A mixed box robot intelligent unstacking and restacking device

Abstract

The utility model relates to a kind of mixed box robot intelligent unstacking and restacking device, including mechanical arm, and the one end of mechanical arm is equipped with clamping head, and the one end of clamping head is provided with fixed disc, and a plurality of limit strip boards are equipped in fixed disc, and a plurality of limit strip boards surface are all provided with limit hole, and movable unstacking and restacking assembly is arranged in limit hole, the utility model is operated by mechanical arm to drive fixed disc and limit strip board, using the vacuum pump and vacuum chuck on the surface of movable moving block of limit strip board, both can be separately adsorbed and fixed to different position goods, a large number of goods are fixed;When facing larger goods, adjusting moving block and vacuum chuck position, realizing multiple vacuum chuck simultaneous adsorption, giving consideration to a large number of single goods and single larger goods unstacking and restacking, improve the adjustability of unstacking and restacking operation.

Description

Technical Field

[0001] This utility model relates to the field of depalletizing and palletizing devices, specifically a hybrid box robot intelligent depalletizing and palletizing device. Background Technology

[0002] In the logistics and warehousing sector, hybrid container robot intelligent depalletizing and stacking devices are mainly used for automatically identifying, classifying, and stacking different types of goods, such as cardboard boxes, plastic boxes, and wooden crates. This device can improve warehouse space utilization, reduce human error, speed up goods outbound processing, and enhance overall logistics efficiency.

[0003] According to publicly available patent CN221893816U, a hybrid box-type robot intelligent depalletizing and palletizing device includes a support frame. A gripper is mounted on the top of the support frame, and an adjustment device is installed at the center of the top of the support frame. The bottom of the adjustment device is connected to a loading block installed at the bottom of the support frame. An isolation net is bolted to the front of the support frame, and a tray is installed at the bottom of the loading block. A side sliding groove is provided on the right side of the support frame, and the side sliding groove is connected to a conveyor belt via a first slider installed inside it. This hybrid box-type robot intelligent depalletizing and palletizing device can adapt to goods of different heights through an adjustment mechanism. The sides of the conveyor belt can be raised, allowing for height adjustment to accommodate goods of different heights and sizes. This ensures the stability and safety of goods during transport, preventing tilting or slippage.

[0004] However, in practice, traditional hybrid container robot intelligent depalletizing and unpalletizing devices, equipped with multiple grippers to perform depalletizing operations, operate independently, each gripper responsible for gripping different goods. However, when encountering large goods, the limitations of a single gripper's structure and gripping capacity make it difficult to meet the gripping needs. Furthermore, since each gripper can only grip a small amount of goods at a time, the overall gripping quantity is limited. During depalletizing, the robot needs to move repeatedly to complete the unpalletizing process, resulting in low efficiency. Therefore, a new technical solution is needed to address this issue. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology, adapt to practical needs, and provide a hybrid box robot intelligent depalletizing and palletizing device. This addresses the problem that current traditional hybrid box robot intelligent depalletizing and palletizing devices are equipped with multiple grippers to perform depalletizing operations. In specific operations, each gripper operates independently and is responsible for gripping different goods. However, when encountering large goods, the individual grippers are limited by their own structure and gripping capacity, making it difficult to meet the gripping needs of such large goods. Moreover, since each gripper can only grip a small amount of goods at a time, the overall gripping quantity is limited. During the depalletizing process, the robot needs to move repeatedly to complete the depalletizing of all goods, resulting in low efficiency.

[0006] To achieve the purpose of this utility model, the technical solution adopted by this utility model is as follows: design a hybrid box robot intelligent depalletizing and palletizing device, including a robotic arm, a gripping head installed at one end of the robotic arm, a fixed plate provided at one end of the gripping head, a plurality of limiting strips provided around the fixed plate, and limiting holes provided on the surface of the plurality of limiting strips, with a movable depalletizing and palletizing component provided inside the limiting holes.

[0007] Preferably, the movable stacking and unstacking assembly includes a movable block located within a limiting hole on the surface of the limiting strip.

[0008] Preferably, a threaded rod passes through the interior of the movable block, and the threaded rod is connected to a threaded hole inside the movable block. One end of the threaded rod passes through a limiting strip and is connected to a first drive motor, which is installed outside the limiting strip.

[0009] Preferably, a vacuum pump is installed at both the top and bottom ends of the movable block, and the other end of the vacuum pump is connected to a vacuum suction cup.

[0010] Preferably, the surface of the fixed plate is provided with a plurality of mounting grooves, and a second drive motor is installed inside the plurality of mounting grooves. The output shaft of the second drive motor extends out of the mounting groove and is fixed with a limit plate.

[0011] Preferably, the surface of the clamping head is provided with a circular groove, a third drive motor is installed inside the circular groove, and the output shaft of the third drive motor is fixed with a fixing plate.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. This utility model combines a robotic arm, limiting plates, and a movable depalletizing assembly. The robotic arm drives a fixed plate and multiple limiting plates to move, performing depalletizing operations. Because multiple movable blocks are located within the limiting holes on the surfaces of the limiting plates, vacuum pumps and vacuum suction cups on the surfaces of these blocks can individually adsorb and fix goods, thus fixing a large number of goods at once. Furthermore, when depalletizing larger goods, the positions of the multiple movable blocks and vacuum suction cups can be adjusted, allowing multiple vacuum suction cups to simultaneously vacuum-adsorb the surface of a larger goods. This enables the device to perform depalletizing operations on a large number of individual goods and on a single, larger goods, improving the adjustability of the palletizing process. It solves the technical problem of traditional mixed-box robot intelligent depalletizing devices, which are equipped with multiple grippers to perform unpalletizing operations. In specific operations, each gripper operates independently, responsible for gripping different goods. However, when encountering large goods, the individual grippers, due to their structure and gripping capacity limitations, cannot meet the gripping requirements of such large goods.

[0014] 2. This utility model combines a moving block, a vacuum pump, and a second drive motor. Vacuum pumps and vacuum suction cups are installed at both the top and bottom of the moving block. After the vacuum pump and vacuum suction cup at one end adsorb the goods, the second drive motor can be used to drive the moving block to flip, thereby using the vacuum pump and vacuum suction cup at the other end to adsorb the goods. This achieves dual adsorption and fixation of goods by flipping multiple limiting strips, further improving the effect of destacking and stacking. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the third drive motor of this utility model;

[0017] Figure 3 This is a schematic diagram of the internal structure of the mounting slot of this utility model.

[0018] In the diagram: 1. Robotic arm; 101. Gripping head; 2. Fixed plate; 201. Limiting strip; 202. First drive motor; 203. Threaded rod; 204. Moving block; 205. Third drive motor; 206. Vacuum suction cup; 207. Circular groove; 208. Vacuum pump; 3. Mounting groove; 301. Second drive motor. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] Example 1: A hybrid box robot intelligent depalletizing and palletizing device, see [link to example]. Figures 1 to 3The system includes a robotic arm 1, with a gripping head 101 mounted on one end. A fixed plate 2 is attached to one end of the gripping head 101. Multiple limiting plates 201 are arranged around the fixed plate 2, each with a limiting hole. A movable depalletizing / palletizing assembly is installed inside each limiting hole. The robotic arm 1 first moves the fixed plate 2 and the multiple limiting plates 201 connected to it to the location of the target goods, initiating the depalletizing / palletizing operation. Multiple limiting holes are provided on the surface of the limiting plates 201, and a moving block 204 is installed inside each limiting hole. When goods in different locations need to be individually depalletized / palletized... During the adsorption and fixation process, the operator starts the first drive motor 202. The first drive motor 202 begins to operate, and its output shaft drives the connected threaded rod 203 to rotate. Because the threaded rod 203 and the pre-set threaded hole inside the moving block 204 are connected, the moving block 204 moves laterally and reciprocally along the axis of the threaded rod 203 under the rotation of the threaded rod 203. During this movement, the moving block 204 drives the vacuum pump 208 and vacuum suction cup 206 mounted on its surface to move together. In this way, the vacuum suction cup 206 can be moved above goods in different positions. Then, the vacuum pump 208 starts... The movement of the vacuum suction cups 206 creates negative pressure, allowing for individual adsorption and fixation of goods at different locations. Since multiple moving blocks 204 can individually drive the vacuum suction cups 206, a large number of goods can be fixed at once, effectively improving depalletizing efficiency. When encountering larger goods, workers can adjust the positions of the moving blocks 204 and vacuum suction cups 206 according to the size and shape of the larger goods. By controlling the first drive motor 202, each moving block 204 is moved to a suitable position, allowing multiple vacuum suction cups 206 to simultaneously cover the surface of the larger goods. Then, the vacuum pump 208... Upon startup, multiple vacuum suction cups 206 simultaneously generate negative pressure, vacuum adsorbing the surface of larger goods. This allows the device to utilize the synergistic effect of multiple vacuum suction cups 206 to achieve stable adsorption and depalletizing of a single larger item. This solves the technical problem of traditional mixed-box robot intelligent depalletizing devices, which are equipped with multiple grippers to perform depalletizing operations. In actual operation, each gripper is independent and responsible for gripping different items. However, when encountering large items, the individual grippers are limited by their own structure and gripping capacity, making it difficult to meet the gripping requirements of such large items.

[0021] For details, see Figure 1 The movable stacking and unstacking assembly includes a movable block 204, which is located in a limiting hole on the surface of the limiting strip 201.

[0022] Further, see Figure 1A threaded rod 203 passes through the inside of the movable block 204. The threaded rod 203 is connected to a threaded hole in the movable block 204. One end of the threaded rod 203 passes through the limiting strip 201 and is connected to the first drive motor 202. The first drive motor 202 is installed outside the limiting strip 201.

[0023] It is worth noting that, see Figure 2 The upper and lower ends of the movable block 204 are each equipped with one end of a vacuum pump 208, and the other end of the vacuum pump 208 is connected to a vacuum suction cup 206.

[0024] It is worth noting that, see Figure 3 The fixed plate 2 has multiple mounting slots 3 around its surface. A second drive motor 301 is installed inside each mounting slot 3. The output shaft of the second drive motor 301 extends out of the mounting slot 3 and is fixed with a limiting plate 201. The vacuum pump 208 at one end of the moving block 204 is started, generating negative pressure, which causes the vacuum suction cup 206 at that end to adsorb and fix the target goods. After the vacuum suction cup 206 at one end has completed the adsorption operation of the goods, the second drive motor 301 can be started. The second drive motor 301 starts to run, and its output shaft is connected to the moving block 204, causing the moving block 204 to rotate. During the rotation, the vacuum pump 208 and vacuum suction cup 206 at the other end, which were not used before, gradually approach the surface of the goods as the moving block 204 rotates. When the moving block 204 rotates to a suitable position, the rotating vacuum pump 208 is started, which also generates negative pressure. The vacuum suction cup 206 at that end begins to adsorb the goods, realizing the dual adsorption and fixation of goods by the rotation of the moving block 204 on multiple limiting plates 201.

[0025] It is worth mentioning that, see Figure 2 The surface of the clamping head 101 is provided with a circular groove 207, and a third drive motor 205 is installed inside the circular groove 207. The output shaft of the third drive motor 205 is fixed with a fixed plate 2.

[0026] When using a hybrid box-type robot intelligent depalletizing and palletizing device, the robotic arm 1 first moves the connected fixed plate 2 and multiple limiting plates 201 on the fixed plate 2 to the location of the target goods, thus initiating the depalletizing and palletizing operation. Multiple limiting holes are provided on the surface of the limiting plates 201, and each limiting hole contains a moving block 204. When it is necessary to individually attach and fix goods at different locations, the operator starts the first drive motor 202. The first drive motor 202 begins to operate, and its output shaft drives the connected threaded rod 203 to rotate. Because the threaded rod 203 and the pre-set screw holes inside the moving blocks 204 are mutually engaged, the screw... Under the rotation of the threaded rod 203, the moving block 204 reciprocates laterally along the axis of the threaded rod 203. During this movement, the moving block 204 drives the vacuum pump 208 and vacuum suction cup 206 mounted on its surface to move together. In this way, the vacuum suction cup 206 can move above goods in different positions. Then, the vacuum pump 208 starts, causing the vacuum suction cup 206 to generate negative pressure, thereby individually adsorbing and fixing the goods in different positions. Since multiple moving blocks 204 can drive the vacuum suction cup 206 to move independently, a large number of goods can be fixed at once, effectively improving the efficiency of destacking and palletizing. When encountering large goods, the staff can... The positions of multiple moving blocks 204 and vacuum suction cups 206 can be adjusted according to the size and shape of larger goods. By controlling the first drive motor 202, each moving block 204 is moved to a suitable position, allowing multiple vacuum suction cups 206 to simultaneously cover the surface of the larger goods. Then, the vacuum pump 208 is started, and multiple vacuum suction cups 206 simultaneously generate negative pressure to vacuum-adhere to the surface of the larger goods. This allows the device to utilize the synergistic effect of multiple vacuum suction cups 206 to achieve stable adsorption and depalletizing operations on a single larger goods. The vacuum pump 208 at one end of the moving block 204 is started, generating negative pressure, causing the vacuum suction cup 206 at that end to adhere to the target goods. After the vacuum suction cup 206 at one end has completed the adsorption and fixation of the goods, the second drive motor 301 can be started. The second drive motor 301 starts to run, and its output shaft is connected to the moving block 204, which drives the moving block 204 to rotate. During the rotation process, the vacuum pump 208 and vacuum suction cup 206 at the other end, which were not used before, gradually approach the surface of the goods as the moving block 204 rotates. When the moving block 204 rotates to the appropriate position, the rotating vacuum pump 208 starts and generates negative pressure. The vacuum suction cup 206 at this end begins to adsorb the goods, realizing the dual adsorption and fixation of goods by the rotation of the moving block 204 on multiple limiting strips 201.

[0027] In addition, all components designed in this utility model are general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods. Those skilled in the art can fully implement them, so there is no need to elaborate. The content protected by this utility model does not involve improvements to the internal structure and method.

Claims

1. A hybrid box robot intelligent depalletizing and palletizing device, comprising a robotic arm (1), characterized in that, One end of the robotic arm (1) is equipped with a gripping head (101), and one end of the gripping head (101) is provided with a fixed plate (2). The fixed plate (2) is provided with multiple limiting strips (201) around its perimeter. Each of the multiple limiting strips (201) has a limiting hole on its surface, and a movable stacking and unstacking component is provided inside the limiting hole.

2. The intelligent depalletizing and palletizing device for hybrid box robots as described in claim 1, characterized in that, The movable destacking and palletizing assembly includes a movable block (204), which is located in a limiting hole on the surface of the limiting strip (201).

3. The intelligent depalletizing and palletizing device for hybrid box robots as described in claim 2, characterized in that, A threaded rod (203) runs through the interior of the movable block (204). The threaded rod (203) is connected to a threaded hole inside the movable block (204). One end of the threaded rod (203) passes through the limiting strip (201) and is connected to a first drive motor (202). The first drive motor (202) is installed outside the limiting strip (201).

4. The intelligent depalletizing and palletizing device for hybrid box robots as described in claim 2, characterized in that, The movable block (204) has a vacuum pump (208) installed at both ends, and the other end of the vacuum pump (208) is connected to a vacuum suction cup (206).

5. The intelligent depalletizing and palletizing device for hybrid box robots as described in claim 1, characterized in that, The fixed plate (2) has multiple mounting slots (3) around its surface. A second drive motor (301) is installed inside the multiple mounting slots (3). The output shaft of the second drive motor (301) extends out of the mounting slot (3) and is fixed with a limit plate (201).

6. The intelligent depalletizing and palletizing device for hybrid box robots as described in claim 1, characterized in that, The clamping head (101) has a circular groove (207) on its surface. A third drive motor (205) is installed inside the circular groove (207). The output shaft of the third drive motor (205) is fixed with a fixing plate (2).

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