A depalletizing and transporting system for materials in a container

Abstract

The present invention discloses a destacking and transportation system for materials in a container, comprising a roller conveyor platform, a swing arm conveyor belt conveyor, a seven-axis robot and a grabbing module; the left end of the roller conveyor platform is hinged with the right end of the swing arm conveyor belt conveyor; the left end of the top of the roller conveyor platform is provided with a seven-axis robot; the wrist of the seven-axis robot is provided with a grabbing module; the seven-axis robot is used to grab the material box in the container through the grabbing module thereon, and then place it on the top of the swing arm conveyor belt conveyor; the swing arm conveyor belt conveyor is used to transport the material box to the top of the roller conveyor platform after the seven-axis robot places the material box on the top of the seven-axis robot; the roller conveyor platform is used to transport the material box transported by the swing arm conveyor belt conveyor to an external unloading platform. The present invention can efficiently and reliably destacking multiple material boxes in a container, and then transport them outward to an external unloading platform, significantly improving the destacking and transportation efficiency of the material boxes.

Description

Technical Field

[0001] The invention relates to the technical field of destacking and transporting materials in containers, and in particular to a destacking and transporting system for materials in containers. Background Art

[0002] For cold chain containers (usually rectangular, standard cartons with a length range of 340-600mm, a width range of 220-400mm, a height range of 140-220mm, and a maximum weight of a single box of 50Kg), when transporting, it is usually necessary to store cold chain materials (such as frozen seafood products) in multiple boxes (usually small rectangular cartons), and then stack the multiple boxes neatly in the cold chain container.

[0003] When the cold chain container is transported to the destination, in order to transport the cold chain materials in the cold chain container outward, it is necessary to unstack the multiple boxes used to store the cold chain materials in the cold chain container, and then transport them outward to the external unloading platform (usually a telescopic roller conveyor for customer's own use with mature existing technology). Then, the external unloading platform will transport the boxes to the conveyor line of the next process for stacking. At this time, since the cold chain materials are greatly affected by the external temperature, there are high requirements for the efficiency of unstacking the boxes in the cold chain container and transporting the boxes to the external unloading platform.

[0004] At present, the unloading and handling of cold chain containers are mostly done manually, which not only has low work efficiency and cannot meet the efficiency requirements of cold chain materials for depalletizing and transportation, but also because the placement environment of cold chain containers is usually a low temperature and humid environment, the staff work in a low temperature and humid environment for a long time, which affects the health of the staff. Summary of the invention

[0005] The purpose of the present invention is to provide a depalletizing and transporting system for materials in a container in view of the technical defects in the prior art.

[0006] To this end, the present invention provides a depalletizing and transporting system for materials in a container, which comprises a roller conveying platform vehicle, a swing arm conveying belt conveyor, a seven-axis robot and a grabbing module;

[0007] The left end of the roller conveyor platform is hinged to the right end of the swing arm conveyor belt conveyor;

[0008] A seven-axis robot is installed on the top left end of the roller conveyor platform vehicle;

[0009] The wrist of the seven-axis robot is equipped with a grasping module;

[0010] Among them, the seven-axis robot is used to grab the material box in the container located on the left side of the swing-arm conveyor belt through the grabbing module installed on it, and then rotate and move to the top of the left end of the swing-arm conveyor belt to place the material box on the left end of the top of the swing-arm conveyor belt;

[0011] The swing-arm conveyor belt conveyor is used to convey the material box to the right after the seven-axis robot places the material box on the top thereof, until it is conveyed to the discharge end on the left side of the top of the roller conveyor platform vehicle;

[0012] The roller conveyor platform is used to transport the material boxes delivered by the swing arm conveyor belt from left to right, and transport the material boxes to the external unloading platform through the material box outlet on its right side;

[0013] The external unloading platform is located directly to the right of the roller conveyor platform vehicle and is connected to the right end of the roller conveyor platform vehicle.

[0014] It can be seen from the technical solution provided by the present invention above that, compared with the prior art, the present invention provides a destacking and transportation system for materials in a container, which is scientifically designed and can efficiently and reliably destacker multiple material boxes for storing cold chain materials in a cold chain container, and then transport them outward to an existing external unloading platform, thereby significantly improving the destacking and transportation efficiency of the material boxes, and has great practical significance.

[0015] After the depalletizing and transporting system for materials in a container provided by the present invention is applied, workers are no longer required to manually perform depalletizing and transporting operations, which is beneficial to maintaining the health of the workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view schematic diagram of the overall structure of a depalletizing and transporting system for materials in a container provided by the present invention;

[0017] Figure 2 It is a three-dimensional structural schematic diagram of a depalletizing and transporting system for materials in a container provided by the present invention, that is, an axial schematic diagram of the overall structure;

[0018] Figure 3 It is a schematic front view of the structure of a roller conveying platform vehicle in a destacking and transporting system for materials in a container provided by the present invention;

[0019] Figure 4 It is a left side schematic diagram of a roller conveying platform vehicle in a destacking and transporting system for materials in a container provided by the present invention;

[0020] Figure 5a It is along Figure 4 The schematic diagram after the AA line is cut;

[0021] Figure 5b yes Figure 5a A three-dimensional enlarged schematic diagram of the middle A area (i.e., the area surrounding the driving sprocket);

[0022] Figure 5c yes Figure 5a An enlarged schematic diagram of the peripheral portion of the middle B region (i.e., the peripheral portion of the second driving reduction motor);

[0023] Figure 6 It is a three-dimensional structural schematic diagram of a roller conveyor platform vehicle in a depalletizing and transporting system for materials in a container provided by the present invention, that is, an axle side schematic diagram;

[0024] Figure 7a It is a three-dimensional structural schematic diagram of the installation state of a swing-arm conveyor belt machine installed on a roller conveyor platform vehicle in a destacking and transporting system for materials in a container provided by the present invention;

[0025] Figure 7b yes Figure 7a A partial enlarged schematic diagram of a part of the area around the lifting motor;

[0026] Figure 7c yes Figure 7a A partial enlarged schematic diagram of a part of the area around the lifting screw;

[0027] Figure 8a It is a three-dimensional structural schematic diagram (i.e., an axial side schematic diagram) of a telescopic belt conveyor mechanism of a swing-arm conveyor belt conveyor in a destacking and transporting system for materials in a container provided by the present invention;

[0028] Figure 8b It is a structural enlarged schematic diagram of a swing-arm conveyor belt conveyor in a destacking and transportation system for materials in a container provided by the present invention;

[0029] Figure 9a It is a three-dimensional structural schematic diagram (i.e., axle side schematic diagram) of a seven-axis robot structure and a master control system installed on a roller conveyor platform vehicle in a depalletizing and transporting system for materials in a container provided by the present invention;

[0030] Figure 9b It is a partially enlarged schematic diagram of the connection state of the gear and rack installed on the seven-axis travel drive motor of the seven-axis robot in the depalletizing and transporting system of materials in a container provided by the present invention;

[0031] Fig.10 It is a three-dimensional structural schematic diagram (i.e., an axial side schematic diagram) of a grabbing module in a destacking and transportation system for materials in a container provided by the present invention;

[0032] Fig.11 It is a rear view schematic diagram of a grabbing module in a destacking and transportation system for materials in a container provided by the present invention;

[0033] In the figure: 1. Roller conveyor platform, 2. Swing arm conveyor belt conveyor, 3. Seven-axis robot, 4. Grasping module, 5. Master control system;

[0034] 1-1, frame, 1-2, platform vehicle travel mechanism, 1-3, roller conveyor mechanism, 1-4, guard plate;

[0035] 1-2-1, first driving reduction motor, 1-2-2, driving sprocket, 1-2-3, driving shaft, 1-2-4, driven sprocket, 1-2-5, front wheel, 1-2-6, driven shaft, 1-2-7, rear wheel;

[0036] 1-3-1, conveying roller group, 1-3-2, baffle, 1-3-3, second driving reduction motor;

[0037] 2-1, lifting motor, 2-2, turntable, 2-3 shaft; 2-4, belt conveyor bearing seat, 2-5, belt conveyor frame;

[0038] 2-6, lifting screw seat, 2-7, lifting screw, 2-8, fixed belt conveyor mechanism, 2-9, telescopic belt conveyor mechanism, 2-10, adjustable baffle;

[0039] 2-11, end roller, 2-12, first laser ranging sensor;

[0040] 2-9-1, telescopic belt rack, 2-9-2, first linear guide rail, 2-9-3, electric cylinder;

[0041] 3-1, second linear guide rail, 3-2, robot base, 3-3, six-axis robot, 3-4, seven-axis walking drive motor, 3-5, gear;

[0042] 3-6, rack, 3-7, drag chain, 3-8, dead stop;

[0043] 4-1, end base, 4-2, suction cup mounting frame, 4-3, vacuum pump suction cup assembly, 4-4, visual camera base, 4-5, visual camera;

[0044] 4-6, a second laser ranging sensor, 4-7, a vacuum filter;

[0045] 5-1, blower, 5-2, electric control cabinet; DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying 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 limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0049] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0050] See also Figures 1 to 4 , Figure 5a to Figure 5c , Figure 6 , Figures 7a to 7c , Figures 8a to 8b , Figure 9a to Figure 9b , Figure 10 to Figure 11 The present invention provides a depalletizing and transporting system for materials in a container, comprising a roller conveying platform vehicle 1, a swing arm conveying belt conveyor 2, a seven-axis robot 3 and a grabbing module 4;

[0051] The left end of the roller conveyor platform vehicle 1 is hinged (i.e., rotatably connected) to the right end of the swing arm conveyor belt conveyor 2;

[0052] A seven-axis robot 3 is provided at the top left end of the roller conveyor platform vehicle 1;

[0053] The wrist of the seven-axis robot 3 is provided with a grasping module 4;

[0054] The seven-axis robot 3 is used to grab the material box in the container on the left side of the swing-arm conveyor belt 2 through the grabbing module 4 installed thereon, and then rotate and move to the top of the left end of the swing-arm conveyor belt 2 to place the material box on the top left end of the swing-arm conveyor belt 2;

[0055] The swing-arm conveyor belt conveyor 2 is used to convey the material box to the right after the seven-axis robot 3 places the material box on the top thereof, until it is conveyed to the discharge end (i.e., the leftmost position) on the left side of the top of the roller conveyor platform vehicle 1;

[0056] The roller conveyor platform vehicle 1 is used to convey the material box conveyed by the swing arm conveyor belt conveyor 2 from left to right, and convey the material box to the external unloading platform through the material box outlet 101 on its right side;

[0057] The external unloading platform is located on the right side of the roller conveyor platform vehicle 1 and is connected to the right end of the roller conveyor platform vehicle 1 .

[0058] It should be noted that the height of the external unloading platform can be equal to or lower than the height of the material box outlet 101 on the right side of the roller conveyor platform vehicle 1.

[0059] In the present invention, in a specific implementation, the roller conveyor platform vehicle 1 has a vehicle frame 1-1 which can be an existing vehicle frame having the functions of horizontally moving on the ground and steering.

[0060] It should be noted that in the present invention, the roller conveyor platform vehicle 1 is used to support the movement of the entire system equipment, and can have the functions of forward and backward movement and small-angle turning. The roller assembly in the middle (i.e., the roller conveyor mechanism 1-3) is used to receive the material box conveyed by the swing arm conveyor belt machine 2, and continue to output the material box to the outside.

[0061] In the present invention, the swing arm conveyor belt 2 is installed at the left end of the frame 1-1 of the roller conveyor platform vehicle 1 through a rotating shaft, and is used to receive and convey the material boxes removed from the container by the grab module 4, and convey the material boxes to the roller assembly (i.e., roller conveyor mechanism 1-3) of the roller platform vehicle 1. The swing arm conveyor belt 2 is height-adjustable and can receive material boxes at different heights. Both sides of the swing arm conveyor belt 2 have an expansion function, which retracts when traveling and extends when receiving materials to prevent box leakage;

[0062] In the present invention, the specific implementation is as follows: Figure 3 to Figure 4 , Figure 5a to Figure 5c , roller conveyor platform vehicle 1, including a vehicle frame 1-1;

[0063] A roller conveying mechanism 1-3 is provided on the upper part of the frame 1-1;

[0064] The top of the roller conveyor mechanism 1 - 3 is used to receive the material box placed by the seven-axis robot 3 and convey the material box to the right to the top of the roller conveyor platform vehicle 1 .

[0065] It should be noted that the frame 1-1 is the supporting frame of the entire system equipment;

[0066] In specific implementation, a platform vehicle walking mechanism 1-2 is installed at the lower part of the vehicle frame 1-1;

[0067] The platform vehicle walking mechanism 1-2 is used to drive the frame 1-1 to move horizontally on the ground.

[0068] Among them, the platform vehicle walking mechanism 1-2 specifically includes a first driving reduction motor 1-2-1;

[0069] The first driving reduction motor 1-2-1 is installed at the bottom of the frame 1-1;

[0070] The output shaft end of the first driving reduction motor 1-2-1 (i.e., the first driving reduction motor output shaft 1-2-1-1) is equipped with a driving sprocket 1-2-2;

[0071] A first bearing seat is respectively arranged on the front and rear sides of the left bottom end of the frame 1-1;

[0072] A longitudinally distributed drive shaft 1-2-3 is respectively arranged in the inner ring of the bearing of each first bearing seat;

[0073] The two drive shafts 1-2-3 are symmetrically distributed front and rear;

[0074] It should be noted that the two drive shafts 1-2-3 are supported by the first bearing seat and are symmetrically installed on both sides of the left bottom plate of the frame 1-1.

[0075] Each driving shaft 1-2-3 is equipped with a driven sprocket 1-2-4 and a front wheel 1-2-5;

[0076] The driving sprocket 1-2-2 is linked to the driven sprocket 1-2-4 through a first chain distributed in an annular manner;

[0077] It should be noted that the left and right ends of the first chain are respectively passed around the left side of the driven sprocket 1-2-4 and the right side of the driving sprocket 1-2-2, and the driven sprocket 1-2-4 and the driving sprocket 1-2-2 are located on the inner side of the first chain. The platform vehicle walking mechanism 1-2 adopts a chain transmission mechanism, and the driving sprocket 1-2-2 is connected to the driven sprocket 1-2-4 through the first chain, so as to transmit power to the front wheel 1-2-5, thereby providing power transmission for the travel of the roller conveying platform vehicle 1.

[0078] A second bearing seat is provided at the front and rear sides of the right bottom end of the frame 1-1;

[0079] The two second bearing seats are symmetrically distributed front and back;

[0080] The front and rear ends of a longitudinally distributed driven shaft 1-2-6 are respectively connected to the inner rings of the bearings of the two second bearing seats;

[0081] It should be noted that the driven shaft 1-2-6 is supported by two second bearing seats and is mounted on the lower part of the right bottom plate of the frame 1-1;

[0082] Two rear wheels 1-2-7 are mounted at both ends of each driven shaft 1-2-6;

[0083] It should be noted that, for the present invention, the first driving reduction motor 1-2-1 transmits power to the front wheel 1-2-5 through a sprocket chain transmission method, thereby providing power for the movement of the roller conveyor platform vehicle 1, and the rear wheel 1-2-7 is a driven wheel, which cooperates with the front wheel 1-2-5 to realize the forward and backward movement of the roller conveyor platform vehicle 1.

[0084] In specific implementation, the roller conveying mechanism 1-3 includes a conveying roller group 1-3-1;

[0085] The conveying roller group 1-3-1 is located in the upper middle position of the frame 1-1;

[0086] The conveying roller group 1-3-1 includes three roller support frames 1-3-1-2 spaced apart in the longitudinal direction;

[0087] Three roller support frames 1-3-1-2 are fixedly arranged on the frame 1-1, and are respectively located at the front and rear sides of the lower part of the frame 1-1 and the longitudinal middle position of the lower part;

[0088] Between any two adjacent roller support frames 1-3-1-2, a row of rollers is pivotally connected (i.e., rotatably connected);

[0089] Each row of rollers comprises a plurality of cylindrical rollers 1-3-1-1 which are longitudinally distributed and laterally spaced;

[0090] The front and rear ends of each roller 1-3-1-1 are respectively pivotally connected (i.e., rotatably connected) to two adjacent roller support frames 1-3-1-2;

[0091] The outer end of each roller 1-3-1-1 (i.e., the end of the roller support frame 1-3-1-2 away from the longitudinal middle position) is respectively provided with a third sprocket 1-3-1-1-1 and a fourth sprocket 1-3-1-1-2;

[0092] It should be noted that when installing the roller 1-3-1-1, it is necessary to ensure that the third sprocket 1-3-1-1-1 and the fourth sprocket 1-3-1-1-2 are on the front and rear outer sides so that the sprockets and the second drive reduction motor 1-3-3 are on the same side to facilitate the movement and transportation of the roller.

[0093] The third sprocket 1-3-1-1-1 is located in front of the fourth sprocket 1-3-1-1-2 and is spaced apart from each other;

[0094] The fourth sprockets 1-3-1-1-2 on each pair of rollers 1-3-1-1 are respectively linked and connected through a second chain 1-3-1-3 distributed in an annular manner; it should be noted that the fourth sprockets 1-3-1-1-2 on each pair of rollers 1-3-1-1 are located on the inner side of the second chain; the present invention has a total of multiple second chains 1-3-1-3, and each second chain 1-3-1-3 is respectively used to connect a pair of rollers 1-3-1-1;

[0095] A second driving reduction motor 1-3-3 is respectively arranged on the front and rear sides of the bottom right end of the frame 1-1;

[0096] A fifth sprocket 1-3-3-1 (as a driving sprocket) is respectively installed on the output shaft end of each second driving reduction motor 1-3-3;

[0097] Two adjacent third sprockets 1-3-1-1-1 (as driven sprockets) on two adjacent pairs of rollers 1-3-1-1 located directly above each fifth sprocket 1-3-3-1 are linked to the fifth sprocket 1-3-3-1 on the second driving reduction motor 1-3-3 located below through a ring-shaped third chain 1-3-3-2 (the chain is arranged in the vertical direction), so that the second driving reduction motor 1-3-3 transmits power to the conveying roller group 1-3-1;

[0098] It should be noted that, except for the two adjacent third sprockets 1-3-1-1-1 on the two adjacent pairs of rollers 1-3-1-1 directly above each fifth sprocket 1-3-3-1, which are linked together by a ring-shaped third chain 1-3-3-2, the two adjacent third sprockets 1-3-1-1-1 on any two adjacent pairs of rollers 1-3-1-1 at other positions are linked together by a ring-shaped fourth chain (the left and right ends of the fourth chain are respectively mounted on the two adjacent third sprockets 1-3-1-1-1 on the two adjacent pairs of rollers 1-3-1-1), and the length of the fourth chain is smaller than that of the third chain.

[0099] It should be noted that the fifth sprocket 1-3-3-1 and the third sprocket 1-3-1-1-1 are arranged coplanarly;

[0100] It should be noted that the left and right ends of the third chain pass through the third sprocket and the fifth sprocket respectively, and the third sprocket and the fifth sprocket are located on the inner side of the third chain.

[0101] It should be noted that, for the present invention, the conveying roller group 1-3-1 is composed of a pair of rollers that directly receive power (i.e., the rollers located directly above the second driving reduction motor 1-3-3), and a fourth sprocket 1-3-1-1-2 on two adjacent rollers connected by a second chain 1-3-1-3, which transmits power to each pair of rollers in turn.

[0102] It should be noted that, for the present invention, the conveying roller group 1-3-1 connects each roller through a chain, so that the material box can be continuously transported on the platform vehicle. Two rows of conveying roller groups 1-3-1 can be installed on the upper part of the roller conveying platform vehicle 1 of the present invention; the two rows of conveying roller groups 1-3-1 are laid side by side on the upper part of the frame 1-1.

[0103] In a specific implementation, two baffles 1-3-2 symmetrically distributed front and back are arranged at intervals on the top of the conveying roller group 1-3-1 (the baffles 1-3-2 will not affect the rotation of the conveying roller group).

[0104] In a specific implementation, the width of the longitudinal gap between the two baffles 1 - 3 - 2 gradually decreases from left to right (ie, from wide to narrow).

[0105] It should be noted that, for the present invention, the baffle 1-3-2 is arranged from wide to narrow in order to guide the material box placed on the conveying roller group 1-3-1 through the baffle 1-3-2, so that when the material box is conveyed on the conveying roller group 1-3-1, a path can be formed for easy transportation to the external unloading platform.

[0106] It should be noted that, for the present invention, the driving mode of the roller conveyor mechanism 1-3 is the same as the power transmission mode of the platform vehicle walking mechanism 1-2, specifically, the roller driving reduction motor 1-3-2 is used to provide power, and the power is transmitted to the conveying roller group 1-3-1 through the sprocket chain, so as to realize the conveying of the material box from one side of the swing arm conveyor belt conveyor 2 to the external unloading platform outside the right end of the swing arm conveyor belt conveyor 2;

[0107] In specific implementation, vertically distributed guard plates 1-4 are installed on the front and rear sides of the top of the frame 1-1. There are 6 guard plates 1-4, which are installed on the front and rear outer sides of the frame 1-1 to play a protective role;

[0108] In specific implementation, the conveying roller group 1-3-1 and the baffle 1-3-2 are both made of stainless steel.

[0109] It should be noted that the driving reduction motors of the platform vehicle walking mechanism 1-2 and the roller conveying mechanism 1-3 are both existing driving reduction motors, for example, they can be driving reduction motors of the German SEW brand;

[0110] In the present invention, for specific implementation, see Figure 7a , Figure 7b , Figure 8a , Figure 8b , the swing-arm conveyor belt conveyor 2 comprises a belt frame 2-5 (i.e., an integral frame) and two lifting motors 2-1;

[0111] Two lifting motors 2-1 are respectively arranged at the front and rear sides of the left end of the top of the frame 1-1;

[0112] It should be noted that, in a specific implementation, the two lifting motors 2 - 1 are symmetrically distributed front and back, and are used to provide power for lifting the swing arm conveyor belt machine 2 .

[0113] A turntable 2-2 is installed at the output shaft end of each lifting motor 2-1;

[0114] A longitudinally distributed rotating shaft 2-3 is respectively installed on the front and rear sides of the left end of the frame 1-1;

[0115] A belt conveyor bearing seat 2-4 is provided on both sides of the front and rear of the right end of the swing arm conveyor belt conveyor 2;

[0116] Each belt conveyor bearing seat 2-4 has a bearing inner ring at one end close to the frame 1-1, which is connected to a rotating shaft 2-3 respectively; that is, the rotating shaft 2-3 is installed on the belt conveyor bearing seat 2-4 and is connected by a bearing transition.

[0117] One end of each belt conveyor bearing seat 2-4 away from the frame 1-1 is fixedly connected to the front and rear sides of the right end of the belt conveyor frame 2-5;

[0118] It should be noted that the belt frame 2-5 is supported and installed by the belt bearing seats 2-4 on both sides of the swing arm conveyor belt conveyor 2;

[0119] A lifting screw seat 2-6 is fixedly installed at the middle position of the front and rear sides of the belt frame 2-5;

[0120] A lifting screw 2-7 is installed on the upper part of each lifting screw seat 2-6;

[0121] Each lifting screw rod 2-7 is connected to the turntable 2-2 on the same side thereof through a steel wire rope, thereby realizing the swing lifting of the swing arm conveyor belt conveyor 2;

[0122] It should be noted that the lifting motor 2-1 is a mature driving motor in the prior art, which is arranged on the front and rear sides of the left end of the frame, and is used to install the turntable 2-2 and lift the swing arm conveyor belt conveyor 2 through a wire rope.

[0123] It should be noted that the two ends of the wire rope are respectively connected to the lifting screw 2-7 and the turntable 2-2, one end of the wire rope is wound on the turntable 2-2, and the other end of the wire rope is connected to the lifting screw 2-7 (specifically, the other end of the wire rope is passed around the connecting shaft 2-70 between the two side ears on the upper part of the lifting screw 2-7, and the end of the wire rope is fixed and compressed by the wire rope tightening sleeve). When the turntable 2-2 rotates clockwise, the wire rope can be wound to shorten the exposed length of the wire rope, thereby realizing the upward and rightward lifting of the swing-arm conveyor belt conveyor 2; when the turntable 2-2 rotates counterclockwise, the wire rope can be released to lengthen the exposed length of the wire rope, thereby realizing the leftward and downward lowering operation of the swing-arm conveyor belt conveyor 2, thereby making the swing-arm conveyor belt conveyor 2 have a height-adjustable function.

[0124] It should be noted that the lower part of the threaded lifting screw 2-7 passes through the through hole on the top support plate of the lifting screw seat 2-6, and then is locked by a nut; in order to prevent the rigid contact between the nut and the lifting screw seat 2-6 when the lifting screw 2-7 is lifted or lowered, a high-strength rubber block (i.e., a buffer block, located between the nut and the bottom surface of the top support plate of the lifting screw seat 2-6) is installed at the lower part of the lifting screw 2-7 to play a buffering role. Since the lifting part adopts a screw form, the adjustability of the wire rope length is increased.

[0125] The upper area of ​​the belt frame 2-5 is provided with multiple groups (not limited to four groups) of fixed belt conveyor mechanisms 2-8;

[0126] It should be noted that the multiple groups (not limited to four groups) of fixed belt conveyor mechanisms 2-8 are installed symmetrically front and back.

[0127] A pair of telescopic belt conveyor mechanisms 2-9 are respectively arranged on the front and rear sides of the upper part of the belt frame 2-5;

[0128] In specific implementation, the two pairs of telescopic belt conveyor mechanisms 2-9 are symmetrically distributed front and back;

[0129] In specific implementation, a first laser ranging sensor 2-12 is installed on the front and rear sides of the left end of the frame 1-1;

[0130] For specific implementation, see Figure 8a As shown, for the telescopic belt conveyor mechanism 2-9, it includes a telescopic belt frame 2-9-1;

[0131] Below the left and right ends of the telescopic belt frame 2-9-1, there is a longitudinally distributed first linear guide rail 2-9-2 respectively;

[0132] The two first linear guide rails 2-9-2 are symmetrically distributed on the left and right sides;

[0133] Two first linear guide rails 2-9-2 are installed on the top of the belt frame 2-5;

[0134] The sliders on the two first linear guide rails 2-9-2 are connected to the bottom of the telescopic belt frame 2-9-1;

[0135] It should be noted that the guide rail portion of the first linear guide rail 2-9-2 (specifically, the guide rail mounting base) is mounted on the belt frame 2-5;

[0136] Directly below the telescopic belt frame 2-9-1, a telescopic electric cylinder 2-9-3 is provided;

[0137] The output end of the electric cylinder 2-9-3 is connected to the lower middle side of the telescopic belt frame 2-9-1;

[0138] The cylinder body of the electric cylinder 2-9-3 is installed on the top of the belt frame 2-5, and the installation position is closer to the outer end of the belt frame 2-5 than the installation position of the two first linear guide rails 2-9-2;

[0139] The left and right ends of the telescopic belt frame 2-9-1 are respectively pivotally connected (i.e., rotatably arranged) with a longitudinally distributed first driving roller 2-90 and a longitudinally distributed first unpowered roller 2-91;

[0140] The first driving roller 2-90 and the first unpowered roller 2-9 are spaced apart from each other.

[0141] The first driving roller 2-90 and the first unpowered roller 2-91 are linked and connected by an annular belt; the belt is wound around the outside of the driving roller 2-90 and the first unpowered roller 2-91;

[0142] It should be noted that the electric cylinder 2-9-3 cooperates with the first linear guide rail 2-9-2 to realize the telescopic adjustment function of the telescopic belt conveyor 2-9.

[0143] It should be noted that the rotation direction of the first driving roller 2 - 90 is clockwise.

[0144] It should be noted that the telescopic belt conveyor mechanism 2-9 includes a first drive roller 2-90, which is used to provide power for the telescopic belt conveyor mechanism 2-9. The first drive roller 2-90 is equipped with a drive motor and can rotate clockwise. The first drive roller 2-90 is a conveyor drive roller with mature prior art technology and is an existing conventional device, which will not be described in detail here.

[0145] In specific implementation, the multiple groups of fixed belt conveyor mechanisms 2-8 include three groups in total, specifically two groups of short fixed belt conveyor mechanisms 2-8-1, and one group of long fixed belt conveyor mechanisms 2-8-2;

[0146] In specific implementation, for two groups of short fixed belt conveyor mechanisms 2-8-1, each group of short fixed belt conveyor mechanisms 2-8-1 has a frame with a longitudinally distributed second driving roller 2-80 and a longitudinally distributed second unpowered roller 2-81 pivotally connected (that is, rotatably arranged) at the left and right ends of the frame; wherein the second unpowered roller 2-81 of the two groups of short fixed belt conveyor mechanisms 2-8-1 is a common roller.

[0147] The second driving roller 2-80 and the second unpowered roller 2-81 are spaced apart from each other.

[0148] The second driving roller 2-80 and the second unpowered roller 2-81 are linked and connected by an annular belt; the belt is wound around the outside of the second driving roller 2-80 and the second unpowered roller 2-81;

[0149] It should be noted that the rotation direction of the second driving roller 2-80 is clockwise.

[0150] It should be noted that the right end of the three sets of fixed belt conveyors are three unpowered rollers.

[0151] In specific implementation, for the long fixed belt conveyor mechanism 2-8-2, the left end of the frame thereof is pivotally connected (i.e., rotatably arranged) with a second driving roller 2-80 and two third unpowered driving rollers 2-82, and the right end of the frame thereof is pivotally connected (i.e., rotatably arranged) with the second unpowered roller 2-81 (i.e., sharing the same second unpowered roller 2-81 with the two short fixed belt conveyor mechanisms 2-8-1);

[0152] It should be noted that the long fixed belt conveying mechanism 2-8-2 includes four narrow belts 2-83, the right sides of the two narrow belts 2-83 located on the outside are sleeved on the second non-powered roller 2-81 of the short fixed belt conveying mechanism 2-8-1, and the left sides of the two narrow belts 2-83 located on the outside are sleeved on the third non-powered roller 2-82. The left sides of the two narrow belts 2-83 located in the middle are sleeved on the second driving roller 2-80, and the right sides are sleeved on the second non-powered roller 2-81 of the short fixed belt conveying mechanism 2-8-1.

[0153] It should be noted that the rotation direction of the second driving roller 2-80 is clockwise.

[0154] It should be noted that the fixed belt conveyor mechanism 2-8 includes a second drive roller 2-80, which is used to provide power for the fixed belt conveyor mechanism 2-8. The second drive roller 2-80 is equipped with a drive motor and can rotate clockwise. The second drive roller 2-80 is a conveyor drive roller with mature prior art technology and is an existing conventional device, which will not be described in detail here.

[0155] It should be noted that the left and right ends of the belt pass through the driving belt roller and the driven belt roller respectively, and the driving belt roller and the driven belt roller are located on the inner side of the belt. Through the friction performance of the belt, the material box placed on the belt conveyor can be smoothly conveyed to the roller conveyor platform 1 on the right when the belt conveyor is at different angles.

[0156] In specific implementation, an adjustable baffle 2-10 is provided on both the front and rear sides of the top of the long fixed belt conveyor mechanism 2-8-2;

[0157] The two adjustable baffles 2-10 are symmetrically distributed front and back;

[0158] The longitudinal gap width of the two adjustable baffles 2-10 gradually decreases from left to right, that is, from wide to narrow;

[0159] The left end of each adjustable guide plate 2-10 is hinged to a telescopic belt frame 2-9-1 located on the left side.

[0160] It should be noted that the adjustable guide plate 2-10 is formed by connecting stainless steel plates, and its left end is hinged to the telescopic belt frame 2-9-1, so that it can be adjusted along with the width of the telescopic belt conveyor mechanism 2-9.

[0161] In specific implementation, the left end of the swing arm conveyor belt 2 is pivotally connected (i.e., rotatably connected) with two pairs of longitudinally distributed end rollers 2-11;

[0162] It should be noted that the end roller 2-11 is used to directly transport the material box at the bottom layer in the container in the form of shovel + roll, and the material is stainless steel.

[0163] In specific implementation, the end rollers 2-11 include two pairs, one pair of end rollers 2-11 is retractable, symmetrically distributed front and back at the left end of the telescopic belt conveyor mechanism 2-9, and connected to the left end of the telescopic belt frame 2-9-1 in the telescopic belt conveyor mechanism 2-9, so that it can be retracted and extended along with the telescopic belt conveyor mechanism 2-9, and the other pair of end rollers 2-11 is non-retractable, fixedly installed at the left end of the fixed belt conveyor mechanism 2-8.

[0164] It should be noted that the end roller 2-11 can adopt a mature conveyor drive roller in the existing technology, which can rotate clockwise. It is an existing conventional equipment and will not be described in detail here.

[0165] In terms of specific implementation, the first laser ranging sensor 2-12 is an electronic product with mature existing technology and has the characteristics of high detection sensitivity and durability.

[0166] The specific working process of the swing arm conveyor belt machine 2 provided by the present invention is described below, including the following steps:

[0167] Step 1: The roller conveyor platform vehicle 1 stops beside the container;

[0168] Step 2: The lifting motor 2-1 adjusts the height of the swing-arm conveyor belt 2 by pulling the wire rope to adapt to the distance between the grab module 4 and the swing-arm conveyor belt 2, so as to prevent the material box from being damaged due to the height difference of the drop;

[0169] In step 3, according to the data detected by the first laser ranging sensor 2-12, the electric cylinder 2-9-3 drives the telescopic belt mechanism 2-9 to extend and retract in the width direction (i.e., longitudinal direction) of the swing arm conveyor belt conveyor 2, so that the upper adjustable baffle 2-10 fits with the side wall of the container to ensure that the material box does not fall outside;

[0170] It should be noted that the first laser ranging sensor 2-12 is used to detect the distance between the roller conveyor platform 1 and the container in the width, height and length directions. Then, based on the collected data, the longitudinal width of the telescopic belt conveyor mechanism 2-9, the height of the swing arm conveyor belt machine 2 and the forward and backward moving distance of the roller platform 1 can be adjusted accordingly.

[0171] In step 4, for the material boxes stored in the container, the seven-axis robot 3 equipped with the grasping module 4 adopts a layered grasping strategy (i.e., the first solution), and each layer of material boxes is grasped three times (different grasping strategies are used according to different material box placement forms). The grasping solution for the last layer (i.e., the bottom layer) of the material boxes preferably adopts the end roller 2-11 to roll up and cooperate with the roller conveyor platform car 1 to move to the left (i.e., move toward the container), so as to collect the material boxes to the swing-arm conveyor belt conveyor 2; if the first solution cannot be completed, the visual camera installed on the grasping module 4 is used for guidance, and the seven-axis robot 3 equipped with the grasping module 4 directly grasps (or drags) the material box from the top of the material box, and grasps the material box to the top of the telescopic belt mechanism 2-9 or the fixed belt conveyor mechanism 2-8 of the swing-arm conveyor belt conveyor 2.

[0172] Step 5: Since the swing-arm conveyor belt 2 is wide at the front and narrow at the back, the fixed belt conveyor mechanism 2-8 and the telescopic belt conveyor mechanism 2-9 adopt differential conveying to prevent the material boxes from piling up at the left end of the swing-arm conveyor belt 2 and affecting the conveying.

[0173] In the present invention, the specific implementation is as follows: Figure 9a , Figure 9b , Fig.10 As shown, the seven-axis robot 3 includes two second linear guide rails 3-1 distributed laterally;

[0174] A second linear guide rail 3-1 is provided on the upper parts of the front and rear sides of the frame 1-1;

[0175] It should be noted that the guide rail portion of the second linear guide rail 3-1 is installed on the upper front and rear sides of the frame 1-1;

[0176] The top plates of the sliders of the two second linear guide rails 3-1 are equipped with a horizontally distributed robot base 3-2;

[0177] A six-axis robot 3-3 is installed on the top of the robot base 3-2;

[0178] The seven-axis walking drive motor 3-4 is installed on the top rear side of the robot base 3-2;

[0179] Gear 3-5 is installed on the output shaft at the bottom of the seven-axis travel drive motor 3-4;

[0180] A laterally distributed rack 3-6 is provided on the rear side of the frame 1-1;

[0181] The gear 3-5 is meshed and connected with the rack 3-6.

[0182] In specific implementation, the connection cable between the six-axis robot 3-3 and the seven-axis walking drive motor 3-4 is arranged inside the drag chain 3-7;

[0183] One end of the moving end of the drag chain 3-7 is installed on the robot base 3-2, and the other end is installed on the left wall of the electric control cabinet 5-2 in the master control system 5;

[0184] In specific implementation, a dead stop 3-8 is provided on the left and right sides of each second linear guide rail;

[0185] The dead stop 3-8 is fixedly mounted on the front side or the rear side top of the frame 1-1.

[0186] It should be noted that, in the present invention, the second linear guide rail 3-1 is used for the walking guide support of the seven-axis robot.

[0187] In terms of specific implementation, the six-axis robot 3-3 is a mature six-axis robot with existing technology, for example, it can be a six-axis robot product of the BT200 model of the Kawasaki brand. This model of robot is a downward-reaching robot that can easily grab the material box in the container. It also has the functions of handling, spot welding, gluing, and visual guidance.

[0188] In specific implementation, the seven-axis walking drive motor 3-4 is used to provide power for the seven-axis robot. It can be an integration of a reducer and a motor (i.e., a reduction motor), or it can include two parts, a motor and a reducer, wherein the output end of the motor is connected to the input end of the reducer, and a gear 3-5 is installed on the output end of the reducer. The reducer can be a planetary reducer with mature existing technology, such as planetary reducers of brands such as Alpha and APEX.

[0189] In specific implementation, the gear 3-5 is a standard helical tooth shape, which is installed in conjunction with the output shaft of the seven-axis travel drive motor 3-4. The tooth surface of the gear 3-5 is heat-treated to increase its toughness and hardness and improve its service life. The gear 3-5 is used in conjunction with the rack 3-6 to convert the rotary motion output by the seven-axis travel drive motor 3-4 into linear motion. The connection structure and drive technology of the gear and the rack are existing conventional technologies and will not be repeated here.

[0190] In specific implementation, the rack 3-6 adopts the YYC standard tooth shape, is fixed to the upper part of the frame 1-1 through pin hole positioning bolts, and is used in conjunction with the gear 3-5 to convert the rotational motion output by the seven-axis travel drive motor 3-4 into linear motion.

[0191] In terms of specific implementation, the drag chain 3-7 is a mature product in the prior art, and is used to protect the power cables and signal cables installed on the system of the present invention when the robot base 3-2 moves back and forth.

[0192] In specific implementation, the dead stop 3-8 specifically adopts a polyurethane rubber buffer block for elastic buffering, which reduces the impact at both ends of the system and prevents the robot base 3-2 from sliding out of the second linear guide rail 3-1 when a failure occurs when the robot base 3-2 is in place, thereby increasing the reliability and safety of the system and having a good buffering effect.

[0193] It should be noted that, in the present invention, the seven-axis robot 3 is installed on the upper left side of the frame 1 - 1 of the roller conveyor platform vehicle 1 through the second linear guide rail 3 - 1, thereby realizing the connection between the seven-axis robot 3 and the roller conveyor platform vehicle 1.

[0194] It should be noted that in the present invention, the seven-axis robot 3 is a standard six-axis robot with further extended accessibility, with an additional external walking axis, as the execution component of the system of the present invention, which has the advantages of high flexibility and a large reach. With the guidance of the visual camera, the grasping module 4 installed on the six-axis robot 3-3 can grasp the material boxes in different positions and different placement postures.

[0195] In specific implementation, the grabbing module 4 is mounted on the seven-axis robot 3 through its end base 4-1. When the roller conveyor platform vehicle 1 moves to a specified position (for example, close to the right side of a container), the seven-axis robot 3 is fed to complete the positioning of the material boxes at different heights, and then the suction cup in the grabbing module 4 sucks the material box firmly to achieve the grabbing operation, and the material box is placed on the top of the swing arm conveyor belt 2.

[0196] In the present invention, for specific implementation, see Fig.10 , Fig.11 , the grabbing module 4 includes a terminal base 4-1;

[0197] One end of the end base 4-1 is mounted on the wrist of the six-axis robot 3-3 in the seven-axis robot 3, and the other end is provided with a suction cup mounting frame 4-2;

[0198] On the top of the suction cup mounting frame 4-2, visual camera bases 4-4 are installed at intervals;

[0199] A vacuum pump suction cup assembly 4-3 is provided on the left side of the suction cup mounting frame 4-2;

[0200] On the visual camera base 4-4, a visual camera 4-5 is installed in an opening;

[0201] A second laser ranging sensor 4-6 is installed on the top rear side of the suction cup mounting frame 4-2.

[0202] In the present invention, in a specific implementation, a vacuum filter 4-7 is installed on the top of the robot base 3-2;

[0203] It should be noted that, in the present invention, the end base 4-1 is a connecting device between the suction cup mounting frame 4-2 and the wrist of the six-axis robot 3-3.

[0204] In the present invention, the suction cup mounting frame 4-2 is formed by connecting a plurality of plates by bolts, and is fixed to the end base 4-1 by bolt connection, and is used for mounting and supporting the vacuum pump suction cup assembly 4-3;

[0205] In the present invention, the vacuum pump suction cup group 4-3 is a mature product in the prior art, such as a vacuum pump suction cup group product produced by SMC, which is used to absorb and grab the material box;

[0206] In the present invention, the visual camera base 4-3 is fixed to the suction cup mounting frame 4-2 by bolt connection, and is used for supporting and positioning the visual camera 4-5.

[0207] In the present invention, the visual camera 4-5 is used to collect image information of the material boxes placed in the container and transmit it to the control system of the six-axis robot 3-3 itself, so that the control system of the six-axis robot 3-3 itself controls the grasping module 4 to grasp the material box;

[0208] In the present invention, the second laser ranging sensor 4-6 is a mature electronic product with existing technology, which has the characteristics of high detection sensitivity and durability. It is distributed at the rear of the suction cup mounting frame 4-2, and specifically includes two groups, each with 3 sensors, which are used to detect the upper and lower and left and right side distances between the grabbing module 4 and the container when the grabbing module 4 extends into the interior of the container.

[0209] It should be noted that the data detected by the second laser ranging sensor 4-6 will be transmitted to the robot control system (i.e., the control system of the six-axis robot 3-3 itself), and the robot control system will make corresponding judgments based on the collected data information, thereby realizing the movement of the grasping module 4 connected to the robot wrist.

[0210] In the present invention, in specific implementation, a master control system 5 is provided at the top right end of the roller conveyor platform vehicle 1 .

[0211] It should be noted that the master control system 5 is the control center of the destacking and transportation system for materials in the container of the present invention, which can drive the roller conveyor platform vehicle 1 to move, and drive the seven-axis robot 3 equipped with the grab module 4 to perform destacking and other tasks. It can control the horizontal movement position of the roller conveyor platform vehicle 1 through the first laser ranging sensor and visual camera set on the roller conveyor platform vehicle 1. In addition, the automatic positioning analysis system set thereon can also collect, analyze and process preset related data, and guide the roller conveyor platform vehicle 1 and the seven-axis robot to work together.

[0212] It should be noted that by transmitting the data signals collected by the first laser ranging sensor and the second laser ranging sensor to the PLC control system included in the master control system 5, the PLC control system realizes the forward and backward movement of the roller conveyor platform vehicle 1, the lifting and lowering of the swing arm conveyor belt machine 2, and the movement control of the grabbing module 4 through data analysis and processing.

[0213] The automatic positioning analysis system included in the master control system 5 is used to collect the position information of the roller conveyor platform vehicle 1, the grabbing module 4, etc. relative to the container, and then send it to the PLC control system, which further analyzes and processes the relevant data, and can control the roller conveyor platform vehicle 1 and the seven-axis robot to move to the preset destacking position in the container. During destacking, the roller conveyor platform vehicle, the swing arm conveyor belt conveyor and the grabbing module can be controlled to work together to ensure the smooth and safe transportation of the material box.

[0214] In specific implementation, the master control system 5 includes an electric control cabinet 5-2;

[0215] The electric control cabinet 5-2 is installed at the top right end of the frame 1-1.

[0216] It should be noted that the electric control cabinet 5 - 2 is used to drive the seven-axis robot 3 equipped with the grasping module 4 to move and perform tasks such as depalletizing.

[0217] In the present invention, the specific implementation is as follows: Figure 9a As shown, a blower 5-2 is provided on the robot base 3-2.

[0218] It should be noted that the left end of the blower 5-1 faces the container (i.e., the cold chain container);

[0219] The right end of the blower 5-1 faces the electric control cabinet, so that the cold air in the cold chain container can be blown to the electric control cabinet to achieve heat dissipation and cooling effect;

[0220] After inspection, it is found that the depalletizing and transporting system for materials in containers provided by the present invention is efficient and reliable, and can complete the unloading of a 40-foot high cabinet container (≤1500 boxes) within 2.5 hours.

[0221] The specific working process of the seven-axis robot 3 provided by the present invention and equipped with the grasping module 4 is described below, including the following steps:

[0222] Step 1: When the roller conveyor platform vehicle 1 stops next to the container, the visual camera in the grab module 4 collects the image information of the material boxes in the container and transmits it to the control system of the six-axis robot 3-3 itself;

[0223] Step 2: The six-axis robot 3-3 adjusts the posture of its wrist according to the image information of the material box placement, and places the vacuum pump suction cup group 4-3 in the grasping module 4 against the outer surface of the material box;

[0224] In step 3, the control system of the vacuum pump suction cup group 4-3 can be controlled by the master control system 5 to control the vacuum pump suction cup group 4-3 to draw a vacuum inside the suction cup, so that the suction cup can adsorb the material box to achieve the grabbing of the material box;

[0225] In step 4, the seven-axis robot 3 that has grasped the material box through the grasping module 4 moves horizontally and adjusts the posture of each axis of the six-axis robot so that the material box is located above the swing-arm conveyor belt 2. The material box is then placed on the top of the swing-arm conveyor belt 2, and the suction cup of the vacuum pump suction cup group 4-3 is inflated by control so that the suction cup no longer adsorbs the material box, thereby releasing the material box onto the swing-arm conveyor belt 2.

[0226] In order to more clearly understand the technical solution of the present invention, the overall working process of the present invention is described below.

[0227] In the first step, a staff member manually operates the roller conveyor platform vehicle 1 to arrive in front of the container where the material box is to be grabbed. According to the actual packing situation, the size parameters of the material box and the size parameters of the container are input into the control system of the six-axis robot 3-3 itself, and the visual camera 4-5 is used to take pictures and guide the six-axis robot 3-3 to work.

[0228] In the second step, the swing-arm conveyor belt conveyor 2 can position the roller (i.e., the end roller 2-11) to a suitable material receiving height according to the feedback information from the master control system 5.

[0229] It should be noted that the data signal collected by the first laser ranging sensor is transmitted to the PLC control system, and the PLC control system controls the swing-arm conveyor belt to adjust to a suitable height through data analysis and processing, so that the material box released by the suction cup on the grabbing module can fall smoothly onto the swing-arm conveyor.

[0230] In step 3, the seven-axis robot 3 feeds the grasping module 4 installed thereon to the position of the material box to be grasped and grasps the box.

[0231] In step 4, the grabbing module 4 sucks the material box with the suction cups in the vacuum pump suction cup group 4-3, and the seven-axis robot 3 drags the material box to the swing-arm conveyor belt conveyor 2. Then, the master control system controls the inflation of the suction cups in the vacuum pump suction cup group 4-3 so that the suction cups no longer adsorb the material box, thereby releasing the material box to the swing-arm conveyor belt conveyor 2. Then, the seven-axis robot 3 goes to the next grabbing position, and at the same time, the swing-arm conveyor belt conveyor 2 conveys the material box to the conveying rollers (i.e., the roller conveying mechanism 1-3) of the roller conveyor platform vehicle 1. The conveying rollers convey the material box to the existing external unloading platform located on the right side of the roller conveyor platform vehicle 1.

[0232] Among them, for the material boxes stored in the container, the seven-axis robot 3 equipped with a grasping module 4 adopts a layered grasping strategy (i.e., the first solution), and each layer of material boxes is grasped three times (different grasping strategies are used according to different material box placement forms). The grasping solution for the last layer (i.e., the bottom layer) of the material boxes preferentially adopts the end roller 2-11 to roll up and cooperate with the roller conveyor platform vehicle 1 to move to the left (i.e., move toward the container), so as to collect the material boxes to the swing arm conveyor belt conveyor 2; if the first solution cannot be completed, by adopting the guidance of the visual camera installed on the grasping module, the seven-axis robot 3 equipped with the grasping module 4 can directly grasp (or drag) the material box from the top of the material box, and grasp the material box to the telescopic belt mechanism 2-9 or the fixed belt conveyor mechanism 2-8 of the swing arm conveyor belt conveyor 2.

[0233] Compared with the prior art, the depalletizing and transporting system for materials in a container provided by the present invention has the following beneficial effects:

[0234] 1. Based on the above technical solutions, it can be seen that the depalletizing and transportation system for materials in containers provided by the present invention is a system with high working efficiency, strong applicability, reasonable design and reliable performance, which can adaptively depalletize and transport material boxes in containers of various specifications.

[0235] 2. Compared with the prior art, the present invention provides a depalletizing and transporting system for materials in containers, which introduces a visualized seven-axis robot with strong adaptability, can realize the required functions in a limited space, is convenient to use, and its reasonable structural design can greatly save debugging and operation time, effectively reduce production costs, and improve production efficiency.

[0236] To sum up, compared with the prior art, the present invention provides a destacking and transportation system for materials in a container, which is scientifically designed and can efficiently and reliably destacking multiple material boxes for storing cold chain materials in a cold chain container, and then transport them outward to an existing external unloading platform, thereby significantly improving the destacking and transportation efficiency of the material boxes, and has great practical significance.

[0237] After the depalletizing and transporting system for materials in a container provided by the present invention is applied, workers are no longer required to manually perform depalletizing and transporting operations, which is beneficial to maintaining the health of the workers.

[0238] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A depalletizing and transporting system for materials in a container, characterized in that: It comprises a roller conveyor platform vehicle (1), a swing arm conveyor belt conveyor (2), a seven-axis robot (3) and a grabbing module (4); The left end of the roller conveyor platform vehicle (1) is hinged to the right end of the swing arm conveyor belt conveyor (2); A seven-axis robot (3) is provided at the top left end of the roller conveyor platform vehicle (1); The wrist of the seven-axis robot (3) is provided with a grasping module (4); The seven-axis robot (3) is used to grab the material box in the container located on the left side of the swing-arm conveyor belt conveyor (2) through the grabbing module (4) installed thereon, and then rotate and move to the upper left end of the swing-arm conveyor belt conveyor (2) to place the material box on the top left end of the swing-arm conveyor belt conveyor (2); The swing-arm conveyor belt conveyor (2) is used to convey the material box to the right after the seven-axis robot (3) places the material box on the top thereof, until it is conveyed to the discharge end on the left side of the top of the roller conveyor platform vehicle (1); The roller conveyor platform vehicle (1) is used to convey the material box conveyed by the swing arm conveyor belt (2) from left to right, and convey the material box to an external unloading platform through the material box outlet (101) on its right side; The external unloading platform is located directly to the right of the roller conveyor platform vehicle (1) and is connected to the right end of the roller conveyor platform vehicle (1); A swing-arm conveyor belt conveyor (2), comprising a belt frame (2-5) and two lifting motors (2-1); Two lifting motors (2-1) are respectively arranged at the front and rear sides of the left end of the top of the vehicle frame (1-1); A rotating disk (2-2) is respectively installed at the output shaft end of each lifting motor (2-1); A longitudinally distributed rotating shaft (2-3) is respectively installed on the front and rear sides of the left end of the vehicle frame (1-1); A belt conveyor bearing seat (2-4) is respectively arranged on the front and rear sides of the right end of the swing arm conveyor belt conveyor (2); Each belt conveyor bearing seat (2-4) has a bearing inner ring at one end close to the frame (1-1), which is respectively connected to a rotating shaft (2-3); One end of each belt conveyor bearing seat (2-4) away from the vehicle frame (1-1) is fixedly connected to the front and rear sides of the right end of the belt conveyor frame (2-5); A lifting screw seat (2-6) is fixedly mounted at the middle position of the front and rear sides of the belt frame (2-5); A lifting screw (2-7) is installed on the upper part of each lifting screw seat (2-6); Each lifting screw rod (2-7) is connected to the rotating disk (2-2) on the same side thereof via a steel wire rope; The upper area of ​​the belt frame (2-5) is provided with a plurality of fixed belt conveying mechanisms (2-8); A pair of telescopic belt conveying mechanisms (2-9) are respectively arranged on the front and rear sides of the upper part of the belt frame (2-5); The telescopic belt conveying mechanism (2-9) comprises a telescopic belt frame (2-9-1); Below the left and right ends of the telescopic belt frame (2-9-1), there is a first linear guide rail (2-9-2) distributed longitudinally respectively; The two first linear guide rails (2-9-2) are symmetrically distributed on the left and right sides; Two first linear guide rails (2-9-2) are installed on the top of the belt frame (2-5); The slide blocks on the two first linear guide rails (2-9-2) are connected to the bottom of the telescopic belt frame (2-9-1); A retractable electric cylinder (2-9-3) is arranged directly below the retractable belt frame (2-9-1); The output end of the electric cylinder (2-9-3) is connected to the lower side of the middle part of the telescopic belt frame (2-9-1); The cylinder body of the electric cylinder (2-9-3) is installed on the top of the belt frame (2-5), and the installation position is closer to the outer end of the belt frame (2-5) than the installation position of the two first linear guide rails (2-9-2); A longitudinally distributed first driving roller (2-90) and a longitudinally distributed first unpowered roller (2-91) are respectively pivotally connected to the left and right ends of the telescopic belt frame (2-9-1); The first driving roller (2-90) and the first unpowered roller (2-91) are spaced apart from each other on the left and right sides; The first driving roller (2-90) and the first unpowered roller (2-91) are linked and connected via an annular belt; A plurality of fixed belt conveyor mechanisms (2-8), specifically comprising two sets of short fixed belt conveyor mechanisms (2-8-1) and one set of long fixed belt conveyor mechanisms (2-8-2); For two groups of short fixed belt conveying mechanisms (2-8-1), each group of short fixed belt conveying mechanisms (2-8-1) has a frame with left and right ends respectively pivotally connected to a longitudinally distributed second driving roller (2-80) and a longitudinally distributed second unpowered roller (2-81); The second driving roller (2-80) and the second unpowered roller (2-81) are spaced apart from each other on the left and right sides; The second driving roller (2-80) and the second unpowered roller (2-81) are linked and connected via an annular belt; For the long fixed belt conveyor mechanism (2-8-2), the left end of the frame is pivotally connected to a second driving roller (2-80) and two third unpowered rollers (2-82), and the right end of the frame is pivotally connected to the second unpowered roller (2-81); The long fixed belt conveying mechanism (2-8-2) comprises four narrow belts (2-83), the right sides of the two narrow belts (2-83) located on the outside are sleeved on the second unpowered roller (2-81) of the short fixed belt conveying mechanism (2-8-1), and the left sides of the two narrow belts (2-83) located on the outside are sleeved on the third unpowered roller (2-82); The left side of the two narrow belts (2-83) located in the middle is sleeved on the second driving roller (2-80), and the right side is sleeved on the second unpowered roller (2-81) of the short fixed belt conveying mechanism (2-8-1); The second driving roller (2-80) rotates in a clockwise direction.

2. The depalletizing and transporting system for materials in a container as claimed in claim 1, characterized in that: A roller conveyor platform vehicle (1) comprises a vehicle frame (1-1); A roller conveying mechanism (1-3) is provided on the upper part of the vehicle frame (1-1); The top of the roller conveying mechanism (1-3) is used to receive the material box placed by the seven-axis robot (3) and convey the material box to the right to the top of the roller conveying platform vehicle (1).

3. The depalletizing and transporting system for materials in a container as claimed in claim 2, characterized in that: A platform vehicle traveling mechanism (1-2) is installed at the lower part of the vehicle frame (1-1); The platform vehicle walking mechanism (1-2) specifically comprises a first driving reduction motor (1-2-1); The first driving reduction motor (1-2-1) is installed at the bottom of the vehicle frame (1-1); An output shaft end of the first driving reduction motor (1-2-1) is provided with a driving sprocket (1-2-2); A first bearing seat is respectively arranged on both sides of the front and rear of the left end of the bottom of the vehicle frame (1-1); A longitudinally distributed drive shaft (1-2-3) is respectively arranged in the inner ring of the bearing of each first bearing seat; The two drive shafts (1-2-3) are symmetrically distributed front and rear; A driven sprocket (1-2-4) and a front wheel (1-2-5) are mounted on each drive shaft (1-2-3); The driving sprocket (1-2-2) is linked and connected with the driven sprocket (1-2-4) via a first chain distributed in an annular manner; A second bearing seat is respectively arranged on the front and rear sides of the right end of the bottom of the vehicle frame (1-1); The two second bearing seats are symmetrically distributed front and back; The front and rear ends of a longitudinally distributed driven shaft (1-2-6) are respectively connected to the inner rings of the bearings of the two second bearing seats; Two rear wheels (1-2-7) are mounted at both ends of each driven axle (1-2-6).

4. The depalletizing and transporting system for materials in a container as claimed in claim 2, characterized in that: A roller conveying mechanism (1-3), comprising a conveying roller group (1-3-1); The conveying roller group (1-3-1) is located in the middle of the upper part of the frame (1-1); A conveying roller group (1-3-1), comprising three roller support frames (1-3-1-2) spaced apart in the longitudinal direction; Three roller support frames (1-3-1-2) are fixedly arranged on the vehicle frame (1-1) and are respectively located at the front and rear sides of the lower part of the vehicle frame (1-1) and at the longitudinal middle position of the lower part; A row of horizontal rollers is pivotally connected between any two adjacent roller support frames (1-3-1-2); Each row of rollers comprises a plurality of cylindrical rollers (1-3-1-1) which are longitudinally distributed and laterally spaced; The front and rear ends of each roller (1-3-1-1) are respectively pivotally connected to two adjacent roller support frames (1-3-1-2).

5. The depalletizing and transporting system for materials in a container as claimed in claim 4, characterized in that: The outer side end of each roller (1-3-1-1) is respectively provided with a third sprocket (1-3-1-1-1) and a fourth sprocket (1-3-1-1-2); The third sprocket (1-3-1-1-1) is located at the front side of the fourth sprocket (1-3-1-1-2) and is spaced apart from each other; The fourth sprockets (1-3-1-1-2) on each pair of rollers (1-3-1-1) are linked and connected via a second chain (1-3-1-3) distributed in an annular manner; A second driving reduction motor (1-3-3) is respectively arranged on the front and rear sides of the right bottom end of the vehicle frame (1-1); A fifth sprocket (1-3-3-1) is respectively installed at the output shaft end of each second driving reduction motor (1-3-3); Two adjacent third sprockets (1-3-1-1-1) on two adjacent pairs of rollers (1-3-1-1) located directly above each fifth sprocket (1-3-3-1) are linked to the fifth sprocket (1-3-3-1) on the second driving reduction motor (1-3-3) located below via a third chain (1-3-3-2) distributed in an annular manner; Two baffles (1-3-2) are arranged at intervals on the top of the conveying roller group (1-3-1) and are symmetrically distributed front and back. The longitudinal gap width between the two baffles (1-3-2) gradually decreases from left to right.

6. The depalletizing and transporting system for materials in a container as claimed in claim 1, characterized in that: A seven-axis robot (3), comprising two second linear guide rails (3-1) distributed laterally; A second linear guide rail (3-1) is respectively provided on the upper parts of the front and rear sides of the vehicle frame (1-1); The top plates of the sliders of the two second linear guide rails (3-1) are equipped with a horizontally distributed robot base (3-2); A six-axis robot (3-3) is installed on the top of the robot base (3-2); The seven-axis walking drive motor (3-4) is installed on the top rear side of the robot base (3-2); A gear (3-5) is mounted on the output shaft at the bottom of the seven-axis travel drive motor (3-4); A laterally distributed rack (3-6) is provided on the rear side of the vehicle frame (1-1); The gear (3-5) is meshedly connected with the rack (3-6).

7. The depalletizing and transporting system for materials in a container as claimed in claim 6, characterized in that: The grabbing module (4) comprises an end base (4-1); One end of the end base (4-1) is mounted on the wrist of a six-axis robot (3-3) in the seven-axis robot (3), and the other end is provided with a suction cup mounting frame (4-2); The top of the suction cup mounting frame (4-2) is provided with visual camera bases (4-4) installed at intervals; A vacuum pump suction cup assembly (4-3) is provided on the left side of the suction cup mounting frame (4-2); A visual camera (4-5) is installed in a hole on the visual camera base (4-4); A second laser distance measuring sensor (4-6) is installed on the top rear side of the suction cup mounting frame (4-2).

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