A basket unstacking device and unstacking method capable of automatically adapting to varying numbers of layers

Abstract

The application provides a basket unstacking device and method capable of automatically adapting to varying layers, and relates to the technical field of unstacking, comprising: a camera support, an unstacking mechanical arm and a control cabinet; a vision camera is installed on the camera support, and the vision camera and the unstacking mechanical arm are electrically connected with the control cabinet; the unstacking mechanical arm comprises a mechanical arm support, a collaborative mechanical arm, an unstacking gripper and a gap identification camera for identifying the gap between empty baskets, one end of the collaborative mechanical arm is connected with the upper end of the mechanical arm support, and the other end is connected with the unstacking gripper; the unstacking gripper comprises an unstacking gripper main body, a balance supporting rod and a clamping arm, the balance supporting rod is elastically arranged on the unstacking gripper main body in the vertical direction, two clamping arms are arranged, and the two clamping arms are arranged at the two ends of the unstacking gripper main body; the two clamping arms can move towards each other, and the bottom of the clamping arm is provided with a layering inclined top mechanism for separating empty baskets. The application solves the problem that multiple baskets cannot be unstacked simultaneously according to actual needs, resulting in low efficiency of unstacking equipment.

Description

Technical Field

[0001] This invention relates to the field of destacking technology, and in particular to a destacking device and method for baskets that can automatically adapt to changes in the number of layers. Background Technology

[0002] Patent CN216736532U discloses a cigarette box pallet destacking system, including a pallet transfer device. The pallet transfer device includes a chain conveyor A for loading pallets and a chain conveyor B for unloading destackinged pallets. A fixed frame is provided at the intersection of chain conveyors A and B. A pallet separation device is provided on the fixed frame. The pallet separation device includes a clamping base, a lifting mechanism fixedly connected to the top of the clamping base, and the pallet separation device is connected to the fixed frame via the lifting mechanism. A clamping mechanism for clamping pallet stacks is fixedly connected to the bottom of the clamping base. The clamping mechanism includes multiple cylinders A fixedly connected to the clamping base. This invention addresses the problem of low production efficiency and high manpower consumption during cigarette box pallet destacking in the prior art, achieving the effect of saving manpower while improving work efficiency. However, the above-mentioned destacking system can only destacking a single pallet or crate at a time, and cannot handle multiple pallets simultaneously. When multiple pallets need to be destacking simultaneously, the destacking equipment becomes inefficient. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a basket destacking device that can automatically adapt to changes in the number of layers, which solves the problem of low efficiency caused by the inability to destacking multiple baskets simultaneously according to actual needs.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A depalletizing device for baskets that can automatically adapt to varying layers includes: a camera bracket, a depalletizing robotic arm, and a control cabinet;

[0006] A vision camera is mounted on the camera bracket, and both the vision camera and the destacking robot arm are electrically connected to the control cabinet.

[0007] The depalletizing robotic arm includes a robotic arm support, a cooperating robotic arm, a depalletizing gripper, and a gap recognition camera for identifying gaps between empty baskets. The gap recognition camera is installed on the side wall of the robotic arm support. One end of the cooperating robotic arm is connected to the upper end of the robotic arm support, and the other end is connected to the depalletizing gripper.

[0008] The destacking gripper includes a destacking gripper body, a balance support rod, and clamping arms. The balance support rod is elastically mounted on the destacking gripper body in a vertical direction. There are two clamping arms, which are respectively located at both ends of the destacking gripper body. The two clamping arms can move towards each other. The bottom of the clamping arms is provided with a layered inclined top mechanism for separating empty baskets.

[0009] Preferably, the layered inclined top mechanism includes layered blocks, with two layered blocks respectively disposed on the side of the two clamping arms that are close to each other. The bottom of the layered blocks is set as a plane, and the upper part of the layered blocks is provided with an inclined surface that slopes towards the other layered block.

[0010] Preferably, the layered inclined top mechanism further includes a separation plate, and a first cylinder is provided in the clamping arm. The end of the cylinder is fixedly connected to the top of one end of the separation plate. The bottom of the layered block is provided with a notch that cooperates with the separation plate. When the separation plate is located in the notch, the bottom of the separation plate and the bottom of the layered block are on the same horizontal plane.

[0011] Preferably, the two ends of the destacking gripper body are provided with a second cylinder, and the upper end of the gripping arm is connected to the end of the second cylinder.

[0012] Preferably, the balance support rod includes a support rod base, a third-level support rod, a second-level support rod, and a first-level support rod. The support rod base is fixed to the destacking gripper body. The upper end of the third-level support rod is elastically disposed within the support rod base. The upper end of the second-level support rod is elastically disposed within the third-level support rod. The upper end of the first-level support rod is elastically disposed within the second-level support rod.

[0013] Preferably, the support rod base, the third-level support rod, the second-level support rod, and the first-level support rod all have openings on their side walls. A support winding rod is provided at the lower part of the opening of the support rod base. An upper third-level winding rod and a lower third-level winding rod are provided at the upper and lower parts of the opening of the third-level support rod, respectively. An upper second-level winding rod and a lower second-level winding rod are provided at the upper and lower parts of the opening of the second-level support rod, respectively. A first-level winding rod is provided at the upper part of the opening of the first-level support rod. A support is fixed on the outer side of the upper end of the support rod base. A constant force spring is provided on the support. One end of the constant force spring is connected to a rope. The rope enters the support rod base from below the support winding rod, and passes through the upper third-level winding rod, the lower third-level winding rod, the upper second-level winding rod, and the lower second-level winding rod in sequence, and is fixed on the first-level winding rod.

[0014] Preferably, each end of the destacking gripper body is provided with two balance support rods, and the two balance support rods at the same end are located on both sides of the gripping arm at the same end.

[0015] Preferably, a rubber pad is provided at the bottom of the primary support rod.

[0016] Preferably, the cross-section of the rubber pad is trapezoidal.

[0017] The present invention has the following beneficial effects:

[0018] The layered inclined top mechanism can separate empty baskets, and its cooperation with the gap recognition camera enables precise destacking. The elastic setting of the balance support rod can freely extend the adaptable range of the destacking gripper as needed, which can adapt to the gripping needs of different numbers of empty baskets. This invention can adapt to the destacking of multi-layer basket materials and can process multiple baskets at the same time according to actual needs, thus improving processing efficiency.

[0019] The present invention also provides a destacking method, employing any of the basket destacking devices described in the present invention that can automatically adapt to changes in the number of layers, comprising the following steps:

[0020] S1: Set the number of stacks to be destacking each time according to requirements;

[0021] S2: Identify the number of empty basket layers m to be destabilized. When m = 0, enter sleep mode and stop running; otherwise, execute step S3.

[0022] S3: Determine if the number of remaining empty basket stack layers meets the requirements. If m≥n, proceed to step S4; otherwise, proceed to step S5.

[0023] S4: Identify the gap on the underside of the empty basket in the nth layer and proceed to step S6;

[0024] S5: Identify the gap on the underside of the empty basket in the m-th layer; and proceed to step S6;

[0025] S6: Obtain the position coordinates corresponding to the gap, align the layered inclined top mechanism with the identified gap, drive the clamping arms on both sides to clamp, and make the layered inclined top mechanism enter the gap;

[0026] S7: Raise the entire destacking gripper and simultaneously drive the separation plate to descend at the same speed. After the destacking device is in place, the gripping arm is released, completing the destacking, and repeat step S2.

[0027] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 2 This is a schematic diagram of the destacking robotic arm structure of the present invention;

[0030] Figure 3 This is a front view schematic diagram of the destacking gripper structure of the present invention;

[0031] Figure 4 This is a schematic diagram of another state of the destacking gripper of the present invention;

[0032] Figure 5 This is a cross-sectional view of the layered inclined top mechanism of the present invention;

[0033] Figure 6 This is a schematic diagram of the layered block structure of the present invention;

[0034] Figure 7 This is a schematic diagram of the separation plate structure of the present invention;

[0035] Figure 8 This is a schematic diagram of the balance support rod structure of the present invention;

[0036] Figure 9 This is a schematic cross-sectional view of the initial state of the balance support rod of the present invention;

[0037] Figure 10 This is a cross-sectional view of the balance support rod in the middle state of the present invention;

[0038] Figure 11 This is a cross-sectional view of the balance support rod in the compressed state according to the present invention;

[0039] Figure 12 This is a schematic diagram of the overall structure of the destacking gripper of the present invention;

[0040] Figure 13 This is a schematic diagram of the destacking gripper clamping state in the first embodiment of the present invention;

[0041] Figure 14 This is a schematic diagram of the disassembly and opening state of the destacking gripper according to the first embodiment of the present invention;

[0042] Figure 15 This is a schematic diagram of the destacking gripper release state according to the first embodiment of the present invention;

[0043] Figure 16 This is a schematic diagram of the destacking gripper clamping state in the second embodiment of the present invention;

[0044] Figure 17 This is a schematic diagram of the disassembly and opening state of the destacking gripper according to the second embodiment of the present invention;

[0045] Figure 18 This is a schematic diagram of the destacking gripper release state according to the second embodiment of the present invention;

[0046] Figure 19 This is a flowchart of the method of the present invention;

[0047] Figure 20 This is a schematic diagram of the pneumatic control system connection of the present invention.

[0048] In the above attached figures: 1. Camera bracket; 2. Destacking robotic arm; 3. Control cabinet; 4. Robotic arm support; 5. Collaborative robotic arm; 6. Destacking gripper; 61. Destacking gripper body; 62. Balance support rod; 621. Support rod base; 622. Tertiary support rod; 623. Secondary support rod; 624. Primary support rod; 625. Rubber pad; 63. Clamping arm; 7. Layered inclined top mechanism; 71. Layered block; 711. Notch; 72. Separation plate; 81. Support winding rod; 821. Upper tertiary winding rod; 822. Lower tertiary winding rod; 831. Upper secondary winding rod; 832. Lower secondary winding rod; 84. Primary winding rod; 9. Constant force spring; 10. Gap recognition camera. Detailed Implementation

[0049] To make the technical means, creative features, objectives and effects of the present invention clearer and easier to understand, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0050] Please see Figures 1 to 12 As shown, a basket destacking device capable of automatically adapting to varying layers includes: a camera bracket 1, a destacking robotic arm 2, and a control cabinet 3; a vision camera is mounted on the camera bracket 1, and both the vision camera and the destacking robotic arm 2 are electrically connected to the control cabinet 3; the destacking robotic arm 2 includes a robotic arm support 4, a cooperating robotic arm 5, destacking grippers 6, and a gap recognition camera 10 for identifying gaps between empty baskets, the gap recognition camera 10 being mounted on the side wall of the robotic arm support 4, and one end of the cooperating robotic arm 5 being connected to the robotic arm support 4. The upper end is connected to the destacking gripper 6, and the other end is connected to the destacking gripper 6. The destacking gripper 6 includes a destacking gripper body 61, a balance support rod 62, and a clamping arm 63. The balance support rod 62 is elastically arranged on the destacking gripper body 61 in the vertical direction. There are two clamping arms 63, which are respectively arranged at both ends of the destacking gripper body 61. The clamping arms 63 are perpendicular to the destacking gripper body 61, and the two clamping arms 63 can move towards each other. The bottom of the clamping arm 63 is provided with a layered inclined top mechanism 7 for separating empty baskets.

[0051] Two vision cameras are mounted on the camera bracket 1. One vision camera is used to identify the placement posture of the multi-layer stack of empty crates to be removed, and the other vision camera is used to identify whether the location where the empty crates need to be removed is suitable for placing them. The robotic arm support 4 is used to effectively support and fix the collaborative robotic arm 5. The collaborative robotic arm 5 is used to flexibly control the destacking gripper 6 to accurately reach the position of the empty crates to be removed and to align the empty crates. The destacking gripper 6 is used to pick up and separate the layers of empty crates to be removed. The gap recognition camera 10 is used to accurately confirm the gap position between the empty crates to be removed and the remaining empty crates. Both the gap recognition camera 10 and the vision cameras are... This is an existing technology; the top of the destacking gripper body 61 is connected to a mounting flange and a robotic arm, etc. The destacking gripper body 61 is supported and contains a drive circuit that can drive the gripping arm 63 and the layered inclined top mechanism 7. The balance support rod 62 plays a role in stabilizing the empty basket stack, and the balance support rod 62 is elastically set to freely extend the adaptable range of the destacking gripper 6 as needed, which can adapt to the gripping needs of different numbers of empty baskets. The layered inclined top mechanism 7 can separate the empty baskets. This invention can adapt to the destacking of multi-layer basket materials and can process multiple baskets at the same time according to actual needs, thus improving processing efficiency.

[0052] The specific workflow is as follows:

[0053] During destacking, the system first uses the vision camera on the camera bracket 1 to identify whether there are empty baskets that need to be removed, and at the same time, it identifies the position of the empty basket stack. Meanwhile, the gap recognition camera 10 removes the number of empty baskets according to the preset requirements, confirms the gap of the empty basket that the destacking gripper 6 needs to be aligned with, and transmits the corresponding coordinates to the control cabinet 3. The controller in the control cabinet 3 controls the cooperating robotic arm 5. After receiving the position information of the empty basket stack to be removed, it performs the destacking action process and coordinates with the action of the destacking gripper 6 to control the layered inclined top mechanism 7 to align with the graspable gap position of the empty basket to be removed. At this time, the balance support rod 62 is compressed by the grasped empty basket, and the corresponding layer of empty baskets is picked up. The vision camera on the camera bracket 1 identifies whether the placement position meets the placement conditions. If it does, the removed empty basket is placed at the removal point.

[0054] Furthermore, such as Figures 3 to 6 As shown, the layered inclined top mechanism 7 includes two layering blocks 71, which are respectively disposed on one side of the two clamping arms 63 that are close to each other. The bottom of the layering block 71 is set as a flat surface, and the upper part of the layering block 71 is provided with an inclined surface that slopes towards the other layering block 71. The inclined surface on the upper part of the layering block 71 allows the thinner end of the layering block 71 to be inserted into the gap between the two empty baskets first during layering, which facilitates the separation of the empty baskets.

[0055] Furthermore, such as Figures 4 to 7As shown, the layered inclined top mechanism 7 also includes a separation plate 72. A first cylinder is installed inside the clamping arm 63, with the end of the cylinder fixedly connected to the top of one end of the separation plate 72. The bottom of the layering block 71 has a notch 711 that mates with the separation plate 72. When the separation plate 72 is located within the notch 711, the bottom of the separation plate 72 and the bottom of the layering block 71 are on the same horizontal plane. The notch 711 reduces the overall volume of the layered inclined top mechanism 7. When the separation plate 72 is located within the notch 711, the layering block 71 can easily pull the separation plate 72 into the gap between two empty baskets, facilitating the subsequent separation of the empty baskets to be removed and the remaining empty baskets. During separation, the entire destacking gripper 6 is lifted upwards by the mechanical arm, while the separation plate 72 extends downwards from inside the layering block 71 at the same speed under the action of the first cylinder, keeping the remaining empty baskets in place. This prevents the remaining empty baskets from being pulled up due to prolonged nesting of basket materials, thus avoiding unnecessary safety hazards or affecting subsequent destacking processes.

[0056] Furthermore, such as Figure 3 and Figure 4 As shown, both ends of the destacking gripper body 61 are equipped with second cylinders, and the upper end of the clamping arm 63 is connected to the end of the second cylinder. The clamping arm 63 is moved by air pressure, thereby causing the two clamping arms 63 to perform a clamping action.

[0057] Preferably, to reduce the control complexity of the separation plate 72 and the clamping arm 63, a pneumatic system is set up for unified control, such as... Figure 20 As shown in the diagram, the upper right device is connected to the separating plate 72, and the lower right device is connected to the clamping arm 63. The pressure-reducing valve has a pressure value P1 > P2. After the system accurately identifies the gap position of the empty basket, the three-position four-way pneumatic valve of the pneumatic system moves downward, causing the clamping arm 63 to first displace and perform a clamping action. When the clamping arm 63 contacts the gap of the empty basket and cannot move further, the pressure in the pneumatic system further increases to P2, driving the separating plate 72 to move downward and press down on the lower empty basket, achieving the purpose of separating the lower empty basket when lifting the upper empty basket. When the gripped empty basket is released, the three-position four-way valve moves upward, and the pneumatic system reverses to drive the separating plate 72 and the clamping arm 63 back to their initial positions simultaneously. At this time, the empty basket and the destacking gripper 6 can be separated.

[0058] Furthermore, such as Figure 8As shown, the balancing support rod 62 includes a support rod base 621, a tertiary support rod 622, a secondary support rod 623, and a primary support rod 624. The support rod base 621 is fixed to the destacking gripper body 61. The upper end of the tertiary support rod 622 is elastically disposed within the support rod base 621, the upper end of the secondary support rod 623 is elastically disposed within the tertiary support rod 622, and the upper end of the primary support rod 624 is elastically disposed within the secondary support rod 623. The balancing support rod 62 allows the system to autonomously adapt to gripping basket materials of different layers without requiring additional drives for control, thus avoiding control complexity. The tertiary support rod 622, secondary support rod 623, and primary support rod 624 are nested sequentially so that the balancing support rod 62 does not occupy space above the equipment when compressed.

[0059] The balance support rod 62 itself needs to be able to handle single or multiple layers of empty baskets simultaneously. The biggest challenge lies in the significant difference between the maximum and minimum compression of the balance support rod 62 for different layers of empty baskets. This results in problems such as the balance support rod 62 occupying a large space, restricting its movement path, and the large difference in restoring force increasing the load. Furthermore, as... Figures 8 to 11 As shown, the support rod base 621, the third-level support rod 622, the second-level support rod 623, and the first-level support rod 624 all have openings on their side walls. A support winding rod 81 is provided below the opening of the support rod base 621. An upper third-level winding rod 821 is provided above the opening of the third-level support rod 622, and a lower third-level winding rod 822 is provided below the opening of the third-level support rod 622. An upper second-level winding rod 831 is provided above the opening of the second-level support rod 623, and a lower third-level winding rod 831 is provided below the opening of the second-level support rod 623. A lower secondary winding rod 832 is set, and a primary winding rod 84 is set at the upper part of the opening of the primary support rod 624. A support is fixed on the outer side of the upper end of the support rod base 621, and a constant force spring 9 is set on the support. One end of the constant force spring 9 is connected to a soft rope. The rope enters the support rod base 621 from below the support winding rod 81, and passes through the upper tertiary winding rod 821, the lower tertiary winding rod 822, the upper secondary winding rod 831, and the lower secondary winding rod 832 in sequence, and is fixed on the primary winding rod 84. The initial state of the balance support rod 62 is as follows. Figure 9 As shown, the constant force spring 9 is in a slightly stretched state. Figure 11To balance the compressed state of the support rod 62, the constant force spring 9 is further stretched by the rope passing through each winding rod, ensuring that the balance support rod 62 maintains a relatively constant restoring force under the action of the constant force spring 9. In the compressed state, the support rod base 621, the third-level support rod 622, the second-level support rod 623, and the first-level support rod 624 are all stacked together, which does not occupy too much upper space, making it easier to plan the path of the unstacking gripper 6 during actual use. At the same time, compared to setting springs separately in the support rod base 621, the third-level support rod 622, and the second-level support rod 623, space is saved, allowing the balance support rod 62 to be compressed to its shortest length and with the optimal movement path.

[0060] Specifically, the compression intermediate process is as follows: Figure 10 As shown, for the third-level support rod 622, the second-level support rod 623, and the first-level support rod 624, the force they experience is only the force of the constant-force spring 9 brought by the rope they are in contact with. The force of the constant-force spring 9 remains relatively constant as the spring length is stretched. For example, for the first-level support rod 624, the force it experiences is only its own weight and the restoring force of the constant-force spring 9 brought by the rope. Therefore, the force of compression of the empty basket by the balance support rod 62 also remains relatively constant. Simultaneously, during the compression of the primary support rod 624, the upward movement of the primary support rod 624 causes a decrease in the vertical angle of the rope connecting the primary support rod 624 and the secondary support rod 623. Considering that the tension in the rope is uniform throughout, as the angle changes, the vertical component of the force brought by the rope between the primary support rod 624 and the secondary support rod 623 will become increasingly greater than the vertical component of the force brought by the rope between the secondary support rod 623 and the tertiary support rod 622. When the difference reaches a certain level, the compression of the primary support rod 624 can drive the secondary support rod 623 and the tertiary support rod 622 above to compress synchronously upwards until the maximum compression is reached. During this process, the compressive force brought by the balancing support rod 62 remains a relatively constant magnitude.

[0061] Furthermore, such as Figure 12 As shown, in order to increase stability, two balance support rods 62 are respectively provided at both ends of the destacking gripper body 61, and the two balance support rods 62 at the same end are located on both sides of the clamping arm 63 at the same end.

[0062] Furthermore, such as Figure 8 As shown, a rubber pad 625 is provided at the bottom of the primary support rod 624, and the cross-section of the rubber pad 625 is trapezoidal. This facilitates better gripping and fixing of the empty basket.

[0063] like Figure 19 As shown, a destacking method using the aforementioned basket destacking device that can automatically adapt to changes in the number of layers includes the following steps:

[0064] S1: Set the number of stacks to be destacking each time according to requirements;

[0065] S2: Identify the number of empty basket layers m to be destabilized. When m = 0, enter sleep mode and stop running; otherwise, execute step S3.

[0066] S3: Determine if the number of remaining empty basket stack layers meets the requirements. If m≥n, proceed to step S4; otherwise, proceed to step S5.

[0067] S4: Identify the gap on the underside of the empty basket in the nth layer and proceed to step S6;

[0068] S5: Identify the gap on the underside of the empty basket in the m-th layer; and proceed to step S6;

[0069] S6: Obtain the position coordinates corresponding to the gap, align the layered inclined top mechanism 7 with the identified gap, drive the clamping arms 63 on both sides to clamp, and make the layered inclined top mechanism 7 enter the gap.

[0070] S7: Lift the entire destacking gripper 6 and simultaneously drive the separation plate 72 to descend at the same speed. After the destacking device is in place, the clamping arm 63 is released, completing the destacking, and repeat step S2.

[0071] Example 1:

[0072] The number of empty crates to be destacking is set to one at a time. When there are empty crates to be destacking, the vision camera first identifies the empty crates and determines that the number of empty crates to be destacking is ≥1. At the same time, the position of the empty crate stack is identified. Then, the gap recognition camera 10 identifies the gap under the first layer of empty crates. The controller in the control cabinet 3 controls the movement of the collaborative robotic arm 5, so that the layering inclined top mechanism 7 is aligned with the gap under the first layer of empty crates. Then, the two clamping arms 63 are pneumatically driven to clamp the crates. Figure 13 As shown, the layered inclined lifting mechanism 7 is accurately inserted into the lower gap of the empty basket to be removed. At this time, the balance support rods 62 at the four corners and the layered inclined lifting mechanism 7 on both sides grip the empty basket tightly through the edge of the basket. Since the separating plate 72 is initially located in the notch 711 of the layering block 71, it will be brought in along with the basket when it enters the gap of the empty basket to be removed; after being clamped in place, as... Figure 14 As shown, the entire depalletizing gripper 6 is lifted upwards by a robotic arm, and the layering block 71 moves upwards accordingly. Simultaneously, the pneumatically driven separating plate 72 extends downwards at the same speed, pressing against the edge of the second layer of empty crates, thus keeping the remaining empty crates in their original positions. After the depalletizing equipment moves to the desired position, as shown... Figure 15 As shown, the clamping arms 63 on both sides release synchronously, and the empty basket quickly detaches from the destacking device under the action of the balance support rod 62, completing the first destacking process of the empty basket; then, the number of empty baskets to be destacking is identified and judged, and the destacking operation is repeated. When the number of empty baskets to be destacking is 0, the destacking is completed and the device enters the sleep mode.

[0073] Example 2:

[0074] The system is set to destacking three baskets at a time. When there are empty baskets available for destacking, the vision camera first identifies the empty baskets, determining that the number of empty baskets available for destacking is ≥3. Simultaneously, the posture of the empty basket stack is identified. Then, the gap recognition camera 10 identifies the gap under the third layer of empty baskets. The controller in the control cabinet 3 controls the movement of the collaborative robotic arm 5, aligning the layered inclined top mechanism 7 with the gap under the third layer of empty baskets. Then, the two gripping arms 63 are pneumatically driven to grip the baskets. Figure 16 As shown, the layered inclined lifting mechanism 7 is accurately inserted into the lower gap of the empty basket to be removed. At this time, the balance support rods 62 at the four corners and the layered inclined lifting mechanism 7 on both sides grip the empty basket tightly through the edge of the basket. Since the separating plate 72 is initially located in the notch 711 of the layering block 71, it will be brought in along with the basket when it enters the gap of the empty basket to be removed; after being clamped in place, as... Figure 17 As shown, the entire depalletizing gripper 6 is lifted upwards by a robotic arm, and the layering block 71 moves upwards accordingly. Simultaneously, the pneumatically driven separating plate 72 extends downwards at the same speed, pressing against the edge of the fourth layer of empty crates, thus keeping the remaining empty crates in their original positions. After the depalletizing equipment moves to the desired position, as shown... Figure 18 As shown, the clamping arms 63 on both sides release synchronously, and the empty basket quickly detaches from the destacking device under the action of the balance support rod 62, completing the first destacking process. Then, the number of empty baskets to be destacking is identified and the operation is repeated. When the number of empty baskets to be destacking is less than 3, that is, only one or two, the gap under the first or second layer of baskets is identified, the position coordinates corresponding to the gap are obtained, the layering inclined top mechanism 7 aligns with the identified gap, and drives the clamping arms 63 on both sides to clamp, so that the layering inclined top mechanism 7 enters the gap, lifts the entire destacking claw 6 and simultaneously drives the separation plate 72 to descend at the same speed. After the destacking device is in place, the clamping arms 63 are released, completing this destacking, the number of empty baskets to be destacking = 0, and the device enters the sleep mode. When multiple layers of empty baskets are set to be destacking together, if the number of empty basket layers at the end is less than the set number of layers for each destacking, the remaining empty baskets with fewer layers can still be adaptively processed, and there will be no situation where empty baskets are left that cannot be destacking.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A basket destacking device capable of automatically adapting to varying layers, characterized in that, include: Camera bracket (1), destacking robot arm (2) and control cabinet (3); A vision camera is mounted on the camera bracket (1), and both the vision camera and the destacking robot arm (2) are electrically connected to the control cabinet (3). The destacking robot arm (2) includes a robot arm support (4), a cooperating robot arm (5), a destacking gripper (6), and a gap recognition camera (10) for identifying gaps between empty baskets. The gap recognition camera (10) is installed on the side wall of the robot arm support (4). One end of the cooperating robot arm (5) is connected to the upper end of the robot arm support (4), and the other end is connected to the destacking gripper (6). The destacking gripper (6) includes a destacking gripper body (61), a balance support rod (62), and a clamping arm (63). The balance support rod (62) is elastically mounted on the destacking gripper body (61) in the vertical direction. There are two clamping arms (63), which are respectively mounted at both ends of the destacking gripper body (61). The two clamping arms (63) can move towards each other. The bottom of the clamping arm (63) is provided with a layered inclined top mechanism (7) for separating empty baskets. The balance support rod (62) includes a support rod base (621), a third-level support rod (622), a second-level support rod (623), and a first-level support rod (624). The support rod base (621) is fixed on the destacking gripper body (61). The upper end of the third-level support rod (622) is elastically disposed in the support rod base (621). The upper end of the second-level support rod (623) is elastically disposed in the third-level support rod (622). The upper end of the first-level support rod (624) is elastically disposed in the second-level support rod (623). The support rod base (621), the third-level support rod (622), the second-level support rod (623), and the first-level support rod (624) all have openings on their side walls. A support winding rod (81) is provided at the lower part of the opening of the support rod base (621). An upper third-level winding rod (821) and a lower third-level winding rod (822) are respectively provided at the upper and lower parts of the opening of the third-level support rod (622). An upper second-level winding rod (831) and a lower second-level winding rod (832) are respectively provided at the upper and lower parts of the opening of the second-level support rod (623). 2) A first-level winding rod (84) is set at the upper part of the opening of the first-level support rod (624). A support is fixed on the outer side of the upper end of the support rod base (621). A constant force spring (9) is set on the support. One end of the constant force spring (9) is connected to a rope. The rope enters the support rod base (621) from below the support winding rod (81), and passes through the upper third-level winding rod (821), the lower third-level winding rod (822), the upper second-level winding rod (831) and the lower second-level winding rod (832) in sequence, and is fixed on the first-level winding rod (84).

2. The basket destacking device that can automatically adapt to changes in the number of layers as described in claim 1, characterized in that, The layered inclined top mechanism (7) includes layered blocks (71), and two layered blocks (71) are respectively set on the side of the two clamping arms (63) that are close to each other. The bottom of the layered block (71) is set as a plane, and the upper part of the layered block (71) is provided with an inclined surface that is inclined towards the other layered block (71).

3. The basket destacking device that can automatically adapt to changing layers as described in claim 2, characterized in that, The layered inclined top mechanism (7) also includes a separation plate (72). The clamping arm (63) is provided with a first cylinder. The end of the cylinder is fixedly connected to the top of one end of the separation plate (72). The bottom of the layered block (71) is provided with a notch (711) that cooperates with the separation plate (72). When the separation plate (72) is located in the notch (711), the bottom of the separation plate (72) and the bottom of the layered block (71) are on the same horizontal plane.

4. The basket destacking device that can automatically adapt to changing layers as described in claim 1, characterized in that, The two ends of the destacking gripper body (61) are provided with second cylinders, and the upper end of the clamping arm (63) is connected to the end of the second cylinder.

5. A basket destacking device capable of automatically adapting to varying layers as described in claim 1, characterized in that, Two balance support rods (62) are respectively provided at both ends of the destacking gripper body (61), and the two balance support rods (62) at the same end are located on both sides of the clamping arm (63) at the same end.

6. A basket destacking device capable of automatically adapting to varying layers as described in claim 1, characterized in that, A rubber pad (625) is provided at the bottom of the primary support rod (624).

7. A basket destacking device capable of automatically adapting to varying layers as described in claim 6, characterized in that, The cross-section of the rubber pad (625) is trapezoidal.

8. A destacking method, employing a basket destacking device as described in any one of claims 1-7, characterized in that, Includes the following steps: S1: Set the number of stacks to be destacking each time according to requirements; S2: Identify the number of empty basket layers m to be destabilized. When m = 0, enter sleep mode and stop running; otherwise, execute step S3. S3: Determine if the number of remaining empty basket stack layers meets the requirements. If m≥n, proceed to step S4; otherwise, proceed to step S5. S4: Identify the gap on the underside of the empty basket in the nth layer and proceed to step S6; S5: Identify the gap on the underside of the empty basket in the m-th layer; and proceed to step S6; S6: Obtain the position coordinates corresponding to the gap, the layered inclined top mechanism (7) aligns with the identified gap, drives the clamping arms (63) on both sides to clamp, so that the layered inclined top mechanism (7) enters the gap; S7: Lift the entire destacking gripper (6) and simultaneously drive the separation plate (72) to descend at the same speed. After the destacking device is in place, the clamping arm (63) is released, completing the destacking, and repeat step S2.

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