Single-station unstacking equipment

Abstract

The invention belongs to the technical field of unstacking equipment, and particularly relates to single-station unstacking equipment which comprises a feeding roller line, a first discharging roller line, a second discharging roller line, a discharging conveying line and an unstacking robot. An actuator is mounted at the tail end of the unstacking robot and comprises a mounting rod, a suction cup and positioning guide rods are mounted on the mounting rod, the positioning guide rods are symmetrically mounted on the left side and the right side of the suction cup, and the tail ends of the positioning guide rods make contact with the side face of a workpiece. An electromagnet is installed at the tail end of the positioning guide rod, and magnetic attraction exists between the electromagnet and a workpiece. The positioning guide rod is a telescopic rod, and the suction cup sucks and grabs the side face of a workpiece. The positioning device is simple in structure, and during horizontal adsorption positioning, the positioning guide rods are used for positioning and guiding the positions of workpieces and adjusting the positions of the deviated workpieces, so that the positions of a row of workpieces are accurate, and it is guaranteed that the workpieces are firmly adsorbed and fixed by the unstacking robot.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unstacking equipment, in particular to a single-station unstacking equipment. BACKGROUND

[0002] Unstacking is a verb corresponding to stacking, and unstacking is to split the stacked materials one by one, such as in the production process, in order to improve the workpiece turnover efficiency, such as workpieces in the shape of a cylinder or a pot, which are generally stacked in multiple layers by stacking and then transported for turnover, in the process, the workpieces need to be placed on a tray and stacked in multiple layers, when the workpieces need to be transported to the subsequent station, the multi-layer tray is then split layer by layer by the unstacking equipment and placed on the conveying line, and then the workpieces arriving at the station are fed by the feeding machine and subjected to subsequent processing; In the process of unstacking the pot-shaped workpieces, a whole row of suction suction cups grippers is usually installed on the manipulator, so that the manipulator can unstack one row of pots at a time and place them on the conveying line, and the distance between the pots is pulled apart by differential speed, and then the pots are fed by the feeding machine or turned over by the turning mechanism or subjected to other processing after reaching the station; At the same time, since the pots on the tray are prone to positional errors when stacked, the multi-layer tray after stacking is prone to positional errors when being transported by a forklift, and the manipulator touching the workpieces during unstacking can also cause the workpieces to move and generate positional errors, which can cause the suction cups to not fully contact some of the pots during the suction and gripping of the whole row of suction cups grippers, and the suction force of the suction cups cannot meet the suction and gripping requirements, which can cause the pots to slip and fall during unstacking, causing damage to the surface of the fallen pots and affecting the normal operation of the unstacking equipment. SUMMARY

[0003] In order to make up for the shortcomings of the prior art, the position of the workpiece is positioned and guided, so that the position of the row of workpieces is accurate, and the unstacking robot can stably and safely suction and grip one row of workpieces at a time to successfully complete unstacking, the present application proposes a single-station unstacking equipment.

[0004] The technical solution adopted by the present application to solve its technical problems is: the single-station unstacking equipment according to the present application comprises a feeding roller line, a first unloading roller line, a second unloading roller line, an unloading conveying line and an unstacking robot. The full workpiece tray is lifted and transplanted onto the first unloading roller line by the feeding roller line, the full workpiece tray is buffered by the feeding roller line and the first unloading roller line, the workpieces on the full workpiece tray are transferred to the unloading conveying line by the unstacking robot, the partition plates on the full workpiece tray are transferred to the second unloading roller line by the unstacking robot, and the empty tray is discharged by the first unloading roller line. The end of the unstacking robot is provided with an executor, the executor comprises a mounting rod, a suction cup and a positioning guide rod are mounted on the mounting rod, the suction cup is communicated with an air source outside, the positioning guide rods are symmetrically mounted on the left and right sides of the suction cup, and the ends of the positioning guide rods are in contact with the side surface of the workpiece. An electromagnet is mounted on the end of the positioning guide rod, and magnetic attraction exists between the electromagnet and the workpiece. The positioning guide rod is a telescopic rod, the suction cup first horizontally adsorbs and positions the workpiece, and then vertically adsorbs and grabs the workpiece.

[0005] Preferably, the positioning guide rod is slidingly mounted on the mounting cylinder, and a spring is mounted between the positioning guide rod and the mounting cylinder. The mounting cylinder is mounted on the mounting rod, a buffer sleeve is mounted on the mounting cylinder, the buffer sleeve is located at the connection between the mounting cylinder and the mounting rod, an elastic rod is mounted on one end of the mounting cylinder in the mounting rod, and the other end of the elastic rod is connected to the inside of the mounting rod through a fixed plate.

[0006] Preferably, a position sensor is mounted in the mounting cylinder, and the position sensor detects the position of the positioning guide rod in the mounting cylinder. The elastic force required for the spring to be elastically deformed is smaller than the static friction force that the workpiece receives on the tray.

[0007] Preferably, an included angle exists between the symmetric positioning guide rods, the distance between the ends of the positioning guide rods close to the workpiece is greater than the distance between the ends of the positioning guide rods close to the mounting rod, and the distance between the ends of the positioning guide rods close to the workpiece is less than or equal to the diameter of the workpiece.

[0008] Preferably, the mounting rod is obliquely mounted at the end of the unstacking robot, and the positioning guide rods and the suction cup on one end of the mounting rod first contact the workpiece on the full workpiece tray. The suction cups on the mounting rod are respectively controlled by independent electromagnetic valves, and the suction cups on the mounting rod are sequentially negatively adsorbed.

[0009] Preferably, an arc surface is formed on the side surface of the end of the positioning guide rod close to the workpiece, the arc surface and the shape of the side surface of the workpiece are matched with each other, a rubber layer is mounted on the surface of the arc surface, and a grid groove is formed in the rubber layer. The working surface of the electromagnet and the side of the rubber layer facing the arc surface are in contact with each other.

[0010] Preferably, the surface of the rubber layer is roughened.

[0011] Preferably, a cavity is provided in the positioning guide rod, and a blowing hole is provided on the surface of the positioning guide rod, wherein the blowing hole is connected to an external air source through the cavity, and the outlet direction of the blowing hole is toward the suction cup; The suction cup first blows air under positive pressure and then absorbs under negative pressure, and the blowing hole blows air before the suction cup.

[0012] The beneficial effects of the present invention are as follows: 1. The single-station depalletizing device of the present invention is provided with a mounting rod, a positioning guide rod and a suction cup. When the depalletizing robot drives the suction cup to first horizontally adsorb and position the workpiece, the suction cup and the positioning guide rod gradually approach the side of the workpiece in the horizontal direction. For workpieces with a large position deviation, the positioning guide rod will generate a lateral force on the workpiece as the suction cup gradually approaches the workpiece, thereby moving the workpiece so that the position of the workpiece is accurately restored and the suction cup is facing the side of the workpiece. Afterwards, the depalletizing robot continues to drive the suction cup to contact and slightly push the workpiece so that the positions of a row of workpieces are all accurate and the center points of the workpieces are all located in the same straight line. Afterwards, when the depalletizing robot drives the suction cup to vertically adsorb and fix the workpiece, the suction cup and the positioning guide rod gradually approach the workpiece in the vertical direction so that the suction cup adsorbs and fixes the center point of the inner bottom surface of the workpiece, thereby ensuring that the suction cup has a good adsorption and fixing effect on the workpiece, avoiding the situation in which the depalletizing robot does not adequately adsorb and fix some workpieces during the depalletizing process, or the workpiece is fixed by the suction cup at an eccentric point, causing the workpiece to slip or fall off, affecting the smooth depalletizing process.

[0013] 2. The single-station destacking equipment described in the present invention, by arranging a positioning guide rod, an electromagnet, a mounting tube, an elastic rod, a buffer sleeve, and a rubber layer, makes the end of the positioning guide rod tightly adhere to the side of the workpiece under the action of the electromagnet, ensuring that the positioning guide rod has a good positioning and guiding effect on the workpiece, so that the position of the workpiece is accurate. At the same time, the friction between the workpiece and the positioning guide rod is increased to prevent the positioning guide rod from sliding across the surface of the workpiece, affecting the function of the positioning guide rod, and further maintaining the clamping effect on the workpiece during the destacking and transfer process, further ensuring the stability and safety of the workpiece during destacking and transfer, and preventing the workpiece from falling. At the same time, when the suction cup vertically absorbs and grasps the workpiece, the rubber layer on the curved surface can prevent the positioning guide rod from colliding or scratching the upper edge of the pot workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below with reference to the accompanying drawings.

[0015] Figure 1 is a perspective view of the destacking device of the present invention; Figure 2 It is a three-dimensional diagram of a depalletizing robot in the depalletizing equipment of the present invention; Figure 3is a position schematic view of the de-stacking robot of the de-stacking equipment of the application for horizontal suction positioning of a row of workpieces; Figure 4 is a position schematic view of the de-stacking robot of the de-stacking equipment of the application for vertical suction positioning of a row of workpieces; Figure 5 is a structural schematic view of the installation rod, the positioning guide rod and the suction cup in the de-stacking equipment of the application; Figure 6 is a structural schematic view of the positioning guide rod in the de-stacking equipment of the application; In the figure: the feeding roller line 1, the first discharging roller line 11, the second discharging roller line 12, the discharging conveying line 13, the tray 14, the partition plate 15, the pot body 16, the de-stacking robot 2, the fixed seat 21, the installation rod 3, the positioning guide rod 4, the installation cylinder 41, the elastic rod 411, the buffer sleeve 412, the fixed plate 413, the electromagnet 42, the rubber layer 43, the air blowing hole 44, the suction cup 5. DETAILED DESCRIPTION

[0016] In order to make the technical means, creative features, purposes and effects realized by the application easy to understand, the application is further described below in combination with specific embodiments.

[0017] As shown in Figures 1 to 6 The single-station de-stacking equipment of the application comprises a feeding roller line 1, a first discharging roller line 11, a second discharging roller line 12, a discharging conveying line 13 and a de-stacking robot 2. The feeding roller line 1 lifts and transplants the full workpiece tray 14 to the first discharging roller line 11, the feeding roller line 1 and the first discharging roller line 11 buffer the full workpiece tray 14, the de-stacking robot 2 transfers the workpieces on the full workpiece tray 14 to the discharging conveying line 13, the de-stacking robot 2 transfers the partition plate 15 on the full workpiece tray 14 to the second discharging roller line 12, and the first discharging roller line 11 discharges the empty tray 14. The de-stacking robot 2 is provided with an effector at the end, the effector comprises an installation rod 3, the installation rod 3 is provided with a suction cup 5 and a positioning guide rod 4, the suction cup 5 is in communication with the air source outside, the positioning guide rod 4 is symmetrically installed on the left and right sides of the suction cup 5, and the end of the positioning guide rod 4 is in contact with the side surface of the workpiece. The end of the positioning guide rod 4 is provided with an electromagnet 42, and there is a magnetic attraction force between the electromagnet 42 and the workpiece. The positioning guide rod 4 is a telescopic rod, the suction cup 5 first performs horizontal suction positioning on the workpiece and then performs vertical suction grabbing on the workpiece. It is stipulated that the end of the loading roller line 1 away from the conveyor line is its starting end, and the end of the unloading roller line 11 and the unloading roller line 2 12 close to the conveyor line is its starting end; the depalletizing robot 2 is installed on the ground through the fixed base 21; During operation, the full workpiece pallet 14 filled with workpieces is transferred to the starting end of the loading roller line 1 by an AGV or a forklift. After that, the full workpiece pallet 14 is moved to the end of the loading roller line 1. After that, the full workpiece pallet 14 is lifted and transferred from the end of the loading roller line 1 to the starting end of the unloading roller line 11, so that the full workpiece pallet 14 is buffered at the starting ends of the loading roller line 1 and the unloading roller line 11. Afterwards, the depalletizing robot 2 depalletizes the full workpiece pallet 14 at the starting end of the unloading roller line 11. During the process, the workpiece is transferred to the unloading conveyor line 13 so that the workpiece can be moved and subsequently processed. At the same time, after the full workpiece pallet 14 at the starting end of the unloading roller line 11 is depalletized, the empty pallet 14 is transferred from the starting end of the unloading roller line 11 to the end and taken away by an AGV or a forklift. At the same time, the full workpiece pallet 14 cached at the end of the loading roller line 1 is lifted and transferred to the starting end of the unloading roller line 11, waiting for subsequent depalletizing. At the same time, when the depalletizing robot 2 is depalletizing, the partition 15 for isolating each layer of workpieces on the full workpiece pallet 14 is transferred by the depalletizing robot 2 to the starting end of the unloading roller line 2 12. Thereafter, the partition 15 is transferred from the starting end of the unloading roller line 2 12 to the end of the unloading roller line 2 12 and is taken away by an AGV or a forklift. The suction cup 5 is used to adsorb and grasp the plastic or wooden partition 15, thereby avoiding the problem that the electromagnet 42 cannot adsorb and grasp the partition 15 and cannot be used universally, and avoiding the problem that when the workpiece is skewed or offset, the gap between the electromagnet 42 and the workpiece is too large, which makes it easy for the electromagnet 42 to adsorb and grasp the workpiece unstable or unable to adsorb and grasp the workpiece. At the same time, the length of the positioning guide rod 4 after contraction is less than the length of the suction cup 5, so that the suction cup 5 can adsorb and grasp the partition 15 and the workpiece. During the depalletizing process, the end of the depalletizing robot 2 gradually approaches the workpiece on the full workpiece pallet 14, that is, the pot body 16. During this process, when performing horizontal adsorption positioning, the suction cup 5 and the positioning guide rod 4 approach the side of the workpiece in the horizontal direction. The end of the positioning guide rod 4 will first contact the side of the workpiece. Since the positioning guide rod 4 is symmetrically installed on the left and right sides of the suction cup 5: When the workpieces in a row are all placed accurately on the tray 14, the ends of the two symmetrical positioning guide rods 4 will just contact the surface of the workpieces as the suction cups 5 contact the side surface of the workpieces, and the positioning guide rods 4 will gradually contract so that the positioning guide rods 4 will not push the workpieces to move, then the suction cups 5 contact the side surface of the workpieces, and the controller judges the accurate and stable contact between the suction cups 5 and the side surface of the workpieces according to the change of the suction pressure of the suction cups 5, so as to fully adsorb and position the workpieces, so that the subsequent unstacking robot 2 can stably and safely adsorb and grasp a row of pot bodies 16 at a time, and ensure the smooth unstacking; When the workpieces in a row are all placed accurately on the tray 14, the ends of the two symmetrical positioning guide rods 4 will just contact the surface of the workpieces as the suction cups 5 contact the side surface of the workpieces, and the positioning guide rods 4 will gradually contract so that the positioning guide rods 4 will not push the workpieces to move, then the suction cups 5 contact the side surface of the workpieces, and the controller judges the accurate and stable contact between the suction cups 5 and the side surface of the workpieces according to the change of the suction pressure of the suction cups 5, so as to fully adsorb and position the workpieces, so that the subsequent unstacking robot 2 can stably and safely adsorb and grasp a row of pot bodies 16 at a time, and ensure the smooth unstacking; At the same time, when vertically adsorbing and fixing, the suction cups 5 and the positioning guide rods 4 first move away from the workpieces in the horizontal direction, and the unstacking robot moves the suction cups 5 and the positioning guide rods 4 to approach the bottom surface in the workpieces in the vertical direction, so that the suction cups 5 adsorb and fix the center point on the bottom surface of the workpieces, and the positioning guide rods 4 contact and are compressed by the upper edge of the workpieces, so that a row of workpieces can be stably adsorbed and fixed, avoiding the instability of adsorption and fixation due to the deviation of the position of the workpieces, and avoiding the eccentricity of the workpieces when being adsorbed and fixed, so as to ensure that the pot bodies 16 are stable and balanced when the unstacking robot 2 transfers a row of pot bodies 16, and ensure the smooth unstacking; Meanwhile, when the positioning guide rod 4 contacts the workpiece during horizontal adsorption positioning, the controller controls the electromagnet 42 to work, so that the end of the positioning guide rod 4 is tightly adsorbed on the side of the pot body 16, and when the positioning guide rod 4 generates a lateral force on the workpiece, it is ensured that the workpiece is pushed rather than the positioning guide rod 4 slides along the surface of the workpiece. When the unstacking robot slightly pushes the workpiece along the horizontal direction by driving the suction cup 5, the workpiece is attracted and limited by the electromagnet 42, so that the workpieces in a row are pushed in the same direction after contacting the suction cup 5, avoiding deviation and affecting the adjustment and accurate positioning of the workpiece. Meanwhile, when the unstacking robot 2 adsorbs and grabs a row of pot bodies 16 for unstacking, when the positioning guide rod contacts the upper edge of the workpiece during vertical adsorption fixation, the magnetic attraction force of the electromagnet 42 can further improve the adsorption and grabbing firmness of the unstacking robot 2 on the pot body 16, avoid the pot body 16 from shaking or falling during the transfer process, and ensure the smooth unstacking.

[0018] As an embodiment of the present application, the positioning guide rod 4 is slidingly installed on the mounting cylinder 41, and a spring is installed between the positioning guide rod 4 and the mounting cylinder 41. The mounting cylinder 41 is installed on the mounting rod 3, a buffer sleeve 412 is installed on the mounting cylinder 41, the buffer sleeve 412 is located at the connection between the mounting cylinder 41 and the mounting rod 3, an elastic rod 411 is installed on one end of the mounting cylinder 41 inside the mounting rod 3, and the other end of the elastic rod 411 is connected to the inside of the mounting rod 3 through a fixed plate 413. Because the buffer sleeve 412 is installed at the connection between the mounting cylinder 41 and the mounting rod 3, and the mounting cylinder 41 is connected to the inside of the mounting rod 3 through the elastic rod 411, the mounting cylinder 41 can slightly swing relative to the mounting rod 3 when subjected to external force. Therefore, during horizontal adsorption positioning, when the positioning guide rod 4 contacts the side of the workpiece or the positioning guide rod 4 generates a lateral force on the workpiece, the positioning guide rod 4 can be fully attached to the side of the workpiece, ensuring close contact between the end of the positioning guide rod 4 and the workpiece, improving the positioning guide effect of the positioning guide rod 4 on the workpiece, and ensuring the accurate position of the workpiece and the adsorption positioning of the suction cup 5 on the side of the workpiece; At the same time, since the mounting cylinder 41 is connected to the mounting rod 3 through the elastic rod 411 and the buffer sleeve 412, relative swing can occur between the mounting cylinder 41 and the mounting rod 3, so that when the end of the positioning guide rod 4 contacts the workpiece, there is a buffer between the two, thereby avoiding the relatively fast running speed of the destacking robot 2, resulting in a collision between the positioning guide rod 4 and the workpiece, affecting the guiding and positioning effect of the workpiece and causing the workpiece to be displaced, affecting the adsorption and positioning effect of the destacking robot 2 on a row of pot bodies 16. At the same time, the elastic rod 411 is connected to the inner wall of the mounting rod 3 through the fixing plate 413, or the two ends of the elastic rod 411 are directly mounted to the inner wall of the mounting rod 3 by screws, so as to facilitate the adjustment of the position of the positioning guide rod 4 and the suction cup 5 on the mounting rod 3 to adapt to workpieces of different sizes and expand the scope of application of the destacking equipment.

[0019] As an embodiment of the present invention, a position sensor is installed in the installation cylinder 41, and the position sensor detects the position of the positioning guide rod 4 in the installation cylinder 41; The elastic force required for the elastic deformation of the spring is less than the static friction force on the workpiece on the tray 14; When the suction cup 5 contacts the side of the workpiece and positions the workpiece by suction, the positioning guide rod 4 contacts the side of the workpiece and is squeezed by the workpiece, causing the positioning guide rod 4 to retract a distance into the mounting cylinder 41. At this time, the position sensor in the mounting cylinder 41 detects the relative position of the positioning guide rod 4 in the mounting cylinder 41, so that the controller can judge whether the suction cup 5 is fully in contact with the side of the workpiece through the position data, thereby ensuring the suction and positioning effect of the suction cup 5 on the workpiece, and ensuring that the destacking robot 2 is stably grasping and fixing a row of pot bodies 16 when destacking and transferring them, to prevent the pot bodies 16 from being displaced or slipping off and falling, which would affect the smooth destacking process. At the same time, after the suction cup 5 has fully attracted and positioned the workpiece, the positioning guide rod 4 will be squeezed and retracted a certain distance. Therefore, when the destacking robot 2 grabs a row of pot bodies 16 and transfers them to the unloading conveyor line 13, the controller monitors the position data of the positioning guide rod 4 in the installation cylinder 41 through the position sensor. When relative displacement occurs between the pot body 16 and the suction cup 5, the controller promptly sends a control signal to the external air source, so that the external air source can automatically increase the negative pressure to ensure stable adsorption and fixation of the pot body 16. At the same time, since the elastic force required for elastic deformation is less than the friction force caused by the sliding of the workpiece, the position of the workpiece is offset. When the positioning guide rod 4 abuts against the workpiece, the positioning guide rod 4 can shrink in time to prevent the positioning guide rod 4 from pushing the workpiece away. Not only can the workpiece not be returned to the exact position, but the workpiece misalignment will also become more serious.

[0020] As an embodiment of the present application, the positioning guide rods 4 are symmetrically arranged at an angle, the distance between the ends of the positioning guide rods 4 close to the workpiece is greater than the distance between the ends of the positioning guide rods 4 close to the mounting rod 3, and the distance between the ends of the positioning guide rods 4 close to the workpiece is less than or equal to the diameter of the workpiece; When the workpiece is positioned and adsorbed horizontally, the angle between the positioning guide rods 4 forms a V-shaped structure between the two positioning guide rods 4, so that when the positioning guide rods 4 come into contact with the workpiece and the suction cup 5 approaches the workpiece, a lateral force is generated on the workpiece by the positioning guide rods 4, which moves the workpiece to the position between the two positioning guide rods 4, so that the suction cup 5 is directly opposite the pot body 16, ensuring that the workpiece is adsorbed and positioned well by the suction cup 5. At the same time, the V-shaped structure formed by the positioning guide rods 4 further makes the workpiece directly opposite and close to the suction cup 5 when the suction cup 5 is slightly pushed by the unstacking robot in the horizontal direction, improving the adsorption and positioning effect, so that the suction cup 5 is accurately adsorbed and fixed at the center point of the inner bottom surface of the workpiece during subsequent vertical adsorption and fixation, ensuring firm and stable adsorption and fixation, and enabling the unstacking process to proceed smoothly.

[0021] As an embodiment of the present application, the mounting rod 3 is inclinedly mounted at the end of the unstacking robot 2, and the positioning guide rod 4 and the suction cup 5 at one end of the mounting rod 3 first contact the workpiece on the full workpiece tray 14. The suction cups 5 on the mounting rod 3 are respectively controlled by independent electromagnetic valves, and the suction cups 5 on the mounting rod 3 are sequentially subjected to negative pressure adsorption. Since the mounting rod 3 is inclinedly mounted relative to the unstacking robot 2, the positioning guide rod 4 and the suction cup 5 at one end of the mounting rod 3 first contact the workpiece, and during the process, the positioning guide rod 4 on the mounting rod 3 sequentially positions and pushes the workpiece that is contacted, ensuring that the position of the workpiece is accurate and the side surface of the workpiece is directly opposite the suction cup 5, so that the unstacking robot 2 can finely adjust the position according to the slight positional error of each workpiece in a row during the process of adsorbing and grabbing the workpieces in the row, so that each workpiece is directly opposite the suction cup 5, the adsorption and positioning of the workpiece by the suction cup 5 are accurate, and the workpiece does not shake, slide or fall during the subsequent unstacking and transferring process, thereby affecting the smooth unstacking. At the same time, the inclined mounting of the mounting rod 3, in combination with the control of each suction cup 5 by an independent electromagnetic valve, enables the unstacking robot 2 to fully and stably adsorb and fix the workpiece when unstacking the workpieces in a row, ensuring the stability of the workpiece during the grabbing and transferring process and preventing the workpiece from shaking, so that the unstacking process proceeds smoothly.

[0022] As an embodiment of the present application, the positioning guide rod 4 is provided with an arc surface on the side near the end of the workpiece, the arc surface is matched with the shape of the side of the workpiece, a rubber layer 43 is installed on the surface of the arc surface, and a grid slot is formed on the rubber layer 43. The working surface of the electromagnet 42 is in contact with the side of the rubber layer 43 facing the arc surface. The arc surface of the positioning guide rod 4 is in contact with the side of the workpiece, the contact area between the two is increased, the positioning and guiding effect of the positioning guide rod 4 on the workpiece is good, when the positioning guide rod 4 is in contact with the workpiece, the contact area between the two is too small, the positioning guide rod 4 slides off the surface of the workpiece, the positioning guide rod 4 cannot act on the workpiece, the positioning and guiding effect of the positioning guide rod 4 on the workpiece with position error is poor, which affects the subsequent adsorption and positioning effect of the suction cup 5 on the workpiece and the smoothness of the unstacking. At the same time, since the electromagnet 42 is installed on the positioning guide rod 4 and the positioning guide rod 4 can slightly swing relative to the mounting rod 3, when the electromagnet 42 is started, the end of the positioning guide rod 4 can tightly adhere to the surface of the workpiece to position and guide the workpiece and clamp the workpiece. At the same time, the rubber layer 43 is installed on the arc surface, and the grid slot is formed on the rubber layer 43, which further increases the friction between the positioning guide rod 4 and the side of the workpiece after contact, avoids the sliding between the positioning guide rod 4 and the workpiece, affects the positioning and guiding of the positioning guide rod 4 on the workpiece, and affects the clamping and fixing effect of the workpiece during the unstacking and transferring process. At the same time, through the grid slot, the rubber layer 43 is fully in contact with the surface of the workpiece, avoiding the occurrence of interlayer bubble cavity between the rubber layer 43 and the workpiece, which affects the contact effect of the two. At the same time, when vertically adsorbing and fixing, the arc surface of the positioning guide rod 4 abuts against the upper edge of the workpiece to further limit, clamp and position the workpiece, ensures that the suction cup 5 is adsorbed and fixed at the center of the bottom surface of the workpiece, avoids the shaking of the workpiece during the unstacking and transferring process, and protects the upper edge of the workpiece contacted by the rubber layer, avoiding the collision or scratching damage of the upper edge of the workpiece by the positioning guide rod 4.

[0023] As an embodiment of the present application, the surface of the rubber layer 43 is roughened. Further, the surface of the rubber layer 43 is roughened, which increases the friction between the rubber layer 43 and the side of the workpiece, ensures the stability of the positioning guide rod 4 when contacting the workpiece, avoids the relative sliding between the two, and improves the positioning and guiding effect of the workpiece.

[0024] As an embodiment of the present application, a cavity is formed in the positioning guide rod 4, and a blowing hole 44 is formed on the surface of the positioning guide rod 4, the blowing hole 44 is connected with the gas source outside through the cavity, and the outlet direction of the blowing hole 44 is towards the suction cup 5; The suction cup 5 first blows air under positive pressure and then adsorbs under negative pressure, and the blowing hole 44 blows air before the suction cup 5; Since the dust and impurities attached to the surface of the workpiece will affect the adsorption and positioning effect of the suction cup 5 on the workpiece, during the process that the positioning guide rod 4 contacts the workpiece and guides and positions the workpiece, the gas source outside sends gas into the cavity in the positioning guide rod 4, so that the gas is sprayed out from the blowing hole 44 to blow the side surface of the workpiece, so that the side surface of the workpiece is relatively clean, and the dust and impurities are avoided to affect the adsorption and positioning effect of the suction cup 5, and at the same time, before the suction cup 5 adsorbs and positions the workpiece, the gas source outside supplies gas to the suction cup 5, so that the suction cup 5 blows back on the area of the workpiece to be adsorbed and positioned, since the suction cup 5 just contacts the surface of the workpiece at this time, and the gap between the suction cup 5 and the surface of the workpiece is relatively small, the gas blown back in the suction cup 5 passes through the narrow gap at high speed, further taking away the dust between the contact position of the suction cup 5 and the workpiece, avoiding the dust and impurities to affect the adsorption and positioning of the suction cup 5, and improving the adsorption and positioning effect of the suction cup 5 on the workpiece; At the same time, when vertically adsorbing and fixing, the suction cup 5 first blows back when it just contacts the bottom surface in the workpiece, and then adsorbs and fixes.

[0025] The specific working process is as follows: It is specified that the end of the feeding roller line 1 away from the conveying line is the beginning end thereof, and the beginning end of the first discharging roller line 11 and the second discharging roller line 12 is the end thereof; the unstacking robot 2 is installed on the ground through the fixed seat 21; When working, the full workpiece tray 14 full of workpieces is transferred to the beginning end of the feeding roller line 1 by AGV or forklift, then the full workpiece tray 14 is moved to the end of the feeding roller line 1, then the full workpiece tray 14 is lifted and transplanted to the beginning end of the first discharging roller line 11 at the end of the feeding roller line 1, so that the full workpiece tray 14 is cached at the beginning end of the feeding roller line 1 and the first discharging roller line 11; Then, the unstacking robot 2 unstacks the full workpiece tray 14 at the beginning end of the first discharging roller line 11, during which the workpieces are transferred to the discharging conveying line 13, at the same time, after the full workpiece tray 14 at the beginning end of the first discharging roller line 11 is unstacked, the empty tray 14 is transferred from the beginning end to the end of the first discharging roller line 11 and is taken away by AGV or forklift, at the same time, the full workpiece tray 14 cached at the end of the feeding roller line 1 is lifted and transplanted to the beginning end of the first discharging roller line 11, waiting for subsequent unstacking; At the same time, when the depalletizing robot 2 is depalletizing, the partition 15 for isolating each layer of workpieces on the full workpiece pallet 14 is transferred by the depalletizing robot 2 to the starting end of the unloading roller line 2 12. Thereafter, the partition 15 is transferred from the starting end of the unloading roller line 2 12 to the end of the unloading roller line 2 12 and is taken away by an AGV or a forklift. The suction cup 5 is used to adsorb and grasp the plastic or wooden partition 15, thereby avoiding the problem that the electromagnet 42 cannot adsorb and grasp the partition 15 and cannot be used universally, and avoiding the problem that when the workpiece is skewed or offset, the gap between the electromagnet 42 and the workpiece is too large, which makes it easy for the electromagnet 42 to adsorb and grasp the workpiece unstable or unable to adsorb and grasp the workpiece. At the same time, the length of the positioning guide rod 4 after contraction is less than the length of the suction cup 5, so that the suction cup 5 can adsorb and grasp the partition 15 and the workpiece. During the depalletizing process, the end of the depalletizing robot 2 gradually approaches the workpiece on the full workpiece pallet 14, that is, the pot body 16. During this process, when performing horizontal adsorption positioning, the suction cup 5 and the positioning guide rod 4 approach the side of the workpiece in the horizontal direction. The end of the positioning guide rod 4 on the mounting rod 3 will first contact the side of the workpiece. Since the positioning guide rods 4 are symmetrically installed on the left and right sides of the suction cup 5: When a row of workpieces are accurately placed on the tray 14, as the suction cup 5 contacts the side of the workpiece, the ends of the two symmetrical positioning guide rods 4 will just touch the surface of the workpiece, and the positioning guide rods 4 will gradually shrink so that the positioning guide rods 4 will not push the workpiece to move. After that, the suction cup 5 contacts the side of the workpiece, and the controller determines that the contact between the suction cup 5 and the side of the workpiece is accurate and stable based on the change in the adsorption pressure of the suction cup 5, thereby fully adsorbing and positioning the workpiece; When the position deviation of some workpieces in a row of workpieces on the pallet 14 is large, for the part of the workpieces in a row that is accurately placed, the action of the positioning guide rod 4 is as described above, and for the workpieces in a row that is placed with a large position deviation, one of the two symmetrical positioning guide rods 4 will first contact the workpiece. As the suction cup 5 gradually approaches the workpiece, the positioning guide rod 4 that contacts the workpiece will generate a lateral force on the workpiece, and move the workpiece, so that the position of the workpiece is accurate again, and the suction cup 5 is facing the workpiece again, which is convenient for the suction and positioning of the workpiece by the suction cup 5. At the same time, after the suction cup 5 contacts the side of the workpiece, the destacking robot drives the suction cup 5 to slightly push the workpiece in the horizontal direction, so as to make the workpieces in a row as straight as possible. At the same time, when performing vertical adsorption and fixing, the suction cup 5 and the positioning guide rod 4 are first moved away from the workpiece in the horizontal direction, and the depalletizing robot then drives the suction cup 5 and the positioning guide rod 4 in the vertical direction close to the bottom surface of the workpiece, so that the suction cup 5 adsorbs and fixes the center point of the bottom surface of the workpiece, and the positioning guide rod 4 contacts and is compressed with the upper edge of the workpiece; At the same time, during horizontal adsorption positioning, when the positioning guide rod 4 contacts the workpiece, the controller controls the electromagnet 42 to work, so that the end of the positioning guide rod 4 will be closely adsorbed on the side of the pot body 16. At the same time, the magnetic attraction of the electromagnet 42 to the workpiece can further improve the firmness of the adsorption and grasping of the pot body 16; During the horizontal adsorption positioning process, when the mounting cylinder 41 is subjected to an external force, the mounting cylinder 41 can swing slightly relative to the mounting rod 3. Therefore, when the positioning guide rod 4 contacts the side of the workpiece or the positioning guide rod 4 exerts a lateral force on the workpiece, the positioning guide rod 4 can fully fit the side of the workpiece. At the same time, since the mounting cylinder 41 is connected to the mounting rod 3 via the elastic rod 411 and the buffer sleeve 412, the mounting cylinder 41 and the mounting rod 3 can swing relative to each other, so that when the end of the positioning guide rod 4 contacts the workpiece, there is a buffer between the two. At the same time, the elastic rod 411 is connected to the inner wall of the mounting rod 3 via the fixing plate 413, or the two ends of the elastic rod 411 are directly fixed to the inner wall of the mounting rod 3 by screws. The position sensor in the mounting cylinder 41 detects the relative position of the positioning guide rod 4 in the mounting cylinder 41, so that the controller can judge whether the suction cup 5 is in full contact with the side of the workpiece through the position data, thereby ensuring the suction and positioning effect of the suction cup 5 on the workpiece. When the depalletizing robot 2 grabs a row of pot bodies 16 and transfers them to the unloading conveyor line 13, the controller monitors the position data of the positioning guide rod 4 in the installation cylinder 41 through the position sensor. When relative displacement occurs between the pot body 16 and the suction cup 5, the controller promptly sends a control signal to the external air source so that the external air source can automatically increase the negative pressure. At the same time, since the elastic force required for elastic deformation is less than the friction force of the workpiece sliding, when the workpiece position is offset and the positioning guide rod 4 abuts against the workpiece, the positioning guide rod 4 can be retracted in time to prevent the positioning guide rod 4 from pushing the workpiece away; During horizontal adsorption positioning, the angle between the positioning guide rods 4 forms a V-shaped structure between the two positioning guide rods 4. As a result, when the positioning guide rods 4 contact the workpiece and the suction cup 5 approaches the workpiece, the positioning guide rods 4 will generate a lateral force on the workpiece if the workpiece is deflected, so that the workpiece moves to the position between the two positioning guide rods 4, so that the suction cup 5 faces the pot body 16, ensuring that the suction cup 5 has good adsorption positioning on the pot body 16. At the same time, the V-shaped structure formed by the positioning guide rods 4 allows the destacking robot to drive the suction cup 5 to slightly push the workpiece in the horizontal direction, further making the workpiece face the suction cup 5 and close to the suction cup 5, thereby improving the adsorption positioning effect. The positioning guide rod 4 on the mounting rod 3 can position and push the workpiece contacted in sequence, so that the position of the workpiece is accurate, the suction cup 5 is opposite to the side surface of the workpiece, the position of the de-stacking robot 2 can be fine-tuned according to the slight position error of each workpiece in a row during the process of adsorbing and grabbing the workpieces in a row, so that each workpiece is opposite to the suction cup 5, and the adsorption and positioning of the suction cup 5 on the workpiece are accurate; The arc surface formed on the positioning guide rod 4 is in contact with the side surface of the workpiece, so that the contact area between the two is increased, and the positioning and guiding effect of the positioning guide rod 4 on the workpiece is good; Meanwhile, the electromagnet 42 is installed on the positioning guide rod 4, and the positioning guide rod 4 can slightly swing relative to the mounting rod 3, so that the end of the positioning guide rod 4 can tightly adhere to the surface of the workpiece to position and guide the workpiece and clamp the workpiece when the electromagnet 42 is started; Meanwhile, the rubber layer 43 is installed on the arc surface, and the grid slot is formed on the rubber layer 43, so that the friction between the positioning guide rod 4 and the side surface of the workpiece is further increased; meanwhile, the rubber layer 43 is fully in contact with the surface of the workpiece through the grid slot, so that the interlayer bubble cavity between the rubber layer 43 and the workpiece is avoided; meanwhile, the arc surface on the positioning guide rod 4 is in abutment with the upper edge of the workpiece during the vertical adsorption and fixation; Further, the surface of the rubber layer 43 is roughened, so that the friction between the rubber layer 43 and the side surface of the workpiece is increased, and the stability of the positioning guide rod 4 in contact with the workpiece is ensured; During the process that the positioning guide rod 4 contacts the workpiece and positions and guides the workpiece, the external gas source sends gas into the cavity in the positioning guide rod 4, so that the gas is sprayed out from the blowing hole 44 to blow the side surface of the workpiece; meanwhile, the external gas source supplies gas to the suction cup 5 before the suction cup 5 adsorbs and positions the workpiece, so that the suction cup 5 blows back the area to be adsorbed and positioned on the workpiece; since the suction cup 5 just contacts the surface of the workpiece at this time, the gap between the suction cup 5 and the surface of the workpiece is relatively small, so that the gas blown back from the suction cup 5 passes through the narrow gap at high speed, further taking away the dust between the contact position of the suction cup 5 and the workpiece; meanwhile, the suction cup 5 blows back before adsorbing and fixing the workpiece when the suction cup 5 just contacts the bottom surface of the workpiece during the vertical adsorption and fixation.

[0026] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principle of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A single-station depalletizing device, characterized by: It comprises a loading roller line (1), a unloading roller line 1 (11), a unloading roller line 2 (12), an unloading conveying line (13) and a destacking robot (2); The loading roller line (1) lifts and transfers the full workpiece pallet (14) to the unloading roller line (11), the loading roller line (1) and the unloading roller line (11) cache the full workpiece pallet (14), the depalletizing robot (2) transfers the workpiece on the full workpiece pallet (14) to the unloading conveyor line (13), the depalletizing robot (2) transfers the partition (15) on the full workpiece pallet (14) to the unloading roller line (12), and the unloading roller line (11) discharges the empty pallet (14); An actuator is installed at the end of the depalletizing robot (2), and the actuator includes a mounting rod (3). A suction cup (5) and a positioning guide rod (4) are installed on the mounting rod (3). The suction cup (5) is connected to an external air source. The positioning guide rod (4) is symmetrically installed on the left and right sides of the suction cup (5). The end of the positioning guide rod (4) contacts the side of the workpiece. An electromagnet (42) is mounted on the end of the positioning guide rod (4), and there is a magnetic attraction force between the electromagnet (42) and the workpiece; The positioning guide rod (4) is a telescopic rod, and the suction cup (5) first performs horizontal adsorption and positioning on the workpiece, and then performs vertical adsorption and grasping on the workpiece.

2. The single-station depalletizing device according to claim 1, characterized in that: The positioning guide rod (4) is slidably mounted on the mounting cylinder (41), and a spring is installed between the positioning guide rod (4) and the mounting cylinder (41); The mounting cylinder (41) is mounted on the mounting rod (3); a buffer sleeve (412) is mounted on the mounting cylinder (41); the buffer sleeve (412) is located at the connection between the mounting cylinder (41) and the mounting rod (3); an elastic rod (411) is mounted on one end of the mounting cylinder (41) located inside the mounting rod (3); the other end of the elastic rod (411) is connected to the inside of the mounting rod (3) via a fixing plate (413).

3. The single-station depalletizing device according to claim 2, characterized in that: A position sensor is installed in the installation cylinder (41), and the position sensor detects the position of the positioning guide rod (4) in the installation cylinder (41); The elastic force required for the spring to deform elastically is smaller than the static friction force exerted on the workpiece on the tray (14).

4. The single-station depalletizing device according to claim 3, characterized in that: There is an angle between the symmetrical positioning guide rods (4), the distance between the ends of the positioning guide rods (4) close to the workpiece is greater than the distance between the ends of the positioning guide rods (4) close to the mounting rod (3), and the distance between the ends of the positioning guide rods (4) close to the workpiece is less than or equal to the diameter of the workpiece.

5. The single-station depalletizing equipment according to claim 1, characterized in that: The mounting rod (3) is installed at an angle at the end of the depalletizing robot (2), and the positioning guide rod (4) and the suction cup (5) at one end of the mounting rod (3) first contact the workpiece on the full workpiece pallet (14); The suction cups (5) on the mounting rod (3) are respectively controlled by independent electromagnetic valves, and the suction cups (5) on the mounting rod (3) perform negative pressure adsorption in sequence.

6. The single-station depalletizing equipment according to claim 1, characterized in that: The positioning guide rod (4) has an arc-shaped surface on its side near one end of the workpiece, the arc-shaped surface matches the side shape of the workpiece, a rubber layer (43) is installed on the surface of the arc-shaped surface, and a grid groove is formed on the rubber layer (43); The working surface of the electromagnet (42) is in contact with the side of the rubber layer (43) facing the arc surface.

7. The single-station depalletizing equipment according to claim 6, characterized in that: The surface of the rubber layer (43) is roughened.

8. The single-station depalletizing equipment according to claim 1, characterized in that: A cavity is provided in the positioning guide rod (4), and a blowing hole (44) is provided on the surface of the positioning guide rod (4). The blowing hole (44) is connected to an external air source through the cavity, and an outlet direction of the blowing hole (44) faces the suction cup (5); The suction cup (5) first blows air under positive pressure and then absorbs under negative pressure, and the blowing hole (44) blows air before the suction cup (5).

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