Stacking and unstacking machine

Abstract

The utility model discloses a stacker-unstacker which comprises a conveying mechanism, a stacking mechanism, a stacking mechanism, a stacking mechanism, a stacking mechanism and a stacking mechanism, and is characterized in that the conveying mechanism comprises a first conveying part and a second conveying part which are arranged at intervals; the unstacking mechanism is connected with the first conveying part in an up-down movement mode and used for clamping the first box body so as to separate the first box body and the second box body which are located at the top or place the first box body on the first conveying part; the lifting mechanism comprises a conveying platform, and the conveying platform is used for moving up and down so as to be switched between a first position and a second position; the conveying platform at the first position receives the second box body or the first box body from the first conveying part; at the second position, the second box body or the first box body is discharged, and the conveying platform conveys the second box body or the first box body to the second conveying part; the stacking mechanism is connected with the second conveying part in an up-down movement mode and used for clamping and lifting the second box body or stacking the second box body on the top of the first box body. According to the utility model, the warehousing operation efficiency can be effectively improved, the labor cost is reduced, and the safety is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of electrical material storage, in particular to a stacking and destacking machine. Background Art

[0002] Electronic materials refer to electronic products such as raw materials, semi-finished products, and finished products, including trays, circuit boards, wires, connectors, etc. In the logistics and warehousing of electronic materials, in order to facilitate subsequent distribution and production, the electrical materials need to be classified and packed into electrical material boxes, and then the electrical material boxes are transported to the corresponding locations in the warehouse.

[0003] Empty electrical material boxes are usually stacked together, and operators are required to move the stacked electrical material boxes to the electrical material packaging location, and then manually put the packaged electrical materials into the electrical material boxes. After completing the discharge of one electrical material box, it is moved to the storage location, and then another empty electrical material box is moved to repeat the above operation.

[0004] It can be seen that the entire process relies on manual operation, which is inefficient and requires at least multiple operators to meet basic warehousing needs, increasing labor costs. In addition, under such highly repetitive actions, the operator's actions of holding and moving boxes will cause harm to the body. Utility Model Content

[0005] The purpose of the utility model is to solve the technical problem that the existing loading and unloading of electric material boxes cannot be automated. The utility model provides a stacker and destacker, which realizes automated assembly line operation, effectively improves the efficiency of loading and unloading of electric material boxes and the entire logistics warehousing operation, reduces labor costs, and effectively improves working conditions to avoid operator injuries.

[0006] In order to solve the above technical problems, the embodiment of the utility model discloses a stacker and depalletizer for a box assembly, wherein the box assembly comprises a first box and a second box stacked up and down, wherein the first box is located at the top, and the stacker and depalletizer comprises:

[0007] A conveying mechanism, used for driving the box assembly to move along a first direction, the conveying mechanism comprising a first conveying part and a second conveying part arranged at intervals along a second direction, the first conveying part being located at the bottom, the first conveying part being used for conveying an empty box assembly, and the second conveying part being used for conveying a box assembly loaded with a tray;

[0008] a destacking mechanism connected to the first conveying part in a manner of moving up and down along the second direction, the destacking mechanism being used to clamp the first box body to separate the first box body from the second box body, or to place the first box body on the first conveying part;

[0009] The lifting mechanism comprises a conveying platform, the conveying platform is used to move up and down along the second direction to switch between a first position and a second position; in the first position, the conveying platform is used to receive the second box or the first box from the first conveying part; in the second position, the second box or the first box is placed in a material tray, and the conveying platform is used to convey the first box or the second box with the material tray to the second conveying part;

[0010] A stacking mechanism is connected to the second conveying part in a manner of moving up and down along the second direction, and the stacking mechanism is used to clamp the second box body containing the material tray to lift the second box body containing the material tray or stack the second box body on top of the first box body containing the material tray; the first direction and the second direction intersect.

[0011] By adopting the above technical solution, the empty box assembly enters the conveying mechanism from the outside and is transported to the destacking mechanism by the first conveying part of the conveying mechanism. The destacking mechanism can lift the empty box (i.e., the first box) at the top to separate the first box from the second box; then the second box can be conveyed to the lifting mechanism and switched to the second position by the lifting mechanism, and the material tray is placed at the second position; the second box after the material tray is placed continues to be conveyed to the stacking mechanism, and the stacking mechanism can lift it to wait for the first box. The first box can be conveyed to the stacking mechanism according to the above-mentioned process of the second box and is located at the bottom of the second box. At this time, the stacking mechanism can stack the second box on top of the first box, thereby completing the disassembly, transportation, loading and stacking of the box assembly.

[0012] The stacker and depalletizer of the embodiment of the present application can realize full process automation, effectively improve storage and production efficiency, as well as operation safety, accuracy and versatility, and reduce labor costs. In addition, the transmission mechanism of the embodiment of the present application is a double-layer design, which effectively saves equipment space.

[0013] According to another specific embodiment of the utility model, the destacking mechanism includes a first lifting part and a first clamping part connected to each other, and a second lifting part and a second clamping part connected to each other, wherein: along the third direction, the first lifting part and the second lifting part are respectively arranged on both sides of the first conveying part; the first lifting part and the second lifting part are used to respectively drive the first clamping part and the second clamping part to move up and down along the second direction; the first clamping part and the second clamping part are used to extend along the third direction to clamp the first box body, and the first clamping part and the second clamping part are used to retract along the third direction to release the first box body.

[0014] According to another specific embodiment of the present utility model, the lifting mechanism also includes a lifting assembly, which extends along the second direction, and the conveying platform is connected to the lifting assembly in a slidable manner along the second direction, and the lifting assembly is used to drive the conveying platform to move along the second direction to switch between the first position and the second position.

[0015] According to another specific embodiment of the present utility model, the lifting mechanism also includes a first positioning portion and a second positioning portion, and the first positioning portion and the second positioning portion are respectively arranged on both sides of the conveying platform along the third direction; in the second position, the first positioning portion and the second positioning portion are used to extend along the third direction to clamp the first box body or the second box body on the conveying platform.

[0016] According to another specific embodiment of the utility model, the stacking mechanism includes a third lifting part and a third clamping part connected to each other, and a fourth lifting part and a fourth clamping part connected to each other, wherein: along the third direction, the third lifting part and the fourth lifting part are respectively arranged on both sides of the second conveying part; the third lifting part and the fourth lifting part are used to respectively drive the third clamping part and the fourth clamping part to move up and down along the second direction; the third clamping part and the fourth clamping part are used to extend along the third direction to clamp the second box body containing the material tray, and the third clamping part and the fourth clamping part are used to retract along the third direction to release the second box body containing the material tray.

[0017] According to another specific embodiment of the utility model, it also includes a material discharge mechanism, and the material discharge mechanism is used to put the external material tray into the second box body or the first box body.

[0018] According to another specific embodiment of the present utility model, the first conveying part includes a first part and a second part connected to each other; the stacker and depalletizer also includes a first sensor, the first sensor is used to detect whether the box assembly is placed in the first part, and a first stop part is provided at the end of the first part; when the box assembly is placed in the first part, the first stop part is used to move upward along the second direction to stop the box assembly.

[0019] According to another specific embodiment of the utility model, it also includes a second sensor, which is used to detect whether the box assembly is placed in the second part. A second stop portion is provided at the end of the second part. When the box assembly is not placed in the second part, the first stop portion is used to move downward along the second direction, and the second stop portion is used to move upward along the second direction, so that the box assembly is transported from the first part to the second part and is stopped by the second stop portion.

[0020] According to another specific embodiment of the utility model, it also includes a third sensor, which is used to detect whether the first box or the second box is placed on the conveying platform of the lifting mechanism. When the second box or the first box is not placed on the conveying platform, the second stop portion is used to move downward along the second direction so that the second box or the first box is driven to the conveying platform by the second part.

[0021] According to another specific embodiment of the utility model, it also includes a fourth sensor, which is used to detect whether the second box containing the material tray is placed in the stacking mechanism. When the fourth sensor detects the second box in the stacking mechanism, the third clamping part and the fourth clamping part extend along the third direction, and the third lifting part and the fourth lifting part move upward along the second direction.

[0022] According to another specific embodiment of the utility model, the second conveying part is provided with a third stop part, and along the first direction, the third stop part is located on the side of the stacking mechanism away from the second position, and the third stop part is used to move upward along the second direction to stop the second box body containing the material tray, or to stop the first box body containing the material tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A three-dimensional diagram showing a stacking and destacking machine according to an embodiment of the utility model Figure 1 .

[0024] Figure 2 A three-dimensional diagram showing a stacking and destacking machine according to an embodiment of the utility model Figure 2 ; Among them, the discharge mechanism is omitted in the figure.

[0025] Figure 3 A three-dimensional diagram showing a stacking and destacking machine according to an embodiment of the utility model Figure 3 ; Among them, the discharge mechanism is omitted in the figure.

[0026] Figure 4 A three-dimensional diagram showing a stacking and destacking machine according to an embodiment of the utility model Figure 4 ; Among them, the discharge mechanism is omitted in the figure.

[0027] Figure 5 A three-dimensional diagram showing a stacking and destacking machine according to an embodiment of the utility model Figure 5 ; Among them, the discharge mechanism is omitted in the figure.

[0028] Figure 6 A three-dimensional diagram of a conveying mechanism in an embodiment of the utility model is shown.

[0029] Figure 7A three-dimensional diagram of a destacking mechanism in an embodiment of the utility model is shown.

[0030] Figure 8 A three-dimensional diagram of a palletizing mechanism in an embodiment of the utility model is shown.

[0031] Fig. 9 A three-dimensional diagram of the lifting mechanism in the embodiment of the utility model is shown.

[0032] In the figure: 1, stacker and depalletizer; 100, box assembly; 110, first box; 120, second box; 2, conveying mechanism; 21, first conveying part; 211, first part; 212, second part; 22, second conveying part; 3, depalletizing mechanism; 31, first lifting part; 32, second lifting part; 33, first clamping part; 34, second clamping part; 35, fixing seat; 36, first limit buffer; 37, second limit buffer; 4, lifting mechanism; 41, Conveying platform; 42, lifting assembly; 421, lifting cylinder; 422, linear slide rail; 43, first positioning part; 44, second positioning part; 5, unloading mechanism; 6, stacking mechanism; 61, third lifting part; 62, fourth lifting part; 63, third clamping part; 64, fourth clamping part; 71, first sensor; 72, second sensor; 73, third sensor; 74, fourth sensor; 81, first stop part; 82, second stop part; 83, third stop part. DETAILED DESCRIPTION

[0033] The following is an explanation of the implementation of the present invention by specific specific embodiments. Those skilled in the art can easily understand other advantages and functions of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this utility model are limited to this implementation. On the contrary, the purpose of introducing the utility model in conjunction with the implementation is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that, in the absence of conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0034] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0035] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply 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 a limitation on the utility model.

[0036] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0037] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "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 this embodiment can be understood according to specific circumstances.

[0038] In order to make the purpose, technical solution and advantages of the present invention more clear, the implementation mode of the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] To facilitate understanding of the technical solution of the present application, some concepts or terms involved in the present application are first explained.

[0040] (1) Destacking

[0041] It refers to the process of separating goods from their stacked state.

[0042] (2) Palletizing

[0043] It means to stack items neatly.

[0044] (3 stacks depalletized

[0045] That is, stacking and destacking, which means moving or lifting items to the designated location of the shipping equipment or fixed equipment, and then placing them in the required state.

[0046] See also Figure 1 An embodiment of the present application provides a stacker / destacker 1 for conveying, destacking, and stacking box assemblies 100 stacked axially together, wherein the box assemblies 100 include a first box 110 and a second box 120 stacked up and down, wherein the first box 110 is stacked on top of the second box 120.

[0047] The stacker / depalletizer 1 of the embodiment of the present application comprises: a conveying mechanism 2 , a depalletizing mechanism 3 , a lifting mechanism 4 and a palletizing mechanism 6 .

[0048] The conveying mechanism 2 includes a first conveying portion 21 and a second conveying portion 22. It can be seen that the first conveying portion 21 and the second conveying portion 22 are both along a first direction (eg Figure 1 The Y direction shown in FIG. 1 extends along the second direction (as shown in FIG. Figure 1 The first conveying part 21 and the second conveying part 22 are arranged at intervals, and the first conveying part 21 is located at the bottom (as shown in the Z direction). Figure 1 The second conveying section 22 is located at the top (as shown in the Z2 direction). Figure 1 Z1 direction shown in FIG.

[0049] The first transmission part 21 is used to drive the box assembly 100 to move leftward along a first direction (eg Figure 1 The second conveying portion 22 is used to drive the box assembly 100 to move rightward along the second direction (as shown in the Y1 direction). Figure 1 Meanwhile, the first conveyor 21 is used to convey empty box assemblies 100, that is, the box assemblies 100 on the first conveyor 21 do not contain electrical materials (such as trays); the second conveyor 22 is used to convey box assemblies 100 with trays, that is, the box assemblies 100 conveyed rightward along the second direction on the second conveyor 22 are already in a state of being discharged and neatly stacked by the above-mentioned stacking mechanism 6.

[0050] That is to say, the first conveying part 21 can be connected to the conveying line of the box assembly 100 (not shown in the figure), and the conveying line is used to transport the empty box assemblies 100 in batches into the first conveying part 21, and then pass through the depalletizing mechanism 3, the lifting mechanism 4 and the stacking mechanism 6 of the embodiment of the present application in sequence. The empty box assemblies 100 are in a state of storing trays and being stacked. At this time, the second conveying part 22 can be connected to the warehouse conveying line of the box assembly 100 (not shown in the figure), and the warehouse conveying line is used to deliver the assembled box assemblies 100 into the warehouse.

[0051] Continue reading Figure 1 , the first conveying part 21 can drive the empty box assembly 100 to the depalletizing mechanism 3. The depalletizing mechanism 3 is used to separate the first box 110 and cooperate with the first conveying part 21 to transport the separated first box 110 to the lifting mechanism 4. Specifically, the depalletizing mechanism 3 is used to move the empty box assembly 100 along the second direction (such as Figure 1 The stacking mechanism 3 is connected to the first conveying portion 21 in a manner of moving up and down in the Z direction shown in FIG. 1 and can move up and down in the second direction. At the same time, the stacking mechanism 3 can move in the third direction (such as Figure 1 The first box body 110 is clamped (in the X direction shown in FIG. 1 ).

[0052] That is, the depalletizing mechanism 3 can move upward (eg, Figure 1 The first box 110 is moved in the Z1 direction shown in the figure. At this time, the first box 110 is separated from the second box 120, and the second box 120 can be further transported to the lifting mechanism 4 by the first conveying part 21 (described in detail later); in addition, the depalletizing mechanism 3 can move downward relative to the first conveying part 21 along the second direction (such as Figure 1 At this time, the separated first box body 110 can continue to be placed on the first conveying part 21, so that the first box body 110 can also be continuously transported to the lifting mechanism 4 through the first conveying part 21.

[0053] Continue reading Figure 1 The lifting mechanism 4 includes a conveying platform 41, which can be moved along the second direction (such as Figure 1 The first and second positions A2 are switched between the first and second positions A1 and A2. That is, the second box 120 or the first box 110 separated in the depalletizing mechanism 3 can be switched from the first position A1 to the second position A2 through the conveying platform 41 of the lifting mechanism 4, and the trays are placed in the second position A2.

[0054] exist Figure 1 In the figure, the position of the conveying platform 41 is the second position A2. It can be seen that in the second position A2, the conveying platform 41 is located at the top (i.e. Figure 1 In this case, the conveying platform 41 is connected to the second conveying part 22. For example, the left side of the second conveying part 22 (ie, Figure 1 The tray conveyor line (indicated by the Y1 direction) can be connected to an external tray conveyor line (not shown in the figure), which is used to convey the sorted and packaged trays.

[0055] Although Figure 1 The state of the conveying platform 41 at the first position A1 is not shown, but it is easy to imagine that at the first position A1, the conveying platform 41 is located at the bottom (i.e. Figure 1 At this time, the conveying platform 41 is connected to the first conveying part 21. Figure 1 The first position A1 is schematically illustrated (eg Figure 1 The dashed box S1 shows the

[0056] It should be noted that the definition of the connection between the conveying platform 41 and the first conveying part 21 is that the first box 110 or the second box 120 on the first conveying part 21 can be driven onto the conveying platform 41 to be located at the first position A1; the definition of the connection between the conveying platform 41 and the second conveying part 22 is that the first box 110 or the second box 120 located at the second position A2 can be driven by the conveying platform 41 to the second conveying part 22.

[0057] Continue reading Figure 1 The conveying platform 41 can drive the first box 110 or the second box 120 equipped with the tray at the second position A2 to the stacking mechanism 6. The stacking mechanism 6 is used to stack the first box 110 or the second box 120 equipped with the tray neatly. Specifically, the stacking mechanism 6 is arranged along the second direction (such as Figure 1 The stacking mechanism 6 is connected to the second conveying portion 22 in a manner of moving up and down in the Z direction shown in FIG. 1 and can move up and down in the second direction. At the same time, the stacking mechanism 6 can move in the third direction (such as Figure 1 The second box body 120 containing the material tray is clamped (in the X direction shown in FIG. 1 ).

[0058] That is, the stacking mechanism 6 can hold the second box 120 while moving upward (eg, Figure 1 At this time, the second box 120 is lifted to a set height by the palletizing mechanism 6 to wait for the first box 110 behind, and when the first box 110 also moves from the second position A2 to the palletizing mechanism 6, the palletizing mechanism 6 can place the second box 120 on top of the first box 110. It can be understood that at this time, the same group of box assemblies 100 are all equipped with trays, and the first box 110 and the second box 120 have swapped stacking positions relative to the initial state.

[0059] For example, the set height may be higher than the thickness of the first box body 110. Then, when the first box body 110 moves from the second position A2 to the palletizing mechanism 6, the palletizing mechanism 6 can move downward relative to the second conveying portion 22 (eg, Figure 1 The second box 120 is moved in the Z2 direction (shown in FIG. 1 ) to place the second box 120 on top of the first box 110.

[0060] Exemplarily, the set height may also be equal to the thickness of the first box body 110 . Then, when the first box body 110 moves from the second position A2 to the palletizing mechanism 6 , the palletizing mechanism 6 does not need to move downward, but only needs to cancel the clamping state of the second box body 120 .

[0061] It should be noted that the first direction (eg Figure 2 The Y direction shown in FIG. 1 ), the second direction (such as Figure 1 ), and the third direction intersects.

[0062] See also Figure 1 In a possible implementation, the stacker / depalletizer 1 of the embodiment of the present application further includes a material discharge mechanism 5 (e.g., a robotic arm), which is used to place an external material tray (not shown in the figure) into the second box 120 or the first box 110 at the second position A2.

[0063] See also Figure 2 and Figure 6 , Figure 2 The three-dimensional diagram of the stacker and destacker of the embodiment of the present application is shown exemplarily, but the above-mentioned discharge mechanism 5 and the external frame are not shown; Figure 6 The three-dimensional diagram of the conveying mechanism 2 of the embodiment of the present application is exemplarily shown. Exemplarily, the first conveying part 21 is a lower roller line conveyor belt, and the second conveying part 22 is an upper roller line conveyor belt, but the embodiment of the present application is not limited thereto.

[0064] See also Figure 2 and Figure 6 In a possible implementation manner, the first transmission portion 21 includes a first portion 211 and a second portion 212 connected to each other. Figure 1 The X direction shown in FIG. 2 ), a portion of the destacking mechanism 3 is located on one side of the second portion 212 (ie Figure 2 and Figure 6 The destacking mechanism 3 of the other part is located on the other side of the second part 212 (i.e. Figure 2 and Figure 6 In combination with the foregoing, it can be seen that the first portion 211 is used to drive the empty box assembly 100 along the first direction toward the destacking mechanism 3 (such as Figure 2 and Figure 6 Movement in the Y1 direction shown in FIG.

[0065] See also Figure 7 Combined with Figure 1 In a possible implementation manner, the destacking mechanism 3 includes a first lifting portion 31 and a first clamping portion 33 connected to each other, and a second lifting portion 32 and a second clamping portion 34 connected to each other.

[0066] The first lifting part 31 and the second lifting part 32 are arranged along the second direction (eg Figure 7 The Z direction shown in FIG. 1 ) extends along a third direction (such as Figure 7 The first lifting part 31 and the second lifting part 32 can respectively drive the first clamping part 33 and the second clamping part 34 to move along the second direction (such as the X direction shown in FIG. Figure 1 The Z direction shown in FIG. 2 moves up and down.

[0067] Exemplarily, the first lifting part 31 and the second lifting part 32 are lifting multi-position cylinders respectively, but the embodiment of the present application is not limited to this. As long as they can drive the first clamping part 33 and the second clamping part 34 to move up and down along the second direction, they are within the protection scope of the embodiment of the present application.

[0068] The first clamping portion 33 and the second clamping portion 34 can be arranged along a third direction (eg Figure 7 The first clamping portion 33 and the second clamping portion 34 can be retracted along the third direction to release the first box body 110.

[0069] Exemplarily, the first clamping portion 33 and the second clamping portion 34 are clamping cylinders respectively, but the embodiment of the present application does not limit this. As long as they can clamp the first box body 110, they belong to the protection scope of the embodiment of the present application.

[0070] Continue reading Figure 7 Combined with Figure 1 Exemplarily, the destacking mechanism 3 further includes a fixing seat 35, and the fixing seat 35 is used to connect with the second part 212. The first lifting part 31, the first clamping part 33, the second lifting part 32, and the second clamping part 34 are all arranged on the fixing seat 35.

[0071] Continue reading Figure 7 Combined with Figure 1 For example, the depalletizing mechanism 3 further includes a first limiting buffer 36 and a second limiting buffer 37. The first limiting buffer 36 is disposed on the fixing seat 35 and is located at the bottom of the first lifting portion 31; the second limiting buffer 37 is disposed on the fixing seat 35 and is located at the bottom of the second lifting portion 32. When the first lifting portion 31 and the second lifting portion 32 move downward along the second direction, the first limiting buffer 36 and the second limiting buffer 37 can buffer and limit the first lifting portion 31 and the second lifting portion 32 respectively.

[0072] See also Fig. 9 Combined with Figure 1 In a possible implementation manner, the lifting mechanism 4 further includes a lifting component 42, and the lifting component 42 is arranged along the second direction (such as Fig. 9 The conveying platform 41 extends in the second direction (such as the Z direction shown in FIG. Figure 1 The lifting assembly 42 is slidably connected to the lifting assembly 42, and the lifting assembly 42 can drive the conveying platform 41 to move along the second direction (such as Fig. 9 The first position A1 and the second position A2 are switched by the first position A1 and the second position A2.

[0073] Exemplarily, the conveying platform 41 is a roller conveyor, but the embodiment of the present application does not limit this. Exemplarily, the lifting assembly 42 includes a lifting cylinder 421 and a linear slide 422, and the conveying platform 41 is connected to the lifting cylinder 421, and the lifting cylinder 421 can drive the conveying platform 41 to move up and down along the linear slide 422, but the embodiment of the present application does not limit this.

[0074] See also Fig. 9 Combined with Figure 1 In a possible implementation, the lifting mechanism 4 further includes a first positioning portion 43 and a second positioning portion 44, and the first positioning portion 43 and the second positioning portion 44 are respectively arranged on both sides of the conveying platform 41 along the third direction; in the second position, the first positioning portion 43 and the second positioning portion 44 can be moved along the third direction (such as Fig. 9 The first positioning portion 43 and the second positioning portion 44 extend outwardly (in the X direction shown in the figure) to clamp the first box body 110 or the second box body 120 on the conveying platform 41. Exemplarily, the first positioning portion 43 and the second positioning portion 44 are respectively rotary clamping cylinders, but the embodiment of the present application is not limited to this.

[0075] See also Figure 8 Combined with Figure 1 In a possible implementation, the stacking mechanism 6 includes a third lifting portion 61 and a third clamping portion 63 connected to each other, and a fourth lifting portion 62 and a fourth clamping portion 64 connected to each other.

[0076] The third lifting part 61 and the fourth lifting part 62 are arranged along the second direction (eg Figure 8 The Z direction shown in FIG. 1 ) extends along a third direction (such as Figure 1 The third lifting part 61 and the fourth lifting part 62 can respectively drive the third clamping part 63 and the fourth clamping part 64 to move along the second direction (such as the X direction shown in FIG. Figure 8 The Z direction shown in FIG. 2 moves up and down.

[0077] Exemplarily, the third lifting part 61 and the fourth lifting part 62 are lifting cylinders respectively, but the embodiment of the present application is not limited to this. As long as the third clamping part 63 and the fourth clamping part 64 can be driven to move up and down along the second direction, they are within the protection scope of the embodiment of the present application.

[0078] The third clamping portion 63 and the fourth clamping portion 64 can be arranged along a third direction (eg Figure 8 The third clamping portion 63 and the fourth clamping portion 64 can extend in the third direction (eg, the X direction shown in FIG. 1 ) to clamp the second box body 120 containing the material tray. Figure 8 The second box 120 containing the material tray is retracted (in the X direction shown in FIG. 1 ) to release the clamping force.

[0079] Exemplarily, the third clamping portion 63 and the fourth clamping portion 64 are clamping cylinders, Figure 8 Two clamps of the third clamping portion 63 and two clamps of the fourth clamping portion 64 are exemplarily shown, but the embodiment of the present application does not limit this. As long as they can clamp the second box body 120, they belong to the protection scope of the embodiment of the present application.

[0080] See also Figure 2 and Figure 6 The conveying mechanism 2 of the embodiment of the present application is provided with a plurality of stop parts 8, and the stacker / depalletizer of the embodiment of the present application further comprises a plurality of sensors 7. Exemplarily, the stop parts 8 and a part of the sensors 7 cooperate with each other to realize the above-mentioned circulation between the various mechanisms.

[0081] In a possible implementation, the sensor 7 includes a first sensor 71, and the first sensor 71 is used to detect whether the first part 211 drives the box assembly 100. Exemplarily, the first sensor 71 is arranged on a frame at the end of the first part 211, but the embodiment of the present application does not limit the location and manner of the arrangement of the first sensor 71. As long as the first sensor 71 can meet the above functions, it belongs to the protection scope of the embodiment of the present application. At the same time, a first stop portion 81 is provided at the end of the first part 211.

[0082] That is, if the first sensor 71 detects that the external box assembly 100 enters the first portion 211, the first stop portion 81 will move upward along the second direction (such as Figure 6 The box assembly 100 is moved in the Z1 direction (shown in FIG. 2 ) to position the box assembly 100 so that the box assembly 100 is stopped at the end of the first part 211.

[0083] Continue reading Figure 2 and Figure 6 In a possible implementation, the sensor 7 further includes a second sensor 72, and the second sensor 72 is used to detect whether the second part 212 drives the box assembly 100. Exemplarily, the second sensor 72 is arranged on a frame at the end of the second part 212, but the embodiment of the present application does not limit the location and manner of the second sensor 72. As long as the second sensor 72 can meet the above functions, it belongs to the protection scope of the embodiment of the present application. At the same time, a second stop portion 82 is provided at the end of the second part 212.

[0084] That is, if the second sensor 72 detects that there is no box assembly 100 on the second portion 212, the first stop portion 81 can move downward along the second direction (eg, Figure 6 The box assembly 100 is driven by the first part 211 to the second part 212, and at the same time the second stop portion 82 can move in the second direction (such as Figure 6The housing assembly 100 moves upward (in the Z1 direction shown in FIG. 1 ) so that the housing assembly 100 is stopped at the end of the second portion 212.

[0085] See also Figure 2 , Figure 6 and Fig. 9 In a possible implementation manner, the sensor 7 further includes a third sensor 73 , and the third sensor 73 is used to detect whether the conveying platform 41 of the lifting mechanism 4 is placed with the first box 110 or the second box 120 .

[0086] Exemplarily, the third sensor 73 is disposed on the conveying platform 41 , but the embodiment of the present application does not limit the location and manner of disposing the third sensor 73 . As long as the third sensor 73 can meet the above functions, it belongs to the protection scope of the embodiment of the present application.

[0087] That is, if the third sensor 73 detects that the second box 120 or the first box 110 is not provided on the conveying platform 41, then the second stop portion 82 can move downward along the second direction (such as Figure 6 If the second box 120 or the first box 110 originally located in the second part 212 and destacking the destacking mechanism 3 moves in the Z2 direction shown in FIG. 3 , the second box 120 or the first box 110 can continue to be driven by the second part 212 to the conveying platform 41.

[0088] See also Figure 2 and Figure 8 In a possible implementation, the sensor 7 further includes a fourth sensor 74, and the fourth sensor 74 is used to detect whether there is a second box 120 containing a material tray in the palletizing mechanism 6. Exemplarily, the fourth sensor 74 is arranged on the palletizing mechanism 6, but the embodiment of the present application does not limit the location and manner of the fourth sensor 74. As long as the fourth sensor 74 can meet the above functions, it belongs to the protection scope of the embodiment of the present application.

[0089] For example, when the fourth sensor 74 detects the second box 120 in the palletizing mechanism 6, the third clamping portion 63 and the fourth clamping portion 64 are moved along the third direction (eg Figure 8 The third lifting portion 61 and the fourth lifting portion 62 extend in the second direction (eg, Figure 8 The Z direction shown in FIG. 1 moves upward.

[0090] See also Figure 6 Combined with Figure 1 and Figure 2 In a possible implementation manner, the second transmission portion 22 is further provided with a third stop portion 83, along the first direction (such as Figure 2 The third stop portion 83 is located on the side of the palletizing mechanism 6 away from the second position A2 (ie Figure 2The third stop portion 83 can move along the second direction (as indicated by the Y2 direction in FIG. Figure 6 The second box body 120 containing the material tray is moved upward (in the Z direction shown in FIG. 1 ) to stop the second box body 120 containing the material tray, or to stop the first box body 110 containing the material tray.

[0091] See also Figures 2 to 6 Based on this, the following will combine the structures and functions of the above-mentioned mechanisms to systematically introduce the entire work flow of the stacker / depalletizer 1 in detail.

[0092] Step S1: See Figure 2 The box assembly 100 enters the first part 211 of the first conveying part 21 through, for example, an external conveying line (not shown in the figure), and the first part 211 drives the box assembly 100 to move leftward along the first direction (such as Figure 2 Y1 direction shown in FIG.

[0093] Step S2: See Figure 2 Combined with Figure 6 The first sensor 71 detects whether the box assembly 100 is driven on the first part 211. If the box assembly 100 is detected, the first stop portion 81 rises along the second direction (such as Figure 6 In the Z1 direction shown in FIG. 1 , the box assembly 100 is stopped at the position shown in FIG. Figure 2 The position shown (the end of the first portion 211).

[0094] Step S3: See Figure 3 Combined with Figure 2 and Figure 6 The second sensor 72 detects whether the box assembly 100 is driven on the second part 212. If the box assembly 100 is not detected, the first stop portion 81 descends along the second direction (such as Figure 6 The box assembly 100 on the first part 211 is driven to the second part 212 and is stopped at the position shown in FIG. Figure 3 The position shown (the end of the second part 212 and located at the above-mentioned destacking mechanism 3).

[0095] Step S4: See Figure 4 Combined with Figure 3 The first clamping portion 33 and the second clamping portion 34 of the destacking mechanism 3 are arranged along the third direction (eg Figure 4 The first lifting part 31 and the second lifting part 32 of the depalletizing mechanism 3 extend upward along the second direction (as shown in the X direction) to clamp the first box body 110 at the top of the box body assembly 100. At the same time, the first lifting part 31 and the second lifting part 32 of the depalletizing mechanism 3 extend upward along the second direction (as shown in the X direction) to clamp the first box body 110 at the top of the box body assembly 100. Figure 4 The first box body 110 and the second box body 120 are separated, and the destacking is completed.

[0096] Step S4: See Figure 4 Combined with Figure 1 The third sensor 73 detects whether the second box 120 is provided on the conveying platform 41. If the second box 120 is not detected, the second stop portion 82 descends along the second direction (eg Figure 4 The second box 120 on the second part 212 is driven to the first position A1 (as shown in the Z2 direction) of the conveying platform 41. Figure 1 shown).

[0097] Step S5: See Figure 4 and Fig. 9 The first positioning portion 43 and the second positioning portion 44 of the lifting mechanism 4 are arranged along the third direction (eg Figure 4 and Fig. 9 The second box 120 is extended in the X direction shown in the figure so that the second box 120 remains stationary in the conveying platform 41 (such as Figure 4 shown).

[0098] Step S6: See Figure 4 Combined with Figure 1 , the conveying platform 41 moves upward along the second direction to switch to the above-mentioned second position A2 (such as Figure 1 shown).

[0099] Step S7: Performed simultaneously with step S6. Figure 4 The first lifting part 31 and the second lifting part 32 of the depalletizing mechanism 3 move downward along the second direction (such as Figure 4 At the same time, the first clamping portion 33 and the second clamping portion 34 move along the third direction (such as Figure 4 The first box body 110 is retracted in the X direction shown in FIG. 2 , and at this time, the first box body 110 is placed in the second part 212.

[0100] Step S8: The first box 110 repeats the above steps S4 to S6.

[0101] Step S9: Based on step S6, the material discharging mechanism 5 starts to place the external material tray (not shown in the figure) into the second box body 120 at the second position.

[0102] Step S10: See Figure 4 and Fig. 9 When the number of trays in the second box 120 reaches the required number, the first positioning portion 43 and the second positioning portion 44 of the lifting mechanism 4 are moved along the third direction (such as Figure 4 and Fig. 9 The conveying platform 41 retracts the second box 120 in the X direction shown in FIG. 2 , and at the same time, the conveying platform 41 drives the second box 120 to the second conveying portion 22.

[0103] Step S11: See Figure 4 and Figure 6 The third stop portion 83 rises along the second direction (eg Figure 4 and Figure 6 The second box body 120 is stopped at the position of the third stop portion 83 (located at the above-mentioned stacking mechanism 6).

[0104] Step S12: After the first box 110 completes step S8, the first box 110 continues to repeat steps S9 and S10.

[0105] Step S13: See Figure 5 The fourth sensor 74 detects whether the second box 120 in the palletizing mechanism 6 is in place. If so, the third clamping portion 63 and the fourth clamping portion 64 of the palletizing mechanism 6 are moved along the third direction (such as Figure 5 At the same time, the third lifting part 61 and the fourth lifting part 62 of the stacking mechanism 6 extend upward along the second direction (as shown in the X direction) to clamp the second box body 120. Figure 5 The second box 120 moves in the Z1 direction shown in FIG. 1 , and at this time the second box 120 is lifted.

[0106] Step S14: Based on step S13, refer to Figure 4 and Figure 6 , the first box body 110 is stopped at the position of the third stop portion 83 (located at the above-mentioned stacking mechanism 6).

[0107] Step S15: Based on step S14, refer to Figure 5 The third lifting part 61 and the fourth lifting part 62 of the stacking mechanism 6 move downward along the second direction (such as Figure 5 At this time, the second box 120 is stacked on top of the first box 110 to complete the palletizing.

[0108] Step S16: See Figure 1 and Figure 2 The third stop portion 83 descends along the second direction (eg Figure 6 The box assembly 100 loaded with the tray and stacked together again after changing the direction moves rightward along the first direction (as shown in the Z2 direction) under the drive of the second conveying part 22. Figure 1 Y2 direction shown in the figure) to be transported to the next workstation (such as an external warehouse conveyor line, not shown in the figure).

[0109] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above contents are further detailed descriptions of the present invention in combination with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A stacker and depalletizer for a box assembly, the box assembly comprising a first box and a second box stacked one above the other, the first box being located at the top, characterized in that: The stacker / destacker comprises: A conveying mechanism, used for driving the box assembly to move along a first direction, the conveying mechanism comprising a first conveying part and a second conveying part arranged at intervals along a second direction, the first conveying part being located at the bottom, the first conveying part being used for conveying an empty box assembly, and the second conveying part being used for conveying a box assembly loaded with a tray; a destacking mechanism connected to the first conveying part in a manner of moving up and down along the second direction, the destacking mechanism being used to clamp the first box body to separate the first box body from the second box body, or to place the first box body on the first conveying part; The lifting mechanism comprises a conveying platform, the conveying platform is used to move up and down along the second direction to switch between a first position and a second position; in the first position, the conveying platform is used to receive the second box or the first box from the first conveying part; in the second position, the second box or the first box is placed in a material tray, and the conveying platform is used to convey the first box or the second box with the material tray to the second conveying part; A stacking mechanism is connected to the second conveying part in a manner of moving up and down along the second direction, and the stacking mechanism is used to clamp the second box body containing the material tray to lift the second box body containing the material tray or stack the second box body on top of the first box body containing the material tray; the first direction and the second direction intersect.

2. The stacker-destacker according to claim 1, characterized in that: The depalletizing mechanism comprises a first lifting part and a first clamping part connected to each other, and a second lifting part and a second clamping part connected to each other, wherein: along the third direction, the first lifting part and the second lifting part are respectively arranged on both sides of the first conveying part; the first lifting part and the second lifting part are used to respectively drive the first clamping part and the second clamping part to move up and down along the second direction; the first clamping part and the second clamping part are used to extend along the third direction to clamp the first box body, and the first clamping part and the second clamping part are used to retract along the third direction to release the first box body.

3. The stacker-destacker according to claim 1, characterized in that: The lifting mechanism also includes a lifting component, which extends along the second direction. The conveying platform is connected to the lifting component in a slidable manner along the second direction. The lifting component is used to drive the conveying platform to move along the second direction to switch between the first position and the second position.

4. The stacker-destacker according to claim 1, characterized in that: The lifting mechanism also includes a first positioning portion and a second positioning portion, and the first positioning portion and the second positioning portion are respectively arranged on both sides of the conveying platform along the third direction; in the second position, the first positioning portion and the second positioning portion are used to extend along the third direction to clamp the first box body or the second box body on the conveying platform.

5. The stacker-depalletizer according to claim 1, characterized in that: The stacking mechanism includes a third lifting part and a third clamping part connected to each other, and a fourth lifting part and a fourth clamping part connected to each other, wherein: along the third direction, the third lifting part and the fourth lifting part are respectively arranged on both sides of the second conveying part; the third lifting part and the fourth lifting part are used to respectively drive the third clamping part and the fourth clamping part to move up and down along the second direction; the third clamping part and the fourth clamping part are used to extend along the third direction to clamp the second box body containing the material tray, and the third clamping part and the fourth clamping part are used to retract along the third direction to release the second box body containing the material tray.

6. The stacker-depalletizer according to claim 5, characterized in that: The first conveying part includes a first part and a second part connected to each other; the stacker and depalletizer also includes a first sensor, which is used to detect whether the box assembly is placed in the first part, and a first stop part is provided at the end of the first part; when the box assembly is placed in the first part, the first stop part is used to move upward along the second direction to stop the box assembly.

7. The stacker-depalletizer according to claim 6, characterized in that: It also includes a second sensor, which is used to detect whether the box assembly is placed in the second part. A second stop portion is provided at the end of the second part. When the box assembly is not placed in the second part, the first stop portion is used to move downward along the second direction, and the second stop portion is used to move upward along the second direction, so that the box assembly is transported from the first part to the second part and is stopped by the second stop portion.

8. The stacker-depalletizer according to claim 7, characterized in that: It also includes a third sensor, which is used to detect whether the first box or the second box is placed on the conveying platform of the lifting mechanism. When the second box or the first box is not placed on the conveying platform, the second stop portion is used to move downward along the second direction so that the second box or the first box is driven to the conveying platform by the second part.

9. The stacker-depalletizer according to claim 8, characterized in that: It also includes a fourth sensor, which is used to detect whether the second box containing the material tray is placed in the stacking mechanism. When the fourth sensor detects the second box in the stacking mechanism, the third clamping part and the fourth clamping part extend along the third direction, and the third lifting part and the fourth lifting part move upward along the second direction.

10. The stacker-depalletizer according to claim 1, characterized in that: The second conveying part is provided with a third stop part, and along the first direction, the third stop part is located on the side of the stacking mechanism away from the second position, and the third stop part is used to move upward along the second direction to stop the second box body containing the material tray, or to stop the first box body containing the material tray.

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