White sugar unstacking and stacking integrated equipment

Abstract

The invention relates to white sugar unstacking and stacking integrated equipment, and belongs to the field of automatic equipment. The equipment comprises an unstacking mechanical arm, a conveying belt and a stacking mechanical arm, the unstacking mechanical arm is arranged on one side of the input end of the conveying belt, an unstacking suction cup is arranged on the unstacking mechanical arm, a square roller shaping machine and a flattening machine are arranged on the conveying belt, the stacking mechanical arm is arranged on one side of the output end of the conveying belt, and the square roller shaping machine and the flattening machine are arranged on the conveying belt. And a stacking clamp is arranged on the stacking mechanical arm. Full-automatic unstacking, stacking, transferring and loading of bagged white sugar are achieved, through cooperation of the 3D vision camera and the mechanical arm, appropriate stack types can be freely switched to adapt to the working condition, the beneficial effects that stack type errors are small, stack type switching is convenient, and loading is convenient are achieved, the work intensity of workers is reduced, meanwhile, the stacking quality is effectively improved, the space utilization rate is increased, and the labor intensity of workers is reduced. Compared with the prior art, great improvement is achieved.

Description

Technical Field

[0001] The invention belongs to the field of automation equipment, and in particular relates to an integrated equipment for depalletizing and stacking white sugar. Background Art

[0002] After the production of sugar is completed and bagged, the sugar needs to be loaded onto trucks for transportation. Currently, manual loading is commonly used, which is labor-intensive, time-consuming, labor-intensive and inefficient. It is difficult to control the loading angle and state of the bagged sugar, resulting in low utilization of the loading space.

[0003] Therefore, it is necessary to develop an automated equipment that can automatically depalletize and stack bags and adjust the state of packaging bags to reduce the labor intensity of workers and improve the space utilization rate of loading. Summary of the invention

[0004] The object of the present invention is to provide an integrated equipment for depalletizing and palletizing white sugar to solve the above problems.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: A white sugar depalletizing and palletizing integrated equipment comprises a depalletizing robot arm, a conveyor belt and a palletizing robot arm, wherein the depalletizing robot arm is arranged at one side of the input end of the conveyor belt, a depalletizing suction cup is arranged on the depalletizing robot arm, a square stick shaping machine and a flattening machine are arranged on the conveyor belt, the palletizing robot arm is arranged at one side of the output end of the conveyor belt, a palletizing clamp is arranged on the palletizing robot arm; and 3D vision cameras are arranged on both the depalletizing robot arm and the palletizing robot arm.

[0006] Furthermore, the depalletizing suction cup is connected to an external air pump via an air pipe, and the palletizing clamp is a plurality of groups of clamping jaws arranged in parallel.

[0007] Furthermore, a baffle is provided at the end of the conveyor belt.

[0008] The beneficial effects of the present invention are: It has realized the fully automatic unpalletizing, stacking, transporting and loading of bagged sugar. Through the cooperation of 3D vision cameras and robotic arms, the appropriate pallet type can be switched at will to adapt to the working conditions. It has the advantages of small pallet type error, convenient switching of pallet types, and convenient loading. While reducing the workload of workers, it effectively improves the palletizing quality and space utilization, which is a great improvement compared to the existing technology.

[0009] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1It is a schematic structural diagram of the integrated equipment for depalletizing and stacking white sugar shown in one embodiment of the present invention.

[0011] Description of the symbols in the attached figures: 1. Depalletizing suction cup; 2. Depalletizing robot arm; 3. Conveyor belt; 4. Square stick shaping machine; 5. Flattening machine; 6. Baffle; 7. Palletizing fixture; 8. Palletizing robot arm. DETAILED DESCRIPTION

[0012] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0013] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0014] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0015] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0016] See also Figure 1 The integrated sugar depalletizing and stacking equipment shown in a preferred embodiment of the present application comprises a depalletizing robot arm 2, a conveyor belt 3 and a stacking robot arm 8. The depalletizing robot arm 2 is arranged on one side of the input end of the conveyor belt 3, and is provided with a depalletizing suction cup 1 and a 3D vision camera. The conveyor belt 3 is provided with a square stick shaping machine 4 and a flattening machine 5. The stacking robot arm 8 is arranged on one side of the output end of the conveyor belt 3, and is provided with a stacking clamp 7 and a 3D vision camera.

[0017] In this embodiment, two depalletizing robot arms 2 are provided, the depalletizing suction cup 1 is connected to an external air pump via an air pipe, and the palletizing clamp 7 is two sets of clamping claws arranged in parallel.

[0018] Furthermore, a baffle 6 is provided at the end of the conveyor belt 3 to prevent materials from falling off the conveyor belt 3 .

[0019] Working principle: The bagged sugar on the shelf or pallet is depalletized by the depalletizing robot 2, and the bagged sugar is transferred to the conveyor belt 3 in the same direction with the help of the 3D vision camera. The bagged sugar becomes flat and neat after passing through the shaping and flattening processes of the square stick shaping machine 4 and the flattening machine 5, which is convenient for subsequent loading and transportation; then the shaped materials are stacked on the pallet into a loading stack shape by the palletizing robot 8, and then loaded by a forklift.

[0020] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0021] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An integrated equipment for depalletizing and stacking white sugar, characterized in that: The invention comprises a depalletizing robot arm, a conveyor belt and a palletizing robot arm. The depalletizing robot arm is arranged at one side of the input end of the conveyor belt, and is provided with a depalletizing suction cup. The conveyor belt is provided with a square stick shaping machine and a flattening machine. The palletizing robot arm is arranged at one side of the output end of the conveyor belt, and is provided with a palletizing clamp. Both the depalletizing robot arm and the palletizing robot arm are provided with 3D vision cameras.

2. The integrated equipment for depalletizing and stacking white sugar according to claim 1, characterized in that: The depalletizing suction cup is connected to an external air pump through an air pipe, and the palletizing clamp is a plurality of groups of clamping claws arranged in parallel.

3. The integrated equipment for depalletizing and stacking white sugar according to claim 1, characterized in that: A baffle is arranged at the end of the conveyor belt.

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