Support unstacker

Abstract

The invention discloses a support unstacker which comprises a machine frame, an X-direction translation mechanism, a Z-direction lifting mechanism and an unstacking manipulator, the X-direction translation mechanism is installed on the machine frame, the Z-direction lifting mechanism is installed on the X-direction translation mechanism, the X-direction translation mechanism can drive the Z-direction lifting mechanism to do reciprocating motion in the X direction, and the Z-direction lifting mechanism can drive the Z-direction lifting mechanism to do reciprocating motion in the Z direction. The unstacking mechanical arm comprises an unstacking support, a clamping jaw, an unstacking sliding rail and an unstacking driving device, the unstacking support is installed on the Z-direction lifting mechanism, the Z-direction lifting mechanism can drive the unstacking support to do lifting motion in the Z direction, the unstacking sliding rail and the unstacking driving device are installed on the unstacking support, and the clamping jaw is installed on the unstacking sliding rail. The clamping jaw is installed on the unstacking sliding rail in a sliding mode, the unstacking driving device is connected with the clamping jaw and can drive the clamping jaw to slide on the unstacking sliding rail, and automatic, efficient and accurate unstacking of the steel coil protection frame is achieved. The equipment is simple and scientific in structure, convenient to use, low in cost and suitable for popularization and application.

Description

Technical Field

[0001] The invention relates to the field of steel coil production and transportation equipment, in particular to a steel coil support destacker. Background Art

[0002] Coil guards are primarily used to secure steel coils during transportation, preventing them from rolling or shifting and ensuring safe transport. During the production and transportation of steel coils, coil guards are often required for palletizing and depalletizing. Currently, companies generally use manual labor, which is relatively inefficient. To ensure fast and efficient depalletizing, patent publication number CN118977986A discloses a vision-guided intelligent depalletizer. The device comprises a workbench with a conveyor platform fixed to the front right side of the workbench's upper surface, a pallet platform fixed to the rear end of the workbench's upper surface, an empty pallet reclaimer fixed to the right side of the pallet platform's upper surface, a fixed platform fixed to the front left side of the workbench's upper surface, a robotic arm fixed above the fixed platform, and a clamp fixed to the bottom of the robotic arm. The device is automated through a vision-guided system, which, in conjunction with the robotic arm's clamp, achieves highly precise and flexible depalletizing. However, this device requires high precision from the vision-guided system, which can affect performance if ambient lighting or the stacking of items is poor. Furthermore, the device is relatively expensive, placing a significant financial burden on small businesses. Summary of the Invention

[0003] In order to solve the problems raised by the above background technology, the present invention provides a low-cost and practical bracket destacking machine to solve the problem of time-consuming manual destacking of steel coil protection racks and realize efficient and accurate destacking of steel coil protection racks.

[0004] The technical solution adopted by the present invention to solve its technical problem is: a bracket destacking machine, comprising a frame, an X-direction translation mechanism, a Z-direction lifting mechanism and a destacking robot, wherein the X-direction translation mechanism is installed on the frame, the Z-direction lifting mechanism is installed on the X-direction translation mechanism, the X-direction translation mechanism can drive the Z-direction lifting mechanism to perform reciprocating motion along the X-direction, and the destacking robot comprises a destacking bracket, a clamping claw, a destacking slide rail and a destacking drive device, the destacking bracket is installed on the Z-direction lifting mechanism, the Z-direction lifting mechanism can drive the destacking bracket to perform lifting motion along the Z-direction, the destacking slide rail and the destacking drive device are installed on the destacking bracket, the clamping claw is slidably installed on the destacking slide rail, and the destacking drive device is connected to and can drive the clamping claw to slide on the destacking slide rail, so that the steel coil protection rack is grabbed by the clamping claw to realize automatic, efficient and accurate destacking of the steel coil protection rack.

[0005] Furthermore, the clamping jaw includes a left clamping jaw and a right clamping jaw, the destacking slide rail includes a left destacking slide rail and a right destacking slide rail, the destacking drive device includes a left cylinder and / or a right cylinder, the left destacking slide rail and the right destacking slide rail are symmetrically arranged on both sides of the bottom surface of the destacking bracket, the left clamping jaw and / or the right clamping jaw are respectively slidably installed on the left destacking slide rail and / or the right destacking slide rail, the left cylinder and / or the right cylinder are respectively connected to the left clamping jaw and / or the right clamping jaw, and can drive the left clamping jaw and / or the right clamping jaw to be relatively close or away.

[0006] Furthermore, a left synchronization rod and a right synchronization rod are respectively installed on the left clamping jaw and the right clamping jaw, and a synchronization gear is installed on the destacking bracket. The left synchronization rod and the right synchronization rod are arranged in parallel on both sides of the synchronization gear. One end of the left synchronization rod and the right synchronization rod are respectively connected to the left clamping jaw and the right clamping jaw, and the other end of the left synchronization rod and the right synchronization rod are provided with a rack meshed with the synchronization gear. When the left cylinder (or right cylinder) drives the left clamping jaw (or right clamping jaw) to move, due to the meshing transmission relationship between the synchronization gear and the rack, the right clamping jaw (or left clamping jaw) will be driven to move relatively closer or farther away synchronously.

[0007] Furthermore, the left and right clamping jaws are also provided with position sensors and / or pressure sensors for detecting the position and / or state of the clamping jaws, so as to determine whether the clamping jaws are gripping the steel coil protection frame to be transported.

[0008] Furthermore, the X-axis translation mechanism includes an X-axis slide, an X-axis track, and an X-axis drive device. The X-axis track and the X-axis drive device are mounted on the frame. The X-axis slide is slidably mounted on the X-axis track via rollers. The X-axis drive device is connected to and can drive the X-axis slide to move along the X-axis track. Preferably, the X-axis track is a flat rail, and the X-axis drive device is preferably a motor-driven screw transmission mechanism or a motor-driven rack and pinion transmission mechanism.

[0009] Furthermore, the Z-direction lifting mechanism includes a Z-direction track, a Z-direction roller, and a Z-direction drive device. The Z-direction track and the Z-direction drive device are mounted on the X-direction slide. The Z-direction roller is slidably mounted on the X-direction slide. The Z-direction roller is connected to the destacking bracket. The Z-direction drive device is connected to and can drive the Z-direction slide to move up and down along the Z-direction track. The Z-direction drive device includes a Z-direction drive cylinder, a Z-direction gear, and a Z-direction rack. The Z-direction rack is mounted on the Z-direction slide, and the Z-direction gear and the Z-direction rack are meshed. The Z-direction drive cylinder is a rotary cylinder. The Z-direction drive cylinder is connected to the Z-direction gear to rotate, thereby driving the Z-direction rack and the Z-direction slide to move up and down.

[0010] Furthermore, in order to ensure the guidance and stability of the transmission and protect the equipment pipelines, the Z-direction lifting mechanism also includes a tank chain, and the two ends of the tank chain are respectively connected to the Z-direction roller and the X-direction slide.

[0011] Furthermore, the frame includes a left column, a right column and a crossbeam, the two ends of the crossbeam are connected to the top ends of the left column and the right column, the X-axis translation mechanism is installed on the crossbeam, and the left column or the right column is provided with an inspection ladder leading to the crossbeam.

[0012] The beneficial effects of the present invention are: the device has a simple and scientific structure, is easy to use, is low-cost, and is suitable for widespread application. By providing a destacking robot, the steel coil protection rack can be stably destacking and grasping. By providing a Z-axis lifting mechanism and an X-axis translation mechanism, used in conjunction with sensors, the destacking robot can be accurately moved to the operating position to clamp the steel coil protection rack, solving the time-consuming problem of existing manual destacking of steel coil protection racks and achieving efficient and accurate destacking of steel coil protection racks. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0014] Figure 2 It is a schematic structural diagram of the X-direction translation mechanism and the Z-direction lifting mechanism of the present invention;

[0015] Figure 3 It is a schematic structural diagram of the depalletizing robot of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described below with reference to the following examples. It should be noted that these specific examples are only representative examples of the present invention, wherein the specific methods, devices, conditions, materials, etc. exemplified are not intended to limit the present invention or the corresponding specific examples.

[0017] A bracket destacking machine, such as Figure 1-Figure 3As shown, it includes a frame 4, an X-axis translation mechanism 3, a Z-axis lifting mechanism 2, and a destacking robot 1. The frame 4 is composed of a left column, a right column, and a crossbeam. The ends of the crossbeam connect the tops of the left and right columns to form a gantry structure. The lower part of the crossbeam forms a working area for placing the steel coil protection rack. The X-axis translation mechanism 3 is mounted on the crossbeam. The X-axis translation mechanism 3 includes an X-axis slide 30, an X-axis track 32, and an X-axis drive device 33. The X-axis track 32 and the X-axis drive device 33 are mounted on the frame 4. The X-axis slide 30 is slidably mounted on the X-axis track 32 via rollers 31. The X-axis drive device 33 is connected to and can drive the X-axis slide 30 to move left and right along the X-axis track. The Z-direction lifting mechanism 2 includes a Z-direction rail 25, a Z-direction roller 20 and a Z-direction drive device. The Z-direction drive device 21 is installed on the X-direction slide 30. The Z-direction rail 24 is installed on the Z-direction roller 20. The X-direction slide 30 is provided with a roller seat 25 that cooperates with the Z-direction rail 24. The Z-direction rail 25 and the roller seat 25 are both "V"-shaped. The Z-direction roller 20 is installed on the X-direction slide 30 and can slide up and down through the Z-direction rail 25 and the roller seat 25. The Z-direction drive device is connected and can drive the Z-direction slide 20 to move up and down along the Z-direction rail. The destacking robot 1 includes a destacking bracket 10, a clamping jaw 11, a destacking slide 15, and a destacking drive 14. The destacking bracket 10 is mounted at the lower end of the Z-axis roller 20. The destacking slide 15 and the destacking drive 14 are mounted on the destacking bracket 10. The clamping jaw 11 is slidably mounted on the destacking slide 15. The destacking drive 14 is connected to and can drive the clamping jaw 11 to slide on the destacking slide 15. The destacking robot 1 is brought to a designated position by the Z-axis lifting mechanism 2 and the X-axis translation mechanism 3. The destacking drive 14 drives the clamping jaw 11 to extend and clamp, completing the clamping of the steel coil protection rack, thereby achieving efficient and precise automated destacking and handling of the steel coil protection rack.

[0018] Furthermore, in this embodiment, the X-direction track 32 preferably adopts a flat rail, and the X-direction drive device 33 preferably adopts a gear rack transmission mechanism driven by a motor. It can also adopt a motor-driven screw transmission mechanism or a linear motion drive device such as a cylinder or a hydraulic cylinder or an electric telescopic rod mechanism. In this embodiment, the X-direction drive device 33 adopts a 3-in-1 drive motor (motor + reducer) to drive the gear rack transmission mechanism.

[0019] Furthermore, in this embodiment, the Z-direction driving device includes a Z-direction driving cylinder 21, a Z-direction gear 22 and a Z-direction rack 23. The Z-direction rack 23 is installed on the Z-direction slide 20, and the Z-direction gear 22 and the Z-direction rack 23 are meshed. The Z-direction driving cylinder 21 adopts a rotary cylinder. The Z-direction driving cylinder 21 is connected to the Z-direction gear 22 to rotate, thereby driving the Z-direction rack 23 and the Z-direction slide 20 to move up and down.

[0020] Furthermore, in order to ensure the guidance and stability of the transmission and protect the equipment pipelines, the Z-direction lifting mechanism also includes a tank chain, and the two ends of the tank chain are respectively connected to the Z-direction roller 20 and the X-direction slide 30.

[0021] Furthermore, in this embodiment, the clamping jaw 11 includes a left clamping jaw and a right clamping jaw, and the left clamping jaw and the right clamping jaw are in an "L" shape. The left clamping jaw and the right clamping jaw have hook portions for clamping the steel coil protection frame. The destacking slide rail 15 includes a left destacking slide rail and a right destacking slide rail. The destacking drive device 14 includes a left cylinder and / or a right cylinder. The left destacking slide rail and the right destacking slide rail are symmetrically arranged on both sides of the bottom surface of the destacking bracket 10. The left clamping jaw and / or the right clamping jaw are respectively slidably installed on the left destacking slide rail and / or the right destacking slide rail. The left cylinder and / or the right cylinder are respectively connected to the left clamping jaw and / or the right clamping jaw, and can drive the left clamping jaw and / or the right clamping jaw to be relatively close to or away from each other. A left synchronization rod and a right synchronization rod 13 are also installed on the left clamping jaw and the right clamping jaw respectively, and a synchronization gear 12 is installed on the destacking bracket 10. The left synchronization rod and the right synchronization rod 13 are arranged in parallel on the front and rear sides of the synchronization gear 12. One end of the left synchronization rod and the right synchronization rod 14 are connected to the left clamping jaw and the right clamping jaw respectively, and the other end of the left synchronization rod and the right synchronization rod 14 is provided with a rack engaged with the synchronization gear 12. When the left cylinder (or right cylinder) drives the left clamping jaw (or right clamping jaw) to move, due to the meshing transmission relationship between the synchronization gear and the rack, the right clamping jaw (or left clamping jaw) will be driven to move relatively closer or farther away synchronously.

[0022] Furthermore, the left and right clamping jaws are provided with position sensors 16 and / or pressure sensors for detecting the position and / or state of the clamping jaws, so as to determine whether the clamping jaws are gripping the steel coil protection frame to be transported.

[0023] Furthermore, the left column or the right column is provided with an inspection ladder leading to the crossbeam.

[0024] When this solution is in use, after the destacking machine receives the signal, the X-direction translation mechanism 3 moves along the X-direction track 32, driving the Z-direction lifting mechanism 2 to move above the steel coil protection frame, and the Z-direction driving cylinder 21 drives the Z-direction gear 22 to rotate, thereby driving the Z-direction rack 23 to move up and down, so that the Z-direction slide 20 descends by relying on the Z-direction track 25 and the roller seat 25, driving the destacking robot 1 to reach the designated position, and the grasping part of the robot adopts a clamping method, and controls the clamping and loosening of the gripper by extending and retracting the claw cylinder 14, so that the claw 11 grabs the steel coil protection frame and transports it to the designated position, completing the destacking process.

[0025] The X-direction translation mechanism 3 of this solution adopts a flat rail track and roller box structure. The flat rail track design can withstand large heavy loads and achieve high-speed, smooth linear motion. The roller box can adjust the roller spacing to adapt to more working conditions. Compared with the traditional guide rail slider structure, it is self-cleaning, dust-resistant, and high-temperature resistant, solving the problem of the short service life of the traditional transmission method working in high-load harsh environments. The Z-direction lifting mechanism 2 adopts a V-shaped track and V-shaped roller structure. The two surfaces have good profile consistency, which enables the roller to roll smoothly when running on the track, thereby significantly reducing the noise during operation. Due to the V-shaped design, there are no high requirements for its installation accuracy, and the V-shaped roller can scrape off dust, chips and other impurities on the track surface when moving, keeping the track clean, with a longer service life and faster movement speed. This solution also provides a gear rack transmission structure to cooperate with the heavy-duty load-bearing X-direction track 32 to provide power, greatly improving the transmission efficiency and the accuracy of motion control. It has a high load-bearing capacity, allowing the destacker to adapt to complex working conditions.

[0026] The above description is only a preferred embodiment of the present invention and should not be used to limit the scope of implementation of the present invention. In other words, any simple equivalent changes and modifications made according to the scope of the patent application and the content of the invention description are still within the scope of the patent of the present invention.

Claims

1. A bracket destacker, characterized in that: It includes a frame, an X-direction translation mechanism, a Z-direction lifting mechanism and a destacking robot, the X-direction translation mechanism is installed on the frame, the Z-direction lifting mechanism is installed on the X-direction translation mechanism, the X-direction translation mechanism can drive the Z-direction lifting mechanism to perform reciprocating motion, the destacking robot includes a destacking bracket, a clamping claw, a destacking slide rail and a destacking drive device, the destacking bracket is installed on the Z-direction lifting mechanism, the Z-direction lifting mechanism can drive the destacking bracket to perform lifting motion, the destacking slide rail and the destacking drive device are installed on the destacking bracket, the clamping claw is slidably installed on the destacking slide rail, and the destacking drive device is connected to and can drive the clamping claw to slide on the destacking slide rail.

2. A bracket destacker according to claim 1, characterized in that: The clamping jaw includes a left clamping jaw and a right clamping jaw, the destacking slide rail includes a left destacking slide rail and a right destacking slide rail, the destacking drive device includes a left cylinder and / or a right cylinder, the left destacking slide rail and the right destacking slide rail are symmetrically arranged on both sides of the bottom surface of the destacking bracket, the left clamping jaw and / or the right clamping jaw are respectively slidably installed on the left destacking slide rail and / or the right destacking slide rail, the left cylinder and / or the right cylinder are respectively connected to the left clamping jaw and / or the right clamping jaw, and can drive the left clamping jaw and / or the right clamping jaw to move relatively closer or farther away.

3. A bracket destacker according to claim 2, characterized in that: A left synchronization rod and a right synchronization rod are respectively installed on the left clamping jaw and the right clamping jaw, and a synchronization gear is installed on the destacking bracket. The left synchronization rod and the right synchronization rod are arranged in parallel on both sides of the synchronization gear. One end of the left synchronization rod and the right synchronization rod are respectively connected to the left clamping jaw and the right clamping jaw, and the other end of the left synchronization rod and the right synchronization rod are provided with a rack engaged with the synchronization gear.

4. A bracket destacker according to claim 1, characterized in that: The left clamping jaw and the right clamping jaw are also provided with a position sensor and / or a pressure sensor.

5. The bracket destacker according to claim 1, characterized in that: The X-direction translation mechanism includes an X-direction slide, an X-direction track and an X-direction drive device. The X-direction track and the X-direction drive device are installed on the frame. The X-direction slide is slidably installed on the X-direction track through rollers. The X-direction drive device is connected to and can drive the X-direction slide to move along the X-direction track.

6. A bracket destacker according to claim 5, characterized in that: The X-direction track adopts a flat track.

7. A stent destacker according to claim 5 or 6, characterized in that: The X-axis driving device adopts a motor-driven screw mechanism or a motor-driven rack and pinion transmission mechanism.

8. The bracket destacker according to claim 1, characterized in that: The Z-direction lifting mechanism includes a Z-direction track, a Z-direction roller and a Z-direction drive device. The Z-direction track and the Z-direction drive device are installed on the X-direction slide. The Z-direction roller is slidably installed on the X-direction slide. The Z-direction roller is connected to the destacking bracket. The Z-direction drive device is connected to and can drive the Z-direction slide to move up and down along the Z-direction track.

9. The support destacker according to claim 8, characterized in that: The Z-direction drive device includes a Z-direction drive cylinder, a Z-direction gear and a Z-direction rack. The Z-direction rack is installed on the Z-direction slide, and the Z-direction gear and the Z-direction rack are meshed. The Z-direction drive cylinder adopts a rotary cylinder. The Z-direction drive cylinder is connected to the Z-direction gear to rotate, thereby driving the Z-direction rack and the Z-direction slide to rise and fall.

10. The bracket destacker according to claim 1, characterized in that: The frame includes a left column, a right column and a crossbeam, the two ends of the crossbeam are connected to the top ends of the left column and the right column, the X-axis translation mechanism is installed on the crossbeam, and the left column or the right column is provided with an inspection ladder leading to the crossbeam.

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