Crochet hook hand grabbing type anti-explosion full-automatic unstacking equipment

Abstract

The utility model discloses crochet hook hand grabbing type anti-explosion full-automatic unstacking equipment, and relates to the technical field of unstacking equipment. Comprising a lifting machine, an unstacker body, a rail moving trolley, an unstacking robot, a crochet hook type unstacking mechanical arm, a discharging belt conveyor and a shaping and flattening conveyor, the lifting machine is located below the unstacker body and independently connected with the ground through chemical anchor bolts, and the unstacker body is located at the basic supporting position of equipment and provides a supporting platform for components above; aiming at materials with different physical characteristics, the crochet hook type unstacking mechanical arm is adopted, limitation of traditional suction cup type unstacking is avoided, the crochet hook type unstacking mechanical arm is inserted from the upper portion of a material bag to hook the material bag, damage to the material bag is reduced, scattering of the material is reduced, the material bag is not prone to falling off, and the unstacking machine is simple in structure and convenient to use. The crochet hook type unstacking manipulator is small in size and small in working swing space, and the utilization rate of the working space is fully considered.

Description

Technical Field

[0001] This utility model relates to the technical field of destacking equipment, specifically a hook-and-hand gripper explosion-proof fully automatic destacking device. Background Technology

[0002] In chemical, grain and oil, food, light industry, and pharmaceutical manufacturing enterprises, there is a need to break down stacks of materials into individual bags. Initially, this was done manually, but this method is time-consuming, requires frequent staff rotations, is labor-intensive, inefficient, and the harsh working environment can harm the health of operators. Furthermore, there are few young people currently engaged in loading and unloading work; most are middle-aged or older workers around fifty years old. As time goes on, the shortage of manual depalletizing personnel will become increasingly acute. Therefore, automated depalletizing equipment has been widely adopted and promoted under these circumstances.

[0003] Traditional depalletizing equipment has many problems and cannot meet the requirements of fully automatic depalletizing in explosion-proof environments. For materials with special physical properties such as moisture absorption and easy caking, it is not possible to use suction cups to pick up the bags for depalletizing. In addition, traditional robotic arms insert from the side of the bags for depalletizing, which seriously damages the bags and makes them easy to fall off. Furthermore, traditional depalletizing equipment occupies a large area and has low space utilization. Therefore, this utility model provides a hook-and-hand gripping explosion-proof fully automatic depalletizing equipment. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a hook-and-eye gripper explosion-proof fully automatic depalletizing device, which solves many problems of traditional depalletizing equipment. It cannot meet the fully automatic depalletizing requirements in explosion-proof environments. For materials with special physical properties such as moisture absorption and easy caking, it is impossible to use suction cups to pick up the bags for depalletizing. In addition, traditional robotic arms insert from the side of the bag for depalletizing, which seriously damages the bag and makes it easy for the bag to fall off. Furthermore, traditional depalletizing equipment occupies a large area and has low space utilization.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution: a hook-type hand-grip explosion-proof fully automatic destacking device, comprising a lift, a destacking machine body, a rail-mounted moving vehicle, a destacking robot, a hook-type destacking manipulator, a feeding belt conveyor, and a shaping and flattening conveyor. The lift is located below the destacking machine body and is individually connected to the ground using chemical anchors. The destacking machine body is positioned at the foundation support location of the equipment, providing a support platform for the upper components. The rail-mounted moving vehicle is located above the destacking machine body, and the destacking robot is located above the rail-mounted moving vehicle. The hook-type destacking manipulator is connected below the destacking robot. The feeding belt conveyor is located on the destacking machine body, and the shaping and flattening conveyor is placed adjacent to the feeding belt conveyor.

[0006] Preferably, the lifting platform comprises a lifting explosion-proof reduction motor, a first drive shaft, a lifting counterweight, a drive sprocket, a drive chain, a lifting base, a driven sprocket, and the main body of the lifting platform. The lifting explosion-proof reduction motor is connected to the first drive shaft via a coupling. Drive sprockets are installed at both ends of the first drive shaft. The drive sprocket and the driven sprocket are connected via a drive chain. The driven sprocket is installed on the lifting base. The lifting counterweight cooperates with a metal guide groove via a guide wheel. The metal guide groove is fixed to the main frame of the lifting platform.

[0007] Preferably, the depalletizer body consists of a depalletizer body support, a second drive shaft, an X-axis explosion-proof geared motor, a synchronous belt drive mechanism, and a track for the rail-mounted vehicle, providing support for the equipment above. The X-axis explosion-proof geared motor is connected to the second drive shaft via a coupling, and the second drive shaft drives the synchronous belt drive mechanism. The two ends of the synchronous belt of the synchronous belt drive mechanism are fixed to the track-mounted vehicle body support via a first synchronous belt pressure plate assembly. The track for the rail-mounted vehicle is laid on the upper surface of the depalletizer body support and cooperates with the first set of wheels of the rail-mounted vehicle.

[0008] Preferably, the track-mounted vehicle consists of a main support frame, a synchronous belt pulley transmission mechanism, a depalletizing robot's walking track, a Y-axis explosion-proof geared motor, a third transmission shaft, a first synchronous belt pressure plate assembly, and a first set of walking wheels. The Y-axis explosion-proof geared motor is connected to the third transmission shaft via a coupling. The third transmission shaft drives the synchronous belt pulley transmission mechanism. The two ends of the synchronous belt of the synchronous belt pulley transmission mechanism are fixed to the walking trolley of the depalletizing robot via a second synchronous belt pressure plate assembly. The depalletizing robot's walking track is laid on the upper surface of the main support frame of the track-mounted vehicle and cooperates with the second set of walking wheels of the depalletizing robot.

[0009] Preferably, the depalletizing robot comprises a lifting drive device, a traveling trolley, a lifting guide wheel assembly, a first explosion-proof junction box, explosion-proof electrical control components, explosion-proof electric components, a lifting column, a hand gripper connecting flange, a second synchronous belt pressure plate assembly, and a second traveling wheel assembly. The lifting drive device is fixed on the traveling trolley, and the piston rod is connected to the top of the lifting column. The lifting guide wheel assembly is installed on the side of the lifting column and cooperates with the side guide rail of the depalletizing robot's traveling track on the rail-mounted moving trolley. The hand gripper connecting flange is fixed to the bottom of the lifting column and is connected to the hand gripper rotation mechanism of the hook-type depalletizing manipulator by bolts.

[0010] Preferably, the hook-type depalletizing robot consists of a gripper rotation mechanism, an upper connecting frame, a lower connecting frame, a hook-type swing mechanism, a bag-pressing assembly, and a hook assembly. The gripper rotation mechanism is connected to the gripper connecting flange via a flange and can rotate 306°. The upper connecting frame and the lower connecting frame are connected sequentially below the gripper rotation mechanism. The hook-type swing mechanism and the bag-pressing assembly are installed on the lower connecting frame. The hook-type swing mechanism is connected to the hook assembly via a connecting rod and drives the hook assembly to swing.

[0011] Preferably, the feeding belt conveyor consists of a guide plate, a first explosion-proof geared motor, conveyor rollers, a first antistatic belt, and a main frame. The shaping and flattening conveyor consists of a shaping power unit, a horizontal guide rod mechanism, a shaping pressure plate, a second antistatic belt, a flattening roller, a pressure adjustment mechanism, a second explosion-proof geared motor, and a second explosion-proof junction box. The main frame of the feeding belt conveyor is fixed to the ground with expansion bolts. The first explosion-proof geared motor drives the conveyor rollers, which in turn drive the first antistatic belt to move in a circular motion. The main frame of the shaping and flattening conveyor is placed adjacent to the feeding belt conveyor and fixed to the ground. The second explosion-proof geared motor drives the conveyor rollers, which in turn drive the second antistatic belt to move. The shaping power unit is connected to the shaping pressure plate through the horizontal guide rod mechanism, and the pressure adjustment mechanism is connected to the flattening roller.

[0012] Beneficial effects

[0013] This utility model provides a crochet hook-type, hand-grip, explosion-proof, fully automatic destacking device. Compared with the prior art, it has the following advantages:

[0014] Firstly, all key components of this utility model equipment adopt explosion-proof design, such as explosion-proof motor, anti-static synchronous belt, and high molecular weight polyethylene components, which effectively avoids the generation of sparks during operation, meets the requirements of explosion-proof production environment, ensures safe and stable operation of equipment, and solves the problem that traditional destacking equipment cannot operate fully automatically in explosion-proof environment.

[0015] Secondly, this utility model adopts a hook-type depalletizing robot for materials with different physical properties, avoiding the limitations of traditional suction cup depalletizing. The hook-type depalletizing robot inserts from above the material bag to hook it up, reducing damage to the material bag, reducing material spillage, and making it less likely for the material bag to fall off. The hook-type depalletizing robot is small in size, with a small working swing space, and fully considers the utilization rate of the working space. The hook is made of high-quality spring steel and the hook assembly is modified to ensure the strength and toughness of the hook while keeping the hook diameter as small as possible. At the same time, the hook is made into an arc shape to ensure that the hook inserts and exits from the top of the material bag at one point, increasing the length of the hook hook that hooks the surface of the material bag, so that the material bag cannot fall off the hook assembly. In addition, the surface of the hook is hardened with chromium, which further reduces the degree of damage to the material bag. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the elevator structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the overall structure of the depalletizer of this utility model;

[0019] Figure 4 This is a schematic diagram of the overall structure of the track-mounted vehicle of this utility model;

[0020] Figure 5 This is a schematic diagram of the overall structure of the depalletizing robot of this utility model;

[0021] Figure 6 This is a schematic diagram of the hook-type destacking robot of this utility model;

[0022] Figure 7 This is a schematic diagram of the material feeding belt conveyor of this utility model;

[0023] Figure 8 This is a schematic diagram of the shaping and flattening conveyor of this utility model.

[0024] In the diagram: 1. Lifting machine; 101. Lifting explosion-proof geared motor; 102. First drive shaft; 103. Lifting counterweight; 104. Drive sprocket; 105. Drive chain; 106. Lifting base; 107. Driven sprocket; 2. Depalletizer assembly; 201. Depalletizer main support; 202. Second drive shaft; 203. X-axis travel explosion-proof geared motor; 204. Synchronous belt transmission mechanism; 205. Track for the moving car; 3. Track for the moving car; 301. Track for the moving car; 302. Synchronous belt pulley transmission mechanism; 303. Depalletizer robot track; 304. Y-axis travel explosion-proof geared motor; 305. Third drive shaft; 306. First synchronous belt pressure plate assembly; 307. First walking wheel set; 4. Depalletizer assembly; 401. Lifting drive device; 402. Walking trolley; 403. Lifting guide wheel set; 404. First explosion-proof junction box; 4 05. Explosion-proof electrical control components; 406. Explosion-proof electric components; 407. Lifting column; 408. Hand gripping connecting flange; 409. Second synchronous belt pressure plate assembly; 4010. Second traveling wheel set; 5. Hook-type depalletizing robot; 501. Hand gripping rotation mechanism; 502. Upper connecting frame; 503. Lower connecting frame; 504. Hook-type swing mechanism; 505. Bag pressing assembly; 506. Hook-type assembly; 6. Discharge belt conveyor; 60 1. Guide plate; 602. First conveyor explosion-proof geared motor; 603. Conveyor roller; 604. First antistatic belt; 605. Main frame; 7. Shaping and flattening conveyor; 701. Shaping power unit; 702. Horizontal guide rod mechanism; 703. Shaping pressure plate; 704. Second antistatic belt; 705. Flattening roller; 706. Pressure adjustment mechanism; 707. Second conveyor explosion-proof geared motor; 708. Second explosion-proof junction box. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figures 1-8This utility model provides a technical solution: a hook-type hand-grip explosion-proof fully automatic depalletizing device, including a lift 1, a depalletizing machine body 2, a track moving vehicle 3, a depalletizing robot 4, a hook-type depalletizing manipulator 5, a feeding belt conveyor 6, and a shaping and flattening conveyor 7. The lift 1 is located below the depalletizing machine body 2 and is individually connected to the ground using chemical anchors. The depalletizing machine body 2 is positioned as the foundation support for the equipment, providing a support platform for the upper components. The track moving vehicle 3 is located above the depalletizing machine body 2, the depalletizing robot 4 is located above the track moving vehicle 3, the hook-type depalletizing manipulator 5 is connected below the depalletizing robot 4, the feeding belt conveyor 6 is located on the depalletizing machine body 2, and the shaping and flattening conveyor 7 is placed adjacent to the feeding belt conveyor 6. The equipment meets the explosion-proof requirements of the entire machine. The use of the hook-type depalletizing manipulator 5 solves the problems of traditional suction cup depalletizing being unsuitable for special materials and traditional manipulators causing significant damage to the bags, and the equipment occupies a small area.

[0027] In a preferred embodiment, the elevator 1 comprises an explosion-proof lifting gear motor 101, a first drive shaft 102, a lifting counterweight 103, a drive sprocket 104, a transmission chain 105, a lifting base 106, a driven sprocket 107, and the elevator body. The explosion-proof lifting gear motor 101 is connected to the first drive shaft 102 via a coupling. Drive sprockets 104 are installed at both ends of the first drive shaft 102. The drive sprockets 104 and driven sprockets 107 are connected via the transmission chain 105. The driven sprockets 107 are mounted on the lifting base 106. The lifting counterweight 103 engages with a metal guide groove via a guide wheel. The metal guide groove is fixed to the elevator body frame. The explosion-proof lifting gear motor 101... Upon startup, the first drive shaft 102 drives the drive sprocket 104 to rotate, which in turn drives the drive chain 105 to rotate the driven sprocket 107. This, in turn, lifts the lifting base 106 and the material above it. The lifting counterweight 103 moves synchronously along the metal guide groove under the action of the high-molecular polyethylene guide wheel, balancing the lifting load and preventing sparks. This allows for the movement of the material in the height direction. The lifting guide of the counterweight uses a combination of high-molecular polyethylene and metal guide grooves to prevent explosions. The lifting machine 1 can achieve precise movement of the material in the height direction to meet different destacking height requirements. Furthermore, the explosion-proof design of the combination of high-molecular polyethylene and metal guide grooves prevents sparks and ensures stable and safe operation in an explosion-proof environment.

[0028] In a preferred embodiment, the destacking machine body 2 consists of a destacking machine body support 201, a second drive shaft 202, an X-axis explosion-proof geared motor 203, a synchronous belt drive mechanism 204, and a track for the rail-mounted vehicle 205, providing support for the upper equipment. The X-axis explosion-proof geared motor 203 is connected to the second drive shaft 202 via a coupling. The second drive shaft 202 drives the synchronous belt drive mechanism 204. The two ends of the synchronous belt of the synchronous belt drive mechanism 204 are fixed to the track-mounted vehicle body support 301 of the rail-mounted vehicle 3 via a first synchronous belt pressure plate assembly 306. The track for the rail-mounted vehicle 205 is laid on the destacking machine body support 201. The upper surface of the main body support 201 cooperates with the first traveling wheel set 307 of the rail-mounted mobile vehicle 3. The X-axis traveling explosion-proof reduction motor 203 drives the second transmission shaft 202, which drives the synchronous belt of the synchronous belt transmission mechanism 204 to move. Through the connection between the synchronous belt and the first synchronous belt pressure plate assembly 306, the rail-mounted mobile vehicle 3 moves along the rail-mounted mobile vehicle traveling track 205 in the X-axis direction. The destacking machine main body 2 provides stable support for the equipment above. The use of anti-static synchronous belt transmission enables the rail-mounted mobile vehicle to travel in the X-axis direction, meeting explosion-proof requirements and ensuring the safe operation of the equipment. At the same time, it realizes the precise positioning and movement of the rail-mounted mobile vehicle in the X-axis direction.

[0029] In a preferred embodiment, the track-mounted vehicle 3 comprises a main support frame 301, a synchronous belt pulley transmission mechanism 302, a depalletizing robot walking track 303, a Y-axis explosion-proof geared motor 304, a third drive shaft 305, a first synchronous belt pressure plate assembly 306, and a first walking wheel set 307. The Y-axis explosion-proof geared motor 304 is connected to the third drive shaft 305 via a coupling. The third drive shaft 305 drives the synchronous belt pulley transmission mechanism 302. The two ends of the synchronous belt of the synchronous belt pulley transmission mechanism 302 are fixed to the walking carriage 402 of the depalletizing robot 4 via a second synchronous belt pressure plate assembly 409. The depalletizing robot walking track 303 is laid on the main body of the track-mounted vehicle. On the upper surface of the bracket 301, the second walking wheel set 4010 of the depalletizing robot 4 is engaged. The explosion-proof reduction motor 304 of the Y-axis drives the third transmission shaft 305, which in turn drives the synchronous belt of the synchronous belt pulley transmission mechanism 302. Through the connection between the synchronous belt and the second synchronous belt pressure plate assembly 409, the depalletizing robot 4 moves along the depalletizing robot walking track 303 in the Y-axis direction. The track moving car 3 provides support for the equipment above. The anti-static synchronous belt transmission enables the depalletizing robot to walk in the Y-axis direction. The walking wheel set is made of high molecular weight polyethylene, which meets the explosion-proof requirements. This allows the depalletizing robot to move flexibly in the Y-axis direction, while ensuring that no sparks are generated during operation, thus ensuring the safe operation of the equipment.

[0030] In a preferred embodiment, the depalletizing robot 4 comprises a lifting drive device 401, a traveling trolley 402, a lifting guide wheel assembly 403, a first explosion-proof junction box 404, an explosion-proof electrical control component 405, an explosion-proof electric component 406, a lifting column 407, a gripper connecting flange 408, a second synchronous belt pressure plate assembly 409, and a second traveling wheel assembly 4010. The lifting drive device 401 is fixed on the traveling trolley 402, and the piston rod is connected to the top of the lifting column 407. The lifting guide wheel assembly 403 is installed on the side of the lifting column 407 and cooperates with the side guide rail of the depalletizing robot traveling track 303 of the rail mobile vehicle 3. The gripper connecting flange 408 is fixed to the bottom of the lifting column 407 and is connected to the gripper rotation mechanism 501 of the hook-type depalletizing manipulator 5 by bolts. The piston rod of the lifting drive device 401 extends and retracts, driving the lifting column 407 to move along the guide rail of the depalletizing robot's walking track 303 in the Z-axis direction, thereby realizing the lifting of the hook-type depalletizing robot 5. The high-molecular-weight polyethylene components of the lifting guide wheel group 403 and the second walking wheel group 4010 ensure that no sparks are generated during the movement. They connect the hook-type depalletizing robot and realize its Z-axis movement, forming a compound lifting with the elevator. The lifting guide wheel group and the walking wheel group are made of explosion-proof high-molecular-weight polyethylene. The depalletizing robot 4 connects to the hook-type depalletizing robot and realizes its Z-axis movement, forming a compound lifting with the elevator, improving depalletizing efficiency. The lifting guide wheel group and the walking wheel group are made of explosion-proof high-molecular-weight polyethylene to ensure stable operation in an explosion-proof environment, while reducing the complexity of the electrical control program.

[0031] In a preferred embodiment, the hook-type depalletizing robot 5 comprises a gripper rotation mechanism 501, an upper connecting frame 502, a lower connecting frame 503, a hook-type swing mechanism 504, a bag-pressing assembly 505, and a hook-type assembly 506. The gripper rotation mechanism 501 is connected to the gripper connecting flange 408 via a flange, enabling 90° rotation in both directions. The upper connecting frame 502 and the lower connecting frame 503 are sequentially connected below the gripper rotation mechanism 501. The hook-type swing mechanism 504 and the bag-pressing assembly 505 are mounted on the lower connecting frame 503. The hook-type swing mechanism 504 is connected to the hook-type assembly 506 via a connecting rod, driving the hook-type assembly 506 to swing. The gripper rotation mechanism 501 drives the entire robot to rotate above the bag, and the bag-pressing assembly 505 descends to press down on the surface of the bag. The hook-type swing mechanism 504 drives the hook-type assembly 506 to swing nearly 180° from its initial position to insert into the bag, followed by a lifting and lowering drive. The 401 lifting mechanism enables bag grabbing. The hook assembly is made with special materials and processes. Dual power units drive the hook to swing nearly 180°. The bag pressing component assists in improving the success rate of bag grabbing. The hook-type depalletizing robot 5 uses special materials and processes to make the hook. The hook swings through dual power units, and the bag pressing component assists in improving the success rate of bag grabbing, reducing damage to the bag, and reducing material spillage. It can adapt to bags with various placement angles, improving the versatility and compatibility of the equipment. The hook is made of high-quality spring steel, and the hook assembly is modified to ensure the strength and toughness of the hook while keeping the hook diameter as small as possible. At the same time, the hook is made into an arc shape to ensure that the hook inserts and exits from the top of the bag and hooks the bag, increasing the length of the hook that hooks the surface of the bag. This prevents the bag from falling off the hook assembly. In addition, the hook surface is hardened with chromium, which further reduces the degree of damage to the bag.

[0032] In a preferred embodiment, the feeding belt conveyor 6 comprises a guide plate 601, a first explosion-proof geared motor 602, a conveyor roller 603, a first antistatic belt 604, and a main frame 605. The shaping and flattening conveyor 7 comprises a shaping power unit 701, a horizontal guide rod mechanism 702, a shaping pressure plate 703, a second antistatic belt 704, a flattening roller 705, a pressure adjustment mechanism 706, a second explosion-proof geared motor 707, and a second explosion-proof junction box 708. The main frame 605 of the feeding belt conveyor 6 is fixed to the ground with expansion bolts. The first explosion-proof geared motor 602 drives the conveyor roller 603, which in turn drives the first antistatic belt 604 in a cyclical motion. The main frame of the shaping and flattening conveyor 7 is placed adjacent to the feeding belt conveyor 6 and fixed to the ground. The second explosion-proof geared motor 707 drives the conveyor roller, which in turn drives the second antistatic belt 704 in motion. The shaping power unit 701 is connected to the horizontal guide rod mechanism 701. The material bag is connected to the shaping plate 703, and the pressure adjustment mechanism 706 is connected to the flattening roller 705. The material bag is placed on the first antistatic belt 604 of the feeding belt conveyor 6. After being guided in the correct direction by the guide plate 601, it is conveyed to the shaping and flattening conveyor 7. The shaping power unit 701 drives the shaping plate 703 to perform lateral shaping of the material bag. The flattening roller 705 flattens the material bag under the action of the pressure adjustment mechanism 706. The second antistatic belt 704 simultaneously conveys the material to complete the processing. The feeding belt conveyor can receive and convey single bags of material and guide the direction. It adopts an explosion-proof motor and an antistatic belt to meet the explosion-proof requirements. High-density and high-strength conveying rollers improve the reliability of the equipment. The shaping and flattening conveyor shapes and flattens the material. It adopts an explosion-proof motor and an antistatic belt. The cylinder as the shaping power unit is low cost. The pressure adjustment mechanism can adjust the pressure according to the material condition. The conveying and flattening use the same drive device, which makes the structure simple and low cost, and provides convenience for subsequent operations.

[0033] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0034] During operation, the elevator 1 first lifts the entire stack of materials, so that the top layer of bags reaches the appropriate height. The explosion-proof reduction motor 101 drives the lifting base 106 and the materials to rise and fall through the transmission shaft 102, the drive sprocket 104, the transmission chain 105, and the driven sprocket 107. The lifting counterweight 103 assists in balancing.

[0035] Then, the X-axis travel explosion-proof reduction motor 203 of the depalletizer body 2 drives the track moving vehicle 3 to move along the X-axis direction through the synchronous belt transmission mechanism 204, and the Y-axis travel explosion-proof reduction motor 304 of the track moving vehicle 3 drives the depalletizing robot 4 to move along the Y-axis direction through the synchronous belt pulley transmission mechanism 302, thereby realizing the position adjustment of the depalletizing robot 4 in the plane.

[0036] The lifting drive device 401 of the depalletizing robot 4 drives the hook-type depalletizing manipulator 5 to rise and fall along the Z-axis. The hand gripping rotation mechanism 501 of the hook-type depalletizing manipulator 5 rotates, causing the hook assembly 506 to enter the inside of the bag. The hook swing mechanism 504 drives the hook to rotate at nearly 180°. The bag pressing assembly 505 applies pressure to the bag, making it easier for the hook to insert into the bag and hook up.

[0037] After the hook-type depalletizing robot 5 hooks the bag off the stack of materials, the depalletizing robot 4 lifts it up, and the track moving vehicle 3 and the main body of the depalletizing machine 2 move together to move the bag above the unloading belt conveyor 6 and put the bag down.

[0038] Finally, the explosion-proof geared motor 602 of the feeding belt conveyor 6 drives the anti-static belt 604 to operate, the conveying roller 603 provides support, the guide plate 601 guides the conveying direction of the bag, and the bag is conveyed to the shaping and flattening conveyor 7. The shaping power unit 701 of the shaping and flattening conveyor 7 drives the shaping plate 703 to shape the bag, the flattening roller 705 flattens it, the pressure adjustment mechanism 706 adjusts the pressure according to the degree of material compaction, and the explosion-proof geared motor 707 drives the anti-static belt 704 to convey the material, completing the shaping and flattening process of a single bag of material.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A hook-type hand-grip explosion-proof fully automatic depalletizing device, comprising a lift (1), a depalletizing machine body (2), a rail-mounted moving vehicle (3), a depalletizing robot (4), a hook-type depalletizing manipulator (5), a material feeding belt conveyor (6), and a shaping and flattening conveyor (7), characterized in that: The elevator (1) is located below the destacking machine body (2) and is connected to the ground separately with chemical anchors. The destacking machine body (2) is located at the foundation support position of the equipment and provides a support platform for the upper components. The rail moving car (3) is located above the destacking machine body (2). The destacking robot (4) is located above the rail moving car (3). The hook-type destacking manipulator (5) is connected below the destacking robot (4). The material feeding belt conveyor (6) is located on the destacking machine body (2). The shaping and flattening conveyor (7) is placed next to the material feeding belt conveyor (6).

2. The crochet-type hand-grip explosion-proof fully automatic destacking device according to claim 1, characterized in that: The elevator (1) consists of an explosion-proof lifting reduction motor (101), a first drive shaft (102), a lifting counterweight (103), a drive sprocket (104), a transmission chain (105), a lifting base (106), a driven sprocket (107), and the main body of the elevator. The explosion-proof lifting reduction motor (101) is connected to the first drive shaft (102) via a coupling. Drive sprockets (104) are installed at both ends of the first drive shaft (102). The drive sprockets (104) and the driven sprockets (107) are connected via a transmission chain (105). The driven sprockets (107) are installed on the lifting base (106). The lifting counterweight (103) is engaged with a metal guide groove via a guide wheel. The metal guide groove is fixed to the main frame of the elevator.

3. The crochet-type hand-grip explosion-proof fully automatic destacking device according to claim 1, characterized in that: The destacking machine body (2) consists of a destacking machine body support (201), a second drive shaft (202), an X-axis travel explosion-proof geared motor (203), a synchronous belt drive mechanism (204), and a rail mobile car travel track (205), providing support for the equipment above. The X-axis travel explosion-proof geared motor (203) is connected to the second drive shaft (202) through a coupling. The second drive shaft (202) drives the synchronous belt drive mechanism (204). The two ends of the synchronous belt of the synchronous belt drive mechanism (204) are fixed to the rail mobile car body support (301) of the rail mobile car (3) through the first synchronous belt pressure plate assembly (306). The rail mobile car travel track (205) is laid on the upper surface of the destacking machine body support (201) and cooperates with the first travel wheel set (307) of the rail mobile car (3).

4. The crochet-type hand-grip explosion-proof fully automatic destacking device according to claim 1, characterized in that: The track-moving vehicle (3) consists of a main support frame (301), a synchronous belt pulley transmission mechanism (302), a destabilizing robot walking track (303), a Y-axis walking explosion-proof reduction motor (304), a third transmission shaft (305), a first synchronous belt pressure plate assembly (306), and a first walking wheel set (307). The Y-axis walking explosion-proof reduction motor (304) is connected to the third transmission shaft (305) through a coupling. The third transmission shaft (305) drives the synchronous belt pulley transmission mechanism (302). The two ends of the synchronous belt of the synchronous belt pulley transmission mechanism (302) are fixed to the walking trolley (402) of the destabilizing robot (4) through the second synchronous belt pressure plate assembly (409). The destabilizing robot walking track (303) is laid on the upper surface of the main support frame (301) of the track-moving vehicle and cooperates with the second walking wheel set (4010) of the destabilizing robot (4).

5. The crochet-type hand-grip explosion-proof fully automatic destacking device according to claim 1, characterized in that: The destacking robot (4) consists of a lifting drive device (401), a walking trolley (402), a lifting guide wheel assembly (403), a first explosion-proof junction box (404), an explosion-proof electrical control component (405), an explosion-proof electric component (406), a lifting column (407), a hand gripping connecting flange (408), a second synchronous belt pressure plate assembly (409), and a second walking wheel assembly (4010). The lifting drive device (401) is fixed on the walking trolley (402), and the piston rod is connected to the top of the lifting column (407). The lifting guide wheel assembly (403) is installed on the side of the lifting column (407) and cooperates with the side guide rail of the destacking robot walking track (303) of the rail moving vehicle (3). The hand gripping connecting flange (408) is fixed at the bottom of the lifting column (407) and is connected to the hand gripping rotation mechanism (501) of the hook-type destacking manipulator (5) by bolts.

6. The crochet-type hand-grip explosion-proof fully automatic destacking device according to claim 1, characterized in that: The hook-type depalletizing robot (5) consists of a gripper rotation mechanism (501), an upper connecting frame (502), a lower connecting frame (503), a hook swing mechanism (504), a bag pressing assembly (505), and a hook assembly (506). The gripper rotation mechanism (501) is connected to the gripper connecting flange (408) via a flange, enabling 360° rotation. The upper connecting frame (502) and the lower connecting frame (503) are connected sequentially below the gripper rotation mechanism (501). The hook swing mechanism (504) and the bag pressing assembly (505) are mounted on the lower connecting frame (503). The hook swing mechanism (504) is connected to the hook assembly (506) via a connecting rod, driving the hook assembly (506) to swing.

7. The crochet-type hand-grip explosion-proof fully automatic destacking device according to claim 1, characterized in that: The feeding belt conveyor (6) consists of a guide plate (601), a first explosion-proof geared motor (602), a conveyor roller (603), a first anti-static belt (604), and a main frame (605). The shaping and flattening conveyor (7) consists of a shaping power unit (701), a horizontal guide rod mechanism (702), a shaping pressure plate (703), a second anti-static belt (704), a flattening roller (705), a pressure adjustment mechanism (706), a second explosion-proof geared motor (707), and a second explosion-proof junction box (708). The main frame of the feeding belt conveyor (6) The frame (605) is fixed to the ground by expansion bolts. The first conveying explosion-proof reduction motor (602) drives the conveying roller (603) and drives the first antistatic belt (604) to circulate. The main frame of the shaping and flattening conveyor (7) is placed next to the feeding belt conveyor (6) and fixed to the ground. The second conveying explosion-proof reduction motor (707) drives the conveying roller and drives the second antistatic belt (704) to move. The shaping power device (701) is connected to the shaping pressure plate (703) through the horizontal guide rod mechanism (702). The pressure adjustment mechanism (706) is connected to the flattening roller (705).

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