Intelligent substrate cassette automatic tray disassembly and warehouse entry system and implementation method thereof

Abstract

The application discloses an intelligent substrate warehouse automatic unstacking and storing system and an implementation method thereof, and belongs to the technical field of automatic unstacking and storing systems.The system comprises an unstacking machine device used for unstacking stacked pallets, a conveying chain device used for conveying the pallets unstacked by the unstacking machine into a warehouse, a vertical photoelectric positioning sensor and a horizontal photoelectric positioning sensor arranged on the unstacking machine device, a back photoelectric positioning sensor and a pallet bottom tray leg photoelectric positioning sensor arranged on the conveying chain device, and an industrial computer device used for controlling the unstacking machine device and the conveying chain device.The industrial computer device is electrically connected with the unstacking 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 application overcomes the problem that it is difficult to automatically unstack different specifications of wooden pallets stacked together.

Description

[0001] The present application relates to the technical field of automatic warehousing in the warehousing industry, and in particular to an intelligent substrate warehouse automatic unpacking and warehousing system and an implementation method thereof. BACKGROUND

[0002] In order to reduce operating costs, the substrates are uniformly managed by the substrate stereoscopic warehouse, and the effect of material delivery from the central substrate warehouse to each factory in the park is realized, which can avoid the problem of high substrate inventory caused by independent management of substrates by each factory; meanwhile, automatic substrate logistics transportation is realized, and manpower is saved.

[0003] At present, the intelligent substrate warehouse in the industry basically requires that the pallets carrying the substrates are standardized, that is, standard pallets of fixed size and specifications are used to reduce the design difficulty of automatic equipment.

[0004] However, since the pallets of substrate manufacturers in the industry do not have a unified standard, the specifications of the pallets used by each substrate manufacturer are various. Therefore, the intelligent substrate warehouse in the industry often uses sub-mother pallets (non-standard pallets + standard pallets), or manpower is used to transport incoming substrates from non-standard pallets to standard pallets in order to interface with the automatic equipment for transportation, but such a way will increase the cost or reduce the space utilization.

[0005] Therefore, if non-standard pallets can be used in the intelligent warehouse, the material transportation cost can be greatly reduced and the space utilization can be improved.

[0006] In addition, after the substrates are purchased, manual unpacking (the substrates are in a state of being stacked on multiple pallets during transportation) is usually performed first, and then the substrates are warehoused. Therefore, how to realize automatic unpacking is the basis for realizing the warehousing of substrates in the intelligent warehouse.

[0007] As can be seen, there are still many problems in the prior art, and the existing intelligent substrate warehouse automatic unpacking and warehousing method needs to be improved to overcome the defects of the prior art. SUMMARY

[0008] Therefore, in order to solve the above problems in the prior art, the present application provides an intelligent substrate warehouse automatic unpacking and warehousing system and an implementation method thereof.

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

[0010] An intelligent substrate warehouse automatic unpacking and warehousing system, comprising:

[0011] An unpacking machine device for unpacking stacked pallets; a conveying chain device for conveying the pallets unpacked by the unpacking machine into a warehouse;

[0012] The unloading machine is equipped with a vertical photoelectric positioning sensor and a horizontal photoelectric positioning sensor. 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 equipped with a back photoelectric positioning sensor, a middle pallet leg photoelectric positioning sensor, and a bottom pallet leg photoelectric positioning sensor. The back photoelectric positioning sensor is used to sense the horizontal position of the pallet on the conveyor chain device. The middle pallet leg photoelectric positioning sensor is used to determine the initial positioning of the pallet. The bottom pallet leg photoelectric positioning sensor is used to sense the distance between the pallet leg of the lowest pallet on the pallet unloading machine and the side protective baffle of the conveyor chain device.

[0014] An industrial control computer is used to control the pallet unloading machine and the conveyor chain device. The industrial control computer is electrically connected to the pallet unloading machine, 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 bottom pallet leg photoelectric positioning sensor of the pallet.

[0015] Furthermore, the tray removal machine device includes:

[0016] The machine includes a frame, a pallet-removing component, and forks. The pallet-removing component is vertically movable within the frame, and the forks are horizontally movable on the pallet-removing component. A vertical positioning sensor is installed on the vertical outer surface of the frame, and a horizontal photoelectric positioning sensor is installed on the forks.

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

[0018] Furthermore, the forks include a first fork and a second fork, which are arranged side by side on the pallet-removing component, and both the first fork and the second fork are equipped with a horizontal photoelectric positioning sensor.

[0019] Furthermore, the conveyor chain device includes:

[0020] A support frame and a conveying component are provided. The conveying component is mounted on the support frame. The support frame includes a first side and a second side. A back photoelectric positioning sensor is disposed on the first side of the support frame, and a bottom tray leg photoelectric positioning sensor is disposed on the second side of the support frame.

[0021] Furthermore, the industrial control computer device includes:

[0022] The signal receiving module is used to receive signals emitted by the vertical photoelectric positioning sensor, the horizontal photoelectric positioning sensor, the back photoelectric positioning sensor, and the bottom tray leg photoelectric positioning sensor of the pallet.

[0023] The signal processing module is used to process the signals received by the signal receiving module and generate processing results;

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

[0025] Furthermore, the tray removal machine device includes:

[0026] The machine includes a frame, a pallet-removing component, and forks. The pallet-removing component is vertically movable within the frame, and the forks are fixedly mounted on the pallet-removing component. A vertical positioning sensor is mounted on the vertical outer surface of the frame, and a horizontal photoelectric positioning sensor is mounted on the forks.

[0027] This invention also provides a method for implementing automatic unpacking and palletizing of an intelligent substrate warehouse based on an automatic unpacking and palletizing system, comprising:

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

[0029] S2. The industrial control computer receives the signal sent by S1 and processes it, then sends the processing result to the pallet unloading machine and controls the pallet unloading machine to raise the forks to the height position mentioned in S1.

[0030] S3. The horizontal photoelectric positioning sensor determines whether the pallet is blocking the horizontal photoelectric positioning sensor located on the fork, and sends the determination signal to the industrial control computer.

[0031] S4. The industrial control computer receives the judgment signal sent by S3 and processes it, then sends the processing result to the pallet unloading machine and controls the pallet unloading machine to move the forks horizontally to the middle of the pallet insertion hole.

[0032] S5. The forks extend into the pallet insertion holes to lift the second pallet and all pallets above it. The bottommost pallet is then conveyed into the warehouse via a conveyor chain device.

[0033] S6. Lower the forks to about 10cm away from the photoelectric positioning sensor of the bottom pallet leg of the pallet. The forks retract towards the pallet unloading machine until they are detected by the photoelectric positioning sensor of the bottom pallet leg of the pallet. Then stop. The forks extend away from the pallet unloading machine. If the back photoelectric positioning sensor is not detected, it means that the position of the wooden pallet meets the requirements. Then lower the wooden pallet onto the conveyor chain device normally.

[0034] S7. Repeat steps S1-S6 until all stacked wooden pallets have been unpacked.

[0035] Furthermore, S4 includes:

[0036] S41. When the horizontal photoelectric positioning sensor on the first fork is blocked, but the horizontal photoelectric positioning sensor on the second fork is not blocked, the first fork is controlled to move towards the second fork until the horizontal photoelectric positioning sensors on both the first and second forks are not blocked.

[0037] S42. When the horizontal photoelectric positioning sensor on the first fork is not blocked, but the horizontal photoelectric positioning sensor on the second fork is blocked, the second fork is controlled to move towards the first fork until the horizontal photoelectric positioning sensors on both the first and second forks are not blocked.

[0038] Furthermore, S4 includes:

[0039] S43. When the horizontal photoelectric positioning sensor on the first fork is blocked, but the horizontal photoelectric positioning sensor on the second fork is not blocked, the conveying component in the conveyor chain device is controlled to convey towards the first fork until the horizontal photoelectric positioning sensors on both the first and second forks are not blocked.

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

[0041] This invention, by incorporating a vertically movable pallet-removing component and horizontally movable forks, allows for convenient and flexible insertion and removal of pallets at different heights and horizontal positions. Furthermore, through the combined action of four photoelectric positioning sensors—vertical, horizontal, rear, middle pallet leg, and bottom pallet leg—the actual position of wooden pallets of different specifications can be accurately determined. In conjunction with the conveyor chain device, pallets of various specifications can be transported into the warehouse. This invention solves the problem of automatic pallet removal caused by stacking various sizes of wooden pallets, enabling automatic pallet removal and storage after the pallets are unloaded from the truck and placed directly into the corresponding automatic storage port, further advancing the unmanned operation of intelligent pallet warehouses. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a top view of the dismantling machine device described in this invention;

[0044] Figure 2 This is a side view of the tray removal machine device described in this invention;

[0045] Figure 3 This is a top view of the intelligent substrate warehouse automatic unpacking and storage system described in this invention;

[0046] Figure 4 This is an overall side view of the intelligent substrate warehouse automatic unpacking and storage system described in this invention; Attached Figure Description

[0048] 1-Unloading machine; 2-Conveyor chain device;

[0049] 3-Vertical photoelectric positioning sensor; 4-Horizontal photoelectric positioning sensor;

[0050] 5- Back photoelectric positioning sensor; 6- Pallet bottom leg photoelectric positioning sensor;

[0051] 16-Electronic positioning sensor for the middle tray leg;

[0052] 7-Side protective baffle of conveyor chain device; 8-Frame; 9-Dismounting component;

[0053] 10-First fork; 11-Second fork; 12-Support;

[0054] 13-Conveying component; 14-First side; 15-Second side. Detailed Implementation

[0055] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the described embodiments are merely some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0056] Example

[0057] The present invention will now be described in more detail:

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

[0059] An intelligent substrate warehouse automatic unpacking and storage system includes:

[0060] A pallet unloading machine 1 is used to unload stacked pallets; a conveyor chain device 2 is used to transport the pallets unloaded by the unloading machine into the warehouse; it should be noted that the relative placement relationship between the unloading machine 1 and the conveyor chain device 2 is as follows: Figure 1 As shown, the pallet unloading machine 1 is placed next to the conveyor chain device 2. The forks on the pallet unloading machine 1 are perpendicular to the conveying direction 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 forks can be inserted into the holes of the pallets to lift or lower the pallets.

[0061] The pallet unloading device 1 is equipped 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 function of both the vertical photoelectric positioning sensor 3 and the horizontal photoelectric positioning sensor 4 is to determine the exact position of the pallet so that the forks can accurately insert into the insertion holes 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 and is about 12 cm off the center of the middle support leg of the pallet (and also between the two forks), the vertical photoelectric positioning sensor is directly opposite the insertion hole position of the stacked pallet. At this time, it can identify the position of all the insertion holes of the stacked pallets and then determine the position of the second insertion hole counting from the bottom.

[0063] The conveyor chain device 2 is equipped with a back photoelectric positioning sensor 5, a middle pallet leg photoelectric positioning sensor 16, and a bottom pallet leg photoelectric positioning sensor 6. The back photoelectric positioning sensor 5 is used to sense the horizontal position of the pallet on the conveyor chain device 2. The middle pallet leg photoelectric positioning sensor 16 is used to determine the initial positioning of the pallet. The bottom pallet leg photoelectric positioning sensor 6 is used to sense the distance between the pallet leg of the lowest pallet on the unloading machine device 1 and the side protective baffle 7 of the conveyor chain device 2. It should be noted that the function of the back photoelectric positioning sensor 5, the middle pallet leg photoelectric positioning sensor 16, and the bottom pallet leg photoelectric positioning sensor 6 is to determine whether the pallet has accurately landed on the conveyor chain device 2, that is, on the conveying component 13 mentioned below. Only when the pallet lands accurately on the conveying component 13 can the pallet be accurately conveyed to the warehouse by the conveyor chain device 2.

[0064] As a preferred method, the initial positioning of the pallet from the front section to the unloading position is as follows: A middle pallet leg photoelectric positioning sensor 16 is installed at a position approximately 4cm off the conveyor chain in the vertical direction of photoelectric positioning. The pallet positioning logic is as follows: ① A new unloading task is issued by the industrial control computer; ② The middle pallet leg photoelectric positioning sensor 16 only counts when it senses the passage of the first pallet support leg; ③ When the middle pallet leg photoelectric positioning sensor 16 senses the passage of the second pallet support leg, it sends a signal to the industrial control computer, which then issues a stop command to the conveyor chain device 2, which decelerates and stops within 2 seconds; ④ The initial positioning of the pallet is completed.

[0065] An industrial control computer (ICC) is used to control the pallet unloading machine 1 and the conveyor chain device 2. The ICC is electrically connected to the pallet unloading machine 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 bottom pallet leg photoelectric positioning sensor 6. It should be noted that the ICC is mainly used to control the pallet unloading machine 1 and the conveyor chain device 2. The ICC receives signals from the five sensors (vertical, horizontal, back, middle pallet leg, and bottom pallet leg) and then specifically controls the pallet unloading machine 1 and the conveyor chain device 2 to ensure that the stacked pallets are smoothly and stably unloaded from the conveyor component 13. It should be noted that the ICC is the brain of the entire automatic pallet unloading system; the intelligent substrate warehouse automatic pallet unloading and storage system requires the ICC to perform logical judgments and control equipment operation.

[0066] Preferably, the tray removal machine device 1 includes:

[0067] The system comprises a frame 8, a pallet-removing component 9, and forks. The pallet-removing component 9 is vertically movable within the frame 8, and the forks are horizontally movable on the pallet-removing component 9. A vertical positioning sensor is mounted on the vertical outer surface of the frame 8, and a horizontal photoelectric positioning sensor 4 is mounted on the forks. It should be noted that in this embodiment, the pallet-removing component 9 is vertically movable on the frame 8, meaning it can move vertically to adjust to different heights to accommodate different pallet heights. The forks are horizontally movable on the pallet-removing component 9, meaning they can move left or right according to the different insertion hole positions of different pallet sizes, thus adapting to the different insertion hole positions corresponding to different pallet sizes.

[0068] Preferably, the forks are telescopic forks, and the telescopic direction of the forks is perpendicular to the horizontal direction of the conveyor chain device 2. It should be noted that the telescopic direction is along the direction of the pallet's insertion holes, that is, it extends and retracts back and forth within the insertion holes of the pallet to lift the pallet and adjust its position on the conveying component 13. The main purpose is to facilitate the transport of the pallet.

[0069] Preferably, the forks include a first fork 10 and a second fork 11, which are arranged side-by-side on the pallet-lifting component 9. Both the first fork 10 and the second fork 11 are equipped with a horizontal photoelectric positioning sensor 4. It should be noted that this embodiment preferably uses two forks. Depending on the pallet specifications, one, two, or more forks may be used to facilitate pallet lifting.

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

[0071] The system comprises a support frame 12 and a conveying component 13, with the conveying component 13 mounted on the support frame 12. The support frame 12 includes a first side 14 and a second side 15. A back photoelectric positioning sensor 5 is located on the first side 14 of the support frame 12, and a bottom pallet leg photoelectric positioning sensor 6 is located on the second side 15 of the support frame 12. It should be noted that the back photoelectric positioning sensor 5 is located on the opposite side of the support frame 12 (i.e., the first side 14) from the side where the pallet unloading device is located. The function of the back photoelectric positioning sensor 5 is to determine whether the pallet exceeds the range of the conveying component 13, thus preventing any impact during pallet transport. The bottom pallet leg photoelectric positioning sensor 6 is located on the side of the support frame 12 (i.e., the second side 15) where the pallet unloading device is located. The function of the bottom pallet leg photoelectric positioning sensor 6 is to determine whether the pallet exceeds the range of the conveying component 13, ensuring that the pallet falls completely within the conveying component 13, thereby enabling efficient and rapid pallet transport into the warehouse.

[0072] Preferably, the industrial control computer device includes:

[0073] The signal receiving module receives signals from the vertical photoelectric positioning sensor 3, the horizontal photoelectric positioning sensor 4, the back photoelectric positioning sensor 5, and the bottom pallet leg photoelectric positioning sensor 6. The signal processing module processes the signals received by the signal receiving module and generates a processing result. The signal output module transmits the processing result generated by the signal processing module to the pallet unloading machine 1 and the conveyor chain device 2, controlling their movement based on the processing result. It should be noted that the industrial control computer receives signals from the four sensors (vertical photoelectric positioning sensor 3, horizontal photoelectric positioning sensor 4, back photoelectric positioning sensor 5, and bottom pallet leg photoelectric positioning sensor 6) and then specifically controls the pallet unloading machine 1 and the conveyor chain device 2, ensuring the stacked pallets are smoothly and stably unloaded from the conveyor component 13.

[0074] Preferably, the tray removal machine device 1 includes:

[0075] The system comprises a frame 8, a pallet-removing component 9, and forks. The pallet-removing component 9 is vertically movable within the frame 8, and the forks are fixedly mounted on the pallet-removing component 9. A vertical positioning sensor is mounted on the vertical outer surface of the frame 8, and a horizontal photoelectric positioning sensor 4 is mounted on the forks. It should be noted that this is an alternative installation method for the forks compared to the method described above in this embodiment. Here, the forks are fixedly mounted on the pallet-removing component 9, meaning they cannot move left or right. However, when encountering different positions of the insertion holes on pallets of different sizes, this system can achieve left-right movement of the pallets through the left-right rolling of the conveying component 13, thereby matching the forks with the insertion holes on the pallets, allowing the forks to lift or lower the pallets.

[0076] It should be noted that when the stacked pallets are conveyed to the unpalletizing position, a sensor under the conveyor chain causes the pallet with its three-section bottom to stop, with the middle support leg positioned at the center of the unpalletizing position, i.e., between the two forks. This invention also provides a method for implementing automatic unpalletizing and warehousing of an intelligent baseboard warehouse based on an automatic unpalletizing and warehousing system, comprising:

[0077] S1. The vertical photoelectric positioning sensor 3 determines the height position of the second stacked pallet from the bottom up, and sends this height position signal to the industrial control computer. It should be noted that initially, the stacked pallets are arranged in a stacked manner. When a stack of pallets that are not of uniform size is placed on the conveying component 13, the vertical photoelectric positioning sensor 3 of this system determines the height position of the second stacked pallet from the bottom up and sends this position signal to the industrial control computer.

[0078] S2. The industrial control computer receives the signal sent by S1 and processes it, and sends the processing result to the pallet removal machine 1 to control the pallet removal machine 1 to raise the forks to the height position mentioned in S1.

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

[0080] S4. The industrial control computer receives the judgment signal sent by S3 and processes it, then sends the processing result to the pallet unloading machine 1 and controls the pallet unloading machine 1 to move the forks 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, but the horizontal photoelectric positioning sensor 4 on the second fork 11 is not blocked, the first fork 10 is controlled to move towards the second fork 11 until the horizontal photoelectric positioning sensors 4 on both 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 position of the socket of different specifications of pallets.

[0083] S42. When the horizontal photoelectric positioning sensor 4 on the first fork 10 is not obstructed, but the horizontal photoelectric positioning sensor 4 on the second fork 11 is obstructed, the second fork 11 is controlled to move towards the first fork 10 until both the horizontal photoelectric positioning sensors 4 on the first fork 10 and the second fork 11 are not obstructed. 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 insertion holes on pallets of different specifications. It should be noted that in S41 and S42, the vertical photoelectric positioning sensor 3 moves together with the forks to avoid the forks affecting the positioning of the vertical photoelectric positioning sensor 3.

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

[0085] S43. When the horizontal photoelectric positioning sensor 4 on the first fork 10 is blocked, but 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 towards the first fork 10 until the horizontal photoelectric positioning sensors 4 on both the first fork 10 and the second fork 11 are not blocked. That is, the conveying component 13 is made to move in different directions, causing the pallet to move together in the horizontal direction, thereby allowing the first fork 10 and the second fork 11 to adapt to and match the insertion holes of the pallet.

[0086] S44. When the horizontal photoelectric positioning sensor 4 on the first fork 10 is not blocked, but 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 towards 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 is allowed to move in different directions, causing the pallet to move together in the horizontal direction, thereby allowing the first fork 10 and the second fork 11 to adapt to and match the insertion holes of the pallet.

[0087] S5. The forks extend into the pallet insertion holes to lift the second pallet and all pallets above it. The bottommost pallet is then conveyed into the warehouse via a conveyor chain device.

[0088] S6. Lower the forks to approximately 10cm from the bottom pallet leg photoelectric positioning sensor 6 of the pallet. The forks retract towards the pallet unloading device 1 until they are detected by the bottom pallet leg photoelectric positioning sensor 6, at which point they stop. The forks then extend away from the pallet unloading device 1. Preferably, the back photoelectric positioning sensor 5 is checked every 0.5cm of extension. If the back photoelectric positioning sensor 5 is not detected, it means that the position of the wooden pallet meets the conveying requirements, and the wooden pallet is then normally lowered onto the conveyor chain device 2. It should be noted that the reason why step S6 is needed in this embodiment is mainly to ensure that when conveying pallets of different specifications, since the pallets are of different sizes, some may be large and some may be small, it is necessary to keep one side of the pallet in the same position as much as possible. This facilitates warehousing. By adjusting the extension direction and extension distance of the forks, it is possible to ensure that when pallets of different specifications are placed on the conveying component 13, one side of each pallet is in the same position.

[0089] S7. Repeat steps S1-S6 until all stacked wooden pallets have been unpacked.

[0090] This invention, by incorporating a vertically movable pallet-removing component 9 and horizontally movable forks, allows for convenient and flexible insertion and removal of pallets at different heights and horizontal positions. Furthermore, the combined action of five sensors—vertical photoelectric positioning sensor 3, horizontal photoelectric positioning sensor 4, back photoelectric positioning sensor 5, middle pallet leg photoelectric positioning sensor 16, and bottom pallet leg photoelectric positioning sensor 6—accurately determines the actual position of wooden pallets of different specifications. In conjunction with the conveyor chain device 2, pallets of various specifications can be transported into the warehouse. This invention solves the problem of automatic pallet removal caused by stacking various sizes of wooden pallets, enabling automatic pallet removal and storage after the pallets are unloaded from the truck and placed directly into the corresponding automatic storage port, further advancing the unmanned operation of intelligent pallet warehouses.

[0091] In this specification, terms such as "one embodiment," "another embodiment," "embodiment," and "preferred embodiment" refer to specific features, structures, or characteristics described in connection with that example, which are 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. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention. Although the invention has been described herein with reference to several illustrative examples, it should be understood that those skilled in the art can devise many other modifications and implementations that fall within the scope and spirit of the principles disclosed in this application. More specifically, in addition to variations and improvements to the subject matter and its components and / or layout within the scope of this application, drawings, and claims, other uses will be apparent to those skilled in the art.

Claims

1. An intelligent substrate warehouse automatic unpacking and storage system, characterized in that, include: A pallet unloading device used to unpack stacked pallets; A conveyor chain device is used to transport the pallets disassembled by the pallet unloader into the warehouse. The pallet unloading machine is equipped with a vertical photoelectric positioning sensor and a horizontal photoelectric positioning sensor. 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 pallet unloading machine includes a frame, a pallet unloading component, and forks. The pallet unloading component is vertically movable within the frame, and the forks are horizontally movable on the pallet unloading component. The vertical photoelectric positioning sensor is installed on the vertical outer surface of the frame, and the horizontal photoelectric positioning sensor is installed on the forks. Alternatively, the pallet unloading machine includes a frame, a pallet unloading component, and forks. The pallet unloading component is vertically movable within the frame, and the forks are fixedly installed on the pallet unloading component. The vertical photoelectric positioning sensor is installed on the vertical outer surface of the frame, and the horizontal photoelectric positioning sensor is installed on the forks. The conveyor chain device is equipped with a back photoelectric positioning sensor, a middle pallet leg photoelectric positioning sensor, and a bottom pallet leg photoelectric positioning sensor. The back photoelectric positioning sensor is used to sense the horizontal position of the pallet on the conveyor chain device. The middle pallet leg photoelectric positioning sensor is used to determine the initial positioning of the pallet. The bottom pallet leg photoelectric positioning sensor is used to sense the distance between the pallet leg of the lowest pallet on the pallet unloading device and the side protective baffle of the conveyor chain device. The conveyor chain device includes a bracket and a conveying component. The conveying component is mounted on the bracket. The bracket includes a first side and a second side. The back photoelectric positioning sensor is located on the first side of the bracket, and the bottom pallet leg photoelectric positioning sensor is located on the second side of the bracket. An industrial control computer is used to control the pallet unloading machine and the conveyor chain device. The industrial control computer is electrically connected to the pallet unloading machine, 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 bottom pallet leg photoelectric positioning sensor of the pallet.

2. The intelligent substrate warehouse automatic pallet unpacking and storage system according to claim 1, characterized in that, The forks are telescopic forks, and the telescopic direction of the forks is perpendicular to the conveying direction of the conveyor chain device in the same horizontal direction.

3. The intelligent substrate warehouse automatic pallet unpacking and storage system according to claim 2, characterized in that, The forks include a first fork and a second fork, which are arranged side by side on the pallet-removing component. Both the first fork and the second fork are equipped with a horizontal photoelectric positioning sensor.

4. The intelligent substrate warehouse automatic pallet unpacking and storage system according to claim 1, characterized in that, The industrial control computer device includes: The signal receiving module is used to receive signals emitted by the vertical photoelectric positioning sensor, the horizontal photoelectric positioning sensor, the back photoelectric positioning sensor, and the bottom tray leg photoelectric positioning sensor 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 unloading machine and the conveyor chain device, and control the unloading machine and the conveyor chain device to move according to the processing results.

5. The method for implementing automatic pallet unloading and storage of the intelligent substrate warehouse according to any one of claims 1-4, wherein when there are stacked pallets at the working position of the unloading machine, the method is characterized in that... include: S1. The vertical photoelectric positioning sensor determines the height position of the second stacked pallet from the bottom up, and the vertical photoelectric positioning sensor sends the height position signal to the industrial control computer. S2. The industrial control computer receives the signal sent by S1 and processes it, then sends the processing result to the pallet unloading machine and controls the pallet unloading machine to raise the forks to the height position mentioned in S1. S3. The horizontal photoelectric positioning sensor determines whether the pallet is blocking the horizontal photoelectric positioning sensor located on the fork, and sends the determination to the industrial control computer. S4. The industrial control computer receives the judgment signal sent by S3 and processes it, then sends the processing result to the pallet unloading machine and controls the pallet unloading machine to move the forks horizontally to the middle of the pallet insertion hole. S5. The forks extend into the pallet insertion holes to lift the second pallet and all pallets above it. The bottommost pallet is then transported into the warehouse via a conveyor chain device. S6. Lower the forks to about 10cm away from the photoelectric positioning sensor of the bottom pallet leg of the pallet. The forks retract towards the pallet unloading machine until they are detected by the photoelectric positioning sensor of the bottom pallet leg of the pallet. Then stop. The forks extend away from the pallet unloading machine. If the back photoelectric positioning sensor is not detected, it means that the pallet position meets the requirements. Then lower the pallet onto the conveyor chain device normally. S7. Repeat steps S1-S6 until all stacked pallets have been unpacked.

6. The method for automatically unpacking and storing intelligent substrate bins according to claim 5, characterized in that, S4 includes: S41. When the horizontal photoelectric positioning sensor on the first fork is blocked, but the horizontal photoelectric positioning sensor on the second fork is not blocked, the first fork is controlled to move towards the second fork until the horizontal photoelectric positioning sensors on both the first and second forks are not blocked. S42. When the horizontal photoelectric positioning sensor on the first fork is not blocked, but the horizontal photoelectric positioning sensor on the second fork is blocked, the second fork is controlled to move towards the first fork until the horizontal photoelectric positioning sensors on both the first and second forks are not blocked.

7. The method for automatically unpacking and storing intelligent substrate bins according to claim 5, characterized in that, S4 includes: S43. When the horizontal photoelectric positioning sensor on the first fork is blocked, but the horizontal photoelectric positioning sensor on the second fork is not blocked, the conveying component in the conveyor chain device is controlled to convey towards the first fork until the horizontal photoelectric positioning sensors on both the first and second forks are not blocked. S44. When the horizontal photoelectric positioning sensor on the first fork is not blocked, but the horizontal photoelectric positioning sensor on the second fork is blocked, the conveying component in the conveyor chain device is controlled to convey towards the second fork until the horizontal photoelectric positioning sensors on both the first and second forks are not blocked.

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