Unstacking device
By combining clamping and positioning components, efficient and precise destacking of bins is achieved, solving the problem of bin lid sticking caused by bin vibration, improving the smoothness of automated logistics system operations and reducing costs.
Patent Information
- Application Number
- CN202520486148.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-19
- Publication Date
- 2026-02-13
- Estimated Expiration
- 2035-03-19
AI Technical Summary
In automated logistics systems, vibrations and gaps between bins can cause bin lids to stick together. Existing visual guidance methods cannot completely prevent the lower bin lids from being lifted, which affects the smoothness of destacking operations and is costly.
The system uses clamping components to hold the boxes together and positioning components to hold down the lower box lid. The robotic arm then separates the upper box from the lower box, achieving a highly efficient and precise destacking process.
It improves the efficiency and accuracy of the destacking process, avoids the lower box lid being lifted, and reduces system costs.
Smart Images
Figure CN223906099U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a technology field of unstacking, especially to a kind of unstacking device. BACKGROUND
[0002] In the automated logistics system, it is a key step to improve efficiency by using AGV to transfer multiple containers to the unstacking position. However, due to the vibration during the transfer process and the gap between the containers, the lid often sticks together, causing the upper container to be lifted when the lower lid is clamped during unstacking, affecting the smoothness of the operation.
[0003] The current solution relies on the cooperation of visual cameras and robots, which detects the deviation of the grip through vision and feeds back to the robot for position correction. Although this method improves the accuracy of the grip to some extent, it still has limitations. In particular, when the box and the lower lid are firmly attached, visual guidance also cannot completely avoid the problem of lifting the lower lid. In addition, the cost of the vision system is high, and there is a time delay from the analysis of the photo to the execution of the correction by the robot, which reduces the overall operation efficiency. SUMMARY
[0004] The utility model provides a kind of unstacking device to solve the above technical problems, box is clamped by clamping assembly, then the lower lid is pressed by positioning assembly, then, the upper box body is separated from the lower box body by robot, and the whole process is efficient and accurate.
[0005] The technical scheme adopted by the utility model is:
[0006] An unstacking device includes a robot hand and a mechanical claw, which separates the stacked boxes under the drive of the robot hand. The mechanical claw includes:
[0007] A mounting seat is connected to the robot hand.
[0008] A mounting bracket is connected to the bottom of the mounting seat.
[0009] A clamping assembly is installed at the bottom of the mounting bracket.
[0010] A positioning assembly is installed on the clamping assembly.
[0011] A controller is electrically connected to the clamping assembly and the positioning assembly.
[0012] The positioning assembly includes:
[0013] A drive member is installed on the mounting bracket.
[0014] A telescopic member is installed on the clamping assembly, and the drive member communicates with the telescopic member.
[0015] Optionally, a sliding groove is arranged on the mounting frame, and the clamping assembly is arranged in the sliding groove.
[0016] Optionally, the clamping assembly comprises:
[0017] a clamping rod, at least two clamping rods are oppositely arranged on the bottom of the mounting frame;
[0018] a clamping cylinder, which is arranged on the bottom of the mounting frame, and the movable end of the clamping cylinder is connected with the clamping rod;
[0019] a clamping plate, which is arranged on the clamping rod, and the clamping plate is arranged to be perpendicular to the axis direction of the clamping rod, and the positioning assembly is arranged on the clamping plate.
[0020] Optionally, when the clamping rod is slidably arranged in the sliding groove, the clamping cylinder is a double-end cylinder, and the clamping cylinder drives the clamping rod to move away from each other or to move relative to each other.
[0021] Optionally, the clamping assembly further comprises:
[0022] two sliding blocks, which are matched with the sliding groove, are arranged at two ends of the clamping cylinder, and are connected with the movable end of the clamping cylinder, and two clamping rods are arranged on each of the two sliding blocks.
[0023] Optionally, the clamping assembly further comprises:
[0024] a non-slip rubber block, which is arranged on the clamping plate, and the non-slip rubber block is arranged to face the box after being arranged.
[0025] Optionally, the non-slip rubber block is provided with a non-slip pattern on the side wall facing the box.
[0026] Optionally, the positioning assembly further comprises:
[0027] a top plate, which is arranged at the end of the movable end of the telescopic part.
[0028] Compared with the prior art, the utility model has the beneficial effects that:
[0029] Through the clamping assembly, the box is clamped, then the positioning assembly presses the cover of the lower layer, and then the mechanical hand drives the upper layer box to separate from the lower layer box, and the whole process is efficient and accurate. BRIEF DESCRIPTION OF DRAWINGS
[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.
[0031] Figure 1 It is a schematic view of the three-dimensional structure of the unpacking device.
[0032] Figure 2 It is a schematic view of the front structure of the unpacking device.
[0033] Figure 3 It is a schematic view of the left structure of the unpacking device.
[0034] Figure 4 It is a schematic view of the structure of the clamping box of the unpacking device.
[0035] Reference signs:
[0036] 1, mounting seat;
[0037] 2, mounting frame; 21, sliding groove;
[0038] 3, clamping assembly; 31, clamping rod; 32, clamping cylinder; 33, clamping plate; 34, sliding block; 35, anti-skid rubber block; 36, anti-skid line;
[0039] 4, positioning assembly; 41, driving piece; 42, telescopic piece; 43, top plate;
[0040] 5, controller. DETAILED DESCRIPTION
[0041] In the following, only some exemplary embodiments are simply described. As those skilled in the art can realize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present application. Therefore, the drawings and the description are considered to be exemplary in nature rather than limiting.
[0042] In the description of the present application, it is understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the present application is used, or the orientation or positional relationship commonly understood by those skilled in the art, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.
[0043] In the present application, unless otherwise expressly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected, or it can be communicated; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0044] In the present application, unless otherwise expressly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.
[0045] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can refer to the same reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or settings discussed.
[0046] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
[0047] As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , the present application provides a kind of to disengage device, including manipulator and mechanical claw clamp, mechanical claw clamp is driven under the manipulator and is split to the box body stacked together;The mechanical claw clamp includes: mounting seat 1, mounting frame 2, clamping assembly 3, positioning assembly 4 and controller 5.Mounting seat 1 is used to connect with manipulator.Mounting frame 2 is connected with the bottom of mounting seat 1.Clamping assembly 3 is installed at the bottom of mounting frame 2.Positioning assembly 4 is installed on clamping assembly 3.Controller 5 is electrically connected with clamping assembly 3 and positioning assembly 4.
[0048] When the unstacking is performed, the manipulator drives the unstacking device to descend, and after descending to a specified position, the clamping assembly 3 clamps the box to be unstacked. Then the positioning assembly 4 extends outward to press the upper box cover of the lower layer, and the manipulator drives the mechanical gripper to ascend to separate the upper box from the lower box.
[0049] More specifically, the positioning assembly 4 includes a driving member 41 and a telescopic member 42. The driving member 41 is installed on the mounting frame 2. The telescopic member 42 is installed on the clamping assembly 3, and the driving member 41 communicates with the telescopic member 42.
[0050] When the unstacking is performed, the controller 5 controls the driving member 41 to drive the telescopic member 42 to move outward to press the upper box cover of the lower layer, so that the clamping assembly 3 does not lift the lower box cover when unstacking.
[0051] It should be noted that the driving member 41 is a gas pump, and the telescopic member 42 is a gas cylinder. In other embodiments, the positioning assembly 4 can also be a linear motor or other mechanical structure that can realize linear motion.
[0052] In one embodiment, as shown in Figure 1 , the mounting frame 2 is provided with a sliding groove 21, and the clamping assembly 3 is installed in the sliding groove 21. In order to facilitate the sliding of the clamping assembly 3, the mounting frame 2 is provided with the sliding groove 21.
[0053] In one embodiment, as shown in Figure 1 , Figure 2 and Figure 3 , the clamping assembly 3 includes a clamping rod 31, a clamping cylinder 32, and a clamping plate 33. The clamping rod 31 has at least two opposite clamping rods arranged in the sliding groove 21. The clamping cylinder 32 is installed at the bottom of the mounting frame 2, and the movable end of the clamping cylinder 32 is connected with the clamping rod 31. The clamping plate 33 is installed on the clamping rod 31, and the clamping plate 33 is installed perpendicular to the axis direction of the clamping rod 31. The positioning assembly 4 is installed on the clamping plate 33.
[0054] When the box needs to be clamped, the clamping cylinder 32 drives the clamping rod 31 to move, so that the clamping plate 33 installed on the clamping rod 31 contacts the box. When the clamping plate 33 clamps the box, the manipulator drives the mechanical gripper to ascend.
[0055] In one embodiment, as shown in Figure 1 , when the clamping rod 31 is slidably installed in the sliding groove 21, the clamping cylinder 32 is a double-head cylinder, and the clamping cylinder 32 drives the clamping rod 31 to move away from each other or to move relative to each other.
[0056] In order to facilitate the movement of the two clamping rods 31, the clamping cylinder 32 is a double-end cylinder, and the movable end of the double-end cylinder drives the clamping rod 31 to clamp the box.
[0057] In one embodiment, as shown in Figure 1 and Figure 3 , the clamping assembly 3 further comprises two sliding blocks 34. The two sliding blocks 34 are matched with the sliding groove 21 and located at the two ends of the clamping cylinder 32 and connected with the movable end of the clamping cylinder 32. Two clamping rods 31 are arranged on each of the two sliding blocks 34.
[0058] In order to facilitate the stable movement of the clamping rod 31 driven by the clamping cylinder 32, a sliding block 34 is arranged on the sliding groove 21, and the clamping rod 31 is installed on the sliding block 34. When it is needed to clamp the box or release the box, the clamping cylinder 32 drives the sliding block 34 to slide in the sliding groove 21.
[0059] The cooperation of the sliding groove 21 and the sliding block 34 can further improve the stability of the clamping assembly 3 and avoid shaking or deviation during clamping.
[0060] In one embodiment, as shown in Figure 1 and Figure 2 , the clamping assembly 3 further comprises an anti-skid rubber block 35. The anti-skid rubber block 35 is installed on the clamping plate 33, and the anti-skid rubber block 35 is installed towards the box.
[0061] In order to avoid the box from sliding during unstacking, the anti-skid rubber block 35 is arranged on the clamping plate 33.
[0062] In another embodiment, as shown in Figure 1 and Figure 2 , in order to further improve the anti-skid performance of the anti-skid rubber pad, an anti-skid pattern 36 is arranged on the side wall of the anti-skid rubber pad.
[0063] In one embodiment, as shown in Figure 1 , Figure 2 and Figure 4 , the positioning assembly 4 further comprises a top plate 43. The top plate 43 is installed at the end of the movable end of the telescopic member 42.
[0064] In order to avoid leaving marks on the box cover when pressing the box cover of the lower layer, a top plate 43 is arranged at the end of the movable end of the telescopic member 42.
[0065] Specific working principle:
[0066] The controller 5 controls the robot to drive the mechanical gripper to descend to a proper position, and then controls the clamping cylinder 32 to move, and the clamping cylinder 32 drives the clamping rod 31 to move relatively during the movement, so that the clamping plate 33 installed on the clamping rod 31 is in contact with the box body. Then the controller 5 controls the driving member 41 to drive the telescopic member 42 to move downward, so that the top plate 43 installed on the telescopic member 42 is in abutment with the box cover of the next layer. When the controller 5 controls the robot to move upward, the top plate 43 on the telescopic member 42 presses the box cover, so that the box cover of the lower layer is prevented from being lifted by the upper layer of the box body.
[0067] In another embodiment, the controller 5 controls the robot to lift the mechanical gripper, and after the mechanical gripper is lifted to a specified distance, the controller 5 controls the driving member 41 to provide driving force for the telescopic member 42, and the telescopic member 42 extends outward to knock the box cover of the next layer from the bottom of the upper layer of the box body.
[0068] In another embodiment, the controller 5 controls the robot to move upward, and the controller 5 controls the telescopic member 42 to extend outward (the moving direction of the robot and the moving direction of the telescopic member 42 are opposite), so that the box cover of the lower layer is prevented from being lifted by the upper layer of the box body during the movement of the upper layer of the box body.
[0069] Finally, it should be noted that the above only describes the preferred embodiments of the present application, and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.
Claims
1. A destacking device, comprising a robotic arm and a robotic gripper, the robotic gripper, driven by the robotic arm, splitting stacked boxes; characterized in that, The mechanical gripper includes: The mounting base is connected to the robotic arm; The mounting bracket is connected to the bottom of the mounting base; A clamping assembly is mounted on the bottom of the mounting bracket; A positioning component is mounted on the clamping component; The controller is electrically connected to the clamping assembly and the positioning assembly; The positioning component includes: The drive unit is installed in the aforementioned mounting bracket; A telescopic component is installed on the clamping assembly, and the driving component is connected to the telescopic component.
2. The destacking device according to claim 1, characterized in that, The mounting bracket is provided with a sliding groove, and the clamping assembly is installed in the sliding groove.
3. The destacking device according to claim 2, characterized in that, The clamping assembly includes: Clamping rods, having at least two, are disposed opposite each other at the bottom of the mounting bracket; A clamping cylinder is installed at the bottom of the mounting frame, and the movable end of the clamping cylinder is connected to the clamping rod; A clamping plate is mounted on the clamping rod, and the clamping plate is perpendicular to the axial direction of the clamping rod after installation. The positioning component is mounted on the clamping plate.
4. The destacking device according to claim 3, characterized in that, When the clamping rod is slidably installed in the groove, the clamping cylinder is a double-headed cylinder, and the clamping cylinder drives the clamping rod to move away from each other or to move relative to each other.
5. The destacking device according to claim 4, characterized in that, The clamping assembly further includes: Two sliders are matched with the groove and located at both ends of the clamping cylinder, and connected to the movable end of the clamping cylinder. Each slider is provided with two clamping rods.
6. The destacking device according to claim 3, characterized in that, The clamping assembly further includes: Anti-slip rubber blocks are installed on the clamping plate, and the anti-slip rubber blocks are positioned facing the box body after installation.
7. The destacking device according to claim 6, characterized in that, The anti-slip rubber block has anti-slip textures on the side wall facing the box.
8. The destacking device according to claim 1, characterized in that, The positioning component further includes: The top plate is installed at the movable end of the telescopic component.