Layer-removing palletizing system and layer-removing palletizing method

Abstract

The present invention provides a de-layering and palletizing system and method. The de-layering and palletizing system comprises a conveyor line, a pallet type detection mechanism, a de-layering mechanism and a control system. Goods are conveyed through the conveyor line, the pallet type detection mechanism detects the activity of the cargo box arrangement, and the de-layering mechanism performs de-layering processing according to the cargo box arrangement form. The system and method can improve the palletizing efficiency and standardize the palletizing and placement of goods.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent cargo stacking, and in particular to a layer-removing stacking system and a layer-removing stacking method. Background Art

[0002] The loading of goods must go through the following process.

[0003] Transport: Usually with the help of conveyor lines, goods can be transported in a single layer on the conveyor line, but usually, with an efficient loading system, the goods are stacked in multiple layers and output on the conveyor line.

[0004] Layer removal: Remove the goods on the conveyor line in layers and transport them to a designated point for subsequent processing. In the prior art, the stacking of single-layer goods follows certain rules. For multi-layer goods, the stacking of goods on adjacent layers also follows certain rules.

[0005] In the prior art, multiple layers of goods are usually simply placed layer by layer at the same storage point.

[0006] For example, CN208453977U discloses an automatic depalletizer that removes goods layer by layer by clamping and sucking. This method has the disadvantage that it is only applicable to depalletizing goods with multiple layers arranged in the same pattern and single-layer goods with all cargo boxes in the same stacking direction. Summary of the invention

[0007] The invention provides a de-layering and stacking system and a de-layering and stacking method which can perform dismantling and stacking processing in a standardized manner.

[0008] To achieve the above object, the technical solution adopted by the present invention is:

[0009] A layer-removing and palletizing system, characterized in that it comprises a conveying line, a pallet type detection mechanism, a layer-removing mechanism and a control system;

[0010] The stack type detection mechanism comprises a frame arranged above the conveying frame and a stack type detection component mounted on the frame, wherein the stack type detection component comprises: a first detection component and a second detection component arranged at intervals and movably mounted on the frame, and a first detection switch and a second detection switch; the first detection component can move to trigger the first detection switch, and the second detection component can move to trigger the second detection switch;

[0011] Layer removal mechanism: It is arranged behind the stacking type detection mechanism along the direction of cargo conveying, and includes:

[0012] First frame;

[0013] A second frame is mounted on the first frame via a pivoting and moving mechanism;

[0014] A suction cup assembly; mounted on the second frame, comprising a plurality of first suction cups arranged along the first direction and a plurality of second suction cups arranged along the second direction, with the suction cup mouths facing the conveying line;

[0015] The control system is electrically connected to the detection component for obtaining the detection signals of the detection switch 1 and the detection switch 2; it is electrically connected to the pivoting and moving mechanism for controlling the movement of the delamination mechanism; and it is electrically connected to the suction cup component for controlling the movement of the first suction cup and the second suction cup.

[0016] In some embodiments of the present invention, the control system comprises:

[0017] A first suction cup control unit: used for generating a suction and release action control signal of the first suction cup according to the detection signals of the detection switch 1 and the detection switch 2;

[0018] A second suction cup control unit: used to generate a suction and release action control signal of the second suction cup according to the detection signals of the detection switch 1 and the detection switch 2;

[0019] The first suction cup control unit and the second suction cup control unit independently control the first suction cup and the second suction cup.

[0020] In some embodiments of the present invention, the goods are transported in multiple layers through a conveyor line, and the control system is further configured to generate a control signal for each layer of goods based on the detection signals of detection switch 1 and detection switch 2, so as to control the delamination mechanism to delaminate each layer of goods.

[0021] In some embodiments of the present invention, the pivoting and moving mechanism comprises:

[0022] Rotating module: the second frame is mounted on the rotating module;

[0023] A longitudinal walking module, wherein the rotating module is installed on the longitudinal walking module;

[0024] A horizontal walking module, wherein the longitudinal walking module is installed on the horizontal walking module;

[0025] The control system is further electrically connected to the rotating module, the horizontal walking module, and the longitudinal walking module.

[0026] In some embodiments of the present invention, the first detection assembly includes a first pivot rod pivotally mounted on the frame, and the first detection switch is arranged in the rotation direction of the first pivot rod and can be triggered when the first pivot rod rotates relative to the frame;

[0027] The second detection assembly includes a second pivot rod pivotally mounted on the frame, and the second detection switch is arranged in the rotation direction of the second pivot rod and can be triggered when the second pivot rod rotates relative to the frame.

[0028] In some embodiments of the present invention, the first detection assembly includes a bracket 1 and a support rod 1 that are relatively movable, the bracket 1 is installed on the frame, the first end of the support rod 1 passes through the bracket 1, and the second end is restricted on the bracket 1; the first detection switch is arranged on one side of the second end of the support rod 1, and can be triggered when the support rod 1 moves relative to the frame;

[0029] The second detection component includes a bracket 2 and a support rod 2 that are relatively movable. The bracket 2 is installed on the frame. The first end of the support rod 2 passes through the bracket 2, and the second end is restricted on the bracket 2. The first second detection switch is set on one side of the second end of the support rod 2 and can be triggered when the support rod 2 moves relative to the frame.

[0030] In some embodiments of the present invention, at least one set of clamping mechanisms is further provided on the second frame, each set of clamping mechanisms includes a first clamping mechanism and a second clamping mechanism which are arranged opposite to each other, and the clamping mechanisms include:

[0031] Pivot rod: mounted on the second frame;

[0032] Driving cylinder: installed on the second frame, capable of applying output power to the pivot rod to drive the pivot rod to rotate;

[0033] The clamping claw comprises a main body mounted on the pivot rod, and a clamping panel is arranged on the main body;

[0034] The clamping mechanism is configured as follows: the clamping panels of the clamping claws of the first clamping mechanism and the second clamping mechanism are arranged opposite to each other;

[0035] The control system is further electrically connected to the driving cylinder to drive and control the movement of the clamping claws.

[0036] In some embodiments of the present invention, a de-layering and palletizing method is further provided, using any of the de-layering and palletizing systems described above, comprising:

[0037] Determine the stack type according to the detection signals of the detection switch 1 and the detection switch 2;

[0038] Determine whether the direction of the suction cup assembly corresponds to the stack type;

[0039] If yes, the suction cup assembly is activated to suck up the goods and transport them to the designated location;

[0040] If not, the suction cup assembly is controlled to pivot and adjust to a direction corresponding to the stack type, and the suction cup assembly is started to suck the goods and transport them to the designated location.

[0041] In some embodiments of the present invention, the goods are transported in multiple layers, and the stacking mode of each layer of goods corresponds to the arrangement mode of the first suction cup and the second suction cup in the suction cup assembly, or corresponds at an angle of 180 degrees, and the stacking directions of adjacent layers of goods correspond at 180 degrees; the method further comprises:

[0042] The delamination mechanism absorbs the After loading the cargo, transport it to the designated location;

[0043] After the suction cup assembly pivots 180 degrees, it absorbs the Layers of goods are transported to designated locations.

[0044] In some embodiments of the present invention, the method further includes that the designated position includes a designated position 1 and a designated position 2;

[0045] The methods for delivering goods to the designated location are:

[0046] The suction cup assembly is transported to the designated position 1, and the first suction cup releases the cargo;

[0047] The suction cup assembly is transported to designated position 2, and the second suction cup releases the cargo.

[0048] Compared with the prior art, the delamination device provided by the present invention has the following beneficial effects:

[0049] The structure of the de-layering mechanism is improved, and the direction of the suction cup is set according to the way the goods are stacked. The suction cup corresponds to the cargo box one by one to ensure that the goods can be sucked up smoothly.

[0050] It can automatically detect and determine the arrangement of the entire layer of cargo boxes, adjust the de-layering mechanism to correspond to the arrangement of the boxes, and de-layer accurately.

[0051] Goods arranged in different directions can be stacked at designated points separately to standardize the stacking of goods and facilitate subsequent sorting and loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0053] Figure 1 This is a structural diagram of the delamination equipment in the unfastened state;

[0054] Figure 2 This is a schematic diagram of the structure of the layer removal equipment in the clamping state;

[0055] Figure 3This is a schematic diagram of the structure of the layer removal equipment from a top view;

[0056] Figure 4 It is a schematic diagram of the three-dimensional structure of the layer removal equipment;

[0057] Figure 5 This is a schematic diagram of the loading gantry structure;

[0058] Figure 6 This is a schematic diagram of the loading gantry structure;

[0059] Figure 7 This is a schematic structural diagram of a stack type detection mechanism according to a first embodiment of the present invention;

[0060] Figure 8 This is a schematic structural diagram of a stack type detection assembly according to a first embodiment of the present invention;

[0061] Fig. 9 This is a structural schematic diagram of a working state of a stack type detection mechanism according to a first embodiment of the present invention;

[0062] Fig.10 This is a structural schematic diagram of the second working state of the stack type detection mechanism of the first embodiment of the present invention;

[0063] Fig.11 This is a schematic diagram of the third structure of the working state of the stack type detection mechanism of the first embodiment of the present invention;

[0064] Fig.12 This is a schematic structural diagram of a stack type detection mechanism according to a first embodiment of the present invention;

[0065] Fig.13 This is a schematic structural diagram of a stack type detection assembly according to a second embodiment of the present invention;

[0066] Fig.14 This is a structural schematic diagram of a working state of a stack type detection mechanism according to a second embodiment of the present invention;

[0067] Fig.15 This is a structural schematic diagram of the second working state of the stack type detection mechanism of the second embodiment of the present invention;

[0068] Fig.16 This is a structural schematic diagram of the third working state of the stack type detection mechanism of the second embodiment of the present invention;

[0069] Fig.17a The stacking form of goods in the cargo stack;

[0070] Fig.17b The stacking form of goods in the cargo stack;

[0071] Among them, the reference numerals in the figure are:

[0072] 1-second frame, 101-first frame beam, 102-second frame beam, 103-third frame beam, 104-fourth frame beam, 105-first auxiliary beam, 106-second auxiliary beam, 107-first direction suction cup mounting beam, 108-second direction suction cup mounting beam;

[0073] 2- Pivot lever;

[0074] 3- driving cylinder;

[0075] 4-holding claw, 401-main body, 402-holding panel;

[0076] 5-Driver block;

[0077] 6- Seat plate;

[0078] 701-first direction suction cup, 702-second direction suction cup;

[0079] 8-first frame, 801-lifting drive module, 802-horizontal moving module, 803-rotating module;

[0080] 9-Auxiliary holding claws;

[0081] 10-frame, 1001-beam, 1002-supporting foot;

[0082] 11-stack type detection assembly, 11011-bracket 1, 11012-bracket 2, 11021-support rod 1, 11022-support rod 2, 11031-detection switch 1, 11032-detection switch 2, 1104-shaft sleeve, 1105-stopper, 11061-roller 1, 11062-roller 2, 1107-oblong hole, 1108-mounting surface, 1109-horizontal surface, 1110-vertical frame;

[0083] 12-Cargo box;

[0084] 1301-first pivot rod, 13011-first rod portion, 13012-second rod portion, 1302-first detection switch, 1303-first roller, 1304-first pivot shaft, 1305-first stopper, 1306-first mounting plate;

[0085] 1401 - second pivot rod, 1402 - second detection switch, 1403 - second roller, 1405 - second stopper, 1406 - second mounting plate. DETAILED DESCRIPTION

[0086] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0087] It should be noted that when an element is referred to as being "disposed on" or "connected to" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0088] It should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0089] It should be noted that the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not used to imply relative importance.

[0090] In some embodiments of the present invention, a layer-removing and palletizing system is first provided, comprising a conveying line, a pallet type detection mechanism, a layer-removing mechanism and a control system.

[0091] The conveyor line is used for transporting goods. Generally, the goods can be transported on the conveyor line in a single layer or in multiple layers. Each layer of goods consists of multiple cargo boxes 12 arranged horizontally and vertically. Fig.17a and Fig.17b , is a common cargo arrangement form. In the direction shown in the figure, single-layer cargo can be arranged in the direction shown in the figure, or it can be arranged 180 degrees in reverse. These two arrangements can be distinguished by the number of cargo boxes 12 on the side, for example Fig.17a As shown, the number of the first side cargo boxes 12 is 4, and the number of the second side cargo boxes 12 is 3; Fig.17b Shown with Fig.17a In contrast, the number of the first side cargo boxes 12 is three, and the number of the second side cargo boxes 12 is four.

[0092] The stack type detection mechanism is used to detect the stack type of the arrangement of the single-layer cargo boxes 12. The stack type described in the present invention refers to the horizontal and vertical arrangement of the cargo boxes 12 in a layer of products, the number of cargo boxes 12, etc. It includes a frame arranged above the conveyor frame and a stack type detection component installed on the frame, and the stack type detection component includes: a first detection component and a second detection component arranged at intervals and movably installed on the frame, and a first detection switch and a second detection switch; the first detection component can be moved to trigger the first detection switch, and the second detection component can be moved to trigger the second detection switch; when the cargo box 12 passes through the stack type detection mechanism, it will trigger the movement of the first detection component and the second detection component, triggering the first detection switch and the second detection switch; and because there will be gaps in the arrangement of the cargo boxes 12, when the first detection component and the second detection component pass through the gap between the cargo boxes 12, the detection signals of the first detection switch and the second detection switch disappear, based on which, a stack type judgment signal can be generated;

[0093] Delamination mechanism: structural reference Figures 1 to 6 , arranged behind the stack type detection mechanism along the direction of cargo conveying, including:

[0094] The first frame 8 may be a gantry frame, and the conveyor line passes under the gantry frame;

[0095] The second frame 1 is mounted on the first frame 8 via a pivoting and moving mechanism, and the pivoting and moving mechanism can control the second frame 1 to rotate and move relative to the first frame 8;

[0096] Suction cup assembly; installed on the second frame 1, including a plurality of first direction suction cups 701 arranged along the first direction and a plurality of second direction suction cups 702 arranged along the second direction, and the suction cup mouth direction is toward the conveyor line; the first direction and the second direction are perpendicular to each other. After the suction cup assembly is installed, the first direction suction cup 701 and the second direction suction cup 702 correspond to the stacking direction of the cargo box 12.

[0097] In some embodiments of the present invention, the pivoting and moving mechanism comprises:

[0098] Rotating module 803: the second frame 1 is mounted on the rotating module 803, and the rotating module 803 can at least control the delamination device to pivot 180 degrees;

[0099] The longitudinal walking module 801, the rotating module 803 is installed on the longitudinal walking module to drive the second frame 1 to do lifting movement;

[0100] A horizontal walking module 802, on which the longitudinal walking module 801 is mounted, is used to control the delamination equipment to move in two horizontal degrees of freedom;

[0101] The control system is further electrically connected to the rotating module, the horizontal walking module, and the longitudinal walking module.

[0102] Among them, the horizontal moving module 802 and the lifting driving module 801 can adopt the conventional gantry driving structure, which will not be described in detail. Through the above structure, the layer dismantling mechanism can be controlled to pick up, walk and put down goods.

[0103] The control system is electrically connected to the detection component for obtaining the detection signals of the detection switch 1 11031 and the detection switch 2 11032; it is electrically connected to the pivoting and moving mechanism for controlling the movement of the delamination mechanism; and it is electrically connected to the suction cup assembly for controlling the movement of the first direction suction cup 701 and the second direction suction cup 702.

[0104] In some embodiments of the present invention, the control system comprises:

[0105] The first suction cup control unit is used to generate a suction and release action control signal of the first direction suction cup 701 according to the detection signals of the detection switch 1 11031 and the detection switch 2 11032;

[0106] The second suction cup control unit is used to generate a suction and release action control signal of the second direction suction cup 702 according to the detection signals of the detection switch 1 11031 and the detection switch 2 11032;

[0107] The first suction cup control unit and the second suction cup control unit independently control the first direction suction cup 701 and the second direction suction cup 702. Specifically, the suction and release actions of the two direction suction cups do not affect each other.

[0108] In some embodiments of the present invention, the goods are transported in multiple layers via a conveyor line, and the control system is further configured to generate a control signal for each layer of goods based on the detection signals of detection switch 1 11031 and detection switch 2 11032, so as to control the delamination mechanism to delaminate each layer of goods.

[0109] The cargo stack is usually stacked in 4-5 layers when transported by the conveyor chain. The stacking forms of the adjacent layers are opposite, and the adjacent layers are staggered to ensure the stability of the cargo stack. For example, the stacking of 5 layers of cargo is defined as the first layer, and the layer on the conveyor chain is the bottom layer. Fig.17a The first layer of cargo is shown. Fig.17b The second layer of cargo is shown, repeat for the third to bottom layers Fig.17a , Fig.17b and Fig.17a Similarly, if Fig.17b The first layer of cargo is shown, repeat for the second to bottom layers Fig.17a , Fig.17b , Fig.17a and Fig.17bTherefore, as long as the stacking form of the goods on the first layer is determined, the stacking form of the goods on other layers can be calculated, and then the corresponding control signal can be generated.

[0110] Specifically, two implementation structures of the stack type detection mechanism are provided.

[0111] Example 1

[0112] refer to Figures 7 and 8 The stack type detection mechanism is used to detect the arrangement of single-layer goods on the conveyor line, that is, the horizontal and vertical arrangement of the cargo boxes 12 in the goods on the top layer, including:

[0113] Frame 10;

[0114] Bracket: installed on the frame 10, located above the conveyor line, including bracket 1 11011 and bracket 2 11012 arranged at intervals;

[0115] Support rod: comprising support rod one 11021 and support rod two 11022.

[0116] The bracket 11011 is installed on the frame 10, the first end of the support rod 11021 passes through the bracket 11011, and the second end is restricted on the bracket 11011; the detection switch 11031 is arranged on one side of the second end of the support rod 11021, and can be triggered when the support rod 11021 moves relative to the frame 10;

[0117] The first end of the second support rod 11022 passes through the second bracket 11012, and the second end is restricted on the second bracket 11012; the detection switch 11032 is arranged on one side of the second end of the second support rod 11012, and can be triggered when the second support rod 11022 moves relative to the frame 10.

[0118] The two supporting rods are respectively used to detect the quantity of goods on the outermost side of a single layer of goods. After obtaining these two data, the arrangement of the entire layer of goods can be known.

[0119] Contact assembly: installed on the support rod, facing the direction of the cargo stack, and can contact with the cargo when the cargo passes by to trigger the support rod to move relative to the bracket; specifically, it includes a contact piece 1 installed on the support rod 11021 and a contact piece 2 installed on the support rod 11022, which can contact with the cargo when the cargo passes by to trigger the support rod 11021 and the support rod 2 11022 to move relative to the bracket 11011; in order to reduce the friction of contact and relative movement between the contact piece and the cargo box 12, in this embodiment, the contact piece adopts a roller, including a roller 11061 installed on the support rod 11021, and a roller 2 11062 installed on the support rod 2 11022.

[0120] The roller lifts the corresponding support rod when it contacts the cargo, and when it moves to the gap between the cargo boxes 12, the pulley moves into the gap. During the lifting and lowering process, the corresponding detection switch detects the induction signal. Fig.17a Taking the cargo stacking form shown in the figure as an example, the roller 1 11061 corresponding to the first side cargo box 12 rises and falls 3 times, and the roller 2 11062 corresponding to the second side cargo box 12 rises and falls 2 times. The stacking type is determined based on the number of roller rise and fall signals. Figures 8 to 10 , which is the working process of stack type detection.

[0121] In some embodiments of the present invention, the stack type detection mechanism is further implemented by the following structure, referring to Figures 8 to 10 .

[0122] The frame includes a crossbeam 1001 arranged at a distance from the ground, a support leg 1002 is arranged at the ground end, and a bracket 1101 is installed on the crossbeam 1001 .

[0123] In some embodiments of the present invention, the bracket 1101 includes a through hole facing the direction of the cargo stack, the direction of the through hole facing the conveyor line is the first end, the opposite side of the first end is the second end, the support rod passes through the second end of the through hole to the first end side, and the contact member is installed on the first end side of the support rod. The bracket 1101 includes a mounting surface 1108 for mounting with the crossbeam 1001, and also includes a horizontal plane 1109 set at an angle to the mounting surface 1108, and is set in a direction parallel to the ground. The through hole is located in the horizontal plane. The support rod passes through the through hole on the horizontal plane, and the roller is located on the lower side of the horizontal plane, close to the side of the cargo stack conveyor line.

[0124] In some embodiments of the present invention, it also includes a sleeve 1104 installed on one side of the second end of the through hole, the shaft hole of the sleeve 1104 is connected with the through hole, the support rod 1102 passes through the sleeve 1104, and a stopper 1105 is installed on the end of the support rod away from the bracket through hole. The stopper 1105 is located outside the sleeve 1104 away from the through hole, and the radial width is greater than the radial width of the sleeve axial aperture. When the contact member contacts the cargo stack, the support rod 202 will move along the through hole and the sleeve hole in the direction away from the cargo stack, and when it moves to the gap between the cargo boxes 12, the support rod falls back. In particular, if the stack type detection component is installed on the crossbeam 1001, the support rod can fall back due to gravity.

[0125] In some embodiments of the present invention, an oblong hole 1107 is provided on the bracket 1101 in a direction perpendicular to the cargo stack. The bracket 1101 is installed on the frame 1 through a mounting piece, and the mounting piece is inserted into the oblong hole 1107. The installation height of the bracket relative to the frame 10 can be adjusted by adjusting the position of the mounting piece relative to the oblong hole 1107 to meet the detection requirements of different cargo stacks.

[0126] The detection assembly further includes a vertical frame 1110 vertically mounted on the frame, and an oblong hole is provided on the vertical frame 1110, and the detection switch passes through the oblong hole.

[0127] Example 2

[0128] Structure Reference Fig.12 and Fig.13 The stack type detection mechanism is used to detect the arrangement of single-layer goods on the conveyor line, that is, the horizontal and vertical arrangement of the cargo boxes 12 in the top layer of goods, including:

[0129] The first detection assembly includes a first pivot rod 1301 pivotally mounted on the frame, and a first detection switch 1302 is arranged in the rotation direction of the first pivot rod 1301 and can be triggered when the first pivot rod 1301 rotates relative to the frame 10;

[0130] The second detection assembly includes a second pivot rod 1401 pivotally mounted on the frame. The second detection switch 1402 is arranged in the rotation direction of the second pivot rod 1401 and can be triggered when the second pivot rod 1401 rotates relative to the frame 10.

[0131] Specifically, the detection switch is set in the active rotation direction of the pivot rod after being triggered by the cargo. Under normal circumstances, the detection switch does not generate a detection signal. When the pivot rod is triggered by the cargo and rotates in the direction of the detection switch, the detection switch is triggered and generates a signal.

[0132] The terminal performs data communication with the first detection switch 1302 and the second detection switch 1402 to collect the triggering status of the detection switches and then determine the stack type.

[0133] refer to Figures 14 to 16. Usually, the cargo stack moves through the conveying mechanism. Within a unit area, the discharge mode of a single row of cargo boxes 12 includes two cargo boxes 12 or three cargo boxes 12 as shown in the figure. Since the cargo boxes 12 are not stacked tightly, there is a gap between the cargo boxes. In the case of two cargo boxes 12, there is a gap between one cargo box 12 per unit area. In the case of three cargo boxes 12, there are gaps between two cargo boxes 12 per unit area. The frame 10 is installed above the conveying mechanism. When the cargo passes through the frame 10, the pivot rod contacts the cargo box. The height of the pivot rod is configured so that when it contacts the top surface of the cargo box 12, the cargo box 12 can trigger the rotation of the pivot rod. When the pivot rod rotates in the direction of the detection switch, the detection switch is triggered to generate a detection signal. Since there is a gap between adjacent cargo boxes 12, when the cargo stack continues to be transported forward, the pivot rod is located in the gap between the cargo boxes, and the detection signal of the detection switch disappears at this time; when the cargo stack continues to be transported forward, the pivot rod and the next cargo box foundation once again move in the direction close to the detection switch, and the detection switch continues to generate a detection signal. The terminal includes a processor, which can infer and calculate the stack type of the goods based on the number of times the detection switch is triggered when the goods stack passes (within a unit area, a single layer has two cargo boxes 12 or three cargo boxes 12, and the number of times the detection switch is triggered is different).

[0134] In some embodiments of the present invention, the mechanism further includes a contact member, which is mounted on the pivot rod and faces the direction of the cargo stack. When the cargo passes by, the contact member can contact the cargo to trigger the pivot rod to rotate relative to the frame. In some embodiments of the present invention, the contact member is a roller, a first roller 130 is mounted on the first pivot rod 1301, a second roller 1403 is mounted on the second pivot rod 1401, and the corresponding roller is axially connected to the corresponding pivot rod, and the outer peripheral surface of the roller faces the direction of the cargo stack. The roller structure can reduce the friction between the contact member and the cargo stack, and avoid damage to the cargo box 12.

[0135] In some embodiments of the present invention, the pivot rod is mounted on the frame 10 via a pivot shaft. Take the first group of detection components as an example. The first pivot rod 1301 is mounted on the frame via a first pivot shaft 1304. Taking the pivot shaft 1304 as a reference, the first pivot rod 1301 includes a first rod portion 13011 located on a first side of the first pivot shaft 1304, and a second rod portion 13012 located on a second side of the pivot shaft 1304. In the direction shown in the figure, the first rod portion 13011 is located above the pivot shaft 1304, and the second rod portion 13012 is located below the first pivot shaft 1304. When the goods pass by, one end of the second rod portion 13012 contacts the goods 3; based on the walking direction of the goods, the first detection switch 1302 is located behind the first rod portion 13011, so that after the first pivot rod 1301 is driven to rotate by the cargo box 12, the first detection switch 1302 generates a detection signal. The second pivot rod 1402 is installed on the frame 10 via the second pivot shaft 1404, and the second detection switch 1402 is arranged behind the active rotation direction of the second pivot rod 1402, so that after the second pivot rod 1402 is driven to rotate by the cargo box 12, the second detection switch 1402 generates a detection signal.

[0136] Furthermore, the center of gravity of the pivot rod is located at the second rod portion, so that the pivot rod can automatically rotate and reset after moving between the cargo box 12 or breaking away from the contact between the cargo box 12.

[0137] In some embodiments of the present invention, a stopper is further provided, and the rotation of the pivot rod driven by the cargo is passive rotation, and the rotation after the contact with the cargo is released is active rotation (reset motion). The first stopper 1305 is provided in the active rotation direction of the first pivot rod, and can contact the pivot rod 1301 during the active rotation of the pivot rod 1301 to stop the rotation of the first pivot rod 1301. Correspondingly, the second stopper 1405 is provided in the active rotation direction of the second pivot rod, and can contact the pivot rod 1401 during the active rotation of the pivot rod 1401 to stop the rotation of the second pivot rod 1401.

[0138] In some embodiments of the present invention, in order to solve the problem of installing the stack type detection assembly, a first mounting plate 1306 and a second mounting plate 1406 are provided on the bracket, and the detection switch, stopper and pivot rod on the corresponding side are all installed on the mounting plates.

[0139] In some embodiments of the present invention, the delamination mechanism is implemented by the following structure, referring to Figures 1 to 6 .

[0140] The frame 1 includes a first frame beam 101, a second frame beam 102, a third frame beam 103 and a fourth frame beam 104, and the first frame beam 101, the second frame beam 102, the third frame beam 103 and the fourth frame beam 104 form a closed area; the suction cup assembly is arranged in the closed space.

[0141] A first auxiliary beam 105 is provided between the first frame beam 101 and the third frame beam 103 , and a second auxiliary beam 106 is provided between the first auxiliary beam 105 and the second frame beam 102 ;

[0142] A first direction suction cup mounting beam 107 is provided between the first auxiliary beam 105 and the fourth frame beam 104 , and at least one first direction suction cup 701 is installed on each first direction suction cup mounting beam 107 ;

[0143] A second direction suction cup mounting beam 108 is provided between the second auxiliary beam 106 and the first frame beam 101 , and at least one second direction suction cup 702 is installed on each second direction suction cup mounting beam 108 ;

[0144] A first direction suction cup mounting beam 107 is further provided between the first auxiliary beam 105 and the second frame beam 102 , and a first direction suction cup 701 is mounted on each first direction suction cup mounting beam 107 .

[0145] Taking the specific implementation shown in the top view as an example, four first direction suction cup mounting beams 107 are arranged between the first auxiliary beam 105 and the fourth frame beam 104, and four first direction suction cups 701 are installed thereon; one first direction suction cup mounting beam 107 is arranged between the first auxiliary beam 105 and the second frame beam 102, and two first direction suction cups 701 are installed thereon. Two second auxiliary beams 106 are arranged between the first auxiliary beam 105 and the second frame beam 102, wherein three second direction suction cup mounting beams 108 are arranged between one second auxiliary beam 106 and the first frame beam 101, and three second direction suction cup mounting beams 108 are installed thereon; and three second direction suction cup mounting beams 108 are arranged between another second auxiliary beam 106 and the third frame beam 103, and three second direction suction cup mounting beams 702 are installed thereon.

[0146] The arrangement design of the above suction cup assembly is set based on the specific cargo stacking structure and the cargo transportation form. In actual application, the arrangement of the first direction suction cup 701 and the second direction suction cup 702 can also be improved according to the specific arrangement form of the single-layer cargo.

[0147] In some embodiments of the present invention, in order to improve the effect of firmly clamping and transporting the goods, in addition to the suction cup assembly, at least one set of clamping mechanisms is further provided on the frame, each set of clamping mechanisms includes a first clamping mechanism and a second clamping mechanism that are arranged opposite to each other, and the clamping mechanisms include:

[0148] Pivot rod 2: mounted on the second frame 1;

[0149] Driving cylinder 3: installed on the second frame 1, and capable of applying output power to the pivot rod 2 to drive the pivot rod 2 to rotate;

[0150] The clamping claw 4 comprises a main body 401 mounted on the pivot rod 2, and the main body 401 is provided with a clamping panel 402;

[0151] The controller can further control the operation of the driving cylinder 3 to control the clamping mechanism to execute the clamping instruction and clamp the goods.

[0152] The clamping panels 402 of the first clamping mechanism and the clamping claws 4 of the second clamping mechanism are arranged opposite to each other so that the two can cooperate to clamp the two sides of the cargo.

[0153] In order to achieve a more stable holding effect, two sets of clamping and holding mechanisms can be designed for use. The configuration is as follows: the holding panels 402 of the holding claws of the first holding mechanism and the second holding mechanism are arranged oppositely, and the holding panels 402 of the holding claws of the third holding mechanism and the fourth holding mechanism are arranged oppositely. The holding claw 4 can rotate with the pivot rod 2. When it is rotated to the right position, the holding panel 402 is located below the bottom end surface of the second frame 1, and a cargo accommodating space is formed between the four sets of holding mechanisms and the bottom end surface of the second frame 1.

[0154] In some embodiments of the present invention, at least two clamping claws 4 are installed on the pivot rod 2 of each clamping mechanism. Specifically, the two clamping claws 4 are symmetrically arranged at both ends of the pivot rod 2 to ensure a more stable clamping effect.

[0155] Furthermore, in some embodiments, in order to enhance the clamping effect, an auxiliary clamping plate 9 may be installed between the two clamping claws 4. The length of the auxiliary clamping plate 9 must at least extend to the outermost cargo box in the same layer of goods to ensure that the middle layer of goods can be clamped.

[0156] In some embodiments of the present invention, the clamping claw body 401 is a bent structure, and the clamping panel 402 is located at the end of the clamping claw body 401. The bent structures of the clamping claw body 401 of the first clamping mechanism and the third clamping mechanism are opposite, and the bent structures of the clamping claw body 401 of the second clamping mechanism and the fourth clamping mechanism are opposite.

[0157] In some embodiments of the present invention, a driving block 5 is installed on the pivot rod, and the position of the driving block 5 is configured to be in contact with or connected to the power output shaft of the driving cylinder 3 to drive the pivot rod 2 to rotate. Each pivot rod 2 is provided with a driving block 5, and the driving block 5 can be directly connected to the cylinder shaft of the driving cylinder 3, or can be arranged in the direction in which the cylinder shaft of the driving cylinder extends, and both can realize that the driving cylinder 3 applies a force to the driving block 5 to drive the pivot rod 2 to rotate.

[0158] In some embodiments of the present invention, a seat plate 6 is provided on the frame, and the driving cylinder 3 is mounted on the seat plate 6. The seat plate 6 is mounted on the upper end surface of the second frame 1, and each driving cylinder 3 corresponds to one seat plate 6.

[0159] In some embodiments of the present invention, a de-layering and palletizing method is further provided, which is implemented by using the de-layering and palletizing system described above, and includes:

[0160] The type of the stack is determined according to the detection signals of the detection switch 1 11031 and the detection switch 2 11032; specifically, the type of the goods arranged on the top layer is determined according to the number of times the two detection switches rise and fall when the goods pass under the detection switch 1 11031 and the detection switch 2 11032;

[0161] Determine whether the direction of the suction cup assembly corresponds to the stack type; specifically, the arrangement of the first direction suction cup 701 and the second direction suction cup 702 in the suction cup assembly corresponds to the stacking method of the goods or differs by 180°; Determine whether the direction of the suction cup assembly corresponds to the stack type, that is, determine whether the arrangement of the suction cup assembly is the same as the stacking method of the top-level goods or differs by 180°;

[0162] If yes, the suction cup assembly is activated to suck up the goods and transport them to the designated location; in this case, the arrangement of the suction cups is the same as the type of goods, and corresponds one-to-one with the arrangement of the cargo box, so the suction cup assembly can be activated to directly suck up the entire layer of goods;

[0163] If not, the suction cup assembly is controlled to pivot and adjust to the direction corresponding to the stack type, and the suction cup assembly is started to absorb the goods and transport them to the designated location. In this case, the arrangement of the suction cups is 180° different from the shape of the goods, and the suction cup assembly is controlled to pivot 180° and rotate to the same direction as the shape of the goods, and the suction cup suction assembly is started. After each rotation of the suction cup assembly, the current state of the suction cup assembly is recorded for the next work.

[0164] In some embodiments of the present invention, the goods are transported in multiple layers, and the stacking mode of each layer of goods corresponds to the arrangement mode of the first suction cup and the second suction cup in the suction cup assembly, or corresponds at an angle of 180 degrees, and the stacking directions of adjacent layers of goods correspond at an angle of 180 degrees; the 180-degree correspondence mentioned here means that the first layer of goods is taken as a reference, and the arrangement of the cargo boxes is rotated 180 degrees to obtain the second layer of goods, and the method further includes:

[0165] The delamination mechanism absorbs the After loading the cargo, transport it to the designated location;

[0166] After the suction cup assembly pivots 180 degrees, it absorbs the Layers of goods are transported to designated locations.

[0167] Specifically, the method further includes that the designated position includes designated position one and designated position two;

[0168] The methods for delivering goods to the designated location are:

[0169] The suction cup assembly is transported to the designated position 1, and the suction cup releases the goods in the first direction;

[0170] The suction cup assembly is transported to the designated position 2, and the suction cup releases the goods in the second direction.

[0171] Based on the above method, the first direction suction cup 701 and the second direction suction cup 702 suck the goods at the same time, but are stacked in different positions respectively. Based on this, it can be achieved that the arrangement direction of the stacked goods in the two goods stacking positions is the same, which is convenient for subsequent processing.

[0172] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A layer-removing and palletizing system, characterized in that: Including conveying line, stacking detection mechanism, layer removal mechanism and control system; The stack type detection mechanism comprises a frame arranged above the conveying frame and a stack type detection component mounted on the frame, wherein the stack type detection component comprises: a first detection component and a second detection component arranged at intervals and movably mounted on the frame, and a first detection switch and a second detection switch; the first detection component can move to trigger the first detection switch, and the second detection component can move to trigger the second detection switch; Layer removal mechanism: It is arranged behind the stack type detection mechanism along the direction of goods conveying, and includes: First frame; A second frame is mounted on the first frame via a pivoting and moving mechanism; A suction cup assembly; mounted on the second frame, comprising a plurality of first suction cups arranged along the first direction and a plurality of second suction cups arranged along the second direction, with the suction cup mouths facing the conveying line; A control system is electrically connected to the detection assembly and is used to obtain detection signals of the detection switch 1 and the detection switch 2; is electrically connected to the pivoting and moving mechanism and is used to control the movement of the layer removal mechanism; and is electrically connected to the suction cup assembly and is used to control the movement of the first suction cup and the second suction cup; The control system comprises: A first suction cup control unit: used for generating a suction and release action control signal of the first suction cup according to the detection signals of the detection switch 1 and the detection switch 2; A second suction cup control unit: used for generating a suction and release action control signal of the second suction cup according to the detection signals of the detection switch 1 and the detection switch 2; The first suction cup control unit and the second suction cup control unit independently control the first suction cup and the second suction cup; The goods are transported in multiple layers through the conveyor line, and the control system is further configured to generate a control signal for each layer of goods according to the detection signals of the detection switch 1 and the detection switch 2, so as to control the delamination mechanism to delaminate each layer of goods.

2. The de-layering and palletizing system according to claim 1, characterized in that: The pivoting and moving mechanism comprises: Rotating module: the second frame is mounted on the rotating module; A longitudinal walking module, wherein the rotating module is installed on the longitudinal walking module; A horizontal walking module, wherein the longitudinal walking module is installed on the horizontal walking module; The control system is further electrically connected to the rotating module, the horizontal walking module, and the longitudinal walking module.

3. The de-layering and palletizing system according to claim 1, characterized in that: The first detection assembly includes a first pivot rod pivotally mounted on the frame, and a first detection switch is arranged in a rotation direction of the first pivot rod and can be triggered when the first pivot rod rotates relative to the frame; The second detection assembly includes a second pivot rod pivotally mounted on the frame. The second detection switch is arranged in the rotation direction of the second pivot rod and can be triggered when the second pivot rod rotates relative to the frame.

4. The de-layering and palletizing system according to claim 1, characterized in that: The first detection assembly comprises a bracket 1 and a support rod 1 which are relatively movable, the bracket 1 is mounted on the frame, the first end of the support rod 1 passes through the bracket 1, and the second end is restricted on the bracket 1; the first detection switch is arranged at one side of the second end of the support rod 1, and can be triggered when the support rod 1 moves relative to the frame; The second detection component includes a bracket 2 and a support rod 2 that are relatively movable. The bracket 2 is installed on the frame. The first end of the support rod 2 passes through the bracket 2, and the second end is restricted on the bracket 2. The second detection switch is set on one side of the second end of the support rod 2 and can be triggered when the support rod 2 moves relative to the frame.

5. The de-layering and palletizing system according to claim 1, characterized in that: The second frame is further provided with at least one set of clamping mechanisms, each set of clamping mechanisms includes a first clamping mechanism and a second clamping mechanism which are arranged opposite to each other, and the clamping mechanisms include: Pivot rod: mounted on the second frame; Driving cylinder: installed on the second frame, capable of applying output power to the pivot rod to drive the pivot rod to rotate; The clamping claw comprises a main body mounted on the pivot rod, and a clamping panel is arranged on the main body; The clamping mechanism is configured as follows: the clamping panels of the clamping claws of the first clamping mechanism and the second clamping mechanism are arranged opposite to each other; The control system is further electrically connected to the driving cylinder to drive and control the movement of the clamping claws.

6. A method for stacking by removing layers, characterized in that: The de-layering and palletizing system according to any one of claims 1 to 5 comprises: Determine the stack type according to the detection signals of the detection switch 1 and the detection switch 2; Determine whether the direction of the suction cup assembly corresponds to the stack type; If yes, the suction cup assembly is activated to suck up the goods and transport them to the designated location; If not, the suction cup assembly is controlled to pivot and adjust to a direction corresponding to the stack type, and the suction cup assembly is started to suck the goods and transport them to the designated location.

7. The method according to claim 6, characterized in that The goods are transported in multiple layers, and the stacking mode of each layer of goods corresponds to the arrangement mode of the first suction cup and the second suction cup in the suction cup assembly, or corresponds at an angle of 180 degrees, and the stacking directions of adjacent layers of goods correspond at 180 degrees; the method further comprises: The delamination mechanism absorbs the After loading the cargo, transport it to the designated location; After the suction cup assembly pivots 180 degrees, it absorbs the Layers of goods are transported to designated locations.

8. The method according to claim 6 or 7, characterized in that The method further includes that the designated position includes a designated position one and a designated position two; The methods for delivering goods to the designated location are: The suction cup assembly is transported to the designated position 1, and the first suction cup releases the cargo; The suction cup assembly is transported to designated position 2, and the second suction cup releases the cargo.

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