CN103863830A - Automatic unstacking system - Google Patents
Automatic unstacking system Download PDFInfo
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- CN103863830A CN103863830A CN201210529452.XA CN201210529452A CN103863830A CN 103863830 A CN103863830 A CN 103863830A CN 201210529452 A CN201210529452 A CN 201210529452A CN 103863830 A CN103863830 A CN 103863830A
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- pallet
- conveyer
- unstacking
- stacking
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Abstract
The invention relates to an automatic unstacking system. The automatic unstacking system solves that problem an existing unstacking system cannot achieve automatic unstacking and rely on manual unstacking. According to the technical scheme, the automatic unstacking system comprises a robot, a pallet conveying system and a bagged material conveying system. The pallet conveying system comprises a fully-stacked pallet conveyer, a pallet lifting conveyer and a hollow pallet conveyer; the robot is an unstacking robot with the wrist portion provided with vacuum suckers, an unstacking area and a conveying area are arranged around the unstacking robot, the pallet lifting conveyer is located in the unstacking area, and the bagged material conveying system is located in the conveying area. The automatic unstacking system can fully replace manual unstacking, is time-saving, laborsaving, fully mechanized, simple in operation, high in reliability and small in floor occupation.
Description
Technical field
The present invention relates to a kind of bagged material storage and transportation equipment, specifically a kind of de-stacking system automatically.
Background technology
In finished product packing storage system, generally adopt at present Full automatic stacking system both at home and abroad, bagged material directly can be stacked to pallet, then store up to packed storehouse by fork truck.When but bagged material outbound need to being transported outward, conventionally, still by manually taking out bagged material from pallet, then carrying out entrucking or shipment.Artificial de-stacking labour intensity is large, and is unfavorable for management.Therefore need configuration a kind of Fully-mechanized, the equipment of automation solves the contradiction of producing with transportation.
Summary of the invention
The object of the invention is in order to solve upper technical matters, provide a kind of time saving and energy saving, Fully-mechanized operation, easy and simple to handle, reliability is high, take up an area little automatic de-stacking system.
Technical scheme comprises robot, also comprises tray conveying system and bagged material delivery system, and described tray conveying system comprises the full buttress conveyor pallet, lifting tray conveyer and the empty pallet conveyer that connect successively; The artificial wrist portion of described machine is divided the unstacking robot that vacuum cup is housed, and unstacking robot perimembranous is provided with de-stacking district and delivery area, and described lifting tray conveyer is positioned at de-stacking district, and described bagged material delivery system is positioned at delivery area.
Described bagged material delivery system is slope conveyer.
Also include control system, described control system comprises the PLC control system being connected with robot control module, and described PLC control system is also connected with the actuating device of guidance panel and tray conveying system and bagged material delivery system respectively.
Also comprise the detecting element being connected with PLC control system, described detecting element comprises that being arranged on lifting tray conveyer pallet around carries deceleration detector switch, pallet conveying to stop detector switch and lifting position detector switch, be arranged on full buttress conveyor pallet full buttress tray position detector switch around, be arranged on empty pallet conveyer empty pallet transfer position detector switch around.
The present invention has utilized existing full-automatic machine people, becomes unstacking robot by selecting that on its arm vacuum cup is installed, and realizes the pocket of de-stacking process and draws and bleed operation; Divide de-stacking district and carry trivial in unstacking robot perimembranous, to in de-stacking district, establish tray conveying system, in delivery area, establish bagged material delivery system, utilize tray conveying system that the buttress heap pallet of carrying bagged material is delivered in de-stacking district, utilize unstacking robot carry out de-stacking and bagged material transferred in the bagged material delivery system of delivery area.Further, consider that pallet Parma heap is made up of multilayer bagged material, there is certain thickness, after de-stacking, buttress heap thickness can decline gradually from level to level, therefore in tray conveying system, should design a lifting tray conveyer, have pallet lifting and conveying function concurrently, can be in the time of de-stacking operation, the lifting pallet along with the decline of buttress heap thickness, to guarantee that the bagged material of the superiors is positioned at the de-stacking height of unstacking robot operation all the time, after de-stacking completes, lifting tray conveyer declines and empty pallet is sent to the empty pallet conveyer of next section.Described bagged material delivery system is preferably slope conveyer.
Described control system is used for controlling de-stacking robot and tray conveying system and bagged material delivery system, utilizes advanced positions and the jacking condition of multiple detector switches detection pallets,
Use the present invention can replace artificial de-stacking completely, realize Fully-mechanized de-stacking operation, greatly improved operating efficiency and unfailing performance, time saving and energy saving, simple to operate, floor area is little.
Accompanying drawing explanation
Fig. 1 is birds-eye view of the present invention.
Fig. 2 is the main cutaway view (the A-A cutaway view of Fig. 1) of looking of the present invention.
Fig. 3 is control principle drawing of the present invention.
Wherein, 1-unstacking robot, 1.1-vacuum cup, 2-completely pile up neatly conveyor pallet, 3-lifting tray conveyer, 4-empty pallet conveyer, 5-slope conveyer, 6-pallet and carry deceleration detector switch, 7-pallet to carry to stop detector switch, 8-pallet lifting position detector switch, 9-completely to pile up neatly tray position detector switch, 10-empty pallet transfer position detector switch, A-de-stacking district, B-delivery area.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further explained to explanation:
With reference to Fig. 1 and Fig. 2, the present invention includes robot, tray conveying system, bagged material delivery system, control system and detecting element, described tray conveying system comprises the full buttress conveyor pallet 2, lifting tray conveyer 3 and the empty pallet conveyer 4 that connect successively, described bagged material delivery system is slope conveyer 5, the artificial wrist portion of described machine is divided the unstacking robot 1 that vacuum cup 1.1 is housed, unstacking robot 1 perimembranous is provided with de-stacking district A and delivery area B, described lifting tray conveyer 3 is positioned at de-stacking district A, and described slope conveyer 5 is positioned at delivery area B.Referring to Fig. 3, described control system comprises the PLC control system being connected with robot control module, and described PLC control system is also connected with the actuating device of guidance panel and tray conveying system and bagged material delivery system respectively.Referring to Fig. 1, described detecting element comprises that being arranged on lifting tray conveyer 3 pallet around carries deceleration detector switch 6, pallet conveying to stop detector switch 7 and lifting position detector switch 8, be arranged on full buttress conveyor pallet 2 full buttress tray position detector switch 9 around, be arranged on empty pallet conveyer 4 empty pallet transfer position detector switch 10 around.Described pallet is carried and is stopped the rear that detector switch 7 is positioned at pallet and carries deceleration detector switch 6, pallet carries deceleration detector switch 6 whether to be transferred to the decelerate position of setting for detection of pallet, if detect, pallet signals to PLC control system control lifting tray conveyer 3 and reduces the delivery speed of pallet in decelerate position, and pallet is carried, to stop detector switch 7 be to detect pallet whether to be transferred to the stop position of setting, in the time detecting that pallet after deceleration is forwarded to the stop position of setting, signaling to PLC control system control lifting tray conveyer 3 stops carrying, described pallet lifting position detector switch 8 can be provided with multiple, and during for detection of de-stacking, on pallet, whether the superiors' bagged material reaches the operating altitude that unstacking robot 1 can de-stacking, so that the adjustable height of PLC control system control lifting tray conveyer 3.Describedly completely pile up neatly tray position detector switch 9 and be arranged near the side near lifting tray conveyers 3 full buttress conveyor pallet 2, for confirming whether the pallet of full buttress arrives near of lifting tray conveyer 3; And empty pallet transfer position detector switch 10 is arranged near the side near lifting tray conveyer 3 of empty tray conveyor 4, for confirming whether the blank panel after de-stacking enters empty tray conveyor 4 by lifting tray conveyer 3.
The structure of described unstacking robot 1 and control system thereof (comprising control module) are prior art, technical personnel is choose reasonable as required, can realize the suction bag of bag-shaped material, transhipment and bleed operation, as the robot of IRB660 model that adopts 4 axle multifreedom motion system ABB AB to produce, completing arm level by the Union Movement of 4 axles seesaws, vertical displacement movement, rotatablely moving of body gyroscopic movement and wrist, and keep the perpendicular attitude of vacuum cup, when its wrist is assigned vacuum cup 1.1, also can correspondingly be furnished with as required vacuum solenoid, vacuum detection switch, approach switch, jointly realizing the pocket of de-stacking process draws, transhipment and bleed operation.
Described pallet carries deceleration detector switch 6, pallet conveying to stop detector switch 7, and pallet elevator position detecting switch 8, completely piles up neatly tray position detector switch 9, and empty pallet transfer position detector switch 10 all adopts photoelectric switch.Signal conversion can be carried out or not carry out to the output of described on-off signal according to specific needs.Describedly completely pile up neatly conveyor pallet 2 and empty pallet conveyer 4 for can be the existing roller path with transfer function, described lifting tray conveyer 3 is the existing lifting roller path with lifting (having hydraulically powered jacking system) and conveying function, the control setup of above-mentioned conveyer is also prior art, is not described further.
Principle of work:
Completely piling up neatly pallet sends into by completely piling up neatly conveyor pallet 2, in the time approaching de-stacking district A, completely being piled up neatly tray position detector switch 9 detects and signal is sent into PLC control system, work full buttress pallet is sent on the lifting tray conveyer 3 of de-stacking district A by PLC control system control lifting tray conveyer 3, in the time that full buttress pallet is carried deceleration detector switch 6 to detect by pallet, signal sends to PLC control system, PLC control system is sent signal control lifting tray conveyer 3 and is slowed down, line speed before full buttress pallet is reduced, in the time arriving predetermined stop position, being stopped detector switch 7 by pallet conveying detects, PLC control system is sent signal control lifting tray conveyer 3 and is stopped, completely piling up neatly pallet stops in the desired location of de-stacking district A, after unstacking robot 1 is ready to, thereby controlling lifting tray conveyer 3 rises until completely pile up neatly on pallet the bagged material of the superiors and rise to and draw height and detected by lifting position detector switch 8, sending signal stops rising to PLC control system control lifting tray conveyer 3, control unstacking robot 1 utilizes vacuum cup 1.1 successively the bagged material on full buttress pallet to be unloaded to slope conveyer 5 simultaneously, when the bagged material of the superiors is not detected by lifting position detector switch 8 while not reaching absorption height, PLC control system control lifting tray conveyer 3 continues to rise, and rise step by step along with retracting of buttress layer, the carrying out of auxiliary unstacking robot 1 de-stacking action until the bagged material in pallet all unsnatch, then control lifting tray conveyer 3 and drop to initial position (being the position, position of empty pallet conveyer 4), empty pallet is flowed to empty pallet conveyer 2 by belt operation, in the time that empty pallet transfer position detector switch 10 detects empty pallet, PLC control system control empty pallet conveyer 4 is out of service, wait for fork truck or manually empty pallet sent.3 waits of lifting tray conveyer are restarted operation by completely piling up neatly after conveyor pallet 2 ships full buttress pallet next time, carry out next working cycle.Unstacking robot 1 to the control that completes the counting of removing every layer of bagged material in the de-stacking process of bleed simultaneously, is accurately drawn pocket with opsition dependent order in suction bag, removes smoothly whole buttress, and is placed on slope conveyer 5 by consistent orientation.
Claims (4)
1. an automatic de-stacking system, comprises robot, it is characterized in that, also comprises tray conveying system and bagged material delivery system, and described tray conveying system comprises the full buttress conveyor pallet, lifting tray conveyer and the empty pallet conveyer that connect successively; The artificial wrist portion of described machine is divided the unstacking robot that vacuum cup is housed, and unstacking robot perimembranous is provided with de-stacking district and delivery area, and described lifting tray conveyer is positioned at de-stacking district, and described bagged material delivery system is positioned at delivery area.
2. automatic de-stacking system as claimed in claim 1, is characterized in that, described bagged material delivery system is slope conveyer.
3. automatic de-stacking system as claimed in claim 1 or 2, it is characterized in that, also include control system, described control system comprises the PLC control system being connected with robot control module, and described PLC control system is also connected with the actuating device of guidance panel and tray conveying system and bagged material delivery system respectively.
4. automatic de-stacking system as claimed in claim 3, it is characterized in that, also comprise the detecting element being connected with PLC control system, described detecting element comprises that being arranged on lifting tray conveyer pallet around carries deceleration detector switch, pallet conveying to stop detector switch and lifting position detector switch, be arranged on full buttress conveyor pallet full buttress tray position detector switch around, be arranged on empty pallet conveyer empty pallet transfer position detector switch around.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210529452.XA CN103863830A (en) | 2012-12-10 | 2012-12-10 | Automatic unstacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210529452.XA CN103863830A (en) | 2012-12-10 | 2012-12-10 | Automatic unstacking system |
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| CN103863830A true CN103863830A (en) | 2014-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210529452.XA Pending CN103863830A (en) | 2012-12-10 | 2012-12-10 | Automatic unstacking system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151815A (en) * | 2015-08-28 | 2015-12-16 | 广西力源宝科技有限公司 | Tray-free robot stacking system |
| CN105800323A (en) * | 2016-06-02 | 2016-07-27 | 江苏汇博机器人技术股份有限公司 | Robot stacking system for high-speed logistics sorting |
| CN106742298A (en) * | 2016-12-01 | 2017-05-31 | 佛山市湘德智能科技有限公司 | A kind of multi-function robot tears the dismounting technique of paper stack open |
| CN108656436A (en) * | 2018-04-23 | 2018-10-16 | 徐辉 | A kind of injection molding machine automatic feeding system |
| CN109319512A (en) * | 2018-11-05 | 2019-02-12 | 太原福莱瑞达物流设备科技有限公司 | A kind of automatic de-stacking system |
| CN109693903A (en) * | 2019-02-25 | 2019-04-30 | 广州达意隆包装机械股份有限公司 | A kind of cargo handling system |
| CN110775650A (en) * | 2019-10-15 | 2020-02-11 | 绵阳蓝奥重型机械制造有限公司 | Automatic unstacking system for bagged material bags |
| CN111217155A (en) * | 2020-03-06 | 2020-06-02 | 苏州青林自动化设备有限公司 | Single-arm unstacking system |
| CN114705101A (en) * | 2022-04-14 | 2022-07-05 | 宁夏共享机床辅机有限公司 | Detection method and detection system for part precision on stacker |
| CN116276058A (en) * | 2023-05-06 | 2023-06-23 | 四川弥韧科技有限公司 | Automatic production system of gas meter section |
-
2012
- 2012-12-10 CN CN201210529452.XA patent/CN103863830A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151815A (en) * | 2015-08-28 | 2015-12-16 | 广西力源宝科技有限公司 | Tray-free robot stacking system |
| CN105800323A (en) * | 2016-06-02 | 2016-07-27 | 江苏汇博机器人技术股份有限公司 | Robot stacking system for high-speed logistics sorting |
| CN106742298A (en) * | 2016-12-01 | 2017-05-31 | 佛山市湘德智能科技有限公司 | A kind of multi-function robot tears the dismounting technique of paper stack open |
| CN108656436A (en) * | 2018-04-23 | 2018-10-16 | 徐辉 | A kind of injection molding machine automatic feeding system |
| CN109319512A (en) * | 2018-11-05 | 2019-02-12 | 太原福莱瑞达物流设备科技有限公司 | A kind of automatic de-stacking system |
| CN109693903A (en) * | 2019-02-25 | 2019-04-30 | 广州达意隆包装机械股份有限公司 | A kind of cargo handling system |
| CN110775650A (en) * | 2019-10-15 | 2020-02-11 | 绵阳蓝奥重型机械制造有限公司 | Automatic unstacking system for bagged material bags |
| CN111217155A (en) * | 2020-03-06 | 2020-06-02 | 苏州青林自动化设备有限公司 | Single-arm unstacking system |
| CN114705101A (en) * | 2022-04-14 | 2022-07-05 | 宁夏共享机床辅机有限公司 | Detection method and detection system for part precision on stacker |
| CN116276058A (en) * | 2023-05-06 | 2023-06-23 | 四川弥韧科技有限公司 | Automatic production system of gas meter section |
| CN116276058B (en) * | 2023-05-06 | 2023-08-29 | 四川弥韧科技有限公司 | Automatic production system of gas meter section |
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| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140618 |