De-stacking device and de-stacking method

Abstract

The application discloses a palletizing device and a palletizing method, and relates to the technical field of palletizing. The palletizing device comprises a fixing frame, a goods conveying mechanism and a pallet conveying mechanism are oppositely arranged on the front side of the fixing frame, the goods conveying mechanism and the pallet conveying mechanism are convenient for conveying goods to be palletized and empty pallets after the goods are taken off, a first lead screw is installed on the front side in the fixing frame, two movable blocks are threadedly connected to the first lead screw, a push rod is fixed between the left and right movable blocks and the goods conveying mechanism and the pallet conveying mechanism, a plurality of self-locking universal wheels are installed at the bottom of the goods conveying mechanism and the pallet conveying mechanism, the mutual distance between the goods conveying mechanism and the pallet conveying mechanism can be adjusted conveniently, the palletizing device is suitable for the palletizing of goods stacks of different sizes, a goods stack lifting mechanism is arranged on the inner side of the fixing frame, and a lifting plate of the goods stack lifting mechanism is arranged between the goods conveying mechanism and the pallet conveying mechanism, so that the goods stack can be placed conveniently.

Description

Technical Field

[0001] The present invention belongs to the technical field of destacking, and in particular relates to a destacking device and a destacking method. Background Art

[0002] In the production of grain, fertilizer, cement and other fields, as well as in the process of logistics transmission, in order to improve space utilization and facilitate the transportation and transshipment of goods, it is often necessary to stack the goods layer by layer, that is, palletizing. When the goods are to be used, the stacked goods need to be taken out layer by layer, that is, destacking.

[0003] Publication number "CN109436815A" discloses a "depalletizing device and depalletizing method". The cargo stack is transferred from the cargo stack input line into the cargo stack lifting mechanism. After the cargo stack lifting mechanism lifts the cargo stack to a specified height, the sliding mechanism drives the material receiving line and the resisting mechanism to approach the cargo stack, and makes the resisting mechanism resist the second layer of cargo above the cargo stack. The robotic arm drives the moving mechanism to the specified position to move the cargo to the cargo output line.

[0004] The above-mentioned prior art requires the use of a cargo stack input line to transport the stacked materials to be destackered to a cargo stack lifting mechanism when unloading the materials. Since the size of the cargo stack input line is fixed and the spacing between the cargo output lines on the left and right sides is fixed, it cannot adapt to the use of cargo stacks of different sizes, making it inconvenient to destacker and transport the goods. Moreover, since the cargo stack is heavy, it is easy to damage the cargo stack input line. At the same time, when the materials are moved to the cargo output line, too much material is moved to the output line at one time, and the goods moved to the cargo output line are prone to being messy, which is inconvenient for subsequent further operations on the materials and has a poor use effect.

[0005] To this end, we designed a destacking device and a destacking method to solve the above problems. Summary of the Invention

[0006] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The present invention provides a depalletizing device, comprising a fixed frame, a cargo conveying mechanism and a pallet conveying mechanism being arranged opposite to each other on the front side of the fixed frame, a first screw being installed on the front side of the interior of the fixed frame, two movable blocks being threadedly engaged with each other on the first screw, push rods being fixed between the left and right movable blocks and the cargo conveying mechanism and the pallet conveying mechanism, and a plurality of self-locking universal wheels being installed at the bottom of the cargo conveying mechanism and the pallet conveying mechanism, a cargo stack lifting mechanism being arranged on the inside of the fixed frame, and a lifting plate of the cargo stack lifting mechanism being placed between the cargo conveying mechanism and the pallet conveying mechanism;

[0008] A through slot is provided on the upper surface of the fixing frame, a second screw rod is provided inside the through slot, a slider is threaded on the second screw rod, a mounting frame is fixed to the lower surface of the slider, sliding slots are provided on the front and rear sides of the lower surface of the mounting frame, a first screw rod and a second screw rod are respectively provided inside the front and rear sliding slots, a first mounting block and a second mounting block are respectively threaded on the first screw rod and the second screw rod, a first destacking assembly is installed on the lower surface of the first mounting block, and a second destacking assembly is installed on the lower surface of the second mounting block, which cooperate with the first destacking assembly.

[0009] Preferably, the second destacking assembly includes a robotic arm mounted on the lower surface of the second mounting block and a paddle mounted at the lower end of the robotic arm.

[0010] Preferably, the first destacking assembly includes a fixed plate, a rotating shaft, a shovel plate, a rack and a cylinder. The fixed plate is fixed to the lower surface of the first mounting block through a support rod. A vertical groove is passed through the inside of the fixed plate. A movable groove is provided on the right side of the lower end of the vertical groove. The rotating shaft is rotatably installed inside the movable groove, and the shovel plate is fixed on the rotating shaft. A plurality of teeth are fixed on the rotating shaft. A rack is movably provided inside the vertical groove, and the teeth are engaged with the rack.

[0011] Preferably, the cylinder is mounted on the upper surface of the fixed plate, and the telescopic end of the cylinder extends to the inside of the vertical slot where an adjustment block is fixed, and the upper end of the rack is fixedly connected to the adjustment block.

[0012] Preferably, a cross bar is provided on the lower side of the first screw rod, the cross bar passes through the movable block, and the movable block and the cross bar are slidably matched, a first motor is installed on the lower side of the right surface of the fixed frame, and the output shaft of the first motor is connected to the right end of the first screw rod.

[0013] Preferably, a second motor is installed on the upper side of the rear surface of the fixed frame, the output shaft of the second motor is connected to the rear end of the second screw rod, limiting grooves are provided on both sides of the through groove, and limiting blocks are fixed on both sides of the slider to cooperate with the limiting grooves.

[0014] Preferably, a third motor is installed on the front side of the left surface of the mounting frame, and the output shaft of the third motor is connected to the left end of the first screw rod. A fourth motor is installed on the rear side of the right surface of the mounting frame, and the output shaft of the fourth motor is connected to the right end of the second screw rod.

[0015] Preferably, a visual recognition system is provided at the center of the lower surface of the mounting frame.

[0016] The destacking method comprises the following steps:

[0017] Step 1: First, start the first motor to drive the first screw to rotate. Under the cooperation of the first screw and the thread of the movable block, adjust the left and right movable blocks to move closer or farther away from each other. Combined with the self-locking universal wheels at the bottom of the cargo conveying mechanism and the pallet conveying mechanism, under the action of the push rod, drive the cargo conveying mechanism and the pallet conveying mechanism to move, adjust the distance between the cargo conveying mechanism and the pallet conveying mechanism to adapt to the actual size of the cargo stack, and then use a forklift to move the cargo stack to the lifting plate of the cargo stack lifting mechanism, and start the cargo stack lifting mechanism to drive the cargo stack to move to a suitable height, and then go to step 2;

[0018] Step 2: Start the second motor to drive the second screw to rotate. Under the cooperation of the threads of the second screw and the slider, the mounting frame is driven to move forward, thereby driving the first and second destacking assemblies to move forward to the appropriate positions, and then proceed to step 3;

[0019] Step 3: Start the fourth motor to drive the second screw to rotate. Under the cooperation of the threads of the second screw and the second mounting block, the second destacking assembly is driven to move to a suitable position. Under the action of the robotic arm, the paddle is adjusted to insert into the gap on the side of the goods to be removed, and then go to step 4.

[0020] Step 4: Start the third motor to drive the first screw to rotate. Under the cooperation of the threads of the first screw and the first mounting block, the second depalletizing assembly is driven to move closer to the goods, and the shovel plate is driven to be close to the bottom of the goods. Under the action of the robotic arm, the goods are pushed onto the shovel plate, and the fixed plate and the pry plate are combined to clamp both sides of the goods, and then go to step 5.

[0021] Step 5: Under the joint action of the third motor and the fourth motor, the goods on the shovel are moved to the top of the goods conveying mechanism. At the same time, the cylinder is activated to drive the rack to move upward. Under the meshing action of the rack and the teeth, combined with the rotation of the rotating shaft, the shovel is driven to flip downward, so that the goods on the shovel slide onto the goods conveying mechanism and are transported outward, and then go to step 6;

[0022] Step 6: After the goods are unstacking, under the cooperation of the third motor, the first screw and the first mounting block, the second unstacking assembly is adjusted to move to the right, and the empty pallet is pushed to the right onto the pallet conveying mechanism.

[0023] The present invention has the following beneficial effects:

[0024] The present invention cooperates with the thread of the first screw rod and the movable block to facilitate the adjustment of the left and right movable blocks to move closer or farther away from each other, and combines the cargo conveying mechanism and the self-locking universal wheel at the bottom of the pallet conveying mechanism with the action of the push rod, thereby driving the cargo conveying mechanism and the pallet conveying mechanism to move, so as to achieve the purpose of adjusting the distance between the cargo conveying mechanism and the pallet conveying mechanism to adapt to the actual size of the cargo stack, and then using a forklift to move the cargo stack to the lifting plate of the cargo stack lifting mechanism, thereby improving the flexibility of the device and solving the problem that the prior art needs to use a cargo stack input line to transport the stacked materials to be destackered to the cargo stack lifting mechanism because the size of the cargo stack input line is fixed and the distance between the cargo output lines on the left and right sides is fixed, which cannot adapt to the destackering of cargo stacks of different sizes. At the same time, it eliminates the disadvantage that the cargo stack input line is easily damaged due to the heavy weight of the cargo stack during the process of using the cargo stack input line to transport the stacked materials to be destackered to the cargo stack lifting mechanism.

[0025] The mechanical arm facilitates the adjustment of the paddle plate into the gap on the side of the cargo to be removed, and the first screw rod cooperates with the thread of the first mounting block and the fixed plate to drive the shovel plate to move close to the bottom of the cargo. The mechanical arm and the paddle plate are used to push the cargo onto the shovel plate until the cargo contacts the fixed plate. The paddle plate and the fixed plate clamp both sides of the cargo to remove the cargo from the cargo stack.

[0026] At the same time, under the joint action of the second screw, the first screw and the second screw, it is easy to drive the goods on the shovel plate to move above the goods conveying mechanism, and at the same time start the cylinder to drive the rack to move upward. Under the meshing action of the rack and the teeth, combined with the rotation installation of the rotating shaft, the shovel plate is driven to flip downward, so that the goods on the shovel plate slide onto the goods conveying mechanism and transported outward, achieving the purpose of transferring the goods to the goods conveying mechanism one by one, and solving the problem in the prior art that when moving materials to the goods output line, too much material is moved to the output line at one time, and the goods moved to the goods output line are prone to be messy, which is inconvenient for subsequent further operation of the materials.

[0027] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is the front view of the present invention;

[0031] Figure 3 for Figure 2 Structural diagram of the middle section AA;

[0032] Figure 4 for Figure 2 Schematic diagram of the structure of the middle section BB;

[0033] Figure 5 for Figure 2 Schematic diagram of the enlarged structure at C in the middle;

[0034] Figure 6 It is a structural schematic diagram of the present invention;

[0035] Figure 7 Schematic diagram of the internal structure of the first destacking assembly in the present invention.

[0036] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0037] 1. Fixed frame; 2. Cargo conveying mechanism; 3. Pallet conveying mechanism; 4. First screw; 5. Movable block; 6. Push rod; 7. Second screw; 8. Slider; 9. Mounting frame; 10. Slide; 11. First screw; 12. Second screw; 13. First mounting block; 14. Second mounting block; 15. Robotic arm; 16. Paddle plate; 17. Fixed plate; 18. Rotating shaft; 19. Shovel plate; 20. Rack; 21. Gear; 22. Cylinder; 23. Cargo stack lifting mechanism; 24. First motor; 25. Second motor; 26. Third motor; 27. Fourth motor; 28. Visual recognition system. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "upper", "middle", "outer", "inner" and the like indicating directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention.

[0040] See also Figure 1-Figure 7As shown, the depalletizing device includes a fixed frame 1, a cargo conveying mechanism 2 and a pallet conveying mechanism 3 are relatively arranged on the front side of the fixed frame 1, a first screw rod 4 is installed on the front side of the interior of the fixed frame 1, and two movable blocks 5 are threadedly engaged on the first screw rod 4, and push rods 6 are fixed between the left and right movable blocks 5 and the cargo conveying mechanism 2 and the pallet conveying mechanism 3, and a number of self-locking universal wheels are installed at the bottom of the cargo conveying mechanism 2 and the pallet conveying mechanism 3. The first screw rod 4 is used to facilitate the adjustment of the mutual distance or proximity of the two movable blocks 5. Combined with the push rod 6 and the self-locking universal wheels, the mutual distance or proximity of the cargo conveying mechanism 2 and the pallet conveying mechanism 3 are driven to adapt to the depalletizing of cargo stacks of different sizes. A cargo stack lifting mechanism 23 is provided on the inside of the fixed frame 1, and the lifting plate of the cargo stack lifting mechanism 23 is placed between the cargo conveying mechanism 2 and the pallet conveying mechanism 3.

[0041] A through groove is provided on the upper surface of the fixing frame 1, and a second screw rod 7 is provided inside the through groove. A slider 8 is threaded on the second screw rod 7, and a mounting frame 9 is fixed to the lower surface of the slider 8. Slide grooves 10 are provided on the front and rear sides of the lower surface of the mounting frame 9, and a first screw rod 11 and a second screw rod 12 are respectively provided inside the front and rear slide grooves 10. A first mounting block 13 and a second mounting block 14 are respectively threaded on the first screw 11 and the second screw 12. A first destacking assembly is installed on the lower surface of the first mounting block 13, and a second destacking assembly is installed on the lower surface of the second mounting block 14, which cooperate with the first destacking assembly.

[0042] The second destacking assembly includes a robotic arm 15 mounted on the lower surface of the second mounting block 14 and a paddle 16 mounted on the lower end of the robotic arm 15 .

[0043] The first destacking assembly includes a fixed plate 17, a rotating shaft 18, a shovel plate 19, a rack 20 and a cylinder 22. The fixed plate 17 is fixed to the lower surface of the first mounting block 13 through a support rod. A vertical groove is passed through the interior of the fixed plate 17. A movable groove is provided on the right side of the lower end of the vertical groove. The rotating shaft 18 is rotatably installed inside the movable groove, and the shovel plate 19 is fixed on the rotating shaft 18. A plurality of teeth 21 are fixed on the rotating shaft 18. A rack 20 is movably provided inside the vertical groove. The teeth 21 mesh with the rack 20. The cylinder 22 is installed on the fixed plate 17. The upper surface of the plate 17 and the telescopic end of the cylinder 22 extend to the inside of the vertical slot and are fixed with an adjustment block. The upper end of the rack 20 is fixedly connected to the adjustment block, and the shovel plate 19 is used to facilitate the support of the goods. Combined with the fixed plate 17 and the paddle plate 16, it is convenient to clamp the two sides of the goods, which is convenient for removing the goods on the stack. Combined with the cylinder 22, it is convenient to push the rack 20 up and down, cooperate with the meshing action of the rack 20 and the teeth 21, and the rotation installation of the rotating shaft 18, and the taken-out goods are placed on the cargo conveying mechanism 2.

[0044] A cross bar is provided on the lower side of the first screw rod 4 , which passes through the movable block 5 , and the movable block 5 slides with the cross bar. A first motor 24 is installed on the lower side of the right surface of the fixed frame 1 , and the output shaft of the first motor 24 is connected to the right end of the first screw rod 4 .

[0045] A second motor 25 is installed on the upper side of the rear surface of the fixed frame 1. The output shaft of the second motor 25 is connected to the rear end of the second screw rod 7. Limiting grooves are provided on both sides of the through groove. Limiting blocks are fixed on both sides of the slider 8 to cooperate with the limiting grooves.

[0046] A third motor 26 is installed on the front side of the left surface of the mounting frame 9, and the output shaft of the third motor 26 is connected to the left end of the first screw 11. A fourth motor 27 is installed on the rear side of the right surface of the mounting frame 9, and the output shaft of the fourth motor 27 is connected to the right end of the second screw 12.

[0047] A visual recognition system 28 is provided at the center of the lower surface of the mounting frame 9 , and the visual recognition system 28 is used to identify the quantity, size, direction and spatial position of the top layer of goods in the stack, so as to facilitate the implementation of the destacking operation.

[0048] The destacking method comprises the following steps:

[0049] Step 1: First, start the first motor 24 to drive the first screw rod 4 to rotate. Under the thread cooperation between the first screw rod 4 and the movable block 5, adjust the left and right movable blocks 5 to move closer or farther away from each other. Combined with the self-locking universal wheels at the bottom of the cargo conveying mechanism 2 and the pallet conveying mechanism 3, under the action of the push rod 6, the cargo conveying mechanism 2 and the pallet conveying mechanism 3 are driven to move. The distance between the cargo conveying mechanism 2 and the pallet conveying mechanism 3 is adjusted to adapt to the actual size of the cargo stack. Then, with the help of a forklift, the cargo stack is moved to the lifting plate of the cargo stack lifting mechanism 23, and the cargo stack lifting mechanism 23 is started to drive the cargo stack to move to a suitable height, and then go to step 2.

[0050] Step 2: Start the second motor 25 to drive the second screw rod 7 to rotate. Under the threaded cooperation between the second screw rod 7 and the slider 8, the mounting frame 9 is driven to move forward, thereby driving the first and second destacking assemblies to move forward to the appropriate positions, and then proceed to step 3;

[0051] Step 3: Start the fourth motor 27 to drive the second screw 12 to rotate. Under the threaded cooperation between the second screw 12 and the second mounting block 14, the second destacking assembly is driven to move to a suitable position. Under the action of the robotic arm 15, the paddle 16 is adjusted to insert into the gap on the side of the goods to be removed, and then proceed to step 4.

[0052] Step 4: Start the third motor 26 to drive the first screw 11 to rotate. Under the cooperation of the threads of the first screw 11 and the first mounting block 13, the second depalletizing assembly is driven to move closer to the goods, and the shovel plate 19 is driven to be close to the bottom of the goods. Under the action of the mechanical arm 15, the goods are pushed onto the shovel plate 19. Combined with the fixing plate 17 and the prying plate 16, the two sides of the goods are clamped, and then the process goes to step 5.

[0053] Step 5: Under the joint action of the third motor 26 and the fourth motor 27, the goods on the shovel plate 19 are moved to the top of the goods conveying mechanism 2. At the same time, the cylinder 22 is activated to drive the rack 20 to move upward. Under the meshing action of the rack 20 and the teeth 21, combined with the rotation of the rotating shaft 18, the shovel plate 19 is driven to flip downward, so that the goods on the shovel plate 19 slide onto the goods conveying mechanism 2 and are conveyed outward, and then go to step 6;

[0054] Step 6: After the goods are unstacking, the third motor 26, the first screw 11 and the first mounting block 13 cooperate with each other to adjust the second unstacking assembly to move rightward, pushing the empty pallet to the right onto the pallet conveying mechanism 3.

[0055] Example:

[0056] First, according to the actual size of the cargo stack to be destackered, the first motor 24 is started to drive the first screw rod 4 to rotate. Under the threaded cooperation between the first screw rod 4 and the movable block 5, combined with the sliding cooperation between the movable block 5 and the cross bar, the left and right movable blocks 5 are adjusted to stably move closer to or farther away from each other. Combined with the self-locking universal wheels at the bottom of the cargo conveying mechanism 2 and the pallet conveying mechanism 3, under the action of the push rod 6, the cargo conveying mechanism 2 and the pallet conveying mechanism 3 are driven to move, thereby achieving the purpose of adjusting the distance between the cargo conveying mechanism 2 and the pallet conveying mechanism 3 to adapt to the actual size of the cargo stack. Then, the cargo stack is moved to the lifting plate of the cargo stack lifting mechanism 23 with the help of a forklift, which improves the flexibility of the device and solves the problem in the prior art that the cargo stack input line is required to transport the stack materials to be destackered to the cargo stack lifting mechanism 23. Since the size of the cargo stack input line is fixed and the distance between the cargo output lines on the left and right sides is fixed, it cannot adapt to the destackering of cargo stacks of different sizes. At the same time, it eliminates the disadvantage that the cargo stack input line is easily damaged due to the heavy weight of the cargo stack during the process of transporting the stack materials to be destackered to the cargo stack lifting mechanism 23 using the cargo stack input line.

[0057] Then, the cargo stack is raised to a suitable height by the cargo stack lifting mechanism 23, and the second motor 25 is started to drive the second screw rod 7 to rotate. Under the threaded cooperation between the second screw rod 7 and the slider 8, the mounting frame 9 is driven to move forward, thereby driving the first and second destacking assemblies to move forward to the appropriate positions.

[0058] The fourth motor 27 and the third motor 26 are started simultaneously, and the second screw 12 is driven to rotate by the fourth motor 27. Under the threaded cooperation between the second screw 12 and the second mounting block 14, the second destacking assembly is driven to move to a suitable position. Under the action of the robotic arm 15, the paddle 16 is adjusted to insert into the gap on the side of the goods to be removed.

[0059] The first screw 11 is driven to rotate by the third motor 26. Under the threaded cooperation between the first screw 11 and the first mounting block 13, the fixed plate 17 is combined to drive the shovel plate 19 to move close to the bottom of the cargo. Under the action of the mechanical arm 15, the paddle plate 16 is cooperated to push the cargo onto the shovel plate 19 until the cargo contacts the fixed plate 17. The paddle plate 16 and the fixed plate 17 cooperate with each other to clamp both sides of the cargo.

[0060] Then, under the joint action of the second motor 25, the third motor 26 and the fourth motor 27, the second screw rod 7, the first screw rod 11 and the second screw rod 12 are adjusted to rotate, thereby driving the goods on the shovel plate 19 to move to the top of the goods conveying mechanism 2, and at the same time starting the cylinder 22 to drive the rack 20 to move upward. Under the meshing action of the rack 20 and the teeth 21, combined with the rotation installation of the rotating shaft 18, the shovel plate 19 is driven to flip downward, so that the goods on the shovel plate 19 slide onto the goods conveying mechanism 2 and are conveyed outward, thereby achieving the purpose of transferring the goods to the goods conveying mechanism 2 one by one, and solving the problem in the prior art that when the materials are transferred to the goods output line, too much material is transferred to the output line at one time, and the goods transferred to the goods output line are prone to be messy, which is inconvenient for subsequent further operation of the materials;

[0061] During the destacking process, the goods on the stack are removed from left to right, which facilitates the adjustment of the movement of the shovel 19;

[0062] After the goods are unstacking, the third motor 26 , the first screw 11 and the first mounting block 13 cooperate with each other to adjust the second unstacking assembly to move rightward, pushing the empty pallet to the right onto the pallet conveying mechanism 3 .

[0063] Among them, the cargo conveying mechanism 2, the pallet conveying mechanism 3, the cargo stack lifting mechanism 23 and the visual recognition system 28 are all existing technologies that have been disclosed and put into use. They are commonly used mechanisms in this field, and their specific mechanisms and working principles will not be repeated here.

[0064] It should be further explained that the installation method, connection method and setting method in the present invention are all common mechanical connection methods in the field and are well known and mastered by technical personnel in this field. As long as they can achieve their beneficial effects, they can be implemented. At the same time, the first motor 24, the second motor 25, the third motor 26 and the fourth motor 27 in the present invention are all purchased on the market, and technical personnel in this field can install and use them according to requirements.

[0065] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0066] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A destacking device comprising a fixed frame (1), characterized in that: A cargo conveying mechanism (2) and a pallet conveying mechanism (3) are arranged opposite to each other on the front side of the fixed frame (1); a first screw rod (4) is installed on the front side of the fixed frame (1); two movable blocks (5) are threadedly engaged on the first screw rod (4); push rods (6) are fixed between the left and right movable blocks (5) and the cargo conveying mechanism (2) and the pallet conveying mechanism (3); and a plurality of self-locking universal wheels are installed at the bottom of the cargo conveying mechanism (2) and the pallet conveying mechanism (3); a cargo stack lifting mechanism (23) is arranged on the inside of the fixed frame (1), and a lifting plate of the cargo stack lifting mechanism (23) is placed between the cargo conveying mechanism (2) and the pallet conveying mechanism (3); The upper surface of the fixing frame (1) is provided with a through slot, a second screw rod (7) is provided inside the through slot, a slider (8) is provided on the second screw rod (7), a mounting frame (9) is fixed on the lower surface of the slider (8), and a slide groove (10) is provided on both the front and rear sides of the lower surface of the mounting frame (9), a first screw rod (11) and a second screw rod (12) are provided inside the front and rear slide grooves (10), respectively, a first mounting block (13) and a second mounting block (14) are provided on the first screw rod (11) and the second screw rod (12), respectively, a first destacking assembly is installed on the lower surface of the first mounting block (13), a second destacking assembly is installed on the lower surface of the second mounting block (14), and the second destacking assembly cooperates with the first destacking assembly. The component comprises a mechanical arm (15) mounted on the lower surface of the second mounting block (14) and a paddle plate (16) mounted on the lower end of the mechanical arm (15); the first destacking assembly comprises a fixed plate (17), a rotating shaft (18), a shovel plate (19), a rack (20) and a cylinder (22); the fixed plate (17) is fixed to the lower surface of the first mounting block (13) through a support rod; a vertical groove is passed through the interior of the fixed plate (17); a movable groove is provided on the right side of the lower end of the vertical groove; the rotating shaft (18) is rotatably mounted inside the movable groove, and the shovel plate (19) is fixed on the rotating shaft (18); a plurality of teeth (21) are fixed on the rotating shaft (18); a rack (20) is movably provided inside the vertical groove, and the teeth (21) are meshed with the rack (20).

2. The destacking device according to claim 1, characterized in that: The cylinder (22) is mounted on the upper surface of the fixed plate (17), and the telescopic end of the cylinder (22) extends to the inside of the vertical slot where an adjustment block is fixed, and the upper end of the rack (20) is fixedly connected to the adjustment block.

3. The destacking device according to claim 2, characterized in that: A crossbar is provided on the lower side of the first screw rod (4), the crossbar passes through the movable block (5), and the movable block (5) is slidably matched with the crossbar. A first motor (24) is installed on the lower side of the right surface of the fixed frame (1), and the output shaft of the first motor (24) is connected to the right end of the first screw rod (4).

4. The destacking device according to claim 3, characterized in that: A second motor (25) is mounted on the upper side of the rear surface of the fixing frame (1), and the output shaft of the second motor (25) is connected to the rear end of the second screw rod (7). Limiting grooves are provided on both the left and right sides of the through groove, and limiting blocks are fixed on both the left and right sides of the slider (8) to cooperate with the limiting grooves.

5. The destacking device according to claim 4, characterized in that: A third motor (26) is mounted on the front side of the left surface of the mounting frame (9), and an output shaft of the third motor (26) is connected to the left end of the first screw (11). A fourth motor (27) is mounted on the rear side of the right surface of the mounting frame (9), and an output shaft of the fourth motor (27) is connected to the right end of the second screw (12).

6. The destacking device according to claim 5, characterized in that: A visual recognition system (28) is provided at the center of the lower surface of the mounting frame (9).

7. A destacking method using the destacking device according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: First, start the first motor (24) to drive the first screw rod (4) to rotate. Under the threaded cooperation between the first screw rod (4) and the movable block (5), adjust the mutual proximity or distance between the left and right movable blocks (5). Combined with the self-locking universal wheels at the bottom of the cargo conveying mechanism (2) and the pallet conveying mechanism (3), under the action of the push rod (6), drive the cargo conveying mechanism (2) and the pallet conveying mechanism (3) to move, adjust the distance between the cargo conveying mechanism (2) and the pallet conveying mechanism (3) to adapt to the actual size of the cargo stack, and then use a forklift to move the cargo stack to the lifting plate of the cargo stack lifting mechanism (23), and start the cargo stack lifting mechanism (23) to drive the cargo stack to move to a suitable height, and then go to step 2; Step 2: Start the second motor (25) to drive the second screw rod (7) to rotate, and under the threaded cooperation between the second screw rod (7) and the slider (8), drive the mounting frame (9) to move forward, thereby driving the first destacking assembly and the second destacking assembly to move forward to a suitable position, and then proceed to step 3; Step 3: Start the fourth motor (27) to drive the second screw (12) to rotate, and under the cooperation of the threads of the second screw (12) and the second mounting block (14), drive the second destacking assembly to move to a suitable position, and under the action of the mechanical arm (15), adjust the paddle (16) to insert it into the gap on the side of the goods to be removed, and then go to step 4; Step 4: Start the third motor (26) to drive the first screw (11) to rotate. Under the cooperation of the threads of the first screw (11) and the first mounting block (13), the second destacking assembly is driven to approach the direction of the goods, and the shovel plate (19) is driven to be close to the bottom of the goods. Under the action of the mechanical arm (15), the goods are pushed onto the shovel plate (19), and the fixed plate (17) and the shift plate (16) are combined to clamp the two sides of the goods, and then go to step 5; Step 5: Under the joint action of the third motor (26) and the fourth motor (27), the goods on the shovel plate (19) are driven to move to the top of the goods conveying mechanism (2), and the cylinder (22) is started at the same time to drive the rack (20) to move upward. Under the meshing action of the rack (20) and the teeth (21), combined with the rotation installation of the rotating shaft (18), the shovel plate (19) is driven to flip downward, so that the goods on the shovel plate (19) slide onto the goods conveying mechanism (2) and are transported outward, and then go to step 6; Step 6: After the goods are unstacking, the second unstacking assembly is adjusted to move to the right under the cooperation of the third motor (26), the first screw (11) and the first mounting block (13), and the empty pallet is pushed to the right onto the pallet conveying mechanism (3).

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