Intelligent stacking and destacking device

Abstract

The application discloses an intelligent stacking and unstacking device, which comprises a cabinet body, a door hole is formed through the cabinet body, a conveying line for conveying turnover boxes passes through the door hole, stacking and unstacking mechanisms are arranged on the two sides of the door hole, the stacking and unstacking mechanism comprises two parallel vertical guide rails, an upper sliding seat and a lower sliding seat which can be lifted along the two vertical guide rails, the upper sliding seat is driven to lift through a first hydraulic telescopic rod, a rotatable threaded rod is connected between the upper sliding seat and the lower sliding seat to automatically adjust the distance between the upper sliding seat and the lower sliding seat, a clamping mechanism which can clamp the side right angle of the turnover box and a first box body sensing device are arranged on the upper sliding seat, a box bottom supporting mechanism which can be rotated outward and a second box body sensing device are arranged on the lower sliding seat, and the application not only provides an efficient, accurate and safe material handling solution, but also improves the flexibility of operation and the user experience through intelligent technology and innovative design.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of power supporting equipment, and specifically relates to an intelligent stacking and unstacking device. BACKGROUND

[0002] With the development of automation and intelligent technology, the logistics, warehousing and manufacturing industries have an increasing demand for efficient and accurate cargo handling equipment. In the field of power supporting, the delivery and storage of metering meters such as electricity meters require stacking and unstacking, and because intelligent metering meters have high precision, the stability and reliability of stacking and unstacking are required to be higher. Traditional stacking and unstacking operations usually rely on manual operation or simple mechanical equipment, which not only is inefficient and prone to errors, but also can lead to waste of labor resources and worker health problems in a repetitive and high-load work environment.

[0003] Although existing automatic stacking equipment improves work efficiency to some extent, it still has some shortcomings. For example, traditional automatic stacking machines can usually only handle specific sizes of turnover boxes, and have limited processing capacity for turnover boxes of different sizes, requiring equipment upgrades or pre-input parameters. In addition, these devices have insufficient positioning and handling accuracy for turnover boxes during stacking and unstacking, and sometimes require additional equipment or manual intervention to adjust the position of the goods, which increases the complexity and cost of the operation.

[0004] In addition, the existing stacking and unstacking equipment clamps the turnover box from the side of the turnover box, but considering the cost and recycling, most of the turnover boxes are paper boxes, and the strength of the paper box is not high, especially its rigidity and hardness. If the clamping force is insufficient, the paper box will fall or be unstable, and if the clamping force is too large, the paper box will be deformed and damaged. In addition, the weight and size of the goods loaded in the turnover box are not necessarily the same, and the thickness and strength of each paper box also differ, making it difficult to overcome this problem by pre-setting the clamping force. SUMMARY

[0005] The purpose of the present application is to provide an intelligent stacking and unstacking device that not only provides an efficient, accurate and safe material handling solution, but also improves the flexibility and user experience of the operation through intelligent technology and innovative design.

[0006] The technical solution adopted by the present application is as follows:

[0007] The utility model provides a kind of intelligent stacking and unstacking device, including cabinet body;The door hole is through in the middle part of the cabinet body front and back;A conveying line for conveying turnover box passes through the door hole;Two sides in the door hole are respectively provided with stacking and unstacking mechanism;The stacking and unstacking mechanism includes two parallel interval vertical guide rails, the upper slide and the lower slide that can be lifted along two vertical guide rails;The upper slide is driven to lift by a first hydraulic telescopic rod;A rotatable threaded rod is connected between the lower slide and the upper slide, to automatically adjust the interval between the lower slide and the upper slide;The upper slide is provided with the clamping mechanism that can clamp the side right angle of turnover box and the first box body sensing device;The lower slide is provided with the box bottom support mechanism that can rotate outward and the second box body sensing device.

[0008] Wherein, the upper slide is hollow structure;The clamping mechanism includes the horizontal rail arranged in the upper slide and the two sliders supported on the horizontal rail and can slide along the horizontal rail;Two sliders are driven to move position by a second hydraulic telescopic rod respectively;The upper slide is provided with a long strip-shaped opening in the position parallel to the horizontal rail in the front part opposite to the horizontal rail;Two foldable clamping plates are provided outside the long strip-shaped opening corresponding to two sliders;The foldable clamping plate includes parallel plate and bending plate;The parallel plate and bending plate are connected by a foldable sector structure, so that the bending plate can be folded relative to the parallel plate;One end of a third hydraulic telescopic rod passes through the long strip-shaped opening and is hinged with the bending plate, and the other end is hinged with the slider;One end of a fourth hydraulic telescopic rod passes through the long strip-shaped opening and is hinged with the parallel plate, and the other end is hinged with the same slider;The feeding of the parallel plate towards the turnover box and the folding of the bending plate are controlled by the third hydraulic telescopic rod and the fourth hydraulic telescopic rod.

[0009] Wherein, the bending plate and the parallel plate are attached to a flexible capsule at the connection part of the side towards the turnover box;The flexible capsule is filled with electrorheological fluid;The inner surface of the flexible capsule is also provided with an electrode coating;An external circuit applies an electric field to the electrorheological fluid through the electrode coating to control its viscosity.

[0010] Wherein, at least two grooves are provided on the side of the lower slide towards the turnover box;A support plate is arranged in the groove;The support plate is horizontally rotatably connected at one end in the groove, and is driven to rotate by a stepping motor, so that the other end is supported after rotating out of the groove.

[0011] Wherein, the first box body sensing device and the second box body sensing device are infrared sensing device, laser sensing device, ultrasonic sensing device or position switch.

[0012] Wherein, the bending plate and the parallel plate are provided with protruding anti-skid pads on the side towards the turnover box.

[0013] Wherein, pressure sensors are embedded on the anti-skid pads and the support plates respectively.

[0014] The palletizing and depalletizing device further comprises a vision system; the vision system comprises a high-resolution camera or a D-vision sensor to capture the image of the carton and identify the size, shape and position of the carton through an image processing algorithm.

[0015] The palletizing method of the intelligent palletizing and depalletizing device is as follows:

[0016] ①The dispersed turnover boxes are sequentially conveyed into the door opening, the second box body sensing device senses the presence of the turnover box, while the first box body sensing device does not sense the presence of the turnover box, the device automatically judges that the turnover box at this position is not in a stacked state, and triggers the palletizing action at the same time;

[0017] ②The vision system accurately identifies and calculates the specific position and shape and size of the turnover box; the controller controls the position and spacing of the second hydraulic telescopic rod adjusting sliding block to align with the turnover box;

[0018] ③The controller controls the third and fourth hydraulic telescopic rods to extend cooperatively, so that the parallel plate and the bent plate form an angle shape to clamp and extrude the side right angle of the turnover box, and stop extending when the pressure sensed by the pressure sensor on the non-slip pad reaches a preset threshold; in this process, the side right angle tip of the turnover box extrudes the flexible capsule, so that the flexible capsule covers the side right angle tip of the turnover box; then the external circuit applies an electric field to the current variable fluid through the electrode coating to convert it into a solid locked shape and a covering state;

[0019] ④After clamping is completed, the first hydraulic telescopic rod drives the upper sliding seat to rise, thereby driving the turnover box to rise synchronously; during the rising to the end section, the screw rod can be rotated under the driving of the stepping motor, so that the lower sliding seat does not rise with the upper sliding seat, until the turnover box rises to beyond the groove, the second box body sensing device cannot sense the turnover box, while the first box body sensing device still senses the turnover box, triggering the stepping motor to drive the support plate to turn out;

[0020] ⑤The control device controls the first hydraulic telescopic rod to slightly extend, so that the turnover box descends a small distance and the bottom of the turnover box is supported on the support plate; after the turnover box extrudes the support plate, the pressure sensor on the support plate is triggered to send a signal to the controller, and the controller receives the signal to control the third and fourth hydraulic telescopic rods to slightly shorten, so that the bendable clamping plate weakens the horizontal clamping force on the turnover box, avoiding long-term extrusion of the turnover box;

[0021] ⑥The next turnover box is conveyed into the door hole by the conveying line, the first hydraulic telescopic rod drives the upper slide and the lower slide to move downward at the same time, the third hydraulic telescopic rod and the fourth hydraulic telescopic rod are controlled to extend, so that the bendable clamping plate clamps the turnover box again; then the rotatable threaded rod is controlled to rotate, so that the lower slide moves downward, and the turnover box is separated from the extrusion support plate; after the pressure sensor on the support plate senses that the pressure is lost, the stepping motor is triggered to drive the support plate to rotate back into the groove;

[0022] ⑦The first hydraulic telescopic rod drives the upper slide and the lower slide to move downward until the clamped turnover box is stacked above the new turnover box entering the door hole; the third hydraulic telescopic rod and the fourth hydraulic telescopic rod are controlled to shorten, so that the clamping state is released, and the bending plate is bent back to be substantially in the same straight line with the parallel plate; the electric field applied to the electrorheological fluid is removed, so that it returns to a liquid state, thereby fully releasing the clamping state of the turnover box;

[0023] ⑧The conveying line moves the stacked turnover box out.

[0024] The intelligent stacking and unstacking device has the following unstacking method:

[0025] ①The conveying line conveys the turnover box of the stack into the door hole, the second box body sensing device senses the existence of the turnover box, and at the same time, the first box body sensing device also senses the existence of the turnover box, the device automatically judges that the turnover box at this position is in a stacked state, and simultaneously triggers the unstacking action;

[0026] ②The visual system accurately identifies and calculates the specific position, shape, and size of the uppermost turnover box; the controller controls the second hydraulic telescopic rod to adjust the position and distance of the sliding block to be aligned with the turnover box;

[0027] ③The controller controls the third hydraulic telescopic rod and the fourth hydraulic telescopic rod to extend cooperatively, so that the parallel plate and the bending plate form an angle shape to clamp and extrude the side right angle of the uppermost turnover box, and stop extending after the pressure sensed by the pressure sensor on the non-slip pad reaches a preset threshold value; in this process, the side right angle tip of the turnover box extrudes the flexible capsule, so that the flexible capsule covers the side right angle tip of the turnover box; then the external circuit applies an electric field to the electrorheological fluid through the electrode coating to convert it into a solid locked shape and a covering state;

[0028] ④After clamping is completed, the first hydraulic telescopic rod drives the upper slide to rise, thereby driving the turnover box to rise synchronously; during the rising to the end section, the rotatable threaded rod is rotated under the driving of the stepping motor, so that the lower slide does not rise with the upper slide; until the turnover box rises to beyond the groove, the second box body sensing device cannot sense the turnover box, while the first box body sensing device still senses the turnover box, triggering the stepping motor to drive the support plate to rotate out;

[0029] V. The control device controls the first hydraulic telescopic rod to slightly extend, causing the turnover box to descend a small distance and the bottom of the turnover box to be supported on the support plate; after the turnover box presses the support plate, the pressure sensor on the support plate is triggered, sending a signal to the controller, and after the controller receives the signal, the third hydraulic telescopic rod and the fourth hydraulic telescopic rod are controlled to slightly shorten, causing the horizontal clamping force of the bendable clamping plate on the turnover box to weaken, avoiding long-term pressing of the turnover box;

[0030] VI. The control device controls the first hydraulic telescopic rod to slightly extend, causing the turnover box to descend a small distance and the bottom of the turnover box to be supported on the support plate; after the turnover box presses the support plate, the pressure sensor on the support plate is triggered, sending a signal to the controller, and after the controller receives the signal, the third hydraulic telescopic rod and the fourth hydraulic telescopic rod are controlled to slightly shorten, causing the horizontal clamping force of the bendable clamping plate on the turnover box to weaken, avoiding long-term pressing of the turnover box;

[0031] VII. The control device controls the first hydraulic telescopic rod to extend again until the turnover box contacts the conveying line, and controls the third hydraulic telescopic rod and the fourth hydraulic telescopic rod to shorten, releasing the clamping state and causing the bending plate to bend back to be generally in the same straight line as the parallel plate; the electric field applied to the electrorheological fluid is removed, causing it to return to a liquid state, thereby fully releasing the clamping state of the turnover box;

[0032] VIII. The conveying line removes the disassembled turnover box.

[0033] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present application are:

[0034] 1. Overall, the intelligent stacking and unstacking device has the following advantages:

[0035] High efficiency and automated operation: The automated design of the device allows for quick and continuous stacking and unstacking operations, significantly improving operational efficiency and reducing the need for manual operation.

[0036] Precise clamping and positioning: Through advanced clamping mechanisms and box sensing devices, the device can accurately identify and position the turnover box, ensuring the accuracy of the operation.

[0037] Strong adaptability: The design of the device allows for automatic adjustment of the clamping mechanism, which can accommodate turnover boxes of different sizes, increasing the range and flexibility of the device.

[0038] Protective clamping design: The combination of the bending plate and the parallel plate with the flexible capsule and electrorheological fluid can apply appropriate force to the turnover box during clamping, reducing damage to the goods.

[0039] Intelligent sensing and vision system: The combination of infrared, laser, ultrasonic sensing devices and vision systems provides higher operational accuracy, reducing errors and potential operational risks.

[0040] Anti-slip and safety measures: The application of anti-slip mats and pressure sensors ensures the safety and stability of the operation, preventing the goods from slipping or being damaged during handling.

[0041] In summary, the intelligent stacking and unstacking device of the present application not only provides an efficient, accurate and safe material handling solution, but also improves the flexibility and user experience of the operation through intelligent technology and innovative design.

[0042] 2、The special clamping design for cartons has the following advantages:

[0043] Side right-angle clamping: The bending plate and parallel plate design is specifically used for clamping from the side right-angle of the carton (i.e. the strongest part). It is suitable for handling cartons with low strength and easy deformation, ensuring that the carton will not be deformed or damaged during clamping.

[0044] Self-adaptive clamping force: By utilizing the characteristics of flexible capsules and electrorheological fluid, the device can automatically adjust the clamping force according to the actual conditions of the carton (such as weight, thickness and internal load). This means that regardless of the specific specifications of the carton, the device can maintain stable and safe clamping; and through the characteristics of flexible capsules and electrorheological fluid in liquid state, it can provide a larger contact area and wrapping effect for the carton angle, reducing the clamping precision requirement, even if the clamping precision is slightly reduced, it can still achieve stable contact and wrapping of the carton angle; at the same time, after wrapping, it can instantly convert the electrorheological fluid into solid state, thereby achieving rigid clamping of the carton angle and avoiding the carton from falling off.

[0045] Reducing the risk of carton damage: Traditional side clamping of cartons often has the risk of insufficient or excessive clamping force, and the present application significantly reduces the risk of carton damage during handling by intelligently adjusting the clamping force.

[0046] Improving the reliability and safety of the operation: By precisely controlling the clamping force, the posture of the carton during handling is stable, improving the reliability and safety of the entire operation.

[0047] In addition, this innovative clamping method, combined with the aforementioned intelligent sensing and vision system, high efficiency and automated operation, provides a comprehensive, efficient, safe and friendly material handling solution for users. Especially for cartons, which are common but have low strength, the present application provides a better handling method, effectively overcoming the limitations of existing technologies.

[0048] 3、The design of the upper slide, clamping mechanism, lower slide and support plate in the intelligent stacking and unstacking device of the present application brings precise coordination and multiple benefits to the stacking and unstacking process:

[0049] The action of the upper slide and the clamping mechanism

[0050] Precise positioning and clamping: The clamping mechanism on the upper slide can be precisely adjusted according to the size and position of the toter through the horizontal rail and slider design. This design allows the clamping mechanism to align with the toter's side at a right angle, ensuring the accuracy of the clamping position.

[0051] Adaptive clamping: The bending design of the clamping plate and the application of electrorheological fluid allow the clamping force to automatically adjust according to the material and loading conditions of the toter, preventing excessive pressure on the carton that could cause damage. The design of the bending plate and the parallel plate can be used to clamp the carton at a right angle, and can also be expanded to make the bending plate and the parallel plate close to a straight line, facilitating the removal of the carton and preventing obstruction, thus achieving both the right-angle clamping scheme.

[0052] The role of the lower slide and the support plate

[0053] Stable support: The support plate on the lower slide can be extended when needed to provide bottom support for the toter, converting the side clamping support relying on friction into bottom support, thereby reducing the clamping time of the clamping mechanism on the carton, reducing the possibility of carton deformation, and reducing the occurrence of unstable carton posture.

[0054] Precise control: The support plate is driven by a stepper motor, which can accurately control its rotation and position, ensuring timely support when the toter is lowered.

[0055] Improved work efficiency: The coordinated operation of the upper and lower slides greatly improves the speed and efficiency of stacking and unstacking.

[0056] Reduced damage to goods: Precise clamping and support reduce the risk of damage to the toter during handling.

[0057] Improved work safety: Stable clamping and support ensure the safety of the entire stacking and unstacking process, especially for heavy or irregularly shaped toters.

[0058] Adapt to various types of toters: This design allows the device to adapt to toters of different sizes, shapes, and materials, improving the flexibility and applicability of the device.

[0059] Overall, the coordinated operation of the upper slide and clamping mechanism, the lower slide and support plate, brings high efficiency, high precision, and high safety to the intelligent stacking and unstacking device, while also improving the device's adaptability to different types of toters. BRIEF DESCRIPTION OF DRAWINGS

[0060] Figure 1 is a front view of the intelligent stacking and unstacking device of the present application;

[0061] Figure 2 Structure diagram of the palletizing and depalletizing mechanism on both sides of the door opening of the application;

[0062] Figure 3 Structure diagram of the palletizing and depalletizing mechanism when the upper and lower sliding seats are separated;

[0063] Figure 4 Structure diagram of the horizontal section of the upper sliding seat of the application;

[0064] Figure 5 Structure diagram of the clamping mechanism when it is about to clamp the turnover box;

[0065] Figure 6 Structure diagram of the clamping mechanism when it clamps the four right angles of the turnover box;

[0066] Figure 7 Structure diagram of the Figure 6 Enlarged view of the middle circle;

[0067] Figure 8 Structure diagram of the upper support plate of the lower sliding seat when it is not unfolded;

[0068] Figure 9 Structure diagram of the upper support plate of the lower sliding seat when it is unfolded outward.

[0069] Markings in the figure: 1, cabinet body; 2, door opening; 3, turnover box; 4, conveying line; 5, palletizing and depalletizing mechanism; 51, vertical rail; 52, upper sliding seat; 53, lower sliding seat; 54, first hydraulic telescopic rod; 55, rotatable threaded rod; 56, first box body sensing device; 57, second box body sensing device; 61, horizontal rail; 62, sliding block; 63, foldable fan-shaped structure; 64, second hydraulic telescopic rod; 65, long strip-shaped opening; 66, parallel plate; 67, bent plate; 68, fourth hydraulic telescopic rod; 69, third hydraulic telescopic rod; 7, flexible bag body; 71, electro-rheological fluid; 81, groove; 82, support plate; 91, non-slip pad; 92, pressure sensor. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solutions and advantages of the application more clear and explicit, the application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the application and do not limit the application.

[0071] Reference is made to Figures 1 to 9The application discloses an intelligent stacking and unstacking device, which comprises a cabinet body 1, a door hole 2 is formed through the cabinet body 1, a conveying line 4 for conveying turnover boxes 3 is arranged through the door hole 2, a stacking and unstacking mechanism 5 is arranged on both sides of the door hole 2, the stacking and unstacking mechanism 5 comprises two parallel vertical guide rails 51, an upper sliding seat 52 and a lower sliding seat 53 which can be lifted along the two vertical guide rails 51, the upper sliding seat 52 is driven to lift through a first hydraulic telescopic rod 54, a rotatable threaded rod 55 is connected between the upper sliding seat 52 and the lower sliding seat 53, so that the distance between the upper sliding seat 52 and the lower sliding seat 53 can be automatically adjusted, a clamping mechanism which can clamp the right angle of the side of the turnover box and a first box body sensing device 56 are arranged on the upper sliding seat 52, and a box bottom supporting mechanism which can be rotated outward and a second box body sensing device 57 are arranged on the lower sliding seat 53.

[0072] Further, the upper sliding seat 52 is a hollow structure, the clamping mechanism comprises a horizontal rail 61 arranged in the upper sliding seat 52 and two sliding blocks 62 supported on the horizontal rail 61 and capable of sliding along the horizontal rail 61, the two sliding blocks 62 are driven to move positions through a second hydraulic telescopic rod 64 respectively, a long strip-shaped opening 65 is formed in the upper sliding seat 52 at a position opposite to the horizontal rail 61, two foldable clamping plates are arranged outside the long strip-shaped opening 65 and correspond to the two sliding blocks 62, the foldable clamping plate comprises a parallel plate 66 and a folding plate 67, the parallel plate 66 and the folding plate 67 are connected through a foldable fan-shaped structure 63, so that the folding plate 67 can be folded relative to the parallel plate 66, one end of a third hydraulic telescopic rod 69 is connected with the folding plate 67 through the long strip-shaped opening 65, and the other end is connected with the sliding block 62, one end of a fourth hydraulic telescopic rod 70 is connected with the parallel plate 66 through the long strip-shaped opening 65, and the other end is connected with the same sliding block 62, the feeding of the parallel plate 66 towards the turnover box 3 and the folding of the folding plate 67 are controlled through the third hydraulic telescopic rod 69 and the fourth hydraulic telescopic rod 68.

[0073] Further, the folding plate 67 and the parallel plate 66 are attached with a flexible capsule 7 at a connecting position towards the turnover box 3, the flexible capsule 7 is filled with electrorheological fluid 71, and an electrode coating is further arranged on the inner surface of the flexible capsule 7, an external circuit applies an electric field to the electrorheological fluid 71 through the electrode coating to control the viscosity of the electrorheological fluid 71.

[0074] Further, at least two grooves 81 are formed in the surface of the lower sliding seat 53 towards the turnover box 3, a supporting plate 82 is arranged in the groove 81, one end of the supporting plate 82 is horizontally connected in the groove 81 and is driven to rotate by a stepping motor, so that the other end of the supporting plate 82 can support the turnover box 3 after being rotated out of the groove 81.

[0075] Further, the first box body sensing device 56 and the second box body sensing device 57 are infrared sensing devices, laser sensing devices, ultrasonic sensing devices or position switches.

[0076] Further, the bending plate 67 and the parallel plate 66 are provided with protruding anti-skid pads 91 towards one side of the turnover box 3.

[0077] Further, the anti-skid pads 91 and the support plate 82 are respectively embedded with pressure sensors 92.

[0078] Further, the palletizing and depalletizing device further comprises a vision system; the vision system comprises a high-resolution camera or a 3D vision sensor to capture the image of the carton, and to identify the size, shape and position of the carton through image processing algorithms.

[0079] Further, the palletizing method of the intelligent palletizing and depalletizing device is as follows:

[0080] ① The conveying line 4 conveys the dispersed turnover boxes 3 into the door opening 2 in turn, the second box body sensing device 57 senses the presence of the turnover box 3, while the first box body sensing device 56 does not sense the presence of the turnover box 3, the device automatically judges that the turnover box 3 at this position is not in a stacked state, and triggers the palletizing action at the same time;

[0081] ② The vision system accurately identifies and calculates the specific position and shape and size of the turnover box 3; the controller controls the second hydraulic telescopic rod 64 to adjust the position and spacing of the sliding block 62 to align with the turnover box 3;

[0082] ③ The controller controls the third hydraulic telescopic rod 69 and the fourth hydraulic telescopic rod 68 to extend synchronously, so that the parallel plate 66 and the bending plate 67 form an angle shape to clamp and extrude the side right angle of the turnover box 3, and stop extending when the pressure sensed by the pressure sensor 92 on the anti-skid pad 91 reaches a preset threshold; in this process, the side right angle tip of the turnover box 3 extrudes the flexible capsule 7, so that the flexible capsule 7 covers the side right angle tip of the turnover box 3; then the external circuit applies an electric field to the electro-rheological fluid 71 through the electrode coating to convert it into a solid locked shape and a covering state;

[0083] ④ After clamping is completed, the first hydraulic telescopic rod 54 drives the upper sliding seat 52 to rise, thereby driving the turnover box 3 to rise synchronously, and during the rising to the end section, the screw rod 55 is rotated under the driving of the stepper motor, so that the lower sliding seat 53 does not rise with the upper sliding seat 52, until the turnover box 3 rises to pass the groove 81, the second box body sensing device 57 cannot sense the turnover box 3, while the first box body sensing device 56 still senses the turnover box 3, triggering the stepper motor to drive the support plate 82 to turn out;

[0084] ⑤The control device controls the first hydraulic telescopic rod 54 to slightly extend, so that the turnover box 3 is lowered by a small distance, and the bottom of the turnover box 3 is supported on the support plate 82; after the turnover box 3 extrudes the support plate 82, the pressure sensor 92 on the support plate 82 is triggered, and a signal is sent to the controller, and after the controller receives the signal, the third hydraulic telescopic rod 69 and the fourth hydraulic telescopic rod 68 are controlled to slightly shorten, so that the horizontal clamping force of the bendable clamping plate on the turnover box 3 is weakened, and long-term extrusion on the turnover box 3 is avoided;

[0085] ⑥The next turnover box 3 is conveyed to the door opening 2 by the conveying line 4, the first hydraulic telescopic rod 54 drives the upper slide 52 and the lower slide 53 to move downward at the same time, the third hydraulic telescopic rod 69 and the fourth hydraulic telescopic rod 68 are controlled to extend, so that the bendable clamping plate clamps the turnover box 3 again; then the rotatable threaded rod 55 is controlled to rotate, so that the lower slide 53 moves downward, and the turnover box 3 is separated from the extrusion support plate 82; after the pressure sensor 92 on the support plate 82 senses that the pressure is lost, the step motor drives the support plate 82 to rotate back into the groove 81;

[0086] ⑦The first hydraulic telescopic rod 54 drives the upper slide 52 and the lower slide 53 to move downward, until the clamped turnover box 3 is stacked above the turnover box 3 newly entering the door opening 2; the third hydraulic telescopic rod 69 and the fourth hydraulic telescopic rod 68 are controlled to shorten, so that the clamping state is released, and the bending plate 67 is bent back to be substantially in the same straight line as the parallel plate 66; the electric field applied to the electrorheological fluid 71 is removed, so that it returns to a liquid state, thereby completely releasing the clamping state of the turnover box 3;

[0087] ⑧The conveying line 4 moves the stacked turnover box 3 out.

[0088] Further, the unstacking method of the intelligent stacking and unstacking device is:

[0089] ①The conveying line 4 conveys the stacked turnover box 3 into the door opening 2, the second box body sensing device 57 senses that the turnover box 3 exists, and at the same time, the first box body sensing device 56 also senses that the turnover box 3 exists, the device automatically judges that the turnover box 3 at this position is in a stacked state, and simultaneously triggers the unstacking action;

[0090] ②The visual system accurately identifies and calculates the specific position, shape and size of the uppermost turnover box 3; the controller controls the second hydraulic telescopic rod 64 to adjust the position and distance of the sliding block 62 to be aligned with the turnover box 3;

[0091] ③The controller controls the third hydraulic telescopic rod 69 and the fourth hydraulic telescopic rod 68 to extend synchronously, so that the parallel plate 66 and the bent plate 67 form an angle shape to clamp the side right angle of the uppermost turnover box 3, and stop extending when the pressure sensed by the pressure sensor 92 on the non-slip pad 91 reaches a preset threshold value; in this process, the side right angle tip of the turnover box 3 extrudes the flexible capsule 7, so that the flexible capsule 7 covers the side right angle tip of the turnover box 3; then the external circuit applies an electric field to the electrorheological fluid 71 through the electrode coating to make it transform into a solid locked shape and a covering state;

[0092] ④After clamping is completed, the first hydraulic telescopic rod 54 drives the upper sliding seat 52 to rise, thereby driving the turnover box 3 to rise synchronously; during the rising to the final section, the rotatable threaded rod 55 is rotated under the driving of the stepping motor, so that the lower sliding seat 53 does not rise with the upper sliding seat 52; until the turnover box 3 rises to beyond the groove 81, the second box sensing device 57 cannot sense the turnover box 3, while the first box sensing device 56 still senses the turnover box 3, triggering the stepping motor to drive the support plate 82 to turn out;

[0093] ⑤The control device controls the first hydraulic telescopic rod 54 to slightly extend, so that the turnover box 3 descends a small distance and is supported at the bottom on the support plate 82; after the turnover box 3 extrudes the support plate 82, the pressure sensor 92 on the support plate 82 is triggered to send a signal to the controller, and the controller receives the signal to control the third hydraulic telescopic rod 69 and the fourth hydraulic telescopic rod 68 to slightly shorten, so that the horizontal clamping force of the bendable clamping plate on the turnover box 3 is weakened to avoid long-term extrusion on the turnover box 3;

[0094] ⑥The control device controls the conveying line 4 to move away the lowermost turnover box 3; the first hydraulic telescopic rod 54 drives the upper sliding seat 52 and the lower sliding seat 53 to move downward until the bottom of the turnover box 3 approaches the conveying line 4; the rotatable threaded rod 55 is rotated under the driving of the stepping motor, so that the lower sliding seat 53 slightly moves downward, and the turnover box 3 is separated from the extruded support plate 82; after the pressure sensor 92 on the support plate 82 senses that the pressure is lost, the stepping motor is triggered to drive the support plate 82 to turn back into the groove 81;

[0095] ⑦The control device controls the first hydraulic telescopic rod 54 to extend again until the turnover box 3 contacts the conveying line 4, controls the third hydraulic telescopic rod 69 and the fourth hydraulic telescopic rod 68 to shorten, releases the clamping state, and makes the bent plate 67 bend back to be generally in the same straight line with the parallel plate 66; the electric field applied to the electrorheological fluid 71 is released, so that it returns to a liquid state, thereby completely releasing the clamping state on the turnover box 3;

[0096] ⑧The conveying line 4 moves away the disassembled turnover box 3.

[0097] The above merely describes preferred embodiments of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An intelligent palletizing and depalletizing device, characterized by: The invention comprises a cabinet body (1); a door opening (2) is passed through the middle of the cabinet body (1) at the front and back; a conveying line (4) for conveying turnover boxes (3) passes through the door opening (2); a stacking and destacking mechanism (5) is respectively provided on both sides of the door opening (2); the stacking and destacking mechanism (5) comprises two vertical guide rails (51) arranged in parallel with each other, an upper slide (52) and a lower slide (53) which can be raised and lowered along the two vertical guide rails (51); the upper slide (52) is driven to rise and fall by a first hydraulic telescopic rod (54); a rotatable threaded rod (55) is connected between the lower slide (53) and the upper slide (52) to automatically adjust the lower slide (53) and the upper slide (52) The spacing between the upper slides (52); the upper slide (52) is provided with a clamping mechanism capable of clamping the right angle of the side of the turnover box and a first box body sensing device (56); the lower slide (53) is provided with a box bottom support mechanism that can be rotated outward and a second box body sensing device (57); the upper slide (52) is a hollow structure; the clamping mechanism includes a horizontal track (61) provided in the upper slide (52) and two sliders (62) supported on the horizontal track (61) and capable of sliding along the horizontal track (61); the two sliders (62) are respectively driven to move by a second hydraulic telescopic rod (64); and the horizontal track (61) is connected to the lower slide (53). The front portion of the upper slide seat (52) is provided with a long strip opening (65) parallel to the horizontal track (61); two bendable clamping plates are provided outside the long strip opening (65) corresponding to the two sliders (62); the bendable clamping plates include a parallel plate (66) and a bending plate (67); the parallel plate (66) and the bending plate (67) are connected by a foldable fan-shaped structure (63), so that the bending plate (67) can be bent relative to the parallel plate (66); one end of a third hydraulic telescopic rod (69) passes through the long strip opening (65) and is hinged to the bending plate (67), and the other end is hinged to the slider (62); one end of a fourth hydraulic telescopic rod (70) passes through the long strip opening (65) and is hinged to the bending plate (67), and the other end is hinged to the slider (62); one end of a fourth hydraulic telescopic rod (70) passes through the long strip opening (65) and is hinged to the bending plate (67). The elongated opening (65) is hinged to the parallel plate (66), and the other end is hinged to the same slider (62); the feeding of the parallel plate (66) toward the turnover box (3) and the bending of the bending plate (67) are controlled by a third hydraulic telescopic rod (69) and a fourth hydraulic telescopic rod (68); a flexible capsule (7) is attached to the connection portion of the bending plate (67) and the parallel plate (66) facing the turnover box (3); the flexible capsule (7) is filled with an electrorheological fluid (71); an electrode coating is also provided on the inner surface of the flexible capsule (7); an external circuit applies an electric field to the electrorheological fluid (71) through the electrode coating to control its viscosity.

2. The intelligent palletizing and depalletizing device according to claim 1, characterized in that: At least two grooves (81) are spaced apart on one side of the lower slide seat (53) facing the turnover box (3); a support plate (82) is provided in the groove (81); one end of the support plate (82) is horizontally rotatably connected in the groove (81) and is driven to rotate by a stepping motor so that the other end thereof extends out of the groove (81) after rotation to support the turnover box (3).

3. The intelligent palletizing and depalletizing device according to claim 2, characterized in that: The first box body sensing device (56) and the second box body sensing device (57) are infrared sensing devices, laser sensing devices, ultrasonic sensing devices or position switches.

4. The intelligent palletizing and depalletizing device according to claim 3, characterized in that: The bending plate (67) and the parallel plate (66) are provided with a protruding anti-slip pad (91) on one side facing the turnover box (3).

5. The intelligent palletizing and depalletizing device according to claim 4, characterized in that: Pressure sensors (92) are respectively embedded on the anti-slip pad (91) and the support plate (82).

6. The intelligent palletizing and depalletizing device according to claim 5, characterized in that: The palletizing and depalletizing device also includes a vision system; the vision system includes a high-resolution camera or a 3D vision sensor to capture images of the cartons and identify the size, shape and position of the cartons through an image processing algorithm.

7. An intelligent palletizing method, using the intelligent palletizing and depalletizing device according to claim 6, characterized in that: The following steps are involved: ① The conveyor line (4) conveys the scattered turnover boxes (3) into the door opening (2) in sequence. The second box sensing device (57) senses the presence of the turnover box (3). Meanwhile, the first box sensing device (56) does not sense the presence of the turnover box (3). The device automatically determines that the turnover box (3) at this position is not in a stacking state and triggers the palletizing action. ② The visual system accurately identifies and calculates the specific position, shape and size of the turnover box (3); the controller controls the second hydraulic telescopic rod (64) to adjust the position and spacing of the slider (62) to align with the turnover box (3); ③ The controller controls the third hydraulic telescopic rod (69) and the fourth hydraulic telescopic rod (68) to extend in coordination, so that the parallel plate (66) and the bent plate (67) form an angled shape to clamp and squeeze the right angle of the side of the turnover box (3), and stops extending after the pressure sensed by the pressure sensor (92) located on the anti-slip pad (91) reaches a preset threshold value; in this process, the right angle tip of the side of the turnover box (3) squeezes the flexible capsule (7), so that the flexible capsule (7) covers the right angle tip of the side of the turnover box (3); then the external circuit applies an electric field to the electrorheological fluid (71) through the electrode coating to convert it into a solid locked shape and a covering state; ④ After the clamping is completed, the first hydraulic telescopic rod (54) drives the upper slide (52) to rise, thereby driving the turnover box (3) to rise synchronously. During the rising to the end, the rotatable threaded rod (55) rotates under the drive of the stepper motor, so that the lower slide (53) does not rise with the upper slide (52), until the turnover box (3) rises to cross the groove (81). The second box body sensing device (57) cannot sense the turnover box (3), while the first box body sensing device (56) still senses the turnover box (3), triggering the stepper motor to drive the support plate (82) to rotate out; ⑤ The control device controls the first hydraulic telescopic rod (54) to slightly extend, so that the turnover box (3) drops a small distance and the bottom of the turnover box (3) is supported on the support plate (82); after the turnover box (3) squeezes the support plate (82), the pressure sensor (92) thereon is triggered to send a signal to the controller. After receiving the signal, the controller controls the third hydraulic telescopic rod (69) and the fourth hydraulic telescopic rod (68) to slightly shorten, so that the horizontal clamping force of the bendable clamping plate on the turnover box (3) is weakened, thereby avoiding long-term squeezing of the turnover box (3); ⑥ The next turnover box (3) is conveyed to the door opening (2) by the conveyor line (4), and the first hydraulic telescopic rod (54) drives the upper slide (52) and the lower slide (53) to move downward at the same time, and controls the third hydraulic telescopic rod (69) and the fourth hydraulic telescopic rod (68) to extend, so that the bendable clamping plate clamps the turnover box (3) again; then the rotatable threaded rod (55) is controlled to rotate, so that the lower slide (53) moves downward, and the turnover box (3) is separated from the squeeze support plate (82); after the pressure sensor (92) on the support plate (82) senses the loss of pressure, it triggers the stepping motor to drive the support plate (82) back into the groove (81); ⑦ The first hydraulic telescopic rod (54) drives the upper slide (52) and the lower slide (53) to move downward until the clamped turnover box (3) is stacked above the turnover box (3) that has just entered the door opening (2); the third hydraulic telescopic rod (69) and the fourth hydraulic telescopic rod (68) are controlled to shorten, releasing the clamping state, and causing the bending plate (67) to bend back until it is substantially in the same straight line as the parallel plate (66); the electric field applied to the electrorheological fluid (71) is released, causing it to return to a liquid state, thereby completely releasing the clamping state of the turnover box (3); ⑧ The conveyor line (4) moves the stacked turnover boxes (3) out.

8. An intelligent depalletizing method, using the intelligent palletizing and depalletizing device according to claim 6, characterized in that: The following steps are involved: ① The conveyor line (4) conveys the turnover box (3) of the battlement into the doorway (2), the second box sensing device (57) senses the presence of the turnover box (3), and at the same time the first box sensing device (56) also senses the presence of the turnover box (3), and the device automatically determines that the turnover box (3) at this position is in a stacked state, and triggers the destacking action at the same time; ② The visual system accurately identifies and calculates the specific position, shape and size of the top turnover box (3); the controller controls the second hydraulic telescopic rod (64) to adjust the position and spacing of the slider (62) to align with the turnover box (3); ③ The controller controls the third hydraulic telescopic rod (69) and the fourth hydraulic telescopic rod (68) to extend in coordination, so that the parallel plate (66) and the bending plate (67) form an angle shape to clamp and squeeze the right angle of the side of the turnover box (3) located at the top, and stops extending after the pressure sensed by the pressure sensor (92) located on the anti-slip pad (91) reaches a preset threshold value; in this process, the right angle tip of the side of the turnover box (3) squeezes the flexible capsule (7), so that the flexible capsule (7) covers the right angle tip of the side of the turnover box (3); then the external circuit applies an electric field to the electrorheological fluid (71) through the electrode coating to convert it into a solid locked shape and a covering state; ④ After the clamping is completed, the first hydraulic telescopic rod (54) drives the upper slide (52) to rise, thereby driving the turnover box (3) to rise synchronously. During the rising to the end, the rotatable threaded rod (55) rotates under the drive of the stepper motor, so that the lower slide (53) does not rise with the upper slide (52), until the turnover box (3) rises to cross the groove (81). The second box body sensing device (57) cannot sense the turnover box (3), while the first box body sensing device (56) still senses the turnover box (3), triggering the stepper motor to drive the support plate (82) to rotate out; ⑤ The control device controls the first hydraulic telescopic rod (54) to slightly extend, so that the turnover box (3) drops a small distance and the bottom of the turnover box (3) is supported on the support plate (82); after the turnover box (3) squeezes the support plate (82), the pressure sensor (92) thereon is triggered to send a signal to the controller. After receiving the signal, the controller controls the third hydraulic telescopic rod (69) and the fourth hydraulic telescopic rod (68) to slightly shorten, so that the horizontal clamping force of the bendable clamping plate on the turnover box (3) is weakened, thereby avoiding long-term squeezing of the turnover box (3); ⑥ The conveyor line (4) is controlled to remove the turnover box (3) at the bottom, and the first hydraulic telescopic rod (54) drives the upper slide (52) and the lower slide (53) to move downward until the bottom of the turnover box (3) is close to the conveyor line (4); the rotatable threaded rod (55) rotates under the drive of the stepper motor, causing the lower slide (53) to move slightly downward, and the turnover box (3) is separated from the extrusion support plate (82); after the pressure sensor (92) on the support plate (82) senses the loss of pressure, it triggers the stepper motor to drive the support plate (82) to rotate back into the groove (81); ⑦ The control device controls the first hydraulic telescopic rod (54) to extend again until the turnover box (3) contacts the conveyor line (4), controls the third hydraulic telescopic rod (69) and the fourth hydraulic telescopic rod (68) to shorten, releases the clamping state, and bends the bending plate (67) back to be roughly in the same straight line with the parallel plate (66); releases the electric field applied to the electrorheological fluid (71), returns it to the liquid state, and thus completely releases the clamping state of the turnover box (3); ⑧ The conveyor line (4) moves the disassembled turnover box (3) out.

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