Truss double-sucker single-package unstacking device

Abstract

The utility model relates to a truss double-suction-cup single-package unstacking device which comprises a support mechanism, a package receiving mechanism and two suction cup mechanisms. A package receiving station and an unstacking station are arranged at the bottom of the support mechanism, the package receiving mechanism is arranged at the package receiving station, and the unstacking station is used for placing materials to be unstacked; two x-direction rails are arranged on the top of the support, and the two suction cup mechanisms are installed on the two x-direction rails through x-direction moving mechanisms correspondingly. The two x-direction moving mechanisms are used for driving the two suction cup mechanisms to move in a reciprocating mode above the package receiving station and the unstacking station along the x-direction track. According to the unstacking device, the two suction cup mechanisms are arranged, when one suction cup mechanism returns to the unstacking station from the package receiving station, the other suction cup mechanism transfers materials to the package receiving station from the unstacking station, the two suction cup mechanisms unstack the materials in a staggered mode, and therefore the takt time of the whole unstacking device is increased, and the unstacking efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of material conveying, specifically to a truss double suction cup single-pack unpacking device. Background Technology

[0002] The stacking and storage of goods, as well as the disassembly and reassembly of goods into smaller stacks for shipment, are common processes in many industries. These operations are typically carried out using robotic arms, with suction cups used for gripping materials. However, the inventors discovered that due to the limitations of the robotic arm's movement speed, it is difficult to increase the cycle time of the entire destacking device by increasing the movement speed of the suction cups, thus hindering the improvement of destacking efficiency. Utility Model Content

[0003] Based on the above description, this utility model provides a truss double suction cup single-pack destacking device. By setting two suction cup mechanisms, when one suction cup mechanism returns from the receiving station to the destacking station, the other suction cup mechanism transfers the material from the destacking station to the receiving station. The two suction cup mechanisms destacking the material alternately improve the cycle time of the entire destacking device and increase the destacking efficiency.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A truss double suction cup single package destacking device includes a support mechanism, a package receiving mechanism, and two suction cup mechanisms; the bottom of the support mechanism is provided with a package receiving station and a destacking station, the package receiving mechanism is located at the package receiving station, and the destacking station is used to place the material to be destacking; the top of the support is provided with two x-axis tracks, and the two suction cup mechanisms are respectively installed on the two x-axis tracks through x-axis moving mechanisms; the two x-axis moving mechanisms are used to drive the two suction cup mechanisms to reciprocate along the x-axis tracks above the package receiving station and above the destacking station.

[0005] Furthermore, the receiving mechanism includes a conveyor belt, and the receiving station is provided with a receiving bracket, on which the conveyor belt is mounted; a receiving motor is provided on one side of the conveyor belt, which drives the conveyor belt to rotate; two limiting plates are provided on the top of the conveyor belt, which are respectively located on both sides of the conveying direction of the conveyor belt, and the distance between the two limiting plates gradually decreases along the conveying direction of the conveyor belt.

[0006] Furthermore, the support mechanism includes four columns, two longitudinal beams, and two transverse beams; the two longitudinal beams are arranged in parallel, and the tops of the four columns are respectively connected to the two ends of the two longitudinal beams; the two transverse beams are arranged in parallel, and one end of each transverse beam is slidably connected to one of the longitudinal beams along the length of the longitudinal beam via a y-axis moving mechanism, and the other end of each transverse beam is slidably connected to the other longitudinal beam along the length of the longitudinal beam via a y-axis moving mechanism.

[0007] Furthermore, the top of the longitudinal beam is provided with a y-axis track and a y-axis rack extending along the length of the longitudinal beam; the y-axis moving mechanism includes a y-axis slider, which is slidably mounted on the y-axis track, and the y-axis slider is provided with a y-axis gear and a y-axis drive motor, the y-axis gear meshing with the y-axis rack, and the y-axis drive motor driving the y-axis gear to rotate; the end of the crossbeam is mounted on the y-axis slider.

[0008] Furthermore, the crossbeam is provided with an x-axis track and an x-axis rack extending along the length of the crossbeam; the x-axis moving mechanism includes an x-axis slider, which is slidably mounted on the x-axis track, and the x-axis slider is provided with an x-axis gear and an x-axis drive motor, the x-axis gear meshing with the x-axis rack, and the x-axis drive motor driving the x-axis gear to rotate; the suction cup mechanism is mounted on the x-axis slider.

[0009] Furthermore, the suction cup mechanism includes a suction cup and a vertical rod, with the suction cup mounted on the bottom of the vertical rod; the vertical rod is vertically slidably mounted on the x-axis slider via a vertical moving mechanism.

[0010] Furthermore, the side wall of the vertical rod is provided with a vertically extending guide rail and a guide rack; the vertical moving mechanism includes a mounting frame, on which a guide groove matching the guide rail is provided; the mounting frame is also provided with a drive gear and a vertical drive motor, the drive gear meshing with the guide rack, and the vertical drive motor being used to drive the drive gear to rotate.

[0011] Furthermore, the suction cup is mounted at the bottom of the vertical rod via a turntable mechanism, which drives the suction cup to rotate along a vertical axis.

[0012] Furthermore, a sensor assembly is provided on the top of the support mechanism, the sensor assembly including a sensor bracket and a 3D camera, the 3D camera being mounted on the bottom of the sensor bracket.

[0013] Furthermore, photoelectric sensors are installed on opposite sides of the destacking station, and the photoelectric sensors are used to detect the top height of the material in the destacking station.

[0014] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0015] 1. This utility model sets up two suction cup mechanisms. When one suction cup mechanism returns from the receiving station to the depalletizing station, the other suction cup mechanism transfers the material from the depalletizing station to the receiving station. The two suction cup mechanisms depalletize the material in an alternating manner, thereby improving the cycle time of the entire depalletizing device and increasing the depalletizing efficiency.

[0016] 2. By setting two limit plates to gather and transfer the material onto the conveyor belt, the material from the two suction cup mechanisms can be automatically transported along the same straight line after leaving the conveyor belt, thus achieving the same state of output material from the two suction cup mechanisms. Attached Figure Description

[0017] Figure 1 A schematic diagram of the structure of a truss double suction cup single pack destacking device provided in this embodiment of the utility model;

[0018] Figure 2 for Figure 1 Top view;

[0019] Figure 3 for Figure 1 A magnified view of a portion of point A in the middle;

[0020] Figure 4 for Figure 1 A magnified view of a portion of point B in the middle;

[0021] Figure 5 This is a schematic diagram of the suction cup mechanism in an embodiment of the present utility model;

[0022] Figure 6 This is a schematic diagram of the package receiving mechanism in an embodiment of the present utility model;

[0023] Figure 7 This is a schematic diagram of the sensor assembly in an embodiment of the present invention.

[0024] The attached diagram lists the components represented by each number as follows:

[0025] 1. Support mechanism; 11. Column; 12. Longitudinal beam; 121. Y-axis track; 122. Y-axis rack; 13. Crossbeam; 131. X-axis track; 132. X-axis rack; 14. Packaging receiving station; 141. Packaging receiving support; 15. Depalletizing station; 2. Packaging receiving mechanism; 21. Conveyor belt; 22. Packaging receiving motor; 23. Limiting plate; 3. Suction cup mechanism; 31. Vertical rod; 311. Guide track; 312. Guide 32. Rack; 4. Suction cup; 5. X-axis moving mechanism; 6. X-axis slider; 7. X-axis drive motor; 8. Y-axis moving mechanism; 9. Y-axis slider; 10. Y-axis drive motor; 11. Vertical moving mechanism; 2. Mounting bracket; 32. Guide groove; 43. Vertical drive motor; 5. Turntable mechanism; 6. Sensor assembly; 7. Sensor bracket; 84. 3D camera; 9. Photoelectric sensor; 10. Lifting machine. Detailed Implementation

[0026] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0028] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0029] A truss double suction cup 32 single package destacking device includes a support mechanism 1, a sensor assembly 8, a package receiving mechanism 2, and two suction cup mechanisms 3.

[0030] The support mechanism 1 includes four columns 11, two longitudinal beams 12, and two transverse beams 13. The two longitudinal beams 12 are arranged in parallel, and the tops of the four columns 11 are respectively connected to the two ends of the two longitudinal beams 12. The two transverse beams 13 are arranged in parallel, and one end of each transverse beam 13 is connected to one of the longitudinal beams 12, and the other end of each transverse beam 13 is connected to the other longitudinal beam 12.

[0031] A receiving station 14 is provided on one side of the bottom of the support mechanism 1, and a destacking station 15 is provided on the other side of the bottom. The receiving mechanism 2 is located at the receiving station 14, and the destacking station 15 is used to place materials to be destacking. In this embodiment, the receiving mechanism 2 includes a conveyor belt 21, and a receiving support 141 is provided at the receiving station 14. The conveyor belt 21 is mounted on the receiving support 141. A receiving motor 22 is provided on one side of the conveyor belt 21, and the receiving motor 22 is used to drive the conveyor belt 21 to rotate. Two limiting plates 23 are provided on the top of the conveyor belt 21. The limiting plates 23 are respectively located on both sides of the conveying direction of the conveyor belt 21, and the distance between the two limiting plates 23 gradually decreases along the conveying direction of the conveyor belt 21.

[0032] Additionally, one end of the crossbeam 13 is located above the receiving station 14, and the other end is located above the destacking station 15. Each of the two crossbeams 13 has an x-axis track 131 and an x-axis rack 132 extending along its length on the side furthest from each other. Two suction cup mechanisms 3 are respectively mounted on the two x-axis tracks 131 via x-axis moving mechanisms 4. The two x-axis moving mechanisms 4 are used to drive the two suction cup mechanisms 3 to reciprocate along the x-axis tracks 131 above the receiving station 14 and the destacking station 15, respectively.

[0033] In this embodiment, the x-axis moving mechanism 4 includes an x-axis slider 41, which is slidably mounted on the x-axis track 131. An x-axis gear and an x-axis drive motor 42 are provided on the x-axis slider 41. The x-axis gear meshes with the x-axis rack 132, and the x-axis drive motor 42 drives the x-axis gear to rotate. The end of the crossbeam 13 is mounted on the x-axis slider 41.

[0034] In this embodiment, two suction cup mechanisms 3 are set up. When one suction cup mechanism 3 returns from the receiving station 14 to the destacking station 15, the other suction cup mechanism 3 transfers the material from the destacking station 15 to the receiving station 14. The two suction cup mechanisms 3 destacking the material alternately improve the cycle time of the entire destacking device and increase the destacking efficiency.

[0035] The suction cup mechanism 3 includes a suction cup 32 and a vertical rod 31. The vertical rod 31 is vertically slidably mounted on the x-axis slider 41 via a vertical moving mechanism 6. Specifically, the side wall of the vertical rod 31 is provided with a vertically extending guide rail 311 and a guide rack 312. The vertical moving mechanism 6 includes a mounting frame 61, on which a guide groove 62 matching the guide rail 311 is provided. The mounting frame 61 is also provided with a drive gear and a vertical drive motor 63. The drive gear meshes with the guide rack 312, and the vertical drive motor 63 is used to drive the drive gear to rotate.

[0036] In this embodiment, the suction cup mechanism 3 is driven to move up and down by a vertical drive mechanism, so that the suction cup mechanism 3 can grab the material in the destacking station 15 above the destacking station 15, or place the material on the conveyor belt 21 between the two limiting plates 23.

[0037] The suction cup 32 is mounted at the bottom of the vertical rod 31 via a turntable mechanism 7. The turntable mechanism 7 drives the suction cup 32 to rotate along a vertical axis, thereby adjusting the angle of the gripped material. When the material in the destacking station 15 is stacked in an alternating manner, for example, when the material on one side of the destacking station 15 is placed horizontally and the material on the other side is placed vertically, the suction cup 32 on one side can remain stationary during transport, while the suction cup 32 on the other side rotates 90° during transport. This allows both suction cups 32 to place the material on the conveyor belt 21 in a horizontal or vertical manner, ensuring that the material output from both suction cups 32 remains in the same state.

[0038] In this embodiment, one end of each crossbeam 13 is slidably connected to one of the longitudinal beams 12 along the length of the longitudinal beam 12 via a y-axis moving mechanism 5, and the other end of each crossbeam 13 is slidably connected to another longitudinal beam 12 along the length of the longitudinal beam 12 via a y-axis moving mechanism 5. During the destacking process, the position of the crossbeam 13 can be adjusted via the y-axis moving mechanism 5, so that the suction cup mechanism 3 can align the material position when grabbing the material in the destacking station 15.

[0039] The top of the longitudinal beam 12 is provided with a y-axis rail 121 and a y-axis rack 122 extending along the length of the longitudinal beam 12. The y-axis moving mechanism 5 includes a y-axis slider 51, which is slidably mounted on the y-axis rail 121. The y-axis slider 51 is provided with a y-axis gear and a y-axis drive motor 52. The y-axis gear meshes with the y-axis rack 122, and the y-axis drive motor 52 is used to drive the y-axis gear to rotate. The end of the crossbeam 13 is mounted on the y-axis slider 51.

[0040] The sensor assembly 8 is located on the top of the support mechanism 1. The sensor assembly 8 includes a sensor bracket 81 and a 3D camera 82. The 3D camera 82 is installed at the bottom of the sensor bracket 81 and is used to detect the position of the material in the destacking station 15.

[0041] Additionally, a distance measuring sensor can be installed on the sensor bracket 81 to detect the top height of the material within the stacking station 15. In this embodiment, a photoelectric sensor 83 is used to detect the top height of the material within the stacking station 15, and the photoelectric sensor 83 is installed on both sides of the destacking station 15. Within the destacking station 15, a lifting machine 9 raises and lowers the pallet carrying the material. When the photoelectric sensor 83 detects that the top of the material has risen to a predetermined height, the lifting machine 9 stops raising the pallet, ensuring that the top of the material is at the predetermined height for easy destacking. During the destacking process, the lifting machine 9 raises the topmost material layer by layer to the predetermined height, ensuring that the suction cup mechanism 3 grasps the material at the same height.

[0042] This invention employs two suction cup mechanisms 3. When one suction cup mechanism 3 returns from the receiving station 14 to the depalletizing station 15, the other suction cup mechanism 3 transfers the material from the depalletizing station 15 to the receiving station 14. The two suction cup mechanisms 3 depalletize the material alternately, thereby increasing the cycle time of the entire depalletizing device and improving depalletizing efficiency. Furthermore, by setting two limiting plates 23 to gather the material transferred to the conveyor belt 21, the material from the two suction cup mechanisms 3 can automatically be transported along the same straight line after leaving the conveyor belt 21. A turntable mechanism 7 is also set to rotate the material at the same angle, ensuring that the output material from the two suction cup mechanisms 3 is in the same state.

[0043] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A truss double suction single bag de-palletizing device characterized by, The device comprises a support mechanism, a package receiving mechanism and two suction disc mechanisms; the bottom of the support mechanism is provided with a package receiving station and a de-stacking station, the package receiving mechanism is arranged at the package receiving station, and the de-stacking station is used for placing materials to be de-stacked; the top of the support mechanism is provided with two x-direction rails, and two suction disc mechanisms are respectively installed on the two x-direction rails through x-direction moving mechanisms; the two x-direction moving mechanisms are respectively used for driving the two suction disc mechanisms to reciprocate above the package receiving station and above the de-stacking station along the x-direction rails.

2. A truss double suction single wrap de-palletizing apparatus according to claim 1, wherein, The package receiving mechanism comprises a conveying belt, the package receiving station is provided with a package receiving support, and the conveying belt is installed on the package receiving support; one side of the conveying belt is provided with a package receiving motor, and the package receiving motor is used for driving the conveying belt to rotate; the top of the conveying belt is provided with two limiting plates, the two limiting plates are respectively arranged on the two sides of the conveying direction of the conveying belt, and the spacing between the two limiting plates gradually decreases along the conveying direction of the conveying belt.

3. A truss double suction single wrap de-palletizing apparatus as defined in claim 1, wherein, The support mechanism comprises four vertical columns, two longitudinal beams and two cross beams; the two longitudinal beams are arranged in parallel, and the top ends of the four vertical columns are respectively connected to the two ends of the two longitudinal beams; the two cross beams are arranged in parallel, one end of each of the cross beams is connected to one of the longitudinal beams through a y-direction moving mechanism and can slide along the length direction of the longitudinal beam, and the other end of each of the cross beams is connected to the other longitudinal beam through a y-direction moving mechanism and can slide along the length direction of the longitudinal beam.

4. A truss double suction single wrap de-palletizing apparatus according to claim 3, wherein, The top of the longitudinal beam is provided with a y-direction rail and a y-direction rack extending along the length direction of the longitudinal beam; the y-direction moving mechanism comprises a y-direction slider, the y-direction slider is slidably installed on the y-direction rail, and a y-direction gear and a y-direction drive motor are arranged on the y-direction slider, the y-direction gear is engaged with the y-direction rack, and the y-direction drive motor is used for driving the y-direction gear to rotate; the end of the cross beam is installed on the y-direction slider.

5. A truss double suction single wrap de-palletizing apparatus as defined in claim 3, wherein, The cross beam is provided with the x-direction rail and the x-direction rack extending along the length direction of the cross beam; the x-direction moving mechanism comprises an x-direction slider, the x-direction slider is slidably installed on the x-direction rail, and an x-direction gear and an x-direction drive motor are arranged on the x-direction slider, the x-direction gear is engaged with the x-direction rack, and the x-direction drive motor is used for driving the x-direction gear to rotate; the suction disc mechanism is installed on the x-direction slider.

6. A truss double suction single wrap de-palletizing apparatus as defined in claim 5, wherein, The suction disc mechanism comprises a suction disc and a vertical rod, and the suction disc is installed at the bottom of the vertical rod; the vertical rod is vertically slidably installed on the x-direction slider through a vertical moving mechanism.

7. A truss double suction single wrap de-palletizing apparatus as defined in claim 6, wherein, A vertically extending guide rail and a guide rack are arranged on the side wall of the vertical rod; the vertical moving mechanism comprises a mounting frame, the mounting frame is provided with a guide groove matched with the guide rail; a drive gear and a vertical drive motor are further arranged on the mounting frame, the drive gear is engaged with the guide rack, and the vertical drive motor is used for driving the drive gear to rotate.

8. A truss double suction single wrap de-palletizing apparatus as defined in claim 6, wherein, The suction disc is installed at the bottom of the vertical rod through a rotary table mechanism, and the rotary table mechanism is used for driving the suction disc to rotate along a vertical rotation shaft.

9. The pallet double suction tray de-palletizing device of claim 1, wherein, The top of the support mechanism is provided with a sensor assembly, which comprises a sensor support and a 3D camera installed at the bottom of the sensor support.

10. The pallet double suction tray de-palletizing device of claim 1, wherein, Opposite sides of the unstacking station are provided with photoelectric sensors for detecting the top height of the materials in the unstacking station.

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