CN115838081A - Device and method for stacking and unstacking - Google Patents
Device and method for stacking and unstacking Download PDFInfo
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- CN115838081A CN115838081A CN202211528192.4A CN202211528192A CN115838081A CN 115838081 A CN115838081 A CN 115838081A CN 202211528192 A CN202211528192 A CN 202211528192A CN 115838081 A CN115838081 A CN 115838081A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000000463 material Substances 0.000 claims abstract description 130
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims 1
- 238000012856 packing Methods 0.000 description 14
- 230000000694 effects Effects 0.000 description 4
- 206010016766 flatulence Diseases 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention relates to a stacking and unstacking device and method.A camera acquires finished product material bag placement information on a pallet and sends the material placement information to a computer; the method comprises the steps that a computer obtains finished product material bag placement information, a finished product material bag on the uppermost layer in a pallet is selected according to a preset unstacking sequence, the surface of the finished product material bag is analyzed based on the finished product material bag placement information to obtain the most smooth area, a space coordinate axis is established according to the position of a camera, and the first coordinate position of the area is calculated; the second coordinate position of the clamping jaw assembly is obtained, the computer calculates the moving path of the clamping jaw assembly based on the first coordinate position and the second coordinate position, the clamping jaw assembly is controlled to move based on the moving path, the suction disc is controlled to move to the upper part of the area and then to press down after the clamping jaw is controlled to be opened, and when the pressure sensed by the pressure sensor exceeds a preset force value, the suction disc is controlled to adsorb a finished material bag and control the finished material bag to be conveyed to the preset area. The automatic picking device can accurately adsorb and clamp finished product material bags, and avoids the situations of bag falling and stack collapsing.
Description
Technical Field
The invention relates to the technical field of stacking machines, in particular to a stacking and unstacking device and method.
Background
Pile up neatly/equipment of breaking a jam is a pile up neatly for packing material, the equipment of the operation of breaking a jam, its structure is clamping jaw subassembly generally, sucking disc subassembly is mutually supported, snatch packing material through clamping jaw subassembly and pile up in order on the pallet at the pile up neatly in-process, generally do not use the sucking disc subassembly to cooperate this moment, and at the in-process of breaking a jam, because packing material on the same layer is close to together, clamping jaw subassembly opens claw wall clamp and gets other packing materials of in-process meeting easily of target packing material, consequently, need sucking disc subassembly to descend earlier to adsorb target packing material and then retract, it gets to reuse clamping jaw subassembly clamp, thereby realize the operation of breaking a jam of packing material.
However, the existing stacking/unstacking equipment can only operate a single packing material and a large bag product with a flat surface, and for the packing material with a plurality of small bags in the large bag, the surfaces of the large bag are not flat enough due to the small bags, the sucker assembly cannot stably adsorb the target packing material, so that the situations of bag falling and unstacking are easily caused, and unstacking operation cannot be well performed.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems in the prior art, the invention provides a stacking and unstacking device and method, which can avoid the situations of package falling and stack collapse and realize good unstacking operation.
(II) technical scheme
In order to achieve the above object, the present invention adopts a technical solution comprising: a de-stacking apparatus comprising:
the pallet is used for placing the finished product material bag;
the camera is arranged above the pallet, scans the pallet area through a visual AI positioning technology to obtain finished product material bag placement information, and sends the finished product material bag placement information to the computer;
the clamping jaw assembly comprises a clamping jaw capable of being opened and closed and a lifting sucker, and the sucker is positioned in the middle of the clamping jaw;
the pressure sensor is arranged in the middle of the sucker, and the sensing surface of the pressure sensor is flush with the bottom surface of the sucker;
and the computer is used for receiving and processing the information sent by the camera and controlling the operation of the clamping jaw assembly based on the processing result.
The other technical scheme adopted by the invention comprises the following steps: a destacking method of a destacking device comprises the following destacking processes:
step 1, a camera acquires finished product material bag placement information on a pallet and sends the material placement information to a computer;
and 3, acquiring a second coordinate position of the clamping jaw assembly, calculating a moving path of the clamping jaw assembly by the computer based on the first coordinate position and the second coordinate position, controlling the clamping jaw assembly to move based on the moving path, controlling the clamping jaw to open and then enabling the sucker to move to the upper part of the area and then to press down, controlling the sucker to adsorb the finished product material bag after the pressure sensed by the pressure sensor exceeds a preset force value, controlling the sucker to ascend to a preset distance and then controlling the clamping jaw to clamp the finished product material bag and convey the finished product material bag to the preset area.
(III) advantageous effects
The invention has the beneficial effects that: after the finished product material bags in the pallet area are acquired through the camera, the computer can process the information and position the coordinate information of the flattest area of the surfaces of the finished product material bags to be clamped, so that the clamping jaw assembly is controlled to move to the area to accurately adsorb and clamp the finished product material bags, the situations of bag falling and collapsing are avoided, and good unstacking operation is realized. In addition, because the finished product material bag may have the condition of flatulence, if the sucking disc directly begins to adsorb the operation when pasting on finished product material bag surface, it is too thin to adsorb the face easily, it leads to adsorbing unstably not to adsorb the pouch packing inside, therefore, the height that the clamping jaw subassembly pushed down can not all be unanimous at every turn, in the clamping jaw subassembly pushes down the in-process, through the pressure sensor response in sucking disc middle part and the pressure condition of finished product material bag, if touch the finished product material bag of flatulence, need push down more height and make the pressure between sucking disc and the finished product material bag exceed the predetermined power value, accomplish the contact of pressure sensor and the pouch packing in the finished product material bag promptly, thereby make the sucking disc can successfully adsorb the finished product material bag when work, avoid falling the package condition and take place.
Drawings
FIG. 1 is a schematic view of the overall structure of the stacking and unstacking device of the present invention;
FIG. 2 is a front view of a jaw assembly portion of the de-stacking apparatus of the present invention;
FIG. 3 is a side view of a jaw assembly portion of the de-stacking apparatus of the present invention;
FIG. 4 is a schematic diagram of the destacking apparatus of the present invention applied to a specific scenario;
FIG. 5 is a flow chart of a destacking method of the present invention;
[ description of reference ]
1. A pallet; 2. a camera; 3. a clamping jaw; 4. a suction cup; 5. a telescopic cylinder; 6. installing a top plate; 7. installing a side plate; 8. installing a transverse plate; 9. a clamping jaw cylinder; 10. a spring; 11. a through hole; 12. a slide bar; 13. a first connecting plate; 14. a second connecting plate.
Detailed Description
For a better understanding of the present invention, reference will now be made in detail to the present embodiments of the invention, which are illustrated in the accompanying drawings.
Referring to fig. 1 to 4, a destacking apparatus includes:
the pallet is used for placing the finished product material bag;
the camera is arranged above the pallet, scans the pallet area through a visual AI positioning technology to obtain finished product material bag placement information, and sends the finished product material bag placement information to the computer;
the clamping jaw assembly comprises a clamping jaw capable of being opened and closed and a lifting sucker, and the sucker is positioned in the middle of the clamping jaw;
the pressure sensor is arranged in the middle of the sucker, and the sensing surface of the pressure sensor is flush with the bottom surface of the sucker;
and the computer is used for receiving and processing the information sent by the camera and controlling the operation of the clamping jaw assembly based on the processing result.
From the above description, the beneficial effects of the present invention are: after the finished product material bags in the pallet area are acquired through the camera, the computer can process the information and position the coordinate information of the flattest area of the surfaces of the finished product material bags to be clamped, so that the clamping jaw assembly is controlled to move to the area to accurately adsorb and clamp the finished product material bags, the situations of bag falling and collapsing are avoided, and good unstacking operation is realized. In addition, because the finished product material bag may have the condition of flatulence, if the sucking disc directly begins to adsorb the operation when pasting on finished product material bag surface, it is too thin to adsorb the face easily, it leads to adsorbing unstably not to adsorb the pouch packing inside, therefore, the height that the clamping jaw subassembly pushed down can not all be unanimous at every turn, in the clamping jaw subassembly pushes down the in-process, through the pressure sensor response in sucking disc middle part and the pressure condition of finished product material bag, if touch the finished product material bag of flatulence, need push down more height and make the pressure between sucking disc and the finished product material bag exceed the predetermined power value, accomplish the contact of pressure sensor and the pouch packing in the finished product material bag promptly, thereby make the sucking disc can successfully adsorb the finished product material bag when work, avoid falling the package condition and take place.
Further, the clamping jaw assembly further comprises:
the bottom of the buffer device is connected with the sucker;
and the telescopic cylinder is used for driving the buffer device to lift.
From the above description, can provide buffer function at the in-process that the sucking disc pushed down the material area through buffer, not only can play the sucking disc effect, also can play the clamp plate effect that has buffer function, avoid the excessive pressure degree to crush the product in the finished product material bag, also can guarantee simultaneously that finished product material bag can not take place the displacement.
Further, the buffer device includes:
the top of the first connecting plate is connected with an output rod of the telescopic cylinder, and four corners of the first connecting plate are provided with through holes;
the bottom of the second connecting plate is connected with the sucker;
the sliding rods respectively penetrate through the through holes to be fixedly connected with the second connecting plate, and the sliding rods can slide in the through holes;
the spring is sleeved outside the sliding rod and fixedly connected between the first connecting plate and the second connecting plate.
Further, the method also comprises the following steps:
the middle part of the bottom surface of the mounting top plate is fixedly provided with the telescopic cylinder;
the mounting side plates are respectively connected to the four corners of the bottom of the mounting top plate;
the four mounting transverse plates are divided into two sides, the mounting transverse plates are connected between a pair of mounting side plates on each side, and the clamping jaws are connected to the bottoms of the mounting transverse plates;
and the clamping jaw air cylinder is arranged on the mounting transverse plate and used for driving the clamping jaw to open and close.
From the above description, through the bottom four corners at the installation roof setting installation curb plate for telescopic cylinder can be located installation curb plate middle part and place, thereby can let the design height of clamping jaw more nimble, and the activity angle and the range that its clamp was got are more controllable.
Furthermore, a plurality of through holes are formed in the surface of the mounting side plate.
From the above description, it can be known that, by forming a plurality of through holes on the surface of the mounting side plate, the overall weight can be reduced without affecting the use function of the mounting side plate, and thus the control burden of the mechanical arm of the stacker crane can be reduced.
Referring to fig. 5, a destacking method based on the destacking device includes:
step 1, a camera acquires finished product material bag placement information on a pallet and sends the material placement information to a computer;
and 3, acquiring a second coordinate position of the clamping jaw assembly, calculating a moving path of the clamping jaw assembly by the computer based on the first coordinate position and the second coordinate position, controlling the clamping jaw assembly to move based on the moving path, controlling the clamping jaw to open and then enabling the sucker to move to the upper part of the area and then to press down, controlling the sucker to adsorb the finished product material bag after the pressure sensed by the pressure sensor exceeds a preset force value, controlling the sucker to ascend to a preset distance and then controlling the clamping jaw to clamp the finished product material bag and convey the finished product material bag to the preset area.
From the above description, the beneficial effects of the present invention are: after the finished product material bags in the pallet area are acquired through the camera, the computer can process the information and position the coordinate information of the flattest area of the surfaces of the finished product material bags to be clamped, so that the clamping jaw assembly is controlled to move to the area to accurately adsorb and clamp the finished product material bags, the situations of bag falling and collapsing are avoided, and good unstacking operation is realized.
Further, the preset stacking sequence is as follows: continuously stacking subsequent finished product material bags clockwise/anticlockwise, then stacking the finished product material bags at the central part of the pallet, continuously stacking a layer of finished product material bags upwards after stacking the finished product material bags at the current layer is finished, and stopping stacking operation until the stacking reaches a preset layer number;
the preset unstacking sequence is as follows: clamping the finished product material bags at the peripheral part anticlockwise/clockwise, then clamping the finished product material bags at the central part of the pallet, continuously downwards clamping and taking down one layer of finished product material bags, and stopping unstacking operation after clamping is finished.
From the above description, no matter when stacking and unstacking, the finished product bags at the peripheral parts are processed in the counterclockwise/clockwise sequence, so that the good stability can be kept in the operation process, and the occurrence of unstacking can be avoided.
Example one
Referring to fig. 1 to 4, a destacking apparatus includes:
the pallet 1 is used for placing finished product material bags;
the camera 2 is arranged above the pallet 1, and the camera 2 scans the pallet 1 area through a visual AI positioning technology to obtain finished product material bag placement information and sends the finished product material bag placement information to the computer;
the clamping jaw assembly comprises a clamping jaw 3 capable of opening and closing and a suction disc 4 capable of lifting, and the suction disc 4 is positioned in the middle of the clamping jaw 3;
the pressure sensor is arranged in the middle of the sucker 4, and the sensing surface of the pressure sensor is flush with the bottom surface of the sucker 4;
and the computer is used for receiving and processing the information sent by the camera 2 and controlling the operation of the clamping jaw assembly based on the processing result.
Wherein the jaw assembly further comprises:
the bottom of the buffer device is connected with the sucker 4;
and the telescopic cylinder 5 is used for driving the buffer device to lift.
Wherein, buffer includes:
the top of the first connecting plate 13 is connected with an output rod of the telescopic cylinder 5, and four corners of the first connecting plate 13 are provided with through holes 11;
a second connecting plate 14, the bottom of which is connected with the sucker 4;
the sliding rods 12 respectively penetrate through the through holes 11 to be fixedly connected with the second connecting plates 14, and the sliding rods 12 can slide in the through holes 11;
the spring 10 is sleeved outside the sliding rod 12, and the spring 10 is fixedly connected between the first connecting plate 13 and the second connecting plate 14.
Wherein, still include:
the middle part of the bottom surface of the mounting top plate 6 is fixed with the telescopic cylinder 5;
the mounting side plates 7 are respectively connected to four corners of the bottom of the mounting top plate 6;
the four mounting transverse plates 8 are divided into two sides, the mounting transverse plate 8 is connected between the pair of mounting side plates 7 on each side, and the clamping jaw 3 is connected to the bottom of the mounting transverse plate 8;
and the clamping jaw air cylinder 9 is arranged on the mounting transverse plate 8, and the clamping jaw air cylinder 9 is used for driving the clamping jaw 3 to perform opening and closing operation.
Wherein, a plurality of through holes 11 are arranged on the surface of the mounting side plate 7.
Example two
Referring to fig. 1 to 5, a destacking method of a destacking device according to an embodiment includes:
step 1, a camera acquires finished product material bag placement information on a pallet and sends the material placement information to a computer;
and 3, acquiring a second coordinate position of the clamping jaw assembly, calculating a moving path of the clamping jaw assembly by the computer based on the first coordinate position and the second coordinate position, controlling the clamping jaw assembly to move based on the moving path, controlling the clamping jaw to open and then enabling the sucker to move to the upper part of the area and then to press down, controlling the sucker to adsorb the finished product material bag after the pressure sensed by the pressure sensor exceeds a preset force value, controlling the sucker to ascend to a preset distance and then controlling the clamping jaw to clamp the finished product material bag and convey the finished product material bag to the preset area.
Wherein, the preset stacking sequence is as follows: continuously stacking subsequent finished product material bags clockwise/anticlockwise, then stacking the finished product material bags at the central part of the pallet, continuously stacking a layer of finished product material bags upwards after stacking the finished product material bags at the current layer is finished, and stopping stacking operation until the stacking reaches a preset layer number;
the preset unstacking sequence is as follows: the finished product material bags at the center part of the pallet are clamped firstly, then the subsequent finished product material bags are continuously clamped anticlockwise/clockwise, when the clamping of the finished product material bags at the layer is finished, the finished product material bags at the layer are continuously clamped downwards to be taken down, and the unstacking operation is stopped until the clamping is finished.
Referring to fig. 4, the palletizing process of the present invention is as follows:
1. the clamping jaw 3 is opened to the maximum position under the action of the clamping jaw cylinder 9;
2. after a finished product material bag (a large finished product material bag with a plurality of small bags arranged in a plurality of fingers) reaches a preset position of a conveying line and is in a static state, a clamping jaw 3 is controlled by a computer to be placed at a fixed stacking position;
3. the clamping jaw 3 is folded under the action of the clamping jaw cylinder 9 to hold the big bag material (the holding action and the clamping action are the same in the text);
4. the sucker 4 extends out through the telescopic cylinder 5 and presses on the surface of the finished product material bag (only the lower pressure is provided without vacuumizing so as to prevent the finished product material bag from sliding off in the stacking and carrying process);
5. the clamping jaw 3 transports the finished product material bag to a program preset position above the pallet 1, the telescopic cylinder 5 retracts to draw the suction disc 4 away, the clamping jaw cylinder 9 controls the clamping jaw 3 to open, and the finished product material bag falls to a target position on the pallet 1.
6. And repeating the steps until the whole stacking process is completed.
The unstacking process comprises the following steps:
1. scanning finished material bags needing unstacking by using a visual AI positioning technology of a camera 2, calculating scanned related data by using a computer program, and transmitting the calculation result to stacking, wherein the stacking machine is integral equipment, the stacking device is part of the stacking machine, and the stacking machine further comprises other components, such as a mechanical arm and the like for moving the position of the stacking device;
2. the clamping jaw component moves to the position of a finished product material bag to be unstacked according to the action of a related control program of the stacker crane;
3. the clamping jaw 3 is opened to the maximum position under the action of the clamping jaw cylinder 9;
4. the sucker 4 extends out of the telescopic cylinder 5 and presses the surface of the finished product material bag, when the pressure sensed by the pressure sensor exceeds a preset value, the sucker stops pressing down, the vacuumizing operation is carried out, and the finished product material bag is sucked away from the original position through the action of a manipulator after being sucked;
5. the clamping jaws 3 are closed to hold the finished product material bag under the action of the clamping jaw air cylinders 9 (the finished product material bag is prevented from sliding off in the process of unstacking and carrying);
6. the clamping jaw 3 conveys the finished product material bag to a program preset position of the conveying line, the suction disc 4 is controlled to cancel adsorption and ascend, the clamping jaw 3 is opened under the action of the clamping jaw air cylinder 9 to enable the finished product material bag to fall to a target position of the conveying line, and the steps 1-6 are repeatedly executed until the unstacking working process is completed.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (7)
1. A de-stacking apparatus, comprising:
the pallet is used for placing the finished product material bag;
the camera is arranged above the pallet, scans the pallet area through a visual AI positioning technology to obtain finished product material bag placement information, and sends the finished product material bag placement information to the computer;
the clamping jaw assembly comprises a clamping jaw capable of being opened and closed and a lifting sucker, and the sucker is positioned in the middle of the clamping jaw;
the pressure sensor is arranged in the middle of the sucker, and the sensing surface of the pressure sensor is flush with the bottom surface of the sucker;
and the computer is used for receiving and processing the information sent by the camera and controlling the operation of the clamping jaw assembly based on the processing result.
2. The de-stacking apparatus of claim 1, wherein the jaw assembly further comprises:
the bottom of the buffer device is connected with the sucker;
and the telescopic cylinder is used for driving the buffer device to lift.
3. The de-stacking apparatus according to claim 2, wherein the buffering means comprises:
the top of the first connecting plate is connected with an output rod of the telescopic cylinder, and four corners of the first connecting plate are provided with through holes;
the bottom of the second connecting plate is connected with the sucker;
the sliding rods respectively penetrate through the through holes to be fixedly connected with the second connecting plate, and the sliding rods can slide in the through holes;
the spring is sleeved outside the sliding rod and fixedly connected between the first connecting plate and the second connecting plate.
4. The de-stacking apparatus of claim 2, further comprising:
the middle part of the bottom surface of the mounting top plate is fixedly provided with the telescopic cylinder;
the mounting side plates are respectively connected to the four corners of the bottom of the mounting top plate;
the four mounting transverse plates are divided into two sides, the mounting transverse plates are connected between a pair of mounting side plates on each side, and the clamping jaws are connected to the bottoms of the mounting transverse plates;
and the clamping jaw air cylinder is arranged on the mounting transverse plate and used for driving the clamping jaw to open and close.
5. The de-stacking device according to claim 4, wherein the surface of the mounting side plate is provided with a plurality of through holes.
6. A destacking method based on the destacking device according to any one of claims 1 to 5, wherein the destacking process of the destacking device comprises the following steps:
step 1, a camera acquires finished product material bag placement information on a pallet and sends the material placement information to a computer;
step 2, a computer acquires the placement information of the finished product material bags, a finished product material bag at the uppermost layer in the pallet is selected according to a preset unstacking sequence, the surface of the finished product material bag is analyzed based on the placement information of the finished product material bags to obtain the most smooth area, a space coordinate axis is established according to the position of a camera, and the first coordinate position of the area is calculated;
and 3, acquiring a second coordinate position of the clamping jaw assembly, calculating a moving path of the clamping jaw assembly by the computer based on the first coordinate position and the second coordinate position, controlling the clamping jaw assembly to move based on the moving path, controlling the clamping jaw to open and then enabling the sucker to move to the upper part of the area and then to press down, controlling the sucker to adsorb the finished product material bag after the pressure sensed by the pressure sensor exceeds a preset force value, controlling the sucker to ascend to a preset distance and then controlling the clamping jaw to clamp the finished product material bag and convey the finished product material bag to the preset area.
7. A destacking method based on the destacking device of claim 6, wherein the preset stacking sequence is: continuously stacking subsequent finished product material bags clockwise/anticlockwise, then stacking the finished product material bags at the central part of the pallet, continuously stacking a layer of finished product material bags upwards after stacking the finished product material bags at the current layer is finished, and stopping stacking operation until the stacking reaches a preset layer number;
the preset unstacking sequence is as follows: clamping the finished product material bags at the peripheral part anticlockwise/clockwise, then clamping the finished product material bags at the central part of the pallet, continuously downwards clamping and taking down one layer of finished product material bags, and stopping unstacking operation after clamping is finished.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211528192.4A CN115838081A (en) | 2022-11-30 | 2022-11-30 | Device and method for stacking and unstacking |
| PCT/CN2023/128025 WO2024114237A1 (en) | 2022-11-30 | 2023-10-31 | Palletizing and depalletizing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211528192.4A CN115838081A (en) | 2022-11-30 | 2022-11-30 | Device and method for stacking and unstacking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115838081A true CN115838081A (en) | 2023-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211528192.4A Pending CN115838081A (en) | 2022-11-30 | 2022-11-30 | Device and method for stacking and unstacking |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115838081A (en) |
| WO (1) | WO2024114237A1 (en) |
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| WO2024114238A1 (en) * | 2022-11-30 | 2024-06-06 | 孙志胜 | Storage conveying device based on palletizing/depalletizing and method |
| WO2024114237A1 (en) * | 2022-11-30 | 2024-06-06 | 孙志胜 | Palletizing and depalletizing device and method |
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| US11738893B2 (en) * | 2019-04-30 | 2023-08-29 | Soft Robotics, Inc. | Picking, placing, and scanning bagged clothing and other articles |
| CN111071809A (en) * | 2019-12-30 | 2020-04-28 | 郑州弗曼智能设备科技有限公司 | Automatic unstacking equipment |
| CN111232664B (en) * | 2020-03-18 | 2021-10-26 | 上海载科智能科技有限公司 | Industrial robot applied soft package unstacking, unloading and stacking device and method for unstacking, unloading and stacking |
| KR102221767B1 (en) * | 2020-05-26 | 2021-03-02 | (주)빅타이거 | Auto lading equipment and auto boxing lading system using the same |
| CN216917714U (en) * | 2022-03-22 | 2022-07-08 | 湖南达诺智能机器人科技有限公司 | Ingot unstacking device based on visual guidance |
| CN114476702B (en) * | 2022-04-18 | 2022-06-24 | 深圳市捷牛智能装备有限公司 | Material unstacking method based on image processing |
| CN115783809A (en) * | 2022-11-30 | 2023-03-14 | 厦门艾思欧标准砂有限公司 | Cache conveying equipment and method based on code unstacking |
| CN115838081A (en) * | 2022-11-30 | 2023-03-24 | 厦门艾思欧标准砂有限公司 | Device and method for stacking and unstacking |
-
2022
- 2022-11-30 CN CN202211528192.4A patent/CN115838081A/en active Pending
-
2023
- 2023-10-31 WO PCT/CN2023/128025 patent/WO2024114237A1/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024114238A1 (en) * | 2022-11-30 | 2024-06-06 | 孙志胜 | Storage conveying device based on palletizing/depalletizing and method |
| WO2024114237A1 (en) * | 2022-11-30 | 2024-06-06 | 孙志胜 | Palletizing and depalletizing device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024114237A1 (en) | 2024-06-06 |
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