Intelligent identification automatic unstacking and stacking device suitable for tray bagging

Abstract

The utility model discloses an intelligent identification automatic unstacking and stacking device suitable for tray bagging, which is provided with a cuboid-shaped outer frame, a lifting position conveyor is arranged in the outer frame, and a left goods feeding conveyor and a right goods feeding conveyor are respectively arranged on the left side and the right side of the lifting position conveyor in a butt joint mode. A material receiving belt conveyor is further arranged on the rear side of the outer frame in a butt joint mode, a lifting frame is arranged on the periphery of the lifting position conveyor, and a lifting mechanism is further arranged in the outer frame. A height detection photoelectric sensor is further arranged on the side wall of the outer frame, and a visual camera is further supported outside the outer frame through a camera support; a four-axis truss is arranged at the top of the outer frame, and a suction cup device is arranged on the four-axis truss; according to the full-automatic stacking machine, brand new structural design is adopted, intelligent operation and unstacking operation of stacked five-flower stacks and six-flower stacks can be achieved, and efficiency is extremely high.

Description

Technical Field

[0001] The utility model relates to the technical field of automated stacking equipment, in particular to an intelligent identification and automatic stacking and disassembling device suitable for pallet bagging. Background Art

[0002] In the fertilizer and flour processing industries, among other sectors, automated loading equipment is not yet mature. Many are modified from automated cement bag loading machines. Within the automated loading product line, specialized depalletizers are specifically designed for fertilizer manufacturers' actual production processes. In production plants for fertilizer, flour, and other bagged materials, palletizing is often performed using a five- or six-fold stacking system, followed by depalletizing. Depalletizing often involves forklifts coupled with robotic arms, but this process can easily damage the bags and makes continuous, automated mechanization difficult. Utility Model Content

[0003] The purpose of the present invention is to provide an intelligent identification and automatic destacking device suitable for pallet bagging in view of the above situation. The destacking device is fully automated and has a novel structural design, which can greatly improve the destacking efficiency.

[0004] The specific scheme of the utility model is: an intelligent identification and automatic destacking device suitable for pallet bagging, which has an outer frame in the shape of a rectangular parallelepiped, a lifting position conveyor is arranged inside the outer frame, and a left incoming goods conveyor and a right incoming goods conveyor are respectively docked on the left and right sides of the lifting position conveyor, and a material receiving belt conveyor is also docked on the rear side of the outer frame, and the material receiving belt conveyor is used to receive material bags transferred from the lifting position conveyor, and a lifting frame is arranged on the periphery of the lifting position conveyor, and the lifting frame is located inside the outer frame, and a lifting mechanism is also provided inside the outer frame, and the lifting mechanism is connected to the lifting frame and drives it to rise and fall; a height detection photoelectric sensor is also provided on the side wall of the outer frame, and a visual camera is also supported by a camera bracket on the outside of the outer frame; a four-axis truss is provided on the top of the outer frame, and a suction cup device is installed on the four-axis truss, and the suction cup device is used to adsorb the bagged materials below, and the suction cup device realizes four-directional movement of X axis, Y axis, Z axis and R axis under the drive of the four-axis truss.

[0005] Furthermore, the four-axis truss described in the present invention includes an X-axis linear slide mechanism, the X-axis linear slide mechanism is equipped with a Y-axis linear slide mechanism, the Y-axis linear slide mechanism is equipped with a Z-axis linear slide mechanism, the bottom of the Z-axis linear slide mechanism is equipped with an R-axis rotation mechanism, and the bottom of the R-axis rotation mechanism is equipped with the suction cup device; the Y-axis linear slide mechanism moves in the X direction along the X-axis linear slide mechanism, the Z-axis linear slide mechanism moves in the Y direction along the Y-axis linear slide mechanism, the R-axis rotation mechanism moves in the Z direction along with the Z-axis linear slide mechanism, and the suction cup device rotates along with the R-axis rotation mechanism.

[0006] Furthermore, the X-axis linear slide mechanism described in the present invention includes a double-row linear rail in the X direction, an X-axis rack and a gear motor drive mechanism arranged on the Y-axis linear slide mechanism; the Y-axis linear slide mechanism includes a double-row linear rail in the Y direction, a Y-axis rack and a gear motor drive mechanism arranged on the Z-axis linear slide mechanism; the Z-axis linear slide mechanism includes a sliding frame seat and a Z-axis sliding column, the Z-axis sliding column is slidably installed in the sliding frame seat, and the gear rack drive mechanism arranged on the sliding frame seat drives the Z-axis sliding column to move up and down; the R-axis rotation mechanism includes a rotating seat and a rotary servo motor, the rotary servo motor is arranged at the lower end of the Z-axis sliding column, and its output shaft is arranged downward, the output shaft of the rotary servo motor is connected to the rotating seat and drives it to rotate, and the suction cup device is arranged at the bottom of the rotating seat.

[0007] Furthermore, the suction cup device in the present invention includes a vacuum suction cup assembly, a vacuum filter, a vacuum motor assembly and an air pipe.

[0008] Furthermore, the lifting mechanism described in the present invention includes a lifting motor and a four-belt chain lifting assembly, wherein the lifting motor is installed on the outer side of the outer frame, and the four-belt chain lifting assembly is composed of two synchronous shafts, four synchronous sprockets and four synchronous winch pulleys, and the four synchronous winch pulleys are respectively installed at the two ends of the two synchronous shafts. Each synchronous winch pulley is hoisted with a lifting belt, and the lower end of the lifting belt is connected to the four corners of the lifting frame, two of which are installed at the ends of the two synchronous shafts, and one of the other two synchronous sprockets is installed on the output shaft of the lifting motor and the other is installed on the end of one of the synchronous shafts. The four synchronous sprockets are separately wound and connected through two transmission chains.

[0009] Furthermore, the lifting frame in the present invention is composed of a rectangular frame, which is used to hoist and support the material tray, and the four corners of the rectangular frame are hoisted and connected to the lifting mechanism.

[0010] Furthermore, the outer frame in the present invention is composed of four columns and a rectangular frame on the top, and the four-axis truss is placed on the top of the rectangular frame.

[0011] Furthermore, the lifting conveyor, the left incoming cargo conveyor and the right incoming cargo conveyor in the present invention are all double-row supporting belt conveyors, and limit switches are provided at the left end of the left incoming cargo conveyor and the right end of the right incoming cargo conveyor.

[0012] The utility model adopts a brand-new structural design, and the five-color stacks and six-color stacks stacked can realize intelligent operation and destacking operations with extremely high efficiency. It can also realize automatic detection during the entire operation process, which can greatly liberate labor and improve production efficiency. It has good practical use and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0014] Figure 2 This is a schematic diagram of the main viewing direction structure of the utility model;

[0015] Figure 3 This is a schematic diagram of the structure of the utility model in a top view;

[0016] Figure 4 This is a schematic diagram of the structure of the utility model in a side view direction;

[0017] Figure 5 This is a schematic diagram of the four-axis truss structure in the utility model;

[0018] Figure 6 This is a partial installation diagram of the height detection photoelectric sensor and visual camera in the utility model;

[0019] Figure 7 This is a schematic diagram of the lifting mechanism in the utility model;

[0020] Figure 8 It is a structural schematic diagram of the suction cup device in the utility model.

[0021] In the figure: 1—material bag, 2—outer frame, 3—height detection photoelectric sensor, 4—four-axis truss, 5—camera bracket, 6—visual camera, 7—material receiving belt conveyor, 8—right incoming goods conveyor, 9—lifting position conveyor, 10—left incoming goods conveyor, 11—material tray, 12—lifting frame, 13—vacuum suction cup assembly, 14—lifting motor, 15—limit switch, 16—X-axis double-row linear rails, 17—gear motor drive mechanism on Y-axis linear slide mechanism, 18—Y-axis double-row linear rails, 19—sliding frame seat, 20—gear motor drive mechanism on Z-axis linear slide mechanism, 21—gear rack drive mechanism set on sliding frame seat, 22—Z-axis sliding column, 23—rotating seat, 24—transmission chain, 25—synchronous sprocket, 26—synchronous winch pulley, 27—hoisting belt, 28—air pipe, 29—vacuum filter, 30—vacuum motor assembly. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings of the present invention to clearly and completely describe the technical solution of the present invention. It is obvious that the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention. In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed or operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0023] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0024] See also Figures 1 to 8The utility model is an intelligent identification and automatic destacking device suitable for pallet bagging, which has an outer frame 2 in the shape of a rectangular parallelepiped. A lifting position conveyor 9 is arranged inside the outer frame. A left incoming goods conveyor 10 and a right incoming goods conveyor 8 are respectively docked on the left and right sides of the lifting position conveyor. A material receiving belt machine 7 is also docked on the rear side of the outer frame. The material receiving belt machine is used to receive the material bag 1 transferred from the lifting position conveyor. A lifting frame 12 is arranged on the periphery of the lifting position conveyor. The lifting frame is located inside the outer frame. A lifting mechanism is also arranged inside the outer frame. The lifting mechanism is connected to the The lifting frame is described and drives it to rise and fall; a height detection photoelectric sensor 3 is also provided on the side wall of the outer frame, and a visual camera 6 is supported by a camera bracket 5 on the outside of the outer frame; a four-axis truss 4 is provided on the top of the outer frame, and a suction cup device is installed on the four-axis truss, and the suction cup device is used to adsorb the bagged material below, and the suction cup device realizes four-directional movement of the X axis, Y axis, Z axis and R axis under the drive of the four-axis truss; further, the suction cup device in the present invention includes a vacuum suction cup assembly 13, a vacuum filter 29, a vacuum motor assembly 30 and an air pipe 28.

[0025] Furthermore, the four-axis truss described in the present invention includes an X-axis linear slide mechanism, the X-axis linear slide mechanism is equipped with a Y-axis linear slide mechanism, the Y-axis linear slide mechanism is equipped with a Z-axis linear slide mechanism, the bottom of the Z-axis linear slide mechanism is equipped with an R-axis rotation mechanism, and the bottom of the R-axis rotation mechanism is equipped with the suction cup device; the Y-axis linear slide mechanism moves in the X direction along the X-axis linear slide mechanism, the Z-axis linear slide mechanism moves in the Y direction along the Y-axis linear slide mechanism, the R-axis rotation mechanism moves in the Z direction along with the Z-axis linear slide mechanism, and the suction cup device rotates along with the R-axis rotation mechanism. Furthermore, the X-axis linear slide mechanism described in the present invention includes an X-axis double-row linear rail 16, an X-axis rack and a gear motor drive mechanism 17 arranged on the Y-axis linear slide mechanism; the Y-axis linear slide mechanism includes a Y-axis double-row linear rail 18, a Y-axis rack and a gear motor drive mechanism 20 arranged on the Z-axis linear slide mechanism; the Z-axis linear slide mechanism includes a sliding frame seat 19 and a Z-axis sliding column 22, the Z-axis sliding column is slidably installed in the sliding frame seat, and the gear rack drive mechanism 21 arranged on the sliding frame seat drives the Z-axis sliding column to move up and down; the R-axis rotation mechanism includes a rotating seat 23 and a rotary servo motor, the rotary servo motor is arranged at the lower end of the Z-axis sliding column, and its output shaft is arranged downward, the output shaft of the rotary servo motor is connected to the rotating seat and drives it to rotate, and the suction cup device is arranged at the bottom of the rotating seat.

[0026] Furthermore, the lifting mechanism described in the present invention includes a lifting motor 14 and a four-belt chain lifting assembly, wherein the lifting motor is installed on the outer side of the outer frame, and the four-belt chain lifting assembly is composed of two synchronous shafts, four synchronous sprockets 25 and four synchronous winch pulleys 26. The four synchronous winch pulleys are respectively installed at the two ends of the two synchronous shafts. Each synchronous winch pulley is hoisted with a lifting belt 27, and the lower end of the lifting belt is connected to the four corners of the lifting frame 12, two of which are installed at the ends of the two synchronous shafts, and one of the other two synchronous sprockets is installed on the output shaft of the lifting motor and the other is installed at the end of one of the synchronous shafts. The four synchronous sprockets are separately wound and connected through two transmission chains 24.

[0027] The above-mentioned lifting mechanism is a relatively common lifting mechanism. This lifting mechanism belongs to the existing technology, is widely used, and is also very common. The basic structure is two synchronous shafts. A synchronous winch pulley is installed at both ends of each synchronous shaft near the end. The synchronous winch pulley is wound with a lifting belt, and the lifting belt is used to lift the lifting frame below. Two of the four synchronous sprockets are installed at the same end of the same synchronous shaft, and the other is installed at the end of another synchronous shaft. The last synchronous sprocket is installed on the output shaft of the lifting motor. In this way, by winding two transmission chains, the two synchronous shafts can be driven to rotate at the same time. The rotation of the synchronous shaft can make the lifting belt rise and fall synchronously, and then make the lifting frame rise and fall.

[0028] Furthermore, the lifting frame described in the present invention is composed of a rectangular frame, which is used to hoist and support the material pallet 11, and the four corners of the rectangular frame are hoisted and connected to the lifting mechanism. Furthermore, the outer frame described in the present invention is composed of four columns and a rectangular frame at the top, and the four-axis truss is placed on the top of the rectangular frame. Furthermore, the lifting conveyor, left incoming goods conveyor and right incoming goods conveyor in the present invention are all double-row supporting belt conveyors, and limit switches 15 are provided at the left end of the left incoming goods conveyor and the right end of the right incoming goods conveyor.

[0029] The automatic destacking unit of the utility model is modular in design and can be set at the front end of the automatic loading line for fertilizers or the front end of the loading line for other bagged materials. The number of modular units can be freely added or subtracted according to the loading capacity of the entire production line.

[0030] This utility model has three conveyors. The left and right conveyors are for loading goods, and the middle conveyor is for lifting. These conveyors are the left and right loading conveyors, as well as the lifting conveyor. There are two material pallets, each loaded with stacked goods. The right pallet enters the middle lifting position, and after destacking begins, the left pallet can be loaded. After destacking is completed, the middle pallet returns to the right, and the left pallet enters the middle lifting position.

[0031] The hoist is a chain hoisting structure. The hoist only lifts the frame and does not lift the intermediate hoisting conveyor.

[0032] Specific implementation methods:

[0033] like Figure 1 As shown, the conveyor transports the 8-layer material pallet of the five-color stack to the middle lifting position, the lifting frame with the pallet is lifted to the height position of the height detection photoelectric sensor, the visual camera identifies the top layer of the five-color stack, and the data transmission industrial computer generates the destacking path; the vacuum suction cup device sucks up the top layer of the five-color stack according to the destacking path and transports it to the material receiving belt conveyor, and 1 layer of beat is completed; the lifting mechanism continues to lift to the height of the height detection photoelectric sensor, and the above steps are repeated until the pallet is emptied; finally, the lifting mechanism descends, the empty pallet is taken out, and 1 pallet beat is completed; the conveyor on the other side transports the full pallet to the middle lifting position, and the destacking is repeated.

[0034] The utility model adopts a brand-new structural design, and the five-color stacks and six-color stacks stacked can realize intelligent operation and destacking operations with extremely high efficiency. It can also realize automatic detection during the entire operation process, which can greatly liberate labor and improve production efficiency. It has good practical use and promotion value.

Claims

1. An intelligent identification and automatic destacking device suitable for pallet bagging, comprising a rectangular outer frame, a lifting conveyor disposed within the outer frame, a left infeed conveyor and a right infeed conveyor disposed on the left and right sides of the lifting conveyor, respectively, and a receiving belt conveyor disposed at the rear side of the outer frame for receiving material bags transferred from the lifting conveyor, characterized in that: A lifting frame is provided on the periphery of the lifting position conveyor, and the lifting frame is located inside the outer frame. A lifting mechanism is also provided inside the outer frame, and the lifting mechanism is connected to the lifting frame and drives it to rise and fall; a height detection photoelectric sensor is also provided on the side wall of the outer frame, and a visual camera is also supported by a camera bracket on the outside of the outer frame; a four-axis truss is provided on the top of the outer frame, and a suction cup device is installed on the four-axis truss. The suction cup device is used to absorb the bagged materials below, and the suction cup device realizes four-directional movement of the X axis, Y axis, Z axis and R axis under the drive of the four-axis truss.

2. The intelligent identification and automatic destacking device for pallet bagging according to claim 1 is characterized by: The four-axis truss includes an X-axis linear slide mechanism, a Y-axis linear slide mechanism is installed on the X-axis linear slide mechanism, a Z-axis linear slide mechanism is installed on the Y-axis linear slide mechanism, an R-axis rotation mechanism is installed at the bottom of the Z-axis linear slide mechanism, and the suction cup device is installed at the bottom of the R-axis rotation mechanism; the Y-axis linear slide mechanism moves in the X direction along the X-axis linear slide mechanism, the Z-axis linear slide mechanism moves in the Y direction along the Y-axis linear slide mechanism, the R-axis rotation mechanism moves in the Z direction along with the Z-axis linear slide mechanism, and the suction cup device rotates along with the R-axis rotation mechanism.

3. The intelligent identification and automatic destacking device for pallet bagging according to claim 2 is characterized by: The X-axis linear slide mechanism includes a double-row linear rail in the X direction, an X-axis rack and a gear motor drive mechanism arranged on the Y-axis linear slide mechanism; the Y-axis linear slide mechanism includes a double-row linear rail in the Y direction, a Y-axis rack and a gear motor drive mechanism arranged on the Z-axis linear slide mechanism; the Z-axis linear slide mechanism includes a sliding frame seat and a Z-axis sliding column, the Z-axis sliding column is slidably installed in the sliding frame seat, and a gear rack drive mechanism is arranged on the sliding frame seat to drive the Z-axis sliding column to move up and down; the R-axis rotation mechanism includes a rotating seat and a rotating servo motor, the rotating servo motor is arranged at the lower end of the Z-axis sliding column, and its output shaft is arranged downward, the output shaft of the rotating servo motor is connected to the rotating seat and drives it to rotate, and the suction cup device is arranged at the bottom of the rotating seat.

4. The intelligent identification and automatic destacking device for pallet bagging according to claim 1 is characterized by: The suction cup device includes a vacuum suction cup assembly, a vacuum filter, a vacuum motor assembly and an air pipe.

5. The intelligent identification and automatic destacking device for pallet bagging according to claim 1 is characterized by: The lifting mechanism includes a lifting motor and a four-belt chain lifting assembly, wherein the lifting motor is installed on the outer side of the outer frame, and the four-belt chain lifting assembly is composed of two synchronous shafts, four synchronous sprockets and four synchronous winch pulleys. The four synchronous winch pulleys are respectively installed at the two ends of the two synchronous shafts. Each synchronous winch pulley is hoisted with a lifting belt, and the lower end of the lifting belt is connected to the four corners of the lifting frame. Two of the synchronous sprockets are installed at the ends of the two synchronous shafts, and one of the other two synchronous sprockets is installed on the output shaft of the lifting motor and the other is installed at the end of one of the synchronous shafts. The four synchronous sprockets are separately wound and connected through two transmission chains.

6. The intelligent identification and automatic destacking device for pallet bagging according to claim 1 is characterized by: The lifting frame is composed of a rectangular frame, which is used to hoist and support the material tray. The four corners of the rectangular frame are hoisted and connected to the lifting mechanism.

7. The intelligent identification and automatic destacking device for pallet bagging according to claim 1 is characterized by: The outer frame is composed of four columns and a rectangular frame on the top, and the four-axis truss is placed on the top of the rectangular frame.

8. The intelligent identification and automatic destacking device for pallet bagging according to claim 1 is characterized by: The lifting conveyor, the left inbound conveyor and the right inbound conveyor are all double-row supporting belt conveyors, and limit switches are set at the left end of the left inbound conveyor and the right end of the right inbound conveyor.

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