Retrieval system

Abstract

The invention discloses a taking-out system, and relates to the technical field of taking-out systems, and the taking-out system comprises a sequentially built trolley, a positioning device, a transplanting device, an overturning device, a bearing block opening device and a dispatching device; the positioning device is used for being clamped with the bottom of the transportation trolley; the transplanting device is used for transporting an awning to the sequential construction trolley or transporting a skylight to the overturning device, and the overturning device is used for overturning the skylight and transporting the skylight to the sequential construction trolley; the bearing block opening device is used for opening the bearing block on the transportation trolley so as to prevent the bearing block from interfering with the transplanting device; the dispatching device is in signal connection with the transplanting device, the overturning device and the bearing block opening device. By arranging the bearing block opening device, opening of the bearing block of the transportation trolley is achieved, automation of the transplanting device and the overturning device in the whole taking-out system is achieved, an operator does not need to independently operate all parts and manually open the bearing block of the transportation trolley, and therefore the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of taking-out systems, and in particular to a taking-out system. Background Art

[0002] With the development of the automobile industry and the increasing demand of consumers for vehicle comfort and aesthetics, panoramic sunroofs and skylight glass are increasingly widely used. However, in the installation production line of panoramic sunroofs and skylight glass, how to efficiently and safely remove the panoramic sunroofs and skylight glass and place them on the Shunjian trolley has become a challenge.

[0003] In the prior art, skylights and awnings are transported to the retrieval system by different transport carts and placed in different retrieval areas. One transport cart is provided with a plurality of storage positions arranged in the vertical direction and separated by supporting blocks. The supporting blocks are rotatably arranged on the transport cart. When the retrieval system takes out the skylight or awning of the upper layer, the supporting blocks need to be manually flipped open to expose the skylight or awning of the lower layer. In this way, the subsequent retrieval system will not interfere with the supporting blocks. Since the flipping of the supporting blocks and the various components in the retrieval system need to be manually operated, the working efficiency is greatly reduced.

[0004] Therefore, it is necessary to provide a new taking-out system to solve the above-mentioned technical problems. Summary of the invention

[0005] The main purpose of the present invention is to provide a take-out system, aiming to improve the technical problem of low operating efficiency of the take-out system in the prior art.

[0006] To achieve the above object, the present invention provides a removal system, comprising:

[0007] Shunjian trolley;

[0008] A positioning device, the positioning device comprising a locking component and two baffles arranged at intervals, the locking component being arranged between the two baffles, the locking component comprising a rotating rod and a first support platform, the rotating rod being rotatably mounted on the first support platform, a groove being formed at one end of the rotating rod away from the first support platform, the groove being used for clamping with the bottom of the transport trolley;

[0009] A transplanting device, the transplanting device comprising a track, a first body and an electric hoist, the first body being slidably mounted on the track, a suction cup being formed at the bottom of the first body, the suction cup being used to absorb a canopy or skylight on the transport trolley, the electric hoist being connected to the top of the first body, and the electric hoist being used to drive the first body to rise or fall;

[0010] A flipping device, wherein the transplanting device is used to transport the canopy to the construction trolley or to transport the skylight to the flipping device, wherein the flipping device comprises a second body and a grasping component connected to each other, wherein the grasping component is used to grasp the skylight on the transplanting device, and the second body is used to drive the grasping component to rotate so as to flip the skylight and transport the skylight to the construction trolley;

[0011] A support block opening device, the support block opening device is used to open the support block on the transport trolley to prevent the support block from interfering with the transplanting device;

[0012] A scheduling device is respectively connected to the transplanting device, the turning device and the supporting block opening device by signals.

[0013] In one embodiment, the transport trolley includes a plurality of supporting blocks rotatably arranged in a vertical direction, the supporting blocks are used to support the skylight or the skylight, the supporting block opening device includes a walking robot, a mechanical gripper and a camera, the mechanical gripper is installed on the walking robot, the camera is arranged on the mechanical gripper, and the camera is used to detect whether the supporting block is open.

[0014] In one embodiment, a QR code is provided on the ground of the taking-out system, and the walking robot is provided with a detection component, which is connected to the walking robot signal, and is used to detect the QR code to stop the walking robot from running.

[0015] In one embodiment, the positioning device also includes a buffer component, which is spaced apart from the locking component, and the buffer component includes an elastic member, a first buffer block, a connecting block, a second support platform and a second buffer block, the first buffer block is installed on the second support platform, the first buffer block is used to abut against the transport trolley, the connecting block is installed on the second support platform, a mounting hole is formed on the connecting block, one end of the elastic member is connected to the bottom of the mounting hole, the elastic member extends out of the mounting hole, the second buffer block is connected to the other end of the elastic member, and the second buffer block is used to abut against the transport trolley.

[0016] In one embodiment, the positioning device further includes an alarm and a limit switch, wherein the limit switch is installed on the second support platform, the limit switch is connected to the alarm signal, and the limit switch can be used to abut against the transport trolley.

[0017] In one embodiment, two moving parts are installed on the first body, each of the moving parts includes a driving motor and a first roller, the cylinder body of the driving motor is installed on the first body, the output shaft of the driving motor is drivingly connected to the first roller, the first roller is used for rolling connection with the track, and the moving directions of the two first rollers are perpendicular to each other.

[0018] In one embodiment, the positioning device also includes a limiting component, the limiting component includes a third support platform and a limiting rod, the limiting rod includes a first connecting section and a second connecting section that are connected to each other, the third support platform is provided with a sleeve extending along the length direction of the baffle, a limiting groove is formed on the sleeve, the second connecting section is slidably installed in the limiting groove, the first connecting section is rotatably and telescopically installed on the sleeve, and the second connecting section can be used to abut against the other end of the transport trolley.

[0019] In one embodiment, the transplanting device also includes two anti-falling components, each of which includes an anti-falling rod, a connecting rod and a telescopic cylinder, the cylinder body of the telescopic cylinder is installed on the first body, a track is formed on the first body, the connecting rod is slidably installed on the track, the extending shaft of the telescopic cylinder is connected to the connecting rod, the anti-falling rod includes a vertical rod and a horizontal rod, the vertical rod and the horizontal rod are vertically connected to each other, the vertical rod is connected to the connecting rod, and the top of the horizontal rod is used to abut against the component to be transported.

[0020] In one embodiment, the gripping component also includes a vacuum generator, a pressure detection sensor and an audible and visual alarm. The vacuum generator is connected to the suction cup. Both the vacuum generator and the audible and visual alarm are connected to the pressure detection sensor signal. The pressure detection sensor is used to detect the current output pressure of the vacuum generator. The audible and visual alarm is used to sound an alarm when the pressure detected by the pressure detection sensor is greater than a preset pressure.

[0021] In one embodiment, the flipping device also includes an angle sensor, which is arranged on the grasping component, and the angle sensor is used to detect the current angle of the grasping component. The second body includes a base and a mechanical arm, and the mechanical arm at least includes a first connecting arm, a second connecting arm and a third connecting arm that are hinged in sequence. The first connecting arm is rotatably installed on the base, the grasping component is rotatably connected to the third connecting arm, and the angle sensor is signal-connected to the mechanical arm.

[0022] In the above scheme, the taking-out system includes a construction trolley, a positioning device, a transplanting device, a flipping device, a support block opening device and a scheduling device; the positioning device includes a locking component and two baffles arranged at intervals, the locking component is arranged between the two baffles, the locking component includes a rotating rod and a first support platform, the rotating rod is rotatably installed on the first support platform, and a groove is formed at one end of the rotating rod away from the first support platform, and the groove is used to engage with the bottom of the transport trolley; the transplanting device includes a track, a first body and an electric hoist, the first body is slidably installed on the track, and a suction cup is formed at the bottom of the first body. The plate is used to absorb the canopy or skylight on the transport trolley, the electric hoist is connected to the top of the first body, and the electric hoist is used to drive the first body to rise or fall; the transplanting device is used to transport the canopy to the construction trolley or to transport the skylight to the flipping device, the flipping device includes a second body and a grasping component connected to each other, the grasping component is used to grasp the skylight on the transplanting device, and the second body is used to drive the grasping component to rotate, so as to flip the skylight and transport the skylight to the construction trolley; the supporting block opening device is used to open the supporting block on the transport trolley, so as to prevent the supporting block from interfering with the transplanting device;The scheduling device is connected to the transplanting device, the turning device and the supporting block opening device by signals. Specifically, the skylight and the canopy are stacked in different transport trolleys, and the taking-out system is provided with a skylight placement area and a canopy placement area. Each skylight placement area and each canopy placement area is provided with a positioning device. The operator pushes the transport trolley to the corresponding area according to the type of components placed on the transport trolley, and then transports the transport trolley between the two baffles, and continues to push the transport trolley toward the locking component. Since the transport trolley is slightly higher than the rotating rod, the rotating rod is rotated toward the ground so that the rotating rod will not interfere with the continued movement of the transport trolley. After moving to the appropriate position, the rotating rod is moved toward the transport trolley so that the rotating rod can move. The groove on the rod is engaged with the bottom of the transport trolley, so that the transport trolley will be locked in the groove, and the trolley cannot be moved out no matter how it is moved. After the operator places all multiple transport trolleys in the corresponding placement area, the operator operates the scheduling device according to the type of component that needs to be taken out. When the type of component to be taken out is a skylight, the scheduling device transmits a signal to the transplanting device, so that the first body will move along the track, so that the first body moves to the skylight placement area and is above a transport trolley with a skylight placed on it, and then the electric hoist drives the first body to descend, so that the suction cup at the bottom of the first body absorbs the skylight on the transport trolley. , then the electric hoist drives the first body to rise, and at the same time drives the skylight to rise, the first body moves along the track, so that the first body moves to the top of the flipping device, and then the electric hoist drives the first body to descend, so that the skylight descends, the second body moves so that the grabbing component is close to the skylight, the grabbing component starts to grab the skylight, and then the second body runs again, so that the grabbing component flips and drives the skylight to flip, when the skylight flips 180 degrees, the second body stops flipping, and then the second body keeps the current flipping state and moves to transport the skylight to the Shunjian trolley; when the type of component to be taken out is a skylight, the scheduling device transmits a signal to the transplanter The first body is moved along the track so that the first body moves to the canopy placement area and is above a transport trolley on which the canopy is placed. Then the electric hoist drives the first body to descend so that the suction cup at the bottom of the first body absorbs the canopy on the transport trolley. Then the electric hoist drives the first body to rise, and at the same time drives the canopy to rise. The first body moves along the track so that the first body moves to the construction trolley, and the canopy is placed in the construction trolley. In this way, the directions of the skylight and the canopy can be kept consistent. In this way, there is no need to adjust the position, direction and angle of the skylight and the canopy during subsequent installation, thereby reducing the difficulty of subsequent operations for operators.After the skylight or awning on the uppermost layer on the transport trolley is taken out, the support block opening device is started by the scheduling system, and the support block opening device moves to the transport trolley that needs to be opened, and the support block used to carry the skylight or awning that has been taken out is rotated to open the support block to expose the skylight or awning on the next layer, and then the support block opening device moves to the original position, so that the subsequent transplanting device will not interfere with the support block; in the present invention, the awning and the skylight can be taken out at the same time and the direction of the skylight can be adjusted through one taking-out system, so that the awning and the skylight placed on the same trolley keep the same direction, thus reducing the number of taking-out systems, thus reducing the number of operators required for the taking-out system, thereby reducing labor costs, and the opening of the support block of the transport trolley is realized by setting the support block opening device, and the transplanting device and the turning device in the entire taking-out system are automated, so that the operator does not need to operate each component separately and manually open the support block of the transport trolley, thus improving the working efficiency. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the structure of an embodiment of a removal system provided by the present invention;

[0025] Figure 2 A schematic structural diagram of another perspective of an embodiment of a retrieval system provided by the present invention;

[0026] Figure 3 A schematic structural diagram of an embodiment of a positioning device provided by the present invention;

[0027] Figure 4 A schematic structural diagram of an embodiment of a position limiting component provided by the present invention;

[0028] Figure 5 A schematic diagram of the connection between a locking component and a buffer component according to an embodiment of the present invention;

[0029] Figure 6 A schematic structural diagram of an embodiment of a transplanting device provided by the present invention;

[0030] Figure 7 A schematic structural diagram of an embodiment of a turning device provided by the present invention;

[0031] Figure 8A schematic diagram of a partial structure of an embodiment of a turning device provided by the present invention;

[0032] Fig. 9 A schematic structural diagram of an embodiment of a support block opening device provided by the present invention.

[0033] Description of Figure Numbers:

[0034] 1000, taking out system; 200, positioning device; 300, transplanting device; 400, turning device; 500, supporting block opening device;

[0035] 1. Locking component; 2. Baffle; 11. Rotating rod; 12. First support platform; 111. Groove; 3. Buffer component; 31. Elastic component; 32. First buffer block; 33. Connecting block; 34. Second support platform; 35. Second buffer block; 13. Driving cylinder; 112. Chamfer; 4. Limit switch; 5. Limit component; 51. Third support platform; 52. Limit rod; 521. First connecting section; 522. Second connecting section; 511. Sleeve; 511a. Limit groove;

[0036] 6. Second body; 61. Base; 62. Robotic arm; 621. First connecting arm; 622. Second connecting arm; 623. Third connecting arm; 7. Grasping component; 63. Angle sensor; 64. Pressure detection sensor;

[0037] 8. first body; 81. suction cup; 9. track; 300a. electric hoist; 82. moving part; 821. driving motor; 822. first roller; 823. roller group; 823a. second roller; 83. anti-drop part; 831. anti-drop rod; 831a. vertical rod; 831b. horizontal rod; 832. connecting rod; 833. telescopic cylinder;

[0038] 500b, walking robot; 500c, mechanical gripper; 500d, camera; 500e, safety radar; 500f, safety touch edge; 500g, emergency stop switch.

[0039] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0042] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] See also Figures 1 to 8The present invention proposes a removal system 1000, including a construction trolley, a positioning device 200, a transplanting device 300, a flipping device 400, a support block opening device 500 and a scheduling device; the positioning device 200 includes a locking component 1 and two baffles 2 arranged at intervals, the locking component 1 is arranged between the two baffles 2, the locking component 1 includes a rotating rod 11 and a first support platform 12, the rotating rod 11 is rotatably installed on the first support platform 12, and a groove 111 is formed at one end of the rotating rod 11 away from the first support platform 12, and the groove 111 is used to engage with the bottom of the transport trolley; the transplanting device 300 includes a track 9, a first body 8 and an electric hoist 300a, the first body 8 is slidably installed on the track 9, and the first body 8 is slidably installed on the track 9. A suction cup 81 is formed at the bottom of the body 8, and the suction cup 81 is used to absorb the canopy or skylight on the transport trolley. The electric hoist 300a is connected to the top of the first body 8, and the electric hoist 300a is used to drive the first body 8 to rise or fall; the transplanting device 300 is used to transport the canopy to the construction trolley or to transport the skylight to the flipping device 400, and the flipping device 400 includes a second body 6 and a grasping component 7 that are connected to each other. The grasping component 7 is used to grasp the skylight on the transplanting device 300, and the second body 6 is used to drive the grasping component 7 to rotate, so as to flip the skylight and transport the skylight to the construction trolley; the supporting block opening device 500 is used to open the supporting block on the transport trolley to prevent the supporting block from interfering with the transplanting device;The scheduling device is connected to the transplanting device 300, the turning device 400 and the supporting block opening device 500 by signals. Specifically, the skylight and the canopy are stacked in different transport trolleys, respectively. The taking-out system 1000 is provided with a skylight placement area and a canopy placement area. Each skylight placement area and each canopy placement area is provided with a positioning device 200. The operator pushes the transport trolley to the corresponding area according to the type of components placed on the transport trolley. The transport trolley is then transported between the two baffles 2, and the transport trolley is continued to be pushed toward the locking component 1. Since the transport trolley is slightly higher than the rotating rod 11, the rotating rod 11 is rotated toward the ground, so that the rotating rod 11 will not interfere with the continued movement of the transport trolley. After moving to a suitable position, the rotating rod 11 is moved toward the transport trolley so that the rotating rod 11 is on the locking component 1. The groove 111 is engaged with the bottom of the transport trolley, so that the transport trolley will be locked in the groove 111, and the trolley cannot be moved out no matter how it is moved. After the operator places all the multiple transport trolleys in the corresponding placement area, the operator operates the scheduling device according to the type of component that needs to be taken out. When the type of component to be taken out is a skylight, the scheduling device transmits a signal to the transplanting device 300, so that the first body 8 will move along the track 9, so that the first body 8 moves to the skylight placement area and is above a transport trolley with a skylight placed, and then the electric hoist 300a drives the first body 8 to descend, so that the suction cup 81 at the bottom of the first body 8 adsorbs the skylight on the transport trolley, and then The electric hoist 300a drives the first body 8 to rise, and at the same time drives the skylight to rise. The first body 8 moves along the track 9, so that the first body 8 moves to the top of the flipping device 400, and then the electric hoist 300a drives the first body 8 to descend, so that the skylight descends, and the second body 6 moves so that the grabbing component 7 is close to the skylight, and the grabbing component 7 starts to grab the skylight, and then the second body 6 runs again, so that the grabbing component 7 is flipped and drives the skylight to flip. When the skylight flips 180 degrees, the second body 6 stops flipping, and then the second body 6 keeps the current flipping state and moves to transport the skylight to the Shunjian trolley; when the type of component to be taken out is a canopy, the scheduling device transmits a signal to the transplanter Device 300, so that the first body 8 will move along the track 9, so that the first body 8 moves to the canopy placement area and is above a transport trolley with the canopy placed, and then the electric hoist 300a drives the first body 8 to descend, so that the suction cup 81 at the bottom of the first body 8 absorbs the canopy on the transport trolley, and then the electric hoist 300a drives the first body 8 to rise, and at the same time drives the canopy to rise, and the first body 8 moves along the track 9, so that the first body 8 moves to the construction trolley, and the canopy is placed in the construction trolley, so that the direction of the skylight and the canopy can be kept consistent, so that there is no need to adjust the position, direction and angle of the skylight and the canopy during subsequent installation, reducing the difficulty of subsequent operation for operators;After the skylight or awning on the uppermost layer of the transport trolley is taken out, the support block opening device 500 is started by the scheduling system, and the support block opening device 500 is moved to the transport trolley that needs to be opened, and the support block used to carry the skylight or awning that has been taken out is rotated to open the support block to expose the skylight or awning of the next layer, and then the support block opening device 500 is moved to the original position, so that the subsequent transplanting device will not interfere with the support block; in this embodiment, the awning and the skylight can be taken out and the direction of the skylight can be adjusted at the same time through one removal system, so that the awning and the skylight placed in the same trolley keep the same direction, thus reducing the number of removal systems, thus reducing the number of operators required for the removal system, thereby reducing labor costs, and the opening of the support block of the transport trolley is realized by setting the support block opening device 500, and the transplanting device 300 and the turning device 400 in the entire removal system are automated, so that the operator does not need to operate each component separately and manually open the support block of the transport trolley, thus improving the working efficiency. ;

[0044] In one embodiment, the transport trolley includes a plurality of supporting blocks arranged to rotate in a vertical direction, the supporting blocks are used to support a skylight or a canopy, the supporting block opening device 500 includes a walking robot 500b, a mechanical gripper 500c and a camera 500d, the mechanical gripper 500c is installed on the walking robot 500b, the camera 500d is arranged on the mechanical gripper 500c, and the camera 500d is used to detect whether the supporting block is opened. Specifically, after the skylight or awning on the uppermost layer on the transport trolley is taken out, the supporting block opening device 500 is started through the scheduling system, and the walking robot 500b moves according to the preset moving route. When the walking robot 500b moves to the transport trolley that needs to be opened, the mechanical gripper 500c is started, and the mechanical gripper 500c grabs the supporting block used to carry the taken out skylight or awning, and rotates the supporting block, so as to flip the supporting block open, exposing the skylight or awning on the next layer of the transport trolley, and the mechanical gripper 500c releases the supporting block, and then the mechanical gripper 500c returns to its original position, and the camera 500d captures the current state of the supporting block and displays the captured The image is compared with the image of the support block flipped and opened preset in the camera 500d. If they are the same or similar, it indicates that the support block has been opened. At this time, the walking robot 500b returns to the original position. If they are far different, the mechanical gripper 500c grabs the support block again and continues to rotate the support block. The camera 500d continues to shoot the current state of the support block until the captured image is the same or similar to the image of the support block flipped and opened preset in the camera 500d, and then the walking robot 500b returns to the original position. The setting of this embodiment can ensure that the support block is fully opened, which can further ensure that the transplanting device will not interfere with the support block.

[0045] In one embodiment, a QR code is provided on the ground of the taking-out system, and the walking robot 500b is provided with a detection component, which is signal-connected to the walking robot 500b and is used to detect the QR code to stop the walking robot 500b from running. Specifically, after the skylight or canopy on the top layer of the transport trolley is taken out, the supporting block opening device 500 is started through the scheduling system, and the walking robot 500b moves according to the preset moving route. When the detection component on the walking robot 500b detects the QR code on the ground, it indicates that the walking robot 500b has moved to the specified position, and the mechanical gripper 500c is started. The mechanical gripper 500c grabs the supporting block used to carry the skylight or canopy that has been taken out, and rotates the supporting block to flip the supporting block open, exposing the skylight or canopy on the next layer of the transport trolley. The mechanical gripper 500c releases the supporting block, and then the mechanical gripper 500c returns to its original position, and then the walking robot 500b returns to its original position. In this embodiment, the precise positioning of the walking robot 500b is achieved through the cooperation of the detection component and the QR code set on the ground.

[0046] Furthermore, the walking robot 500b is also provided with a safety radar 500e, which can detect in real time whether there is a transport trolley in front. If the distance between the walking robot 500b and the transport trolley reaches the warning range, the safety radar 500e will issue an alarm to remind the operator; and the safety radar 500e is connected to the walking robot 500b signal. When the distance between the walking robot 500b and the transport trolley reaches the warning range, the safety radar 500e will transmit the signal to the walking robot 500b, so that the walking robot 500b stops running, which can prevent the walking robot 500b from colliding with the transport trolley.

[0047] Furthermore, the walking robot 500b is also provided with an emergency stop switch 500g, which is connected to the signal of the walking robot 500b. When the operator presses the emergency stop switch 500g, the walking robot 500b can stop running, thereby achieving manual shutdown and greatly improving the safety of the walking robot 500b and the operator.

[0048] Furthermore, the walking robot 500b is also provided with a safety touch edge 500f, which is connected to the walking robot 500b signal. When the safety touch edge 500f detects that someone is approaching or touching, or when the safety touch edge 500f is close to or in contact with the transport trolley, the walking robot 500b will immediately stop running to avoid personal injury or equipment damage. The safety touch edge 500f is usually made of soft material, which can be silicone or rubber, has good elasticity and durability, and can work normally in various environments, including high temperature, low temperature, humid or dusty places. The safety touch edge 500f can reduce the frequency of equipment damage, thereby reducing the cost of maintenance and replacement.

[0049] See also Figure 3 and Figure 5 In one embodiment, the positioning device 200 also includes a buffer component 3, which is spaced apart from the locking component 1. The buffer component 3 includes an elastic member 31, a first buffer block 32, a connecting block 33, a second support platform 34 and a second buffer block 35. The first buffer block 32 is installed on the second support platform 34, and the first buffer block 32 is used to abut against the transport trolley. The connecting block 33 is installed on the second support platform 34. A mounting hole is formed on the connecting block 33. One end of the elastic member 31 is connected to the bottom of the mounting hole, and the elastic member 31 extends out of the mounting hole. The second buffer block 35 is connected to the other end of the elastic member 31, and the second buffer block 35 is used to abut against the transport trolley. When being transported, the transport trolley is transported between the two baffles 2, and the transport trolley is continued to be pushed to move toward the locking component 1 until the transport trolley abuts against the rotating rod 11. Since the trolley is slightly higher than the rotating rod 11, this will drive the end of the rotating rod 11 abutting against the transport trolley to descend toward the ground, and the other end of the rotating rod 11 will rise, and drive the output shaft of the driving cylinder 13 connected to the rotating rod 11 to extend, and the transport trolley will abut against the second buffer block 35, which will compress the elastic member 31, and the elastic member 31 will buffer the pushing force of the operator for the first time. The transport trolley continues to compress the elastic member 31, and when the mounting rod of the transport trolley enters the groove 111, the output shaft of the driving cylinder 13 will return to its original position, the rotating rod 11 will return to its original state, the transport trolley will be locked in the groove 111, and the transport trolley will abut against the first buffer block 32 at the same time, which will buffer the pushing force of the operator for the second time. Through two buffers, the pushing force of the operator can be eliminated as much as possible to prevent the rotating rod 11 from being damaged.

[0050] See also Figures 3 to 5Furthermore, the locking component 1 also includes a driving cylinder 13, the cylinder body of the driving cylinder 13 is installed on the first support platform 12, the middle part of the rotating rod 11 is rotatably installed on the first support platform 12, and one end of the rotating rod 11 is connected to the output shaft of the driving cylinder 13. When transporting, the transport trolley is transported between the two baffles 2, and the transport trolley is continuously pushed toward the locking component 1 until the transport trolley abuts against the rotating rod 11. Since the trolley is slightly higher than the rotating rod 11, the end of the rotating rod 11 abutting against the transport trolley will be driven to descend toward the ground, and the other end of the rotating rod 11 will rise, and drive the output shaft of the driving cylinder 13 connected to the rotating rod 11 to extend. When the mounting rod of the transport trolley enters the groove 111, the output shaft of the driving cylinder 13 will return to its original position, and the rotating rod 11 will When the original state is restored, the transport trolley will be locked in the groove 111, and the transport trolley cannot be moved out no matter how it is moved; when the transport trolley needs to be moved away, the driving cylinder 13 is started, and the extension shaft of the driving cylinder 13 is extended, which will push the rotating rod 11 to rotate, and the movement of the rotating rod 11 with the groove 111 will drop, so that the transport trolley is disengaged from the groove 111, so that the transport trolley can be moved out, and then the driving cylinder 13 is closed, and the output shaft of the driving cylinder 13 is restored to its original state; in this way, automatic locking and loosening can be achieved.

[0051] See also Figure 5 Furthermore, one end of the rotating rod 11 away from the output shaft of the driving cylinder 13 is processed to a chamfer 112, which can further facilitate the mounting rod of the transport trolley to press down the rotating rod 11 to prevent the transport trolley from colliding with the rotating rod 11.

[0052] See also Figure 5 In one embodiment, the positioning device 200 further includes an alarm and a limit switch 4. The limit switch 4 is mounted on the second support platform 34. The limit switch 4 is connected to the alarm signal. The limit switch 4 can be used to abut against the transport trolley. When the transport trolley is engaged in the groove 111, it will also abut against the limit switch 4. Pushing the limit switch 4 to the limit limit indicates that the transport trolley has moved into place. If the limit switch 4 is not pushed to the limit limit, the limit switch 4 will transmit a signal to the alarm, and the alarm will sound an alarm to remind the operator that the logistics trolley is not in place.

[0053] See also Figure 6In one embodiment, two moving parts 82 are installed on the first body 8, and each moving part 82 includes a driving motor 821 and a first roller 822. The cylinder body of the driving motor 821 is installed on the first body 8, and the output shaft of the driving motor 821 is transmission-connected with the first roller 822. The first roller 822 is used for rolling connection with the track 9, and the moving directions of the two first rollers 822 are perpendicular to each other. When the first body 8 needs to move on the track 9, the drive motor 821 is started, and the output shaft of the drive motor 821 rotates. Since the output shaft of the drive motor 821 is connected to the first roller 822 in transmission, the first roller 822 will rotate, and the first roller 822 will move on the track 9 along the extension direction of the track 9, thereby driving the first body 8 to move along the track 9, thereby realizing the movement of the first body 8 in the X direction and the Y direction; in this embodiment, the first roller 822 is directly driven by the drive motor 821, so that the moving speed and position of the transplanting device 300 can be accurately controlled; this structure allows the transplanting device 300 to start or stop the operation quickly, which improves the efficiency of the entire operation process and helps to accurately locate the parts to be transported in a compact space. Using the drive motor 821 to directly drive the roller reduces the intermediate transmission link, simplifies the mechanical structure, reduces the maintenance cost, and may reduce the error caused by mechanical wear. The precise control and rapid response capabilities can help avoid accidental collisions or other potential safety problems.

[0054] See also Figure 6 In one embodiment, the transplanting device 300 further includes two roller groups 823, both of which are rotatably mounted on the first body 8, and both of which are rollingly connected to the track 9. The rotation directions of the two roller groups 823 are perpendicular to each other and are respectively the same as the rotation directions of the two first rollers 822. During the movement of the first body 8, the roller group 823 will also roll along the length direction of the track 9. The roller group 823 can provide additional support points, which helps to improve the overall stability and balance of the transplanting device 300 when moving on the track 9. The roller group 823 can also share the weight of the device and its load, which can effectively reduce the pressure on the first roller 822, reduce the wear rate, and extend the service life of the roller and the track 9. The existence of the roller group 823 helps to better keep the transplanting device 300 moving along the predetermined path of the track 9, reduce the risk of deviation or sliding, and thus improve the overall guiding accuracy and smoothness of operation.

[0055] See also Figure 6 Further, the roller group 823 includes a plurality of second rollers 823a, and the plurality of second rollers 823a are arranged at intervals along the moving direction. Such arrangement of the plurality of second rollers 823a can further improve the carrying capacity.

[0056] See also Figure 6In one embodiment, the positioning device 200 also includes a limiting component 5, the limiting component 5 includes a third support platform 51 and a limiting rod 52, the limiting rod 52 includes a first connecting section 521 and a second connecting section 522 that are connected to each other, the third support platform 51 is provided with a sleeve 511 extending along the length direction of the baffle 2, a limiting groove 511a is formed on the sleeve 511, the second connecting section 522 is slidably installed in the limiting groove 511a, the first connecting section 521 is rotatably and telescopically installed on the sleeve 511, and the second connecting section 522 can be used to abut against the other end of the transport trolley. The second connecting section 522 will be restricted by the limiting groove 511a to prevent the first connecting section 521 from rotating in the sleeve 511 due to the gravity of the second connecting section 522, so that self-locking can be achieved, and the logistics trolley can be moved out.

[0057] See also Figure 6In one embodiment, the transplanting device 300 also includes two anti-falling components 83, each anti-falling component 83 includes an anti-falling rod 831, a connecting rod 832 and a telescopic cylinder 833, the cylinder body of the telescopic cylinder 833 is installed on the first body 8, a track 9 is formed on the first body 8, the connecting rod 832 is slidably installed on the track 9, the extending shaft of the telescopic cylinder 833 is connected to the connecting rod 832, the anti-falling rod 831 includes a vertical rod 831a and a horizontal rod 831b, the vertical rod 831a and the horizontal rod 831b are vertically connected to each other, the vertical rod 831a is connected to the connecting rod 832, and the top of the horizontal rod 831b is used to abut against the component to be transported. When the transplanting device 300 needs to be operated, the extending shafts of the two telescopic cylinders 833 are extended, pushing the connecting rod 832 to move outward, so that the distance between the anti-falling rods 831 on the anti-falling parts 83 arranged on both sides of the first body 8 is the farthest, so that the first body 8 can descend to adsorb the skylight or awning, and the two anti-falling rods 831 will not interfere with the skylight or awning. After the skylight or awning is adsorbed, the first body 8 rises, and then the extending shafts of the two telescopic cylinders 833 are retracted, driving the connecting rod 832 to retract, which will drive the two anti-falling rods 831 to approach each other until the cross bars 831b of the two anti-falling rods 831 are located below the skylight or awning. In this way, if the skylight or awning falls, the skylight or awning will also fall onto the cross bars 831b of the anti-falling rod 831, preventing the skylight or awning from falling to the ground and being damaged.

[0058] In one embodiment, the number of anti-fall rods 831 is at least two, and the two anti-fall rods 831 are arranged at intervals along the length direction of the connecting rod 832. By providing at least two anti-fall rods 831 spaced apart, a wider support area can be provided under the skylight or canopy. Even if one anti-fall rod 831 fails to support properly or fails, the other can still play a protective role to prevent the skylight or canopy from falling directly to the ground and causing damage. The two anti-fall rods 831 arranged at intervals can more evenly disperse the possible falling load, reduce the pressure on a single anti-fall rod 831, thereby reducing the risk of structural failure caused by local overload and improving the stability of the entire system.

[0059] See also Figure 7 and Figure 8In one embodiment, the grasping component 7 further includes a vacuum generator, a pressure detection sensor 64 and an audible and visual alarm. The vacuum generator is connected to the suction cup 81. The vacuum generator and the audible and visual alarm are both connected to the pressure detection sensor 64 by signal. The pressure detection sensor 64 is used to detect the current output pressure of the vacuum generator. The audible and visual alarm is used to sound an alarm when the pressure detected by the pressure detection sensor 64 is greater than the preset pressure. The vacuum generator is connected to the suction cup 81, and the vacuum generator is connected to the pressure detection sensor 64 by signal. The vacuum generator generates negative pressure to enhance the suction force of the suction cup 81 on the surface of the skylight, ensuring that the skylight can be firmly maintained in a predetermined position even during the flipping process, reducing the risk of sliding or falling. Combined with the pressure detection sensor 64, the system can monitor the contact pressure between the suction cup 81 and the skylight in real time. If the actual contact pressure is lower than the set value, indicating that the adsorption is not firm enough, the system can automatically adjust the working state of the vacuum generator to increase the adsorption force, thereby ensuring the reliability of each grasping operation. When the pressure detected by the pressure detection sensor 64 exceeds the preset safety threshold, a signal will be sent to the vacuum generator to stop further adsorption action to avoid damage to the sunroof or other components due to excessive adsorption force. At the same time, the output pressure of the vacuum generator is detected in real time by the pressure detection sensor 64. If the pressure detected by the pressure detection sensor 64 is greater than the preset pressure, the sound and light alarm will be activated in real time, issuing a sound alarm and a light alarm to alert people around and prevent personal injury.

[0060] See also Figure 7 and Figure 8In one embodiment, the flipping device 400 further includes an angle sensor 63, which is arranged on the gripping component 7. The angle sensor 63 is used to detect the angle of the current gripping component 7. The second body 6 includes a base 61 and a mechanical arm 62. The mechanical arm 62 at least includes a first connecting arm 621, a second connecting arm 622 and a third connecting arm 623 which are hinged in sequence. The first connecting arm 621 is rotatably mounted on the base 61. The gripping component 7 is rotatably connected to the third connecting arm 623. The angle sensor 63 is connected to the mechanical arm 62 by signal. By setting the angle sensor 63, the flipping angle of the gripping component 7 is detected in real time, so as to confirm the flipping angle of the sunroof. When it is detected that the flipping angle meets the requirement, the signal is transmitted to the second body 6, so as to stop the flipping in time, which greatly improves the angle adjustment accuracy of the flipping device 400. Through the multi-articulated connecting arm design, a three-section articulated connecting arm is adopted in this embodiment. The mechanical arm 62 can bend and stretch at multiple joints, so as to realize a more complex motion path in three-dimensional space. This provides greater flexibility for operation, so that the flipping device 400 can reach any position in the working area. The multi-arm structure increases the reach and coverage of the robot 62. The articulation between each arm allows the angle and position of each segment to be controlled individually, and combined with feedback mechanisms such as angle sensors 63, precise control of the position and posture of the gripping component 7 can be achieved.

[0061] The above are only exemplary embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A removal system, characterized in that: include: Shunjian trolley; A positioning device, the positioning device comprising a locking component and two baffles arranged at intervals, the locking component being arranged between the two baffles, the locking component comprising a rotating rod and a first support platform, the rotating rod being rotatably mounted on the first support platform, a groove being formed at one end of the rotating rod away from the first support platform, the groove being used for clamping with the bottom of the transport trolley; A transplanting device, the transplanting device comprising a track, a first body and an electric hoist, the first body being slidably mounted on the track, a suction cup being formed at the bottom of the first body, the suction cup being used to absorb a canopy or skylight on the transport trolley, the electric hoist being connected to the top of the first body, and the electric hoist being used to drive the first body to rise or fall; A flipping device, wherein the transplanting device is used to transport the canopy to the construction trolley or to transport the skylight to the flipping device, wherein the flipping device comprises a second body and a grasping component connected to each other, wherein the grasping component is used to grasp the skylight on the transplanting device, and the second body is used to drive the grasping component to rotate so as to flip the skylight and transport the skylight to the construction trolley; A support block opening device, the support block opening device is used to open the support block on the transport trolley to prevent the support block from interfering with the transplanting device; A scheduling device is respectively connected to the transplanting device, the turning device and the supporting block opening device by signals.

2. The take-out system according to claim 1, wherein the transport trolley comprises a plurality of supporting blocks rotatably arranged in a vertical direction, wherein the supporting blocks are used to support the skylight or the canopy, and wherein: The supporting block opening device includes a walking robot, a mechanical gripper and a camera. The mechanical gripper is installed on the walking robot, and the camera is arranged on the mechanical gripper. The camera is used to detect whether the supporting block is opened.

3. The retrieval system according to claim 2, wherein a QR code is provided on the ground of the retrieval system, characterized in that: The walking robot is provided with a detection component, the detection component is connected to the walking robot signal, and the detection component is used to detect the two-dimensional code to stop the walking robot from running.

4. The removal system according to claim 1, characterized in that: The positioning device also includes a buffer component, which is spaced apart from the locking component, and the buffer component includes an elastic member, a first buffer block, a connecting block, a second support platform and a second buffer block, the first buffer block is installed on the second support platform, the first buffer block is used to abut against the transport trolley, the connecting block is installed on the second support platform, a mounting hole is formed on the connecting block, one end of the elastic member is connected to the bottom of the mounting hole, the elastic member extends out of the mounting hole, the second buffer block is connected to the other end of the elastic member, and the second buffer block is used to abut against the transport trolley.

5. The removal system according to claim 4, characterized in that: The positioning device also includes an alarm and a limit switch. The limit switch is installed on the second support platform. The limit switch is connected to the alarm signal. The limit switch can be used to abut against the transport trolley.

6. The removal system according to claim 1, characterized in that: Two moving parts are installed on the first body, each of which includes a driving motor and a first roller. The cylinder of the driving motor is installed on the first body, and the output shaft of the driving motor is drivingly connected to the first roller. The first roller is used for rolling connection with the track, and the moving directions of the two first rollers are perpendicular to each other.

7. The removal system according to claim 1, characterized in that: The positioning device also includes a limiting component, which includes a third support platform and a limiting rod, and the limiting rod includes a first connecting section and a second connecting section connected to each other. The third support platform is provided with a sleeve extending along the length direction of the baffle, and a limiting groove is formed on the sleeve. The second connecting section is slidably installed in the limiting groove, and the first connecting section is rotatably and telescopically installed on the sleeve. The second connecting section can be used to abut against the other end of the transport trolley.

8. The removal system according to claim 1, characterized in that: The transplanting device also includes two anti-falling components, each of which includes an anti-falling rod, a connecting rod and a telescopic cylinder, the cylinder body of the telescopic cylinder is installed on the first body, a track is formed on the first body, the connecting rod is slidably installed on the track, the extending shaft of the telescopic cylinder is connected to the connecting rod, the anti-falling rod includes a vertical rod and a horizontal rod, the vertical rod and the horizontal rod are vertically connected to each other, the vertical rod is connected to the connecting rod, and the top of the horizontal rod is used to abut against the component to be transported.

9. The removal system according to claim 1, characterized in that: The gripping component also includes a vacuum generator, a pressure detection sensor and an audible and visual alarm. The vacuum generator is connected to the suction cup. Both the vacuum generator and the audible and visual alarm are connected to the pressure detection sensor signal. The pressure detection sensor is used to detect the current output pressure of the vacuum generator. The audible and visual alarm is used to sound an alarm when the pressure detected by the pressure detection sensor is greater than a preset pressure.

10. The removal system according to claim 9, characterized in that: The flipping device also includes an angle sensor, which is arranged on the grasping component. The angle sensor is used to detect the current angle of the grasping component. The second body includes a base and a mechanical arm. The mechanical arm at least includes a first connecting arm, a second connecting arm and a third connecting arm hinged in sequence. The first connecting arm is rotatably installed on the base, the grasping component is rotatably connected to the third connecting arm, and the angle sensor is signal-connected to the mechanical arm.

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