Disassembly method and disassembly structure

Abstract

The present invention provides a destacking method and a destacking structure, which relate to the technical field of cargo disassembly. The destacking method comprises: obtaining an arrangement signal of a plurality of cargoes. According to the arrangement signal, the plurality of cargoes are divided into a plurality of first cargo groups, wherein the cargoes in any first cargo group are arranged in a straight line and have the same placement posture. The first cargo group is divided into at least one second cargo group, wherein the length of any second cargo group is less than or equal to a first preset length. The plurality of second cargo groups are sorted, and a sorting signal is generated. According to the sorting signal, the destacking structure is controlled to sequentially remove the plurality of second cargo groups. The present invention also provides a destacking structure, which can execute the above-mentioned destacking method. The destacking method and destacking structure provided by the present invention can improve the disassembly efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of goods disassembly, and more particularly, to a disassembly method and a palletizing structure. Background Art

[0002] In the field of warehousing and logistics automation, goods are often stored on pallets according to certain stacking rules. When it is necessary to handle and sort the goods on the pallet, an automated palletizing device removes the goods from the pallet through actuators such as suction cups and manipulators.

[0003] In the prior art, when a manipulator removes goods, it usually removes only one or a group of sequentially arranged goods each time, increasing the number of removal times and resulting in a decrease in disassembly efficiency. Summary of the Invention

[0004] An object of the present invention is to provide a disassembly method that can improve the efficiency of goods disassembly.

[0005] Another object of the present invention is to provide a palletizing structure that can improve the efficiency of goods disassembly.

[0006] Embodiments of the present invention may be implemented as follows:

[0007] Embodiments of the present invention provide a palletizing method, the palletizing method including:

[0008] Obtaining arrangement signals of a plurality of goods;

[0009] Dividing the plurality of goods into a plurality of first goods groups according to the arrangement signals, wherein the goods in any one of the first goods groups are arranged in a straight line and have the same placement posture;

[0010] Dividing the first goods groups into at least one second goods group, wherein the length of any one of the second goods groups is less than or equal to a first preset length;

[0011] Sorting the plurality of second goods groups and generating a sorting signal;

[0012] Controlling the palletizing structure to sequentially remove the plurality of second goods groups according to the sorting signal.

[0013] The beneficial effects of the palletizing method provided by the present invention compared with the prior art include:

[0014] In the case of using this unstacking method to unstack goods, multiple goods can be divided into multiple first goods groups according to this unstacking method, and then the multiple first goods groups can be divided into multiple second goods groups, and the multiple second goods groups are sorted. Multiple second goods groups can be successively removed according to the sorting method of the multiple second goods groups, so that the disassembly of multiple goods can be completed orderly at one time, thereby saving the number of unstacking times and achieving the purpose of improving the unstacking efficiency.

[0015] Optionally, the step of dividing the first goods group into at least one second goods group includes:

[0016] Judge whether the length of the first goods group is greater than the first preset length;

[0017] If the length of the first goods group is greater than the first preset length, the first goods group is split into multiple second goods groups;

[0018] If the length of the first goods group is less than or equal to the first preset length, mark the first goods group as one of the second goods groups.

[0019] Optionally, the step of splitting the first goods group into multiple second goods groups includes:

[0020] Reduce the goods of a preset quantity in the first goods group to obtain an intermediate goods group and a remaining goods group;

[0021] Judge whether the length of the intermediate goods group is greater than the first preset length;

[0022] If the length of the intermediate goods group is greater than the first preset length, return to execute the step of reducing the goods of a preset quantity in the first goods group with the intermediate goods group as the first goods group;

[0023] If the length of the intermediate goods group is less than or equal to the first preset length, mark the intermediate goods group as the second goods group;

[0024] After the step of marking any of the intermediate goods groups as the second goods group, judge whether the total length of all the remaining goods groups is greater than the first preset length;

[0025] If the total length of all the remaining goods groups is less than or equal to the first preset length, mark all the remaining goods groups as one of the second goods groups;

[0026] If the total length of all the remaining goods groups is greater than the first preset length, mark all the remaining goods groups as the first goods group and return to execute the step of reducing the goods of a preset quantity in the first goods group until the first goods group is split into multiple second goods groups.

[0027] Optionally, sorting multiple of the second cargo groups, and the step of generating a sorting signal includes:

[0028] Determine whether the length of the second cargo group is greater than a second preset length, where the first preset length is greater than the second preset length, and the first preset length is a preset numerical multiple of the second preset length;

[0029] If the length of the second cargo group is greater than the second preset length, mark the second cargo group as a first disassembly unit;

[0030] If the length of the second cargo group is less than or equal to the second preset length, mark the second cargo group as a second disassembly unit;

[0031] Form one disassembly step with one of the first disassembly units, and form one disassembly step with at most the preset numerical number of the second disassembly units, to form multiple disassembly steps;

[0032] Sort the multiple disassembly steps to generate the sorting signal.

[0033] In the prior art, for cargo groups of different specifications, the same disassembly actions are usually adopted for disassembly, resulting in low disassembly efficiency. In this regard, the palletizing and depalletizing method provided by the present invention can incorporate multiple second cargo groups with lengths less than the second preset length into one disassembly step. In other words, the disassembly of multiple second cargo groups can be completed in one disassembly step, thereby reducing the disassembly steps for disassembling multiple cargos and achieving the purpose of improving the depalletizing efficiency.

[0034] Optionally, the step of sorting the multiple disassembly steps to generate the sorting signal includes:

[0035] Sort the multiple disassembly steps in sequence along the direction from the outside to the inside of the multiple cargos, and generate the sorting signal.

[0036] Optionally, the depalletizing structure includes a moving body, a carrying structure, and multiple suction structures; the carrying structure is rotatably connected to the moving body; the multiple suction structures are arranged in parallel on the carrying structure;

[0037] In the case of executing the disassembly step formed by the multiple second disassembly units, the controlling the depalletizing structure to sequentially pick up the multiple second cargo groups according to the sorting signal includes:

[0038] Control the suction structure to suck the second cargo group corresponding to one of the second disassembly units;

[0039] Determine whether the second cargo group corresponding to the next second disassembly unit is located on the rotation path of the second cargo group that has been picked up when the carrying structure rotates clockwise;

[0040] If so, control the carrying structure to rotate counterclockwise, and return to execute the step of controlling the suction structure to pick up the second cargo group corresponding to one of the second disassembly units until the picking up of multiple second cargo groups in the disassembly step is completed;

[0041] If not, control the carrying structure to rotate clockwise, and return to execute the step of controlling the suction structure to pick up the second cargo group corresponding to one of the second disassembly units until the picking up of multiple second cargo groups in the disassembly step is completed;

[0042] Control the moving body to move to disassemble multiple second cargo groups corresponding to the disassembly step.

[0043] A palletizing and depalletizing structure configured to disassemble multiple goods in a pallet. The palletizing and depalletizing structure includes a moving body, a carrying structure, a controller, and multiple suction structures;

[0044] The carrying structure is rotatably connected to the moving body, and the moving body is configured to drive the carrying structure to move;

[0045] Multiple suction structures are arranged in parallel on the carrying structure, and multiple suction structures are all configured to pick up the goods;

[0046] The controller is electrically connected to multiple suction structures; the controller is also electrically connected to the carrying structure, the controller is also electrically connected to the moving body, and the controller is configured to execute the above-mentioned palletizing and depalletizing method.

[0047] Optionally, the palletizing and depalletizing structure further includes an elastic member, and at least one suction structure is connected to the carrying structure through the elastic member.

[0048] Optionally, the suction structure includes a connecting plate and a suction part; the suction part is arranged on one side of the connecting plate, and one end of the elastic member is connected to the other side of the connecting plate.

[0049] Optionally, multiple suction structures are arranged in a straight line.

[0050] The present invention also provides a palletizing and depalletizing structure, which can execute the above-mentioned palletizing and depalletizing method. The beneficial effects of this palletizing and depalletizing structure relative to the prior art are the same as those of the above-mentioned palletizing and depalletizing method, and will not be elaborated here. Description of the Drawings

[0051] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0052] Figure 1 It is a schematic structural diagram of the palletizing and depalletizing system provided in the embodiments of the present application;

[0053] Figure 2 It is a schematic partial structural diagram of the palletizing and depalletizing structure provided in the embodiments of the present application;

[0054] Figure 3 It is a schematic structural diagram of a structure for the palletizing and depalletizing structure to pick up goods in the embodiments of the present application;

[0055] Figure 4 It is another schematic structural diagram of a structure for the palletizing and depalletizing structure to pick up goods in the embodiments of the present application;

[0056] Figure 5 It is a schematic diagram of splitting multiple goods into multiple first goods groups in the embodiments of the present application;

[0057] Figure 6 It is a flowchart of the palletizing and depalletizing method provided in the embodiments of the present application;

[0058] Figure 7 It is a flowchart of step S30 in the palletizing and depalletizing method provided in the embodiments of the present application;

[0059] Figure 8 It is a flowchart of step S320 in the palletizing and depalletizing method provided in the embodiments of the present application;

[0060] Figure 9 It is a flowchart of step S40 in the palletizing and depalletizing method provided in the embodiments of the present application;

[0061] Figure 10 It is a partial flowchart of step S50 in the palletizing and depalletizing method provided in the embodiments of the present application.

[0062] Icons: 10 - palletizing and depalletizing system; 11 - pallet placement mechanism; 12 - output mechanism; 13 - visual recognition device; 14 - manipulator; 104 - load-bearing body; 15 - goods; 100 - palletizing and depalletizing structure; 110 - moving body; 120 - load-bearing structure; 130 - suction structure; 131 - connecting plate; 132 - suction part; 140 - elastic part. Detailed implementation manners

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention described and illustrated in the accompanying drawings herein can be arranged and designed in a variety of different configurations.

[0064] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0065] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0066] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, it 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 specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0067] In addition, terms such as "first", "second", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0068] It should be noted that, without conflict, the features in the embodiments of the present invention can be combined with each other.

[0069] Please refer to Figure 1 , a depalletizing system 10 is provided in the embodiments of the present application. The depalletizing system 10 is configured to disassemble stacked goods 15. It should be noted that the above-mentioned stacked goods 15 include multiple layers of goods 15, and the number of goods 15 in each layer is multiple. In the embodiments of the present application, taking the depalletizing system 10 to pick the uppermost layer of goods 15 from the stacked goods 15 as an example for illustration, relatively speaking, the goods 15 in other layers of the stacked goods 15 can also be adapted to the manner in which the depalletizing system 10 in the embodiments of the present application picks the uppermost layer of goods 15. Therefore, the disassembly method for the goods 15 in other layers of the stacked goods 15 will not be elaborated in the embodiments provided in the present application.

[0070] Among them, please refer to Figure 1 andFigure 2 , the palletizing and depalletizing system 10 includes a manipulator 14, a visual recognition device 13, an output mechanism 12, and a pallet placing mechanism 11. The pallet placing mechanism 11 is configured to place stacked goods 15, and the pallet placing mechanism 11 can be set to a liftable structure so that after the uppermost layer of goods 15 in the stacked goods 15 is disassembled, the remaining pallet is lifted to facilitate the disassembly of multiple goods 15. The manipulator 14 is configured to disassemble the goods 15, and the manipulator 14 is disposed close to the pallet placing mechanism 11 to facilitate the manipulator 14 to pick up the goods 15 from the stacked goods 15 and move the goods 15 to the output mechanism 12. In other words, it is convenient for the manipulator 14 to complete the disassembly of the goods 15. The output mechanism 12 is configured to receive the goods 15 disassembled by the manipulator 14 to convey the goods 15 to a designated position. The visual recognition device 13 is disposed close to the pallet placing mechanism 11, and the visual recognition device 13 can at least recognize the uppermost layer of goods 15 in the stacked goods 15 to facilitate the grouping and sorting of the goods 15, thereby facilitating the manipulator 14 to disassemble the goods 15.

[0071] In addition, the palletizing and depalletizing system 10 may further include a controller. The controller is electrically connected to the visual recognition device 13. After the visual recognition device 13 recognizes the image information of the goods 15, it sends the image information to the controller, and the controller groups and sorts the goods 15 based on the image information. In addition, the controller is also electrically connected to the manipulator 14, and the controller is further configured to control the manipulator 14 to disassemble the goods 15 according to the sorting of the goods 15.

[0072] Optionally, the controller may be an integrated circuit chip with signal processing capabilities. The above-mentioned controller may be a general-purpose processor, including a central processing unit (CPU), and may also be a single-chip microcomputer, a microcontroller unit (MCU), a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), an application specific integrated circuit (ASIC), an embedded ARM, etc. The controller can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention.

[0073] In a feasible implementation manner, the palletizing and depalletizing system 10 may further include a memory for storing program instructions executable by the controller. The memory may be an independent external memory, including but not limited to random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM). The memory may also be integrally provided with the controller. For example, the memory and the controller may be integrally provided on the same chip.

[0074] In some embodiments of the present application, the manipulator 14 includes a depalletizing structure 100 and a carrying body 104. The carrying body 104 is disposed close to the pallet placing mechanism 11. The depalletizing structure 100 is disposed on the carrying body 104, and the carrying body 104 can provide a carrying function for the depalletizing structure 100. In addition, the depalletizing structure 100 is configured to disassemble the stacked goods 15. Among them, the depalletizing structure 100 includes a moving body 110, a carrying structure 120, and a plurality of suction structures 130. The moving body 110 is movably disposed on the carrying body 104, and the moving body 110 can move relative to the carrying body 104. The carrying structure 120 is rotatably connected to the moving body 110, and the moving body 110 is configured to drive the carrying structure 120 to move. The plurality of suction structures 130 are arranged in parallel on the carrying structure 120, and each of the plurality of suction structures 130 is configured to suck the goods 15. It should be noted that the plurality of suction structures 130 are independent of each other. In other words, each suction structure 130 can independently complete the suction of the goods 15. Therefore, the depalletizing structure 100 can simultaneously suck a relatively large number of groups of goods 15, such as Figure 3 , or a single suction structure 130 can suck a relatively small number of groups of goods or a single good 15, such as Figure 4 .

[0075] Based on the above-provided depalletizing structure 100 and depalletizing system 10, in order to achieve the purpose of improving the depalletizing efficiency, an embodiment of the present application also provides a depalletizing method. Please refer to Figure 6 , and the depalletizing method may include:

[0076] Step S10: Obtain the arrangement signals of a plurality of goods 15.

[0077] Among them, the visual recognition device 13 recognizes the arrangement of multiple topmost goods 15 in the stacked goods 15, and sends the arrangement of the multiple goods 15 to the controller in the form of an arrangement signal, and the controller can receive this arrangement signal. It should be noted that the arrangement signal may include image information of multiple goods 15 to facilitate the controller to group and sort the multiple goods 15.

[0078] Step S20: Divide the multiple goods 15 into multiple first goods groups according to the arrangement signal.

[0079] After the controller receives the arrangement signal, the controller divides the multiple goods 15 into groups according to the image information included in the arrangement signal. Among them, the goods 15 in any first goods group are arranged in a straight line and have the same placement posture. Hereinafter, taking the goods 15 as rectangular goods 15 as an example for illustration. The fact that the multiple goods 15 in the first goods group are arranged in a straight line means that any two adjacent goods 15 are in contact with each other, and the two side surfaces in contact with each other are completely in contact to prevent dislocation between the two goods 15 to form a step. In addition, the fact that the multiple goods 15 in the first goods group have the same placement posture is manifested as: the side surfaces in contact with each other of the multiple goods 15 in the first goods group are all the side surfaces corresponding to the long side of the top surface of the goods 15, such as Figure 5 the multiple goods 15 marked by A, B, C or D in. Of course, in some other embodiments of the present application, the fact that the multiple goods 15 have the same placement posture may also be manifested in other forms. For example, the side surface corresponding to the short side of the top surface of the goods 15, etc.

[0080] After dividing the multiple goods 15 into multiple first goods groups, the unstacking method further includes:

[0081] Step S30: Divide the first goods group into at least one second goods group.

[0082] Among them, after dividing the multiple goods 15 with the same placement posture into one first goods group, since the length of the first goods group may be too long to be suction-dismantled at one time, the first goods group can be divided into at least one second goods group. Among them, the length of the second goods group is less than or equal to the first preset length. It should be noted that the first preset length represents the suction length of the multiple suction structures 130. In other words, when the length formed by the multiple goods 15 is less than or equal to the first preset length, the multiple suction structures 130 can suck at the same time; if the length formed by the multiple goods 15 is greater than the first preset length, the multiple suction structures 130 cannot suck all the goods 15.

[0083] Optionally, please refer to Figure 7 , step S30 may include:

[0084] Step S310: Determine whether the length of the first cargo group is greater than the first preset length.

[0085] Step S320: If the length of the first cargo group is greater than the first preset length, split the first cargo group into multiple second cargo groups.

[0086] In other words, when the length of the first cargo group is greater than the first preset length, it means that the number of goods 15 in the first cargo group is greater than the suction upper limit of multiple suction structures 130, and the first cargo group needs to be split into multiple second cargo groups to facilitate the unstacking structure 100 to disassemble the goods 15.

[0087] Optionally, please refer to Figure 8 , Step S320 may include:

[0088] Step S321: Reduce the preset number of goods 15 in the first cargo group to obtain an intermediate cargo group and a remaining cargo group.

[0089] Optionally, the value range of the preset number can be 1 - 5. In other words, the value of the preset number can be 1, 2, 3, 4, or 5.

[0090] Step S322: Determine whether the length of the intermediate cargo group is greater than the first preset length.

[0091] Step S323: If the length of the intermediate cargo group is greater than the first preset length, use the intermediate cargo group as the first cargo group and return to execute the step of reducing the preset number of goods in the first cargo group.

[0092] In other words, when the judgment result in Step S322 is yes, mark the intermediate cargo group as the new first cargo group and return to Step S321 to continue execution.

[0093] Step S324: If the length of the intermediate cargo group is less than or equal to the first preset length, mark the intermediate cargo group as a second cargo group.

[0094] In other words, when the judgment result in Step S322 is no, the intermediate cargo group can be used as a second cargo group.

[0095] Step S325: After the step of marking any intermediate cargo group as a second cargo group, determine whether the total length of all remaining cargo groups is greater than the first preset length.

[0096] Step S326: If the total length of all remaining cargo groups is less than or equal to the first preset length, mark all remaining cargo groups as one second cargo group.

[0097] In other words, when the judgment result in Step S325 is no, all the remaining cargo groups can be jointly classified as one second cargo group.

[0098] Step S327: If the total length of all remaining cargo groups is greater than the first preset length, mark all remaining cargo groups as the first cargo group and return to execute the steps for the preset quantity of cargo 15 in the first cargo group until the first cargo group is split into multiple second cargo groups.

[0099] In other words, when the judgment result in step S325 is yes, a new first cargo group can be formed with all the remaining cargo groups and return to step S321 to continue execution until all the cargo 15 in the first cargo group are divided into multiple second cargo groups.

[0100] It should be noted that from step S321 to step S327, it can be regarded as: when the length of the first cargo group is greater than the first preset length, it means that the quantity of cargo 15 in the first cargo group exceeds the upper limit of the quantity of cargo 15 that multiple suction structures 130 can suck. Therefore, the first cargo group needs to be split into multiple second cargo groups. Here, an example is given with the preset quantity being 1. Subtract one piece of cargo 15 from the first cargo group, and the remaining cargo 15 forms the above-mentioned intermediate cargo group, and this one piece of cargo 15 represents the remaining cargo group. If the length of this intermediate cargo group is still greater than the first preset length, subtract one more piece of cargo 15 from this intermediate cargo group until the length of the obtained intermediate cargo group is less than or equal to the first preset length. Then, use the multiple pieces of cargo 15 subtracted multiple times as a new first cargo group to execute the judgment step of whether the length of this first cargo group is greater than the first preset length until the multiple pieces of cargo 15 in the first cargo group are split into multiple second cargo groups.

[0101] In addition, when there are multiple first cargo groups, repeat steps S321 to S327 for each first cargo group to split the multiple first cargo groups into multiple second cargo groups.

[0102] In addition, please continue to refer to Figure 7 , after step S310, step S30 further includes:

[0103] Step S330: If the length of the first cargo group is less than or equal to the first preset length, mark the first cargo group as one second cargo group.

[0104] In other words, when the length of the first cargo group is less than or equal to the first preset length, it means that the quantity of cargo 15 in this first cargo group can be simultaneously sucked by multiple suction structures 130. Thus, there is no need to further split the first cargo group, and the first cargo group can be directly marked as the second cargo group.

[0105] Please continue to refer to Figure 6, after dividing multiple first cargo groups into multiple second cargo groups, the pallet - discharging method includes:

[0106] Step S40: Sort the multiple second cargo groups and generate a sorting signal.

[0107] In other words, after splitting the top - layer cargo 15 of the pallet into multiple second cargo groups, the controller sorts the multiple second cargo groups to facilitate controlling the pallet - discharging structure 100 to disassemble the multiple second cargo groups. Meanwhile, the controller generates a sorting signal to facilitate controlling the pallet - discharging structure 100 to disassemble the multiple second cargo groups according to the sorting signal.

[0108] Optionally, refer to Figure 9 , in the embodiment of the present application, step S40 may include:

[0109] Step S410: Determine whether the length of the second cargo group is greater than a second preset length.

[0110] Wherein, a first preset length is greater than the second preset length, and the first preset length is a preset numerical multiple of the second preset length. The value of the preset numerical is a positive integer. It should be noted that the first preset length corresponds to the overall suction length of multiple suction structures 130, and the second preset length corresponds to the suction length of a single suction structure 130. Therefore, the first preset length is the sum of multiple second preset lengths.

[0111] Step S420: If the length of the second cargo group is greater than the second preset length, mark the second cargo group as a first disassembly unit.

[0112] In other words, when the judgment result in step S410 is yes, then mark the second cargo group as a first disassembly unit.

[0113] Step S430: If the length of the second cargo group is less than or equal to the second preset length, mark the length of the second cargo group as a second disassembly unit.

[0114] In other words, when the judgment result in step S410 is no, then mark the corresponding second cargo group as a second disassembly unit.

[0115] Step S440: Form one disassembly step with one first disassembly unit and form one disassembly step with at most the preset numerical of second disassembly units, thereby forming multiple disassembly steps.

[0116] It should be noted that, since the length of a first disassembly unit is greater than the second preset length and less than or equal to the second preset length, it means that multiple suction structures 130 are required to suck the multiple goods 15 corresponding to the first disassembly unit, so the removal of a first disassembly unit can be completed as a disassembly step; in addition, since the length of a second disassembly unit is less than or equal to the second preset length, it means that the goods 15 corresponding to the second disassembly unit can be sucked by a single suction structure 130, so at most a preset number of second disassembly units can be completed as a disassembly step.

[0117] It should be noted that, since the number of second disassembly units may not be divisible by the preset value, for example, the preset value of 2 is used for explanation. The preset value of 2 indicates that the number of suction structures 130 is 2, and the manipulator 14 can simultaneously suck the goods 15 corresponding to two second disassembly units; when the number of second disassembly units is an odd number, after disassembling the goods 15 corresponding to the two second disassembly units for multiple times, the number of remaining second disassembly units is less than the preset value, and the remaining second disassembly units can be completed as a disassembly step, wherein the number of second disassembly units in the disassembly step is less than the preset value. Therefore, the disassembly step contains at most the preset value of second disassembly units.

[0118] Step S450, sort the multiple disassembly steps and generate a sorting signal.

[0119] Optionally, in some embodiments of the present application, in step S450, the method for sorting the multiple disassembly steps may be: sorting the multiple disassembly steps in sequence from the outside to the inside of the multiple goods 15, and generating a sorting signal.

[0120] In other words, if the multiple goods 15 corresponding to the disassembly step are located outside the goods 15 on the top layer of the stack, the disassembly step can be sorted forward. Of course, since there are multiple goods 15 outside the goods 15 on the top layer of the stack, the multiple goods 15 located on the outside may correspond to multiple disassembly steps. Therefore, the disassembly steps can be sorted in a clockwise or counterclockwise manner; in other words, the disassembly steps corresponding to the multiple goods 15 located on the outside are sorted in a clockwise or counterclockwise manner. Then sort the goods 15 located on the inside of the goods 15 on the top layer of the stack.

[0121] Of course, after finishing sorting the outer goods 15, the remaining goods 15 can be used as a new whole, and then sorted in a manner that the outer goods 15 are removed first. Similarly, the multiple disassembly steps corresponding to the new outer goods 15 can also be sorted in a clockwise or counterclockwise manner.

[0122] Please continue to refer to Figure 6 , after completing the step of sorting multiple second cargo groups, the unstacking method further includes:

[0123] Step S50: Control the unstacking structure 100 to sequentially pick up multiple second cargo groups according to the sorting signal.

[0124] Among them, multiple goods 15 can be divided into multiple first cargo groups according to this unstacking method, and then the multiple first cargo groups can be divided into multiple second cargo groups, and the multiple second cargo groups are sorted. Multiple second cargo groups can be sequentially picked up according to the sorting method of the multiple second cargo groups, so that the disassembly of multiple goods 15 can be completed orderly at one time, thereby achieving the purpose of improving the unstacking efficiency. Of course, since when the length of the second cargo group is less than or equal to the second preset length, the disassembly of the goods 15 corresponding to multiple second cargo groups can be completed in one disassembly step. Therefore, the steps of disassembling multiple goods 15 can be reduced, achieving the purpose of improving the unstacking efficiency.

[0125] Optionally, please refer to Figure 10 , when the unstacking structure 100 executes the disassembly step formed by multiple second disassembly units, step S50 may include:

[0126] Step S510: Control the suction structure 130 to suck the second cargo group corresponding to one of the second disassembly units.

[0127] Of course, the controller can control the movement of the moving body 110 to drive the carrying structure 120 and multiple suction structures 130 to move, so that one of the suction structures 130 corresponds to the second cargo group corresponding to one of the second disassembly units. Optionally, in some embodiments of the present application, the suction structure 130 arranged at the end among the multiple suction structures 130 gives priority to sucking.

[0128] In addition, it should be noted that, in some embodiments of the present application, in order to improve the execution efficiency of this disassembly step, the second cargo group located on the outside among the multiple second cargo groups corresponding to the multiple second disassembly units is preferentially sucked. After sucking the second cargo group located on the outside, it is convenient for the suction structure 130 to drive the second cargo group to move, so as to suck another second cargo group, preventing collision with another second cargo group during the process of driving the sucked second cargo group to move.

[0129] Step S520: Determine whether the second cargo group corresponding to the next second disassembly unit is located on the rotation path of the sucked second cargo group when the carrying structure 120 rotates clockwise.

[0130] In other words, the controller needs to determine whether the control load-bearing structure 120 will collide with another second cargo group if it rotates clockwise. Of course, in some other embodiments of the present application, it is also possible to determine whether the load-bearing structure 120 will collide with another second cargo group when it rotates counterclockwise.

[0131] Step S530: If so, control the load-bearing structure 120 to rotate counterclockwise, and return to execute the step of controlling the suction structure 130 to suck the second cargo group corresponding to one of the second disassembly units until the suction of multiple second cargo groups in the disassembly step is completed.

[0132] Step S540: If not, control the load-bearing structure 120 to rotate clockwise, and return to execute the step of controlling the suction structure 130 to suck the second cargo group corresponding to one of the second disassembly units until the suction of multiple second cargo groups in the disassembly step is completed.

[0133] In other words, after the rotation of the control load-bearing structure 120 is completed, continue to return to execute step S510 to control the movement of the moving body 110, the load-bearing structure 120, and the suction structure 130 to complete the suction of multiple second cargo groups.

[0134] Step S550: Control the moving body 110 to move to disassemble multiple second cargo groups corresponding to the disassembly step.

[0135] In other words, after the suction of the cargo 15 in the corresponding disassembly step has been completed after step S540, at this time, the controller can control the moving body 110 to move towards the output mechanism 12 to facilitate the suction structure 130 to place the sucked multiple cargo 15 on the output mechanism 12, thereby completing the disassembly of the cargo 15.

[0136] Of course, in step S50, for the second cargo group corresponding to the corresponding first disassembly unit, the controller controls the moving body 110 to move so that multiple suction structures 130 correspond to the second cargo group, then controls the multiple suction structures 130 to suck the second cargo group of the first disassembly unit, and then controls the moving body 110 to move towards the output mechanism 12, thereby realizing the disassembly of the corresponding second cargo group.

[0137] In summary, in the embodiment of the present application, the palletizing and depalletizing method and the depalletizing structure 100 provided can, when using this depalletizing method to depalletize the goods 15, divide multiple goods 15 into multiple first goods groups according to this depalletizing method, then divide the multiple first goods groups into multiple second goods groups, and sort the multiple second goods groups, and can successively pick up the multiple second goods groups according to the sorting method of the multiple second goods groups, so as to orderly complete the disassembly of the multiple goods 15 at one time, thereby achieving the purpose of improving the depalletizing efficiency. And multiple second goods groups with lengths less than the second preset length can be incorporated into one disassembly step. In other words, the disassembly of multiple second goods groups can be completed in one disassembly step, thereby reducing the disassembly steps for disassembling multiple goods 15 and achieving the purpose of improving the depalletizing efficiency.

[0138] In some embodiments of the present application, multiple suction structures 130 are arranged in a straight line on the bearing structure 120, so that during the process of sucking multiple second goods groups with lengths less than the second preset length, it is convenient for the multiple suction structures 130 to successively suck the multiple second goods groups. Optionally, in some embodiments of the present application, the number of the suction structures 130 is two, and the two suction structures 130 are arranged in parallel.

[0139] In addition, in some embodiments of the present application, the bearing structure 120 is in a long strip shape, and multiple suction structures 130 are arranged along the length direction of the bearing structure 120. In other words, the overall shape of the bearing structure 120 is adapted to the overall shape of the multiple suction structures 130, so that when controlling the multiple suction structures 130 to suck the goods 15, the movement path of the bearing structure 120 is adapted to the movement path of the multiple suction structures 130, preventing the bearing structure 120 from colliding with other parts or the goods 15. Of course, in some other embodiments of the present application, the shape of the bearing structure 120 can also be set to other shapes. For example, the overall area of the bearing structure 120 is smaller than the area of the shape formed by the multiple suction structures 130, etc.

[0140] Optionally, in order to improve the convenience of the multiple suction structures 130 sucking the goods 15 and prevent the error of the movement of the suction structures 130 driven by the moving body 110 from crushing the goods 15, in some embodiments of the present application, the depalletizing structure 100 further includes an elastic member 140, and at least one suction structure 130 is connected to the bearing structure 120 through the elastic member 140. Of course, Figure 2 taking... as an example for illustration, multiple suction structures 130 in the depalletizing structure 100 are all connected to the bearing structure 120 through the elastic member 140.

[0141] Among them, after the moving body 110 drives the plurality of suction structures 130 to approach the goods 15, in order to facilitate the plurality of suction structures 130 to suck the goods 15, the moving distance towards the goods 15 may be too long, so that the plurality of suction structures 130 press on the goods 15. In this case, the suction structure 130 can be made to move closer to the bearing structure 120 by the action of the elastic member 140, while compressing the elastic member 140, thereby providing a buffering effect to the suction structure 130. On the one hand, it can prevent the suction structure 130 from damaging the goods 15, and on the other hand, it can also ensure that the suction structure 130 stably presses on the goods 15, ensuring that the suction structure 130 can effectively suck the goods 15.

[0142] Optionally, the elastic member 140 includes a plurality of spring mechanisms (not labeled in the figure), and both ends of each spring mechanism are respectively connected to the bearing structure 120 and the suction structure 130. In other words, by connecting the plurality of spring mechanisms to the suction structure 130, sufficient acting force can be provided to the suction structure 130 through the plurality of spring mechanisms, so that while providing a buffering effect to the suction structure 130, sufficient elastic acting force can also be provided to the suction structure 130, facilitating the suction structure 130 to suck the goods 15.

[0143] Of course, in some other embodiments of the present application, other elastic parts can also be used instead of the spring mechanism, for example, metal shrapnel or rubber elastic pads, etc.

[0144] In addition, the suction structure 130 includes a connecting plate 131 and a suction portion 132. The suction portion 132 is provided on one side of the connecting plate 131, and one end of the plurality of spring mechanisms is connected to the other end of the connecting plate 131. The suction portion 132 is provided on the other side of the connecting plate 131. Among them, the connecting plate 131 is used to provide a bearing effect to the suction portion 132. In some embodiments of the present application, there may be a plurality of suction portions 132. In this case, setting the connecting plate 131 can facilitate the setting of the plurality of suction portions 132. Of course, in some other embodiments of the present application, the setting of the connecting plate 131 can also be cancelled, so that the elastic member 140 is directly connected to the suction portion 132.

[0145] In order to improve the stability of the suction structure 130, in some embodiments of the present application, the plurality of spring mechanisms are connected to the end of the connecting plate 131 to jointly form a polygon. Thus, when the moving body 110 drives the suction structure 130 to abut against the goods 15, the acting force exerted by the connecting plate 131 on the plurality of spring mechanisms can be evenly distributed, so that the elastic deformations generated by the plurality of spring mechanisms are equivalent, so that the plurality of suction portions 132 on the connecting plate 131 can all stably suck the goods 15, ensuring that the suction structure 130 can effectively complete the suction of the goods 15.

[0146] Optionally, in some embodiments of the present application, the connecting plate 131 is generally square in shape, and the number of spring mechanisms may be four. The four spring mechanisms enclose a quadrilateral and are respectively arranged corresponding to the four corners of the connecting plate 131.

[0147] In summary, the palletizing system 10 and the palletizing structure 100 provided in the embodiments of the present application can execute the above-mentioned palletizing method. And when the palletizing system 10, the palletizing structure 100 and the palletizing method are used for palletizing the goods 15, multiple goods 15 can be divided into multiple first goods groups according to the palletizing method, and then the multiple first goods groups can be divided into multiple second goods groups, and the multiple second goods groups can be sorted. The multiple second goods groups can be successively removed in the sorting order of the multiple second goods groups, so that the disassembly of the multiple goods 15 can be completed orderly at one time, thereby achieving the purpose of improving the palletizing efficiency. And multiple second goods groups with lengths less than the second preset length can be incorporated into one disassembly step. In other words, the disassembly of multiple second goods groups can be completed in one disassembly step, thereby reducing the disassembly steps for disassembling the multiple goods 15 and achieving the purpose of improving the palletizing efficiency.

[0148] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A depalletizing method, applied to a depalletizing structure to dismantle a plurality of goods in a cargo stack, characterized in that: The depalletizing method comprises: Obtaining arrangement signals of multiple goods; Dividing the plurality of goods into a plurality of first goods groups according to the arrangement signal, wherein the goods in any of the first goods groups are arranged in a straight line and have the same placement posture; Dividing the first cargo group into at least one second cargo group, wherein the length of any of the second cargo groups is less than or equal to a first preset length; sorting the plurality of the second cargo groups and generating a sorting signal; Controlling the depalletizing structure to sequentially remove the plurality of second cargo groups according to the sorting signal; The step of sorting the plurality of second cargo groups and generating a sorting signal comprises: Determining whether the length of the second cargo group is greater than a second preset length, wherein the first preset length is greater than the second preset length, and the first preset length is a preset value times the second preset length; If the length of the second cargo group is greater than the second preset length, marking the second cargo group as a first disassembly unit; If the length of the second cargo group is less than or equal to the second preset length, marking the second cargo group as a second disassembly unit; One disassembly step is formed by one first disassembly unit, and one disassembly step is formed by at most the preset number of the second disassembly units, so as to form a plurality of the disassembly steps; A plurality of the disassembly steps are sequenced and the sequencing signal is generated.

2. The destacking method according to claim 1, characterized in that: The step of dividing the first cargo group into at least one second cargo group comprises: Determining whether the length of the first cargo group is greater than the first preset length; If the length of the first cargo group is greater than the first preset length, splitting the first cargo group into a plurality of the second cargo groups; If the length of the first cargo group is less than or equal to the first preset length, the first cargo group is marked as one of the second cargo groups.

3. The destacking method according to claim 2, characterized in that: The step of splitting the first cargo group into a plurality of second cargo groups comprises: Reducing a preset number of goods in the first goods group to obtain an intermediate goods group and a remaining goods group; Determining whether the length of the intermediate cargo group is greater than the first preset length; If the length of the intermediate cargo group is greater than the first preset length, taking the intermediate cargo group as the first cargo group, returning to the step of reducing the preset number of cargoes in the first cargo group; If the length of the intermediate cargo group is less than or equal to the first preset length, marking the intermediate cargo group as the second cargo group; After marking any of the intermediate cargo groups as the second cargo group, determining whether the total length of all the remaining cargo groups is greater than the first preset length; If the total length of all the remaining cargo groups is less than or equal to the first preset length, marking all the remaining cargo groups as one second cargo group; If the total length of all the remaining cargo groups is greater than the first preset length, all the remaining cargo groups are marked as the first cargo groups and the process returns to the step of reducing the preset number of cargoes in the first cargo group until the first cargo group is split into a plurality of the second cargo groups.

4. The depalletizing method according to claim 1, characterized in that: The step of sequencing the plurality of disassembly steps and generating the sequencing signal comprises: The plurality of disassembly steps are sequentially sequenced along a direction from outside to inside of the plurality of goods, and the sequencing signal is generated.

5. The destacking method according to claim 1, characterized in that: The destacking structure comprises a moving body, a bearing structure and a plurality of suction structures; the bearing structure is rotatably connected to the moving body; A plurality of the suction structures are arranged in parallel on the bearing structure; In the case of performing a disassembly step formed by a plurality of the second disassembly units, controlling the depalletizing structure to sequentially disassemble the plurality of the second cargo groups according to the sequencing signal comprises: Controlling the suction structure to suck the second cargo group corresponding to one of the second disassembly units; determining whether the second cargo group corresponding to the next second disassembly unit is located on the rotation path of the second cargo group that has been sucked when the bearing structure rotates clockwise; If yes, control the bearing structure to rotate counterclockwise, and return to the step of controlling the suction structure to suck the second cargo group corresponding to one of the second disassembly units, until the suction of multiple second cargo groups in the disassembly step is completed; If not, control the bearing structure to rotate clockwise, and return to the step of controlling the suction structure to suck the second cargo group corresponding to one of the second disassembly units, until the suction of multiple second cargo groups in the disassembly step is completed; The mobile body is controlled to move so as to remove the plurality of second cargo groups corresponding to the disassembly step.

6. A depalletizing structure, configured to depalletize a plurality of goods in a cargo stack, characterized in that: The destacking structure comprises a moving body, a bearing structure, a controller and a plurality of suction structures; The bearing structure is rotatably connected to the mobile body, and the mobile body is configured to drive the bearing structure to move; A plurality of the suction structures are arranged in parallel on the bearing structure, and each of the plurality of suction structures is configured to suck the cargo; The controller is electrically connected to the plurality of suction structures; the controller is also electrically connected to the bearing structure, the controller is also electrically connected to the mobile body, and the controller is configured to execute the depalletizing method as described in any one of claims 1-5.

7. The destacking structure according to claim 6, characterized in that: The destacking structure further comprises an elastic member, and at least one of the suction structures is connected to the bearing structure via the elastic member.

8. The destacking structure according to claim 7, characterized in that: The suction structure comprises a connecting plate and a suction portion; the suction portion is arranged on one side of the connecting plate, and one end of the elastic member is connected to the other side of the connecting plate.

9. The destacking structure according to any one of claims 6 to 8, characterized in that: A plurality of the suction structures are arranged in a straight line.

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