Double-gripper truss movable unstacker and unstacking method thereof

Abstract

The double-gripper truss moving type unstacker comprises a truss, a feeding conveying mechanism (2) is arranged at one end of the truss, a tray containing mechanism (3) is arranged in the middle of the truss (1) and located at the discharging end of the feeding conveying mechanism (2), and an unstacking material taking mechanism (4) is arranged at the top of the truss (1) and located above the tray containing mechanism (3). Material bag conveying mechanisms (7) are arranged on the truss (1) and located on the two sides of the tray containing mechanism (3), a tray reversing conveying mechanism (8) is arranged at the other end of the truss (1) and located at the output end of the tray containing mechanism (3), and a tray recycling mechanism (9) is arranged at the output end of the tray reversing conveying mechanism (8). The double-gripper structure is arranged to grab the material bags on the corresponding sides of the tray, rapid grabbing and placing during unstacking are achieved, and the unstacking efficiency is effectively improved.

Description

Technical Field

[0002] The invention relates to the field of automatic grabbing equipment for material packages, in particular to a double-grip truss mobile depalletizing machine and a depalletizing method thereof. Background Art

[0003] Bag materials are widely distributed in agricultural products, chemicals, building materials and other industries. At present, domestic bag materials are stacked on pallets when leaving the factory, and then automatically depalletized by a robot. The material bags are transported outward and then loaded. For example, the Chinese invention patent with publication number CN115448054A discloses a small box auxiliary loading system and method, including: an automatic depalletizing device, which is used to automatically transfer the stacked material boxes to the automatic depalletizing station; a depalletizing robot, which is installed on the automatic depalletizing device and the continuous lifting device, and is used to automatically depalletize and place the material boxes on the belt conveyor line of the continuous lifting device; the continuous lifting device is used to scan, count and count the material boxes, and lift the material boxes to the bay window belt conveyor, and then transport the material boxes to the inside of the container through the folding belt conveyor. This type of device mainly relies on a depalletizing robot when depalletizing. The depalletizing robot has a single gripper, but the material packages stacked on the pallet are usually three packages placed vertically and two packages placed horizontally, and each layer is stacked in an staggered manner. This requires the depalletizing robot to constantly turn and change direction to grab the material packages, which greatly reduces the depalletizing efficiency and affects the subsequent loading efficiency. Summary of the invention

[0004] The object of the present invention is to provide a double-grip truss mobile depalletizer and a depalletizing method thereof. The present invention provides a double-grip structure to respectively grab the material packages on the corresponding sides of the pallet, thereby realizing rapid grabbing and placing of the depallet, and effectively improving the depalletizing efficiency.

[0005] The technical solution of the present invention is: a double-grip truss mobile depalletizer, comprising a truss, and the depalletizer also comprises: A feeding conveying mechanism, arranged at one end of the truss, is used to convey a pallet full of material packages to the working station; A pallet placement mechanism is arranged in the middle part of the truss and located at the discharge end of the feed conveying mechanism, and is used to place a pallet full of material packages; The depalletizing and material-retrieving mechanism is arranged on the top of the truss and above the pallet placing mechanism. The depalletizing and material-retrieving mechanism includes a depalletizing translation assembly and two groups of depalletizing manipulators arranged on the truss. The depalletizing translation assembly is used to drive the depalletizing manipulators to move. The depalletizing manipulators are responsible for grabbing the material packages on the corresponding sides of the pallet. The material bag transmission mechanism is arranged on the truss and located on both sides of the pallet placement mechanism, and is used to transmit the material bag grabbed from the pallet by the depalletizing robot to the outside; The pallet reversing transmission mechanism is arranged at the other end of the truss and at the output end of the pallet placement mechanism, and is used to change the output direction of the pallet; The pallet recovery mechanism is arranged at the output end of the pallet reversing transmission mechanism and is used for recovering and stacking empty pallets.

[0006] In the above-mentioned double-grip truss mobile destacker, the feed conveying mechanism includes a feed main frame, a multi-lane transmission frame is provided on the feed main frame, and a transmission chain assembly is provided in the transmission frame; a feed motor is provided on one side of the feed main frame, and the output end of the feed motor is connected to the transmission chain assembly via a transmission shaft.

[0007] In the aforementioned double-gripper truss mobile depalletizer, the pallet placement mechanism includes a placement body arranged in the middle part of the truss and located at the output end of the transmission chain assembly, and a lifting and transmission assembly for placing the pallet is provided on the placement body; a chain lifting assembly is provided on the truss, and the lifting end of the chain lifting assembly is connected to the lifting and transmission assembly.

[0008] In the aforementioned double-grip truss mobile destacker, the lifting and transmission assembly includes a transmission body arranged in a placement body, and a lifting roller is provided on the side of the transmission body; and a lifting track that matches the lifting roller is provided on the side of the placement body.

[0009] In the aforementioned double-grip truss mobile destacker, the chain lifting assembly includes a lifting motor arranged on the truss, and a transmission rod group is symmetrically arranged on the truss. The output end of the lifting motor is connected to the transmission rod group via a transmission shaft; the rotating end of the transmission rod group is connected to the transmission body via a chain transmission structure.

[0010] In the aforementioned double-grip truss mobile destacker, a protective net is provided on the side of the placement body.

[0011] In the aforementioned double-gripper truss mobile depalletizer, the depalletizing translation assembly includes an X-axis displacement assembly arranged on the top of the truss, and a Y-axis displacement assembly is arranged on the X-axis displacement assembly.

[0012] In the aforementioned double-gripper truss mobile depalletizing machine, the depalletizing robot includes a main frame arranged at the mobile end of the Y-axis displacement component, the main frame is provided with a liftable column frame, the main frame is provided with a gear motor, the output end of the gear motor is provided with a driving gear, and the rear side of the column frame is provided with a rack meshing with the driving gear; the end of the column frame is connected to a rotary joint, the rotating end of the rotary joint is connected to a suction cup frame, the end of the suction cup frame has a buffer telescopic assembly, and the end of the buffer telescopic assembly is connected to a suction cup for grabbing material packages.

[0013] In the aforementioned double-grip truss mobile depalletizer, the pallet reversing transmission mechanism includes a roller frame arranged at the output end of the lifting transmission component, a lifting cylinder is provided at the bottom of the roller frame, and the protruding end of the lifting cylinder is connected to a transmission frame for transporting the material package outward.

[0014] In the aforementioned double-grip truss mobile depalletizer, the pallet recovery mechanism includes a recovery main frame arranged at the output end of the transmission frame, the recovery main frame is provided with a chain conveyor assembly for transmitting pallets, and a movable lifting assembly is provided on the recovery main frame and on both sides of the chain conveyor assembly, and the movable lifting assembly is provided with a plug plate assembly for supporting the pallet.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, a pallet piled with material bags enters from a feeding and conveying mechanism, and the pallet then moves to the pallet placing mechanism, the depalletizing and material taking mechanism is started, and the material bags on the pallet are grabbed downwards, and the planar movement of the depalletizing robot is realized by a depalletizing translation assembly, the material bags on one side of the pallet are placed vertically, and the material bags on the other side of the pallet are placed horizontally, and two groups of depalletizing robots correspond to one side of the pallet respectively, and the depalletizing robots grab the material bags to the material bag transmission mechanism, and after the material bags on the pallet are grabbed, the empty pallet is sent to the pallet reversing transmission mechanism, and finally to the pallet recovery mechanism; therefore, the present invention realizes rapid grabbing and placement of depalletizing by arranging a double gripper structure, thereby effectively improving the depalletizing efficiency.

[0016] 2. In the pallet placement mechanism, the chain lifting assembly can lift the lifting transmission assembly, so that the pallet with material packages is lifted. As the number of material packages on the pallet decreases, in order to facilitate the depalletizing robot to grab them quickly, lifting the pallet can reduce the length of the descending path of the depalletizing robot.

[0017] 3. In the pallet recovery mechanism, the pallet is moved to the chain conveyor assembly, the plug assembly is inserted into the side of the empty pallet, and the movable lifting assembly lifts the plug assembly upward. There is a certain space between the empty pallet and the chain conveyor assembly. When the remaining empty pallets are sent to the chain conveyor assembly, the upper empty pallet is placed on the lower empty pallet, and stacked in sequence to achieve the recovery and palletizing of the empty pallets. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 is a schematic diagram of the feed conveying mechanism; Figure 3 is a schematic diagram of a tray placement mechanism; Figure 4 This is a schematic diagram of a depalletizing robot; Figure 5 is a schematic diagram of a driving gear; Figure 6 It is a schematic diagram of a pallet reversing transmission mechanism; Figure 7 Schematic diagram of the pallet recovery mechanism.

[0019] Explanation of the marks in the accompanying drawings: 1-truss, 2-feeding conveying mechanism, 3-tray placing mechanism, 4-destacking and picking mechanism, 5-destacking translation assembly, 6-destacking manipulator, 7-material bag transmission mechanism, 8-tray reversing transmission mechanism, 9-tray recovery mechanism, 21-feeding main body frame, 22-transmission frame, 23-transmission chain assembly, 24-feeding motor, 31-placing main body, 32-lifting transmission assembly, 33-chain lifting assembly, 34-protective net, 321-transmission main body, 322-lifting roller, 323-lifting track, 331-lifting motor, 332-transmission rod group, 5 1-X-axis displacement assembly, 52-Y-axis displacement assembly, 61-main frame, 62-column frame, 63-gear motor, 64-driving gear, 65-rack, 66-rotating joint, 67-suction cup frame, 68-buffer telescopic assembly, 69-suction cup, 71-roller frame, 72-lifting cylinder, 73-transmission frame, 91-recovery main frame, 92-chain conveyor assembly, 93-movable lifting assembly, 94-insert plate assembly, 931-dual-axis motor, 932-drive shaft, 933-sprocket, 934-chain, 935-movable frame, 941-cylinder, 942-cross bar, 943-insert plate. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0021] Embodiment: Double gripper truss mobile destacking machine, including truss 1, as shown in the attached Figure 1 As shown, the depalletizer also includes: a feeding conveying mechanism 2, which is arranged at one end of the truss 1, as shown in the attached Figure 2 As shown, it is used to transport a pallet full of material bags to a work station; the feed conveying mechanism 2 includes a feed main frame 21, on which a plurality of transmission frames 22 are installed, and a transmission chain assembly 23 is arranged in the transmission frame 22, and the transmission chain assembly mainly includes a sprocket arranged at the end of the transmission frame, a chain is wound around the sprocket, and the pallet is placed on the chain, and the chain movement realizes the displacement transmission of the pallet; a feed motor 24 is arranged on one side of the feed main frame 21, and the output end of the feed motor 24 is connected to the transmission chain assembly 23 via a transmission shaft; The tray placement mechanism 3 is arranged in the middle part of the truss 1 and at the discharge end of the feeding and conveying mechanism 2. Figure 3As shown, it is used to place a pallet full of material bags; the pallet placing mechanism 3 includes a placing body 31 arranged in the middle part of the truss 1 and located at the output end of the transmission chain assembly 23, and a lifting and transmission assembly 32 for placing the pallet is installed on the placing body 31, and the lifting and transmission assembly 32 includes a transmission body 321 arranged in the placing body 31, and a lifting roller 322 is arranged on the side of the transmission body 321; a lifting track 323 that fits with the lifting roller 322 is arranged on the side of the placing body 31; a chain lifting assembly 33 is installed on the truss 1, and the lifting end of the chain lifting assembly 33 is connected to the lifting and transmission assembly 32, and the chain lifting assembly 33 includes a lifting motor 331 arranged on the truss 1, A transmission rod group 332 is symmetrically installed on the truss 1, and the output end of the lifting motor 331 is connected to the transmission rod group 332 via a transmission shaft, and the transmission rod shaft and the transmission rod assembly are transmitted via a bevel gear; the rotating end of the transmission rod group 332 is connected to the transmission body 321 via a chain transmission structure; the transmission body is lifted and lowered by the cooperation between the lifting roller and the lifting track, and the transmission rod group is provided with a sprocket, and a chain is wound around the sprocket, and one end of the chain is connected to the transmission body, and the lifting motor is driven by the transmission rod group and the chain to realize the lifting and lowering of the transmission body; a protective net 34 is installed on the side of the placement body 31, and the pallet has a certain height after being fully stacked with material bags. In order to improve safety, the material bags on the placement pallet will fall over, so a protective net is set.

[0022] The destacking and material taking mechanism 4 is arranged on the top of the truss 1 and above the pallet placing mechanism 3. The destacking and material taking mechanism 4 includes a destacking translation assembly 5 and two groups of destacking manipulators 6 arranged on the truss 1. Figure 4 As shown, the depalletizing robot 6 is responsible for grabbing the material packages on the corresponding side of the pallet; the material package transmission mechanism 7 is arranged on the truss 1 and located on both sides of the pallet placement mechanism 3, and is used to transmit the material packages grabbed by the depalletizing robot 6 from the pallet to the outside; the depalletizing translation assembly 5 includes an X-axis displacement assembly 51 arranged on the top of the truss, and a Y-axis displacement assembly 52 is provided on the X-axis displacement assembly 51. The depalletizing robot needs to grab the material package on the pallet to the material package transmission mechanism, and the X-axis displacement assembly 51 and the Y-axis displacement assembly 52 are arranged on the X-axis displacement assembly 51. The material bag transmission mechanism is arranged on both sides of the depalletizing robot, and the two groups of depalletizing robots correspond to their respective material bag transmission mechanisms, and the grabbed material bags are placed on the material bag transmission mechanism, and the material bag transmission mechanism is mainly a belt transmission structure; the depalletizing robot 6 includes a main frame 61 arranged at the moving end of the Y-axis displacement component 52, and a liftable column frame 62 is installed on the main frame 61, and a gear motor 63 is installed on the main frame 61, and a driving gear 64 is installed at the output end of the gear motor 63, as shown in the attached figure. Figure 5As shown, a rack 65 meshing with a driving gear 64 is installed on the rear side of the column frame 62, and the gear motor outputs power to drive the driving gear to rotate, and the driving gear cooperates with the rack to realize the lifting of the column frame, and the entire depalletizing robot grabs the material package from the pallet downward to the material package transmission mechanism; the end of the column frame 62 is connected to a rotating joint 66, and the rotating end of the rotating joint 66 is connected to a suction cup frame 67, and the end of the suction cup frame 67 has a buffer telescopic component 68, which mainly includes a slide rail, and a suction cup fixing seat is installed on the slide rail. The upper end of the suction cup fixing seat is connected to the telescopic rod The end of the buffer telescopic component 68 is connected to a suction cup 69 for grabbing the material bag; the depalletizing robot grabs the material bag mainly by the adsorption of the suction cup, and in order to make the suction cup fit the material bag more closely, when the suction cup presses down to adsorb the material bag, the suction cup fixing seat will move upward, and the telescopic rod will retract, so as to achieve flexible contact between the suction cup and the material bag; the material bags stacked on the pallet are usually three bags placed vertically and two bags placed horizontally, and each layer is stacked in an alternating manner, and the suction cup can realize the rotation direction through the rotating joint, so as to adapt to grabbing the horizontally placed material bag or the vertically placed material bag; The pallet reversing transmission mechanism 8 is arranged at the other end of the truss 1 and at the output end of the pallet placing mechanism 3, as shown in the attached Figure 6 As shown, it is used to convert the output direction of the pallet; the pallet reversing transmission mechanism 8 includes a roller frame 71 arranged at the output end of the lifting transmission component 32, and a lifting cylinder 72 is installed at the bottom of the roller frame 71. The protruding end of the lifting cylinder 72 is connected to a transmission frame 73 for conveying the material package outward. The empty pallet is sent to the roller frame, and the lifting cylinder lifts the transmission frame at this time. The transmission frame runs to send the empty pallet to the next mechanism.

[0023] The tray recovery mechanism 9 is arranged at the output end of the tray reversing transmission mechanism 8, as shown in the attached Figure 7As shown, it is used to recover and stack empty pallets; the pallet recovery mechanism 9 includes a recovery main frame 91 arranged at the output end of the transmission frame 73, and a chain conveyor assembly 92 for transmitting pallets is installed on the recovery main frame 91, and a movable lifting assembly 93 is installed on the recovery main frame 91 and on both sides of the chain conveyor assembly 92, and a plug assembly 94 for supporting the pallet is installed on the movable lifting assembly 93. The pallet is moved to the chain conveyor assembly, and the plug assembly is inserted into the side of the empty pallet. The movable lifting assembly lifts the plug assembly upward, and there is a certain space between the empty pallet and the chain conveyor assembly. When the remaining empty pallets are sent to the chain conveyor assembly, the upper empty pallet is placed on the lower empty pallet, and stacked in sequence to realize the recovery and stacking of the empty pallets. The movable lifting assembly 93 mainly includes a dual-axis motor 931 on the recovery main frame, the output end of the dual-axis motor 931 is connected to a transmission shaft 932, a sprocket 933 is provided at the end of the transmission shaft 932, and the two end points of the sprocket 933 are connected to a chain 934, and a movable frame 935 that can move up and down is installed on the recovery main frame 91, and the upper end of the movable frame 935 is connected to one end of the chain 934, and the plug-in plate assembly 94 is installed on the movable frame 935. The plug-in plate assembly 94 includes a cylinder 941, and the protruding end of the cylinder 941 is connected to a cross bar 942, and the end of the cross bar 942 is connected to a plug-in plate 943 that is slidably connected to the movable frame 935. The cylinder 941 drives the plug-in plate to be inserted into the pallet, and the dual-axis motor is started, driving the sprocket to rotate, and the chain pulls the movable frame to rise, thereby lifting the pallet.

[0024] The working principle of the present invention is as follows: a pallet full of material bags enters from the feed conveying mechanism, and the pallet then moves to the pallet placing mechanism, the depalletizing and material picking mechanism is started, and the material bags on the pallet are grabbed downwards, and the planar movement of the depalletizing robot is realized by the depalletizing translation assembly, the material bags on one side of the pallet are placed vertically, and the material bags on the other side of the pallet are placed horizontally, and two groups of depalletizing robots correspond to one side of the pallet respectively, and the depalletizing robots grab the material bags to the material bag transmission mechanism, after the material bags on the pallet are grabbed, the empty pallet is sent to the pallet reversing transmission mechanism, and finally to the pallet recovery mechanism; by arranging a double gripper structure to grab the material bags on the corresponding sides of the pallet respectively, the depalletizing can be quickly grabbed and placed, and the depalletizing efficiency is effectively improved.

Claims

1. A double-grip truss mobile depalletizer, comprising a truss (1), characterized in that: The depalletizer also includes: A material feeding conveying mechanism (2) is arranged at one end of the truss (1) and is used to convey a pallet full of material packages to an operating station; A pallet placement mechanism (3) is arranged in the middle of the truss (1) and located at the discharge end of the feed conveying mechanism (2), and is used to place a pallet filled with material bags; A depalletizing and material-retrieving mechanism (4) is arranged on the top of the truss (1) and above the pallet placing mechanism (3), the depalletizing and material-retrieving mechanism (4) comprising a depalletizing translation assembly (5) arranged on the truss (1) and two groups of depalletizing manipulators (6), the depalletizing translation assembly (5) being used to drive the depalletizing manipulators (6) to move, and the depalletizing manipulators (6) being responsible for grabbing the material packages on the corresponding sides of the pallet; A material bag transmission mechanism (7) is arranged on the truss (1) and located on both sides of the pallet placement mechanism (3), and is used to transmit the material bag grabbed from the pallet by the depalletizing robot (6) to the outside; A pallet reversing transmission mechanism (8) is arranged at the other end of the truss (1) and located at the output end of the pallet placement mechanism (3), and is used to change the output direction of the pallet; The pallet recovery mechanism (9) is arranged at the output end of the pallet reversing transmission mechanism (8) and is used to recover and stack empty pallets.

2. The double-grip truss mobile depalletizer according to claim 1, characterized in that: The feed conveying mechanism (2) comprises a feed main frame (21), a multi-channel transmission frame (22) is provided on the feed main frame (21), and a transmission chain assembly (23) is provided in the transmission frame (22); a feed motor (24) is provided on one side of the feed main frame (21), and an output end of the feed motor (24) is connected to the transmission chain assembly (23) via a transmission shaft.

3. The double-grip truss mobile depalletizer according to claim 2, characterized in that: The pallet placement mechanism (3) comprises a placement body (31) disposed in the middle of the truss (1) and located at the output end of the transmission chain assembly (23), and a lifting transmission assembly (32) for placing the pallet is provided on the placement body (31); a chain lifting assembly (33) is provided on the truss (1), and a lifting end of the chain lifting assembly (33) is connected to the lifting transmission assembly (32).

4. The double-grip truss mobile depalletizer according to claim 3, characterized in that: The lifting and transmission component (32) comprises a transmission body (321) arranged in the placement body (31), and a lifting roller (322) is provided on the side of the transmission body (321); and a lifting track (323) that matches the lifting roller (322) is provided on the side of the placement body (31).

5. The double-grip truss mobile depalletizer according to claim 4, characterized in that: The chain lifting assembly (33) comprises a lifting motor (331) arranged on the truss (1); a transmission rod group (332) is symmetrically arranged on the truss (1); an output end of the lifting motor (331) is connected to the transmission rod group (332) via a transmission shaft; and a rotating end of the transmission rod group (332) is connected to a transmission body (321) via a chain transmission structure.

6. The double-grip truss mobile depalletizer according to claim 1, characterized in that: The destacking translation assembly (5) comprises an X-axis displacement assembly (51) arranged on the top of the truss, and a Y-axis displacement assembly (52) is arranged on the X-axis displacement assembly (51).

7. The double-grip truss mobile depalletizer according to claim 6, characterized in that: The depalletizing robot (6) comprises a main frame (61) arranged at the moving end of the Y-axis displacement component (52), a column frame (62) which can be raised and lowered is arranged on the main frame (61), a gear motor (63) is arranged on the main frame (61), an output end of the gear motor (63) is provided with a driving gear (64), and a rack (65) meshing with the driving gear (64) is arranged on the rear side of the column frame (62); a rotary joint (66) is connected to the end of the column frame (62), a suction cup frame (67) is connected to the rotating end of the rotary joint (66), a buffer telescopic component (68) is provided at the end of the suction cup frame (67), and a suction cup (69) for grabbing a material bag is connected to the end of the buffer telescopic component (68).

8. The double-grip truss mobile depalletizer according to claim 3, characterized in that: The pallet reversing transmission mechanism (8) comprises a roller frame (71) arranged at the output end of the lifting transmission assembly (32), a lifting cylinder (72) is provided at the bottom of the roller frame (71), and a transmission frame (73) for conveying the material bag outward is connected to the protruding end of the lifting cylinder (72).

9. The double-grip truss mobile depalletizer according to claim 8, characterized in that: The pallet recovery mechanism (9) comprises a recovery main frame (91) arranged at the output end of the transmission frame (73), a chain conveyor assembly (92) for conveying pallets being arranged on the recovery main frame (91), movable lifting assemblies (93) being arranged on both sides of the chain conveyor assembly (92) on the recovery main frame (91), and a plug assembly (94) for supporting the pallet being arranged on the movable lifting assembly (93).

10. The depalletizing method of the double-grip truss mobile depalletizing machine according to any one of claims 1 to 9, characterized in that: The specific steps are as follows: Step 1: The pallet filled with material packages enters from the feeding conveying mechanism, and then moves to the pallet placing mechanism. The depalletizing and material taking mechanism is started, and the material packages on the pallet are grabbed downward. The plane movement of the depalletizing manipulator is realized by the depalletizing translation component; Step 2: The material packages on one side of the pallet are placed vertically, and the material packages on the other side of the pallet are placed horizontally. Two groups of depalletizing robots correspond to one side of the pallet respectively. The depalletizing robots grab the material packages and put them on the material package transmission mechanism. After the material packages on the pallet are grabbed, the empty pallet is sent to the pallet reversing transmission mechanism, and finally sent to the pallet recovery mechanism.

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