An automatic palletizing and stacking machine

Abstract

The present invention relates to the field of depalletizing and stacking equipment, and specifically to an automated depalletizing and stacking machine. It includes a frame, a pick-and-place device, and a central controller; the pick-and-place device includes a clamping device, a suction mechanism, a lifting frame, and an adjusting device; the clamping device includes multiple groups of clamping mechanisms and a switching component; a positioning component and a distance sensor are arranged at the lower part of the clamping mechanism; the suction mechanism includes a guide plate, a ventilator vertically slidingly arranged on the guide plate and penetrating the lifting frame, a suction nozzle connected to the bottom end of the ventilator, a fixed ring arranged on the ventilator and having an upwardly distributed slide groove, a pressure ring slidingly arranged in the slide groove, a pressure sensor arranged at the bottom of the slide groove and the top end of which contacts the pressure ring, and a first spring sleeved on the outer periphery of the ventilator and connected to the guide plate and the pressure ring at both ends. The present invention can automatically separate the partition from the I-shaped wheel when depalletizing, has a good depalletizing effect, and can automatically select the corresponding mechanism to clamp the I-shaped wheel or absorb the partition.

Description

Technical Field

[0001] The invention relates to the field of depalletizing and stacking equipment, in particular to an automatic depalletizing and stacking machine. Background Art

[0002] The I-shaped wheels can be used for winding. In the factory, the I-shaped wheels are stacked by a stacking device and separated by partitions. That is, the I-shaped wheels and the partitions are distributed from bottom to top in sequence to separate the I-shaped wheels and ensure the stability of the stacking.

[0003] Chinese patent announcement number CN215710109U discloses an automatic stacking device for I-shaped wheels. The grabbing component can detect the diameter of the I-shaped wheel through a CCD camera, thereby adjusting its grabbing diameter. It has a high degree of automation and does not require manual operation, which greatly improves work efficiency and reduces manual work intensity. At the same time, the sliding component can be quickly replaced with the grabbing component and the adsorption component. The quick-change structure is simple and easy to operate, which greatly improves work efficiency and has a wide range of applicability.

[0004] However, the above technical solution has the following shortcomings:

[0005] In order to ensure the stability of I-wheel stacking, a partition with a position limit for the I-wheel is generally used. This partition has multiple bosses distributed around the bottom of the I-wheel, and the I-wheel is accurately placed between the multiple bosses. However, when depalletizing, the I-wheel is lifted upward, and the I-wheel may be stuck with the bosses and drive the partition upward, and the partition needs to be pressed down manually, which results in poor depalletizing effect. Summary of the invention

[0006] The purpose of the present invention is to solve the problems existing in the background technology and to propose an automatic depalletizing and stacking machine which can automatically separate the partition from the I-shaped wheel during depalletizing and can automatically select the corresponding mechanism to clamp the I-shaped wheel or absorb the partition.

[0007] The technical solution of the present invention is an automated palletizing and stacking machine, comprising a frame, a pick-and-place device and a central controller; the pick-and-place device comprises a plurality of clamping devices arranged side by side, a plurality of suction mechanisms arranged in an array, a lifting frame for installing the clamping devices and the suction mechanisms, and an adjusting device arranged on the frame and used to adjust the lateral position and height of the lifting frame; the clamping device comprises a plurality of clamping mechanisms arranged side by side and a switching assembly for driving the plurality of clamping mechanisms to clamp or release the I-wheels; a positioning assembly and a distance sensor are arranged at the lower part of the clamping mechanism; the suction mechanism comprises a guide plate, a vertical sliding member arranged on the guide plate and A vent that runs through the lifting frame, a suction nozzle connected to the bottom of the vent, a fixed ring arranged on the vent and having an upwardly distributed slide groove, a pressure ring slidably arranged in the slide groove, a pressure sensor arranged at the bottom of the slide groove and in contact with the pressure ring at the top, and a first spring sleeved on the outer periphery of the vent and connected to the guide plate and the pressure ring at both ends, the height of the suction nozzle is lower than the height of the clamping mechanism; the central controller is communicated and connected with the positioning component, the distance sensor and the pressure sensor respectively, and the central controller is controlled and connected with the adjustment device and the switching component; after the positioning component detects that the clamping device and the suction mechanism are aligned with the material, the stacking or stacking is performed. When stacking, when the pressure detected by the pressure sensor reaches the preset pressure threshold; if the distance detected by the distance sensor is greater than the preset distance threshold, the suction nozzle is switched to the state of sucking the partition, and the switching component does not act; if the distance detected by the distance sensor is less than or equal to the preset distance threshold, the suction nozzle remains in the state of not sucking the partition, and the switching component drives multiple groups of clamping mechanisms to clamp the I-shaped wheels.

[0008] Preferably, the clamping mechanism includes a bracket arranged at the bottom of the lifting frame, a rotating shaft rotatably arranged on the lifting frame, gears and a turntable coaxially installed on the rotating shaft, and four groups of clamping components evenly distributed around the turntable. The clamping component includes a connecting rod arranged on the outer circumference of the turntable, a guide rail arranged at the bottom of the lifting frame, a slide slidably arranged on the guide rail, a material lifting hook arranged at the bottom of the slide, and a rotating rod whose two ends are rotatably connected to the connecting rod and the slide respectively, the guide plate is arranged at the bottom of the bracket, and the distance sensor is arranged at the bottom of the turntable.

[0009] Preferably, the switching assembly includes a slide rail horizontally arranged at the bottom of the lifting frame, a slider slidably arranged on the slide rail, a rack arranged on the slider and meshingly connected to multiple gears in the same group of clamping devices, and a first linear drive mechanism arranged at the bottom of the lifting frame and driving the slider to move linearly.

[0010] Preferably, the positioning assembly includes a mounting plate arranged at the bottom of the turntable and a visual positioning camera arranged on the mounting plate, and the visual positioning camera is coaxially distributed with the turntable.

[0011] Preferably, the adjusting device includes a lateral adjusting mechanism and a vertical adjusting mechanism; the lateral adjusting mechanism includes a first sliding rod horizontally arranged on the top of the frame, a first screw rod parallel to the first sliding rod and rotatably arranged on the top of the frame, a first motor arranged on the top of the frame and drivingly connected to the first screw rod, a first movable platform slidably arranged on the first sliding rod, and a second movable platform threadedly connected to the first screw rod; the vertical adjusting mechanism includes a movable plate arranged on the top of the first movable platform and the second movable platform, a second sliding rod vertically slidably arranged on the movable plate, a second screw rod distributed parallel to the second sliding rod and threadedly connected to the movable plate, a top plate arranged on the top of the second sliding rod, and a second motor arranged on the top plate and drivingly connected to the second screw rod, the second sliding rod is arranged on the top of the lifting frame, and the second screw rod is rotatably arranged on the top of the lifting frame.

[0012] Preferably, it also includes a partition supporting mechanism, which includes a horizontally distributed supporting plate and a moving mechanism for driving the supporting plate to move to or away from the bottom of the clamping device.

[0013] Preferably, the top of the support plate is rectangular and is provided with four limiting plates, and the upper parts of the limiting plates have guide parts inclined outwards.

[0014] Preferably, the moving mechanism includes a horizontal plate distributed horizontally, a translation plate arranged at the outer end of the horizontal plate, a second linear drive mechanism arranged on the frame and driving the translation plate to move horizontally, a guide platform horizontally arranged on the frame and having a wavy groove on the top, and multiple groups of vibration components, the vibration component includes a sliding rod vertically slidably arranged on the horizontal plate and having a circular ring portion located above the horizontal plate, a roller arranged at the bottom end of the sliding rod and rolling at the wavy groove, a guide cylinder vertically arranged at the bottom end of the support plate and slidably connected to the sliding rod, and a second spring sleeved on the outer circumference of the guide cylinder and having two ends respectively connected to the support plate and the circular ring portion.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects:

[0016] The present invention can automatically separate the partition plate from the I-shaped wheel when destacking, has a good destacking effect, and can automatically select a corresponding mechanism to clamp the I-shaped wheel or suck the partition plate. When the I-shaped wheel is clamped and lifted by the clamping mechanism, the elastic force of the first spring can keep the suction nozzle pressed on the partition plate, and the partition plate will not move up with the I-shaped wheel, thereby achieving effective destacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the structural principle of the pallet bumping up and down during horizontal movement;

[0019] Figure 3The figure is a schematic diagram of the lifting principle structure of the lifting frame;

[0020] Figure 4 A top view of the overall distribution of the structure for clamping the I-shaped wheel;

[0021] Figure 5 A partial cross-sectional view of a structure for clamping an I-shaped wheel;

[0022] Figure 6 It is a cross-sectional view of the local structure when the I-shaped wheel is clamped and abutted against the partition;

[0023] Figure 7 for Figure 6 A magnified view of the structure at center.

[0024] Figure numerals: 1, frame; 2, lifting frame; 3, bracket; 4, first linear drive mechanism; 5, slider; 6, slide rail; 7, rack; 8, gear; 9, rotating shaft; 10, turntable; 11, connecting rod; 12, rotating rod; 13, slide; 14, guide rail; 15, lifting hook; 16, mounting plate; 17, visual positioning camera; 18, distance sensor; 19, guide plate; 20, ventilator; 21, suction nozzle; 22, fixing ring; 23, pressure ring; 24, first spring ; 25. Pressure sensor; 26. Moving plate; 27. Top plate; 28. Second slide bar; 29. ​​Second screw rod; 30. Second motor; 31. First slide bar; 32. First screw rod; 33. First motor; 34. First moving platform; 35. Second moving platform; 36. Second linear drive mechanism; 37. Translation plate; 38. Horizontal plate; 39. Guide platform; 40. Roller; 41. Sliding rod; 42. Guide cylinder; 43. Second spring; 44. Support plate; 45. Limit plate. DETAILED DESCRIPTION

[0025] Embodiment 1, as Figure 1-Figure 7 As shown, an automatic depalletizing and stacking machine proposed in this embodiment includes a frame 1, a picking and placing device and a central controller.

[0026] The pick-and-place device includes multiple groups of clamping devices arranged side by side, multiple groups of suction mechanisms arranged in an array, a lifting frame 2 for installing the clamping devices and the suction mechanisms, and an adjusting device arranged on the frame 1 and used to adjust the lateral position and height of the lifting frame 2.

[0027] The clamping device includes multiple groups of clamping mechanisms arranged side by side and a switching assembly for driving the multiple groups of clamping mechanisms to clamp or release the I-shaped wheel. A positioning assembly and a distance sensor 18 are arranged at the lower part of the clamping mechanism, and the distance sensor 18 can detect the distance from it to the lower partition or the top of the I-shaped wheel. The suction mechanism includes a guide plate 19, a ventilator 20 vertically slidingly arranged on the guide plate 19 and penetrating the lifting frame 2, a suction nozzle 21 connected to the bottom end of the ventilator 20, a fixed ring 22 arranged on the ventilator 20 and having an upwardly distributed slide groove, a pressure ring 23 slidingly arranged in the slide groove, a pressure sensor 25 arranged at the bottom of the slide groove and the top end of which contacts the pressure ring 23, and a first spring 24 sleeved on the outer periphery of the ventilator 20 and connected to the guide plate 19 and the pressure ring 23 at both ends. The first spring 24 is tensioned between the guide plate 19 and the pressure ring 23, and the pressure ring 23 applies pressure to the pressure sensor 25, and the pressure sensor 25 detects the pressure it is subjected to. The height of the suction nozzle 21 is lower than the height of the clamping mechanism.

[0028] When removing the stack, the lifting frame 2 is first moved horizontally to the top of the material through the adjustment device, and the positioning component determines when it moves into place. Then the lifting frame 2 is moved down. When it is necessary to remove the partition at the top of the stacked material, the suction nozzle 21 is pressed against the upper part of the partition, the first spring 24 is compressed, and the ventilator 20 is connected to a negative pressure device to create suction at the suction nozzle 21 to suck the partition, and then the lifting frame 2 is moved up to remove the partition. When it is necessary to remove the I-shaped wheel, the lifting frame 2 is moved above the material, and the suction nozzle 21 is pressed against the partition below the I-shaped wheel of that layer, and the first spring 24 is compressed. Then, the switching component drives multiple groups of clamping mechanisms to clamp the upper part of the I-wheel. When the lifting frame 2 moves upward, the clamping mechanism drives the I-wheel to move upward. The elastic force of the first spring 24 can act on the ventilator 20 through the pressure ring 23, the pressure sensor 25 and the fixing ring 22, so that the suction nozzle 21 is kept pressed on the partition. When the I-wheel is lifted upward by the clamping mechanism, the I-wheel will be separated from the partition, and the partition will not move up with the I-wheel, thereby achieving effective I-wheel destacking. Finally, the position of the lifting frame 2 is adjusted by the adjustment device, the I-wheel is translated and lowered to the target position, and the clamping mechanism is removed from the I-wheel by the switching component. Each destacking process can destacking multiple I-wheels in one layer.

[0029] During stacking, the separator can be sucked and lowered by the suction nozzle 21, and the I-shaped wheels can be clamped and lowered by the clamping mechanism. The separator sucking and I-shaped wheel clamping processes are performed alternately, sucking one separator each time, and clamping multiple I-shaped wheels each time.

[0030] like Figure 3-Figure 6As shown, the clamping mechanism includes a bracket 3 arranged at the bottom of the lifting frame 2, a rotating shaft 9 rotatably arranged on the lifting frame 2, a gear 8 and a turntable 10 coaxially installed on the rotating shaft 9, and four groups of clamping components evenly distributed around the turntable 10, and the clamping component includes a connecting rod 11 arranged on the outer circumference of the turntable 10, a guide rail 14 arranged at the bottom of the lifting frame 2, a slide 13 slidably arranged on the guide rail 14, a material lifting hook 15 arranged at the bottom of the slide 13, and a rotating rod 12 with two ends respectively connected to the connecting rod 11 and the slide 13. The material lifting hook 15 is an L-shaped plate structure, and the bottom is facing the central axis direction of the turntable 10. The guide plate 19 is arranged at the bottom of the bracket 3. The distance sensor 18 is arranged at the bottom of the turntable 10. In the clamping mechanism, when the gear 8 rotates, it can drive the turntable 10 to rotate through the rotating shaft 9, and the turntable 10 drives the surrounding multiple connecting rods 11 to move, and the connecting rod 11 drives the slide 13 to slide on the guide rail 14 through the rotating rod 12, and the slide 13 drives the material lifting hook 15 below to move. The multiple material lifting hooks 15 move toward the central axis of the turntable 10 or move away from the central axis of the turntable 10. When clamping the I-shaped wheel, the lifting frame 2 is lowered to a height where the multiple material lifting hooks 15 are located below the outer periphery of the top of the I-shaped wheel, and then the multiple material lifting hooks 15 are moved inward, and the multiple material lifting hooks 15 are hooked below the top of the I-shaped wheel. When the lifting frame 2 moves upward, the multiple material lifting hooks 15 can effectively lift the I-shaped wheel.

[0031] like Figure 4-Figure 6 As shown, the switching assembly includes a slide rail 6 horizontally arranged at the bottom of the lifting frame 2, a slider 5 slidably arranged on the slide rail 6, a rack 7 arranged on the slider 5 and meshingly connected with multiple gears 8 in the same group of clamping devices, and a first linear drive mechanism 4 arranged at the bottom of the lifting frame 2 and driving the slider 5 to move linearly. The first linear drive mechanism 4 can be an electric push rod, a hydraulic rod or a cylinder, which can drive the slider 5 to move linearly. The slider 5 slides on the slide rail 6, and the slider 5 drives the rack 7 to move. The rack 7 drives multiple gears 8 to rotate at the same time. The gears 8 drive the turntable 10 to rotate through the rotating shaft 9, thereby realizing the synchronous action of multiple groups of clamping mechanisms. Clamp multiple I-shaped wheels at the same time or release the clamping of multiple I-shaped wheels.

[0032] like Figure 5 and Figure 6 As shown, the positioning assembly includes a mounting plate 16 arranged at the bottom of the turntable 10 and a visual positioning camera 17 arranged on the mounting plate 16. The visual positioning camera 17 is coaxially distributed with the turntable 10 and can accurately detect the area directly below, so as to facilitate the positioning of the adjustment position of the lifting frame 2 so as to perform accurate depalletizing and palletizing through the pick-and-place device.

[0033] like Figure 1-Figure 3As shown, the adjustment device includes a lateral adjustment mechanism and a vertical adjustment mechanism. The lateral adjustment mechanism includes a first slide bar 31 horizontally arranged on the top of the frame 1, a first screw rod 32 parallel to the first slide bar 31 and rotatably arranged on the top of the frame 1, a first motor 33 arranged on the top of the frame 1 and drivingly connected to the first screw rod 32, a first moving platform 34 slidingly arranged on the first slide bar 31, and a second moving platform 35 threadedly connected to the first screw rod 32. The first motor 33 can drive the first screw rod 32 to rotate forward and reversely. The vertical adjustment mechanism includes a moving plate 26 arranged on the top of the first moving platform 34 and the second moving platform 35, a second slide bar 28 vertically slidably arranged on the moving plate 26, a second screw rod 29 parallel to the second slide bar 28 and threadedly connected to the moving plate 26, a top plate 27 arranged on the top of the second slide bar 28, and a second motor 30 arranged on the top plate 27 and drivingly connected to the second screw rod 29, the second slide bar 28 is arranged on the top of the lifting frame 2, and the second screw rod 29 is rotatably arranged on the top of the lifting frame 2. The first screw rod 32 can drive the second moving platform 35 to move when rotating, and the second moving platform 35 can drive the moving plate 26 to move. The moving plate 26 can achieve horizontal movement, i.e., lateral adjustment, by the sliding of the first moving platform 34 on the first slide bar 31, so as to move the lifting frame 2 to the top of the stacked materials or away from the top of the materials. The second motor 30 can drive the second screw rod 29 to rotate forward and reverse, and the second screw rod 29 can be lifted and lowered on the moving plate 26. The second slide bar 28 can slide on the moving plate 26 to guide the lifting process, so that the lifting frame 2 can be lifted and lowered. The lateral position and height of the lifting frame 2 can be adjusted by the coordinated action of the lateral adjustment mechanism and the vertical adjustment mechanism.

[0034] The central controller is respectively connected to the positioning component, the distance sensor 18 and the pressure sensor 25 for communication, and is also connected to the regulating device and the switching component for control; after the positioning component detects that the clamping device and the suction mechanism are aligned with the material, depalletizing or palletizing is performed.

[0035] When depalletizing, when the pressure detected by the pressure sensor 25 reaches the preset pressure threshold, it is divided into the following two situations:

[0036] 1. If the distance detected by the distance sensor 18 is greater than the preset distance threshold, indicating that the object at the top of the stacked material is a partition, the suction nozzle 21 switches to the partition suction state, and the switching component does not move. At this time, the partition is destacking.

[0037] 2. If the distance detected by the distance sensor is less than or equal to the preset distance threshold, indicating that the object at the top of the stacked material is an I-shaped wheel, the suction nozzle 21 remains in the state of not sucking the partition, and the switching component drives multiple groups of clamping mechanisms to clamp the I-shaped wheel to destacking the I-shaped wheel. The suction nozzle 21 abuts against the partition to prevent the partition from being lifted with the I-shaped wheel. It can automatically distinguish whether the object at the top is a partition or an I-shaped wheel, and then destacking.

[0038] When palletizing, the I-shaped wheels and partitions are removed and placed at intervals for palletizing.

[0039] This embodiment can automatically separate the partition plate from the I-shaped wheel when destacking, and has a good destacking effect, and can automatically select a corresponding mechanism to clamp the I-shaped wheel or suck the partition plate. When the I-shaped wheel is clamped and lifted by the clamping mechanism, the elastic force of the first spring 24 can keep the suction nozzle 21 pressed on the partition plate, and the partition plate will not move up with the I-shaped wheel, thereby achieving effective destacking.

[0040] Embodiment 2, as Figure 1-Figure 7 As shown, the present embodiment proposes an automated depalletizing and stacking machine. Compared with the first embodiment, the present embodiment further includes a partition supporting mechanism, which includes a horizontally distributed pallet 44 and a moving mechanism for driving the pallet 44 to move to or away from the bottom of the clamping device. During depalletizing, after the suction nozzle 21 sucks the partition, the lifting frame 2 moves up, the moving mechanism moves the pallet 44 to the bottom of the partition, and the suction nozzle 21 puts the partition down onto the pallet 44 for stacking and temporary storage. During palletizing, the pallet 44 moves to the bottom of the suction nozzle 21, the suction nozzle 21 moves down and sucks the partition, and then moves the pallet 44 away. The suction nozzle 21 lowers the partition to the top of the I-shaped wheel below, or directly puts the first partition to the bottom in the initial state.

[0041] The top of the support plate 44 is rectangular and has four limit plates 45, and the upper part of the limit plates 45 has a guide portion inclined outward. The four limit plates 45 can position the placement of the partitions, so that the partitions are stacked evenly and regularly, which is convenient for the suction nozzle 21 to accurately suck. The guide portion can guide the placement process of the partitions.

[0042] like Figure 1 and Figure 2 As shown, the moving mechanism includes a horizontal plate 38 distributed horizontally, a translation plate 37 arranged at the outer end of the horizontal plate 38, a second linear drive mechanism 36 arranged on the frame 1 and driving the translation plate 37 to move horizontally, a guide platform 39 arranged horizontally on the frame 1 and having a wavy groove on the top, and multiple sets of vibration components. The second linear drive mechanism 36 can be an electric push rod, a hydraulic rod or a cylinder, and is controlled by a central controller. The vibration component includes a sliding rod 41 vertically slidably arranged on the horizontal plate 38 and having a circular ring portion located above the horizontal plate 38, a roller 40 arranged at the bottom end of the sliding rod 41 and rolling at the wavy groove, a guide cylinder 42 vertically arranged at the bottom end of the support plate 44 and slidably connected to the sliding rod 41, and a second spring 43 sleeved on the outer peripheral side of the guide cylinder 42 and having two ends respectively connected to the support plate 44 and the circular ring portion.

[0043] When the second linear drive mechanism 36 drives the translation plate 37 to move, the translation plate 37 drives the horizontal plate 38 to move, the horizontal plate 38 drives the sliding rod 41 to move, the sliding rod 41 drives the roller 40 to roll in the wavy groove, the sliding rod 41 also has an up and down movement during the horizontal movement, the annular portion on the sliding rod 41 will move up and down, the second spring 43 reciprocates, so that the support plate 44 also has an up and down vibration during the horizontal movement, so that the partition between the support plate 44 and the limit plate 45 can be bumped into a horizontal state for stacking. There is friction damping between the sliding rod 41 and the guide cylinder 42, and after the roller 40 stops moving, the second spring 43 will return to a static state, and the support plate 44 will no longer bump.

[0044] In addition, because the second spring 43 is located between the support plate 44 and the annular portion of the sliding rod 41, as the number of stacked partitions on the support plate 44 increases, the pressure on the support plate 44 increases, and the compression degree of the second spring 43 increases. This is conducive to keeping the top partition of the stacked partitions within a certain height range, and is conducive to sucking the top partition by the suction nozzle 21.

[0045] This embodiment provides a partition supporting mechanism to provide partitions for the stacking process and to stack the partitions removed during destacking.

[0046] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. An automatic palletizing and depalletizing machine, characterized in that: include: Rack(1); A pick-and-place device, comprising a plurality of groups of clamping devices arranged side by side, a plurality of groups of suction mechanisms arranged in an array, a lifting frame (2) for installing the clamping devices and the suction mechanisms, and an adjustment device arranged on a frame (1) and used to adjust the lateral position and height of the lifting frame (2), the clamping device comprising a plurality of groups of clamping mechanisms arranged side by side and a switching assembly for driving the plurality of groups of clamping mechanisms to clamp or release the I-shaped wheels, a positioning assembly and a distance sensor (18) being arranged at the bottom of the clamping mechanism, and the suction mechanism comprising a guide plate (19), a vertically sliding member arranged on the guide plate (19) and passing through the lifting frame (2), a suction nozzle (21) connected to the bottom end of the ventilation cylinder (20), a fixing ring (22) arranged on the ventilation cylinder (20) and having a slide groove distributed upward, a pressure ring (23) slidably arranged in the slide groove, a pressure sensor (25) arranged at the bottom of the slide groove and the top of which contacts the pressure ring (23), and a first spring (24) sleeved on the outer periphery of the ventilation cylinder (20) and connected to the guide plate (19) and the pressure ring (23) at both ends, wherein the height of the suction nozzle (21) is lower than the height of the clamping mechanism; A central controller is connected to the positioning component, the distance sensor (18) and the pressure sensor (25) respectively, and is connected to the regulating device and the switching component for control; after the positioning component detects that the clamping device and the suction mechanism are aligned with the material, the stacking and palletizing are performed; During destacking, when the pressure detected by the pressure sensor (25) reaches a preset pressure threshold, if the distance detected by the distance sensor (18) is greater than the preset distance threshold, the suction nozzle (21) switches to a state of sucking the partition, and the switching component does not operate; if the distance detected by the distance sensor is less than or equal to the preset distance threshold, the suction nozzle (21) remains in a state of not sucking the partition, and the switching component drives the multiple groups of clamping mechanisms to clamp the I-shaped wheels.

2. The automatic depalletizing and stacking machine according to claim 1, characterized in that: The clamping mechanism comprises a bracket (3) arranged at the bottom of the lifting frame (2), a rotating shaft (9) rotatably arranged on the lifting frame (2), a gear (8) and a rotating disk (10) coaxially mounted on the rotating shaft (9) and four groups of clamping components evenly distributed around the rotating disk (10), the clamping components comprising a connecting rod (11) arranged on the outer peripheral surface of the rotating disk (10), a guide rail (14) arranged at the bottom of the lifting frame (2), a slide (13) slidably arranged on the guide rail (14), a material lifting hook (15) arranged at the bottom of the slide (13) and a rotating rod (12) whose two ends are rotatably connected to the connecting rod (11) and the slide (13), respectively, a guide plate (19) is arranged at the bottom of the bracket (3), and a distance sensor (18) is arranged at the bottom of the rotating disk (10).

3. The automatic depalletizing and stacking machine according to claim 2, characterized in that: The switching assembly comprises a slide rail (6) horizontally arranged at the bottom of the lifting frame (2), a slider (5) slidably arranged on the slide rail (6), a rack (7) arranged on the slider (5) and meshingly connected to a plurality of gears (8) in the same group of clamping devices, and a first linear drive mechanism (4) arranged at the bottom of the lifting frame (2) and driving the slider (5) to move linearly.

4. The automatic depalletizing and stacking machine according to claim 2, characterized in that: The positioning component comprises a mounting plate (16) arranged at the bottom of the turntable (10) and a visual positioning camera (17) arranged on the mounting plate (16); the visual positioning camera (17) is coaxially distributed with the turntable (10).

5. The automatic depalletizing and stacking machine according to claim 1, characterized in that: The adjustment device comprises a lateral adjustment mechanism and a vertical adjustment mechanism; the lateral adjustment mechanism comprises a first slide bar (31) horizontally arranged on the top of a frame (1), a first screw rod (32) parallel to the first slide bar (31) and rotatably arranged on the top of the frame (1), a first motor (33) arranged on the top of the frame (1) and drivingly connected to the first screw rod (32), a first movable platform (34) slidably arranged on the first slide bar (31), and a second movable platform (35) threadedly connected to the first screw rod (32); the vertical adjustment mechanism comprises a first movable platform arranged on the first movable platform (34) and a moving plate (26) at the top of the second moving platform (35), a second sliding rod (28) vertically slidably arranged on the moving plate (26), a second screw rod (29) distributed in parallel with the second sliding rod (28) and threadedly connected to the moving plate (26), a top plate (27) arranged at the top of the second sliding rod (28), and a second motor (30) arranged on the top plate (27) and drivingly connected to the second screw rod (29), the second sliding rod (28) being arranged at the top of the lifting frame (2), and the second screw rod (29) being rotatably arranged at the top of the lifting frame (2).

6. The automatic depalletizing and stacking machine according to claim 1, characterized in that: It also includes a partition support mechanism, which includes a horizontally distributed support plate (44) and a moving mechanism for driving the support plate (44) to move to the bottom of the clamping device or move away from the bottom of the clamping device.

7. The automatic depalletizing and stacking machine according to claim 6, characterized in that: The top of the support plate (44) is rectangular and is provided with four limiting plates (45), and the upper part of the limiting plate (45) has a guide portion inclined outwards.

8. The automatic depalletizing and stacking machine according to claim 7, characterized in that: The moving mechanism comprises a horizontal plate (38) distributed horizontally, a translation plate (37) arranged at the outer end of the horizontal plate (38), a second linear driving mechanism (36) arranged on the frame (1) and driving the translation plate (37) to move horizontally, a guide platform (39) arranged horizontally on the frame (1) and having a wave-shaped groove on the top, and a plurality of vibration components, wherein the vibration components comprise a sliding rod (41) vertically slidably arranged on the horizontal plate (38) and having a circular ring portion located above the horizontal plate (38), a roller (40) arranged at the bottom end of the sliding rod (41) and rolling on the wave-shaped groove, a guide cylinder (42) vertically arranged at the bottom end of the support plate (44) and slidably connected to the sliding rod (41), and a second spring (43) sleeved on the outer peripheral side of the guide cylinder (42) and having two ends respectively connected to the support plate (44) and the circular ring portion.

Images