Automatic de-palletizing integrated device

Abstract

This utility model relates to the field of depalletizing and palletizing technology, specifically an automatic depalletizing and palletizing integrated device. It includes a support frame, a six-axis robotic arm fixedly connected to the top of the support frame, and a depalletizing and palletizing assembly connected to the outer end of the six-axis robotic arm. The depalletizing and palletizing assembly includes a connecting plate, a carrier plate on one side of the connecting plate, and four corners of the top of the carrier plate fixedly connected to the connecting plate via connectors. Movable plates are connected to both sides of the bottom of the carrier plate, and side plates are fixedly installed on both sides of the bottom of the movable plates. A rotating shaft is rotatably mounted between two side plates, and multiple evenly distributed conical rods are fixedly connected to the outer wall of the rotating shaft. A servo motor is fixedly installed on the outer wall of one of the side plates. This utility model uses the servo motor to drive the rotating shaft to rotate, thereby using the conical rods inserted into the packaging bag to rotate and grasp the packaging bag. Then, the robotic arm rotates the bag containing the material to cut it open, causing the material in the bag to fall out quickly without the bag itself falling out.

Description

Technical Field

[0001] This utility model relates to the field of depalletizing and palletizing technology, specifically to an integrated automatic depalletizing and palletizing device. Background Technology

[0002] Palletizing and depalletizing is a core operational process in logistics and production involving the stacking and disassembly of goods. It includes both palletizing and depalletizing and is widely used in industries such as warehousing, packaging, food processing, and building materials production.

[0003] Existing methods for adding materials to processing equipment require a depalletizing device to individually grab the palletized materials and cut the material strip with a cutter, allowing the material to fall directly into the feeding hopper. However, in practice, gripping is often achieved using clamping arms, which results in poor stability when gripping material bags. After the bag is cut, it may fall into the feeding hopper as the material falls. Therefore, we propose an integrated automatic depalletizing and depalletizing device. Utility Model Content

[0004] The purpose of this invention is to provide an automatic depalletizing and palletizing integrated device, which solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic depalletizing and palletizing integrated device, including a bracket, a six-axis manipulator fixedly connected to the top of the bracket, and a depalletizing and palletizing component connected to the outer end of the six-axis manipulator;

[0006] The destacking and palletizing assembly includes a connecting plate, a carrier plate is provided on one side of the connecting plate, the top four corners of the carrier plate are fixedly connected to the connecting plate by connectors, the bottom two sides of the carrier plate are connected to movable plates, the bottom two sides of the movable plates are fixedly installed with side plates, a rotating shaft is rotatably installed between the two side plates, the outer wall of the rotating shaft is fixedly connected with multiple evenly distributed tapered rods, a servo motor is fixedly installed on the outer wall of one of the side plates, the drive shaft of the servo motor movably passes through the side plate and is fixedly connected to the rotating shaft.

[0007] By adopting the above technical solution, a six-axis robot is used to move the depalletizing assembly to the material bag with the palletizing number. Then, a conical rod is inserted into the material bag, and a servo motor drives the rotating shaft to rotate, thereby causing the conical rod to rotate and thus hook the material bag. The material bag is then transferred to the feeding hopper, where it is cut open by a cutter, allowing the material to fall into the feeding hopper, thus achieving depalletizing.

[0008] In a preferred embodiment of this utility model, the connector includes a sleeve, the tail end of which is fixedly connected to a carrier plate, a movable rod is inserted into the top inner cavity of the sleeve, the top of the movable rod is fixedly connected to a connecting plate, a magnet is fixedly connected to the tail end of the movable rod, an electromagnet is fixedly installed at the bottom of the inner cavity of the sleeve, and a spring is fitted on the outer wall of the movable rod, with the two ends of the spring fixedly connected to the top of the inner cavity of the sleeve and the top of the magnet, respectively.

[0009] By adopting the above technical solution, the electromagnet is energized to attract the magnetic block, and the power is cut off instantly, so that the device can vibrate under the action of the spring, thereby shaking off the residual material in the packaging bag, which helps to improve the completeness of the discharge.

[0010] In a preferred embodiment of this utility model, a sliding groove is formed in the middle of the surface of the carrier plate, and a dual-axis motor is fixedly installed in the middle of the inner cavity of the sliding groove. The outer ends of the two drive shafts of the dual-axis motor are fixedly connected to lead screws. The outer ends of the lead screws are rotatably connected to the inner wall of the sliding groove. A suitable lead screw slider is fitted on the outer wall of the lead screw, and the bottom of the lead screw slider is fixedly connected to the movable plate.

[0011] By adopting the above technical solution, the dual-axis motor drives the lead screws on both sides to rotate, and the thermally driven lead screw sliders on both sides move closer or further apart, thereby adjusting the position of the movable plates on both sides, thus adjusting the distance between the two rotating shafts, thereby adapting to packaging bags of different widths and improving adaptability.

[0012] In a preferred embodiment of this utility model, a limiting groove is provided on both sides of the outer wall of the carrier plate, and a matching limiting slider is inserted into both sides of the inner cavity of the limiting groove. The outer wall of the limiting slider is fixedly connected to the movable plate.

[0013] By adopting the above technical solution, the movement trajectory of the movable plate is further limited by the sliding of the limiting slider within the limiting groove, thereby improving stability.

[0014] In a preferred embodiment of this utility model, lockable movable wheels are fixedly installed at the four corners of the bottom of the bracket.

[0015] By adopting the above technical solution, the movement wheels can be locked, making it convenient to move the entire device.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] The automatic depalletizing and palletizing integrated device of this application uses a servo motor to drive the rotating shaft to rotate, thereby using the rotation of the cone rod inserted into the packaging bag to grasp the packaging bag. Then, the robotic arm rotates the bag containing the material to cut it open, so that the material in the bag will fall out quickly and the bag will not fall out. The material can fall out quickly, which helps to ensure the feeding effect.

[0018] The dual-axis motor can drive the lead screw sliders on both sides to move, thereby moving the movable plates on both sides. This allows for adjustment of the distance between the two rotating shafts, making it easier to handle packaging bags of different sizes and improving adaptability.

[0019] By energizing an electromagnet to attract a magnetic block and then instantly de-energizing it, the device vibrates under the action of a spring, which shakes off any remaining material inside the packaging bag, thus improving the completeness of the discharge. Attached Figure Description

[0020] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the overall structure of an automatic depalletizing and palletizing integrated device of this utility model;

[0022] Figure 2 This is a schematic diagram of the depalletizing and palletizing component structure of an integrated automatic depalletizing and palletizing device according to the present invention;

[0023] Figure 3 This is a schematic diagram of the carrier plate structure of an automatic depalletizing and palletizing integrated device according to the present invention;

[0024] Figure 4 This is a schematic diagram of the connecting component structure of an automatic depalletizing and palletizing integrated device according to the present invention.

[0025] In the picture:

[0026] 1. Support frame; 11. Six-axis robotic arm; 12. Lockable casters;

[0027] 2. Destacking and stacking assembly; 21. Connecting plate; 22. Carrier plate; 23. Side plate; 24. Rotating shaft; 25. Tapered rod; 26. Servo motor; 27. Movable plate; 28. Limiting slide groove; 29. ​​Limiting slider;

[0028] 3. Sleeve; 31. Movable rod; 32. Magnet block; 33. Electromagnet; 34. Spring;

[0029] 4. Dual-axis motor; 41. Lead screw; 42. Lead screw slider. Detailed Implementation

[0030] Please see Figure 1-3 The present invention provides a technical solution: an automatic depalletizing and palletizing integrated device, including a bracket 1, a six-axis robot 11 fixedly connected to the top of the bracket 1, and a depalletizing and palletizing component 2 connected to the outer end of the six-axis robot 11;

[0031] The destacking and palletizing assembly 2 includes a connecting plate 21. A carrier plate 22 is provided on one side of the connecting plate 21. The top four corners of the carrier plate 22 are fixedly connected to the connecting plate 21 by connectors. Movable plates 27 are connected to both sides of the bottom of the carrier plate 22. Side plates 23 are fixedly installed on both sides of the bottom of the movable plates 27. A rotating shaft 24 is rotatably installed between the two side plates 23. Multiple evenly distributed tapered rods 25 are fixedly connected to the outer wall of the rotating shaft 24. A servo motor 26 is fixedly installed on the outer wall of one of the side plates 23. The drive shaft of the servo motor 26 movably passes through the side plate 23 and is fixedly connected to the rotating shaft 24.

[0032] It should be understood that in actual use, both servo motors 26 are connected to the industrial control computer to achieve automated control. The six-axis robot arm 11 moves the depalletizing assembly 2 to the material bag with the palletizing number, then inserts the cone rod 25 into the material bag, and then the servo motor 26 drives the rotating shaft 24 to rotate, thereby making the cone rod 25 rotate, thus hooking the material bag, and then transferring the material bag to the feed hopper where it is cut open by a cutter, so that the material falls into the feed hopper, thereby realizing depalletizing.

[0033] Furthermore, lockable casters 12 are fixedly installed at the four corners of the bottom of the bracket 1. The installation of lockable casters 12 makes it convenient to move the entire device.

[0034] like Figure 1 and 2 As shown; a sliding groove is provided in the middle of the surface of the carrier plate 22. A dual-axis motor 4 is fixedly installed in the middle of the inner cavity of the sliding groove. The outer ends of the two drive shafts of the dual-axis motor 4 are fixedly connected to lead screws 41. The outer ends of the lead screws 41 are rotatably connected to the inner wall of the sliding groove. A suitable lead screw slider 42 is fitted on the outer wall of the lead screw 41. The bottom of the lead screw slider 42 is fixedly connected to the movable plate 27.

[0035] It should be understood that the dual-axis motor 4 drives the lead screws 41 on both sides to rotate, thereby driving the lead screw sliders 42 on both sides to move closer or further apart, thereby adjusting the position of the movable plates 27 on both sides, thus adjusting the distance between the rotating shafts 24 on both sides, thereby adapting to packaging bags of different widths and improving adaptability.

[0036] Furthermore, limit grooves 28 are provided on both sides of the outer wall of the carrier plate 22, and matching limit sliders 29 are inserted into both sides of the inner cavity of the limit grooves 28. The outer wall of the limit sliders 29 is fixedly connected to the movable plate 27.

[0037] It should be understood that by using the limiting slider 29 to slide within the limiting groove 28, the movement trajectory of the movable plate 27 is further limited, which helps to improve stability.

[0038] like Figure 1 and 2 As shown in Figure 4; the connector includes a sleeve 3, the tail end of the sleeve 3 is fixedly connected to the carrier plate 22, a movable rod 31 is inserted into the top inner cavity of the sleeve 3, the top of the movable rod 31 is fixedly connected to the connecting plate 21, a magnet 32 ​​is fixedly connected to the tail end of the movable rod 31, an electromagnet 33 is fixedly installed at the bottom of the inner cavity of the sleeve 3, and a spring 34 is fitted on the outer wall of the movable rod 31. The two ends of the spring 34 are fixedly connected to the top of the inner cavity of the sleeve 3 and the top of the magnet 32, respectively.

[0039] It should be understood that by energizing the electromagnet 33 to attract the magnet block 32 and then instantly de-energizing it, the device can vibrate under the action of the spring 34, thereby shaking off the residual material inside the packaging bag, which helps to improve the completeness of the discharge.

[0040] Furthermore, in this document, relational terms such as "first" and "second" are used merely 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. Moreover, 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.

[0041] Although specific 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 the specific 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. An automatic palletizing and depalletizing integrated device, comprising a support frame (1), characterized in that: A six-axis robot (11) is fixedly connected to the top of the bracket (1), and a stacking and unstacking assembly (2) is connected to the outer end of the six-axis robot (11). The destacking and palletizing assembly (2) includes a connecting plate (21). A carrier plate (22) is provided on one side of the connecting plate (21). The top four corners of the carrier plate (22) are fixedly connected to the connecting plate (21) by connectors. Movable plates (27) are connected to both sides of the bottom of the carrier plate (22). Side plates (23) are fixedly installed on both sides of the bottom of the movable plates (27). A rotating shaft (24) is rotatably installed between the two side plates (23). Multiple evenly distributed tapered rods (25) are fixedly connected to the outer wall of the rotating shaft (24). A servo motor (26) is fixedly installed on the outer wall of one of the side plates (23). The drive shaft of the servo motor (26) movably passes through the side plate (23) and is fixedly connected to the rotating shaft (24).

2. The automatic depalletizing and palletizing integrated device according to claim 1, characterized in that: The connector includes a sleeve (3), the tail end of which is fixedly connected to a carrier plate (22). A movable rod (31) is inserted into the top inner cavity of the sleeve (3), the top of which is fixedly connected to a connecting plate (21). A magnet (32) is fixedly connected to the tail end of the movable rod (31). An electromagnet (33) is fixedly installed at the bottom of the inner cavity of the sleeve (3). A spring (34) is fitted on the outer wall of the movable rod (31), and the two ends of the spring (34) are fixedly connected to the top of the inner cavity of the sleeve (3) and the top of the magnet (32), respectively.

3. The automatic depalletizing and palletizing integrated device according to claim 1, characterized in that: A sliding groove is provided in the middle of the surface of the carrier plate (22). A dual-axis motor (4) is fixedly installed in the middle of the inner cavity of the sliding groove. The two drive shafts of the dual-axis motor (4) are fixedly connected to lead screws (41) at their outer ends. The outer end of the lead screw (41) is rotatably connected to the inner wall of the sliding groove. A suitable lead screw slider (42) is fitted on the outer wall of the lead screw (41). The bottom of the lead screw slider (42) is fixedly connected to the movable plate (27).

4. The automatic depalletizing and palletizing integrated device according to claim 1, characterized in that: Limiting grooves (28) are provided on both sides of the outer wall of the carrier plate (22). Matching limiting sliders (29) are inserted into both sides of the inner cavity of the limiting grooves (28). The outer wall of the limiting sliders (29) and the movable plate (27) are fixedly connected.

5. The automatic depalletizing and palletizing integrated device according to claim 1, characterized in that: Lockable casters (12) are fixedly installed at the four corners of the bottom of the bracket (1).

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