Automatic stacking and unstacking feeding and discharging device
By designing the clamping structure of the automatic stacking and destacking loading and unloading device, the problem of material frame jamming was solved, enabling smooth separation of material frames and improving the efficiency of destacking operations.
Patent Information
- Application Number
- CN202520739389.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-17
- Publication Date
- 2026-02-24
- Estimated Expiration
- 2035-04-17
AI Technical Summary
In automated production line operations, there is a situation where adjacent upper and lower material frames are firmly stuck together, which prevents the automatic destacking from proceeding smoothly.
An automatic stacking and unstacking loading and unloading device is adopted, including a lifting drive mechanism, a material frame clamping mechanism and a material frame conveying mechanism. The clamping structure of the clamping mechanism is designed with a first protrusion and a second protrusion forming a V-shaped groove. The material frames are loosened and detached through clamping and lifting actions.
It enables smooth separation of upper and lower material frames when the material frames are locked, thus improving the efficiency of destacking operations.
Smart Images
Figure CN223935792U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of production line material conveying technology, specifically relating to an automatic stacking, destacking, loading and unloading device. Background Technology
[0002] In existing technologies, especially in automated assembly line operations, materials or parts of the same batch are generally placed in the same pallet to facilitate material transfer from one workstation to another. To improve handling efficiency, pallets flowing from the previous workstation are typically stacked vertically and then transported together. At the next workstation, the stacked pallets are then unstacked before loading new materials. While automated stacking and destacking robots are already in use to replace manual stacking and destacking, the following problems still exist in practical applications: when the pallets are heavy after loading, adjacent upper and lower pallets may become firmly jammed, preventing smooth automated destacking. Utility Model Content
[0003] In view of the problems existing in the prior art, the purpose of this utility model is to provide an automatic stacking and destacking loading and unloading device to solve the problem of how to separate the material frames when there is a situation where two adjacent upper and lower material frames are firmly stuck together, so as to enable the destacking operation to proceed smoothly.
[0004] To achieve the above objectives, the present invention adopts the following technical solution:
[0005] An automatic stacking, destacking, loading and unloading device, comprising:
[0006] Lifting drive mechanism;
[0007] A material frame clamping mechanism that can be vertically connected to the lifting drive mechanism;
[0008] A material frame conveying mechanism is located below the material frame clamping mechanism;
[0009] The material frame clamping mechanism includes a clamping drive module and two clamping arms that are oppositely arranged and connected to the clamping drive module. The clamping arms are connected to clamping structural members for clamping the material frame.
[0010] The clamping structure has a first protrusion and a second protrusion on its surface away from the clamping arm. The first protrusion is located below the second protrusion. A V-shaped groove is formed between the first protrusion and the second protrusion. The apex of the second protrusion is connected to the top surface of the clamping structure by a first chamfered bevel.
[0011] The top of the outer arm of the material frame is provided with a first clamping recess corresponding to the first protrusion, and the bottom of the outer arm of the material frame is provided with a second clamping recess corresponding to the second protrusion.
[0012] In the vertical direction, the vertical distance between the vertex of the second protruding part and the center point of the bottom of the V-shaped groove is H1, the vertical distance between the top surface of the clamping structure member and the center point of the bottom of the V-shaped groove is H2, and the vertical distance between the top of the second clamping notch and the bottom surface of the material frame is H3; H1 < H3 < H2.
[0013] In a preferred solution, the first clamping notch is in the shape of an inverted "匚", and the second clamping notch is in the shape of an inverted "L".
[0014] In a preferred solution, in the horizontal direction, the vertical distance between the vertex of the second protruding part and the center point of the bottom of the V-shaped groove is D1, and the vertical distance between the vertex of the first protruding part and the center point of the bottom of the V-shaped groove is D2, D1 < D2.
[0015] In a preferred solution, D1 is 5 mm to 10 mm smaller than D2.
[0016] In a preferred solution, the first protruding part and the bottom surface of the clamping structure member are connected by a second chamfered inclined surface.
[0017] In a preferred solution, the surface of the clamping structure member facing the clamping arm forms an L-shaped step portion, and the clamping arm is connected in the L-shaped step portion.
[0018] In a preferred solution, the output end of the clamping drive module is provided with two drive blocks that can move in opposite directions to each other, and the two clamping arms are respectively connected to the two drive blocks in a one-to-one correspondence.
[0019] In a preferred solution, the material frame clamping mechanism includes a connecting plate, the connecting plate is connected to the lifting drive mechanism in a liftable manner, and the clamping drive module is connected to the connecting plate; a clamping guide slide rail is provided on the connecting plate, and the two clamping arms are respectively slidably connected to the clamping guide slide rail through corresponding sliders.
[0020] In a preferred solution, the lifting drive mechanism includes a support base and a lifting drive module fixedly connected to the support base, and the material frame clamping mechanism is connected to the lifting drive module in a liftable manner.
[0021] In a preferred solution, the material frame conveying mechanism is a conveyor belt.
[0022] This utility model provides an automatic stacking and destacking loading / unstacking device. The device's material frame clamping mechanism has a first protrusion and a second protrusion, with a V-shaped groove between them. During destacking, the first protrusion presses against the first clamping recess of the lower-layer material frame, and the second protrusion presses against the second clamping recess of the upper-layer material frame. The lower-layer material frame is fixedly clamped in the V-shaped groove between the first and second protrusions. At this time, the upper-layer material frame can move a certain distance along the first chamfered slope between the second protrusion and the top surface of the clamping mechanism, causing the interlocking parts of the upper and lower material frames to loosen and separate. Therefore, when adjacent upper and lower material frames are firmly interlocked, this device can forcibly separate the upper and lower material frames, making the destacking operation smoother and improving production efficiency. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of the structure of the automatic stacking, destacking, loading and unloading device in an embodiment of this utility model;
[0024] Figure 2 This is a schematic diagram of the material frame clamping mechanism in an embodiment of the present utility model;
[0025] Figure 3 This is a schematic diagram of the clamping structure in an embodiment of the present utility model;
[0026] Figure 4 This is a cross-sectional view of the clamping structure in an embodiment of this utility model;
[0027] Figure 5 This is a schematic diagram of the material frame structure in an embodiment of this utility model;
[0028] Figure 6 This is an exemplary illustration of how the clamping structure clamps the upper and lower material frames in this utility model. Detailed Implementation
[0029] To make the objectives, technical solutions, and advantages of this utility model clearer, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the drawings. The embodiments of this utility model shown in and described with reference to the drawings are merely exemplary, and this utility model is not limited to these embodiments.
[0030] It should be noted that the same or similar reference numerals in the accompanying drawings of the embodiments of this utility model correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.
[0031] It should also be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.
[0032] This utility model provides an automatic stacking, destacking, loading, and unloading device, see reference. Figures 1 to 4 The automatic stacking / destacking and unstacking device mainly includes a lifting drive mechanism 1, a frame clamping mechanism 2, and a frame conveying mechanism 3. The frame clamping mechanism 2 is vertically connected to the lifting drive mechanism 1, and the frame conveying mechanism 3 is located below the frame clamping mechanism 2. The frame conveying mechanism 3 is used to transport the frames 4 to be stacked to the area below the frame clamping mechanism 2, or to transport the destacking frames 4 from below the frame clamping mechanism 2. The lifting drive mechanism 1 drives the frame clamping mechanism 2 to move up and down, performing stacking or destacking of the frames 4.
[0033] The material frame clamping mechanism 2 mainly includes a clamping drive module 21 and two opposing clamping arms 22 connected to the clamping drive module 21. The inner side of each clamping arm 22 is connected to a clamping structure 23 for clamping the material frame 4. Driven by the clamping drive module 21: when the two clamping arms 22 move towards each other, the clamping structure 23 clamps and holds the material frame 4 tightly. Then, the lifting drive mechanism 1 drives the material frame clamping mechanism 2 to rise or fall, raising or lowering the clamped material frame 4. When the material frame 4 is raised or lowered to a predetermined position, the two clamping arms 22 are driven to move away from each other, causing the clamping structure 23 to release the material frame 4.
[0034] The lifting drive mechanism 1 includes a support base 11 and a lifting drive module 12 fixedly connected to the support base 11. The material frame clamping mechanism 2 is movably connected to the lifting drive module 12.
[0035] As a preferred option, the material frame conveying mechanism 3 is selected as a conveyor belt.
[0036] The automatic stacking and unloading device described above includes the following process for unloading and stacking:
[0037] S11. M material frames 4 unloaded from the upstream equipment are sequentially transported to the area below the material frame clamping mechanism 2 via the material frame conveying mechanism 3. When the first material frame arrives below the material frame clamping mechanism 2, the material frame clamping mechanism 2 clamps and lifts the first material frame.
[0038] S12. When the second material frame reaches below the material frame clamping mechanism 2, the material frame clamping mechanism 2 first lowers and stacks the first material frame clamped in step S11 onto the second material frame, and then clamps and lifts the second material frame, and the first material frame is lifted along with the second material frame.
[0039] S13. When the third material frame reaches below the material frame clamping mechanism 2, the material frame clamping mechanism 2 first lowers and stacks the second material frame clamped in step S12 on the third material frame, and then clamps and lifts the third material frame. The first and second material frames are lifted along with the third material frame.
[0040] This process continues until the Mth material frame reaches below the material frame clamping mechanism 2. At this point, the material frame clamping mechanism 2 lowers and stacks the (M-1)th material frame held in the previous step onto the Mth material frame, completing the stacking of M material frames 4. Here, M is an integer greater than or equal to 2.
[0041] The automatic stacking and destacking loading / unstacking device described above includes the following process for destacking and loading:
[0042] S21. N stacked material frames 4 are placed on the material frame conveying mechanism 3 and within the clamping range of the material frame clamping mechanism 2. The N material frames 4 are numbered from the 1st to the Nth material frame in order from bottom to top.
[0043] S22, the material frame clamping mechanism 2 clamps the second material frame, lifts the second material frame and all the other material frames above it, and separates the first material frame and keeps it on the material frame conveying mechanism 3. The material frame conveying mechanism 3 moves the first material frame out from under the material frame clamping mechanism 2 and transports it to the downstream equipment for loading.
[0044] After the first bin is removed, the bin clamping mechanism 2 first lowers and places the second bin and the remaining bins above it that were clamped and lifted in step S22 on the bin conveying mechanism 3, and then clamps the third bin and lifts all the third bin and the remaining bins above it. The second bin is separated and remains on the bin conveying mechanism 3. The bin conveying mechanism 3 moves the second bin out from below the bin clamping mechanism 2 and transports it to the downstream equipment for loading.
[0045] And so on, until after the (N - 1)-th bin is removed, the bin clamping mechanism 2 lowers and places the N-th bin that was clamped and lifted in the previous step on the bin conveying mechanism 3. The bin conveying mechanism 3 transports the N-th bin to the downstream equipment for loading, completing the unstacking of the N bins 4 and sequentially transporting them to the downstream equipment for loading. Here, N is an integer greater than or equal to 2.
[0046] In this embodiment, as Figures 2 to 4 shown, a first protruding portion 231 and a second protruding portion 232 are formed on the surface of the clamping structure member 23 facing away from the clamping arm 22. The first protruding portion 231 is located relatively below the second protruding portion 232. A V-shaped groove 233 is formed between the first protruding portion 231 and the second protruding portion 232. The vertex of the second protruding portion 232 is connected to the top surface 235 of the clamping structure member 23 through a first chamfered inclined surface 236.
[0047] As Figure 5 and Figure 6 shown, a first clamping notch 41 corresponding to the first protruding portion 231 is provided at the top of the outer side arm of the bin 4, and a second clamping notch 42 corresponding to the second protruding portion 232 is provided at the bottom of the outer side arm of the bin 4. In this embodiment, the first clamping notch 41 is in the shape of an inverted "匚", and the second clamping notch 42 is in the shape of an inverted "L".
[0048] Among them, in the vertical direction, the vertical distance between the vertex of the second protruding portion 232 and the center point of the bottom of the V-shaped groove 233 is H1, the vertical distance between the top surface 235 of the clamping structure member 23 and the center point of the bottom of the V-shaped groove 233 is H2, and the vertical distance between the top of the second clamping notch 42 and the bottom surface of the bin 4 is H3. Here, H1 < H3 < H2. It should be noted that the vertical direction refers to the direction in which the lifting and lowering drive mechanism 1 drives up and down.
[0049] Based on the clamping structure member 23 with the above structure, due to the relationship of H1 < H3 < H2 between the height characteristics of the second protruding portion 232 and the corresponding second clamping notch 42 in the vertical direction, during unstacking, refer to Figure 6The first protrusion 231 presses against the first clamping recess 41 of the lower layer frame 4a, and the second protrusion 232 presses against the second clamping recess 42 of the upper layer frame 4b. As the clamping action proceeds, the lower layer frame 4a is fixedly clamped in the V-shaped groove 233 between the first protrusion 231 and the second protrusion 232. At this time, the top edge of the second clamping recess 42 of the upper layer frame 4b is on the first chamfered slope 236 between the second protrusion 232 and the top surface 235 of the clamping structure 23. When clamped further, the upper layer frame 4b can move a certain distance diagonally upward, causing the interlocking parts 43 of the upper and lower frames to loosen and separate from each other. Thus, when adjacent upper and lower frames are firmly interlocked, the device can forcibly separate the upper and lower frames, making the destacking operation smoother and improving production efficiency.
[0050] When destacking the first to Nth stacked material frames 4 from bottom to top: First, control the clamping structure 23 to clamp the first clamping notch 41 of the first material frame and the second clamping notch 42 of the second material frame, so that the interlocking parts 43 between the first and second material frames loosen and disengage. Then, control the clamping structure 23 to release the material frames. Next, control the clamping structure 23 to clamp the first clamping notch 41 of the second material frame and the second clamping notch 42 of the third material frame, and lift the second to Nth material frames so that the first material frame is disengaged and sent out. During the clamping and lifting process, the interlocking parts 43 between the second and third material frames will loosen and disengage. After the first material frame is sent out by the material frame conveying mechanism 3, the second to Nth material frames are placed on the material frame conveying mechanism 3. The control clamping structure 23 clamps the first clamping notch 41 of the third material frame and the second clamping notch 42 of the fourth material frame, lifting the third to Nth material frames so that the second material frame is released and sent out. During the clamping and lifting process, the interlocking parts 43 between the third and fourth material frames will loosen and disengage. In this way, the N material frames 4 are finally destacking and transported to the downstream equipment for loading.
[0051] In the above destacking process, when adjacent upper and lower material frames are firmly locked together, the device can forcibly separate the upper and lower material frames, making the destacking operation smoother and improving production efficiency.
[0052] In this embodiment, in the horizontal direction, such as Figure 4As shown, the vertical distance between the vertex of the second protrusion 232 and the center point of the bottom of the V-shaped groove 233 is D1, and the vertical distance between the vertex of the first protrusion 231 and the center point of the bottom of the V-shaped groove 233 is D2, where D1 < D2. In a preferred solution, D1 is 5 mm to 10 mm smaller than D2. It should be noted that the horizontal direction refers to the direction in which the two clamping arms 22 face each other.
[0053] In this embodiment, the first protrusion 231 and the bottom surface 234 of the clamping structure 23 are connected by a second chamfered inclined surface 237. Further, an L-shaped step portion 238 is formed on the surface of the clamping structure 23 facing the clamping arm 22, and the clamping arm 22 is connected in the L-shaped step portion 238.
[0054] In this embodiment, as Figure 2 shown, two driving blocks 24 that can move in opposite directions are provided at the output end of the clamping driving module 21, and the two clamping arms 22 are respectively connected to the two driving blocks 24 in a one-to-one correspondence. Further, the material frame clamping mechanism 2 includes a connecting plate 25, the connecting plate 25 is connected to the lifting driving mechanism 1 in a liftable manner, and the clamping driving module 21 is connected to the connecting plate 25. A clamping guiding slide rail 26 is provided on the connecting plate 25, and the two clamping arms 22 are respectively slidably connected to the clamping guiding slide rail 26 through corresponding sliders 27.
[0055] The above are only specific embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.
Claims
1. An automatic stacking, destacking, loading, and unloading device, characterized in that, Comprising: A lifting drive mechanism (1); A material box clamping mechanism (2) that is liftably connected to the lifting drive mechanism (1); A material box conveying mechanism (3) disposed below the material box clamping mechanism (2); The material box clamping mechanism (2) includes a clamping drive module (21) and two oppositely arranged clamping arms (22) connected to the clamping drive module (21), and a clamping structural member (23) for clamping the material box (4) is connected to the inner side of the clamping arms (22); On the surface of the clamping structural member (23) facing away from the clamping arms (22), a first protrusion (231) and a second protrusion (232) are formed. The first protrusion (231) is located relatively below the second protrusion (232). A V-shaped groove (233) is formed between the first protrusion (231) and the second protrusion (232). The vertex of the second protrusion (232) is connected to the top surface (235) of the clamping structural member (23) through a first chamfered inclined surface (236); On the top of the outer side arm of the material box (4), a first clamping notch (41) corresponding to the first protrusion (231) is provided. On the bottom of the outer side arm of the material box (4), a second clamping notch (42) corresponding to the second protrusion (232) is provided; In the vertical direction, the vertical distance between the vertex of the second protrusion (232) and the center point of the bottom of the V-shaped groove (233) is H1. The vertical distance between the top surface (235) of the clamping structural member (23) and the center point of the bottom of the V-shaped groove (233) is H2. The vertical distance between the top of the second clamping notch (42) and the bottom surface of the material box (4) is H3; H1 < H3 < H2.
2. The automatic stacking, destacking, loading and unloading device according to claim 1, characterized in that, The first clamping notch (41) is in the shape of an inverted "匚", and the second clamping notch (42) is in the shape of an inverted "L".
3. The automatic stacking, destacking, loading and unloading device according to claim 1, characterized in that, In the horizontal direction, the vertical distance between the vertex of the second protrusion (232) and the center point of the bottom of the V-shaped groove (233) is D1. The vertical distance between the vertex of the first protrusion (231) and the center point of the bottom of the V-shaped groove (233) is D2, D1 < D2.
4. The automatic stacking, destacking, loading and unloading device according to claim 3, characterized in that, The D1 is 5 mm to 10 mm smaller than the D2.
5. The automatic stacking, destacking, loading and unloading device according to claim 1, characterized in that, The first protrusion (231) is connected to the bottom surface (234) of the clamping structural member (23) through a second chamfered inclined surface (237).
6. The automatic stacking, destacking, loading and unloading device according to claim 1, characterized in that, On the surface of the clamping structural member (23) facing the clamping arms (22), an L-shaped stepped portion (238) is formed, and the clamping arms (22) are connected in the L-shaped stepped portion (238).
7. The automatic stacking, destacking, loading and unloading device according to any one of claims 1-6, characterized in that, At the output end of the clamping drive module (21), two drive blocks (24) that can move in opposite directions to each other are provided, and the two clamping arms (22) are respectively connected to the two drive blocks (24) in a one-to-one correspondence.
8. The automatic stacking, destacking, loading and unloading device according to claim 7, characterized in that, The material frame clamping mechanism (2) includes a connecting plate (25), which is vertically connected to the lifting drive mechanism (1), and the clamping drive module (21) is connected to the connecting plate (25); the connecting plate (25) is provided with a clamping guide slide rail (26), and the two clamping arms (22) are slidably connected to the clamping guide slide rail (26) through corresponding sliders (27).
9. The automatic stacking, destacking, loading and unloading device according to claim 1, characterized in that, The lifting drive mechanism (1) includes a support base (11) and a lifting drive module (12) fixedly connected to the support base (11). The material frame clamping mechanism (2) is vertically connected to the lifting drive module (12).
10. The automatic stacking, destacking, loading and unloading device according to claim 1, characterized in that, The material frame conveying mechanism (3) is a conveyor belt.