Intelligent substrate bin automatic support disassembling and warehousing system and implementation method thereof

Abstract

The invention discloses an intelligent substrate bin automatic pallet disassembling and warehousing system and an implementation method thereof. The intelligent substrate bin automatic pallet disassembling and warehousing system comprises a pallet disassembling machine device used for disassembling stacked pallets; the conveying chain device is used for conveying the pallets disassembled by the pallet disassembling machine into a warehouse; a vertical photoelectric positioning sensor and a horizontal photoelectric positioning sensor are arranged on the support detaching machine device, a back photoelectric positioning sensor and a pallet bottom tray leg photoelectric positioning sensor are arranged on the conveying chain device, and the industrial personal computer device is used for controlling the support detaching machine device and the conveying chain device. The industrial personal computer is electrically connected with the pallet disassembling machine device, the conveying chain device, the vertical photoelectric positioning sensor, the horizontal photoelectric positioning sensor, the back photoelectric positioning sensor and the pallet bottom tray leg photoelectric positioning sensor. The automatic pallet disassembling machine overcomes the problem of automatic pallet disassembling caused by stacking of various wood pallets of different specifications.

Description

[0001] The present invention relates to the technical field of automatic warehousing in the warehousing industry, and in particular to an automatic pallet removal and warehousing system for an intelligent substrate warehouse and an implementation method thereof. Background Art

[0002] In order to reduce operating costs, the substrates are managed uniformly through the substrate three-dimensional warehouse, and the effect of sending materials from the central plate warehouse to various factories in the park can be achieved. This can avoid the disadvantage of each factory independently managing substrate materials, which leads to excessive substrate inventory; at the same time, it realizes automatic transportation of substrate logistics and saves manpower.

[0003] At present, the smart substrate warehouse in the industry basically requires the standardization of pallets carrying substrates, that is, the use of standard pallets with fixed sizes and specifications to reduce the difficulty of designing automated equipment.

[0004] However, since there is no unified standard for the pallets of substrate manufacturers in the industry, each substrate manufacturer uses a variety of pallet specifications. Therefore, the industry's substrate smart warehouse often uses a mother-and-child pallet (non-standard pallet + standard pallet), or uses manpower to move the incoming substrate from the non-standard pallet to the standard pallet so that it can be connected to the automated equipment for transportation, but this method will increase costs or reduce space utilization.

[0005] To this end, if non-standard pallets can be used in smart warehouses, the cost of material transportation can be greatly reduced and space utilization can be improved.

[0006] After the substrates are purchased, they basically need to be manually unpalletized (the substrates are stacked on multiple pallets during transportation) before they can be put into the warehouse. Therefore, how to realize automatic unpalletization is the basis for realizing the entry of substrates into the intelligent warehouse.

[0007] It is not difficult to see that there are still many problems in the prior art, and it is necessary to improve the existing method for automatically removing and storing trays in the intelligent substrate warehouse to overcome the defects of the prior art. Summary of the invention

[0008] Therefore, in order to solve the above problems in the prior art, the present invention proposes an intelligent substrate warehouse automatic tray removal and storage system and an implementation method thereof.

[0009] The present invention solves the above problems by the following technical means:

[0010] An intelligent substrate warehouse automatic pallet removal and storage system, comprising:

[0011] A pallet remover device, used for removing stacked pallets; a conveyor chain device, used for conveying the pallets removed by the pallet remover into storage;

[0012] The depalletizer device is provided with a vertical photoelectric positioning sensor and a horizontal photoelectric positioning sensor, wherein the vertical photoelectric positioning sensor is used to sense the vertical position of the stacked pallets, and the horizontal photoelectric positioning sensor is used to sense the horizontal position of the stacked pallets;

[0013] The conveyor chain device is provided with a back photoelectric positioning sensor, an intermediate pallet leg photoelectric positioning sensor and a pallet leg photoelectric positioning sensor at the bottom of the pallet. The back photoelectric positioning sensor is used to sense the horizontal position of the pallet on the conveyor chain device, the intermediate pallet leg photoelectric positioning sensor is used to determine the initial positioning of the pallet, and the pallet leg photoelectric positioning sensor at the bottom of the pallet is used to sense the distance between the pallet leg of the bottom layer of the pallet on the depalletizer device and the side protection baffle of the conveyor chain device.

[0014] An industrial computer device is used to control the pallet remover device and the conveyor chain device. The industrial computer is electrically connected to the pallet remover device, the conveyor chain device, the vertical photoelectric positioning sensor, the horizontal photoelectric positioning sensor, the back photoelectric positioning sensor, the middle pallet leg photoelectric positioning sensor and the pallet leg photoelectric positioning sensor at the bottom of the pallet.

[0015] Furthermore, the tray removal device comprises:

[0016] A frame, a support removal component, and a fork, wherein the support removal component is installed in the frame so as to be movable up and down in the vertical direction, and the fork is installed on the support removal component so as to be movable left and right in the horizontal direction. The vertical positioning sensor is installed on the vertical facade of the frame, and the horizontal photoelectric positioning sensor is installed on the fork.

[0017] Furthermore, the fork is a telescopic fork, and the telescopic direction of the fork is perpendicular to the conveying direction of the conveyor chain device in the same horizontal direction.

[0018] Furthermore, the fork comprises a first fork and a second fork, the first fork and the second fork are arranged side by side on the pallet removal component, and the first fork and the second fork are both provided with a horizontal photoelectric positioning sensor.

[0019] Furthermore, the conveyor chain device comprises:

[0020] A bracket and a conveying component, wherein the conveying component is installed on the bracket, the bracket includes a first side and a second side, the back photoelectric positioning sensor is arranged on the first side of the bracket, and the pallet leg photoelectric positioning sensor at the bottom of the pallet is arranged on the second side of the bracket.

[0021] Furthermore, the industrial computer device includes:

[0022] A signal receiving module, used to receive signals from the vertical photoelectric positioning sensor, the horizontal photoelectric positioning sensor, the back photoelectric positioning sensor and the photoelectric positioning sensor of the tray legs at the bottom of the pallet;

[0023] A signal processing module, used to process the signal received by the signal receiving module and generate a processing result;

[0024] The signal output module is used to transmit the processing results generated by the signal processing module to the tray remover device and the conveyor chain device, and control the tray remover device and the conveyor chain device to move according to the processing results.

[0025] Furthermore, the tray removal device comprises:

[0026] A frame, a dismantling component, and a fork, wherein the dismantling component is movably installed in the frame in a vertical direction, the fork is fixedly installed on the dismantling component, the vertical positioning sensor is installed on the vertical facade of the frame, and the horizontal photoelectric positioning sensor is installed on the fork.

[0027] The present invention also provides a method for realizing automatic pallet removal and storage in an intelligent substrate warehouse based on the automatic pallet removal and storage system for an intelligent substrate warehouse, comprising:

[0028] S1. The vertical photoelectric positioning sensor determines the height position of the second pallet from the bottom to the top of the stacked pallets, and the vertical photoelectric positioning sensor sends the height position signal to the industrial computer device;

[0029] S2, the industrial computer device receives and processes the signal sent by S1, transmits the processing result to the pallet remover device, and controls the pallet remover device to raise the fork to the height position described in S1;

[0030] S3, determining by the horizontal photoelectric positioning sensor whether the pallet blocks the horizontal photoelectric positioning sensor on the fork, and sending the determination signal to the industrial computer device;

[0031] S4, the industrial computer device receives the determination signal sent by S3 and processes it, transmits the processing result to the pallet remover device, and controls the pallet remover device to move the fork horizontally to the middle of the pallet insertion hole;

[0032] S5, the fork extends into the pallet insertion hole to lift the second pallet and all pallets above it, and the first pallet at the bottom is transported into the warehouse through the conveyor chain equipment;

[0033] S6, lower the fork to about 10 cm away from the photoelectric positioning sensor of the pallet leg at the bottom of the pallet, retract the fork toward the pallet removal device, and stop when it is sensed by the photoelectric positioning sensor of the pallet leg at the bottom of the pallet. Then, extend the fork away from the pallet removal device. If the photoelectric positioning sensor at the back is not sensed, it means that the position of the wooden pallet meets the requirements, and then the wooden pallet is dropped normally onto the conveyor chain device.

[0034] S7, looping the steps S1-S6 until all the stacked wooden pallets are removed.

[0035] Further, the S4 includes:

[0036] S41, when the horizontal photoelectric positioning sensor on the first fork is blocked and the horizontal photoelectric positioning sensor on the second fork is not blocked, the first fork is controlled to move toward the second fork until the horizontal photoelectric positioning sensors on the first fork and the second fork are both not blocked;

[0037] S42: When the horizontal photoelectric positioning sensor on the first fork is not blocked and the horizontal photoelectric positioning sensor on the second fork is blocked, the second fork is controlled to move in the direction of the first fork until the horizontal photoelectric positioning sensors on the first fork and the second fork are both not blocked.

[0038] Further, the S4 includes:

[0039] S43, when the horizontal photoelectric positioning sensor on the first fork is blocked and the horizontal photoelectric positioning sensor on the second fork is not blocked, controlling the conveying component in the conveyor chain device to convey in the direction of the first fork until the horizontal photoelectric positioning sensors on the first fork and the second fork are not blocked;

[0040] S44. When the horizontal photoelectric positioning sensor on the first fork is not blocked and the horizontal photoelectric positioning sensor on the second fork is blocked, the conveying component in the conveyor chain device is controlled to convey in the direction of the second fork until the horizontal photoelectric positioning sensors on the first fork and the second fork are both unblocked.

[0041] The present invention can conveniently and flexibly insert and remove pallets of different heights and different horizontal positions by providing a disassembly component that can move up and down in the vertical direction and a fork that can move left and right in the horizontal direction. The actual positions of wooden pallets of different specifications can be accurately determined by the combined action of the vertical photoelectric positioning sensor, the horizontal photoelectric positioning sensor, the back photoelectric positioning sensor, the middle pallet leg photoelectric positioning sensor, and the pallet leg photoelectric positioning sensor at the bottom of the pallet. In addition, by using in conjunction with the conveyor chain device, pallets of different specifications can be transported into storage. The present invention solves the problem of automatic disassembly caused by stacking wooden pallets of various specifications together, and realizes that after the substrate is unloaded from the truck, it can be directly placed in the corresponding automatic storage port, and then the automatic disassembly and storage can be realized, further promoting the unmanned operation of the intelligent substrate warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of 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.

[0043] Figure 1 is a top view of the tray removal machine device of the present invention;

[0044] Figure 2 is a side view of the tray removal machine device of the present invention;

[0045] Figure 3 It is an overall top view of the device of the intelligent substrate warehouse automatic tray removal and storage system of the present invention;

[0046] Figure 4 It is an overall side view of the device of the intelligent substrate warehouse automatic tray removal and storage system of the present invention; BRIEF DESCRIPTION OF THE DRAWINGS

[0048] 1- tray removal device; 2- conveyor chain device;

[0049] 3-vertical photoelectric positioning sensor; 4-horizontal photoelectric positioning sensor;

[0050] 5-Back photoelectric positioning sensor; 6-Pallet leg photoelectric positioning sensor at the bottom of the pallet;

[0051] 16- Photoelectric positioning sensor for middle tray legs;

[0052] 7- side protection baffle of conveyor chain device; 8- frame; 9- disassembly component;

[0053] 10-first fork; 11-second fork; 12-bracket;

[0054] 13- conveying member; 14- first side; 15- second side. DETAILED DESCRIPTION

[0055] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be pointed out that the described implementation examples 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 creative work are within the scope of protection of the present invention.

[0056] Example

[0057] The present invention is described in more detail below:

[0058] like Figure 1-Figure 4 As shown, the present invention solves the above problems by the following technical means:

[0059] An intelligent substrate warehouse automatic pallet removal and storage system, comprising:

[0060] The pallet remover device 1 is used to remove the stacked pallets; the conveyor chain device 2 is used to transport the pallets removed by the pallet remover into the warehouse; it should be noted that the relative placement relationship between the pallet remover device 1 and the conveyor chain device 2 is as follows: Figure 1 As shown, the pallet remover device 1 is placed next to the conveyor chain device 2, and the fork on the pallet remover device 1 is perpendicular to the direction of conveying goods of the conveyor chain device 2, that is, when the stacked pallets are placed on the conveying component 13 of the conveyor chain device 2, the fork can be inserted into the socket of the pallet to lift or put down the pallet.

[0061] The pallet remover device 1 is provided with a vertical photoelectric positioning sensor 3 and a horizontal photoelectric positioning sensor 4. The vertical photoelectric positioning sensor 3 is used to sense the vertical position of the stacked pallets, and the horizontal photoelectric positioning sensor 4 is used to sense the horizontal position of the stacked pallets. It should be noted that the functions of the vertical photoelectric positioning sensor 3 and the horizontal photoelectric positioning sensor 4 are to determine the specific and exact position of the pallet so that the fork can be accurately inserted into the socket of the pallet, thereby lifting or lowering the pallet.

[0062] It should be noted that the vertical photoelectric positioning sensor 3 is preferably of the encrypted grating type. When the pallet stops moving on the conveyor chain device 2 to be dismantled, the vertical photoelectric positioning sensor installed at a position about 12CM from the center of the middle leg of the pallet (also between the two forks) is just opposite to the socket position of the stacked pallet. At this time, it can identify the positions of all the sockets of the stacked pallets, and then determine the second socket position from the bottom.

[0063] The conveyor chain device 2 is provided with a back photoelectric positioning sensor 5, an intermediate pallet leg photoelectric positioning sensor 16 and a pallet leg photoelectric positioning sensor 6 for the bottom pallet leg of the pallet. The back photoelectric positioning sensor 5 is used to sense the horizontal position of the pallet on the conveyor chain device 2, the intermediate pallet leg photoelectric positioning sensor 16 is used to determine the initial positioning of the pallet, and the pallet leg photoelectric positioning sensor 6 for the bottom pallet leg of the pallet is used to sense the distance between the pallet legs of the lowest layer of the pallet on the depalletizer device 1 and the side protection baffle 7 of the conveyor chain device 2; it should be noted that the function of the back photoelectric positioning sensor 5, the intermediate pallet leg photoelectric positioning sensor 16 and the pallet leg photoelectric positioning sensor 6 for the bottom pallet leg of the pallet is to determine whether the pallet falls accurately on the conveyor chain device 2, that is, on the conveying component 13 described below, because only when the pallet falls accurately on the conveying component 13, the pallet can be accurately transported to the warehouse by the conveyor chain device 2.

[0064] Preferably, the initial positioning method for the pallet when it is conveyed from the front section to the position to be removed is as follows: an intermediate pallet leg photoelectric positioning sensor 16 is installed at a vertical photoelectric positioning position about 4 cm away from the backward direction of the conveyor chain, and the pallet positioning logic is as follows: ① a new pallet removal task is issued by the industrial computer device; ② the intermediate pallet leg photoelectric positioning sensor 16 only counts when it senses the passage of the first pallet leg; ③ when the intermediate pallet leg photoelectric positioning sensor 16 senses the passage of the second pallet leg, it sends a signal to the industrial computer, and the industrial computer issues a stop command to the conveyor chain device 2, and the conveyor chain device 2 slows down and stops within 2 seconds; ④ the initial positioning of the pallet is completed.

[0065] The industrial computer device is used to control the depalletizer device 1 and the conveyor chain device 2. The industrial computer is electrically connected to the depalletizer device 1, the conveyor chain device 2, the vertical photoelectric positioning sensor 3, the horizontal photoelectric positioning sensor 4, the back photoelectric positioning sensor 5 and the pallet bottom pallet leg photoelectric positioning sensor 6. It should be noted that the industrial computer device is mainly used to control the depalletizer device 1 and the conveyor chain device 2. The industrial computer device receives signals from the five sensors, namely, the vertical photoelectric positioning sensor 3, the horizontal photoelectric positioning sensor 4, the back photoelectric positioning sensor 5, the middle pallet leg photoelectric positioning sensor 16 and the pallet bottom pallet leg photoelectric positioning sensor 6, and then specifically controls the depalletizer device 1 and the conveyor chain device 2, so that the stacked pallets can be depalletized smoothly and stably on the conveying component 13. It should be noted that the industrial computer device is the brain of the entire automatic depalletizing system. The intelligent substrate warehouse automatic depalletizing and warehousing system requires the industrial computer device to perform logical judgment and control equipment operation.

[0066] Preferably, the tray removal device 1 comprises:

[0067] The frame 8, the dismantling component 9, and the fork, wherein the dismantling component 9 is installed in the frame 8 so as to be movable up and down in the vertical direction, the fork is installed on the dismantling component 9 so as to be movable left and right in the horizontal direction, the vertical positioning sensor is installed on the vertical facade of the frame 8, and the horizontal photoelectric positioning sensor 4 is installed on the fork. It should be noted that the dismantling component 9 is installed on the frame 8 so as to be movable up and down in the present embodiment, that is, the dismantling component 9 can be moved up and down in the vertical direction to adjust different heights to adapt to different height positions of different pallets. The fork is installed on the dismantling component 9 so as to be movable left and right in the horizontal direction, that is, the fork can be moved left and right on the dismantling component 9, that is, the fork can be moved left or right according to the different socket positions of pallets of different specifications, so as to adapt to the different socket positions corresponding to pallets of different specifications.

[0068] Preferably, the fork is a telescopic fork, and the telescopic direction of the fork is perpendicular to the conveying direction of the conveyor chain device 2 in the same horizontal direction. It should be noted that the telescopic direction is telescopic in the direction of the insertion hole of the pallet, that is, it is telescopic in the insertion hole of the pallet to lift the pallet and adjust the position of the pallet on the conveying component 13, and the main purpose is to facilitate the conveying of the pallet.

[0069] Preferably, the fork comprises a first fork 10 and a second fork 11, the first fork 10 and the second fork 11 are arranged side by side on the pallet removal component 9, and the first fork 10 and the second fork 11 are both provided with a horizontal photoelectric positioning sensor 4. It should be noted that two forks are preferred in this embodiment, and one, two or more forks may be selected according to the specifications of the pallet, so as to facilitate the lifting of the pallet.

[0070] Preferably, the conveyor chain device 2 comprises:

[0071] A support 12 and a conveying component 13, wherein the conveying component 13 is installed on the support 12, and the support 12 includes a first side 14 and a second side 15. The back photoelectric positioning sensor 5 is arranged on the first side 14 of the support 12, and the pallet bottom pallet leg photoelectric positioning sensor 6 is arranged on the second side 15 of the support 12. It should be noted that the back photoelectric positioning sensor 5 is arranged on the side opposite to the side of the support 12 where the pallet removal device is located (that is, the first side 14), and the back photoelectric positioning sensor 5 here is used to determine whether the pallet exceeds the range of the conveying component 13, so as to avoid causing an impact when conveying the pallet. The pallet bottom pallet leg photoelectric positioning sensor 6 is arranged on the side of the support 12 where the pallet removal device is located (that is, the second side 15), and the pallet bottom pallet leg photoelectric positioning sensor 6 here is used to determine whether the pallet exceeds the range of the conveying component 13, that is, to ensure that the pallet completely falls within the conveying component 13, so that the pallet can be efficiently and quickly transported into the warehouse.

[0072] Preferably, the industrial computer device comprises:

[0073] The signal receiving module is used to receive the signals emitted by the vertical photoelectric positioning sensor 3, the horizontal photoelectric positioning sensor 4, the back photoelectric positioning sensor 5 and the photoelectric positioning sensor 6 for the pallet legs at the bottom of the pallet; the signal processing module is used to process the signals received by the signal receiving module and generate processing results; the signal output module is used to transmit the processing results generated by the signal processing module to the pallet removal machine device 1 and the conveyor chain device 2, and control the movement of the pallet removal machine device 1 and the conveyor chain device 2 according to the processing results. It should be noted that the industrial computer device receives the signals emitted by the four sensors, namely, the vertical photoelectric positioning sensor 3, the horizontal photoelectric positioning sensor 4, the back photoelectric positioning sensor 5 and the photoelectric positioning sensor 6 for the pallet legs at the bottom of the pallet, and then specifically controls the pallet removal machine device 1 and the conveyor chain device 2, so that the stacked pallets can be removed smoothly and steadily on the conveying component 13.

[0074] Preferably, the tray removal device 1 comprises:

[0075] The frame 8, the dismantling component 9, and the fork, the dismantling component 9 is installed in the frame 8 in a vertically movable manner, the fork is fixedly installed on the dismantling component 9, the vertical positioning sensor is installed on the vertical facade of the frame 8, and the horizontal photoelectric positioning sensor 4 is installed on the fork. It should be noted that this is another installation method compared to the fork described above in this embodiment. The fork described here is fixedly installed on the dismantling component 9, that is, the fork cannot move left and right, but when encountering different positions of the sockets of pallets of different specifications, the system can realize the left and right movement of the pallet by rolling the conveying component 13 left and right, so that the fork matches the position of the socket of the pallet, and then the fork can lift or drop the pallet.

[0076] It should be noted that when the stacked pallets are transported to the unloading position, there is a sensor under the conveyor chain device so that when the chuan-shaped bottom pallet stops, the middle support leg position is at the center of the unloading position, that is, the position between the two forks. The present invention also provides a method for realizing automatic unloading and storage of intelligent substrate warehouses based on the automatic unloading and storage system of intelligent substrate warehouses, including:

[0077] S1. The vertical photoelectric positioning sensor 3 determines the height position of the second pallet from the bottom to the top of the stacked pallets, and the vertical photoelectric positioning sensor 3 sends the height position signal to the industrial computer device; it should be noted that, at the beginning, the stacked pallets are stacked in piles, and when a stack of pallets that are not of uniform specifications are placed on the conveying component 13, the vertical photoelectric positioning sensor 3 of the system determines the height position of the second pallet from the bottom to the top of the stacked pallets, and sends the position signal to the industrial computer device.

[0078] S2, the industrial computer device receives and processes the signal sent by S1, transmits the processing result to the pallet remover device 1, and controls the pallet remover device 1 to raise the fork to the height position described in S1;

[0079] S3. The horizontal photoelectric positioning sensor 4 determines whether the pallet blocks the horizontal photoelectric positioning sensor 4 on the fork, and sends the determination signal to the industrial computer device. It should be noted that it determines whether the horizontal position of the second pallet from the bottom to the top matches the position of the fork, and sends the position signal to the industrial computer device.

[0080] S4, the industrial computer device receives the determination signal sent by S3 and processes it, transmits the processing result to the pallet remover device 1, and controls the pallet remover device 1 to move the fork horizontally to the middle of the pallet insertion hole.

[0081] Preferably, S4 includes:

[0082] S41. When the horizontal photoelectric positioning sensor 4 on the first fork 10 is blocked and the horizontal photoelectric positioning sensor 4 on the second fork 11 is not blocked, the first fork 10 is controlled to move toward the second fork 11 until the horizontal photoelectric positioning sensors 4 on the first fork 10 and the second fork 11 are not blocked, that is, the first fork 10 and the second fork 11 are moved left and right to adapt to and match the actual positions of the sockets of pallets of different specifications.

[0083] S42, when the horizontal photoelectric positioning sensor 4 on the first fork 10 is not blocked, and the horizontal photoelectric positioning sensor 4 on the second fork 11 is blocked, the second fork 11 is controlled to move toward the first fork 10 until the horizontal photoelectric positioning sensors 4 on the first fork 10 and the second fork 11 are not blocked, that is, the first fork 10 and the second fork 11 are moved left and right to adapt to and match the actual positions of the sockets of pallets of different specifications. It should be noted that in the cases of S41 and S42, the vertical photoelectric positioning sensor 3 moves together with the fork to prevent the fork from affecting the positioning of the vertical photoelectric positioning sensor 3.

[0084] It should be noted that the adjustment method corresponding to the other installation method of the fork described above is as follows, and S4 includes:

[0085] S43. When the horizontal photoelectric positioning sensor 4 on the first fork 10 is blocked and the horizontal photoelectric positioning sensor 4 on the second fork 11 is not blocked, the conveying component 13 in the conveyor chain device 2 is controlled to convey in the direction of the first fork 10 until the horizontal photoelectric positioning sensors 4 on the first fork 10 and the second fork 11 are not blocked, that is, the conveying component 13 is moved in different directions to drive the pallet to move in the horizontal direction, so that the first fork 10 and the second fork 11 can adapt to and match the sockets of the pallet.

[0086] S44. When the horizontal photoelectric positioning sensor 4 on the first fork 10 is not blocked and the horizontal photoelectric positioning sensor 4 on the second fork 11 is blocked, the conveying component 13 in the conveyor chain device 2 is controlled to convey in the direction of the second fork 11 until the horizontal photoelectric positioning sensors 4 on the first fork 10 and the second fork 11 are not blocked, that is, the conveying component 13 moves in different directions, driving the pallet to move in the horizontal direction, so that the first fork 10 and the second fork 11 adapt to and match the sockets of the pallet.

[0087] S5, the fork extends into the pallet insertion hole to lift the second pallet and all pallets above it, and the first pallet at the bottom is transported into the warehouse through the conveyor chain equipment;

[0088] S6, lower the fork to about 10 cm away from the photoelectric positioning sensor 6 of the pallet leg at the bottom of the pallet, retract the fork toward the pallet remover device 1, and stop when it is sensed by the photoelectric positioning sensor 6 of the pallet leg at the bottom of the pallet. The fork is then extended away from the pallet remover device 1. Preferably, the back photoelectric positioning sensor is judged every 0.5 cm of extension. If the back photoelectric positioning sensor 5 is not sensed, it means that the position of the wooden pallet meets the transportation requirements, and the wooden pallet is normally dropped onto the conveyor chain device 2. It should be noted that the main purpose of setting the step S6 in this embodiment is that when conveying pallets of different specifications, because the specifications of the pallets are different, some pallets may be large and some pallets may be small, so one edge of the pallet should be in the same position as much as possible, which can facilitate warehousing. By adjusting the telescopic direction and telescopic distance of the fork, it can be achieved that when pallets of different specifications are on the conveying component 13, one edge of each pallet can be in the same position.

[0089] S7, looping the steps S1-S6 until all the stacked wooden pallets are removed.

[0090] The present invention can conveniently and flexibly insert and remove pallets of different heights and different horizontal positions by providing a disassembly component 9 that can move up and down in the vertical direction and a fork that can move left and right in the horizontal direction. The actual position of wooden pallets of different specifications can be accurately determined by the combined action of the vertical photoelectric positioning sensor 3, the horizontal photoelectric positioning sensor 4, the back photoelectric positioning sensor 5, the middle pallet leg photoelectric positioning sensor 16 and the pallet leg photoelectric positioning sensor 6 at the bottom of the pallet. The pallets of different specifications can be transported into the warehouse by using them in conjunction with the conveyor chain device 2. The present invention solves the problem of automatic disassembly caused by stacking wooden pallets of various specifications together, and realizes that after the substrate is unloaded from the truck, it can be directly placed in the corresponding automatic storage port, and then the automatic disassembly and storage can be realized, further promoting the unmanned operation of the intelligent substrate warehouse.

[0091] References to "one embodiment", "another embodiment", "embodiment", "preferred embodiment", etc. in this specification refer to specific features, structures or characteristics described in conjunction with the example included in at least one embodiment generally described in this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Further, when a specific feature, structure or characteristic is described in conjunction with any embodiment, it is claimed that the realization of such feature, structure or characteristic in conjunction with other embodiments also falls within the present invention. Although the present invention is described herein with reference to a number of illustrative examples of the present invention, it should be understood that those skilled in the art can design many other modifications and implementations that fall within the scope and spirit of the principles disclosed in this application. More specifically, within the scope of the present application disclosure, drawings and claims, in addition to the deformation and improvement that can be made to the components and / or layout of the subject combination layout, other uses will also be obvious to those skilled in the art.

Claims

1. An intelligent substrate warehouse automatic tray removal and storage system, characterized in that: include: A pallet remover device for removing stacked pallets; A conveyor chain device, used for conveying the pallets removed by the pallet remover into storage; The depalletizer device is provided with a vertical photoelectric positioning sensor and a horizontal photoelectric positioning sensor, wherein the vertical photoelectric positioning sensor is used to sense the vertical position of the stacked pallets, and the horizontal photoelectric positioning sensor is used to sense the horizontal position of the stacked pallets; The conveyor chain device is provided with a back photoelectric positioning sensor, an intermediate pallet leg photoelectric positioning sensor and a pallet leg photoelectric positioning sensor at the bottom of the pallet. The back photoelectric positioning sensor is used to sense the horizontal position of the pallet on the conveyor chain device, the intermediate pallet leg photoelectric positioning sensor is used to determine the initial positioning of the pallet, and the pallet leg photoelectric positioning sensor at the bottom of the pallet is used to sense the distance between the pallet leg of the bottom layer of the pallet on the depalletizer device and the side protection baffle of the conveyor chain device. An industrial computer device is used to control the pallet remover device and the conveyor chain device. The industrial computer is electrically connected to the pallet remover device, the conveyor chain device, the vertical photoelectric positioning sensor, the horizontal photoelectric positioning sensor, the back photoelectric positioning sensor, the middle pallet leg photoelectric positioning sensor and the pallet leg photoelectric positioning sensor at the bottom of the pallet.

2. The intelligent substrate warehouse automatic tray removal and storage system according to claim 1 is characterized in that: The tray removal device comprises: A frame, a support removal component, and a fork, wherein the support removal component is installed in the frame so as to be movable up and down in the vertical direction, and the fork is installed on the support removal component so as to be movable left and right in the horizontal direction. The vertical positioning sensor is installed on the vertical facade of the frame, and the horizontal photoelectric positioning sensor is installed on the fork.

3. The intelligent substrate warehouse automatic tray removal and storage system according to claim 2 is characterized in that: The fork is a telescopic fork, and the telescopic direction of the fork is perpendicular to the conveying direction of the conveyor chain device in the same horizontal direction.

4. The intelligent substrate warehouse automatic tray removal and storage system according to claim 3 is characterized in that: The fork comprises a first fork and a second fork, the first fork and the second fork are arranged side by side on the pallet removal component, and the first fork and the second fork are both provided with a horizontal photoelectric positioning sensor.

5. The intelligent substrate warehouse automatic tray removal and storage system according to claim 1 is characterized in that: The conveyor chain device comprises: A bracket and a conveying component, wherein the conveying component is installed on the bracket, the bracket includes a first side and a second side, the back photoelectric positioning sensor is arranged on the first side of the bracket, and the pallet leg photoelectric positioning sensor at the bottom of the pallet is arranged on the second side of the bracket.

6. The intelligent substrate warehouse automatic tray removal and storage system according to claim 1 is characterized in that: The industrial computer device comprises: A signal receiving module, used to receive signals from the vertical photoelectric positioning sensor, the horizontal photoelectric positioning sensor, the back photoelectric positioning sensor and the photoelectric positioning sensor of the tray legs at the bottom of the pallet; A signal processing module, used to process the signal received by the signal receiving module and generate a processing result; The signal output module is used to transmit the processing results generated by the signal processing module to the tray remover device and the conveyor chain device, and control the tray remover device and the conveyor chain device to move according to the processing results.

7. The intelligent substrate warehouse automatic tray removal and storage system according to claim 1 is characterized in that: The tray removal device comprises: A frame, a dismantling component, and a fork, wherein the dismantling component is movably installed in the frame in a vertical direction, the fork is fixedly installed on the dismantling component, the vertical positioning sensor is installed on the vertical facade of the frame, and the horizontal photoelectric positioning sensor is installed on the fork.

8. The method for realizing automatic pallet removal and storage in an intelligent substrate warehouse of any intelligent substrate warehouse automatic pallet removal and storage system according to any one of claims 1 to 7, wherein when there are stacked pallets at the working position of the pallet removal machine device, it is characterized in that: include: S1. The vertical photoelectric positioning sensor determines the height position of the second pallet from the bottom to the top of the stacked pallets, and the vertical photoelectric positioning sensor sends the height position signal to the industrial computer device; S2, the industrial computer device receives and processes the signal sent by S1, transmits the processing result to the pallet remover device, and controls the pallet remover device to raise the fork to the height position described in S1; S3, determining by the horizontal photoelectric positioning sensor whether the pallet blocks the horizontal photoelectric positioning sensor on the fork, and sending the determination signal to the industrial computer device; S4, the industrial computer device receives the determination signal sent by S3 and processes it, transmits the processing result to the pallet remover device, and controls the pallet remover device to move the fork horizontally to the middle of the pallet insertion hole; S5, the fork extends into the pallet insertion hole to lift the second pallet and all pallets above it, and the first pallet at the bottom is transported into the warehouse through the conveyor chain equipment; S6, lower the fork to about 10 cm away from the photoelectric positioning sensor of the pallet leg at the bottom of the pallet, retract the fork toward the pallet removal device, and stop when it is sensed by the photoelectric positioning sensor of the pallet leg at the bottom of the pallet. Then, extend the fork away from the pallet removal device. If the photoelectric positioning sensor at the back is not sensed, it means that the position of the wooden pallet meets the requirements, and then the wooden pallet is dropped normally onto the conveyor chain device. S7, looping the steps S1-S6 until all the stacked wooden pallets are removed.

9. The method for realizing automatic removal and storage of substrates in the intelligent substrate warehouse according to claim 8, characterized in that: The S4 includes: S41, when the horizontal photoelectric positioning sensor on the first fork is blocked and the horizontal photoelectric positioning sensor on the second fork is not blocked, the first fork is controlled to move toward the second fork until the horizontal photoelectric positioning sensors on the first fork and the second fork are both not blocked; S42: When the horizontal photoelectric positioning sensor on the first fork is not blocked and the horizontal photoelectric positioning sensor on the second fork is blocked, the second fork is controlled to move in the direction of the first fork until the horizontal photoelectric positioning sensors on the first fork and the second fork are both not blocked.

10. The method for realizing automatic removal and storage of substrates in the intelligent substrate warehouse according to claim 8, characterized in that: The S4 includes: S43, when the horizontal photoelectric positioning sensor on the first fork is blocked and the horizontal photoelectric positioning sensor on the second fork is not blocked, controlling the conveying component in the conveyor chain device to convey in the direction of the first fork until the horizontal photoelectric positioning sensors on the first fork and the second fork are not blocked; S44. When the horizontal photoelectric positioning sensor on the first fork is not blocked and the horizontal photoelectric positioning sensor on the second fork is blocked, the conveying component in the conveyor chain device is controlled to convey in the direction of the second fork until the horizontal photoelectric positioning sensors on the first fork and the second fork are both unblocked.

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