Unloading Module, Unloading Distributor and Unloading Method Based on Anti-Tipping Unloading Operation

Abstract

The present invention belongs to the technical field of automatic pallet dismantling, and particularly relates to a pallet dismantling module, a pallet dismantling distributor and a pallet dismantling method based on anti-tilting pallet dismantling operation. The present invention includes a lifting part, the power plate of the lifting part is hinged to a position correction plate through a horizontal hinge seat, and the position correction plate can generate a hinged adjustment action around the horizontal hinge seat under the action of a first power source; rotary forks are installed at both ends of the position correction plate; on the position correction plate at the inner sides of the two groups of rotary forks, a left mounting plate and a right mounting plate respectively extend towards the pallet along the axis direction of the horizontal hinge seat, and the transmitting end and the receiving end of the photoelectric sensor are respectively located on the two mounting plates. The present invention can stably realize the rapid pallet dismantling operation for cross-shaped pallets with a size of more than 1650 mm, and ensure that even when the pallet is in a tilted state, the pallet dismantling process can be realized reliably and quickly, and the continuity of the operation process can be effectively guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic pallet dismantling, and particularly relates to a pallet dismantling module, a pallet dismantling distributor and a pallet dismantling method based on anti-tilting pallet dismantling operation. Background Art

[0002] Pallets are important carriers for realizing product packaging and palletizing, and are indispensable important products commonly used in industrial products. Currently, there are many types of pallet dismantling distributors or pallet dismantling machines. For example, the utility model patent with the Chinese patent publication number "CN217102874U" and the name of "A lifting device for automatic pallet dismantling and pallet placing" discloses: "A lifting device for automatic pallet dismantling and pallet placing, including a base plate, two groups of columns are fixedly connected to the upper side of the base plate, a flat plate is fixedly connected to the upper end of each group of columns, a slide bar is fixedly connected between one of the flat plates and the base plate, a slider is slidably connected to the slide bar, a moving mechanism is installed on the flat plate, a through groove is provided on the slider, and two rotating rods are rotatably connected to the through groove through two rotating shafts. Two guide rods are fixedly connected between the other plate and the base plate, a moving block is slidably connected to the two guide rods together, a connecting plate is provided on one side of the moving block, and two insertion slots are provided on one side of the connecting plate. The insertion slots correspond to the rotating rods one by one and are connected in an inserted and matched manner". The above mechanism can control the vertical movement of the slider through a motor, and can move the slider to any height of the stacked pallets, and then connect the rotating rod and the connecting plate, so that all the pallets above the pallet to be taken out can be lifted upward, so that the required pallet can be taken. However, during the production process, when the pallets forming the pallet stack descend after being stacked layer by layer, they will inevitably rub against the guide rods forming the falling channel, and the lower pallets, especially the sub-bottom pallets, are prone to tilt, which will hinder the normal insertion of the teeth used to lift the sub-bottom pallets; if the teeth are forcibly inserted in parallel, it is easy to cause damage or even damage to the pallets, resulting in poor pallet dismantling effect and large pallet loss, and greatly affecting the continuity of pallet dismantling. In addition, due to different products, the materials and shapes of the pallets used are different. Conventional pallet dismantling machines are used for pallet dismantling operations of square pallets within 1200 mm in size. However, when loading heavy cylindrical products, it is necessary to ensure that the products are in the center of the pallet, and the pallet size used is often larger. From the perspectives of environmental protection and low cost, a cross-shaped frame structure of more than 1650 mm as shown in Figure 1 is more often used. Therefore, in order to ensure the central size, the stacked pallets and the guiding mechanism are more likely to rub against each other, more unstable, and more likely to produce the above-mentioned pallet tilting condition after palletizing and descending, further resulting in the inability of conventional pallet dismantling machines to meet the pallet dismantling requirements of such stacked pallets. Summary of the Invention

[0003] One of the objectives of the present invention is to overcome the deficiencies of the above-mentioned prior art and provide a pallet disassembling module based on anti-tilting pallet disassembling operation, which can stably achieve rapid pallet disassembling operation for cross-shaped pallets with a size of more than 1650 mm, and ensure that even when the pallet is in a tilted state, the pallet disassembling process can be reliably and quickly achieved, and the continuity of the operation process can be effectively guaranteed. Another objective of the present invention is to provide a pallet disassembling distributor for the pallet disassembling module based on anti-tilting pallet disassembling operation, so as to achieve convenient and reliable pallet disassembling requirements for cross-shaped pallets with a size of more than 1650 mm; the present invention also provides a matching pallet disassembling method to further improve its pallet disassembling efficiency.

[0004] To achieve the above objectives, the present invention adopts the following technical solutions:

[0005] A pallet disassembling module based on anti-tilting pallet disassembling operation, characterized in that: it includes a lifting part, the power plate of the lifting part is hinged to a position correcting plate through a horizontal hinge seat, and the position correcting plate can generate a hinged adjustment action around the horizontal hinge seat under the action of a first power source; swing forks with vertically arranged hinge axes are installed at both ends of the position correcting plate, and the swing forks can make a horizontal swinging action under the drive of a second power source and insert into the mating hole channels of the pallet; on the position correcting plate at the inner sides of the two groups of swing forks, a left mounting plate and a right mounting plate respectively extend towards the pallet along the axis direction of the horizontal hinge seat, the emitting end and the receiving end of the opposed sensor are respectively located on the two mounting plates, and the distance between the two mounting plates is greater than or equal to the width of the to-be-lifted end of the pallet; in the vertical direction, there is a distance greater than or equal to the thickness of the swing fork between the emitting end and the receiving end.

[0006] Preferably, there are two groups of opposed sensors, and both the left mounting plate and the right mounting plate are horizontally square groove-shaped structures with the notch facing the direction of the pallet. The emitting end and the receiving end of one group of opposed sensors are respectively located on the upper side wall of the left mounting plate and the lower side wall of the right mounting plate, and the emitting end and the receiving end of the other group of opposed sensors are respectively located on the upper side wall of the right mounting plate and the lower side wall of the left mounting plate; the groove width of the left mounting plate and the right mounting plate is equal to the thickness of the swing fork to avoid the action path of the swing fork.

[0007] Preferably, the first power source is a piston cylinder structure, the piston cylinder end and the piston rod end of the first power source are respectively hinged to the power plate and the position correcting plate, and the axes of the two hinge points are parallel to the hinge axis of the horizontal hinge seat.

[0008] Preferably, the second power source is of a piston cylinder structure. The second power source is installed on the position correction plate and its action direction is parallel to the length direction of the position correction plate. The tail end of the rotary fork is fitted to the corresponding end of the position correction plate through a rotary shaft bearing, and the tail end of the rotary fork extends in the reverse direction along the length direction of the rotary fork to form a power section. This power section is hinged to the piston rod end of the second power source through a vertical hinge seat. The head end of the rotary fork forms a fitting end for fitting into the fitting hole of the tray to be lifted.

[0009] Preferably, the head end of the rotary fork is folded inwards along the plate surface direction, thereby forming a "7"-shaped flat plate structure.

[0010] Preferably, a set of fork lifting units is formed by a set of mutually cooperating rotary forks and second power sources. There are two sets of fork lifting units, which are symmetrically installed on the same position correction plate. Positioning cylinders are arranged at the ends of the position correction plate. The inner axis of the positioning cylinder is vertical, and a thrust ball bearing and a deep groove ball bearing are arranged in sequence from top to bottom. The two ends of the rotary shaft are respectively fitted with the thrust ball bearing and the deep groove ball bearing, so that the bearing is fitted in the positioning cylinder in a simply supported beam manner.

[0011] Preferably, the lifting part includes a lifting piston cylinder as the third power source. The piston cylinder end of the lifting piston cylinder is fixed to the frame, and the power plate is horizontally fixed at the piston rod end of the lifting piston cylinder. Guide columns with a function of guiding the action are arranged in parallel on both sides of the lifting piston cylinder.

[0012] Preferably, a pallet removing distributor for applying the pallet removing module based on anti-tipping pallet removing operation is characterized in that: it includes a fixed frame in the shape of a square frame. The vertical inner cavity channel of the fixed frame forms a receiving cavity for placing the pallet stack. A guide rod extends vertically upwards in the receiving cavity. A conveyor belt for conveying the bottommost pallet of the pallet stack is arranged directly below the receiving cavity. Along the conveying direction of the conveyor belt, there are two sets of pallet removing modules, which are arranged one in front of the other on the fixed frame, so as to drive the pallet stack to generate a lifting action through the synchronous fork lifting action of the two sets of pallet removing modules.

[0013] The pallet removing distributor further includes a deviation finding sensor for irradiating the second bottommost pallet. Taking the advancing direction of the conveyor belt as the front and rear of the receiving cavity, the transmitting end and the receiving end of the deviation finding sensor are respectively arranged at the same height on the front side wall and the rear side wall of the receiving cavity. There are two sets of deviation finding sensors, so as to respectively irradiate both sides of the second bottommost pallet of the pallet stack.

[0014] Preferably, on the four side walls of the receiving cavity, two guide rods are correspondingly arranged on each side wall; and the height of the guide rods on the feeding side is lower than the height of the other guide rods.

[0015] Preferably, a pallet removing method for applying the pallet removing distributor of the pallet removing module based on anti-tipping pallet removing operation is characterized by including the following steps:

[0016] 1), Stack the trays layer by layer to form a stack of materials, and send the stack of materials into the accommodating cavity. At this time, the bottommost tray of the stack of materials contacts the conveying surface of the conveyor belt, and the to-be-lifted ends of each tray are located between the left mounting plate and the right mounting plate; at the same time, the pallet disassembling module operates, and the lifting part drives the position correction plate to the height of the second bottommost tray;

[0017] 2) The deviation-finding sensors are activated and irradiate the two side parts of the second bottommost tray respectively. If the second bottommost tray has a tilting condition to one side, there is a time difference in the signal conduction of the two groups of deviation-finding sensors, so as to obtain the tilting direction of the second bottommost tray, that is, to clarify whether the second bottommost tray tilts to the left or to the right;

[0018] 3) After clarifying the tilting direction of the second bottommost tray, the second power source acts first and drives the position correction plate to generate a tilting action at the same angle as the tilting direction of the second bottommost tray; until the receiving ends of the two pairs of opposed sensors all receive the signals from the transmitting ends of the opposed sensors, the rotary forks start to generate an inward retracting action under the action of the second power source and insert into the mating hole channels at the to-be-lifted ends of the second bottommost tray through the cavity of the corresponding mounting plate;

[0019] 4), The pallet disassembling module generates an upward movement, and lifts the stack of materials upward through the rotary forks, leaving the bottommost tray on the conveyor belt. The conveyor belt operates and drives the bottommost tray to move forward one or more grids;

[0020] 5), The lifting part drives the position correction plate to move to the lowest position. At this time, the position correction plate and each rotary fork are reset, and the stack of materials is placed on the conveyor belt again; then the lifting part drives the position correction plate to move upward one grid to the height of the second bottommost tray;

[0021] 6), Sequentially and circularly execute steps 2) to 5) to complete the entire pallet disassembling process of the stack of materials.

[0022] The beneficial effects of the present invention are as follows:

[0023] 1), Through the above solution, on the one hand, since when the stack of materials causes the tray to tilt due to falling, the bottommost tray must always be normally placed on the conveyor belt, and only the trays above the second bottommost tray will generate tilting actions; while in the conventional toothed work, only the second bottommost tray will be lifted by the fork. Therefore, the key object of the present invention focuses on the operation of the second bottommost tray. On the other hand, due to the special structure of the cross-shaped tray above 1650 mm, when lifting, it can only be inserted at the two side mating hole channels of the to-be-lifted end. At this time, how to ensure capturing the skewness degree of the second bottommost tray, so as to adaptively match the position correction plate with the same inclination angle and avoid breaking the thin wall plate at the to-be-lifted end is also the key part to be solved by the present invention.

[0024] In view of this, for the former, the present application replaces the conventional pick teeth with a rotating fork structure to better match the working mode of the opposed sensor; at the same time, relying on the inclined matching system formed by the position correction plate, the horizontal hinge seat and the first power source, when the corresponding tray is tilted, the inclination angle of the position adjustment plate can be adaptively adjusted by the first power source, so as to achieve the same-angle matching effect of the tray, and thus can more reliably and stably achieve the purpose of quickly lifting the trays on the sub-bottom layer.

[0025] For the latter, the present invention adopts opposed sensors with a height difference and arranged on both sides of the end to be lifted, so as to ensure that the tray is in a parallel state relative to the position correction plate and the rotating fork plate in the way of "oblique opposed shooting" rather than "horizontal opposed shooting". In the oblique opposed shooting mode, as long as the receiving end can receive the signal from the transmitting end, for the cross-shaped tray, there must be no obstruction between the two, and the tray body is in a parallel state relative to the rotating fork, which can effectively avoid clamping the wall panel and has extremely high accuracy.

[0026] So far, the present invention can stably achieve the rapid pallet removal operation for cross-shaped pallets above 1650 mm, and ensure that even when the tray is in an inclined state, the pallet removal process can be reliably and quickly realized, and the continuity of the operation process can be effectively guaranteed.

[0027] 2) During actual installation, considering that the sub-bottom layer trays may have two position states of left inclination and right inclination, two groups of opposed sensors can be arranged, and the opposed paths cross each other to improve the capture efficiency. At the same time, the corresponding mounting plate can be designed as a groove structure. At this time, the groove cavity constitutes the access channel for the rotating fork, which not only avoids the movement path of the rotating fork, but also provides a certain bottom support for the cantilever-shaped rotating fork to ensure its structural stiffness, achieving multiple purposes with one move.

[0028] 3) The first power source, the second power source and even the third power source can all adopt piston cylinder structures, such as oil cylinders or air cylinders, etc. Considering the power requirements, an oil cylinder is preferably used. During operation, the height state of the position correction plate is adjusted by the third power source, the movement state of the rotating fork is ensured by the second power source, and the inclination angle state of the position correction plate is ensured by the first power source, so as to achieve the overall movement purpose in a convenient and stable manner.

[0029] 4) For the rotating fork, since it presents a cantilever structure as a whole, on the one hand, it is necessary to rely on the second power source to cooperate with the reverse extension structure at the tail end to ensure the retraction and extension of the cantilever; on the other hand, as the rotation axis serving as the action reference point, a multi-bearing layout needs to be designed separately to ensure the smoothness of the rotation state.

[0030] 5), on the basis of the above structure, the present invention further provides a corresponding pallet disassembling and distributing device. The pallet disassembling and distributing device forms a fence-like constraint by relying on guide rods, so that when the cross-shaped pallet is inserted, the four notch parts just pass through the corresponding guide rods respectively, achieving the purpose of directional constraint. In addition, as another core part, the present invention also arranges a deviation-finding sensor, the purpose of which is to quickly capture the inclination state of the sub-bottom pallet currently located before the opposed sensors start to work, that is, whether it is tilted to the left or to the right. Of course, the pallet may also be in a state of tilting forward or backward, but these two states will not cause accidents such as the rotary fork directly piercing the pallet, so they can be ignored. When the deviation-finding sensor detects that the sub-bottom pallet is tilted, the opposed sensors, as a secondary adjustment unit, can perform a secondary precise adjustment on the position correction plate after the position correction plate is initially tilted in the same direction, and finally ensure that the position correction plate can be inserted into the to-be-lifted end of the sub-bottom pallet at a very accurate angle and complete the entire fork-lifting process.

[0031] 6), for the guide rods, their arrangement method adopts a side-low layout, that is, the guide rods on one side are relatively short to facilitate feeding. When necessary, an inclined chamfer can even be correspondingly set at the top of the guide rods to make it more convenient to place the pallet stack. Brief Description of the Drawings

[0032] Figure 1 is a three-dimensional structure schematic diagram of a cross-shaped pallet;

[0033] Figure 2 is a three-dimensional structure schematic diagram of the pallet disassembling and distributing device of the present invention;

[0034] Figure 3 is Figure 2 the front view of;

[0035] Figure 4 is a three-dimensional structure schematic diagram of the pallet disassembling module;

[0036] Figure 5 is Figure 4 the front view of;

[0037] Figure 6 is Figure 4 the top view of;

[0038] Figure 7 is a working state diagram of the pallet disassembling module;

[0039] Figure 8 is Figure 7 the partial enlarged view of part I of;

[0040] The actual corresponding relationship between the reference numerals and component names of the present invention is as follows:

[0041] a - Cross-shaped tray; a1 - Lowest layer tray; a2 - Second lowest layer tray; a3 - Matching channel

[0042] 10 - Lifting part; 11 - Power plate; 12 - Lifting piston cylinder; 13 - Guide post

[0043] 21 - Horizontal hinge seat; 22 - First power source

[0044] 30 - Position correction plate; 41 - Rotary fork; 42 - Second power source

[0045] 51 - Left mounting plate; 52 - Right mounting plate; 53 - Through-beam sensor

[0046] 60 - Fixing frame; 61 - Guide rod; 70 - Conveyor belt

[0047] 80 - Deviation-finding sensor Detailed implementation mode

[0048] For easy understanding, in combination with Figure 1-8 , the specific structure and working mode of the present invention are further described as follows:

[0049] The specific structure of the present invention is as Figure 2-8 shown. Its main structure includes a pallet disassembling module as the core component, and a fixing frame 60, a conveyor belt 70, etc. arranged around the pallet disassembling module. In the design, the pallet disassembling module is used to accurately and equally angularly insert the position correction plate 30 into the second lowest layer tray a2, and drive the pallet disassembling module to rise or fall by means of the lifting part 10. When necessary, a hydraulic synchronous valve can also be considered to realize the synchronous motion control of the two sets of lifting parts 10; of course, synchronous control can also be carried out by relying on a conventional main control system.

[0050] During actual operation, when the rotary fork 41 enters the tray and is lifted by the lifting part 10, the trays above the second lowest layer tray a2 can be lifted, so as to be separated from the lowest layer tray a1. The lowest layer tray a1 remains on the conveyor belt 70 and is conveyed away. The pallet disassembling module has an adaptive tilting function, so as to adapt to the tilted cross-shaped tray a, ensuring the smooth and reliable realization of the fork-lifting effect on the corresponding tray. When the lowest layer tray a1 moves away, the lifting part 10 drives the pallet disassembling module to descend to the lowest layer; the pallet disassembling module acts, and the rotary fork 41 realizes the separation action from the original second lowest layer tray a2; at this time, the second lowest layer tray a2 becomes the lowest layer tray a1; the lifting part 10 continues to act, adjusts the rotary fork 41 to the height of the current second lowest layer tray a2, and then the rotary fork 41 acts, so as to complete the full-automatic operation of disassembling and distributing the stacked pallets.

[0051] For the fixing frame 60, its structure refers to Figure 2-3As shown, it presents a frame-like structure as a whole; and an accommodation cavity is provided inside it to facilitate the placement of the pallet stack from top to bottom. In the embodiment, on the four side walls of the accommodation cavity, two guide rods 61 are respectively arranged on each side wall, thus forming a fence extending vertically upward to facilitate the positioning of the pallet stack more conveniently; at the same time, the two guide rods 61 on the feeding side are relatively short in length to facilitate the feeding by the forklift. When necessary, the two guide rods 61 can be correspondingly stuck on the shoulders or the notch parts of each pallet to achieve the purpose of further restraint. Below the fixing frame 60 is as Figure 2-3 shown with a conveyor belt 70 provided; Figure 1 The arrow direction at the cross-shaped pallet a shown is also the conveying direction of the conveyor belt 70.

[0052] For the pallet disassembling module, its layout position refers to Figure 2-3 shown, which is a symmetric layout with one in front and one behind to stably lift the pallet stack.

[0053] The specific structure of the pallet disassembling module refers to Figure 4-8 shown, which includes a lifting part 10. The lifting part 10 includes a lifting piston cylinder 12 that constitutes the third power source. Two guide columns 13 are arranged on both sides of the lifting piston cylinder 12 to achieve the precise guiding function. This structure is relatively common, so it will not be elaborated here.

[0054] A power plate 11 is arranged at the piston rod end of the lifting part 10. The power plate 11 and the position correction plate 30 as the core component are hinged by a first power source 22 and a horizontal hinge seat 21. During assembly, the horizontal hinge seat 21 is located at the center of the position correction plate 30, and the first power source 22 is located on one side of the position correction plate 30. By the action of the first power source 22, the position correction plate 30 can be driven to generate an inclination action to adapt to the sub-bottom pallet a2 that presents a left-leaning or right-leaning state accordingly.

[0055] A rotary fork 41 as shown in Figure 4-8 is arranged on the position correction plate 30. On the one hand, the rotary fork 41 generates rotary in-ward and rotary out-ward actions by relying on the drive of the rotary shaft located in the positioning cylinder; on the other hand, a part of the tail end of the rotary fork 41 protrudes and generates the above actions by relying on the drive of the second power source 42. At the same time, the head end of the rotary fork 41 is bent inwards to form a "7" shape, so as to insert into the two side mating holes a3 at the to-be-lifted end as Figure 7 shown according to needs.

[0056] To ensure the accuracy of the inclination positioning of the position correction plate 30 relative to the pallet, the present invention relies on the deviation-finding sensor 80 preset in the accommodation cavity to achieve the rough adjustment function of the inclination state of the position adjustment plate; and then relies on the opposed sensor 53 located on the position correction plate 30 and synchronously acting with the position correction plate 30 to achieve the precise adjustment function of the position adjustment plate and even the rotary fork 41, ultimately ensuring that the rotary fork 41 can be precise asFigure 7 It is screwed into the corresponding mating hole a3 as shown. In the design, there are two sets of deviation-finding sensors 80, which are distributed on both sides of the traveling direction of the conveyor belt 70, and the transmitting end and the receiving end are arranged one in front of the other on the front side wall and the rear side wall of the accommodation cavity; at the same time, there are also two sets of opposed sensors 53, which are arranged on the left mounting plate 51 and the right mounting plate 52 as shown, and present an oblique angle opposed layout. Figure 7-8 as shown

[0057] To facilitate a further understanding of the present invention, the actual working process of the present invention is given as follows:

[0058] A pallet dismantling method of a pallet dismantling distributor applying the pallet dismantling module based on the anti-tipping type pallet dismantling operation, which is characterized by including the following steps:

[0059] 1), After stacking the pallets layer by layer to form a pallet stack, and feeding the pallet stack into the accommodation cavity. At this time, the bottommost pallet a1 of the pallet stack contacts the conveying surface of the conveyor belt 70, and the to-be-lifted ends of each pallet are located between the left mounting plate 51 and the right mounting plate 52; at the same time, the pallet dismantling module operates, and the lifting part 10 drives the position correction plate 30 to the height of the second bottommost pallet a2;

[0060] 2) The deviation-finding sensors 80 are activated, and respectively irradiate both sides of the second bottommost pallet a2. If the second bottommost pallet a2 generates a tilt condition to one side, there is a time difference in the signal conduction of the two sets of deviation-finding sensors 80, so as to obtain the tilt direction of the second bottommost pallet a2, that is, to clarify whether the second bottommost pallet a2 tilts to the left or to the right;

[0061] 3) After clarifying the tilt direction of the second bottommost pallet a2, the second power source 42 first operates, and drives the position correction plate 30 to generate a tilt action at the same angle as the tilt direction of the second bottommost pallet a2; until the receiving ends of both sets of opposed sensors 53 all receive the signals from the transmitting ends of the opposed sensors 53, the rotary fork 41 starts to generate an inward retraction action under the action of the second power source 42, and through the slot cavities of the corresponding mounting plates, it inserts into the mating hole a3 of the to-be-lifted end of the second bottommost pallet a2;

[0062] 4), The pallet dismantling module generates an upward movement, and lifts the pallet stack upward through the rotary fork 41, leaving the bottommost pallet a1 on the conveyor belt 70, and the conveyor belt 70 operates and drives the bottommost pallet a1 to move forward one or more grids;

[0063] 5), The lifting part 10 drives the position correction plate 30 to operate to the lowest position. At this time, the position correction plate 30 and each rotary fork 41 are reset, and the pallet stack is placed back on the conveyor belt 70; then the lifting part 10 drives the position correction plate 30 to move upward one grid, to the height of the second bottommost pallet a2;

[0064] 6) Sequentially and circularly execute steps 2) to 5) to complete the pallet - disassembling process of the entire stack.

[0065] Certainly, for those skilled in the art, the present invention is not limited to the details of the above - mentioned exemplary embodiments, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any perspective, the embodiments should be regarded as exemplary and non - restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Thus, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claimed invention.

[0066] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0067] The technologies, shapes, and structures not detailed in the present invention are all well - known technologies.

Claims

1. A pallet dismantling module based on anti-tipping pallet dismantling operation, characterized in that: It includes a lifting part (10). The power plate (11) of the lifting part (10) is hinged to a position correction plate (30) through a horizontal hinge seat (21), and the position correction plate (30) can generate a hinged adjustment action around the horizontal hinge seat (21) under the action of a first power source (22); Swivel forks (41) with vertically arranged hinge axes are installed at both ends of the position correction plate (30). The swivel forks (41) can swing horizontally under the drive of a second power source (42) and insert into the mating holes of the tray; On the position correction plate (30) at the inner sides of the two groups of swivel forks (41), a left mounting plate (51) and a right mounting plate (52) respectively extend towards the tray along the axis direction of the horizontal hinge seat (21). The transmitting end and the receiving end of the opposed sensor (53) are respectively located on the two mounting plates, and the distance between the two mounting plates is greater than or equal to the width of the to-be-lifted end of the tray; In the vertical direction, there is a spacing greater than or equal to the thickness of the swivel fork (41) between the transmitting end and the receiving end.

2. The pallet disassembling module based on the anti-tilting pallet disassembling operation according to claim 1, wherein: There are two groups of the opposed sensors (53). Both the left mounting plate (51) and the right mounting plate (52) are horizontally square groove-shaped structures with the notch facing the direction of the tray. The transmitting end and the receiving end of one group of opposed sensors (53) are respectively located at the upper side wall of the left mounting plate (51) and the lower side wall of the right mounting plate (52), and the transmitting end and the receiving end of the other group of opposed sensors (53) are respectively located at the upper side wall of the right mounting plate (52) and the lower side wall of the left mounting plate (51); The groove width of the left mounting plate (51) and the right mounting plate (52) is equal to the thickness of the swivel fork (41) to avoid the movement path of the swivel fork (41).

3. The pallet dismantling module based on the anti-tipping pallet dismantling operation according to claim 1 or 2, characterized in that: The first power source (22) is of a piston cylinder structure. The piston cylinder end and the piston rod end of the first power source (22) are respectively hinged to the power plate (11) and the position correction plate (30), and the axes of the two hinge points are parallel to the hinge axis of the horizontal hinge seat (21).

4. A pallet dismantling module based on an anti-tilting pallet dismantling operation according to claim 1 or 2, characterized in that: The second power source (42) is of a piston cylinder structure. The second power source (42) is installed on the position correction plate (30) and its action direction is parallel to the plate length direction of the position correction plate (30); The tail end of the swivel fork (41) is fitted to the corresponding end of the position correction plate (30) through a rotary shaft bearing, and a power section extends reversely along the length direction of the swivel fork (41) at the tail end of the swivel fork (41). The power section is hinged to the piston rod end of the second power source (42) through a vertical hinge seat; The head end of the swivel fork (41) forms a mating end for inserting into the mating hole at the to-be-lifted end of the tray.

5. The pallet dismantling module based on the anti-tipping pallet dismantling operation according to claim 4, characterized in that: The head end of the swivel fork (41) is folded inwards along the plate surface direction to form a "7"-shaped flat plate structure.

6. The pallet dismantling module based on the anti-tilting pallet dismantling operation according to claim 4, wherein: One set of cooperating swivel forks (41) and the second power source (42) form a fork lifting unit. There are two sets of fork lifting units, which are symmetrically installed on the same position correction plate (30) facing each other; A positioning cylinder is arranged at the end of the position correction plate (30). The inner axis of the positioning cylinder is vertical, and a thrust ball bearing and a deep groove ball bearing are arranged in sequence from top to bottom. Both ends of the rotary shaft are respectively fitted with the thrust ball bearing and the deep groove ball bearing, so as to be simply supported by bearings in the positioning cylinder.

7. The pallet disassembling module based on the anti-tipping pallet disassembling operation according to claim 1 or 2, characterized in that: The lifting part (10) includes a lifting piston cylinder (12) as the third power source. The piston cylinder end of the lifting piston cylinder (12) is fixed to the frame, and the power plate (11) is horizontally fixed at the piston rod end of the lifting piston cylinder (12). Guide columns (13) with an action guiding function are arranged in parallel on both sides of the lifting piston cylinder (12).

8. A pallet dismantling distributor for a pallet dismantling module based on an anti-tipping pallet dismantling operation as described in claim 1, characterized in that: It includes a fixing frame (60) in the shape of a square frame. The vertical inner cavity channel of the fixing frame (60) forms a receiving cavity for placing the pallet stack. A guide rod (61) extends vertically upward in the receiving cavity. A conveyor belt (70) for conveying the bottommost pallet of the pallet stack is arranged directly below the receiving cavity. Along the conveying direction of the conveyor belt (70), there are two sets of pallet disassembling modules arranged on the fixing frame (60) one in front and the other behind, so as to drive the pallet stack to generate a lifting action through the synchronous fork-lifting action of the two sets of pallet disassembling modules; The pallet disassembling distributor further includes a deviation-finding sensor (80) for irradiating the second bottommost pallet. Taking the advancing direction of the conveyor belt (70) as the front and rear directions of the receiving cavity, the transmitting end and the receiving end of the deviation-finding sensor (80) are respectively arranged at the same height on the front side wall and the rear side wall of the receiving cavity. There are two sets of deviation-finding sensors (80) to respectively irradiate the two side parts of the second bottommost pallet of the pallet stack.

9. The pallet disassembling distributor of the pallet disassembling module based on the anti-tipping pallet disassembling operation according to claim 8, characterized in that: On the four side walls of the receiving cavity, two guide rods (61) are correspondingly arranged on each side wall. And the height of the guide rods (61) on the feeding side is lower than the height of the other guide rods (61).

10. A pallet - removing method for a pallet - removing dispenser of a pallet - removing module based on an anti - tipping pallet - removing operation as claimed in claim 8, characterized in that It includes the following steps: 1). Stack the pallets layer by layer to form a pallet stack, and send the pallet stack into the receiving cavity. At this time, the bottommost pallet of the pallet stack contacts the conveying surface of the conveyor belt (70), and the to-be-lifted ends of each pallet are located between the left mounting plate (51) and the right mounting plate (52). At the same time, the pallet disassembling module acts, and the lifting part (10) drives the position correction plate (30) to the height of the second bottommost pallet; 2) The deviation-finding sensor (80) is started to respectively irradiate the two side parts of the second bottommost pallet. If the second bottommost pallet generates a tilt condition to one side, there is a time difference in the signal conduction of the two sets of deviation-finding sensors (80), so as to obtain the tilt direction of the second bottommost pallet, that is, to clarify whether the second bottommost pallet tilts to the left or to the right; 3) After clarifying the tilt direction of the second bottommost pallet, the second power source (42) acts first and drives the position correction plate (30) to generate a tilt action at the same angle as the tilt direction of the second bottommost pallet. Until the receiving ends of the two sets of opposed sensors (53) all receive the signals from the transmitting ends of the opposed sensors (53), the rotary fork (41) starts to generate an inward retracting action under the action of the second power source (42) and inserts into the mating hole of the to-be-lifted end of the second bottommost pallet through the cavity of the corresponding mounting plate; 4). The pallet disassembling module generates an upward movement, and the pallet stack is lifted upward through the rotary fork (41), leaving the bottommost pallet on the conveyor belt (70), and the conveyor belt (70) acts to drive the bottommost pallet to move forward one grid or multiple grids; 5) The lifting part (10) drives the position correction plate (30) to move to the lowest position. At this time, the position correction plate (30) and each rotary fork (41) are reset, and the pallet stack is placed back on the conveyor belt (70). Subsequently, the lifting part (10) drives the position correction plate (30) to move up one grid to the height of the second-bottom layer of pallets. 6) Sequentially and circularly execute steps 2) to 5) to complete the process of disassembling the entire pallet stack.

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