CN113772403A - Apparatus for removing articles from containers - Google Patents
Apparatus for removing articles from containers Download PDFInfo
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- CN113772403A CN113772403A CN202010732212.4A CN202010732212A CN113772403A CN 113772403 A CN113772403 A CN 113772403A CN 202010732212 A CN202010732212 A CN 202010732212A CN 113772403 A CN113772403 A CN 113772403A
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- 210000000078 claw Anatomy 0.000 claims description 20
- 238000003860 storage Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 238000009413 insulation Methods 0.000 description 11
- 238000004321 preservation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- Control And Other Processes For Unpacking Of Materials (AREA)
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Abstract
Embodiments of the present disclosure disclose an apparatus for removing an item from a container. One embodiment of the apparatus for removing an object from a container comprises: transport assembly and base, transport assembly includes: the clamping device comprises a first rotating part, a second rotating part and a clamping part; the first rotating part comprises a mounting seat, a first rotating shaft and a first rotating driving device for driving the first rotating shaft to rotate, and the bottom of the mounting seat is fixedly connected with the base; the second rotating part comprises a second rotating shaft and a rotating platform, and the second rotating shaft is rotatably connected to the rotating platform; the rotating platform is fixedly connected with the first rotating shaft and rotates around the first rotating shaft under the driving of the first rotating shaft; the clamping part comprises a clamping jaw and a second rotation driving device, one end of the second rotation driving device is fixedly arranged on the rotation platform, and the other end of the second rotation driving device is fixedly connected with the clamping jaw so as to push the clamping jaw to rotate around a second rotating shaft in a vertical plane. The articles in the container can be automatically removed, the working strength of workers is reduced, and the working efficiency is improved.
Description
Technical Field
The embodiment of the disclosure relates to the field of machinery, in particular to the field of intelligent warehousing, and particularly relates to equipment for removing objects in a container.
Background
When the fresh goods are purchased on the internet and delivered, the fresh goods need to be put into a thermal insulation box with an ice board for preservation. After the delivery is finished, the worker returns the heat insulation box and the ice boards in the heat insulation box to the warehouse for recycling.
In the related art, after the heat preservation box returns to a warehouse, the ice boards in the heat preservation box need to be manually removed and recycled, and the ice boards are subjected to centralized treatment and then are ready for next use.
Disclosure of Invention
Embodiments of the present disclosure provide an apparatus for removing an article from a container.
In a first aspect, embodiments of the present disclosure provide an apparatus for removing an item from a container, comprising: carrier assembly and a base for carrying the carrier assembly, wherein the carrier assembly comprises: the clamping device comprises a first rotating part, a second rotating part and a clamping part; the first rotating part comprises a mounting seat, a first rotating shaft and a first rotating driving device for driving the first rotating shaft to rotate, and the bottom of the mounting seat is fixedly connected with the base; the first rotating shaft and the first rotating driving device are fixedly arranged on the mounting seat; the second rotating part comprises a second rotating shaft and a rotating platform, the second rotating shaft is rotatably connected to the rotating platform, and the axial direction of the second rotating shaft is vertical to the axial direction of the first rotating shaft; the rotating platform is fixedly connected with the first rotating shaft and rotates around the first rotating shaft under the driving of the first rotating shaft; the clamping part comprises a clamping claw and a second rotation driving device, one end of the clamping claw is used for clamping the open container, and the other end of the clamping claw is fixedly connected with the second rotating shaft; one end of the second rotation driving device is fixedly arranged on the rotation platform, and the other end of the second rotation driving device is fixedly connected with the clamping jaw so as to push the clamping jaw to rotate around the second rotating shaft in the vertical plane; after the open container is clamped by the clamping jaws, the second rotary driving device pushes the clamping portion to rotate to a preset position around the second rotary shaft, and the first rotary driving device drives the first rotary shaft to drive the rotary platform and the clamping portion to rotate so that the opening direction of the open container is downward.
In some embodiments, the base includes a rotating portion and a rotary drive, the rotating portion including an outer race and a fixedly disposed inner race; the outer ring is of a circular ring structure which can rotate relative to the inner ring, and is fixedly connected with the mounting seat; the rotary driving device is used for driving the outer ring to rotate around the vertical direction so as to drive the carrying assembly to move circumferentially in the horizontal plane.
In some embodiments, the outer ring surface of the outer ring is provided with a rack around; the rotary driving device comprises a transmission gear and a speed reducing motor, and the transmission gear is meshed with the rack; the gear motor is fixedly connected with the base and is configured to drive the transmission gear to rotate so as to drive the outer ring to rotate.
In some embodiments, the clamping jaw comprises a fixed portion, a linear motion assembly, a movable portion, and a clamping drive; the fixing part is fixedly connected with the second rotating shaft; the linear motion assembly comprises a sliding block and a linear guide rail fixed on the fixed part, the sliding block is fixedly connected with the movable part, and the linear guide rail is vertical to the first rotating shaft; the clamping driving device is connected with the sliding block and is configured to drive the sliding block to move along the linear guide rail so as to drive the movable part to be close to or far away from the fixed part and clamp or loosen the open container.
In some embodiments, the fixing portion includes a first fixing plate and a second fixing plate, one end of the first fixing plate is fixedly connected with the first rotating shaft, and the other end of the first fixing plate is fixedly connected with the second fixing plate to form a first right-angle structure; the upper surface of the first fixed flat plate is fixedly connected with the linear guide rail; the movable part comprises a first movable flat plate and a second movable flat plate, the first movable flat plate and the second movable flat plate are connected into a second right-angle structure, the first movable flat plate is parallel to the first fixed flat plate, and the lower surface of the first movable flat plate is fixedly connected with the sliding block; the first right-angle structure and the second right-angle structure are arranged in parallel, and when the open container is clamped by the clamping claws, the second fixed flat plate and the second movable flat plate apply opposite pressing forces to the side wall of the open container.
In some embodiments, the second rotation driving device includes a jacking cylinder, one end of the jacking cylinder is connected with the lower surface of the first fixed flat plate, and the other end of the jacking cylinder is connected with the rotating platform.
In some embodiments, the number of the carrying assemblies is multiple, and the plurality of the carrying assemblies are evenly distributed on the outer ring in the circumferential direction.
In a second aspect, embodiments of the present disclosure also provide a method for removing an article in a container, for use in the above apparatus for removing an article in a container, the method including: in response to the fact that the open container to be clamped exists in the first preset position, sending a clamping signal to the clamping driving device, and driving the clamping part to clamp the open container; sending a first rotating signal to a second rotating driving device, driving the clamping part to rotate by a first preset angle in a first rotating direction, and lifting the open container from a first preset position; sending a first rotation signal to a rotation driving device, driving the carrying assembly to rotate in the circumferential direction by a second preset angle, and carrying the open container to a second preset position; and sending a second rotation signal to the first rotation driving device to drive the first rotating shaft to rotate in a second rotation direction by a third preset angle so as to drive the rotating part and the clamping part to rotate, so that the opening direction of the open container is adjusted downwards in a second preset position.
In some embodiments, after the first rotating shaft rotates in the second rotating direction by the third preset angle, the method further comprises: sending a third rotation signal to the first rotation driving device to drive the first rotating shaft to rotate in a direction opposite to the second rotation direction by a third preset angle; sending a second rotation signal to the rotation driving device, and driving the carrying assembly to rotate circumferentially by a fourth preset angle; sending a fourth rotation signal to the second rotation driving device, driving the clamping part to rotate by a first preset angle in a direction opposite to the first rotation direction, and placing the open container at a third preset position; and sending an opening signal to the clamping driving device to enable the clamping part to release the open container.
In a third aspect, embodiments of the present disclosure also provide a system for removing an item from a container, comprising: a first conveyor apparatus, a storage apparatus, a second conveyor apparatus, and the apparatus for removing items from containers described above, wherein the first conveyor apparatus, the storage apparatus, and the second conveyor apparatus are arranged around the apparatus for removing items from containers; a first conveyor apparatus for conveying the open container to a gripping area of an apparatus for removing articles in the container; means for removing the articles in the container for dumping the articles in the open container into the storage means and for carrying the empty container to the second conveying means; the second conveying device is used for conveying the empty containers to the designated position.
The equipment of article in the container that removes that embodiment of this disclosure provides adjusts the open container's that the centre gripping was held gesture through first portion of rotating and second portion of rotating, can remove the article in the container automatically, has reduced staff's working strength, has improved work efficiency.
Drawings
Other features, objects and advantages of the disclosure will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural view of a carrier assembly of one embodiment of the apparatus for removing items from containers of the present disclosure;
FIG. 2 is a schematic diagram of the general structure of one embodiment of the apparatus for removing items from a container of the present disclosure;
FIG. 3 is a schematic flow chart diagram of one embodiment of a method of the apparatus for removing items from a container of the present disclosure.
FIG. 4 is a schematic diagram of the general structure of one embodiment of the system for removing items from a container of the present disclosure;
reference numerals: 1-a device for removing the articles in the container; 2-a first conveying device; 3-storing the equipment; 4-a second conveying device;
10-a handling assembly; 20-a base; 30-an open container;
110-a first rotating part; 120-a second rotating part; 130-a clamping portion; 131-a gripper jaw; 132-a second rotational drive; 210-a rotating part; 220-a rotation drive;
1110-a mounting seat; 1120-a first shaft; 1130-first rotary drive means; 1210-rotating the platform; 1220-a second shaft; 1310-an active portion; 1320-a fixed part; 1330-a linear motion assembly; 1340-a clamping drive; 2110-outer ring; 2120-inner ring; 2130-toothed rack.
Detailed Description
The present disclosure is described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Embodiments of the present disclosure provide an apparatus for removing an item from a container, comprising: referring to fig. 1, fig. 1 shows a schematic structural view of a carrier assembly 10 and a base (not shown in fig. 1) for carrying the carrier assembly 10, wherein the carrier assembly is an embodiment of the apparatus for removing an object from a container according to the present disclosure. As shown in fig. 1, the carrier assembly 10 includes: a first rotating part 110, a second rotating part 120, and a clamping part 130; the first rotating part 110 includes a mounting seat 1110, a second rotating shaft 1220 and a first rotating driving device 1130 for driving the second rotating shaft 1220 to rotate, and the bottom of the mounting seat 1110 is fixedly connected with the base 20; the second rotating shaft 1220 and the first rotating driving device 1130 are fixedly disposed on the mounting seat 1110; the second rotating part 120 includes a second rotating shaft 1220 and a rotating platform 1210, the second rotating shaft 1220 is rotatably connected to the rotating platform 1210, and the axial direction of the second rotating shaft 1220 is perpendicular to the axial direction of the second rotating shaft 1220; the rotating platform 1210 is fixedly connected to the second rotating shaft 1220 and driven by the second rotating shaft 1220 to rotate around the second rotating shaft 1220; the clamping part 130 comprises a clamping claw 131 and a second rotation driving device 132, one end of the clamping claw 131 is used for clamping the open container 30, and the other end is fixedly connected with a second rotating shaft 1220; one end of the second rotation driving device 132 is fixedly disposed on the rotation platform 1210, and the other end is fixedly connected to the clamping jaw 131, so as to push the clamping jaw 131 to rotate around the second rotation shaft 1220 in a vertical plane; after the open container 30 is clamped by the clamping claw 131, the second rotation driving device 132 pushes the clamping portion 130 to rotate to a predetermined position around the second rotating shaft 1220, and the first rotation driving device 1130 drives the second rotating shaft 1220 to drive the rotating platform 1210 and the clamping portion 130 to rotate so that the opening direction of the open container 30 faces downward.
In the present embodiment, the carrying assembly 10 can adjust the posture of the open container 30 based on two spatial rotational degrees of freedom, so that the articles in the open container 30 can slide out of the open container 30. The rotation of the clamping portion 130 around the second rotating shaft 1220 is realized by the second rotation driving device 132 pushing the clamping portion 130, and compared with the direct driving of the second rotating shaft 1220, the driving manner in this embodiment can prevent the second rotating shaft 1220 from being subjected to a torsional moment, which is helpful for prolonging the service life of the second rotating shaft 1220 and increasing the reaction speed of the device.
In a specific application scenario, when a worker delivers fresh products, the worker needs to place the ice boards in the heat preservation box to play a role in preservation, and after delivery is finished, the heat preservation box needs to be returned to a warehouse, the ice boards in the heat preservation box are poured out, and then the heat preservation box and the ice boards are respectively stored. In the present scenario example, an incubator with an ice sheet stored therein may be transported by an operator or an article transporting apparatus to a work area of an apparatus that removes articles in a container; the holding claw 131 of the device for removing the object in the container holds the incubator (for example, may hold one side wall of the incubator), and the second rotation driving device 132 pushes the holding part 130 to rotate around the second rotating shaft 1220 in the first vertical plane, so that the bottom surface of the incubator is suspended; then, the first rotation driving device 1130 drives the second rotation shaft 1120 to rotate, so as to drive the rotation platform 1210 fixedly connected with the second rotation shaft 1120, the clamping claw 131 fixedly connected with the rotation platform 1210 and the insulation box clamped by the clamping claw 131 to rotate (for example, 180 °) in a second vertical plane, and adjust the opening direction of the insulation box to be downward, so that the ice boards in the insulation box slide out of the insulation box.
It is understood that the first rotating shaft 1120 and the second rotating shaft 1220 in the present embodiment are perpendicular, and thus, the first vertical plane and the second vertical plane are perpendicular. Taking the posture of the thermal insulation box in the above example as an example, the rotation around the second rotating shaft 1220 is a turning motion, and the rotation around the second rotating shaft 1120 is a side turning motion, the turning motion changes the posture and the spatial position of the clamped thermal insulation box at the same time, and the side turning motion only changes the posture of the thermal insulation box and does not change the spatial position of the thermal insulation box.
In this embodiment, the device for removing the object in the container adjusts the posture of the clamped open container 30 through the first rotating part 110 and the second rotating part 120, so that the object in the container can be automatically removed, the working intensity of workers is reduced, and the working efficiency is improved.
Referring next to fig. 2, fig. 2 illustrates a general structural schematic diagram of one embodiment of the present disclosure for removing items from a container. In the embodiment shown in fig. 2, the base 20 comprises a rotary part 210 and a rotary drive 220, the rotary part 210 comprising an outer ring 2110 and a fixedly arranged inner ring 2120; the outer ring 2110 is a circular ring-shaped structure capable of rotating relative to the inner ring 2120, and the outer ring 2110 is fixedly connected with the mounting seat 1110; the rotary driving device 220 is used for driving the outer ring 2110 to rotate around the vertical direction so as to drive the carrying assembly 10 to move circumferentially in the horizontal plane.
In the embodiment, the rotating portion 210 of the base 20 drives the carrying assembly 10 to move circumferentially in the horizontal plane, which helps to enlarge the working area of the device for removing the articles in the container, thereby improving the working efficiency. For example, when there is a deviation between the placing position of the open container 30 for the object to be removed and the clamping area of the clamping claw 131, the circumferential position of the carrying assembly 10 can be adjusted so that the clamping claw 131 can smoothly clamp the open container 30. For another example, by adjusting the circumferential position of the carrier assembly 10, the dumping position of the articles in the container can be selected according to actual requirements.
In a specific application scenario, the inner ring 2120 and the outer ring 2110 can be connected through a circular sliding rail, and the outer ring 2110 can be connected with a driving motor through a belt transmission device. A device for storing the contents of the container, which may be, for example, an upwardly opening containment frame, may be disposed about the base 20. After the open container 30 is clamped by the clamping portion 130, the second rotation driving device 132 pushes the clamping portion 130 to rotate around the second rotating shaft 1220, so that the bottom surface of the open container 30 is suspended, then the rotation driving device 220 drives the outer ring 2110 to rotate, so as to drive the carrying assembly 10 to move circumferentially in the horizontal plane, and after the top of the device for storing the objects in the container is reached, the second rotation driving device 132 drives the second rotating shaft 1220 to rotate, so as to pour the objects in the open container 30 into the device for storing the objects in the container.
In some alternative implementations of the present embodiment, the rotating portion 210 may adopt the following structure: a toothed rail 2130 is arranged on the outer ring surface of the outer ring 2110 in a surrounding manner; the rotation driving device 220 includes a transmission gear and a reduction motor, and the transmission gear is engaged with the rack 2130; the gear motor is fixedly connected to the base 20 and configured to drive the transmission gear to rotate so as to drive the outer ring 2110 to rotate. The gear meshing transmission has the characteristics of large application range, higher transmission efficiency, long service life, stable transmission, high reliability, capability of ensuring constant instantaneous transmission ratio and the like, and is favorable for improving the performance and the working efficiency of equipment.
In some alternative implementations of the present embodiment, the clamping jaw 131 includes a fixed portion 1320, a linear motion assembly 1330, a movable portion 1310, and a clamping drive 1340; the fixing portion 1320 is fixedly connected to the second shaft 1220; the linear motion assembly 1330 comprises a slider and a linear guide fixed on the fixed portion 1320, the slider is fixedly connected with the movable portion 1310, and the linear guide is perpendicular to the second rotating shaft 1120; the clamping driving device 1340 is connected to the slider and configured to drive the slider to move along the linear guide to move the movable portion 1310 close to or away from the fixed portion 1320, so as to clamp or release the open container 30.
In this implementation, the fixing portion 1320 of the clamping claw 131 is connected to the second rotation driving device 132, so that the driving force generated by the second rotation driving device 132 can directly act on the clamping claw 131, which is helpful for increasing the reaction speed of the rotation motion of the clamping claw 131.
Further, the fixing portion 1320 includes a first fixing plate and a second fixing plate, a first side wall of the first fixing plate is fixedly connected to the second rotating shaft 1120, and a second side wall opposite to the first side wall is fixedly connected to a plate surface of the second fixing plate, so as to form a first right-angle structure; the upper surface of the first fixed flat plate is fixedly connected with the linear guide rail; the movable portion 1310 includes a first movable plate and a second movable plate, the first movable plate and the second movable plate are connected to form a second right-angle structure, the first movable plate is parallel to the first fixed plate, and the lower surface of the first movable plate is fixedly connected to the sliding block; the first right-angle structure is arranged in parallel with the second right-angle structure, and when the open container 30 is clamped by the clamping claws 131, the second fixed plate and the second movable plate apply opposite pressing forces to the side wall of the open container 30.
In this implementation, the upper surface of the first fixed plate is a surface opposite to the first movable plate, and the surface can be used as a mounting surface, and the linear motion assembly 1330 and the clamping driving device 1340 are fixedly disposed on the surface. The clamping jaw 131 is of a right-angled flat plate structure, so that the contact area of the clamping jaw 131 and the side wall of the open container 30 can be increased, and the clamping capacity of the clamping jaw 131 is improved.
As an example, the clamping driving device 1340 may be a cylinder, and the end of a piston rod of the cylinder is fixedly connected with the sliding block; the second rotation driving device 132 may be a push rod motor, one end of the push rod motor is rotatably disposed at a side surface of the rotation platform 1210, and a tail end of the push rod is rotatably connected to a lower surface of the first fixing plate, so that the clamping claw 131 is driven to rotate around the second rotation shaft 1220 by a thrust generated by the push rod motor.
Optionally, the second rotation driving device 132 includes a jacking cylinder, one end of the jacking cylinder is connected to the lower surface of the first fixing plate, and the other end of the jacking cylinder is connected to the rotating platform 1210. And the jacking cylinder is used as a driving device, so that the structure can be simplified.
With continued reference to fig. 2, in the embodiment shown in fig. 2, the handling assembly 10 is a plurality of handling assemblies 10, and the plurality of handling assemblies 10 are evenly circumferentially distributed on the outer ring 2110.
In one particular application, the apparatus for removing the articles from the containers is provided with 4 carrier assemblies 10, which are circumferentially and uniformly distributed on the base 20. Each carrier assembly 10 may correspond to an article transport facility and an article storage facility such that each carrier assembly 10 may independently perform the task of removing articles from a container.
In this embodiment, the plurality of carrying assemblies 10 can simultaneously process the articles in the plurality of containers independently, thereby further improving the working efficiency of the apparatus.
Referring next to fig. 3, fig. 3 illustrates a schematic flow chart of an embodiment of a method for removing an item in a container provided by an embodiment of the present disclosure, as shown in fig. 3, the method including the steps of:
s101, responding to the fact that the open container to be clamped exists in the first preset position, sending a clamping signal to the clamping driving device, and driving the clamping portion to clamp the open container.
In this embodiment, the first preset position is used for representing the placement position of the open container of the object to be removed, and may be, for example, a storage position of the open container on the conveying device. As an example, a sensor may be provided at the first preset position for detecting whether there is an open container at the first preset position.
S102, sending a first rotating signal to a second rotating driving device, driving the clamping portion to rotate by a first preset angle in a first rotating direction, and lifting the open container from a first preset position.
In this embodiment, the first preset angle may be determined according to the height of the open container and the rotation radius of the clamping portion, so that after the clamping portion rotates the first preset angle, the bottom surface of the open container is suspended.
S103, sending a first rotation signal to the rotation driving device, driving the carrying assembly to rotate circumferentially by a second preset angle, and carrying the open container to a second preset position.
In this embodiment, the second predetermined position is used to represent the position of the removed object in the container, and the receiving frame with an upward opening can be placed below the second predetermined position for receiving and storing the object removed from the open container.
And S104, sending a second rotation signal to the first rotation driving device to drive the second rotation shaft 1120 to rotate in the second rotation direction by a third preset angle so as to drive the second rotation part and the clamping part to rotate, so that the opening direction of the open container is adjusted to be downward in the second preset position.
In this embodiment, the third preset angle may be preset according to actual requirements, for example, may be 180 ° or greater than 180 °, so that after the second rotating shaft drives the rotating portion and the clamping portion to rotate, the open container may adjust the opening direction to be downward at the second preset position, and thereby the object in the container is poured into the storage device below the second preset position, thereby completing the process of removing the object in the container.
According to the method for removing the objects in the container, the objects in the container can be automatically removed to the designated position by controlling each action of the device for removing the objects in the container, so that the labor cost is reduced, and the working efficiency is improved.
In some optional implementations of this embodiment, after the second rotating shaft rotates by the third preset angle in the second rotating direction, the method may further include the following steps:
first, a third rotation signal is sent to the first rotation driving device, and the second rotation shaft is driven to rotate by a third preset angle in a direction opposite to the second rotation direction, so that the opening direction of the open container is adjusted to be upward.
And then, sending a second rotation signal to the rotation driving device to drive the carrying assembly to rotate circumferentially by a fourth preset angle. In this embodiment, the fourth predetermined angle may be adapted to the storage position of the empty container, for example, above the conveying device of the empty container.
And then, sending a fourth rotation signal to the second rotation driving device, driving the clamping part to rotate by a first preset angle in a direction opposite to the first rotation direction, and placing the open container at a third preset position. In this embodiment, the third predetermined position is used to indicate a storage position of the empty container, and may be, for example, a storage device with an upward opening, or a conveyor belt of a conveying device, so as to convey the empty container to another position later.
Finally, an opening signal is sent to the clamping driving device, so that the clamping part releases the open container.
In the implementation mode, the empty container after the object is removed can be conveyed to the appointed position through the steps, cooperation between the device for removing the object in the container and other devices is achieved, and the work efficiency is further improved.
Referring next to fig. 4, fig. 4 is a schematic structural diagram illustrating an embodiment of a system for removing an object in a container according to an embodiment of the present disclosure, where, as shown in fig. 4, the system includes: a first conveyor device 2, a storage device 3, a second conveyor device 4 and the above-mentioned device 1 for removing articles from containers, wherein the first conveyor device 2, the storage device 3 and the second conveyor device 4 are arranged around the device 1 for removing articles from containers; a first conveyor apparatus 2 for conveying open containers to a gripping area of the apparatus 1 for removing articles from the containers; the apparatus for removing articles from containers 1 is used for pouring articles from open containers into a storage apparatus 3 and for handling empty containers to a second conveyor apparatus 4; the second transport device 4 is used to transport empty containers to a designated location.
In a specific application scenario, the apparatus 1 for removing articles in a container includes 4 carrying assemblies, which are circumferentially and uniformly distributed on a base, wherein 3 carrying assemblies respectively correspond to the first conveying apparatus 2, the article storage apparatus 3 and the second conveying apparatus 4, and the other carrying assembly is in standby to prevent the work flow of the system from being blocked due to a fault. At a certain moment, the first carrying assembly clamps the open container at the first conveying device 2, the second carrying assembly adjusts the posture of the open container above the article storage device 3, the third carrying assembly places an empty container at the second conveying device 4, and the fourth carrying assembly is empty. After the preset time, the corresponding action of each carrying assembly is completed, and the rotating part of the equipment for removing the objects in the container rotates clockwise by 90 degrees, so that the first carrying assembly moves circumferentially to the object storage position 3 to pour the objects in the container into the object storage equipment 3; the second handling assembly moves circumferentially to the second conveyor 4 to deposit the empty containers on the second conveyor 4; the third carrying assembly is empty; the fourth carrying assembly moves circumferentially to the first conveyor 2 to pick up the open container of the object to be removed. The circulation operation can realize the simultaneous operation of 3 groups of carrying assemblies, thereby further improving the working efficiency.
In this embodiment, the system for removing the articles in the container can automatically complete the removal of the articles in the container and the transportation of the empty container, which helps to improve the automation degree and the work efficiency of the production process.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (10)
1. An apparatus for removing articles from a container comprising a carrier assembly and a base for carrying the carrier assembly, wherein,
the handling assembly comprises: the clamping device comprises a first rotating part, a second rotating part and a clamping part;
the first rotating part comprises a mounting seat, a first rotating shaft and a first rotating driving device for driving the first rotating shaft to rotate, and the bottom of the mounting seat is fixedly connected with the base; the first rotating shaft and the first rotating driving device are fixedly arranged on the mounting seat;
the second rotating part comprises a second rotating shaft and a rotating platform, the second rotating shaft is rotatably connected to the rotating platform, and the axial direction of the second rotating shaft is vertical to the axial direction of the first rotating shaft; the rotating platform is fixedly connected with the first rotating shaft and rotates around the first rotating shaft under the driving of the first rotating shaft;
the clamping part comprises a clamping claw and a second rotation driving device, one end of the clamping claw is used for clamping the open container, and the other end of the clamping claw is fixedly connected with the second rotating shaft; one end of the second rotation driving device is fixedly arranged on the rotation platform, and the other end of the second rotation driving device is fixedly connected with the clamping jaw so as to push the clamping jaw to rotate around the second rotating shaft in a vertical plane;
after the open container is clamped by the clamping jaws, the second rotary driving device pushes the clamping portion to rotate to a preset position around the second rotary shaft, and the first rotary driving device drives the first rotary shaft to drive the rotary platform and the clamping portion to rotate so that the opening direction of the open container is downward.
2. The apparatus of claim 1, wherein the base comprises a rotating portion and a rotary drive, the rotating portion comprising an outer ring and a fixedly disposed inner ring;
the outer ring is of a circular ring structure which can rotate relative to the inner ring, and is fixedly connected with the mounting seat;
the rotary driving device is used for driving the outer ring to rotate around the vertical direction so as to drive the carrying assembly to move circumferentially in the horizontal plane.
3. The apparatus of claim 2, wherein the outer ring of the outer ring is circumferentially provided with a rack;
the rotary driving device comprises a transmission gear and a speed reducing motor, and the transmission gear is meshed with the rack; the gear motor is fixedly connected with the base and is configured to drive the transmission gear to rotate so as to drive the outer ring to rotate.
4. The apparatus of claim 3, wherein the clamping jaw comprises a fixed portion, a linear motion assembly, a movable portion, and a clamping drive;
the fixed part is fixedly connected with the second rotating shaft;
the linear motion assembly comprises a sliding block and a linear guide rail fixed on the fixed part, the sliding block is fixedly connected with the movable part, and the linear guide rail is perpendicular to the first rotating shaft;
the clamping driving device is connected with the sliding block and is configured to drive the sliding block to move along the linear guide rail so as to drive the movable part to be close to or far away from the fixed part, and the open container is clamped or loosened.
5. The apparatus of claim 4, wherein the fixing portion comprises a first fixing plate and a second fixing plate, one end of the first fixing plate is fixedly connected with the first rotating shaft, and the other end of the first fixing plate is fixedly connected with the second fixing plate to form a first right-angle structure; the upper surface of the first fixed flat plate is fixedly connected with the linear guide rail;
the movable part comprises a first movable flat plate and a second movable flat plate, the first movable flat plate and the second movable flat plate are connected to form a second right-angle structure, the first movable flat plate is parallel to the first fixed flat plate, and the lower surface of the first movable flat plate is fixedly connected with the sliding block; the first right-angle structure and the second right-angle structure are arranged in parallel, and when the clamping jaws clamp the open container, the second fixed flat plate and the second movable flat plate apply opposite pressing forces to the side wall of the open container.
6. The apparatus of claim 5, wherein the second rotary drive comprises a jacking cylinder having one end connected to the lower surface of the first stationary plate and the other end connected to the rotary platform.
7. The apparatus of claims 2 to 6, wherein the handling assembly is plural and the plural handling assemblies are evenly circumferentially distributed on the outer race.
8. A method for removing an article from a container, for use in an apparatus for removing an article from a container as claimed in claim 7, comprising:
in response to the fact that the open container to be clamped exists in the first preset position, sending a clamping signal to the clamping driving device to drive the clamping portion to clamp the open container;
sending a first rotation signal to the second rotation driving device, driving the clamping part to rotate by a first preset angle in a first rotation direction, and lifting the open container from the first preset position;
sending a first rotation signal to the rotation driving device, driving the carrying assembly to rotate circumferentially by a second preset angle, and carrying the open container to the second preset position;
and sending a second rotation signal to the first rotation driving device to drive the first rotating shaft to rotate a third preset angle in a second rotation direction so as to drive the rotating part and the clamping part to rotate, so that the opening direction of the open container is adjusted downwards in the second preset position.
9. The method of claim 8, after the first shaft is rotated in the second rotational direction by a third predetermined angle, the method further comprising:
sending a third rotation signal to the first rotation driving device to drive the first rotating shaft to rotate in a direction opposite to the second rotation direction by a third preset angle;
sending a second rotation signal to the rotation driving device to drive the carrying assembly to rotate circumferentially by a fourth preset angle;
sending a fourth rotation signal to the second rotation driving device, driving the clamping part to rotate in a direction opposite to the first rotation direction by a first preset angle, and placing the open container at a third preset position;
sending an opening signal to the clamping driving device to enable the clamping part to release the open container.
10. A system for removing an article from a container, comprising: a first conveyor apparatus, a storage apparatus, a second conveyor apparatus, and an apparatus for removing items from containers as claimed in any one of claims 1 to 7,
the first conveyor apparatus, the storage apparatus and the second conveyor apparatus are arranged around the apparatus for removing articles in containers;
the first conveying device is used for conveying the open container to a clamping area of the device for removing the articles in the container;
the equipment for removing the articles in the containers is used for pouring the articles in the open containers into the storage equipment and carrying the empty containers to the second conveying equipment;
the second conveying device is used for conveying the empty containers to a designated position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010732212.4A CN113772403B (en) | 2020-07-27 | 2020-07-27 | Apparatus for removing articles from a container |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010732212.4A CN113772403B (en) | 2020-07-27 | 2020-07-27 | Apparatus for removing articles from a container |
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| CN113772403A true CN113772403A (en) | 2021-12-10 |
| CN113772403B CN113772403B (en) | 2023-05-30 |
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| WO2019009290A1 (en) * | 2017-07-05 | 2019-01-10 | 川崎重工業株式会社 | Robot system and packaging system |
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| FR2391131A1 (en) * | 1977-05-20 | 1978-12-15 | Matra | Automatic postal parcels sorter - has turntable with work heads which orientate parcels enabling reading of labels |
| JPH09254058A (en) * | 1996-03-21 | 1997-09-30 | Nec Corp | Article conveyer |
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| CN113772403B (en) | 2023-05-30 |
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