CN116253270A - Box unpacking machine and method thereof - Google Patents

Abstract

The invention provides a novel unpacking machine matched with a fixed conveying line body, the conveying line body does not need to be lifted, and a clamping mechanism for carrying out unpacking and stacking is lifted vertically, so that box body transferring and unpacking operations among different operation heights can be completed rapidly, accurately and automatically. The unpacking machine comprises a base assembly and main machine box assemblies which are respectively arranged at two sides of the conveying line body, wherein two groups of fork lifting mechanisms which vertically lift along two sides of the conveying line body to drive the fork assemblies to clamp the box body are symmetrically arranged in the main machine box assemblies; the base assembly comprises a first speed reducer and a first servo motor, two ends of the first speed reducer are respectively connected with a group of first transmission shafts in an axial transmission way through a group of first couplers, and a first synchronous belt wheel is respectively sleeved at the outer side end of each group of first transmission shafts in a shaft sleeve way; the fork lifting mechanism comprises a driven wheel assembly arranged at the top of the main machine box assembly, and a closed-loop synchronous belt surrounds between the driven wheel assembly and the first synchronous belt wheel.

Description

Box unpacking machine and method thereof

technical field

The invention is a special automatic equipment used for unstacking and stacking of box-type goods, which belongs to the field of logistics storage and intelligent control.

Background technique

With the rapid development of the domestic economy, more and more information technology and automation equipment have been widely used in the fields of industrial production and logistics transportation.

The currently used box-type cargo depalletizing equipment firstly transports the conveyor line body together with the box body vertically to the working height, and then gradually stacks or depalletizes from high to low to cooperate and connect with the logistics conveyor line to complete the stacking. Case transfer. The above-mentioned prior art mainly has the following defects in the process of vertical lifting and depalletizing: First, in the process of gradual lifting, the palletizing is continuously carried out, and the height limit of the conveying line body leads to a more obvious limitation of the palletizing height, resulting in a single stacking The number of pallets is limited, which affects the efficiency of stand-alone depalletizing operations. Second, the conveyor line includes multiple components such as conveying, lifting, and shock absorption. Control the depalletizing operation; the third is that when the conveying line is lifted, the stacked boxes are more likely to slip, and the volume of the box that is usually suitable for the above-mentioned prior art cannot be too large, otherwise it will affect the safety of on-site material transportation. For on-site operations The requirements for the safe operation of the equipment are relatively high; fourth, it is not suitable for the palletizing operation of the box conveyed by the pallet, because the pallet is not easy to locate during the lifting process of the conveying line, if other clamping components are used for positioning, the conveying will be increased accordingly The structure complexity and self-weight of the line body.

In view of this, this patent application is proposed.

Contents of the invention

The box unpacking machine and method thereof described in the present invention solve the problems in the prior art above and propose a new type of box unpacking machine matched with a fixed conveying line body. The conveying line body does not need to be lifted to implement depalletizing and stacking. The clamping mechanism lifts vertically in order to quickly, accurately and automatically complete the transfer and depalletizing of boxes between different working heights.

In order to achieve the above-mentioned design purpose, the box unpacking machine described in this application includes a base assembly and a main box assembly arranged on the base assembly and arranged on both sides of the conveying line body. In the main box assembly, two groups of along the The two sides of the conveying line are vertically lifted to drive the fork assembly to clamp the fork lifting mechanism of the box; the base assembly includes the first reducer and the first servo motor, and the two ends of the first reducer pass through a set of The first coupling axially drives and connects a group of first transmission shafts, and a first synchronous pulley is sleeved on the outer end of each group of first transmission shafts; the fork lifting mechanism includes a main box assembly The driven wheel assembly at the top, the closed-loop synchronous belt is wound between the driven wheel assembly and the first synchronous pulley; the fork assembly includes a set of lifting bases fixedly connected to the main chassis assembly, and the two ends of the lifting base are respectively worn There is a set of guide shafts; one end of the guide shaft is connected to the fork, and the other end is connected to the servo motor mounting plate. The guide shaft, the fork and the servo motor mounting plate are connected in sequence to form a rectangular fixed frame structure; For the third servo motor, one end of the ball screw pair passes through the ball screw nut fixed on the lifting base plate and is connected to the fork, and the other end of the ball screw pair is connected to the servo motor mounting plate through the ball screw bearing seat, and passes through The auxiliary end of the ball screw of the servo motor mounting plate is connected to the output end of the third servo motor through a coupling; entrainment devices for clamping the synchronous belt are fixedly installed on the sides of the lifting base plate.

Further, the guide shaft is axially penetrating and fixed to the lifting base plate through a linear bearing.

Further, the outer surface of the pallet fork has a U-shaped concave opening.

Further, a side guide assembly installed along the conveying direction is provided on one side of the main chassis assembly. The side guide assembly includes a guide edge and a set of connecting seats installed on the main chassis assembly. The guide edge is connected to the L-shaped structure by bolts. The adjustment plate and the bracket are connected to the connection seat through bolts; the adjustment plate and the bracket are respectively provided with guide grooves, and an adjustment bolt is connected between the two guide grooves.

Further, the main cabinet assembly includes a main cabinet body for accommodating the fork lifting mechanism, the bottom of which is fixedly connected to the base assembly, and a group of third linear guide rails installed vertically are arranged on both sides of the main cabinet body. The side part of the base plate is fixedly installed with a guide rail slider which is slidably engaged and connected to the third linear guide rail.

Further, an electric stopper is provided at the terminal end of the conveying line body, the electric stopper includes a connecting beam, and a second servo motor is installed on the connecting beam, the second servo motor drives and connects the baffle plate through a second reducer, and the second reducer The output end of the machine is connected to one end of a set of swing rods after passing through the connecting beam, the other end of the set of swing rods is connected to one end of a set of connecting rods through a set of joint bearings, and the other end of the set of connecting rods is passed through another set of joints The bearing is hinged to the baffle, and the baffle is slidably engaged and connected to a set of second linear guide rails installed on the connecting beam through the guide rail slider.

On the basis of the structural design of the above-mentioned box unpacking machine, the application proposes a box unpacking method including the following steps at the same time: 1), a single box or a stack of boxes is conveyed through the conveying line, and the electric stopper is raised To block and position the box;

2) The lifting mechanism of the fork drives the fork assembly to run vertically as a whole to the same height as a certain box through the synchronous belt;

3) The fork assemblies located on both sides of the conveying line are driven axially and extend two sets of forks in opposite directions to grip the box;

4) The fork lifting mechanism drives the clamped box vertically to the working height through the fork assembly for destacking or stacking; during the above destacking or stacking process, two sets of fork assemblies Extend and retract the forks in opposite directions to release the clamped box to the designated station;

According to the above steps 2) to 4), the reciprocating execution completes the depalletizing operation of all the boxes; then, the electric stopper is lowered below the conveying plane of the conveying line body, waiting for the execution of the next operation cycle.

In summary, the advantages of the box unpacking machine and method thereof described in the present application are:

1. The conveying line body no longer needs to be lifted, which not only effectively reduces the structural complexity of the conveying line body, but also increases the height limit of palletizing accordingly, significantly improving the efficiency of depalletizing operations;

2. The structure design of the whole machine is compact and miniaturized, which is beneficial to reduce the requirements of the logistics site, improve the versatility of devices such as conveying lines, and achieve the beneficial effects of reducing energy consumption and operating noise;

3. The clamping method of a single box or pallet is adopted, and the box is not easy to slip when it is lifted, and it is suitable for various types of boxes; 4. Since only a single box is clamped and vertically lifted, it is beneficial to improve on-site operation and equipment Operational safety; 5. This application is applicable to the depalletizing operation of the pallet conveyed by the pallet, which solves the safety problems that the pallet is not easy to locate and the pallet is easy to slip during the lifting process of the conveying line.

Description of drawings

Fig. 1 is the overall structure schematic diagram of box unpacking machine described in the application;

Figure 2-1 and Figure 2-2 are structural schematic diagrams of different viewing angles of the base assembly;

Figure 3-1 and Figure 3-2 are structural schematic diagrams of different viewing angles of the electric stopper;

Figure 4-1 and Figure 4-2 are structural schematic diagrams of main chassis components from different perspectives;

Fig. 5 is a structural schematic diagram of a fork assembly;

Fig. 6 is a structural schematic diagram of two sets of side guide assemblies;

In the above drawings, 1. Base assembly, 2. Drum machine, 3. Electric stopper, 4. Main chassis assembly;

11. Underframe, 12. The first synchronous pulley, 13. The first transmission shaft, 14. The first coupling, 15. The first reducer, 16. The first servo motor, 17. The first bearing with seat;

31. Baffle plate, 32. Connecting beam, 33. Second servo motor, 34. Second reducer; 35. Swing rod, 36. Connecting rod, 37. Second linear guide rail;

41. Main cabinet, 42. Timing belt, 43. Side guide assembly, 44. Fork assembly, 45. Limit plate, 46. Driven wheel assembly, 47. Third linear guide rail;

431. Guide edge, 432. Adjusting plate, 433. Bracket, 434. Connecting seat;

441. Goods fork, 442. Lifting base plate, 443. Entrainment device, 444. Guide rail slider, 445. Linear bearing, 446. Guide shaft, 447. Ball screw pair, 448. Drag chain, 449. The third servo motor, 450. Ball screw bearing seat, 451. Servo motor mounting plate, 452. Ball screw nut.

Detailed ways

The present invention will be further described below in conjunction with drawings and embodiments.

Embodiment 1, as shown in Figures 1 to 5, the unpacking machine described in the present application includes a base assembly 1, and a main chassis assembly 4 arranged on the base assembly 1 and arranged on both sides of the conveying line body. The box assembly 4 is symmetrically provided with two sets of fork lifting mechanisms that lift vertically along both sides of the conveying line to drive the fork assembly 44 to clamp the box;

The conveying line body designed in this application is fixed on the ground without lifting, and it is used to convey the boxes along the horizontal direction respectively in the depalletizing process, so various conveying devices in the prior art can be used. As in this embodiment, the conveyor line body can adopt the roller machine 2;

The whole machine of this application adopts a box structure, so that most of the components (including the fork lifting mechanism, the mechanism for controlling the telescopic movement of the fork assembly 44 , etc.) are arranged in the main box assembly 4 .

The base assembly 1 is used to install the bottom mechanism of the transmission fork assembly 44 for vertical lifting, which includes an underframe 11, on which a group of first reducers 15 and first servo motors 16 are installed, and the first reducer The two ends of the machine 15 are axially connected to a set of first drive shafts 13 through a set of first couplings 14, and a set of first bearings with seats are sleeved on the outer ends of each set of first drive shafts 13. 17 is fixed on the first synchronous pulley 12 on the chassis 11 , and a synchronous belt 42 is wound and connected to each set of first synchronous pulleys 12 .

Driven by the first servo motor 16 and the first reducer 15 , two sets of first synchronous pulleys 12 respectively drive the synchronous belts 42 distributed on both sides to run vertically to realize synchronous lifting of the fork assemblies 44 on both sides.

Further, an electric stopper 3 may be provided at the conveying terminal of the drum machine 2 to limit the end of the box, so as to realize the spacing and positioning between adjacent boxes and/or prevent the box from falling from the drum. Machine 2 slipped.

Specifically, the electric stop 3 includes a connecting beam 32 connected to the drum machine 2, on which a second servo motor 33 is installed, and the second servo motor 33 is connected to the baffle plate 31 through a second speed reducer 34. The plate 31 can be reciprocated and lifted along the vertical direction of the connecting beam 32 . When the box body is transported to the depalletizing station along the roller machine 2, the second servo motor 33 drives the baffle plate 31 to rise to block the box body, and then the fork assembly 44 forks and transfers the box body.

In order to improve the lifting efficiency of the baffle plate 31, the second reducer 34 can adopt a planetary reducer, the output end of the planetary reducer runs through the connecting beam 32 and is connected to one end of a group of swing rods 35, and the other end of the group of swing rods 35 Be connected to one end of one group of connecting rods 36 by a group of joint bearings, and the other end of this group of connecting rods 36 is hinged on the baffle plate 31 by another group of joint bearings; meanwhile, the baffle plate 31 passes through the guide rail slider (not shown in the figure) ) is slidably engaged with a set of second linear guide rails 37 mounted on the connecting beam 32 .

When the box is transported to the depalletizing station by the drum machine 2, the second servo motor 33 drives the swing rod 35 to rotate along the axial center connected to the second reducer 34, and the other end of the swing rod 35 drives the connecting rod 36 It rotates synchronously on the outer circumference track, pushes and pulls the baffle plate 31 through the connecting rod 36 and rises vertically to block the box body, and then the fork assembly 44 stretches out from both sides to fork the box body.

The main cabinet assembly 4 includes a main cabinet 41 for accommodating the fork lifting mechanism, and the main cabinet 41 is fixed on the chassis 11 by bolts at the bottom;

The fork lifting mechanism includes a driven wheel assembly 46 installed on the top of the main cabinet 41, and a closed-loop synchronous belt 42 is looped between the driven wheel assembly 46 and the first synchronous pulley 12;

A set of vertically installed third linear guide rails 47 is arranged on both sides of the main cabinet body 41, and the fork assembly 44 is slidably engaged and connected to the third linear guide rails 47 on both sides, while the fork assembly 44 is connected to the timing belt 42 to realize The pallet fork assembly 44 vertically lifts along the main cabinet body 41 of the main cabinet assembly 4 (i.e., the conveying line body);

Driven by the first servo motor 16 and the first reducer 15 of the base assembly 1, two sets of synchronous belts 42 run vertically between the driven wheel assembly 46 and the first synchronous pulley 12 synchronously, and the synchronous belts 42 drive the goods Under the guidance and support of the third linear guide rail 47, the fork assembly 44 vertically moves up and down along the conveying line to grip and transfer the box body.

The fork assembly 44 includes a group of lifting bases 442 fixedly connected to the main cabinet 41, and a set of guide shafts 446 are respectively worn on both ends of the lifting base 442; one end of the guide shafts 446 is connected to the fork 441, and the other One end is connected to the servo motor mounting plate 451, and the guide shaft 446, the fork 441 and the servo motor mounting plate 451 are sequentially connected to form a rectangular fixed frame structure;

The third servo motor 449 is installed on the servo motor mounting plate 451. One end of the ball screw pair 447 passes through the ball screw nut 452 fixed on the lifting base plate 442 and is connected to the pallet fork 441. The other end of the ball screw pair 447 The ball screw bearing seat 450 is connected through the servo motor mounting plate 451, and the end of the ball screw pair 447 passing through the servo motor mounting plate 451 is connected to the output end of the third servo motor 449 through a coupling;

Driven by the third servo motor 449, the ball screw pair 447 rotates around the ball screw nut 452 and at the same time pushes out or pulls back the pallet fork 441 in the axial direction, thereby realizing the reciprocating telescopic operation of the pallet fork 441 from both sides to grip the box body;

On the sides of the lifting base plate 442 are respectively fixedly installed an entrainment device 443 for clamping the synchronous belt 42 and two sets of symmetrically arranged guide rail sliders 444 that are slidably engaged and connected to the third linear guide rail 47;

During the lifting process of the synchronous belt 42, the above-mentioned pallet fork assembly 44 runs vertically as a whole through the entrainment device 443, and the relative sliding between the guide rail slider 444 and the third linear guide rail 47 provides the guidance of the pallet fork assembly 44 while running. with support.

Further, in order to improve the smooth performance of the telescopic operation of the fork, the guide shaft 446 is axially penetrated and fixed on the lifting base plate 442 through the linear bearing 445;

Further, the outer surface of the pallet fork 441 has a U-shaped concave opening, so that when the box is clamped, the opening coincides with the protruding edges on both sides of the box, and the mutual clamping when the two are clamped is improved. Tight force.

Further, a group of side guide assemblies 43 installed along the conveying direction are respectively arranged on both sides of the main cabinet 41. The side guide assemblies 43 are mainly used to provide guidance to the box body in the side direction and adjust the box body relative to the conveying line. the horizontal position of the body.

Specifically, the side guide assembly 43 includes a guide edge 431 and a set of connecting seats 434 installed on the main cabinet body 41 of the main chassis assembly 4, the guide edge 431 is connected to the adjustment plate 432 of the L-shaped structure by bolts, and the bracket 433 passes through The two groups of connecting seats 434 are respectively connected by bolts; the adjustment plate 432 and the bracket 433 are respectively provided with guide grooves, and an adjustment bolt 435 is connected between the two guide grooves.

When the adjusting bolt 435 is loosened, the lateral distance of the guide edge 431 relative to the bracket 433 can be adjusted through the adjustment plate 432, so as to adjust the horizontal position of the two sets of guide edges 431 relative to the conveying line body, and then provide a conveying guide for the box body. At the same time, adjust its relying position on the conveying line body to facilitate the fork to accurately clamp the box body and perform depalletizing operations.

Based on the design improvement of the structure of the above-mentioned unstacking box machine, the application proposes a control method for unstacking box comprising the following steps at the same time:

1) A single box or a stack of boxes is conveyed by the roller machine 2, and the electric stopper 3 is raised to block and position the box;

2), the fork lifting mechanism drives the fork assembly 44 to run vertically as a whole through the synchronous belt 42 to a certain box (it can be a single box located on the drum machine 2, or it can be the top of a stacked box). the one) is high;

3) The fork assemblies 44 located on both sides of the drum machine 2 are driven in the axial direction and extend two sets of forks 441 oppositely to clamp the box body;

4), the fork lifting mechanism drives the clamped box body vertically to the working height through the fork assembly 44, so as to implement destacking or stacking;

During the above-mentioned unstacking or stacking process, the two groups of fork assemblies 44 extend and retract the forks 441 in opposite directions in the axial direction, so as to release the clamped box to the designated station;

According to the above steps 2) to 4), the reciprocating execution completes the depalletizing operation of all boxes; then, the electric stopper 3 descends below the conveying plane of the roller machine 2 to wait for the execution of the next operation cycle.

As mentioned above, similar technical solutions can be derived in combination with the solutions presented in the drawings and descriptions. However, as far as the content of the scheme that does not deviate from the structure of the present invention, the modification, equivalent change and modification of the shape, size, connection method and installation structure of any part made in the above description according to the technical essence of the present invention, as well as the minor changes in the position and structure of each component All adjustments still belong to the right scope of the technical solution of the present invention.

Claims (7)

1. A box unpacking machine, characterized in that: it comprises a base assembly and is arranged on the base assembly and is arranged on the main box assembly on both sides of the conveying line body, and two groups of boxes along the conveying line are arranged symmetrically in the main box assembly. Both sides of the body are vertically lifted to drive the fork assembly to clamp the fork lifting mechanism of the box; The base assembly includes a first reducer and a first servo motor. Both ends of the first reducer are axially connected to a set of first transmission shafts through a set of first couplings, and each set of first transmission The outer ends of the shaft are respectively sleeved with first synchronous pulleys; The fork lifting mechanism includes a driven wheel assembly installed on the top of the main chassis assembly, and a closed-loop synchronous belt is looped between the driven wheel assembly and the first synchronous pulley; The fork assembly includes a set of lifting base plates fixedly connected to the main chassis assembly, and a set of guide shafts are sheathed on both ends of the lift base plate; one end of the guide shaft is connected to the fork, and the other end is connected to the servo motor mounting plate, and the guide shaft is connected to the fork. The shaft, fork and servo motor mounting plate are connected in sequence to form a rectangular fixed frame structure; a third servo motor is installed on the servo motor mounting plate, and one end of the ball screw pair passes through the ball screw nut fixed on the lifting base plate and is connected to the cargo. On the fork, the other end of the ball screw pair is connected to the servo motor mounting plate through the ball screw bearing seat, and the end of the ball screw pair passing through the servo motor mounting plate is connected to the output end of the third servo motor through a coupling ; An entrainment device for clamping the synchronous belt is fixedly installed on the sides of the lifting base plate. 2 . The box unpacking machine according to claim 1 , wherein the guide shaft penetrates and is fixed to the lifting base plate in the axial direction through a linear bearing. 3 . 3. The box unpacking machine according to claim 1, characterized in that: the outer surface of the fork has a U-shaped concave opening. 4. The box unpacking machine according to claim 1, characterized in that: one side of the main box assembly is provided with a side guide assembly installed along the conveying direction, and the side guide assembly includes a guide edge and a side guide assembly installed on the main box assembly. A set of connection seats, the guide edge is connected to the L-shaped adjustment plate through bolts, and the support is connected to the connection seat through bolts; the adjustment plate and the support are respectively provided with guide grooves, and an adjustment bolt is connected between the two guide grooves. 5. The box unpacking machine according to claim 1, characterized in that: the main box assembly includes a main cabinet for accommodating the fork lifting mechanism, the bottom of which is fixedly connected to the base assembly, on both sides of the main cabinet A set of third linear guide rails installed vertically is provided, and a guide rail slide block slidably engaged and connected to the third linear guide rails is fixedly installed on the side of the lifting base plate. 6. The box unpacking machine according to claim 1, characterized in that: an electric stopper is provided at the terminal of the conveying line body, the electric stopper includes a connecting crossbeam, and a second servo motor is installed on the connecting crossbeam. The servo motor is connected to the baffle through the second reducer. The output end of the second reducer passes through the connecting beam and then connects to one end of a set of swing rods. The other end of the set of swing rods is connected to a set of connecting rods through a set of joint bearings. The other end of the set of connecting rods is hinged to the baffle plate through another set of joint bearings, and the baffle plate is slidably engaged and connected to a set of second linear guide rails installed on the connecting beam through the guide rail slider. 7. The method for unpacking a box using a box unpacking machine according to any one of claims 1 to 6, characterized in that: the following steps are included, 1) A single box or a stack of boxes is conveyed through the conveying line, and the electric stopper is raised to block and position the box; 2) The lifting mechanism of the fork drives the fork assembly to run vertically as a whole to the same height as a certain box through the synchronous belt; 3) The fork assemblies located on both sides of the conveying line are driven axially and extend two sets of forks in opposite directions to grip the box; 4) The fork lifting mechanism drives the clamped box vertically to the working height through the fork assembly for destacking or stacking; during the above destacking or stacking process, two sets of fork assemblies Extend and retract the forks in opposite directions to release the clamped box to the designated station; According to the above steps 2) to 4), the reciprocating execution completes the depalletizing operation of all the boxes; then, the electric stopper is lowered below the conveying plane of the conveying line body, waiting for the execution of the next operation cycle.

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