Stacking and unstacking machine and stacking and unstacking method

Abstract

The invention relates to an unstacking and stacking machine and an unstacking and stacking method, and belongs to a technology in the field of unstacking, the unstacking and stacking machine comprises a main control box, a shell, a transverse and vertical frame, a base, a clamping module, a lifting module, a translation module, a conveying module, an emergency stop switch, an alarm and a communication module, and a main controller, a servo driving module and a fan are arranged in the main control box; the main controller controls all the component sub-modules in a coordinated mode, automatic unstacking and stacking are achieved, the bottommost box is conveyed away one by one through clamping and lifting during unstacking, the conveyed turnover boxes are stacked one by one through clamping, lifting and stacking during stacking, communication connection between all the component modules of the unstacking and stacking machine is achieved through the communication module, the unstacking and stacking machine is powered on to operate, and the unstacking and stacking machine is powered on to operate. The automatic unstacking device is free of pneumatic operation, compact in structure, high in stability, large in allowable error, convenient to install and transport, capable of being widely applied to intelligent warehouses, capable of achieving automatic unstacking of the whole stack of materials and one-by-one warehouse-out stacking of the materials, labor-saving, efficient and stable in operation.

Description

Technical Field

[0001] The present invention relates to a technology in the field of material disassembly, and in particular to a palletizing machine and a palletizing method. Background Art

[0002] Various types of energy meters and power loads in the power industry are mostly stored in turnover boxes. The process of multiple turnover boxes entering and leaving the warehouse is time-consuming and labor-intensive, and the counting is troublesome. When entering and leaving the warehouse, the existing depalletizers are large in size and mostly use electric and pneumatic depalletizers, which provide more complex installation and use requirements for various warehouses. In addition, the operation of existing depalletizers is not very stable and the allowable error is small. The automatic depalletizing process of energy meters and power loads will cause certain damage, and higher requirements are placed on warehouses using depalletizers.

[0003] The depalletizing machine and depalletizing method described in the present invention effectively solve the above problems. The depalletizing machine has a compact structure, a large allowable error, only needs to be operated by electricity during use, and does not need to install a gas circuit, etc. It is convenient to transport and does not need to be assembled on site. It can be directly debugged and used on site. The depalletizing process runs automatically without excessive human intervention, has a large allowable error, and has a more stable structure. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a depalletizing machine and a depalletizing method, which can realize automatic depalletizing of materials stored in turnover boxes of electric energy meters and power loads in warehouses, have a compact structure, run smoothly, allow large errors, do not require on-site assembly, use AC power for operation, and do not require the installation of gas circuit coordination, etc.

[0005] To solve the above technical problems, the present invention adopts the following technical scheme: comprising a main control box, an outer shell, a horizontal and vertical frame, and a base, wherein the main control box comprises a main controller and a servo drive module, and the inner shell comprises a clamping module, a lifting module, a translation module, a conveying module, and a communication module, wherein the main controller coordinates and controls the various sub-modules of the depalletizer to realize the depalletizing and palletizing processes, and is a square control panel, wherein the clamping module clamps the turnover box of the items to be depalletized, and the lifting module lifts and lowers the clamped depalletizing items, and the translation module and the conveying module transport the turnover boxes of the items to be depalletized during the depalletizing process, and the translation module is also used for placing the turnover boxes during the depalletizing and palletizing processes of the depalletizing turnover boxes, and the servo drive module provides servo drive for the lifting module, the translation module, and the conveying module under the control of the main controller, realizes the corresponding lifting, translation, and conveying functions of the lifting module, the translation module, and the conveying module, thereby realizing the depalletizing process of the depalletizer, and the depalletizing area of ​​the depalletizer is the corresponding area directly below the translation module after the translation module is translated and unfolded.

[0006] a. The clamping module includes a straightening servo electric cylinder, a clamping mechanism, and a straightening sensor. The clamping mechanism consists of two parts, which are respectively located on the left and right sides of the palletizer and are used to clamp the left and right sides of the turnover box. After receiving the command from the main controller, the clamping mechanism clamps the turnover box to be removed and stacked on the translation mechanism. If the position of the turnover box is skewed, the main controller controls the straightening servo electric cylinder to straighten the skewed turnover box. The straightening sensor detects whether the position of the turnover box is skewed. The straightening sensor detects that the position of the turnover box is correct, and the main controller controls the clamping mechanism to clamp the turnover box. Otherwise, the straightening servo electric cylinder will straighten the turnover box before clamping it. b. The lifting module includes a lifting servo driver J, a lifting servo motor J, a lifting mechanism, a lifting slide, a lifting guide rail, and a lifting position sensor. The lifting module is located on the left and right sides of the depalletizer to lift the clamping mechanisms on the left and right sides. The main controller controls the lifting servo driver J to drive the lifting servo motor J. The lifting servo motor J drives the lifting mechanism on the lifting slide to lift or lower along the lifting guide rail, thereby driving the clamped turnover box to lift or lower. The lifting position sensor senses the lifting and lowering position and sends the detection information to the main controller. The main controller controls the lifting mechanism to lift and lower to a certain height, thereby realizing that the turnover box is lifted or lowered to a certain height; c. The translation module includes a translation servo driver, a translation servo motor, a translation reducer, a translation mechanism, a translation slide, a translation guide rail, a front obstacle sensor, and a translation limit sensor. The main controller controls the translation servo driver to drive the translation servo motor and the translation reducer to drive the translation mechanism on the translation slide and along the translation guide rail. The translation mechanism rolls and operates to transport turnover boxes when it is necessary to transport turnover boxes. The front obstacle sensor detects whether there is an obstacle in front of the translation module that affects the translation of the translation module. If there is an obstacle in front, the sensor feeds back the information to the main controller. The main controller controls the translation mechanism to wait for the obstacle to be eliminated before translating. The translation limit sensor detects the front and rear translation position information of the translation module. The sensor sends the detection information to the main controller, and the main controller sends instructions according to the real-time status. d. The conveying module includes a lifting servo driver S, a lifting servo motor S, a conveyor line reducer, a conveyor line, a conveyor line lifting slide, a conveyor line lifting guide rail, and upper and lower limit sensors. The main controller controls the lifting servo driver S to drive the lifting servo motor S and the conveyor line reducer to drive the conveyor line. On the conveyor line lifting slide, it descends and rises along the conveyor line lifting guide rail. The upper and lower limit sensors detect the descending and lifting position information of the conveying module. The main controller sends instructions according to the real-time status information. When the conveyor line needs to transport the turnover box, the main controller controls the conveyor line to roll and transport the turnover box away.

[0007] Furthermore, the main control box also includes a fan for heat dissipation in the main control box. The machine also includes an alarm and an emergency stop switch. The alarm is located at the top right side of the palletizer and is set according to needs. It is used to alarm in the event of abnormal conditions during the palletizing process. In the event of an abnormality, sound and light prompts will be given. The emergency stop switch is located in the middle of the right side of the palletizer and is set for easy operation by personnel. It is used for emergency stop operations by personnel in an emergency.

[0008] Furthermore, the translation mechanism of the submodule of the translation module is a roller line, and the submodule of the conveying module is a roller line. The conveying line of the submodule is a roller line, which rolls and conveys the turnover boxes during the depalletizing and stacking process.

[0009] Furthermore, the depalletizing method of the depalletizing machine is: A. Destacking method The main controller receives an external depalletizing instruction, and the entire stack of materials to be depalletized arrives at the depalletizing area of ​​the depalletizing machine, and the main controller controls the clamping mechanism on the clamping module to clamp the bottommost turnover box of the entire stack of items to be depalletized, and the main controller controls the lifting module to drive the lifting mechanism to lift the clamped items to be depalletized to a certain height, and the main controller controls the translation module to move the translation mechanism to the area directly below the items to be depalletized, and the main controller controls the conveying line on the conveying module to descend and be horizontally connected to the translation mechanism, and the conveying line is horizontally connected to the external conveying line, and the main controller controls the lifting mechanism of the lifting module to descend a certain height and place the entire stack of items on the translation mechanism, and the main controller controls the clamping mechanism to release the bottommost turnover box to be depalletized, and the main controller controls the clamping mechanism on the clamping module to clamp the second to last turnover box to be depalletized, and the main controller controls the lifting module to lift the clamped items to be depalletized to a certain height, and the main controller controls the translation mechanism, the conveying line The operation of the feeding line drives the bottommost turnover box to be transported to the external conveyor line. After the box turnover box is transported to the external conveyor line, the main controller controls the translation mechanism and the conveyor line to stop operating. The main controller controls the lifting mechanism of the lifting module to descend and place the whole stack of items on the translation mechanism. The main controller controls the clamping mechanism to release the second box to be destacking turnover box of the original whole stack. The main controller controls the clamping mechanism to clamp the second to last box from the bottom of the current whole stack of items. The main controller controls the lifting mechanism of the lifting module to lift the clamped items to be destacking to a certain height. The main controller controls the translation mechanism and the conveyor line to operate, drive the box turnover box to be transported to the external conveyor line. After the box turnover box is transported to the external conveyor line, the main controller controls the translation mechanism and the conveyor line to stop operating, and the above process is repeated until all the items to be destacking are destacking and transported one by one, and the main controller controls the translation module and the conveyor line module to return to their positions.

[0010] B. Palletizing method The main controller receives an external palletizing instruction, and the main controller controls the translation module to translate to the waiting In the palletizing area, the main controller controls the conveying module to descend, the conveying line is horizontally connected to the translation mechanism, and the conveying line is horizontally connected to the external conveying line, the main controller controls the conveying line and the translation mechanism to operate, the external conveying line conveys a turnover box of items to be palletized through the conveying line and to the translation mechanism, the main controller controls the conveying line and the translation mechanism to stop operating, the main controller controls the clamping module clamping mechanism to clamp the first box of items to be palletized, the main controller controls the lifting module to drive the lifting mechanism to lift the clamped items to be palletized to a certain height, the main controller controls the translation mechanism and the conveying line to operate, the external conveying line again conveys the second box of items to the translation mechanism through the conveying line, the main controller controls the translation mechanism and the conveying line to stop operating, the main controller controls the lifting module lifting mechanism to descend a certain height and place the first box of items on the second turnover box on the translation mechanism, the main controller controls the clamping module clamping mechanism to release the first turnover box, the main The controller controls the clamping module to clamp the second turnover box, and the main controller controls the lifting mechanism of the lifting module to lift the two turnover boxes to a certain height, and the above-mentioned conveying line and the horizontal mechanism are circulated to convey the next turnover box, the lifting mechanism descends, the clamping mechanism is released and clamped, and the lifting mechanism is in the process of lifting until the external conveying line conveys the last box to the translation mechanism through the conveying line again. The main controller controls the lifting mechanism of the lifting module to descend and place the whole stack of items on the last box of the translation mechanism, and the external handling equipment moves to the area just below the translation mechanism of the depalletizer to wait for the placement of the whole stack of items after palletizing. The main controller controls the clamping mechanism of the clamping module to release the box clamped above, and the main controller controls the clamping module to clamp the last box. The main controller controls the lifting module to lift the clamped whole stack of items to a certain height, and the main controller controls the conveying module and the translation module to reset. The main controller controls the lifting module to descend a certain height, and the main controller controls the clamping module to release the bottom box of materials. The whole stack of items is placed on the external handling equipment, and the palletizing is completed.

[0011] Furthermore, the depalletizing process uses a mains connection for power supply, without the need for other driving modes.

[0012] Furthermore, there are multiple servo drive modules located on both sides of the main controller.

[0013] Furthermore, the lifting module is raised or lowered to a certain height, which is set according to demand. When depalletizing, the certain height does not interfere with the rapid transportation of the bottom turnover box, and when palletizing, the certain height does not interfere with the rapid transportation of the turnover boxes to be palletized.

[0014] The beneficial effects of the depalletizing machine and depalletizing method described in the present invention are: realizing automatic depalletizing of electric energy meters, electric loads, etc. stored in turnover boxes in a warehouse, having a compact structure, stable operation, large allowable error, no need for on-site assembly, using AC power supply, and no need to install gas circuit coordination, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the following description will be given along with the drawings required for use in the description of the embodiments or the prior art. Obviously, the following description and drawings are only some specific embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained without paying creative work.

[0016] Figure 1 This is a schematic diagram of the structural composition of a palletizer.

[0017] Figure 2 This is a schematic diagram of the structural composition of the submodule clamping module of this palletizer.

[0018] Figure 3 This is a schematic diagram of the structural composition of the submodule lifting module of this palletizer.

[0019] Figure 4 This is a schematic diagram of the structural composition of the submodule translation module of this palletizer.

[0020] Figure 5 This is a schematic diagram of the structural composition of the submodule conveying module of this type of palletizer.

[0021] Figure 6 This is a schematic diagram of the depalletizing process of a depalletizing machine.

[0022] Figure 7 This is a schematic diagram of the palletizing process of a palletizer.

[0023] Figure 8 This is a physical picture of one embodiment of the palletizer.

[0024] Fig. 9 This is a rendering of one embodiment of the palletizer.

[0025] Fig.10 This is a rendering of the effect of one embodiment of the palletizer with the outer shell hidden.

[0026] Fig.11 This is a rear side view of one embodiment of the depalletizer with the housing hidden.

[0027] Fig.12 This is a schematic diagram of the locations of three types of sensors behind a hidden shell in one embodiment of the depalletizer.

[0028] In the figure, 1 is the main control box, 2 is the shell, 4 is the base, 5 is the emergency stop switch, 61 is the clamping mechanism, 62 is the push-to-align servo electric cylinder, 63 is the push-to-align sensor, 71 is the translation mechanism, 73 is the translation servo motor, 74 is the translation reducer, 75 is the translation slide, 76 is the translation guide rail, 77 is the front obstacle sensor, 78 is the translation limit sensor, 81 is the lifting mechanism, 83 is the lifting servo motor J, 84 is the lifting slide, 85 is the lifting guide rail, 86 is the lifting position sensor, 91 is the conveyor line, 93 is the lifting servo motor S, 94 is the conveyor line reducer, 95 is the conveyor line lifting slide, 96 is the conveyor line lifting guide rail, and 97 is the upper and lower limit sensors. Implementation

[0029] The structural composition of the depalletizing machine and the depalletizing process are described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0030] like Figure 1 As shown, the structure of the palletizer includes a main control box, a shell, a horizontal and vertical frame, The base comprises a main controller and a servo drive module in the main control box, and the shell comprises a clamping module, a lifting module, a translation module, a conveying module and a communication module. The main controller coordinates and controls the various sub-modules of the depalletizer to realize the depalletizing and palletizing processes. It is a square control panel. The clamping module clamps the turnover boxes of items to be depalletized, and the lifting module lifts and lowers the clamped depalletizing items. The translation module and the conveying module transport the turnover boxes of items to be depalletized during the depalletizing process. The translation module is also used for placing the turnover boxes during the depalletizing and palletizing processes. The servo drive module provides servo drive for the lifting module, the translation module and the conveying module under the control of the main controller to realize the lifting, translation and conveying functions corresponding to the lifting module, the translation module and the conveying module, thereby realizing the depalletizing process of the depalletizer.

[0031] Preferably, the main control box also includes a fan for heat dissipation in the main control box. It also includes an alarm and an emergency stop switch. The alarm is located at the top right side of the palletizer and is set according to needs. It is used to alarm in the event of abnormal conditions during the palletizing process. In the event of an abnormality, it will give sound and light prompts. The emergency stop switch is located in the middle right side of the palletizer and is set for easy operation by personnel. It is used for emergency stop operations by personnel in an emergency.

[0032] like Figure 2 As shown, a schematic diagram of the structure of the submodule clamping module of the palletizer is shown, The clamping module includes a straightening servo electric cylinder, a clamping mechanism, and a straightening sensor. The clamping mechanism consists of two parts, which are respectively located on the left and right sides of the palletizer and are used to clamp the left and right sides of the turnover box. After receiving the command from the main controller, the clamping mechanism clamps the turnover box to be removed from the palletizing located on the translation mechanism. If the position of the turnover box is skewed, the main controller controls the straightening servo electric cylinder to straighten the skewed turnover box. The straightening sensor detects whether the position of the turnover box is skewed. The straightening sensor detects that the position of the turnover box is correct, and the main controller controls the clamping mechanism to clamp the turnover box. Otherwise, it will clamp the turnover box after the straightening servo electric cylinder straightens the turnover box.

[0033] like Figure 3 As shown, a schematic diagram of the structural composition of the lifting module of the sub-module of the palletizer is shown, the lifting module comprises a lifting servo driver J, a lifting servo motor J, a lifting mechanism, a lifting slide, a lifting guide rail, and a lifting position sensor. The lifting module is located on the left and right sides of the interior of the palletizer, lifting the clamping mechanisms on the left and right sides, the main controller controls the lifting servo driver J to drive the lifting servo motor J, the lifting servo motor J drives the lifting mechanism on the lifting slide to lift or lower along the lifting guide rail, thereby driving the clamped turnover box to lift or lower, the lifting position sensor senses the lifting and lowering position, and sends the detection information to the main controller, the main controller controls the lifting mechanism to lift and lower a certain height, thereby realizing that the turnover box is lifted or lowered to a certain height.

[0034] like Figure 4 As shown, a schematic diagram of the structural composition of the sub-module translation module of the depalletizer is shown, the translation module comprises a translation servo driver, a translation servo motor, a translation reducer, a translation mechanism, a translation slide, a translation guide rail, a front obstacle sensor, and a translation limit sensor. The main controller controls the translation servo driver to drive the translation servo motor and the translation reducer to drive the translation mechanism on the translation slide to translate along the translation guide rail. The translation mechanism rolls and operates to convey the turnover box when it is necessary to convey the turnover box. The front obstacle sensor detects whether there is an obstacle in front of the translation module that affects the translation of the translation module. If there is an obstacle in front, the sensor feeds back the information to the main controller. The main controller controls the translation mechanism to wait for the obstacle to be eliminated before translating. The translation limit sensor detects the front and rear translation position information of the translation module. The sensor sends the detection information to the main controller, and the main controller sends instructions according to the real-time status.

[0035] like Figure 5As shown, a schematic diagram of the structural composition of the conveying module of the sub-module of the palletizer is shown, the conveying module comprises a lifting servo driver S, a lifting servo motor S, a conveyor line reducer, a conveyor line, a conveyor line lifting slide, a conveyor line lifting guide rail, and upper and lower limit sensors. The main controller controls the lifting servo driver S to drive the lifting servo motor S and the conveyor line reducer to drive the conveyor line, and on the conveyor line lifting slide, it descends and rises along the conveyor line lifting guide rail. The upper and lower limit sensors detect the descending and lifting position information of the conveying module. The main controller sends instructions according to the real-time status information. When the conveyor line needs to transport the turnover box, the main controller controls the conveyor line to roll and transport the turnover box away.

[0036] like Figure 6 As shown, a schematic diagram of the depalletizing process of a depalletizing machine is shown, the main controller receives an external depalletizing instruction, and the entire stack of materials to be depalletized arrives at the depalletizing area of ​​the depalletizing machine, the main controller controls the clamping mechanism on the clamping module to clamp the bottommost turnover box of the entire stack of materials to be depalletized, the main controller controls the lifting module to drive the lifting mechanism to lift the clamped objects to be depalletized to a certain height, the main controller controls the translation module to move the translation mechanism to the area directly below the objects to be depalletized, the main controller controls the conveying line on the conveying module to descend and be horizontally connected to the translation mechanism, and the conveying line is horizontally connected to the external conveying line, the main controller controls the lifting mechanism of the lifting module to descend a certain height, and the entire stack of objects is placed on the translation mechanism, the main controller controls the clamping mechanism to release the bottommost turnover box to be depalletized, the main controller controls the clamping mechanism on the clamping module to clamp the second to last turnover box to be depalletized, the main controller controls the lifting module to lift the clamped objects to be depalletized to a certain height, and the main controller controls The main controller controls the translation mechanism and the conveyor line to operate and drive the bottom box to be conveyed to the external conveyor line. After the box is conveyed to the external conveyor line, the main controller controls the translation mechanism and the conveyor line to stop operating. The main controller controls the lifting mechanism of the lifting module to descend and place the whole stack of items on the translation mechanism. The main controller controls the clamping mechanism to release the second box to be destacking when the original whole stack is clamped. The main controller controls the clamping mechanism to clamp the second to last box from the bottom of the current whole stack of items. The main controller controls the lifting mechanism of the lifting module to lift the clamped items to be destacking to a certain height. The main controller controls the translation mechanism and the conveyor line to operate and drive the box to be conveyed to the external conveyor line. After the box is conveyed to the external conveyor line, the main controller controls the translation mechanism and the conveyor line to stop operating, and the above process is repeated until all the items to be destacking are destacking and conveying are completed one by one, and the main controller controls the translation module and the conveyor line module to return to their positions.

[0037] like Figure 7 As shown, this is a schematic diagram of the palletizing process of a palletizer, wherein the main controller receives external palletizing Instruction, the main controller controls the translation module to translate to the area to be stacked, the main controller controls the conveying module to descend, the conveying line is horizontally connected to the translation mechanism, and the conveying line is horizontally connected to the external conveying line, the main controller controls the conveying line and the translation mechanism to operate, the external conveying line conveys a turnover box of items to be stacked through the conveying line and to the translation mechanism, the main controller controls the conveying line and the translation mechanism to stop operating, the main controller controls the clamping mechanism of the clamping module to clamp the first box of items to be stacked, the main controller controls the lifting module to drive the lifting mechanism to lift the clamped items to be stacked to a certain height, the main controller controls the translation mechanism and the conveying line to operate, the external conveying line again conveys the second box of items to the translation mechanism through the conveying line, the main controller controls the translation mechanism and the conveying line to stop operating, the main controller controls the lifting mechanism of the lifting module to descend a certain height and place the first box of items on the second turnover box on the translation mechanism, and the main controller controls the clamping mechanism of the clamping module to release The first box is a turnover box, and the main controller controls the clamping module to clamp the second box. The main controller controls the lifting mechanism of the lifting module to lift the two turnover boxes to a certain height, and the above-mentioned conveying line and translation mechanism are circulated to convey the next turnover box. The lifting mechanism descends, and the clamping mechanism is released and clamped. The lifting mechanism is in the process of lifting until the external conveying line conveys the last box to the translation mechanism through the conveying line again. The main controller controls the lifting mechanism of the lifting module to descend and place the whole stack of items on the last box of the translation mechanism. The external handling equipment moves to the area just below the translation mechanism of the depalletizer to wait for the placement of the whole stack of items after palletizing. The main controller controls the clamping mechanism of the clamping module to release the box clamped above, and the main controller controls the clamping module to clamp the last box. The main controller controls the lifting module to lift the clamped whole stack of items to a certain height, and the main controller controls the conveying module and the translation module to reset. The main controller controls the lifting module to descend to a certain height, and the main controller controls the clamping module to release the bottom box of materials. The whole stack of items is placed on the external handling equipment, and the palletizing is completed.

[0038] like Figure 8As shown, it is a physical diagram of one embodiment of the depalletizer, which includes a main control box 1, a shell 2, a base 4, a clamping module 6, a translation module 7, a conveying module 9, an emergency stop switch 5, and an alarm 11. The horizontal and vertical frames are blocked and are internal supports. The fan, main controller, and servo drive module contained in the main control box 1 are all blocked, and the lifting module in the shell 2 is blocked. The translation module 7 of the depalletizer is translated, conveyed and supported, and the conveying module 9 descends and conveys. The translation mechanism on the translation module 7 is horizontally connected to the conveying line on the conveying module 9, and the conveying line is horizontally connected to the external conveying line. 15 in the figure is an external conveying line, which is not a structural component of the depalletizer.

[0039] like Fig. 9 As shown, it is a rendering of one embodiment of the depalletizing machine. In the figure, the translation module 7 and the conveying module 9 are reset. In the figure, the main control box 1, the shell 2, the base 4, the emergency stop switch 5, the clamping mechanism 61 is a submodule of the clamping module, and the turnover box is clamped and released during the depalletizing process. The translation slide 75 and the translation guide rail 76 are submodules of the translation module, and the lifting mechanism 81 is a submodule of the lifting module.

[0040] like Fig.10 As shown, it is a rendering of the effect of one embodiment of the depalletizer after hiding the shell. In the figure, the base 4 supports the depalletizer, the fan 12 dissipates heat for the depalletizer, the main controller 10 is square, and coordinates and controls the various sub-modules of the depalletizer to realize automatic depalletizing. There are multiple servo drive modules 14, which are respectively located on both sides of the main controller 10. The servo drive module 14 provides servo drive for the lifting module, the translation module, and the conveying module. The servo drive module 14 includes a lifting servo drive J, a translation servo drive, and a lifting servo drive S. The lifting servo drive J is driven by the lifting module, the translation servo drive is driven by the translation module, and the lifting servo drive S is driven by the conveying module; the straightening servo electric cylinder 62 straightens the deflected turnover box, and the clamping mechanism 61 clamps the turnover box; the translation mechanism 71 is the placement position of the turnover box during the depalletizing process, and the translation mechanism 71 rolls to realize the conveying of the turnover box. The front obstacle sensor 77 is located in front of the translation module to sense the obstacle situation in front; the lifting servo motor J 83 is located at the upper part of the lifting module, and the lifting slide 84 drives the lifting mechanism to lift and lower on the lifting guide rail 85; the conveying line 91, the lifting servo motor S 93, the conveying line reducer 94, the conveying line lifting slide 95, and the conveying line lifting guide rail 96 are sub-modules of the conveying module, and the lifting servo motor S 93 and the conveying line reducer 94 are integrated.

[0041] Fig.11As shown, it is a rear side view of the hidden shell of one embodiment of the depalletizer. In the figure, the translation module and the conveying module are in the reset state. The push sensor 63 in the figure is used to detect whether the turnover box is skewed. The translation servo motor 73 and the translation reducer 74 provide support for the translation and conveying process of the translation module; the lifting mechanism 81 is composed of two parts, which are respectively located on the left and right sides of the depalletizer.

[0042] Fig.12 , which is a schematic diagram of the positions of three types of sensors behind the hidden shell of one embodiment of the palletizer, in which there are two translation limit sensors 78 on the translation module, two lifting position sensors 86 on the lifting module, and two upper and lower limit sensors 97 on the conveying module.

[0043] The above is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that are not conceived through creative work should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope defined in the claims.

Claims

1. A palletizer, comprising a main control box, a housing, a horizontal and vertical frame, and a base, characterized in that: The main control box includes a main controller and a servo drive module. The shell includes a clamping module, a lifting module, a translation module, a conveying module, and a communication module. The main controller coordinates and controls the various sub-modules of the depalletizer to realize the depalletizing and palletizing processes. It is a square control panel. The clamping module clamps the turnover box of the items to be depalletized. The lifting module lifts and lowers the clamped depalletizing items. The translation module and the conveying module transport the turnover boxes of the items to be depalletized during the depalletizing process. The translation module is also used for placing the turnover boxes during the depalletizing and palletizing processes. The servo drive module provides servo drive for the lifting module, the translation module, and the conveying module under the control of the main controller to realize the corresponding lifting, translation, and conveying functions of the lifting module, the translation module, and the conveying module, thereby realizing the depalletizing process of the depalletizer. The depalletizing area of ​​the depalletizer is the corresponding area directly below the translation module after the translation module is translated and unfolded. a. The clamping module includes a push-to-positive servo cylinder, a clamping mechanism, and a push-to-positive sensor. The structure is composed of two parts, which are respectively located on the left and right sides of the palletizer, and are used to clamp the left and right sides of the turnover box. After receiving the command from the main controller, the clamping mechanism clamps the turnover box to be removed and stacked on the translation mechanism. If the position of the turnover box is skewed, the main controller controls the straightening servo electric cylinder to straighten the deflected turnover box. The straightening sensor detects whether the position of the turnover box is skewed. The straightening sensor detects that the position of the turnover box is correct, and the main controller controls the clamping mechanism to clamp the turnover box. Otherwise, the straightening servo electric cylinder will straighten the turnover box before clamping. b. The lifting module includes a lifting servo driver J, a lifting servo motor J, a lifting mechanism, a lifting Slide, lifting rail, lifting position sensor, the lifting module is located on the left and right sides of the depalletizer, lifting the clamping mechanisms on the left and right sides, the main controller controls the lifting servo driver J to drive the lifting servo motor J, the lifting servo motor J drives the lifting mechanism on the lifting slide, along the lifting rail to lift or lower, thereby driving the clamped turnover box to lift or lower, the lifting position sensor senses the lifting and lowering position, and sends the detection information to the main controller, the main controller controls the lifting mechanism to lift and lower a certain height, thereby realizing the lifted or lowered turnover box to a certain height; c. The translation module includes a translation servo driver, a translation servo motor, a translation reducer, a translation Mechanism, translation slide, translation guide rail, front obstacle sensor, translation limit sensor, the main controller controls the translation servo driver to drive the translation servo motor and the translation reducer to drive the translation mechanism on the translation slide to translate along the translation guide rail, the translation mechanism rolls and operates to convey turnover boxes when it is necessary to convey turnover boxes, the front obstacle sensor detects whether there is an obstacle in front of the translation module that affects the translation of the translation module, if there is an obstacle in front, the sensor feeds back the information to the main controller, the main controller controls the translation mechanism to wait for the obstacle to be eliminated before translating, the translation limit sensor detects the front and rear translation position information of the translation module, the sensor sends the detection information to the main controller, and the main controller sends instructions according to the real-time status; d. The conveying module includes a lifting servo driver S, a lifting servo motor S, a conveying line reducer, Conveyor line, conveyor line lifting slide, conveyor line lifting guide rail, upper and lower limit sensors, the main controller controls the lifting servo driver S to drive the lifting servo motor S, the conveyor line reducer drives the conveyor line, on the conveyor line lifting slide, it descends and rises along the conveyor line lifting guide rail, the upper and lower limit sensors detect the descending and lifting position information of the conveying module, the main controller sends instructions according to the real-time status information, when the conveyor line needs to transport the turnover box, the main controller controls the conveyor line to roll and transport the turnover box away.

2. A palletizer according to claim 1, characterized in that: The main control box also includes a fan for heat dissipation in the main control box. The depalletizer also includes an alarm and an emergency stop switch. The alarm is located at the top right side of the depalletizer and is set according to needs. It is used to alarm abnormal situations in the depalletizing process. In case of abnormalities, sound and light prompts will be given. The emergency stop switch is located in the middle of the right side of the depalletizer. The position is set for easy operation by personnel and is used for emergency stop operation by personnel in an emergency.

3. A palletizer according to claim 2, characterized in that: The translation mechanism of the submodule of the translation module is a roller line, and the conveying line of the submodule of the conveying module is a roller line, which rolls and conveys the turnover boxes during the depalletizing and stacking process.

4. A palletizer according to claim 3, characterized in that: The depalletizing process uses AC power connection for power supply, and no other driving methods are required.

5. A palletizer according to claim 4, characterized in that: There are multiple servo drive modules located on both sides of the main controller.

6. A palletizer according to claim 5, characterized in that: The lifting module is raised or lowered to a certain height, which is set according to the needs. When depalletizing at this certain height, it does not interfere with the rapid transportation of the bottom turnover box, and when palletizing at this certain height, it does not interfere with the rapid transportation of the turnover boxes to be palletized.

7. A depalletizing method for a depalletizing machine, characterized in that: A. Destacking method The main controller receives an external depalletizing instruction, and the entire stack of materials to be depalletized arrives at the depalletizing area of ​​the depalletizing machine, and the main controller controls the clamping mechanism on the clamping module to clamp the bottommost turnover box of the entire stack of items to be depalletized, and the main controller controls the lifting module to drive the lifting mechanism to lift the clamped items to be depalletized to a certain height, and the main controller controls the translation module to move the translation mechanism to the area directly below the items to be depalletized, and the main controller controls the conveying line on the conveying module to descend and be horizontally connected to the translation mechanism, and the conveying line is horizontally connected to the external conveying line, and the main controller controls the lifting mechanism of the lifting module to descend a certain height and place the entire stack of items on the translation mechanism, and the main controller controls the clamping mechanism to release the bottommost turnover box to be depalletized, and the main controller controls the clamping mechanism on the clamping module to clamp the second to last turnover box to be depalletized, and the main controller controls the lifting module to lift the clamped items to be depalletized to a certain height, and the main controller controls the translation mechanism, the conveying line The feeding line operation drives the bottommost turnover box to be transported to the external conveyor line. After the box turnover box is transported to the external conveyor line, the main controller controls the translation mechanism and the conveyor line to stop operating. The main controller controls the lifting mechanism of the lifting module to descend and place the whole stack of items on the translation mechanism. The main controller controls the clamping mechanism to release the second box to be destacking turnover box of the original whole stack. The main controller controls the clamping mechanism to clamp the second to last box from the bottom of the current whole stack of items. The main controller controls the lifting mechanism of the lifting module to lift the clamped items to be destacking to a certain height. The main controller controls the translation mechanism and the conveyor line to operate, drive the box turnover box to be transported to the external conveyor line. After the box turnover box is transported to the external conveyor line, the main controller controls the translation mechanism and the conveyor line to stop operating, and the above process is repeated until all the items to be destacking are destacking and transported one by one, and the main controller controls the translation module and the conveyor line module to return to their positions. B. Palletizing method The main controller receives an external palletizing instruction, and the main controller controls the translation module to translate to the area to be palletized, and the main controller controls the conveying module to descend, the conveying line is horizontally connected to the translation mechanism, and the conveying line is horizontally connected to the external conveying line, and the main controller controls the conveying line and the translation mechanism to operate, and the external conveying line conveys a turnover box of items to be palletized through the conveying line and to the translation mechanism, and the main controller controls the conveying line and the translation mechanism to stop operating, and the main controller controls the clamping module clamping mechanism to clamp the first box of items to be palletized, and the main controller controls the lifting module to drive the lifting mechanism to lift the clamped items to be palletized to a certain height, and the main controller controls the translation mechanism and the conveying line to operate, and the external conveying line again conveys the second box of items to the translation mechanism through the conveying line, and the main controller controls the translation mechanism and the conveying line to stop operating, and the main controller controls the lifting module lifting mechanism to descend a certain height and place the first box of items on the second turnover box on the translation mechanism, and the main controller controls the clamping module The clamping mechanism of the block releases the first turnover box, the main controller controls the clamping module to clamp the second turnover box, the main controller controls the lifting mechanism of the lifting module to lift the two turnover boxes to a certain height, the above-mentioned conveying line and the horizontal mechanism convey the next turnover box in a cycle, the lifting mechanism descends, the clamping mechanism releases and clamps, and the lifting mechanism performs the lifting process until the external conveying line conveys the last box to the translation mechanism through the conveying line again. The main controller controls the lifting mechanism of the lifting module to descend and place the whole stack of items on the last box of the translation mechanism, and the external handling equipment moves to the area just below the translation mechanism of the depalletizer to wait for the whole stack of items to be placed and stacked. The main controller controls the clamping mechanism of the clamping module to release the box clamped above, the main controller controls the clamping module to clamp the last box, the main controller controls the lifting module to lift the clamped whole stack of items to a certain height, the main controller controls the conveying module and the translation module to reset, the main controller controls the lifting module to descend a certain height, the main controller controls the clamping module to release the bottom box of materials, the whole stack of items is placed on the external handling equipment, and the stacking is completed.

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