Deframing device, security inspection system, deframing method and computer-readable storage medium

Abstract

The present invention discloses a frame removal device, comprising: a main body having a receiving portion extending in a first direction; a frame entry opening located at the top of the main body and communicating with the receiving portion, the receiving portion being configured to receive an empty frame inserted through the frame entry opening; a frame exit opening located at the side of the main body and communicating with the receiving portion; a first transmission portion located at the bottom of the receiving portion and configured to carry the empty frame and output the empty frame from the frame exit opening in a second direction, the second direction being perpendicular to the first direction; a position limiting portion mounted on the main body and capable of switching between a first position and a second position; and a supporting portion mounted on the main body and located below the position limiting portion in the first direction and capable of moving between a third position and a fourth position in the first direction. The present invention can improve security inspection efficiency, reduce noise, and reduce staff workload. The present invention also provides a security inspection system, a frame removal method, and a computer-readable storage medium.

Description

Technical Field

[0001] The present invention relates to the technical field of passenger inspection, and in particular to a frame removal device, a security inspection system, a frame removal method and a computer-readable storage medium. Background Art

[0002] In the traditional security screening model, passengers undergoing security screening at airports, train stations, and other locations would pick up empty luggage boxes near the security screening machine, place their carry-on luggage in the boxes, and then proceed to the security screening machine for screening. After the boxes pass through the screening machine, passengers remove their luggage from the boxes, leaving behind empty boxes (hereinafter referred to as "empty boxes"). Security personnel not only assist passengers with their luggage but also organize the used boxes. They collect the empty boxes, stack them, and then transport the stacked boxes to the forwarding station. Passengers then remove empty boxes one by one from the stacked boxes to place their luggage for screening. Each security screening step is essentially manual. During busy periods, security personnel often handle boxes weighing more than ten pounds, requiring hundreds of these operations per day. The intense handling puts significant pressure on security personnel, while passengers also struggle to remove and place their luggage in the numerous stacked boxes, impacting security screening efficiency. Summary of the Invention

[0003] The present invention aims to solve the technical problem of low security inspection efficiency. The present invention provides a deframing device, a deframing method, and a computer-readable storage medium, which can improve deframing efficiency, enhance security inspection efficiency, and reduce noise during the deframing process.

[0004] In order to solve the above technical problems, an embodiment of the present invention discloses a frame dismantling device, comprising: a main body, having a accommodating portion, the accommodating portion extending along a first direction; a frame entry opening, located at the top of the main body, the frame entry opening being communicated with the accommodating portion, the accommodating portion being used to receive an empty frame put in from the frame entry opening; a frame exit opening, located at the side of the main body, the frame exit opening being communicated with the accommodating portion; a first transmission portion, located at the bottom of the accommodating portion, the first transmission portion being used to carry the empty frame and output the empty frame from the frame exit opening along a second direction, the second direction being perpendicular to the first direction; a limiting portion, installed on the main body, the limiting portion being able to switch between a first position and a second position; a carrying portion, installed on On the main body, along the first direction, the bearing part is located below the limiting part, and the bearing part can move between a third position and a fourth position along the first direction; wherein, in the first position, the limiting part can offset the empty frame inserted from the frame entry to limit the empty frame from moving downward along the first direction; in the second position, the empty frame can move downward along the first direction; in the third position, the bearing part can carry the empty frame inserted from the frame entry, and the empty frame is away from the first transmission part along the first direction; in the fourth position, the bearing part and the first transmission part are spaced apart in the second direction, and the empty frame on the bearing part is carried by the first transmission part.

[0005] By adopting the above technical solution, a de-framing device can be used to de-frame the stacked empty frames, and then the empty frames can be transferred to passengers one by one, thereby improving the efficiency of security inspection. In addition, a carrying part is used for de-framing, and the carrying part supports the empty frames and transfers them to the first transmission part, so that the noise during the de-framing process is low.

[0006] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device, wherein the carrying portion is capable of carrying an empty frame separated from the limiting portion and switching from the third position to the fourth position.

[0007] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame removing device, when the limiting part is in the second position and the supporting part is in the third position, the frame removing device is in an initial state; when the limiting part is in the first position and the supporting part is in the fourth position, the frame removing device is in a frame removing state.

[0008] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame dismantling device, wherein in the third position, the carrying portion can carry an empty frame, and another empty frame can be stacked in the empty frame; in the fourth position, the carrying portion can be separated from the empty frame; in the first position, the limiting portion can be abutted against the empty frame, and more than one empty frame inserted from the frame entry can be stacked in the empty frame; in the second position, the limiting portion can be separated from the empty frame to allow the empty frame and the empty frames stacked in the empty frame to move downward along the first direction, and the empty frame can be carried by the carrying portion.

[0009] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame dismantling device, when the limiting portion is in the first position and the carrying portion is in the third position, an empty frame that the limiting portion abuts against and an empty frame that the carrying portion carries are the same; the limiting portion can be switched from the first position to the second position, so that the carrying portion moves downward along the first direction from the third position to the middle position, and the limiting portion is then switched from the second position to the first position, and the limiting portion abuts against the empty frame carried by and adjacent to the empty frame; the carrying portion carries the empty frame and moves downward along the first direction from the middle position to the fourth position.

[0010] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame dismantling device, wherein in the third position, the carrying portion is capable of carrying an empty frame located at the bottom among multiple stacked empty frames inserted from the frame entry port; in the fourth position, the carrying portion is accommodated in the first transmission portion, the carrying portion is separated from the bottom empty frame, and the bottom empty frame is carried by the first transmission portion.

[0011] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device, along a third direction, the accommodating portion includes a first part and a second part arranged relatively along the third direction, the first part and the second part extend along the first direction respectively, the first part is provided with a lifting portion, the bearing portion and the lifting portion are connected, the lifting portion is used to drive the bearing portion to move upward or downward along the first direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0012] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device, wherein the lifting part is connected to the first part, and the lifting part includes: a slide rail, which extends along a first direction and is provided on a side of the lifting part facing the first part, and the bearing part can move upward or downward along the first direction relative to the slide rail; a lifting motor, which is provided on a side of the lifting part facing the first part, and the lifting motor is connected to the bearing part, and the lifting motor is used to drive the bearing part to move upward or downward along the first direction relative to the slide rail.

[0013] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device, wherein the first portion is provided with a slide groove, and the bearing portion extends into the accommodating portion through the slide groove along the third direction.

[0014] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device, along the second direction, the bearing portion includes a first fork arm and a second fork arm extending along a third direction; the first fork arm and the second fork arm are arranged in parallel along the third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0015] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame dismantling device, wherein the first fork arm includes a first surface and a second surface connected to each other, and the first surface of the first fork arm can support the bottom of the empty frame; the second fork arm includes a first surface and a second surface connected to each other, and the first surface of the second fork arm can be used to support the bottom of the empty frame; the second surface of the first fork arm and the second surface of the second fork arm are respectively arranged on the outside of the first fork arm and the second fork arm of the bearing part along the second direction.

[0016] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device, wherein the accommodating portion further includes a third part and a fourth part arranged relatively to each other along the second direction, the third part and the fourth part respectively extend along the first direction, and the third part and the fourth part are respectively provided with the limiting portion.

[0017] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame dismantling device, wherein the limiting portion includes: a first electric cylinder, the first electric cylinder having a first telescopic member, the first telescopic member being provided with a first clamping member, and the first clamping member being located at the first through hole; a second electric cylinder, the second electric cylinder having a second telescopic member, the second telescopic member being provided with a second clamping member, and the second clamping member being located at the second through hole; the first electric cylinder is installed on the third part, and the third part is provided with the first through hole; the second electric cylinder is installed on the fourth part, and the fourth part is provided with the second through hole; in the first position, the first telescopic member and the second telescopic member can move in a direction toward the accommodating portion, so that the first clip is extended from the first through hole into the accommodating portion and abuts against one side of the empty frame, and the second clip is extended from the second through hole into the accommodating portion and abuts against the other side of the empty frame, so as to limit the downward movement of the empty frame along the first direction; in the second position, the first telescopic member and the second telescopic member can move in a direction away from the accommodating portion, so that the first clip is retracted from the first through hole and separated from one side of the empty frame, and the second clip is retracted from the second through hole and separated from the other side of the empty frame, so that the empty frame moves downward along the first direction.

[0018] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device, wherein the first clamping member extends along a fourth direction toward the top of the accommodating portion, and the second clamping member extends along a fifth direction toward the top of the accommodating portion, the angle between the fourth direction and the first direction is a first acute angle, the angle between the fifth direction and the first direction is a second acute angle, and the first acute angle is equal to the second acute angle.

[0019] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device, wherein the first clamping member and the second clamping member are respectively sheet-shaped; in the first position, the first clamping member and the second clamping member can abut against the outer edge of an empty frame.

[0020] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device. Along the first direction, when the limiting portion is located at the first position and the supporting portion is located at the third position, the distance between the first clamping member and the first fork arm, and the distance between the second clamping member and the second fork arm meet the following requirements: the bottom of the same empty frame can be supported by the first fork arm and the second fork arm, and the outer edge of the same empty frame can be against the first clamping member and the second clamping member.

[0021] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame disassembly device. Along the first direction, when the limiting portion is located at the first position and the supporting portion is located at the middle position, the distance between the first clamping member and the first fork arm, and the distance between the second clamping member and the second fork arm meet the following requirements: the bottom of the lower empty frame in any two adjacent stacked empty frames can be supported by the first fork arm and the second fork arm, and the outer edge of the upper empty frame can be abutted against the first clamping member and the second clamping member.

[0022] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame dismantling device, further comprising: a first sensor, the first sensor being used to detect whether there is an empty frame at a first height, along the first direction, the first height being higher than the height at the position of the limiting portion; a second sensor, the second sensor being used to detect whether there is an empty frame carried by the carrying portion at the third position; and a third sensor being used to detect whether the area corresponding to the first transmission portion and the accommodating portion carries an empty frame.

[0023] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame removal device, and each sensor can emit a laser line toward the outer edge of the empty frame to perform corresponding detection.

[0024] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame removal device, wherein the number of the first sensors is two, and the two first sensors are spaced apart along the second direction.

[0025] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame dismantling device, wherein the first transmission part includes: a plurality of electric rollers distributed along the second direction; the plurality of electric rollers are spaced apart along the second direction and can be used to accommodate the bearing part.

[0026] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame removal device, which also includes a second transmission part, which is spaced apart and arranged parallel to the first transmission part along the first direction, and the second transmission part is used to transmit empty frames to the frame entry.

[0027] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a frame dismantling device, wherein the second transmission part includes: a plurality of electric rollers distributed along the second direction.

[0028] An embodiment of the present invention further discloses a security inspection system, comprising the frame removal device described in any of the above embodiments.

[0029] An embodiment of the present invention further discloses a framing method, which adopts the framing device described in any of the above embodiments, and the framing method includes: S101: controlling the limiting part to be in the first position and the bearing part to be in the third position; S102: controlling the limiting part to be in the second position and the bearing part to be in the third position; S103: controlling the limiting part to be in the second position and the bearing part to be in the middle position; S104: controlling the limiting part to be in the first position and the bearing part to be in the middle position; S105: controlling the limiting part to be in the first position and the bearing part to be in the fourth position; S106: controlling the limiting part to be in the first position and the bearing part to be in the third position; S107: controlling the limiting part to be in the second position and the bearing part to be in the third position; S108: controlling the limiting part to be in the second position and the bearing part to be in the middle position.

[0030] According to another specific embodiment of the present invention, the above steps S104 to S108 are repeated.

[0031] According to another specific embodiment of the present invention, S101: the limiting part is controlled to be in the first position and the carrying part is controlled to be in the third position, and the empty frame is transferred to the frame entrance of the accommodating part, and the limiting part is abutted against the carrying part and the same empty frame put in from the frame entrance; S102: the limiting part is controlled to be in the second position and the carrying part is controlled to be in the third position, the limiting part and the empty frame put in from the frame entrance are separated, and the carrying part carries the empty frame put in from the frame entrance; S103: the limiting part is controlled to be in the second position and the carrying part is controlled to be in the middle position, the carrying part carries all the empty frames put in from the frame entrance and moves from the third position to the middle position, and the empty frames carried by the carrying part are stacked with at least one empty frame; S104: the limiting part is controlled to be in the first position and the carrying part is controlled to be in the middle position, the limiting part and the empty frames stacked in the empty frames abutting against the carrying part and adjacent to each other are abutted against each other Against; S105: Control the limiting part to be in the first position and the carrying part to be in the fourth position; an empty frame that is against the carrying part is separated from the carrying part and is carried by the first transmission part, and the first transmission part outputs the empty frame from the frame outlet along the second direction; S106: Control the limiting part to be in the first position and the carrying part to be in the third position, an empty frame that is against the limiting part and an empty frame carried by the carrying part are the same; S107: Control the limiting part to be in the second position and the carrying part to be in the third position, all empty frames that are against the limiting part are separated from the limiting part and are carried by the carrying part; S108: Control the limiting part to be in the second position and the carrying part to be in the middle position, the carrying part carries all empty frames put in from the frame entrance and moves from the third position to the middle position, and the empty frames carried by the carrying part stack at least one empty frame.

[0032] According to another specific embodiment of the present invention, when the frame dismantling device described in any of the above embodiments is adopted: when the first sensor detects that there is an empty frame at the first height, the automatic transmission of the empty frame to the frame entrance of the accommodating part is stopped; when the second sensor detects that there is an empty frame carried by the carrying part, and the first sensor detects that there is an empty frame at the first height, the limiting part is controlled to be in the second position, and the carrying part is controlled to be in the middle position; when the second sensor detects that there is an empty frame stacked in the empty frames against the carrying part, and the first sensor detects that there is no empty frame at the first height, the carrying part is controlled to be in the middle position, and the limiting part is controlled to be in the first position; when the third sensor detects that the area corresponding to the first transmission part and the accommodating part does not carry an empty frame, and the carrying part is in the middle position, the third sensor detects that there is no empty frame The carrying part is controlled to be in the fourth position and the limiting part is controlled to be in the first position; when the third sensor detects that the area corresponding to the first transmission part and the accommodating part carries an empty frame, the carrying part is controlled to be in the middle position; when the carrying part is in the fourth position, the third sensor detects that the area corresponding to the first transmission part and the accommodating part does not carry an empty frame, and controls the carrying part from the fourth position to the third position and the limiting part to be in the first position; when the carrying part is in the fourth position, the third sensor detects that the area corresponding to the first transmission part and the accommodating part carries an empty frame, and controls the carrying part to be in the fourth position and the limiting part to be in the first position; when the second sensor detects that there is no empty frame against the limiting part, controls the carrying part to be in the third position.

[0033] The present application also provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes any of the above-mentioned de-framing methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A three-dimensional diagram showing a frame removal device according to an embodiment of the present invention Figure 1 ;

[0035] Figure 2 A three-dimensional diagram showing a frame removal device according to an embodiment of the present invention Figure 2 ;

[0036] Figure 3 A three-dimensional diagram showing a frame removal device according to an embodiment of the present invention Figure 3 ;

[0037] Figure 4 A three-dimensional diagram showing a frame removal device according to an embodiment of the present invention Figure 4 ;

[0038] Figure 5A cross-sectional view showing a frame removal device according to an embodiment of the present invention Figure 1 ;

[0039] Figure 6 A schematic structural diagram showing a first part and a second part of a receiving portion of a frame disassembling device according to an embodiment of the present invention;

[0040] Figure 7 A three-dimensional diagram showing a frame removal device according to an embodiment of the present invention Figure 5 ;

[0041] Figure 8 A schematic diagram showing the lifting portion and the carrying portion of the frame dismantling device according to the embodiment of the present invention being located at the third position and the carrying portion being located at the fourth position;

[0042] Figure 9 A three-dimensional diagram showing the limiting portion of the frame disassembly device according to an embodiment of the present invention Figure 1 ;

[0043] Figure 10 A three-dimensional diagram showing the limiting portion of the frame disassembly device according to an embodiment of the present invention Figure 2 ;

[0044] Figure 11 A top view of a frame removal device according to an embodiment of the present invention is shown;

[0045] Figure 12 A control flow chart showing an embodiment of the present invention is shown;

[0046] Figure 13 A flowchart of a frame removal method provided by an embodiment of the present application is shown;

[0047] Figure 14 A block diagram of an electronic device provided by one embodiment of the present application is shown;

[0048] Figure 15 A block diagram of a system on chip (SoC) provided by one embodiment of the present application is shown. DETAILED DESCRIPTION

[0049] The following is an explanation of the embodiments of the present invention by specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this embodiment. On the contrary, the purpose of introducing the invention in conjunction with the embodiment is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will contain many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0050] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0051] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0052] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0053] In the description of this embodiment, it should be noted that, unless otherwise specified or limited, the terms "disposed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this embodiment based on specific circumstances.

[0054] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0055] refer to Figure 1 and Figure 2The present application provides a frame removal device 1, comprising: a main body 10, a frame entry 21, a frame exit 22, a first transmission portion 30, a limiting portion 40 and a bearing portion 41. The main body 10 has a receiving portion 20. In the present application, the receiving portion 20 is arranged along a first direction (such as Figure 1 The first direction is the depth direction of the main body 10, that is, the height direction of the main body 10.

[0056] Continue to refer Figure 1 The frame entrance 21 is located at the top of the main body 10, and the frame entrance 21 is connected to the receiving portion 20. The frame exit 22 is located at the side of the main body 10, and the frame exit 22 is connected to the receiving portion 20. The first transmission portion 30 is located at the bottom of the receiving portion 20, and the first transmission portion 30 is used to carry the empty frame 2 and move along the second direction (such as Figure 1 The empty frame 2 is output from the frame outlet 22 (as shown in the Y direction in the middle), and the second direction is perpendicular to the first direction. The empty frame 2 is input into the receiving portion 20 of the frame removal device 1 through the frame input port 21, and then the empty frame 2 is output from the frame outlet 22 by the first conveying portion 30, for example, to a security inspection machine for passengers to take.

[0057] refer to Figure 3 , the limiting portion 40 is along the second direction (such as Figure 3 The support portion 41 is mounted on the main body 10 and is moved along the first direction (as shown in the Y direction) at the frame entrance 21 of the main body 10. For example, the position limiting portion 40 of the present application can be switched between the first position and the second position. Figure 3 The bearing portion 41 is located below the limiting portion 40. For example, the bearing portion 41 of the present application can be moved along the first direction (as shown in the X direction). Figure 3 The first position is a third position and the second position is a fourth position.

[0058] When the limiting portion 40 is in the first position, the limiting portion 40 can abut against the empty frame 2 inserted from the frame entry 21 (for example, against the upper edge of the empty frame 2) to limit the empty frame 2 from moving in the first direction (such as Figure 3 The empty frame 2 abutting against the limiting portion 40 can be stacked with more than one empty frame 2 put in from the frame entry 21 .

[0059] When the limiting portion 40 is in the second position, the limiting portion 40 can be separated from the empty frame 2 inserted from the frame entry 21 (for example, separated from the upper edge of the empty frame 2), so that the empty frame 2 can be moved along the first direction (such as Figure 3 The X direction in FIG2 moves downward.

[0060] When the carrying portion 41 is at the third position, the carrying portion 41 can carry the empty frame 2 (for example, the bottom of the empty frame 2) inserted from the frame entry 21 to limit the movement of the empty frame 2 along the first direction (such as Figure 3 It should be noted that, in this application, when the carrying portion 41 is in the fourth position, the empty frame 2 carried by the carrying portion 41 moves along the first direction (as shown in the X direction). Figure 3 The first transmission portion 30 is far away from the first transmission portion 30 (as shown in the X direction).

[0061] When the carrying portion 41 is at the fourth position, the carrying portion 41 and the first transmission portion 30 are in the second direction (eg Figure 3 The empty frames 2 on the carrying portion 41 are carried by the first transmission portion 30 .

[0062] For example, when the limiting portion 40 is in the first position, when the empty frame 2 is transferred from the frame entry 21 to the receiving portion 20 (for example, through the second transfer portion 50 described later (refer to Figure 12 ) to the frame inlet 21 to transmit the empty frame 2), the empty frame 2 along the first direction (such as Figure 3 The empty frame 2 can abut against the limiting portion 40 located at the first position. The limiting portion 40 supports the empty frame 2 so that the empty frame 2 does not move downward in the first direction (toward the first transport portion 30) due to gravity. When the empty frame 2 is continuously transported from the frame entry 21 to the transport portion 20, subsequent empty frames 2 can be stacked in the empty frame 2 abutting against the limiting portion 40. For example, as shown in FIG. Figure 4 As shown, the limiting portion 40 abuts against an empty frame 2, and the empty frame 2 is provided with a first direction (such as Figure 4 In the X direction, four empty frames 2 are stacked. That is, when the limiting portion 40 is in the first position, the limiting portion 40 can play the role of collecting the empty frames 2.

[0063] Exemplarily, when the limiting portion 40 switches from the first position to the second position, the limiting portion 40 separates from the abutting empty frame 2. The empty frame 2 abutting the limiting portion 40 and all the empty frames 2 stacked in the empty frame 2 move downward along the first direction.

[0064] When the carrying portion 41 is at the third position, after the empty frame 2 is transferred from the frame entry 21 to the receiving portion 20, the empty frame 2 is acted upon by gravity and moves in the first direction (eg Figure 3 The supporting portion 41 can be against the empty frame 2 put in from the frame entrance 21 to limit the empty frame 2 from moving along the first direction (as shown in the X direction) Figure 3 The X direction in FIG2 moves downward.

[0065] When the supporting portion 41 is at the fourth position, an empty frame 2 abutting against the supporting portion 41 moves from the third position to the fourth position along with the supporting portion 41. The empty frame 2 does not fall freely, thereby reducing noise.

[0066] In some possible implementations, when the carrying portion 41 carries the empty frame 2 along the first direction (eg Figure 1 After the support portion 41 moves downward a certain distance (as shown in the X direction), it is in the middle position. For example, the certain distance of downward movement in this application is 15 mm. It should be noted that after the support portion 41 moves downward a certain distance in the first direction, the position of the second-to-last empty frame 2 supported by the support portion 41 is in a position where it can abut against the second-to-last empty frame 2 when the limit portion is in the first position.

[0067] Exemplarily, the empty frame 2 carried by the carrying portion 41 may come from at least two sources:

[0068] In a possible embodiment, the frame removal device 1 is in the initial state, the limiting portion 40 is in the second position, and does not block the empty frame 2 from moving in the first direction (such as Figure 3 The empty frame 2 or multiple empty frames 2 stacked together can be manually or automatically placed into the receiving portion 20 from the frame entry 21, and the one or more empty frames 2 stacked together can be moved along the first direction (as shown in the X direction) downward. Figure 3 The empty frame 2 at the bottom is supported by the supporting portion.

[0069] In this embodiment, when no empty frames 2 are collected in the receiving portion 20, the limiting portion 40 is controlled to be in the second position and the supporting portion 41 is controlled to be in the third position. The security staff manually places an empty frame 2 into the receiving portion 20 to be supported by the supporting portion 41, that is, the supporting portion 41 supports the empty frame 2. The empty frame 2 is then manually or automatically transferred into the receiving portion 20. Multiple empty frames 2 can be transferred together or one by one. Since an empty frame 2 is pre-placed on the supporting portion 41, the subsequently transferred empty frame 2 can easily fall into the pre-placed empty frame 2.

[0070] Another possible embodiment is that the limiting portion 40 supports one or more empty frames 2 when in the first position. When the limiting portion 40 is controlled to switch from the first position to the second position, all the empty frames 2 that are against the limiting portion 40 are separated from the limiting portion 40, and the empty frame at the bottom will be supported by the supporting portion 41 located in the third position.

[0071] In this embodiment, when an empty frame 2 is already in the accommodating portion 20, the limiting portion 40 is controlled to be in the first position and the carrying portion 41 is controlled to be in the third position. The security personnel can manually or automatically transfer the empty frame 2 into the accommodating portion 20. The empty frames 2 can be transferred together in a stack or one by one. Since the limiting portion 40 is in the first position and the carrying portion 41 is in the third position, the empty frame 2 carried by the limiting portion 40 and the carrying portion 41 is the same, that is, the empty frame 2 already in the accommodating portion 20. The subsequently transferred empty frame 2 can easily fall into the existing empty frame 2.

[0072] For example, regardless of whether the empty frame 2 carried by the carrying portion 41 is an empty frame 2 separated from the limiting portion 40 or an empty frame 2 that falls directly into the frame entrance 21, after the carrying portion 41 carries an empty frame 2, the remaining empty frames 2 stacked in the empty frame 2 are supported by the limiting portion 40.

[0073] When the carrying part 41 switches from the middle position to the fourth position, the carrying part 41 continues to move downward in the first direction from the middle position, and the frame removal device 1 starts to remove the frame: for example, when the limit part 40 supports at least one empty frame 2 and the carrying part 41 supports an empty frame 2, the frame removal operation can be performed. At this time, the limit part 40 is in the first position, controlling the carrying part 41 to switch from the middle position to the fourth position. Since the carrying part 41 and the first transmission part 30 are in the second direction (such as Figure 1 When the carrying portion 41 carries the empty frame 2 placed from the frame entry 21 and moves to a position parallel to (or lower than) the first transmission portion 30, the carrying portion 41 passes through the middle of the interval between the electric rollers 31 of the first transmission portion 30. The carrying portion 41 can be separated from the empty frame 2 placed from the frame entry 21, so that one empty frame 2 is carried by the first transmission portion 30, and the first transmission portion 30 moves along the second direction (as shown in the Y direction). Figure 3 The empty frame 2 separated from the carrying portion 41 is transferred to the frame outlet 22. For example, in the present application, the distance that the carrying portion 41 continues to move downward from the middle position along the first direction to the fourth position is 385 mm.

[0074] Therefore, in the process of de-framing using the de-framing device 1 of the present application, the accommodating portion 20 collects and stores the empty frames 2 after the passengers have completed security checks, the limiting portion 40 switches from the second position to the first position, and when the carrying portion 41 moves from the third position to the middle position, at least one empty frame 2 is supported by the limiting portion 40. When the carrying portion 41 also supports an empty frame 2, the limiting portion is controlled to maintain the first position, and the carrying portion 41 is controlled to move from the middle position to the fourth position to perform the de-framing operation, and the stacked empty frames 2 are de-framed. When the carrying portion 41 moves from the third position to the fourth position, the carrying portion 41 carries the empty frames 2 one by one and transfers them to the first transmission portion 30. When the carrying portion 41 is in the fourth position, the first transmission portion 30 carries the empty frames 2 one by one and transmits the de-framing empty frames 2 one by one from the frame outlet.

[0075] It is convenient for passengers to access the disassembled empty frame 2, which improves security inspection efficiency. At the same time, the collection, transmission and disassembly operations are completed by the disassembly device 1, which reduces the labor intensity of security inspection personnel and alleviates the great handling pressure on security inspection personnel. Compared with the empty frame 2 falling directly to the first transmission part 30 under the action of gravity, the present application uses the carrying part 41 to carry the empty frame 2 from the third position to the fourth position, and then the first transmission part 30 to transport the empty frame 2 to complete the disassembly. The entire disassembly process reduces noise and provides a good user experience.

[0076] In some possible embodiments, when the carrying portion 41 is in the third position, the carrying portion 41 can carry an empty frame 2 separated from the limiting portion 40 , and the carrying portion 41 carries the empty frame 2 to move from the third position to the fourth position for disassembly.

[0077] In some possible embodiments, when the limiting portion 40 is in the second position and the supporting portion 41 is in the third position, the deframing device 1 is in the initial state; when the limiting portion 40 is in the first position and the supporting portion 41 is in the fourth position, the deframing device 1 is in the deframing state. It should be noted that when the deframing device 1 is in the initial state, the limiting portion 40 in the deframing device 1 is in the second position and can be switched to the first position. The supporting portion 41 in the deframing device 1 is in the third position and can move to the intermediate position, and the supporting portion 41 carries at least one empty frame 2 inserted from the frame entry 21. That is, when the deframing device 1 is in the initial state, the deframing device 1 is ready for deframing.

[0078] In some possible embodiments, the carrying portion 41 is in the third position and the middle position, and the carrying portion 41 can carry an empty frame 2, and another empty frame 2 can be stacked in the empty frame 2; the carrying portion 41 is in the fourth position, and the carrying portion 41 can be separated from an empty frame 2. For example, since the carrying portion 41 and the first transmission portion 30 are in the second direction (such as Figure 1When the supporting portion 41 carries the empty frame 2 placed from the frame entry 21 and moves to a position parallel to (or lower than) the first transmission portion 30, the supporting portion 41 passes through the middle of the interval between the electric roller 31 of the first transmission portion 30, and the supporting portion 41 can be separated from the empty frame 2 placed from the frame entry 21; when the limiting portion 40 is in the first position, the limiting portion 40 can be against an empty frame 2, and more than one empty frame 2 placed from the frame entry 21 can be stacked in one empty frame 2; when the limiting portion 40 is in the second position, the limiting portion 40 can be separated from an empty frame 2, so that one empty frame 2 and the empty frames 2 stacked in another empty frame 2 are only carried by the supporting portion 41 in the third position.

[0079] refer to Figure 5 In some possible embodiments, the carrying portion 41 is in the third position, and the carrying portion 41 can carry the bottom empty frame 2 among the multiple stacked empty frames 2 inserted from the frame entry 21; the carrying portion 41 is in the fourth position, and the carrying portion 41 is accommodated in the interval of the electric roller 31 of the first transmission portion 30. The height of the carrying portion 41 is parallel to (or lower than) the first transmission portion 30, and the carrying portion 41 can be separated from the bottom empty frame 2. The bottom empty frame 2 is carried by the first transmission portion 30, and the frame removal operation is completed.

[0080] In some possible embodiments, reference Figure 5 When the de-framing device 1 is in the de-framing state, the limiting portion 40 is in the first position, and the limiting portion 40 can abut against an empty frame 2; the carrying portion 41 is in the third position, and the carrying portion 41 can carry an empty frame 2; and Figure 5 As shown in , an empty frame 2a that is abutted against the limiting portion 40 is the same as an empty frame carried by the supporting portion 41. Then, the limiting portion 40 can be switched from the first position to the second position, so that the supporting portion 41 moves downward along the first direction from the third position to the middle position, so that the limiting portion 40 can be switched back to the first position from the second position. The limiting portion 40 in the first position abuts against an empty frame 2 adjacent to an empty frame 2 carried by the supporting portion 41. Subsequently, an empty frame 2 carried by the supporting portion 41 moves downward along the first direction from the middle position to the fourth position, the supporting portion 41 separates from the empty frame 2, and the empty frame 2 is transferred to the frame outlet through the first transfer portion 30.

[0081] With this arrangement, when the carrying portion 41 returns from the fourth position to the third position, it can directly carry an empty frame that abuts against the limiting portion 40. The limiting portion 40 is switched from the first position to the second position, so that the carrying portion 41 carrying an empty frame switches from the third position to the intermediate position. The limiting portion 40 is then switched from the second position to the first position. The limiting portion abuts against an adjacent empty frame carried by an empty frame. The carrying portion 41 is then switched from the intermediate position to the fourth position, completing the above-mentioned de-framing process. It can be seen that during the entire de-framing process, the empty frame 2 does not experience free fall, but is supported by the carrying portion 41, reducing noise.

[0082] refer to Figure 6 and Figure 7 In some possible embodiments, along the third direction (such as Figure 7 The receiving portion 20 includes a first portion 211 and a second portion 212 that are arranged opposite to each other. The first portion 211 and the second portion 212 are respectively arranged along the first direction (as shown in the Z direction). Figure 7 The first portion 211 and the second portion 212 of the accommodating portion 20 are equivalent to two oppositely disposed side walls of the accommodating portion 20. For example, referring to Figure 3 and Figure 8 In this application, the first portion 211 is provided with a lifting portion 23 fixedly connected to the outside of the accommodating portion 20. Figure 7 X direction), the second direction (as shown in Figure 7 Y direction) and the third direction (as shown in Figure 7 The Z direction is shown in FIG. 2 ) and are perpendicular to each other.

[0083] In some possible embodiments, reference Figure 8 The carrying portion 41 is fixedly connected to the lifting portion 23, and the lifting portion 23 drives the carrying portion 41 through the slide rail 231, so that the carrying portion 41 can move between the third position and the fourth position along the first direction (such as Figure 8 For example, in the present application, the exterior of the lifting portion 23 is a frame-shaped structure that is closed on three sides. The frame-shaped structure is fixedly connected to the exterior of the first portion 211 of the accommodating portion 20 to form a cavity, and the lifting portion 23 is disposed within the enclosed cavity.

[0084] Among them, reference Figure 8 , Figure 8 (a) shows that the carrying portion 41 is located at the third position, and the carrying portion 41 is located at the top of the accommodating portion 20. Figure 8 (b) is when the carrying portion 41 is at the fourth position, the carrying portion 41 is at the bottom of the accommodating portion 20, at which time the carrying portion 41 can be accommodated in the gap between the electric roller 31 (not shown) of the first transmission portion 30. The lifting portion 23 includes: a slide rail 231, which is arranged along the first direction (such as Figure 8The slide rail 231 further includes a slider 2310, which can slide on the slide rail. The slider 2310 is fixedly connected to the bearing portion 41 and is used to guide the bearing portion 41 on the slide rail 231 along the first direction (as shown in the X direction). Figure 8 The lifting portion 23 further includes a lifting motor 232, which is disposed on a side of the lifting portion facing the first portion 211.

[0085] For example, in the present application, the lifting motor 232 is provided at the bottom of the lifting portion 23, and the lifting motor 232 moves along a first direction (eg Figure 8 The lead screw 2320 provided in the present application (shown in the X direction) is connected to the bearing part 41, and the lifting motor 232 is used to drive the lead screw 2320, converting the circumferential motion of the lead screw 2320 into the up and down linear motion of the bearing part 41. At the same time, the common guidance of the slider 2310 and the lead screw 2320 in the present application can enable the bearing part 41 to move in the first direction (as shown in the X direction) Figure 8 Stability during up and down movement (as shown in the X direction) is improved.

[0086] It should be noted that the lifting portion 23 of the present application is not limited to the above structure, and any structure that can drive the bearing portion 41 to move up and down along the first direction falls within the protection scope of the present application.

[0087] It should be noted that, exemplarily, in the present application, when the carrying portion 41 carrying the empty frame 2 moves to the middle position, the framing device 1 will control the limiting portion 40 to be located in the first position; when the carrying portion 41 carrying the empty frame 2 moves to the fourth position, the framing device 1 will control the first conveying portion 30 to transfer the empty frame 2 at the conveying position to the frame outlet, thereby completing the framing process.

[0088] In some possible embodiments, continue to refer to Figure 6 The first portion 211 is provided with a slide groove 215, and the bearing portion 41 is arranged along the third direction (such as Figure 6 The lifting portion 23 extends through the sliding groove 215 into the accommodating portion 20 (as shown in the Z direction). For example, in the present application, the sliding groove 215 is a rectangular sliding groove with four rounded corners.

[0089] In some possible embodiments, reference Figure 8 , along the second direction (such as Figure 8 The bearing portion 41 includes a portion along the third direction (as shown in the Y direction). Figure 8 The first fork arm 402 and the second fork arm 412 extend along the third direction (as shown in the Z direction). Figure 8 For example, the first direction, the second direction and the third direction in the present application are perpendicular to each other.

[0090] Continue to refer Figure 8 The first fork arm 402 includes a first surface 4020 and a second surface 4021 connected to each other. The first surface 4021 of the first fork arm 402 can be used to support the empty frame 2. The second fork arm 412 includes a first surface 4120 and a second surface 4121 connected to each other. The first surface 4120 of the second fork arm 412 can be used to support the bottom of the empty frame 2. The second surface 4021 of the first fork arm 402 and the second surface 4121 of the second fork arm 412 are respectively along the second direction (such as Figure 8 The fork arm 402 and the fork arm 412 are arranged relatively on the outer sides of the first fork arm 402 and the second fork arm 412 of the supporting portion 41 (as shown in the Y direction).

[0091] In the present application, the fork arm is used to strengthen the ability of the bearing portion 41 to bear the empty frame 2, thereby improving the efficiency of the frame removal device 1. For example, the outer edges of the first fork arm 402 and the second fork arm 412 are rounded. Figure 8 (shown in the X direction), the openings of the first fork arm 402 and the second fork arm 412 are set downward.

[0092] In some possible embodiments, continue to refer to Figure 3 , along the second direction (such as Figure 3 The accommodating portion 20 includes a third portion 216 and a fourth portion 217 that are arranged opposite to each other. The third portion 216 and the fourth portion 217 are respectively arranged along the first direction (as shown in the Y direction). Figure 3 The third portion 216 and the fourth portion 217 of the accommodating portion 20 are equivalent to two oppositely disposed side walls of the accommodating portion 20. For example, referring to Figure 3 In this application, the third part 216 and the relatively arranged fourth part 217 are respectively provided with a limiting portion 40.

[0093] refer to Figure 9 and Figure 10 The limiting portion 40 includes a first electric cylinder 401 mounted on the third portion 216, which is provided with a first through hole 213. The first electric cylinder 401 has a first telescopic member 403, which is provided with a first clamping member 404, and the first clamping member 404 is located at the first through hole 213.

[0094] The second electric cylinder 411 is mounted on the fourth portion 217 , and the fourth portion 217 defines a second through hole 214 . The second electric cylinder 411 has a second telescopic member 405 , which is provided with a second clamping member 406 , which is located at the second through hole 214 .

[0095] Figure 10The structure of the first electric cylinder 401, the first telescopic member 403 and the first clamping member 404 is shown. The structure of the second telescopic member 405 is the same as that of the first telescopic member 403, and the structure of the second clamping member 406 is the same as that of the first clamping member 404. Figure 9 The first electric cylinder 401 operates to drive the first telescopic member 403 to extend and retract, thereby driving the first clamping member 404 to extend and retract at the first through hole 213. Correspondingly, the second electric cylinder 411 operates to drive the second telescopic member 405 to extend and retract, thereby driving the second clamping member 406 to extend and retract at the second through hole 214.

[0096] It should be noted that, combined with Figure 5 As shown, when the limiting portion 40 is in the first position, the first telescopic member 403 and the second telescopic member 405 can move in a direction toward the accommodation portion 20 (such as Figure 10 The first clamping member 404 extends from the first through hole 213 into the accommodating portion 20 and abuts against one side of the empty frame 2, and the second clamping member 406 extends from the second through hole 214 into the accommodating portion 20 and abuts against the other side of the empty frame 2 to limit the empty frame 2 from moving in the first direction (as shown in the A direction and the B direction). Figure 5 That is, when the position-limiting portion 40 is in the first position, the first clamping member 404 and the second clamping member 406 respectively support opposite sides of the same empty frame 2.

[0097] When the limiting portion 40 is in the second position, the first telescopic member 403 and the second telescopic member 405 can move in a direction away from the accommodation portion 20 (eg Figure 10 The first clamping member 404 is retracted from the first through hole 213 and separated from one side of the empty frame 2, and the second clamping member 406 is retracted from the second through hole 214 and separated from the other side of the empty frame 2, so that the empty frame 2 moves in the first direction (as shown in the C direction and the D direction). Figure 5 That is, when the position-limiting portion 40 is in the second position, the first clamping member 404 and the second clamping member 406 are separated from the opposite sides of the same empty frame 2.

[0098] It should be noted that the structures of the limiting portion 40 and the supporting portion 41 of the present application are not limited to these structures. Any limiting portion and supporting portion structures capable of switching between the first position, the second position, the third position, and the fourth position described above fall within the scope of protection of the present application. For example, the limiting portion 40 and the supporting portion 41 are respectively an electric push rod structure and a mechanical drive structure.

[0099] In some possible implementations, the first clamping member 404 is arranged along the fourth direction (eg Figure 10 B in the middle) extends toward the top of the accommodating portion 20, and the second clamping member 406 extends along the fifth direction (as shown in FIG. Figure 10A direction in the middle) extends toward the top of the accommodating portion 20, and the fourth direction and the first direction (as shown in FIG. Figure 5 The angle between the fifth direction and the first direction (shown in the X direction) is a first acute angle, and the angle between the fifth direction and the first direction is a second acute angle, with the first acute angle being equal to the second acute angle. This allows the first and second clamping members 404, 406 to effectively support the corresponding empty frame 2 when they are extended. For example, the values ​​of the first and second acute angles range from 0° to 45°.

[0100] In some possible implementations, such as Figure 9 As shown, the first clamping member 404 and the second clamping member 406 are respectively in sheet shape. When the limiting portion 40 is in the first position, the first clamping member 404 and the second clamping member 406 can abut against the outer edge of an empty frame 2. It should be noted that, referring to Figure 5 In this application, along the first direction, the distance between the first clamping member 404 and the first fork arm 402 of the load-bearing portion when the load-bearing portion is in the third position, and the distance between the second clamping member 406 and the second fork arm 412 meet the following requirements: the bottom of the same empty frame 2 (such as Figure 5 2c) can be carried by the first fork arm 402 and the second fork arm 412, and the outer edge of the same empty frame 2 (as shown in FIG. Figure 5 2b) can abut against the first clamping member 404 and the second clamping member 406.

[0101] When the limiting portion 40 is located at the first position and the bearing portion 41 is located at the fourth position, the distance between the first clamping member 404 and the first fork arm 402, and the distance between the second clamping member 406 and the second fork arm 412 satisfy the following conditions: the bottom of the lower empty frame 2 of the two adjacent stacked empty frames 2 (such as Figure 5 2c) can be carried by the first fork arm 402 and the second fork arm 412, and the outer edge of the upper empty frame 2 (as shown in FIG. Figure 5 2b) can abut against the first clamping member 404 and the second clamping member 406.

[0102] Continue to refer Figure 6 , the de-framing device 1 of the present application further includes: a first sensor 233, a second sensor 234 and a third sensor 235. For example, the first portion 211 of the receiving portion 20 of the present application is provided with a first sensor 233, a second sensor 234 and a third sensor 235. In some possible embodiments, such as Figure 6 As shown, the number of the first sensors 233 is two, and the two first sensors 233 are arranged along the second direction (such as Figure 6The first sensor 233 is positioned above the support portion 41 of the first portion 211 of the receiving portion 20 (shown in the Y direction). The second sensor 234 is positioned below one of the first sensors 233 and parallel to the support portion 41 at the third position. The third sensor 235 is positioned below the second sensor 234 and slightly above the first transmission portion 30 (not shown).

[0103] refer to Figure 6 The first sensor 233 is used to detect whether there is an empty frame 2 at a first height, along the first direction (such as Figure 6 (as shown in the X direction in the middle), the first height is higher than the height at the position of the limiting part 40. The first sensor 233 is used to detect whether the number of empty frames 2 supported by the limiting part 40 exceeds the allowed number. If it is detected that the empty frames 2 collected in the receiving part 20 overflow, an alarm is issued. Prevent the bearing part 41 from having time to remove the frame or the situation where an abnormality occurs during the removal of the frame. The second sensor 234 is used to detect whether there is an empty frame 2 carried by the bearing part 41 at the third position. The third sensor 235 is used to detect whether the area corresponding to the first transmission part 30 and the receiving part 20 carries an empty frame 2. Exemplarily, the area corresponding to the first transmission part 30 and the receiving part 20 is the area where the downward projections of the first transmission part 30 and the receiving part 20 along the first direction overlap.

[0104] It should be noted that when the carrying portion 41 is controlled to move from the middle position to the fourth position, the empty frame 2 separated from the carrying portion 41 will move in the first direction (eg Figure 5 When the third sensor 235 detects that an empty frame 2 is carried in the area corresponding to the receiving portion 20 of the first conveying portion 30, it indicates that the empty frame 2 has not been completely transferred out. At this time, the carrying portion 41 is controlled to be in the middle position, and the frame removal operation is temporarily suspended. When the third sensor 235 detects that there are no empty frames 2 in the area corresponding to the receiving portion 20 of the first conveying portion 30, the carrying portion 41 can be controlled to move from the middle position to the fourth position to perform the frame removal operation.

[0105] In some possible embodiments, each sensor can emit a laser line toward the outer edge of the empty frame 2 to perform corresponding detection, so as to improve the detection accuracy of each sensor.

[0106] It should be noted that the two first sensors 233 provided on the de-framing device 1 can accurately detect whether the area corresponding to the first height above the position-limiting portion 40 is carrying an empty frame 2. This prevents blind spots in detection, which could cause the first sensors 233 to report that the area corresponding to the first height above the position-limiting portion 40 is not carrying an empty frame 2 when it is actually carrying an empty frame 2. This could lead to the second conveying unit incorrectly feeding the frame and colliding with the unde-framing empty frame 2 on the position-limiting portion 40, causing a malfunction of the de-framing device 1.

[0107] In some possible embodiments, reference Figure 11 The first transmission part 30 includes: Figure 11 The electric rollers 31 are connected to each other through belts 32. The electric rollers 31 are connected to each other through belts 32. Figure 11 Y direction) are arranged at intervals, and can be used to accommodate the two fork arms of the carrying portion 41 (reference Figure 11 When the carrying portion 41 moves from the middle position to the fourth position, the empty frame 2 falls onto the spaced apart electric rollers 31 and is transported by the electric rollers 31 .

[0108] In some possible embodiments, the frame removal device 1 further includes a second conveying portion, spaced apart from and arranged parallel to the first conveying portion 30 along the first direction, and the second conveying portion is used to convey the empty frame 2 to the frame inlet 21. For example, the structure of the second conveying portion of the present application is the same as that of the first conveying portion 30, that is, the second conveying portion includes: a plurality of electric rollers distributed along the second direction.

[0109] The present application also provides a security inspection system, comprising the frame removal device described in any of the above embodiments.

[0110] For example, Figure 12 The pallet recorded in the document is the empty frame 2 in this application, the clamps on both sides are the first and second clamping parts of the limiting part 40 in this application, the elevator is the carrying part 41 in this application, and the conveying position is the area where the first transmission part 30 and the accommodating part 20 in this application overlap in their downward projections along the first direction.

[0111] refer to Figure 12 and Figure 13 The present application also provides a deframing method, which uses the deframing device 1 described in any of the above embodiments. The deframing method of the present application includes the following steps:

[0112] S101: Control the limiting portion 40 to be in the first position and the carrying portion 41 to be in the third position.

[0113] When the de-framing device 1 is in its initial state (i.e., not undergoing a de-framing operation), the limiting portion 40 is in the first position, and the supporting portion 41 is in the third position. For example, the first and second clamping members 404, 406 are both extended. An empty frame 2 is transferred to the frame entry 21 of the receiving portion 20, and the supporting portion 41 supports an empty frame 2 inserted from the frame entry 21. If the empty frame 2 is not properly placed on the limiting portion 41 or the supporting portion 41, the next step is performed until the empty frame 2 is properly placed.

[0114] S102: Control the limiting portion 40 to be in the second position and the carrying portion 41 to be in the third position.

[0115] After the supporting portion 41 supports at least two empty frames 2, the supporting portion 41 is controlled to be in the third position and the limiting portion 40 is controlled to be in the second position. The first and second clamping members of the limiting portions 40 on both sides are detected to see if they have moved into position. If not, troubleshooting is performed and the next step is performed.

[0116] S103: Control the limiting portion 40 to be in the second position and the carrying portion 41 to be in the middle position.

[0117] The carrying portion 41 carries the empty frame 2 with at least one empty frame 2 stacked therein, and moves downward along the first direction (eg Figure 5 The support member 41 is moved to the intermediate position (as shown in the X direction). For example, in this application, the support member 41 moves downward 15 mm in the first direction from the third position to the intermediate position. Checking whether the support member 41 has moved into position is performed. If not, troubleshooting is performed before proceeding to the next step.

[0118] S104: Control the limiting portion 40 to be in the first position and the carrying portion 41 to be in the middle position.

[0119] For example, the limiting portion 40 abuts against the empty frame 2 stacked in the empty frame 2 supported by the supporting portion 41. The second transporting portion 50 can continue to transport the empty frame 2 toward the frame entry 21, and the empty frame 2 abutting against the limiting portion 40 can be stacked with more than one empty frame 2 placed in from the frame entry 21.

[0120] At this point, the limiting portion 40 supports at least one empty frame 2, and the bearing portion 41 supports one empty frame 2, and the frame removal operation can be performed. Check whether the first and second clamping members of the limiting portions 40 on both sides are moved into place. If not, perform troubleshooting and proceed to the next step.

[0121] S105: Control the limiting portion 40 to be in the first position and the carrying portion 41 to be in the fourth position.

[0122] When the carrying portion 41 is in the middle position, it is necessary to detect whether there are empty frames 2 in the area of ​​the first conveying portion 30. If not, it is necessary to control the first conveying portion 30 to convey the empty frames 2 out of the frame outlet 22 along the second direction before proceeding to the next step. That is, the carrying portion 41 moves from the middle position to the fourth position to perform the frame removal operation. For example, in this application, the carrying portion 41 moves downward 385 mm in the first direction from the middle position to reach the fourth position. Check whether the carrying portion 41 has moved into position. If not, perform troubleshooting and proceed to the next step.

[0123] S106: Control the limiting portion 40 to be in the first position and the carrying portion 41 to be in the third position.

[0124] When the support portion 41 is in the fourth position and the frame removal operation is complete, a new frame removal operation is required. At this time, the limit portion 40 is controlled to be in the first position and the support portion 41 is in the third position. After detecting that the support portion 41 has moved 400 mm upward in the first direction from the fourth position to the third position, the empty frame 2 supported by the limit portion 40 (the empty frame abutting the limit portion) can be received again and the next operation can be carried out.

[0125] S107: Control the limiting portion 40 to be in the second position and the carrying portion 41 to be in the third position.

[0126] With the limiting portion 40 in the second position and the supporting portion 41 in the third position, all empty frames 2 that were abutting the limiting portion 40 are separated from the limiting portion 40 and supported by the supporting portion 41. At this point, all empty frames 2 that were previously supported by both the limiting portion 40 and the supporting portion 41 are now supported by the supporting portion 41, and all empty frames 2 no longer experience free fall. The supporting portion 41 abuts the bottommost empty frame 2, and the next step is to remove this bottommost empty frame 2.

[0127] S108: Control the limiting portion 40 to be in the second position and the carrying portion 41 to be in the middle position.

[0128] The limiting portion is controlled to the second position and the supporting portion 41 is moved downward 15 mm to the intermediate position, so that the stacked empty frames 2 within the empty frame 2 supported solely by the supporting portion 41 are in a position where they can abut against each other when the limiting portion 40 is extended. During the deframing operation, the stacked empty frames 2 are operated on one by one, that is, the empty frames are separated from the supporting portion 41 one by one. In other words, during the deframing operation, the supporting portion 41 supports one empty frame 2, while the remaining empty frames 2 are supported by the limiting portion 40. Therefore, the limiting portion 40 is controlled to the first position and the supporting portion 41 is controlled to the intermediate position, and the above-described S104 operation is repeated. The limiting portion 40 abuts against the empty frames 2 stacked within the empty frame 2 abutting against the supporting portion 41. At this point, the supporting portion 41 supports one empty frame 2, while the remaining empty frames 2 are supported by the limiting portion 40. Meanwhile, the supporting portion 41 can continue the deframing operation. That is, the above-described S104 is repeated, and then the above-described S104 to S108 are repeated.

[0129] In some possible embodiments, when the sensor in the de-framing device 1 described in any of the above embodiments is used:

[0130] When the first sensor 233 detects the presence of an empty frame 2 at the first height, the automatic transfer of the empty frame 2 to the frame inlet 21 of the receiving portion 20 is stopped. The first sensor 233 is used to detect whether the empty frames 2 collected in the receiving portion 20 are overflowing, and if so, an alarm is issued. Manual insertion of the empty frame 2 into the receiving portion 20 is stopped to prevent the supporting portion 41 from being unable to remove the frame in time or malfunctioning during the removal process, which could result in an increase in the number of empty frames 2 supported by the limiting portion 40.

[0131] When the second sensor 234 detects the presence of an empty frame 2 abutting against the supporting portion 41, and the first sensor 233 detects the presence of an empty frame 2 at the first height, the limiting portion 40 is controlled to be in the second position. This indicates that an empty frame 2 is already stacked within the empty frame 2 supported by both the limiting portion 40 and the supporting portion 41. The supporting portion 41 can be moved downward to the intermediate position, so that the same empty frame 2 supported by both the limiting portion 40 and the supporting portion 41 is supported only by the supporting portion 41, and the stacked empty frames 2 within the same empty frame 2 are moved to a position where they can be abutted against by the limiting portion 40 when it is in the first position. By controlling the limiting portion in the second position and the supporting portion 41 in the intermediate position, the above-mentioned S107 is performed.

[0132] When the second sensor 234 detects the presence of an empty frame 2 abutting against the carrying portion 41 and the third sensor 235 detects that the area corresponding to the first transmission portion 30 and the receiving portion 20 is not carrying an empty frame 2, the carrying portion 41 is controlled to be in the fourth position and the limiting portion 40 is controlled to be in the first position. At this time, the frame removal operation can be performed, such as the above-mentioned S103.

[0133] When the third sensor 235 detects that the area corresponding to the first transmission part 30 and the accommodating part 20 does not carry the empty frame 2, and the carrying part 41 is in the middle position; at this time, the first transmission part 30 does not carry the empty frame 2, and the carrying part 41 carrying the empty frame 2 can be made to transmit the empty frame 2 to the first transmission part 30 to perform the frame removal operation, such as performing the above-mentioned S104.

[0134] When the third sensor 235 detects that the area corresponding to the first transmission part 30 and the receiving part 20 carries an empty frame; at this time, the first transmission part 30 has not completely output the removed empty frame 2 from the frame outlet 22, and the carrying part 41 cannot perform the frame removal operation, and the carrying part 41 needs to be controlled to be in the middle position.

[0135] When the carrying portion 41 is in the fourth position, the third sensor 235 detects that the area of ​​the first transmission portion 30 corresponding to the accommodating portion 20 does not carry the empty frame 2, and controls the carrying portion 41 from the fourth position to the third position and the limiting portion 40 to the first position.

[0136] When the carrying portion 41 is in the fourth position, the third sensor 235 detects that the area of ​​the first transmission portion 30 corresponding to the receiving portion 20 carries the empty frame 2, and controls the carrying portion to continue to be in the fourth position and the limiting portion to be in the first position.

[0137] When the second sensor 234 detects that there is no empty frame 2 abutting against the limiting portion 40, the supporting portion 41 is controlled to be in the third position. At this time, the supporting portion 41 does not support the empty frame 2, and the empty frame 2 can be transferred to the supporting portion 41 for de-framing operations, such as performing the above-mentioned S101 and S105.

[0138] In summary, the frame dismantling method of the present application has high frame dismantling efficiency, improved security inspection efficiency, low frame dismantling noise, and at the same time reduces the labor intensity of security inspection personnel and alleviates the great handling pressure on security inspection personnel.

[0139] Now refer to Figure 14 , shown is a block diagram of an electronic device 600 according to an embodiment of the present application. The electronic device 600 is, for example, the above-mentioned de-framing device. The electronic device 600 may include one or more processors 601 coupled to a controller hub 603. For at least one embodiment, the controller hub 603 communicates with the processor 601 via a multi-drop bus such as a front-side bus (FSB), a point-to-point interface such as a QuickPath Interconnect (QPI), or a similar connection 606. The processor 601 executes instructions that control general types of data processing operations. In one embodiment, the controller hub 603 includes, but is not limited to, a graphics & memory controller hub (GMCH) (not shown) and an input / output hub (IOH) (which may be on separate chips) (not shown), wherein the GMCH includes a memory and a graphics controller and is coupled to the IOH.

[0140] The electronic device 600 may also include a coprocessor 602 and a memory 604 coupled to a controller hub 603. Alternatively, one or both of the memory and the GMCH may be integrated within the processor (as described herein), with the memory 604 and coprocessor 602 coupled directly to the processor 601 and the controller hub 603, with the controller hub 603 being in a single chip with the IOH.

[0141] The memory 604 may be, for example, a dynamic random access memory (DRAM), a phase change memory (PCM), or a combination thereof. The memory 604 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, specifically, temporary and permanent copies of the instructions. The instructions may include: when executed by at least one of the processors, causing the electronic device 600 to implement the following: Figure 13 When the instructions are executed on a computer, the computer executes the method disclosed in any one of the above embodiments or combined embodiments to control the switching of the limiting portion 40 and the carrying portion 41 between corresponding positions.

[0142] In one embodiment, the coprocessor 602 is a special-purpose processor, such as, for example, a high-throughput MIC (Many Integrated Core) processor, a network or communication processor, a compression engine, a graphics processor, a GPGPU (General-purpose computing on graphics processing units), or an embedded processor. The optional nature of the coprocessor 602 is indicated by a dashed line in FIG. Figure 14 middle.

[0143] In one embodiment, the electronic device 600 may further include a network interface controller (NIC) 606. The network interface 606 may include a transceiver for providing a radio interface for the electronic device 600, thereby communicating with any other suitable device (such as a front-end module, an antenna, etc.). In various embodiments, the network interface 606 may be integrated with other components of the electronic device 600. The network interface 606 may implement the functions of the communication unit in the above-mentioned embodiments.

[0144] The electronic device 600 may further include input / output (I / O) devices 605. The I / O 605 may include: a user interface designed to enable a user to interact with the electronic device 600; a peripheral component interface designed to enable peripheral components to interact with the electronic device 600; and / or sensors designed to determine environmental conditions and / or location information related to the electronic device 600.

[0145] It is worth noting that Figure 14 This is for illustrative purposes only. Figure 14 It is shown that the electronic device 600 includes multiple devices such as a processor 601, a controller hub 603, a memory 604, etc. However, in actual applications, the devices using the methods of the present application may only include a part of the devices of the electronic device 600, for example, it may only include the processor 601 and the network interface 606. Figure 14 The properties of the optional devices are shown with dotted lines.

[0146] Now refer to Figure 15 , which is a block diagram of a SoC (System on Chip) 700 according to an embodiment of the present application. Figure 15 In FIG, similar components have the same reference numerals. In addition, the dashed boxes are optional features of more advanced SoCs. Figure 15In the embodiment, SoC 700 includes: an interconnect unit 750 coupled to a processor 710; a system agent unit 780; a bus controller unit 790; an integrated memory controller unit 740; a set of one or more coprocessors 720, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 730; and a direct memory access (DMA) unit 760. In one embodiment, the coprocessors 720 include specialized processors, such as network or communication processors, compression engines, GPGPUs (General-purpose computing on graphics processing units), high-throughput MIC processors, or embedded processors.

[0147] The static random access memory (SRAM) unit 730 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, and more specifically, temporary and permanent copies of the instructions. The instructions may include instructions that, when executed by at least one of the processors, cause the SoC to implement the following: Figure 13 When the instructions are executed on a computer, the computer executes the method disclosed in the above embodiment.

[0148] Each method implementation method of the present application can be implemented in software, magnetic components, firmware, etc.

[0149] Program code can be applied to input instructions to perform the functions described herein and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0150] Program code can be implemented with a high-level programming language or an object-oriented programming language to communicate with the processing system. Where necessary, program code can also be implemented with assembly language or machine language. In fact, the mechanism described herein is not limited to the scope of any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0151] One or more aspects of at least one embodiment may be implemented by representative instructions stored on a computer-readable storage medium, which represent various logic within a processor and, when read by a machine, cause the machine to fabricate logic for performing the techniques herein. These representations, known as "IP (Intellectual Property) cores," may be stored on tangible computer-readable storage media and provided to multiple customers or production facilities to be loaded into fabrication machines that actually fabricate the logic or processor.

[0152] In some cases, an instruction converter may be used to convert instructions from a source instruction set to a target instruction set. For example, the instruction converter may transform (e.g., using static binary transformation, dynamic binary transformation including dynamic compilation), morph, emulate, or otherwise convert an instruction into one or more other instructions to be processed by the core. The instruction converter may be implemented in software, hardware, firmware, or a combination thereof. The instruction converter may be on-processor, off-processor, or partially on-processor and partially off-processor.

[0153] Although the present invention has been illustrated and described with reference to certain preferred embodiments thereof, it should be understood by those skilled in the art that the above description is provided as a further detailed description of the present invention in conjunction with specific embodiments thereof, and that the specific implementation of the present invention is not limited to these descriptions. Those skilled in the art may make various changes in form and details, including simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A frame removal device, characterized in that: include: A main body having a receiving portion extending along a first direction; a frame entry opening, located at the top of the main body, the frame entry opening being communicated with the accommodating portion, the accommodating portion being used to receive an empty frame inserted from the frame entry opening; an outlet opening, located at a side of the main body, the outlet opening being in communication with the accommodating portion; a first transmission portion, located at the bottom of the accommodating portion, the first transmission portion being used to carry the empty frame and output the empty frame from the frame outlet along a second direction, the second direction being perpendicular to the first direction; a limiting portion, mounted on the main body, wherein the limiting portion can be switched between a first position and a second position; The bearing portion is mounted on the main body, and is located below the limiting portion along the first direction. The bearing portion can move between a third position and a fourth position along the first direction; wherein, In the first position, the limiting portion can abut against the empty frame inserted from the frame entry to limit the downward movement of the empty frame along the first direction; In the second position, the empty frame can move downward along the first direction; In the third position, the carrying portion is capable of carrying an empty frame placed from the frame entry port, and the empty frame is away from the first transmission portion along the first direction; In the fourth position, the carrying portion is accommodated in the first transmission portion, the carrying portion and the first transmission portion are spaced apart in the second direction, the empty frame on the carrying portion is carried by the first transmission portion, and the carrying portion and the empty frame are separated; When the carrying portion is at the fourth position, an empty frame abutting against the carrying portion moves from the third position to the fourth position along with the carrying portion; Along the third direction, the accommodating portion includes a first portion and a second portion arranged opposite to each other along the third direction, the first portion and the second portion respectively extending along the first direction, the first portion having a lifting portion provided on an outer side of the accommodating portion, the bearing portion being connected to the lifting portion, the lifting portion being used to drive the bearing portion to move upward or downward along the first direction, the first direction, the second direction, and the third direction being perpendicular to each other; The lifting part includes: a slide rail extending along a first direction and provided on a side of the lifting portion facing the first portion, wherein the bearing portion is capable of moving upward or downward along the first direction relative to the slide rail; The slide rail includes a slider, which is capable of sliding on the slide rail and is fixedly connected to the bearing portion for guiding the bearing portion to move up and down along the first direction on the slide rail; a lifting motor, the lifting motor being disposed on a side of the lifting portion facing the first portion, the lifting motor being connected to the carrying portion, and being configured to drive the carrying portion to move upward or downward relative to the slide rail along the first direction; The lifting motor is connected to the bearing part via a lead screw arranged along a first direction, and the lifting motor is used to drive the lead screw to convert the circumferential motion of the lead screw into the up and down linear motion of the bearing part; The first portion is provided with a sliding groove, and the bearing portion extends into the accommodating portion through the sliding groove along the third direction.

2. The frame disassembling device according to claim 1, characterized in that: The carrying portion is capable of carrying an empty frame separated from the limiting portion and switching from the third position to the fourth position.

3. The frame dismantling device according to claim 1, characterized in that: When the limiting portion is in the second position and the supporting portion is in the third position, the framing device is in an initial state; when the limiting portion is in the first position and the supporting portion is in the fourth position, the framing device is in a framing state.

4. The frame removal device according to claim 1, characterized in that: In the third position, the carrying portion can carry an empty frame, and another empty frame can be stacked inside the empty frame; In the fourth position, the carrying portion can be separated from the empty frame; In the first position, the limiting portion can abut against the one empty frame, and more than one empty frame inserted from the frame entry can be stacked in the one empty frame; In the second position, the limiting portion can be separated from the empty frame, so that the empty frame and the empty frames stacked in the empty frame move downward along the first direction, and the empty frame can be supported by the supporting portion.

5. The frame dismantling device according to claim 1, characterized in that: When the limiting portion is in the first position and the supporting portion is in the third position, an empty frame abutted by the limiting portion and an empty frame supported by the supporting portion are the same; The limiting portion can be switched from the first position to the second position, so that the supporting portion moves downward along the first direction from the third position to the intermediate position, and the limiting portion is then switched from the second position to the first position, and the limiting portion abuts against the adjacent empty frame supported by the one empty frame; The carrying portion carries the empty frame to move downward from the middle position along the first direction to the fourth position.

6. The frame dismantling device according to claim 1, characterized in that: In the third position, the carrying portion is capable of carrying an empty frame located at the bottom among a plurality of stacked empty frames inserted from the frame entry port; In the fourth position, the carrying portion is accommodated in the first transmission portion, the carrying portion is separated from the bottommost empty frame, and the bottommost empty frame is carried by the first transmission portion.

7. The frame disassembling device according to claim 1, characterized in that: Along the second direction, the bearing portion includes a first fork arm and a second fork arm extending along a third direction; the first fork arm and the second fork arm are arranged in parallel, and the first direction, the second direction and the third direction are perpendicular to each other.

8. The frame removing device according to claim 7, characterized in that: The first fork arm includes a first surface and a second surface connected to each other, and the first surface of the first fork arm is capable of supporting the bottom of the hollow frame; The second fork arm includes a first surface and a second surface connected to each other, and the first surface of the second fork arm is capable of supporting the bottom of the hollow frame; The second surface of the first fork arm and the second surface of the second fork arm are respectively arranged along the second direction to be opposite to the outer sides of the first fork arm and the second fork arm of the bearing portion.

9. The frame removing device according to any one of claims 1 to 8, characterized in that: The accommodating portion further includes a third portion and a fourth portion that are arranged opposite to each other along the second direction. The third portion and the fourth portion extend along the first direction respectively, and the third portion and the fourth portion are respectively provided with the limiting portion.

10. The frame removing device according to claim 9, characterized in that: The limiting portion includes: A first electric cylinder, the first electric cylinder having a first telescopic member, the first telescopic member being provided with a first clamping member, and the first clamping member being located at the first through hole; a second electric cylinder, the second electric cylinder having a second telescopic member, the second telescopic member being provided with a second clamping member, and the second clamping member being located at the second through hole; The first electric cylinder is installed on the third part, and the third part is provided with the first through hole; The second electric cylinder is installed on the fourth part, and the fourth part is provided with the second through hole; In the first position, the first telescopic member and the second telescopic member are capable of moving in a direction toward the accommodating portion, so that the first clamping member extends from the first through hole into the accommodating portion and abuts against one side of the empty frame, and the second clamping member extends from the second through hole into the accommodating portion and abuts against the other side of the empty frame, thereby restricting the empty frame from moving downward in the first direction; In the second position, the first telescopic member and the second telescopic member can move in a direction away from the accommodating portion, so that the first clip is retracted from the first through hole and separated from one side of the empty frame, and the second clip is retracted from the second through hole and separated from the other side of the empty frame, so that the empty frame moves downward along the first direction.

11. The frame removing device according to claim 10, characterized in that: The first clamping member extends along a fourth direction toward the top of the accommodating portion, and the second clamping member extends along a fifth direction toward the top of the accommodating portion. The angle between the fourth direction and the first direction is a first acute angle, and the angle between the fifth direction and the first direction is a second acute angle. The first acute angle is equal to the second acute angle.

12. The frame removing device according to claim 10, characterized in that: The first clamping member and the second clamping member are respectively in sheet shape; In the first position, the first clamping member and the second clamping member can abut against an outer edge of a hollow frame.

13. The frame removing device according to claim 10, characterized in that: Along the first direction, when the limiting portion is in the first position and the supporting portion is in the third position, the distance between the first clamping member and the first fork arm, and the distance between the second clamping member and the second fork arm satisfy: the bottom of the same empty frame can be supported by the first fork arm and the second fork arm, and the outer edge of the same empty frame can be against the first clamping member and the second clamping member.

14. The frame removing device according to claim 10, characterized in that: Along the first direction, when the limiting portion is in the first position and the supporting portion is in the middle position, the distance between the first clip and the first fork arm, and the distance between the second clip and the second fork arm satisfy: the bottom of the lower empty frame in two adjacent stacked empty frames can be supported by the first fork arm and the second fork arm, and the outer edge of the upper empty frame can be against the first clip and the second clip.

15. The frame removing device according to any one of claims 1 to 8 and 10 to 14, characterized in that: Also includes: a first sensor configured to detect whether there is an empty frame at a first height, where the first height is higher than a height at which the limiting portion is located along the first direction; a second sensor, the second sensor being configured to detect whether there is an empty frame carried by the carrying portion at the third position; A third sensor is used to detect whether an area corresponding to the first transmission portion and the receiving portion carries an empty frame.

16. The frame removing device according to claim 15, characterized in that: Each sensor can emit a laser line toward the outer edge of the empty frame to perform corresponding detection.

17. The frame removing device according to claim 15, characterized in that: The number of the first sensors is two, and the two first sensors are spaced apart along the second direction.

18. The frame removing device according to claim 1, characterized in that: The first transmission part includes: a plurality of electric rollers distributed along the second direction; the plurality of electric rollers are arranged at intervals along the second direction and can be used to accommodate the bearing part.

19. The frame removing device according to claim 1, characterized in that: It also includes a second transmission part, which is spaced apart from and arranged in parallel with the first transmission part along the first direction, and the second transmission part is used to transmit the empty frame to the frame entrance.

20. The frame removing device according to claim 19, characterized in that: The second transmission part includes: a plurality of electric rollers distributed along the second direction.

21. A security inspection system, characterized in that: It comprises the frame removing device according to any one of claims 1 to 20.

22. A method for dismantling a frame, characterized in that: Using the de-framing device according to any one of claims 1 to 20, the de-framing method comprises: S101: controlling the limiting portion to be in the first position and the carrying portion to be in the third position; S102: controlling the limiting portion to be in the second position and the carrying portion to be in the third position; S103: controlling the limiting portion to be in the second position and the carrying portion to be in the middle position; S104: controlling the limiting portion to be in the first position and the carrying portion to be in the middle position; S105: controlling the limiting portion to be in the first position and the carrying portion to be in the fourth position; S106: controlling the limiting portion to be in the first position and the carrying portion to be in the third position; S107: controlling the limiting portion to be in the second position and the carrying portion to be in the third position; S108: Control the limiting portion to be in the second position and the bearing portion to be in the middle position.

23. The frame removal method according to claim 22, characterized in that: Repeat the above steps S104 to S108.

24. The frame removal method according to claim 22 or 23, characterized in that: S101: controlling the limiting portion to be in the first position and the carrying portion to be in the third position, transferring an empty frame to the frame entry opening of the accommodating portion, wherein the limiting portion abuts against the carrying portion and the empty frame placed from the frame entry opening; S102: controlling the limiting portion to be in the second position and the carrying portion to be in the third position, so that the limiting portion is separated from the empty frame inserted from the frame entry, and the carrying portion carries the empty frame inserted from the frame entry; S103: controlling the limiting portion to be in the second position and the carrying portion to be in the middle position, the carrying portion carrying all the empty frames inserted from the frame entry port moves from the third position to the middle position, and the empty frames carried by the carrying portion are stacked with at least one empty frame; S104: controlling the limiting portion to be in the first position and the carrying portion to be in the middle position, so that the limiting portion abuts against an empty frame stacked in and adjacent to the empty frame abutting against the carrying portion; S105: controlling the limiting portion to be in the first position and the carrying portion to be in the fourth position; An empty frame abutting against the carrying portion is separated from the carrying portion and carried by the first transmission portion, and the first transmission portion outputs the empty frame from the frame outlet along the second direction; S106: controlling the limiting portion to be in the first position and the carrying portion to be in the third position, so that an empty frame abutted by the limiting portion and an empty frame supported by the carrying portion are the same; S107: controlling the limiting portion to be in the second position and the carrying portion to be in the third position, so that all the empty frames abutting against the limiting portion are separated from the limiting portion and are carried by the carrying portion; S108: Control the limiting portion to be in the second position and the carrying portion to be in the middle position, the carrying portion carries all the empty frames put in from the frame entry and moves from the third position to the middle position, and the empty frames carried by the carrying portion are stacked with at least one empty frame.

25. The frame removal method according to claim 24, characterized in that: When the frame removal device according to any one of claims 16 to 20 is used: When the first sensor detects that there is an empty frame at the first height, the automatic transmission of the empty frame to the frame inlet of the accommodating portion is stopped; When the second sensor detects that there is an empty frame carried by the carrying portion, and the first sensor detects that there is an empty frame at the first height, the limiting portion is controlled to be in the second position, and the carrying portion is controlled to be in the middle position; When the second sensor detects that there is an empty frame stacked in the empty frames abutting against the carrying portion, and the first sensor detects that there is no empty frame at the first height, the carrying portion is controlled to be in the middle position, and the limiting portion is controlled to be in the first position; When the third sensor detects that there is no empty frame in the area corresponding to the first transmission portion and the receiving portion, and the carrying portion is in the middle position, the carrying portion is controlled to be in the fourth position and the limiting portion is in the first position; When the third sensor detects that the area of ​​the first transmission part corresponding to the receiving part carries an empty frame, the carrying part is controlled to be in the middle position; When the carrying portion is in the fourth position, the third sensor detects that the area of ​​the first transmission portion corresponding to the receiving portion does not carry an empty frame, and controls the carrying portion to be in the third position from the fourth position and the limiting portion to be in the first position; When the carrying portion is in the fourth position, the third sensor detects that the area of ​​the first transmission portion corresponding to the receiving portion carries an empty frame, and controls the carrying portion to be in the fourth position and the limiting portion to be in the first position; When the second sensor detects that there is no empty frame abutting against the limiting portion, the carrying portion is controlled to be in the third position.

26. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the deframing method according to any one of claims 22 to 25.

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