CN110775621A - Pipeline taking device and method - Google Patents

Abstract

The invention discloses a pipeline material retrieval device, which can simultaneously receive multiple material pieces from a first pipeline, or simultaneously receive multiple material pieces and move them to a second pipeline, and each material piece has an internal space. The pipeline retrieval device includes: a fixed frame that fixes multiple access devices; a lifting and lowering displacement mechanism that raises and lowers the height of the fixed frame and displaces the position of the fixed frame; controls the access devices to simultaneously execute a receiving action or a A controller that releases the action. The controller controls each picking device to perform the picking action or the releasing action in the internal space of each material piece.

Description

Pipeline reclaiming device and method

technical field

The present invention relates to a material taking device and method, in particular to a device and method for taking a large number of materials from pipelines or conveyor belts at one time, wherein the materials especially refer to a structure having a container.

Background technique

With the development of Industry 4.0, the human input of the production line has been gradually reduced and replaced by a large number of automated machines. The precision and optimization of various movements really contribute to the reduction of production costs. Therefore, the automation design of the production line is important. Good design, including software control and various hardware arrangements, can not only increase production capacity, but also maintain the smoothness of the production line for a long time. In addition, good design can cope with various unpredictable conditions, such as defects in the parts that are handled by the production line.

For the cleaning of large baskets, such as those in convenience stores, the current practice is for operators to collect stacks of used baskets to a cleaning facility and wash the baskets in a semi-automatic manner. However, with the improvement of society's eating habits, the number of delivery baskets recovered from convenience stores has increased significantly. Semi-automatic cleaning factories and lack of human resources will not be able to cope with a larger number of cleaning operations. In particular, the defects (such as deformation and damage) caused by the use of the delivery basket make the smoothness of the production line to be tested. This is because unexpectedly deformed parts may exceed the range of mechanical action, preventing smooth progress of the parts, which usually must be cleared by experienced operators. The production line has an infeed end and a discharge end, where the action of the infeed end is critical. First of all, the speed of feeding is one of the factors for increasing the capacity, which can usually be estimated by the number of material input per unit time. Secondly, the consistency of incoming parts also tests whether the machine or operator has to spend extra time to perform corrective actions to ensure that each part is transported in the production line within the tolerance range of each machine tool. For example, the delivery baskets of the convenience store are generally returned to the cleaning factory in a stacked manner, and the stacked structures are mostly unable to present an ideal stacking shape due to the defects of the delivery baskets themselves. In the current practice of entering the working line in a stacked structure, it is of course difficult to increase the production capacity.

Therefore, it is necessary to design a device and method for effectively improving the feeding speed and smoothness, especially for the feeding method of the aforementioned stack structure. In addition, it is also necessary to design a system that includes such a feeding method and a discharging method that can cooperate with each other.

SUMMARY OF THE INVENTION

The object of the present invention is to provide a pipeline reclaiming device, which can simultaneously pick up a plurality of materials from a first pipeline, or simultaneously pick up a plurality of materials and move to a second pipeline, and each material has an inner space, The pipeline reclaiming device includes a fixing frame, a lifting displacement mechanism and a controller. A fixed frame fixes a plurality of access devices; a lifting and displacement mechanism lifts the height of the fixed frame and displaces the position of the fixed frame; a controller controls the access devices to perform an access action or a release action synchronously. Wherein, the controller controls each access device to perform the access action or the release action in the inner space of each material.

Another object of the present invention is to provide a pipeline material reclaiming method and its peripheral supporting equipment, which simultaneously receive a plurality of material pieces, and each material piece has an inner space. The method includes: arranging a plurality of receiving devices to be fixed on a a fixing frame; and a lifting and displacing mechanism to lift and lower the height of the fixing frame, and displace the plurality of receiving devices of the fixing frame to the inner spaces of the corresponding plurality of materials. Wherein, the method further includes: controlling each access device to perform an access action in the inner space of each corresponding material piece. The method may further include maintaining a plurality of access devices at a substantially uniform height during displacement of the mount. The method may further include: after the access devices perform the access action, the lifting and displacement mechanism displaces the fixing frame, displaces the materials to a second pipeline, and then controls each access device in the corresponding position The inner space of each material piece performs a release action to place the material pieces on the second pipe line.

In a specific embodiment, the pieces are placed substantially equidistantly on a first pipeline conveyor belt.

In a specific embodiment, the inner space of each material is formed by a bottom and a plurality of side edges connected to the bottom.

In a specific embodiment, the bottom of the inner space is a flat surface, and the receiving device is a suction device for sucking the bottom of the material to perform the receiving action.

In a specific embodiment, the bottom of the inner space has a plurality of hollow lattices, and the receiving device is a clamping claw device with at least a pair of clamping fingers, and the pair of clamping fingers can penetrate the hollow lattices. And perform the access action.

In a specific embodiment, the inner space has opposite sides connected to the bottom, and the receiving device is a spreader-type clamp with a pair of support arms, the pair of support arms are stretched against the opposite sides of the interior space. side to perform the access action.

As can be seen from the above technical solutions, the advantages and beneficial effects of the pipeline reclaiming device and method of the present invention are that the number of feeding materials can be effectively increased, such as seven or more, and the action execution in the inner space can effectively grab each parts.

Description of drawings

The foregoing and other features and advantages of the present invention will become more apparent with reference to the following description of the embodiments and the accompanying drawings.

Fig. 1 shows a schematic diagram of the feeding and discharging (referred to as feeding and discharging) system of the present invention.

Figure 2 illustrates a stacking structure of multiple baskets.

Figure 3 illustrates the stacking of two baskets.

Figure 4 illustrates a perspective view of a single basket.

5A to 5C show schematic diagrams of the first finishing device in the feeding and discharging system of the present invention.

Fig. 6 shows a schematic diagram of the second finishing device in the feeding and discharging system of the present invention.

Fig. 7 shows a partial perspective view of the reclaiming device in the feeding and discharging system of the present invention.

FIG. 8 shows an access mode of the reclaiming device of the present invention.

Fig. 9 illustrates the feeding device in the feeding and discharging system of the present invention.

Figure 10 shows local features of the blanking device.

Fig. 11 is a flow chart of the feeding and discharging system of the present invention.

Figure 12 is a flow chart of the reclaiming device of the present invention.

The reference numerals are explained as follows:

100 feeding and discharging system

101 Entrance

102 Exit

103 Pipeline

1031 Feed zone

1032 Outlet area

120 Feeding line

121 The first reclaiming device

122 Collection container

130 feed line

131 Second reclaimer

132 Launching agencies

133 Blanking platform

110 Processing equipment

140 Controllers

150 First finishing device

200 stacks

202 carts

300 stacks

400 delivery baskets

401 Interior Space

402 Bottom

403A, 403B side

501 The first movable part

502 Second movable part

503 Third movable part

504 Fourth movable part

505 Arrange location

600 Second finishing device

700 Holder

701 Beam

702 Connection structure

703 Access device

7031 Grip fingers

800 Boom

801 Delivery Basket

802 Internal Empty

900 blanking platform

901 Bevel

902 Roller

903 Blocking mechanism

904 Restricted agency

905 Notch

1000 Third finishing device

S1100-S1110 steps

S1200-S1206 steps

Detailed ways

In the following detailed description of various example embodiments, reference is made to the accompanying drawings, which form a part hereof. and shown by way of illustration by means of which the described embodiments may be practiced. Sufficient detail is provided to enable those skilled in the art to practice these described specific embodiments, but it is to be understood that other specific embodiments may be utilized, and other changes may be made, without departing from the spirit or scope thereof. Additionally, references to "an embodiment" are not necessarily to the same or a singular embodiment, although they may be so. Therefore, the following detailed description is not intended to be limiting, and the scope of the specific embodiments described is to be defined only by the appended claims.

Throughout the application and claims, unless the context clearly dictates otherwise, the following terms have the meanings explicitly associated therewith. As used herein, the term "or" is an inclusive "or" and is equivalent to the term "and/or" unless expressly stated otherwise. Unless the context clearly dictates otherwise, the term "based on" is not exclusive and is permitted to be based on many other factors not recited. Further, in the entire application, the meanings of "a", "an" and "the" include plural references. The meaning of "in" includes "in" and "on".

A brief summary of these innovative topics is provided below to provide a basic understanding of some of the ways. This brief description is not intended to be a complete overview. This short description is not intended to be used to identify major or key components, or to delineate or limit the scope. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

Fig. 1 illustrates a feeding and discharging system (100) of the present invention, which is connected to a processing equipment (110), which supplies the processing equipment with materials to be processed and receives the processed materials in a pipeline conveying manner. Therefore, if the processing equipment (110) is the center, the system (100) can be further divided into an independent pipeline feeding system (end) and a pipeline discharging system (end). For example, the processing equipment (110) is a cleaning equipment dedicated to cleaning specific containers. The following description will mainly take the delivery basket of a convenience store as an example, but it should be understood that the present invention is not limited to the items in the description, and similar or other items are intended to be covered by the present invention. The system (100) has an inlet (101), an outlet (102), and pipelines or conveyor belts (103) extending between the inlets and outlets. A pipeline as used herein generally refers to a mechanical conveying mechanism that provides propulsion substantially in one direction. The line (103) extends substantially from the feed system to the discharge system, and a feed zone (1031) is set in the feed system and a discharge zone (1032) is set in the discharge system. When feeding, the delivery baskets to be processed will be collected in a pipeline manner in the feeding area (1031), waiting to be picked up. When discharging, the processed delivery baskets will be concentrated in the discharging area (1032) in a pipeline manner, waiting to be pushed to the outlet (102).

The feeding end of the system (100) comprises a feeding pipeline (120) and a first reclaiming device (121), and the discharging end comprises a discharging pipeline (130) and a second reclaiming device (131), The first reclaiming device (121) and the second reclaiming device (131) are respectively a pipeline reclaiming device, which can simultaneously take in multiple pieces of material. In the embodiment, a delivery basket is used as an example. The plurality of delivery baskets in the feeding area (1031) are transferred to the feeding line (120) via the first reclaiming device (121). The cleaned and processed delivery basket is conveyed by the unloading pipeline (130), and finally transferred to the discharge area (1032) by the second reclaiming device (131). In different embodiments, the feeding pipeline (120) and the feeding pipeline (130) may be connected to one pipeline or different pipelines, depending on whether the conveying speeds of the two pipelines are consistent. The first and second reclaiming devices (121, 131) include a multi-axis robotic arm that receives commands. The robotic arm can simultaneously pick up multiple pieces of material and translate them left and right or move them up and down, and when necessary, These pieces can even be tilted. The first and second reclaiming devices (121, 131) have a maximum grasping unit, which refers to when the first or second reclaiming device (121, 131) performs a grab (or pick up) action The maximum number of pieces that can be grabbed at the same time. The maximum grasping unit is related to the capacity of the system (100) to handle materials, and the reclaiming device provided by the present invention can not only handle a large number of transferred materials on the pipeline, but also ensure grasping (or receiving) And the success rate of releasing the material.

The discharge end of the system (100) also includes an ejection mechanism (132) configured to remove the plurality of processed delivery baskets out of the unloading line (130), the removed plurality of delivery baskets to the unloading platform (133) Waiting to be transferred by the second reclaimer (131) to the discharge area (1032) of the pipeline (103). The delivery baskets are stacked in the discharge area (1032) and then conveyed to the outlet (102) via the line (103). A controller (140) can be communicatively connected to the first and second reclaiming devices (121, 131) and the push-out mechanism (132) to control the operational flow associated with each other.

Preferably, the maximum grasping unit of the first and second reclaiming devices (121, 131) determines the loading capacity of the feeding area (1031) and the discharging area (1032), which means that the stacking structure of the material can be placed. quantity. For example, if the maximum grasping unit of the first and second reclaiming devices (121, 131) is N, then the feeding area (1031) and the discharging area (1032) can be loaded with a stack of N pieces of material at most, Wherein, the height of each material stacking structure is the same, and the height is the number of stackable materials. Therefore, the first reclaiming device (121) simultaneously takes out the uppermost N pieces to be processed from the stacking structure of N pieces of material in the feeding area (1031) each time, while the second reclaiming device (131) picks up The N processed materials will be placed in the uppermost position of the stacking structure of the N materials in the discharge area (1032). Preferably, the conveying unit of the feeding line (120) and the feeding line (130) is equivalent to the maximum grabbing unit, which means that the throughput of the feeding line (120) entering the processing equipment (110) at a time is N pieces of material , the throughput of the feeding line (130) being removed at one time is also N pieces of material. Therefore, the length design of the feeding line (120) and the feeding line (130) can be considered together. Likewise, the length design of the feeding zone (1031) and the discharging zone (1032) of the pipeline (103) can also be considered together.

Since each material stack structure is carried on the pipeline (103) by a vehicle (202), please refer to FIG. 2 . Therefore, according to the above design considerations, the lengths of the feeding area (1031) and the discharging area (1032) are designed to accommodate N trolleys (202) to carry N stacking structures of materials. After the first reclaiming device (121) has taken all the materials in the feeding area (1031), the N empty trolleys (202) will be moved out of the feeding area (1031) together along the pipeline (103). After that, the N empty trolleys (202) will be moved together along the pipeline (103) into the discharge area (1032) to prepare to carry the second reclaimer (131) to place N processed materials at a time, at N A stacking structure of N material pieces is formed by stacking the trolleys (202). Finally, the N processed material stack structures are moved out of the discharge area ( 1032 ) together by the N trolleys ( 202 ), and are pushed to the outlet ( 102 ). Preferably, a buffer area will be set between the feeding area (1031) and the discharging area (1032) of the pipeline (103), and the length of the buffer area is designed to be a multiple of N trolleys (202), so that the system can The pipeline (103) of N empty trolleys (202) moves from the feed area (1031) into the buffer zone at a time. Afterwards, the pipeline (103) moves N empty trolleys (202) from the buffer zone into the discharge area (1032) at a time. This article uses a trolley as an example, but other alternatives are possible to those of ordinary skill in the art to which the present invention pertains. For example, a pallet structure capable of carrying a stack of delivery baskets may be employed, or other means of transport that may be compatible with the type of pipeline.

Continuing to refer to Figure 1, the pipeline (103) is further provided with a first finishing device (150) near the inlet (101). The first sorting device (150) is arranged on the pipeline (103), and when the trolley (160) for stacking the delivery baskets is driven to slide along the pipeline (103) to the first sorting device (150), the first sorting device ( 150) can be used to sort out the stack structure, ensure the stack structure is well arranged, and avoid the stack skew which is not conducive to the access of the first reclaiming device (121). The finishing mechanism required by the present invention is important, which concerns the smoothness of the feeding process. For example, the recycled delivery baskets may have various structural defects, which may affect the dislocation between the layers of the stacked structure, resulting in instability of the stacked structure and each delivery basket may not necessarily fall within the allowable range of mechanical operation. Therefore, the finishing means provided by the present invention at the feed end is one of the keys to boost production. In addition, the first sorting device (150) can be equipped with a height detection means to detect whether the total stacking height of the materials before entering the first sorting device (150) conforms to the operating allowable range of the reclaiming device (ie the robotic arm) of the system. The controller (140) can record the stacking height carried by the Nth trolley according to the detection, and decide whether to allow or reject the stacking of the materials into the first sorting device (150). The main purpose of the height detection means is to ensure that the stacking height of the material is within the allowable operating range of the robotic arm, so as to avoid the system shutdown because the reclaiming device cannot catch the material or the material cannot be separated. If the stacking quantity on the trolley is excessive or insufficient, the controller (140) can instruct the pipeline (103) to return the trolley to the entrance (101) or notify the operator to adjust the stacking quantity of the material through a warning means. The height detection refers to a height of the stacked structure relative to the system, which can be determined by the material itself and the number of stacked layers. For example, when the trolley does not carry any material, the height detection method identifies that the height of the stacked structure is zero; when the trolley carries thirty stacked materials, the height detection method can identify that the stacked structure reaches the maximum allowable height. And it means that the trolley is fully loaded. In one embodiment, the height detection means can be realized by an optical detection means or an ultrasonic detection means. Preferably, the means are adapted to be configured to perform height detection for unsorted material stacks.

Figure 2 illustrates a structure (200) with multiple delivery baskets stacked on top of one another and carried by a cart (202). In order to increase the production capacity, the number of upper and lower stacks should be maximized as much as possible, but the relative stacking weight should also pay attention to whether it affects the stability of the overall stacking structure and the transport burden that the trolley (202) can bear. The trolley (202) has suitable structure to firmly grasp the bottom of the stack. The design of the trolley (202) can be determined according to the type of the pipeline (103). For example, for pipelines guided by rails, the matching trolley is suitable for assembling wheels. Preferably, the trolley (202) can lower the pipeline (103). This is convenient for operators of some factories, that is, the recycled delivery baskets can be stacked on a cart (202) first, and after the stacking is completed, the operator will load the trolley (202) carrying the stacking structure. Enter line (103) from inlet (101). Depending on the maximum grab amount N of the system (100), the operator can load N loaded trolleys (202) at a time.

Figures 3 and 4 illustrate a delivery basket (400) and a stack (300) of two quantities. The delivery basket (400) illustrated in Figure 4 has an interior space (401) formed by a bottom (402) and a plurality of sides (403A, 403B) connected to the bottom. The bottom (402) is the main load-carrying structure for the cargo, which can be a flat plate or a hollow structure as shown. The side is formed by connecting the high side (404A) and the short side (404B) adjacent to each other, especially the length of a gap formed by the short side (404B) is approximately equal to the length of the high side (404A). Thus, the same two delivery baskets can be cross-stacked, as shown in Figure 3, whereby the number of stacks can be maximized within a limited vertical stack height. However, as previously mentioned, defects in the delivery basket itself, such as bending, may cause undesirable distortions in the artificial stack structure. In order to solve this problem, the first finishing device (150) of the present invention corrects the twisted part after the stack structure enters the feeding end.

The unloading platform (133) is arranged on the opposite side of the push-out mechanism (132), between the unloading line (130) and the discharge area (1032), to receive a plurality of materials pushed out of the unloading line (130). Figure 9 partially illustrates the unloading platform (900), which is joined in the y direction of the unloading line (130). The unloading platform (900) has an inclined surface (901), and the inclined surface (901) is provided with a roller (902) for promoting the sliding of the material. Preferably, the rollers (902) are driven powered rollers that can bring the material in the correct direction. In the case of delivery baskets, powered rollers provide a unidirectional thrust to push the delivery basket down and prevent the delivery basket from tipping or shifting. The bottom end of the inclined surface (901) is provided with a blocking mechanism (903) to prevent the material from sliding down, and a plurality of restricting mechanisms (904) are also provided between the inclined plane (901) and the blocking mechanism (903) at equal intervals. A stop area is formed between two adjacent restricting mechanisms (904) for a single material to stop, waiting to be transferred by the second reclaiming device (131). For example, depending on the orientation of the receiving delivery basket (length or width toward the unloading platform), the distance between adjacent restraining mechanisms (904) must be greater than the length or width of the delivery basket to avoid the delivery basket being blocked by both.

Fig. 10 shows more clearly the restriction mechanism (904) of the unloading platform, which is a symmetrical structure with a narrow upper part and a wide lower part, which helps to guide the material to the staying area. The staying area refers to the area where the material lies on the inclined surface (901) and can be supported by the blocking mechanism (904) at the same time. In order to ensure that the material is located within the operating range of the second reclaiming device (131), the unloading platform (900) may further include a plurality of third sorting devices (1000), which are clamping devices. Delivery baskets located in the holding area may not be oriented or are overly inclined to a restraining mechanism (904), the third organizer (1000) is controlled to grip the delivery baskets laterally (x-direction), thereby swinging the delivery baskets It is located in a position where it is easy to access, and waits for the second reclaiming device (131) to perform the receiving action. Preferably, a gap (905) can be formed in the staying area between two adjacent restricting mechanisms (904), and this arrangement is helpful for the second reclaiming device (131) to receive the delivery basket, especially when the second reclaiming device (131). When the device (131) adopts a gripper device, the robot fingers will pass through the bottom of the delivery basket.

The second reclaiming device (131) may have a similar structure and configuration (ie corresponding fixing frame, connecting structure, receiving device), but with different execution actions. The second reclaiming device (131) also performs the receiving operation in the inner space of the material, but the second reclaiming device (131) performs the receiving operation at an angle in response to the inclination of the unloading platform (900). After the receiving is completed, the second reclaiming device (131) transfers the N delivery baskets from the holding area of the unloading platform (900) to the discharging area (1032) of the pipeline (103), and places them on the N stacked baskets. top. The second picking device (131) picks up N delivery baskets from the unloading platform (900) at a time as the next layer of the stack, and aligns each of the N delivery baskets with the delivery corresponding to the previous layer Each of the baskets, such as the upper and lower delivery baskets intersecting each other (as shown in Figure 3), then performs a release action to complete the stacking. Machine-based stacking of items is challenging here, especially when it comes to being able to place each delivery basket precisely on the stack at the same time in the case of a large number of withdrawals. Therefore, the aforementioned actions of the first, second and third sorting devices (150, 6000, 1000) are important, and the rearranging of each stage is to ensure that the delivery baskets can maintain the ideal of each other in different conveying states The spatial relationship is such that these delivery baskets do not exceed the allowable range of mechanical operation during different transfer periods.

The discharge area (1032) parks N trolleys propelled from the feed area (1031), which keep a proper distance from each other as the parking rules of the feed area (1031). When the trolley carries a certain number of stacked delivery baskets, it is pushed to the outlet (102) along the pipeline (103) to complete the discharging.

FIG. 11 depicts the method flow of the feeding and discharging system of the present invention, including steps S1100 to S1110. These steps will be described below in conjunction with FIGS. 1 to 10 .

In step S1100, a pipeline (103) is provided as the first pipeline of the feeding and discharging system. The pipeline (103) is configured to push a plurality of stacks, as shown in FIG. 2, a stack structure (200) carried by a trolley (202) is formed by stacking a plurality of delivery baskets (400) having the same. Wherein, each delivery basket has an inner space formed by a bottom surface and a plurality of side edges. The operator can sequentially load multiple trolleys carrying the stack into the pipeline (103), and the pipeline (103) can use known drive mechanisms to push each trolley forward and control the distance between the front and rear trolleys , and end step S1100. The entrance of the pipeline (103) can adopt a lifting mechanism to facilitate the trolley to smoothly load the pipeline (103). In one embodiment, step S1100 may further include a height detection method for the delivery basket stacking structure (200) to determine whether the total height of the stacking structure (200) conforms to the reclaiming device (121, 131). ) within the operating allowable range. The height detection means can be realized by disposing an optical detector or an ultrasonic detector on the path of the pipeline (103), and the detection means includes generating a detection signal to the controller (140), and the controller (140) judges Whether to allow or deny the trolley carrying the stack structure to proceed to the execution of the next step. The controller (140) can be configured to record a maximum allowable height, such as thirty, that stack structures can be handled in the system. When the detection signal indicates that the number is over or under thirty, the controller (140) commands the pipeline (103) to return the carts that do not meet the maximum allowable height.

In step S1102, each of the stacks is clamped by a first sorting device (150) to sort each stack individually. The first sorting device (150) as shown in FIG. 1 is arranged on the path of the trolleys, and these trolleys will stop at the first sorting device (150) in sequence to receive sorting. Figures 5A-5C describe in more detail the actions performed by the first finishing device. Fig. 5A shows a supporting action of the first sorting device, which uses the first movable part (501) to abut one side of the stack structure so that it is supported in the y-direction. Figure 5B shows a first clamping action which clamps both sides of the stack with the pivoting action of the second and third movable parts (502, 503). Figure 5C shows a second clamping action in which the fourth movable part (504) relative to the first movable part (501) abuts the other side of the stack structure, causing the first and fourth movable parts ( 501 , 504 ) clamp the stacked structure, and the movable parts are arranged to surround the stacked structure, so that its twist or inclination can be corrected and ordered. Next, all movable parts of the first sorting device return to their original positions, so that the stack continues to advance along the pipeline (103) to the feeding area (1031), and the step S1102 ends.

In step S1104, the stacks are simultaneously clamped by a second sorting device (600) to align the stacks in the feeding area (1031). The stacks sorted by the first sorting device (150) are collectively parked in the infeed area (1031), which is arranged to allow N trolleys to be parked in a row. Of course, in other possible embodiments, the feeding area (1031) may be configured to allow N trolleys to be parked in multiple rows. As mentioned above, the number of N can be determined by a maximum grasping amount of the system. A second sorting device (600) may be provided around the infeed zone (1031) as illustrated in Figure 6, which is configured to grip N stacks carried by N trolleys, in particular the second sorting device (600) is configured to The clamping action is performed by touching the N stacks at the same time, so that the alignment of the N stacks is more tidy, and the step S1104 is ended. Besides, the second sorting device (600) can hold the N stacks, so that the stacks are not easily deformed by external force (eg, during the process of being picked up).

In step S1106 , a first reclaiming device performs a pick-up action and a release action so that the stacked materials in order are transferred to a second pipeline of the system. The first reclaimer ( 121 ) of FIG. 1 is configured to transfer N delivery baskets of line ( 103 ) from the N stacks of feed zone ( 1031 ) to the loading line ( 120 ) at a time. The feed line (120) can be considered the second line of the system.

Referring to FIG. 12, step S1106 further includes steps S1200 to S1206. In step S1200, a pick-up action is performed by the first pick-up device (121). As shown in FIG. 7 , a plurality of receiving devices ( 703 ) in a row are respectively aligned with the bottom center of the delivery basket through the lifting and displacing means and perform the receiving action, wherein the receiving action includes gripping, sucking and spreading In particular, the pickup action is completed in the inner space of the delivery basket, so that the stacked delivery baskets can be closer to each other in the direction of the pipeline, and the maximum processing capacity can be obtained in the in-feed and out-feed areas. . This is important. In order to improve the feeding capacity, of course, the number of materials received each time is also one of the keys. For delivery baskets or similar items, the design of the pickup device (703) aimed at the center of the bottom and performing the action in the interior space can relatively increase the number of pickup device configurations (703), while obtaining the best grasping As a result, compared to grasping by the periphery of the delivery baskets, the necessary space for gripping operations must be reserved between the delivery baskets, which is not spatially conducive to maximizing the processing capacity. The N pick-up devices (703) synchronously complete pick-up with the N delivery baskets, and the step S1200 ends. In step S1202, through the control of the lifting means, the N pick-up devices (703) can simultaneously perform a tiny swinging action, so that the picked N delivery baskets are released from their underlying structures, making it easier to take out from the stack , and end step S1202. Since the second collating device (600) can grip the stack, the rocking does not easily deform or tilt the stack. In step S1204, a tilting action can be performed by the first reclaiming device (121), that is, the N cargo baskets picked up by the lifting and displacement mechanism are simultaneously tilted relative to an angle, and then the original state is restored, and the end Step S1204. This action is optional. In the application of cleaning the cargo basket, the tilting action can initially pour out the debris in the inner space of the material. In step S1206, through the lifting and displacement means, the N cargo baskets to be picked up are placed above the feeding pipeline (120), and the N pick-up devices (703) then perform a release action, so that the N pick-up devices (703) are released. The delivery baskets are released from the pickup device (703), and the step S1206 ends. The release action is still done in the interior space of the cargo basket.

In step S1106, the first reclaiming device (121) completes the receiving action and the releasing action within one cycle time by taking N pieces of material at a time. In one embodiment, the feeding pipeline (120) pushes the N pieces of material at a time to the processing equipment (110) as shown in FIG. 1 . Preferably, the processing equipment ( 110 ) can design a compatible pipeline conveying mechanism for each unit quantity defined by the system, and also output N pieces of material to the unloading pipeline ( 130 ) as shown in FIG. 1 . For the convenience of description, the feed line (130) can be regarded as the second line of the system. In practical situations, the second line of the system (including the feeding line and the unloading line) may be part of the processing equipment, or be independent of the processing equipment.

In step S1108, the N pieces of material on the second pipe line are simultaneously pushed out of the second line, and the pushed material pieces are received by the unloading platform. For example, the pushing mechanism (132) of FIG. 1 pushes the N cargo baskets on the unloading line (130) simultaneously or sequentially. The unloading platform (133) connected to the unloading pipeline (130) receives the N cargo baskets, and the restriction mechanism (904) provided on the unloading platform (133) guides each cargo basket to fall into the corresponding stay area, ending Step S1108. Preferably, the push-out arm of the push-out mechanism (132) can be provided with N release rails, the function of which is to limit the operating range of each cargo basket in the push-out mechanism (132), to ensure that each cargo basket will be successfully pushed out and unloaded. Line (130) and drop into the unloading platform (133) in the desired direction.

In step S1110, each material from the second pipeline is clamped to align the plurality of materials. For example, the delivery baskets in the stopping area on the unloading platform (133) are clamped by the third sorting device (1000) of FIG. 10, whereby the orientations of the N delivery baskets on the unloading platform (133) are kept the same and these The delivery baskets are neatly arranged, waiting to be transferred to the discharging area (1032) by the second reclaiming device (131) in FIG. 1 . The third finishing device (1000) performs clamping in a horizontal direction (x direction). However, in other possible embodiments, the third arrangement (1000) or more other arrangements may provide more directional corrections of the delivery basket.

In step S1104, the stacks are simultaneously clamped by a second arranging device to align the stacks. The stacks sorted by the first sorting device (150) are collectively parked in the infeed area (1031), which is arranged to allow N trolleys to be parked in a row. Of course, in other possible embodiments, the feeding area (1031) may be configured to allow N trolleys to be parked in multiple rows. As mentioned above, the number of N can be determined by a maximum grasping amount of the system. A second sorting device (600) may be provided around the infeed zone (1031) as illustrated in Figure 6, which is configured to grip N stacks carried by N trolleys, in particular the second sorting device (600) is configured to The clamping action is performed by touching the N stacks at the same time, so that the alignment of the N stacks is more tidy, and the step S1104 is ended. Besides, the second sorting device (600) can hold the N stacks, so that the stacks are not easily deformed by external force (eg, during the process of being picked up).

In step S1106 , a first reclaiming device performs a pick-up action and a release action so that the stacked materials in order are transferred to a second pipeline of the system. The first reclaimer ( 121 ) of FIG. 1 is configured to transfer N delivery baskets of line ( 103 ) from the N stacks of feed zone ( 1031 ) to the loading line ( 120 ) at a time. The feed line (120) can be considered the second line of the system.

Referring to FIG. 12, step S1106 further includes steps S1200 to S1206. In step S1200, a pick-up action is performed by the first pick-up device (121). As shown in FIG. 7 , a plurality of receiving devices ( 703 ) in a row respectively locate the bottom center of the delivery basket through the lifting and displacement means and perform the receiving action, wherein the receiving includes gripping, sucking, and spreading, etc. manner, in particular the pick-up action is performed in the interior space of the delivery basket. This is very important. In order to improve the feeding capacity, the number of materials received each time is of course one of the keys. For delivery baskets or similar items, the design of the pickup device (703) aimed at the center of the bottom and performing the action in the interior space can relatively increase the number of pickup device configurations (703), while obtaining the best grasping Effect. The N pick-up devices (703) synchronously complete pick-up with the N delivery baskets, and the step S1200 ends. In step S1202, through the control of the lifting means, the N pick-up devices (703) can simultaneously perform a tiny swinging action, so that the picked N delivery baskets are released from their underlying structures, making it easier to take out from the stack , and end step S1202. Since the second collating device (600) can grip the stack, the rocking does not easily deform the stack. In step S1204, a tilting action can be performed by the first reclaiming device (121), that is, the N cargo baskets picked up by the lifting and displacement mechanism are simultaneously tilted relative to an angle, and then the original state is restored, and the end Step S1204. This action is optional. In the application of cleaning cargo baskets, the tilting action can initially pour out large debris in the container. In step S1206, through the lifting and displacement means, the N cargo baskets to be picked up are placed above the feeding pipeline (120), and the N pick-up devices (703) then perform a release action, so that the N pick-up devices (703) are released. Each delivery basket is disconnected from the pickup device (703), and step S1206 ends. The release action is still done in the interior space of the cargo basket.

In step S1106, the first reclaiming device (121) completes the receiving action and the releasing action within one cycle time by taking N pieces of material at a time. In one embodiment, the feeding pipeline (120) pushes the N pieces of material at a time to the processing equipment (110) as shown in FIG. 1 . Preferably, the processing equipment ( 110 ) can design a compatible pipeline conveying mechanism for each unit quantity defined by the system, and also output N pieces of material to the unloading pipeline ( 130 ) as shown in FIG. 1 . For the convenience of description, the feed line (130) can be regarded as the second line of the system. In practical situations, the second line of the system (including the feeding line and the unloading line) may be part of the processing equipment, or be independent of the processing equipment.

In step S1108, the N pieces of the second pipeline are simultaneously pushed out of the second pipeline, and the pushed out materials are received by the unloading platform. For example, the pushing mechanism (132) of FIG. 1 pushes the N cargo baskets on the unloading line (130) simultaneously or sequentially. The unloading platform (133) connected to the unloading pipeline (130) receives the N cargo baskets, and the restriction mechanism (904) provided on the unloading platform (133) guides each cargo basket to fall into the corresponding stay area, ending Step S1108. Preferably, N release rails can be provided in the unloading line (130), the function of which is to limit the operating range of each cargo basket at the push-out mechanism (132) to ensure that each cargo basket will be successfully pushed out of the unloading line (130). ) and drop into the unloading platform (133) in the desired direction.

In step S1110, each material from the second pipeline is clamped to align the plurality of materials. For example, the delivery baskets in the stopping area on the unloading platform (133) are clamped by the third sorting device (1000) of FIG. 10, whereby the orientations of the N delivery baskets on the unloading platform (133) are kept the same and these The delivery baskets are neatly arranged, waiting to be transferred to the discharging area (1032) by the second reclaiming device (131) in FIG. 1 . The third finishing device (1000) performs clamping in a horizontal direction (x direction). However, in other possible embodiments, the third arrangement (1000) or more other arrangements may provide more directional corrections of the delivery basket.

The terms "aligned" and "aligned" as used herein mean that all elements stacked or arranged, whether horizontally or vertically, are as aligned as possible in a straight line or plane. Alternatively, the columns or columns in an array are evenly distributed, with well-defined layer-to-layer relationships. It should be understood that the "alignment" and "tidy" should take into account the structural defects existing in the material itself.

To sum up, the material reclaiming device and method provided by the present invention can effectively increase the number of materials to be fed, such as seven or more, and at the same time, the execution of actions in the inner space can effectively grasp each material piece. More importantly, the feeding and discharging system and method provided by the present invention provide a stacking and arranging mechanism for the material parts, so that the material parts are maintained within the mechanically operable range on the paths of the feeding end and the discharging end, which relatively improves the feeding and discharging. The efficiency of the material, which means reducing the mechanical error rate.

The foregoing provides a complete description of the manufacture and use of the combination of these recited embodiments. Since many specific embodiments can be made without departing from the spirit and scope of this description, these specific embodiments will reside in the claims hereinafter appended.

Claims (15)

1. A pipeline reclaiming device that simultaneously picks up multiple materials from a first pipeline, or simultaneously picks up multiple materials and moves to a second pipeline, and each material has an inner space, and the pipeline takes The feeding device includes: a fixing frame to fix a plurality of access devices; an up-down displacement mechanism for raising and lowering the height of the fixing frame and displacing the position of the fixing frame; and a controller, controlling the plurality of access devices to perform an access action or a release action synchronously; Wherein, the controller controls each access device to perform the access action or the release action in the inner space of each material. 2 . The device of claim 1 , wherein the lifting and displacement mechanism keeps the plurality of receiving devices at a consistent height during the lifting and displacement of the fixing frame. 3 . 3. The apparatus of claim 1, wherein the controller controls the plurality of receiving devices to simultaneously receive the plurality of materials or to simultaneously release the plurality of materials. 4. The apparatus of claim 1, wherein the inner space of each material is formed by a bottom and a plurality of sides connected to the bottom. 5 . The device of claim 4 , wherein the bottom of the inner space is a flat surface, and the receiving device is a suction device for sucking the bottom of the material to perform the receiving action. 6 . 6 . The device of claim 5 , wherein the bottom of the inner space has a plurality of hollow lattices, and the receiving device is a gripping claw device having at least one pair of gripping fingers, the pair of gripping fingers for penetrating the device. 7 . The receiving action is performed on the plurality of hollowed out lattices. 7. The device of claim 5, wherein the inner space has opposite sides connected to the bottom, and the receiving device is a spreader-type clamp having a pair of support arms, the pair of support arms being spread against The access action is performed on the opposite side of the interior space. 8. A pipeline reclaiming method, simultaneously receiving a plurality of material pieces, and each material piece has an inner space, the method comprising: configuring a plurality of access devices to be fixed on a fixing frame; and The height of the fixing frame is raised and lowered by a lifting and displacement mechanism, and the plurality of receiving devices of the fixing frame are displaced to the inner space of the corresponding plurality of materials; Wherein, the method further includes: controlling each access device to perform an access action in the inner space of each corresponding material piece. 9. The method of claim 8, further comprising: maintaining a plurality of access devices at a consistent height during displacement of the fixture. 10. The method of claim 8, further comprising: after the plurality of receiving devices perform the receiving action, the fixing frame is displaced by the lifting displacement mechanism to displace the plurality of materials by a second pipeline, and then control each access device to perform a release action in the inner space of each corresponding material piece, so as to place the plurality of material pieces on the second pipeline line. 11. The method of claim 8, wherein the plurality of pieces are placed equidistantly on a first line conveyor. 12. The method of claim 8, wherein the inner space of each material is formed by a bottom and a plurality of sides connected to the bottom. 13 . The method of claim 12 , wherein the bottom of the inner space is a flat surface, and the receiving device is a suction device for sucking the bottom of the material to perform the receiving action. 14 . 14. The method of claim 12, wherein the bottom of the inner space has a plurality of hollow lattices, and the receiving device is a clamping jaw device having at least a pair of clamping fingers, and the pair of clamping fingers is used to penetrate The receiving action is performed on the plurality of hollowed out lattices. 15. The method of claim 12, wherein the inner space has opposite sides connected to the bottom, and the receiving device is a spreader-type clamp having a pair of support arms, the pair of support arms being spread against The access action is performed on the opposite side of the interior space.

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