Unstacking and carrying system and unstacking method

Abstract

The invention provides an unstacking and carrying system and an unstacking method. The unstacking and carrying system comprises a recognition assembly arranged above the working area and used for recognizing materials; the first conveying assembly is used for conveying the materials to a working area; the mechanical arm assembly is arranged in the working area, and the mechanical arm assembly is used for transporting materials and can divide the materials into a plurality of material groups; and the flow dividing assembly is arranged in the working area, the flow dividing assembly comprises a flow dividing part, and the flow dividing part is used for splitting the material set conveyed by the mechanical arm assembly into a plurality of material single bodies. The carton unstacking device solves the problem that in the prior art, the carton unstacking efficiency is low.

Description

Technical Field

[0001] The present invention relates to the technical field of automated handling, and in particular to a depalletizing and handling system and a depalletizing method. Background Art

[0002] In the field of modern logistics and warehousing technology, depalletizing and handling operations are key steps in connecting storage with production, distribution and other links. Their efficiency and flexibility are directly related to the operational efficiency of the entire supply chain. Traditional depalletizing methods mainly rely on manual operations, but with the popularization of automation technology and the rise in labor costs, automated depalletizing systems with robotic arms and suction cups have gradually become the mainstream solution. This type of system achieves the transformation of materials from a stacking state to a single or small batch delivery state through the precise movement of the robotic arm and the adsorption of cartons and other materials by the suction cup. However, most of the current automated depalletizing systems can only disassemble one box of materials at a time, which is obviously inefficient when faced with large-scale, high-frequency depalletizing needs, limiting the processing speed of logistics warehousing.

[0003] As can be seen from the above, the existing technology has the problem of low efficiency of depalletizing cartons. Summary of the invention

[0004] The main purpose of the present invention is to provide a depalletizing and handling system and a depalletizing method to solve the problem of low depalletizing efficiency of cartons in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a depalletizing and handling system is provided, comprising: an identification component, which is arranged above a working area and is used to identify materials; a first transport component, which is used to transport materials to the working area; a robot arm component, which is arranged in the working area and is used to transport materials and can divide the materials into multiple material groups; a diversion component, which is arranged in the working area and includes a diversion part, which is used to split the material group transported by the robot arm component into multiple material monomers.

[0006] Furthermore, the diverter assembly further includes a main body portion, the diverter portion is arranged on the main body portion, and at least a portion of the diverter portion can move along an extension direction perpendicular to the main body portion.

[0007] Furthermore, the main body has a conveying structure, which is used to transport the material group along the extension direction of the main body. The diversion part includes a stop structure arranged in the extension direction of the main body, and a diversion channel is formed between at least one end of the stop structure and the edge of the main body perpendicular to the extension direction of the main body.

[0008] Furthermore, the stop structure is arranged in the middle position of the main body; and / or both ends of the stop structure are spaced apart from the two side edges of the main body perpendicular to the extension direction of the main body; and / or the stop structure is arranged on the main body in a liftable manner.

[0009] Furthermore, the diverter portion further comprises a push-up structure, the push-up structure having a push-up surface for contacting the material group, and the push-up structure is slidably arranged on the main body along a direction perpendicular to the extension direction of the main body.

[0010] Furthermore, when the pushing structure is in the reset position, a side of the pushing structure away from the pushing surface is aligned with a side edge of the main body.

[0011] Furthermore, the main body includes: a support frame, one end of the support frame is a diversion end, the other end of the support frame is an operating end, and multiple material units of the material group are arranged in sequence along the width direction of the support frame; a rotating shaft, there are multiple rotating shafts and they are pivotally connected to the support frame in sequence along the extension direction of the support frame, and the rotating shaft serves as a conveying structure to transport the material group along the extension direction of the main body.

[0012] Furthermore, the depalletizing and handling system also includes: a first detection member, which is arranged on the support frame, and is connected to the push-up structure and the stop structure by signal, so as to detect the material group; a second detection member, which is arranged on the side of the support frame away from the push-up structure, and is connected to the push-up structure by signal, so as to detect the distance between the material group and the edge of the support frame.

[0013] Furthermore, the first transport component includes: a first transport member, which is used to transport materials; and a load-bearing plate, which is arranged between the first transport member and the materials and is used to bear the materials.

[0014] Furthermore, the robotic arm assembly includes: a base, which is arranged in a working area; a main body, one end of which is pivotally connected to the base; an operating part, which is connected to the other end of the main body, and is used to pick up part of the material to form a material group.

[0015] Furthermore, the operating part includes: a connecting member, one side of which is used to be connected to the main body; a suction cup group, which is arranged on the other side of the connecting member, the suction cup group includes a plurality of suction cups, and the suction cups are used to absorb materials; a clamping jaw, which is arranged on the top of the connecting member, and the clamping jaw is pivotally connected to the connecting member to clamp the supporting plate when the identification component identifies the supporting plate; a driving member, which is arranged on the connecting member, and the driving member is connected to the clamping jaw.

[0016] Furthermore, the operating part also includes: a mounting seat, which is arranged on a side of the connecting member away from the suction cup group; a transmission shaft, which is pivotally connected to the mounting seat, the transmission shaft is connected to the driving member, and the clamping claw is arranged on the transmission shaft.

[0017] Furthermore, there are multiple mounting seats, transmission shafts and clamps, and the multiple transmission shafts and multiple mounting seats are arranged in a one-to-one correspondence, and at least one clamp is arranged on any transmission shaft.

[0018] Furthermore, the depalletizing and handling system further comprises a second transport component, and the second transport component is used for collecting the carrying plates clamped by the transport clamps.

[0019] Furthermore, the depalletizing and handling system also includes a control component, and the identification component and the robotic arm component are both connected to the control component signal.

[0020] According to another aspect of the present invention, a depalletizing method is provided, and the depalletizing method is implemented by the above-mentioned depalletizing and handling system, including: obtaining demand information of materials to be disassembled; transporting the materials to be disassembled to a working area and identifying posture information of the materials; a robotic arm component receives the posture information to adjust the posture of the robotic arm component to disassemble the materials in material groups as units; a diversion component receives the material groups transported from the robotic arm component, and diverts them in the diversion component to form multiple material monomers.

[0021] Furthermore, the destacking method also includes: the recognition component recognizes whether there is material on the carrying plate at a preset time interval; when it is recognized that there is no material on the carrying plate, the recognition component recognizes the posture information of the carrying plate; the robotic arm component receives the posture information to collect and stack the carrying plates.

[0022] The technical solution of the present invention is applied, and the depalletizing and handling system includes an identification component, a first transport component, a mechanical arm component and a diversion component. The identification component is arranged above the working area, and the identification component is used to identify materials. The first transport component is used to transport materials to the working area. The mechanical arm component is arranged in the working area, and the mechanical arm component is used to transport materials and can divide the materials into multiple material groups. The diversion component is arranged in the working area, and the diversion component includes a diversion part, and the diversion part is used to split the material group transported by the robot arm component into multiple material monomers, and transport the material to the working area through the first transportation component. After the identification component identifies the material information, the robot arm component splits the material into multiple material groups, and each material group includes multiple material monomers. After the robot arm component picks up the material group, it places the material group on the diversion component, and the material group is divided into material monomers through the diversion component. In this process, the material disassembly is automated, which greatly reduces the occupation and consumption of manpower. When disassembling the material, only a small number of personnel are needed to supervise it. At the same time, the diversion component can split the material group into multiple material monomers, so that personnel can scan and detect and label the material monomers, which greatly improves the work efficiency and solves the problem of low efficiency of carton depalletizing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 A schematic diagram showing the structure of a depalletizing and transporting system in a specific embodiment of the present invention is shown; and

[0025] Figure 2 A schematic diagram showing the structure of a mechanical arm assembly in a specific embodiment of the present invention is shown;

[0026] Figure 3 A schematic diagram showing the structure of an operating unit in a specific embodiment of the present invention is shown;

[0027] Figure 4 A schematic structural diagram of a flow diversion component in a specific embodiment of the present invention is shown.

[0028] The above drawings include the following reference numerals:

[0029] 10. Identification component; 20. First transport component; 21. First transport member; 22. Carrying plate; 30. Robot arm component; 31. Base; 32. Main body; 33. Operating part; 331. Connecting part; 332. Suction cup group; 333. Clamp; 334. Driving part; 335. Mounting seat; 336. Transmission shaft; 40. Diversion component; 41. Main body; 411. Support frame; 4111. Edge; 4112. Diversion channel; 412. Rotating shaft; 42. Diversion part; 421. Stop structure; 422. Push-up structure; 4221. Push plate; 4222. Suction cup tube; 43. Power source; 50. First detection member; 60. Second detection member; 70. Second transport component; 100. Material; 101. Material group. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0032] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0033] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] In order to solve the problem of low depalletizing efficiency of cartons in the prior art, the present invention provides a depalletizing and transporting system and a depalletizing method.

[0035] like Figure 1 As shown, the depalletizing and handling system includes an identification component 10, a first transport component 20, a robot arm component 30 and a diversion component 40. The identification component 10 is arranged above the working area, and the identification component 10 is used to identify the material 100. The first transport component 20 is used to transport the material 100 to the working area. The robot arm component 30 is arranged in the working area, and the robot arm component 30 is used to transport the material 100 and can divide the material 100 into multiple material groups 101. The diversion component 40 is arranged in the working area, and the diversion component 40 includes a diversion part 42, and the diversion part 42 is used to split the material group 101 transported by the robot arm component 30 into multiple material monomers.

[0036] The material 100 is transported to the working area by the first transport component 20. After the identification component 10 identifies the material information, the robotic arm component 30 splits the material 100 into multiple material groups 101. Each material group 101 includes multiple material monomers. After the robotic arm component 30 picks up the material group 101, it places the material group 101 on the diversion component 40. The material group 101 is divided into material monomers by the diversion component 40. In this process, the disassembly of the material 100 is automated, which greatly reduces the occupation and consumption of manpower. When disassembling the material 100, only a small number of personnel are needed to supervise it. At the same time, the diversion component 40 can divide the material group 101 into multiple material monomers, which is convenient for personnel to scan and detect and label the material monomers, thereby greatly improving work efficiency.

[0037] like Figure 1 As shown, the flow splitter assembly 40 further includes a main body 41 , a flow splitter 42 is disposed on the main body 41 , and at least a portion of the flow splitter 42 can move along an extension direction perpendicular to the main body 41 .

[0038] Specifically, the robot arm assembly 30 picks up and places the disassembled material group 101 on the main body 41, and the diverter 42 pushes the material group 101 along an extending direction perpendicular to the main body 41. Optionally, the diverter 42 is located on one side of the main body 41.

[0039] like Figure 4As shown, the main body 41 has a conveying structure, which is used to transport the material group 101 along the extension direction of the main body 41. The diverter portion 42 includes a stop structure 421 arranged in the extension direction of the main body 41, and a diverter channel 4112 is formed between at least one end of the stop structure 421 and an edge 4111 of the main body 41 perpendicular to the extension direction of the main body 41.

[0040] Specifically, after the material group 101 is placed on the conveying structure, the diversion portion 42 pushes the material group 101 to the other side of the main body. When the conveying structure conveys the material group 101 along the extension direction of the main body 41, the stopping structure 421 can stop at least one material monomer in the material group 101.

[0041] In this embodiment, the material group 101 includes two material monomers. When the conveying structure conveys the material group 101, the stop structure 421 stops one of the material monomers, and the other material monomer is not stopped and can flow out along the diversion channel 4112, thereby realizing the diversion of the two material monomers, that is, there will be no two material monomers in parallel on the entire main body 41, so that it is convenient for personnel on both sides of the main body 41 to scan and label each material monomer. Optionally, in order to further improve the degree of automation, two labeling and scanning robot arms are set on both sides of the main body 41.

[0042] In this embodiment, the stop structure 421 is arranged in the middle position of the main body 41; and / or the two ends of the stop structure 421 are spaced apart from the two side edges of the main body 41 perpendicular to the extension direction of the main body 41; and / or the stop structure 421 can be raised and lowered on the main body 41.

[0043] Specifically, the stop structure 421 is arranged in the middle of the main body 41 and is spaced apart from the edges of both sides of the main body 41, thereby forming two diversion channels 4112. Of course, the stop structure 421 may also be close to one side of the main body 41, so that the two diversion channels 4112 are of different sizes, and only the diversion channel 4112 of the larger size can allow the material monomer to pass through. When the material group 101 is transported by the conveying structure, the stop structure 421 rises to stop one of the two material monomers. When the other material monomer flows out of the diversion channel 4112, the stop structure 421 falls down, and the stopped material monomer flows out, thereby realizing the front-to-back interval flow of the two material monomers.

[0044] like Figure 4 As shown, the diverter portion 42 further includes a push-up structure 422 , which has a push-up surface for contacting the material group 101 , and the push-up structure 422 is slidably disposed on the main body 41 along an extension direction perpendicular to the main body 41 .

[0045] Specifically, a pushing structure 422 is provided on one side of the pushing structure 422, and a power source 43 is provided at the bottom or side of the main body 41. The power source 43 is used to drive the pushing structure 422 to move so that the pushing structure 422 can move the material group 101 along the extension direction perpendicular to the main body 41.

[0046] In this embodiment, the push-up structure 422 includes a push plate 4221 and a suction cup tube 4222. A plurality of suction cup tubes 4222 are arranged at intervals on the push plate 4221. The outlet of the suction cup tube 4222 is flush with the push plate 4221. The push plate 4221 and the suction cup tube 4222 form a push-up surface. When the material group 101 is placed on the main body 41, the push-up structure 422 moves to push the material group 101 out. When one of the material monomers is aligned with the diversion channel 4112, the suction cup tube 4222 of the push-up structure 422 starts to work, adsorbs the material monomer close to the push-up surface, and the push-up structure 422 is reset, thereby separating the two material monomers to ensure that one of the two material monomers is stopped by the stop structure 421, and the other can smoothly pass through the diversion channel 4112.

[0047] In this embodiment, when the pushing structure 422 is in the reset position, the side of the pushing structure 422 away from the pushing surface is aligned with the edge of one side of the main body 41 .

[0048] Specifically, this position is connected to the power source 43, so that the power source 43 provides power for the plurality of suction cup tubes 4222. Optionally, the power source 43 is a rotary cylinder or an air pump, and the stop structure 421 is a stop cylinder.

[0049] like Figure 4 As shown, the main body 41 includes a support frame 411 and a rotating shaft 412. One end of the support frame 411 is a diversion end, and the other end of the support frame 411 is an operating end. Multiple material units of the material group 101 are arranged in sequence along the width direction of the support frame 411. There are multiple rotating shafts 412 and they are pivotally connected to the support frame 411 in sequence along the extension direction of the support frame 411. The rotating shafts 412 serve as a conveying structure for transporting the material group 101 along the extension direction of the main body 41.

[0050] Specifically, multiple rotating shafts 412 are arranged at intervals on the support frame 411, and the diversion part 42 is arranged at the diversion end of the support frame 411, so as to divert the material group 101. After the material group 101 is divided into two material monomers arranged at intervals in front and behind, the rotating shaft 412 rotates to transport the material monomers to the operation end.

[0051] like Figure 4As shown, the depalletizing and handling system further includes a first detection member 50 and a second detection member 60. The first detection member 50 is disposed on the support frame 411, and the first detection member 50 is connected to the push-up structure 422 and the stop structure 421 by signal, so as to detect the material group 101. The second detection member 60 is disposed on a side of the support frame 411 away from the push-up structure 422, and the second detection member 60 is connected to the push-up structure 422 by signal, so as to detect the distance between the material group 101 and the edge of the support frame 411.

[0052] Specifically, when the first detection member 50 detects that the material group 101 is placed on the support frame 411, a signal is sent to the push-up structure 422 and the stop structure 421, the stop structure 421 rises, and the push-up structure 422 moves to push the material group 101 to move. When the second detection member 60 detects a material monomer, a signal is sent to the push-up structure 422 to enable the suction cup tube 4222 to work and absorb the material monomer close to the push-up surface, and at the same time, the suction cup tube 4222 is reset, and finally two material monomers are placed on the support frame 411 at intervals. Optionally, a detection member is also provided at the position of the push-up structure 422. When the push-up structure 422 is reset, the detection member detects the material monomer and then the stop structure 421 descends, and the rotating shaft 412 rotates.

[0053] Of course, it is also possible that after one of the two material monomers flows out along the diversion channel 4112 , the pushing structure 422 pushes the other material monomer to the second detection member 60 , so that the material monomers on the entire main body 41 are located on the same side of the support frame 411 .

[0054] like Figure 1 As shown, the first transport component 20 includes a first transport member 21 and a carrying plate 22. The first transport member 21 is used to transport the material 100. The carrying plate 22 is disposed between the first transport member 21 and the material 100, and the carrying plate 22 is used to carry the material 100.

[0055] Specifically, the first transport member 21 is an AGV cart, which can move to the working area along a preset route while avoiding obstacles on the road. The loading plate 22 is arranged on the first transport member 21, and the loading plate 22 is a pallet, and a gap is arranged between some positions of the loading plate 22 and the first transport member 21.

[0056] like Figure 1 to Figure 2 As shown, the robot arm assembly 30 includes a base 31, a body 32 and an operating portion 33. The base 31 is disposed in a working area. One end of the body 32 is pivotally connected to the base 31. The operating portion 33 is connected to the other end of the body 32, and the operating portion 33 is used to pick up a portion of the material 100 to form a material group 101.

[0057] Specifically, the main body 32 is pivotally connected to the base 31 , the main body 32 is a common six-axis robotic arm structure, and the operating part 33 is detachably connected to the main body 32 .

[0058] like Figure 3 As shown, the operating part 33 includes a connecting member 331, a suction cup group 332, a clamp 333 and a driving member 334. One side of the connecting member 331 is used to connect with the main body 32. The suction cup group 332 is arranged on the other side of the connecting member 331, and the suction cup group 332 includes a plurality of suction cups, and the suction cups are used to absorb the material 100. The clamp 333 is arranged on the top of the connecting member 331, and the clamp 333 is pivotally connected to the connecting member 331 to clamp the carrier plate 22 when the identification component 10 identifies the carrier plate 22. The driving member 334 is arranged on the connecting member 331, and the driving member 334 is drivingly connected to the clamp 333.

[0059] Specifically, the connecting member 331 is a connecting plate, one side of the connecting member 331 is connected to the main body 32, and a clamp 333 is provided on the side, and a suction cup group 332 is provided on the other side. When the material group 101 needs to be transferred to the main body 41, the driving member 334 drives the suction cup group 332 to work so as to adsorb the material group 101.

[0060] In this embodiment, an adjusting member is further provided between the driving member 334 and the suction cup group 332, and the working state of each suction cup is adjusted by the adjusting member. The adjusting member is connected to the identification component 10 by signal, and the material 100 is identified by the identification component 10, and the material group 101 is selected. Then, the adjusting member adjusts the working state of the suction cup in the corresponding area on the suction cup group 332, so that the suction cup group 332 can only absorb the material group 101 in the corresponding area, but not the material groups 101 in other areas, so as to avoid the absorption of multiple material groups 101, or even the absorption of part of the material monomer in the adjacent material group 101, which causes the material monomer to fall off due to insufficient suction.

[0061] like Figure 3 As shown, the operating part 33 further includes a mounting seat 335 and a transmission shaft 336. The mounting seat 335 is arranged on a side of the connecting member 331 away from the suction cup group 332. The transmission shaft 336 is pivotally connected to the mounting seat 335, the transmission shaft 336 is connected to the driving member 334, and the clamping claw 333 is arranged on the transmission shaft 336.

[0062] Specifically, the mounting seat 335 is set on the connecting member 331, and a transmission shaft 336 is set on the mounting seat 335. The driving member 334 can also drive the transmission shaft 336 to rotate. Further, the transmission shaft 336 rotates around its own axis. The mounting seat 335 is set on the edge of the connecting member 331. The rotation of the transmission shaft 336 can drive the clamp 333 to rotate around the axis of the transmission shaft 336.

[0063] In this embodiment, there are multiple mounting seats 335 , transmission shafts 336 and clamps 333 . Multiple transmission shafts 336 and multiple mounting seats 335 are arranged in one-to-one correspondence, and at least one clamp 333 is arranged on any transmission shaft 336 .

[0064] Specifically, a plurality of mounting seats 335 are respectively arranged at the edges of the connecting member 331, and one or more clamping claws 333 are arranged on the transmission shaft 336 on each mounting seat 335. When the transmission shaft 336 does not rotate, the clamping claws 333 are located on the side of the connecting member 331 away from the suction cup group 332, so as to prevent the clamping claws 333 from scratching the material 100. After the suction cup group 332 puts all the materials 100 on the main body 41, the main body 32 drives the operating part 33 to approach the carrying plate 22, and then the driving member 334 drives the transmission shaft 336 to rotate, so that the clamping claws 333 extend into the gap between the carrying plate 22 and the first transport member 21, and finally the robot arm assembly 30 clamps the carrying plate 22.

[0065] like Figure 1 As shown, the depalletizing and handling system further includes a second transport assembly 70 , which is used to collect the carrying plates 22 clamped by the transport clamps 333 .

[0066] Specifically, the second transport component 70 is also an AGV trolley component. The optional second transport component 70 includes an AGV trolley and a pallet. The robot arm component 30 places the carrying plate 22 on the second transport component 70 in sequence, thereby realizing automatic collection and transportation of the carrying plate 22.

[0067] In this embodiment, the depalletizing and handling system further includes a control component, and the identification component 10 and the robot arm component 30 are both connected to the control component by signal.

[0068] Specifically, the control component may be a structural component with a control function such as a PLC.

[0069] The present application also provides a depalletizing method, which is implemented by the above-mentioned depalletizing and handling system. The depalletizing method includes obtaining demand information of the material 100 to be disassembled; transporting the material 100 to be disassembled to the working area and identifying the posture information of the material 100; the robot arm component 30 receives the posture information to adjust the posture of the robot arm component 30 to disassemble the material 100 in units of material groups 101; the diversion component 40 receives the material group 101 transported from the robot arm component 30, and diverts it in the diversion component 40 to form multiple material monomers.

[0070] In this embodiment, the destacking method also includes the identification component 10 identifying whether there is material 100 on the carrying plate 22 at a preset time interval; when it is identified that there is no material 100 on the carrying plate 22, the identification component 10 identifies the posture information of the carrying plate 22; the robotic arm component 30 receives the posture information to collect and stack the carrying plates 22.

[0071] Specifically, the depalletizing and handling system also includes a data system WMS and RCS. The depalletizing method of the present application is that after the WMS collects the information that needs to be shipped, the information is sent to the PLC. After data processing by the PLC, the information is sent to the identification component 10, the first transportation component 20 and the robotic arm component 30. The first transportation component 20 transports the corresponding material 100 to the working area, and then the identification component 10 identifies the material 100 information. In this embodiment, the identification component 10 is a 3D camera. The identification component 10 takes a photo of the material information and performs point cloud segmentation on the corresponding material group 101 according to the number of material monomers disassembled at one time. Then the robotic arm component 30 comes to the designated position and adjusts the height of the main body 32 to drive the operating part 33 to rise or fall. The suction cups in the corresponding area of ​​the suction cup group 332 open and close, thereby adsorbing the corresponding material group 101. Then the material group 101 is placed on the main body 41 and diverted by the diversion part 42 to achieve the spaced arrangement of multiple material monomers along the extension direction of the main body 41.

[0072] The recognition component 10 repeatedly takes photos for recognition, and the robot arm component 30 repeatedly removes the material 100, and finally removes all the materials 100 on the carrier plate 22. Then, the suction cup group 332 on the robot arm component 30 is closed, and the driving member 334 drives the clamping claw 333 to clamp the carrier plate 22, and puts the carrier plate 22 on the second transport component. Optionally, the recognition component 10 is provided with a preset value, and when the number of the recognized carrier plates 22 reaches a preset value, the second transport component 70 transports multiple carrier plates 22 to a specified position.

[0073] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: Figure 1As shown, the depalletizing and handling system includes an identification component 10, a first transport component 20, a robot arm component 30 and a diversion component 40, wherein the identification component 10 is arranged above the working area, the identification component 10 is used to identify the material 100, the first transport component 20 is used to transport the material 100 to the working area, the robot arm component 30 is arranged in the working area, the robot arm component 30 is used to transport the material 100 and can divide the material 100 into a plurality of material groups 101, the diversion component 40 is arranged in the working area, the diversion component 40 includes a diversion part 42, the diversion part 42 is used to split the material group 101 transported by the robot arm component 30 into a plurality of material monomers, and transport the material 100 to the working area through the first transport component 20. In the working area, after the identification component 10 identifies the material information, the robot arm component 30 splits the material 100 into multiple material groups 101, and each material group 101 includes multiple material monomers. After the robot arm component 30 picks up the material group 101, it places the material group 101 on the diversion component 40, and the material group 101 is divided into material monomers by the diversion component 40. In this process, the disassembly of the material 100 is automated, which greatly reduces the occupation and consumption of manpower. When disassembling the material 100, only a small number of personnel are needed to supervise it. At the same time, the diversion component 40 can divide the material group 101 into multiple material monomers, so that personnel can scan and detect and label the material monomers, which greatly improves work efficiency.

[0074] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0075] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A depalletizing and handling system, characterized in that: include: An identification component (10), the identification component (10) being arranged above the working area, and the identification component (10) being used for identifying a material (100); A first transport component (20), the first transport component (20) being used to transport the material (100) to the working area; a mechanical arm assembly (30), the mechanical arm assembly (30) being arranged in the working area, the mechanical arm assembly (30) being used to transport the material (100) and being capable of dividing the material (100) into a plurality of material groups (101); A diverter assembly (40), wherein the diverter assembly (40) is arranged in the working area, and the diverter assembly (40) comprises a diverter portion (42), wherein the diverter portion (42) is used to split the material group (101) transported by the robot arm assembly (30) into a plurality of material monomers.

2. The depalletizing and handling system according to claim 1, characterized in that: The flow splitter assembly (40) further comprises a main body (41), the flow splitter (42) being arranged on the main body (41), and at least a portion of the flow splitter (42) being able to move along an extension direction perpendicular to the main body (41).

3. The depalletizing and handling system according to claim 2, characterized in that: The main body (41) has a conveying structure, which is used to transport the material group (101) along the extension direction of the main body (41); the diverter portion (42) includes a stop structure (421) arranged in the extension direction of the main body (41), and a diverter channel (4112) is formed between at least one end of the stop structure (421) and an edge (4111) of the main body (41) perpendicular to the extension direction of the main body (41).

4. The depalletizing and handling system according to claim 3, characterized in that: The stop structure (421) is arranged at a middle position of the main body (41); and / or Both ends of the stop structure (421) are spaced apart from the two side edges of the main body (41) perpendicular to the extension direction of the main body (41); and / or The stop structure (421) is arranged on the main body (41) in a liftable manner.

5. The depalletizing and handling system according to claim 3, characterized in that: The diversion portion (42) further comprises a pushing structure (422), wherein the pushing structure (422) has a pushing surface for contacting the material group (101), and the pushing structure (422) is slidably arranged on the main body (41) along an extension direction perpendicular to the main body (41).

6. The depalletizing and handling system according to claim 5, characterized in that: When the pushing structure (422) is in the reset position, the side of the pushing structure (422) facing away from the pushing surface is aligned with one side edge of the main body (41).

7. The depalletizing and handling system according to claim 5, characterized in that: The main body (41) comprises: A support frame (411), one end of the support frame (411) being a diversion end, the other end of the support frame (411) being an operation end, and a plurality of material monomers of the material group (101) being arranged in sequence along a width direction of the support frame (411); A plurality of rotating shafts (412) are pivotally connected to the support frame (411) in sequence along the extension direction of the support frame (411); the rotating shafts (412) serve as a conveying structure for transporting the material group (101) along the extension direction of the main body (41).

8. The depalletizing and handling system according to claim 7, characterized in that: The depalletizing and handling system also includes: A first detection member (50), the first detection member (50) being arranged on the support frame (411), the first detection member (50) being connected to the push structure (422) and the stop structure (421) by signals, so as to detect the material group (101); A second detecting member (60), wherein the second detecting member (60) is arranged on a side of the support frame (411) away from the pushing structure (422), and the second detecting member (60) is connected to the pushing structure (422) by signal so as to detect the distance between the material group (101) and the edge of the support frame (411).

9. The depalletizing and handling system according to claim 1, characterized in that: The first transport component (20) comprises: A first transport member (21), wherein the first transport member (21) is used to transport the material (100); A carrying plate (22), wherein the carrying plate (22) is arranged between the first transport member (21) and the material (100), and the carrying plate (22) is used to carry the material (100).

10. The depalletizing and handling system according to claim 9, characterized in that: The mechanical arm assembly (30) comprises: A base (31), wherein the base (31) is arranged in the working area; A main body (32), one end of the main body (32) being pivotally connected to the base (31); An operating portion (33), the operating portion (33) being connected to the other end of the main body (32), and the operating portion (33) being used to pick up a portion of the material (100) to form the material group (101).

11. The depalletizing and handling system according to claim 10, characterized in that: The operating unit (33) comprises: A connecting member (331), one side of the connecting member (331) being used for connecting to the main body (32); A suction cup group (332), the suction cup group (332) being arranged on the other side of the connecting member (331), the suction cup group (332) comprising a plurality of suction cups, and the suction cups being used to absorb the material (100); a clamping jaw (333), the clamping jaw (333) being arranged on the top of the connecting member (331), the clamping jaw (333) being pivotally connected to the connecting member (331) so as to clamp the carrying plate (22) when the identification component (10) identifies the carrying plate (22); A driving member (334), wherein the driving member (334) is arranged on the connecting member (331), and the driving member (334) is drivingly connected to the clamping jaw (333).

12. The depalletizing and handling system according to claim 11, characterized in that: The operating unit (33) further includes: A mounting seat (335), the mounting seat (335) being arranged on a side of the connecting member (331) away from the suction cup group (332); A transmission shaft (336), the transmission shaft (336) is pivotally connected to the mounting seat (335), the transmission shaft (336) is connected to the driving member (334), and the clamping claw (333) is arranged on the transmission shaft (336).

13. The depalletizing and handling system according to claim 12, characterized in that: There are multiple mounting seats (335), multiple transmission shafts (336) and multiple clamping jaws (333), and the multiple transmission shafts (336) and multiple mounting seats (335) are arranged in a one-to-one correspondence, and at least one clamping jaw (333) is arranged on any one of the transmission shafts (336).

14. The depalletizing and handling system according to claim 11, characterized in that: The depalletizing and transporting system further comprises a second transport component (70), wherein the second transport component (70) is used to collect and transport the carrying plate (22) clamped by the clamping claw (333).

15. The depalletizing and handling system according to any one of claims 1 to 14, characterized in that: The depalletizing and handling system further comprises a control component, and the identification component (10) and the mechanical arm component (30) are both connected to the control component by signals.

16. A depalletizing method, characterized in that: The depalletizing method is implemented by the depalletizing and handling system according to any one of claims 1 to 15, comprising: Obtaining demand information of the material to be disassembled (100); transporting the material (100) to be disassembled to a work area and identifying posture information of the material (100); The mechanical arm assembly (30) receives the posture information to adjust the posture of the mechanical arm assembly (30) so as to disassemble the material (100) in units of the material group (101); The diverter component (40) receives the material group (101) transported from the robot arm component (30), and diverts the material group (101) in the diverter component (40) to form a plurality of material monomers.

17. The depalletizing method according to claim 16, characterized in that: The depalletizing method further comprises: The identification component (10) identifies whether the material (100) is on the carrier plate (22) at a preset time interval; When it is identified that the material (100) is not on the carrying plate (22), the identification component (10) identifies the posture information of the carrying plate (22); The mechanical arm assembly (30) receives the posture information to collect and stack the carrying plates (22).

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