Unstacking robot

Abstract

The unstacking robot comprises a supporting plate, a conveying assembly, a moving mechanism, a rotating rod, a hydraulic cylinder, a rotating mechanism, a mounting plate, an adjusting mechanism and a clamping mechanism, the conveying assembly is arranged on one side of the interior of the supporting plate, the moving mechanism is arranged at the rear end of the supporting plate, and the lower end of the hydraulic cylinder penetrates through a fixing plate and is provided with the rotating mechanism; the adjusting mechanism is arranged on the lower portion of the mounting plate, and the clamping mechanism is arranged in the connecting groove. Compared with the prior art, the plate clamping device has the advantages that the adjusting mechanism is arranged to drive the sliding block on one side to move left and right through the air cylinder, and the sliding block on the other side synchronously moves in the opposite direction in cooperation with meshing transmission of the front toothed plate, the rear toothed plate and the first gear, so that the two clamping mechanisms are controlled to be close to or away from each other, and adjustment is conducted according to the length of a plate; and therefore, the two ends of the plate can be clamped to be matched with the moving mechanism and the first motor to rotate or transport, and the plate is prevented from falling off due to imbalance.

Description

Technical Field

[0001] The utility model relates to the technical field of firewood stacking robots, in particular to a firewood stacking robot. Background Art

[0002] The unloading and palletizing robot is actually the general term for unloading and palletizing robots. Nowadays, many manufacturers use robots to replace manual and low-automation equipment in the later stages of packaging, which not only saves labor costs, but also allows products to be more efficiently operated in a predetermined form more quickly. The same is true for the unloading and palletizing stages of packaging. Some large beverage, dairy and food manufacturers have applied high-tech unloading and palletizing equipment.

[0003] A depalletizing robot described in publication number CN217971662U can split the plates through the cooperation of the gripping mechanism and the mechanical arm mechanism, and lay them flat through the conveying device, which is convenient for subsequent processing, saves manpower and splitting time, and improves the overall efficiency. Since the two ends of the double-headed hydraulic rod are locked on the mounting plate by nuts, the spacing between the two pairs of grippers can be adjusted, which is convenient for plate piles of different widths. However, the prior art still has defects:

[0004] 1. The prior art only has one set of grippers for clamping the plates. Since the grippers are narrow in width, when facing long plates, it is easy to lose balance during the process of grabbing and rotating them due to insufficient force area, causing the plates to tilt and fall, affecting the destacking efficiency.

[0005] 2. The grabbing mechanism of the prior art cannot rotate autonomously, so that after grabbing the plate, the position angle placed on the conveying device cannot be rotated and adjusted, resulting in the plate being placed on the transport device in an inclined state, which is inconvenient for transportation. Utility Model Content

[0006] The technical problem to be solved by the utility model is to solve the above-mentioned problem and provide a depalletizing robot.

[0007] In order to solve the above technical problems, the technical solution provided by the utility model is: a depalletizing robot, comprising:

[0008] A support plate, wherein support columns are arranged at four corners of the lower part of the support plate;

[0009] A transport component, wherein the transport component is arranged on one side of the inner part of the support plate;

[0010] A moving mechanism, wherein the moving mechanism is arranged at the rear end of the supporting plate;

[0011] A fixed frame, the fixed frame is arranged at the rear end of the moving mechanism;

[0012] Motor 1, wherein the motor 1 is fixedly connected to the lower end of the fixing frame;

[0013] A rotating rod, the rotating rod is arranged on the upper part of the fixing frame, and the lower end of the rotating rod is fixedly connected to an output end of the motor;

[0014] A fixed plate, the fixed plate being fixedly connected to the upper end of the rotating rod;

[0015] A hydraulic cylinder, the hydraulic cylinder is fixedly connected to the front end of the upper portion of the fixed plate;

[0016] Rotating mechanism, the lower end of the hydraulic cylinder passes through the fixed plate and is provided with a rotating mechanism;

[0017] A mounting plate, the mounting plate being rotatably connected to the lower end of the hydraulic cylinder;

[0018] A baffle, the baffle being fixedly connected to both ends of the mounting plate;

[0019] An adjusting mechanism, wherein the adjusting mechanism is arranged at the lower part of the mounting plate, and comprises a slide rail, a slider, a connecting groove, a cylinder, a tooth plate, and a gear 1. The slide rail is fixedly connected to the front and rear sides of the lower part of the mounting plate, the slider is clamped at both ends of the slide rail, the connecting groove is fixedly connected to the lower ends of the sliders on the same side of the front and rear sides, the cylinder is fixedly connected to the outer side of one side baffle, and one end of the telescopic rod passes through the baffle and is fixedly connected to the connecting groove on one side, the tooth plate is fixedly connected to the rear part of the slider whose front end is away from the cylinder side and the front part of the slider whose rear end is close to the cylinder side, and the gear 1 is rotatably connected to the middle of the lower part of the mounting plate and meshes with the tooth plate;

[0020] The clamping mechanism is arranged inside the connecting groove.

[0021] As an improvement, the moving mechanism comprises:

[0022] A limiting groove, which is provided at the rear end of the supporting plate;

[0023] A limit block, the limit block is clamped inside the limit slot and the rear end is fixedly connected to the fixing frame;

[0024] A screw rod, the screw rod is rotatably connected to the inside of the limiting groove;

[0025] Motor 2, wherein the motor 2 is arranged at the rear end of one side of the support plate and the output end of the motor is fixedly connected to the lead screw.

[0026] As an improvement, the rotating mechanism comprises:

[0027] Motor 3, wherein the motor 3 is fixedly connected to the middle of the upper part of the mounting plate near the hydraulic cylinder;

[0028] Gear 2, said gear 2 being fixedly connected to the upper end of motor 3;

[0029] Gear three is meshed with one side of gear two and sleeved on the lower part of the hydraulic cylinder.

[0030] As an improvement, the clamping mechanism comprises:

[0031] A forward and reverse threaded screw rod, wherein the forward and reverse threaded screw rod is rotatably connected to the middle of the connecting groove;

[0032] Guide rods, the guide rods are arranged on both sides of the forward and reverse threaded screw rods;

[0033] A connecting block is clamped at the front and rear ends of the connecting groove, and the guide rod and the forward and reverse threaded screw rod penetrate the connecting block.

[0034] As an improvement, the front and rear connecting blocks are fixedly connected with a clamping hand on one side away from each other, and a motor four is arranged at the front end of the connecting groove and the output end is fixedly connected with the front end of the positive and negative threaded screw rod.

[0035] The advantages of the utility model compared with the prior art are: 1. The utility model sets an adjustment mechanism through the cooperation of a slide rail, a slider, a connecting groove, a cylinder, a tooth plate, and a gear. A group of clamping mechanisms are respectively arranged inside the connecting grooves on both sides. The slider on one side is driven to move left and right by the cylinder, and the meshing transmission of the front and rear tooth plates and the gear one is coordinated to make the slider on the other side move synchronously in the opposite direction, thereby controlling the two groups of clamping mechanisms to move closer or farther from each other, and adjusting according to the length of the plate so as to clamp the two ends of the plate and cooperate with the moving mechanism and the motor one to rotate or transport, so as to prevent the plate from falling due to imbalance.

[0036] 2. The utility model is provided with a rotating mechanism which can drive the mounting plate to rotate freely through the cooperation of motor three, gear two and gear three, so that the clamping mechanism can rotate and adjust the position angle of the plate placed on the transport component after clamping the plate, thereby improving practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The utility model is a three-dimensional schematic diagram of a depalletizing robot.

[0038] Figure 2 The utility model is a schematic diagram of the structure of a moving mechanism of a depalletizing robot.

[0039] Figure 3 The utility model is a three-dimensional schematic diagram of an adjustment mechanism and a clamping mechanism of a depalletizing robot when viewed from above.

[0040] Figure 4 It is an enlarged view of A of the utility model of a depalletizing robot.

[0041] Figure 5 It is an enlarged view B of a depalletizing robot of the utility model.

[0042] Figure 6 This is an enlarged view of C of a depalletizing robot of the utility model.

[0043] As shown in the figure: 1. Support plate; 2. Support column; 3. Transport component; 4. Moving mechanism; 4.1. Limiting groove; 4.2. Limiting block; 4.3. Screw rod; 4.4. Motor 2; 5. Fixed frame; 6. Motor 1; 7. Rotating rod; 8. Fixed plate; 9. Hydraulic cylinder; 10. Rotating mechanism; 10.1. Motor 3; 10.2. Gear 2; 10.3. Gear 3; 11. Mounting plate; 12. Baffle; 13. Adjusting mechanism; 13.1. Slide rail; 13.2. Slider; 13.3. Connecting groove; 13.4. Cylinder; 13.5. Tooth plate; 13.6. Gear 1; 14. Clamping mechanism; 14.1. Positive and negative threaded screw rod; 14.2. Guide rod; 14.3. Connecting block; 14.4. Clamping hand; 14.5. Motor 4. DETAILED DESCRIPTION

[0044] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0045] Combined with Figure 1 With attached Figure 2 The utility model is provided with support columns 2 at the four corners of the lower part of the support plate 1, and a transportation component 3 is provided on one side of the inner part of the support plate 1 for transporting the destacking plates. A moving mechanism 4 is provided at the rear end of the support plate 1, including a limit groove 4.1, a limit block 4.2, a screw rod 4.3, and a second motor 4.4. A T-shaped limit groove 4.1 is provided at the rear end of the inner part of the support plate 1, and a T-shaped limit block 4.2 is clamped inside the limit groove 4.1. An L-shaped fixing frame 5 is fixedly connected to the rear end of the limit block 4.2. A screw rod 4.3 is rotatably connected inside the limit groove 4.1. The second motor 4.4 is arranged at the rear end of one side of the support plate 1 and the output end is fixedly connected to the screw rod 4.3. The screw rod 4.3 is rotated by the second motor 4.4 to drive the limit block 4.2 and the fixing frame 5 to move horizontally left and right, so that the clamping mechanism 14 can clamp the plate from the support plate 1 and move it horizontally to the upper part of the transportation component and then put it down.

[0046] A motor 6 is fixedly connected to the lower end of the fixed frame 5, and a rotating rod 7 is arranged on the upper part of the fixed frame 5. The output end of the motor 6 passes through the fixed frame 5 and is fixedly connected to the lower end of the rotating rod 7. Starting the motor 6 can drive the rotating rod 7 to rotate automatically to facilitate the transportation of the plate.

[0047] A fixed plate 8 is fixedly connected to the upper end of the rotating rod 7, and a hydraulic cylinder 9 is fixedly connected to the front end of the upper part of the fixed plate 8. The lower end of the hydraulic cylinder 9 penetrates the fixed plate 8 and is rotatably connected to the mounting plate 11. The hydraulic cylinder 9 can drive the mounting plate 11 to move up and down together with the adjusting mechanism 13 and the clamping mechanism 14, so that the clamping mechanism 14 can clamp the plate and lift it up, and then transfer it to the top of the conveying component 3 through the moving mechanism 4 and then put it down. Baffles 12 are fixedly connected to both ends of the mounting plate 11. A rotating mechanism 10 is arranged on the upper part of the mounting plate 11, including motor three 10.1, gear two 10.2, and gear three 10.3. Motor three 1 is fixedly connected to the middle of the upper part of the mounting plate 11 near the hydraulic cylinder 9. 0.1, a gear 2 10.2 is fixedly connected to the upper end of the motor 3 10.1, a gear 3 10.3 is meshed on one side of the gear 2 10.2 and is sleeved on the lower part of the telescopic rod of the hydraulic cylinder 9. Since the mounting plate 11 can rotate around the lower end of the hydraulic cylinder 9, when the motor 3 10.1 rotates the gear 2 10.2, the gear 2 10.2 will mesh with the gear 3 10.3 and rotate around it. Since the motor 3 10.1 is fixedly connected to the mounting plate 11, the mounting plate 11 will be driven to automatically rotate around the lower end of the hydraulic cylinder 9, so that the clamping mechanism 14 can rotate after clamping the plate to adjust the position angle of the plate placed on the transport component 3 to prevent deflection.

[0048] Combined with Figure 3 The utility model is provided with an adjustment mechanism 13 at the lower part of the mounting plate 11, including a slide rail 13.1, a slider 13.2, a connecting groove 13.3, a cylinder 13.4, a tooth plate 13.5, and a gear 13.6. Two slide rails 13.1 are fixedly connected to the front and rear sides of the lower part of the mounting plate 11, and sliders 13.2 are clamped at both ends of the slide rails 13.1. A connecting groove 13.3 is fixedly connected between the lower ends of the sliders 13.2 on the front and rear sides. A cylinder 13.4 is fixedly connected to the outer side of a baffle 12 on one side, and one end of the telescopic rod penetrates the baffle 12 and is fixedly connected to the connecting groove 13.3 on one side. The slider on the front end is far away from the cylinder 13.4. A toothed plate 13.5 is fixedly connected to the rear of 13.2, and a toothed plate 13.5 is also provided at the front of the slider 13.2 on the side of the cylinder 13.4 at the rear end. The teeth of the two toothed plates 13.5 are arranged opposite to each other. A gear 13.6 is rotatably connected to the middle of the lower part of the mounting plate 11 and meshes with the front and rear toothed plates 13.5. The slider 13.2 on one side is driven to move left and right by the cylinder 13.4, and the meshing transmission of the front and rear toothed plates 13.5 and the gear 13.6 is coordinated to make the slider 13.2 on the other side move synchronously in the opposite direction, thereby controlling the two connecting grooves 13.3 to move closer or farther away from each other, and adjusting according to the length of the plate.

[0049] A clamping mechanism 14 is arranged inside the connecting groove 13.3, including a positive and negative threaded screw rod 14.1, a guide rod 14.2, a connecting block 14.3, a clamping hand 14.4, and a motor 4 14.5. The positive and negative threaded screw rod 14.1 is rotatably connected in the middle of the connecting groove 13.3, and guide rods 14.2 are arranged on both sides of the positive and negative threaded screw rod 14.1 in the connecting groove 13.3. The connecting block 14.3 is clamped at the front and rear ends of the connecting groove 13.3, and the guide rod 14. .2 and the forward and reverse threaded screw rod 14.1 penetrate the connecting block 14.3, and the front and rear connecting blocks 14.3 are fixedly connected with a clamping hand 14.4 on one side away from each other. A motor four 14.5 is arranged at the front end of the connecting groove 13.3, and the output end is fixedly connected with the front end of the forward and reverse threaded screw rod 14.1. The motor four 14.5 drives the forward and reverse threaded screw rod 14.1 to rotate and control the connecting blocks 14.3 to move closer to or away from each other, so that the clamping hand 14.4 clamps the two ends of the plate to transport the firewood stack.

[0050] When the utility model is implemented, Figure 1 As shown, the stack of lowered plates is placed on the support plate 1, the starting motor 2 4.4 drives the rotating rod 7 to move through the moving mechanism 4 so that the clamping hand 14.4 is aligned with the plate, the hydraulic cylinder 9 is started to lower the clamping hand 14.4 through the mounting plate 11, the starting cylinder 13.4 controls the two groups of clamping mechanisms 14 to approach or move away from each other through the adjusting mechanism 13 according to the length of the plate so that the clamping hand 14.4 is aligned with the two ends of the plate, the starting motor 4 14.5 controls the clamping hand 14.4 to clamp the first plate through the clamping mechanism 14, and the plate is transferred to the upper end of the transport component 3 through the moving mechanism 4 again, the starting motor 3 10.1 adjusts the position angle of the plate placed on the transport component 3 through the rotating mechanism 10 in coordination with the rotation of the rotating rod 7 to prevent deflection, and then the plate is lowered by the hydraulic cylinder 9, and this operation is repeated to perform the firewood stacking operation.

[0051] The electrical components appearing in this article are all connected to an external main controller and 220V AC power, and the main controller can be a conventional known device that controls a computer, etc. The specific implementation method of the present disclosure omits the detailed description of known functions and known components. To ensure the compatibility of the equipment, the operating methods used are consistent with the parameters of marketed equipment.

[0052] The above description of the utility model and its implementation methods is not restrictive. The drawings show only one implementation method of the utility model, and the actual structure is not limited thereto. In short, if ordinary technicians in this field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention of the utility model, they should all fall within the protection scope of the utility model.

Claims

1. A depalletizing robot, characterized in that: include: A support plate (1), wherein support columns (2) are arranged at four corners of the lower part of the support plate (1); A transport component (3), wherein the transport component (3) is arranged on one side inside the support plate (1); A moving mechanism (4), wherein the moving mechanism (4) is arranged at the rear end of the support plate (1); A fixed frame (5), wherein the fixed frame (5) is arranged at the rear end of the moving mechanism (4); Motor 1 (6), wherein the motor 1 (6) is fixedly connected to the lower end of the fixing frame (5); A rotating rod (7), wherein the rotating rod (7) is arranged on the upper part of the fixing frame (5), and the lower end of the rotating rod (7) is fixedly connected to the output end of the motor 1 (6); A fixed plate (8), wherein the fixed plate (8) is fixedly connected to the upper end of the rotating rod (7); A hydraulic cylinder (9), wherein the hydraulic cylinder (9) is fixedly connected to the upper front end of the fixed plate (8); A rotating mechanism (10), wherein the lower end of the hydraulic cylinder (9) penetrates the fixed plate (8) and is provided with a rotating mechanism (10); A mounting plate (11), wherein the mounting plate (11) is rotatably connected to the lower end of the hydraulic cylinder (9); A baffle (12), wherein the baffle (12) is fixedly connected to two ends of the mounting plate (11); The adjusting mechanism (13) is arranged at the lower part of the mounting plate (11), and comprises a slide rail (13.1), a slider (13.2), a connecting groove (13.3), a cylinder (13.4), a tooth plate (13.5), and a gear (13.6). The slide rail (13.1) is fixedly connected to the front and rear sides of the lower part of the mounting plate (11), the slider (13.2) is clamped at both ends of the slide rail (13.1), and the connecting groove (13.3) is fixedly connected to the sliders (13.2) on the same side. ) at the lower end, the cylinder (13.4) is fixedly connected to the outer side of a baffle (12) on one side, and one end of the telescopic rod passes through the baffle (12) and is fixedly connected to a connecting groove (13.3) on one side, the tooth plate (13.5) is fixedly connected to the rear part of the slider (13.2) at the front end away from the side of the cylinder (13.4) and the front part of the slider (13.2) at the rear end close to the side of the cylinder (13.4), and the gear 1 (13.6) is rotatably connected to the middle of the lower part of the mounting plate (11) and meshes with the tooth plate (13.5); A clamping mechanism (14), wherein the clamping mechanism (14) is arranged inside the connecting groove (13.3).

2. A depalletizing robot according to claim 1, characterized in that: The moving mechanism (4) comprises: A limiting groove (4.1), wherein the limiting groove (4.1) is provided at the rear end inside the support plate (1); A limit block (4.2), wherein the limit block (4.2) is clamped inside the limit groove (4.1) and the rear end is fixedly connected to the fixing frame (5); A screw rod (4.3), the screw rod (4.3) being rotatably connected to the inside of the limiting groove (4.1); Motor 2 (4.4), wherein the motor 2 (4.4) is arranged at the rear end of one side of the support plate (1) and the output end is fixedly connected to the screw rod (4.3).

3. A depalletizing robot according to claim 2, characterized in that: The rotating mechanism (10) comprises: Motor three (10.1), the motor three (10.1) is fixedly connected to the middle of the upper part of the mounting plate (11) near the hydraulic cylinder (9); Gear 2 (10.2), said gear 2 (10.2) being fixedly connected to the upper end of motor 3 (10.1); Gear three (10.3), the gear three (10.3) is meshed with one side of gear two (10.2) and sleeved on the lower part of the hydraulic cylinder (9).

4. A depalletizing robot according to claim 1, characterized in that: The clamping mechanism (14) comprises: A forward and reverse threaded screw rod (14.1), wherein the forward and reverse threaded screw rod (14.1) is rotatably connected to the middle of the connecting groove (13.3); Guide rods (14.2), the guide rods (14.2) being arranged on both sides of the forward and reverse threaded screw rods (14.1); A connecting block (14.3) is clamped at the front and rear ends of the connecting groove (13.3), and the guide rod (14.2) and the forward and reverse threaded screw rod (14.1) penetrate the connecting block (14.3).

5. A depalletizing robot according to claim 4, characterized in that: The front and rear connection blocks (14.3) are fixedly connected to a clamping hand (14.4) on one side away from each other, and a motor 4 (14.5) is arranged at the front end of the connection slot (13.3), and the output end is fixedly connected to the front end of the forward and reverse threaded screw rod (14.1).

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