Unstacking equipment

Abstract

The utility model discloses unstacking equipment, relates to the technical field of automation, and aims to solve the problems of low manual unstacking efficiency and high production cost. The unstacking equipment comprises a base, a mechanical arm, a first grabbing and clamping device and a second grabbing and clamping device, the mechanical arm is movably connected to the base, the first grabbing and clamping device is arranged on the mechanical arm and used for grabbing a part to be unstacked, and the second grabbing and clamping device is used for clamping a mounting part placed by the first grabbing and clamping device. The mounting parts clamped by the first grabbing and clamping device are transferred to the mounting station through the second grabbing and clamping device, and the unstacking equipment can complete automatic unstacking operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation, in particular to a destacking equipment. BACKGROUND

[0002] In modern logistics and industrial production, destacking is an important link in the process of goods storage and handling.

[0003] Destacking refers to the handling process of removing loads from the top position of a load and lowering the loads. The traditional destacking operation is usually completed by manual work.

[0004] However, manual destacking requires employees to handle goods. In the production process, the number of goods is large and the weight is heavy. Manual handling has high labor intensity and low efficiency, and increasing the number of handling employees will increase production costs. CONTENT OF THE UTILITY MODEL

[0005] The purpose of the present application is to provide a destacking equipment, which aims to solve the problems of low efficiency and high production cost of manual destacking.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0007] The present application provides a destacking equipment for destacking a component to be destacked with a base plate and a mounting piece. The destacking equipment can include a base, a mechanical arm, a first gripping device and a second gripping device. The mechanical arm is movably connected to the base. The first gripping device is arranged on the mechanical arm and is used to grip the component to be destacked. The second gripping device is used to clamp the mounting piece placed by the first gripping device, so that the mounting piece clamped by the first gripping device is transferred to a mounting station by the second gripping device.

[0008] Since the mechanical arm can move relative to the base, and the first gripping device is arranged on the mechanical arm, the first gripping device can move relative to the base, so as to grip the component to be destacked and transfer it to different positions. Specifically, the first gripping device moves to the pile of components to be destacked, grips the mounting piece, and then moves to the second gripping device to transfer the mounting piece to the second gripping device. After that, the second gripping device can transfer the mounting piece to the mounting station. In this way, one automatic destacking and handling to the mounting station can be completed.

[0009] In this way, the destacking equipment can replace manual work to complete high-intensity and high-repetitive destacking work, thereby reducing the demand for labor, and thus reducing labor costs. At the same time, the destacking equipment can avoid errors caused by human factors, and can stably maintain high precision for a long time, thereby improving production efficiency.

[0010] In some embodiments, the unstacking device can further comprise a support base and a first driving member, the second gripping device is movably connected to the support base, and the first driving member is in driving connection with the second gripping device to drive the second gripping device to move.

[0011] In this way, the movement of the second gripping device can be controlled through the driving connection between the first driving member and the second gripping device. Since the second gripping device is movably connected to the support base, the second gripping device can move relative to the support base to transfer the components to be unstacked to the mounting station. In this way, manual intervention can be reduced, thereby improving the working efficiency of the unstacking device.

[0012] In some embodiments, the unstacking device can further comprise a tooling plate arranged on the support base. The second gripping device has at least a first state and a second state during movement. In the first state, the second gripping device is used to pick up the mounting components placed by the first gripping device. In the second state, the second gripping device is used to place the mounting components on the tooling plate.

[0013] In this way, after the mounting components are taken out of the stack by the first gripping device, the second gripping device picks up these mounting components in the first state and then switches to the second state to accurately place the mounting components on the tooling plate. Since the tooling plate provides a stable platform and reference point, the second gripping device can better achieve accurate positioning, thereby reducing the risk of misplacement or damage of the mounting components due to positional deviation, and further improving the stability and reliability of the unstacking work.

[0014] In some embodiments, the second gripping device can comprise a first sliding rail and a first clamping portion. The first sliding rail is connected to the support base, and the first sliding rail is provided with a first sliding groove. At least part of the first clamping portion is slidably arranged in the first sliding groove along the extension direction of the first sliding groove. The first driving member is in driving connection with the first clamping portion to drive the first clamping portion to slide along the extension direction of the first sliding groove.

[0015] In this way, the first clamping portion can slide along the extension direction of the first sliding groove, thereby enabling the second gripping device to complete the conversion between the first state and the second state, and further complete the process of picking up and placing the mounting components. Since the first driving member is in driving connection with the first clamping portion, the sliding distance and speed of the first clamping portion can be accurately controlled, thereby improving the accuracy and efficiency of the transmission.

[0016] In addition, the first sliding rail is connected to the support base, which can provide stable support for the second gripping device. The first clamping portion slides along the first sliding groove, and due to the guiding effect of the sliding rail, accidental situations caused by shaking or tilting are reduced, thereby improving the stability of the device.

[0017] In some embodiments, the first driving member can include a first motor, and the unstacking device can further include a first transmission member in transmission connection between the first driving member and the first clamping portion. The first transmission member can include a first sprocket coaxially connected with an output shaft of the first motor and a first chain engaged with the first sprocket and connected with the first clamping portion.

[0018] In this way, the first motor serves as a power source to drive the first chain through the first sprocket. Since chain transmission has the characteristics of large torque transmission and high transmission efficiency, the adoption of the first chain connected with the first clamping portion can provide stable and sufficient power for the first clamping portion during sliding, and can reduce energy loss caused by other intermediate links and improve transmission efficiency.

[0019] In some embodiments, the first grabbing device can include a slide rod connected with the mechanical arm, a second clamping portion provided with a sliding groove matched with the slide rod to enable the second clamping portion to slide along the extension direction of the slide rod, and a second driving member in transmission connection with the second clamping portion to drive the second clamping portion to slide along the extension direction of the slide rod.

[0020] In this way, since the second clamping portion is provided with the sliding groove matched with the slide rod, the second clamping portion can slide along the extension direction of the slide rod, so that the first grabbing device can complete clamping and placing of the unstacked components. Since the second driving member is in transmission connection with the second clamping portion, the sliding distance and speed of the second clamping portion can be accurately controlled, and the accuracy and efficiency of grabbing the unstacked components can be improved.

[0021] In some embodiments, the second driving member can include a second motor, and the unstacking device can further include a second transmission member in transmission connection between the second driving member and the second clamping portion. The second transmission member can include a second sprocket coaxially connected with an output shaft of the second motor and a second chain engaged with the second sprocket and connected with the second clamping portion.

[0022] In this way, the second motor serves as a power source to directly drive the second chain through the second sprocket. Since chain transmission has the characteristics of large torque transmission and high transmission efficiency, the adoption of the second chain connected with the second clamping portion can provide stable and sufficient power for the second clamping portion during sliding, so that the unstacked components can be stably clamped to prevent the unstacked components from falling due to insufficient clamping force.

[0023] In some embodiments, the first grabbing device can further include a gas pump, a suction cup and a gas pipe, wherein the suction cup is arranged on the mechanical arm, and the gas pipe is in communication between the suction cup and the gas pump.

[0024] In this way, when it is necessary to suck up the parts to be destackered, the air pump extracts the gas in the suction cup to form a vacuum area between the suction cup and the parts to be destackered, thereby utilizing the pressure difference between the vacuum area and the air to suck up the parts to be destackered; when it is necessary to place the parts to be destackered, the air pump exhausts air into the suction cup to eliminate the pressure difference between the area inside the suction cup and the air, and the parts to be destackered are placed down.

[0025] In some embodiments, the depalletizing device may further include a recognition camera disposed on the robotic arm.

[0026] In this way, the recognition camera can detect the working status of the depalletizing operation, thereby improving the stability and accuracy of the depalletizing equipment.

[0027] An embodiment of the present application also provides a destacking device, which may include a base, a robotic arm, a first gripping device and a second gripping device. The robotic arm is connected to the base, the first gripping device is arranged on the robotic arm for gripping the components to be destacking, and the second gripping device is used to clamp the components to be destacking placed by the first gripping device.

[0028] The first gripping device can grasp the component to be depalletized and transfer it to the second gripping device, which then receives the component to be depalletized, completing the depalletizing operation. This depalletizing equipment can replace manual labor in the demanding and repetitive depalletizing process, thereby reducing labor requirements and, in turn, lowering labor costs. Furthermore, the depalletizing equipment avoids errors caused by human error and can maintain high precision over long periods of time, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] Figure 1 This is one of the structural schematic diagrams of a depalletizing device provided in an embodiment of the present application;

[0031] Figure 2 for Figure 1 The second structural diagram of the destacking equipment shown;

[0032] Figure 3 for Figure 1 The third structural diagram of the destacking equipment shown;

[0033] Figure 4 for Figure 1 The fourth structural diagram of the destacking equipment shown;

[0034] Figure 5 for Figure 1 The fifth structural diagram of the destacking equipment shown;

[0035] Figure 6 for Figure 1 The sixth structural diagram of the destacking equipment shown;

[0036] Figure 7 A schematic structural diagram of a second gripping device provided in an embodiment of the present application;

[0037] Figure 8 for Figure 7 A partial enlarged view of the second gripping device at position A is shown;

[0038] Figure 9 for Figure 1 The seventh structural diagram of the destacking equipment shown;

[0039] Figure 10 for Figure 1 The eighth structural diagram of the destacking equipment shown;

[0040] Figure 11 for Figure 1 The ninth structural diagram of the destacking equipment shown;

[0041] Figure 12 for Figure 11 An enlarged view of the first gripping device shown at B;

[0042] Figure 13 for Figure 1 The tenth structural diagram of the destacking equipment shown;

[0043] Figure 14 for Figure 13 A partial enlarged view of the destacking equipment at position C is shown;

[0044] Figure 15 for Figure 1 The structural diagram of the destacking equipment shown is eleven;

[0045] Figure 16 for Figure 1 The structural diagram of the destacking equipment shown is twelfth;

[0046] Figure 17 A schematic diagram of the placement of components to be destackered provided in an embodiment of the present application.

[0047] Reference numerals: 100, destacking equipment;

[0048] 10, base; 20, mechanical arm; 21, body; 22, first arm body; 23, second arm body; 24, third arm body; 25, fourth arm body; 26, first hinge shaft; 27, second hinge shaft; 28, third hinge shaft; 30, first clamping device; 31, slide rod; 32, second clamping part; 321, second sliding groove; 33, second driving piece; 33A, second motor; 40, second clamping device; 41, first sliding rail; 411, first sliding groove; 42, first clamping part; 50, support seat; 60, first transmission piece; 61, first chain; 70, second transmission piece; 71, second chain; 80, suction cup; 81, air cylinder; 82, suction cup support; 90, identification camera; 110, pile storage vehicle; 111, first mounting piece; 112, second mounting piece; 113, third mounting piece; 114, fourth mounting piece; 115, fifth mounting piece; 116, sixth mounting piece; 117, cushion plate; 120, cushion plate placing vehicle. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0050] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise specified, the above directional descriptions can be flexibly arranged in the actual application process under the condition of meeting the relative positional relationship shown in the drawings.

[0051] The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0052] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the terms "mount", "link", "connect", "communicate" should be understood broadly, for example, it can be fixed connection, also can be detachable connection, or integrally connected. It can be directly connected, or indirectly connected through intermediate medium, it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.

[0053] In the embodiments of the utility model, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive containing, so that the process, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes the elements inherent to such process, article or device. Without more limitation, the element defined by the sentence "including a" does not exclude the existence of another identical element in the process, article or device including the element.

[0054] In the embodiments of the utility model, the words such as "exemplary" or "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the utility model should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "exemplary" or "for example" are intended to present the relevant concept in a specific way.

[0055] With the continuous development of science and technology, automation and intelligent technology are widely used in modern industrial production and logistics storage fields. As an important link in the material handling process, the efficiency and accuracy of unstacking operation directly affect the smooth operation of the subsequent production line and the overall operation efficiency.

[0056] Unstacking refers to the handling process of removing the load from the top position of the load and lowering the load. The traditional unstacking operation is usually completed by manual work.

[0057] However, the traditional manual unstacking method has problems such as high labor intensity, easy to make mistakes and low efficiency, which has been difficult to meet the needs of modern production, and manual unstacking needs to set workers to increase production cost.

[0058] Therefore, the embodiments of the present application provide an unstacking device, which can realize automatic unstacking and carrying of the mounting piece to the tool plate by combining robot technology and machine vision recognition technology with special clamps, thereby improving unstacking efficiency and reducing production cost.

[0059] Please refer to Figure 1 , Figure 1A structure schematic view of a de-stacking device 100 provided by the embodiment of the present application is shown in FIG. 1, the de-stacking device 100 can include a base 10, a mechanical arm 20, a first grabbing device 30 and a second grabbing device 40.

[0060] The mechanical arm 20 is movably connected to the base 10, the first grabbing device 30 is arranged on the mechanical arm 20 and used for grabbing the components to be de-stacked, and the second grabbing device 40 is used for clamping the components to be de-stacked placed by the first grabbing device 30, so that the components to be de-stacked clamped by the first grabbing device 30 are transferred to the mounting station by the second grabbing device 40.

[0061] Optionally, the components to be de-stacked can include a base plate and a mounting piece, one or more mounting pieces can be placed on the base plate, and multiple layers of base plates can be arranged in a stack, and the de-stacking device provided by the embodiment of the present application can take out the mounting pieces on the multiple layers of base plates for mounting, so as to realize the de-stacking of the mounting pieces.

[0062] For example, the mounting piece can be a heat exchanger, and for example, the mounting piece can also be an expansion valve, a solenoid valve or the like, which is not limited in the present application.

[0063] Please refer to Figure 2 , Figure 2 for Figure 1 a structure schematic view of the de-stacking device 100, the mechanical arm 20 can include a body 21 and a first arm body 22. The body 21 is fixedly connected with the base 10, for example, the body 21 is connected with the base 10 by bolts, so that the mechanical arm 20 can be stably connected with the base 10 and is not easy to shake and fall down, and the first arm body 22 is hinged to the body 21, so that the first arm body 22 can rotate around the central axis of the body 21.

[0064] In order to improve the freedom degree of movement of the mechanical arm 20, in some embodiments, the mechanical arm 20 can further include a second arm body 23, the second arm body 23 is hinged with the first arm body 22, so that the second arm body 23 can rotate around a first hinge axis 26, the first hinge axis 26 is perpendicular to the central axis of the body 21, so that the second arm body 23 can be lifted and lowered relative to the first arm body 22.

[0065] In order to further make the movement of the mechanical arm 20 more flexible, in some embodiments, the mechanical arm 20 can further include a third arm body 24 and a fourth arm body 25, the third arm body 24 is hinged with the second arm body 23, so that the third arm body 24 can rotate around a second hinge axis 27, the fourth arm body 25 is hinged with the third arm body 24, so that the fourth arm body 25 can rotate around a third hinge axis 28. The second hinge axis 27 and the third hinge axis 28 are parallel to the first hinge axis 26, so that the third arm body 24 can be lifted and lowered relative to the second arm body 23, and the fourth arm body 25 can be lifted and lowered relative to the third arm body 24.

[0066] Please refer to Figure 3 , Figure 3 for Figure 1 the third structural schematic diagram of the unpacking device 100 shown in FIG. 1, the first gripping device 30 is connected to the fourth arm body 25, and the first gripping device 30 can rotate around the central axis of the fourth arm body 25. In this way, the first gripping device 30 can be flexibly moved to different positions in different directions relative to the base 10, so as to grasp the unpacking components in different positions.

[0067] The first gripping device 30 moves to the pile of unpacking components, grasps the mounting member, and then moves to the second gripping device 40, transfers the mounting member to the second gripping device 40, and then the second gripping device 40 can transfer the mounting member to the mounting station. In this way, one automatic unpacking and carrying to the mounting station can be completed.

[0068] In this way, the unpacking device 100 can replace manual work to complete high-intensity and high-repetitive unpacking work, thereby reducing the demand for labor, and thus reducing labor costs. At the same time, the unpacking device 100 can avoid errors caused by human factors, and can stably maintain high precision work for a long time, thereby improving production efficiency.

[0069] In some embodiments of the present application, the mechanical arm 20 can be an industrial robot, which includes a mechanical assembly, a sensor, and a control assembly. The mechanical assembly can include a multi-joint mechanical device for completing multi-directional movement. For example, the mechanical assembly can include the first arm body 22, the second arm body 23, the third arm body 24, and the fourth arm body 25 shown in FIG. 1, which is not limited in the present application. The sensor assembly is used to detect and identify environmental information, and the control assembly can be configured with a preset program for processing the information detected by the sensor assembly and accurately controlling the movement of the mechanical assembly. Figure 2

[0070] In this way, the industrial robot can configure different preset programs according to different work tasks and process requirements, so as to intelligently adjust according to different situations and accurately complete the unpacking work without manual adjustment of different situations, further reducing labor costs.

[0071] Please refer to Figure 4 , Figure 4 for Figure 1 the fourth structural schematic diagram of the unpacking device 100 shown in FIG. 1, in some embodiments of the present application, the unpacking device 100 can further include a support seat 50 and a first driving member, the second gripping device 40 is movably connected to the support seat 50, and the first driving member is in transmission connection with the second gripping device 40 to drive the second gripping device 40 to move. ​

[0072] The first driving member is in transmission connection with the second gripping device 40, so that the movement of the second gripping device can be controlled. Since the second gripping device 40 is movably connected to the support base 50, the second gripping device 40 can move relative to the support base 50 to transfer the components to be unpacked to the mounting station. In this way, manual intervention can be reduced, thereby improving the working efficiency of the unpacking equipment 100.

[0073] In some embodiments of the present application, the unpacking equipment 100 can further include a tooling plate arranged on the support base. The second gripping device 40 has at least a first state and a second state during movement. In the first state, the second gripping device 40 is used to pick up the mounting components placed by the first gripping device 30. In the second state, the second gripping device 40 is used to place the mounting components on the tooling plate.

[0074] In this way, after the mounting components are taken out of the stack by the first gripping device 30, the second gripping device 40 picks up the mounting components in the first state and then switches to the second state to accurately place the mounting components on the tooling plate. Since the tooling plate provides a stable platform and reference point, the second gripping device 40 can better achieve accurate positioning, thereby reducing the risk of misplacement or damage of the mounting components due to positional deviation, and further improving the stability and reliability of the unpacking work.

[0075] Please refer to Figure 5 , Figure 6 , Figure 7 and Figure 8 , Figure 5 the fifth structural schematic diagram of the unpacking equipment 100 shown in Figure 1 , Figure 6 the sixth structural schematic diagram of the unpacking equipment 100 shown in Figure 1 , Figure 7 a structural schematic diagram of a second gripping device 40 provided by an embodiment of the present application, Figure 8 the second gripping device 40 shown in Figure 7 is a local enlarged view of A. In some embodiments of the present application, the second gripping device 40 can include a first sliding rail 41 and a first clamping portion 42. The first sliding rail 41 is connected to the support base 50, and the first sliding rail 41 is provided with a first sliding groove 411. At least part of the first clamping portion 42 is slidably arranged in the first sliding groove 411 along the extension direction of the first sliding groove 411. The first driving member is in transmission connection with the first clamping portion 42 to drive the first clamping portion 42 to slide along the extension direction of the first sliding groove 411.

[0076] In this way, since at least part of the first clamping part 42 is slidably arranged in the first sliding groove 411 along the extension direction of the first sliding groove 411, the first clamping part 42 can be slid along the extension direction of the first sliding groove 411, so that the second clamping device 40 is switched between the first state and the second state, and the process of picking up and placing the mounting piece is completed. Since the first driving member is in transmission connection with the first clamping part 42, the sliding distance and speed of the first clamping part 42 can be accurately controlled, and the accuracy and efficiency of the conveying are improved.

[0077] In addition, the first sliding rail 41 is connected with the support seat 50, so as to provide stable support for the second clamping device 40. The first clamping part 42 slides along the first sliding groove 411, and due to the guiding effect of the sliding rail, accidental situations caused by shaking or tilting are reduced, and the stability of the equipment is improved.

[0078] In some embodiments of the present application, the first driving member can include a first motor, and the unstacking device 100 can further include a first transmission member 60 in transmission connection between the first driving member and the first clamping part 42. The first transmission member 60 can include a first sprocket and a first chain 61, the first sprocket is coaxially connected with the output shaft of the first motor, the first chain 61 is engaged with the first sprocket, and the first chain 61 is connected with the first clamping part 42.

[0079] In this way, the first motor serves as a power source, and directly drives the first chain 61 through the first sprocket. Since the chain transmission has the characteristics of large transmission torque and high transmission efficiency, the adoption of the first chain 61 connected with the first clamping part 42 can make the first clamping part 42 obtain stable and sufficient power during sliding, and can reduce energy loss caused by other intermediate links, and improve transmission efficiency.

[0080] Please refer to Figure 9 , Figure 10 , Figure 11 and Figure 12 , Figure 9 the structure schematic view of the unstacking device 100 is shown in FIG. 7, Figure 1 the structure schematic view of the unstacking device 100 is shown in FIG. 8, Figure 10 the structure schematic view of the unstacking device 100 is shown in FIG. 9, Figure 1 the structure schematic view of the unstacking device 100 is shown in FIG. 10, Figure 11 the structure schematic view of the unstacking device 100 is shown in FIG. 11, Figure 1 the structure schematic view of the unstacking device 100 is shown in FIG. 12, Figure 12 the structure schematic view of the unstacking device 100 is shown in FIG. 13, Figure 11The first grabbing device 30 shown in the enlarged view at B can include a slide rod 31 connected with the mechanical arm 20, a second clamping part 32 provided with a second sliding groove 321 matched with the slide rod 31 to enable the second clamping part 32 to slide along the extension direction of the slide rod 31, and a second driving member 33 in driving connection with the second clamping part 32 to drive the second clamping part 32 to slide along the extension direction of the slide rod 31 in some embodiments of the present application.

[0081] In this way, since the second clamping part 32 is provided with the second sliding groove 321 matched with the slide rod 31 to enable the second clamping part 32 to slide along the extension direction of the slide rod 31, the first grabbing device 30 can complete clamping and placing of the components to be unpacked. Since the second driving member 33 is in driving connection with the second clamping part 32, the sliding distance and speed of the second clamping part 32 can be accurately controlled, and the accuracy and efficiency of grabbing the components to be unpacked are improved.

[0082] In some embodiments of the present application, the second driving member 33 can include a second motor 33A, and the unpacking device 100 can further include a second transmission member 70 in driving connection between the second driving member 33 and the second clamping part 32. The second transmission member 70 includes a second sprocket and a second chain 71. The second sprocket is coaxially connected with the output shaft of the second motor 33A, the second chain 71 is engaged with the second sprocket, and the second chain 71 is connected with the second clamping part 32.

[0083] In this way, the second motor 33A serves as a power source to directly drive the second chain 71 through the second sprocket. Since the chain transmission has the characteristics of large transmission torque and high transmission efficiency, the adoption of the second chain 71 connected with the second clamping part 32 can enable the second clamping part 32 to obtain stable and sufficient power during sliding, so that the components to be unpacked can be stably clamped to prevent the components to be unpacked from falling due to insufficient clamping force.

[0084] Please refer to Figure 13 and Figure 14 , Figure 13 for Figure 1 the tenth structural schematic view of the unpacking device 100 shown in FIG. 10, Figure 14 for Figure 13 the tenth structural schematic view of the unpacking device 100 shown in FIG. 10,

[0085] In this way, when it is necessary to suck the component to be destackered, the air pump extracts the gas in the suction cup to form a vacuum area between the suction cup 80 and the component to be destackered, thereby utilizing the pressure difference between the vacuum area and the air to suck the component to be destackered; when it is necessary to place the component to be destackered, the air pump exhausts air into the suction cup 80 to eliminate the pressure difference between the area inside the suction cup 80 and the air, and the component to be destackered is placed down.

[0086] In some embodiments of the present application, the first gripping device 30 may further include a cylinder 81 and a suction cup bracket 82 , wherein the cylinder 81 is connected between the robotic arm 20 and the suction cup bracket 82 , and the suction cup 80 is disposed on the suction cup bracket 82 .

[0087] In this way, the cylinder 81 can drive the suction cup bracket 82 to reciprocate along the extension direction of the cylinder 81, thereby driving the suction cup 80 close to or away from the component to be destackered. When it is necessary to suck the component to be destackered, the cylinder 81 drives the suction cup 80 close to the component to be destackered, so that the suction cup 80 sucks the product through vacuum adsorption. After placing the component to be destackered, the cylinder 81 drives the suction cup 80 away from the component to be destackered, so that the suction cup 80 is located between the second clamping parts 32 to prevent interference with the grasping of the second clamping parts 32.

[0088] In some embodiments of the present application, the parts to be destackered include mounting parts and pads. Since the mounting parts are heat exchangers, expansion valves or solenoid valves, the shapes of the mounting parts are irregular. Therefore, when removing the mounting parts from the stack, the second clamping part 32 can be used to clamp the mounting parts instead of using the suction cup 80 to suck them.

[0089] When removing the backing plate from the stack, the backing plate is used to separate two adjacent layers of mounting parts, ensuring that the mounting parts are neatly placed. Therefore, the backing plate can have a flat surface, and the suction cup 80 can be used to pick up the backing plate. In addition, since multiple mounting parts can be placed on one layer of the backing plate, the backing plate is relatively large. If the second clamping portion 32 is used to clamp the backing plate, a larger second clamping portion 32 is required. However, using a larger second clamping portion 32 increases energy consumption and reduces clamping accuracy. Therefore, the second clamping portion 32 is not required to clamp the backing plate.

[0090] Please refer to Figure 14 、 Figure 15 、 Figure 16 and Figure 17 , Figure 15 for Figure 1 The eleventh structural diagram of the destacking device 100 is shown. Figure 16 for Figure 1 The twelfth structural diagram of the destacking device 100 is shown. Figure 17A schematic diagram of the placement of components to be depalletized is provided in an embodiment of the present application. In some embodiments of the present application, the depalletizing device 100 may further include a recognition camera 90, which is disposed on the robotic arm 20. The depalletizing device 100 may further include a stacking buffer vehicle 110 and a pad placement vehicle 120.

[0091] Optionally, the recognition camera 90 can be an industrial camera that can convert optical signals into ordered electrical signals, thereby enabling image capture, transmission, processing, and analysis, with high resolution and high stability. Optionally, the recognition camera 90 can also be an area array camera or an infrared camera, which is not further limited in this application.

[0092] It can be understood that a plurality of mounting parts can be placed on the pad 117. For example, the plurality of mounting parts can include a first mounting part 111, a second mounting part 112, a third mounting part 113, a fourth mounting part 114, a fifth mounting part 115 and a sixth mounting part 116. The plurality of mounting parts can be arranged in an array on the pad 117. For example, the plurality of mounting parts can be arranged in a 2×3 column, and the plurality of mounting parts can also be arranged in a 3×2 array. This application does not limit this.

[0093] Among them, Figure 17 As shown, a plurality of mounting members can be arranged in a 2×3 row for example. After the depalletizing device 100 is started, the robot arm 20 moves to the first preset position, which is the standard position of the first mounting member 111 .

[0094] After taking pictures, the recognition camera 90 compares the first image taken with the first preset image in the database. The first preset image is an image of the mounting part at the preset position. If the image comparison is consistent, the first gripping device 30 grabs the first mounting part 111. If the image comparison is inconsistent, it is compared with the second preset image in the database. The second preset image is an image of an empty preset position. If the image comparison is consistent, the robotic arm 20 moves to the second preset position. The second preset position is the standard position of the second mounting part 112. If it is also inconsistent with the second preset image, the destacking equipment 100 issues an alarm prompt sound to remind the staff to repair it.

[0095] The mechanical arm 20 repeats the above comparison process after moving to the second preset position, and sequentially completes the grabbing of the second mounting piece 112, the third mounting piece 113, the fourth mounting piece 114, the fifth mounting piece 115 and the sixth mounting piece 116. When all the mounting pieces of a layer are grabbed, the mechanical arm 20 moves above the cushion plate 117, takes a picture of the cushion plate, and compares it with the preset image of the cushion plate. If the image comparison is consistent, the cylinder 81 drives the suction cup 80 to approach the cushion plate 117, the suction cup 80 sucks the cushion plate 117, and the cushion plate 117 is transferred to the cushion plate placing vehicle 120. If the comparison is not consistent, the unstacking device 100 issues an alarm prompt sound.

[0096] In this way, the identification camera 90 can detect the working state of the unstacking operation, thereby improving the stability and accuracy of the unstacking device 100.

[0097] In the description of the present specification, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0098] The above is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A de-palletizing apparatus for de-palletizing components to be de-palletized having a pallet and a mounting member, characterized by, The device comprises: a base; a mechanical arm movably connected to the base; a first gripping device arranged on the mechanical arm and used for gripping a component to be unpacked; a second gripping device used for gripping the component placed by the first gripping device so that the component gripped by the first gripping device is transferred to an installation station by the second gripping device.

2. The de-palletizing apparatus of claim 1, wherein, The unpacking device further comprises: a support base, the second gripping device being movably connected to the support base; a first driving member in transmission connection with the second gripping device to drive the second gripping device to move.

3. The de-palletizing apparatus of claim 2, wherein, The unpacking device further comprises: a tool plate arranged on the support base; the second gripping device has at least a first state and a second state, in the first state, the second gripping device is used for gripping the component placed by the first gripping device, and in the second state, the second gripping device is used for placing the component on the tool plate.

4. The de-palletizing apparatus of claim 2, wherein, The second gripping device comprises: a first sliding rail connected with the support base, the first sliding rail being provided with a first sliding groove; a first clamping part, at least a part of the first clamping part being slidably arranged in the first sliding groove along the extension direction of the first sliding groove; the first driving member is in transmission connection with the first clamping part to drive the first clamping part to slide along the extension direction of the first sliding groove.

5. The de-palletizing apparatus of claim 4, wherein, The first driving member comprises a first motor; the unpacking device further comprises: a first transmission member in transmission connection between the first driving member and the first clamping part, the first transmission member comprising: a first sprocket coaxially connected with the output shaft of the first motor; a first chain in mesh with the first sprocket and connected with the first clamping part.

6. The de-palletizing apparatus of claim 1, wherein, The first gripping device comprises: a sliding rod connected with the mechanical arm; a second clamping part provided with a sliding groove matched with the sliding rod so that the second clamping part can slide along the extension direction of the sliding rod; a second driving member in transmission connection with the second clamping part to drive the second clamping part to slide along the extension direction of the sliding rod.

7. The de-palletizing apparatus of claim 6, wherein, The second driving member comprises a second motor; the unpacking device further comprises: a second transmission member in transmission connection between the second driving member and the second clamping part, the second transmission member comprising: a second sprocket coaxially connected with the output shaft of the second motor; a second chain in mesh with the second sprocket and connected with the second clamping part.

8. The de-palletizing apparatus of claim 1, wherein, The first gripping device further comprises: an air pump; a suction cup arranged on the mechanical arm; an air pipe in communication between the suction cup and the air pump so that when the air pump sucks air, the suction cup can suck the component to be unpacked.

9. The de-palletizing apparatus of claim 1, wherein, The unpacking device further comprises: an identification camera arranged on the mechanical arm.

10. A de-palletizing apparatus, characterized by, The device comprises: a base; a mechanical arm connected to the base; A first gripping device is arranged on the mechanical arm, and the first gripping device is used to grab the component to be unpacked; A second gripping device is used to clamp the component to be unpacked placed by the first gripping device.

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