CN110668197A - Bowl separating method and bowl separating robot - Google Patents
Bowl separating method and bowl separating robot Download PDFInfo
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- CN110668197A CN110668197A CN201911083511.3A CN201911083511A CN110668197A CN 110668197 A CN110668197 A CN 110668197A CN 201911083511 A CN201911083511 A CN 201911083511A CN 110668197 A CN110668197 A CN 110668197A
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G59/00—De-stacking of articles
- B65G59/10—De-stacking nested articles
- B65G59/105—De-stacking nested articles by means of reciprocating escapement-like mechanisms
- B65G59/106—De-stacking nested articles by means of reciprocating escapement-like mechanisms comprising lifting or gripping means
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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Abstract
The invention discloses a bowl separating method and a bowl separating robot, wherein the method comprises the following steps: the bowl separating device comprises a conveying device, a bowl poking mechanism and a bowl separating device; the method comprises the following steps: s10, placing the stacked bowls on the conveying device; s20, the conveying device conveys the stacked bowls forwards and enters a bowl separating station of the bowl separating device; s30, the bowl separating device separates bowls from the stacked bowls; s40, the bowl poking mechanism sends out the single bowls separated from the stacked bowls by the bowl separating device; in step S30, the bowl separating device lifts the bowls on the bowl separating station when separating the stacked bowls.
Description
Technical Field
The invention relates to a bowl separating method and a bowl separating robot.
Background
Bowl separating technology is often applied to the fields of intelligent catering and catering automatic vending, and aims to automatically separate bowls in a stacked (stacked) state one by one and convey the separated bowls to a specific position so as to load food into the separated bowls.
The existing bowl distributing technology is used for placing stacked bowls on a bowl distributing device, separating the stacked bowls one by the bowl distributing device, dropping and conveying the bowls away; however, in this technique, only a single stack of bowls can be placed on the bowl separating device, and once the single stack of bowls is separated, the single stack of bowls needs to be manually placed on the bowl separating device again to be separated.
The bowl distributing technology has too little storage of bowls, and people are required to frequently load the bowls and place the bowls on the bowl distributing device in the bowl using peak period.
Disclosure of Invention
In order to solve the problems, the invention provides a bowl separating method and a bowl separating robot.
The bowl distributing method provided by the invention comprises the following steps: the bowl separating device comprises a conveying device, a bowl poking mechanism and a bowl separating device; the method comprises the following steps:
s10, placing the stacked bowls on the conveying device;
s20, the conveying device conveys the stacked bowls forwards and enters a bowl separating station of the bowl separating device;
s30, the bowl separating device separates bowls from the stacked bowls;
s40, the bowl poking mechanism sends out the single bowls separated from the stacked bowls by the bowl separating device;
in step S30, the bowl separating device lifts the bowls on the bowl separating station when separating the stacked bowls, so that the bowls on the bowl separating station leave the conveying device.
The conveying device can specifically use a linear conveying device, such as a conveying belt, a conveying chain and the like, when the bowl separating device is used, stacked bowls are placed on the conveying belt, the conveying belt conveys the stacked bowls to a bowl separating station (the bowl separating station is the position where the bowl separating device is located and can be set as required), then the bowl separating device at the bowl separating station automatically grabs and separates bowls from the stacked bowls, and the bowl shifting mechanism sends out the separated bowls.
Further, can fold the bowl utensil of pile and fold side by side and place on the conveyer belt, pile bowl utensil of pile and fold can carry in proper order and divide the bowl on dividing the bowl station, because the bowl utensil that the pile that will be located on dividing the bowl station in-process is lifted, when lifting bowl utensil, because the bowl utensil that divides the bowl station leaves conveyor, the conveyer belt can remove, when the bowl utensil of last pile of pile is soon being divided to the completion, when separating the bowl utensil to last pile of bowl utensil and lifting, the conveyer belt removes, then puts into a plurality of piles of bowls of pile toward conveyer belt rearrangement. Therefore, the bowl containing capacity can be improved, so that the interference of personnel is reduced, the bowl loading frequency is reduced, the stacked bowls are convenient to supplement, the length of the belt is designed and changed according to actual needs, and the maximum capacity of the bowls of the whole machine is enlarged.
In some embodiments, the method further comprises: an induction device and a clamping block; in step S10, placing the first stack of bowls and the second stack of bowls on the conveying device; in step S20, the conveying device simultaneously conveys the first bowl stack and a second bowl stack behind the first bowl stack forward, when the first bowl stack is conveyed to the bowl separating station of the bowl separating device, if the sensing device senses the second bowl stack, in step S30, before the first bowl stack at the bowl separating station is separated for the first time, the clamping block clamps the bowl at the bottommost of the first bowl stack, the conveying device reversely conveys the second bowl stack for a certain distance, then the clamping block is loosened, and the bowl separating device separates the bowl stacks;
when the first bowl stack is conveyed to the bowl separating station of the bowl separating device, and the sensing device does not sense a second bowl stack, in step 30, when the bowl stack is lifted, the conveying device continues to advance to convey the second bowl stack until the sensing device senses the second bowl stack, and the conveying device stops;
when the first bowl stacking device is located at the bowl separating station, the outer edge of the first bowl stacking device extends to a position which is opposite to the conveying direction of the conveying device by a distance L, wherein the L is smaller than the diameter of one bowl.
According to the technical scheme, a plurality of stacks of bowls are placed on the conveying belt to be conveyed to the bowl separating station, wherein the distance between every two stacks of bowls can be randomly placed, and the distance between the first stack of bowls on the conveying belt and the second stack of bowls adjacent to the first stack of bowls can be automatically adjusted: when the foremost stacked bowls are conveyed to the bowl separating station for bowl separation, the distance between the foremost stacked bowls and the second stacked bowls is too short due to the fact that the second stacked bowls are sensed by the sensing device, the second stacked bowls possibly touch and influence the foremost stacked bowls located at the bowl separating station in the bowl separating process, when the foremost stacked bowls located at the bowl separating station are subjected to bowl separation for the first time, the conveyor belt moves reversely for a certain distance after clamping the bottommost bowls located at the bowl separating station, so that the second stacked bowls are separated from the foremost stacked bowls for a certain distance, the influence of the second stacked bowls on the bowl separating operation of the foremost stacked bowls is prevented, and when the second stacked bowls are separated from the foremost stacked bowls for a proper distance (the proper distance can be automatically defined and adjusted according to needs), the conveyor belt is not moved, separating the clamping blocks, releasing the clamped bowl separating device of the bottommost bowl on the bowl separating station to sequentially separate the stacked bowls on the bowl separating station until the foremost stacked bowl is separated, then changing the second stacked bowl into the foremost stacked bowl, continuously conveying the conveying belt forwards, conveying the second stacked bowl to the bowl separating station to be separated, and similarly, if the stacked bowl behind the second stacked bowl (preset as a third stacked bowl) is also sensed by the sensing device, reversely moving the conveying belt for a certain distance after clamping the bottommost bowl on the bowl separating station so as to pull the third stacked bowl and the second stacked bowl which is being separated by the bowl away; similarly, the distance of the backward piled bowl is adjusted according to the method before the backward piled bowl enters the bowl separating station.
Since the distance between each pair of bowls can be randomly placed, that is, the distance between each pair of bowls may be too large, when the previous bowl stack (first bowl stack) reaches the bowl separating station and the sensing device does not sense the information of the second bowl stack following the previous bowl stack, it indicates that the distance between the second bowl stack and the first bowl stack is too large, and at this time, when the bowl stack (first bowl stack) located in front of the bowl separating station is separated, when the first bowl stack is lifted by the bowl separating device (the bowl stack at the bowl separating station leaves the conveying device), the conveying belt continues to advance to convey the second bowl stack until the sensing device senses the second bowl stack and then the conveying device stops, and the bowl separating device separates the first bowl stack located on the bowl separating station, so that the second bowl stack is in a bowl separating station waiting state, the bowl separating device is not too close to the first bowl stacking device at the bowl separating station to influence the bowl separating work, and is not too far away from the first bowl stacking device at the bowl separating station to influence the bowl separating efficiency of the second bowl stacking device next time.
In addition, when the previous stacked bowl (the first stacked bowl) arrives at the bowl separating station, the sensing device does not sense the information of the second stacked bowl following the previous stacked bowl, the bowl on the bowl separating station is lifted, the conveying belt continues to move forwards for a certain time (the time can be preset according to the actual working condition), the second stacked bowl cannot be detected, then the fact that no second stacked bowl exists on the conveying belt is judged, and an alarm prompt function can be set to remind a worker of supplementing the stacked bowl on the conveying belt. More specifically, the preset time may be set comprehensively according to the speed and length of the conveyor belt.
In summary, the technical design of the invention can freely place the stacked bowls on the conveying track of the conveying device, the distance between the stacked bowls is not limited, and finally the distance between the two stacked bowls at the forefront of the conveying device can be automatically adjusted.
In some embodiments, in step S30, the bowl separating device lifts up the entire stack of bowls at the bowl separating station, then separates out individual bowls, and finally the bowl pulling mechanism delivers the separated individual bowls.
In some embodiments, in step S30, the whole stack of bowls at the bowl separating station is supported by the conveying device, and when separating bowls, the bowl separating device lifts a second bowl from bottom to top and a bowl above the second bowl from the whole stack of bowls at the bowl separating station so as to leave the first bowl on the conveying device, and finally, the bowl pulling mechanism sends out the separated first bowl.
In some embodiments, the bowl separating device comprises a first insert group and a second insert group which are arranged at two sides of the conveying device; after the first inserting piece group and the second inserting piece group are inserted into a gap between the first bowl and the second bowl, the second inserting piece group lifts the second bowl and the bowl above the second bowl, and meanwhile, the first inserting piece group blocks the upper edge of the first bowl.
In some embodiments, the first and second blade sets each comprise a first blade and a second blade; the first inserting pieces are provided with first gear shaping teeth, gaps h are formed among the first gear shaping teeth, the second inserting pieces are provided with second gear shaping teeth, and the second gear shaping teeth are matched with the gaps h; the second gear shaping is positioned in the gap h, and the second gear shaping and the first gear shaping are inserted into the gap between the first bowl and the second bowl from bottom to top in the bowl simultaneously after being arranged side by side.
When the first gear shaping and the second gear shaping are simultaneously inserted into the gap between the bowl and the bowl, if the first gear shaping and the second gear shaping enter in a mutually overlapped state, the overlapped thickness of the first gear shaping and the second gear shaping is larger than that of the first gear shaping or the second gear shaping of a single piece, so that the bowl is required to be stacked, the gap between the bowls is large enough, and the application range is greatly limited; in the design of the invention, the first gear shaping and the second gear shaping are horizontally arranged instead of being mutually overlapped, the thickness of the gap between the bowl and the bowl which is inserted is only the thickness of the first gear shaping (or the thickness of the second gear shaping), and finally, the bowl with smaller gap between the stacked bowls can be separated.
In some embodiments, when the first stack of bowls is conveyed to the bowl separating station of the bowl separating device, and if the sensing device senses a second stack of bowls, in step 30, when the bowls are lifted, the conveying device reversely conveys the second stack of bowls until the second stack of bowls just leave the sensing area of the sensing device, and the conveying device stops.
In addition, the invention also provides a bowl separating robot, which comprises: the bowl distributing device is arranged on a bowl distributing station of the conveying device; the bowl separating device comprises a first inserting piece used for inserting a gap between bowls and a lifting device used for driving the first inserting piece to lift; after a first inserting piece of the bowl separating device is inserted into a gap between a first bowl and a second bowl in the bowl separating station from bottom to top, the lifting device drives the first inserting piece to ascend so as to lift the second bowl in the bowl from bottom to top and the bowls above the second bowl, and the bowl pulling mechanism sends out the first bowl.
When the bowl separating device is used, a plurality of stacked bowls can be placed on the conveying device to enter the bowl separating station in sequence to be separated, the bowl storing capacity of the bowl separating robot is improved, the stacked bowls need to be lifted in the bowl separating process, the conveying belt can move when the bowls are lifted, the bowls (stacked bowls) can be supplemented to the conveying belt as required when the bowls are separated from the final stacked bowls, and the bowls can be separated for the next time.
In some embodiments, the bowl separating device further comprises a second inserting sheet which is inserted into the gap between the first bowl and the second bowl simultaneously with the first inserting sheet; the bowl separating device is characterized in that a first inserting piece and a second inserting piece of the bowl separating device are inserted into a gap between a first bowl and a second bowl in the bowl from bottom to top, after the second inserting piece blocks the upper edge of a bowl opening of the first bowl, the lifting device drives the first inserting piece to ascend so as to lift the second bowl in the bowl from bottom to top and the bowl above the second bowl, and the bowl shifting mechanism sends out the first bowl.
The second inserting piece can block the upper edge of the bowl opening of the first bowl and then lift the second bowl and the bowls above the second bowl, so that the first bowl can be well stabilized, the first bowl is prevented from being lifted up along with the second bowl, and finally, the bowl separating work of the bowl separating robot is more reliable and stable; meanwhile, the bowl separating robot is also suitable for hard bowls (such as ceramics, metals and soft plastic bowls) and soft bowls (such as disposable bowls, paper bowls and soft plastic bowls).
In some specific embodiments, the first insert sheet is provided with first gear teeth, and a gap h is arranged between the first gear teeth; the second inserting piece is provided with a second gear shaping, and the second gear shaping is matched with the gap h; the second gear shaping is positioned in the gap h, and the second gear shaping and the first gear shaping are horizontally inserted into a gap between the first bowl and the second bowl from bottom to top in the bowl simultaneously after being arranged side by side.
When the first gear shaping and the second gear shaping are simultaneously inserted into the gap between the bowl and the bowl, if the first gear shaping and the second gear shaping enter in a mutually overlapped state, the overlapped thickness of the first gear shaping and the second gear shaping is larger than that of the first gear shaping or the second gear shaping of a single piece, so that the bowl is required to be stacked, the gap between the bowls is large enough, and the application range is greatly limited; in the design of the invention, the first gear shaping and the second gear shaping are arranged in an array way instead of being arranged in an overlapping way, the thickness of the gap between the bowl and the bowl which is inserted is only the thickness of the first gear shaping (or the thickness of the second gear shaping), and finally, the bowl with smaller gap between the stacked bowls can be separated.
In some embodiments, the bowl further comprises a clamping block for clamping the outer side wall of the first bowl; before lifting the second bowl in the bowl from bottom to top and the bowls above the second bowl, the clamping blocks clamp the outer side wall of the first bowl.
When the bowls are separated, the clamping block is used for holding the first bowl (the bowl at the bottommost part) tightly, so that the first bowl and the second bowl can be separated smoothly when the second bowl and the bowls above the second bowl are lifted.
In some embodiments, further comprising an induction device; the sensing device (particularly, the sensing part) is positioned at a position where the outer edge of the first bowl stack extends to a distance L opposite to the conveying direction of the conveying device when the first bowl stack is at the bowl separating station, wherein L is smaller than the diameter of one bowl.
The arrangement of the sensing device can accurately and reliably adjust the distance between the first bowl stacking device and the second bowl stacking device on the conveying device according to the information of the sensing device. When the second bowl and the bowls above the second are lifted, and the first bowl is sent out, the conveying device can move back and forth to adjust the distance between the bowls to be separated in the next stack and the bowls being separated, so as to avoid the interference of the bowls or improve the efficiency.
Drawings
FIGS. 1-3 are schematic diagrams of a bowl separation method according to an embodiment of the present invention;
fig. 4-5 are schematic diagrams illustrating automatic adjustment of the distance between the first bowl stack and the second bowl stack in the bowl separating method according to an embodiment of the present invention;
FIG. 6 is a schematic view of a bowl separating robot according to an embodiment of the present invention;
FIGS. 7-8 are schematic diagrams illustrating the working principle of the first insert and the second insert of the bowl separating robot according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a second insert of the bowl separating robot according to an embodiment of the present invention.
Detailed Description
The invention will be further elucidated with reference to the drawing.
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g. as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, so to speak, as communicating between the two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. The technical scheme of the invention is further explained by combining the drawings and the embodiment.
The bowl distributing method comprises the following steps: the bowl separating device comprises a conveying device, a bowl poking mechanism and a bowl separating device; the method comprises the following steps:
s10, placing the stacked bowls on the conveying device;
s20, the conveying device conveys the stacked bowls forwards and enters a bowl separating station of the bowl separating device;
s30, the bowl separating device separates bowls from the stacked bowls;
s40, the bowl poking mechanism sends out the single bowls separated from the stacked bowls by the bowl separating device;
in step S30, the bowl separating device lifts the bowls on the bowl separating station when separating the stacked bowls, so that the bowls on the bowl separating station leave the conveying device.
Referring to fig. 1-3, the conveying device may specifically use a linear conveying device, such as a conveying belt 5, a conveying chain, etc., when in use, the stacked bowls are placed on the conveying belt, the conveying belt conveys the stacked bowls to a bowl separating station (the bowl separating station may be understood as a position of a conveying device actually set, for example, a position of a first stacked bowl 61 in fig. 1), then the bowl separating device 65 at the bowl separating station automatically separates the stacked bowls (the first stacked bowl 61 in the figure), and the bowl pulling mechanism sends out the separated individual bowls.
Further, a plurality of stacked bowls (such as a first bowl 61, a second bowl 62, a third bowl 63 and a fourth bowl 64) can be placed on the conveyor 5 in parallel, the stacked bowls can be sequentially conveyed to the bowl separating station for bowl separation as shown in fig. 1, the conveyor 5 carries a plurality of stacks of bowls forward as shown by an arrow B, when the foremost bowl, i.e. the first bowl 61, is conveyed to the bowl separating station (the bowl separating station can be provided with a sensor to sense that a bowl is conveyed to the bowl separating station), the conveyor 5 stops working, then the bowl separating device 65 on the bowl separating station separates the bowl from the first bowl 61, a single bowl separated from the first bowl 61 is pulled out in the direction B by the bowl pulling mechanism, and the bowl separating device can perform the next bowl separation, and finally, the first bowl 61 is separated (the sensor can be arranged, sensing whether the first bowl stacking device 61 is completely separated or not), continuously moving the conveying belt 5 in the direction of an arrow B until the second bowl stacking device 62 is conveyed to a bowl separating station, continuously separating bowls by the bowl separating device 65, circularly working in the way, separating bowls from the remaining bowls such as a third bowl stacking device 63 and a fourth bowl stacking device 64, and the like.
Therefore, the bowl containing capacity can be improved, interference of personnel is reduced, the frequency of bowl loading is reduced, bowl supplementing is convenient, the length of the belt is changed according to actual needs, and the maximum capacity of the bowl of the whole machine is enlarged.
The technology employed by the bowl separating device 65 of the present invention may be in the following manner:
in step S30, the bowl separating device lifts up the entire stack of bowls at the bowl separating station, and then separates out individual bowls, and finally the bowl pulling mechanism sends out the separated individual bowls. The technology for realizing the method can adopt any one of the prior arts, and the technical principle can refer to Chinese patents:
2018101717170, when the first clamping assembly is arranged on both sides of the conveying device 5, the second clamping assembly is designed as a movable module, when the stacked bowls are conveyed into the bowl separating station, the second clamping assembly moves to the edge of the conveying device to prevent the stacked bowls from entering the bowl separating station, when the stacked bowls enter the bowl separating station, the second clamping assembly moves to the middle of the conveying device 5 to facilitate the bowl separating of the stacked bowls on the bowl separating station together with the first clamping assembly, before the bowls are separated, the first assembly and the second assembly move away from the center of the bowls to make the opening enclosed by the first assembly and the second assembly larger than the size of the bowl opening, then the first assembly and the second assembly descend to close up to support the outer side of the bottommost bowl on the stacked bowls on the bowl separating station, the first assembly and the second assembly are then lifted to lift the entire stack of bowls, and the bowl separating principle is as described in the above patent, and the bowl separating of the next stack of bowls is completed by the above steps.
The bowl separating principle of the patent is that the first assembly and the second assembly are alternately and orderly inserted into a gap between bowls or separated from the gap between the bowls, and in view of the principle, the first assembly and the second assembly can be arranged at two sides of the conveying device to avoid influencing the conveying device to convey stacked bowls into a bowl separating station, when the stacked bowls enter the bowl separating station, the first assembly and the second assembly are opened (i.e. move away from the center direction of the bowls) to enable the distance between the first assembly and the second assembly to be larger than the distance between the edges of the bowls, then the first assembly and the second assembly are lowered to a proper position under the bowl mouth edge of the bottommost bowl, the first and second assemblies are then brought closer together to abut the rim of the bowl opening of the bottommost bowl and finally the first and second assemblies are raised to lift the stack of bowls for dispensing, the dispensing principle being described in the above patent.
The bowl dividing method is suitable for hard bowls (ceramic bowls, metal bowls, other hard plastic bowls and the like).
For the bowl separating method of soft bowls (disposable bowls, paper bowls, soft plastic bowls, etc.) for lifting whole stack of bowls, the principle can refer to the Chinese patent: 2019101411422, respectively; the bowl separating principle of the patent is as follows: divide on the bowl station, both sides corresponding to conveyor 5 set up rotatory inserted sheet respectively relatively, size between two sets of rotatory inserted sheets that set up relatively can be adjusted, go up and down to adjust, in the time of use, two sets of rotatory inserted sheets deviate from the removal mutually (deviate from bowl utensil center direction removal promptly each other), make distance between them be greater than bowl utensil marginal diameter, then conveyor will pile the bowl utensil of folding and carry and divide the bowl station, two sets of rotatory inserted sheets descend, the lower rotatory piece that makes two sets of rotatory inserted sheets is less than the bowl mouth of bottommost bowl utensil and rolls over the border outward, then two sets of rotatory inserted sheets are close to each other, finally, two sets of rotatory inserted sheets rise, make lower rotatory piece hold the back of piling the bottommost bowl utensil bowl mouth of bowl utensil and roll over the border outward to waiting to divide the bowl, specific branch bowl principle sees above-mentioned patent in detail: 2019101411422, the above operation is repeated to sequentially separate bowls from other stacked bowls.
The bowl separating device can be realized by adopting a bowl separating principle in the prior art, only needs to be slightly improved so as to realize that the stacked bowls are grabbed and lifted before the bowl separating, and the bowl separating device has the general principle that the whole stack of bowls needs to be lifted and then a single bowl is separated. The translation that above-mentioned needs related realized, lift function can adopt techniques such as cylinder, electric push rod.
In addition to the above method, the present invention provides another embodiment of the bowl separating method, in step S30, when the bowl is to be separated, the whole stack of bowls at the bowl separating station is supported by the conveying device 5, and when the bowl is to be separated, the bowl separating device 65 lifts the second bowl from bottom to top and the bowls above the second bowl from the whole stack of bowls at the bowl separating station, so that the first bowl remains on the conveying device, and finally, the bowl pulling mechanism sends out the separated first bowl.
The conveying device lifts the second bowl and the bowls above the second bowl from bottom to top in the foremost stacked bowl (the first stacked bowl 61) in the stacked bowls, the first bowl is left on the conveying device and is pulled out by a bowl pulling mechanism, the specific technology for realizing the method mainly comprises the steps that the inserting pieces are arranged on two sides of the conveying device, the horizontal distance between the inserting pieces can move (the direction close to the center of the bowl or away from the center of the bowl), the inserting pieces can move close to the center of the bowl and can be inserted into a gap between the first bowl and the second bowl, and then the inserting pieces rise to lift the second bowl and the bowls above the second bowl; when next bowl is divided, the inserting sheet descends to place the stacked bowls on the conveying device again, after the inserting sheet deviates from the bowl core and moves out of the bowl gap, the inserting sheet ascends by the gap height between the bowls or the thickness of the folded edge of the bowl mouth of one bowl, so that the inserting sheet moves close to the bowl core again to be inserted into the gap between the first bowl (the bowl at the bottommost part) and the second bowl, and the purpose of continuously dividing the bowls can be realized by circularly repeating the work; or the height position of the inserting sheet inserted into the gap between the bowl and the bowl is fixed (the height is set according to the height of the standard bowl, the inserting sheet moves in the horizontal direction of the height to be inserted into or separated from the gap between the first bowl and the second bowl), the inserting sheet moves towards the center of the bowl to be inserted into the gap between the first bowl and the second bowl in the stacked bowls supported on the conveying belt, then the inserting sheet rises to lift the second bowl and the bowl above the second bowl, so that the first bowl is left on the conveying belt, finally the first bowl is pulled out, the bowl separating work is completed, when the next bowl is separated, the inserting sheet lowers the second bowl and the bowl above the second bowl lifted by the inserting sheet to the starting position where the second bowl and the bowl above the second bowl are lifted by the inserting sheet, and then the inserting sheet moves back to the center of the bowl, after the second bowl and the bowls above the second lose the support of the inserting piece, the second bowl and the bowls above the second fall on the conveying belt again under the action of gravity (the falling height is the thickness of the outward folded edge of the bowl opening of the bowl or is approximately the height of the gap between the bowl and the bowl), the bowl is taken next time, and the inserting piece directly moves towards the center direction of the bowl and can be inserted into the gap between the first bowl and the second bowl again.
More preferably, referring to fig. 1, further comprising: a sensing device 615 and a clamping block; in step S10, placing the first bowl stack 61 and the second bowl stack 62 on the conveying device 5; in step S20, the conveying device 5 simultaneously conveys the first bowl stack 61 and the second bowl stack 62 behind the first bowl stack 61 forward (shown by arrow B in the figure), when the first bowl stack 61 is conveyed to the bowl separating station of the bowl separating device 65, and if the sensing device 615 senses the second bowl stack 62, in step S30, before the bowl separating of the first bowl stack 61 located at the bowl separating station, the clamping block clamps the bowl (first bowl) at the bottom of the first bowl stack, and after the conveying device reversely conveys the second bowl stack 62 for a distance, the clamping block releases the first bowl and starts to bowl separating the first bowl stack located at the bowl separating station; alternatively, when the bowl is lifted (it is understood that the bowl and the conveying device are not in contact at the bowl separating station), the conveying device conveys the second stack of bowls 62 in the reverse direction (opposite to the direction shown by B in the figure) until the second stack of bowls 62 and the bowl (the first stack of bowls 61) at the bowl separating station are separated by a certain distance L (refer to fig. 4).
More specifically, referring to fig. 4, the second bowl stack 62 (including the bowls behind the second bowl stack 62, i.e. the third bowl stack 63 and the fourth bowl stack 64, etc. move with them) moves in reverse for a certain distance, so that the second bowl stack 62 and the first bowl stack 61 on the bowl separating station are pulled apart by a certain distance L, so as to prevent the second bowl stack 62 from approaching the first bowl stack 61 too close to affect the bowl separating operation, and preferably, the second bowl stack 62 moves in reverse to just leave the sensing area of the sensing device 615, then the conveying device 5 stops, and then the first bowl stack 61 on the bowl separating station is separated. Every time a new bowl stack is sent to the bowl distributing station, distance adjustment can be automatically carried out according to signals of the sensing device 615.
The above is the automatic adjustment of the sensing device according to the signal when the first bowl stack 61 and the second bowl stack 62 are too close to each other, because the worker randomly places the bowls stacked on the conveying device 5 when replenishing the bowls, that is, the distance between the bowl stack and the bowl stack is uncertain, and may be too close to each other, and may also be too far away from each other, and when too far away, the automatic adjustment method according to the signal by the sensing device is as follows:
when the first bowl stack 61 is conveyed to the bowl separating station of the bowl separating device 65, the sensing device 615 does not sense the second bowl stack 62, this means that the distance between the first stack 61 and the second stack 62 is too long (see figure 5), then, in step 30, when the bowls are lifted (all the bowls are lifted during the process of separating the bowls from the first stack), the conveying device 65 continues to advance (in the direction of arrow B in fig. 5) to convey the second stack of bowls 62 (similarly, the third stack of bowls 63 and the fourth stack of bowls 64 follow forward), until the sensing device 615 senses the second stack of bowls 62, the conveying device stops, the bowl separation of the first stack 61 is then continued, so that the distance between the first stack 61 and the second stack 62, which are too far apart from each other on the conveyor 5, can be automatically adjusted to the desired distance. Similarly, when the second bowl stack 62 is separated, the third bowl stack 63 adjacent to the second bowl stack 62 can be adjusted according to the signal of the sensing device if the distance is too far, and can move backwards if the distance is too close; by analogy, it is eventually possible to always maintain a suitable distance between the front-most bowl and the second stack of bowls. When the distance is adjusted, when the bowl at the bowl separating station is separated for the first bowl, the bowl at the bowl separating station is lifted while the bowl is not contacted with the conveying device, and the bowl is adjusted (the conveying belt moves); of course, the adjustment of the distance between the second bowl stack and the second bowl stack after the conveyer belt retreats is preferably performed before the first bowl stack is separated for the first time, that is, when the first bowl stack reaches the bowl separating station, the bowl at the bottom of the first bowl stack is clamped, and the conveyer belt retreats for a certain distance (in the using process, the bowl at the bottom receives slight friction force of the conveyer belt, so that the influence on the bowl is not great).
When the first bowl stack 61 is in the bowl separating station, the sensing device 615 is located at a position where the outer edge of the first bowl stack 61 extends to a direction opposite to the conveying direction of the conveying device 65 (opposite to the arrow B in fig. 4) by a distance L, where L is smaller than the diameter of one bowl, and more preferably, the distance may be a length distance where the radius of the bowl is L, and this diameter means that the height of the sensing portion of the sensor corresponds to the diameter of the bowl at the position of the bowl to be sensed (the outer wall of the bowl may be conical, and the diameters of the height positions are different).
It should be noted that, in the technical solution of the present invention, the conveying device 5 may place a plurality of stacked bowls for being sequentially sent to the bowl separating station for bowl separating, and in this embodiment, only the first bowl stack 61 and the second bowl stack 62 are mentioned for convenience of explaining the technical principle of the present invention, and in fact, this embodiment relates to a concept of adjusting the distance between the first bowl stack 61 and the second bowl stack 62, it should be understood that the first bowl stack 61 is the foremost bowl stack in the conveying direction on the conveying device 5, and the second bowl stack 62 is the next bowl stack adjacent to the foremost bowl stack.
In the technical scheme of the invention, when a plurality of stacks of bowls are placed on a conveyor belt 5, the distance between every two stacks of bowls can be randomly placed, when the distance between the foremost stacked bowl and the second stacked bowl adjacent to the foremost stacked bowl on the conveyor belt 5 is automatically adjusted during bowl distribution, and when the foremost stacked bowl (the first stacked bowl 61) is delivered to a bowl distribution station for bowl distribution, the second stacked bowl 62 is sensed by a sensing device, so that the distance between the foremost stacked bowl (the first stacked bowl 61) and the second stacked bowl 62 is too short, the foremost stacked bowl (the first stacked bowl 61) positioned at the bowl distribution station can touch or influence the foremost stacked bowl (the first stacked bowl 61) positioned at the bowl distribution station, and when the first stacked bowl 61 is distributed, the bowl at the bottommost position of the stacked bowl is clamped, then the conveyer belt moves reversely for a certain distance, then the bowl at the bottommost position is released to be separated, the bowl separating method is as above, the whole stack of bowls can be lifted, then the bowls are separated one by one, the second bowl and the bowls above can also be lifted, the first bowl is left on the conveyer belt to finish the bowl separation, and the two methods have the moment that the whole stack of bowls are lifted, namely no bowl is contacted with the conveyer device on the bowl separating station; alternatively, the distance can also be adjusted in such a way: when the foremost stacked bowl (the first stacked bowl 61) is lifted by the bowl separating device 65 (the bowl separating device 65 always has the moment of lifting the first stacked bowl 61), the conveyor belt 5 moves reversely for a certain distance to enable the second stacked bowl 62 to leave the foremost stacked bowl (the first stacked bowl 61) for a certain distance, so as to prevent the second stacked bowl 62 from influencing the bowl separating operation of the foremost stacked bowl (the first stacked bowl 61), when the second stacked bowl 62 is separated from the foremost stacked bowl by a proper distance, the conveyor belt stops, the bowl separating device 65 sequentially continues to separate the stacked bowls of the stacked bowl (the first stacked bowl 61) at the bowl separating station until the foremost stacked bowl (the first stacked bowl 61) is separated, then the second stacked bowl 62 becomes the foremost stacked bowl, the conveyor belt continues to convey forwards, and convey the second stacked bowl 62 to the bowl separating station to be separated, similarly, if the stacked bowls (preset as the third stacked bowls) behind the second stacked bowl 62 are also sensed by the sensing device 5, the conveying belt reversely conveys the bowls for a certain distance (preferably, the third stacked bowls 62 can be reversely moved until the conveying device 5 stops after the third stacked bowls just leave the sensing area of the sensing device) when the separated bowls are lifted, so that the third stacked bowls and the second stacked bowls being separated are pulled apart for a certain distance, and so on.
Since the distance between each stack of bowls can be randomly placed, that is, the distance between each stack of bowls may be too large, as shown in fig. 5, when the previous stack of bowls (the first stack of bowls 61) reaches the bowl separating station, the sensing device 615 does not sense the information of the second stack of bowls 62 following the previous stack of bowls (the first stack of bowls 61), which indicates that the distance between the second stack of bowls 62 and the first stack of bowls 61 is too large; at this time, when the bowl stacking and stacking device (the first bowl stacking device 61) positioned in front of the bowl separating station is separated, when the first stack of bowls 61 is lifted by the bowl separating device, the conveyor belt continues to advance to convey the second stack of bowls 62 to advance until the sensing device 615 senses the second stack of bowls 62, after the second bowl stack 62 in fig. 5 is advanced, the distance between the second bowl stack 62 and the first bowl stack 61 is adjusted to the position in the second bowl stack 62 in fig. 4, and then the conveying device 5 is stopped, the bowl separating device 65 separates the bowls from the first bowl stack 61 located at the bowl separating station, so that the second bowl stack 62 is in a state of waiting to enter the bowl separating station, the bowl separating device is not too close to the first bowl stack 61 at the bowl separating station to influence the bowl separating work, and is not too far away from the first bowl stack 61 at the bowl separating station to influence the bowl separating efficiency of the second bowl stack 62 at the next time; in addition, the conveyer belt runs continuously, after a certain time, the second bowl stacking tool 62 cannot be detected, the fact that no second bowl stacking tool exists on the conveying mechanism is judged, and an alarm prompt function can be set to remind a worker to supplement the bowl stacking tool. The determination time may be set according to the speed and length of the conveying device.
In summary, in the technical solution of the present invention, stacked bowls can be randomly placed on the conveying track (linear track, the width of the track can be just the diameter width of the bowls so as to limit the width position of each stack of bowls on the conveying device 5) of the conveying device 5, the linear distance between the stacked bowls is not limited, and finally the distance between the two stacks of bowls at the front of the conveying device can be automatically adjusted.
A specific embodiment of the invention is given for the bowl separating device 65 as follows:
referring to fig. 3, the bowl distributing device 65 includes a first insert set and a second insert set disposed on both sides (in the width direction) of the conveying device 5; after the first insert set and the second insert set are inserted into the gap between the first bowl 405 and the second bowl 406, the first insert set blocks the upper edge of the bowl opening of the first bowl 405, and the second insert set lifts the second bowl 406 and the bowls above the second bowl 406, so that the first bowl 405 is left on the conveying device 5 to be pulled out of the first bowl 405 by the bowl pulling device, and the bowl pulling device can be understood as a shifting rod, a shifting block and the like which can push out parts of the first bowl 405.
More preferably, referring to fig. 7, the first insert set and the second insert set each include a first insert 101 and a second insert 10 (the first insert set and the second insert set may be the same, and they are symmetrically disposed on two sides of the conveying device 5); the first inserting sheet 101 is provided with first gear shaping teeth 11, gaps h are formed among the first gear shaping teeth 11, the second inserting sheet 10 is provided with second gear shaping teeth 12, and the second gear shaping teeth 12 are matched with the gaps h; the second gear shaping 12 is located in the gap h, and the second gear shaping 12 and the first gear shaping 11 are inserted into the gap between the first bowl 405 and the second bowl 406 in the direction from bottom to top in the bowl after being arranged side by side.
When the first gear shaping 11 and the second gear shaping 12 are inserted into the gap between the bowl and the bowl at the same time, if the first gear shaping 11 and the second gear shaping 12 enter in a mutually overlapped state, the overlapped thickness of the first gear shaping 11 and the second gear shaping 12 is larger than that of the first gear shaping 11 or the second gear shaping 12 of a single piece, which requires that the gap between the bowl is large enough in the stacked bowl, which greatly limits the application range; in the design of the invention, when in use, the first gear shaping 11 and the second gear shaping 12 are arranged in an array way, but not arranged in an overlapping way, the thickness of the gap between the bowl and the bowl is only the thickness of the first gear shaping (or the thickness of the second gear shaping), and finally, the bowl with smaller gap between the stacked bowl and the bowl can be separated.
More specifically, when the second bowl 406 and the bowls above the second bowl 406 are lifted, the first insert 101 is located right above the second insert 10, referring to fig. 7 and 3, at this time, the second gear 12 of the second insert 10 is located right below the gap h between the first gear 11 of the first insert, as shown in fig. 3, in this state, the bowls above the second bowl 406 and the second bowl 406 are lifted by the first insert 101, leaving the first bowl 405 on the conveyor 5, when the first bowl 405 is sent out, the first gear 11 descends to a predetermined position (the initial position when the bowls above the second bowl and the second bowl are lifted), the gap h of the first insert 101 just matches with the second gear 12 of the second insert 10, and finally, the second gear 12 and the first gear 11 are in a side-by-side state, as shown in fig. 8, at the moment, the first gear shaping and the second gear shaping move along the opposite direction of the center of the bowl simultaneously, the first gear shaping leaves the second bowl and the bowls above the second, the second bowl and the bowls above the second fall on the conveyor belt again after losing the support of the first gear shaping (the falling height is the size of the gap between the first bowl and the second bowl or the thickness of the outside folding edge of the bowl mouth of one bowl), when taking out the next bowl, the second gear shaping 12 and the first gear shaping 11 move along the S1 and S2 directions simultaneously, so that the second gear shaping 12 and the first gear shaping 11 are inserted into the gap between the first bowl 405 and the second bowl 406 from bottom to top in the bowl after being arranged side by side, the first gear shaping 11 is lifted to lift the second bowl 406 and the bowls above, so as to finish the bowl separating operation, and the bowl separating operation can be circularly performed to the stacked bowls at the bowl separating station.
In addition, the present invention also provides a bowl separating robot, referring to fig. 6, including: the bowl separating device comprises a conveying device 5, a bowl separating device 65 and a bowl poking mechanism 52, wherein the bowl separating device 65 is arranged on a bowl separating station of the conveying device 5; the bowl separating device 65 comprises a first inserting sheet 101 for inserting into a gap between bowls and a lifting device 20 for driving the first inserting sheet 101 to lift; after the first inserting piece 101 of the bowl separating device 65 is inserted into a gap between the first bowl and the second bowl in the bowl separating station from bottom to top, the lifting device 20 drives the first inserting piece 101 to ascend so as to lift the second bowl in the bowl from bottom to top and the bowls above the second bowl, and then the bowl pulling mechanism 52 sends out the first bowl.
It can be known that, the bowl separating robot of the present invention can execute the above bowl separating method, when in use, a plurality of stacks of bowls can be placed on the conveying device 5 to enter the bowl separating station in sequence for bowl separation, and the bowl storage capacity of the bowl separating robot is improved. The technology is more preferably suitable for bowl separation work of hard bowls (ceramic, metal, soft plastic bowls and the like).
Further, referring to fig. 3, 6, 7 and 8, the bowl separating device 65 further comprises a second insert 10 which is inserted into the gap between the first bowl 405 and the second bowl 406 simultaneously with the first insert 101; the first inserting piece 101 and the second inserting piece 10 of the bowl separating device 65 are inserted into a gap between the first bowl 405 and the second bowl 406 in the bowl from bottom to top, after the second inserting piece 10 blocks the upper edge of the bowl opening of the first bowl 405, the lifting device 20 drives the first inserting piece 101 to ascend so as to lift the second bowl 406 in the bowl from bottom to top and the bowl above the second bowl 406, and then the bowl pulling mechanism 52 sends out the first bowl.
In the above, the second inserting piece 10 blocks the upper edge of the bowl opening of the first bowl 405, and then the second bowl 406 and the bowls above the second bowl 406 are lifted, so that the first bowl 406 can be better stabilized, the first bowl 405 is prevented from following the second bowl 406, and the bowl separating work of the bowl separating robot is more reliable and stable; meanwhile, the bowl separating robot is also suitable for hard bowls (such as ceramics, metals and soft plastic bowls) and soft bowls (such as disposable bowls, paper bowls and soft plastic bowls).
More preferably, referring to fig. 7 and 8, the first insert sheet 101 is provided with first gear teeth 11, and a gap h is arranged between the first gear teeth 11; the second inserting piece 10 is provided with a second gear shaping 12, and the second gear shaping 12 is matched with the gap h; the second gear shaping 12 is positioned in the gap h, and the second gear shaping 12 and the first gear shaping 11 are inserted into a gap between a first bowl and a second bowl from bottom to top in the bowl simultaneously after being arranged side by side.
The technical scheme of the invention defines the specific structures of the first inserting piece 101 and the second inserting piece 11 and the technical concept that the first inserting piece 101 and the second inserting piece 11 are arranged in parallel to enter the gap between the bowl and the bowl when in use, and the space structure is considered as the equivalent infringement as long as the space structure comprises the first inserting piece 101 and the second inserting piece 11.
For a specific structure of the first insert sheet 101 and the second insert sheet 10, the present invention provides a specific embodiment and a method of using the embodiment: when the second bowl 406 and the bowls above the second bowl 406 are lifted, the first insert 101 is located right above the second insert 10, referring to fig. 7 and 3, at this time, the second gear shaper 12 of the second insert 10 is located right below the gap h between the first gear shaper 11 of the first insert. When the first bowl 405 is delivered by the bowl setting device, the first insert 101 descends to a predetermined position (the second bowl is lifted up to a starting position), the gap h of the first insert 101 just matches with the second insert 12 of the second insert 10, the first insert 11 and the second insert 12 move in a direction deviating from the center of the bowl (opposite direction of S1 and S2 in fig. 2), the second bowl 406 and the bowls above the second bowl 406 fall on the conveying device 5 again due to losing the support of the first insert, and at this time, the second bowl 406 becomes the bowl at the lowest level and becomes the first bowl 405. Finally, the second gear shaping 12 and the first gear shaping 11 are in a side-by-side state, as shown in fig. 8, when a next bowl is taken, the second gear shaping 12 and the first gear shaping 11 move along the directions S1 and S2 at the same time, so that the second gear shaping 12 and the first gear shaping 11 are inserted into the gap between the first bowl 405 and the second bowl 406 in the bowl from bottom to top at the same time after being side by side, the first gear shaping 11 rises to lift the second bowl 406 and the above bowls, and the bowl splitting operation is completed, and thus the bowl splitting operation can be performed on the stacked bowls located at the bowl splitting station in a circulating mode.
When the first gear shaping 11 and the second gear shaping 12 are inserted into the gap between the bowl and the bowl at the same time, if the first gear shaping 11 and the second gear shaping 12 enter in a mutually overlapped state, the overlapped thickness of the first gear shaping 11 and the second gear shaping 12 is larger than that of the first gear shaping 11 or the second gear shaping 12 of a single piece, which requires that the gap between the bowl is large enough in the stacked bowl, which greatly limits the application range; in the design of the invention, the first gear shaping 11 and the second gear shaping 12 are arranged in an array instead of being arranged in an overlapping way, the thickness of the gap between the bowl and the bowl is only the thickness of the first gear shaping (or the thickness of the second gear shaping), and finally, the bowl with smaller gap between the stacked bowl and the bowl can be separated. Alternatively, the first gear shaping 11 can be used to lift a second bowl, while the second gear shaping 12 is stationary to stop the first bowl from following the second bowl.
More preferably, the method further comprises the following steps: the clamping block 111 is used for clamping the outer side wall of a bowl, the clamping part of the clamping block 111 can be made into an arc shape matched with the outer edge of the bowl, and before a second bowl in the bowl from bottom to top and the bowls above the second bowl are lifted, the clamping block 111 clamps the outer side wall of the first bowl.
More specifically, two symmetrically distributed clamping blocks 111 are distributed on two side edges of the conveying device, and move close to or away from the center direction of the first bowl to clamp or release the first bowl, when bowl separation is needed, before the second bowl 406 is lifted, the two clamping blocks 111 are moved close to the center of the first bowl 405, to grip the first bowl 405, when the second bowl 406 is lifted, the first bowl 405 is separated and left on the transfer device 5, the clamping block 111 can also act as a bowl-poking device, that is, the clamping block 111 holds the first bowl to move horizontally, and conveys the first bowl out (can be sent out along the direction indicated by the arrow B in fig. 1), after the clamping block 111 sends out the bowl to a specific position, the clamping block 111 moves towards the opposite direction of the bowl opening to release the clamping of the first bowl, and then the clamping block 111 is reset to wait for the bowl separation of the next bowl. The clamping block 111 can be integrated with the second gear shaping 12, and referring to fig. 9, according to the actual space size of the bowl, it can be designed as follows: the clamp blocks 111 hug the outer side wall of the first bowl as the second gear shaping 12 enters the distance between the bowl and the bowl.
More preferably, a sensing device 52 (a photosensor may be used); the sensing device 52 is located at a position where the outer edge of the first bowl stack 65 extends a distance L in a direction opposite to the conveying direction of the conveying device 5 when the first bowl stack 65 is at the bowl separating station, as shown in fig. 4, when the first bowl stack 65 is conveyed to the bowl separating station, a position further away from the outer edge of the first bowl stack 65 by a distance L is a position for installing the sensing device, and the length of L is smaller than the diameter of the bowl (the diameter of the bowl refers to the diameter of the bowl at the height corresponding to the sensing portion of the sensing device, the diameter of the bowl, the shape of the bowl is generally conical, and the diameter of the bowl is already height, so that the diameter of the height of the bowl sensed by the sensing device can be used as an accurate installation diameter), and more preferably, half of the diameter of the bowl is an optimal L value.
The sensing device 615 is configured to accurately and reliably adjust the distance between the first stack of bowls 61 and the second stack of bowls 62 on the conveying device, depending on the information of the sensing device 615. When the second bowl 406 and the bowls above the second bowl 406 are lifted and the first bowl 405 is sent out, the conveying device 5 can move back and forth to adjust the distance between the next stack of bowls to be separated and the bowls being separated, so as to avoid the interference between the bowls or improve the efficiency. For a more detailed description of the principles, reference is made to the above.
The moving operation according to the present invention can be realized by any technique in the related art, for example, horizontal and vertical movement can be realized by using an air cylinder, an electric push rod, or the like.
In the drawings, the positional relationship is described for illustrative purposes only and is not to be construed as limiting the present patent; it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the invention, and are not intended to limit the embodiments of the invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (12)
1. The bowl distributing method is characterized by comprising the following steps: the bowl separating device comprises a conveying device, a bowl poking mechanism and a bowl separating device; the method comprises the following steps:
s10, placing the stacked bowls on the conveying device;
s20, the conveying device conveys the stacked bowls forwards and enters a bowl separating station of the bowl separating device;
s30, the bowl separating device separates bowls from the stacked bowls;
s40, the bowl poking mechanism sends out the single bowls separated from the stacked bowls by the bowl separating device;
in step S30, the bowl separating device lifts the bowls on the bowl separating station when separating the stacked bowls, so that the bowls on the bowl separating station leave the conveying device.
2. The bowl separating method according to claim 1, further comprising: an induction device and a clamping block;
in step S10, placing the first stack of bowls and the second stack of bowls on the conveying device;
in step S20, the conveying device simultaneously conveys the first bowl stack and the second bowl stack behind the first bowl stack forward, and when the first bowl stack is conveyed to the bowl separating station of the bowl separating device, if the sensing device senses the second bowl stack, in step S30, before the first bowl stack at the bowl separating station is separated for the first time, the clamping block clamps the bowl at the bottommost of the first bowl stack, the conveying device reversely conveys the second bowl stack for a certain distance, and then the clamping block is loosened, and the bowl separating device separates the bowl stacks.
When the first bowl stack is conveyed to the bowl separating station of the bowl separating device, and the sensing device does not sense a second bowl stack, in step 30, when the bowl stack is lifted, the conveying device continues to advance to convey the second bowl stack until the sensing device senses the second bowl stack;
the induction device is positioned at a position where the outer edge of the first bowl stack extends to a direction opposite to the conveying direction of the conveying device by a distance L when the first bowl stack is positioned at the bowl separating station, wherein the L is smaller than the diameter of one bowl.
3. The bowl separating method according to claim 1, wherein in step S30, the bowl separating device lifts up the whole stack of bowls at the bowl separating station, then separates out the individual bowls, and finally, the bowl pulling mechanism delivers the separated individual bowls.
4. The bowl separating method according to claim 1, wherein in step S30, the whole stack of bowls at the bowl separating station is supported by the conveying device, and when separating bowls, the bowl separating device lifts up a second bowl from bottom to top and a bowl above the second bowl from the whole stack of bowls at the bowl separating station so as to leave the first bowl on the conveying device, and finally, the bowl pulling mechanism sends out the separated first bowl.
5. The bowl separating method according to claim 4, wherein the bowl separating device comprises a first insert group and a second insert group which are arranged at two sides of the conveying device;
after the first inserting piece group and the second inserting piece group are inserted into a gap between the first bowl and the second bowl, the second inserting piece group lifts the second bowl and the bowl above the second bowl, and meanwhile, the first inserting piece group blocks the upper edge of the first bowl.
6. The bowl separating method according to claim 5, wherein the first and second insert sets each comprise a first insert and a second insert;
the first inserting pieces are provided with first gear shaping teeth, gaps h are formed among the first gear shaping teeth, the second inserting pieces are provided with second gear shaping teeth, and the second gear shaping teeth are matched with the gaps h;
the second gear shaping is positioned in the gap h, and the second gear shaping and the first gear shaping are inserted into the gap between the first bowl and the second bowl from bottom to top in the bowl simultaneously after being arranged side by side.
7. A bowl separating method according to claim 2, wherein if the sensing device senses a second bowl stack while the first bowl stack is being conveyed to the bowl separating station of the bowl separating device, the conveying device conveys the second bowl stack reversely in step 30 when the bowl stack is lifted until the second bowl stack just leaves the sensing area of the sensing device, and the conveying device stops.
8. Divide bowl robot, its characterized in that includes: the bowl separating device comprises a conveying device (5), a bowl separating device (65) arranged on a bowl separating station of the conveying device (5) and a bowl poking mechanism (52);
the bowl separating device (65) comprises a first inserting piece (101) used for being inserted into a gap between bowls and a lifting device (20) used for driving the first inserting piece (101) to lift;
after a first inserting piece (101) of the bowl separating device is inserted into a gap between a first bowl and a second bowl in the bowl separating station from bottom to top, a lifting device (20) drives the first inserting piece (101) to ascend so as to lift the second bowl in the bowl from bottom to top and the bowls above the second bowl, and the bowl pulling mechanism (52) sends the first bowl out.
9. Bowl separating robot according to claim 8, characterized in that the bowl separating device further comprises a second insert (10) which is inserted into the gap between the first bowl and the second bowl simultaneously with the first insert (101);
divide first inserted sheet (101) and second inserted sheet (10) of bowl device to insert in the bowl utensil the clearance between first bowl utensil and the second bowl utensil of direction from bottom to top, second inserted sheet (10) block behind the bowl mouth upper limb of first bowl utensil, elevating gear (20) drive first inserted sheet (101) rise, in order with after the bowl utensil above second bowl utensil and this second bowl utensil of direction from bottom to top in the bowl utensil is mentioned, dial bowl mechanism (52) and send out first bowl utensil.
10. Bowl distributing robot according to claim 9, wherein the first insert (101) is provided with first gear teeth (11), and gaps h are provided between the first gear teeth (11); the second inserting piece (10) is provided with a second gear shaping (12), and the second gear shaping (12) is matched with the gap h;
the second gear shaping (12) is positioned in the gap h, and the second gear shaping (12) and the first gear shaping (11) are horizontally arranged side by side and then are simultaneously inserted into a gap between the first bowl and the second bowl from bottom to top in the bowl.
11. The bowl separating robot of claim 10, further comprising: a clamping block (111) for clamping the outer side wall of the first bowl;
before lifting the second bowl in the bowl from bottom to top and the bowls above the second bowl, the clamping blocks (111) clamp the outer side wall of the first bowl.
12. Bowl distributing robot according to any of claims 8-11, further comprising a sensing device 615; the sensing device 615 is located at a position where an outer edge of the first bowl stack extends to a distance L opposite to a conveying direction of the conveying device when the first bowl stack is at the bowl separating station, wherein L is smaller than a diameter of one bowl.
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| CN201911083511.3A CN110668197A (en) | 2019-11-07 | 2019-11-07 | Bowl separating method and bowl separating robot |
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| CN201911083511.3A CN110668197A (en) | 2019-11-07 | 2019-11-07 | Bowl separating method and bowl separating robot |
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| CN110668197A true CN110668197A (en) | 2020-01-10 |
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| CN114455277A (en) * | 2022-01-11 | 2022-05-10 | 福建省威诺数控有限公司 | Device and method for feeding materials with different lengths into finished product area from multiple stations |
| EP4378864A1 (en) * | 2022-11-30 | 2024-06-05 | Daw Se | Method and device for separating a vessel and system for filling vessels |
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| JP2017030884A (en) * | 2015-07-29 | 2017-02-09 | 株式会社ダイフク | Pallet separating facility |
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