Efficient automatic unstacking device

Abstract

An efficient automatic unstacking device belongs to the technical field of unstacking and comprises a rack, a stacking tray lifting and rotating conveyor is arranged below the middle of the rack, a horizontally-arranged transverse transferring mechanism is arranged at the upper end of the rack, and a three-marshalling suction cup lifting mechanism and a two-marshalling suction cup lifting mechanism are sequentially arranged on the transverse transferring mechanism from left to right. Two groups of material bag conveyors are symmetrically arranged in the middles of the left side and the right side of the rack, and the stacking tray lifting and rotating conveyors can rotate second-group and third-group material bags on the uppermost layer of a stacking tray to correspond to second groups of suction cups on a second-group suction cup lifting mechanism and three groups of suction cups on a third-group suction cup lifting mechanism respectively; the transverse transferring mechanism can synchronously and reversely transfer the third-grouping suction cup lifting mechanism and the second-grouping suction cup lifting mechanism to the position above the material bag conveyor. According to the utility model, the whole layer of material bags of second and third marshalling stacking trays can be simultaneously disassembled at one time, so that the unstacking working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to an efficient automatic palletizing device, belonging to the technical field of palletizing. Background Art

[0002] In the existing palletizing technologies, most of them use robots equipped with palletizing devices for automatic palletizing operations. The patent document CN 212768613U discloses a special robot for automatic palletizing, which uses a six-axis robot equipped with a palletizing device to make the palletizing device reach the designated position of each layer of the pallet stack and convey the material bags to the palletizing device one by one, and then transfer them to the designated position. Although this structure can realize the automatic palletizing of the whole stack of material bags, it can only split one material bag at a time, and its working efficiency is low; the patent document CN214569167U discloses an automatic palletizing robot suction cup, which uses a robot equipped with three groups of palletizing suction cups. When palletizing, three material bags on the pallet stack can be sucked each time. This structure can further improve the working efficiency of palletizing. However, if it is a pallet A with a two-three grouping stack type as Figure 2 shown, it cannot complete the palletizing of the whole layer of material bags at one time. In addition, when palletizing two-grouping material bags each time, one group of suction cups will not perform the palletizing work, and the efficiency cannot be maximized. Summary of the Utility Model

[0003] In order to solve the problems of low palletizing efficiency and inability to complete the whole-layer palletizing of the two-three grouping stack type at one time in the existing technology, the utility model provides an efficient automatic palletizing device, which includes a frame 1. A pallet stack lifting and rotating conveyor 2 is arranged below the middle part of the frame 1. A horizontally arranged transverse transfer mechanism 3 is arranged at the upper end of the frame 1. A three-grouping suction cup lifting mechanism 4 and a two-grouping suction cup lifting mechanism 5 are successively arranged on the transverse transfer mechanism 3 from left to right. Two groups of material bag conveyors 6 are symmetrically arranged at the middle parts of the left and right sides of the frame 1. The pallet stack lifting and rotating conveyor 2 can rotate the two-three grouping material bags on the top layer of the pallet A to correspond to the two suction cups on the two-grouping suction cup lifting mechanism 5 and the three suction cups on the three-grouping suction cup lifting mechanism 4 respectively. The transverse transfer mechanism 3 can synchronously and reversely transfer the three-grouping suction cup lifting mechanism 4 and the two-grouping suction cup lifting mechanism 5 above the material bag conveyor 6.

[0004] The transverse transfer mechanism 3 is a synchronous belt drive structure.

[0005] The three - group suction cup lifting mechanism 4 includes a three - group transfer trolley 41. The three - group transfer trolley 41 slides within the lateral transfer mechanism 3. The front and rear ends of the three - group transfer trolley 41 are connected to the lower synchronous belt of the lateral transfer mechanism 3. A longitudinal transfer mechanism 45 is provided at the upper end of the three - group transfer trolley 41. The longitudinal transfer mechanism 45 is a synchronous - belt drive structure, and the conveying direction of the longitudinal transfer mechanism 45 is perpendicular to the conveying direction of the lateral transfer mechanism 3. A first lifting mechanism 42 is provided at the front of the three - group transfer trolley 41. The middle part of the first lifting mechanism 42 is connected to the lower synchronous belt of the longitudinal transfer mechanism 45. A third lifting mechanism 44 is provided at the rear of the three - group transfer trolley 41. The middle part of the third lifting mechanism 44 is connected to the upper synchronous belt of the longitudinal transfer mechanism 45. The first lifting mechanism 42 and the third lifting mechanism 44 can slide within the three - group transfer trolley 41. First rotary suction cups 46 are provided at the lower ends of the first lifting mechanism 42 and the third lifting mechanism 44. A second lifting mechanism 43 is provided in the middle of the three - group transfer trolley 41. The middle part of the second lifting mechanism 43 is fixed on the three - group transfer trolley 41. A second rotary suction cup 47 is provided at the lower end of the second lifting mechanism 43.

[0006] The first lifting mechanism 42 includes a base 421. Walking wheels 422 are provided on both sides of the base 421. The walking wheels 422 slide within the three - group transfer trolley 41. A clamping plate 423 is provided in the middle of the base 421. The clamping plate 423 is connected to the lower synchronous belt of the longitudinal transfer mechanism 45. A lifting tube 425 is provided inside the base 421. The upper end of the lifting tube 425 is connected to a lifting frame 427. The lower end of the lifting tube 425 is connected to the first rotary suction cup 46. A cylinder mounting plate 424 is provided at the upper end of the base 421. The cylinder mounting plate 424 is hinged to the cylinder body of a three - group lifting cylinder 426. The cylinder rod of the three - group lifting cylinder 426 is connected to the lifting frame 427.

[0007] The first rotary suction cup 46 includes a first suction cup 461. The first suction cup 461 is driven by a rotary cylinder 462 to achieve a 90 - degree horizontal rotation.

[0008] The second lifting mechanism 43 includes a fixed seat 431. The lower end of the fixed seat 431 is connected to the three - group transfer trolley 41. A lifting tube 425 is provided inside the fixed seat 431. The upper end of the lifting tube 425 is connected to a lifting frame 427. The lower end of the lifting tube 425 is connected to the second rotary suction cup 47. The upper end of the fixed seat 431 is hinged to the cylinder body of a three - group lifting cylinder 426. The cylinder rod of the three - group lifting cylinder 426 is connected to the lifting frame 427.

[0009] The second rotary suction cup 47 includes a second suction cup 471. The second suction cup 471 is driven by a torque motor 472 to achieve a 90 - degree horizontal rotation.

[0010] The two - group suction cup lifting mechanism 5 includes a two - group transfer trolley 51. The two - group transfer trolley 51 slides within the lateral transfer mechanism 3. The front and rear ends of the two - group transfer trolley 51 are connected to the upper synchronous belt of the lateral transfer mechanism 3. Two groups of fourth lifting mechanisms 52 are sequentially arranged along the front - rear direction of the two - group transfer trolley 51. A third suction cup 53 is provided at the lower end of the fourth lifting mechanism 52.

[0011] The fourth lifting mechanism 52 includes a connecting seat 521. The lower end of the connecting seat 521 is connected to the two - group transfer trolley 51. The upper end of the connecting seat 521 is hinged to the cylinder body of the two - group lifting cylinder 522. The cylinder rod of the two - group lifting cylinder 522 is connected to the second lifting frame 524. A second lifting tube 523 is arranged inside the connecting seat 521. The upper end of the second lifting tube 523 is connected to the second lifting frame 524, and the lower end of the second lifting tube 523 is connected to the third suction cup 53.

[0012] The working principle of the present utility model is as follows:

[0013] A. The stacker - reclaimer 2 drives the stack A to rotate and lift, so that the two - three - group material bags on the top layer of the stack A correspond to the two - group suction cup lifting mechanism 5 and the three - group suction cup lifting mechanism 4. Two groups of first suction cups 461 and one group of second suction cups 471 and two groups of third suction cups 53 respectively suck the material bags on the lower stack A.

[0014] B. The three - group lifting cylinder 426 drives the lifting frame 427 and the lifting tube 425 to move vertically upward. At the same time, the two - group lifting cylinder 522 drives the second lifting frame 524 and the second lifting tube 523 to move vertically upward, so that the sucked material bags are lifted upward. At the same time, the lateral transfer mechanism 3 drives the two - group suction cup lifting mechanism 5 and the three - group suction cup lifting mechanism 4, so that the three - group suction cup lifting mechanism 4 moves horizontally to the left, and the two - group suction cup lifting mechanism 5 moves horizontally to the right synchronously.

[0015] C. During the process of the three - group suction cup lifting mechanism 4 moving horizontally to the left, the longitudinal transfer mechanism 45 drives the first lifting mechanism 42 and the third lifting mechanism 44, so that the first lifting mechanism 42 moves horizontally forward, and the third lifting mechanism 44 moves horizontally backward. At the same time, the rotary cylinder 462 drives the first suction cup 461 to rotate horizontally by 90 degrees, and the torque motor 472 drives the second suction cup 471 to rotate horizontally by 90 degrees, so that the sucked material bags are rotated from horizontal to vertical, and finally reach above the material bag conveyor 6 synchronously. At this time, the stacker - reclaimer 2 rotates horizontally by 180 degrees and lifts the next - layer material bags upward.

[0016] D. Two groups of first suction cups 461, one group of second suction cups 471 and two groups of third suction cups 53 release the plastic bags simultaneously, placing the plastic bags on the plastic bag conveyor 6. The two-group suction cup lifting mechanism 5 and the three-group suction cup lifting mechanism 4 return to their initial positions. The plastic bag conveyor 6 conveys the plastic bags, causing the split plastic bags to converge on the subsequent conveyor for the next process.

[0017] The beneficial effects of the present utility model are as follows:

[0018] A. By utilizing the cooperation of the two-group suction cup lifting mechanism 5, the three-group suction cup lifting mechanism 4 provided on the lateral transfer mechanism 3, and the stack pallet lifting and rotating conveyor 2, it can simultaneously disassemble the entire layer of plastic bags on the stack pallet A at one time, improving the unstacking work efficiency of the two- and three-group stack patterns and enhancing the overall production efficiency.

[0019] B. By utilizing the longitudinal transfer mechanism 45 provided on the three-group suction cup lifting mechanism 4, the first lifting mechanism 42 and the third lifting mechanism 44 can move synchronously in opposite directions, dispersing the already sucked plastic bags, enabling the plastic bags to have sufficient space to rotate from horizontal to vertical, meeting the requirement of longitudinally conveying the plastic bags.

[0020] C. A torque motor 472 is provided on the second rotating suction cup 47 at the middle position, which occupies a small space and has a compact layout, meeting the requirement that the plastic bags can rotate horizontally synchronously when sucking the three-group plastic bags. Description of the Drawings

[0021] Figure 1 is the three-dimensional axonometric view of the present utility model.

[0022] Figure 2 is the schematic structural view of the stack pallet A of the two- and three-group stack pattern.

[0023] Figure 3 is the schematic structural view of the three-group suction cup lifting mechanism 4.

[0024] Figure 4 is the schematic structural view of the first lifting mechanism 42 and the first rotating suction cup 46.

[0025] Figure 5 is the schematic structural view of the second lifting mechanism 43 and the second rotating suction cup 47.

[0026] Figure 6 is the schematic structural view of the two-group suction cup lifting mechanism 5.

[0027] Figure 7 is the schematic structural view of the fourth lifting mechanism 52.

[0028] Figure 8 is the schematic view of the state of sucking the entire layer of plastic bags.

[0029] Figure 9 It is a schematic diagram of the state where the whole-layer material bags are transferred in place. Specific embodiments

[0030] For the specific embodiments of the present utility model, refer to Figures 1 to 9 , an efficient automatic palletizing and depalletizing device, which includes a frame 1. Below the middle of the frame 1, there is a pallet lifting and rotating conveyor 2. At the upper end of the frame 1, there is a horizontally arranged transverse transfer mechanism 3. On the transverse transfer mechanism 3, there are a three-group suction cup lifting mechanism 4 and a two-group suction cup lifting mechanism 5 arranged in sequence from left to right. In the middle of the left and right sides of the frame 1, there are symmetrically arranged two groups of material bag conveyors 6. The pallet lifting and rotating conveyor 2 can rotate the two-three group material bags on the top layer of the pallet A to correspond to the two groups of suction cups on the two-group suction cup lifting mechanism 5 and the three groups of suction cups on the three-group suction cup lifting mechanism 4 respectively. The transverse transfer mechanism 3 can synchronously and reversely transfer the three-group suction cup lifting mechanism 4 and the two-group suction cup lifting mechanism 5 above the material bag conveyor 6.

[0031] The transverse transfer mechanism 3 is a synchronous belt drive structure. The three-group suction cup lifting mechanism 4 includes a three-group transfer trolley 41. The three-group transfer trolley 41 slides in the transverse transfer mechanism 3. The front and rear ends of the three-group transfer trolley 41 are connected to the lower synchronous belt of the transverse transfer mechanism 3. At the upper end of the three-group transfer trolley 41, there is a longitudinal transfer mechanism 45. The longitudinal transfer mechanism 45 is a synchronous belt drive structure. The conveying direction of the longitudinal transfer mechanism 45 is perpendicular to the conveying direction of the transverse transfer mechanism 3. At the front of the three-group transfer trolley 41, there is a first lifting mechanism 42. The middle of the first lifting mechanism 42 is connected to the lower synchronous belt of the longitudinal transfer mechanism 45. At the rear of the three-group transfer trolley 41, there is a third lifting mechanism 44. The middle of the third lifting mechanism 44 is connected to the upper synchronous belt of the longitudinal transfer mechanism 45. The first lifting mechanism 42 and the third lifting mechanism 44 can slide in the three-group transfer trolley 41. At the lower ends of the first lifting mechanism 42 and the third lifting mechanism 44, there are both first rotating suction cups 46. In the middle of the three-group transfer trolley 41, there is a second lifting mechanism 43. The middle of the second lifting mechanism 43 is fixed on the three-group transfer trolley 41. At the lower end of the second lifting mechanism 43, there is a second rotating suction cup 47.

[0032] The first lifting mechanism 42 includes a base 421. Walking wheels 422 are provided on both sides of the base 421. The walking wheels 422 slide within the three - formation transfer trolley 41. A clamping plate 423 is provided in the middle of the base 421. The clamping plate 423 is connected to the lower synchronous belt of the longitudinal transfer mechanism 45. A lifting tube 425 is provided inside the base 421. The upper end of the lifting tube 425 is connected to the lifting frame 427. The lower end of the lifting tube 425 is connected to the first rotary suction cup 46. A cylinder mounting plate 424 is provided at the upper end of the base 421. The cylinder mounting plate 424 is hinged to the cylinder body of the three - formation lifting cylinder 426. The cylinder rod of the three - formation lifting cylinder 426 is connected to the lifting frame 427.

[0033] The first rotary suction cup 46 includes a first suction cup 461. The first suction cup 461 is driven by a rotary cylinder 462 to achieve a 90 - degree horizontal rotation.

[0034] The second lifting mechanism 43 includes a fixed seat 431. The lower end of the fixed seat 431 is connected to the three - formation transfer trolley 41. A lifting tube 425 is provided inside the fixed seat 431. The upper end of the lifting tube 425 is connected to the lifting frame 427. The lower end of the lifting tube 425 is connected to the second rotary suction cup 47. The upper end of the fixed seat 431 is hinged to the cylinder body of the three - formation lifting cylinder 426. The cylinder rod of the three - formation lifting cylinder 426 is connected to the lifting frame 427.

[0035] The second rotary suction cup 47 includes a second suction cup 471. The second suction cup 471 is driven by a torque motor 472 to achieve a 90 - degree horizontal rotation.

[0036] The two - formation suction cup lifting mechanism 5 includes a two - formation transfer trolley 51. The two - formation transfer trolley 51 slides within the lateral transfer mechanism 3. The front and rear ends of the two - formation transfer trolley 51 are connected to the upper synchronous belt of the lateral transfer mechanism 3. Two groups of fourth lifting mechanisms 52 are arranged in sequence along the front - rear direction of the two - formation transfer trolley 51. The lower end of the fourth lifting mechanism 52 is provided with a third suction cup 53.

[0037] The fourth lifting mechanism 52 includes a connecting seat 521. The lower end of the connecting seat 521 is connected to the two - formation transfer trolley 51. The upper end of the connecting seat 521 is hinged to the cylinder body of the two - formation lifting cylinder 522. The cylinder rod of the two - formation lifting cylinder 522 is connected to the second lifting frame 524. A second lifting tube 523 is provided inside the connecting seat 521. The upper end of the second lifting tube 523 is connected to the second lifting frame 524. The lower end of the second lifting tube 523 is connected to the third suction cup 53.

Claims

1. An efficient automatic palletizing and depalletizing device, which comprises a frame (1), and a pallet lifting and rotating conveyor (2) is arranged below the middle part of the frame (1), and is characterized in that: A horizontal transfer mechanism (3) is arranged at the upper end of the frame (1). From left to right on the horizontal transfer mechanism (3), a three-group suction cup lifting mechanism (4) and a two-group suction cup lifting mechanism (5) are successively arranged. Two groups of bag conveyors (6) are symmetrically arranged in the middle of the left and right sides of the frame (1). The pallet lifting and rotating conveyor (2) can rotate the second and third group of bags on the top layer of the pallet (A) to correspond to the two suction cups on the two-group suction cup lifting mechanism (5) and the three suction cups on the three-group suction cup lifting mechanism (4) respectively. The horizontal transfer mechanism (3) can synchronously and reversely transfer the three-group suction cup lifting mechanism (4) and the two-group suction cup lifting mechanism (5) above the bag conveyor (6).

2. The high-efficiency automatic palletizing and depalletizing device according to claim 1, wherein: The horizontal transfer mechanism (3) is a synchronous belt drive structure.

3. An efficient automatic palletizing and depalletizing device according to claim 2, characterized in that: The three-group suction cup lifting mechanism (4) includes a three-group transfer trolley (41). The three-group transfer trolley (41) slides within the horizontal transfer mechanism (3). The front and rear ends of the three-group transfer trolley (41) are connected to the lower synchronous belt of the horizontal transfer mechanism (3). A longitudinal transfer mechanism (45) is arranged at the upper end of the three-group transfer trolley (41). The longitudinal transfer mechanism (45) is a synchronous belt drive structure. The conveying direction of the longitudinal transfer mechanism (45) is perpendicular to the conveying direction of the horizontal transfer mechanism (3). A first lifting mechanism (42) is arranged at the front of the three-group transfer trolley (41). The middle part of the first lifting mechanism (42) is connected to the lower synchronous belt of the longitudinal transfer mechanism (45). A third lifting mechanism (44) is arranged at the rear of the three-group transfer trolley (41). The middle part of the third lifting mechanism (44) is connected to the upper synchronous belt of the longitudinal transfer mechanism (45). The first lifting mechanism (42) and the third lifting mechanism (44) can slide within the three-group transfer trolley (41). First rotary suction cups (46) are arranged at the lower ends of the first lifting mechanism (42) and the third lifting mechanism (44). A second lifting mechanism (43) is arranged in the middle of the three-group transfer trolley (41). The middle part of the second lifting mechanism (43) is fixed on the three-group transfer trolley (41). A second rotary suction cup (47) is arranged at the lower end of the second lifting mechanism (43).

4. An efficient automatic palletizing and depalletizing device according to claim 3, characterized in that: The first lifting mechanism (42) includes a base (421). Walking wheels (422) are arranged on both sides of the base (421). The walking wheels (422) slide within the three-group transfer trolley (41). A clamping plate (423) is arranged in the middle of the base (421). The clamping plate (423) is connected to the lower synchronous belt of the longitudinal transfer mechanism (45). A lifting tube (425) is arranged inside the base (421). The upper end of the lifting tube (425) is connected to a lifting frame (427). The lower end of the lifting tube (425) is connected to the first rotary suction cup (46). A cylinder mounting plate (424) is arranged at the upper end of the base (421). The cylinder mounting plate (424) is hinged to the cylinder body of a three-group lifting cylinder (426). The cylinder rod of the three-group lifting cylinder (426) is connected to the lifting frame (427).

5. An efficient automatic palletizing and depalletizing device according to claim 3, characterized in that: The first rotary suction cup (46) includes a first suction cup (461), and the first suction cup (461) is driven by a rotary cylinder (462) to achieve a 90-degree horizontal rotation.

6. The high-efficiency automatic palletizing and depalletizing device according to claim 3, wherein: The second lifting mechanism (43) includes a fixed seat (431). The lower end of the fixed seat (431) is connected to the three-group transfer trolley (41). An elevating pipe (425) is provided inside the fixed seat (431). The upper end of the elevating pipe (425) is connected to the lifting frame (427), and the lower end of the elevating pipe (425) is connected to the second rotary suction cup (47). The upper end of the fixed seat (431) is hinged to the cylinder block of the three-group lifting cylinder (426), and the cylinder rod of the three-group lifting cylinder (426) is connected to the lifting frame (427).

7. An efficient automatic palletizing and depalletizing device according to claim 3, characterized in that: The second rotary suction cup (47) includes a second suction cup (471), and the second suction cup (471) is driven by a torque motor (472) to achieve a 90-degree horizontal rotation.

8. The high-efficiency automatic palletizing and depalletizing device according to claim 2, wherein: The two-group suction cup lifting mechanism (5) includes a two-group transfer trolley (51). The two-group transfer trolley (51) slides in the lateral transfer mechanism (3). The front and rear ends of the two-group transfer trolley (51) are connected to the upper synchronous belt of the lateral transfer mechanism (3). Two sets of fourth lifting mechanisms (52) are sequentially arranged in the front-rear direction of the two-group transfer trolley (51), and a third suction cup (53) is provided at the lower end of the fourth lifting mechanism (52).

9. An efficient automatic palletizing and depalletizing device according to claim 8, characterized in that: The fourth lifting mechanism (52) includes a connecting seat (521). The lower end of the connecting seat (521) is connected to the two-group transfer trolley (51). The upper end of the connecting seat (521) is hinged to the cylinder block of the two-group lifting cylinder (522), and the cylinder rod of the two-group lifting cylinder (522) is connected to the second lifting frame (524). A second elevating pipe (523) is provided inside the connecting seat (521). The upper end of the second elevating pipe (523) is connected to the second lifting frame (524), and the lower end of the second elevating pipe (523) is connected to the third suction cup (53).

Images