Automatic unstacking and loading device, automatic unstacking and loading equipment and method

Abstract

The present application relates to a kind of automatic unpacking stack device, automatic unpacking stack loading equipment and method, automatic unpacking stack device includes unpacking station, box conveying mechanism, unpacking robot and control system, unpacking station is used to park box stack;Box conveying mechanism includes N parallel and different speed of division speed conveying lane, and is equipped with a box area located on N division speed conveying lane;Unpacking robot includes unpacking mechanical arm and unpacking gripping mechanism, unpacking gripping mechanism includes N single box gripper for grabbing single box, and the interval adjusting assembly for driving adjacent single box gripper close or separate, unpacking mechanical arm is used to drive unpacking gripping mechanism to reach unpacking station and grab box, and drive unpacking gripping mechanism to reach the box position in the box position, the box grabbed by single box gripper is placed on corresponding division speed conveying lane;Control system is connected with unpacking robot control, and control system is respectively connected with the control of N division speed conveying lane of output conveying mechanism.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, specifically to an automatic unpacking and palletizing device, an automatic unpacking and palletizing loading equipment and method. Background Technology

[0002] In the daily logistics operations of the tobacco industry, to improve efficiency, tobacco products are transported using boxes as outer packaging. During transport within the workshop, to further enhance efficiency, multiple boxes are stacked together to form pallets, which are then transported as a whole. The overall structure of the pallet is cubical, with multiple boxes in each layer. To ensure stability, the boxes in each layer are arranged in two orientations, following a 2-3-2-3 pattern. This means that two or three boxes with the same orientation are placed side-by-side to form a group. Each layer has four groups, with adjacent groups having different orientations. (See appendix.) Figure 1 As shown, the placement directions of adjacent boxes on the upper and lower layers are also different.

[0003] For this type of box stack, during loading, the boxes need to be transferred from the stack into the truck bed. Since there are multiple boxes in the stack, they are generally placed in the same orientation (horizontally or longitudinally) and then stacked again to form walls of boxes. See Appendix. Figure 18 As shown. Therefore, during the process of retrieving and transporting boxes from a stack, the box orientation needs to be adjusted. Existing destacking and stacking devices can generally only gradually separate boxes in stacks with boxes placed in the same orientation, making it difficult to handle stacks with different box orientations. For example, in the invention patent application CN202211393576.X, the boxes in the stack are placed in the same orientation, which cannot meet the destacking and loading requirements of such stacks in the tobacco industry. Therefore, the traditional method relies on pure manual labor for destacking, transporting, and loading, resulting in a high labor load and low work efficiency. With the increasing automation requirements in the logistics field, the traditional method of relying on pure manual labor can no longer meet the needs of enterprises. Therefore, it is necessary to innovate the destacking and loading methods of boxes through intelligent and automated processes. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the technical problem to be solved by the present invention is to provide an automatic unpacking and stacking device, an automatic unpacking and stacking loading equipment and method, which can separate boxes with different placement directions in the stack and output them with the same placement direction, so as to facilitate loading, realize automated operation and improve work efficiency.

[0005] To achieve the above objectives, the present invention provides an automatic depalletizing device for splitting boxes in a stack into individual boxes and outputting them one by one. The device includes a depalletizing station, a box-separating conveyor mechanism, a depalletizing robot, and a control system. The depalletizing station is used to park the stack of boxes. The box-separating conveyor mechanism includes N parallel, speed-differentiated conveyor lanes, and a box-placement area located on each of the N speed-differentiated conveyor lanes. The depalletizing robot includes a depalletizing robotic arm and a depalletizing gripping mechanism mounted on the robotic arm. The depalletizing gripping mechanism includes N independent single-box grippers arranged in a straight line. The system includes a spacing adjustment component that drives adjacent single-box grippers to move closer or further apart. The single-box gripper is used to grip a single box. The depalletizing robotic arm is used to drive the depalletizing gripping mechanism to the depalletizing station to grip the box and to the box placement position in the box placement area. When the depalletizing gripping mechanism is in the box placement position, N single-box grippers correspond to N speed conveyors, and the box gripped by the single-box gripper can be placed on the corresponding speed conveyor. The control system is connected to both the depalletizing robotic arm and the depalletizing gripping mechanism of the depalletizing robot, and is also connected to the N speed conveyors of the output conveying mechanism.

[0006] Furthermore, it also includes a visual recognition system, which includes a 3D vision camera installed above the depalletizing station. The 3D vision camera is capable of capturing images of the upper side of the stack of boxes located at the depalletizing station. The visual recognition system is communicatively connected to the control system.

[0007] Furthermore, it also includes an input conveying mechanism for placing and transporting stacks of boxes, and the destacking station is located on the input conveying mechanism.

[0008] Furthermore, the box-splitting conveyor mechanism also includes speed-splitting side baffles disposed on both sides of the speed-splitting conveyor channel, and the speed-splitting side baffles are located downstream of the box-laying area along the conveying direction of the box-splitting conveyor mechanism.

[0009] Furthermore, the single-box gripper includes a vacuum suction cup for adsorbing onto the surface of the box, and the destacking gripping mechanism also includes a limiting stop fixed on the single-box gripper. When the single-box gripper grips the box at the destacking station, the limiting stop is vertical and in contact with the side of the box, and the vacuum suction cup is adsorbed onto the upper side of the box. When the destacking gripping mechanism is in the box placement position, the limiting stop is located on the lower side of the box and holds the box.

[0010] Furthermore, it also includes a single-box output mechanism, which has a single-box output transmission channel. The single-box output transmission channel is provided with two oppositely arranged guide side plates, and there is a guide channel between the two guide side plates. The width of the guide channel gradually narrows along the conveying direction of the single-box output transmission channel. The single-box output transmission channel is connected to N speed-dividing conveying channels of the box-dividing conveying mechanism. All boxes conveyed by the single-box output transmission channel will pass through the guide channel, and the exit of the guide channel allows one box to pass through.

[0011] The present invention also provides an automatic unpacking and stacking loading device for loading boxes from a stack into the compartment of a transport vehicle. The device includes the aforementioned automatic unpacking and stacking device, and also includes an intermediate conveying device. The intermediate conveying device has an intermediate conveying channel, the inlet end of which is connected to the outlet of a single box output mechanism, and the outlet end extends into the compartment.

[0012] Furthermore, the intermediate conveying device includes a movable conveying section, which includes a retractable support base and a conveying roller conveyor mounted on the retractable support base. The retractable support base is capable of telescopic movement and changing the spacing between adjacent rollers in the conveying roller conveyor. The intermediate conveying channel includes a conveying roller conveyor, the outlet end of which extends into the carriage.

[0013] The present invention also provides an automatic unpacking, palletizing, and loading method, which uses the above-mentioned automatic unpacking, palletizing, and loading equipment and includes the following operations:

[0014] A. The process of unpacking boxes and pallets includes the following steps:

[0015] A1. Place the stack of boxes at the destacking station;

[0016] A2. Single-layer unloading of box stacks: The control system controls the movement of the depalletizing robot. The depalletizing robotic arm drives the depalletizing gripping mechanism to the depalletizing station. The N single-box grippers of the depalletizing gripping mechanism grab M boxes from the top layer of the box stack, where M≤N. Then, the depalletizing gripping mechanism is driven to its box placement position, and the M boxes are placed on the box placement area. The M boxes are then placed into M speed-distributing conveyor channels and sequentially enter the single-box output mechanism through the box-distributing conveyor mechanism. After passing through the single-box output mechanism, they are conveyed out one by one. The above operation is repeated until all the boxes on the top layer of the box stack are unloaded.

[0017] A3. Following the method in step A2, unload each layer of boxes in the stack from top to bottom;

[0018] B. Box loading: The intermediate conveyor mechanism transports the disassembled boxes from the stacking process into the carriage.

[0019] Furthermore, the automated unpacking and palletizing loading equipment also includes a loading and unloading robot, which is placed inside the truck bed. The exit end of the intermediate conveyor is connected to the loading and unloading robot to transport the boxes into it. The automated unpacking and palletizing loading method also includes:

[0020] C. Automated loading and palletizing: The automated unstacking and loading process stacks the boxes inside the truck bed.

[0021] As described above, the automatic unpacking and palletizing device, automatic unpacking and palletizing loading equipment and method of the present invention have the following beneficial effects:

[0022] 1. The automatic unpacking and stacking device can automatically separate the boxes from the stack and send them out individually with the same orientation. The entire unpacking and stacking process is automatic and efficient, reducing manual labor, greatly improving work efficiency and reducing labor load.

[0023] 2. It can continuously unpack and stack boxes and automatically deliver them to the carriage for loading.

[0024] 3. By setting up an intermediate conveyor device with a movable conveyor section, the position can be adjusted according to the position of the car body during loading, and the position can be moved inside the car body, making it easy to use and adaptable to a wide range of applications.

[0025] 4. By setting up loading and unloading robots to automatically load goods in the truck compartment and automatically stack boxes in the truck compartment, the needs of automatic loading and unloading in the limited space of the box truck can be met, realizing the automation of loading and unloading work, saving manpower, reducing the intensity of manual labor, improving the efficiency of loading operations, and can be used in conjunction with automatic unpacking and stacking devices and intermediate conveying devices to carry out continuous loading operations. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a stack of boxes.

[0027] Figure 2 This is a schematic diagram of the automatic unpacking and stacking device in this invention.

[0028] Figure 3 This is a schematic diagram of the box conveying mechanism and the single box output mechanism in this invention.

[0029] Figure 4 for Figure 3 Side view.

[0030] Figure 5 This is a schematic diagram of the destacking and gripping mechanism in this invention.

[0031] Figure 6 This is a schematic diagram of the automatic unpacking, stacking, and loading equipment of the present invention.

[0032] Figure 7 for Figure 6 Side view.

[0033] Figure 8 for Figure 6 Top view.

[0034] Figure 9 This is a schematic diagram of the structure of the active conveyor section in this invention.

[0035] Figure 10 This is a schematic diagram of the loading and unloading robot of the present invention.

[0036] Figure 11 This is a schematic diagram of the loading and unloading robot in this invention.

[0037] Figure 12 This is a top view of the loading and unloading robot in this invention.

[0038] Figure 13 This is a side view of the loading and unloading robot in this invention.

[0039] Figure 14 This is a schematic diagram of the gripper mechanism of the loading and unloading robot in this invention.

[0040] Figure 15 This is a schematic diagram of the loading vehicle of the loading robot in this invention.

[0041] Figure 16 This is a schematic diagram of the loading and unloading robot in this invention when loading and unloading boxes.

[0042] Figure 17 for Figure 16 Top view.

[0043] Figure 18 This is a schematic diagram of the structure of the stacked container wall inside the carriage.

[0044] Explanation of icon numbers

[0045] 1 box

[0046] 2. Box stacks

[0047] 21 container units

[0048] 3. Depalletizing robot

[0049] 31 Destacking Robotic Arm

[0050] 32 Destacking and gripping mechanism

[0051] 321 Single-box gripper

[0052] 322 Grip support

[0053] 323 Pitch Adjustment Component

[0054] 324 Limit Stop Bar

[0055] 4. Box Conveying Mechanism

[0056] 41-minute speed conveyor

[0057] 42-minute side fender

[0058] 43-speed drive motor

[0059] 5. Visual Recognition System

[0060] 51 3D Vision Camera

[0061] 6. Input transmission mechanism

[0062] 7 Single-box output mechanism

[0063] 71 Single-box output transmission channel

[0064] 72 Guide side panel

[0065] 8. Active transport section

[0066] 81 Conveyor Roller

[0067] 82 Support Units

[0068] 821 Support Rod

[0069] 822 Lifting Slider

[0070] 823 Walking Wheel

[0071] 83 X-type telescopic frame

[0072] 9 Stacking machine

[0073] 10 pallets

[0074] Carriage 11

[0075] 12 transport vehicles

[0076] 121 Tracked traveling mechanism

[0077] 13 Storage and conveying device

[0078] 131 Inbound / Outbound Workstations

[0079] 132 Grab Station

[0080] 23 / 133 Main Conveyor

[0081] 133a Inlet / Outlet Conveyor Belt

[0082] 133b Conveyor Roller

[0083] 134 Branch Conveyor Channel

[0084] 135 Parking limit stop

[0085] 136 Side limiting plate

[0086] 137 Testing Agency

[0087] 138 Reversing Mechanism

[0088] 14 Loading and unloading gripping device

[0089] 141 Loading and unloading robotic arm

[0090] 142 Fixture Mechanism

[0091] 142a Sub-clamp

[0092] 142b Fixture Support

[0093] 143 Vacuum pumping mechanism

[0094] 15 Radar Navigation

[0095] 16 Electrical control box

[0096] 17. Crate stack wall Detailed Implementation

[0097] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0098] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0099] See Figures 1 to 9This invention provides an automatic unpacking and stacking device for splitting boxes 1 in a stack 2 into individual boxes 1 and outputting them one by one. The stack 2 has multiple layers, with multiple boxes 1 in each layer. The automatic unpacking and stacking device includes a depacking station, a box-separating conveying mechanism 4, a depacking robot 3, and a control system. The depacking station is used to park the stack 2. The box-separating conveying mechanism 4 includes N parallel speed-dividing conveyor channels 41, and the conveying speed of the N speed-dividing conveyor channels 41 is different. The box-separating conveying mechanism 4 has a box-placing area located on the N speed-dividing conveyor channels 41. The depacking robot 3 includes a depacking robotic arm 31 and a depacking gripping mechanism 32 mounted on the depacking robotic arm 31. The depacking gripping mechanism 32 includes N independent single-box grippers 321 arranged in a straight line, and a spacing adjustment mechanism to drive adjacent single-box grippers 321 to move closer or further apart. Component 323, single-box gripper 321 is used to grip a single box 1, depalletizing robotic arm 31 is used to drive depalletizing gripping mechanism 32 to the depalletizing station to grip box 1, and drive depalletizing gripping mechanism 32 to the box placement position in the box placement area. When depalletizing gripping mechanism 32 is in the box placement position, N single-box grippers 321 correspond to N-speed conveyor 41, and the box 1 gripped by single-box gripper 321 can be placed on the corresponding speed conveyor 41. The control system is connected to both the depalletizing robotic arm 31 and the depalletizing gripping mechanism 32 of the depalletizing robot 3, and the control system is connected to the N-speed conveyor 41 of the output conveying mechanism.

[0100] The automatic unpacking and palletizing device of the present invention operates as follows: A pallet 2 is placed on a unpacking station. The control system controls the unpacking robot 3, and the unpacking robotic arm 31 drives the unpacking gripping mechanism 32 to the unpacking station. Each single-box gripper 321 in the unpacking gripping mechanism 32 is controlled by a control system and operates independently. M single-box grippers 321 grip M boxes 1 from the top layer of the pallet 2 at a time, where M ≤ N, and M is determined based on the number and arrangement of boxes 1 in each layer of the pallet 2. Then, the unpacking gripping mechanism 32 is driven to its box placement position, placing the M boxes 1 on the box placement areas of the M speed-determining conveyor channels 41 in the box-separating conveyor mechanism 4. After passing through the box-separating conveyor mechanism 4, the M boxes 1 enter the single-box output mechanism 7 and are then conveyed out one by one. This operation is repeated until all the boxes 1 on the top layer of the pallet 2 are unloaded.

[0101] When the control system controls the depalletizing robotic arm 31 to grab boxes 1 at the depalletizing station, the position of the grabbing mechanism (hereinafter referred to as the grabbing position) and the number of boxes grabbed each time can be preset according to the position and stacking method of the stack 2. For example, the stack 2 adopts... Figure 1In the form shown, each layer includes four box groups 21, and the number of each box group 21 is less than or equal to N. The gripping mechanism grips one box group 21 at a time. When the position of the stack 2 at the depalletizing station is determined, the positions of the four box groups 21 in each layer are also determined, and the corresponding gripping position for the depalletizing gripping mechanism 32 is also determined. Therefore, each layer corresponds to four different gripping positions. When the depalletizing gripping mechanism 32 is in the gripping position, it can grip the corresponding box group 21. Therefore, it is only necessary to control the gripping robot arm to install the set motion trajectory to drive the depalletizing gripping mechanism 32 to reach the four gripping positions to grip all the boxes 1 in that layer. The four gripping positions of different layers in the stack 2 are different and are all preset, and the gripping method is the same. The control system controls the depalletizing robot 3 to grip all the boxes 1 in each layer of the stack 2 according to the set gripping sequence, and send them to the box sorting conveyor 4 through four gripping operations. For the stack 2 where the boxes 1 are placed in the same direction, the principle is the same, and only a few gripping positions need to be set. Of course, the stack 2 can also be in other structural forms.

[0102] See Figures 1 to 9 The automatic unpacking and stacking device of the present invention will be further described below with reference to a specific embodiment:

[0103] In this embodiment, see Figure 2 As a preferred design, it also includes a vision recognition system 5, which includes a 3D vision camera 51 positioned above the depalletizing station. The 3D vision camera 51 can capture images of the upper side of the pallet 2 located at the depalletizing station. The vision recognition system 5 is communicatively connected to the control system. Through the image information captured by the vision recognition system 5, the position of the topmost box 1 in the pallet 2 can be determined. Based on the position of the box 1, the required position of the depalletizing robot 3's gripping mechanism is determined. In other words, the gripping position of the gripping mechanism is determined each time based on the image information captured by the vision recognition system 5, and then the depalletizing robot arm 31 is controlled to move the gripping mechanism to that position. Specifically, in the disassembly process... Figure 1 When the stack of boxes 2 is shown, the image information captured by the vision recognition system 5 determines the position of the four box groups 21, and one box group 21 is picked up at a time. This method ensures accurate positioning, is applicable to more complex work environments, and reduces the requirements for positioning the stack of boxes 2 at the destacking station and the position of the boxes 1 within the stack of boxes 2. It is more convenient and flexible to use, improving work efficiency. The vision recognition system 5 uses a combination of photography and image recognition for positioning, and can employ existing suitable vision recognition methods. Of course, in other embodiments, the vision recognition system 5 can be replaced by other detection and recognition systems that can detect the placement and position of the boxes 1 in each layer of the stack of boxes 2.

[0104] In this embodiment, see Figure 2As a preferred design, it also includes an input conveying mechanism 6, which is used to place and transport the pallets 2. The depalletizing station is located on the input conveying mechanism 6. The input conveying mechanism 6 uses a conveyor belt that can hold multiple pallets 2 and transport them toward the depalletizing station. When the foremost pallet 2 reaches the depalletizing station, the input conveying mechanism 6 stops transporting, and the pallet 2 stops at the depalletizing station. Preferably, a pallet detection component (not shown in the attached drawings) is provided at the depalletizing station. The pallet detection component is communicatively connected to the control system, and the control system is controlled by the input conveying mechanism 6. When the pallet 2 is transported to the depalletizing station by the input conveying mechanism 6, it is detected by the pallet detection component, and a signal is transmitted to the control system. The control system controls the input conveying mechanism 6 to automatically stop transporting according to the signal, and the pallet 2 stops at the depalletizing station. Then, the depalletizing robot 3 is controlled to depalletize the pallet 2. Once the stack of boxes 2 on the depalletizing station has been depalletized by the depalletizing robot 3, there are no more boxes 1 on the depalletizing station. The stack detection component sends a feedback signal, and the control system controls the depalletizing robot 3 to stop based on the signal from the stack detection component. The input conveying mechanism 6 then starts conveying until the next stack of boxes 2 reaches the depalletizing station.

[0105] In this embodiment, see Figure 2 As a preferred design, the stack 2 is placed on the pallet 10, and then the pallet 10 is placed on the input conveying mechanism 6. A stacking machine 9 is set downstream of the input conveying mechanism 6 along the conveying direction. Empty pallets 10 are sent from the destacking station to the stacking machine 9.

[0106] In this embodiment, see Figure 2 , Figure 3 and Figure 4 The box-separating conveyor mechanism 4 has three speed-dividing conveyor channels 41, all of which use conveyor belts for transport. Each speed-dividing conveyor channel 41 is driven by a speed-dividing drive motor 43. The rotation of the speed-dividing drive motors 43 is controlled by the control system to control the conveying speed of the three speed-dividing conveyor channels 41 as needed. There is a certain distance between adjacent speed-dividing conveyor channels 41. When the depalletizing gripping mechanism 32 grabs a box 1 and moves it to the box placement area, the distance adjustment component 323 adjusts the distance between the single box grippers 321 according to the distance between adjacent speed-dividing conveyor channels 41, so that the grabbed boxes 1 have a suitable distance between them, and are thus accurately and stably placed on the corresponding speed-dividing conveyor channel 41. Preferably, each speed-dividing conveyor channel 41 is provided with speed-dividing side baffles 42 on both sides, and the speed-dividing side baffles 42 are located downstream of the box placement area along the conveying direction of the box-separating conveyor mechanism 4. After the box 1 is placed in the box placement area, it is conveyed forward and passes through the speed-dividing side baffles 42. The speed-dividing side baffles 42 play a role in guiding and constraining the movement direction of the box 1. Preferably, the speed-dividing side baffle 42 is thinned at one end near the box placement area so as to better insert into the gap between two adjacent boxes 1.

[0107] In this embodiment, see Figure 2 and Figure 5 As a preferred design, each single-box gripper 321 has multiple vacuum suction cups, and correspondingly, a vacuuming device is also provided. The vacuuming device includes a vacuum pump, which is connected to the vacuum suction cups through pipelines, so that the vacuum suction cups can generate a vacuum adsorption effect or disengage. In this embodiment, the destacking gripping mechanism 32 includes a gripping bracket 322, which is mounted on a gripping robotic arm. Multiple single-box grippers 321 are mounted on the gripping bracket 322 and arranged in a straight line. The single-box grippers 321 can move linearly on the gripping bracket 322. The spacing adjustment component 323 is provided on the gripping bracket 322 and connected to each single-box gripper 321, which can drive the single-box grippers 321 to move linearly and synchronously adjust the spacing between any two adjacent single-box grippers 321. More preferably, the destacking and gripping mechanism 32 further includes a limiting strip 324 fixed to the single-box gripper 321. When the single-box gripper 321 grips the box 1 in the stack 2 at the destacking station, the limiting strip 324 is vertical and contacts the side of the box 1, serving as an auxiliary positioning and limiting function. The single-box gripper 321 is located above the stack 2 and is adsorbed onto the upper surface of the box 1 by a vacuum suction cup. During the process of the destacking and gripping mechanism 32 picking up and transporting the box 1, it will flip over, and the limiting strip 324 will become located on the lower side of the box 1 and hold the box 1, playing a supporting role and preventing the box 1 from falling. Then, when the destacking and gripping mechanism 32 reaches the box placement position, the limiting strip 324 remains on the lower side of the box 1. Preferably, the speed conveyor 41 is provided with slots for the limiting strip 324 to avoid, thereby ensuring that the box 1 is smoothly placed into the speed conveyor 41.

[0108] In this embodiment, see Figure 2 As a preferred design, the depalletizing robotic arm 31 preferably adopts a multi-axis robotic arm with multiple motion dimensions, which is flexible in movement and precise in positioning. Specifically, it can adopt existing mature robotic arm products.

[0109] In this embodiment, see Figure 1 and Figure 3 As a preferred design, it also includes a single-box output mechanism 7, which has a single-box output transmission channel 71, specifically a conveyor belt or roller conveyor. The single-box output transmission channel 71 has two opposing guide side plates 72, and a guide channel is formed between the two guide side plates 72. The width of the guide channel gradually narrows along the conveying direction of the single-box output transmission channel 71. The single-box output transmission channel 71 is connected to all N speed-dividing conveyor channels 41 of the box-splitting conveyor mechanism 4. All boxes 1 conveyed by the single-box output transmission channel 71 pass through the guide channel, and the exit of the guide channel allows one box 1 to pass through. Specifically, in this embodiment, see [link to specific details]. Figure 3With the conveying direction of the speed-determining conveyor 41 as its front, the speeds of the three speed-determining conveyors 41 increase sequentially from left to right. The single-box output mechanism 7 is located in front of the speed-determining conveyor 41. The left guide plate 72 is located to the left of the leftmost speed-determining conveyor 41 with the highest speed and extends in a straight line in the front-back direction. The rear end of the right guide plate 72 is located to the right of the rightmost speed-determining conveyor 41 with the lowest speed. The right guide plate 72 has a leftward inclined section, and the space between this inclined section and the left guide plate 72 is the guide channel. Due to the different conveying speeds, the boxes 1 on the N speed-determining conveyors 41 will be sent out one after another and enter the single-box output conveyor 71, and then enter the guide channel. The box 1 coming out of the leftmost speed-determining conveyor 41 will leave directly from the exit of the guide channel. When the boxes 1 coming out of the two rightmost speed-determining conveyors 41 enter the guide channel, they will abut against the inclined section of the right guide plate 72, thus gradually moving to the right, and finally leaving from the exit of the guide channel. Therefore, after the three boxes 1 enter the single box output mechanism 7, they will exit from one outlet one after another.

[0110] In this invention, the control system has functions such as data collection, data storage and processing, and instruction control. Specifically, it can adopt devices such as PLC controllers and computers, which can receive data signals from various detection function parts in the automatic unpacking and stacking device, and is equipped with various other electrical components, which can control the movement of multiple moving parts in the automatic unpacking and stacking device.

[0111] See Figures 6 to 9 The present invention also provides an automatic unpacking and loading device for loading boxes 1 in the stack 2 into the compartment 11 of a transport vehicle. It includes the above-mentioned automatic unpacking and loading device, and also includes an intermediate conveying device. The intermediate conveying device has an intermediate conveying channel. The inlet end of the intermediate conveying channel is connected to the outlet of the single box output mechanism 7, and the outlet end extends into the compartment 11.

[0112] For preferred design, see Figure 6 and Figure 9In this embodiment, the intermediate conveying device includes a movable conveying section 8, which includes a retractable support base and a conveyor roller conveyor 81 mounted on the retractable support base. The conveyor roller conveyor 81 is composed of multiple rollable rollers 811. The retractable support base can extend and retract, changing the spacing between adjacent rollers 811 in the conveyor roller conveyor 81. The conveyor roller conveyor 81 is the final section of the intermediate conveyor near the outlet. The outlet end of the conveyor roller conveyor 81 extends into the carriage 11, and the box 1 exits from the outlet end of the conveyor roller conveyor 81. By using the movable conveying section 8, the outlet end of the conveyor roller conveyor 81 can be flexibly moved. In the workshop, due to the positional deviation of the truck parking and the relatively long length of the carriage 11, while the position of the automatic unpacking and stacking device is generally fixed, the movable conveying section 8 allows the outlet end of the conveyor roller conveyor 81 to be moved into the carriage 11 according to the position of the carriage 11, meeting the needs of different occasions. Furthermore, the position can be flexibly adjusted within the carriage 11 during loading, making it more convenient to use. In this embodiment, the intermediate conveying device also includes a fixed turning section for connecting the single-box output mechanism 7 and the movable conveying section 8.

[0113] For preferred design, see Figure 6 and Figure 9 In this embodiment, the retractable support base of the movable conveyor section 8 includes multiple support units 82 and multiple X-shaped telescopic frames 83. Each support unit 82 includes two support rods 821 (left and right), with a sliding lifting slider 822 on each rod. The bottom of each support rod 821 is equipped with wheels 823 for movement on the ground. Multiple support units 82 are arranged in a row, and an X-shaped telescopic frame 83 connects adjacent support units 82 on the same side. The X-shaped telescopic frame 83 is composed of multiple X-shaped support units, each consisting of two hinged rods. The structural principle of the X-shaped telescopic frame 83 is known and will not be detailed further. One rod in each of the X-shaped support units at both ends of the X-shaped telescopic frame 83 is hinged to the upper end of the support rod 821, and the other rod is hinged to the lifting slider 822. The rollers 811 of the conveyor roller conveyor 81 are mounted on X-shaped telescopic frames 83 on both sides at both ends. Specifically, the ends of the rollers 811 are mounted at the hinge points of adjacent X-shaped support units in the X-shaped telescopic frames 83. See [reference needed]. Figure 9As shown. When the two support units 82 approach each other, the X-shaped telescopic frame 83 is compressed, and the distance between adjacent rollers 811 in the conveyor roller conveyor 81 narrows. When the two support units 82 separate, the X-shaped telescopic frame 83 extends, and the distance between adjacent rollers 811 in the conveyor roller conveyor 81 widens. The number of support units 82 in the telescopic support base and the length of a single X-shaped telescopic frame 83 can be set according to actual needs. In this way, the telescopic support base can be extended and retracted by moving the support units 82, thereby adjusting the length of the conveyor roller conveyor 81. Furthermore, the telescopic support base has a certain degree of flexibility and can bend to a certain extent in the left and right directions (i.e., the width direction of the conveyor roller conveyor 81), meaning that the outlet end of the conveyor roller conveyor 81 can move in four directions (front, back, left, and right), making it more flexible and applicable to a wider range of situations.

[0114] This invention also provides an automatic unpacking and loading method for loading boxes 1 from a stack 2 into the cargo compartment 11 of a truck. The method utilizes the aforementioned automatic unpacking and loading equipment. After the equipment is installed, the outlet end of the intermediate conveyor extends into the cargo compartment 11 of the truck. The automatic unpacking and loading method includes the following steps:

[0115] A. The process of unpacking boxes and pallets includes the following steps:

[0116] A1. Place the stack of boxes 2 at the destacking station.

[0117] A2. Single-layer dismantling of pallet 2: The control system controls the movement of the depalletizing robot 3. The depalletizing robotic arm 31 drives the depalletizing gripping mechanism 32 to the depalletizing station. The N single-box grippers 321 of the depalletizing gripping mechanism 32 grab M boxes 1 from the top layer of the pallet 2, where M≤N. Then, the depalletizing gripping mechanism 32 is driven to its box placement position, and the M boxes 1 are placed on the box placement area of ​​the box distribution conveyor 4. The M boxes 1 are placed on the M speed-dividing conveyor channels 41 respectively, and then enter the single-box output mechanism 7 in sequence through the box distribution conveyor 4. After passing through the single-box output mechanism 7, they are conveyed out one by one. The above operation is repeated until all the boxes 1 on the top layer of the pallet 2 are unloaded.

[0118] A3. Following the method in step A2, unload each layer of boxes 1 in the stack 2 from top to bottom.

[0119] B. Box loading process: The intermediate conveyor mechanism transports the boxes 1, which have been split from the stacking process, into the carriage 11.

[0120] The automatic unpacking and stacking device can continuously split multiple stacks 2 of boxes, and continuously feed the boxes 1 one by one into the carriage 11 through the intermediate conveyor mechanism, where the boxes 1 are stacked and loaded onto the vehicle.

[0121] In this embodiment, the automated unpacking and palletizing loading equipment further includes a loading and unloading robot. The loading and unloading robot is placed inside the carriage 11, and the exit end of the intermediate conveyor is connected to the loading and unloading robot to transport the boxes 1 into it. The automated unpacking and palletizing loading method also includes:

[0122] C. Automated loading and palletizing: The automated unstacking and loading process stacks the boxes 1 on the boxes 11 inside the car body 11 for loading.

[0123] For preferred design, see Figures 10 to 17 In this embodiment, the loading and unloading robot includes a transport vehicle 12, and also includes a storage and conveying device 13, a loading and unloading gripping device 14, a navigation and positioning system, a vision scanning system, and an electronic control system, all mounted on the transport vehicle 12. The loading and unloading robot moves via the transport vehicle 12. The storage and conveying device 13 is used to place and convey boxes 1. The storage and conveying device 13 is provided with a gripping station 132 and an inbound / outbound station 131. The storage and conveying device 13 can transport and transfer boxes 1 between the inbound / outbound station 131 and the gripping station 132. The storage and conveying device 13 also includes a detection mechanism 137 that can detect the status of boxes 1 on the gripping station 132. The detection mechanism 137 is communicatively connected to the electronic control system. The loading and unloading gripping device 14 includes a loading and unloading robotic arm 141 mounted on the transport vehicle 12, and a clamping mechanism 142 mounted on the loading and unloading robotic arm 141. The clamping mechanism 142 can grip several boxes 1. The navigation and positioning system is used to determine the transport vehicle 12. The distance between vehicle 12 and surrounding objects is communicated between the navigation and positioning system and the electronic control system; the visual scanning system includes a 3D vision camera (not shown in the attached figure) capable of visually capturing images of the front of the transport vehicle 12. The visual scanning system is communicated with the electronic control system and can feed back the measured image signals to the electronic control system for calculation and processing; the electronic control system is controlled and connected to both the loading and unloading robotic arm 141 and the clamping mechanism 142, and can drive the movement of the loading and unloading robotic arm 141 and the gripping action of the clamping mechanism 142 on the box 1. The electronic control system is controlled and connected to the storage and conveying device 13 and the transport vehicle 12, and can control the transport vehicle 12 to move to the designated position.

[0124] The basic working principle of the loading and unloading robot in this embodiment is as follows: See Figure 16 and Figure 17The loading and unloading robot can move within the carriage 11 via the transport vehicle 12. The storage and conveying device 13 is used to place and transport boxes 1, which enter the storage and conveying device 13 from the loading / unloading station 131. The detection mechanism 137 can detect the status of boxes 1 on the gripping station 132, specifically detecting the number and position of boxes 1 to determine whether the number and position of boxes 1 on the gripping station 132 meet the requirements. The detection mechanism 137 is connected to the electronic control system and can transmit the detected information to the electronic control system to control the actions of the loading and unloading gripping device 14 and the storage and conveying device 13 based on the status of boxes 1 on the gripping station 132. The vision scanning system takes pictures of the interior of the carriage 11 using a 3D vision camera. Based on the captured images, it determines whether the interior already has a stacking wall 17 and the stacking status of boxes 1 within the stacking wall 17. Furthermore, the image information can determine which locations are needed and can accommodate boxes 1 during loading and stacking. During loading, the loading and unloading robotic arm 141 of the loading and unloading gripping device 14 is controlled to move, driving the clamping mechanism 142 to a position in the stack wall 17 where a box 1 is missing, and placing the gripped box 1 at that position.

[0125] In this embodiment, see Figure 10 , Figure 11 and Figure 12 As a preferred design, the navigation and positioning system includes radar navigation 15. Radar navigation 15 emits electromagnetic waves and can determine the distance between the transport vehicle 12 and surrounding objects based on the feedback echo. The signal is then transmitted to the electronic control system for processing, thus determining the position of the loading / unloading robot within the site. Specifically, when inside the cargo compartment 11, the position of the loading / unloading robot within the compartment 11 can be determined based on the distance between the transport vehicle 12 and the side walls of the compartment 11, as well as the distance between the transport vehicle 12 and the interior walls of the workshop or existing stack walls 17. The principle of radar positioning in the navigation and positioning system is existing and will not be detailed further. The radar navigation 15 of the navigation and positioning system is located at the front of the transport vehicle 12. When the loading / unloading robot is inside the compartment 11, the front of the transport vehicle 12 faces the interior of the compartment 11. During operation, the main positional data required are the distances to the front and left / right sides. Through the navigation and positioning system, the loading / unloading robot can perceive its surrounding environment and perform preset actions as needed, such as stopping, restarting, and maneuvering around obstacles encountered along its path.

[0126] In this embodiment, see Figure 10 , Figure 11 and Figure 12 The 3D vision camera of the vision scanning system is also located at the front of the transport vehicle 12, which can take visual pictures of the front of the vehicle to capture the situation of the container stack wall 17 inside the carriage 11. The loading and unloading robotic arm 141 of the loading and unloading gripping device 14 is preferably also located near the front of the transport vehicle 12 to facilitate the unloading of the containers 1.

[0127] In this embodiment, see Figure 10 , Figure 11 and Figure 12 As a preferred design, the gripping station 132 can accommodate multiple boxes 1 placed side by side. Specifically, in this embodiment, the gripping station 132 can accommodate three boxes 1. When the boxes 1 are being loaded into the carriage 11, when the detection mechanism 137 detects that three boxes 1 have entered the gripping station 132 and are in place, the electronic control system automatically controls the storage conveying device 13 to stop conveying the boxes 1 to the gripping station 132. Subsequently, the loading and unloading gripping device 14 is controlled to grab the boxes 1 at the gripping station 132. The detection mechanism 137 can be any suitable existing mechanism, such as an infrared detector, a contact sensor, or a visual inspection mechanism 137, as long as it can achieve the above-mentioned detection purpose. In addition, in other embodiments, when the boxes 1 are large, the gripping station 132 can also accommodate only one box 1, and only one box 1 is grabbed each time it is loaded.

[0128] In this embodiment, see Figure 10 , Figure 11 and Figure 12As a preferred design, the storage and conveying device 13 includes a main conveyor 133, multiple branch conveyors 134, and multiple reversing mechanisms 138. Each branch conveyor 134 is equipped with a gripping station 132, and each gripping station 132 is equipped with a corresponding detection mechanism 137. The conveying movements of the main conveyor 133 and the branch conveyors 134 are controlled by an electronic control system. The main conveyor 133 conveys goods in a front-to-back direction, and its rear end is the loading / unloading station 131, that is, the box 1 enters from the rear of the loading / unloading robot. A reversing station is provided on the main conveyor 133. One end of a branch conveyor 134 is connected to the reversing station of the main conveyor 133, and a reversing mechanism 138 is provided at each connection point. The reversing mechanism 138 enables the box 1 to enter the branch conveyor 134 from the reversing station of the main conveyor 133. The electrical control system is connected to the reversing mechanism 138. Each branch conveyor 134 has a gripping station 132. The storage and conveying device 13 also includes a reversing detection component for detecting the status of the box 1 at the reversing station of the main conveyor 133, and the reversing detection component is communicatively connected to the electrical control system. Specifically, in this embodiment, there are two branch conveyors 134, located on the left and right sides of the main conveyor 133, one near the front and one near the rear. The two branch conveyors 134 are connected to the front and rear reversing stations on the main conveyor 133, respectively, and a reversing detection component is provided at each of the two reversing stations. The loading and unloading gripping device 14 can grip the boxes at the two gripping stations 132 alternately, thereby improving work efficiency. Using this method, when loading boxes 1 onto the carriage 11, the two branch conveyor channels 134 can operate simultaneously. The main conveyor channel 133 alternately delivers boxes 1 to the branch conveyor channels 134. When one of the gripping stations 132 on a branch conveyor channel 134 is not full of boxes 1, the boxes 1 on the main conveyor channel 133 are transported to their corresponding reversing station, where they are detected by the reversing detection component. The component outputs a signal to the electrical control system, which then controls the main conveyor channel 133 to stop transporting the boxes 1. The boxes 1 stop at the reversing station, and the corresponding reversing mechanism 138 is then activated to move the boxes 1 from the reversing station to the branch conveyor channel 134 and transport them to the gripping station 132. Then the reversing mechanism 138 resets, and the main conveyor 133 resumes movement. This process repeats until the gripping station 132 of the branch conveyor 134 is full of boxes 1. At this point, based on the signal from the detection mechanism 137, the electrical control system controls the branch conveyor 134 to stop moving, and the boxes 1 on the main conveyor 133 are no longer transferred to the branch conveyor when they are transported to their corresponding reversing station. When all the reversing stations on all branch conveyors 134 are full of boxes 1, the main conveyor 133 stops transporting.

[0129] In this embodiment, further, see... Figure 10 , Figure 11 and Figure 12The main conveyor 133 in the storage and conveying device 13 includes an inlet / outlet conveyor belt 133a and a conveyor roller 133b. The loading / unloading station 131 is located on the inlet / outlet conveyor belt 133a, ensuring the box 1 is placed stably. Both the inlet / outlet conveyor belt 133a and the conveyor roller 133b extend in a straight line in the front-to-back direction. The front end of the inlet / outlet conveyor belt 133a is connected to the rear end of the conveyor roller 133b. A reversing station is located on the conveyor roller 133b, and one end of the branch conveyor 134 is connected to the conveyor roller 133b. Preferably, two guide side plates (not shown in the attached drawings) are also provided above the inlet / outlet conveyor belt 133a, arranged opposite each other. The space between the two guide side plates gradually narrows from the rear to the front of the vehicle, and the box 1 is positioned between the two guide side plates when entering the loading / unloading station 131. When box 1 is loaded, box 1 first enters the loading / unloading station 131 on the inlet / outlet conveyor belt 133a, is driven forward and enters the conveyor roller 133b, and the guide side plate can prevent box 1 from deviating during the conveying process.

[0130] In this embodiment, further, see... Figure 10 , Figure 11 and Figure 12 The reversing mechanism 138 includes a lifting frame, multiple reversing conveyor belts mounted on the lifting frame, and a lifting drive assembly (not shown in the figures). The reversing conveyor belts are located in the gaps between adjacent rollers in the conveyor roller table 133b. The lifting drive assembly can drive the lifting frame to move up and down so that the reversing conveyor belts are higher or lower than the conveyor roller table 133b. When the reversing conveyor belts are raised, they are connected to the branch conveyor table 134. The electrical control system is connected to the lifting drive assembly and can control the automatic lifting movement of the lifting conveyor belt section. The movement of the reversing conveyor belts is also controlled by the electrical control system. In this design, when the reversing mechanism 138 is working, the lifting drive assembly raises the lifting frame and the reversing conveyor belt, lifting the box 1, which is parked at the reversing station on the main conveyor 133, a certain distance. After the reversing conveyor belt aligns with the branch conveyor 134, it begins to transport the box 1 onto the branch conveyor 134. After the box 1 leaves the reversing conveyor belt, the reversing mechanism 138 resets, the lifting frame descends, and the reversing conveyor belt returns to below the conveyor roller 133b, awaiting the next operation. Of course, the reversing mechanism 138 can also adopt other suitable structures, such as using a push rod to transfer the box 1 from the conveyor roller 133b to the branch conveyor 134.

[0131] In this embodiment, see Figure 10 , Figure 11 and Figure 12As a preferred design, the branch conveyor 134 uses a conveyor belt for transport. A stopping limit baffle 135 is provided on the side of the gripping station 132. The stopping limit baffle 135 is located on one side of the gripping station 132 along the conveying direction of the branch conveyor 134. When the box 1 moves on the branch conveyor 134 to the gripping station 132, it abuts against the stopping limit baffle 135, thus stopping at the gripping station 132. Side limit plates 136 are provided on both sides of the branch conveyor 134 in the width direction to constrain and guide the box 1 during transport on the branch conveyor 134.

[0132] In this embodiment, see Figure 10 , Figure 11 and Figure 14 As a preferred design, the clamping mechanism 142 of the loading and unloading gripping device 14 includes multiple sub-clamps 142a and a tension adjustment component. The multiple sub-clamps 142a are arranged in a straight line, and the number of sub-clamps 142a is equal to the number of boxes 1 that the gripping station 132 can accommodate. Each sub-clamp 142a is used to grip one box 1. The tension adjustment component can adjust the distance between two adjacent sub-clamps 142a. The electrical control system independently controls the operation of each sub-clamp 142a. Specifically, the sub-clamps 142a are mounted on a clamping bracket 142b and arranged in a straight line. The sub-clamps 142a can move linearly on the clamping bracket 142b, which is connected to the loading and unloading robotic arm 141. The tension adjustment component is located on the clamping bracket 142b and is connected to each sub-clamp 142a. It can drive the sub-clamps 142a to move linearly and synchronously adjust the distance between any two adjacent sub-clamps 142a. Depending on the need to disassemble box 1 each time, the clamping mechanism 142 can grab 1 to 3 boxes 1 at a time. At this time, the corresponding clamp 142a can be controlled to grab them. It is flexible and convenient to use. On the one hand, it can adapt to the needs of boxes 1 of various specifications. On the other hand, when grabbing multiple boxes 1, it can make the boxes 1 close together, so that the boxes 1 inserted into the box stack wall 17 are more compact when loading in the carriage 11.

[0133] In this embodiment, see Figure 10 , Figure 11 and Figure 14As a preferred design, the sub-clamp 142a of the clamping mechanism 142 includes multiple vacuum suction cups. Correspondingly, the loading and unloading gripping device 14 also includes a vacuuming mechanism 143, which includes a vacuum pump. The vacuum pump is connected to the vacuum suction cups through pipelines, enabling the vacuum suction cups to generate a vacuum adsorption effect or to release adsorption. The clamping mechanism 142 is adsorbed onto the surface of the box 1 by multiple vacuum suction cups, facilitating the gripping of the box 1. When gripping the box 1 at the gripping station 132, the sub-clamp 142a is located on the upper side of the box 1, and the clamping bracket 142b is in a horizontal state. This also facilitates loading the box 1 into the box stack wall 17 inside the carriage 11 and facilitating the gripping of the box 1 from the box stack wall 17. When gripping the box 1 at the box stack wall 17, the sub-clamp 142a is located on the outward-facing side of the box 1, and the clamping bracket 142b is in a vertical state.

[0134] In this embodiment, see Figure 10 , Figure 11 and Figure 14 As a preferred design, the loading / unloading robotic arm 141 preferably adopts a multi-axis robotic arm with multiple motion dimensions, which is flexible in movement and precise in positioning. Existing mature robotic arm products can be used. The movement of the multi-axis robotic arm can be controlled by an electronic control system to precisely move the gripper mechanism 142 to the designated position. During the handling process, the gripper mechanism 142 can cause the box 1 to flip. Preferably, a six-dimensional torque sensor is also installed at the flange end of the loading / unloading robotic arm 141. The six-dimensional torque sensor can detect the load torque of the robotic arm. By monitoring the load torque during robot operation and using the feedback data and algorithms, it intelligently determines whether the held object has collided or been excessively squeezed, effectively preventing damage from collisions or compression of the goods.

[0135] In this embodiment, see Figure 10 , Figure 11 and Figure 15 As a preferred design, the transport vehicle 12 uses a tracked walking mechanism 121 for movement, which is stable and can perform actions such as forward, backward, left turn, right turn, and left and right turns in place. It has a small turning radius when moving and can turn in place, which facilitates climbing from outside the carriage 11 to inside the carriage 11 and movement inside the carriage 11, and puts little pressure on the bottom surface of the carriage 11.

[0136] In this invention, the electrical control system has functions such as data collection, data storage and processing, and command control. Specifically, it can employ devices such as a PLC controller and a computer, capable of receiving data signals from various detection function components in the loading and unloading robot, and equipped with various other electrical components to control the movement of various moving parts in the loading and unloading robot. An electrical control box 16 is provided on the transport vehicle 12, and multiple components of the electrical control system can be centrally installed in the electrical control box 16.

[0137] When using the loading and unloading robot in this embodiment, the box 1 can be loaded into the carriage 11 and stacked into a box stack wall 17. At this time, the automatic loading and stacking operation C includes the following steps:

[0138] C1. Box 1 enters the storage and conveying device 13 through the inbound / outbound station 131, and the storage and conveying device 13 transports box 1 to the gripping station 132.

[0139] C2. Single packing operation, including the following steps:

[0140] C21. The loading and unloading robot scans the container stacking wall 17 inside the carriage 11 using a vision scanning system. Based on the pre-set stacking order of the container stacking wall 17, it determines the position and quantity Y of the containers 1 to be placed. Based on the range of motion of the loading and unloading robotic arm 141, it determines the parking position where the loading and unloading robot needs to stop. The navigation and positioning system determines whether the loading and unloading robot is at the parking position. If not, the electronic control system controls the transport vehicle 12 to move to the parking position.

[0141] In this step, specifically, the stacking sequence of the container stack wall 17 can be preset in the electronic control system. For example, the stacking sequence of the container stack wall 17 is from bottom to top and from left to right (when facing the container stack wall 17). See [link to relevant documentation]. Figure 18 That is, the bottom layer of the box stack wall 17 is stacked first, and the boxes 1 in each layer are placed from left to right. When the bottom layer is completely full, the top layer is stacked, and finally, the top layer is stacked to form a complete box stack wall 17. See Figure 9 Initially, there may be no stacking wall 17 inside the carriage 11. When the visual scanning system scans the stacking wall 17 inside the carriage 11, if it determines from the image that there is no stacking wall 17, it determines that the position to be placed is the innermost part of the carriage 11, and the leftmost part. The number Y of boxes 1 to be placed depends on the number of boxes 1 that the gripping station 132 can hold and the number of boxes 1 that the clamping mechanism 142 can grip. Specifically, in this embodiment, the clamping mechanism 142 can grip up to three boxes 1 from the gripping station 132. Therefore, the number Y of boxes 1 to be placed can be the maximum, which is three. When there are already some box stack walls 17 inside the carriage 11, the visual scanning system scans the box stack walls 17 inside the carriage 11 and determines the position of the missing box 1 in the outermost box stack wall 17 based on the image information, and determines the number Y of box 1 to be placed this time. In particular, when the position of the box 1 to be placed this time is the rightmost side of a certain layer, and the remaining space can only hold one or two boxes 1, the system will determine the number Y of box 1 to be placed to be 1 or 2 based on the captured image information.

[0142] In this step, each box 1 to be placed corresponds to a parking position. This parking position can be a relatively large area. When the transport vehicle 12 is in the parking position, the box 1 to be placed is within the range of motion of the loading / unloading robotic arm 141, meaning the robotic arm 141 can move the clamping mechanism 142 to that position. The parking position is determined by the distance between the transport vehicle 12 and the object in front (the inner wall of the carriage 11 or the box stack wall 17), and the distance between the transport vehicle 12 and the left and right side walls of the carriage 11. Each box 1 in the box stack wall 17 corresponds to a specific parking position, and this correspondence can be pre-set in the electronic control system. When the electronic control system controls the transport vehicle 12 to move towards the parking position, the navigation and positioning system determines whether the position of the transport vehicle 12 meets the requirements. If the requirements are met, the movement stops, and the vehicle stops at the parking position. Preferably, when the range of motion of the loading and unloading robotic arm 141 in the left and right directions includes the width of the entire carriage 11, it is only necessary to determine the range between the transport vehicle 12 and the object in front (the inner wall of the carriage 11 or the stack wall 17). During the entire operation, the transport vehicle 12 only needs to move back and forth to adjust its position.

[0143] C22. The electrical control system controls the loading and unloading gripping device 14 to work. The loading and unloading robotic arm 141 drives the clamping mechanism 142 to move to the gripping station 132 to grip Y boxes 1. Then, the visual scanning system determines the placement position of the boxes 1, controls the loading and unloading robotic arm 141 to move, places the boxes 1 in the clamping mechanism 142 in that position, and releases the clamping mechanism 142. Thus, one single box loading operation is completed.

[0144] After completing a single packing operation, repeat step C2 to scan and pack again until a complete stack of container walls 17 is completed. Then continue to repeat step C2 to start the stacking of the next container wall 17. In the above manner, from the inside to the outside of the carriage 11, multiple container walls 17 are gradually stacked to fill the carriage 11.

[0145] During operation, the unpacking, loading, and palletizing of boxes are carried out simultaneously, working together to continuously perform automated unpacking, palletizing, and loading.

[0146] This invention can be applied to various boxes 1, especially to the logistics of boxes 1 used for packaging tobacco products.

[0147] As can be seen from the above, the automatic unpacking and stacking device, automatic unpacking and stacking loading equipment and method of the present invention have the following beneficial effects:

[0148] 1. The automatic unpacking and stacking device can automatically separate the boxes from the stack and send them out individually with the same orientation. The entire unpacking and stacking process is automatic and efficient, reducing manual labor, greatly improving work efficiency and reducing labor load.

[0149] 2. It can continuously unpack and stack boxes and automatically deliver them to the carriage for loading.

[0150] 3. By setting up an intermediate conveyor with movable conveyor section 8, the position can be adjusted according to the position of the car body during loading, and the position can be moved inside the car body, making it easy to use and adaptable to a wide range of applications.

[0151] 4. By setting up loading and unloading robots to automatically load goods in the compartment and automatically stack boxes 1 in the compartment 11, the needs of automatic loading and unloading in the limited space of the box truck can be met, realizing the automation of loading and unloading work, saving manpower, reducing the intensity of manual labor, improving the efficiency of loading operations, and can cooperate with automatic unpacking and stacking devices and intermediate conveying devices to carry out continuous loading operations.

[0152] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0153] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. An automatic de-palletizing device for separating the boxes (1) in a pallet (2) of boxes (1) into individual boxes (1) and outputting them one by one, characterized in that: The device comprises a de-stacking station for parking a box stack (2), a box separating conveying mechanism (4), a de-stacking robot (3) and a control system, the box separating conveying mechanism (4) comprises N parallel speed-divided conveying paths (41) with different conveying speeds, and the box separating conveying mechanism (4) is provided with a box placing area on the N speed-divided conveying paths (41); the de-stacking robot (3) comprises a de-stacking mechanical arm (31) and a de-stacking grabbing mechanism (32) mounted on the de-stacking mechanical arm (31), the de-stacking grabbing mechanism (32) comprises N single-box grippers (321) arranged in a straight line and working independently of each other, a spacing adjusting assembly (323) for driving adjacent single-box grippers (321) to approach or separate, the single-box gripper (321) is used for grabbing a single box (1), the de-stacking mechanical arm (31) is used for driving the de-stacking grabbing mechanism (32) to the de-stacking station to grab the box (1), and driving the de-stacking grabbing mechanism (32) to a box placing position in the box placing area, when the de-stacking grabbing mechanism (32) is in the box placing position, N single-box grippers (321) correspond to N speed-divided conveying paths (41), and the box (1) grabbed by the single-box gripper (321) can be placed on the corresponding speed-divided conveying path (41); the control system is connected with the de-stacking mechanical arm (31) and the de-stacking grabbing mechanism (32) of the de-stacking robot (3), and the control system is respectively connected with N speed-divided conveying paths (41) of the output conveying mechanism.

2. The automatic de-palletizing device of claim 1, wherein: The device further comprises a visual recognition system (5) comprising a 3D visual camera (51) arranged above the de-stacking station, and the 3D visual camera (51) can shoot the upper side of the box stack (2) on the de-stacking station, the visual recognition system (5) is connected with the control system.

3. The automatic de-palletizing device of claim 1, wherein: The device further comprises an input conveying mechanism (6) for placing and conveying the box stack (2), and the de-stacking station is located on the input conveying mechanism (6).

4. The automatic de-palletizing device of claim 1, wherein: The box separating conveying mechanism (4) further comprises speed-divided side baffles (42) arranged on both sides of the speed-divided conveying path (41), and the speed-divided side baffles (42) are located downstream of the box placing area along the conveying direction of the box separating conveying mechanism.

5. The automatic de-palletizing device of claim 1, wherein: The single-box gripper (321) comprises a vacuum suction cup for adsorbing on the surface of the box (1), the de-stacking grabbing mechanism (32) further comprises a limiting baffle (324) fixed on the single-box gripper (321), when the single-box gripper (321) grabs the box (1) at the de-stacking station, the limiting baffle (324) is vertical and in contact with the side of the box (1), and the vacuum suction cup adsorbs on the upper side of the box (1), when the de-stacking grabbing mechanism (32) is in the box placing position, the limiting baffle (324) is located on the lower side of the box (1) and drags the box (1).

6. The automatic de-palletizing device of claim 1, wherein: Also included is a single-box output mechanism (7) having a single-box output transmission path (71) provided with two oppositely arranged guide side plates (72) and a guide channel between the two side guide side plates (72), the guide channel gradually narrowing in width along the conveying direction of the single-box output transmission path (71), the single-box output transmission path (71) being in abutment with the N sub-speed conveying paths (41) of the sub-box conveying mechanism (4), the boxes (1) conveyed by the single-box output transmission path (71) passing through the guide channel, and the outlet of the guide channel allowing one box (1) to pass through.

7. An automatic de-palletizing and truck loading apparatus for loading containers (1) from a pallet (2) into a truck bed (11), characterized in that: The automatic unpacking device as claimed in any one of claims 1 to 6, further comprising an intermediate conveying device having an intermediate conveying path, the inlet end of the intermediate conveying path being connected to the outlet of the single-box output mechanism (7), and the outlet end of the intermediate conveying path extending into the carriage (11).

8. The automated de-palletizing and rail car loading apparatus of claim 7, wherein: The intermediate conveying device comprises a movable conveying section (8) comprising a retractable support base and a conveying roller path (81) mounted on the retractable support base, the retractable support base being retractable and capable of changing the distance between adjacent rollers of the conveying roller path (81), and the intermediate conveying path comprising the conveying roller path (81), the outlet end of the conveying roller path (81) extending into the carriage (11).

9. An automated de-palletizing and truck loading method, characterized by: The automatic unpacking and loading device as claimed in claim 7 or 8 is used to perform the following operations: A, unpacking of the box stack, comprising the following steps: A1, stopping the box stack (2) at the unpacking station; A2, unpacking of the single layer of the box stack (2): the control system controls the unpacking robot (3) to move, the unpacking arm (31) drives the unpacking gripping mechanism (32) to the unpacking station, the N single-box grippers (321) of the unpacking gripping mechanism (32) grip M boxes (1) from the uppermost layer of the box stack (2), M≤N, then drive the unpacking gripping mechanism (32) to the box placing position, place the M boxes (1) on the box placing area, and place the M boxes (1) into the M sub-speed conveying paths (41), and sequentially enter the single-box output mechanism (7) through the sub-box conveying mechanism (4), then sequentially conveyed out after passing through the single-box output mechanism (7); repeat the above operation until all the boxes (1) in the uppermost layer of the box stack (2) are unpacked; A3, unpacking of the boxes (1) in each layer of the box stack (2) from top to bottom; B, loading of the boxes (1) into the carriage (11): the intermediate conveying mechanism conveys the unpacked boxes (1) to the carriage (11).

10. The automated de-palletizing and railcar loading method of claim 9, wherein: The automatic unpacking and loading device further comprises a loading robot arranged in the carriage (11), the outlet end of the intermediate conveying path being connected to the loading robot to convey the boxes into the loading robot; the automatic unpacking and loading method further comprises: C, automatic loading and stacking of the boxes (1) in the carriage (11).

Images