height adjustment assembly is disposed in the first horizontal moving assembly.

[0083] The first horizontal movement component includes a first horizontal movement support 203, which can guide the horizontal movement of the height adjustment component while supporting the height adjustment component. It can be understood that the first horizontal movement support 203 is also used to bear the weight of the rotating component and the manipulator body 100.

[0084] Furthermore, the first horizontal movable support part 203 is provided with a corresponding guide rail, and the height adjustment support part 202 is slidably connected to the guide rail here. It can be understood that the guide rail here extends in the horizontal direction. When the height adjustment support part 202 slides along the guide rail here, the horizontal position of the height adjustment support part 202 changes, thereby driving the support plate 101 to adjust the horizontal position.

[0085] In some examples, the conveying mechanism further includes a second horizontal moving assembly, and the first horizontal moving support portion 203 in the first horizontal moving assembly is disposed in the second horizontal moving assembly.

[0086] The second horizontal movement assembly includes a second horizontal movement support portion 204, which can guide the horizontal movement of the first horizontal movement assembly under the premise of supporting the first horizontal movement assembly. It can be understood that the second horizontal movement support portion 204 is also used to bear the weight of the height adjustment assembly, the rotating assembly and the manipulator body 100.

[0087] Further, the second horizontal movable support part 204 is provided with a corresponding guide rail, and the first horizontal movable support part 203 is slidably connected to the guide rail here. It can be understood that the guide rail here also extends in the horizontal direction, but the guide rail on the second horizontal movable support part 204 and the guide rail on the first horizontal movable support part 203 are angled in the extension direction. Specifically, the guide rail on the second horizontal movable support cloth and the guide rail on the first horizontal movable support cloth are 90° in the extension direction.

[0088] When the first horizontal movement support part 203 slides along the guide rail there, the horizontal position of the first horizontal movement support part 203 changes.

[0089] It can be understood that the rotating assembly provides rotational freedom for the entire robot body 100, while the height adjustment assembly, the first horizontal movement assembly and the second horizontal movement assembly provide three degrees of freedom for the robot body 100, thereby improving the position movement flexibility of the multi-stage rotating robot.

[0090] In the actual implementation process, the conveying unit uses the first conveying mechanism and the second conveying mechanism to input or output the carrier 301 into or out of the device of the present application, and removes the AC strip on the top of the carrier 301 in the process. The manipulator body 100 is moved and rotated as a whole through the moving mechanism 200, so that each clamping claw 102 on the manipulator body 100 reaches the conveying position 20 and grabs each adapter at the conveying position 20. Since each adapter is distributed in a straight line at the grabbing position, and the straight line is 90° to the extension direction of the conveyor line 10, the moving mechanism 200 drives the manipulator body 100 to rotate 90° in the forward direction as a whole during the above process. Furthermore, the manipulator body 100 conveys each adapter to a conveyor line 10 by moving and rotating. At the same time, each clamping claw 102 realizes synchronous rotation through the transmission assembly, so that the placement direction of each adapter is uniformly adjusted to the placement direction required by the conveyor line 10 here. Furthermore, when the robot body 100 needs to transport each adapter to another conveyor line 10, the robot body 100 grabs the adapter through the clamp 102 and rotates 90° in the opposite direction to drive each adapter to reach another conveyor line 10, completing the conveying process of the multi-stage rotary robot.

[0091] The above is a detailed description of the implementation methods of the present application in conjunction with the accompanying drawings, but the present application is not limited to the above implementation methods. Various changes can be made within the knowledge of ordinary technicians in the technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. An automatic unloading device, characterized in that: include: A conveying unit, comprising a first conveying mechanism and a second conveying mechanism, wherein the first conveying mechanism is used to input the adapter and a carrier of the adapter, and the second conveying mechanism is used to output the carrier; A multi-stage rotating manipulator comprises a manipulator body and a moving mechanism, wherein the manipulator body comprises a plurality of transmission components and a plurality of rotatable jaws, wherein the jaws are linked via the transmission components to perform synchronous rotation, and the moving mechanism is connected to the manipulator body, and the moving mechanism body is used to drive the manipulator body to rotate and move as a whole.

2. The automatic unloading equipment according to claim 1, characterized in that: The adjacent clamping jaws are transmission connected via the transmission assembly.

3. The automatic unloading equipment according to claim 2, characterized in that: The transmission assembly comprises a flexible transmission component and a transmission wheel fixedly connected to the clamping jaws, and the transmission wheels on adjacent clamping jaws are connected via the flexible transmission component.

4. The automatic unloading equipment according to claim 3, characterized in that: The robot body comprises a rotary driver, and the rotary driver drives the other clamping jaws to rotate synchronously by driving a single clamping jaw to rotate.

5. The automatic unloading equipment according to claim 1, characterized in that: The moving mechanism includes a rotating assembly connected to the robot body, and the rotating assembly is used to drive the robot body to rotate as a whole.

6. The automatic unloading equipment according to claim 5, characterized in that: The moving mechanism includes a height adjustment component, a first horizontal moving component and a second horizontal moving component. The height adjustment component is used to drive the manipulator body to adjust the height, and the first horizontal moving component and the second horizontal moving component are used to drive the manipulator body to adjust the horizontal position.

7. The automatic unloading equipment according to claim 1, characterized in that: The first conveying mechanism and the second conveying mechanism are stacked, and a liftable transfer mechanism is provided at the same end of the first conveying mechanism and the second conveying mechanism to connect the first conveying mechanism and the second conveying mechanism.

8. The automatic unloading equipment according to claim 7, characterized in that: The first conveying mechanism is provided with a grabbing assembly, wherein the grabbing assembly includes a movable grabbing claw, and the grabbing assembly picks up the AC strip on the adapter through the grabbing claw.

9. The automatic unloading equipment according to claim 8, characterized in that: The first conveying mechanism is provided with an unlocking assembly, and the unlocking assembly is used to unlock the buckle that locks the AC strip and the carrier.

10. The automatic unloading equipment according to claim 9, characterized in that: The first conveying mechanism is provided with a lifting component, and the carrier is raised by the lifting component to reach the position of the unlocking component.

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