WO2024114238A1 - Storage conveying device based on palletizing/depalletizing and method - Google Patents

Storage conveying device based on palletizing/depalletizing and method Download PDF

Info

Publication number
WO2024114238A1
WO2024114238A1 PCT/CN2023/128036 CN2023128036W WO2024114238A1 WO 2024114238 A1 WO2024114238 A1 WO 2024114238A1 CN 2023128036 W CN2023128036 W CN 2023128036W WO 2024114238 A1 WO2024114238 A1 WO 2024114238A1
Authority
WO
WIPO (PCT)
Prior art keywords
finished material
material bags
depalletizing
palletizer
clamping jaw
Prior art date
Application number
PCT/CN2023/128036
Other languages
French (fr)
Chinese (zh)
Inventor
孙志胜
马海军
顾磊
曾佳
邹春晔
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 WO2024114238A1 publication Critical patent/WO2024114238A1/en

Links

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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding 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
    • 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
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/04—Loading land vehicles

Definitions

  • the present invention relates to the field of palletizing and depalletizing technology, and in particular to a buffering and conveying device and method based on palletizing and depalletizing.
  • the function of the loader conveyor line is to transport the finished material bags to a position near the container and stack the finished material bags in the container in an orderly manner
  • the container filled with finished material bags needs to be loaded onto a truck, and an empty container is placed in the operation area to continue the packing of finished material bags.
  • This process is called the rotating container process.
  • the finished product conveyor line and the previous processing operation process need to be suspended, which will lead to a decrease in the overall operating efficiency, and the standby and restart of the entire assembly line require a lot of electricity, which increases production costs.
  • the present invention provides a buffering and conveying device and method based on stacking and depalletizing, which can keep the entire assembly line able to continue operating under the condition of rotating container processes, thereby improving operating efficiency and saving production costs.
  • a buffer conveying device based on stacking and depalletizing comprising:
  • the steering node is used to receive the finished material bags and select to convey the finished material bags to the buffer line or the loader conveyor line;
  • a cache line is used to receive finished material bags delivered from the steering node and deliver the finished material bags to the working area of the palletizer, or deliver the finished material bags placed on the cache line after the palletizer depalletizes to the steering node;
  • Palletizers are used to palletize or depalletize bags of finished materials
  • the loader conveyor line is used to receive the finished material bags delivered by the turning node and stack the finished material bags in the container in an orderly manner;
  • the control host is used to receive the signal sent by the loader conveyor line, control the conveying direction of the steering node according to the signal, and simultaneously control the working content of the cache line, the palletizer and the loader conveyor line.
  • a buffer conveying method based on a buffer conveying device for stacking and depalletizing comprising:
  • Step 1 The control host receives the signal sent by the loader conveyor line
  • step 2 If the signal is a signal that the container is full of finished material bags or a signal that the loader conveyor line is faulty, execute step 2; if the signal is a signal that the container is not full of finished material bags, execute step 3;
  • Step 2 the control host controls the loader conveyor line to stop operation, controls the steering node to convey in the direction of the cache line, controls the cache line to convey the finished material bags to the working area of the palletizer, and controls the palletizer to perform palletizing operations;
  • Step 3 the control host controls the conveying direction of the steering node to convey in the direction of the loader conveyor line, controls the loader conveyor line to be in operation state, and obtains the signal sent by the palletizer to determine whether there is a finished material bag on the pallet;
  • the palletizer is controlled to perform a depalletizing operation, and the conveying direction of the cache line is controlled to be conveyed toward the turning node.
  • the beneficial effects of the present invention are as follows: when the container is full of finished material bags and the container rotation process is executed, or when the loader conveyor line fails, the finished product conveyor line and the assembly line before it can continue to operate, and the palletizing operation can be performed by controlling the coordination between the steering node, the buffer line and the palletizer.
  • the palletizer can be controlled to perform the depalletizing operation to return the finished material bags to the loader conveyor line, thereby ensuring that the entire assembly line can be in a continuous operating state, improving the operating efficiency and saving production costs.
  • FIG1 is a schematic structural diagram of a finished product conveying line, a turning node, a buffer line and a loader conveying line in a buffer conveying device based on stacking and depalletizing of the present invention
  • FIG2 is a schematic diagram of the overall structure of a palletizer in a buffer conveying device based on palletizing and depalletizing according to the present invention
  • FIG3 is a front view of a gripper assembly portion of a palletizer in a buffer conveying device based on palletizing and depalletizing of the present invention
  • FIG4 is a side view of a gripper assembly portion of a palletizer in a palletizing and depalletizing buffer conveying device according to the present invention.
  • FIG5 is an overall flow chart of a buffering and conveying method based on stacking and depalletizing of the present invention
  • FIG6 is a depalletizing flow chart of a buffering and conveying method based on depalletizing according to the present invention.
  • Finished product conveyor line a. Finished product conveyor line; b. Turning node; c. Loader conveyor line; d. Buffer line; e. Palletizer;
  • a buffer conveying device based on palletizing and depalletizing, a turning node, is used to receive finished material bags and select to convey the finished material bags to the buffer line or the loader conveyor line;
  • a cache line is used to receive finished material bags delivered from the steering node and deliver the finished material bags to the working area of the palletizer, or deliver the finished material bags placed on the cache line after the palletizer depalletizes to the steering node;
  • Palletizers are used to palletize or depalletize bags of finished materials
  • the loader conveyor line is used to receive the finished material bags delivered by the turning node and stack the finished material bags in the container in an orderly manner;
  • the control host is used to receive the signal sent by the loader conveyor line, control the conveying direction of the steering node according to the signal, and simultaneously control the working content of the cache line, the palletizer and the loader conveyor line.
  • the beneficial effects of the present invention are: when the container is full of finished material bags and the container rotation process is executed, or when the loader conveyor line fails, the finished product conveyor line and the assembly line before it can continue to operate, and the palletizing operation can be performed by controlling the coordination between the steering node, the cache line and the palletizer.
  • the palletizer can be controlled to perform the depalletizing operation to return the finished material bags to the loader conveyor line, thereby ensuring that the entire assembly line can be in a continuous operating state, improving the operating efficiency and saving production costs.
  • the palletizer comprises:
  • 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 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 unstacking operation.
  • the finished material bag may be bloated, if the suction cup is directly started when the suction operation 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.
  • 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 formed on the surface of the mounting side plate.
  • a buffer conveying method based on a buffer conveying device for stacking and depalletizing includes:
  • Step 1 The control host receives the signal sent by the loader conveyor line
  • step 2 If the signal is a signal that the container is full of finished material bags or a signal that the loader conveyor line is faulty, execute step 2; if the signal is a signal that the container is not full of finished material bags, execute step 3;
  • Step 2 the control host controls the loader conveyor line to stop operation, controls the steering node to convey in the direction of the cache line, controls the cache line to convey the finished material bags to the working area of the palletizer, and controls the palletizer to perform palletizing operations;
  • Step 3 the control host controls the conveying direction of the steering node to convey in the direction of the loader conveyor line, controls the loader conveyor line to be in operation state, and obtains the signal sent by the palletizer to determine whether there is a finished material bag on the pallet;
  • the palletizer is controlled to perform a depalletizing operation, and the conveying direction of the cache line is controlled to be conveyed toward the turning node.
  • the beneficial effects of the present invention are: when the container is full of finished material bags and the container rotation process is executed, or when the loader conveyor line fails, the finished product conveyor line and the assembly line before it can continue to operate, and the palletizing operation can be performed by controlling the coordination between the steering node, the cache line and the palletizer.
  • the palletizer can be controlled to perform the depalletizing operation to return the finished material bags to the loader conveyor line, thereby ensuring that the entire assembly line can be in a continuous operating state, improving the operating efficiency and saving production costs.
  • Step a The camera obtains the placement information of the finished material bags on the pallet and sends the material placement information to the computer;
  • Step b 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 the preset stacking order, analyzes the surface of the finished material bag based on the placement information of the finished material bag to obtain the flattest area, establishes a spatial coordinate axis with the camera position, and calculates the first coordinate position of the area;
  • Step c 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, 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 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 unstacking operation.
  • the finished material bag may be bloated, if the suction cup is directly started when the suction operation 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.
  • 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 buffer conveying device based on stacking and depalletizing includes:
  • Finished product conveyor line a used to convey finished product material bags
  • node b which is used to receive the finished material bags and choose to transport the finished material bags to the buffer line d or the loader conveyor line c;
  • Cache line d is used to receive the finished material bags delivered from the steering node b and deliver the finished material bags to the working area of the palletizer e, or deliver the finished material bags placed on the cache line d after the palletizer e depalletizes to the steering node b;
  • Palletizer e used for palletizing or depalletizing finished material bags
  • the loader conveyor line c is used to receive the finished material bags delivered from the turning node b, and stack the finished material bags in an orderly manner into the container; the loader conveyor line c in Figure 1 does not show its entire structure.
  • the loader conveyor line c includes a conveying part and a loader part. Figure 1 shows only the conveying part structure, and the loader part is not shown.
  • the loader part is a common loader on the market, which can stack the finished material bags in the container in an orderly manner.
  • the control host is used to receive the signal sent by the loader conveyor line c, control the conveying direction of the steering node b according to the signal, and simultaneously control the working content of the cache line d, the palletizer e and the loader conveyor line c.
  • the palletizer 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 .
  • a buffer conveying method based on a buffer conveying device for stacking and depalletizing includes:
  • Step 1 The control host receives the signal sent by the loader conveyor line
  • step 2 If the signal is a signal that the container is full of finished material bags or a signal that the loader conveyor line is faulty, execute step 2; if the signal is a signal that the container is not full of finished material bags, execute step 3;
  • Step 2 the control host controls the loader conveyor line to stop operation, controls the steering node to convey in the direction of the cache line, controls the cache line to convey the finished material bags to the working area of the palletizer, and controls the palletizer to perform palletizing operations;
  • Step 3 the control host controls the conveying direction of the steering node to convey in the direction of the loader conveyor line, controls the loader conveyor line to be in operation state, and obtains the signal sent by the palletizer to determine whether there is a finished material bag on the pallet;
  • the palletizer is controlled to perform a depalletizing operation, and the conveying direction of the cache line is controlled to be conveyed toward the turning node.
  • Step a The camera obtains the placement information of the finished material bags on the pallet and sends the material placement information to the computer;
  • Step b 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 the preset stacking order, analyzes the surface of the finished material bag based on the placement information of the finished material bag to obtain the flattest area, establishes a spatial coordinate axis with the camera position, and calculates the first coordinate position of the area;
  • Step c 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, 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 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.
  • 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 depalletized;
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A storage conveying device based on palletizing/depalletizing and a method, for use in keeping continuous operation of a finished product conveying line (a) and an assembly line before the finished product conveying line (a) when a container filled with finished product material bags executes the container rotation process or malfunction occurs to a loader conveying line (c). Palletizing operation is performed by controlling cooperation of a steering node (b), a storage line (d) and a palletizer (e), and when loading operation needs to be continued, the palletizer (e) can be controlled to perform depalletizing operation, such that finished product material bags are returned and conveyed to the loader conveying line (c), thereby ensuring that the integral assembly line can be in a continuous operation state, thus improving the operation efficiency, and saving the production cost.

Description

一种基于码拆垛的缓存输送设备及方法A buffer conveying device and method based on stacking and depalletizing 技术领域Technical Field
本发明涉及码拆垛技术领域，尤其涉及一种基于码拆垛的缓存输送设备及方法。The present invention relates to the field of palletizing and depalletizing technology, and in particular to a buffering and conveying device and method based on palletizing and depalletizing.
背景技术Background technique
目前，对于成品物料袋在成品输送线上输送往装车机输送线执行集装箱的装箱作业流程中（装车机输送线的作用在于将成品物料袋输送至集装箱附近位置并有序将成品物料袋堆叠至集装箱内），当集装箱装满后，需要将装满成品物料袋后的集装箱装载至货车上，同时放置空的集装箱在作业区域继续执行成品物料袋的装箱作业，这个流程被称为轮换集装箱流程，在轮换集装箱流程的情况下或装车机输送线故障的情况下，需要暂停成品输送线以及之前的加工作业流程，这样会导致整体的作业效率降低，而且整体流水线的待机和重启需要消耗大量电力成，增加了生产成本。At present, for the finished material bags that are transported from the finished product conveyor line to the loader conveyor line for container packing (the function of the loader conveyor line is to transport the finished material bags to a position near the container and stack the finished material bags in the container in an orderly manner), when the container is full, the container filled with finished material bags needs to be loaded onto a truck, and an empty container is placed in the operation area to continue the packing of finished material bags. This process is called the rotating container process. In the case of the rotating container process or the failure of the loader conveyor line, the finished product conveyor line and the previous processing operation process need to be suspended, which will lead to a decrease in the overall operating efficiency, and the standby and restart of the entire assembly line require a lot of electricity, which increases production costs.
技术问题technical problem
为了解决现有技术的上述问题，本发明提供一种基于码拆垛的缓存输送设备及方法，能够在轮换集装箱流程情况下，保持流水线整体能够继续作业，提高了作业效率并节约了生产成本。In order to solve the above problems in the prior art, the present invention provides a buffering and conveying device and method based on stacking and depalletizing, which can keep the entire assembly line able to continue operating under the condition of rotating container processes, thereby improving operating efficiency and saving production costs.
技术解决方案Technical Solutions
为了达到上述目的，本发明采用的一种技术方案为：一种基于码拆垛的缓存输送设备，包括：In order to achieve the above-mentioned purpose, a technical solution adopted by the present invention is: a buffer conveying device based on stacking and depalletizing, comprising:
成品输送线，用于输送成品物料袋；Finished product conveyor line, used to convey finished product material bags;
转向节点，用于接收成品物料袋，并选择将成品物料袋输送至缓存线或装车机输送线；The steering node is used to receive the finished material bags and select to convey the finished material bags to the buffer line or the loader conveyor line;
缓存线，用于接收转向节点输送过来的成品物料袋，并将成品物料袋输送至码垛机的工作区域，或者将码垛机拆垛作业后放置于缓存线上的成品物料袋输送至所述转向节点；A cache line is used to receive finished material bags delivered from the steering node and deliver the finished material bags to the working area of the palletizer, or deliver the finished material bags placed on the cache line after the palletizer depalletizes to the steering node;
码垛机，用于对成品物料袋进行码垛或拆垛作业；Palletizers are used to palletize or depalletize bags of finished materials;
装车机输送线，用于接收转向节点输送过来的成品物料袋，并将成品物料袋有序堆叠至集装箱内；The loader conveyor line is used to receive the finished material bags delivered by the turning node and stack the finished material bags in the container in an orderly manner;
控制主机，用于接收装车机输送线发送的信号，根据所述信号控制所述转向节点的输送方向，并同时控制缓存线、码垛机和装车机输送线的工作内容。The control host is used to receive the signal sent by the loader conveyor line, control the conveying direction of the steering node according to the signal, and simultaneously control the working content of the cache line, the palletizer and the loader conveyor line.
本发明采用的另一种技术方案为：一种基于码拆垛的缓存输送设备的缓存输送方法，包括：Another technical solution adopted by the present invention is: a buffer conveying method based on a buffer conveying device for stacking and depalletizing, comprising:
步骤1、控制主机接收装车机输送线发送的信号；Step 1: The control host receives the signal sent by the loader conveyor line;
若所述信号为集装箱装满成品物料袋信号或为装车机输送线故障信号，执行步骤2，若所述信号为集装箱未装满成品物料袋信号，执行步骤3；If the signal is a signal that the container is full of finished material bags or a signal that the loader conveyor line is faulty, execute step 2; if the signal is a signal that the container is not full of finished material bags, execute step 3;
步骤2、所述控制主机控制装车机输送线停止作业，并控制所述转向节点将输送方向为向缓存线方向输送，以及控制所述缓存线将成品物料袋输送至码垛机的工作区域，同时控制码垛机进行码垛作业；Step 2, the control host controls the loader conveyor line to stop operation, controls the steering node to convey in the direction of the cache line, controls the cache line to convey the finished material bags to the working area of the palletizer, and controls the palletizer to perform palletizing operations;
步骤3、所述控制主机控制转向节点的输送方向为向装车机输送线方向输送，控制装车机输送线为作业状态，并获取码垛机发送过来的信号判断栈板上是否存在成品物料袋；Step 3, the control host controls the conveying direction of the steering node to convey in the direction of the loader conveyor line, controls the loader conveyor line to be in operation state, and obtains the signal sent by the palletizer to determine whether there is a finished material bag on the pallet;
若是，则控制码垛机进行拆垛作业，并控制所述缓存线的输送方向为向所述转向节点方向输送。If so, the palletizer is controlled to perform a depalletizing operation, and the conveying direction of the cache line is controlled to be conveyed toward the turning node.
有益效果Beneficial Effects
本发明的有益效果是：能够在集装箱装满成品物料袋执行轮换集装箱流程或是装车机输送线故障的情况下，能够保持成品输送线及在其之前的流水线继续作业，并通过控制转向节点、缓存线和码垛机之间的配合进行码垛作业，待需要继续装箱作业时能够控制码垛机进行拆垛作业使成品物料袋返回输送至装车机输送线，从而能够保证流水线整体能够处于持续作业状态，提高了作业效率并节约了生产成本。The beneficial effects of the present invention are as follows: when the container is full of finished material bags and the container rotation process is executed, or when the loader conveyor line fails, the finished product conveyor line and the assembly line before it can continue to operate, and the palletizing operation can be performed by controlling the coordination between the steering node, the buffer line and the palletizer. When it is necessary to continue the packing operation, the palletizer can be controlled to perform the depalletizing operation to return the finished material bags to the loader conveyor line, thereby ensuring that the entire assembly line can be in a continuous operating state, improving the operating efficiency and saving production costs.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明的一种基于码拆垛的缓存输送设备中成品输送线、转向节点、缓存线和装车机输送线部分的结构示意图；FIG1 is a schematic structural diagram of a finished product conveying line, a turning node, a buffer line and a loader conveying line in a buffer conveying device based on stacking and depalletizing of the present invention;
图2为本发明的一种基于码拆垛的缓存输送设备中码垛机的整体结构示意图；FIG2 is a schematic diagram of the overall structure of a palletizer in a buffer conveying device based on palletizing and depalletizing according to the present invention;
图3为本发明的一种基于码拆垛的缓存输送设备中码垛机的夹爪组件部分的正视图；FIG3 is a front view of a gripper assembly portion of a palletizer in a buffer conveying device based on palletizing and depalletizing of the present invention;
图4为本发明的一种基于码拆垛的缓存输送设备中码垛机的夹爪组件部分的侧视图；FIG4 is a side view of a gripper assembly portion of a palletizer in a palletizing and depalletizing buffer conveying device according to the present invention;
图5为本发明的一种基于码拆垛的缓存输送方法的整体流程图；FIG5 is an overall flow chart of a buffering and conveying method based on stacking and depalletizing of the present invention;
图6为本发明的一种基于码拆垛的缓存输送方法中的拆垛流程图；FIG6 is a depalletizing flow chart of a buffering and conveying method based on depalletizing according to the present invention;
【附图标记说明】[Description of Reference Numerals]
a、成品输送线；b、转向节点；c、装车机输送线；d、缓存线；e、码垛机；a. Finished product conveyor line; b. Turning node; c. Loader conveyor line; d. Buffer line; e. Palletizer;
1、栈板；2、相机；3、夹爪；4、吸盘；5、伸缩气缸；6、安装顶板；7、安装侧板；8、安装横板；9、夹爪气缸；10、弹簧；11、通孔；12、滑杆；13、第一连接板；14、第二连接板。1. Pallet; 2. Camera; 3. Gripper; 4. Suction cup; 5. Telescopic cylinder; 6. Install top plate; 7. Install side plate; 8. Install cross plate; 9. Gripper cylinder; 10. Spring; 11. Through hole; 12. Sliding rod; 13. First connecting plate; 14. Second connecting plate.
本发明的最佳实施方式Best Mode for Carrying Out the Invention
为了更好的解释本发明，以便于理解，下面结合附图，通过具体实施方式，对本发明作详细描述。In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.
请参照图1至图4所示，一种基于码拆垛的缓存输送设备，转向节点，用于接收成品物料袋，并选择将成品物料袋输送至缓存线或装车机输送线；Please refer to Figures 1 to 4, a buffer conveying device based on palletizing and depalletizing, a turning node, is used to receive finished material bags and select to convey the finished material bags to the buffer line or the loader conveyor line;
缓存线，用于接收转向节点输送过来的成品物料袋，并将成品物料袋输送至码垛机的工作区域，或者将码垛机拆垛作业后放置于缓存线上的成品物料袋输送至所述转向节点；A cache line is used to receive finished material bags delivered from the steering node and deliver the finished material bags to the working area of the palletizer, or deliver the finished material bags placed on the cache line after the palletizer depalletizes to the steering node;
码垛机，用于对成品物料袋进行码垛或拆垛作业；Palletizers are used to palletize or depalletize bags of finished materials;
装车机输送线，用于接收转向节点输送过来的成品物料袋，并将成品物料袋有序堆叠至集装箱内；The loader conveyor line is used to receive the finished material bags delivered by the turning node and stack the finished material bags in the container in an orderly manner;
控制主机，用于接收装车机输送线发送的信号，根据所述信号控制所述转向节点的输送方向，并同时控制缓存线、码垛机和装车机输送线的工作内容。The control host is used to receive the signal sent by the loader conveyor line, control the conveying direction of the steering node according to the signal, and simultaneously control the working content of the cache line, the palletizer and the loader conveyor line.
从上述描述可知，本发明的有益效果在于：能够在集装箱装满成品物料袋执行轮换集装箱流程或是装车机输送线故障的情况下，能够保持成品输送线及在其之前的流水线继续作业，并通过控制转向节点、缓存线和码垛机之间的配合进行码垛作业，待需要继续装箱作业时能够控制码垛机进行拆垛作业使成品物料袋返回输送至装车机输送线，从而能够保证流水线整体能够处于持续作业状态，提高了作业效率并节约了生产成本。From the above description, it can be seen that the beneficial effects of the present invention are: when the container is full of finished material bags and the container rotation process is executed, or when the loader conveyor line fails, the finished product conveyor line and the assembly line before it can continue to operate, and the palletizing operation can be performed by controlling the coordination between the steering node, the cache line and the palletizer. When it is necessary to continue the packing operation, the palletizer can be controlled to perform the depalletizing operation to return the finished material bags to the loader conveyor line, thereby ensuring that the entire assembly line can be in a continuous operating state, improving the operating efficiency and saving production costs.
进一步地，所述码垛机包括：Furthermore, the palletizer comprises:
栈板，用于放置成品物料袋；Pallets for placing finished material bags;
相机，设置于所述栈板的上方，所述相机通过视觉AI定位技术扫描栈板区域得到成品物料袋摆放信息，并将所述成品物料袋摆放信息发送至计算机；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;
夹爪组件，包括可开合的夹爪和可升降的吸盘，所述吸盘位于所述夹爪的中部；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;
压力传感器，设置于所述吸盘的中部，且所述压力传感器的感应面与所述吸盘的底面齐平；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;
计算机，用于接收所述相机发送的信息并处理，并基于处理结果控制所述夹爪组件作业。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.
从上述描述可知，通过相机获取到栈板区域的成品物料袋摆放信息后，计算机能够处理该信息且定位待夹取成品物料袋表面最平整区域的坐标信息，从而控制夹爪组件移动至该区域进行精准地吸附和夹取成品物料袋操作，避免掉包和塌垛的情况发生，实现良好的拆垛作业。另外，由于成品物料袋可能存在胀气的情况，若是吸盘贴在成品物料袋表面的时候直接开始吸附作业，则容易吸附面过于单薄、没有吸附到里面的小袋包装而导致吸附不稳，因此，夹爪组件下压的高度并不能每次都一致，在夹爪组件下压过程中，通过吸盘中部的压力传感器感应与成品物料袋的压力情况，如果碰到胀气的成品物料袋，需要下压更多的高度使吸盘与成品物料袋之间的压力超过预设力值，即完成压力传感器与成品物料袋中的小袋包装的接触，从而使吸盘在工作的时候能够将成品物料袋成功吸附住，避免掉包情况发生。From the above description, it can be seen that after the camera obtains the placement information of the finished material bags in the pallet area, 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 unstacking operation. In addition, since the finished material bag may be bloated, if the suction cup is directly started when the suction operation 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. During the pressing process of the clamping claw assembly, 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.
进一步地，所述夹爪组件还包括：Furthermore, the clamping jaw assembly also includes:
缓冲装置，其底部连接有所述吸盘；A buffer device, the bottom of which is connected to the suction cup;
伸缩气缸，用于驱动所述缓冲装置升降。The telescopic cylinder is used to drive the buffer device to rise and fall.
从上述描述可知，通过缓冲装置能够在吸盘下压物料带的过程中提供缓冲功能，不仅能够起到吸盘作用，也能起到带有缓冲功能的压板作用，避免下压力度过重压坏成品物料袋内的产品，同时也能保证成品物料袋不会发生位移。From the above description, it can be seen that 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.
进一步地，所述缓冲装置包括：Furthermore, the buffer device comprises:
第一连接板，其顶部与所述伸缩气缸的输出杆连接，所述第一连接板的四角设有穿孔；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;
第二连接板，其底部与所述吸盘连接；A second connecting plate, the bottom of which is connected to the suction cup;
滑杆，分别穿过所述穿孔与第二连接板固定连接，且所述滑杆在所述穿孔内可滑动；Sliding rods, passing through the through holes and fixedly connected to the second connecting plate, respectively, and the sliding rods are slidable in the through holes;
弹簧，套设于所述滑杆的外部，且所述弹簧固定连接于所述第一连接板和第二连接板之间。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.
进一步地，还包括：Furthermore, it also includes:
安装顶板，其底面中部固定有所述伸缩气缸；Install the top plate, the telescopic cylinder is fixed to the middle of the bottom surface of the top plate;
安装侧板，分别连接于所述安装顶板的底部四角；Install side panels, connected to the four bottom corners of the installation top panel respectively;
安装横板，将四个所述安装横板划分为两侧，每一侧的一对所述安装侧板之间连接有所述安装横板，所述夹爪连接于所述安装横板的底部；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;
夹爪气缸，安装于所述安装横板上，所述夹爪气缸用于驱动所述夹爪做开合作业。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.
从上述描述可知，通过在安装顶板的底部四角设置安装侧板，使得伸缩气缸能够位于安装侧板中部放置，从而能够让夹爪的设计高度更加灵活，其夹取的活动角度和幅度更加可控。From the above description, it can be seen that by setting mounting side panels at the four bottom corners of the mounting top plate, 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.
进一步地，所述安装侧板的表面开设有多个通孔。Furthermore, a plurality of through holes are formed on the surface of the mounting side plate.
从上述描述可知，在安装侧板的表面开设多个通孔，能够不影响安装侧板使用功能的同时，减轻整体的重量，从而能够减轻码垛机的机械臂的控制负担。From the above description, it can be seen that by providing a plurality of through holes on the surface of the mounting side plate, the overall weight can be reduced without affecting the use function of the mounting side plate, thereby reducing the control burden of the robot arm of the palletizer.
请参照图5和图6所示，一种基于码拆垛的缓存输送设备的缓存输送方法，包括：As shown in FIG. 5 and FIG. 6 , a buffer conveying method based on a buffer conveying device for stacking and depalletizing includes:
步骤1、控制主机接收装车机输送线发送的信号；Step 1: The control host receives the signal sent by the loader conveyor line;
若所述信号为集装箱装满成品物料袋信号或为装车机输送线故障信号，执行步骤2，若所述信号为集装箱未装满成品物料袋信号，执行步骤3；If the signal is a signal that the container is full of finished material bags or a signal that the loader conveyor line is faulty, execute step 2; if the signal is a signal that the container is not full of finished material bags, execute step 3;
步骤2、所述控制主机控制装车机输送线停止作业，并控制所述转向节点将输送方向为向缓存线方向输送，以及控制所述缓存线将成品物料袋输送至码垛机的工作区域，同时控制码垛机进行码垛作业；Step 2, the control host controls the loader conveyor line to stop operation, controls the steering node to convey in the direction of the cache line, controls the cache line to convey the finished material bags to the working area of the palletizer, and controls the palletizer to perform palletizing operations;
步骤3、所述控制主机控制转向节点的输送方向为向装车机输送线方向输送，控制装车机输送线为作业状态，并获取码垛机发送过来的信号判断栈板上是否存在成品物料袋；Step 3, the control host controls the conveying direction of the steering node to convey in the direction of the loader conveyor line, controls the loader conveyor line to be in operation state, and obtains the signal sent by the palletizer to determine whether there is a finished material bag on the pallet;
若是，则控制码垛机进行拆垛作业，并控制所述缓存线的输送方向为向所述转向节点方向输送。If so, the palletizer is controlled to perform a depalletizing operation, and the conveying direction of the cache line is controlled to be conveyed toward the turning node.
从上述描述可知，本发明的有益效果在于：能够在集装箱装满成品物料袋执行轮换集装箱流程或是装车机输送线故障的情况下，能够保持成品输送线及在其之前的流水线继续作业，并通过控制转向节点、缓存线和码垛机之间的配合进行码垛作业，待需要继续装箱作业时能够控制码垛机进行拆垛作业使成品物料袋返回输送至装车机输送线，从而能够保证流水线整体能够处于持续作业状态，提高了作业效率并节约了生产成本。From the above description, it can be seen that the beneficial effects of the present invention are: when the container is full of finished material bags and the container rotation process is executed, or when the loader conveyor line fails, the finished product conveyor line and the assembly line before it can continue to operate, and the palletizing operation can be performed by controlling the coordination between the steering node, the cache line and the palletizer. When it is necessary to continue the packing operation, the palletizer can be controlled to perform the depalletizing operation to return the finished material bags to the loader conveyor line, thereby ensuring that the entire assembly line can be in a continuous operating state, improving the operating efficiency and saving production costs.
进一步地，所述码垛机的拆垛流程为：Furthermore, the depalletizing process of the palletizer is as follows:
步骤a、相机获取栈板上的成品物料袋摆放信息，将所述物料摆放信息发送至计算机；Step a: The camera obtains the placement information of the finished material bags on the pallet and sends the material placement information to the computer;
步骤b、计算机获取所述成品物料袋摆放信息，按照预设码垛顺序选取栈板中最上层的一成品物料袋，基于所述成品物料袋摆放信息分析所述成品物料袋表面得到最为平整的区域，以相机位置建立空间坐标轴，计算所述区域的第一坐标位置；Step b, 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 the preset stacking order, analyzes the surface of the finished material bag based on the placement information of the finished material bag to obtain the flattest area, establishes a spatial coordinate axis with the camera position, and calculates the first coordinate position of the area;
步骤c、获取所述夹爪组件的第二坐标位置，所述计算机基于所述第一坐标位置和第二坐标位置计算夹爪组件的移动路径，基于所述移动路径控制所述夹爪组件移动，控制所述夹爪张开后令所述吸盘移动至所述区域上方后下压，当所述压力传感器感应的压力超过预设力值后，控制所述吸盘吸附所述成品物料袋，控制所述吸盘上升至预设距离后控制夹爪夹取所述成品物料袋并输送至预设区域。Step c, 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, 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.
从上述描述可知，通过相机获取到栈板区域的成品物料袋摆放信息后，计算机能够处理该信息且定位待夹取成品物料袋表面最平整区域的坐标信息，从而控制夹爪组件移动至该区域进行精准地吸附和夹取成品物料袋操作，避免掉包和塌垛的情况发生，实现良好的拆垛作业。另外，由于成品物料袋可能存在胀气的情况，若是吸盘贴在成品物料袋表面的时候直接开始吸附作业，则容易吸附面过于单薄、没有吸附到里面的小袋包装而导致吸附不稳，因此，夹爪组件下压的高度并不能每次都一致，在夹爪组件下压过程中，通过吸盘中部的压力传感器感应与成品物料袋的压力情况，如果碰到胀气的成品物料袋，需要下压更多的高度使吸盘与成品物料袋之间的压力超过预设力值，即完成压力传感器与成品物料袋中的小袋包装的接触，从而使吸盘在工作的时候能够将成品物料袋成功吸附住，避免掉包情况发生。From the above description, it can be seen that after the camera obtains the placement information of the finished material bags in the pallet area, 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 unstacking operation. In addition, since the finished material bag may be bloated, if the suction cup is directly started when the suction operation 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. During the pressing process of the clamping claw assembly, 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.
进一步地，预设码垛顺序为：先顺时针/逆时针继续码放后续的成品物料袋，然后码放栈板中心部分的成品物料袋，按当层成品物料袋码放完毕后，继续往上码放下一层成品物料袋，直至码垛到预设层数后停止码垛作业；Furthermore, 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;
所述预设拆垛顺序为：先按逆时针/顺时针夹取周边部分的成品物料袋，然后夹取栈板中心部分的成品物料袋，继续往下夹取下一层成品物料袋，直至夹取完毕后停止拆垛作业。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.
从上述描述可知，不论是在码垛和拆垛的时候，都会先按照逆时针/顺时针的顺序处理周边部分的成品物料袋，使其作业过程中能够保持良好的稳定性，避免塌垛的情况发生。From the above description, it can be seen that no matter when stacking or depalletizing, the finished material bags on the periphery will be processed in a counterclockwise/clockwise order first, so that they can maintain good stability during the operation and avoid the occurrence of stack collapse.
实施例Example
请参照图1所示，一种基于码拆垛的缓存输送设备，包括：As shown in FIG. 1 , a buffer conveying device based on stacking and depalletizing includes:
成品输送线a，用于输送成品物料袋；Finished product conveyor line a, used to convey finished product material bags;
转向节点b，用于接收成品物料袋，并选择将成品物料袋输送至缓存线d或装车机输送线c；Turn to node b, which is used to receive the finished material bags and choose to transport the finished material bags to the buffer line d or the loader conveyor line c;
缓存线d，用于接收转向节点b输送过来的成品物料袋，并将成品物料袋输送至码垛机e的工作区域，或者将码垛机e拆垛作业后放置于缓存线d上的成品物料袋输送至所述转向节点b；Cache line d is used to receive the finished material bags delivered from the steering node b and deliver the finished material bags to the working area of the palletizer e, or deliver the finished material bags placed on the cache line d after the palletizer e depalletizes to the steering node b;
码垛机e，用于对成品物料袋进行码垛或拆垛作业；Palletizer e, used for palletizing or depalletizing finished material bags;
装车机输送线c，用于接收转向节点b输送过来的成品物料袋，并将成品物料袋有序堆叠至集装箱内；图1中的装车机输送线c未显示其全部结构，装车机输送线c包含有输送部分和装车机部分，图1所示仅为输送部分结构，其装车机部分未示出，该装车机部分为市面上常见的装车机，能够有序将成品物料袋堆叠至集装箱内。The loader conveyor line c is used to receive the finished material bags delivered from the turning node b, and stack the finished material bags in an orderly manner into the container; the loader conveyor line c in Figure 1 does not show its entire structure. The loader conveyor line c includes a conveying part and a loader part. Figure 1 shows only the conveying part structure, and the loader part is not shown. The loader part is a common loader on the market, which can stack the finished material bags in the container in an orderly manner.
控制主机，用于接收装车机输送线c发送的信号，根据所述信号控制所述转向节点b的输送方向，并同时控制缓存线d、码垛机e和装车机输送线c的工作内容。The control host is used to receive the signal sent by the loader conveyor line c, control the conveying direction of the steering node b according to the signal, and simultaneously control the working content of the cache line d, the palletizer e and the loader conveyor line c.
实施例Example
请参照图2至图4所示，本实施例与实施例1的区别在于，所述码垛机包括：Referring to FIGS. 2 to 4 , the difference between this embodiment and the embodiment 1 is that the palletizer includes:
栈板1，用于放置成品物料袋；Pallet 1, used to place finished material bags;
相机2，设置于所述栈板1的上方，所述相机2通过视觉AI定位技术扫描栈板1区域得到成品物料袋摆放信息，并将所述成品物料袋摆放信息发送至计算机；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;
夹爪组件，包括可开合的夹爪3和可升降的吸盘4，所述吸盘4位于所述夹爪3的中部；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;
压力传感器，设置于所述吸盘4的中部，且所述压力传感器的感应面与所述吸盘4的底面齐平；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;
计算机，用于接收所述相机2发送的信息并处理，并基于处理结果控制所述夹爪组件作业。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.
其中，所述夹爪组件还包括：Wherein, the clamping jaw assembly further comprises:
缓冲装置，其底部连接有所述吸盘4；A buffer device, the bottom of which is connected to the suction cup 4;
伸缩气缸5，用于驱动所述缓冲装置升降。The telescopic cylinder 5 is used to drive the buffer device to rise and fall.
其中，所述缓冲装置包括：Wherein, the buffer device comprises:
第一连接板13，其顶部与所述伸缩气缸5的输出杆连接，所述第一连接板13的四角设有穿孔11；A first connecting plate 13, the top of which is connected to the output rod of the telescopic cylinder 5, and four corners of the first connecting plate 13 are provided with through holes 11;
第二连接板14，其底部与所述吸盘4连接；A second connecting plate 14, the bottom of which is connected to the suction cup 4;
滑杆12，分别穿过所述穿孔11与第二连接板14固定连接，且所述滑杆12在所述穿孔11内可滑动；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;
弹簧10，套设于所述滑杆12的外部，且所述弹簧10固定连接于所述第一连接板13和第二连接板14之间。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 .
其中，还包括：Among them, it also includes:
安装顶板6，其底面中部固定有所述伸缩气缸5；Install the top plate 6, the telescopic cylinder 5 is fixed to the middle of the bottom surface of the top plate 6;
安装侧板7，分别连接于所述安装顶板6的底部四角；Install side panels 7, connected to the four bottom corners of the installation top panel 6 respectively;
安装横板8，将四个所述安装横板8划分为两侧，每一侧的一对所述安装侧板7之间连接有所述安装横板8，所述夹爪3连接于所述安装横板8的底部；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;
夹爪气缸9，安装于所述安装横板8上，所述夹爪气缸9用于驱动所述夹爪3做开合作业。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.
其中，所述安装侧板7的表面开设有多个通孔11。A plurality of through holes 11 are formed on the surface of the mounting side plate 7 .
实施例Example
请参照图5和图6所示，一种基于码拆垛的缓存输送设备的缓存输送方法，包括：As shown in FIG. 5 and FIG. 6 , a buffer conveying method based on a buffer conveying device for stacking and depalletizing includes:
步骤1、控制主机接收装车机输送线发送的信号；Step 1: The control host receives the signal sent by the loader conveyor line;
若所述信号为集装箱装满成品物料袋信号或为装车机输送线故障信号，执行步骤2，若所述信号为集装箱未装满成品物料袋信号，执行步骤3；If the signal is a signal that the container is full of finished material bags or a signal that the loader conveyor line is faulty, execute step 2; if the signal is a signal that the container is not full of finished material bags, execute step 3;
步骤2、所述控制主机控制装车机输送线停止作业，并控制所述转向节点将输送方向为向缓存线方向输送，以及控制所述缓存线将成品物料袋输送至码垛机的工作区域，同时控制码垛机进行码垛作业；Step 2, the control host controls the loader conveyor line to stop operation, controls the steering node to convey in the direction of the cache line, controls the cache line to convey the finished material bags to the working area of the palletizer, and controls the palletizer to perform palletizing operations;
步骤3、所述控制主机控制转向节点的输送方向为向装车机输送线方向输送，控制装车机输送线为作业状态，并获取码垛机发送过来的信号判断栈板上是否存在成品物料袋；Step 3, the control host controls the conveying direction of the steering node to convey in the direction of the loader conveyor line, controls the loader conveyor line to be in operation state, and obtains the signal sent by the palletizer to determine whether there is a finished material bag on the pallet;
若是，则控制码垛机进行拆垛作业，并控制所述缓存线的输送方向为向所述转向节点方向输送。If so, the palletizer is controlled to perform a depalletizing operation, and the conveying direction of the cache line is controlled to be conveyed toward the turning node.
其中，所述码垛机的拆垛流程为：Wherein, the depalletizing process of the palletizer is as follows:
步骤a、相机获取栈板上的成品物料袋摆放信息，将所述物料摆放信息发送至计算机；Step a: The camera obtains the placement information of the finished material bags on the pallet and sends the material placement information to the computer;
步骤b、计算机获取所述成品物料袋摆放信息，按照预设码垛顺序选取栈板中最上层的一成品物料袋，基于所述成品物料袋摆放信息分析所述成品物料袋表面得到最为平整的区域，以相机位置建立空间坐标轴，计算所述区域的第一坐标位置；Step b, 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 the preset stacking order, analyzes the surface of the finished material bag based on the placement information of the finished material bag to obtain the flattest area, establishes a spatial coordinate axis with the camera position, and calculates the first coordinate position of the area;
步骤c、获取所述夹爪组件的第二坐标位置，所述计算机基于所述第一坐标位置和第二坐标位置计算夹爪组件的移动路径，基于所述移动路径控制所述夹爪组件移动，控制所述夹爪张开后令所述吸盘移动至所述区域上方后下压，当所述压力传感器感应的压力超过预设力值后，控制所述吸盘吸附所述成品物料袋，控制所述吸盘上升至预设距离后控制夹爪夹取所述成品物料袋并输送至预设区域。Step c, 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, 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.
其中，预设码垛顺序为：先顺时针/逆时针继续码放后续的成品物料袋，然后码放栈板中心部分的成品物料袋，按当层成品物料袋码放完毕后，继续往上码放下一层成品物料袋，直至码垛到预设层数后停止码垛作业；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;
所述预设拆垛顺序为：先按逆时针/顺时针夹取周边部分的成品物料袋，然后夹取栈板中心部分的成品物料袋，继续往下夹取下一层成品物料袋，直至夹取完毕后停止拆垛作业。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.
本发明的码垛流程如下：The palletizing process of the present invention is as follows:
夹爪3和在夹爪气缸9的作用下张开到最大位置；The clamping jaw 3 is opened to the maximum position under the action of the clamping jaw cylinder 9;
待成品物料袋（多指内装有多袋小袋的大袋成品物料袋）到达输送线预置位置处于静止状态后，通过计算机控制夹爪3放在固定的码垛位置；After the finished material bag (a large finished material bag containing multiple small bags) reaches the preset position of the conveyor line and is in a stationary state, the computer controls the clamping jaws 3 to be placed in a fixed stacking position;
夹爪3在夹爪气缸9的作用下合拢将大袋物料抱住（本文中抱住动作与夹取动作为同一含义）；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);
吸盘4通过伸缩气缸5伸出并压在成品物料袋表面（不抽真空，只提供下压力，防止成品物料袋在码垛搬运途中滑落）；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);
夹爪3将成品物料袋搬运到栈板1上方的程序预设位置，伸缩气缸5回缩将吸盘4抽离，夹爪气缸9控制夹爪3张开，成品物料袋下落至栈板1上的目标位置。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 .
重复以上的步骤，直至完成整体的码垛流程。Repeat the above steps until the entire palletizing process is completed.
本发明的拆垛流程如下：The destacking process of the present invention is as follows:
通过相机2的视觉AI定位技术对需要拆垛的成品物料袋进行扫描，将扫描的相关数据通过计算机程序进行计算，其计算结果传导到码垛，码垛机是一个整体设备，而本方案的码拆垛装置是码垛机的其中一部分，该码垛机还包括其他组件，例如用于移动码拆垛装置位置的机械手等组件；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.
夹爪组件按照码垛机的相关控制程序动作，先将夹爪组件移动到需要拆垛的成品物料袋位置；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 depalletized;
夹爪3在夹爪气缸9的作用下张开到最大位置；The clamping jaw 3 is opened to the maximum position under the action of the clamping jaw cylinder 9;
吸盘4通过伸缩气缸5伸出压在成品物料袋表面，当压力传感器感应到的压力超过预设力值后停止下压，进行抽真空作业，吸住后通过机械手作用将成品物料袋吸离原有位置；The suction cup 4 is extended by the telescopic cylinder 5 and pressed on the surface of the finished material bag. When 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.
夹爪3在夹爪气缸9的作用下合拢抱住成品物料袋（防止成品物料袋在拆垛搬运途中滑落）；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);
夹爪3将成品物料袋搬运到输送线的程序预设位置，控制吸盘4取消对吸附并上升，夹爪3在夹爪气缸9的作用下张开使得成品物料袋落至输送线目标位置，重复执行1-6步骤，直至完成拆垛工作流程。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.
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等同变换，或直接或间接运用在相关的技术领域，均同理包括在本发明的专利保护范围内。The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims (9)

  1. 一种基于码拆垛的缓存输送设备，其特征在于，包括：A buffering and conveying device based on stacking and depalletizing, characterized by comprising:
    成品输送线，用于输送成品物料袋；Finished product conveyor line, used to convey finished product material bags;
    转向节点，用于接收成品物料袋，并选择将成品物料袋输送至缓存线或装车机输送线；The steering node is used to receive the finished material bags and select to convey the finished material bags to the buffer line or the loader conveyor line;
    缓存线，用于接收转向节点输送过来的成品物料袋，并将成品物料袋输送至码垛机的工作区域，或者将码垛机拆垛作业后放置于缓存线上的成品物料袋输送至所述转向节点；A cache line is used to receive finished material bags delivered from the steering node and deliver the finished material bags to the working area of the palletizer, or deliver the finished material bags placed on the cache line after the palletizer depalletizes to the steering node;
    码垛机，用于对成品物料袋进行码垛或拆垛作业；Palletizers are used to palletize or depalletize bags of finished materials;
    装车机输送线，用于接收转向节点输送过来的成品物料袋，并将成品物料袋有序堆叠至集装箱内；The loader conveyor line is used to receive the finished material bags delivered by the turning node and stack the finished material bags in the container in an orderly manner;
    控制主机，用于接收装车机输送线发送的信号，根据所述信号控制所述转向节点的输送方向，并同时控制缓存线、码垛机和装车机输送线的工作内容。The control host is used to receive the signal sent by the loader conveyor line, control the conveying direction of the steering node according to the signal, and simultaneously control the working content of the cache line, the palletizer and the loader conveyor line.
  2. 根据权利要求1所述的基于码拆垛的缓存输送设备，其特征在于，所述码垛机包括：The palletizing and depalletizing buffer conveying device according to claim 1 is characterized in that the palletizer comprises:
    栈板，用于放置成品物料袋；Pallets for placing finished material bags;
    相机，设置于所述栈板的上方，所述相机通过视觉AI定位技术扫描栈板区域得到成品物料袋摆放信息，并将所述成品物料袋摆放信息发送至计算机；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;
    夹爪组件，包括可开合的夹爪和可升降的吸盘，所述吸盘位于所述夹爪的中部；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;
    压力传感器，设置于所述吸盘的中部，且所述压力传感器的感应面与所述吸盘的底面齐平；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;
    计算机，用于接收所述相机发送的信息并处理，并基于处理结果控制所述夹爪组件作业。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.
  3. 根据权利要求2所述的基于码拆垛的缓存输送设备，其特征在于，所述夹爪组件还包括：The stacking and depalletizing buffer conveying device according to claim 2 is characterized in that the clamping claw assembly further comprises:
    缓冲装置，其底部连接有所述吸盘；A buffer device, the bottom of which is connected to the suction cup;
    伸缩气缸，用于驱动所述缓冲装置升降。The telescopic cylinder is used to drive the buffer device to rise and fall.
  4. 根据权利要求3所述的基于码拆垛的缓存输送设备，其特征在于，所述缓冲装置包括：The stacking and depalletizing buffering and conveying device according to claim 3 is characterized in that the buffering device comprises:
    第一连接板，其顶部与所述伸缩气缸的输出杆连接，所述第一连接板的四角设有穿孔；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;
    第二连接板，其底部与所述吸盘连接；A second connecting plate, the bottom of which is connected to the suction cup;
    滑杆，分别穿过所述穿孔与第二连接板固定连接，且所述滑杆在所述穿孔内可滑动；Sliding rods, passing through the through holes and fixedly connected to the second connecting plate, respectively, and the sliding rods are slidable in the through holes;
    弹簧，套设于所述滑杆的外部，且所述弹簧固定连接于所述第一连接板和第二连接板之间。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.
  5. 根据权利要求3所述的基于码拆垛的缓存输送设备，其特征在于，还包括：The stacking and depalletizing buffering and conveying device according to claim 3 is characterized by further comprising:
    安装顶板，其底面中部固定有所述伸缩气缸；Install the top plate, the telescopic cylinder is fixed to the middle of the bottom surface of the top plate;
    安装侧板，分别连接于所述安装顶板的底部四角；Install side panels, connected to the four bottom corners of the installation top panel respectively;
    安装横板，将四个所述安装横板划分为两侧，每一侧的一对所述安装侧板之间连接有所述安装横板，所述夹爪连接于所述安装横板的底部；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;
    夹爪气缸，安装于所述安装横板上，所述夹爪气缸用于驱动所述夹爪做开合作业。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.
  6. 根据权利要求5所述的基于码拆垛的缓存输送设备，其特征在于，所述安装侧板的表面开设有多个通孔。The stacking and depalletizing based buffering and conveying equipment according to claim 5 is characterized in that a plurality of through holes are opened on the surface of the mounting side plate.
  7. 一种基于权利要求1至6任一项所述的基于码拆垛的缓存输送设备的缓存输送方法，其特征在于，包括：A cache conveying method based on the depalletizing cache conveying device according to any one of claims 1 to 6, characterized in that it comprises:
    步骤1、控制主机接收装车机输送线发送的信号；Step 1: The control host receives the signal sent by the loader conveyor line;
    若所述信号为集装箱装满成品物料袋信号或为装车机输送线故障信号，执行步骤2，若所述信号为集装箱未装满成品物料袋信号，执行步骤3；If the signal is a signal that the container is full of finished material bags or a signal that the loader conveyor line is faulty, execute step 2; if the signal is a signal that the container is not full of finished material bags, execute step 3;
    步骤2、所述控制主机控制装车机输送线停止作业，并控制所述转向节点将输送方向为向缓存线方向输送，以及控制所述缓存线将成品物料袋输送至码垛机的工作区域，同时控制码垛机进行码垛作业；Step 2, the control host controls the loader conveyor line to stop operation, controls the steering node to convey in the direction of the cache line, controls the cache line to convey the finished material bags to the working area of the palletizer, and controls the palletizer to perform palletizing operations;
    步骤3、所述控制主机控制转向节点的输送方向为向装车机输送线方向输送，控制装车机输送线为作业状态，并获取码垛机发送过来的信号判断栈板上是否存在成品物料袋；Step 3, the control host controls the conveying direction of the steering node to convey in the direction of the loader conveyor line, controls the loader conveyor line to be in operation state, and obtains the signal sent by the palletizer to determine whether there is a finished material bag on the pallet;
    若是，则控制码垛机进行拆垛作业，并控制所述缓存线的输送方向为向所述转向节点方向输送。If so, the palletizer is controlled to perform a depalletizing operation, and the conveying direction of the cache line is controlled to be conveyed toward the turning node.
  8. 根据权利要求7所述的基于码拆垛的缓存输送设备的缓存输送方法，其特征在于，所述码垛机的拆垛流程为：The cache conveying method based on the stacking and depalletizing cache conveying equipment according to claim 7 is characterized in that the depalletizing process of the palletizer is:
    步骤a、相机获取栈板上的成品物料袋摆放信息，将所述物料摆放信息发送至计算机；Step a: The camera obtains the placement information of the finished material bags on the pallet and sends the material placement information to the computer;
    步骤b、计算机获取所述成品物料袋摆放信息，按照预设码垛顺序选取栈板中最上层的一成品物料袋，基于所述成品物料袋摆放信息分析所述成品物料袋表面得到最为平整的区域，以相机位置建立空间坐标轴，计算所述区域的第一坐标位置；Step b, 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 the preset stacking order, analyzes the surface of the finished material bag based on the placement information of the finished material bag to obtain the flattest area, establishes a spatial coordinate axis with the camera position, and calculates the first coordinate position of the area;
    步骤c、获取所述夹爪组件的第二坐标位置，所述计算机基于所述第一坐标位置和第二坐标位置计算夹爪组件的移动路径，基于所述移动路径控制所述夹爪组件移动，控制所述夹爪张开后令所述吸盘移动至所述区域上方后下压，当所述压力传感器感应的压力超过预设力值后，控制所述吸盘吸附所述成品物料袋，控制所述吸盘上升至预设距离后控制夹爪夹取所述成品物料袋并输送至预设区域。Step c, 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, 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.
  9. 一种基于权利要求8所述的基于码拆垛的缓存输送设备的缓存输送方法，其特征在于，预设码垛顺序为：先顺时针/逆时针继续码放后续的成品物料袋，然后码放栈板中心部分的成品物料袋，按当层成品物料袋码放完毕后，继续往上码放下一层成品物料袋，直至码垛到预设层数后停止码垛作业；A buffering and conveying method based on the stacking and depalletizing buffering and conveying equipment according to claim 8, characterized in that the preset stacking sequence is: first continue to stack the subsequent finished material bags clockwise/counterclockwise, then stack the finished material bags in the center of the pallet, and after the stacking of the finished material bags of the current layer is completed, continue to stack the next layer of finished material bags upwards, and stop the stacking operation after the preset number of layers are stacked;
    所述预设拆垛顺序为：先按逆时针/顺时针夹取周边部分的成品物料袋，然后夹取栈板中心部分的成品物料袋，继续往下夹取下一层成品物料袋，直至夹取完毕后停止拆垛作业。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 clamping is completed.
PCT/CN2023/128036 2022-11-30 2023-10-31 Storage conveying device based on palletizing/depalletizing and method WO2024114238A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211524744.4 2022-11-30
CN202211524744.4A CN115783809A (en) 2022-11-30 2022-11-30 Cache conveying equipment and method based on code unstacking

Publications (1)

Publication Number Publication Date
WO2024114238A1 true WO2024114238A1 (en) 2024-06-06

Family

ID=85444110

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/128036 WO2024114238A1 (en) 2022-11-30 2023-10-31 Storage conveying device based on palletizing/depalletizing and method

Country Status (2)

Country Link
CN (1) CN115783809A (en)
WO (1) WO2024114238A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115783809A (en) * 2022-11-30 2023-03-14 厦门艾思欧标准砂有限公司 Cache conveying equipment and method based on code unstacking
CN115838081A (en) * 2022-11-30 2023-03-24 厦门艾思欧标准砂有限公司 Device and method for stacking and unstacking

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110166695A1 (en) * 2010-01-04 2011-07-07 Ifkovits Michael R System and method for producing and arranging sheet material for use in a mailpiece inserter
CN111071809A (en) * 2019-12-30 2020-04-28 郑州弗曼智能设备科技有限公司 Automatic unstacking equipment
CN111301922A (en) * 2020-03-31 2020-06-19 深圳市美瑞安科技有限公司 Clamping type intelligent stereoscopic warehouse for storing and taking PCB finished products and storing method
CN211643905U (en) * 2020-02-22 2020-10-09 保定智通自动化技术有限公司 Automatic loading equipment for container
CN114873135A (en) * 2022-06-16 2022-08-09 北京京东乾石科技有限公司 Article conveying system, method and device
CN114890144A (en) * 2022-06-30 2022-08-12 奥斯玛特智能装备(福建)有限公司 Glass cold junction stack delivery system
CN115783809A (en) * 2022-11-30 2023-03-14 厦门艾思欧标准砂有限公司 Cache conveying equipment and method based on code unstacking
CN115838081A (en) * 2022-11-30 2023-03-24 厦门艾思欧标准砂有限公司 Device and method for stacking and unstacking
CN218859673U (en) * 2022-11-30 2023-04-14 厦门艾思欧标准砂有限公司 Buffer memory conveying equipment based on sign indicating number is broken a jam

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110166695A1 (en) * 2010-01-04 2011-07-07 Ifkovits Michael R System and method for producing and arranging sheet material for use in a mailpiece inserter
CN111071809A (en) * 2019-12-30 2020-04-28 郑州弗曼智能设备科技有限公司 Automatic unstacking equipment
CN211643905U (en) * 2020-02-22 2020-10-09 保定智通自动化技术有限公司 Automatic loading equipment for container
CN111301922A (en) * 2020-03-31 2020-06-19 深圳市美瑞安科技有限公司 Clamping type intelligent stereoscopic warehouse for storing and taking PCB finished products and storing method
CN114873135A (en) * 2022-06-16 2022-08-09 北京京东乾石科技有限公司 Article conveying system, method and device
CN114890144A (en) * 2022-06-30 2022-08-12 奥斯玛特智能装备(福建)有限公司 Glass cold junction stack delivery system
CN115783809A (en) * 2022-11-30 2023-03-14 厦门艾思欧标准砂有限公司 Cache conveying equipment and method based on code unstacking
CN115838081A (en) * 2022-11-30 2023-03-24 厦门艾思欧标准砂有限公司 Device and method for stacking and unstacking
CN218859673U (en) * 2022-11-30 2023-04-14 厦门艾思欧标准砂有限公司 Buffer memory conveying equipment based on sign indicating number is broken a jam

Also Published As

Publication number Publication date
CN115783809A (en) 2023-03-14

Similar Documents

Publication Publication Date Title
WO2024114238A1 (en) Storage conveying device based on palletizing/depalletizing and method
US8814492B2 (en) Method for loading and unloading a pallet and corresponding palletizer
WO2024114237A1 (en) Palletizing and depalletizing device and method
KR102221767B1 (en) Auto lading equipment and auto boxing lading system using the same
JPH0611618B2 (en) Article palletizing device
JP2019006515A (en) Article transfer device
US20050220599A1 (en) Clamshell and fork-style material handling apparatus
EP3885291A1 (en) Palletizing apparatus
JPH09131685A (en) Hand device of robot
WO2022206375A1 (en) Material conveying method and device
CN218859673U (en) Buffer memory conveying equipment based on sign indicating number is broken a jam
JPS61197398A (en) Article treater
WO2024109134A1 (en) Continuous grouping device at tail end of conveying line
CN108557491A (en) It is a kind of pile up irregular cigarette packet to cage vehicle system
JP2011173678A (en) Palletizer for bag cargo
US20230264841A1 (en) A System and Method for Handling Packaging Units, and Manipulator Unit
JP4208110B2 (en) Luggage transfer device and computer-readable recording medium
CN219098050U (en) Stacking and unstacking device
JP3275518B2 (en) Handling method
CN219687728U (en) Packaging bag conveyor
CN110844609A (en) Pallet roller bed stacking device and control method
CN218024232U (en) Tray stack support disassembling system
CN220997875U (en) Ton bag adds tray plastic system of leaving warehouse
CN220316606U (en) Carrying stacking system
CN218086224U (en) Automatic boxing system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23896392

Country of ref document: EP

Kind code of ref document: A1