A de-palletizing device for logistic boxes

Abstract

The utility model provides a kind of for logistics box's unstacking and stacking device, including robot and material box gripper mechanism;The mechanical arm end of robot is provided material box gripper mechanism;Material box gripper mechanism includes installation bottom plate, mounting bracket, translation mechanism, detection mechanism, floating gripper mechanism and fixed gripper mechanism.The utility model said a kind of for logistics box's unstacking and stacking device, solved the problem that due to lack of complex material characteristics in the related art can be flexibly adapted unstacking and stacking solution and effective alternative means to high-intensity labor of artificial, leading to production efficiency is limited, labor burden is too heavy and potential operation risk is difficult to eradicate.

Description

Technical Field

[0001] This utility model belongs to the field of material conveying technology, and in particular relates to a depalletizing and unpalletizing device for logistics boxes. Background Technology

[0002] In complex warehousing operations, pallet transfer operations are often necessary to improve turnover efficiency or optimize limited storage space. The core of this operation is to systematically disassemble the material boxes that were originally neatly stacked on a specific type of pallet, and then rearrange and stack them onto a pallet of another size or type according to new requirements and standards.

[0003] Manual depalletizing and palletizing operations face significant challenges. Due to the vast differences in size, weight, and type of the boxes handled daily, operators must continuously adjust their handling posture, force application, and stacking strategies according to the unique characteristics of each box. This requires not only immense physical exertion from frequently moving heavy objects and performing repetitive bending and straightening movements, but also constant high concentration to avoid misplacement, collisions, or unstable stacking. Prolonged, high-intensity work significantly increases the risk of muscle fatigue and lower back strain, while the continuous drain on energy also greatly increases the likelihood of operational errors or accidents. The root cause lies in the lack of flexible depalletizing and palletizing solutions that can adapt to the complex characteristics of materials, as well as effective alternatives to high-intensity manual labor, resulting in limited production efficiency, excessive labor burden, and persistent potential operational risks. Utility Model Content

[0004] In view of this, the present invention aims to at least partially solve one of the related technical problems.

[0005] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0006] A depalletizing and unpalletizing device for logistics boxes includes a robot and a box gripper mechanism;

[0007] The material box gripper mechanism is provided at the end of the robot's robotic arm;

[0008] The material box gripping mechanism includes a mounting base plate, a mounting bracket, a translation mechanism, a detection mechanism, a floating gripper mechanism, and a fixed gripper mechanism. The mounting bracket is disposed on the upper surface of the mounting base plate. The translation mechanism and the detection mechanism are both disposed on the mounting bracket. The fixed gripper mechanism is disposed on one side of the mounting bracket, and the floating gripper mechanism is disposed on the other side of the mounting bracket. The floating gripper mechanism is slidably engaged with the mounting bracket, and the fixed gripper mechanism is fixedly connected to the mounting bracket. Both the fixed gripper mechanism and the floating gripper mechanism are used to grip or release the material box.

[0009] The detection mechanism is used to detect the dimensions of the material box;

[0010] The translation mechanism is used to adjust the distance between the fixed gripper mechanism and the floating gripper mechanism.

[0011] Furthermore, the floating gripper mechanism includes a support plate, a base plate, a material box gripper, two gripper cylinders, and multiple first stiffeners. The support plate is vertically disposed on the upper surface of the base plate, and the base plate is slidably fitted with the mounting bracket. The two gripper cylinders are symmetrically disposed on the support plate. The top of the support plate is hinged to the material box gripper via multiple hinges. The output end of the gripper cylinder is connected to the material box gripper via a hinge seat. Multiple first stiffeners are arranged at the position where the base plate and the support plate are connected.

[0012] Furthermore, the material box gripper includes a clamping plate and multiple L-shaped grippers. The bottom of the clamping plate is hinged to the support plate via a hinge. The multiple L-shaped grippers are arranged on the top of the clamping plate. The hinge seat is connected to the clamping plate.

[0013] Furthermore, the fixed gripper mechanism includes a side fixing plate and a plurality of second ribs. The side fixing plate has a bent edge, and the plurality of ribs are disposed on the inner side of the bent edge. The side fixing plate is used to position the material box.

[0014] Furthermore, the translation mechanism includes a movable electric cylinder, multiple linear guide rails, and multiple guide rail sliders. The multiple linear guide rails are arranged side by side on the mounting bracket, and each linear guide rail is provided with a corresponding guide rail slider. The slider is connected to the base plate, the movable electric cylinder is mounted on the mounting bracket, and the output end of the movable electric cylinder is connected to the support plate.

[0015] Furthermore, the detection mechanism includes a detection bracket and a camera, with the bottom of the detection bracket connected to the mounting bracket and the camera mounted on the top of the detection bracket.

[0016] Furthermore, it also includes a support frame and a vacuum sponge suction cup. The support frame is mounted on the mounting bracket, and the vacuum sponge suction cup is mounted on the support frame. The vacuum sponge suction cup is located between the floating gripper mechanism and the fixed gripper mechanism.

[0017] Furthermore, the robot is equipped with a safety fence on its outside, an alarm on the safety fence, and a safety light grid on the side of the safety fence.

[0018] Compared with the prior art, the palletizing and unpalletizing device for logistics boxes described in this utility model has the following advantages:

[0019] 1. The floating gripper mechanism is driven by a translation mechanism to make precise distance adjustment relative to the fixed gripper mechanism. Combined with the real-time identification of the material box size by the detection mechanism, the device is given strong flexibility and adaptability. It can efficiently and reliably handle various sizes and specifications of material boxes commonly found in logistics centers, completely breaking through the limitations of traditional fixed clamps.

[0020] 2. The floating gripper utilizes an L-shaped gripper assembly driven by a gripper cylinder and hinged together with a stable positioning bend and rib support structure of the fixed gripper mechanism. This provides a stable and reliable gripping force during clamping, ensuring secure clamping and preventing damage to the container surface or internal goods. The auxiliary application of vacuum sponge suction cups further enhances adaptability to irregular or fragile containers, improving the overall gripping softness and safety.

[0021] 3. The translation mechanism, detection mechanism, and gripper mechanism integrated on the mounting bracket work together to automate the entire process, from material box size recognition and automatic gripper spacing adjustment to stable clamping and release, significantly reducing reliance on manual operations and operational complexity. This integrated design, combined with the robot's flexible movement, provides an efficient, stable, and highly adaptable automated solution for frequent and high-intensity palletizing and depalletizing tasks in warehousing and logistics. Attached Figure Description

[0022] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0023] Figure 1 This is a schematic diagram of a depalletizing and palletizing device for logistics boxes according to an embodiment of the present utility model;

[0024] Figure 2 This is a side view of the material box gripper mechanism described in an embodiment of the present utility model;

[0025] Figure 3 This is a perspective view of the material box gripper mechanism described in an embodiment of the present utility model.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Safety fence; 2. Safety light curtain; 3. Alarm; 4. Material box; 5. Pallet; 6. Robot; 7. Material box gripper mechanism; 8. Mounting base plate; 9. Mounting bracket; 10. Linear guide rail; 11. Guide rail slider; 12. Fixed gripper mechanism; 13. Floating gripper mechanism; 14. Material box gripper; 15. Moving electric cylinder; 16. Vacuum sponge suction cup; 17. Camera; 18. Gripper cylinder. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0029] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0031] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] A depalletizing device for logistics boxes, such as Figure 1 As shown, it includes a robot 6 and a material box gripper mechanism 7; the robot 6 has a material box gripper mechanism 7 at the end of its robotic arm; a safety fence 1 is provided on the outside of the robot 6, an alarm 3 is provided on the safety fence 1, and a safety light curtain 2 is provided on the side of the safety fence 1.

[0033] like Figures 2-3As shown, the material box gripper mechanism 7 includes a mounting base plate 8, a mounting bracket 9, a translation mechanism, a detection mechanism, a floating gripper mechanism 13, and a fixed gripper mechanism 12. The mounting bracket 9 is set on the upper end face of the mounting base plate 8. The translation mechanism and the detection mechanism are both set on the mounting bracket 9. The fixed gripper mechanism 12 is set on one side of the mounting bracket 9, and the floating gripper mechanism 13 is set on the other side of the mounting bracket 9. The floating gripper mechanism 13 is slidably engaged with the mounting bracket 9. The fixed gripper mechanism 12 is fixedly connected to the mounting bracket 9. Both the fixed gripper mechanism 12 and the floating gripper mechanism 13 are used to grip or release the material box 4.

[0034] The testing mechanism is used to test the dimensions of the material box 4; the testing mechanism includes a testing bracket and a camera 17, the bottom of the testing bracket is connected to the mounting bracket 9, and the camera 17 is installed on the top of the testing bracket.

[0035] The translation mechanism is used to adjust the distance between the fixed gripper mechanism 12 and the floating gripper mechanism 13. The translation mechanism includes a moving electric cylinder 15, multiple linear guide rails 10, and multiple guide rail sliders 11. The multiple linear guide rails 10 are arranged side-by-side on the mounting bracket 9, and each linear guide rail 10 has a corresponding guide rail slider 11. The sliders are connected to the base plate. The moving electric cylinder 15 is mounted on the mounting bracket 9, and its output end is connected to the support plate. By driving the floating gripper mechanism 13 to precisely adjust the distance relative to the fixed gripper mechanism 12 through the translation mechanism, combined with the real-time identification of the material box 4 dimensions by the detection mechanism, the device possesses strong flexibility and adaptability, enabling efficient and reliable handling of various sizes and specifications of material boxes 4 commonly found in logistics centers, completely breaking through the limitations of traditional fixed clamps.

[0036] The floating gripper mechanism 13 includes a support plate, a base plate, material box grippers 14, two gripper cylinders 18, and multiple first stiffeners. The support plate is vertically mounted on the upper surface of the base plate, and the base plate slides in conjunction with the mounting bracket 9. The two gripper cylinders 18 are symmetrically mounted on the support plate. The top of the support plate is hinged to the material box grippers 14 via multiple hinges. The output ends of the gripper cylinders 18 are connected to the material box grippers 14 via hinge seats. Multiple first stiffeners are arranged at the connection between the base plate and the support plate. The floating gripper mechanism 13 utilizes the gripper cylinders 18 to drive the material box grippers 14, which are hinged together. Combined with the stable positioning bend and stiffener support structure of the fixed gripper mechanism 12, it provides a stable and reliable gripping force during the clamping process, ensuring secure clamping and avoiding damage to the surface or internal goods of the material box 4. The auxiliary application of the vacuum sponge suction cup 16 further enhances the adaptability to irregular or fragile material boxes 4, and improves the overall gripping softness and safety.

[0037] The material box gripper 14 includes a clamping plate and multiple L-shaped grippers. The bottom of the clamping plate is hinged to the support plate via a hinge, and the multiple L-shaped grippers are arranged on the top of the clamping plate. The hinge seat is connected to the clamping plate.

[0038] The fixed gripper mechanism 12 includes a side fixing plate and multiple second stiffeners. The side fixing plate has a bent edge, and the multiple stiffeners are arranged inside the bent edge. The side fixing plate is used to position the material box 4.

[0039] It also includes a support frame and a vacuum sponge suction cup 16. The support frame is mounted on the mounting bracket 9, and the vacuum sponge suction cup 16 is mounted on the support frame. The vacuum sponge suction cup 16 is located between the floating gripper mechanism 13 and the fixed gripper mechanism 12.

[0040] The translation mechanism, detection mechanism, fixed gripper mechanism 12, and floating gripper mechanism 13, integrated on the mounting bracket 9, work together to achieve full automation of the material box 4 size recognition, automatic gripper spacing adjustment, and stable clamping and release, significantly reducing reliance on manual operations and operational complexity. This integrated design, combined with the flexible movement of the robot body 6, provides an efficient, stable, and highly adaptable automation solution for frequent and high-intensity palletizing and depalletizing tasks in warehousing and logistics.

[0041] How this example works

[0042] Robot 6 moves its end-effector gripper 7, causing camera 17 mounted on the gripper 7 to capture images of the material box 4 placed on tray 5 from above. Camera 17 then processes the image data to identify and determine the actual size of the material box 4.

[0043] The movable electric cylinder 15 inside the material box gripper mechanism 7 starts to drive based on the dimensional data acquired by the camera 17. The movable electric cylinder 15 pushes the floating gripper mechanism 13 to slide along the linear guide rail 10, and the guide rail slider 11 moves accordingly, precisely adjusting the distance between the fixed gripper mechanism 12 and the floating gripper mechanism 13 to match the width of the target material box 4.

[0044] The gripper cylinder 18 of the floating gripper mechanism 13 performs a retraction action, which drives the material box gripper 14 (floating part) connected to it to rotate and open around the hinge axis.

[0045] Robot 6 moves again, guiding the material box gripper mechanism 7 to descend and move precisely. The fixed gripper mechanism 12 is inserted into the gap between the adjacent target material boxes 4 for positioning, while the gripper cylinder 18 on the side of the floating gripper mechanism 13 extends, pushing the material box gripper 14 to rotate inward and close, firmly gripping the bottom edge of the material box 4.

[0046] Robot 6 smoothly lifts and transfers the material box gripper mechanism 7 and the material box 4 it grips to the new pallet 5 at the designated position, and accurately places the material box 4 to the predetermined stacking position.

[0047] The above are merely preferred embodiments of the present utility model and are 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 shall be included within the protection scope of the present utility model.

Claims

1. A depalletizing and palletizing device for logistics boxes, characterized in that: Includes a robot (6) and a material box gripper mechanism (7); The material box gripper mechanism (7) is provided at the end of the robotic arm of the robot (6); The material box gripper mechanism (7) includes a mounting base plate (8), a mounting bracket (9), a translation mechanism, a detection mechanism, a floating gripper mechanism (13), and a fixed gripper mechanism (12). The mounting bracket (9) is disposed on the upper surface of the mounting base plate (8). The translation mechanism and the detection mechanism are both disposed on the mounting bracket (9). The fixed gripper mechanism (12) is disposed on one side of the mounting bracket (9), and the floating gripper mechanism (13) is disposed on the other side of the mounting bracket (9). The floating gripper mechanism (13) is slidably engaged with the mounting bracket (9). The fixed gripper mechanism (12) is fixedly connected to the mounting bracket (9). Both the fixed gripper mechanism (12) and the floating gripper mechanism (13) are used to grip or release the material box (4). The detection mechanism is used to detect the dimensions of the material box (4); The translation mechanism is used to adjust the distance between the fixed gripper mechanism (12) and the floating gripper mechanism (13); The fixed gripper mechanism (12) includes a side fixing plate and a plurality of second stiffeners. The side fixing plate has a bent edge, and the plurality of stiffeners are arranged inside the bent edge. The side fixing plate is used to position the material box (4). The detection mechanism includes a detection bracket and a camera (17). The bottom of the detection bracket is connected to the mounting bracket (9), and the camera (17) is installed on the top of the detection bracket. It also includes a support frame and a vacuum sponge suction cup (16). The support frame is mounted on the mounting bracket (9), and the vacuum sponge suction cup (16) is mounted on the support frame. The vacuum sponge suction cup (16) is located between the floating gripper mechanism (13) and the fixed gripper mechanism (12).

2. The depalletizing device for logistics boxes according to claim 1, characterized in that: The floating gripper mechanism (13) includes a support plate, a base plate, a material box gripper (14), two gripper cylinders (18), and multiple first stiffeners. The support plate is vertically arranged on the upper surface of the base plate. The base plate is slidably engaged with the mounting bracket (9). The two gripper cylinders (18) are symmetrically arranged on the support plate. The top of the support plate is hinged to the material box gripper (14) through multiple hinges. The output end of the gripper cylinder (18) is connected to the material box gripper (14) through a hinge seat. Multiple first stiffeners are arranged at the position where the base plate and the support plate are connected.

3. The depalletizing device for logistics boxes according to claim 2, characterized in that: The material box gripper (14) includes a clamping plate and multiple L-shaped grippers. The bottom of the clamping plate is hinged to the support plate via a hinge. The multiple L-shaped grippers are arranged on the top of the clamping plate. The hinge seat is connected to the clamping plate.

4. A depalletizing device for logistics boxes according to claim 2, characterized in that: The translation mechanism includes a moving electric cylinder (15), multiple linear guides (10) and multiple guide sliders (11). The multiple linear guides (10) are arranged side by side on the mounting bracket (9). Each linear guide (10) is provided with a corresponding guide slider (11). The slider is connected to the base plate. The moving electric cylinder (15) is arranged on the mounting bracket (9). The output end of the moving electric cylinder (15) is connected to the support plate.

5. A depalletizing device for logistics boxes according to any one of claims 1-4, characterized in that: The robot (6) is provided with a safety fence (1) on its outside, an alarm (3) is provided on the safety fence (1), and a safety light grid (2) is provided on the side of the safety fence (1).

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