CN111646225A - Layer-splitting stacking system and layer-splitting stacking method - Google Patents

Abstract

The invention provides a layer-splitting stacking system and a layer-splitting stacking method. The layer-splitting and stacking system comprises a conveying line, a stack type detection mechanism, a layer-splitting mechanism and a control system. Goods are conveyed through the conveying line, the activity of the arrangement of the containers is detected through the stack type detection mechanism, and the layer detaching mechanism detaches the layers according to the arrangement form of the containers. The system and the method can improve stacking efficiency and standardize goods stacking and placing.

Description

Layer-splitting stacking system and layer-splitting stacking method

Technical Field

The invention relates to the technical field of intelligent goods stacking, in particular to a layer splitting and stacking system and a layer splitting and stacking method.

Background

The loading process of the goods needs the following procedures.

Conveying: usually by means of a conveyor line, the goods are transported on the conveyor line in a single layer, but usually, with efficient loading systems, the goods are stacked in layers and delivered on the conveyor line.

Layer dismantling: and taking the goods on the conveying line away in a layering mode, conveying the goods to a specified point, and waiting for subsequent treatment. In the prior art, the stacking of single-layer goods follows a certain rule. For multilayer goods, the goods in adjacent layers are stacked according to a certain rule.

In the prior art, it is usually simple to put multiple layers of goods one by one to the same storage point.

For example, CN208453977U discloses an automatic unstacker, which can pick up goods layer by means of clamping and sucking. The disadvantages of this approach are: the stacking and stacking device is only suitable for the layer-splitting treatment of goods with the same stacking direction of all containers in the single-layer goods with the same regular arrangement of multiple layers of goods.

Disclosure of Invention

The invention provides a layer-splitting and stacking system and a layer-splitting and stacking method capable of performing removing and stacking treatment in a standardized manner.

In order to achieve the purpose, the invention adopts the technical scheme that:

a layer-splitting and stacking system is characterized by comprising a conveying line, a stacking type detection mechanism, a layer-splitting mechanism and a control system;

buttress type detection mechanism, including setting up in the frame of carriage top and installing the buttress type determine module on the frame, buttress type determine module includes: the first detection component and the second detection component are arranged at intervals and movably arranged on the frame, and the first detection switch and the second detection switch are arranged on the frame; the first detection component can be used for movably triggering a first detection switch, and the second detection component can be used for movably triggering a second detection switch;

the layer detaching mechanism comprises: set up and buttress type detection mechanism's rear along goods direction of delivery, include:

a first frame;

the second frame is arranged on the first frame through a pivoting and moving mechanism;

a sucker component; the sucking disc is arranged on the second frame and comprises a plurality of first sucking discs arranged along a first direction and a plurality of second sucking discs arranged along a second direction, and the sucking disc mouths face the conveying line;

the control system is electrically connected with the detection assembly and is used for obtaining detection signals of the first detection switch and the second detection switch; the first sucker and the second sucker are electrically connected with the pivoting and moving mechanism for controlling the layer detaching mechanism to move, and the sucker component is electrically connected for controlling the first sucker and the second sucker to move.

In some embodiments of the invention, the control system comprises:

a first suction cup control unit: the control circuit is used for generating a sucking and releasing action control signal of the first sucker according to detection signals of the first detection switch and the second detection switch;

a second suction cup control unit: the control circuit is used for generating a sucking and releasing action control signal of the second sucker according to the detection signals of the first detection switch and the second detection switch;

the first sucker control unit and the second sucker control unit independently control the first sucker and the second sucker.

In some embodiments of the present invention, the goods are transported by the transportation line in multiple layers, and the control system is further configured to generate a control signal for each layer of goods according to the detection signals of the first detection switch and the second detection switch, so as to control the layer splitting mechanism to perform the layer splitting process on each layer of goods.

In some embodiments of the present invention, the pivoting and moving mechanism comprises:

rotating the module: the second frame is arranged on the rotating module;

the rotating module is arranged on the longitudinal walking module;

the longitudinal walking module is arranged on the horizontal walking module;

the control system is further electrically connected with the rotating module, the horizontal walking module and the longitudinal walking module.

In some embodiments of the present invention, the first detection assembly includes a first pivot lever pivotally mounted to the frame, and the first detection switch is disposed in a direction of rotation of the first pivot lever and is triggered when the first pivot lever rotates relative to the frame;

the second detection assembly comprises a second pivot rod which is pivotally arranged on the frame, and a second detection switch is arranged in the rotation direction of the second pivot rod and can be triggered when the second pivot rod rotates relative to the frame.

In some embodiments of the present invention, the first detecting element includes a first bracket and a first strut, which are movably disposed relative to each other, the first bracket is mounted on the frame, a first end of the first strut penetrates through the first bracket, and a second end of the first strut is limited on the first bracket; the first detection switch is arranged on one side of the second end of the supporting rod and can be triggered when the supporting rod moves relative to the frame;

the second detection assembly comprises a second bracket and a second support rod which are movably arranged relatively, the second bracket is arranged on the frame, the first end of the second support rod penetrates through the second bracket, and the second end of the second support rod is limited on the second bracket; the first and second detection switches are arranged on one side of the second end of the supporting rod and can be triggered when the two supporting rods move relative to the frame.

In some embodiments of the present invention, at least one set of clasping mechanisms is further disposed on the second frame, each set of clasping mechanisms includes a first clasping mechanism and a second clasping mechanism disposed opposite to each other, and the clasping mechanisms include:

a pivot lever: is mounted on the second frame;

driving a cylinder: the output power can be applied to the pivot rod to drive the pivot rod to rotate;

holding the claw tightly: the hinge comprises a main body part arranged on a pivot rod, wherein a holding panel is arranged on the main body part;

the clasping mechanism is configured to: the clamping panels of the clamping claws of the first clamping mechanism and the second clamping mechanism are oppositely arranged;

the control system is further electrically connected with the driving cylinder and used for driving and controlling the action of the holding claw.

In some embodiments of the present invention, there is further provided a layer-splitting stacking method using the layer-splitting stacking system described in any one of the above, including:

judging the stack shape according to detection signals of the first detection switch and the second detection switch;

judging whether the direction of the sucker component corresponds to the stack shape;

if yes, starting the sucker assembly, sucking the goods and conveying the goods to a specified position;

if not, the sucker assembly is controlled to pivot and adjust to the direction corresponding to the stack shape, the sucker assembly is started, goods are sucked, and the goods are conveyed to the designated position.

In some embodiments of the invention, the goods are conveyed in multiple layers, the stacking mode of each layer of goods corresponds to the arrangement mode of the first sucking discs and the second sucking discs in the sucking disc assembly, or corresponds to the sucking disc assembly in an angle of 180 degrees, and the stacking direction of the goods in adjacent layers corresponds to the sucking disc assembly in an angle of 180 degrees; the method further comprises:

the layer detaching mechanism absorbs the i-th layer of goods and then conveys the goods to a specified position;

after the sucker assembly pivots 180 degrees, the (i + 1) th layer of goods is sucked and conveyed to a specified position.

In some embodiments of the present invention, the method further comprises, the designated location comprises a designated location one and a designated location two;

the method for transporting the goods to the designated position comprises the following steps:

the sucker assembly is conveyed to a first designated position, and the first sucker releases goods;

the sucker assembly is conveyed to a second designated position, and the second sucker releases goods.

Compared with the prior art, the layer splitting equipment provided by the invention has the beneficial effects that:

the structure of tearing a layer mechanism open has been improved, and the mode that corresponds the goods and put things in good order sets up the direction of sucking disc, and the sucking disc can be guaranteed smoothly by the absorption with the packing box one-to-one.

But the arrangement form of full-thickness goods packing box is judged in automated inspection, and the layer mechanism is torn open in the adjustment and the packing box arrangement form is corresponding, and the layer is torn open to the accuracy.

Goods arranged in different directions can be respectively stacked to designated points, the goods stacking is standardized, and the subsequent arrangement and loading are facilitated.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic structural diagram of a layer-splitting device in an unclamped state;

FIG. 2 is a schematic structural diagram of a layer-splitting device in a holding state;

FIG. 3 is a schematic top view of a delaminating apparatus;

FIG. 4 is a schematic perspective view of a delaminating apparatus;

FIG. 5 is a schematic view of a loading gantry structure;

FIG. 6 is a schematic view of a loading gantry structure;

FIG. 7 is a schematic structural view of a stack type detection mechanism according to a first embodiment of the present invention;

FIG. 8 is a schematic view of a first embodiment of a stack detection assembly according to the present invention;

FIG. 9 is a schematic structural view of the stack type detecting mechanism according to the first embodiment of the present invention;

FIG. 10 is a structural view of a second working state of the stack type detecting mechanism according to the first embodiment of the present invention;

FIG. 11 is a schematic view of the third embodiment of the stack type detecting mechanism according to the present invention;

FIG. 12 is a schematic view of a stack detection mechanism according to a first embodiment of the present invention;

FIG. 13 is a schematic view of a second embodiment of a stack detection assembly according to the present invention;

FIG. 14 is a structural view of the stack type detecting mechanism according to the second embodiment of the present invention;

FIG. 15 is a structural view of a second working state of the stack type detecting mechanism according to the second embodiment of the present invention;

FIG. 16 is a schematic view of the third embodiment of the stack type detecting mechanism according to the present invention;

FIG. 17a is a stacking pattern of the items in the stack;

FIG. 17b is a stacking pattern of the items in the stack;

wherein, in the figures, the respective reference numerals:

1-a second frame, 101-a first frame beam, 102-a second frame beam, 103-a third frame beam, 104-a fourth frame beam, 105-a first auxiliary beam, 106-a second auxiliary beam, 107-a first direction suction cup mounting beam, 108-a second direction suction cup mounting beam;

2-a pivot rod;

3, driving a cylinder;

4-holding claws, 401-a main body part and 402-a holding panel;

5-a drive block;

6-seat board;

701-first direction suction cup, 702-second direction suction cup;

8-a first frame, 801-a lifting driving module, 802-a horizontal moving module, 803-a rotating module;

9-auxiliary holding claws;

10-frame, 1001-beam, 1002-leg;

11-stack type detection components, 11011-bracket I, 11012-bracket II, 11021-strut I, 11022-strut II, 11031-detection switch I, 11032-detection switch II, 1104-shaft sleeve, 1105-stop piece, 11061-roller I, 11062-roller II, 1107-slotted hole, 1108-mounting surface, 1109-horizontal plane and 1110-vertical frame;

12-a cargo box;

1301-a first pivot lever, 13011-a first lever part, 13012-a second lever part, 1302-a first detection switch, 1303-a first roller, 1304-a first pivot shaft, 1305-a first stop, 1306-a first mounting plate;

1401-a second pivot lever, 1402-a second detection switch, 1403-a second roller, 1405-a second stop, 1406-a second mounting plate.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "disposed on," "connected to" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and thus are not to be considered limiting of the present invention.

It should be noted that the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not intended to imply relative importance.

In some embodiments of the present invention, a layer-splitting and stacking system is provided, which includes a conveying line, a stack-type detecting mechanism, a layer-splitting mechanism, and a control system.

The conveying line is used for cargo transportation, and generally, cargo can be conveyed on the conveying line in a single layer or in a multi-layer stacked manner, and each layer of cargo is composed of a plurality of containers 12 arranged transversely and vertically. With particular reference to fig. 17a and 17b, a common arrangement of the goods is shown in the direction shown, and the single-layer goods may be arranged in the direction shown in the figure or may be arranged in a 180-degree reverse direction. These two arrangements can be distinguished by the number of containers 12 on the extreme sides, for example as shown in figure 17a, the number of containers 12 on the first side being 4 and the number of containers 12 on the second side being 3; in contrast to the view shown in fig. 17a, the number of containers 12 on the first side shown in fig. 17b is 3 and the number of containers 12 on the second side is 4.

The stack type detection mechanism is used for detecting the stack type of the arrangement of the single-layer containers 12, and the stack type refers to the transverse and longitudinal arrangement mode of the containers 12 in one layer of products, the number of the containers 12 and the like. Including setting up in the frame of carriage top and installing the buttress type determine module on the frame, buttress type determine module includes: the first detection component and the second detection component are arranged at intervals and movably arranged on the frame, and the first detection switch and the second detection switch are arranged on the frame; the first detection component can be used for movably triggering a first detection switch, and the second detection component can be used for movably triggering a second detection switch; when the container 12 passes through the stack type detection mechanism, the movement of the first detection component and the second detection component is triggered, and the first detection switch and the second detection switch are triggered; since the arrangement of the containers 12 has a gap, when the first detection assembly and the second detection assembly pass through the gap between the containers 12, the detection signals of the first detection switch and the second detection switch disappear, and based on the detection signals, a stack type judgment signal can be generated;

the layer detaching mechanism comprises: with structural reference to fig. 1 to 6, the rear of the stack type detection mechanism, which is arranged in the direction of conveyance of the load, includes:

the first frame 8 can adopt a gantry frame, and the conveying line passes through the lower part of the gantry frame; (ii) a

The second frame 1 is arranged on the first frame 8 through a pivoting and moving mechanism, and the pivoting and moving mechanism can control the second frame 1 to rotate and walk relative to the first frame 8; (ii) a

A sucker component; the sucking disc is arranged on the second frame 1 and comprises a plurality of first-direction sucking discs 701 arranged along a first direction and a plurality of second-direction sucking discs 702 arranged along a second direction, and the directions of sucking disc mouths face the conveying line; the first direction and the second direction are perpendicular to each other, and after the sucker assembly is installed, the first direction sucker 701 and the second direction sucker 702 correspond to the stacking direction of the container 12.

In some embodiments of the present invention, the pivoting and moving mechanism comprises:

the rotation module 803: the second frame 1 is installed on a rotating module 803, and the rotating module 803 can control at least the layer disassembling device to pivot by 180 degrees;

the longitudinal walking module 801, the rotating module 803 is installed on the longitudinal walking module to drive the second frame 1 to do lifting movement;

the horizontal walking module 802 is arranged on the longitudinal walking module 801 and is used for controlling the layer splitting equipment to move in two horizontal degrees of freedom;

the control system is further electrically connected with the rotating module, the horizontal walking module and the longitudinal walking module.

The horizontal moving module 802 and the lifting driving module 801 may adopt a conventional gantry driving structure, and are not described in detail. Through the structure, the layer disassembling mechanism can be controlled to take, walk and put goods.

The control system is electrically connected with the detection assembly and is used for obtaining detection signals of the first detection switch 11031 and the second detection switch 11032; is electrically connected with the pivoting and moving mechanism for controlling the movement of the layer detaching mechanism, and is electrically connected with the sucker component for controlling the actions of the first direction sucker 701 and the second direction sucker 702.

In some embodiments of the invention, the control system comprises:

a first suction cup control unit: the controller is used for generating sucking and releasing action control signals of the sucker 701 in the first direction according to detection signals of the first detection switch 11031 and the second detection switch 11032;

a second suction cup control unit: the controller is used for generating sucking and releasing action control signals of the sucking disc 702 in the second direction according to detection signals of the first detection switch 11031 and the second detection switch 11032;

the first and second suction cup control units independently control the first and second directional suction cups 701 and 702. In particular, the suction and release actions of the suction cups in two directions are not affected by each other.

In some embodiments of the present invention, the goods are transported by the transportation line in multiple layers, and the control system is further configured to generate a control signal for each layer of goods according to the detection signals of the first detection switch 11031 and the second detection switch 11032, so as to control the layer splitting mechanism to perform layer splitting processing on each layer of goods.

The goods pile is transported by the transport chain, usually 4-5 layers are stacked, the stacking mode of two adjacent layers of goods is opposite, and the goods of adjacent layers are arranged in a staggered mode, so that the stability of the goods pile can be ensured. Taking stacking of 5 layers of goods as an example, the highest layer is defined as the first layer, and the bottom layer is positioned on the conveying chain. If fig. 17a shows a first layer of goods, fig. 17b shows a second layer of goods, and the stacking pattern of fig. 17a, 17b and 17a is repeated from the third layer to the bottom layer. Similarly, if the first layer of goods is shown in fig. 17b, the stacking pattern of fig. 17a, 17b, 17a and 17b is repeated from the second layer to the bottom layer. Therefore, as long as the stacking form of the first layer of goods is judged, the stacking forms of other layers of goods can be calculated, and then corresponding control signals are generated.

Specifically, two implementation structures of the stack type detection mechanism are provided.

Example 1

Referring to fig. 7 to 8, the stack type detecting mechanism is used for detecting the arrangement of single-layer goods on the conveying line, namely, the arrangement of containers 12 in the goods at the top layer, and comprises:

a frame 10;

a support: the bracket first 11011 and the bracket second 11012 are arranged at intervals;

supporting the rod: including strut one 11021 and strut two 11022.

The bracket one 11011 is installed on the frame 10, the first end of the strut one 11021 passes through the bracket one 11011, and the second end is limited on the bracket one 11011; the first detection switch 11031 is arranged on one side of the second end of the first support rod 11021 and can be triggered when the first support rod 11021 moves relative to the frame 10;

the first end of the second strut 11022 penetrates through the second bracket 11012, and the second end of the second strut 11012 is limited on the second bracket 11012; the first detection switch 11032 is arranged on one side of the second end of the second support rod 11012 and can be triggered when the second support rod 11022 moves relative to the frame 10.

The two support rods are respectively used for detecting the quantity of the cargos on the most edge side in the single-layer cargos, and after the two data are obtained, the arrangement of the cargos in the whole layer can be obtained.

A contact assembly: the supporting rod is arranged on the supporting rod and faces the direction of the goods stack, and can be contacted with the goods when the goods pass through so as to trigger the supporting rod to move relative to the bracket; specifically, the device comprises a first contact element arranged on the first support rod 11021 and a second contact element arranged on the second support rod 11022, and the first contact element and the second contact element can be in contact with goods when the goods pass through the device, so that the first support rod 11021 and the second support rod 11022 are triggered to move relative to the bracket 11011; in order to reduce the friction between the contact member and the container 12 and the relative movement, in the present embodiment, the contact member is a roller, including a roller one 11061 mounted on a rod one 11021 and a roller two 11062 mounted on a rod two 11022.

The rollers jack up the corresponding support rods when the goods are in contact, the pulleys enter the gaps when the rollers move to the gaps between the containers 12, and the corresponding detection switches detect induction signals in the lifting process. Taking the stacking pattern of the cargo shown in fig. 17a as an example, the roller one 11061 corresponding to the first side container 12 rises and falls 3 times, and the roller two 11062 corresponding to the second side container 12 rises and falls 2 times. And judging the stack shape based on the number of times of the roller lifting signal. Referring to fig. 8 to 10, the operation of the stack type detection is described.

In some embodiments of the invention, the stack detection mechanism is further implemented by the following structure, with reference to fig. 8-10.

The frame comprises a cross beam 1001 arranged at intervals on the ground, a supporting leg 1002 is arranged at the ground end, and a bracket 1101 is installed on the cross beam 1001.

In some embodiments of the present invention, the rack 1101 includes a through hole facing the direction of the stack, the through hole is a first end facing the conveying line, a second end is opposite to the first end, the supporting rod penetrates out to the first end side through the second end of the through hole, and the contact member is mounted on the first end side of the supporting rod. The bracket 1101 includes a mounting surface 1108 for mating with the cross member 1001, and a horizontal surface 1109 disposed at an angle to the mounting surface 1108 in a direction parallel to the ground. The through holes are located on a horizontal plane. The supporting rod penetrates through a through hole in the horizontal plane, and the roller is located on the lower side of the horizontal plane and close to one side of the goods stack conveying line.

In some embodiments of the present invention, the device further includes a shaft sleeve 1104 installed on one side of the second end of the through hole, the shaft hole of the shaft sleeve 1104 is through the through hole, the strut 1102 penetrates through the shaft sleeve 1104, a stop member 1105 is installed on one end of the strut away from the through hole of the bracket, the stop member 1105 is located outside one side of the shaft sleeve 1104 away from the through hole, and the radial width is greater than the radial width of the shaft hole of the shaft sleeve. When the contact member contacts the stack, the rod 202 will move along the through hole and sleeve hole in a direction away from the stack and fall back when moved into the gap between the containers 12. In particular, if the stack detection assembly is mounted on the cross-beam 1001, the struts may fall back under the force of gravity.

In some embodiments of the present invention, the bracket 1101 is provided with an elongated hole 1107 along a direction perpendicular to the stack of the goods, the bracket 1101 is mounted on the frame 1 through a mounting member, the mounting member is inserted into the elongated hole 1107, and the mounting height of the bracket relative to the frame 10 can be adjusted by adjusting the position of the mounting member relative to the elongated hole 1107 so as to meet the detection requirements of different stacks of the goods.

The detection assembly further comprises a vertical frame 1110 vertically installed on the frame, a long round hole is formed in the vertical frame 1110, and the detection switch penetrates out through the long round hole.

Example 2

The structure refers to fig. 12 and 13. The stack type detection mechanism is used for detecting the arrangement form of single-layer goods on a conveying line, namely the arrangement form of containers 12 in the goods on the top layer in a horizontal and vertical mode, and comprises the following components:

the first detection assembly comprises a first pivot rod 1301 pivotably mounted on the frame, a first detection switch 1302 is provided in the direction of rotation of the first pivot rod 1301 and is activated when the first pivot rod 1301 is rotated relative to the frame 10;

the second detection assembly includes a second pivot lever 1401 pivotably mounted to the frame, and a second detection switch 1402 is provided in the direction of rotation of the second pivot lever 1401 and is activated when the second pivot lever 1401 is rotated relative to the frame 10.

Specifically, the detection switch is arranged in the active rotation direction of the pivoting rod after being triggered by the goods, under the normal condition, the detection switch can not generate a detection signal, and when the pivoting rod is triggered by the goods and rotates towards the direction of the detection switch, the detection switch is triggered to generate a signal.

The terminal is in data communication with the first detection switch 1302 and the second detection switch 1402 to collect the trigger state of the detection switches to determine the stack type.

Refer to fig. 14 to 16. Typically, the stack is moved by the conveyor mechanism and the single column of containers 12 may be arranged in a manner including two containers 12 or three containers 12 as shown, with the containers 12 not being stacked closely together and with gaps between the containers, one container 12 in the case of two containers 12 and one container 12 in the case of three containers 12, and two containers 12 in the case of three containers 12. The frame 10 is mounted above the transport mechanism and the pivot rod contacts the cargo container as cargo passes from the frame 10, the height of the pivot rod being configured to trigger the pivoting of the pivot rod when the cargo container 12 contacts the top surface of the cargo container 12. When the pivot rod rotates towards the direction of the detection switch, the detection switch is triggered to generate a detection signal. As there is a gap between adjacent containers 12, as the stack continues to be fed forward, the pivot rod is located in the gap between the containers, at which time the detection signal of the detection switch disappears; the stack continues to be transported forward, the pivot rod and the next container base move again in a direction approaching the detection switch, and the detection switch continues to generate a detection signal. The terminal comprises a processor which can deduce and calculate the stack shape of the goods according to the condition of the number of times that the detection switch is triggered when the goods stack passes through (in a unit area, the single layer is two containers 12 or three containers 12, and the number of times that the detection switch is triggered is different).

In some embodiments of the invention, the mechanism further comprises a contact member mounted on the pivot bar towards the stack of goods and adapted to contact the goods as they pass by to trigger rotation of the pivot bar relative to the frame. In some embodiments of the present invention, the contact members are rollers, the first pivot bar 1301 is provided with a first roller 130, the second pivot bar 1401 is provided with a second roller 1403, the corresponding roller is coupled to the corresponding pivot bar, and the outer circumference of the roller faces the stacking direction. By using the roller structure, friction between the contact member and the stack of goods can be reduced, avoiding damage to the container 12.

In some embodiments of the invention, the pivot lever is mounted on the frame 10 via a pivot shaft. The first set of detection components is taken as an example for illustration. The first pivot lever 1301 is mounted on the frame via a first pivot shaft 1304, with reference to the pivot shaft 1304, the first pivot lever 1301 includes a first lever portion 13011 located on a first side of the first pivot shaft 1304, and a second lever portion 13012 located on a second side of the pivot shaft 1304, and in the direction shown in the drawing, the first lever portion 13011 is located above the pivot shaft 1304, and the second lever portion 13012 is located below the first pivot shaft 1304. When the goods pass through, one end of the second rod part 13012 is in contact with the goods 3; the first detection switch 1302 is located behind the first rod portion 13011 based on the traveling direction of the cargo, so that the first detection switch 1302 generates a detection signal after the first pivot rod 1301 is driven to rotate by the cargo box 12. The second pivot rod 1402 is mounted to the frame 10 via a second pivot shaft 1404, and a second detection switch 1402 is disposed rearward of the direction of active rotation of the second pivot rod 1402, such that the second detection switch 1402 generates a detection signal upon the second pivot rod 1402 being driven to rotate by the cargo box 12.

Further, the center of gravity of the pivot rod is located in the second rod portion so that the pivot rod can be automatically pivoted back after moving between the cargo containers 12 or out of contact with the cargo containers 12.

In some embodiments of the invention, a stop is further provided, the pivot lever is driven by the load to rotate passively, and the rotation after releasing the contact with the load is an active rotation (reset motion). The first stopper 1305 is disposed in the first pivot lever active rotation direction and may contact the pivot lever 1301 in the active rotation of the pivot lever 1301 to stop the rotational movement of the first pivot lever 1301. Accordingly, the second stopper 1405 is provided in the second pivot lever active rotation direction, and may contact the pivot lever 1401 in the active rotation of the pivot lever 1401 to stop the rotational movement of the second pivot lever 1401.

In some embodiments of the present invention, to address the problem of installation of the stack detection assembly, the bracket is provided with a first mounting plate 1306 and a second mounting plate 1406 on which the detection switch, the stop, and the pivot rod of the respective sides are mounted.

In some embodiments of the present invention, the delaminating mechanism is implemented by the following structure, referring to fig. 1 to 6.

The frame 1 comprises a first frame beam 101, a second frame beam 102, a third frame beam 103 and a fourth frame beam 104, wherein the first frame beam 101, the second frame beam 102, the third frame beam 103 and the fourth frame beam 104 enclose a closed area; the sucker assembly is arranged in the closed space.

A first auxiliary beam 105 is arranged between the first frame beam 101 and the third frame beam 103, and a second auxiliary beam 106 is arranged between the first auxiliary beam 105 and the second frame beam 102;

first-direction sucker mounting beams 107 are arranged between the first auxiliary beam 105 and the fourth frame beam 104, and each first-direction sucker mounting beam 107 is provided with at least one first-direction sucker 701;

second direction sucker mounting beams 108 are arranged between the second auxiliary beam 106 and the first frame beam 101, and each second direction sucker mounting beam 108 is at least provided with one second direction sucker 702;

first direction sucker mounting beams 107 are further arranged between the first auxiliary beam 105 and the second frame beam 102, and each first direction sucker mounting beam 107 is provided with a first direction sucker 701.

Taking the specific embodiment shown in the top view as an example, four first-direction suction cup mounting beams 107 are provided between the first auxiliary beam 105 and the fourth frame beam 104, and four first-direction suction cups 701 are mounted thereon, and one first-direction suction cup mounting beam 107 is provided between the first auxiliary beam 105 and the second frame beam 102, and two first-direction suction cups 701 are mounted thereon. Two second auxiliary beams 106 are arranged between the first auxiliary beam 105 and the second frame beam 102, wherein three second-direction suction cup mounting beams 108 are arranged between one second auxiliary beam 106 and the first frame beam 101, and three second-direction suction cups 702 are arranged; three second direction suction cup mounting beams 108 are arranged between the other two auxiliary beams 106 and the third frame beam 103, and three second direction suction cups 702 are mounted.

The arrangement design mode of the sucker components is set based on the goods conveying form in the specific goods stacking structure. In practical application, the arrangement of the first directional suction cups 701 and the second directional suction cups 702 can be improved according to the arrangement form of specific single-layer goods.

In some embodiments of the present invention, in order to improve the effect of stably clamping and transporting goods, in addition to the suction cup assembly, the frame is further provided with at least one set of clasping mechanisms, each set of clasping mechanism includes a first clasping mechanism and a second clasping mechanism which are oppositely arranged, and the clasping mechanism includes:

the pivot rod 2: is mounted on the second frame 1;

the driving cylinder 3: is mounted on the second frame 1, and can apply output power to the pivot rod 2 to drive the pivot rod 2 to rotate;

the holding claw 4: comprises a main body part 401 arranged on a pivot rod 2, wherein the main body part 401 is provided with a holding panel 402;

the controller can further control the work of the driving cylinder 3 to control the clasping mechanism to execute clasping instructions and clamp goods.

Wherein, the panel 402 of hugging tightly of claw 4 is the relative setting for the first mechanism of hugging tightly and the second mechanism of hugging tightly to make the two cooperation hug closely the goods both sides.

In order to realize more stable quota adding effect, two groups of clamping and clasping mechanisms which are matched for use can be designed. Is configured to: the first enclasping mechanism and the second enclasping mechanism enclasping face plate 402 of the enclasping claw are arranged oppositely, and the third enclasping mechanism and the fourth enclasping mechanism enclasping face plate 402 of the enclasping claw are arranged oppositely. The clasping claw 4 can rotate along with the pivoting rod 2, when the pivoting rod rotates in place, the clasping panel 402 is positioned below the bottom end face of the second frame 1, and a cargo accommodating space is formed between the four clasping mechanisms and the bottom end face of the second frame 1.

In some embodiments of the invention, at least two clasping claws 4 are mounted on the pivoting lever 2 of each group of clasping mechanisms. Specifically, two clasping claws 4 are symmetrically arranged at two ends of the pivoting rod 2 so as to ensure a more stable clasping effect.

Further, in some embodiments, in order to enhance the holding effect, an auxiliary holding plate 9 may be further installed between the two holding claws 4, and the length of the auxiliary holding plate 9 at least extends to the goods on the same layer, and the outermost container, so as to ensure that the goods on the middle layer can be held tightly.

In some embodiments of the present invention, the main body 401 of the clasping claw is of a bent structure, and the clasping panel 402 is located at the end of the main body 401 of the clasping claw. The first clasping mechanism and the third clasping mechanism clasping the bending structure of the claw main body part 401 are opposite, and the second clasping mechanism and the fourth clasping mechanism clasping the bending structure of the claw main body part 401 are opposite.

In some embodiments of the present invention, a driving block 5 is mounted on the pivot rod, and the driving block 5 is configured to contact or connect with the power output shaft of the driving cylinder 3 to drive the pivot rod 2 to rotate. Each pivot rod 2 is provided with a driving block 5, the driving block 5 can be directly connected with a cylinder shaft of the driving cylinder 3, and can also be arranged in the extending direction of the cylinder shaft of the driving cylinder, so that the driving cylinder 3 can apply acting force to the driving block 5 to drive the pivot rod 2 to rotate.

In some embodiments of the present invention, a seat plate 6 is disposed on the frame, and the driving cylinder 3 is mounted on the seat plate 6. The seat plate 6 is arranged on the upper end surface of the second frame 1, and each driving cylinder 3 corresponds to one seat plate 6.

In some embodiments of the present invention, there is further provided a layer-splitting stacking method implemented by using the layer-splitting stacking system, including:

judging the stack shape according to detection signals of the first detection switch 11031 and the second detection switch 11032; specifically, the cargo type of the cargo arranged on the uppermost layer is judged according to the fluctuation frequency of the two detection switches when the cargo passes below the first detection switch 11031 and the second detection switch 11032;

judging whether the direction of the sucker component corresponds to the stack shape; specifically, the arrangement mode of the first-direction suction cups 701 and the second-direction suction cups 702 in the suction cup assembly corresponds to the cargo stacking mode or has a 180-degree difference; judging whether the direction of the sucker assemblies corresponds to the stacking type, namely judging whether the arrangement mode of the sucker assemblies is the same as the stacking mode of top-layer goods or differs by 180 degrees;

if yes, starting the sucker assembly, sucking the goods and conveying the goods to a specified position; in this case, the arrangement mode of the suckers is the same as the cargo type and corresponds to the arrangement mode of the cargo box one by one, so that the sucker assemblies are started to directly suck the whole layer of cargo;

if not, the sucker assembly is controlled to pivot and adjust to the direction corresponding to the stack shape, the sucker assembly is started, goods are sucked, and the goods are conveyed to the designated position. In this case, the arrangement mode of the suckers is 180 degrees different from the goods type, the sucker assembly is controlled to pivot 180 degrees and rotates to the same direction as the goods type, and the sucker sucking assembly is started. After the sucker component rotates every time, the current state of the sucker component is recorded so as to facilitate the next work.

In some embodiments of the invention, the goods are conveyed in multiple layers, the stacking mode of each layer of goods corresponds to the arrangement mode of the first sucking discs and the second sucking discs in the sucking disc assembly, or corresponds to the arrangement mode at an angle of 180 degrees, and the stacking direction of the goods at adjacent layers corresponds to the arrangement mode at an angle of 180 degrees; the 180 degree correspondence described herein means that the cargo containers of the first layer are arranged and rotated 180 degrees based on the cargo of the first layer, and the method further includes:

the layer detaching mechanism absorbs the i-th layer of goods and then conveys the goods to a specified position;

after the sucker assembly pivots 180 degrees, the (i + 1) th layer of goods is sucked and conveyed to a specified position.

Specifically, the method further comprises the steps that the designated position comprises a first designated position and a second designated position;

the method for transporting the goods to the designated position comprises the following steps:

the sucker assembly is conveyed to a first designated position, and the first-direction sucker releases goods;

the sucker assembly is conveyed to a second designated position, and the second directional sucker releases goods.

Based on the above method, the first direction suction cup 701 and the second direction suction cup 702 can simultaneously suck the goods, but respectively stack the goods to different positions, and based on the method, the arrangement directions of the stacked goods are the same at the two goods stacking positions, so that the subsequent processing is facilitated.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A layer-splitting and stacking system is characterized by comprising a conveying line, a stacking type detection mechanism, a layer-splitting mechanism and a control system;

buttress type detection mechanism, including setting up in the frame of carriage top and installing the buttress type determine module on the frame, buttress type determine module includes: the first detection component and the second detection component are arranged at intervals and movably arranged on the frame, and the first detection switch and the second detection switch are arranged on the frame; the first detection component can be used for movably triggering a first detection switch, and the second detection component can be used for movably triggering a second detection switch;

the layer detaching mechanism comprises: set up and buttress type detection mechanism's rear along goods direction of delivery, include:

a first frame;

the second frame is arranged on the first frame through a pivoting and moving mechanism;

a sucker component; the sucking disc is arranged on the second frame and comprises a plurality of first sucking discs arranged along a first direction and a plurality of second sucking discs arranged along a second direction, and the sucking disc mouths face the conveying line;

the control system is electrically connected with the detection assembly and is used for obtaining detection signals of the first detection switch and the second detection switch; the first sucker and the second sucker are electrically connected with the pivoting and moving mechanism for controlling the layer detaching mechanism to move, and the sucker component is electrically connected for controlling the first sucker and the second sucker to move.

2. The de-palletizing system as in claim 1, wherein the control system comprises:

a first suction cup control unit: the control circuit is used for generating a sucking and releasing action control signal of the first sucker according to detection signals of the first detection switch and the second detection switch;

a second suction cup control unit: the control circuit is used for generating a sucking and releasing action control signal of the second sucker according to the detection signals of the first detection switch and the second detection switch;

the first sucker control unit and the second sucker control unit independently control the first sucker and the second sucker.

3. The system of claim 1, wherein the goods are transported in multiple layers through the transport line, and the control system is further configured to generate a control signal for each layer of goods according to the detection signals of the first detection switch and the second detection switch, so as to control the layer-splitting mechanism to split the layer of goods.

4. The split palletizing system as in claim 1, wherein the pivoting and moving mechanism comprises:

rotating the module: the second frame is arranged on the rotating module;

the rotating module is arranged on the longitudinal walking module;

the longitudinal walking module is arranged on the horizontal walking module;

the control system is further electrically connected with the rotating module, the horizontal walking module and the longitudinal walking module.

5. The layer-splitting palletizing system as recited in claim 1, wherein:

the first detection assembly comprises a first pivot rod which is pivotally arranged on the frame, and a first detection switch is arranged in the rotating direction of the first pivot rod and can be triggered when the first pivot rod rotates relative to the frame;

the second detection assembly comprises a second pivot rod which is pivotally arranged on the frame, and a second detection switch is arranged in the rotation direction of the second pivot rod and can be triggered when the second pivot rod rotates relative to the frame.

6. The layer-splitting palletizing system as recited in claim 1, wherein:

the first detection assembly comprises a first support and a first support rod, the first support and the first support rod are movably arranged relative to each other, the first support is arranged on the frame, a first end of the first support rod penetrates through the first support, and a second end of the first support rod is limited on the first support; the first detection switch is arranged on one side of the second end of the supporting rod and can be triggered when the supporting rod moves relative to the frame;

the second detection assembly comprises a second bracket and a second support rod which are movably arranged relatively, the second bracket is arranged on the frame, the first end of the second support rod penetrates through the second bracket, and the second end of the second support rod is limited on the second bracket; the first and second detection switches are arranged on one side of the second end of the supporting rod and can be triggered when the two supporting rods move relative to the frame.

7. The layer-splitting palletizing system as claimed in claim 1, wherein the second frame is further provided with at least one set of clasping mechanisms, each set of clasping mechanisms comprises a first clasping mechanism and a second clasping mechanism which are oppositely arranged, and the clasping mechanisms comprise:

a pivot lever: is mounted on the second frame;

driving a cylinder: the output power can be applied to the pivot rod to drive the pivot rod to rotate;

holding the claw tightly: the hinge comprises a main body part arranged on a pivot rod, wherein a holding panel is arranged on the main body part;

the clasping mechanism is configured to: the clamping panels of the clamping claws of the first clamping mechanism and the second clamping mechanism are oppositely arranged;

the control system is further electrically connected with the driving cylinder and used for driving and controlling the action of the holding claw.

8. A method of layouting, using the layouting system of any one of claims 1 to 7, comprising:

judging the stack shape according to detection signals of the first detection switch and the second detection switch;

judging whether the direction of the sucker component corresponds to the stack shape;

if yes, starting the sucker assembly, sucking the goods and conveying the goods to a specified position;

if not, the sucker assembly is controlled to pivot and adjust to the direction corresponding to the stack shape, the sucker assembly is started, goods are sucked, and the goods are conveyed to the designated position.

9. The method of claim 8, wherein the goods are transported in multiple layers, the goods in each layer are stacked in a manner corresponding to the arrangement of the first suction cups and the second suction cups in the suction cup assemblies, or in a 180-degree angle, and the stacking direction of the goods in the adjacent layer is in a 180-degree angle; the method further comprises:

the layer detaching mechanism absorbs the i-th layer of goods and then conveys the goods to a specified position;

after the sucker assembly pivots 180 degrees, the (i + 1) th layer of goods is sucked and conveyed to a specified position.

10. The method of claim 8 or 9, further comprising, the designated locations including a designated location one and a designated location two;

the method for transporting the goods to the designated position comprises the following steps:

the sucker assembly is conveyed to a first designated position, and the first sucker releases goods;

the sucker assembly is conveyed to a second designated position, and the second sucker releases goods.

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