Packaging box auxiliary unstacking equipment for logistics industry

Abstract

The packaging box auxiliary unstacking equipment for the logistics industry comprises a movable base, a rotating platform, a lifting mechanism and an unstacking mechanism, the rotating platform is arranged on the movable base, the lifting mechanism is arranged on the rotating platform in the longitudinal direction, and the unstacking mechanism is in transmission connection with the lifting mechanism; the unstacking mechanism is driven by the lifting mechanism to reciprocate in the longitudinal direction. The rotating platform drives the lifting mechanism and the unstacking mechanism to rotate, the lifting mechanism drives the unstacking mechanism to ascend and descend so as to adjust the working range of the unstacking mechanism, and the first driving unit drives the upper inserting plate to conduct corresponding actions so as to achieve separation between packaging boxes; the supporting arms extend into the space between the packaging boxes on the upper side and the lower side through movement of the movable base so that the packaging boxes can be transferred. Through mutual cooperation of the lifting mechanism and the unstacking mechanism, multiple packaging boxes can be unstacked at a time, a suction cup structure does not need to be used, and the unstacking reliability and the working efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment, and in particular to a packaging box auxiliary depalletizing device used in the logistics industry. Background Art

[0002] In the logistics industry, in order to facilitate the storage and transportation of packaging boxes, they are usually stacked to save space; when they need to be moved or shipped, they are depalletized.

[0003] In the existing depalletizing equipment, such as the packaging box depalletizing and transferring device and method disclosed in patent CN109795886B, when in use, the transfer starts from the top packaging box, and the side suction cup sucks the side wall of the top packaging box in the stack and translates to separate the other side wall of the packaging box from the adjacent packaging box, and lifts the packaging box to separate the bottom surface of the packaging box from the lower packaging box, and then provides support for the packaging box from the bottom of the packaging box through the support assembly, and then the packaging box is driven by the transfer robot to transfer to the next workstation until the transfer of all packaging boxes is completed.

[0004] Another example is a depalletizing device disclosed in patent CN107826780B. When in use, a loading device is used to carry a cargo stack, and each cargo in the cargo stack carried by the loading device is transferred one by one to a conveyor line by a manipulator, and then each cargo is transported out by the conveyor line, thereby realizing depalletizing of the cargo.

[0005] The above-mentioned depalletizing equipment has the following common problems: 1. The packaging box is usually made of corrugated paper, and its surface is not smooth enough. Using a suction cup as a depalletizing tool cannot ensure that the suction cup can stably adhere to the surface of the box to drive the packaging box to move, so its working reliability is not high; Second, the existing depalletizing equipment can only depalletize from the topmost packaging box (or goods) at a time. In actual work, according to different production requirements, it is sometimes necessary to depalletize 2-3 packaging boxes at the same time, which cannot be achieved by the above equipment.

[0006] In summary, the existing packaging box depalletizing equipment still has room for improvement and enhancement. To this end, the present application proposes a packaging box auxiliary depalletizing equipment for the logistics industry, in order to solve or improve the above-mentioned problems. Summary of the invention

[0007] To achieve the above-mentioned purpose, the present invention discloses a packaging box auxiliary depalletizing device for the logistics industry, comprising a mobile base, a rotating platform, a lifting mechanism and a depalletizing mechanism, wherein the rotating platform is arranged on the mobile base, the lifting mechanism is arranged on the rotating platform in the longitudinal direction, the depalletizing mechanism is connected to the lifting mechanism by transmission, and the depalletizing mechanism is driven by the lifting mechanism to reciprocate in the longitudinal direction; The destacking mechanism includes a support arm, an upper plug plate, a lower plug plate, a transmission assembly and a first driving unit. The support arm is arranged in a horizontal direction and one end is transmission-connected to a lifting mechanism. The upper plug plate and the lower plug plate are arranged in parallel in a horizontal direction at the other end of the support arm, and the lower plug plate is fixedly arranged at the lower end of the support arm. The upper plug plate is slidably arranged above the lower plug plate through a slide rail and a slider. The first driving unit is arranged on the support arm and transmission-connected to the slider through the transmission assembly.

[0008] Furthermore, the transmission assembly includes a rocker arm and a rocker block, the rocker arm is arranged on the support arm via a first rotating shaft, a first U-shaped groove is provided at one end of the rocker arm adjacent to the slider, a first pivot is provided on the slider, the first pivot is slidably arranged in the first U-shaped groove, a second pivot is provided at one end of the rocker arm adjacent to the rocker block, the rocker block is arranged on the support arm via a second rotating shaft and is located between the rocker arm and the first driving unit, a second U-shaped groove is provided at one end of the rocker block adjacent to the second pivot, the second pivot is slidably arranged in the second U-shaped groove, and the front end of the first driving unit is movably connected to the hypotenuse on one side adjacent to the rocker block.

[0009] Furthermore, a torsion spring is sleeved on the outer side of the second rotating shaft, one end of the torsion spring is fixedly connected to the second rotating shaft, and the other end of the torsion spring is fixedly connected to the support arm.

[0010] Furthermore, a roller is provided at the front end of the first driving unit, and a limit block is provided at the upper end of the oblique side of the pendulum block.

[0011] Furthermore, the top surface of the upper plug plate and the bottom surface of the lower plug plate are both inclined structures, and the front ends of the upper plug plate and the lower plug plate are both provided with arc portions.

[0012] Furthermore, the lifting mechanism includes a shell, a screw, a nut, a connecting rod and a third driving unit. The shell is longitudinally arranged on a rotating platform, the screw is longitudinally arranged inside the shell, the nut is sleeved on the outside of the screw and the two are transmission connected in a threaded manner, the connecting rod is arranged at the front and rear ends of the nut, the third driving unit is transmission arranged at the bottom of the screw, a sliding groove is longitudinally provided on the front side of the shell, the front end of the connecting rod is slidably connected to the sliding groove through a sliding seat, and the sliding seat is fixedly connected to the support arm.

[0013] Furthermore, a limiting slide rail is provided on the rear side of the shell in the longitudinal direction, and the rear end of the connecting rod is slidably connected to the limiting slide rail through a limiting sliding block.

[0014] Furthermore, a conveyor belt is provided on the support arm, and a second driving unit is provided on one side of the support arm, and the second driving unit is transmission-connected to the conveyor belt.

[0015] Furthermore, an industrial camera is provided on one side of the top of the lifting mechanism close to the destacking mechanism.

[0016] Furthermore, a counterweight block is provided on the movable base at the rear side of the rotating platform.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention drives the lifting mechanism and the depalletizing mechanism to rotate through the rotating platform, drives the depalletizing mechanism to lift and lower through the lifting mechanism to adjust the working range of the depalletizing mechanism, and drives the upper plug plate to perform corresponding actions through the first driving unit to achieve separation between the packaging boxes, and extends the support arm between the packaging boxes on the upper and lower sides through the movement of the mobile base to achieve the transfer of the packaging boxes; through the mutual cooperation of the lifting mechanism and the depalletizing mechanism, multiple packaging boxes can be depalletized at one time, and there is no need to use a suction cup structure, thereby improving the reliability and work efficiency of depalletizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a side view of the overall structure of the first embodiment of the present invention; Figure 2 Schematic diagram of the partial structure of the destacking mechanism in the first embodiment of the present invention Figure 1 ; Figure 3 Schematic diagram of the partial structure of the destacking mechanism in the first embodiment of the present invention Figure 2 ; Figure 4 It is a partial structural schematic diagram of an upper plug board, a lower plug board and a packaging box in the first embodiment of the present invention; Figure 5 It is a side view of the overall structure of the second embodiment of the present invention; Figure 6 It is a schematic diagram of the working state of the present invention.

[0020] Reference numerals: 10-Mobile base; 20- Rotating platform; 30-lifting mechanism, 31-housing, 32-screw, 33-nut, 34-connecting rod, 35-third driving unit, 36-slide, 37-slide seat, 38-limiting slide rail, 39-limiting slide block; 40-destacking mechanism, 41-support arm, 42-upper plug board, 43-lower plug board, 44-transmission assembly, 441-swing rod, 442-swing block, 443-first rotating shaft, 444-first U-shaped groove, 445-second pivot, 446-second rotating shaft, 447-second U-shaped groove, 448-torsion spring, 449-limiting block, 45-first driving unit, 451-roller, 46-slide rail, 47-sliding block, 471-first pivot; 50-weight block; 60- conveyor belt; 70- second driving unit; 80-Industrial Camera. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0023] In addition, the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0024] In the description of the embodiments, unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or it can be connected through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Embodiment 1:

[0026] like Figure 1As shown, the packaging box auxiliary depalletizing equipment for the logistics industry in this embodiment includes a mobile base 10, a rotating platform 20, a lifting mechanism 30 and a depalletizing mechanism 40. The rotating platform 20 is arranged on the mobile base 10, and the lifting mechanism 30 is arranged on the rotating platform 20 along the longitudinal direction. The depalletizing mechanism 40 is transmission-connected with the lifting mechanism 30. The lifting mechanism 30 and the depalletizing mechanism 40 can be driven by the rotating platform 20 to rotate 360° in the horizontal direction, and the depalletizing mechanism 40 can be driven by the lifting mechanism 30 to reciprocate in the longitudinal direction.

[0027] The mobile base 10 may be a trolley, an AGV robot, or a flatbed vehicle that can be manually driven (or remotely controlled), etc. The rotating platform 20 may be a rotating platform commonly used in the art.

[0028] In order to maintain the stability of the mobile base 10, a counterweight block 50 may be further provided on the rear side of the rotating platform 20. The weight of the counterweight block 50 is reasonably set according to the weight of the packaging box to be depalletized.

[0029] The lifting mechanism 30 includes a shell 31, a screw 32, a nut 33, a connecting rod 34 and a third driving unit 35. The shell 31 is longitudinally arranged on the rotating platform 20, the screw 32 is longitudinally arranged inside the shell 31, the nut 33 is sleeved on the outside of the screw 32 and the two are connected in a threaded manner; the connecting rod 34 is arranged at the front and rear ends of the nut 44, and the third driving unit 35 is arranged at the bottom of the screw 32. A slide groove 36 is longitudinally arranged on the front side of the shell 31, and the front end of the connecting rod 34 is slidably connected to the slide groove 36 through a slide seat 37; a limiting slide rail 38 is longitudinally arranged on the rear side of the shell 31, and the rear end of the connecting rod 34 is slidably connected to the limiting slide rail 38 through a limiting slider 39.

[0030] The third driving unit 35 drives the screw rod 32 to rotate, so that the nut 33 moves up and down along the screw rod 32, and then drives the slide 37 and the front end destacking mechanism 40 to move up and down through the connecting rod 34; wherein, the third driving unit 35 can adopt a reduction motor or a servo motor.

[0031] like Figure 2 As shown, the destacking mechanism 40 includes a support arm 41, an upper plug plate 42, a lower plug plate 43, a transmission assembly 44 and a first drive unit 45. The support arm 41 is arranged in the horizontal direction and one end is transmission-connected to the slide seat 37 of the lifting mechanism 30; the upper plug plate 42 and the lower plug plate 43 are arranged in parallel in the horizontal direction at the other end of the support arm 41, and the lower plug plate 43 is fixedly arranged at the lower end of the support arm 41, and the upper plug plate 42 is slidably arranged above the lower plug plate 43 through a slide rail 46 and a slider 47, and in the initial state, the two are in a closed state; as shown in FIG. Figure 3 As shown, when working, the upper inserting plate 42 can move up and down reciprocatingly relative to the lower inserting plate 43 under the drive of the first driving unit 45 and the transmission assembly 44.

[0032] The first driving unit 45 is disposed on the support arm 41 and is in transmission connection with the slider 47 via the transmission assembly 44 . Specifically, the transmission assembly 44 and the first driving unit 45 may be disposed on the inner side of the support arm 41 or on the outer side of the support arm 41 .

[0033] The transmission assembly 44 includes a rocker arm 441 and a rocker block 442. The rocker arm 441 is arranged on the support arm 41 through a first rotating shaft 443. A first U-shaped groove 444 is provided at one end of the rocker arm 441 adjacent to the slider 47. A first pivot 471 is provided on the slider 47. The first pivot 471 is slidably arranged in the first U-shaped groove 444. A second pivot 445 is provided at one end of the rocker arm 441 adjacent to the rocker block 442. The rocker block 442 is arranged on the support arm 41 through a second rotating shaft 446 and is located between the rocker arm 441 and the first driving unit 45. A second U-shaped groove 447 is provided at one end of the rocker block 442 adjacent to the second pivot 445. The second pivot 445 is slidably arranged in the second U-shaped groove 447.

[0034] A torsion spring 448 is sleeved on the outer side of the second rotating shaft 446 . One end of the torsion spring 448 is fixedly connected to the second rotating shaft 446 , and the other end is fixedly connected to the support arm 41 . Under the action of the torsion spring 448 , the pendulum block 442 can be driven to reset.

[0035] The front end of the first driving unit 45 is movably connected to the hypotenuse on one side adjacent to the pendulum block 442. Specifically, a roller 451 is provided at the front end of the first driving unit 45, and a limit block 449 is provided at the upper end of the hypotenuse of the pendulum block 442. When the first driving unit 45 and the pendulum block 442 are both reset, the limit block 449 and the roller 451 jointly limit the pendulum block 442.

[0036] The first driving unit 45 may be a pneumatic cylinder or an oil cylinder.

[0037] like Figure 4 As shown, the top surface of the upper plug plate 42 and the bottom surface of the lower plug plate 43 are both inclined structures, and the front ends of the upper plug plate 42 and the lower plug plate 43 are provided with arc portions to facilitate the upper plug plate 42 and the lower plug plate 43 to be inserted between the packaging boxes on the upper and lower sides at the same time.

[0038] The upper insert plate 42 and the lower insert plate 43 can be made of thinner high-strength steel plates, and the thickness of the thinnest part of the front end is controlled to be 1-3 mm. Since the packaging box is usually folded and formed by corrugated paper, and the corrugated paper has a certain thickness, there must be an arc transition part at the bend, and it cannot be made into a pure right-angle structure (which is actually not necessary). This leaves enough insertion space for the upper insert plate 42 and the lower insert plate 43, so the two can be easily inserted into the gap between the upper and lower packaging boxes.

[0039] Embodiment 2:

[0040] like Figure 5As shown, in this embodiment, in order to further improve the efficiency of packaging box transfer, a conveyor belt 60 is also provided on the support arm 41, and a second driving unit 70 is provided on one side of the support arm 41, and the second driving unit 70 is transmission-connected to the conveyor belt 60; the conveyor belt 60 is driven by the second driving unit 70 to separate the packaging box from the stack.

[0041] The conveyor belt 60 may adopt a belt-type conveyor structure commonly used in the art, and the second driving unit 70 may adopt a reduction motor or a servo motor.

[0042] In order to further improve the automation level of the equipment, an industrial camera 80 is provided on the top of the lifting mechanism 30 near the depalletizing mechanism 40 to identify the gaps between the packaging boxes.

[0043] The algorithm for industrial camera 80 to identify gaps mainly includes the following steps: S1-‌Image Acquisition‌: The industrial camera 80 acquires images of the packaging box through its built-in sensor (such as CCD or CMOS) to prepare for further processing.

[0044] S2-Preprocessing: The main purpose of the preprocessing stage is to improve image quality and increase the accuracy of gap recognition. Common preprocessing operations include grayscale, binarization, noise reduction, and image enhancement. Grayscale converts color images into grayscale images to reduce processing complexity; binarization converts images into black and white for subsequent processing; noise reduction is used to remove noise interference in the image; image enhancement adjusts parameters such as contrast and brightness to make the gaps clearer.

[0045] S3-Feature Extraction: The image is preprocessed by Gaussian filtering and denoising, and the gap area image is obtained using local adaptive threshold binarization.

[0046] S4-‌Edge Detection‌: Use the Canny operator to implement edge detection and extract the path information of the gap.

[0047] S5-Feature matching: The extracted gap path information is transmitted to the lifting mechanism 30, and the destacking mechanism 40 is moved to a suitable height by the lifting mechanism 30, so that the upper insert plate 42 and the lower insert plate 43 are aligned with the gap position to be inserted, and then the destacking action can be performed.

[0048] like Figure 6As shown, when the upper insert plate 42 and the lower insert plate 43 are aligned with the gap position of the packaging box, the mobile base 10 drives the device forward so that the upper insert plate 42 and the lower insert plate 43 are inserted between the gap, and then the first driving unit 45 pushes the pendulum block 442 to rotate counterclockwise around the second rotation axis 446, and drives the pendulum rod 441 to rotate clockwise around the first rotation axis 443 under the cooperation of the second pivot 445 and the second U-shaped groove 447, and drives the slider 47 to move upward along the slide rail 46 under the cooperation of the first U-shaped groove 444 and the first pivot 471, thereby moving the upper insert plate 42 away from the lower insert plate 43, so as to separate the packaging boxes on the upper and lower sides.

[0049] Then the mobile base 10 continues to move forward, so that the support arm 41 partially or completely enters between the packaging boxes on the upper and lower sides, and the conveyor belt 60 can be started according to the situation, thereby realizing the destacking and transfer of the packaging boxes.

[0050] The present invention drives the lifting mechanism 30 and the destacking mechanism 40 to rotate through the rotating platform 20, and drives the destacking mechanism 40 to lift and lower through the lifting mechanism 30 to adjust the working range of the destacking mechanism 40; drives the upper plug plate 42 to perform corresponding actions through the first driving unit 45 to achieve separation between the packaging boxes; through the mutual cooperation of the lifting mechanism 30 and the destacking mechanism 40, the insertion position of the upper plug plate 42 and the lower plug plate 43 can be selected, thereby achieving destacking of one or more packaging boxes at a time, and there is no need to use a suction cup structure, the operation is more stable and reliable, and the working reliability and work efficiency of destacking are improved.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement; when the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

Claims

1. A packaging box auxiliary depalletizing device for the logistics industry, characterized by: It includes a mobile base, a rotating platform, a lifting mechanism and a destacking mechanism, wherein the rotating platform is arranged on the mobile base, the lifting mechanism is arranged on the rotating platform in the longitudinal direction, the destacking mechanism is connected to the lifting mechanism by transmission, and the destacking mechanism is driven to reciprocate in the longitudinal direction by the lifting mechanism; The destacking mechanism includes a support arm, an upper plug plate, a lower plug plate, a transmission assembly and a first driving unit. The support arm is arranged in a horizontal direction and one end is transmission-connected to a lifting mechanism. The upper plug plate and the lower plug plate are arranged in parallel in a horizontal direction at the other end of the support arm, and the lower plug plate is fixedly arranged at the lower end of the support arm. The upper plug plate is slidably arranged above the lower plug plate through a slide rail and a slider. The first driving unit is arranged on the support arm and transmission-connected to the slider through the transmission assembly.

2. The packaging box auxiliary depalletizing equipment for the logistics industry according to claim 1 is characterized by: The transmission assembly includes a rocker arm and a rocker block, the rocker arm is arranged on the support arm via a first rotating shaft, a first U-shaped groove is provided at one end of the rocker arm adjacent to the slider, a first pivot is provided on the slider, the first pivot is slidably arranged in the first U-shaped groove, a second pivot is provided at one end of the rocker arm adjacent to the rocker block, the rocker block is arranged on the support arm via a second rotating shaft and is located between the rocker arm and the first driving unit, a second U-shaped groove is provided at one end of the rocker block adjacent to the second pivot, the second pivot is slidably arranged in the second U-shaped groove, and the front end of the first driving unit is movably connected to the hypotenuse on one side adjacent to the rocker block.

3. The packaging box auxiliary depalletizing equipment for the logistics industry according to claim 2 is characterized by: A torsion spring is sleeved on the outer side of the second rotating shaft, one end of the torsion spring is fixedly connected to the second rotating shaft, and the other end of the torsion spring is fixedly connected to the support arm.

4. The packaging box auxiliary depalletizing equipment for the logistics industry according to claim 3 is characterized by: A roller is provided at the front end of the first driving unit, and a limit block is provided at the upper end of the oblique side of the swing block.

5. The packaging box auxiliary depalletizing equipment for the logistics industry according to claim 1 is characterized by: The top surface of the upper plug plate and the bottom surface of the lower plug plate are both inclined structures, and the front ends of the upper plug plate and the lower plug plate are both provided with arc portions.

6. The packaging box auxiliary depalletizing device for the logistics industry according to any one of claims 1 to 5, characterized in that: The lifting mechanism includes a shell, a screw, a nut, a connecting rod and a third driving unit. The shell is longitudinally arranged on a rotating platform, the screw is longitudinally arranged inside the shell, the nut is sleeved on the outside of the screw and the two are transmission connected in a threaded manner, the connecting rod is arranged at the front and rear ends of the nut, and the third driving unit is transmission-arranged at the bottom of the screw. A sliding groove is longitudinally arranged on the front side of the shell, the front end of the connecting rod is slidably connected to the sliding groove through a sliding seat, and the sliding seat is fixedly connected to the support arm.

7. The packaging box auxiliary depalletizing equipment for the logistics industry according to claim 6 is characterized by: A limiting slide rail is longitudinally arranged at the rear side of the shell, and the rear end of the connecting rod is slidably connected to the limiting slide rail via a limiting slider.

8. The packaging box auxiliary depalletizing equipment for the logistics industry according to claim 1 is characterized by: A conveyor belt is arranged on the support arm, and a second driving unit is arranged on one side of the support arm, and the second driving unit is drivingly connected to the conveyor belt.

9. The packaging box auxiliary depalletizing equipment for the logistics industry according to claim 1, characterized in that: An industrial camera is arranged on one side of the top of the lifting mechanism close to the destacking mechanism.

10. The packaging box auxiliary depalletizing equipment for the logistics industry according to claim 1, characterized in that: A counterweight block is also provided on the mobile base at the rear side of the rotating platform.

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