A device and method for destacking blister trays

Abstract

A device and method for disassembling plastic trays, the device comprises: a main frame, a lifting load plate installed on the main frame in a liftable manner, two fork arms installed relative to the lifting load plate in a manner that allows them to approach horizontally, a plurality of inserting teeth fixed to the fork arms at intervals, a seam width photoelectric detection installed corresponding to the inserting tooth portion of each inserting tooth, and a material beating assembly fixed to the fork arms, wherein the seam width photoelectric detection corresponds to the sink groove positioning of the tray, and the seam width value between the upper and lower adjacent layers of trays is identified by detecting the distance between the upper and lower adjacent layers of trays, and the material beating assembly comprises: an inserting and pressing tooth installed on the fork arm in a linearly slidable manner, and a cylinder for driving the inserting and pressing tooth to push down the bottom tray among the upper and lower adjacent layers of trays. In this way, automated continuous production can be achieved, and the intensity of manual labor can be effectively reduced.

Description

Technical Field

[0001] The invention relates to a pallet disassembly technology, in particular to a blister pallet disassembly device and method, which can be suitable for the automatic disassembly of blister nine-legged pallets. Background Art

[0002] Plastic pallets are widely used in packaging, warehousing, logistics and other fields due to their advantages such as light weight, strong load-bearing capacity, corrosion resistance, moisture resistance, adaptability to irregular shapes, stable physical and chemical properties, long life and compliance with the environmental protection requirements of "plastic instead of wood".

[0003] The blister nine-legged pallet is made of HDPE or PP material through one-piece molding through the blister process. It has the excellent characteristics of high strength, high toughness, and can be nested and stacked. It can be forked from all four sides at the same time, which is convenient for the operation of various forklifts, floor bulls (manual hydraulic trucks), stackers, etc.

[0004] In the automated packaging production line, the blister nine-legged pallet needs to be depalletized and transported to the designated location through the logistics roller, and the goods are palletized and packaged by robots. In order to realize the automation of the packaging production line, an automated blister nine-legged pallet depalletizing device is required to depalletize a single blister nine-legged pallet and transfer it to the conveyor roller through a transfer device.

[0005] However, the existing technology uses manual disassembly for the disassembly of blister nine-legged pallets, and the goods are manually stacked for packaging. As the industrialization process continues to advance, automated production is the general trend. The existing automated pallet disassembly equipment does not meet the disassembly case of blister nine-legged pallets.

[0006] The existing technology uses manual depalletizing, which cannot realize the automation of the packaging production line, resulting in low operating efficiency. In addition, during manual separation, a single person uses a manual single-point prying method to split the pallet, which cannot realize multi-point prying splitting of tightly nested pallets, and is very easy to damage the pallet. The main reasons for the difficulty in automated splitting are that the nested stacking of blister nine-legged pallets causes uneven spacing between the upper and lower layers due to gravity; the spacing between the edge layers is small and the depth is short; the shape of the upper surface of the pallet itself is complex and undulating; deformation and warping caused by multiple uses; and the existence of individual large splitting forces. Summary of the invention

[0007] In order to solve the above problems, the purpose of the present invention is to provide a blister tray depalletizing device and method, which can automatically depalletize blister nine-legged pallets and can be used as an important device in an automated packaging production line.

[0008] According to one aspect of the present invention, a device for destacking blister trays is provided, comprising: a main frame, a lifting support plate movably mounted on the main frame, two fork arms mounted relative to the lifting support plate in a manner that allows them to approach each other horizontally, a plurality of inserting teeth fixed to the fork arms at intervals, a seam width photoelectric detection device installed correspondingly to the inserting tooth portion of each inserting tooth, and a material beating assembly fixed to the fork arms, wherein the seam width photoelectric detection device corresponds to the positioning of the tray's sink groove, and the seam width value between the upper and lower adjacent layers of trays is identified by detecting the presence or absence of the distance between the upper and lower adjacent layers of trays, the inserting tooth portion of the inserting tooth has an outer size that can be inserted into the sink groove, and the material beating assembly comprises: an inserting and pressing tooth slidably mounted on the fork arm, and a cylinder for driving the inserting and pressing tooth to push the bottom tray among the upper and lower adjacent layers of trays downward, and the inserting and pressing tooth has an outer size that can be inserted into the gap portion between the upper and lower adjacent layers of trays.

[0009] Preferably, the blister tray depalletizing device further comprises: a tray self-centering device for positioning the supporting tray, the tray self-centering device comprising: two side legs cut from the same pallet or having the same structure, and a protective cover covering the top side ports of each leg in a manner of exposing them.

[0010] Preferably, the blister pallet depalletizing device also includes: a transfer device for transferring the bottom pallet to the downstream, the transfer device includes: a vertical lifting part and a horizontal transfer part, wherein two groups of pallet lifting plates are respectively connected to two guide rod cylinders to form two groups of vertical lifting parts; the two groups of vertical lifting parts are connected to a linear guide pair, the linear guide pair is connected to a rodless cylinder, and the rodless cylinder is installed and fixed on a transfer frame to form a horizontal transfer part.

[0011] Preferably, the transfer device is arranged with its initial position above the downstream material roller, and the two sets of vertical lifting parts are arranged longitudinally opposite to the center position between two pallet self-centering devices above the pallet self-centering device frame.

[0012] Preferably, the lifting bearing plate is connected to the main frame through a first linear slide rail pair, and the fork arm is connected to the lifting bearing plate through a second linear slide rail pair.

[0013] Preferably, a plurality of groups of holes for installing the insert teeth are provided on the fork arm, and a steel ruler for guiding the insert teeth to adjust the installation position is provided.

[0014] Preferably, the inserting tooth portion of the inserting tooth is formed as a wedge-shaped tooth with a size corresponding to the width and depth of the groove, and the inserting and pressing teeth of the punching assembly are installed on a linear guide pair in the form of a guide rail and a slider, and are driven by a cylinder to perform linear motion.

[0015] Preferably, a set of lifting bearing plates, fork arms, inserting teeth, seam width photoelectric detection, and material punching components are respectively configured on opposite sides of the main frame.

[0016] According to another aspect of the present invention, a method for destacking blister trays is provided, characterized in that the blister tray destacking device is used to destacker the stacked trays on the tray self-centering device, comprising the following steps:

[0017] The fork arm is driven to move to a predetermined position close to the bottom pallet. If the seam width photoelectric detection identifies that there is material, the fork arm is driven upward to obtain the seam width value between the bottom pallet and the upper pallet by the seam width photoelectric detection. On the premise that the seam width value meets the splitting requirements, the fork arm is driven to move to the designated splitting position so that the inserting tooth portion and the inserting and pressing tooth of the inserting tooth are respectively opposite to and inserted into the slot gap at the slot between the bottom pallet and the upper pallet and the gap portion outside the slot gap. Then the fork arm is driven upward to a predetermined height corresponding to at least one pallet height. Then the cylinder of the punching assembly drives the inserting and pressing tooth downward to push the bottom pallet out of the way and fall into the pallet self-centering device, and then the cylinder retracts. The fork arm moves upward again by a predetermined distance to avoid the next transfer process of the bottom pallet. If the seam width photoelectric detection identifies that there is no material, a feeding demand alarm is issued. If the seam width photoelectric detection identifies that the seam width is greater than the set maximum seam width value, it is judged that there is only one pallet, and no splitting is performed, and the transfer command is directly executed.

[0018] Preferably, if the seam width photoelectric detection identifies that there is no material on the bottom pallet, an alarm for loading demand is issued; if the seam width value identified by the seam width photoelectric detection is greater than the set maximum seam width value, it is judged that there is only one pallet, and the pallet is not split, and the transfer command is directly executed; the rodless cylinder of the transfer device drives the linear guide pair and the pallet lifting plate and guide rod cylinder connected thereto to move horizontally to the bottom of the split bottom pallet, and the guide rod cylinder drives the pallet lifting plate to lift the bottom pallet upward to separate it from the pallet self-centering device; then the rodless cylinder drives to retract, and the bottom pallet is horizontally moved out of the pallet self-centering device.

[0019] Compared with the prior art which uses manual depalletizing and cannot realize the automation of the packaging production line, the present invention can be applied to the automated packaging production line to fully realize the automation of packaging. In the automated depalletizing process, the present invention can realize the individual depalletizing of the blister tray and the depalletizing and counting according to the required quantity, thereby improving the depalletizing efficiency and reducing the labor intensity. The above example illustrates a blister nine-legged pallet, but the present invention is not limited thereto and can also be applied to scenarios with other numbers of legs.

[0020] In order to make the technical means, creative features, objectives and effects achieved by this patent easy to understand, the content of this patent is further explained below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The three-dimensional structure diagram of the blister tray depalletizing device is schematically shown.

[0022] Figure 2 A top view of the device is schematically shown.

[0023] Figure 3 The three-dimensional structure diagram of the main frame is schematically shown.

[0024] Figure 4 The three-dimensional structure diagram of the lifting bearing plate installed on the main frame is schematically shown.

[0025] Figure 5 The three-dimensional structure of the fork arm is schematically shown.

[0026] Figure 6 A partial three-dimensional structural diagram of a fork arm is schematically shown.

[0027] Figure 7 The three-dimensional structure of the gear insert is schematically shown.

[0028] Figure 8 The three-dimensional structure diagram of the material beating assembly is schematically shown.

[0029] Fig. 9 The three-dimensional structure diagram of the pallet self-centering device is schematically shown.

[0030] Fig.10 The three-dimensional structure diagram of the transfer device is schematically shown.

[0031] Fig.11 The stacking diagram of the pallets is schematically shown. DETAILED DESCRIPTION

[0032] The exemplary embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. The exemplary embodiments described below and shown in the accompanying drawings are intended to teach the principles of the present invention so that those skilled in the art can implement and use the present invention in several different environments and for several different applications. Therefore, the scope of protection of the present invention is defined by the appended claims, and the exemplary embodiments are not intended to be, and should not be considered to be, a limiting description of the scope of protection of the present invention. Moreover, for the convenience of description, the sizes of the various parts shown in the accompanying drawings are not necessarily drawn according to the actual proportional relationship, and the orientation description, such as the longitudinal direction corresponding to the longitudinal length of the main body, and the orientation or position relationship indicated by the upper, lower, left, right, top, bottom, etc., are all based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a predetermined orientation, be constructed and operated in a predetermined orientation, and therefore cannot be understood as a limitation of the present invention. Unless otherwise specifically stated, the order of components and assembly steps and the numerical values ​​described in the embodiments do not limit the scope of the present invention. Moreover, any numerical range stated herein is intended to include all sub-ranges contained therein, and the numerical range represented by "value A to value B" refers to a range including the endpoint values ​​A and B. Those skilled in the art will understand that the terms "first", "second", "step" and the like in the present invention are only used to distinguish different steps, devices or modules, etc., and do not represent any predetermined technical meanings, nor do they represent the necessary logical order between them. For example, the second and third steps can be swapped or performed in parallel.

[0033] In logistics sites, for example, a common blister nine-legged pallet has nine legs, a thickness of 6mm-9mm, irregular edges, and a plurality of sinks 19 are formed at intervals along the periphery of the pallet. Fig.11 In the horizontal direction), it is about 20mm, and the minimum width is 5mm. The nine-legged blister pallets are nested. Due to gravity, the pallets on the lower layer are tightly pressed together without any gaps. At this time, only the sink 19 can be exposed. The minimum width of the sink between adjacent pallets is 5mm, and the maximum depth is within 30mm. In addition, the nesting resistance of adjacent pallets in each layer is inconsistent, which makes the spacing between the upper and lower layers uneven, the height of the same layer is inconsistent and skewed, and the deformation and warping of the pallets themselves caused by multiple uses, and the existence of individual nested tight separation forces. In addition, there may be gaps between the upper pallets without being pressed together. It can be seen that at the sink position, the distance between the upper and lower adjacent layers of pallets (corresponding to the tray gap and seam width below) is the sum of the sink depth and the possible gap between layers.

[0034] For this reason, Figure 1 As shown, the present invention provides a blister pallet destacking device, which mainly includes: a main frame 1, a lifting load plate 2, a fork arm 3, a tooth insertion 4, a seam width photoelectric detection 5, a material punching component 6, a pallet self-centering device 7, a pallet self-centering device frame 8, and a transfer device 9.

[0035] like Figure 3 As shown, the main frame 1 is a square tube welded structure, and a set of split units (corresponding to the components numbered 2 to 9 above) are configured on opposite sides. In this way, a certain weight balance can be achieved, while the width of the frame can be effectively reduced and the cost can be reduced. The following mainly describes a set of split units on one side.

[0036] As a lifting device, the lifting bearing plate 2 is connected to the main frame 1 through a first linear guide rail pair 21. Figure 4 As shown, the vertical servo movement of lifting the carrying plate 2 is realized by using the first servo motor 22, the reducer 23, and the ball screw 24 structure.

[0037] like Figure 5 As shown, the fork arm 3 is a welded structure, a group of split units has two and bilaterally symmetrical, connected to the lifting bearing plate 2 through a second linear guide rail pair 31, and the horizontal centering servo motion of the fork arm 3 is realized by a second servo motor 32, a reducer 33, a left-handed ball screw 34, and a right-handed ball screw 35 structure. Thus, a driving mechanism is formed.

[0038] like Figure 6 As shown, a plurality of insert teeth 4 are fixedly mounted on the fork arm 3, and the position and external dimensions of the insert teeth portion 42 on the working side of each insert tooth 4 are matched with the gap of the pallet to be split. The fork arm 3 is provided with a plurality of sets of holes for installing the insert teeth 4, such as a plurality of sets of holes in the form of two rows of long waist holes arranged side by side, and is provided with a steel ruler 41 for guiding the lateral sliding of the insert teeth 4 to adjust the installation position, so that the position and spacing of each insert tooth 4 can be quickly adjusted according to the scale when the pallet type is changed. The scale of the steel ruler 41 can be used to indicate the installation position of the insert teeth 4, and different pallets have different scale positions.

[0039] like Figure 7 As shown, a seam width photoelectric detector 5 is integrally fixedly installed at the bottom of the inserting teeth 4, so that the seam width photoelectric detector 5 can move horizontally with the fork arm 3 and can move vertically with the inserting teeth 4. The seam width photoelectric detector 5 is a distance measuring photoelectric device, which detects the distance between the seam width photoelectric detector 5 and the upper and lower adjacent layers of pallets (i.e., the pallet gap) to identify whether there is a bottom layer of pallets and whether there is an upper layer of pallets, and obtains the seam width value by the moving distance from presence to absence and then to presence.

[0040] Preferably, the inserting teeth portion 42 on the working side of the inserting teeth 4 is formed as a wedge-shaped tooth with a size corresponding to the width and depth of the sink groove. The gap width photoelectric detector 5 is installed directly below the wedge-shaped tooth (but not limited to this, as long as it can be installed correspondingly up and down), so that after the gap of the pallet is detected by the gap width photoelectric detector 5, the wedge-shaped tooth can be directly aligned with the gap of the pallet and inserted by means of the lowering (or rising) action of the lifting load plate 2 and the fork arm 3, thereby forming a pallet lifting mechanism.

[0041] like Figure 8 As shown, the punching assembly 6 is a plug-in pressing tooth 61 installed on a linear guide pair 63 in the form of a guide rail and a slider, and is driven by a cylinder 62 to perform linear motion. The punching assembly 6 is installed and fixed on the hole position of the fork arm 3, and the position and external dimensions match the outer leg gap 20 of the corresponding split pallet that is difficult to detach, thereby forming a pallet splitting mechanism. By using the above-mentioned hole position and steel ruler 41, the position can be quickly adjusted according to the scale when the pallet type is changed. The scale of the steel ruler 41 can be used to indicate the installation position of the plug-in pressing tooth 61, and different pallets correspond to different scale positions.

[0042] Preferably, the outer leg gaps 20 correspond to the two sides of the periphery of the tray, because when the insertion and pressing teeth 61 are located closer to the middle, the two sides are easy to be stuck and difficult to be disassembled. Here, the outer leg gaps 20 can be idle grooves (grooves not used to match the toothing parts 42 of the inserting teeth 4) or other gaps between the upper and lower adjacent layers of the tray.

[0043] like Fig. 9 As shown, the pallet self-centering device 7 is constructed by covering the two side legs 77 (three legs on each end in the case of a nine-legged pallet) cut from the same pallet or with the same structure with a protective cover 88 in such a way as to expose the top side port of each leg 77. Since each leg 77 itself is a part of the same pallet, the positioning of the pallet when it is overlapped on it is accurate and the cost is low. It is installed on the pallet self-centering device frame 8 through the T-shaped guide rail 81 and the buckle 71. It can be quickly disassembled and assembled, and the position can be adjusted when the pallet type is changed. The pallet self-centering device frame 8 is a square tube welded structure, which is installed and fixed on the ground and fixed relative to the main frame 1. In this way, a pallet positioning mechanism is formed.

[0044] like Fig.10 As shown, the transfer device 9 is divided into two parts: a vertical lifting part and a horizontal transfer part. Two sets of pallet lifting plates 91 are respectively connected to two guide rod cylinders 92, thereby forming two sets of lifting parts. The two sets of lifting parts are connected to a linear guide pair 93, and the linear guide pair 93 is connected to a rodless cylinder 94, and the rodless cylinder 94 is installed and fixed on a transfer frame 95. The whole is installed and fixed on the ground, and the relative position with the main frame 1 and the pallet self-centering device frame 8 is fixed.

[0045] Preferably, the transfer device 9 can be arranged so that the initial position is above the downstream material roller, and the two sets of vertical lifting parts are longitudinally facing the center position between the two pallet self-centering devices 7 above the pallet self-centering device frame 8, so that the bottom pallet can be transferred to the downstream material roller by lifting and lowering and moving back and forth of the two sets of vertical lifting parts. In this way, a pallet transfer system is formed, which is used to transfer the split pallets to the automated circulation program.

[0046] As described above, the blister tray depalletizing device according to the present invention is suitable for removing the bottom tray (not limited to the bottom tray according to the application scenario requirements) of the stacked trays, that is, lifting the other trays on the upper layer, and after the bottom tray is taken away, the other trays are dropped, and the depalletizing is carried out in this cycle. The working process is described in more detail below.

[0047] When the blister pallet destacking device is in the loading / original position state (the fork arm 3 is at the outermost side in the horizontal direction and at the bottom in the vertical direction), loading is performed. For this purpose, a stack of pallets to be destacking, not more than 30 in number, can be inserted in advance by a forklift and placed in stacks in the pallet self-centering device 7, that is, the operation processing object of the blister pallet destacking device is the pallets placed in stacks.

[0048] Through the corresponding control program, the fork arm 3 is driven to move upward and toward the center to a predetermined position according to the type of pallet, close to the bottom pallet, and the seam width photoelectric detection 5 recognizes that there is material (that is, there is a pallet to be removed). At this time, the fork arm 3 is continued to be driven upward to identify the presence or absence of the upper pallet (or the penultimate pallet) through the distance, and the seam width value between the bottom pallet and the upper pallet is obtained by the moving distance from presence to absence and then to presence. On the premise that the seam width value meets the splitting requirements (for example, the corresponding seam width value range that the thickness of the front end of the wedge-shaped tooth can be inserted into), the fork arm 3 is continued to be driven to move to the designated splitting position, that is, the inserting tooth portion 42 of the inserting tooth 4 and the inserting and pressing tooth 61 are directly opposite to the sinking groove gap and the outer leg gap 20 at the sinking groove 19 between the bottom pallet and the upper pallet. The fork arm 3 is driven to move toward the center so that the inserting tooth portion 42 and the inserting and pressing tooth 61 are inserted into their respective gaps, and then the fork arm 3 is driven to lift nearly one pallet height (that is, at least a predetermined height corresponding to the height of one pallet). In this process, the bottom pallet will move with the upper pallet due to the nesting friction. Then the cylinder 62 of the punching assembly 6 drives the inserting and pressing teeth 61 to push the bottom tray downward to disengage and smoothly fall into the tray self-centering device 7, and then the cylinder 62 retracts. The fork arm 3 moves upward again by a predetermined distance to avoid the next transfer process of the bottom tray.

[0049] In addition, during the above identification, if the seam width photoelectric detection 5 detects that there is no material, a material loading demand alarm is issued. If the seam width photoelectric detection 5 detects that the seam width value is greater than the set maximum seam width value, it is determined that there is only one pallet, and no splitting is performed, and the transfer command is directly executed.

[0050] The rodless cylinder 94 of the transfer device 9 drives the linear guide pair 93 and the pallet lifting plate 91 and the guide rod cylinder 92 connected thereto to move horizontally to the bottom of the disassembled pallet (i.e., the bottom pallet), and the guide rod cylinder 92 drives the pallet lifting plate 91 to lift the bottom pallet upward to separate it from the pallet self-centering device 7. Then the rodless cylinder 94 drives to retract and horizontally transfer the bottom pallet out of the pallet self-centering device 7. In this way, the transfer device 9 of the material roller conveyor receives the pallet and sends it to the roller conveyor to complete the whole process. Then the blister pallet depalletizing device resets and waits for the material request signal to proceed to the next cycle.

[0051] There are alternative solutions for the proposed technical solution, such as using hydraulic cylinders instead of servo motors and ball screws to form a driving mechanism, equipping the main frame 1 with one or more sets of split units, and changing the number and form of the gear inserting assembly 4 and the punching assembly 6, all of which are within the scope of protection of this patent.

[0052] Therefore, when the nine-legged blister tray is disassembled, the driving mechanism drives the fork arm to move up and down and toward the center. When the gap width meets the splitting requirement, the inserting tooth portion 42 on the fork arm and the inserting and pressing tooth 61 of the punching assembly are inserted into the gap between the bottom tray and the tray above the bottom tray. The tray lifting mechanism lifts the tray above the bottom tray and the bottom tray embedded therewith upward by a specified distance. The inserting and pressing tooth 61 of the punching assembly on the fork arm pushes the bottom tray downward and makes it fall into the tray positioning mechanism, thereby separating the bottom tray from the tray above the bottom tray. The blister tray disassembling device realizes automatic continuous production and can effectively reduce the labor intensity.

[0053] In the description of the present application, "multiple" means two or more than two, unless otherwise clearly and specifically defined. Unless otherwise clearly defined and defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. Although the present invention has been described with reference to various specific embodiments, it should be understood that variations can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present invention is not limited to the described embodiments, but will have the full scope defined by the language of the appended claims.

Claims

1. A device for destacking blister trays, characterized in that: include: A main frame (1), a lifting bearing plate (2) mounted on the main frame (1) in a liftable manner, two fork arms (3) mounted on the lifting bearing plate (2) in a manner that allows them to approach each other horizontally, a plurality of inserting teeth (4) fixed to the fork arms (3) at intervals, a seam width photoelectric detector (5) mounted in correspondence with the inserting teeth portion (42) of each inserting tooth (4) up and down, and a material beating assembly (6) fixed to the fork arms (3), wherein the seam width photoelectric detector (5) is positioned corresponding to the sink groove (19) of the tray, and the seam width photoelectric detector (5) is detected by the upper and lower parts. The gap width between the upper and lower adjacent trays is determined by determining whether there is a distance between the trays in the lower adjacent layers. The inserting tooth portion (42) of the inserting tooth (4) has an outer dimension capable of being inserted into the sink groove (19). The punching assembly (6) comprises: an inserting and pressing tooth (61) linearly slidably mounted on the fork arm (3), and a cylinder (62) for driving the inserting and pressing tooth (61) to push the bottom tray of the trays in the upper and lower adjacent layers downward. The inserting and pressing tooth (61) has an outer dimension capable of being inserted into the gap portion between the upper and lower adjacent trays.

2. The blister tray destacking device according to claim 1, characterized in that: Also includes: A pallet self-centering device (7) for positioning a supporting pallet, the pallet self-centering device (7) comprising: two side legs (77) cut from the same pallet or having the same structure, and a protective cover (88) covering the top side ports of each leg (77) in a manner of exposing them.

3. The device for destacking blister trays according to claim 2, characterized in that: Also includes: A transfer device (9) for transferring a bottom pallet to a downstream side, the transfer device (9) comprising: a vertical lifting part and a horizontal transfer part, wherein two groups of pallet lifting plates (91) are respectively connected to two guide rod cylinders (92), thereby forming two groups of vertical lifting parts; the two groups of vertical lifting parts are connected to a first linear guide pair (93), the first linear guide pair (93) is connected to a rodless cylinder (94), and the rodless cylinder (94) is mounted and fixed on a transfer frame (95), thereby forming a horizontal transfer part.

4. The device for destacking blister trays according to claim 3, characterized in that: The transfer device (9) is arranged so that its initial position is above the downstream material roller, and the two sets of vertical lifting parts are longitudinally opposite to the center position between two pallet self-centering devices (7) arranged above the pallet self-centering device frame (8).

5. The device for destacking blister trays according to claim 4, characterized in that: The lifting bearing plate (2) is connected to the main frame (1) via a first linear slide rail pair (21), and the fork arm (3) is connected to the lifting bearing plate (2) via a second linear slide rail pair (31).

6. The device for destacking blister trays according to claim 5, characterized in that: A plurality of groups of holes for installing the insert teeth (4) are provided on the fork arm (3), and a steel ruler (41) for guiding the insert teeth (4) to adjust the installation position is provided.

7. The device for destacking blister trays according to claim 6, characterized in that: The inserting tooth portion (42) of the inserting tooth (4) is formed into a wedge-shaped tooth having a size corresponding to the width and depth of the sink groove (19), and the inserting and pressing tooth (61) of the punching assembly (6) is mounted on a second linear guide pair (63) in the form of a guide rail and a slider, and is driven by a cylinder (62) to perform linear motion.

8. The device for destacking blister trays according to claim 7, characterized in that: A set of lifting bearing plates (2), fork arms (3), inserting teeth (4), seam width photoelectric detection (5), and a material punching assembly (6) are respectively arranged on opposite sides of the main frame (1).

9. A method for depalletizing a blister tray, characterized in that: Using the blister tray destacking device according to any one of claims 3 to 7 to destacker the stacked trays on the tray self-centering device (7), the method comprises the following steps: The fork arm (3) is driven to move to a predetermined position close to the bottom tray. If the seam width photoelectric detector (5) identifies that there is material, the fork arm (3) is driven to move upwards, and the seam width photoelectric detector (5) identifies the seam width value between the bottom tray and the upper tray. On the premise that the seam width value meets the splitting requirement, the fork arm (3) is driven to move to the designated splitting position, so that the inserting tooth portion (42) and the inserting and pressing tooth (61) of the inserting tooth (4) are respectively aligned with and inserted into the groove gap at the groove (19) between the bottom tray and the upper tray and the gap portion outside the groove gap, and then the fork arm (3) is driven to lift upwards to a predetermined height corresponding to at least one tray height. Then, the cylinder (62) of the punching assembly (6) drives the inserting and pressing tooth (61) to push the bottom tray downwards to disengage and fall into the tray self-centering device (7), and then the cylinder (62) is retracted; the fork arm (3) is moved upwards again by a predetermined distance to avoid the next transfer process of the bottom tray.

10. The method for destacking blister trays according to claim 9, characterized in that: If the seam width photoelectric detection (5) identifies that there is no material on the bottom pallet, a loading demand alarm is issued; if the seam width value identified by the seam width photoelectric detection (5) is greater than the set maximum seam width value, it is determined that there is only one pallet, and the pallet is not split, and the transfer command is directly executed; the rodless cylinder (94) of the transfer device (9) drives the first linear guide pair (93) and the pallet lifting plate (91) and the guide rod cylinder (92) connected thereto to move horizontally to the bottom of the split bottom pallet, and the guide rod cylinder (92) drives the pallet lifting plate (91) to lift the bottom pallet upward to separate it from the pallet self-centering device (7); then the rodless cylinder (94) is driven to retract, and the bottom pallet is horizontally transferred out of the pallet self-centering device (7).

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