A palletizing and depalletizing device

Abstract

The present invention discloses a depalletizing device, comprising a first storage device, a second storage device, a first handling device, a docking device, a second handling device and a can delivery mechanism. The first storage device positions a packaging box. The first handling device is used to absorb a layer of packaging cans and place the packaging cans on the docking device, and absorb a layer of templates and place the templates in the second storage device. The docking device comprises a slidably mounted docking plate and a plurality of positioning units arranged on the docking plate. Each group of positioning units comprises at least two rows of positioning bosses, and two adjacent rows of positioning bosses are staggered. The second handling device is arranged between the docking device and the can delivery mechanism. The second handling device comprises a group docking assembly and a group handling assembly. The group docking assembly absorbs the packaging cans on a group of positioning units each time and flips the packaging cans to an upright state. The group handling assembly absorbs a row of upright packaging cans each time and carries the packaging cans to place them on the can delivery mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of filling, and in particular to a palletizing and depalletizing device. Background Art

[0002] The existing packaging form of packaging cans (such as aluminum cans) is favored by the market because of its high packaging value. Aluminum cans are light in texture and cold in touch, and are preferred options for packaging high-value products. It is common in the market to package tea in aluminum cans. Since the outer surface of the aluminum can is provided with a special brushed texture, an anodized coloring layer, and a fine relief pattern, the unit price of the aluminum can is generally high. In order to avoid damaging the outer surface of the aluminum can during storage and transportation, the aluminum cans are placed on the template at intervals and fixed to prevent adjacent aluminum cans from coming into contact and rubbing against each other - that is, there are a plurality of protruding limiting columns on the surface of the template. The aluminum cans are placed upside down on the template so that the limiting columns are inserted into the aluminum cans. Finally, the aluminum cans are concentrated on the template in an inverted state. In order to place more aluminum cans on the surface of the template, the aluminum cans are arranged closely, that is, adjacent two columns of aluminum cans are staggered. The templates carrying the aluminum cans are stacked in the packaging box and finally enter the warehousing and circulation link. When the aluminum cans enter the filling process, they need to be arranged one by one on the conveyor line. Therefore, it is necessary to transport the aluminum cans from the cardboard box to the conveyor line. In the prior art, such aluminum cans are placed one by one by workers, so the work efficiency is low. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a palletizing and depalletizing device that can realize automatic palletizing and depalletizing, thereby improving the work efficiency.

[0004] To solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A palletizing and depalletizing device includes a frame, and further includes a first storage device, a second storage device, a first handling device, a connection device, a second handling device, and a tank discharging conveyor installed on the frame. The packaging box contains multiple layers of templates and packaging cans buckled on the templates. The first storage device positions the packaging box. The first handling device is used to suck up one layer of packaging cans and place the packaging cans on the connection device, and suck up one layer of templates and place the templates in the second storage device. The connection device includes a connection plate slidably installed on the frame and multiple groups of positioning units arranged in parallel on the connection plate. Each group of positioning units includes at least two columns of positioning bosses, and the adjacent two columns of positioning bosses are staggeredly distributed. The packaging cans are buckled upside down on the positioning bosses. The second handling device is arranged between the output end station of the connection device and the input end station of the tank discharging conveyor. The second handling device includes a grouped connection component and a grouped handling component. The grouped connection component sucks up the packaging cans on one group of positioning units each time and turns the packaging cans to the upright state. The grouped handling component sucks up one column of upright packaging cans each time and transports the packaging cans to be placed on the tank discharging conveyor.

[0006] In the above-mentioned palletizing and depalletizing device, the first storage device includes a first placement platform, and a limit block and a limit mechanism installed on the first placement platform. The packaging box is limited between multiple limit blocks, and multiple limit mechanisms press the top surface of the packaging box.

[0007] In the above-mentioned palletizing and depalletizing device, the limit mechanism includes a bracket, a swing arm rotatably installed at the top of the bracket, and a limit cylinder arranged on one side of the bracket. One end of the swing arm is hinged to the piston rod of the limit cylinder, and the piston rod of the limit cylinder drives one end of the swing arm to move upward, so that the other end of the swing arm rotates downward and presses the corner part of the packaging box.

[0008] In the above-mentioned palletizing and depalletizing device, the second storage device includes a second placement platform, and multiple limit plates installed on the second placement platform. Multiple templates are stacked in the space surrounded by the multiple limit plates.

[0009] In the above-mentioned palletizing and depalletizing device, the first storage device is arranged between the second storage device and the connection device.

[0010] In the above-mentioned palletizing and depalletizing device, the first handling device includes a first lifting unit, a first translation unit, a first support guide rail, a first mounting plate, and a first suction unit. The first suction unit is vertically slidably installed below the first mounting plate. The first suction unit includes multiple short suction cups for sucking up packaging cans and multiple long suction cups for sucking up templates. The first translation unit drives the first mounting plate to reciprocate horizontally between the second storage device and the connection device. The first lifting unit drives the first suction unit to move up and down relative to the first mounting plate.

[0011] In the above-mentioned depalletizing equipment, the depalletizing equipment also includes a dust removal device, which includes an air intake component, an air exhaust component and an air bin arranged under the connecting plate. An air intake channel and an air outlet channel are provided on the positioning boss. The height of the positioning boss is less than the depth of the packaging can. The air intake component is connected to the air intake channel through an air intake pipeline, and the air exhaust component is connected to the air outlet channel through the air bin.

[0012] In the above-mentioned depalletizing equipment, the sliding direction of the docking plate is perpendicular to the conveying direction of the can discharge conveying mechanism, a plurality of positioning units are arranged along the sliding direction of the docking plate, the group docking assembly is located above the output end station of the docking device and performs lifting and lowering movements, and the group handling assembly performs lifting and translational movements between the group docking assembly and the can discharge conveying mechanism.

[0013] In the above-mentioned destacking equipment, the group docking assembly includes a second lifting unit, a second mounting plate, a second suction unit and a rotating mechanism. The second lifting unit drives the second mounting plate to lift and lower. The second suction unit is rotatably mounted on the second mounting plate. The second suction unit includes a plurality of second suction cups corresponding one by one to the positioning bosses in the positioning unit. The rotating mechanism is mounted on the second mounting plate and drives the second suction unit to rotate so that the second suction cup is flipped up and down.

[0014] In the above-mentioned depalletizing equipment, the grouping transport assembly includes a third suction unit and a third driving mechanism for driving the third suction unit to rise, fall and translate. The third suction unit includes a plurality of third suction cups corresponding one by one to the positioning bosses in a single positioning unit. The third suction unit sucks a row of packaging cans on the group docking assembly each time.

[0015] Beneficial effects of the present invention:

[0016] The distribution mode and quantity of the positioning bosses on the docking device in the present invention are the same as the distribution mode and quantity of each layer of packaging cans in the packaging box. When the depalletizing equipment is working, the packaging box is first opened, and then the opened packaging box is positioned and fixed by the first storage device. Then the first handling device absorbs a layer of packaging cans and carries it to the docking device, so that the packaging cans are turned upside down on the positioning bosses one by one. Then the first handling device returns and absorbs a layer of templates and places the templates in the second storage device. The docking plate carrying the packaging cans slides to the output end station of the docking device. Then the group docking component absorbs the packaging cans on a group of positioning units each time and flips the packaging cans to an upright state. Then the group handling component absorbs a row of upright packaging cans each time and carries the packaging cans to place them on the can delivery conveying mechanism. The group handling component returns and continues to carry the packaging cans on the group docking component and place them on the can delivery conveying mechanism until all the packaging cans on the group docking component are carried. Next, the group docking component absorbs the packaging cans on the next group of positioning units on the docking device. The packaging cans are transported and placed on the can discharge conveying mechanism through the grouping handling assembly until all the packaging cans on the docking device are transported. At this time, the docking device is reset and receives the packaging cans transported by the first handling device and transports them all and places them on the can discharge conveying mechanism through the second handling device. The first handling device, the docking device and the second handling device are reciprocated until all the packaging cans and templates in the packaging box are taken out, thereby realizing automatic destacking and improving work efficiency; in addition, the grouping docking assembly absorbs a group of packaging cans on the positioning unit each time and turns the packaging cans to an upright state, so that the inner bottom wall of the packaging can becomes the adsorption part of the grouping handling assembly, thereby facilitating the adsorption of the grouping handling assembly and improving the adsorption reliability of the grouping handling assembly. At the same time, the packaging cans are in an upright state, which is also convenient for subsequent filling; finally, the grouping handling assembly absorbs a row of upright packaging cans each time and transports the packaging cans to place them on the can discharge conveying mechanism, so that the packaging cans can be transported in a single row on the can discharge conveying mechanism, thereby matching the existing filling mechanism and improving the filling efficiency.

[0017] The first storage device includes a first placement platform, and a limit block and a limit mechanism installed on the first placement platform. The packaging box is limited between a plurality of limit blocks, and a plurality of limit mechanisms press the top surface of the packaging box. The plurality of limit blocks can prevent the packaging box from shifting horizontally, thereby ensuring that the first handling device absorbs all the packaging cans of each layer and transports them to the docking device, and the design of the plurality of limit mechanisms realizes the upper limit of the packaging box, so as to avoid the packaging box moving upward when the first handling device absorbs the template and escaping from the limit of the plurality of limit blocks, thereby improving the reliability of the limit of the packaging box.

[0018] The limiting mechanism includes a bracket, a swing arm rotatably mounted on the top of the bracket, and a limiting cylinder disposed on one side of the bracket. One end of the swing arm is hinged to the piston rod of the limiting cylinder. The piston rod of the limiting cylinder drives one end of the swing arm to move upward, so that the other end of the swing arm rotates downward and presses the corner of the packaging box. With such a design, the piston rod can be driven by the limiting cylinder to move, so that the other end of the swing arm rotates downward and presses the corner of the packaging box, or rotates upward away from the corner of the packaging box to cancel the pressing of the packaging box, that is, automatic control is realized without manual operation.

[0019] The second storage device includes a second placement platform and a plurality of limiting plates installed on the second placement platform, and the plurality of templates are stacked in a space surrounded by the plurality of limiting plates. With such a design, the plurality of limiting plates can be used to achieve horizontal positioning of the templates, so that the plurality of templates are stacked in the space surrounded by the plurality of limiting plates, which facilitates the removal of all templates at one time later.

[0020] The first storage device is arranged between the second storage device and the docking device. This design can make the layout of the entire device more compact and reduce the space occupied by the depalletizing device; at the same time, this design only requires the first handling device to perform translation and lifting movements between the first storage device and the second storage device, thereby reducing the difficulty of controlling the first handling device.

[0021] The first handling device includes a first lifting unit, a first translation unit, a first support rail, a first mounting plate and a first suction unit. The first suction unit is vertically slidably installed below the first mounting plate. The first suction unit includes a plurality of short suction cups for sucking packaging cans and a plurality of long suction cups for sucking templates. The first translation unit drives the first mounting plate to reciprocate between the second storage device and the docking device. The first lifting unit drives the first suction unit to perform lifting and lowering motion relative to the first mounting plate. With such a design, the first translation unit can drive the first mounting plate to slide and drive the first suction unit to reciprocate and translate, and the first lifting unit can drive the first suction unit to lift and lower to suck packaging cans or templates. The overall structure is relatively simple and the assembly is relatively convenient.

[0022] The depalletizing equipment also includes a dust removal device, which includes an air intake assembly, an air extraction assembly, and an air bin arranged below the docking plate. An air intake channel and an air outlet channel are arranged on the positioning boss. The height of the positioning boss is less than the depth of the packaging can. The air intake assembly is connected to the air intake channel through an air intake pipeline, and the air extraction assembly is connected to the air outlet channel through the air bin. With such a design, clean air from the outside is sucked in by the air intake assembly and sent into the packaging can through the air intake pipeline, blowing away the dust inside the packaging can. Then, the gas with dust is discharged from the air outlet channel and collected in the air bin, and then extracted by the air extraction assembly, thereby achieving dust removal inside the packaging can and improving the cleanliness inside the packaging can.

[0023] The sliding direction of the connection board is perpendicular to the conveying direction of the can-out conveying mechanism. Multiple groups of positioning units are arranged along the sliding direction of the connection board. The grouped connection assembly is located above the output end station of the connection device and performs a lifting motion. The grouped handling assembly performs a lifting and translation motion between the grouped connection assembly and the can-out conveying mechanism. With such a design, whenever the grouped connection assembly sucks up the packaging cans on a group of positioning units, the connection device slides forward a certain distance, so that the packaging cans on a group of positioning units are just located below the grouped connection assembly, facilitating the grouped connection assembly to descend and suck up the packaging cans on a group of positioning units next time. It can be seen that by controlling the feeding distance of the connection device, the grouped connection assembly can suck up the packaging cans only by lifting, without the need for the grouped connection assembly to translate, thus eliminating the translation structure for driving the grouped connection assembly to translate, simplifying the palletizing and depalletizing equipment, and reducing the manufacturing cost.

[0024] The grouped connection assembly includes a second lifting unit, a second mounting plate, a second suction unit, and a rotating mechanism. The second lifting unit drives the second mounting plate to lift and lower. The second suction unit is rotatably mounted on the second mounting plate. The second suction unit includes a plurality of second suction cups corresponding one by one to the positioning bosses in the positioning unit. The rotating mechanism is mounted on the second mounting plate and drives the second suction unit to rotate, so that the second suction cups are turned over up and down. With such a design, after the second lifting unit drives the second mounting plate to descend, the second suction unit sucks up the packaging cans and then drives the second mounting plate to rise and reset, and by driving the second suction unit to rotate through the rotating mechanism, the packaging cans can be turned to the upright state, and both the structure and the control program are relatively simple.

[0025] The grouped handling assembly includes a third suction unit and a third driving mechanism for driving the third suction unit to lift and translate. The third suction unit includes a plurality of third suction cups corresponding one by one to the positioning bosses in a single positioning unit. The third suction unit sucks up a row of packaging cans on the grouped connection assembly each time. Since the distribution and quantity of each row of packaging cans are different, the third suction unit is designed to include a plurality of third suction cups corresponding one by one to the positioning bosses in a single positioning unit. When the third suction unit sucks up a row of packaging cans on the grouped connection assembly, it only needs to control the third suction unit to move above the grouped connection assembly and control a row of third suction cups corresponding to this row of packaging cans to adsorb, and the control program is relatively simple.

[0026] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. Description of the Drawings

[0027] The following further describes the present invention with reference to the drawings:

[0028] Figure 1 It is a schematic structural diagram of the packaging cans placed on the template in the packing box in the preferred embodiment of the present invention;

[0029] Figure 2 It is a structural schematic diagram of a depalletizing device in a preferred embodiment of the present invention;

[0030] Figure 3 It is a front view of the depalletizing device in the preferred embodiment of the present invention;

[0031] Figure 4 It is a schematic diagram of a part of the structure of a packaging box placed on a first storage device and a docking device in a preferred embodiment of the present invention;

[0032] Figure 5 It is a partial structural schematic diagram of the first transport device in a preferred embodiment of the present invention;

[0033] Figure 6 It is a schematic diagram of the structure of the connecting plate and the gas bin in a preferred embodiment of the present invention;

[0034] Figure 7 It is a structural schematic diagram of a positioning boss in a preferred embodiment of the present invention;

[0035] Figure 8 It is a cross-sectional view of the connecting plate and the gas chamber in the preferred embodiment of the present invention;

[0036] Figure 9 Schematic diagram of the coordination between the docking plate and the group docking assembly in the preferred embodiment of the present invention Figure One ;

[0037] Figure 10 Schematic diagram of the coordination between the docking plate and the group docking assembly in the preferred embodiment of the present invention Figure Two ;

[0038] Figure 11 Schematic diagram of the coordination between the docking plate and the group docking assembly in the preferred embodiment of the present invention Figure Three ;

[0039] Figure 12 It is a partial structural schematic diagram of the second handling device in a preferred embodiment of the present invention;

[0040] Figure 13 It is a partial structural schematic diagram of the can delivery mechanism in the preferred embodiment of the present invention.

[0041] Reference numerals:

[0042] 001, packaging box; 002, template; 003, packaging can;

[0043] 100, rack; 110, lower frame; 120, middle frame; 130, upper frame; 131, vertical plate; 132, horizontal plate; 1321, second guide sleeve; 140, second support rail;

[0044] 200, first storage device; 210, first placement platform; 220, limit block; 230, limit mechanism; 231, bracket; 232, swing arm; 233, limit cylinder;

[0045] 300, second storage device; 310, second placement platform; 320, limiting plate;

[0046] 400, first transport device; 410, first support rail; 420, first mounting plate; 421, first guide sleeve; 430, first translation motor; 440, first belt; 450, first suction cup bracket; 451, first guide rod; 452, short suction cup; 453, long suction cup; 460, first lifting motor; 470, movable pulley; 480, first lifting belt; 490, first transmission wheel;

[0047] 500, docking device; 510, docking plate; 520, positioning unit; 530, positioning boss; 531, air inlet channel; 532, air outlet channel;

[0048] 600, second handling device; 610, grouping docking assembly; 611, second lifting unit; 612, second mounting plate; 6121, second guide rod; 613, second suction unit; 6131, rotating bracket; 6132, second suction cup; 6133, limiting frame; 61331, limiting hole; 614, rotating mechanism; 620, grouping handling assembly; 621, third mounting plate; 6211, third guide rod; 622, third suction cup; 623, fourth mounting plate; 624, cylinder; 625, driving motor; 626, third belt; 627, third main pulley; 628, third secondary pulley;

[0049] 700, can delivery mechanism; 710, support member; 720, mold box; 730, left stopper; 740, right stopper; 750, rear clamping plate;

[0050] 800, dust removal device; 810, air extraction assembly; 820, air chamber; 830, air inlet pipeline; 831, main pipeline; 832, branch pipeline. DETAILED DESCRIPTION

[0051] The technical solutions of the embodiments of the present invention are explained and described below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0052] Reference Figures 1 to 13As shown, the palletizing and depalletizing equipment in this embodiment includes a frame 100, and further includes a first storage device 200, a second storage device 300, a first handling device 400, a connection device 500, a second handling device 600, and a can discharging conveyor mechanism 700 installed on the frame 100. The packaging box 001 contains multiple layers of templates 002 and packaging cans 003 buckled on the templates 002. The first storage device 200 positions the packaging box 001. The first handling device 400 is used to suck one layer of packaging cans 003 and place the packaging cans 003 on the connection device 500, and suck one layer of templates 002 and place the templates 002 in the second storage device 300. The connection device 500 includes a connection board 510 slidably installed on the frame 100 and multiple groups of positioning units 520 arranged in parallel on the connection board 510. Each group of positioning units 520 includes at least two columns of positioning bosses 530, and the adjacent two columns of positioning bosses 530 are staggeredly distributed. The distribution mode and quantity of the positioning bosses 530 on the connection board 510 are the same as the distribution mode and quantity of each layer of packaging cans 003 in the packaging box 001. The packaging cans 003 are buckled upside down on the positioning bosses 530. The second handling device 600 is arranged between the output end station of the connection device 500 and the input end station of the can discharging conveyor mechanism 700. The second handling device 600 includes a grouped connection component 610 and a grouped handling component 620. The grouped connection component 610 sucks one group of packaging cans 003 on one group of positioning units 520 each time and turns the packaging cans 003 to the upright state. The grouped handling component 620 sucks one column of upright packaging cans 003 each time and transports the packaging cans 003 to place them on the can discharging conveyor mechanism 700.

[0053] Specifically, the rack 100 in this embodiment includes a lower frame 110, a middle frame 120 and an upper frame 130, wherein the first storage device 200 includes a first placement platform 210, a limit block 220 and a limit mechanism 230, the first placement platform 210 is a first placement plate fixed on the middle frame 120, a plurality of limit blocks 220 and a plurality of limit mechanisms 230 are distributed at intervals on the outer peripheral side of the packaging box 001 and fixed on the first placement plate, preferably, the number of the limit blocks 220 and the limit mechanism 230 are both four, the four limit blocks 220 are diagonally distributed at the four corners of the packaging box 001, the packaging box 001 is limited between the four limit blocks 220, and the four limit mechanisms 230 are diagonally distributed on the four corners of the packaging box 001 The four limiting mechanisms 230 are designed to prevent the horizontal displacement of the packaging box 001 by the four limiting blocks 220, thereby ensuring that the first handling device 400 absorbs all the packaging cans 003 of each layer and transports them to the docking device 500, and the design of the four limiting mechanisms 230 realizes the upper limit positioning of the packaging box 001, so as to avoid the packaging box 001 moving upward and escaping from the limit of the four limiting blocks 220 when the first handling device 400 absorbs the template 002, thereby improving the limiting reliability of the packaging box 001; in addition, the four limiting mechanisms 230 are diagonally distributed at the four corners of the packaging box 001, which can make it easier for employees to take and put the packaging box 001, and there is no need to lift it too high when taking and putting.

[0054] like Figure 4 As shown, in order to realize that the limiting mechanism 230 presses the four corners of the packaging box 001, the limiting mechanism 230 in this embodiment includes a bracket 231, a swing arm 232 and a limiting cylinder 233, wherein the bracket 231 and the limiting cylinder 233 are both installed on the first placement plate, the bracket 231 is located between the limiting cylinder 233 and the packaging box 001, the middle part of the swing arm 232 is rotatably installed on the top of the bracket 231, one end of the swing arm 232 is hinged to the piston rod of the limiting cylinder 233, and the piston rod of the limiting cylinder 233 drives the swing arm 232 to move. When one end of the arm 232 moves upward, the other end of the swing arm 232 can be rotated downward and press the corner of the packaging box 001, thereby realizing the upper limit of the packaging box 001. When the piston rod of the limit cylinder 233 drives one end of the swing arm 232 to move downward, the other end of the swing arm 232 can be rotated upward away from the corner of the packaging box 001 to cancel the pressure on the packaging box 001, so that the employees can take and place the packaging box 001. That is, the limiting mechanism 230 of this embodiment can realize automatic control without manual operation.

[0055] like Figure 2As shown, the second storage device 300 includes a second placement platform 310 and a plurality of limiting plates 320 installed on the second placement platform 310. The second placement platform 310 is a second placement plate installed on the middle frame 120. The plurality of limiting plates 320 surround the three sides of the packaging box 001 so that the plurality of limiting plates 320 enclose a space with one side open, and the plurality of templates 002 are stacked in the space. With such a design, the horizontal position of the template 002 can be achieved by the plurality of limiting plates 320, so that the plurality of templates 002 are stacked in the space enclosed by the plurality of limiting plates 320, so that all templates 002 can be extracted from the open side of the space at one time in the later stage. Preferably, the first storage device 200 is arranged between the second storage device 300 and the docking device 500. With such a design, the layout of the entire device can be made more compact and the occupied space of the depalletizing device can be reduced; at the same time, with such a design, the first handling device 400 only needs to perform translation and lifting movements between the first storage device 200 and the second storage device 300, thereby reducing the control difficulty of the first handling device 400.

[0056] Among them Figure 5As shown, the first transport device 400 includes a first lifting unit, a first translation unit, a first support rail 410, a first mounting plate 420 and a first suction unit, wherein two first support rails 410 are installed on the upper frame 130 at intervals and extend along the length direction of the upper frame 130, the first mounting plate 420 has a first guide groove that is slidably matched with the first support rail 410, the first translation unit includes a first translation motor 430, a first main pulley, a first secondary pulley and a first belt 440, wherein the first main pulley is connected to the first belt 440. The first translation motor 430 is connected, the first translation motor 430 is installed on the upper frame 130, the first secondary pulley is rotatably installed on the upper frame 130, the first belt 440 is wound around the first main pulley and the first secondary pulley, and the first belt 440 is connected to the first mounting plate 420. In this way, the first translation motor 430 can drive the first belt 440 to move and drive the first mounting plate 420 to translate along the first support guide rail 410, so that the first mounting plate 420 can reciprocate between the second storage device 300 and the docking device 500. Two vertically extending first guide sleeves 421 are provided on the first mounting plate 420, and the first suction unit includes a first suction cup bracket 450, a first guide rod 451, and a plurality of short suction cups 452 for sucking the packaging cans 003 and a plurality of long suction cups 453 for sucking the template 002 installed on the first suction cup bracket 450, wherein the number and distribution of the short suction cups 452 are the same as the number and distribution of each layer of packaging cans 003, and some long suction cups 453 are arranged corresponding to the four corners of the template 002, and the two first guide rods 451 are installed on the first suction cup bracket 450 and extend vertically upward through the two first guide sleeves 421, and the first guide rod 451 is slidably matched with the first guide sleeve 421, and the first lifting unit includes a first lifting motor 460, two movable pulleys 470, a first lifting belt 480 and A first transmission wheel 490 connected to a first lifting motor 460 is installed on the top of a first mounting plate 420. Two supporting plates are also provided on the top of the first mounting plate 420. Two movable pulleys 470 are rotatably installed between the two supporting plates and are distributed vertically at intervals. An upper end of a first lifting belt 480 is fixed to a connecting rod connected between two first guide rods 451. The lower end of the first lifting belt 480 passes through the upper movable pulley 470, the first transmission wheel 490 and the lower movable pulley 470 in turn, and then passes downward through the first mounting plate 420 to be connected to the first suction cup bracket 450. Thus, the first transmission wheel 490 can be driven to rotate by the first lifting motor 460 to drive the first suction unit to perform lifting motion relative to the first mounting plate 420. The overall structure is relatively simple and assembly is relatively convenient.

[0057] In addition, if Figure 4 and Figure 6As shown in the figure, the rack 100 in this embodiment further includes two second support guide rails 140. The connection board 510 is slidably mounted on the second support guide rails 140. The connection device 500 further includes a connection drive mechanism. The connection drive mechanism includes a connection motor, a connection main pulley, a connection auxiliary pulley, and a connection synchronous belt. The connection synchronous belt is wound around the connection main pulley and the connection auxiliary pulley and is connected to the connection board 510. The connection main pulley is connected to the connection motor. The connection motor is mounted on the second support guide rails 140. The connection auxiliary pulley is rotatably mounted on the second support guide rails 140. The connection motor drives the connection synchronous belt to move to drive the connection board 510 to slide and translate along the second support guide rails 140. Preferably, the sliding direction of the connection board 510 is perpendicular to the conveying direction of the can discharging conveying mechanism 700. Multiple groups of positioning units 520 are arranged along the sliding direction of the connection board 510.

[0058] Secondly, as Figure 2 , Figures 3 to 8 shown, the palletizing and depalletizing equipment in this embodiment further includes a dust removal device 800. The dust removal device 800 includes an air inlet assembly, an air extraction assembly 810, and an air chamber 820 provided below the connection board 510. The air chamber 820 is connected to the connection board 510 and moves synchronously. The air inlet assembly and the air extraction assembly 810 are both mounted below the connection board 510 and fixed on the lower layer frame 110. Among them, the air inlet assembly is a high-pressure air supply pipeline, and the air extraction assembly 810 is an exhaust fan. The air chamber 820 is connected to the air extraction assembly 810 through a hose. The positioning boss 530 is a frustum that gradually contracts upward to facilitate the packaging can 003 to be buckled upside down on the positioning boss 530. An installation groove is provided on the connection board 510. The bottom of the positioning boss 530 is embedded in the installation groove. An air inlet channel 531 and an air outlet channel 532 communicating with the air chamber 820 are provided on the positioning boss 530. The air inlet channel 531 is provided at the central part of the positioning boss 530. Multiple air outlet channels 532 are arranged around the outside of the air inlet channel 531. The height of the positioning boss 530 is less than the depth of the packaging can 003 so that the air inlet channel 531 communicates with the air outlet channel 532. The air inlet assembly is connected to the air inlet channel 531 through an air inlet pipeline 830. Among them, the air inlet pipeline 830 includes a main pipeline 831 and a plurality of vertical branch pipelines 832. The branch pipelines 832 are connected to the air inlet channel 531 in one-to-one correspondence. The main pipeline 831 is connected to the air inlet assembly. With such a design, the external clean air is inhaled by the air inlet assembly and sent into the packaging can 003 through the air inlet pipeline 830 to blow away the dust inside the packaging can 003. Subsequently, the gas with dust is discharged from the air outlet channel 532 and collected in the air chamber 820, and is extracted by the air extraction assembly 810, thereby realizing the dust removal inside the packaging can 003 and improving the cleanliness inside the packaging can 003.

[0059] Furthermore, as Figures 9 to 12As shown in the figure, the grouping and connecting component 610 in this embodiment is located above the output end station of the connecting device 500 and performs lifting motion. The grouping and connecting component 610 includes a second lifting unit 611, a second mounting plate 612, a second suction unit 613, and a rotating mechanism 614. The upper layer frame 130 is connected with two vertical plates 131 extending downward. The two vertical plates 131 are connected by a cross plate 132. A second guide sleeve 1321 is provided on the cross plate 132. The second lifting unit 611 is a linear cylinder installed on the cross plate 132. A second guide rod 6121 that is vertically slidably matched with the second guide sleeve 1321 is provided on the second mounting plate 612. The piston rod of the linear cylinder is connected to the second mounting plate 612 to enable the second lifting unit 611 to drive the second mounting plate 612 to lift. The second suction unit 613 is rotatably installed on the second mounting plate 612. The second suction unit 613 includes a rotating bracket 6131, a second suction cup 6132, and a limiting frame 6133 that rotates synchronously with the rotating bracket 6131. The second suction cup 6132 is installed on the rotating bracket 6131. Multiple second suction cups 6132 correspond one-to-one to multiple positioning bosses 530 in a single positioning unit 520. In this embodiment, the positioning unit 520 includes two columns of positioning bosses 530. The corresponding second suction unit 613 includes two columns of second suction cups 6132. Two columns of limiting holes 61331 corresponding one-to-one to the second suction cups 6132 are provided on the limiting frame 6133. After the second suction cup 6132 sucks the packaging can 003, the packaging can 003 passes through the limiting holes 61331. The rotating mechanism 614 is a rotating motor installed on the second mounting plate 612. The rotating bracket 6131 is rotatably installed on the second mounting plate 612. The rotating motor drives the rotating bracket 6131 to rotate so that the second suction cup 6132 can be turned over up and down, and then the adsorbed packaging can 003 can be turned to an upright state. With such a design, the inner bottom wall of the packaging can 003 can become the adsorption part of the grouping and handling component 620, which is convenient for the grouping and handling component 620 to adsorb and improves the adsorption reliability of the grouping and handling component 620. At the same time, the upright state of the packaging can 003 is also convenient for later filling; the design of the limiting frame 6133 avoids the inclination of the packaging can 003 during the turning process and ensures that the packaging can 003 remains in an upright state after turning, so as to facilitate the smooth suction of the upright packaging can 003 by the later grouping and handling component 620. It can be seen that the structure and control program of the grouping and connecting component 610 are relatively simple.

[0060] It should be noted that, every time the group docking assembly 610 sucks away the packaging cans 003 on a group of positioning units 520, the docking drive mechanism drives the docking plate 510 to slide forward a certain distance so that the packaging cans 003 of a group of positioning units 520 are just located below the group docking assembly 610, so that the next time the group docking assembly 610 descends to absorb the packaging cans 003 on a group of positioning units 520, it can be seen that by controlling the feeding distance of the docking plate 510, the group docking assembly 610 can absorb the packaging cans 003 only by lifting and lowering, without the need for the group docking assembly 610 to translate, thereby eliminating the translation structure that drives the group docking assembly 610 to translate, thereby simplifying the destacking equipment and reducing the manufacturing cost.

[0061] In addition, if Figure 1 and Figure 12As shown, the group handling component 620 in this embodiment performs lifting and translational movements between the group docking component 610 and the can delivery conveying mechanism 700. The group handling component 620 includes a third suction unit and a third driving mechanism. The third suction unit includes a third mounting plate 621 and two rows of third suction cups 622 mounted on the bottom surface of the third mounting plate 621. The two rows of third suction cups 622 correspond one-to-one to the positioning bosses 530 in the single positioning unit 520. The third suction unit sucks a row of packaging cans on the group docking component 610 each time. The third driving mechanism includes a fourth mounting plate 623, a cylinder 624, a driving motor 625, a third belt 626, a third main pulley 627 and a third secondary pulley 628, wherein the driving motor 625 is mounted on the upper frame 130 and connected to the third main pulley 627, the third secondary pulley 628 is rotatably mounted on the upper frame 130, the third belt 626 is wound around the third main pulley 627 and the third secondary pulley 628, the third belt 626 is connected to the fourth mounting plate 623, the fourth mounting plate 623 is slidably mounted on the first supporting guide rail 410, the cylinder 624 is mounted on the fourth mounting plate 623, the piston rod of the cylinder 624 is connected to the third mounting plate 621, the third mounting plate 621 is provided with a third guide rod 6211 extending vertically upward, the third guide rod 6211 is vertically slidably matched with the guide sleeve on the fourth mounting plate 623, thereby The third belt 626 is driven to move so as to drive the fourth mounting plate 623 to slide and translate on the first supporting guide rail 410 between the grouping docking assembly 610 and the can delivery conveying mechanism 700, and the piston rod of the cylinder 624 can drive the third mounting plate 621 to rise and fall relative to the fourth mounting plate 623, so as to realize driving the third suction unit to rise and fall; in addition, since the distribution and quantity of the two columns of packaging cans 003 in the positioning unit 520 are different, the third suction unit is designed to only suck one column of packaging cans 003 on the grouping docking assembly 610 each time, and it is only necessary to control the third suction unit to move to the top of the grouping docking assembly 610 and control the adsorption of a column of third suction cups 622 corresponding to the packaging cans 003 to be sucked, and the control procedure is relatively simple; in addition, it is also possible to enable the packaging cans 003 to be conveyed in a single column on the can delivery conveying mechanism 700, thereby matching the existing filling mechanism and improving the filling efficiency.

[0062] Finally, if Figure 13As shown, the can-out conveying mechanism 700 in this embodiment includes a can-out conveyor belt (not shown in the figure), a support member 710, a plurality of mold boxes 720 for accommodating the packaging cans 003, a front can-blocking assembly, and a rear can-blocking assembly. Among them, the plurality of mold boxes 720 are arranged in a single row and slidably installed on the can-out conveyor belt. The support member 710 supports the can-out conveyor belt. Both the front can-blocking assembly and the rear can-blocking assembly are installed on the support member 710. Taking the conveying direction of the can-out conveyor belt as the front side, the front can-blocking assembly is located in front of the rear can-blocking assembly. The front can-blocking assembly includes a left stop block 730 and a right stop block 740 provided on both sides of the support member 710, a left air cylinder (not shown in the figure) for driving the left stop block 730 to move closer to or away from the support member 710, and a right air cylinder (not shown in the figure) for driving the right stop block 740 to move closer to or away from the support member 710. When the left air cylinder drives the left stop block 730 to approach the support member 710, the left stop block 730 will block the forward movement of the mold box 720. When the right air cylinder drives the right stop block 740 to approach the support member 710, the right stop block 740 will block the forward movement of the mold box 720. The distance between the left stop block 730 and the right stop block 740 in the conveying direction of the can-out conveyor belt is the misalignment distance between two adjacent rows of positioning bosses 530. In this embodiment, the right stop block 740 is located on the front side of the left stop block 730. The rear can-blocking assembly includes a rear clamping plate 750 and a rear air cylinder (not shown in the figure) for driving the rear clamping plate 750 to move closer to or away from the support member 710. The rear clamping plate 750 is provided on one side of the support member 710. After the rear air cylinder drives the rear clamping plate 750 to approach the support member 710, the rear clamping plate 750 abuts against the mold box 720 to block the forward movement of the mold box 720, so that the number of mold boxes 720 between the front can-blocking assembly and the rear can-blocking assembly is the same as the number of packaging cans sucked by the grouping handling assembly 620.That is, the number of the first row of positioning bosses 530 in the positioning unit 520 in this embodiment is 8, and the number of the second row of positioning bosses 530 is 9. Therefore, when the left cylinder drives the left stopper 730 to approach the support 710 and the rear cylinder drives the rear clamping plate 750 to approach the support 710, the number of mold boxes 720 between the left stopper 730 and the rear clamping plate 750 is 8. At this time, the number between the front can blocking assembly and the rear can blocking assembly is the same as the number of the first row of positioning bosses. When all the 8 packaging cans 003 in the first row are placed in the 8 mold boxes 720, the left cylinder drives the left stopper 730 away from the support 710. At this time, the packaging cans 003 are loaded. The mold box 720 of can 003 continues to be conveyed forward, and when 8 mold boxes 720 are located in front of the right stop block 740, the rear cylinder drives the rear clamping plate 750 away from the support 710 to allow the mold box 720 to continue to be fed in, and the right cylinder drives the right stop block 740 to approach the support 710 to block the frontmost mold box 720 from being fed in, and then, the rear cylinder drives the rear clamping plate 750 to approach the support 710. At this time, the number of mold boxes 720 between the right stop block 740 and the rear clamping plate 750 is 9, and the number between the front can blocking assembly and the rear can blocking assembly is the same as the number of positioning bosses in the second column, so that the 9 packaging cans in the second column can be placed in the 9 mold boxes respectively.

[0063] In order to facilitate those skilled in the art to understand the working process of the depalletizing device in this embodiment, the working process of the depalletizing device will be described in detail below:

[0064] First, open the packaging box 001, and position and fix the opened packaging box 001 through the first storage device 200, and then drive the first suction unit to descend through the first lifting unit, so that the short suction cup 452 sucks a layer of packaging cans 003, and then the first lifting unit drives the first suction unit to rise, and moves the packaging cans 003 to the top of the docking device 500 through the first translation unit, and then the first lifting unit drives the first suction unit to descend and turn the packaging cans 003 upside down on the positioning boss 530 one by one, and then the first conveying device 400 returns to the top of the packaging box 001 through lifting and translation movements, and drives the first suction unit to descend through the first lifting unit, so that the long suction cup 453 of the first suction unit sucks the template 002, and then the first lifting unit drives the first suction unit to rise, and moves the template 002 to the top of the second storage device 300 through the first translation unit, and then the first lifting unit drives the first suction unit to descend to place the template 002 in the second storage device 300.

[0065] Next, the docking plate 510 carrying the packaging can 003 slides to the output end station of the docking device 500 under the driving action of the docking drive mechanism, and the dust removal device 800 removes dust from the inside of the packaging can 003 during the sliding process. Then, the second lifting unit 611 of the group docking assembly 610 drives the second mounting plate 612 to move downward, so that the second suction unit 613 can descend and absorb the packaging can 003 on a group of positioning units 520. Then, the second lifting unit 611 drives the second mounting plate 612 to rise and reset to make the packaging can 003 detach from the positioning boss 530. After resetting, the rotating mechanism 614 drives the second suction unit 613 to rotate to flip the packaging can 003 to an upright state. , and then the third driving mechanism drives the third suction unit to descend so that a row of third suction cups 622 adsorb the inner bottom wall of the packaging can 003, and then the third driving mechanism drives the third suction unit to rise and reset so that the packaging can 003 escapes from the limiting hole 61331. At this time, the rotating mechanism 614 drives the second suction unit 613 to rotate and reset so as to adsorb the packaging can 003 next time, and then the third driving mechanism drives the third suction unit to move horizontally to above the input end station of the can discharge conveyor belt, and then the third driving mechanism drives the third suction unit to descend and place the packaging can 003 on the corresponding mold box 720, and finally the mold box 720 containing the packaging can 003 is driven forward by the can discharge conveyor belt for filling.

[0066] It should be noted that, after the grouping transport component 620 absorbs a row of upright packaging cans each time and transports the packaging cans to place them on the can delivery conveyor 700, the grouping transport component 620 returns to continue to transport the remaining row of packaging cans on the group docking component 610 and place them on the can delivery conveyor 700 until all the packaging cans on the group docking component 610 are transported. Next, the group docking component 610 descends to absorb the packaging cans on the next group of positioning units on the docking device 500 and transports them and places them on the can delivery conveyor 700 through the grouping transport component 620 until all the packaging cans on the docking device 500 are transported. At this time, the docking device 500 is reset and receives the packaging cans transported by the first transport device 400 and transports them all to the can delivery conveyor 700 through the second transport device 600. Through the reciprocating transport of the first transport device 400, the docking device 500 and the second transport device 600, the packaging cans 003 and the template 002 in the packaging box 001 are taken out, thereby realizing automatic destacking and improving work efficiency.

[0067] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A palletizing and depalletizing device, comprising a frame, characterized in that, The machine also includes a first storage device, a second storage device, a first handling device, a docking device, a second handling device and a can delivery mechanism installed on the frame. The packaging box contains multiple layers of templates and packaging cans buckled on the templates. The first storage device positions the packaging box. The first handling device is used to absorb a layer of packaging cans and place the packaging cans on the docking device, and absorb a layer of templates and place the templates in the second storage device. The docking device includes a docking plate slidably installed on the frame and multiple groups of positioning units arranged on the docking plate and in parallel. Each group of positioning units includes at least two rows of positioning bosses, and adjacent two rows of positioning bosses are connected to each other. The positioning bosses are staggered and the packaging cans are inverted on the positioning bosses. The second handling device is arranged between the output end station of the docking device and the input end station of the can delivery conveyor mechanism. The second handling device includes a group docking component and a group handling component. The group docking component absorbs a group of packaging cans on the positioning unit each time and flips the packaging cans to an upright state. The group handling component absorbs a row of upright packaging cans each time and transports the packaging cans to place them on the can delivery conveyor mechanism. The first storage device includes a first placement platform, and a limit block and a limit mechanism installed on the first placement platform. The packaging box is limited between a plurality of limit blocks. , multiple limiting mechanisms press the top surface of the packaging box, the limiting mechanism includes a bracket, a swing arm rotatably installed on the top of the bracket, and a limiting cylinder arranged on one side of the bracket, one end of the swing arm is hinged to the piston rod of the limiting cylinder, the piston rod of the limiting cylinder drives one end of the swing arm to move upward, so that the other end of the swing arm rotates downward to press the corner of the packaging box, the first handling device includes a first lifting unit, a first translation unit, a first supporting guide rail, a first mounting plate and a first suction unit, the first suction unit is vertically slidably installed below the first mounting plate, the first suction unit includes multiple The first translation unit drives the first mounting plate to translate back and forth between the second storage device and the docking device, and the first lifting unit drives the first suction unit to lift and lower relative to the first mounting plate. The depalletizing equipment also includes a dust removal device, which includes an air intake assembly, an air extraction assembly, and an air bin disposed under the docking plate. An air intake channel and an air outlet channel are provided on the positioning boss. The height of the positioning boss is less than the depth of the packaging can. The air intake assembly is connected to the air intake channel through an air intake pipeline, and the air extraction assembly is connected to the air outlet channel through the air bin.

2. The depalletizing device according to claim 1, characterized in that, The second storage device includes a second placement platform and a plurality of limiting plates installed on the second placement platform, and the plurality of templates are stacked in a space surrounded by the plurality of limiting plates.

3. A depalletizing device as claimed in claim 1, characterized in that, The first storage device is arranged between the second storage device and the docking device.

4. A depalletizing device according to any one of claims 1 to 3, characterized in that, The sliding direction of the docking plate is perpendicular to the conveying direction of the can delivery conveying mechanism, and multiple groups of positioning units are arranged along the sliding direction of the docking plate. The group docking assembly is located above the output end station of the docking device and performs lifting and lowering movements. The group handling assembly performs lifting and translational movements between the group docking assembly and the can delivery conveying mechanism.

5. The depalletizing device according to claim 4, characterized in that, The group docking assembly includes a second lifting unit, a second mounting plate, a second suction unit and a rotating mechanism. The second lifting unit drives the second mounting plate to rise and fall. The second suction unit is rotatably mounted on the second mounting plate. The second suction unit includes a plurality of second suction cups corresponding one to one to the positioning bosses in the positioning unit. The rotating mechanism is mounted on the second mounting plate and drives the second suction unit to rotate so that the second suction cup is flipped up and down.

6. A depalletizing device according to any one of claims 1 to 3, characterized in that The group handling assembly includes a third suction unit and a third driving mechanism for driving the third suction unit to rise, fall and translate. The third suction unit includes a plurality of third suction cups corresponding one to one with the positioning bosses in a single positioning unit. The third suction unit sucks a row of packaging cans on the group docking assembly each time.

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