Intelligent unstacking device

Abstract

The present application relates to a kind of intelligent unstacking device, including rack system, conveying system, front lifting system, rear lifting system, front embrace and insert system, rear embrace and insert system, 3D vision system and box pallet system, the lower end of rack system is equipped with conveying system, conveying system is equipped with box pallet system, the top of rack system is equipped with front lifting system and rear lifting system, the front and rear ends of rack system are equipped with front embrace and insert system and rear embrace and insert system respectively, the side end of rack system is equipped with 3D vision system, conveying system is used to convey box pallet system and the pallet of box pallet system in disassembled, front lifting system is used to drive front embrace and insert system to rise or descend, rear lifting system is used to drive rear embrace and insert system to rise or descend, front embrace and insert system and rear embrace and insert system are used to embrace and clamp pallet, 3D vision system is used to determine the position of each layer of pallet in conveying box pallet system.The intelligent unstacking device provided by the present application can carry out unstacking work to stacked full load box pallet or ordinary pallet.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, and in particular to an intelligent depalletizing device. Background Technology

[0002] With the development of automation and intelligent technologies, the demand for efficient and precise cargo handling equipment is increasing in the logistics, warehousing, and manufacturing industries. Mass production of goods is typically achieved through production lines. To improve the efficiency of goods transportation on the production line, goods are often stacked in multiple layers (pile stacking). Therefore, before individual goods can be processed, they need to be destacking.

[0003] Traditional destacking operations typically rely on manual labor or simple mechanical equipment. These methods are not only inefficient and prone to errors, but also easily lead to a waste of labor resources and worker health problems in repetitive, high-load work environments.

[0004] With the widespread use of box pallets, the length and width of pallets are now approaching the standard pallet size. However, the height of box pallets varies depending on the product. Box pallets are stacked during transportation, but due to the different heights of box pallets, automated destacking is difficult.

[0005] Chinese patent CN217577312U discloses a depalletizing and unpacking material dispensing station system based on intelligent 3D vision guidance, including: a bag-grabbing and shaking fixture, a robot, a bag placement area, a camera for photographing the bags in the placement area to control the robot and the bag-grabbing and shaking fixture, a mounting bracket for mounting the camera, a hopper, a bag-breaking component, and a bag-breaking collection box; the bag-grabbing and shaking fixture is installed at the end of the robot's rotating arm; the bag placement area has multiple pallet stacks for placing materials; the mounting bracket is horizontally placed above the multiple pallet stacks; the camera is slidably connected to the mounting bracket to slide above any pallet stack for photographing; the robot drives the bag-grabbing and shaking fixture to move between above the multiple pallet stacks and above the hopper. This intelligent 3D vision-guided depalletizing and unpacking material dispensing station system can accurately determine the position of the bags and accurately grasp bags of random stack type and quantity. However, due to the robot's load limit, the weight of bags disassembled by this system is limited. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing depalletizing devices, which only have the function of disassembling stacked pallets and rely on a single disassembly mechanism for depalletizing. This invention provides an intelligent depalletizing device that can depalletize stacked full-load box pallets or ordinary pallets. It is easy to assemble and disassemble, highly practical, and can be used in warehouse management, logistics distribution, and automated production lines.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] An intelligent depalletizing device includes a frame system, a conveying system, a front lifting system, a rear lifting system, a front clamping system, a rear clamping system, a 3D vision system, and a box-type pallet system.

[0009] The lower end of the rack system is equipped with a conveying system, the top end with a front lifting system and a rear lifting system, the front and rear ends with a front clamping system and a rear clamping system, respectively, and the side end with a 3D vision system.

[0010] The conveying system is used to convey the box pallet system and the disassembled pallets from the box pallet system. The front lifting system is used to drive the front clamping system to rise or fall, and the rear lifting system is used to drive the rear clamping system to rise or fall. The front clamping system and the rear clamping system are used to clamp the pallets. The 3D vision system is used to determine the position of each layer of pallets in the box pallet system.

[0011] In one embodiment of the present invention, the frame system includes horizontal frames, vertical frames, and longitudinal frames. Four horizontal frames, four vertical frames, and four longitudinal frames form a rectangular frame. The conveying system is fixed on the two lower horizontal frames. The front lifting system and the rear lifting system are respectively fixed to the top of the two upper horizontal frames. The front clamping system and the rear clamping system are respectively slidably disposed between the left and right vertical frames.

[0012] In one embodiment of the present invention, the conveying system is a roller conveyor line.

[0013] In one embodiment of the present invention, the intelligent destacking device further includes a lifting guide rail system, which includes multiple guide rails, with one guide rail on each vertical frame.

[0014] In one embodiment of the present invention, the front lifting system includes a first lifting drive motor reducer, a first drive shaft, a first drive sprocket, a first lifting chain, and a first counterweight.

[0015] The bottom end of the first lifting drive motor reducer is fixed to the top of the upper cross frame. A first drive shaft is provided at each of the left and right ends of the first lifting drive motor reducer. A first drive sprocket is provided at the end of the first drive shaft away from the first lifting drive motor reducer.

[0016] A first lifting chain is arranged around the first drive sprocket, one end of the first lifting chain is provided with a first counterweight, and the other end of the first lifting chain is connected to the front clamping system.

[0017] In one embodiment of the present invention, the rear lifting system includes a second lifting drive motor reducer, a second drive shaft, a second drive sprocket, a second lifting chain, and a second counterweight.

[0018] The bottom end of the second lifting drive motor reducer is fixed to the top of the upper cross frame. A second drive shaft is provided at each of the left and right ends of the second lifting drive motor reducer. A second drive sprocket is provided at the end of the second drive shaft away from the second lifting drive motor reducer.

[0019] A second lifting chain is arranged around the second drive sprocket. One end of the second lifting chain is provided with a second counterweight, and the other end of the second lifting chain is connected to the rear clamping system.

[0020] As a preferred technical solution, the first or second lifting chain is replaced by a timing belt or a belt.

[0021] In one embodiment of the present invention, the first lifting drive motor reducer is connected to the first drive shaft via a first coupling, and the second lifting drive motor reducer is connected to the second drive shaft via a second coupling.

[0022] In one embodiment of the present invention, the top end of the upper cross frame is provided with a first bearing seat and a second bearing seat, the first drive shaft is movably inserted into the first bearing seat, and the second drive shaft is movably inserted into the second bearing seat.

[0023] As a preferred technical solution, the lifting guide rail system includes multiple channel steels, with one channel steel on each vertical frame. The first counterweight and the second counterweight are both counterweight wheels, and the counterweight wheels are adapted to the channel steels.

[0024] In one embodiment of the present invention, the front clamping system includes a first frame, a first opening and closing drive motor, a first lead screw, a first clamping arm, and a first fork.

[0025] The first frame is slidably positioned between the left and right ends of the two vertical frames. The first lifting chain is connected to the first frame, and the first opening and closing drive motor is fixed in the middle of the first frame.

[0026] The first opening and closing drive motor has a first lead screw at each of its left and right ends. The end of the first lead screw away from the first opening and closing drive motor has a first clamping arm, which is slidably connected to the first lead screw.

[0027] The rear end of the first gripping arm is movably connected to the first frame, and the front end of the first gripping arm is provided with multiple first forks. The first gripping arm is used to grip the pallet.

[0028] In one embodiment of the present invention, the rear-mounted clamping system includes a second frame, a second opening and closing drive motor, a second lead screw, a second clamping arm, and a second fork.

[0029] The second frame is slidably positioned between the two vertical supports at its left and right ends. The second lifting chain is connected to the second frame, and the second opening and closing drive motor is fixed in the middle of the second frame.

[0030] The second opening and closing drive motor has a second lead screw at each of its left and right ends. The end of the second lead screw away from the second opening and closing drive motor has a second clamping arm, which is slidably connected to the second lead screw.

[0031] The rear end of the second arm is movably connected to the second frame, and the front end of the second arm is provided with multiple second forks. The second arm is used to clamp the pallet.

[0032] In one embodiment of the present invention, a first guide rail is provided at each of the upper and lower ends of the first frame, and the rear end of the first arm is slidably connected to the first guide rail.

[0033] The second frame has a second guide rail at each of its upper and lower ends, and the rear end of the second arm is slidably connected to the second guide rail.

[0034] In one embodiment of the present invention, the 3D vision system includes a 3D camera and a camera bracket. The camera bracket is located at the side of the frame system, and the 3D camera is fixed to the top of the camera bracket. The 3D camera is used to determine the position of each layer of pallets in the conveying box pallet system. The field of view of the 3D camera is greater than the position of the bottom three layers of pallets in the box pallet system.

[0035] In one embodiment of the present invention, the box pallet system includes several layers of pallets, and each of the left and right ends of the pallet is provided with two pallet fork holes, which are used to engage with the first fork or the second fork.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] 1. In order to solve the problem of automatic destacking of box pallets of different heights, and also to take into account the destacking function of ordinary pallets, the intelligent destacking device provided by the present invention adopts a fork lifting method for lifting. Therefore, the intelligent destacking device has the ability to disassemble heavy box pallets; and because the intelligent destacking device adopts a double insert arm structure, it has the characteristics of high disassembly efficiency.

[0038] 2. The intelligent depalletizing device provided by the present invention is equipped with a 3D vision system. The intelligent depalletizing device can depalletize box pallets and standard pallets of different heights. The intelligent depalletizing device also has two independent lifting systems and clamping systems. When the two systems work together, the depalletizing efficiency is high. Alternatively, only one system can be used to complete the depalletizing work.

[0039] 3. Compared with the prior art, the depalletizing load of the intelligent depalletizing device provided by the present invention can be adjusted according to the customer's product and is not limited by the robot load; and the two sets of depalletizing arm mechanisms can work alternately, which is highly efficient; in addition, the intelligent depalletizing device occupies little space and can be embedded in the production line, with low operating costs. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the intelligent depalletizing device in this invention;

[0041] Figure 2 This is a schematic diagram of the front lifting system in this invention;

[0042] Figure 3 This is a schematic diagram of the front-mounted insertion system in this invention;

[0043] Figure 4 This is a schematic diagram of the rear-mounted clamping system in this invention;

[0044] Figure 5 This is a schematic diagram of the 3D vision system in this invention;

[0045] Figure 6 This is a schematic diagram of the box-type pallet system in this invention;

[0046] Figure 7 This is a side view of the box-type pallet system in the present invention at the destacking position;

[0047] Figure 8 This is a top view of the box-type pallet system in the present invention at the destacking position;

[0048] Figure 9 This is a side view of the intelligent destacking device of the present invention disassembling the third and second layer pallets;

[0049] Figure 10 This is a top view of the intelligent destacking device of the present invention disassembling the third and second layer pallets;

[0050] Figure 11 A side view of the intelligent depalletizing device in this invention conveying the second layer of pallets;

[0051] Figure 12 A top view of the intelligent depalletizing device in this invention conveying the second layer of pallets;

[0052] Figure 13 This is a side view of the intelligent depalletizing device of the present invention disassembling the fourth layer of pallets;

[0053] Figure 14 This is a top view of the intelligent depalletizing device in this invention disassembling the fourth layer of pallets;

[0054] Figure 15 A side view of the intelligent depalletizing device in this invention conveying the third layer of pallets;

[0055] Figure 16 A top view of the intelligent depalletizing device in this invention conveying the third layer of pallets;

[0056] Figure 17 This is a side view of the intelligent depalletizing device in this invention placing the fourth layer of trays;

[0057] Figure 18 This is a top view of the intelligent depalletizing device in this invention placing the fourth layer of trays;

[0058] Figure 19 A side view of the intelligent depalletizing device in this invention conveying the fourth layer of pallets;

[0059] Figure 20 A top view of the intelligent depalletizing device in this invention conveying the fourth layer of pallets;

[0060] Figure 21 This is a schematic diagram of the structure of the standard pallet in this invention;

[0061] Explanation of the attached drawing numbers: 100, Frame system; 200, Conveying system; 300, Front lifting system; 301, First lifting drive motor reducer; 302, First coupling; 303, First bearing housing; 304, First drive shaft; 305, First drive sprocket; 306, First lifting chain; 307, First counterweight; 400, Rear lifting system; 500, Front clamping system; 501, First frame; 502, First opening / closing drive motor; 503, First lead screw; 504, First guide rail; 505, First clamping arm; 506, First fork. 600. Foot, Rear clamping system, 601. Second frame, 602. Second opening and closing drive motor, 603. Second lead screw, 604. Second guide rail, 605. Second clamping arm, 606. Second fork foot, 700. 3D vision system, 701. 3D camera, 702. Camera bracket, 703. Camera field of view, 800. Lifting guide rail system, 900. Box pallet system, 901. First layer pallet, 902. Second layer pallet, 903. Third layer pallet, 904. Fourth layer pallet, 910. Pallet fork hole, 1000. Standard pallet. Detailed Implementation

[0062] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0063] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0064] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0065] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0067] Example

[0068] See Figures 1 to 6 This embodiment provides an intelligent depalletizing device, including a frame system 100, a conveying system 200, a front lifting system 300, a rear lifting system 400, a front clamping system 500, a rear clamping system 600, a 3D vision system 700, and a box-type pallet system 900.

[0069] The frame system 100 is equipped with a conveying system 200 at its lower end, a front lifting system 300 and a rear lifting system 400 at its top, a front clamping system 500 and a rear clamping system 600 at its front and rear ends respectively, and a 3D vision system 700 at its side end.

[0070] The conveying system 200 is used to convey the box pallet system 900 and the pallets disassembled from the box pallet system 900. The front lifting system 300 is used to drive the front clamping system 500 to rise or fall. The rear lifting system 400 is used to drive the rear clamping system 600 to rise or fall. The front clamping system 500 and the rear clamping system 600 are used to clamp the pallets. The 3D vision system 700 is used to determine the position of each layer of pallets in the box pallet system 900.

[0071] In this embodiment, the frame system 100 includes horizontal frames, vertical frames, and longitudinal frames. The four horizontal frames, four vertical frames, and four longitudinal frames form a rectangular frame. The conveying system 200 is fixed to the two lower horizontal frames. The front lifting system 300 and the rear lifting system 400 are respectively fixed to the top of the two upper horizontal frames. The front clamping system 500 and the rear clamping system 600 are respectively slidably disposed between the left and right vertical frames.

[0072] In this embodiment, the conveying system 200 is a roller conveyor line.

[0073] In this embodiment, the intelligent destacking device further includes a lifting guide rail system 800, which includes multiple guide rails, with one guide rail on each vertical frame.

[0074] In this embodiment, the front lifting system 300 includes a first lifting drive motor reducer 301, a first drive shaft 304, a first drive sprocket 305, a first lifting chain 306, and a first counterweight 307.

[0075] The bottom end of the first lifting drive motor reducer 301 is fixed to the top of the upper cross frame. A first drive shaft 304 is provided at each of the left and right ends of the first lifting drive motor reducer 301. A first drive sprocket 305 is provided at the end of the first drive shaft 304 away from the first lifting drive motor reducer 301.

[0076] A first lifting chain 306 is arranged around the first drive sprocket 305. One end of the first lifting chain 306 is provided with a first counterweight 307, and the other end of the first lifting chain 306 is connected to the front clamping system 500.

[0077] In this embodiment, the rear lifting system 400 includes a second lifting drive motor reducer, a second drive shaft, a second drive sprocket, a second lifting chain, and a second counterweight.

[0078] The bottom end of the second lifting drive motor reducer is fixed to the top of the upper cross frame. A second drive shaft is provided at each of the left and right ends of the second lifting drive motor reducer. A second drive sprocket is provided at the end of the second drive shaft away from the second lifting drive motor reducer.

[0079] A second lifting chain is arranged around the second drive sprocket. One end of the second lifting chain is provided with a second counterweight, and the other end of the second lifting chain is connected to the rear clamping system 600.

[0080] In this embodiment, the first lifting drive motor reducer 301 is connected to the first drive shaft 304 via the first coupling 302, and the second lifting drive motor reducer is connected to the second drive shaft via the second coupling.

[0081] In this embodiment, the top of the upper cross frame is provided with a first bearing seat 303 and a second bearing seat, the first drive shaft 304 is movably inserted into the first bearing seat 303, and the second drive shaft is movably inserted into the second bearing seat.

[0082] In this embodiment, the front gripping system 500 includes a first frame 501, a first opening and closing drive motor 502, a first lead screw 503, a first gripping arm 505, and a first fork 506.

[0083] The first frame 501 is slidably disposed between the left and right ends of the two vertical frames. The first lifting chain 306 is connected to the first frame 501. The first opening and closing drive motor 502 is fixed in the middle of the first frame 501.

[0084] The first opening and closing drive motor 502 has a first lead screw 503 at each of its left and right ends. The end of the first lead screw 503 away from the first opening and closing drive motor 502 has a first clamping arm 505, which is slidably connected to the first lead screw 503.

[0085] The rear end of the first arm 505 is movably connected to the first frame 501, and the front end of the first arm 505 is provided with a plurality of first forks 506. The first arm 505 is used to hold the pallet.

[0086] In this embodiment, the rear-mounted clamping system 600 includes a second frame 601, a second opening and closing drive motor 602, a second lead screw 603, a second clamping arm 605, and a second fork 606.

[0087] The second frame 601 is slidably disposed between the left and right ends of the two vertical frames. The second lifting chain is connected to the second frame 601, and the second opening and closing drive motor 602 is fixed in the middle of the second frame 601.

[0088] The second opening and closing drive motor 602 has a second lead screw 603 at each of its left and right ends. The end of the second lead screw 603 away from the second opening and closing drive motor 602 has a second clamping arm 605, which is slidably connected to the second lead screw 603.

[0089] The rear end of the second arm 605 is movably connected to the second frame 601, and the front end of the second arm 605 is provided with a plurality of second forks 606. The second arm 605 is used to clamp the pallet.

[0090] In this embodiment, a first guide rail 504 is provided at each of the upper and lower ends of the first frame 501, and the rear end of the first arm 505 is slidably connected to the first guide rail 504.

[0091] The second frame 601 has a second guide rail 604 at its upper and lower ends, and the rear end of the second arm 605 is slidably connected to the second guide rail 604.

[0092] In this embodiment, the 3D vision system includes a 3D camera 701 and a camera bracket 702. The camera bracket 702 is located on the side of the frame system 100, and the 3D camera 701 is fixed to the top of the camera bracket 702. The 3D camera 701 is used to determine the position of each layer of pallets in the conveying box pallet system 900. The field of view 703 of the 3D camera 701 is greater than the position of the bottom three layers of pallets in the box pallet system 900.

[0093] In this embodiment, the box pallet system 900 includes several layers of pallets, and each of the left and right ends of the pallet is provided with two pallet fork holes 910, which are used to engage with the first fork 506 or the second fork 606.

[0094] Example 2

[0095] This embodiment provides a method for using an intelligent depalletizing device in the depalletizing process of box pallets (4 layers stacked) at different heights. The specific steps are as follows:

[0096] S1. The stacked box pallet system 900 enters the conveyor system 200 along the X direction and stops at the destacking position. At this time, the rear clamping system 600 descends to the bottom of the box pallet system 900 via the rear lifting system 400. The 3D vision system 700 takes a picture and, through processing, finds the position of the pallet fork hole 910 (e.g., ...). Figure 7 and Figure 8 );

[0097] S2. The front clamping system 500 descends to the third pallet 903 via the front lifting system 300, aligning the first fork 506 with the pallet fork hole 910. The first clamping arm assembly 505 clamps the third pallet 903 along the Y2 direction and lifts it upwards. The rear clamping system 600 rises to the second pallet 902 via the rear lifting system 400, aligning the second fork 606 with the pallet fork hole 910. The second clamping arm assembly 605 clamps the second pallet 902 along the Y2 direction and lifts it upwards. The first pallet 901 is conveyed out of the entire system in the X direction via the conveying system 200 (e.g., ...). Figure 9 and Figure 10 );

[0098] S3. The rear holding system 600 descends through the rear lifting system 400, places the second layer pallet 902 onto the conveying system 200, and then its second holding arm assembly 605 opens in the Y1 direction.

[0099] As the rear clamping system 600 descends, the front clamping system 500 descends simultaneously. During the descent, a gap is maintained between the third-layer pallet 903 and the second-layer pallet 902, which are being clamped by the forks. Once the second-layer pallet 902 is placed on the conveyor system 200, the front clamping system 500 stops descending, and the 3D vision system 700 takes an image. Through processing, the position of the fork hole 910 on the fourth-layer pallet 904 is determined (e.g., ...). Figure 11 and Figure 12 );

[0100] S4. The rear clamping system 600 rises to the fourth pallet 904 and aligns the second fork 606 with the pallet fork hole 910. The clamping arm system 605 clamps the fourth pallet 904 along the Y2 direction.

[0101] After the rear clamping system 600 rises, the second-layer tray 902 is conveyed out of the entire system in the X direction via the conveying system 200 (e.g., Figure 13 and Figure 14 );

[0102] S5. The front holding system 500 descends through the front lifting system 300 to place the third layer pallet 903 onto the conveying system 200, and then its first holding arm assembly 505 opens in the Y1 direction.

[0103] When the front clamping system 500 descends, the rear clamping system 600 descends together. During the descent, a gap is always maintained between the fourth pallet 904 and the third pallet 903 that are clamped by the forks. When the third pallet 903 is placed on the conveying system 200, the rear clamping system 600 stops descending.

[0104] The third-layer pallet 903, placed on the conveyor system 200, is conveyed out of the entire system (e.g., after the first arm assembly 505 of the front clamping system 500 is opened) in the X direction. Figure 15 and Figure 16 );

[0105] S6. The front clamping system 500 rises to the top via the front lifting system 300; the rear clamping system 600 descends via the rear lifting system 400, placing the fourth-layer pallet 904 onto the conveyor system 200, and then its clamping arm system 605 opens in the Y1 direction (e.g., Figure 17 and Figure 18 );

[0106] S7, the rear clamping system 600 rises to the top via the rear lifting system 400, and the fourth-layer tray 904 is conveyed out of the entire system in the X direction via the conveying system 200 (e.g., Figure 19 and Figure 20 The unpacking work is complete.

[0107] Example 3

[0108] This embodiment provides a method for using an intelligent depalletizing device in the depalletizing process of stacked standard pallets. The specific steps are as follows:

[0109] Since the standard pallet 1000 has the same height, depalletizing no longer requires the participation of the 3D vision system 700. The process is the same as that for the box pallet 900: the front clamping system 500 and the rear clamping system 600 alternately lift the second, third, and subsequent pallets, while the first pallet is conveyed out of the equipment. The front clamping system 500 then places the second pallet on the conveyor system 200 and moves upwards to clamp the fourth pallet, which is then conveyed out of the equipment. This process is repeated to complete the depalletizing.

[0110] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. An intelligent depalletizing device, characterized in that, It includes a rack system (100), a conveyor system (200), a front lifting system (300), a rear lifting system (400), a front clamping system (500), a rear clamping system (600), a 3D vision system (700), and a box pallet system (900). The lower end of the rack system (100) is provided with a conveying system (200), the top end of the rack system (100) is provided with a front lifting system (300) and a rear lifting system (400), the front and rear ends of the rack system (100) are respectively provided with a front clamping system (500) and a rear clamping system (600), and the side end of the rack system (100) is provided with a 3D vision system (700). The conveying system (200) is used to convey the box pallet system (900) and the disassembled pallets in the box pallet system (900). The front lifting system (300) is used to raise or lower the front clamping system (500), and the rear lifting system (400) is used to raise or lower the rear clamping system (600). The front clamping system (500) and the rear clamping system (600) are used to clamp the pallets. The 3D vision system (700) is used to determine the position of each layer of pallets in the conveying box pallet system (900). The frame system (100) includes horizontal frames, vertical frames, and longitudinal frames. Four horizontal frames, four vertical frames, and four longitudinal frames form a rectangular frame. The conveying system (200) is fixed to the two lower horizontal frames. The front lifting system (300) and the rear lifting system (400) are respectively fixed to the top of the two upper horizontal frames. The front clamping system (500) and the rear clamping system (600) are respectively slidably disposed between the left and right vertical frames. The intelligent depalletizing device also includes a lifting guide rail system (800), which comprises multiple guide rails, with one guide rail on each vertical frame. The front lifting system (300) includes a first lifting drive motor reducer (301), a first drive shaft (304), a first drive sprocket (305), a first lifting chain (306), and a first counterweight (307). The bottom end of the first lifting drive motor reducer (301) is fixed to the top of the upper cross frame. The first lifting drive motor reducer (301) has a first drive shaft (304) at each of its left and right ends. The first drive shaft (304) is provided with a first drive sprocket (305) at the end away from the first lifting drive motor reducer (301). A first lifting chain (306) is arranged around the first drive sprocket (305), a first counterweight (307) is provided at one end of the first lifting chain (306), and the other end of the first lifting chain (306) is connected to the front clamping system (500); The rear lifting system (400) includes a second lifting drive motor reducer, a second drive shaft, a second drive sprocket, a second lifting chain, and a second counterweight. The bottom end of the second lifting drive motor reducer is fixed to the top of the upper cross frame. A second drive shaft is provided at each of the left and right ends of the second lifting drive motor reducer. A second drive sprocket is provided at the end of the second drive shaft away from the second lifting drive motor reducer. A second lifting chain is arranged around the second drive sprocket. One end of the second lifting chain is equipped with a second counterweight, and the other end of the second lifting chain is connected to the rear clamping system (600). The front gripping system (500) includes a first frame (501), a first opening and closing drive motor (502), a first lead screw (503), a first gripping arm (505), and a first fork (506). The first frame (501) is slidably disposed between the left and right ends of the two vertical frames. The first lifting chain (306) is connected to the first frame (501). The first opening and closing drive motor (502) is fixed in the middle of the first frame (501). The first opening and closing drive motor (502) has a first lead screw (503) at each of its left and right ends. The end of the first lead screw (503) away from the first opening and closing drive motor (502) has a first clamping arm (505). The first clamping arm (505) is slidably connected to the first lead screw (503). The rear end of the first arm (505) is movably connected to the first frame (501), and the front end of the first arm (505) is provided with a plurality of first forks (506). The first arm (505) is used to hold the pallet. The rear clamping system (600) includes a second frame (601), a second opening and closing drive motor (602), a second lead screw (603), a second clamping arm (605), and a second fork (606). The second frame (601) is slidably positioned between the two vertical frames on the left and right sides. The second lifting chain is connected to the second frame (601). The second opening and closing drive motor (602) is fixed in the middle of the second frame (601). The second opening and closing drive motor (602) has a second lead screw (603) at each of its left and right ends. The end of the second lead screw (603) away from the second opening and closing drive motor (602) has a second clamping arm (605). The second clamping arm (605) is slidably connected to the second lead screw (603). The rear end of the second arm (605) is movably connected to the second frame (601), and the front end of the second arm (605) is provided with multiple second forks (606). The second arm (605) is used to clamp the pallet. The box-type pallet system (900) includes several layers of pallets, and each pallet has two pallet fork holes (910) at both ends. The pallet fork holes (910) are used to engage with the first fork (506) or the second fork (606). The specific steps for using the intelligent depalletizing device in the depalletizing process of four-layer stacked box pallets of different heights are as follows: S1. The stacked box pallet system (900) enters the conveyor system (200) along the X direction and stops at the destacking position. At this time, the rear clamping system (600) descends to the bottom position of the box pallet system (900) through the rear lifting system (400). The 3D vision system (700) takes pictures and finds the position of the pallet fork hole (910) through processing. S2. The front clamping system (500) descends to the third pallet (903) via the front lifting system (300), aligning the first fork (506) with the pallet fork hole (910). The first clamping arm (505) clamps the third pallet (903) along the Y2 direction and lifts it upward. The rear clamping system (600) rises to the second pallet (902) via the rear lifting system (400), aligning the second fork (606) with the pallet fork hole (910). The second clamping arm (605) clamps the second pallet (902) along the Y2 direction and lifts it upward. The first pallet (901) is conveyed out of the entire system in the X direction via the conveying system (200). S3, the rear holding system (600) descends through the rear lifting system (400) to place the second layer pallet (902) onto the conveying system (200), and then its second holding arm (605) opens in the Y1 direction; As the rear clamping system (600) descends, the front clamping system (500) descends together. During the descent, a gap is always maintained between the third pallet (903) being clamped by the forks and the second pallet (902). When the second pallet (902) is placed on the conveying system (200), the front clamping system (500) stops descending, and the 3D vision system (700) takes a picture and finds the position of the pallet fork hole (910) of the fourth pallet (904) through processing. S4. The rear clamping system (600) rises to the fourth pallet (904) and aligns the second fork (606) with the pallet fork hole (910). The second clamping arm (605) clamps the fourth pallet (904) along the Y2 direction. After the rear holding system (600) rises, the second-layer pallet (902) is conveyed out of the entire system in the X direction through the conveying system (200); S5. The front holding system (500) descends through the front lifting system (300) to place the third layer pallet (903) onto the conveying system (200), and then its first holding arm (505) opens in the Y1 direction; As the front clamping system (500) descends, the rear clamping system (600) descends together. During the descent, a gap is always maintained between the fourth pallet (904) being clamped by the forks and the third pallet (903). When the third pallet (903) is placed on the conveyor system (200), the rear clamping system (600) stops descending. The third pallet (903) placed on the conveying system (200) is conveyed out of the entire system in the X direction after the first arm (505) of the front clamping system (500) is opened; S6. The front clamping system (500) rises to the top via the front lifting system (300); the rear clamping system (600) descends via the rear lifting system (400) to place the fourth layer pallet (904) onto the conveying system (200), and then its second clamping arm (605) opens in the Y1 direction. S7. The rear clamping system (600) rises to the top via the rear lifting system (400), and the fourth pallet (904) is conveyed out of the entire system in the X direction via the conveying system (200), thus completing the destacking operation.

2. The intelligent depalletizing device according to claim 1, characterized in that, The conveying system (200) is a roller conveyor line.

3. The intelligent depalletizing device according to claim 1, characterized in that, The first lifting drive motor reducer (301) is connected to the first drive shaft (304) through the first coupling (302), and the second lifting drive motor reducer is connected to the second drive shaft through the second coupling; The upper crossbeam is provided with a first bearing seat (303) and a second bearing seat at its top end. The first drive shaft (304) is movably inserted into the first bearing seat (303), and the second drive shaft is movably inserted into the second bearing seat.

4. The intelligent depalletizing device according to claim 1, characterized in that, The first frame (501) is provided with a first guide rail (504) at both its upper and lower ends, and the rear end of the first arm (505) is slidably connected to the first guide rail (504). The second frame (601) has a second guide rail (604) at its upper and lower ends respectively, and the rear end of the second arm (605) is slidably connected to the second guide rail (604).

5. The intelligent depalletizing device according to claim 1, characterized in that, The 3D vision system includes a 3D camera (701) and a camera bracket (702). The camera bracket (702) is located on the side of the frame system (100). The 3D camera (701) is fixed to the top of the camera bracket (702). The 3D camera (701) is used to determine the position of each layer of pallets in the conveying box pallet system (900). The field of view (703) of the 3D camera (701) is greater than the position of the bottom three layers of pallets of the box pallet system (900).

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