WO2024114237A1 - Dispositif et procédé de palettisation et de dépalettisation - Google Patents

Dispositif et procédé de palettisation et de dépalettisation Download PDF

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Publication number
WO2024114237A1
WO2024114237A1 PCT/CN2023/128025 CN2023128025W WO2024114237A1 WO 2024114237 A1 WO2024114237 A1 WO 2024114237A1 CN 2023128025 W CN2023128025 W CN 2023128025W WO 2024114237 A1 WO2024114237 A1 WO 2024114237A1
Authority
WO
WIPO (PCT)
Prior art keywords
finished material
clamping jaw
depalletizing
suction cup
material bags
Prior art date
Application number
PCT/CN2023/128025
Other languages
English (en)
Chinese (zh)
Inventor
孙志胜
马海军
王行钦
顾磊
杨中茂
Original Assignee
孙志胜
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 孙志胜 filed Critical 孙志胜
Publication of WO2024114237A1 publication Critical patent/WO2024114237A1/fr

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Classifications

    • 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
    • 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
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to the technical field of palletizers, and in particular to a palletizing and depalletizing device and method.
  • Palletizing/despalletizing equipment is a type of equipment used for palletizing and depalletizing packaging materials. Its structure is generally that the clamping claw assembly and the suction cup assembly cooperate with each other. During the palletizing process, the packaging materials are grabbed by the clamping claw assembly and stacked in order on the pallet. At this time, the suction cup assembly is generally not used for cooperation. During the depalletizing process, since the packaging materials on the same layer are adjacent to each other, the clamping claw assembly is prone to touch other packaging materials in the process of opening the claw wall to clamp the target packaging materials. Therefore, the suction cup assembly is required to first descend to absorb the target packaging materials and then retract, and then the clamping claw assembly is used to clamp, thereby realizing the depalletizing operation of the packaging materials.
  • the present invention provides a stacking and depalletizing device and method, which can avoid bag switching and stack collapse and achieve good depalletizing operation.
  • a technical solution adopted by the present invention includes: a stacking and depalletizing device, comprising:
  • a camera is arranged above the pallet, and the camera scans the pallet area through visual AI positioning technology to obtain the placement information of the finished material bags, and sends the placement information of the finished material bags to the computer;
  • a clamping jaw assembly comprising an openable and closable clamping jaw and a liftable suction cup, wherein the suction cup is located in the middle of the clamping jaw;
  • a pressure sensor is arranged in the middle of the suction cup, and the sensing surface of the pressure sensor is flush with the bottom surface of the suction cup;
  • 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.
  • Another technical solution adopted by the present invention includes: a stacking and depalletizing method, and the depalletizing process of the stacking and depalletizing device includes:
  • Step 1 The camera obtains the placement information of the finished material bags on the pallet and sends the material placement information to the computer;
  • Step 2 The computer obtains the placement information of the finished material bags, selects a finished material bag on the top layer of the pallet according to a preset destacking order, analyzes the surface of the finished material bags based on the placement information of the finished material bags to obtain the flattest area, establishes a spatial coordinate axis with the camera position, and calculates the first coordinate position of the area;
  • Step 3 obtaining the second coordinate position of the clamping jaw assembly, the computer calculating the moving path of the clamping jaw assembly based on the first coordinate position and the second coordinate position, controlling the movement of the clamping jaw assembly based on the moving path, controlling the clamping jaw to open so that the suction cup moves to above the area and then presses down, and when the pressure sensed by the pressure sensor exceeds a preset force value, controlling the suction cup to adsorb the finished material bag, controlling the suction cup to rise to a preset distance, and then controlling the clamping jaw to clamp the finished material bag and transport it to a preset area.
  • the beneficial effect of the present invention is that after the placement information of the finished material bags in the pallet area is obtained by the camera, the computer can process the information and locate the coordinate information of the flattest area on the surface of the finished material bag to be clamped, so as to control the clamping claw assembly to move to the area to accurately adsorb and clamp the finished material bag, avoid bag switching and stack collapse, and achieve good stacking operation.
  • the finished material bag may be bloated, if the suction cup is directly started to adsorb when it is attached to the surface of the finished material bag, it is easy to adsorb the surface too thin and not adsorb the small bag packaging inside, resulting in unstable adsorption. Therefore, the height of the clamping claw assembly pressing down cannot be consistent every time.
  • the pressure of the finished material bag is sensed by the pressure sensor in the middle of the suction cup. If a bloated finished material bag is encountered, it is necessary to press down more height to make the pressure between the suction cup and the finished material bag exceed the preset force value, that is, to complete the contact between the pressure sensor and the small bag packaging in the finished material bag, so that the suction cup can successfully adsorb the finished material bag when working, avoiding bag switching.
  • FIG1 is a schematic diagram of the overall structure of a stacking and depalletizing device according to the present invention.
  • FIG2 is a front view of a portion of a clamping jaw assembly of a palletizing and depalletizing device according to the present invention
  • FIG. 3 is a side view of a portion of a clamping jaw assembly of the stacking and depalletizing device of the present invention
  • FIG4 is a schematic diagram of the stacking and depalletizing device of the present invention applied to a specific scenario
  • FIG5 is a flow chart of the stacking and depalletizing method of the present invention.
  • a stacking and depalletizing device includes:
  • a camera is arranged above the pallet, and the camera scans the pallet area through visual AI positioning technology to obtain the placement information of the finished material bags, and sends the placement information of the finished material bags to the computer;
  • a clamping jaw assembly comprising an openable and closable clamping jaw and a liftable suction cup, wherein the suction cup is located in the middle of the clamping jaw;
  • a pressure sensor is arranged in the middle of the suction cup, and the sensing surface of the pressure sensor is flush with the bottom surface of the suction cup;
  • 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 beneficial effect of the present invention is that after the finished material bag placement information of the pallet area is obtained by the camera, the computer can process the information and locate the coordinate information of the flattest area on the surface of the finished material bag to be clamped, so as to control the clamping claw assembly to move to the area to accurately adsorb and clamp the finished material bag, avoid the occurrence of bag switching and stack collapse, and achieve good stacking operation.
  • the finished material bag may be bloated, if the suction cup is directly started to adsorb when it is attached to the surface of the finished material bag, it is easy to adsorb the surface too thin and not adsorb the small bag packaging inside, resulting in unstable adsorption.
  • the height of the clamping claw assembly pressing down cannot be consistent every time.
  • the pressure of the finished material bag is sensed by the pressure sensor in the middle of the suction cup. If a bloated finished material bag is encountered, it is necessary to press down more height to make the pressure between the suction cup and the finished material bag exceed the preset force value, that is, to complete the contact between the pressure sensor and the small bag packaging in the finished material bag, so that the suction cup can successfully adsorb the finished material bag when working, avoiding the occurrence of bag switching.
  • clamping jaw assembly also includes:
  • a buffer device the bottom of which is connected to the suction cup
  • the telescopic cylinder is used to drive the buffer device to rise and fall.
  • the buffer device can provide a buffering function in the process of the suction cup pressing down the material belt. It can not only act as a suction cup, but also act as a pressure plate with a buffering function to prevent excessive downward pressure from damaging the product in the finished material bag, while also ensuring that the finished material bag will not be displaced.
  • the buffer device comprises:
  • a first connecting plate the top of which is connected to the output rod of the telescopic cylinder, and the four corners of the first connecting plate are provided with perforations;
  • a second connecting plate the bottom of which is connected to the suction cup
  • the spring is sleeved on the outside of the sliding rod, and the spring is fixedly connected between the first connecting plate and the second connecting plate.
  • the telescopic cylinder is fixed to the middle of the bottom surface of the top plate;
  • a mounting horizontal plate dividing the four mounting horizontal plates into two sides, wherein the mounting horizontal plate is connected between a pair of mounting side plates on each side, and the clamping claw is connected to the bottom of the mounting horizontal plate;
  • the clamping jaw cylinder is installed on the installation horizontal plate, and the clamping jaw cylinder is used to drive the clamping jaw to perform opening and closing operations.
  • the telescopic cylinder can be placed in the middle of the mounting side panels, so that the design height of the clamping claw can be more flexible and the clamping angle and amplitude can be more controllable.
  • a plurality of through holes are provided on the surface of the mounting side plate.
  • the depalletizing process of the stacking and depalletizing device includes:
  • Step 1 The camera obtains the placement information of the finished material bags on the pallet and sends the material placement information to the computer;
  • Step 2 The computer obtains the placement information of the finished material bags, selects a finished material bag on the top layer of the pallet according to a preset destacking order, analyzes the surface of the finished material bags based on the placement information of the finished material bags to obtain the flattest area, establishes a spatial coordinate axis with the camera position, and calculates the first coordinate position of the area;
  • Step 3 obtaining the second coordinate position of the clamping jaw assembly, the computer calculating the moving path of the clamping jaw assembly based on the first coordinate position and the second coordinate position, controlling the movement of the clamping jaw assembly based on the moving path, controlling the clamping jaw to open so that the suction cup moves to above the area and then presses down, and when the pressure sensed by the pressure sensor exceeds a preset force value, controlling the suction cup to adsorb the finished material bag, controlling the suction cup to rise to a preset distance, and then controlling the clamping jaw to clamp the finished material bag and transport it to a preset area.
  • the beneficial effect of the present invention is that after the placement information of the finished material bags in the pallet area is acquired by the camera, the computer can process the information and locate the coordinate information of the flattest area on the surface of the finished material bags to be clamped, thereby controlling the clamping jaw assembly to move to the area to perform precise adsorption and clamping operations on the finished material bags, thereby avoiding bag substitution and stack collapse, and achieving good destacking operations.
  • the preset stacking sequence is: first stack the subsequent finished material bags clockwise/counterclockwise, then stack the finished material bags in the center of the pallet, and after the finished material bags of the current layer are stacked, continue to stack the next layer of finished material bags upwards, and stop the stacking operation after the preset number of layers are stacked;
  • the preset depalletizing sequence is: first clamp the finished material bags at the peripheral part counterclockwise/clockwise, then clamp the finished material bags at the center part of the pallet, and continue to clamp the next layer of finished material bags downwards, until the depalletizing operation is stopped after the clamping is completed.
  • a stacking and depalletizing device includes:
  • Camera 2 is arranged above the pallet 1.
  • the camera 2 scans the pallet 1 area through the visual AI positioning technology to obtain the placement information of the finished material bags, and sends the placement information of the finished material bags to the computer;
  • a clamping jaw assembly comprising an openable and closable clamping jaw 3 and a liftable suction cup 4, wherein the suction cup 4 is located in the middle of the clamping jaw 3;
  • a pressure sensor is disposed in the middle of the suction cup 4, and the sensing surface of the pressure sensor is flush with the bottom surface of the suction cup 4;
  • the computer is used to receive and process the information sent by the camera 2, and control the operation of the gripper assembly based on the processing results.
  • clamping jaw assembly further comprises:
  • a buffer device the bottom of which is connected to the suction cup 4;
  • the telescopic cylinder 5 is used to drive the buffer device to rise and fall.
  • the buffer device comprises:
  • a second connecting plate 14 the bottom of which is connected to the suction cup 4;
  • the slide rods 12 pass through the through holes 11 and are fixedly connected to the second connecting plate 14, and the slide rods 12 are slidable in the through holes 11;
  • the spring 10 is sleeved on the outside of the sliding rod 12 , and the spring 10 is fixedly connected between the first connecting plate 13 and the second connecting plate 14 .
  • the telescopic cylinder 5 is fixed to the middle of the bottom surface of the top plate 6;
  • the mounting transverse plate 8 is used to divide the four mounting transverse plates 8 into two sides, and the mounting transverse plate 8 is connected between a 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;
  • the clamping jaw cylinder 9 is installed on the mounting horizontal plate 8, and the clamping jaw cylinder 9 is used to drive the clamping jaw 3 to perform an opening operation.
  • a plurality of through holes 11 are formed on the surface of the mounting side plate 7 .
  • FIGS. 1 to 5 a stacking and depalletizing method based on the stacking and depalletizing device in Embodiment 1 is shown.
  • the depalletizing process of the stacking and depalletizing device includes:
  • Step 1 The camera obtains the placement information of the finished material bags on the pallet and sends the material placement information to the computer;
  • Step 2 The computer obtains the placement information of the finished material bags, selects a finished material bag on the top layer of the pallet according to a preset destacking order, analyzes the surface of the finished material bags based on the placement information of the finished material bags to obtain the flattest area, establishes a spatial coordinate axis with the camera position, and calculates the first coordinate position of the area;
  • Step 3 obtaining the second coordinate position of the clamping jaw assembly, the computer calculating the moving path of the clamping jaw assembly based on the first coordinate position and the second coordinate position, controlling the movement of the clamping jaw assembly based on the moving path, controlling the clamping jaw to open so that the suction cup moves to above the area and then presses down, and when the pressure sensed by the pressure sensor exceeds a preset force value, controlling the suction cup to adsorb the finished material bag, controlling the suction cup to rise to a preset distance, and then controlling the clamping jaw to clamp the finished material bag and transport it to a preset area.
  • the preset stacking sequence is: first stack the subsequent finished material bags clockwise/counterclockwise, then stack the finished material bags in the center of the pallet, and after the finished material bags of the current layer are stacked, continue to stack the next layer of finished material bags upwards until the preset number of layers are stacked and the stacking operation stops;
  • the preset depalletizing sequence is: first clamp the finished material bags in the center of the pallet, and then continue to clamp the subsequent finished material bags in a counterclockwise/clockwise direction. When the finished material bags of a layer are clamped, continue to clamp the finished material bags of the next layer downwards, and stop the depalletizing operation after the clamping is completed.
  • the palletizing process of the present invention is as follows:
  • the clamping jaw 3 is opened to the maximum position under the action of the clamping jaw cylinder 9;
  • the computer controls the clamping jaws 3 to be placed in a fixed stacking position
  • the clamping jaws 3 are closed under the action of the clamping jaw cylinder 9 to hold the large bag of material (the holding action and the clamping action in this article have the same meaning);
  • the suction cup 4 is extended through the telescopic cylinder 5 and pressed on the surface of the finished material bag (it does not draw a vacuum, but only provides downward pressure to prevent the finished material bag from slipping during palletizing and transportation);
  • the clamping jaws 3 carry the finished material bag to a preset position above the pallet 1 , the telescopic cylinder 5 retracts to remove the suction cup 4 , the clamping jaw cylinder 9 controls the clamping jaws 3 to open, and the finished material bag falls to the target position on the pallet 1 .
  • the destacking process of the present invention is as follows:
  • the finished material bags that need to be depalletized are scanned by the visual AI positioning technology of camera 2, and the relevant scanned data are calculated by a computer program, and the calculation results are transmitted to the palletizer.
  • the palletizer is an integral device, and the palletizing and depalletizing device of this solution is a part of the palletizer.
  • the palletizer also includes other components, such as a robot for moving the position of the palletizing and depalletizing device.
  • the gripper assembly moves according to the relevant control program of the palletizer, first moving the gripper assembly to the position of the finished material bag that needs to be unstackered;
  • the clamping jaw 3 is opened to the maximum position under the action of the clamping jaw cylinder 9;
  • the suction cup 4 is extended by the telescopic cylinder 5 and pressed on the surface of the finished material bag.
  • the pressure sensed by the pressure sensor exceeds the preset force value, the pressure is stopped and the vacuum operation is performed. After the suction is applied, the finished material bag is sucked away from the original position by the manipulator.
  • the clamping jaws 3 are closed and hold the finished material bag under the action of the clamping jaw cylinder 9 (to prevent the finished material bag from slipping during the unstacking and transportation);
  • the clamp 3 carries the finished material bag to the preset position of the conveyor line, controls the suction cup 4 to cancel the adsorption and rise, and the clamp 3 opens under the action of the clamp cylinder 9 so that the finished material bag falls to the target position of the conveyor line. Repeat steps 1-6 until the depalletizing process is completed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

La présente invention concerne un dispositif et un procédé de palettisation et de dépalettisation. Le procédé comprend les étapes suivantes : une caméra acquiert des informations de placement de sac de matériau fini sur une palette et envoie des informations de placement de matériau à un ordinateur ; l'ordinateur acquiert les informations de placement de sac de matériau fini, sélectionne un sac de matériau fini sur la couche supérieure sur la palette selon une séquence de dépalettisation prédéfinie, analyse la surface du sac de matériau fini à partir des informations de placement de sac de matériau fini pour obtenir une zone la plus lisse, établit des axes de coordonnées d'espace en fonction de la position de la caméra, et calcule une première position de coordonnées de la zone ; acquiert une seconde position de coordonnées d'un ensemble de préhension, l'ordinateur calcule un trajet de déplacement de l'ensemble de préhension à partir des première et seconde positions de coordonnées, commande l'ensemble de préhension pour se déplacer en fonction du trajet de déplacement, permet à une ventouse de se déplacer vers une position au-dessus de la zone et se déplace vers le bas après que le dispositif de préhension est commandé pour être ouvert, commande la ventouse pour adhérer au sac de matériau fini après que la pression détectée par un capteur de pression dépasse une valeur de pression prédéfinie, et commande le transport vers une zone prédéfinie. La présente invention peut réaliser une opération d'adhérence et de serrage précis d'un sac de matériau fini, et évite les situations de chute d'emballages et d'affaissement sur des palettes.
PCT/CN2023/128025 2022-11-30 2023-10-31 Dispositif et procédé de palettisation et de dépalettisation WO2024114237A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211528192.4A CN115838081A (zh) 2022-11-30 2022-11-30 一种码拆垛装置及方法
CN202211528192.4 2022-11-30

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WO2024114237A1 true WO2024114237A1 (fr) 2024-06-06

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
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CN115838081A (zh) * 2022-11-30 2023-03-24 厦门艾思欧标准砂有限公司 一种码拆垛装置及方法
CN115783809A (zh) * 2022-11-30 2023-03-14 厦门艾思欧标准砂有限公司 一种基于码拆垛的缓存输送设备及方法

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CN115783809A (zh) * 2022-11-30 2023-03-14 厦门艾思欧标准砂有限公司 一种基于码拆垛的缓存输送设备及方法
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CN111071809A (zh) * 2019-12-30 2020-04-28 郑州弗曼智能设备科技有限公司 一种拆垛自动化设备
CN111232664A (zh) * 2020-03-18 2020-06-05 上海载科智能科技有限公司 工业机器人应用软包拆垛卸车码垛装置及拆垛卸车码垛的方法
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CN114476702A (zh) * 2022-04-18 2022-05-13 深圳市捷牛智能装备有限公司 一种基于图像处理的物料拆垛装置、设备及方法
CN115783809A (zh) * 2022-11-30 2023-03-14 厦门艾思欧标准砂有限公司 一种基于码拆垛的缓存输送设备及方法
CN115838081A (zh) * 2022-11-30 2023-03-24 厦门艾思欧标准砂有限公司 一种码拆垛装置及方法

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