Control method, device, computer equipment and storage medium of disk disassembly system

Abstract

The embodiment of the present invention discloses a control method, device, computer equipment and storage medium for a pallet dismantling system. The method is applied to the pallet dismantling system, which includes a pallet dismantling machine and a first conveying device. The pallet dismantling machine is provided with a first sensing device on its fork, and the pallet dismantling machine is provided above the first conveying device. The method includes: when the first conveying device is in a state of no goods, determining whether there are goods on the pallet dismantling machine by means of the first sensing device; if there are goods on the pallet dismantling machine, controlling the fork to place the first layer of goods on the pallet dismantling machine on the first conveying device, and the first layer of goods is located at the bottom layer of goods; when it is detected that the pallet dismantling machine sends a signal that the goods are released, operating the first conveying device to deliver the first layer of goods. Since the fork in the present solution is provided with a sensing device, it is possible to detect whether there are goods on the pallet dismantling machine by means of the sensing device, thereby avoiding problems such as incomplete separation of goods due to errors in the statistical number of cargo layers, and improving the pallet dismantling effect of the pallet dismantling machine.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology, and in particular to a control method, device, computer equipment and storage medium for a pallet disassembly system. Background Art

[0002] In the industrial logistics industry, a large project usually involves various automated logistics equipment, such as Rail Guided Vehicle (RGV), Automated Guided Vehicle (AGV), warehouse stacker, conveyor line, etc. Among them, the conveyor line, as a transfer equipment, plays a connecting role. It not only needs to be connected with the above-mentioned equipment at the head and tail, but also needs to be connected with various equipment in the middle, such as film wrapping machine, palletizing machine, and depalletizing machine. After palletizing, depalletizing, and film wrapping, the goods are sent to various equipment.

[0003] Among them, the pallet depalletizer is mostly used in multi-pallet conveying systems to separate and place multiple stacked goods (such as pallets) one by one according to needs and place them on the conveyor line, and then flow out from the conveyor line.

[0004] In the prior art, a counting method is generally used to determine whether the pallet depalletizer has separated the current pile of goods. For example, the number of layers of the goods to be separated is first determined, and then the number of times the pallet depalletizer depalletizes is determined based on the number of layers. After the number of depalletizing operations is completed, it means that the current pile of goods has been separated. However, if the number of material layers is wrong, the number of depalletizing operations performed by the pallet depalletizer is insufficient or too many. For example, if the number of layers of the goods is counted too low, the goods have not been separated yet, but the pallet depalletizer has stopped working, resulting in incomplete separation of the goods; if the number of layers of the goods is counted too high, the goods have been separated yet, but the pallet depalletizer is still performing empty operations, resulting in a waste of resources. It can be seen that the depalletizing effect of the current pallet depalletizer needs to be improved. Summary of the invention

[0005] The embodiments of the present invention provide a control method, device, computer equipment and storage medium of a disk disassembly system, which are used to improve the disk disassembly effect.

[0006] In a first aspect, an embodiment of the present invention provides a control method for a pallet dismantling system, the method being applied to the pallet dismantling system, the pallet dismantling system comprising a pallet dismantling machine and a first conveying device, a first sensing device being arranged on a fork of the pallet dismantling machine, the pallet dismantling machine being arranged above the first conveying device, the method comprising:

[0007] When the first conveying device is in a state of no goods, determining whether there are goods on the pallet depalletizing machine by means of the first sensing device;

[0008] If there are goods on the depalletizing machine, control the fork to place the first layer of goods on the first conveying device, and the first layer of goods is the bottom layer of goods;

[0009] When it is detected that the depalletizing machine sends a signal that the goods are released, the first conveying device is operated to deliver the first layer of goods.

[0010] In a second aspect, an embodiment of the present invention further provides a control device for a pallet dismantling system, the device being integrated in the pallet dismantling system, the pallet dismantling system comprising a pallet dismantling machine and a first conveying device, a first sensing device being arranged on the fork of the pallet dismantling machine, the pallet dismantling machine being arranged above the first conveying device, the device comprising:

[0011] A detection unit, used for determining whether there are goods on the pallet depalletizer through the first sensing device when the first conveying device is out of goods;

[0012] The processing unit is used to control the fork to place the first layer of goods on the first conveying device when there are goods on the pallet depalletizer, and the first layer of goods is the bottom layer of goods; when it is detected that the pallet depalletizer sends a signal of completion of placing the goods, the first conveying device is operated to send out the first layer of goods.

[0013] In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above method when executing the computer program.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and the program instructions can implement the above method when executed by a processor.

[0015] The embodiment of the present invention provides a control method, device, computer equipment and storage medium for a pallet dismantling system. The method is applied to a pallet dismantling system, wherein the pallet dismantling system includes a pallet dismantling machine and a first conveying device, a first sensing device is provided on the pallet dismantling machine's fork, and the pallet dismantling machine is provided above the first conveying device, and the method includes: when the first conveying device is in a state of no goods, determining whether there is goods on the pallet dismantling machine by means of the first sensing device; if there is goods on the pallet dismantling machine, controlling the pallet fork to place the first layer of goods on the first conveying device, wherein the first layer of goods is the bottom layer of goods; when it is detected that the pallet dismantling machine sends a signal for completing the release of goods, operating the first conveying device to deliver the first layer of goods. Since the pallet dismantling machine in this scheme is provided with a sensing device, the sensing device can detect whether there is goods on the pallet dismantling machine, and the pallet dismantling operation can be automatically performed according to the detection result, without the need to manually input the number of pallet dismantlings, and the pallet dismantling can be accurately performed according to the current detection result, thereby avoiding the problem of incomplete separation of goods and waste of resources due to the error in the statistical number of cargo layers, and improving the pallet dismantling effect of the pallet dismantling machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of the structure of a disk disassembly system provided in an embodiment of the present invention;

[0018] Figure 2 A schematic flow chart of a control method for a disk disassembly system provided by an embodiment of the present invention;

[0019] Figure 3 A schematic flow chart of a control method for a disk disassembly system provided by another embodiment of the present invention;

[0020] Figure 4 A schematic block diagram of a control device for a disk disassembly system provided in an embodiment of the present invention;

[0021] Figure 5 A schematic block diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0024] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0025] It should be further understood that the term "and / or" used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0026] The embodiments of the present invention provide a control method, device, computer device, and storage medium for a pallet disassembling system.

[0027] The execution subject of the control method of the pallet disassembling system may be the control device of the pallet disassembling system provided by the embodiments of the present invention, or a computer device integrated with the control device of the pallet disassembling system. Among them, the control device of the pallet disassembling system can be implemented in a hardware or software manner, and the computer device can be the controller of the pallet disassembling system.

[0028] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the application scenario of the control method of the pallet disassembling system provided by the embodiments of the present invention. The control method of the pallet disassembling system is applied to Figure 1In the pallet depalletizing system 100, the pallet depalletizing system 100 includes a pallet depalletizing machine 10 and a first conveying device 20, a first sensing device 12 is provided on the fork 11 of the pallet depalletizing machine 10, and the pallet depalletizing machine 10 is arranged above the first conveying device 20, and the method includes: when the first conveying device 20 is in an empty state, determining whether there is any cargo on the pallet depalletizing machine 10 by using the first sensing device 12; if there is cargo on the pallet depalletizing machine 10, controlling the fork 11 to place the first layer of cargo on the pallet depalletizing machine 10 on the first conveying device 20, the first layer of cargo being the bottom layer of cargo; when detecting that the pallet depalletizing machine 10 sends a cargo release completion signal, operating the first conveying device 20 to send out the first layer of cargo.

[0029] Specifically, in some embodiments, Figure 1 As shown, the tray depanning machine 10 is arranged above the first conveying device 20 through the tray depanning machine supporting components.

[0030] Among them, in order to ensure the stability of cargo depalletizing, the forks 11 can be symmetrically arranged on both sides of the depalletizing machine 10, and one or more forks 11 can be arranged on one side of the depalletizing machine 10. For example, two forks 11 are arranged on one side, that is, the depalletizing machine 10 includes four forks 11. At this time, there are one or more first sensing devices 12. When the first sensing device 12 is a transceiver sensing device, the transmitting part of the first sensing device 12 is arranged on one side of the depalletizing machine 10, and the receiving part is arranged on the other side of the depalletizing machine 10. When two or more forks 11 are arranged on one side of the depalletizing machine 10, in order to increase the sensing area, the transmitting part of the first sensing device 12 and the receiving part of the first sensing device 12 are arranged diagonally.

[0031] Among them, Figure 1 As shown, the pallet disassembling machine 10 is provided with a lifting mechanism 13, the fork 11 is arranged on the lifting mechanism 13, the lifting mechanism 13 is provided with a low gear, a middle gear and a high gear from bottom to top, and the low gear is provided with a first position sensor (not shown), the middle gear is provided with a second position sensor (not shown), and the high gear is provided with a third position sensor (not shown).

[0032] It should be noted that, in this embodiment, the positions of the first position sensor, the second position sensor and the third position sensor can be adjusted according to the specifications of the goods to be unpalletized.

[0033] It should be noted that when the fork 11 is in the low gear, the fork 11 can place the first layer of goods on the first conveying device 20, and when the fork 11 is in the middle gear, the fork 11 can extend into the cargo hole of the second layer of goods. When the fork is in the cargo hole of the second layer of goods, the fork 11 can lift the second layer of goods and the goods stacked on the second layer to the high gear position, so that the first layer of goods is separated from other goods.

[0034] It should be noted that the lifting mechanism 13 in this embodiment controls the fork 11 to move to the corresponding low gear, middle gear and high gear respectively through the first position sensor, the second position sensor and the third position sensor. Among them, a telescopic mechanism is also provided inside the lifting structure in this embodiment, and the lifting mechanism 13 is connected to the fork 11 through the telescopic mechanism, and the telescopic mechanism is vertically arranged with the lifting structure.

[0035] In some embodiments, the pallet disassembling system 100 further includes a second conveying device 30, which is disposed upstream of the first conveying device 20, and the conveying direction of the second conveying device 30 is consistent with the conveying direction of the first conveying device 20. If there is no cargo on the first conveying device 20 and the pallet disassembling machine 10, the cargo can be automatically conveyed from the second conveying device 30 to the first conveying device 20, so as to realize the automatic replenishment of cargo in the pallet disassembling machine 10, thereby improving the intelligence of the pallet disassembling system. It should be noted that in this embodiment, the height of the cargo needs to be limited to the height limit of the pallet disassembling machine 10.

[0036] In some embodiments, a fourth sensing device 31 is disposed on the second conveying device 30 , and the fourth sensing device 31 is used to detect whether there are goods on the second conveying device 30 .

[0037] In some embodiments, a second sensing device 21 is provided at the transmission end corresponding to the first conveying device 20 and the pallet depalletizing machine 10, and the second sensing device 21 is used to detect whether there are goods on the first conveying device 20, and when it is necessary to restock the pallet depalletizing machine 10, detect whether new goods have arrived at the inlet of the first conveying device 20. When arriving at the inlet, the first conveying device 20 stops running and the pallet depalletizing machine 10 starts restocking.

[0038] In some embodiments, the depalletizing system 100 further includes a third conveying device 40, which is disposed downstream of the first conveying device 20, and the conveying direction of the third conveying device 40 is consistent with the conveying direction of the first conveying device 20. The third conveying device 40 is used to automatically transport the goods transmitted from the first conveying device 20.

[0039] In some embodiments, a third sensing device 41 is provided on the third conveying device 40, and the third sensing device is used to detect whether there are obstacles (such as goods) on the third conveying device 40. Specifically, it detects whether there are obstacles in the safety area of ​​the third conveying device 40. The safety area is the area of ​​the third conveying device 40 close to the side of the first conveying device 20. The length of the safety area is the preset spacing distance between the goods to prevent the spacing of the goods after splitting from being too small.

[0040] In some embodiments, the palletizing system is also provided with a cargo height sensor (not shown), which is used to detect the height of the cargo that is about to enter the first conveying device 20. If it is detected that the height of the cargo that is about to enter is higher than the preset height threshold of the palletizing machine 10, the transportation of the cargo is stopped and an alarm signal is issued.

[0041] It should be noted that this embodiment does not limit the specific types of the sensors in the disk disassembly system.

[0042] Figure 2 is a flow chart of a control method for a disk disassembly system provided by an embodiment of the present invention, wherein the control method for a disk disassembly system is applied to Figure 1 The disassembly system shown in the figure. Figure 2 As shown, the method includes the following steps S110-130.

[0043] S110. When the first conveying device is out of stock, determine whether there is stock on the pallet dismantling machine through the first sensing device; if yes, execute step S120; if not, execute step S140.

[0044] In some embodiments, specifically, whether the first sensing device is out of stock is determined by a second sensing device, wherein the second sensing device is disposed at the transmission end corresponding to the first conveying device and the pallet unpacking machine. When the second sensing device senses that there are goods, it indicates that the first conveying device is in a state of having goods, and when the second sensing device senses that there are no goods, it indicates that the first conveying device is out of stock. When it is detected that the first conveying device is out of stock, a replenishment signal for the first conveying device is generated. After the system detects the replenishment signal for the first conveying device, it will further determine the replenishment path for the first sensing device. In this embodiment, the replenishment can be performed through the pallet unpacking machine.

[0045] Furthermore, if it is determined through the second sensing device that the first sensing device is in a stock-in-hand state, at this time, if the system is currently in the replenishment step of the pallet depalletizer, then at this time, the pallet depalletizer is controlled to perform the replenishment operation; if the system is currently in the step after the pallet depalletizer has released the goods, at this time, it should be further detected whether the first conveying device can convey the goods located on the first sensing device.

[0046] S120, controlling the fork to place the first layer of goods on the first conveying device.

[0047] Among them, the first layer of goods is the bottom layer of goods.

[0048] In this embodiment, if there are goods on the pallet depalletizer, the first conveying device can replenish the goods from the pallet depalletizer. Specifically, the pallet depalletizer is provided with a lifting mechanism, and the lifting mechanism is provided with a low gear, a middle gear and a high gear from bottom to top, and the fork is provided on the lifting mechanism; the controlling the fork to place the first layer of goods on the first conveying device includes: moving the fork to the low gear by the lifting mechanism, controlling the fork to retract, so as to place the first layer of goods on the first conveying device; moving the fork to the middle gear by the lifting mechanism, and determining whether there are goods on the pallet depalletizer by the first sensing device; if there are no goods on the pallet depalletizer, the pallet depalletizer sends the goods release completion signal; if there are goods on the pallet depalletizer, the fork is extended, and the fork is moved to the high gear by the lifting mechanism, and the goods release completion signal is sent to separate the second layer of goods from the first layer of goods, and the second layer of goods of the goods is the upper layer of goods of the first layer of goods.

[0049] In this embodiment, a first position sensor is provided on the low gear, a second position sensor is provided on the middle gear, and a third position sensor is provided on the high gear. When the first position sensor detects the fork, it means that the fork is located at the low gear; when the second position sensor detects the fork, it means that the fork is located at the middle gear; when the third position sensor detects the fork, it means that the fork is located at the high gear.

[0050] S130: When it is detected that the pallet depalletizing machine sends a signal that the goods are released, the first conveying device is operated to deliver the first layer of goods.

[0051] In some embodiments, the pallet depalletizing system further includes a third conveying device, which is disposed at the exit end of the first conveying device, and the conveying direction of the third conveying device is consistent with the conveying direction of the first conveying device. At this time, step S130 specifically includes: detecting whether the third conveying device meets the preset conveying conditions; if the third conveying device meets the preset conveying conditions and detects that the pallet depalletizing machine sends the release completion signal, operating the first conveying device.

[0052] At this time, the first layer of goods is sent to the third conveying device, and is further transported by the third conveying device.

[0053] Furthermore, a third sensing device is provided on the third conveying device, and detecting whether the third conveying device meets the preset conveying conditions includes: detecting whether there are obstacles on the third conveying device through the third sensing device; if there are no obstacles on the third conveying device, determining that the third conveying device meets the conveying conditions; if there are obstacles on the third conveying device, determining that the third conveying device does not meet the conveying conditions.

[0054] It can be seen that in order to pile up the disassembled goods on the third sensing device, before conveying the goods to the third conveying device, it will be further detected whether there are any obstacles on the third conveying device. If there are obstacles, the conveying conditions are not met. At this time, the first conveying device does not convey the goods, and the system sends out an alarm signal until it is detected that the third conveying device meets the conveying conditions. At this time, the first conveying device conveys the goods.

[0055] In addition, in some embodiments, in order to ensure the spacing of the goods after splitting, at this time, a third sensing device is used to detect whether there are obstacles in the safety area of ​​the third conveying device. The safety area is the area of ​​the third conveying device close to the side of the first conveying device, and the length of the safety area is the preset spacing distance between the goods.

[0056] S140: Execute other operations.

[0057] Among them, the other operation can be to replenish the tray disassembling machine, or to stop working, which is not limited here.

[0058] In summary, the control method of the pallet dismantling system provided in this embodiment is applied to the pallet dismantling system, the pallet dismantling system includes a pallet dismantling machine and a first conveying device, the pallet dismantling machine is provided with a first sensing device on the fork, the pallet dismantling machine is provided above the first conveying device, and the method includes: when the first conveying device is in a state of no goods, determining whether there is goods on the pallet dismantling machine by means of the first sensing device; if there is goods on the pallet dismantling machine, controlling the fork to place the first layer of goods on the first conveying device, the first layer of goods being the bottom layer of goods; when it is detected that the pallet dismantling machine sends a signal of completion of placing goods, operating the first conveying device to send out the first layer of goods. Since the fork in this scheme is provided with a sensing device, the sensing device can detect whether there is goods on the pallet dismantling machine, and the pallet dismantling operation can be automatically performed according to the detection result, without the need to manually input the number of pallet dismantlings, and the pallet dismantling can be accurately performed according to the current detection result, thereby avoiding the problems of incomplete cargo separation and waste of resources due to errors in the statistical number of cargo layers, and improving the pallet dismantling effect of the pallet dismantling machine.

[0059] Figure 3FIG. 2 is a flow chart of a control method of a disk disassembly system provided by another embodiment of the present invention. Figure 3 As shown, the control method of the disk disassembly system of this embodiment includes steps S210-S270.

[0060] S210. When the first conveying device is out of stock, determine whether there is stock on the pallet dismantling machine through the first sensing device; if so, execute steps S220-S230; if not, execute steps S240-S270.

[0061] In this embodiment, when it is detected that the first conveying device is out of stock, the system needs to replenish the first conveying device.

[0062] Specifically, in this embodiment, the system has two ways to replenish the first conveyor device. The first one is to replenish the goods from the depalletizer if there are goods on the depalletizer. The second one is to further determine whether there are new goods on the second conveyor device if there are new goods on the second conveyor device. If there are new goods on the second conveyor device, the goods are replenished from the second conveyor device. The second conveyor device is arranged at the entrance end of the first conveyor device, and the conveying direction of the second conveyor device is consistent with the conveying direction of the first conveyor device. When the second conveyor device is operated, the goods on the second conveyor device can be transferred to the first conveyor device.

[0063] S220: Control the fork to place the first layer of goods on the first conveying device.

[0064] Among them, the first layer of goods is the bottom layer of goods.

[0065] S230: When it is detected that the pallet unpacking machine sends a signal that the goods are released, the first conveying device is operated to deliver the first layer of goods.

[0066] Steps S220 - S230 are similar to steps S120 - S130 in the above embodiment and are not described in detail here.

[0067] S240, detecting whether there are new goods on the second conveying device, if so, executing steps S250-S270, if not, stopping the operation.

[0068] That is, if it is determined that there is no goods on the palletizing machine, it is further determined whether there are new goods on the second conveying device. Specifically, in some embodiments, a fourth sensing device is provided on the second conveying device, and the system determines whether there are new goods on the second conveying device through the fourth sensing device. If there are goods on the second conveying device, the second conveying device is replenished. If there are no goods on the second conveying device, the system palletizing work is stopped and a palletizing completion signal is issued.

[0069] S250, operate the second conveying device and the first conveying device so that the new goods on the second conveying device are conveyed to the position on the first conveying device corresponding to the inlet of the pallet depalletizing machine.

[0070] In this embodiment, if there are new goods on the second conveying device, the second conveying device and the first conveying device are operated by the motors corresponding to the second conveying device and the first conveying device respectively, so that the new goods on the second conveying device are conveyed to the position on the first conveying device corresponding to the input port of the pallet depalletizing machine.

[0071] Specifically, the second sensing device is used to detect whether the new goods have arrived at the position corresponding to the cargo inlet. If the second sensing device detects the new goods, it means that the new goods have arrived at the cargo inlet position, and the first conveying device is immediately stopped.

[0072] S260, positioning the fork in a middle position through a lifting mechanism, extending the fork, and raising the fork to a high position to separate the first layer of the new cargo from the second layer of the new cargo.

[0073] The first layer of goods of the new goods is the bottom layer of goods of the new goods, and the second layer of goods of the new goods is the upper layer of goods of the first layer of goods of the new goods.

[0074] In this embodiment, when the new goods arrive at the position on the first conveyor device corresponding to the feeding port of the pallet depalletizer, at this time, the pallet depalletizer is controlled to perform the feeding operation. Specifically, since the pallet depalletizer is provided with a lifting mechanism, the lifting mechanism is provided with a low gear, a middle gear and a high gear from bottom to top, and the fork is provided on the lifting mechanism, at this time, the fork is in a retracted state, and the lifting mechanism is used to make the fork be located in the middle gear, and then the fork is extended so that the fork is located in the cargo hole of the second layer of goods of the new goods, and the fork is raised to the high gear to separate the first layer of goods of the new goods from the second layer of goods of the new goods. The first layer of goods of the new goods is the bottom layer of goods of the new goods, and the second layer of goods of the new goods is the upper layer of goods of the first layer of goods of the new goods. Specifically, the second layer of goods and the goods stacked on the second layer of goods are lifted up, and the first layer of goods of the new goods and the goods in the new goods except the second layer of goods are separated.

[0075] S270: Operate the first conveying device to deliver the first layer of goods of the new goods.

[0076] Furthermore, when the pallet depalletizer raises the fork to the high gear, so that the first layer of goods of the new goods are separated from the second layer of goods, the pallet depalletizer will send out a signal that the goods are received. At this time, it requests the second sensing device to deliver the goods and receives the permission instruction sent by the second sensing device. At this time, the fork is moved to the low gear, retracted, and then raised to the middle gear. The first sensing device is used to detect whether there are goods on the pallet depalletizer. If the first sensing device does not detect the presence of goods, a signal for completing the release of goods is directly generated. If the first sensing device detects the presence of goods, the fork is extended and moved to the high gear by the lifting mechanism, and then a signal for completing the release of goods is sent out to separate the second layer of goods of the goods from the first layer of goods of the goods. The second layer of goods of the goods is the upper layer of goods of the first layer of goods of the goods.

[0077] In summary, when the pallet depalletizing machine in this embodiment is out of stock, the pallet depalletizing machine in this embodiment can be automatically replenished without manual replenishment, and the pallet depalletizing efficiency and automation level are higher.

[0078] Figure 4 FIG. 1 is a schematic block diagram of a control device for a disk disassembly system provided by an embodiment of the present invention. Figure 4 As shown, corresponding to the control method of the above pallet dismantling system, the present invention also provides a control device for the pallet dismantling system. The control device for the pallet dismantling system includes a unit for executing the control method of the above pallet dismantling system. The device can be configured in the pallet dismantling system. The pallet dismantling system includes a pallet dismantling machine and a first conveying device. The pallet dismantling machine is provided with a first sensing device on its fork. The pallet dismantling machine is provided above the first conveying device. Figure 4 The control device 400 of the disk disassembly system includes a detection unit 401 and a processing unit 402, wherein:

[0079] A detection unit 401 is used to determine whether there are goods on the pallet depalletizer through the first sensing device when the first conveying device is out of goods;

[0080] The processing unit 402 is used to control the fork to place the first layer of goods on the first conveying device when there are goods on the pallet depalletizer, and the first layer of goods is the bottom layer of goods; when it is detected that the pallet depalletizer sends a signal of completion of placing the goods, the first conveying device is operated to send out the first layer of goods.

[0081] In some embodiments, the pallet dismantling machine is provided with a lifting mechanism, the lifting mechanism is provided with a low gear, a middle gear and a high gear from bottom to top, and the fork is provided on the lifting mechanism; when the processing unit 402 executes the step of controlling the fork to place the first layer of goods on the first conveying device, it is specifically used to:

[0082] The fork is moved to the low gear by the lifting mechanism, and the fork is controlled to retract, so as to place the first layer of goods on the first conveying device;

[0083] The fork is moved to the middle position by the lifting mechanism, and the first sensing device is used to determine whether there is cargo on the pallet dismantling machine;

[0084] If there is no cargo on the pallet unpacking machine, the cargo release completion signal is sent out through the pallet unpacking machine;

[0085] If there are goods on the pallet depalletizing machine, the fork is extended and moved to the high gear through the lifting mechanism, and the goods release completion signal is issued to separate the second layer of goods from the first layer of goods, and the second layer of goods is the upper layer of goods of the first layer of goods.

[0086] In some embodiments, a first position sensor is disposed on the low gear, a second position sensor is disposed on the middle gear, and a third position sensor is disposed on the high gear.

[0087] In some embodiments, the pallet depalletizing system further comprises a second conveying device, which is arranged at the entrance end of the first conveying device, and the conveying direction of the second conveying device is consistent with the conveying direction of the first conveying device; after executing the step of determining whether there are goods on the pallet depalletizing machine by using the first sensing device when the first conveying device is out of goods, the detection unit 401 is further used to: if there are no goods on the pallet depalletizing machine, detect whether there are new goods on the second conveying device;

[0088] At this time, the processing unit 402 is also used to, if there are new goods on the second conveying device, operate the second conveying device and the first conveying device, so that the new goods on the second conveying device are conveyed to the position on the first conveying device corresponding to the inlet of the pallet depalletizer; through the lifting mechanism, the fork is located in the middle gear, the fork is extended, and the fork is raised to the high gear to separate the first layer of goods of the new goods from the second layer of goods of the new goods, the first layer of goods of the new goods is the bottom layer of goods of the new goods, and the second layer of goods of the new goods is the upper layer of goods of the first layer of goods of the new goods; operate the first conveying device to send out the first layer of goods of the new goods.

[0089] In some embodiments, a second sensing device is provided at the transmission end corresponding to the first conveying device and the pallet depalletizer; before executing the step of determining whether there is any goods on the pallet depalletizer by using the first sensing device when the first conveying device is out of goods, the detection unit 401 is further used to:

[0090] Whether the first conveying device is out of stock is determined by the second sensing device.

[0091] In some embodiments, the pallet unpacking system further includes a third conveying device, which is disposed at the exit end of the first conveying device, and the conveying direction of the third conveying device is consistent with the conveying direction of the first conveying device; when the processing unit 402 executes the step of operating the first conveying device when it is detected that the pallet unpacking machine sends a signal of goods release completion, the processing unit 402 is specifically used to:

[0092] Detecting, by the detection unit 401, whether the third transmission device meets the preset transmission condition;

[0093] If the third conveying device meets the preset conveying conditions and detects that the pallet unpacking machine sends the goods release completion signal, the first conveying device is operated.

[0094] In some embodiments, the third conveying device is provided with a third sensing device, and when the detection unit 401 performs the step of detecting whether the third conveying device meets the preset conveying condition, it is specifically used to:

[0095] Detecting whether there is an obstacle on the third conveying device by the third sensing device;

[0096] If there is no obstacle on the third transmission device, the processing unit 402 determines that the third transmission device meets the transmission condition;

[0097] If there is an obstacle on the third transmission device, the processing unit 402 determines that the third transmission device does not meet the transmission condition.

[0098] To summarize, since the fork in the present solution is provided with a sensing device, the sensing device can detect whether there is cargo on the pallet depalletizer and automatically perform the depalletizing operation according to the detection result. There is no need to manually input the number of depalletizing times, and the pallet can be accurately depalletized according to the current detection result, thereby avoiding the problems of incomplete cargo separation and waste of resources due to incorrect statistics of the number of cargo layers, thereby improving the depalletizing effect of the pallet depalletizer.

[0099] It should be noted that technical personnel in the relevant field can clearly understand that the specific implementation process of the control device and each unit of the above-mentioned disk disassembly system can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and conciseness of the description, it will not be repeated here.

[0100] The control device of the above-mentioned disk disassembly system can be implemented in the form of a computer program, and the computer program can be used in Figure 5 Runs on the computer device shown.

[0101] See also Figure 5 , Figure 5 5 is a schematic block diagram of a computer device provided in an embodiment of the present invention. The computer device 500 can be a controller of a tray disassembly system, wherein the tray disassembly system includes a tray disassembly machine and a first conveying device, wherein a first sensing device is arranged on the fork of the tray disassembly machine, and the tray disassembly machine is arranged above the first conveying device.

[0102] See also Figure 5 The computer device 500 includes a processor 502 , a memory and a network interface 505 connected via a system bus 501 , wherein the memory may include a non-volatile storage medium 503 and an internal memory 504 .

[0103] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions, and when the program instructions are executed, the processor 502 can execute a control method for a disk disassembly system.

[0104] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500 .

[0105] The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute a control method for the disk disassembly system.

[0106] The network interface 505 is used to communicate with other devices over the network. Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device 500 to which the solution of the present invention is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0107] The processor 502 is used to run the computer program 5032 stored in the memory to implement the following steps:

[0108] When the first conveying device is in a state of no goods, determining whether there are goods on the pallet depalletizing machine by means of the first sensing device;

[0109] If there are goods on the depalletizing machine, control the fork to place the first layer of goods on the first conveying device, and the first layer of goods is the bottom layer of goods;

[0110] When it is detected that the depalletizing machine sends a signal that the goods are released, the first conveying device is operated to deliver the first layer of goods.

[0111] It should be understood that in the embodiment of the present invention, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0112] It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

[0113] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the following steps:

[0114] When the first conveying device is in a state of no goods, determining whether there are goods on the pallet depalletizing machine by means of the first sensing device;

[0115] If there are goods on the depalletizing machine, control the fork to place the first layer of goods on the first conveying device, and the first layer of goods is the bottom layer of goods;

[0116] When it is detected that the depalletizing machine sends a signal that the goods are released, the first conveying device is operated to deliver the first layer of goods.

[0117] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0118] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0119] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0120] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0121] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0122] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A control method for a disassembly system, It is characterized in that The method is applied to a tray dismantling system, the tray dismantling system comprises a tray dismantling machine and a first conveying device, a first sensing device is arranged on a fork of the tray dismantling machine, and the tray dismantling machine is arranged above the first conveying device, and the method comprises: When the first conveying device is in a state of no goods, determining whether there are goods on the pallet depalletizing machine by means of the first sensing device; If there are goods on the depalletizing machine, control the fork to place the first layer of goods on the first conveying device, and the first layer of goods is the bottom layer of goods; When it is detected that the depalletizing machine sends a signal that the goods are released, the first conveying device is operated to deliver the first layer of goods of the goods; The pallet dismantling machine is provided with a lifting mechanism, the lifting mechanism is provided with a low gear, a middle gear and a high gear from bottom to top, the fork is provided on the lifting mechanism, the lifting mechanism is provided with a telescopic mechanism, the lifting mechanism is connected to the fork through the telescopic mechanism; the controlling the fork to place the first layer of the goods on the first conveying device includes: The fork is moved to the low gear by the lifting mechanism, and the fork is controlled to retract, so as to place the first layer of goods on the first conveying device; The fork is moved to the middle position by the lifting mechanism, and the first sensing device is used to determine whether there is cargo on the pallet dismantling machine; If there is no cargo on the pallet unpacking machine, the cargo unpacking completion signal is sent out through the pallet unpacking machine; If there are goods on the pallet depalletizing machine, the fork is extended and moved to the high gear through the lifting mechanism, and the goods release completion signal is issued to separate the second layer of goods from the first layer of goods, and the second layer of goods is the upper layer of goods of the first layer of goods.

2. The method according to claim 1, It is characterized in that The low gear is provided with a first position sensor, the middle gear is provided with a second position sensor, and the high gear is provided with a third position sensor.

3. The method according to claim 1, It is characterized in that The tray disassembly system further comprises a second conveying device, which is arranged at the inlet end of the first conveying device, and the conveying direction of the second conveying device is consistent with the conveying direction of the first conveying device; When the first conveying device is in a state of no goods, after determining whether there are goods on the pallet depalletizing machine by the first sensing device, the method further comprises: If there is no cargo on the depalletizing machine, detecting whether there is new cargo on the second conveying device; If there are new goods on the second conveying device, operate the second conveying device and the first conveying device so that the new goods on the second conveying device are conveyed to a position on the first conveying device corresponding to the inlet of the pallet depalletizing machine; The fork is positioned at the middle gear by the lifting mechanism, the fork is extended, and the fork is raised to the high gear to separate the first layer of goods of the new goods from the second layer of goods of the new goods, wherein the first layer of goods of the new goods is the bottom layer of goods of the new goods, and the second layer of goods of the new goods is the upper layer of goods of the first layer of goods of the new goods; The first conveying device is operated to deliver a first layer of goods of the new goods.

4. The method according to claim 1, It is characterized in that A second sensing device is provided at the transmission end corresponding to the first conveying device and the pallet unpacking machine; when the first conveying device is in a state of no goods, before determining whether there are goods on the pallet unpacking machine by the first sensing device, the method further comprises: Whether the first conveying device is out of stock is determined by the second sensing device.

5. The method according to any one of claims 1 to 4, It is characterized in that The tray disassembly system further comprises a third conveying device, which is arranged at the exit end of the first conveying device, and the conveying direction of the third conveying device is consistent with the conveying direction of the first conveying device; When it is detected that the tray unpacking machine sends a signal that the goods are released, the first conveying device is operated, including: Detecting whether the third transmission device meets the preset transmission conditions; If the third conveying device meets the preset conveying conditions and detects that the pallet unpacking machine sends the goods release completion signal, the first conveying device is operated.

6. The method according to claim 5, It is characterized in that The third conveying device is provided with a third sensing device, and the detecting whether the third conveying device meets the preset conveying conditions includes: Detecting whether there is an obstacle on the third conveying device by the third sensing device; If there is no obstacle on the third transmission device, determining that the third transmission device meets the transmission condition; If there is an obstacle on the third conveying device, it is determined that the third conveying device does not meet the conveying condition.

7. A control device for a disassembly system, It is characterized in that The device is integrated in a tray dismantling system, the tray dismantling system includes a tray dismantling machine and a first conveying device, a first sensing device is arranged on the fork of the tray dismantling machine, the tray dismantling machine is arranged above the first conveying device, and the device includes: A detection unit, used for determining whether there are goods on the pallet depalletizer through the first sensing device when the first conveying device is out of goods; The processing unit is used for controlling the fork to place the first layer of goods on the first conveying device when there are goods on the pallet depalletizer, wherein the first layer of goods is the bottom layer of goods; and operating the first conveying device to deliver the first layer of goods when it is detected that the pallet depalletizer sends a signal for completing the placing of goods. The pallet dismantling machine is provided with a lifting mechanism, and the lifting mechanism is provided with a low gear, a middle gear and a high gear from bottom to top, the fork is provided on the lifting mechanism, and the lifting mechanism is provided with a telescopic mechanism, and the lifting mechanism is connected to the fork through the telescopic mechanism; when the processing unit executes the step of controlling the fork to place the first layer of goods on the first conveying device, it is specifically used to: The fork is moved to the low gear by the lifting mechanism, and the fork is controlled to retract by the telescopic mechanism to place the first layer of goods on the first conveying device; The fork is moved to the middle position by the lifting mechanism, and the first sensing device is used to determine whether there is cargo on the pallet dismantling machine; If there is no cargo on the pallet unpacking machine, the cargo unpacking completion signal is sent out through the pallet unpacking machine; If there are goods on the pallet depalletizing machine, the fork is extended through the telescopic mechanism, and the fork is moved to the high gear through the lifting mechanism, and the goods release completion signal is issued to separate the second layer of goods from the first layer of goods, and the second layer of goods is the upper layer of goods of the first layer of goods.

8. A computer device, It is characterized in that The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, It is characterized in that The storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the method according to any one of claims 1 to 6 can be implemented.

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