A de-palletizing device

Abstract

The utility model discloses a kind of unstacking devices, comprising: lifting mechanism, for placing by material package palletizing formed palletizing object, and can lift the palletizing object;Sucker mechanism is located above lifting mechanism;The sucker mechanism includes: suction cup, for sucking material package;Three-dimensional movement module, for driving suction cup to move in three-dimensional direction, to make suction cup move to palletizing object place and suck the material package, and move the material package sucked to discharge station, to make the material package enter material conveying line via the discharge station place.This utility model lifts palletizing object by lifting mechanism layer by layer, sucker mechanism is located above lifting mechanism, and the uppermost layer of palletizing object is guaranteed in fixed position by the lifting of lifting mechanism, reduces the movement stroke of suction cup under suction, improves unstacking efficiency.In addition, floating module is further configured above suction cup, when suction cup contacts material package, the inclination of suction cup can be adjusted according to the uneven shape of material package, so that suction cup is more suitable for adhering material package surface.

Description

Technical Field

[0001] This utility model relates to the field of cargo transportation technology, specifically to a destacking device. Background Technology

[0002] In industries such as fertilizers, pharmaceuticals, and sugar, many bagged materials are typically stacked on pallets in five-pack, six-pack, or even ten-pack configurations after production and stored. When shipment is needed, they are then unpacked manually or using depalletizing equipment. Currently, most automated depalletizing equipment on the market uses articulated arms with suction cups for adsorption. This type of depalletizing has relatively low efficiency, generally around 500-600 packs per hour. This is mainly because the articulated arms are cantilevered, and their movement trajectory is rotational. The operation of the articulated arms under heavy loads is limited by the motor and mechanical limits, resulting in a limited operating speed that cannot meet the requirements and cannot match the speed of manual or automated loading at the back end. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a destacking device to improve destacking efficiency.

[0004] To solve the above-mentioned technical problems, the objective of this utility model is achieved through the following technical solution:

[0005] A destacking device, comprising:

[0006] A lifting mechanism is used to place and lift the stacked items formed by stacking material packages.

[0007] The suction cup mechanism is located above the lifting mechanism;

[0008] The suction cup mechanism includes:

[0009] Suction cups are used to pick up material packages;

[0010] A three-dimensional moving module is used to drive the suction cup to move in three dimensions, so that the suction cup moves to the palletized object to pick up the material package, and moves the picked-up material package to the discharge station, so that the material package enters the material conveying line via the discharge station.

[0011] As a preferred option, it also includes:

[0012] A guide plate, connected between the discharge station and the material conveying line, is used to guide the material package at the discharge station onto the material conveying line.

[0013] Preferably, a rotary feeding roller is provided at the discharge station. The material package is picked up and moved to the rotary feeding roller by the suction cup mechanism, and then conveyed to the guide plate by the rolling friction of the rotary feeding roller.

[0014] Preferably, the discharge station is located above the lifting mechanism, and the rotating feeding roller is provided with a rubber layer.

[0015] Preferably, the suction cup mechanism further includes:

[0016] A floating module is used to increase the floating damping of the suction cup.

[0017] Preferably, the three-dimensional moving module includes a Z-axis moving unit with a positioning guide shaft; the floating module includes an upper floating plate, a middle floating plate, and a lower floating plate arranged in opposite directions and connected in sequence; the upper floating plate and the middle floating plate pass through the positioning guide shaft, the lower floating plate is connected to the suction cup, and a damping spring abuts between the upper floating plate and the lower floating plate.

[0018] Preferably, the middle floating plate has a first connecting node, a second connecting node, a third connecting node and a fourth connecting node arranged sequentially along the circumference. The first connecting node and the third connecting node are connected to the upper floating plate by a first connecting member and a third connecting member, respectively. The second connecting node and the fourth connecting node are connected to the lower floating plate by a second connecting member and a third connecting member, respectively.

[0019] Preferably, the Z-axis moving unit also has a floating guide, which includes a positioning part fixedly connected to the positioning guide shaft and two guide parts arranged opposite to each other. The guide parts have floating guide slots parallel to the axial direction of the positioning guide shaft, and the ends of the first connector and the third connector extend into the two floating guide slots respectively.

[0020] Preferably, there are four damping springs, which are respectively arranged between the first connecting node, the second connecting node, the third connecting node and the fourth connecting node.

[0021] Preferably, the system also includes a feeding mechanism for feeding the palletized items to the lifting mechanism.

[0022] Preferably, the suction cup mechanism includes a suction module that provides suction force to the suction cup, and the suction cup and the suction module are located in the same Z-axis direction.

[0023] Preferably, there is one suction cup mechanism and at least one lifting mechanism.

[0024] The advantages of this utility model compared with the prior art are:

[0025] This invention utilizes a lifting mechanism to elevate stacked items layer by layer. A suction cup mechanism is positioned above the lifting mechanism, ensuring the top layer of stacked items remains in a fixed position, reducing the downward travel of the suction cups and improving destacking efficiency. Additionally, a floating module is installed above the suction cups. When the suction cups contact the material package, the tilt of the suction cups can be adjusted according to the uneven shape of the package, allowing for a better fit between the suction cups and the package surface.

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of a destacking device in this embodiment.

[0029] Figure 2 This is a schematic diagram of the structure of a destacking device in this embodiment (the lifting mechanism and the suction cup mechanism are configured one-to-one).

[0030] Figure 3 This is a schematic diagram of the structure of a destacking device in this embodiment (the lifting mechanism and the suction cup mechanism are configured one-to-one).

[0031] Figure 4 This is a schematic diagram of the structure of a destacking device in this embodiment (two-to-one configuration of lifting mechanism and suction cup mechanism).

[0032] Figure 5 This is a schematic diagram of the structure of a destacking device in this embodiment (two-to-one configuration of lifting mechanism and suction cup mechanism).

[0033] Figure 6 This is a schematic diagram of the suction cup mechanism in this embodiment.

[0034] Figure 7 This is a schematic diagram of the suction cup mechanism in this embodiment.

[0035] Figure 8 This is a schematic diagram of the floating module of the suction cup mechanism in this embodiment.

[0036] Figure 9 This is a schematic diagram of the floating module of the suction cup mechanism in this embodiment.

[0037] Explanation of the markings in the image:

[0038] 1. Palletized items; 11. Material packages;

[0039] 2. Lifting mechanism; 21. Rotary feeding roller;

[0040] 3. Suction cup mechanism; 31. Suction cup; 32. Three-dimensional movement module; 321. Z-axis movement unit; 3211. Positioning guide shaft; 3212. Positioning part; 3213. Guide part; 32131. Floating guide slot; 33. Floating module; 331. Upper floating plate; 332. Middle floating plate; 333. Lower floating plate; 334. Damping spring;

[0041] 4. Guide plate;

[0042] 5. Material conveying line. Detailed Implementation

[0043] 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, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0044] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0045] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0046] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0047] like Figures 1-5 As shown, this embodiment is a destacking device, including:

[0048] Lifting mechanism 2 is used to place the stacked item 1 formed by stacking material packages 11, and can lift the stacked item 1;

[0049] The suction cup mechanism 3 is located above the lifting mechanism 2.

[0050] like Figure 6 and Figure 7 As shown, the suction cup mechanism 3 includes:

[0051] Suction cup 31 is used to pick up material package 11;

[0052] The three-dimensional moving module 32 is used to drive the suction cup to move in three dimensions, so that the suction cup moves to the pallet 1 to pick up the material package 11, and moves the picked-up material package 11 to the discharge station, so that the material package 11 enters the material conveying line through the discharge station, and is finally conveyed to the next process through the material conveying line 5.

[0053] In this embodiment, the palletized item 1 is conveyed to the lifting mechanism 2, which lifts the palletized item 1 so that it rises. Then, the suction cup located above moves to the palletized item 1 under the drive of the three-dimensional moving module, and picks up and transports each of the material packages 11 on the top layer of the palletized item 1 to the discharge station. The material package 11 enters the material conveying line 5 through the discharge station. After the top layer of material packages 11 is unpacked and conveyed, the lifting mechanism 2 continues to lift the palletized item 1 to unpack and convey the next layer of material packages 11. The above process is repeated until all material packages 11 are unpacked and conveyed. After the unpacking is completed, the remaining pallet is removed, and the next palletized item 1 is unpacked.

[0054] In this embodiment, the structure of the three-dimensional moving module can adopt various existing three-dimensional moving module forms, so that the suction cup can move in the X, Y and Z directions. In this embodiment, the coordinate values ​​of the material package can be sent through 3D vision, and the suction cup moves to the position of the material package to be adsorbed.

[0055] In addition, the lifting structure of the lifting mechanism 2 in this embodiment can also be implemented using various existing lifting structures, such as cylinder drive.

[0056] To facilitate the introduction of material package 11 into the material conveying line, in one embodiment, it further includes:

[0057] A guide plate, connected between the discharge station and the material conveying line, is used to guide the material package 11 at the discharge station onto the material conveying line.

[0058] In this embodiment, the guide plate can have various structural shapes, and can be configured in various ways according to actual needs.

[0059] In one embodiment, a rotary feeding roller 21 is provided at the discharge station. The material package 11 is picked up and moved to the rotary feeding roller 21 by the suction cup mechanism 3, and then conveyed to the guide plate 4 by the rotary feeding roller 21.

[0060] During destacking, the rotating feeding roller 21 continues to rotate, and the suction cup mechanism 3 can place the material package 11 at the rotating feeding roller 21. The material package 11 is then conveyed to the guide plate via the rotating feeding roller 21, and finally guided onto the material conveying line via the guide plate. This method allows the suction cup mechanism 3 to simply place the material package 11 at the rotating feeding roller 21 without having to transport it to the material conveying line, which greatly reduces the travel distance of the suction cup and significantly improves efficiency.

[0061] In one embodiment, the discharge station is located above the lifting mechanism 2, and the rotating feeding roller 21 has a rubber layer.

[0062] In this embodiment, the discharge station is located above the lifting mechanism 2, so that after the palletized item 1 is lifted, it can be directly conveyed out from the upper discharge station after being disassembled layer by layer by the suction cup mechanism 3, thereby improving the depalletizing and conveying efficiency. In addition, in order to prevent the rotating feeding roller 21 from damaging the material package 11, the rubber layer on the rotating feeding roller 21 can play a protective role and increase friction, so as to quickly roll / drag the material package 11 away.

[0063] In one embodiment, such as Figure 8 and Figure 9 As shown, the suction cup mechanism 3 further includes:

[0064] The floating module 33 is used to increase the floating damping of the suction cup.

[0065] In this embodiment, a floating damping mechanism is configured above the suction cup. When the suction cup contacts the material bag, the tilt of the suction cup can be adjusted according to the uneven shape of the material bag. Moreover, the floating module can ensure that when the suction cup is rapidly lowered along the Z-axis, it prevents the servo failure caused by the suction cup stopping upon contact with the material bag 11 and the servo and the entire mechanism failing to stop descending immediately due to inertia.

[0066] In this embodiment, the floating damping module 33 can have various structural forms. In one embodiment, the three-dimensional moving module 32 includes a Z-axis moving unit 321, which has a positioning guide shaft 3211. The floating module 33 includes an upper floating plate 331, a middle floating plate 332, and a lower floating plate 333 arranged in sequence and connected to each other. The upper floating plate 331 and the middle floating plate 332 are mounted on the positioning guide shaft 3211. The lower floating plate 333 is connected to the suction cup. A damping spring 334 abuts against the upper floating plate 331 and the lower floating plate 333.

[0067] In this embodiment, there are multiple ways to connect the upper floating plate 331, the middle floating plate 332, and the lower floating plate 333. In one embodiment, the middle floating plate 332 has a first connecting node, a second connecting node, a third connecting node, and a fourth connecting node arranged sequentially along the circumference. The first connecting node and the third connecting node are connected to the upper floating plate by a first connecting member and a third connecting member, respectively. The second connecting node and the fourth connecting node are connected to the lower floating plate by a second connecting member and a third connecting member, respectively.

[0068] In this embodiment, the first connecting node, the second connecting node, the third connecting node, and the fourth connecting node can be located at 0 degrees, 90 degrees, 180 degrees, and 360 degrees, respectively.

[0069] In one embodiment, the Z-axis moving unit further includes a floating guide, which includes a positioning part 3212 fixedly connected to the positioning guide shaft and two guide parts 3213 arranged opposite to each other. The guide part 3213 has a floating guide slot 32131 parallel to the axial direction of the positioning guide shaft 3211. The ends of the first connector and the third connector extend into the two floating guide slots 32131 respectively.

[0070] In this embodiment, the suction cup floating mechanism may consist of three plates: upper, middle, and lower. Each plate is connected by two connecting nodes, as shown in the figure, with cylindrical fulcrums. The two pairs of cylindrical fulcrums can be set at 90 degrees. This structure can ensure that the suction cup is tilted in the 360-degree direction. In addition, with the addition of a damping spring, when the floating damping occurs, the floating direction is along the floating guide slot 341, increasing the floating damping of the suction cup in the 360-degree direction so that the suction cup is more suitable for adhering to the surface of the material package.

[0071] In one embodiment, four damping springs are respectively arranged between the first connecting node, the second connecting node, the third connecting node, and the fourth connecting node. When the suction cup picks up the material package and moves at high speed, the damping springs prevent the material package from swaying back and forth due to inertia, thus affecting the feeding posture and providing a damping effect.

[0072] To facilitate the transport of the palletized item 1 to the lifting mechanism 2 for unpalletizing, in one embodiment, a feeding mechanism for feeding the palletized item 1 to the lifting mechanism 2 is also included.

[0073] In this embodiment, the material can be fed by a feeding mechanism. The feeding mechanism can have various structural forms, such as a conveying roller. The conveying roller is connected to the feeding end of the lifting mechanism 2, thereby conveying the palletized material 1 to the lifting mechanism 2.

[0074] In one embodiment, the suction cup mechanism 3 includes a suction module that provides suction force to the suction cup, and the suction cup and the suction module are located in the same Z-axis direction.

[0075] In this embodiment, the suction module can be a blower or an exhaust fan, etc. The blower / exhaust fan of the suction cup is placed on the same Z-axis as the suction cup. The advantage of this is that it reduces the relative movement between the suction cup and the blower / exhaust fan. This is because the suction cup tube is easily damaged during high-speed movement, especially in cold weather. Since the vacuum tube is generally made of steel wire skeleton tube, excessive movement at cold temperatures can easily cause the plastic to crack. Therefore, ensuring that the suction module and the suction cup are on the same Z-axis can reduce the relative movement.

[0076] In this embodiment, the lifting mechanism 2 and the suction cup mechanism 3 can be configured one-to-one (see...). Figure 2 and Figure 3 Alternatively, two or more lifting mechanisms 2 can be configured to correspond to one suction cup mechanism 3 (see [link]). Figure 4 and Figure 5 Of course, other configuration methods are also possible, and various configurations can be made according to actual needs to meet different efficiency requirements. That is, there can be one suction cup mechanism and at least one lifting mechanism. For example, in one embodiment, there are two lifting mechanisms 2 and one suction cup mechanism 3.

[0077] The suction cup mechanism 3 can destacking the stacked items 1 in one lifting mechanism 2 after destacking the stacked items 1 in another lifting mechanism 2. After destacking, the lifting mechanism 2 can descend to remove the remaining pallet, which can save the time lost when changing empty pallets and greatly improve the destacking efficiency.

[0078] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A destacking device, characterized in that, include: A lifting mechanism is used to place and lift the stacked items formed by stacking material packages. The suction cup mechanism is located above the lifting mechanism; The suction cup mechanism includes: Suction cups are used to pick up material packages; A three-dimensional moving module is used to drive the suction cup to move in three dimensions, so that the suction cup moves to the palletized object to pick up the material package, and moves the picked-up material package to the discharge station, so that the material package enters the material conveying line via the discharge station.

2. The destacking device according to claim 1, characterized in that, Also includes: A guide plate, connected between the discharge station and the material conveying line, is used to guide the material package at the discharge station onto the material conveying line.

3. The destacking device according to claim 2, characterized in that, A rotating feeding roller is provided at the discharge station. The material package is picked up and moved to the rotating feeding roller by the suction cup mechanism, and then conveyed to the guide plate by the rolling friction of the rotating feeding roller.

4. The destacking device according to claim 3, characterized in that, The discharge station is located above the lifting mechanism, and the rotating feeding roller has a rubber layer.

5. The destacking device according to claim 1, characterized in that, The suction cup mechanism also includes: A floating module is used to increase the floating damping of the suction cup.

6. The destacking device according to claim 5, characterized in that, The three-dimensional moving module includes a Z-axis moving unit with a positioning guide shaft; the floating module includes an upper floating plate, a middle floating plate, and a lower floating plate arranged in opposite directions and connected in sequence; the upper floating plate and the middle floating plate pass through the positioning guide shaft, the lower floating plate is connected to the suction cup, and a damping spring abuts between the upper floating plate and the lower floating plate.

7. The destacking device according to claim 6, characterized in that, The middle floating plate has a first connecting node, a second connecting node, a third connecting node and a fourth connecting node arranged sequentially along the circumference. The first connecting node and the third connecting node are connected to the upper floating plate by a first connecting member and a third connecting member, respectively. The second connecting node and the fourth connecting node are connected to the lower floating plate by a second connecting member and a third connecting member, respectively.

8. The destacking device according to claim 7, characterized in that, The Z-axis moving unit also has a floating guide, which includes a positioning part fixedly connected to the positioning guide shaft and two guide parts arranged opposite to each other. The guide parts have floating guide slots parallel to the axial direction of the positioning guide shaft. The ends of the first connector and the third connector extend into the two floating guide slots respectively.

9. The destacking device according to claim 8, characterized in that, There are four damping springs, which are respectively arranged between the first connecting node, the second connecting node, the third connecting node and the fourth connecting node.

10. The destacking device according to any one of claims 1 to 9, characterized in that, It also includes a feeding mechanism for feeding the palletized items to the lifting mechanism; The suction cup mechanism includes a suction module that provides suction force to the suction cup, and the suction cup and the suction module are located in the same Z-axis direction; There is one suction cup mechanism and at least one lifting mechanism.

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