A tray unstacking and stacking device for battery tray film pasting

Abstract

The utility model discloses a tray unstacking device for battery tray film pasting, including the stacking warehouse, battery input line and empty tray output line, the stacking warehouse is equipped with full tray stacking position, empty tray stacking position and unstacking machine in, the unstacking machine includes robot and clamping base, the bottom of clamping base is fixedly installed with first clamping arm and pressure cylinder, still fixedly installed with first lifting cylinder on the clamping base, first lifting cylinder is fixedly installed with second lifting cylinder, install the combination and separation cylinder on the second lifting cylinder, install second clamping arm on the piston rod of combination and separation cylinder, the utility model not only can utilize first clamping arm and second clamping arm to the both sides clamping of battery tray, still can utilize pressure cylinder and first clamping arm to the one -sided clamping of battery tray, and operation is more flexible, especially can adapt to seamless stacking.

Description

Technical Field

[0001] This utility model relates to the technical field of battery packaging loading and unloading devices, and in particular to a pallet unpacking and stacking device for battery unpacking and film application. Background Technology

[0002] In the later stages of battery mass production, finished batteries are first loaded into plastic or metal pallets, then transported by stacker cranes to an automated warehouse or temporarily stored directly in the packaging area. When entering the packaging processes such as visual inspection, wrapping, labeling, and boxing, existing production lines generally adopt a "manual depalletizing - conveyor feeding - packaging machine operation - conveyor unloading - manual pallet stacking" work mode. In this mode, operators use mobile lifting platforms or simple forklifts to move pallets layer by layer from top to bottom onto the conveyor line. After the packaging machine completes the battery unloading, bagging / wrapping, inner box placement, boxing, labeling, and stacking, the empty pallets are output from the downstream conveyor line, then manually collected and stacked, and finally transported back to the automated warehouse or pallet warehouse by forklift.

[0003] This type of operation, when using a mobile lifting platform or simple forklift for destacking, requires the platform or forklift to move back and forth once for each layer of stacking. This not only results in low work efficiency but also high labor intensity for manual destacking and pallet stacking, posing risks of falls and collisions that can easily damage the battery casing and top cover, leading to significant safety and quality hazards. Furthermore, when manually loading materials at the input end of the conveyor line, the consistency of pallet orientation and posture is poor, requiring the packaging machine to incorporate additional visual correction and secondary positioning mechanisms, increasing equipment complexity and the failure rate. Utility Model Content

[0004] The purpose of this invention is to provide a tray unpacking and stacking device for battery tray film application.

[0005] The technical solution to achieve the purpose of this utility model is: a pallet depalletizing and palletizing device for battery tray film application, comprising a stacking warehouse, a battery input line and an empty tray output line, wherein the input end of the battery input line and the output end of the empty tray output line extend into the stacking warehouse, and the stacking warehouse is provided with a full tray stacking position, an empty tray stacking position and a depalletizing machine, wherein the full tray stacking position, the empty tray stacking position, the input end of the battery input line and the output end of the empty tray output line are all located on the operating path of the depalletizing machine; The depalletizer includes a robot and a gripping base. The robot has a robotic arm, and the gripping base is mounted on the end of the robotic arm. The upper surface of the gripping base is provided with a connecting shaft for connecting to the robotic arm. A first gripping arm and a clamping cylinder are fixedly mounted on the bottom of the gripping base. The first gripping arm has a first protruding gripping portion on its side near the clamping cylinder. The telescopic rod of the clamping cylinder is vertically oriented downwards. A first lifting cylinder is also fixedly mounted on the gripping base, and a second lifting cylinder is fixedly mounted on the piston rod of the first lifting cylinder. A horizontally arranged splitting and closing cylinder is mounted on the piston rod of the second lifting cylinder. A second clamping arm is mounted on the piston rod of the splitting and closing cylinder. The second clamping arm and the first clamping arm are located on opposite sides of the pressing cylinder. The side of the second clamping arm closest to the first clamping arm has a second protruding clamping part. A vision sensor and an auxiliary light source are also mounted on the bottom surface of the clamping base. The vision sensor, the robot, the pressing cylinder, the first lifting cylinder, the second lifting cylinder, and the splitting and closing cylinder are all electrically connected to the same control system.

[0006] Furthermore, the battery input line and the empty tray output line are arranged in parallel. This arrangement reduces the floor space required and makes the layout more rational; at the same time, it also facilitates bringing the input end of the battery input line and the output end of the empty tray output line close together, making it easier for the depalletizer to place the battery tray onto the battery input line and for the depalletizer to remove and stack the battery tray above the empty tray output line.

[0007] Furthermore, the depalletizer is located to the side of the input end of the battery input line and the output end of the empty tray output line. This proximity to the input end of the battery input line and the output end of the empty tray output line allows the depalletizer to simultaneously handle the transfer of battery trays on both lines.

[0008] Furthermore, the full-pallet stacking position and the empty-pallet stacking position are located on opposite sides of the depalletizer. The full-pallet stacking position is close to the input end of the battery input line, and the empty-pallet stacking position is close to the output end of the empty-pallet output line. This arrangement reduces the transfer path from the battery tray at the full-pallet stacking position to the battery input line, and from the battery tray above the empty-pallet output line to the empty-pallet stacking position, thereby improving the robot's operating efficiency.

[0009] Furthermore, the robotic arm is any one of a four-axis robotic arm, a five-axis robotic arm, or a six-axis robotic arm.

[0010] Furthermore, the clamping cylinder is close to the first clamping arm; when the telescopic rod of the clamping cylinder extends, it abuts against the upper surface of the handle portion of the battery tray. When the first clamping arm clamps the battery tray, the first protruding clamping part of the first clamping arm extends below the handle portion of the battery tray and abuts against it; the clamping cylinder is close to the first clamping arm, and when the clamping cylinder clamps the battery tray, the telescopic rod of the clamping cylinder extends, and the telescopic rod of the clamping cylinder abuts against the upper surface of the same handle portion of the battery tray that abuts against the first clamping arm; the first protruding clamping part of the clamping cylinder and the first clamping arm are respectively located above and below the same handle portion of the battery tray, clamping the same handle portion of the battery tray. This configuration allows the clamping cylinder and the first clamping arm to operate on the same handle of the battery tray, thereby enabling unilateral lifting and lateral movement of the battery tray. This avoids the need to leave gaps on both sides of each battery tray in the stack for the second clamping arm to extend when moving with double-sided clamping. Each battery tray can rely on the stack, making the stacking more stable.

[0011] Furthermore, a clamping block is installed on the telescopic rod of the clamping cylinder. The clamping block has a right-angled notch, which faces downwards and is positioned towards one side of the first clamping arm. When the right-angled notch presses against the handle of the battery tray, it not only limits the battery tray vertically but also horizontally. This makes the horizontal movement of the battery tray more reliable when the clamping cylinder and the first clamping arm grip the same handle.

[0012] Furthermore, the visual sensor is any one of a monocular camera, a binocular camera, or a tricular camera.

[0013] This utility model relates to a battery tray unpacking and stacking device for applying film to battery trays. By installing a clamping cylinder on the side of the first clamping arm, the clamping cylinder and the first clamping arm press against the handle on the same side of the battery tray from above and below, achieving single-sided clamping of the battery tray. Simultaneously, the first and second lifting cylinders allow the second clamping arm to move to more than three height positions. The second clamping arm can not only be positioned below and against the handle of the battery tray to clamp it, but also, during unpacking or stacking, when one side of the battery tray is against other battery trays on the stack without gaps, the second clamping arm can also be positioned above the battery tray to allow for single-sided clamping, enabling the operation to continue.

[0014] This utility model relates to a battery tray destacking and stacking device for applying film to battery trays. It can clamp the battery tray from both sides using the first and second clamping arms, and also clamp it from one side using the clamping cylinder and the first clamping arm. This multi-functional combination of double-sided and single-sided clamping allows for more diverse operations. Besides clamping the battery tray from both sides for transfer, during destacking and stacking, when there is no gap on one side of the stacked battery trays, the single-sided clamping can be used to horizontally move the battery tray, creating gaps on both sides and facilitating clamping from both sides. Conversely, with the assistance of single-sided clamping, it does not require gaps on both sides of the battery tray; that is, the battery trays can be stacked together, adapting to seamless stacking. Compared to intermittent stacking, the intermittent stacking structure is more stable and reliable.

[0015] This utility model relates to a battery tray unpacking and palletizing device for battery tray application. By installing a vision sensor and an auxiliary light source on the bottom surface of the clamping base, the vision sensor acquires the position information of the battery trays at various locations, thus positioning the battery trays for clamping operations. Compared to traditional photoelectric sensor positioning, the vision sensor can obtain more information sources, has higher positioning accuracy, and is more flexible in use, adapting to positioning in any different scenarios.

[0016] Furthermore, the pallet depalletizing and stacking device for battery tray application of this utility model also includes a stacking warehouse. The input end of the battery input line, the output end of the empty tray output line, the full tray stacking position, the empty tray stacking position, and the depalletizing and stacking machine are located within the stacking warehouse. Both depalletizing and stacking operations are performed within the stacking warehouse, which not only protects the safety of each device but also ensures the safe operation of each process. Moreover, the full tray stacking position, the empty tray stacking position, the input end of the battery input line, and the output end of the empty tray output line are all located on the operating path of the depalletizing and stacking machine. The depalletizing and stacking operations are performed by the same depalletizing and stacking machine, resulting in higher utilization of the depalletizing and stacking machine and greater equipment simplification. Attached Figure Description

[0017] Figure 1 This is a top view of the pallet unpacking and stacking device for battery tray film application according to this utility model. Figure 2 This is a schematic diagram of the main structure of the clamping base of the tray unpacking and stacking device for battery tray film application according to this utility model. Figure 3 This is a bottom view of the clamping base of the tray unpacking and stacking device for battery tray film application according to this utility model. Figure 4 This is a front view schematic diagram of the clamping base holding the battery tray of the battery tray unpacking and stacking device for battery tray film application according to this utility model. Figure 5 This is a schematic diagram of the control system of the tray unpacking and stacking device for battery tray film application according to this utility model. Detailed Implementation

[0018] The preferred embodiment of the battery tray unpacking and stacking device of this utility model is described in detail below with reference to the accompanying drawings: like Figures 1 to 5 As shown, a pallet depalletizing and palletizing device for battery tray film application includes a stacking warehouse 100, a battery input line 10, and an empty tray output line 20. The input end 11 of the battery input line 10 and the output end 21 of the empty tray output line 20 extend into the stacking warehouse 100. The stacking warehouse 100 is equipped with a full tray stacking position 1, an empty tray stacking position 2, and a depalletizing machine 3. The full tray stacking position 1, the empty tray stacking position 2, the input end 11 of the battery input line 10, and the empty tray output line 20 are all located within the stacking warehouse 100. The output terminals 21 of 0 are all located on the operating path of the depalletizer 3; the depalletizer 3 includes a robot 30 and a clamping base 31. The robot 30 has a robotic arm 301, and the clamping base 31 is mounted on the end of the robotic arm 301. The upper surface of the clamping base 31 is provided with a connecting shaft 311 for connecting with the robotic arm 301. A first clamping arm 32 and a clamping cylinder 33 are fixedly mounted on the bottom of the clamping base 31. The first clamping arm 32 is close to... The clamping cylinder 33 has a first protruding clamping part 321 on one side, and the telescopic rod of the clamping cylinder 33 is vertically positioned downwards. A first lifting cylinder 34 is also fixedly installed on the clamping base 31. A second lifting cylinder 35 is fixedly installed on the piston rod of the first lifting cylinder 34. A horizontally arranged splitting cylinder 36 is installed on the piston rod of the second lifting cylinder 35. A second clamping arm 37 is installed on the piston rod of the splitting cylinder 36. The second clamping arm 37 and the first clamping arm 32 are located on both sides of the clamping cylinder 33 and are arranged opposite to each other. The side of the second clamping arm 37 closest to the first clamping arm 32 has a second protruding clamping part 371. A vision sensor 38 and an auxiliary light source 39 are also installed on the bottom surface of the clamping base 31. The vision sensor 38, the robot 30, the clamping cylinder 33, the first lifting cylinder 34, the second lifting cylinder 35, and the splitting cylinder 36 are all electrically connected to the same control system 4.

[0019] This utility model relates to a battery tray unstacking and stacking device for battery tray film application. It is used to unstacking the battery trays 200 on the full tray stacking position 1, and simultaneously transferring the removed battery trays 200 to the battery input line 10; and to removing the battery trays 200 output from the empty tray output line 20 and moving them to the empty tray stacking position 2 for stacking. The battery tray 200 is a frame structure with an edge, and the edge of the battery tray 200 is provided with a handle 201.

[0020] In this utility model of a battery tray unpacking and stacking device for battery tray film application, the full tray stacking position 1 is used for stacking battery trays 200 filled with batteries. The battery input line 10 serves as the feeding conveyor line for battery tray film application, used to transport the battery trays 200 filled with batteries to the battery tray film application station for feeding during the battery tray film application operation. The empty tray output line 20 serves as the conveyor line for empty battery trays 200 after battery tray film application, used to output the empty battery trays 200. The empty tray stacking position 2 is used for stacking empty battery trays 200. The depalletizer 3 is used to perform the above operations, including clamping the battery tray 200, depalletizing the battery tray 200 at the full pallet stacking position 1, rotating the battery tray 200 containing batteries onto the battery input line 10; and clamping and removing the battery tray 200 output from the empty pallet output line 20, moving it to the empty pallet stacking position 2, and stacking it.

[0021] This utility model relates to a pallet depalletizing and palletizing device for battery tray application and film application. The depalletizing and palletizing machine 3 includes a robot 30 and a clamping base 31. The robot 30 has a mechanical arm 301 that is movable and can move along a path. On the clamping base 31, the adapter shaft 311 is used to connect with the robotic arm 301; the first clamping arm 32 cooperates with the clamping cylinder 33 to grip the battery tray 200 on one side; the first clamping arm 32 cooperates with the second clamping arm 37 to grip the battery tray 200 in both directions; the first lifting cylinder 34 and the second lifting cylinder 35 are used to realize the lifting and lowering movement of the second clamping arm 37 at three or more height positions; the vision sensor 38 acts as the robot's "eyes" to obtain the position information of the battery tray 200 at the full tray stacking position 1, the output end 21 of the empty tray output line 20, the empty tray stacking position 2, etc., so as to locate the gripping of the battery tray 200; the auxiliary light source 39 is used to provide illumination and to supplement the light when the vision sensor 38 obtains visual information.

[0022] This utility model relates to a battery tray destacking and stacking device for battery tray unloading and film application. In the battery tray unloading and film application process, it is used for destacking, transferring, and stacking battery trays. Specifically, during operation, battery trays filled with batteries are stacked at the full-tray stacking position 1 within the stacking warehouse 100. The destacking and stacking machine 3 operates to destacking the battery trays at the full-tray stacking position 1, picking up each battery tray one by one and transferring it to the battery input line 10. The battery input line 10 then transports the trays to the battery unloading and film application station for unloading and film application. After unloading, the empty battery trays are placed on the empty tray output line 20 and output from the output end 21 of the empty tray output line 20. The destacking and stacking machine 3 then operates to pick up the battery trays from the output end 21 of the empty tray output line 20 and transfer them to the empty tray stacking position 2 for stacking.

[0023] This utility model relates to a battery tray destacking and palletizing device for battery tray application. When the destacking and palletizing machine 3 destacking the battery tray stack at the full-pack stack position 1, the robot 30 moves the clamping base 31 above the battery tray stack. Then, the vision sensor 38 acquires the position information of the battery trays on the stack, determines the height and side position of the battery trays, and then the robot 30 moves the first clamping arm 32 from the side of the battery tray to below the handle 201 on that side of the battery tray. Then, the robot 30 drives the first clamping arm 32 to move upward. After the first protruding clamping part 321 of the first clamping arm 32 abuts against the corresponding side handle 201 of the battery tray, the telescopic rod of the pressing cylinder 33 extends and presses against the upper surface of the handle 201 on the same side of the battery tray. The clamping cylinder 33 and the first protruding clamping part 321 of the first clamping arm 32 press against the handle part 201 on the same side of the battery tray from above and below, respectively, to achieve single-sided clamping of the battery tray. After clamping the battery tray on one side, the robot 30 moves the battery tray horizontally, pulling the battery tray out of the stack, so that the opposite side of the battery tray is also exposed. Then, the first lifting cylinder 34 and the second lifting cylinder 35 extend, so that the second protruding clamping part 371 of the second clamping arm 37 extends below the handle part 201 on the opposite side of the battery tray; the opening and closing cylinder 36 is activated, driving the second clamping arm 37 to move closer to the battery tray and close; the second lifting cylinder 35 retracts, driving the second clamping arm 37 upward, abutting against the handle part 201 on the opposite side of the battery tray. In this way, the first clamping arm 32 and the second clamping arm 37 respectively achieve clamping of the battery tray from both sides. After the battery tray is clamped, the robot 30 moves it to the input end 11 of the battery input line 10. The second lifting cylinder 35, the splitting cylinder 36, the first lifting cylinder 34 and the pressing cylinder 33 are successively reset, the battery tray is released and placed on the battery input line 10.

[0024] The present invention relates to a battery tray depalletizing and stacking device for battery tray application. When the battery tray output from the empty tray output line 20 is taken out and moved to the empty tray stacking position 2 for stacking, it mainly includes two operations: first, the clamping operation of the depalletizing and stacking machine 3 at the empty tray output line 20, and second, the stacking operation at the empty tray stacking position 2.

[0025] The battery tray on the empty tray output line 20 has clamping spaces on both sides. When clamping, after the vision sensor 38 obtains the position of the battery tray on the output end 21 of the empty tray output line 20, the first protruding clamping part 321 of the clamping cylinder 33 and the first clamping arm 32 clamps the handle part 201 on one side of the battery tray. The first lifting cylinder 34, the second lifting cylinder 35 and the split cylinder 36 are driven, and the second clamping arm 37 clamps the handle part 201 on the opposite side of the battery tray, realizing clamping from both sides.

[0026] When the depalletizer 3 picks up the battery tray and moves it to the empty tray stacking position 2 for stacking, after the vision sensor 38 obtains the position of the battery tray on the output end 21 of the empty tray output line 20, it first places the battery tray on the stack. Then, the first lifting cylinder 34, the second lifting cylinder 35, and the split cylinder 36 reset, and the second gripping arm 37 releases the battery tray and resets to move above the battery tray. Then, the robot 30 moves, and the clamping cylinder 33 and the first gripping arm 32 clamp the battery tray on one side, pushing the battery tray horizontally so that the battery tray is aligned with the battery trays on the stack. After that, the clamping cylinder 33 resets, the robot 30 moves, and the clamping cylinder 33 and the first gripping arm 32 release the battery tray.

[0027] This utility model relates to a tray unpacking and palletizing device for battery tray application and film application. The robot 30, the clamping cylinder 33, the first lifting cylinder 34, the second lifting cylinder 35, and the separating / combining cylinder 36 are controlled and coordinated by a control system 4. Specifically, the vision sensor 38 acquires the position information of the battery trays at various locations and transmits it to the control system 4. The control system 4, based on the process settings and the position information of the battery trays acquired by the vision sensor 38, controls the actions of the robot 30, the clamping cylinder 33, the first lifting cylinder 34, the second lifting cylinder 35, and the separating / combining cylinder 36. The control system 4 is a conventional structure, and will not be elaborated further in this utility model.

[0028] This utility model relates to a battery tray unpacking and stacking device for applying film to battery trays. By installing a clamping cylinder 33 on the side of the first clamping arm 32, the clamping cylinder 33 and the first clamping arm 32 press against the handle 201 on the same side of the battery tray from above and below, achieving single-sided clamping of the battery tray. Simultaneously, the installation of the first lifting cylinder 34 and the second lifting cylinder 35 allows the second clamping arm 37 to move to more than three height positions. The second clamping arm 37 can not only be positioned below and against the handle 201 of the battery tray to clamp it, but also, during unpacking or stacking, when one side of the battery tray is close to other battery trays on the stack without gaps, the second clamping arm 37 can also be positioned above the battery tray to allow for single-sided clamping, enabling the operation of clamping the battery tray on one side.

[0029] This utility model relates to a battery tray destacking and stacking device for applying film to battery trays. It can not only clamp the battery tray from both sides using the first clamping arm 32 and the second clamping arm 37, but also clamp it from one side using the clamping cylinder 33 and the first clamping arm 32. This multi-functional combination of double-sided and single-sided clamping allows for more diverse operations. Besides clamping the battery tray from both sides for transfer, during destacking and stacking, when there is no gap on one side of the stacked battery trays, the single-sided clamping can be used to horizontally move the battery tray, creating gaps on both sides and facilitating clamping from both sides. Conversely, with the assistance of single-sided clamping, it does not require gaps on both sides of the battery tray; that is, the battery trays can be stacked together, adapting to seamless stacking. Compared to intermittent stacking, the interdependent stacking structure is more stable and reliable.

[0030] This utility model relates to a battery tray unpacking and stacking device for applying film to battery trays. By installing a vision sensor 38 and an auxiliary light source 39 on the bottom surface of the clamping base 31, the vision sensor 38 acquires the position information of the battery trays at various locations, thus positioning the battery trays for clamping operations. Compared to traditional photoelectric sensor positioning, the vision sensor 38 can obtain more information sources, has higher positioning accuracy, and is more flexible in use, adapting to positioning in any different scenarios.

[0031] Furthermore, the pallet depalletizing and stacking device for battery tray application of this utility model also includes a stacking warehouse 100. The input end 11 of the battery input line 10, the output end 21 of the empty tray output line 20, the full tray stacking position 1, the empty tray stacking position 2, and the depalletizing and stacking machine 3 are located within the stacking warehouse 100. Both depalletizing and stacking operations are performed within the stacking warehouse 100. The stacking warehouse 100 not only protects the safety of each device but also ensures the safe operation of each process. Moreover, the full tray stacking position 1, the empty tray stacking position 2, the input end 11 of the battery input line 10, and the output end 21 of the empty tray output line 20 are all located on the operating path of the depalletizing and stacking machine 3. The depalletizing and stacking operations are performed by the same depalletizing and stacking machine 3, resulting in higher utilization and equipment simplification.

[0032] In this utility model, a pallet depalletizing and stacking device for battery tray application and film application preferably has the battery input line 10 and the empty tray output line 20 arranged in parallel. This arrangement reduces the floor space required and makes the layout more rational. Simultaneously, it facilitates bringing the input end 11 of the battery input line 10 and the output end 21 of the empty tray output line 20 closer together, making it easier for the depalletizing and stacking machine 3 to place the battery tray onto the battery input line 10 and to remove and stack the battery tray above the empty tray output line 20.

[0033] The present invention relates to a pallet depalletizing and palletizing device for battery tray application. Preferably, the depalletizing and palletizing machine 3 is located to the side of the input end 11 of the battery input line 10 and the output end 21 of the empty tray output line 20. Being located close to the input end 11 of the battery input line 10 and the output end 21 of the empty tray output line 20 allows the depalletizing and palletizing machine 3 to simultaneously handle the transfer of battery trays on both the battery input line 10 and the empty tray output line 20.

[0034] The present invention relates to a pallet depalletizing and palletizing device for battery tray application. Preferably, the full-pallet stacking position 1 and the empty-pallet stacking position 2 are located on opposite sides of the depalletizing and palletizing machine 3. The full-pallet stacking position 1 is close to the input end 11 of the battery input line 10, and the empty-pallet stacking position 2 is close to the output end 21 of the empty-pallet output line 20. This arrangement reduces the transfer path from the battery tray at the full-pallet stacking position 1 to the battery input line 10, and from the battery tray above the empty-pallet output line 20 to the empty-pallet stacking position 2, thereby improving the operating efficiency of the robot 30.

[0035] The present invention relates to a tray unpacking and stacking device for battery tray film application, wherein the robotic arm 301 is any one of a four-axis robotic arm, a five-axis robotic arm, or a six-axis robotic arm.

[0036] In this utility model, the pallet unpacking and stacking device for battery tray film application is preferably such that the clamping cylinder 33 is close to the first clamping arm 32; when the telescopic rod of the clamping cylinder 33 extends, the telescopic rod of the clamping cylinder 33 contacts the upper surface of the handle portion 201 of the battery tray 200. When the first clamping arm 32 clamps the battery tray 200, the first protruding clamping part 321 of the first clamping arm 32 extends below the handle part 201 of the battery tray 200 and abuts against the handle part 201 of the battery tray 200; the pressing cylinder 33 is close to the first clamping arm 32, and when the pressing cylinder 33 presses the battery tray, the telescopic rod of the pressing cylinder 33 extends, and the telescopic rod of the pressing cylinder 33 contacts the upper surface of the same handle part 201 of the battery tray 200 that abuts against the first clamping arm 32; the pressing cylinder 33 and the first protruding clamping part 321 of the first clamping arm 32 are respectively located above and below the same handle part 201 of the battery tray 200, clamping the same handle part 201 of the battery tray 200. This configuration allows the clamping cylinder 33 and the first clamping arm 32 to operate on the same handle 201 of the battery tray 200, thereby enabling the battery tray 200 to be lifted and moved horizontally on one side. This avoids the need to leave gaps on both sides of each battery tray 200 in the stack for the second clamping arm 37 to extend when moving with clamping on both sides. Each battery tray 200 can rely on the stack, making the stacking more stable.

[0037] In this utility model, a pallet unpacking and stacking device for battery tray film application preferably includes a clamping block 331 mounted on the telescopic rod of the clamping cylinder 33. The clamping block 331 has a right-angled notch 332, which faces downwards and is positioned towards one side of the first clamping arm 32. When the right-angled notch 332 presses against the handle 201 of the battery tray 200, it not only limits the vertical movement of the battery tray 200 but also limits its horizontal movement. This makes the horizontal movement of the battery tray 200 more reliable when the clamping cylinder 33 and the first clamping arm 32 clamp the same handle 201 of the battery tray 200.

[0038] The present invention relates to a tray unpacking and stacking device for battery tray film application, wherein the vision sensor 38 is any one of a monocular camera, a binocular camera, or a tricular camera.

[0039] For those skilled in the art to which this utility model pertains, several simple deductions or substitutions can be made without departing from the concept of this utility model, and all such deductions or substitutions should be considered to fall within the protection scope of this utility model.

Claims

1. A tray unpacking and stacking device for battery tray film application, characterized in that: The system includes a stacking warehouse, a battery input line, and an empty tray output line. The input end of the battery input line and the output end of the empty tray output line extend into the stacking warehouse. The stacking warehouse is equipped with a full tray stacking position, an empty tray stacking position, and a depalletizer. The full tray stacking position, the empty tray stacking position, the input end of the battery input line, and the output end of the empty tray output line are all located on the operating path of the depalletizer. The depalletizer includes a robot and a gripping base. The robot has a robotic arm, and the gripping base is mounted on the end of the robotic arm. The upper surface of the gripping base is provided with a connecting shaft for connecting to the robotic arm. A first gripping arm and a clamping cylinder are fixedly mounted on the bottom of the gripping base. The first gripping arm has a first protruding gripping portion on its side near the clamping cylinder. The telescopic rod of the clamping cylinder is vertically oriented downwards. A first lifting cylinder is also fixedly mounted on the gripping base, and a second lifting cylinder is fixedly mounted on the piston rod of the first lifting cylinder. A horizontally arranged splitting and closing cylinder is mounted on the piston rod of the second lifting cylinder. A second clamping arm is mounted on the piston rod of the splitting and closing cylinder. The second clamping arm and the first clamping arm are located on opposite sides of the pressing cylinder. The side of the second clamping arm closest to the first clamping arm has a second protruding clamping part. A vision sensor and an auxiliary light source are also mounted on the bottom surface of the clamping base. The vision sensor, the robot, the pressing cylinder, the first lifting cylinder, the second lifting cylinder, and the splitting and closing cylinder are all electrically connected to the same control system.

2. The tray unpacking and palletizing device for battery tray film application according to claim 1, characterized in that: The battery input line and the empty disk output line are arranged in parallel.

3. The tray unpacking and palletizing device for battery tray film application according to claim 1, characterized in that: The depalletizer is located to the side of the input end of the battery input line and the output end of the empty disk output line.

4. The tray unpacking and palletizing device for battery tray film application according to claim 1, characterized in that: The full pallet stacking position and the empty pallet stacking position are located on both sides of the depalletizer. The full pallet stacking position is close to the input end of the battery input line, and the empty pallet stacking position is close to the output end of the empty pallet output line.

5. The tray unpacking and palletizing device for battery tray film application according to claim 1, characterized in that: The robotic arm can be any one of a four-axis robotic arm, a five-axis robotic arm, or a six-axis robotic arm.

6. The tray destacking and palletizing device for battery tray film application according to claim 1, characterized in that: The clamping cylinder is close to the first clamping arm; when the telescopic rod of the clamping cylinder extends, the telescopic rod of the clamping cylinder touches the upper surface of the handle of the battery tray.

7. The tray destacking and palletizing device for battery tray film application according to claim 1, characterized in that: A clamping block is installed on the telescopic rod of the clamping cylinder. The clamping block has a right-angled notch, which is downward and positioned toward one side of the first clamping arm.

8. The tray unpacking and palletizing device for battery tray film application according to claim 1, characterized in that: The visual sensor can be any one of a monocular camera, a binocular camera, or a tricular camera.

Images