A de-palletizing and palletizing handling device

Abstract

This utility model discloses a depalletizing and palletizing handling device. The output end of a moving module is equipped with a rotating mechanism, which drives the rotating mechanism to move in three-dimensional space. In the clamping mechanism, a pair of slides are mounted on the rotating mechanism and connected to the driving component. A pair of clamping components are respectively mounted on one side of the pair of slides, close to each other. Each clamping component includes a mounting member and support columns. The mounting member is located at the lower end of the slide. Multiple support columns, with gaps between them, are horizontally mounted on the side wall of the mounting member. At least the upper surface of each support column has a horizontal structure. This utility model effectively supports the pallet by having multiple support columns extend into it, ensuring the stability of the pallet. The pair of mounting members can limit the pallet in the horizontal direction, preventing horizontal displacement during material transfer and ensuring stability during the transfer process. This allows the pallet to maintain a correct centered posture during clamping and material transfer, facilitating precise stacking and palletizing.

Description

Technical Field

[0001] This utility model relates to the field of handling device technology, and in particular to a depalletizing and stacking handling device. Background Technology

[0002] During the transfer and processing of glass (such as LCD glass), pallets can be used to support the glass. For example, a groove can be cut into the center of the pallet to place the glass for positioning and protection. Multiple pallets can then be stacked and stored together, saving storage space and facilitating transportation. When the glass needs further processing, it must be disassembled, and the glass removed from each pallet is used for subsequent processes. The empty pallets with the glass removed are then moved to another location for stacking.

[0003] In the prior art, such as the palletizing and depalletizing mechanism disclosed in application number 202021676085.2, there are two moving gripping units, and a rotating sleeve is provided on the support shaft. A spring is provided between the rotating sleeve and the rotating connecting rod, which can realize the extension and retraction of the lifting pallet on the support shaft. However, for the above structure, its rotatable structure is not conducive to pallet handling. On the other hand, it cannot effectively realize depalletizing at one position and palletizing at another position. Utility Model Content

[0004] The purpose of this utility model is to provide a depalletizing and palletizing handling device. Multiple support columns extend into multiple slots on the pallet to effectively support the pallet and ensure the stability of the pallet. A pair of mounting parts can limit the pallet in the horizontal direction to prevent it from shifting horizontally during the material transfer process, thus ensuring the stability of the material transfer process. The device can keep the pallet centered and in the correct posture during the clamping and material transfer process, which is convenient for accurate stacking.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: a depalletizing and palletizing handling device, comprising a frame, and:

[0006] The mobile module has a rotating mechanism at its output end, and the mobile module drives the rotating mechanism to move in three-dimensional space.

[0007] A clamping mechanism includes a drive assembly, a carriage, and a clamping assembly. The drive assembly is disposed on the rotating mechanism. A pair of carriages are translatably disposed on the rotating mechanism and connected to the drive assembly. The pair of carriages are driven to move closer to or further away from each other. A pair of clamping assemblies are respectively disposed on the side of the pair of carriages that are close to each other. Each clamping assembly includes at least a mounting member and a support column. The mounting member is disposed at the lower end of the carriage. A plurality of support columns are disposed horizontally on the side wall of the mounting member with gaps between them. At least the upper end surface of each support column has a horizontal surface structure.

[0008] As a further optimization, the mounting component includes a positioning plate and a side plate. The positioning plate has multiple positioning holes on one side wall, and the side plate has multiple clearance holes. The support column includes a connected positioning part and a protrusion. The positioning part has a side stop near the protrusion. When the positioning part is embedded in the positioning hole and the side plate is locked on the positioning plate, the protrusion extends out of the clearance hole, and the side stop abuts against the side plate.

[0009] As a further optimization, the positioning part is a cylindrical structure, the protrusion is a semi-cylindrical structure, and the upper end of the protrusion is a horizontal surface structure.

[0010] As a further optimization, the clamping assembly also includes a flat pusher, which includes a mounting block, an L-shaped plate, and a roller. The mounting block is disposed on the slide, the upper end of the L-shaped plate is connected to the mounting block, and an elastic element is provided between the lower end of the L-shaped plate and the mounting block. The roller is rotatably disposed on the end of the L-shaped plate away from the mounting block.

[0011] As a further optimization, the drive assembly includes a drive motor, a transmission component, a bidirectional lead screw, and a lead screw nut. The bidirectional lead screw is rotatably mounted on the rotating mechanism. The drive motor is connected to the bidirectional lead screw via the transmission component. A pair of lead screw nuts are respectively disposed on opposite sides of the bidirectional lead screw and are respectively connected to a pair of carriages. The drive motor drives the bidirectional lead screw to rotate, causing the pair of lead screw nuts to move closer or further apart, thereby driving the pair of carriages to move relative to each other.

[0012] As a further optimization, the mobile module includes an X-axis translation mechanism, a Y-axis translation mechanism, and a Z-axis lifting mechanism. The Y-axis translation mechanism is mounted on the frame, the X-axis translation mechanism is mounted on the Y-axis translation mechanism, and the Z-axis lifting mechanism is mounted on the X-axis translation mechanism.

[0013] As a further optimization, the Y-axis translation mechanism includes a first mounting plate, a first motor, and a first spur rack. The first mounting plate is slidably mounted on the frame via a first guide rail. The first motor is mounted on the first mounting plate and has a first gear at its output end, which meshes with the first spur rack mounted on the frame. The X-axis translation mechanism includes a second mounting plate, a second motor, and a second spur rack. The second mounting plate is slidably mounted on the first mounting plate via a second guide rail. The second motor is mounted on the second mounting plate and has a second gear at its output end, which meshes with the second spur rack mounted on the first mounting plate. The Z-axis lifting mechanism is mounted on the second mounting plate.

[0014] As a further optimization, the Z-axis lifting mechanism includes a third motor, a third mounting plate, a third rack, and an extension plate. The third mounting plate is slidably mounted on the second mounting plate via a first vertical guide rail. The third rack is mounted on the third mounting plate. The third motor is mounted on the second mounting plate, and its output end is provided with a third gear that can mesh with the third rack. The extension plate is slidably mounted on the third mounting plate via a second vertical guide rail. The third mounting plate is provided with a guide wheel. A connecting belt is provided between the second mounting plate and the extension plate. The connecting belt abuts against the guide wheel and is guided by the guide wheel. The rotating mechanism is located at the lower end of the extension plate.

[0015] As a further optimization, the rotating mechanism includes a rotating motor and a rotating plate. The rotating motor is mounted on the Z-axis lifting mechanism, and the rotating plate is mounted on the output end of the rotating motor. The clamping mechanism is mounted on the rotating plate.

[0016] As a further optimization, the depalletizing and palletizing handling device also includes a vision mechanism, which includes a support, a camera and a light source. The support is mounted on the carriage, and the camera and light source are both mounted on the support. The vision mechanism assists in positioning so that the clamping assembly can accurately clamp the pallet.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Multiple support columns extend into multiple slots on the pallet to effectively support the pallet, ensuring the stability of the pallet. A pair of mounting pieces can limit the pallet in the horizontal direction to prevent horizontal displacement during material transfer, thus ensuring the stability of the material transfer process.

[0019] 2. The support columns are detachable and can be adapted to pallets that bear products of different weights; and it is also equipped with a flat pusher to keep the pallet centered and in the correct position during the clamping and moving process, which facilitates accurate stacking.

[0020] 3. The Z-axis lifting mechanism in the mobile module can achieve large-stroke movement by using the cooperation of the third mounting plate and the extension plate, which facilitates depalletizing and stacking operations. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating the application of this utility model.

[0022] Figure 2 This is a structural diagram of the present invention.

[0023] Figure 3 This is a bottom view structural diagram of the clamping mechanism of this utility model.

[0024] Figure 4 This is an exploded view of the clamping component of this utility model.

[0025] Figure 5 This is a top view structural diagram of the clamping mechanism of this utility model.

[0026] Figure 6 for Figure 5 Enlarged view of point A in the middle.

[0027] Figure 7 This is a structural diagram of the moving module, rotating mechanism, and clamping mechanism of this utility model.

[0028] Figure 8 This is a structural diagram of the Z-axis lifting mechanism, rotating mechanism, and clamping mechanism of this utility model. Detailed Implementation

[0029] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0030] like Figures 1 to 4 As shown, a depalletizing and palletizing handling device includes a frame 10, a moving module 20, a rotating mechanism 30, and a clamping mechanism 40. The moving module 20 is mounted on the frame 10, and its output end is provided with the rotating mechanism 30. The moving module 20 drives the rotating mechanism 30 to move in three-dimensional space. The clamping mechanism 40 includes a driving component 41, a slide 42, and a clamping component 43. The driving component 41 is mounted on the rotating mechanism 30, and a pair of slides 42 are movably mounted on the rotating mechanism 30 and connected to the driving component 41. The carriage 42 is mounted on the lower end of the rotating mechanism 30 via the guide rail pair 421. A pair of carriages 42 are driven to move closer to each other or further away from each other. A pair of clamping assemblies 43 are respectively mounted on the side of the pair of carriages 42 that are close to each other. The clamping assembly 43 includes at least a mounting member 432 and a support column 432. The mounting member 432 is mounted on the lower end of the carriage 42. A plurality of support columns 432 are mounted horizontally on the side wall of the mounting member 431 with gaps between them. At least the upper end surface of the support column 432 has a horizontal surface structure.

[0031] In this utility model, the object to be destacking and stacking is a pallet 102. Multiple pallets 102 contain products to be processed (such as sheet glass), and multiple pallets 102 are stacked on a pallet 101 (stack position one). The products need to be removed from the pallets 102, and the pallets 102 after the products are removed are stacked again in another position (stack position two). The lower end of the pallet 102 has multiple slots 1020. It should be noted that the products can be removed from the pallet 102 by manual removal or by vacuum adsorption by a robotic arm. In operation, the movable module 20 moves on the frame 10, driving the rotating mechanism 30 and the clamping mechanism 40 located at the lower end of the rotating mechanism 30 to a stacking position. During the downward movement of the clamping mechanism 40, its pair of slides 42 are in a relatively far apart position. When the horizontal structure of the support column 432 is slightly lower than the lower end of the top wall of the slot 1020, the pair of slides 42 are driven by the drive assembly 41 to move closer to each other, causing the support column 432 to extend into the slot 1020. The slides 42 are then driven upward so that the horizontal structure of the support column 432 is aligned with the slot. The top walls of slot 1020 abut against each other, so multiple support columns 432 on a pair of slides 42 can lift the tray 102. Through the action of the moving module 20 and the rotating mechanism 30, the tray 102 is positioned correctly at the second stacking position. The support columns 432 are driven downwards a certain distance, causing their horizontal structure to detach from the top wall of slot 1020. The pair of slides 42 are driven away from each other by the driving assembly 41 and detach from slot 1020, completing the transfer of one tray 102 from the first stacking position to the second stacking position. Repeating the above operation completes the destacking and stacking actions. For products removed from tray 102, depending on the requirements of subsequent processes, if the product is removed from the first stacking position, the empty tray can be moved and stacked at the second stacking position. If the product is removed from the second stacking position, the tray carrying the product is first moved to the second stacking position for stacking, and then the product is removed.

[0032] This invention enables the unpacking and relocation of stacked pallets to another location for stacking, achieving automated unpacking and stacking processes. Furthermore, during the relocation of pallet 102, multiple support columns 432 extending into multiple slots 1020 on pallet 102 provide effective support, ensuring the stability of the pallet 102. Even when carrying heavy products, the pallet 102 maintains its balance and stability. Additionally, when the support columns 432 support the pallet 102, a pair of mounting members 431 are located on opposite sides of the pallet 102, limiting the pallet 102 horizontally and preventing horizontal displacement during relocation, thus ensuring stability.

[0033] Specifically, the mounting component 431 includes a positioning plate 4311 and a side plate 4312. The positioning plate 4311 has multiple positioning holes 431a on one side wall, and the side plate 4312 has multiple clearance holes 431b. The support column 432 includes a connected positioning part 4321 and a protrusion 4322. The positioning part 4321 has a side stop 4320 on the side near the protrusion 4322. When the positioning part 4321 is inserted into the positioning hole 431a and the side plate 4312 is locked onto the positioning plate 4311, the protrusion... The part 4322 extends out of the clearance hole 431b, and the side stop 4320 abuts against the side plate 4312. The side plate 4312 is locked to the positioning plate 4311 by a plurality of bolts passing through its locking holes 431c. Preferably, the positioning part 4321 has a cylindrical structure, the protrusion 4322 has a semi-cylindrical structure, and the clearance hole 431b also has a semi-circular structure. The protrusion 4322 is used to extend into the slot 1020, and its upper end face has a horizontal structure for abutting against the top of the slot 1020. The support column 432 can be fixedly installed by the cooperation of the positioning part 4321, the positioning hole 431a, the side plate 4312, and the clearance hole 431b, which can prevent the support column 432 from rotating relative to each other, so that its horizontal structure can always be upward and smoothly abut against the top wall of the slot 1020. At the same time, the number of support columns 432 can be quickly adjusted, and the number of support columns 432 can be increased or decreased according to the load-bearing weight of the tray 102.

[0034] Combination Figure 3 and Figure 6 As shown, preferably, the clamping assembly 43 further includes a flat pusher 433, which includes a mounting block 4331, an L-shaped plate 4332, and a roller 4334. The mounting block 4331 is disposed on the slide 42. The upper end of the L-shaped plate 4332 is connected to the mounting block 4331, and an elastic element 4333 is provided between the lower end of the L-shaped plate 4332 and the mounting block 4331. The elastic element 4333 can be a spring. The two ends of the spring abut against the L-shaped plate 4332 and the mounting block 4331, respectively. The roller 4334 is rotatably disposed on the L-shaped plate 4332 at the end away from the mounting block 4331. When a pair of carriages 42 approach each other, the contact between the pallet 102 and the rollers 4334 located on its opposite sides, as well as the squeezing action on the L-shaped plate 4332 and the elastic element 4333, can make the pallet 102 located in the middle position of the pair of carriages 42, that is, ensure that the pallet 102 is located in the middle position of the clamping assembly 43. This is beneficial for the pallet 102 to maintain the correct position and posture on the clamping assembly 43, which facilitates subsequent stacking operations.

[0035] Continue as Figure 3As shown, the drive assembly includes a drive motor 411, a transmission component 412, a double-acting lead screw 413, and lead screw nuts 414. The double-acting lead screw 413 is rotatably mounted on the lower end of the rotating mechanism 30. The drive motor 411 is connected to the double-acting lead screw 413 via the transmission component 412. A pair of lead screw nuts 414 are respectively located on opposite sides of the double-acting lead screw 413 and are respectively connected to a pair of slides 42. Therefore, the rotation of the double-acting lead screw 413 can drive the pair of lead screw nuts 414 to move closer or further apart, thereby driving the pair of slides 42 and the clamping assembly 43 located on the slides 42 to move relative to each other. For the transmission component 412, it can adopt the combination structure of transmission wheels and belts in the prior art, that is, the drive motor 411 and the double-acting lead screw 413 are respectively provided with transmission wheels, and the belt is sleeved on the pair of transmission wheels to realize that the drive motor 411 drives the double-acting lead screw 413 to rotate.

[0036] Combination Figure 1 , Figure 2 and Figure 7 As shown, the moving module 20 includes an X-axis translation mechanism 22, a Y-axis translation mechanism 21, and a Z-axis lifting mechanism 23. The Y-axis translation mechanism 21 is mounted on the frame 10, the X-axis translation mechanism 22 is mounted on the Y-axis translation mechanism 21, and the Z-axis lifting mechanism 23 is mounted on the X-axis translation mechanism 22. The rotation mechanism 30 and the clamping mechanism 40 can move in three-dimensional space through the cooperation of the Y-axis translation mechanism 21, the X-axis translation mechanism 22, and the Z-axis lifting mechanism 23.

[0037] Specifically, the Y-axis translation mechanism 21 includes a first mounting plate 211, a first motor 212, and a first rack 213. The first mounting plate 211 is slidably mounted on the frame 10 via a first guide rail 210. The first motor 212 is mounted on the first mounting plate 211 and has a first gear (not shown) at its output end. The first gear meshes with the first rack 213 mounted on the frame 10. The first motor 212 drives the first gear to rotate, and the first mounting plate 211 is translated along the Y-axis on the first guide rail 210 through the engagement of the first gear and the first rack 213. The X-axis translation mechanism 22 includes a second... Mounting plate 221, second motor 222, and second rack 223. The second mounting plate 221 is slidably mounted on the first mounting plate 211 via the second guide rail 220. The second motor 222 is mounted on the second mounting plate 221 and has a second gear (not shown) at its output end. The second gear meshes with the second rack 223 mounted on the first mounting plate 221. The second motor 222 drives the second gear to rotate. The second mounting plate 221 can be translated along the X direction on the second guide rail 220 through the cooperation between the second gear and the second rack 223. The Z-axis lifting mechanism 23 is mounted on the second mounting plate 221.

[0038] Combination Figure 7 and Figure 8As shown, further, the Z-axis lifting mechanism 23 includes a third motor 231, a third mounting plate 232, a third rack 233, and an extension plate 234. The third mounting plate 232 is slidably mounted on the second mounting plate 221 via the first vertical guide rail 2301. The third mounting plate 232 is provided with the third rack 233. The third motor 231 is mounted on the second mounting plate 221, and its output end is provided with a third gear (not shown) that can mesh with the third rack 233. Compared with the Y-axis translation mechanism 2... 1. Unlike the X-axis translation mechanism 22, the third motor 231 in the Z-axis lifting mechanism 23 is fixed to the second mounting plate 221. The third motor 231 does not move relative to the second mounting plate 221 during operation; it drives the third rack 233 located on the third mounting plate 232 via the third gear, causing the third mounting plate 232 to move up and down relative to the second mounting plate 221. Furthermore, the extension plate 234 is slidably mounted on the third mounting plate 232 via the second vertical guide rail 2302. The upper two sections of the third mounting plate 232... Guide wheels 2351 are respectively provided on the side walls. A connecting belt 2352 is provided between the second mounting plate 221 and the extension plate 234. One end of the connecting belt 2352 is fastened to the first connecting post 235a on the second mounting plate 221, and the other end is fastened to the second connecting post 235b on the bottom plate 2341 at the lower end of the extension plate 234. The connecting belt 2352 abuts against the guide wheels 2351 and is guided by the guide wheels 2351. Through the above arrangement, during the process of the third mounting plate 232 being driven to move downward, In the middle, the guide wheel 2352 at the upper end moves down synchronously, and the connecting belt 2351 guided by the guide wheel 2352 extends downward and releases the movable extension plate 234 located on the third mounting plate 232 downward and limits the movement distance. Therefore, the movement distance of the Z-axis lifting mechanism 23 can be expanded by the movement of the third mounting plate 232 and the movement of the extension plate 234. The rotating mechanism 40 is set at the lower end of the extension plate 234, specifically on the base plate 2341 located below the extension plate 234.

[0039] The rotating mechanism 30 includes a rotating motor 31 and a rotating plate 32. The rotating motor 31 is mounted on the Z-axis lifting mechanism 23, specifically on the base plate 2341. The rotating plate 32 is rotatably mounted on the base plate 2341 and is connected to the output end of the rotating motor 31, which can drive the clamping mechanism 40 located on the rotating plate 32 to rotate.

[0040] Combination Figure 3 , Figure 5 and Figure 7 As shown, the depalletizing and palletizing handling device also includes a vision mechanism 50, which includes a support 51, a camera 52 and a light source 53. The support 51 is mounted on the carriage 42, and the camera 52 and the light source 53 are both mounted on the support 51. Through visual positioning, the carriage 42 can be accurately moved and positioned, and the clamping component 43 can accurately clamp the pallet 102.

[0041] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A depalletizing and palletizing handling device, comprising a frame, characterized in that, Also includes: The mobile module has a rotating mechanism at its output end, and the mobile module drives the rotating mechanism to move in three-dimensional space. A clamping mechanism includes a drive assembly, a carriage, and a clamping assembly. The drive assembly is disposed on the rotating mechanism. A pair of carriages are translatably disposed on the rotating mechanism and connected to the drive assembly. The pair of carriages are driven to move closer to or further away from each other. A pair of clamping assemblies are respectively disposed on the side of the pair of carriages that are close to each other. Each clamping assembly includes at least a mounting member and a support column. The mounting member is disposed at the lower end of the carriage. A plurality of support columns are disposed horizontally on the side wall of the mounting member with gaps between them. At least the upper end surface of each support column has a horizontal surface structure.

2. The depalletizing and palletizing handling device according to claim 1, characterized in that, The mounting component includes a positioning plate and a side plate. The positioning plate has multiple positioning holes on one side wall and multiple clearance holes on the side plate. The support column includes a connected positioning part and a protrusion. The positioning part has a side stop near the protrusion. When the positioning part is embedded in the positioning hole and the side plate is locked on the positioning plate, the protrusion extends out of the clearance hole and the side stop abuts against the side plate.

3. The depalletizing and palletizing handling device according to claim 2, characterized in that, The positioning part is a cylindrical structure, and the protrusion is a semi-cylindrical structure.

4. The depalletizing and palletizing handling device according to claim 1, characterized in that, The clamping assembly further includes a flat pusher, which includes a mounting block, an L-shaped plate, and a roller. The mounting block is disposed on the slide, the upper end of the L-shaped plate is connected to the mounting block, and an elastic element is provided between the lower end of the L-shaped plate and the mounting block. The roller is rotatably disposed on the end of the L-shaped plate away from the mounting block.

5. The depalletizing and palletizing handling device according to claim 1, characterized in that, The drive assembly includes a drive motor, a transmission component, a bidirectional lead screw, and a lead screw nut. The bidirectional lead screw is rotatably mounted on the rotating mechanism. The drive motor is connected to the bidirectional lead screw via the transmission component. A pair of lead screw nuts are respectively located on opposite sides of the bidirectional lead screw and are respectively connected to a pair of carriages.

6. The depalletizing and palletizing handling device according to claim 1, characterized in that, The mobile module includes an X-axis translation mechanism, a Y-axis translation mechanism, and a Z-axis lifting mechanism. The Y-axis translation mechanism is mounted on the frame, the X-axis translation mechanism is mounted on the Y-axis translation mechanism, and the Z-axis lifting mechanism is mounted on the X-axis translation mechanism.

7. The depalletizing and palletizing handling device according to claim 6, characterized in that, The Y-axis translation mechanism includes a first mounting plate, a first motor, and a first spur rack. The first mounting plate is slidably mounted on the frame via a first guide rail. The first motor is mounted on the first mounting plate and has a first gear at its output end. The first gear meshes with the first spur rack mounted on the frame. The X-axis translation mechanism includes a second mounting plate, a second motor, and a second spur rack. The second mounting plate is slidably mounted on the first mounting plate via a second guide rail. The second motor is mounted on the second mounting plate and has a second gear at its output end. The second gear meshes with the second spur rack mounted on the first mounting plate. The Z-axis lifting mechanism is mounted on the second mounting plate.

8. The depalletizing and palletizing handling device according to claim 7, characterized in that, The Z-axis lifting mechanism includes a third motor, a third mounting plate, a third rack, and an extension plate. The third mounting plate is slidably mounted on the second mounting plate via a first vertical guide rail. The third rack is mounted on the third mounting plate. The third motor is mounted on the second mounting plate, and its output end is provided with a third gear that can mesh with the third rack. The extension plate is slidably mounted on the third mounting plate via a second vertical guide rail. The third mounting plate is provided with a guide wheel. A connecting belt is provided between the second mounting plate and the extension plate. The connecting belt abuts against the guide wheel and is guided by the guide wheel. The rotating mechanism is located at the lower end of the extension plate.

9. The depalletizing and palletizing handling device according to any one of claims 6 to 8, characterized in that, The rotating mechanism includes a rotating motor and a rotating plate. The rotating motor is mounted on the Z-axis lifting mechanism, and the rotating plate is mounted on the output end of the rotating motor. The clamping mechanism is mounted on the rotating plate.

10. The depalletizing and palletizing handling device according to claim 1, characterized in that, It also includes a vision mechanism, which includes a support, a camera, and a light source. The support is mounted on the carriage, and the camera and the light source are both mounted on the support.

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