CN220826982U - Destacking, labeling and stacking device - Google Patents
Destacking, labeling and stacking device Download PDFInfo
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- CN220826982U CN220826982U CN202320382938.9U CN202320382938U CN220826982U CN 220826982 U CN220826982 U CN 220826982U CN 202320382938 U CN202320382938 U CN 202320382938U CN 220826982 U CN220826982 U CN 220826982U
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Abstract
The utility model discloses an unstacking, labeling and stacking device, which comprises: the first conveying line is provided with a destacking position and a stacking position in sequence along the conveying direction of the first conveying line, and the second conveying line is provided with a first connection position and a second connection position in sequence along the conveying direction of the second conveying line; further comprises: the automatic stacking machine comprises a first 3D vision device, an unstacking mechanical arm, a stacking mechanical arm, a five-sided scanning device, an automatic labeling device and a second 3D vision device, wherein the first 3D vision device is arranged above an unstacking position, the unstacking mechanical arm is arranged between the unstacking position and a first connection position, and the unstacking mechanical arm is arranged between the second connection position and a stacking position. The utility model realizes automatic operation, improves the efficiency and has low labeling error rate.
Description
Technical Field
The utility model relates to the technical field of storage logistics, in particular to a device for unstacking, labeling and palletizing.
Background
With the development of the warehouse logistics industry, industry competition tends to be white-hot, and under the background of aggravation, difficult labor recruitment and increased labor cost, the demand of automatic express bill pasting of the whole cargo is more and more urgent in order to save logistics cost and improve competitiveness in an automatic mode; when each piece of goods in the whole tray is pasted with an express face sheet, the goods in the center of the stack cannot be pasted, the traditional method is that each box of goods is manually moved from one tray to another tray and simultaneously the express face sheet is pasted on the outer surface of the box, and the traditional method has the defects of large labor capacity, low efficiency, more people and high labeling error rate; the automatic mode is used for replacing manual destacking, labeling and palletizing.
Disclosure of utility model
The device aims at solving the problems of the sticking of the existing warehouse logistics express bill, aims at providing a device for unstacking, labeling and stacking again, realizes automatic operation, improves the efficiency and has low labeling error rate.
The specific technical scheme is as follows:
A device for unstacking, labeling and palletizing, comprising: the first conveying line is provided with a destacking position and a stacking position in sequence along the conveying direction of the first conveying line, and the second conveying line is provided with a first connection position and a second connection position in sequence along the conveying direction of the second conveying line; further comprises:
The first 3D vision device is arranged above the unstacking position and is used for collecting stack type and pose information of the uppermost-layer goods of the whole-support goods on the unstacking position;
The unstacking mechanical arm is arranged between the unstacking position and the first connection position and is used for grabbing target goods of the uppermost-layer goods of the whole-support goods on the unstacking position and placing the target goods on the first connection position;
The stacking mechanical arm is arranged between the second connection position and the stacking position and is used for grabbing the goods on the second connection position and placing the goods on a tray at the stacking position;
Further comprises: the five-face scanning device, the automatic labeling device and the second 3D vision device are sequentially arranged along the conveying direction of the second conveying line;
The pentahedral scanning device is used for acquiring material bar code information on the target goods on the second conveying line;
The automatic labeling device is used for converting the material bar code information into an express bill and automatically labeling the express bill to the target goods;
the second 3D vision device is used for detecting whether the target goods have express delivery face order information or not.
The device for unstacking, labeling and palletizing further comprises: the control system is respectively in signal connection with the first conveying line, the second conveying line, the first 3D vision device, the unstacking mechanical arm, the stacking mechanical arm, the five-face scanning device, the automatic labeling device and the second 3D vision device;
The control system controls the unstacking mechanical arm to grasp and place the target goods according to the information acquired by the first 3D vision device, then controls the automatic labeling device to paste the express delivery face list on the target goods according to the material bar code information acquired by the five-face scanning device, and then controls the stacking mechanical arm to grasp and place the target goods according to whether the express delivery face list information exists on the target goods or not detected by the second 3D vision device.
The unstacking and labeling and stacking device comprises a first conveying line, a second conveying line, a unstacking mechanical arm, a stacking mechanical arm and a stacking mechanical arm, wherein the first conveying line and the second conveying line are all U-shaped;
A frame body is arranged on the first conveying line, and a conveying channel for the tray to pass through is formed between the frame body and the first conveying line;
The first conveying line is provided with a loading port and a unloading port.
The device for unstacking, labeling and stacking, wherein the second conveying line is provided with two roller machines along the conveying direction, one roller machine is arranged between the first connection position and the five-face scanning device, the other roller machine is arranged on the front side of the second connection position, and the roller machine is used for adjusting the pose of the target goods on the second conveying line.
The device for unstacking, labeling and palletizing further comprises: the second conveying line is provided with a jacking transfer device and an abnormal discharge port, and the jacking transfer device is used for removing the target goods with abnormal labeling from the abnormal discharge port.
The device for unstacking, labeling and palletizing, wherein the five-face scanning device comprises: at least two scanning mechanisms, wherein the conveying direction of the target goods from the first connection position to the automatic labeling machine device is a straight line direction, and the direction of each scanning mechanism forms an angle with the straight line direction;
The two scanning mechanisms are respectively positioned at two sides of the first connection position;
Both scanning mechanisms incline downwards;
Both of the scanning mechanisms are higher than the top of the target cargo on the first conveyor line.
The device of destacking, labeling and palletizing, wherein the second conveying line comprises: the lifting transfer device comprises a first line, a second line, a third line and a fourth line, wherein the first line and the second line are conveyed in a first direction, the third line and the fourth line are conveyed in a second direction, the first direction is opposite to the second direction, one roller machine is arranged between the first line and the second line, the other roller machine is arranged between the third line and the fourth line, and the lifting transfer device is arranged between the second line and the third line;
The first docking station is located on the first line and the second docking station is located on the fourth line.
The device for unstacking, labeling and stacking, wherein the first conveying line and the second conveying line are provided with safety guardrails on the outer sides.
The device for unstacking, labeling and palletizing further comprises: the identifying device is arranged on the side edge of the loading port and is used for identifying the tray bar code information on the tray at the loading port and judging whether the tray is an empty tray or a loaded tray.
Compared with the prior art, the technical scheme has the following positive effects:
the utility model fully automatic label, saves time and labor, improves the efficiency, reduces the cost and has low label error rate;
The first conveying line and the second conveying line adopted by the utility model are arranged in a U shape instead of a linear shape, the U-shaped arrangement structure is more compact, and the occupied space is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of an unstacking, labeling and unstacking device according to the present utility model;
FIG. 2 is a schematic view of the overall structure of an unstacking, labeling and unstacking device according to the present utility model;
FIG. 3 is a top view of an unstacking, labeling and unstacking apparatus according to the present utility model;
FIG. 4 is a front view of an unstacking, labeling and unstacking apparatus according to the present utility model;
In the accompanying drawings: 1. a first conveyor line; 2. a second conveyor line; 3. destacking position; 4. stacking positions; 5. a first docking station; 6. the second connection position; 7. an unstacking mechanical arm; 8. a stacking mechanical arm; 9. a five-sided scanning device; 10. an automatic labeler device; 11. a first 3D vision device; 12. a second 3D vision device; 13. a frame body; 14. a conveying channel; 15. a loading port; 16. a goods discharging port; 17. a roller machine; 18. jacking up the transfer device; 19. an abnormal discharge port; 20. a safety barrier; 21. a first wire; 22. a second line; 23. a third line; 24. a fourth line; 91. a scanning mechanism.
Detailed Description
The utility model is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
FIG. 1 is a schematic view of the overall structure of an unstacking, labeling and unstacking device according to the present utility model;
FIG. 2 is a schematic view of the overall structure of an unstacking, labeling and unstacking device according to the present utility model;
FIG. 3 is a top view of an unstacking, labeling and unstacking apparatus according to the present utility model;
Fig. 4 is a front view of an unstacking, labeling and reshuffling device according to the present utility model, as shown in fig. 1 to 4, showing an unstacking, labeling and reshuffling device according to a preferred embodiment, comprising: the first conveying line 1 and the second conveying line 2, the first conveying line 1 is provided with an unstacking position 3 and a stacking position 4 in sequence along the conveying direction, and the second conveying line 2 is provided with a first connection position 5 and a second connection position 6 in sequence along the conveying direction.
Further, as a preferred embodiment, the device for unstacking, labeling and unstacking further comprises: the first 3D vision device 11, the mechanical arm 7 of unstacking and pile up neatly arm 8, the top at the position 3 of unstacking is located to first 3D vision device for gather the position 3 of unstacking and hold in the palm the buttress and position appearance information of the uppermost layer goods of goods, the mechanical arm 7 of unstacking is located between position 3 and the first position 5 of plugging into of unstacking, be used for snatching the target goods of the uppermost layer goods of the whole support goods on the position 3 of unstacking, and place the target goods on the first position 5 of plugging into, the mechanical arm 7 of unstacking is located between position 6 and the pile up neatly position 4 of plugging into of second, be used for snatching the second and plugging into the position 6 of placing the goods on the tray of pile up neatly position 4.
Further, as a preferred embodiment, the device for unstacking, labeling and unstacking further comprises: the pentahedral scanning device 9, the automatic labeling device 10 and the second 3D vision device 12 are disposed in this order along the conveying direction of the second conveying line 2, the pentahedral scanning device 9, the automatic labeling device 10 and the second 3D vision device 12.
Further, as a preferred embodiment, the pentahedron scanning device 9 is configured to acquire material bar code information on the target cargo on the second conveyor line 2.
Further, as a preferred embodiment, the automatic labeling apparatus 10 is used for converting the bar code information of the materials into an express bill, and automatically attaching the express bill to the target goods.
Further, as a preferred embodiment, the second 3D vision device 12 is configured to detect whether the target cargo has the express bill information.
Further, as a preferred embodiment, the device for unstacking, labeling and unstacking further comprises: the control system (not shown in the figure) is respectively connected with the first conveying line 1, the second conveying line 2, the first 3D vision device 11, the unstacking mechanical arm 7, the stacking mechanical arm 8, the five-face scanning device 9, the automatic labeling device 10 and the second 3D vision device 12 in a signal mode.
Further, as a preferred embodiment, the control system controls the unstacking mechanical arm 7 to grasp and place the target goods according to the information acquired by the first 3D vision device 11, then controls the automatic labeling device 10 to paste the express face list onto the target goods according to the material bar code information acquired by the five-face scanning device 9, and then controls the stacking mechanical arm 8 to grasp and place the target goods according to whether the express face list information exists on the target goods detected by the second 3D vision device.
Further, as a preferred embodiment, the first conveying line 1 and the second conveying line 2 are all U-shaped, and the unstacking mechanical arm 7 and the stacking mechanical arm 8 are all erected on the first conveying line 1.
Further, as a preferred embodiment, a frame 13 is erected on the first conveying line 1, and a conveying channel 14 through which the tray passes is formed between the frame 13 and the first conveying line 1.
Preferably, the frame 13 is a steel frame.
Preferably, the empty trays pass under the frame 13, and the parallel operation is performed simultaneously without interference, so that the equipment layout is more compact and efficient.
According to the utility model, the first conveying line 1 and the second conveying line 2 are arranged in a U-shaped mode instead of a linear mode, the U-shaped arrangement structure is more compact, mechanical arms can be reduced to 1 according to actual efficiency requirements, the stacking operation is completed after the unstacking operation is completed by the 1 mechanical arms, and flexible configuration can be realized so that hardware equipment investment is reduced.
Further, as a preferred embodiment, the first conveyor line 1 has a loading port 15 and a unloading port 16.
The whole pallet goods which need to be unstacked, labeled and then stacked can be composed of single type goods (the goods codes, the box type sizes and the weights are the same) or multiple types of goods (the goods codes, the box type sizes and the weights are different).
The foregoing is merely a preferred embodiment of the present utility model, and is not intended to limit the embodiments and the protection scope of the present utility model.
The present utility model has the following embodiments based on the above description:
in a further embodiment of the present utility model, as shown in fig. 1 to 4, the second conveyor line 2 has two rollers 17 along the conveying direction, one roller 17 is disposed between the first docking station 5 and the five-side scanning device 9, the other roller 17 is disposed at the front side of the second docking station 6, and the rollers 17 are used for adjusting the pose of the target cargo on the second conveyor line 2.
Preferably, the first roller 17 is convenient for pasting the express bill after adjusting the pose of the target goods, and the second roller 17 enters the second connection position 6 after adjusting the pose of the target goods so as to be convenient for grabbing by the stacking mechanical arm.
In a further embodiment of the present utility model, the unstacking, labeling and unstacking device further comprises: the second conveyor line 2 has a lift-up transfer device 18 and an abnormal discharge port 19, and the lift-up transfer device 18 is configured to remove the target goods marked with the abnormality from the abnormal discharge port.
Preferably, the lifting transfer device 18 can realize the function of discharging the marked abnormal goods and can also realize the normal transfer function of the non-marked abnormal goods, thereby reducing the hardware input cost.
Preferably, the roller 17 conveys the target load on its upper side toward the side wall of the second conveyor line 2 until the target load is aligned against the side wall.
In a further embodiment of the utility model, the pentahedral scanning device 9 comprises: at least two scanning mechanisms 91, the direction of conveyance of the target cargo from the first docking station 5 to the automatic labeler device 10 is a straight direction, and the orientation of each scanning mechanism 91 forms an angle with the straight direction.
In a further embodiment of the utility model, two scanning mechanisms 91 are located on either side of the first docking station 5.
In a further embodiment of the utility model, both scanning mechanisms 91 are inclined downward.
In a further embodiment of the utility model both scanning mechanisms 91 are located higher than the top of the target cargo on the first conveyor line 1.
Preferably, the two scanning mechanisms 91 together scan the peripheral and top surfaces of the target cargo.
In a further embodiment of the utility model, the second conveyor line 2 comprises: the first line 21, the second line 22, the third line 23 and the fourth line 24, the first line 21 and the second line 22 are conveyed in a first direction, the third line 23 and the fourth line 24 are conveyed in a second direction, the first direction is opposite to the second direction, one roller 17 is arranged between the first line 21 and the second line 22, the other roller 17 is arranged between the third line 23 and the fourth line 24, and the lifting transfer device 18 is arranged between the second line 22 and the third line 23.
In a further embodiment of the utility model, the first docking station 5 is located on the first line 21 and the second docking station 6 is located on the fourth line 24.
Preferably, a safety barrier 20 is provided around the outer periphery of the unstacking, labelling and palletising device.
The utility model relates to a method for unstacking, labeling and palletizing, which comprises the following steps of:
Firstly, placing the empty trays into a loading port 15, conveying the empty trays to a stacking position 4 by a first conveying line 1, and then executing step S1;
Step S1: placing the whole-support goods to be labeled at a goods loading port 15 of the first conveying line 1, and conveying the whole-support goods to an unstacking position 3 by the first conveying line 1;
Step S2: the first 3D vision device 11 collects the stack type and pose information of the uppermost layer of goods of the whole-support goods;
Step S3: the control system controls the unstacking mechanical arm 7 to grasp target goods according to the stack type and pose information, the target goods are placed on the first connection position 5, and the second conveying line 2 automatically conveys the target goods on the first connection position 5 along the conveying direction;
Step S4: the five-face scanning device 9 acquires the material bar code information on the target goods on the second conveying line 2;
step S5: the control system controls the automatic labeling device 10 to print out an express bill according to the material bar code information and paste the express bill on the target goods of the second conveying line 2;
Step S6: the second 3D vision apparatus 12 detects whether the target goods have the express delivery information on the express delivery bill;
Step S7: the second conveying line 2 conveys the target goods with the express delivery face bill and related express delivery information to a second connection position 6;
Step S8: the control system controls the stacking mechanical arm 8 to grab and place the target goods on the second connection position 6 on the tray of the stacking position 4 until the target goods with the set quantity are stacked on the tray of the stacking position 4;
Step S9: the first conveying line 1 conveys the trays and a plurality of target cargos on the stacking position 4 to the cargo discharging port 16;
Step S10: the first conveyor line 1 conveys the pallet above the destacking station 3 to the palletizing station 4, and then step S1 is repeated.
Preferably, the operation of filling the empty tray is performed without manual intervention after filling the empty tray once; the empty trays of the stacking position 4 are automatically conveyed to a goods discharging port 16 through the first conveying line 1 after being filled with goods, and the goods are taken away; empty trays generated in the unstacking position 3 are automatically conveyed to the stacking position 4, recycling is achieved, and manual intervention is not needed, and operation of filling the empty trays is performed.
In a further embodiment of the present utility model, the unstacking, labeling and unstacking device further comprises: the identifying device is used for identifying the tray bar code information on the tray at the loading port 15 and judging whether the tray is an empty tray or a loaded tray.
The utility model can realize the automatic labeling operation of each piece of goods in the whole-support goods containing various kinds of goods.
The utility model fully automatic label, saves time and labor, improves the efficiency, reduces the cost and has low label error rate.
The foregoing description is only illustrative of the preferred embodiments of the present utility model and is not to be construed as limiting the scope of the utility model, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present utility model, and are intended to be included within the scope of the present utility model.
Claims (8)
1. A device for unstacking, labeling and palletizing, comprising: the first conveying line is provided with a destacking position and a stacking position in sequence along the conveying direction of the first conveying line, and the second conveying line is provided with a first connection position and a second connection position in sequence along the conveying direction of the second conveying line; further comprises:
The first 3D vision device is arranged above the unstacking position and is used for collecting stack type and pose information of the uppermost-layer goods of the whole-support goods on the unstacking position;
The unstacking mechanical arm is arranged between the unstacking position and the first connection position and is used for grabbing target goods of the uppermost-layer goods of the whole-support goods on the unstacking position and placing the target goods on the first connection position;
The stacking mechanical arm is arranged between the second connection position and the stacking position and is used for grabbing the goods on the second connection position and placing the goods on a tray at the stacking position;
Further comprises: the five-face scanning device, the automatic labeling device and the second 3D vision device are sequentially arranged along the conveying direction of the second conveying line;
The pentahedral scanning device is used for acquiring material bar code information on the target goods on the second conveying line;
The automatic labeling device is used for converting the material bar code information into an express bill and automatically labeling the express bill to the target goods;
the second 3D vision device is used for detecting whether the target goods have express delivery face order information or not.
2. The unstacking and labeling and palletizing device according to claim 1, wherein the first conveying line and the second conveying line are all U-shaped, and the unstacking mechanical arm and the palletizing mechanical arm are both arranged on the first conveying line;
A frame body is arranged on the first conveying line, and a conveying channel for the tray to pass through is formed between the frame body and the first conveying line;
The first conveying line is provided with a loading port and a unloading port.
3. The unstacking, labeling and unstacking device according to claim 2, wherein the second conveying line is provided with two rollers along the conveying direction, one roller is arranged between the first connection position and the five-face scanning device, the other roller is arranged on the front side of the second connection position, and the rollers are used for adjusting the pose of the target goods on the second conveying line.
4. A destacking, labeling and re-stacking device as in claim 3 further comprising: the second conveying line is provided with a jacking transfer device and an abnormal discharge port, and the jacking transfer device is used for removing the target goods with abnormal labeling from the abnormal discharge port.
5. The unstacking, labeling and resacking device according to claim 1, wherein the five-sided scanning device comprises: at least two scanning mechanisms, wherein the conveying direction of the target goods from the first connection position to the automatic labeling machine device is a straight line direction, and the direction of each scanning mechanism forms an angle with the straight line direction;
The two scanning mechanisms are respectively positioned at two sides of the first connection position;
Both scanning mechanisms incline downwards;
Both of the scanning mechanisms are higher than the top of the target cargo on the first conveyor line.
6. The unstacking, labeling and resacking device according to claim 4, wherein the second conveyor line comprises: the lifting transfer device comprises a first line, a second line, a third line and a fourth line, wherein the first line and the second line are conveyed in a first direction, the third line and the fourth line are conveyed in a second direction, the first direction is opposite to the second direction, one roller machine is arranged between the first line and the second line, the other roller machine is arranged between the third line and the fourth line, and the lifting transfer device is arranged between the second line and the third line;
The first docking station is located on the first line and the second docking station is located on the fourth line.
7. The unstacking, labeling and unstacking device according to claim 1, wherein safety guardrails are arranged on the outer sides of the first conveying line and the second conveying line.
8. The unstacking, labeling and resacking device according to claim 2, further comprising: the identifying device is arranged on the side edge of the loading port and is used for identifying the tray bar code information on the tray at the loading port and judging whether the tray is an empty tray or a loaded tray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320382938.9U CN220826982U (en) | 2023-03-03 | 2023-03-03 | Destacking, labeling and stacking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320382938.9U CN220826982U (en) | 2023-03-03 | 2023-03-03 | Destacking, labeling and stacking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220826982U true CN220826982U (en) | 2024-04-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320382938.9U Active CN220826982U (en) | 2023-03-03 | 2023-03-03 | Destacking, labeling and stacking device |
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| Country | Link |
|---|---|
| CN (1) | CN220826982U (en) |
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2023
- 2023-03-03 CN CN202320382938.9U patent/CN220826982U/en active Active
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