Unstacking device and system for cartons

Abstract

The utility model discloses an unstacking device and system for cartons, which comprises a grabbing plate component and a clamping plate component, the grabbing plate component comprises a grabbing plate, the plate surface of the grabbing plate vertically extends, the grabbing plate is provided with a friction surface with a rough surface, the friction surface is in extrusion contact with the side surface of a carton stack, the grabbing plate can vertically ascend and descend, and when the grabbing plate ascends, the grabbing plate upwards grabs the cartons acting with the friction surface through friction force; the pressing plate assembly comprises a pressing plate with the plate face extending transversely, and the pressing plate is arranged on the front side of the friction face of the grabbing plate in a lifting mode. The inserting plate assembly comprises an inserting plate with the plate face extending transversely, the inserting plate can be transversely and movably arranged below the grabbing plate, and the transverse movement range of the inserting plate is from being completely located on the rear side of the friction face to being at least partially located on the front side of the friction face. According to the carton clamping device, tightly stacked cartons can be separated through the grabbing plate, the inserting plate can be smoothly inserted below a target carton, and through the vertical clamping effect of the pressing plate and the inserting plate, high-adaptability clamping can be achieved regardless of the specifications of the cartons.

Description

Technical Field

[0001] The utility model relates to a palletizing and depalletizing device and system for cardboard boxes. Background Art

[0002] Generally, cardboard boxes are stored and transported in stacks. Each stack consists of two rows of flat and unfolded cardboard boxes stacked in sequence on a pallet, constructing an efficient and highly space - utilized storage mode. However, in traditional production lines, the depalletizing of cardboard box stacks relies on manual labor to break them into groups of 60 - 80 sheets for feeding to the paper wrapping machine. In this mode, the labor intensity is high and the working hours are long, becoming a bottleneck for improving production efficiency.

[0003] The core of the mechanization challenge in depalletizing cardboard box stacks lies in the narrow gaps between the stacked cardboard boxes and the variability of the cardboard boxes. In the exploration of mechanized depalletizing, there is a lack of suitable equipment to effectively separate these closely stacked cardboard boxes. In addition, the sizes and shapes of cardboard boxes vary widely, which makes traditional palletizing and depalletizing machinery may not be able to adapt to cardboard boxes with a wide variety of product specifications and frequent new additions, further increasing the difficulty of mechanization. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide a depalletizing device and system for cardboard boxes that can separate closely stacked cardboard boxes and has strong adaptability to cardboard boxes of different specifications in view of the above - mentioned technical status.

[0005] The technical solution adopted by the utility model to solve the above - mentioned technical problem is as follows: A depalletizing device for cardboard boxes, which includes a device frame. It is characterized by including

[0006] A grab - plate assembly, including a grab - plate with a vertically extending plate surface. The grab - plate has a friction surface with a rough surface, and the friction surface is in extrusion contact with the side surface of the cardboard box stack. The grab - plate can be vertically lifted and lowered. When the grab - plate rises, it grabs the cardboard box acting on the friction surface upward through friction.

[0007] A pressing - plate assembly, including a pressing - plate with a horizontally extending plate surface. The pressing - plate is arranged in a liftable manner in front of the friction surface of the grab - plate.

[0008] An inserting - plate assembly, including an inserting - plate with a horizontally extending plate surface. The inserting - plate is arranged to be horizontally movable below the grab - plate, and the horizontal movement range of the inserting - plate is from being completely behind the friction surface to at least partially in front of the friction surface.

[0009] When depalletizing the cardboard box stack, there may be some cardboard boxes with a relatively thin thickness left at the end that cannot be grabbed by the grab - plate. To handle this situation, preferably, the depalletizing device further includes a suction - cup assembly. The suction - cup assembly includes a suction - cup and a suction - cup mounting plate for mounting the suction - cup. The plate surface of the suction - cup mounting plate extends horizontally and is arranged to be vertically liftable and lowerable in front of the friction surface.

[0010] Furthermore, a hollow portion is provided in the middle of the pressing plate, and the suction cup mounting plate can pass through this hollow portion when ascending and descending.

[0011] After the depalletizing of the cardboard box stack is completed, in order to facilitate the handling of the pallet left on the handling station, preferably, the depalletizing device further includes a fork pallet assembly, which includes a fork pallet swing rod and a fork pallet swing arm. The fork pallet swing arm is swingably connected to a fork pallet swing shaft perpendicular to the friction surface. One end of the fork pallet swing arm is fixedly connected to the fork pallet swing rod to form an L shape. The fork pallet swing rod can swing between the side of the cardboard box stack and under the pallet driven by the fork pallet swing arm.

[0012] Specifically, the fork pallet assembly includes two symmetrically arranged fork pallet swing arms. Each of the two fork pallet swing arms is fixedly connected to a fork pallet swing rod. A chute extending along the length direction is provided at the end of the fork pallet swing arm far from the fork pallet swing rod. The fork pallet assembly further includes a lifting rod and a fork pallet cylinder. The lifting rod passes through the chute to string the two swing arms together. The piston of the fork pallet cylinder drives the lifting rod to vertically ascend and descend.

[0013] Specifically, the device frame further includes a main frame in the shape of a cuboid. Other structures of the depalletizing device are directly or indirectly arranged on the main frame. The gripping plate is installed on the front side of the main frame, the swing rod is installed on the rear side of the main frame, the inserting plate is installed on the lower side of the main frame, and an interface flange for connecting to other components of the depalletizing system is provided on the top surface of the main frame.

[0014] Furthermore, a vertically extending gripping plate guide rail is provided on the front side of the main frame. A gripping plate slider is fixed to the rear side of the gripping plate. The gripping plate slider is arranged on the gripping plate slide rail. The gripping plate assembly further includes a gripping plate cylinder. The gripping plate cylinder is inside the main frame and fixedly connected to the top surface of the main frame. A piston connecting member is provided at the piston of the gripping plate cylinder, and one end of the piston connecting member is connected to the piston, and the other end is connected to the rear side of the gripping plate. The piston of the gripping plate cylinder moves vertically and drives the gripping plate to move synchronously.

[0015] Furthermore, a vertically extending pressing plate guide rail is provided on the side of the main frame. The pressing plate is fixed to a pressing plate slider. The pressing plate slider is arranged on the pressing plate guide rail. The pressing plate assembly further includes a pressing plate cylinder, a pressing plate pull rod, and two pressing plate swing rods. The pressing plate cylinder is inside the main frame and rotatably connected to the top surface of the main frame. The piston of the pressing plate cylinder is connected to the middle of the pressing plate pull rod. The two ends of the pressing plate pull rod are respectively connected to the middle of the two pressing plate swing rods. One end of the pressing plate swing rod is connected to the pressing plate slider, and the other end is rotatably connected to the side of the main frame.

[0016] Further, a horizontally extending insertion plate guide rail is provided on the side of the main frame. The insertion plate is fixed to an insertion plate slider, and the insertion plate slider is arranged on the insertion plate guide rail. The insertion plate assembly further includes a first insertion plate cylinder and a second insertion plate cylinder within the main frame. The first insertion plate cylinder is fixed to the rear side of the main frame with its piston facing the front side of the main frame, and the second insertion plate cylinder is fixed to the upper surface of the insertion plate with its piston facing the rear side of the main frame. A piston connecting piece connects the piston of the first insertion plate cylinder to the piston of the second insertion plate cylinder.

[0017] The present utility model also proposes a technical solution: a palletizing and depalletizing system for cartons, characterized in that the above-mentioned depalletizing device is applied.

[0018] Compared with the prior art, the depalletizing device of the present utility model is provided with a gripping plate. When the gripping plate rises, it grabs the cardboard boxes in contact with the friction surface through friction, effectively creating a gap between this part of the cardboard boxes and other stacked cardboard boxes. Then, the insertion plate is horizontally inserted below the grabbed cardboard boxes, and then the pressing plate descends and presses tightly to form a firm clamping with the insertion plate, ensuring that this part of the cardboard boxes is firmly fixed. Subsequently, by controlling the movement of the depalletizing device of the present utility model, the separated cardboard boxes can be clamped and sent to the required position. The present utility model can separate the tightly stacked cardboard boxes through the gripping plate, enabling the insertion plate to be smoothly inserted below the target cardboard boxes. Moreover, through the upper and lower clamping action of the pressing plate and the insertion plate, the present utility model replaces the traditional two-side clamping method, which means that the present utility model can achieve highly adaptable clamping regardless of the specifications of the cardboard boxes. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of the depalletizing system according to an embodiment of the present utility model;

[0020] Figure 2 It is a schematic diagram of the depalletizing device according to an embodiment of the present utility model from the front view angle;

[0021] Figure 3 It is a schematic diagram of the depalletizing device according to an embodiment of the present utility model from the bottom view angle;

[0022] Figure 4 It is a schematic diagram of the depalletizing device according to an embodiment of the present utility model from the rear view angle;

[0023] Figure 5 It is a schematic diagram of the depalletizing device according to an embodiment of the present utility model from the top view angle (part of the top structure and side structure of the depalletizing device are hidden);

[0024] Figure 6 It is a schematic diagram of the depalletizing device according to an embodiment of the present utility model when grabbing stacked cardboard boxes;

[0025] Figure 7Schematic diagram of the palletizing device in the embodiment of the present utility model when clamping the stacked cardboard boxes;

[0026] Figure 8 Schematic diagram of the palletizing device in the embodiment of the present utility model when sucking up a single-layer cardboard box;

[0027] Figure 9 Schematic diagram of the palletizing device in the embodiment of the present utility model when clamping the pallet;

[0028] Figure 10 Schematic diagram of the structure of the palletizing device in the embodiment of the present utility model after releasing the pallet;

[0029] Figure 11 Schematic diagram of the palletizing device and the truss robot of the palletizing system in the embodiment of the present utility model. Detailed implementation manners

[0030] The present utility model will be further described in detail below in conjunction with the embodiments with reference to the accompanying drawings.

[0031] As Figures 1 to 10 shown, it is an embodiment of a palletizing system for cardboard boxes of the present utility model. This embodiment includes key components such as a precision palletizing device 1, an automatic guided vehicle 2 (AGV), a cardboard box conveyor belt 4, and a truss robot 6. The truss robot 6, as Figure 11 shown, its main body is constructed by a stable column 61 and a cross beam 62, and is usually equipped with multiple precision walking shafts 63. Driven by motors, these shafts convert rotational power into smooth linear motion through transmission devices such as gears, racks, or conveyor belts. The palletizing device 1 and the truss robot 6 cooperate. The truss robot 6 controls the palletizing device 1 to move freely in the working space to achieve precise grasping, stable handling, and flexible flipping of the cardboard boxes.

[0032] The working process of the entire palletizing system is as follows: First, the cardboard box stack 3 is placed on the automatic guided vehicle 2 by a forklift. The automatic guided vehicle 2 transports it to the unpacking machine to cut the tying straps and remove the top plate. Then, the automatic guided vehicle 2 transports the processed cardboard box stack 3 to the palletizing station. After the cardboard box stack 3 is aligned in a column, the truss robot 6 drives the palletizing device 1 to move precisely, grabs the stacked cardboard boxes 31 according to the set thickness, places them on the cardboard box conveyor belt 4 and transports them to the carton machine. After palletizing is completed, the palletizing device 1 grabs the empty pallet 32 and transfers it to the pallet collection area. When the pallets 32 are stacked to the preset height, the automatic guided vehicle 2 receives a signal and transports these pallets 32 away. Thus, a complete operation cycle is formed, realizing the full automation of the cardboard box stack palletizing process.

[0033] The palletizing device 1 is the most critical structure in the palletizing system. The palletizing device 1 in this embodiment mainly includes a gripper plate assembly 11, a pressing plate assembly 12, a plug plate assembly 14, a suction cup assembly 13, a fork pallet assembly 15, etc. These components are directly or indirectly arranged on the main frame 17 of the palletizing device 1.

[0034] As Figure 1 shown, the main frame 17 of the palletizing device 1 is in the shape of a cuboid. A gripper plate 111 of the gripper plate assembly 11 is arranged on the front side of the main frame 17. The plate surface of the gripper plate 111 extends vertically, and its front surface is a rough friction surface, which is used to squeeze and contact the side surface of the cardboard box stack 3. A vertically extending gripper plate guide rail 112 is provided on the front side of the main frame 17. As Figure 4 shown, a gripper plate slider 113 is fixed to the rear side of the gripper plate 111. The gripper plate slider 113 is arranged on the gripper plate guide rail 112, so that the gripper plate 111 can vertically lift along the gripper plate guide rail 112. The gripper plate assembly 11 further includes a gripper plate cylinder 114 for driving the lifting of the gripper plate 111. The gripper plate cylinder 114 is arranged inside the main frame 17 and fixedly connected to the top surface of the main frame 17. A piston connecting piece 115 with one end connected to it is provided at the piston of the gripper plate cylinder 114. The other end of the piston connecting piece 115 is connected to the rear side of the gripper plate 111. The piston of the gripper plate cylinder 114 moves vertically and drives the gripper plate 111 to move synchronously. When the gripper plate 111 rises, the gripper plate 111 can grasp the cardboard box 31 acting on the friction surface upward through friction. Refer to Figure 6 shown.

[0035] The pressing plate assembly 12 includes a pressing plate 121, a pressing plate guide rail 124, a pressing plate slider 123, a pressing plate connecting plate 122, a pressing plate cylinder 128, etc. As Figure 2 and Figure 3 shown. The plate surface of the pressing plate 121 extends horizontally, and it is arranged in front of the friction surface of the gripper plate 111. The pressing plate connecting plate connects the upper surface of the pressing plate 121 with the pressing plate slider 123. The pressing plate slider 123 is slidably arranged on the pressing plate guide rail 124. The pressing plate guide rail 124 is vertically arranged on the left and right sides of the main frame 17. This embodiment has two parallel pressing plate cylinders 128. The pressing plate cylinder 128 is a driving device for driving the lifting and sliding of the pressing plate 121. It is located inside the main frame 17 and rotatably connected to the top surface of the main frame 17. Its piston is connected to the middle of a pressing plate pull rod 127 perpendicular to it. The two ends of the pressing plate pull rod 127 respectively extend to the left and right sides of the main frame 17 and are respectively connected to the middle of a pressing plate swing rod 126. One end of the pressing plate swing rod 126 is connected to the pressing plate slider 123, and the other end is rotatably connected to the side surface of the main frame 17. The pressing plate cylinder 128 drives the pressing plate pull rod 127, the pressing plate pull rod 127 drives the pressing plate swing rod 126, the pressing plate swing rod 126 drives the pressing plate slider 123, and the pressing plate slider 123 drives the pressing plate 121 to move up and down. Refer to Figure 2 andFigure 7 。

[0036] The suction cup assembly 13 can suck up a single cardboard box 31 by suction. Its structure includes a suction cup 131 and a suction cup mounting plate 132, as Figure 2 and Figure 3 shown. The plate surface of the suction cup mounting plate 132 extends horizontally, and multiple suction cups 131 are mounted on the lower surface of the suction cup mounting plate 132. The suction cup assembly 13 further includes an arched suction cup cylinder mounting bracket 133. The arch feet of the suction cup cylinder mounting bracket 133 are fixedly connected to the pressure plate 121. A downward suction cup cylinder 134 is mounted below the arched portion of the suction cup cylinder mounting bracket 133. The piston of the suction cup cylinder 134 is connected to the above-mentioned suction cup mounting plate 132, so as to be able to drive the suction cup mounting plate 132 and the suction cups 131 mounted thereon to move up and down relative to the pressure plate 121. A hollow portion 125 is opened in the middle of the pressure plate 121, and the suction cup mounting plate 132 can pass through the hollow portion 125 when it moves up and down, as Figure 8 shown.

[0037] The insertion plate 141 of the insertion plate assembly 14 is arranged on the lower side of the main frame 17, as Figure 2 shown. The plate surface of the insertion plate 141 extends horizontally and can move horizontally. The horizontal movement range of the insertion plate 141 is from completely behind the friction surface of the gripping plate 111 to at least partially in front of the friction surface. A front-back direction extending insertion plate guide rail 144 is provided on the side of the main frame 17. An insertion plate slider 143 that can slide along it is arranged on the insertion plate guide rail 144. An insertion plate connecting piece 142 fixedly connects the insertion plate slider 143 and the insertion plate 141. As Figure 5 shown, the insertion plate assembly 14 further includes a first insertion plate cylinder 145 and a second insertion plate cylinder 146 arranged in the main frame 17. The first insertion plate cylinder 145 is fixed to the rear side of the main frame 17 and its piston faces the front side of the main frame 17. The second insertion plate cylinder 146 is fixed to the upper surface of the insertion plate 141 and its piston faces the rear side of the main frame 17. A Z-shaped piston connecting piece 147 connects the piston of the first insertion plate cylinder 145 and the piston of the second insertion plate cylinder 146. When the pistons of the first insertion plate cylinder 145 and the second insertion plate cylinder 146 extend, they can drive the insertion plate 141 to move forward and insert into the gap of the cardboard box stack 3, as Figure 7 shown.

[0038] The pallet fork assembly 15 is used to fork up the pallet 32 after the palletizing is completed and transport it to the pallet collection area. Refer to Figure 4, the palletizing plate assembly 15 includes a pair of palletizing plate swing rods 152 and a pair of palletizing plate swing arms 151. The palletizing plate swing arms 151 are arranged at the rear side of the main frame 17 and are swingably connected to the palletizing plate swing shaft 153 extending in the front-back direction. One end of the palletizing plate swing arm 151 is fixedly connected to the palletizing plate swing rod 152, making the two form an L shape. Driven by the palletizing plate swing arm 151, the palletizing plate swing rod 152 can swing between the side of the cardboard box stack 3 and below the pallet 32. A chute 154 extending in the length direction is opened at the end of the palletizing plate swing arm 151 away from the palletizing plate swing rod 152. The palletizing plate assembly 15 further includes a lifting rod 155 and a palletizing plate cylinder 157. The lifting rod 155 passes through the chute 154 to string the two palletizing plate swing arms 151 together. A palletizing plate guide rail 158 is provided at the rear side of the main frame 17. A palletizing plate slider 156 is arranged on the palletizing plate guide rail 158. One end of the palletizing plate slider 156 is connected to the piston of the palletizing plate cylinder 157, and the other end is connected to the lifting rod 155, so that the piston of the palletizing plate cylinder 157 can drive the lifting rod 155 to vertically lift and lower. When the lifting rod 155 rises, the two palletizing plate swing rods 152 clamp inward, refer to Figure 9 , when the lifting rod 155 descends, the two palletizing plate swing rods 152 loosen outward, refer to Figure 10 .

[0039] An interface flange 16 is installed on the top side of the main frame 17. The interface flange 16 is used to connect the depalletizing device 1 to other components of the depalletizing system.

[0040] The working principle of this embodiment:

[0041] The AGV 2 transports the cardboard box stack 3 to the depalletizing station. A baffle 5 is arranged at the depalletizing station. The cardboard box stack 3 is placed close to the baffle 5, as Figure 6 shown. The front side of the depalletizing device 1 is close to the rear side of the cardboard box stack 3, and there is an extrusion effect between the gripper plate 111 and the side of the stacked cardboard boxes 31. Then, control the piston of the gripper plate cylinder 114 to retract upward, so that the gripper plate 111 moves upward. The gripper plate 111 grabs the stacked cardboard boxes 31 in contact with it through friction, and a gap is generated between the grabbed part of the cardboard boxes 31 and the remaining cardboard boxes 31. Then control the pistons of the first plugging plate cylinder 145 and the second plugging plate cylinder 146 to extend, and the plugging plate 141 is driven forward to be inserted into this generated gap. Subsequently, control the piston of the pressing plate cylinder 128 to extend, as Figure 7 shown, the pressing plate 121 is driven downward to press the grabbed cardboard boxes 31. Then the entire depalletizing device 1 rises and moves forward over the baffle 5 and transports these cardboard boxes 31 to the cardboard box conveyor belt 4. Repeat the above process until the thickness of the remaining cardboard boxes 31 in this row is not enough to be grabbed by the gripper plate 111.

[0042] Then refer to Figure 8, the piston of the control pressing plate cylinder 128 extends to drive the pressing plate 121 to press down. Then, the piston of the suction cup cylinder 134 extends to drive the suction cup mounting plate 132 to protrude downward from the hollow of the pressing plate 121. The suction cup 131 contacts the cardboard box 31, and the remaining cardboard boxes 31 are sucked up by creating a vacuum through air extraction, and then transported to the cardboard box conveyor belt 4 or stacked on top of another row of cardboard boxes 31. Repeat this process until the cardboard boxes 31 in this row are completely emptied.

[0043] After disassembling the cardboard box stack 3 according to the above steps, the unstacking device 1 approaches the empty pallet 32, the piston of the fork pallet cylinder 157 retracts, and the two fork pallet swing rods 152 fold inward and can extend under the pallet 32. Refer to Figure 9 . The unstacking device 1 picks up the pallet 32 and transports it to the pallet collection area for stacking. Then, the unstacking device 1 retreats backward to release the pallet 32. Refer to Figure 10 , the piston of the fork pallet cylinder 157 extends downward, and the two fork pallet swing rods 152 open outward and upward to avoid interfering with the subsequent unstacking work.

Claims

1. A unstacking device for cardboard boxes, which includes a device frame. It is characterized in that it includes a gripper plate assembly (11), which includes a gripper plate (111) with a vertically extending plate surface. The gripper plate (111) has a friction surface with a rough surface. The friction surface is in extrusion contact with the side surface of the cardboard box stack (3). The gripper plate (111) can move vertically. When the gripper plate (111) rises, it grabs the cardboard box (31) acting on the friction surface upward through friction; a pressing plate assembly (12), which includes a pressing plate (121) with a horizontally extending plate surface. The pressing plate (121) is arranged below the friction surface of the gripper plate (111) in a liftable manner; a inserting plate assembly (14), which includes an inserting plate (141) with a horizontally extending plate surface. The inserting plate (141) is arranged below the gripper plate (111) in a horizontally movable manner. The horizontal movement range of the inserting plate (141) is from completely behind the friction surface to at least partially in front of the friction surface.

2. The unstacking device according to claim 1, characterized in that, It further includes a suction cup assembly (13). The suction cup assembly (13) includes a suction cup (131) and a suction cup mounting plate (132) for mounting the suction cup (131). The plate surface of the suction cup mounting plate (132) extends horizontally and is arranged in a vertically liftable manner in front of the friction surface.

3. The unstacking device according to claim 2, characterized in that, The middle of the pressing plate (121) has a hollow part (125). When the suction cup mounting plate (132) moves up and down, it can pass through the hollow part (125).

4. The depalletizing device according to any one of claims 1 to 3, characterized in that It further includes a fork stack plate assembly (15), which includes a fork stack plate swing rod (152) and a fork stack plate swing arm (151). The fork stack plate swing arm (151) is swingably connected to a fork stack plate swing shaft (153) perpendicular to the friction surface. One end of the fork stack plate swing arm (151) is fixedly connected to the fork stack plate swing rod (152) to form an L shape. The fork stack plate swing rod (152) can swing between the side surface of the cardboard box stack (3) and below the stack plate (32) under the drive of the fork stack plate swing arm (151).

5. The unstacking device according to claim 4, characterized in that, The fork stack plate assembly (15) includes two symmetrically arranged fork stack plate swing arms (151). Each of the two fork stack plate swing arms (151) is fixedly connected to a fork stack plate swing rod (152). A chute (154) extending along the length direction is provided at one end of the fork stack plate swing arm (151) away from the fork stack plate swing rod (152). The fork stack plate assembly (15) further includes a lifting rod (155) and a fork stack plate cylinder (157). The lifting rod (155) passes through the chute (154) to connect the two fork stack plate swing arms (151) together. The piston of the fork stack plate cylinder (157) drives the lifting rod (155) to move vertically up and down.

6. The unstacking device according to claim 5, characterized in that, The device frame has a main frame (17) in the shape of a cuboid. Other structures of the unstacking device except the main frame (17) are directly or indirectly arranged on the main frame (17). The gripper plate (111) is installed on the front side of the main frame (17), the swing rod is installed on the rear side of the main frame (17), the inserting plate (141) is installed on the lower side of the main frame (17), and an interface flange (16) for connecting to other components of the unstacking system is provided on the top surface of the main frame (17).

7. The unstacking device according to claim 6, wherein On the front side of the main frame (17), there is a vertically extending gripper plate guide rail (112). A gripper plate slider (113) is fixed to the rear side of the gripper plate (111). The gripper plate slider (113) is arranged on the gripper plate guide rail (112). The gripper plate assembly (11) further includes a gripper plate cylinder (114). The gripper plate cylinder (114) is inside the main frame (17) and fixedly connected to the top surface of the main frame (17). At the piston of the gripper plate cylinder (114), there is a piston connecting piece (115) with one end connected thereto. The other end of the piston connecting piece (115) is connected to the rear side of the gripper plate (111). The piston of the gripper plate cylinder (114) moves vertically and drives the gripper plate (111) to move synchronously.

8. The unstacking device according to claim 7, characterized in that, On the side of the main frame (17), there is a vertically extending pressing plate guide rail (124). The pressing plate (121) is fixed to the pressing plate slider (123). The pressing plate slider (123) is arranged on the pressing plate guide rail (124). The pressing plate assembly (12) further includes a pressing plate cylinder (128), a pressing plate pull rod (127), and two pressing plate swing rods (126). The pressing plate cylinder (128) is inside the main frame (17) and rotatably connected to the top surface of the main frame (17). The piston of the pressing plate cylinder (128) is connected to the middle of the pressing plate pull rod (127). The two ends of the pressing plate pull rod (127) are respectively connected to the middle of the two pressing plate swing rods (126). One end of the pressing plate swing rod (126) is connected to the pressing plate slider (123), and the other end is rotatably connected to the side of the main frame (17).

9. The unstacking device according to claim 8, wherein, On the side of the main frame (17), there is a horizontally extending inserting plate guide rail (144). The inserting plate (141) is fixed to the inserting plate slider (143). The inserting plate slider (143) is arranged on the inserting plate guide rail (144). The inserting plate assembly (14) further includes a first inserting plate cylinder (145) and a second inserting plate cylinder (146) inside the main frame (17). The first inserting plate cylinder (145) is fixed to the rear side of the main frame (17) and its piston faces the front side of the main frame (17). The second inserting plate cylinder (146) is fixed to the upper surface of the inserting plate (141) and its piston faces the rear side of the main frame (17). A piston connecting piece (147) connects the piston of the first inserting plate cylinder (145) and the piston of the second inserting plate cylinder (146).

10. A depalletizing system for cartons, characterized in that, The palletizing and depalletizing device according to any one of claims 1 to 9 is applied.

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