Depalletizer

Abstract

The present invention comprises a frame, a movable frame installed to be movable in the front-rear direction on the frame, an up-and-down drive unit installed on the movable frame, a front-and-rear drive unit that moves the movable frame in the front-and-rear direction, a gripping unit having a gripping body located at the bottom of the movable frame that moves in the up-and-down direction by the operation of the up-and-down drive unit and grips a container, and a container sensing unit installed on the gripping unit that senses a container gripped by the gripping unit; The above-mentioned container sensing unit includes a sensor driving unit installed in a gripping unit, an installation unit coupled to the sensor driving unit and moving up and down by the driving of the sensor driving unit, and one or more container sensors installed along the length direction of the installation unit; The above-described container sensing unit is characterized by sensing a container by adjusting the vertical movement of the installation unit to a height set by the operation of the sensor driving unit.

Description

Technology Field

[0001] The present invention relates to a depalletizer, and more specifically, to a depalletizer with improved safety. Background Technology

[0002] A depalletizer is a device used to unload containers loaded on pallets and transfer them to a conveyor. Recently, automated depalletizing operations are being introduced using devices equipped with grippers capable of picking containers loaded on pallets.

[0003] Containers are stacked in multiple layers on a pallet, with multiple containers forming a single layer. The depalletizer picks the containers sequentially starting from the top layer and transports them to the conveyor. In the multi-layered stack, the upper container is inserted into the lower container. Consequently, when the depalletizer picks and lifts the containers from the top layer, some of the containers from the lower layer are also lifted along with them. This can cause the containers to detach and fall during transport, or cause obstructions when the depalletizer places them on the conveyor due to the lower layer containers that are transported together. Prior art literature

[0004] Republic of Korea Publication No. 10-2019-0057689 Published Patent Application The problem to be solved

[0005] The present invention is proposed to solve the problems of the conventional technology described above, and aims to provide a depalletizer with improved stability. means of solving the problem

[0006] For the above purpose, the present invention comprises a frame; a movable frame installed to be movable in the front-rear direction on the frame; an up-and-down drive unit installed on the movable frame; a front-and-rear drive unit that moves the movable frame in the front-and-rear direction; a gripping unit having a gripping body located at the bottom of the movable frame that moves in the up-and-down direction by the operation of the up-and-down drive unit and grips a container; and a container sensing unit installed on the gripping unit and sensing a container gripped by the gripping unit;

[0007] The above-mentioned container sensing unit includes a sensor driving unit installed in a gripping unit, an installation unit coupled to the sensor driving unit and moving up and down by the driving of the sensor driving unit, and one or more container sensors installed along the length direction of the installation unit;

[0008] The above container sensing unit provides a depalletizer characterized by sensing a container by adjusting the vertical movement of the installation unit to a height set by the operation of the sensor driving unit.

[0009] In the above, the movable frame comprises a frame body installed so that both sides are extended in the width direction and can move in the front-rear direction along a frame guide, and frame extensions extending downward from both sides in the width direction of the frame body;

[0010] The above gripping unit comprises a gripping frame having both sides in the width direction configured to move up and down on a frame extension, a plurality of pairs of gripping bodies formed in pairs facing each other at the bottom of the gripping frame, and a plurality of gripping operating units configured on the gripping frame to move the gripping bodies inward and outward directions;

[0011] The above-mentioned gripping frame is provided with a plurality of sliders capable of sliding inward and outward, and the above-mentioned gripping operating part is provided on the gripping frame to move the sliders inward and outward;

[0012] The above slider is characterized by having a slider shaft extending downward at the bottom, and the gripping body is rotatably installed on the slider shaft, and the gripping body is characterized by having a plurality of gripping members having gripping protrusions that are spaced apart along the length direction and protrude inwardly in opposite directions.

[0013] In the above, the gripping body is provided with a rod-shaped locking rod extending vertically to be positioned on both sides of the slider shaft, and the slider shaft is characterized by having an axle locking part that protrudes on both sides and engages with the locking rod as the gripping body rotates.

[0014] In the above, the gripping frame is provided with extension members extending downward on both sides in the front-rear direction, the sensor driving unit is a cylinder installed in the vertical direction on the extension members, and the installation unit is coupled to the cylinder rod of the sensor operating unit and is provided extending in the width direction on both sides in the front-rear direction;

[0015] The above-described container sensor is a light receiving sensor installed spaced apart along its length direction in one installation part, and the above-described container sensing part further includes a plurality of light emitting parts installed spaced apart along its length direction in the other installation part to face the container sensor.

[0016] In the above, a plate-shaped pressure member is provided at the center of the gripping frame; the pressure member is located at the lower part of the gripping frame and has a pressure member shaft that extends upward at the upper part, and the pressure member shaft is slidably inserted into the gripping frame and is provided with its upper end hooked onto the gripping frame.

[0017] In the above, the upper part of the gripping frame is characterized by having a plurality of pressure member sensors vertically equipped to sense the rising pressure member axis.

[0018] In the above, each gripping body is equipped with a catch detection part, and

[0019] The above-described catch detection unit is characterized by comprising: a catch bracket rotatably installed on the gripping body by a hinge and located on the outer side of the gripping body, having an inclined portion that extends inwardly toward the lower part of the gripping body; a catch rod coupled to the lower part of the catch bracket and extending in the longitudinal direction of the gripping body to be located toward the lower part of the gripping body; a catch spring provided between the catch bracket and the gripping body; and a catch sensor installed on the gripping body to sense the catch bracket. Effects of the invention

[0020] In the depalletizer according to the present invention, the gripping part descends by the operation of the upper and lower drive part, and a plurality of containers forming one layer of the pallet are gripped by the gripping part. Since the gripping body of the gripping part is rotatably installed on the slider shaft, it is easy to insert the gripping projection into the hole formed in the container, and the gripping body can be in close contact with the container. The angle of rotation of the gripping body is limited, so that excessive rotation is prevented.

[0021] In addition, a container sensing unit is provided so that the sensor not only senses the gripped container but also positions the sensor below the gripped container for sensing, thereby detecting at an early stage when the lower container of the gripped container gets stuck and rises together, thus preventing damage to the container or fruit or malfunction of the device caused by falling.

[0022] In addition, by providing a pressure member, it is possible to grip multiple containers without tilting or with tilting suppressed.

[0023] In addition, a jamming detection unit is provided so that when the gripping unit descends due to the operation of the vertical drive unit, if there is an obstacle such as a person or another structure around the stacked containers, the operation of the vertical drive unit is stopped, thereby preventing personal injury, damage to structures, or damage to the gripping unit that may occur while the gripping unit descends. Brief explanation of the drawing

[0024] FIG. 1 is a perspective view illustrating the depalletizer of the present invention, and FIG. 2 is an enlarged view of section "A" of FIG. 1, and FIG. 3 is illustrated with some components omitted from FIG. 1, and FIG. 4 is an enlarged view of section "A" of FIG. 3, and FIG. 5 is an enlarged view of section "A" of FIG. 4, and FIG. 6 is illustrated in the direction "B" of FIG. 4, and FIG. 7 is a perspective view illustrating the state in which the container has been moved to the rear by graphing, and FIG. 8 is an enlarged view of section "A" of FIG. 7, and FIG. 9 is a side view of FIG. 7, and Figure 10 is an enlarged view of section "A" of Figure 9. Specific details for implementing the invention

[0025] All technical and scientific terms used in the description of the present invention, unless otherwise defined, have the meaning generally understood by those skilled in the art to which the present disclosure pertains. All terms used in the present disclosure are selected for the purpose of further clarifying the present disclosure and are not selected to limit the scope of the rights under the present disclosure.

[0026] Expressions such as "comprising," "having," "having," etc. used in the description of the present invention should be understood as open-ended terms implying the possibility of including other embodiments, unless otherwise stated in the phrase or sentence containing such expressions.

[0027] Singular expressions used in the description of the present invention may include the meaning of the plural form unless otherwise stated, and this applies likewise to singular expressions described in the claims.

[0028] Where in the description of the present invention it is mentioned that a component is "connected" or "combined" to another component, it should be understood that the component can be directly connected or combined to the other component, or can be connected or combined through a new or different component.

[0029] The depalletizer of the present invention will be described in detail below with reference to the attached drawings.

[0030] FIG. 1 is a perspective view illustrating the depalletizer of the present invention, FIG. 2 is an enlarged view of part "A" of FIG. 1, FIG. 3 is a view with some components omitted from FIG. 1, FIG. 4 is an enlarged view of part "A" of FIG. 3, FIG. 5 is an enlarged view of part "A" of FIG. 4, FIG. 6 is a view from the direction "B" of FIG. 4, FIG. 7 is a perspective view illustrating a state in which a container is graphed and moved to the rear, FIG. 8 is an enlarged view of part "A" of FIG. 7, FIG. 9 is a side view of FIG. 7, and FIG. 10 is an enlarged view of part "A" of FIG. 9.

[0032] For convenience of explanation, in Figure 1, the X direction is described as the width direction, the Y direction as the front-back direction, and the Z direction as the up-down direction, and in the front-back direction, the left is described as the front and the right as the rear.

[0034] As illustrated in FIG. 1, a pallet in which a plurality of containers (C) are stacked in layers is transferred to a lower "B" zone of a depalletizer (100) according to the present invention, and the depalletizer (100) is a device that moves a plurality of containers (C) located in the "B" zone to a conveyor (CO).

[0035] A depalletizer (100) according to the present invention comprises a frame (110), a moving frame (120), a front-rear driving unit (140), an up-down driving unit (130), a gripping unit (150), a container sensing unit (160), and a jamming detection unit (170).

[0036] The above frame (110) is formed in a hexagonal shape by combining a plurality of beams. The above frame (110) is formed to penetrate in the front-rear direction. On the upper part of the above frame (110), frame guides (111) are provided on both sides in the width direction. As shown in FIG. 2, the frame guides (111) are provided on the inner side in the width direction of the beams located on both sides in the width direction on the upper part of the frame (110). The frame guides (111) are provided extending in the front-rear direction on the above frame (110). In the frame guides (111), the moving frame roller (124) of the moving frame (120) moves in the front-rear direction.

[0037] The above-mentioned movable frame (120) is installed on the upper part of the frame (110) and is configured to be movable in the forward and backward directions on the frame (110). The above-mentioned movable frame (120) comprises a frame body (121) and a frame extension part (123).

[0038] The above-mentioned frame body (121) extends in the width direction. The above-mentioned frame body (121) is equipped with movable frame rollers (124) on both sides in the width direction. Multiple movable frame rollers (124) are provided in the front-rear direction on both sides in the width direction. The above-mentioned frame body (121) is installed on the frame (110) such that both sides in the width direction can move in the front-rear direction along the frame guide (111) of the frame (110) by having the movable frame rollers (124) on both sides in the width direction.

[0039] The frame extension part (123) is provided by extending downward from both sides in the width direction of the frame body (121). The frame extension part (123) is provided in a plate shape so as to face each other on both sides in the width direction of the frame body (121). The frame extension part (123) is provided with a guide projection (1231) that is inwardly protruding inwardly and extending downward on the inner side in the width direction. The guide projection (1231) guides the gripping roller (1518) of the gripping part (150), which will be described later, to move in the up and down direction.

[0040] A partition extending vertically is provided on the inner side in the width direction of the frame extension part (123) at the center in the front-rear direction, and the guide projection (1231) is provided spaced apart from the center in the front-rear direction of the frame extension part (123) to one side in the front-rear direction. In the drawings of the present invention, the guide projection (1231) is shown positioned spaced forward from the partition, but it may also be positioned spaced backward from the partition.

[0041] At the rear side of the frame extension (123) in the width direction, a counterweight (134) of the vertical drive unit (130) is provided to slide vertically along the space between the frame extension (123) and the partition wall.

[0042] The above-mentioned frame extension (123) is further equipped with an upper sensor (101) and a lower sensor (102) spaced apart in the vertical direction.

[0043] The upper sensor (101) is provided at the bottom of the frame body (121), and the lower sensor (102) is provided spaced downward from the upper sensor (101). For example, the lower sensor (102) may be located at the center of the upper and lower directions of the frame extension (123).

[0044] The upper sensor (101) and lower sensor (102) can be magnetic sensors. The upper sensor (101) and lower sensor (102) transmit the sensed signal to the control unit, and the control unit is connected to the upper / lower drive motor (133) of the upper / lower drive unit (130) to control the operation of the upper / lower drive motor (133).

[0045] When the gripping part (150) rises and is detected by the upper sensor (101), the operation of the up-down drive motor (133) is stopped to prevent the gripping part (150) from rising further, and when the gripping part (150) descends and is detected by the lower sensor (102), the operation of the up-down drive motor (133) is stopped to prevent the gripping part (150) from descending further.

[0046] The above-mentioned front-rear drive unit (140) is installed on the movable frame (120) and moves the movable frame (120) in the front-rear direction. The above-mentioned front-rear drive unit (140) comprises a front-rear drive motor (141), a rack (143), and a pinion (145).

[0047] The above front-rear drive motor (141) is installed on the frame body (121). The above front-rear drive motor (141) is provided at the bottom of the frame body (121).

[0048] The rack (143) is located at the bottom of the frame body (121). The rack (143) is provided extending in the front-rear direction on the frame (110). The rack (143) is provided extending in the front-rear direction at the center of the width direction of the frame (110). A beam extending in the front-rear direction at the center of the width direction is provided on the upper part of the frame (110), and the rack (143) may be provided extending in the front-rear direction on the beam provided at the center of the width direction of the frame (110).

[0049] The pinion (145) meshes with the rack (143) and is coupled to the front-rear drive motor (141) to rotate. The pinion (145) is coupled to the front-rear drive motor (141), so that the rotation of the front-rear drive motor (141) is transmitted to the pinion (145).

[0050] In the above front and rear drive unit (140), when the pinion (145) that meshes with the rack (143) rotates by the above front and rear drive motor (141), the movable frame (120) moves in the front and rear direction.

[0051] As shown in FIG. 2, the vertical drive unit (130) is installed on the moving frame (120). The gripping unit (150) moves up and down by driving the vertical drive unit (130). The vertical drive unit (130) comprises a drive shaft (131), a vertical drive motor (133), a drive wheel (135), a chain (137), an encoder wheel (139), and an encoder (132).

[0052] The above drive shaft (131) is provided to extend in the width direction. The above drive shaft (131) is provided in the form of a rod. The above drive shaft (131) is rotatably installed on the frame body (121).

[0053] The above-described vertical drive motor (133) is installed on the frame body (121). The above-described vertical drive motor (133) is provided on one side of the drive shaft (131). The above-described vertical drive motor (133) rotates the drive shaft (131). In FIG. 2, a bevel gear (not shown) that meshes at a 90° angle with the output shaft of the above-described vertical drive motor (133) and the drive shaft (131) is assembled so that the rotation of the above-described vertical drive motor (133) is transmitted to the drive shaft (131).

[0054] The drive wheel (135) is installed on the drive shaft (131). The drive wheel (135) is installed on both sides in the width direction of the drive shaft (131). The drive wheel (135) is provided with a sprocket.

[0055] The chain (137) wraps around the drive wheel (135) and extends downward, with one end connected to the gripping part (150) and the other end connected to a counterweight (134) located on the frame extension part (123). One end of the chain (137) is connected to a chain coupling part (1513) provided on the gripping frame (151) of the gripping part (150). The chain coupling part (1513) is provided between the gripping rollers (1518) on both sides in the width direction of the gripping frame (151). The chain coupling part (1513) is located on the inner side in the width direction of the guide projection (1231) of the frame extension part (123).

[0056] The above counterweight (134) is located on the frame extension (123). The counterweight (134) is provided at the rear side in the width direction of the frame extension (123). The counterweight (134) is provided between the rear side of the bulkhead of the frame extension (123) and the frame extension (123). The counterweight (134) is provided to slide vertically on the frame extension (123). The counterweight (134) is provided to slide vertically between the frame extension (123) and the bulkhead.

[0057] One end of the chain (137) is connected to the chain coupling part (1513), extends upward to wrap around the drive wheel (135), and extends downward again so that the other end is connected to the counterweight (134). The counterweight (134) and the gripping frame (151) of the gripping part (150) are connected by the chain (137) and move up and down according to the operation of the up-down drive motor (133). Accordingly, the counterweight (134) descends when the gripping frame (151) of the gripping part (150) rises, and rises when the gripping frame (151) descends.

[0058] The encoder wheel (139) is provided on the drive shaft (131). The encoder wheel (139) is provided on one side in the width direction of the drive shaft (131) and rotates together with the drive shaft (131).

[0059] The encoder (132) is provided on the frame body (121). The encoder (132) is provided on the frame body (121) and senses the encoder wheel (139). An example of the encoder (132) is a magnetic encoder. The encoder (132) can determine the number of rotations of the encoder wheel (139) by counting the grooves of the encoder wheel (139).

[0060] The encoder (132) counts the grooves of the encoder wheel (139) provided on the drive shaft (131) to precisely determine the number of rotations, transmits this to a control unit (not shown), and controls the driving of the up-and-down drive motor (133) through the control unit. The encoder (132) detects the rotational speed of the drive shaft (131) and the degree of descent of the chain (137) to control the driving of the up-and-down drive motor (133).

[0061] The gripping unit (150) is located at the bottom of the moving frame (120) and moves up and down by the operation of the up and down drive unit (130) to grip the container (C). The gripping unit (150) comprises a gripping frame (151), a gripping operating unit (153), a gripping body (155), and a pressure member (157).

[0062] The gripping frame (151) is provided in a cross shape. The gripping frame (151) extends in the width direction and extends in the front-rear direction from the center of the width direction to be provided in a cross shape.

[0063] The gripping frame (151) is provided with both sides in the width direction so as to be movable in the vertical direction on the frame extension (123). The gripping frame (151) is provided with a plurality of pairs of gripping rollers (1518) on both sides in the width direction that move along both sides of the guide projection (1231). The gripping rollers (1518) are provided in pairs spaced apart vertically. The gripping frame (151) is provided with gripping rollers (1518) on both sides in the width direction so as to be movable in the vertical direction on the frame extension (123).

[0064] The gripping frame (151) is provided with a plurality of sliders (1512) capable of sliding inward and outward in the width direction and the front-rear direction. The sliders (1512) are provided on both sides in the width direction and both sides in the front-rear direction of the gripping frame (151). The sliders (1512) are provided by being coupled to the cylinder rod of a gripping operating part (153), which is a cylinder.

[0065] The gripping frame (151) is provided with frame guides (1511) that extend in the length direction on both sides in the width direction and on both sides in the front-rear direction. The frame guides (1511) are provided on both sides of the slider (1512). A concave guide groove (15111) extending along the length direction is formed on the surface facing the slider (1512) of the frame guides (1511), and both sides of the slider (1512) are slidably inserted into the guide groove (15111) of the frame guides (1511).

[0066] The above gripping operating part (153) is provided on the gripping frame (151). The above gripping operating part (153) is provided in multiple numbers. The above gripping operating part (153) is provided on both sides in the width direction and both sides in the front-rear direction on the gripping frame (151). Four of the above gripping operating parts (153) are provided.

[0067] The gripping operating part (153) is a cylinder. The cylinder rod of the gripping operating part (153) is provided facing the end of the gripping frame (151). The gripping operating part (153) is provided on the gripping frame (151) and the cylinder rod is connected to the slider (1512). The gripping operating part (153) operates the cylinder and moves the slider (1512) inward and outward.

[0068] The slider (1512) is provided with a slider shaft (154) that extends downward at the bottom. The slider shaft (154) is provided by extending downward at the bottom of the slider (1512). The slider shaft (154) is provided in the form of a rod with a circular cross-section that extends downward from the slider (1512). A gripping body (155) is provided by being coupled to the bottom of the slider shaft (154).

[0069] The above gripping operating part (153) is provided on the gripping frame (151) and moves the gripping body (155), which is connected to the slider (1512) by a slider shaft (154), in an inward and outward direction.

[0070] The above gripping body (155) is provided at the bottom of the above gripping frame (151). The above gripping body (155) grips the container (C) by operating the above gripping operating part (153).

[0071] The above gripping body (155) is provided in multiple pairs at the bottom of the gripping frame (151). The gripping body (155) is provided in pairs facing each other at the bottom of the gripping frame (151). The gripping body (155) is provided in pairs facing each other on both sides in the width direction and in pairs facing each other on both sides in the front-rear direction. Four gripping bodies (155) are provided.

[0072] The gripping body (155) is provided at the lower part of the slider shaft (154). The gripping body (155) is provided in the form of a rod and has plate-shaped flanges facing each other vertically on the upper and lower sides. The gripping body (155) is provided so that the slider shaft (154) is inserted therein and can rotate relative to the slider shaft (154) in the direction of arrow "A" in FIG. 6. A hole is formed vertically through the upper and lower flanges provided on the gripping body (155), the slider shaft (154) is rotatably inserted into the flange hole, and a nut is fastened to the slider shaft (154) protruding from the lower side.

[0073] As shown in the enlarged view of FIG. 8, the gripping body (155) is provided with a rod-shaped locking rod (1551) that extends vertically and is positioned on both sides of the slider shaft (154). The upper and lower ends of the locking rod (1551) are installed by being coupled to a flange provided on the outer side of the gripping body (155). The slider shaft (154) is provided with an axle locking part (1541) that protrudes in both directions and engages with the locking rod (1551) as the gripping body (155) rotates. The locking rod (1551) is provided to be positioned on the outer side of the axle locking part (1541) of the slider shaft (154) that protrudes in both directions.

[0074] By providing the above-mentioned locking rod (1551) and shaft locking part (1541), the angle at which the gripping body (155) rotates in the direction of arrow "A" in FIG. 6 is limited, thereby preventing excessive rotation.

[0075] The above-mentioned gripping body (155) is provided with a plurality of gripping members (156) spaced apart along its length direction. The gripping members (156) are provided with a gripping projection (1561) that is spaced apart along its length direction from the gripping body (155) and protrudes inwardly in a facing direction.

[0076] As shown in the enlarged view illustrated in FIG. 6, the gripping member (156) is a hollow body that is outwardly open in a direction facing the gripping body (155), and the gripping projection (1561) is a rod-shaped projection having an inwardly facing jaw surface, inserted so as to protrude inwardly from the inside of the gripping member (156) in a direction facing the gripping body (155), and is provided so that the jaw surface catches on the bottom of the hollow body. A spring is inserted into the gripping member (156) on the outside of the gripping projection (1561), and a cap is provided on the outside of the spring, so that the gripping projection (1561) is inwardly pressed in the direction facing the gripping body (155) by the elastic force of the spring.

[0077] When looking at the operation of the above gripping unit (150), the gripping unit (150) is lowered by the operation of the above-descending drive unit (130), the gripping body (155) is positioned outside the uppermost containers (C) of the pallet from four directions, the gripping body (155) moves inward toward the container (C) by the operation of the gripping operation unit (153), the gripping projection (1561) of the gripping member (156) provided on the gripping body (155) is inserted into the hole formed in the container (C), and the gripping body (155) presses inwardly against the plurality of containers (C), so that the plurality of containers (C) forming a layer are gripped by the gripping unit (150).

[0078] Since the above gripping body (155) is rotatably installed on the slider shaft (154), the gripping projection (1561) can be easily inserted into the hole formed in the container (C), and the gripping body (155) can be in close contact with the container (C).

[0079] The pressure member (157) is provided at the center of the gripping frame (151). The pressure member (157) is provided in a plate shape. The pressure member (157) is located at the bottom of the gripping frame (151) and has a pressure member axis (1571) that extends upward at the top. The pressure member (157) may be made of a circular plate with the pressure member axis (1571) protruding upward at the center, or a polygonal plate such as a square plate or a hexagonal plate. The pressure member (157) is made of a metal such as steel.

[0080] The above-mentioned pressure member (157) is provided such that the pressure member shaft (1571) is slidably inserted into the gripping frame (151) and the upper end is caught on the gripping frame (151).

[0081] As illustrated in FIG. 5, a pressure member sensor (103) for sensing a rising pressure member axis (1571) is provided on the upper part of the gripping frame (151). The pressure member sensor (103) can be a magnet sensor.

[0082] A pressure guide member (158), which is a hollow body with a guide hole formed therein into which the pressure member shaft (1571) is slidably inserted, is installed at the upper central part of the above gripping frame (151).

[0083] The above-mentioned pressure member (157) is located at the lower part of the gripping frame (151), and the pressure member shaft (1571) is inserted into the guide hole of the pressure guide part (158), and a nut or the like is fastened to the upper end and is secured to the pressure guide part (158).

[0084] A main body bracket (1514) is further provided around a pressure guide (158) on the upper part of the gripping frame (151), and a pressure member sensor (103) protruding above the pressure guide (158) is installed on the main body bracket (1514). An elongated hole extending in the vertical direction is formed in the main body bracket (1514), and the pressure member sensor (103) is installed in the elongated hole. By installing the pressure member sensor (103) in the elongated hole, the position of the pressure member sensor (103) can be adjusted according to the height of the container (C).

[0085] The depalletizer (100) according to the present invention is equipped with the pressure member (157), and the driving of the up-and-down driving unit (130) is controlled by sensing the rising height of the pressure member shaft (1571) with the pressure member sensor (103), so that the gripping operation can be performed precisely.

[0086] Multiple containers are stacked in layers on a pallet on which containers (C) are stacked. When the pallet on which containers (C) are stacked is located in area "B" of FIG. 1, the moving frame (120) is moved forward by the operation of the front-rear drive unit (140) so that the gripping unit (150) is positioned on the upper part of the pallet, and the gripping unit (150) is lowered by the operation of the up-down drive unit (130).

[0087] A central pressure member (157) is placed on the center of a plurality of containers (C) forming the uppermost layer, and the containers (C) are pressed downward by the weight of the pressure member (157). As the gripping part (150) descends, the pressure member (157) placed on the container (C) rises, and the pressure member shaft (1571) protrudes above the gripping frame (151). The protruding pressure member shaft (1571) is sensed by the pressure member sensor (103) and transmitted to the control unit. Based on the sensed information, the operation of the up-down drive unit (130) is stopped, and the gripping operating unit (153) is operated so that the gap between the facing gripping body (155) narrows, and the gripping projection (1561) of the gripping member (156) provided on the gripping body (155) is inserted into the hole formed in the container (C), thereby gripping the container (C).

[0088] The above gripping member (150) grips the four edges of a plurality of containers (C) forming a layer from the outside, and since the container (C) has a structure where the upper part is wide and the lower part is narrow, the narrow lower part may tilt inward as shown by the arrow "A" in FIG. 10, but since the pressing member (157) presses downward by its own weight from the upper center, it is possible to grip the plurality of containers (C) without tilting or with tilting suppressed.

[0089] In addition, the pressure member sensor (103) senses the protruding pressure member shaft (1571) to prevent the gripping frame (151) from descending excessively by the up-and-down drive unit (130).

[0090] The container sensing unit (160) is installed in the gripping unit (150) and senses the container (C) gripped by the gripping unit (150). The container sensing unit (160) comprises a sensor driving unit (161), an installation unit (163), a container sensor (165), and a light-emitting unit (166).

[0091] The sensor driving unit (161) is installed on the gripping unit (150). The gripping frame (151) is provided with extension members (1515) that extend downward on both sides in the front-rear direction, and the sensor driving unit (161) is installed on the extension members (1515) in the up-and-down direction. The sensor driving unit (161) is a cylinder. The sensor driving unit (161) is installed so that the cylinder rod is lowered.

[0092] The above-mentioned installation part (163) is coupled to the sensor driving part (161) and moves up and down by the driving of the sensor driving part (161). The above-mentioned installation part (163) is coupled to the cylinder rod of the sensor operating part (161) and is provided to extend in the width direction from both sides in the front and rear directions.

[0093] One or more of the above-mentioned container sensors (165) are installed along the length direction of the above-mentioned installation part (163). Multiple container sensors (165) are provided. The above-mentioned container sensors (165) are installed spaced apart along the length direction of the above-mentioned installation part (163) on one side in the front-rear direction. The above-mentioned container sensors (165) are light receiving sensors and are installed facing the other side installation part (163) in the front-rear direction.

[0094] One or more light-emitting units (166) are installed along the length direction of the installation unit (163). Multiple light-emitting units (166) are provided. The light-emitting units (166) are installed in the other side of the installation unit (163) in the front-rear direction, spaced apart along the length direction, so as to face the container sensor (165). Light emitted from each light-emitting unit (166) is sensed by the container sensor (165), which is the light-receiving sensor facing it.

[0095] The above container sensing unit (160) senses the container (C) by adjusting the vertical movement of the installation unit (163) to a height set by the operation of the sensor driving unit (161).

[0096] The gripping unit (150) is lowered by the operation of the upper / lower drive unit (130), and the gripping main body (155) grips a plurality of containers (C) forming a single layer by the operation of the gripping operation unit (153), the gripping unit (150) is raised by the operation of the upper / lower drive unit (130), and the gripping unit (150) is also moved backward together with the moving frame (120) by the operation of the front / rear drive unit (140).

[0097] As shown in FIG. 10, since the container (C) has a shape that is wide at the top and narrow at the bottom, there is a case where the gripped container (C) from the containers (C) stacked vertically on the pallet gets stuck on the top of the lower container (shown as a dotted line in FIG. 10) and rises together, and there was a problem of separation and falling during the rise or while moving on the conveyor (CO).

[0098] The depalletizer (100) according to the present invention can detect the container sensor (165) and the light-emitting unit (166) by operating the sensor driving unit (161) to sense the gripped container (C), and also senses it by positioning it below the gripped container (C), thereby detecting at an early stage that the lower container of the gripped container (C) is caught and rises together, thus preventing damage to the container or fruit or failure of the device due to falling.

[0099] Referring to FIG. 10, when the container sensor (165) and the light-emitting part (166) are positioned below the gripped container (C) by the operation of the upper / lower drive unit (130) as shown by the dotted line, if the light from the light-emitting part (166) is not sensed by the container sensor (165), the control unit determines that the lower container is stuck in the gripped container (C), and the upper / lower drive motor (133) or the front / rear drive motor (141) stops operating, and a warning sound is generated by a warning device not shown, thereby preventing an accident in advance.

[0100] The above-mentioned catch detection unit (170) is provided in each gripping body (155). The above-mentioned catch detection unit (170) comprises a catch bracket (171), a catch rod (177), a catch spring (175), and a catch sensor (179).

[0101] The above-mentioned locking bracket (171) is rotatably installed on the above-mentioned gripping body (155) by a hinge (173). The above-mentioned locking bracket (171) is located on the outside of the above-mentioned gripping body (155) and has an inclined portion at its lower end that extends inwardly toward the lower part of the gripping body (155). The inclined portion of the above-mentioned locking bracket (171) is provided at the lower part of the hinge (173). Multiple above-mentioned locking brackets (171) may be provided along the longitudinal direction of the above-mentioned gripping body (155).

[0102] The above-mentioned locking rod (177) is provided in the form of a rod. The above-mentioned locking rod (177) is coupled to the lower part of the locking bracket (171) and extends in the longitudinal direction of the gripping body (155) to be located at the lower part of the gripping body (155). The above-mentioned locking rod (177) is spaced downward from the gripping body (155) and is provided parallel to the gripping body (155).

[0103] The above locking spring (175) is provided between the locking bracket (171) and the gripping body (155). The above locking spring (175) is provided between the locking bracket (171) and the gripping body (155) at a position spaced upward from the hinge (173). The above locking spring (175) acts to pull the upper part of the locking bracket (171) toward the gripping body (155).

[0104] The above-mentioned locking sensor (179) is installed on the gripping body (155) to sense the locking bracket (171). The above-mentioned locking sensor (179) is a proximity sensor. The above-mentioned locking sensor (179) is installed on the gripping body (155) at a position spaced upward from the hinge (173). The end of the above-mentioned locking sensor (179) faces the locking bracket (171).

[0105] By providing the above-mentioned catch detection unit (170), when the gripping unit (150) is lowered by the operation of the above-mentioned vertical drive unit (130), if there is an obstacle structure such as a person or another structure around the stacked container (C), the catch bracket (171) first comes into contact with the catch rod (177) and rotates around the hinge (173) as the rotation center, and the catch bracket (171) moves away from the catch sensor (179) from the top, so that the obstacle structure is sensed and the sensed signal is transmitted to the control unit, and the operation of the above-mentioned drive unit (130) is stopped. When the above-mentioned gripping unit (150) rises again, the catch bracket (171) rotates to its original position by the catch spring (175).

[0106] Therefore, personal injury, damage to the structure, and damage to the gripping body (155) that may occur while the gripping body (155) is descending are prevented. Explanation of the symbols

[0108] 100: Depalletizer 110: Frame 120: Move Frame 130: Vertical drive unit 140: Front and rear drive unit 150: Gripping Unit 160: Container Sensing Unit 170: Jam detection unit

Claims

Claim 1 The apparatus comprises a frame (110), a movable frame (120) installed to be movable in the forward and backward directions on the frame (110), an up-and-down drive unit (130) installed on the movable frame (120), a forward and backward drive unit (140) for moving the movable frame (120) in the forward and backward directions, a gripping unit (150) having a gripping body (155) located at the bottom of the movable frame (120) and moving in the up-and-down direction by the operation of the up-and-down drive unit (130) to grip a container, and a container sensing unit (160) installed on the gripping unit (150) to sense a container gripped by the gripping unit (150); wherein the container sensing unit (160) comprises a sensor drive unit (161) installed on the gripping unit (150), and a sensor drive unit (161) coupled to the sensor drive unit (161) and moving up and down by the drive of the sensor drive unit (161). It includes an installation part (163) and one or more container sensors (165) installed along the length direction of the installation part (163); the container sensing part (160) senses the container (C) by adjusting the vertical movement of the installation part (163) to a height set by the operation of the sensor driving part (161); the moving frame (120) is provided with a frame body (121) that is extended in the width direction and installed so that both sides can move in the front-rear direction along the frame guide part (111), and a frame extension part (123) that extends downward from both sides in the width direction of the frame body (121); The above gripping unit (150) comprises a gripping frame (151) having both sides in the width direction movable in the up and down direction on the frame extension (123), a plurality of pairs of gripping bodies (155) formed in pairs facing each other at the bottom of the gripping frame (151), and a plurality of gripping operating units (153) provided on the gripping frame (151) to move the gripping bodies (155) in the inward and outward directions; the gripping frame (151) is provided with a plurality of sliders (1512) capable of sliding inward and outward, and the gripping operating unit (153) is provided on the gripping frame (151) to move the sliders (1512) inward and outward;A depalletizer (100) characterized in that the slider (1512) has a slider shaft (154) that extends downward at the bottom, the gripping body (155) is rotatably installed on the slider shaft (154), and the gripping body (155) has a plurality of gripping members (156) that are spaced apart along the length direction and protrude inwardly in opposite directions. Claim 2 delete Claim 3 A depalletizer (100) characterized in that, in claim 1, the gripping body (155) is provided with a rod-shaped locking rod (1551) that extends vertically and is positioned on both sides of the slider shaft (154), and the slider shaft (154) is provided with an axle locking part (1541) that protrudes on both sides and engages with the locking rod (1551) as the gripping body (155) rotates. Claim 4 In claim 1, the gripping frame (151) is provided with an extension member (1515) that extends downward on both sides in the front-rear direction, the sensor driving unit (161) is a cylinder installed in the vertical direction on the extension member (1515), and the installation unit (163) is coupled to the cylinder rod of the sensor operating unit (161) and is provided extending in the width direction on both sides in the front-rear direction; the container sensor (165) is a light receiving sensor installed spaced apart along the length direction on one side installation unit (163), and the container sensing unit (160) further includes a plurality of light emitting units (166) installed spaced apart along the length direction on the other side installation unit (163) to face the container sensor (165). Claim 5 A depalletizer (100) according to claim 1, wherein a plate-shaped pressure member (157) is provided at the center of the gripping frame (151); the pressure member (157) is provided with a pressure member shaft (1571) located at the bottom of the gripping frame (151) and extending upward at the top, and the pressure member shaft (1571) is slidably inserted into the gripping frame (151) and is provided with its upper end hooked onto the gripping frame (151). Claim 6 In claim 5, the depalletizer (100) is characterized by having a plurality of pressure member sensors (103) vertically arranged on the upper part of the gripping frame (151) to sense a rising pressure member axis (1571). Claim 7 In claim 1, each gripping body (155) is provided with a lock detection part (170), and the lock detection part (170) is rotatably installed on the gripping body (155) by a hinge (173) and is located on the outside of the gripping body (155), and includes a lock bracket (171) having an inclined portion that extends inwardly toward the bottom of the gripping body (155), a lock rod (177) coupled to the bottom of the lock bracket (171) and extending in the longitudinal direction of the gripping body (155) and located toward the bottom of the gripping body (155), a lock spring (175) provided between the lock bracket (171) and the gripping body (155), and a lock sensor (179) installed on the gripping body (155) to sense the lock bracket (171). Depalletizer (100).

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