Double-sucker unstacker and working method
By combining a dual-suction cup depalletizer with visual recognition and sensor technology, efficient and stable depalletizing operations are achieved, adapting to various types of goods and reducing the damage rate of goods.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-04
- Publication Date
- 2026-04-10
AI Technical Summary
Traditional manual depalletizing is time-consuming and costly. Single suction cup depalletizing mechanisms are unstable and difficult to adapt to different types of goods, which can easily lead to damage.
It adopts a dual-suction cup depalletizer, combined with a vision recognition module to detect the stack shape in real time, and uses dual mirror reflection sensors for precise positioning. The suction cup position and vacuum pressure can be adjusted independently, and a buffer component is equipped to reduce the impact on goods.
It improves depalletizing efficiency and positioning accuracy, reduces cargo damage rate, adapts to goods of different sizes and weights, and enhances the level of intelligence.
Smart Images
Figure CN121823249A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of logistics automation equipment, in particular to a double-suction-cup unstacking machine and a working method. BACKGROUND
[0002] Cargo needs to be unstacked before being delivered. The traditional manual carrying method is time-consuming, costly and not conducive to health in a severe working environment. Although the single-suction-cup unstacking mechanism on the market can reduce labor costs, it is prone to unstable grabbing due to gravity problems, cannot adapt to different types of goods, and the excessive suction pressure may cause damage to the goods, affecting the unstacking quality. SUMMARY
[0003] In view of the above problems, the purpose of the present application is to provide a double-suction-cup unstacking machine and a working method.
[0004] The present application provides the following technical solution: a double-suction-cup unstacking machine, comprising a support, a tray buffer module, a roller lifting module, a conveying module, a tray turning module, a tray recycling module, a left moving module, a right moving module, a left lifting module, a right lifting module and a suction cup assembly. Wherein, the left moving module and the right moving module are respectively arranged on the left and right sides of the upper end of the support, the left lifting module is arranged on the left moving module, and the right lifting module is arranged on the right moving module, one set of suction cup assembly is arranged at the lower end of the left lifting module and the right lifting module respectively, the tray buffer module, the roller lifting module and the tray turning module are sequentially arranged from front to back below the support, the tray recycling module is arranged on the right side of the tray turning module and outside the support, the conveying module is arranged above the tray turning module in the middle of the support, and the double-mirror reflective sensor is arranged in the roller lifting module.
[0005] The support is composed of side frames, a front cross beam, a rear cross beam, a middle bracket, a front rack, a rear rack, a front support plate group, a rear support plate group, a protective plate, an operation screen and a roller group I. The protective plate is arranged between the adjacent side frames, the operation screen is arranged on the outside of one of the protective plates, the front cross beam and the rear cross beam are arranged on the upper end of the side frame, the front cross beam is located at the front end, and the rear cross beam is close to the rear end, the front rack is arranged on the upper end of the front cross beam, the rear rack is arranged on the upper end of the rear cross beam, the front support plate group is arranged above the front cross beam, the rear support plate group is arranged above the rear cross beam, the front support plate group and the rear support plate group each consist of two left-right symmetrical support plates, the roller group I is arranged on each support plate, the roller group I cooperates with the guide rails on the lower side edges of the front rack and the rear rack and slides on the guide rails, and the middle bracket is arranged below the middle of the front cross beam and the rear cross beam and on the side frame.
[0006] The tray buffer module is composed of a roller shaft group, a driving motor I and a support frame, the roller shaft group is composed of a plurality of roller cylinders, the support frame is arranged outside the side frame, each roller cylinder is arranged on the upper end of the support frame, the driving motor I is arranged at the bottom end of the support frame, and the driving motor I drives the roller shaft group to move through a chain mechanism.
[0007] The conveying module is composed of a frame body, a baffle, a belt, an angle adjusting rod, a driving motor II and a chain wheel I, the frame body is arranged on the middle bracket, a roller shaft is arranged at each of the front and rear ends of the frame body, the belt is wound on the roller shaft, a baffle is arranged at each of the upper end of the frame body and the two sides of the belt, each baffle is divided into two sections, the front section is fixed, and the rear section is deflectable, the angle adjusting rod is arranged outside the rear section of the baffle, the angle adjusting rod is arranged on the upper end of the frame body, the driving motor II is arranged below the belt and at the bottom end of the frame body, the driving motor II is connected through a chain and the chain wheel I, and the chain wheel I is arranged on one side of the front roller shaft.
[0008] The tray turning module is composed of a longitudinal chain assembly, a transverse chain assembly and a lifting mechanism, the longitudinal chain assembly and the transverse chain assembly are each composed of a group of independent driving mechanisms, a chain group, a shaft coupling and a roller shaft, the longitudinal chain assembly is arranged on a primary support, the transverse chain assembly is arranged on a secondary support, the secondary support is embedded in the primary support, the transverse chain assembly is connected with the lifting mechanism, the lifting mechanism is composed of a pneumatic cylinder and a crank, the pneumatic cylinder is arranged at the bottom end of the secondary support, the output end of the pneumatic cylinder is connected with the crank, and the crank is connected with the secondary support through a fixing block.
[0009] The left moving module and the right moving module have the same structure, and the left moving module is composed of a longitudinal beam I, a driving mechanism I, a roller shaft I, a gear I, a collision prevention mechanism, a drag chain I, a V-shaped guide rail I and a rack I, the longitudinal beam I is arranged on the front and rear two support plates, a support I is arranged outside the longitudinal beam I, the driving mechanism I is arranged in the support I, the driving mechanism I is connected with the roller shaft I, the roller shaft I passes through the support I through a shaft coupling assembly, gear I is arranged at the front and rear ends of the roller shaft I, the front gear I is matched with the front rack, the rear gear I is matched with the rear rack, the collision prevention mechanism is arranged at the front and rear ends of the longitudinal beam I, the rack I and the V-shaped guide rail I are arranged on the inner side of the longitudinal beam I, the V-shaped guide rail I is arranged on the upper end of the rack I, and the drag chain I is arranged at the rear end of the longitudinal beam I.
[0010] The structure of the left lifting module and the right lifting module is the same, and the right lifting module is composed of a lifting support, a bottom plate, a driving mechanism II, a rack II, a V-shaped guide rail II, a roller group II, a drag chain II, a gear II, a drag chain III, a fixed plate, a driving mechanism III, a roller group III and an L-shaped support, the gear II is matched with the rack I, the roller group III is matched with and slides on the V-shaped guide rail I, the roller group III is arranged on the outer side of the bottom plate, the gear II is arranged at the rear end of the outer side of the bottom plate, the gear II is connected with the output end of the driving mechanism III, the driving mechanism III is arranged on the fixed plate, the fixed plate is arranged on the inner side of the bottom plate, the driving mechanism II is arranged at the upper end of the outer side of the bottom plate, the driving mechanism II passes through the bottom plate and is connected with the gear III, the gear III is matched with the rack II, the rack II is arranged on the outer side of the lifting support, the V-shaped guide rail II is arranged at the two ends of the outer side of the lifting support, the roller group II is arranged on the inner side of the bottom plate, the roller group II is matched with and slides on the V-shaped guide rail II, the L-shaped support is arranged at the front end of the outer side of the bottom plate, the drag chain III is arranged at the upper end of the L-shaped support, the drag chain II is arranged at the bottom of the front end of the inner side of the bottom plate, and the other end of the drag chain II is connected with the bottom of the front end of the lifting support.
[0011] The suction cup assembly comprises a buffer assembly and a suction cup port, the upper end of the buffer assembly is connected with the bottom end of the lifting support, a rotating assembly is arranged at the connection position, the rotating assembly is composed of an outer cover, a gear group, a rotating motor and a speed reducer, the buffer assembly comprises a spring damper and a rubber gasket, and the upper end of the suction cup port is provided with a pipeline passage.
[0012] Further, the bracket lower end is provided with a laser radar sensor in four directions to realize the function of an electronic fence, and an air control cabinet and a hydraulic workstation are arranged at the rear end of the bracket.
[0013] Further, the upper end of the side frame is provided with an adsorption working assembly, and the adsorption working assembly comprises a supporting platform, symmetrically arranged turbine fans, a dust collection bag and a valve.
[0014] Further, the tray buffer module is provided with a visual sensing module above, which comprises a D camera and an image processing unit, and can identify the size, shape and stacking gap of the goods.
[0015] Further, the roller lifting module is composed of a pneumatic lifting mechanism, a hydraulic cylinder, a belt group and a moving conveying mechanism.
[0016] Further, the tray recycling module is composed of a cylinder group, a conveying mechanism, a shearing type lifting platform, a guide plate and a supporting plate, the shearing type lifting platform is provided with a weight sensor at the lower end, and an electric control box is arranged at the bottom of the rear end of the tray recycling module.
[0017] Further, the bottom ends of the drag chain I and the drag chain III are arranged on a bracket, and the bracket is arranged on the bracket.
[0018] Further, the driving mechanism I, the driving mechanism II and the driving mechanism III are all composed of independent servo motors and planetary reducers, and are connected with the operation screen through wires.
[0019] The application also provides a working method of the double-suction disc unstacking machine, comprising the following steps: Step one: use a manual forklift to place a pallet loaded with goods on the pallet buffer module, and use the visual recognition module above the pallet buffer module to collect the stacking type, plan the unstacking scheme and transmit it to the control system in the operation screen.
[0020] Step two: start the unstacking process, the pallet buffer module transmits the pallet to the roller lifting module, the roller lifting module lifts the pallet, the double-mirror reflection sensor controls the stopping position of the pallet, the left moving module, the right moving module, the left lifting module, the right lifting module and the suction disc assembly work cooperatively according to the planned unstacking scheme, use negative pressure vacuum to adsorb the goods on the suction disc port, and transfer them to the conveying module.
[0021] Step three: after the goods on the top layer of the pallet are emptied, the roller lifting module continues to lift the pallet until all the goods on the pallet are emptied, the roller lifting module lowers the empty pallet to the original position and moves the empty pallet to the pallet turning module.
[0022] Step four: the lifting mechanism of the pallet turning module lifts the horizontal chain assembly to move the empty pallet to the pallet recycling module, the pallet recycling module stores the empty pallet after lifting, and the unstacking is completed.
[0023] Compared with the prior art, the application has the following beneficial effects: The double-suction disc independent driving system can adjust the suction disc position and vacuum pressure respectively, the visual recognition module is used to detect the stacking type in real time and automatically plan the unstacking path, so as to adapt to goods of different sizes, weights and packaging, and the intelligent level is improved.
[0024] The double-mirror reflection sensor is used to control the lifting position of the pallet by using a deceleration and a stop control logic, the positioning accuracy is significantly improved, the suction disc grabbing gravity center is reduced, and the unstacking efficiency is greatly improved.
[0025] The buffer assembly is arranged to reduce the impact of the suction disc port on the goods and reduce the damage rate of the goods. DETAILED DESCRIPTION
[0026] Figure 1 It is a structural schematic diagram of the embodiment of the application; Figure 2 It is a structural top view of the embodiment of the application; Figure 3 It is a structural front view of the embodiment of the application; Figure 4 It is a structural schematic diagram of the support of the embodiment of the application; Figure 5 Structure diagram of the conveying module of the present application; Figure 6 Structure diagram of the tray turning module of the present application; Figure 7 Structure diagram of the left moving module of the present application; Figure 8 Structure diagram of the left lifting module of the present application; Figure 9 Side view of the left lifting module of the present application; In the figure: 1, support; 101, side frame; 102, front crossbeam; 103, rear crossbeam; 104, middle bracket; 105, turbine fan; 106, dust collection bag; 107, front rack; 108, rear rack; 109, front support plate group; 110, rear support plate group; 111, guard plate; 112, operation screen; 113, roller group I; 2, tray buffer module; 201, roller shaft group; 202, driving motor I; 203, support frame; 3, drum lifting module; 4, conveying module; 401, baffle; 402, belt; 403, angle adjusting rod; 404, driving motor II; 405, chain wheel I; 5, tray turning module; 501, longitudinal chain assembly; 502, transverse chain assembly; 503, lifting mechanism; 6, tray recycling module; 7, left moving module; 701, longitudinal beam I; 702, driving mechanism I; 703, rotating shaft I; 704, gear I; 705, anti-collision mechanism; 706, tow chain I; 707, V-shaped guide rail I; 708, rack I; 8, right moving module; 9, left lifting module; 10, right lifting module; 1001, lifting support; 1002, bottom plate; 1003, driving mechanism II; 1004, rack II; 1005, V-shaped guide rail II; 1006, roller group II; 1007, tow chain II; 1008, gear II; 1009, tow chain III; 1010, fixed plate; 1011, driving mechanism III; 1012, roller group III; 1013, L-shaped support; 11, suction cup assembly; 1101, buffer assembly; 1102, suction cup port. DETAILED DESCRIPTION
[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.
[0028] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0029] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0030] Embodiment 1: Please refer to Figures 1-9 A double-suction disc unstacking machine 1, comprising a support 1, a tray buffer module 2, a roller lifting module 3, a conveying module 4, a tray turning module 5, a tray recycling module 6, a left moving module 7, a right moving module 8, a left lifting module 9, a right lifting module 10 and a suction disc assembly 11. Wherein, the left moving module 7 and the right moving module 8 are arranged on the left and right sides of the upper end of the support 1, the left lifting module 9 is arranged on the left moving module 7, and the right lifting module 10 is arranged on the right moving module 8, and one set of suction disc assembly 11 is arranged at the lower end of the left lifting module 9 and the right lifting module 10 respectively, the tray buffer module 2, the roller lifting module 3 and the tray turning module 5 are arranged in front of the support 1 from front to back, the tray recycling module 6 is arranged on the right side of the tray turning module 5 outside the support 1, the conveying module 4 is arranged on the tray turning module 5 above the middle part of the support 1, and the double-mirror reflection sensor is arranged in the roller lifting module 3.
[0031] The support 1 is composed of side frames 101, front crossbeam 102, rear crossbeam 103, middle bracket 104, front rack 107, rear rack 108, front support plate group 109, rear support plate group 110, guard plate 111, operation screen 112 and roller group I 113. The guard plate 111 is arranged between the adjacent side frames 101, and the operation screen 112 is arranged on the outside of one guard plate 111. The front crossbeam 102 and the rear crossbeam 103 are arranged on the upper end of the side frame 101. The front crossbeam 102 is located at the front end, and the rear crossbeam 103 is close to the rear end. The front rack 107 is arranged on the upper end of the front crossbeam 102, and the rear rack 108 is arranged on the upper end of the rear crossbeam 103. The front support plate group 109 is arranged above the front crossbeam 102, and the rear support plate group 110 is arranged above the rear crossbeam 103. The front support plate group 109 and the rear support plate group 110 are each composed of two left-right symmetrical support plates. The roller group I 113 is arranged on each support plate. The roller group I 113 cooperates with the guide rails on the lower side edges of the front rack 107 and the rear rack 108 and slides on the guide rails. The middle bracket 104 is arranged below the middle of the front crossbeam 102 and the rear crossbeam 103 and on the side frame 101.
[0032] The tray buffer module 2 is composed of roller shaft group 201, driving motor I 202 and support frame 203. The roller shaft group 201 is composed of a plurality of rollers. The support frame 203 is arranged on the outside of the side frame 101. Each roller is arranged on the upper end of the support frame 203. The driving motor I 202 is arranged at the bottom end of the support frame 203. The driving motor I 202 drives the roller shaft group 201 to move through a chain mechanism.
[0033] The conveying module 4 is composed of a frame, baffle 401, belt 402, angle adjusting rod 403, driving motor II 404 and chain wheel I 405. The frame is arranged on the middle bracket 104. A roller shaft is arranged at each of the front and rear ends of the frame. The belt 402 is wound on the roller shaft. A baffle 401 is arranged on each side of the belt 402 at the upper end of the frame. Each baffle 401 is divided into front and rear sections. The front section is fixed, and the rear section is deflectable. The angle adjusting rod 403 is arranged on the outside of the rear section of the baffle 401 and on the upper end of the frame. The driving motor II 404 is arranged below the belt and at the bottom end of the frame. The driving motor II 404 is connected through a chain and the chain wheel I 405. The chain wheel I 405 is arranged on one side of the front roller shaft.
[0034] The pallet turning module 5 consists of a longitudinal chain assembly 501, a transverse chain assembly 502, and a lifting mechanism 503. The longitudinal chain assembly 501 and the transverse chain assembly 502 each consist of an independent drive mechanism, chain group, coupling, and shaft. The longitudinal chain assembly 501 is placed on a primary support, and the transverse chain assembly 502 is placed on a secondary support. The secondary support is embedded in the primary support. The transverse chain assembly 502 is connected to the lifting mechanism 503. The lifting mechanism 503 consists of a pneumatic cylinder and a crank. The pneumatic cylinder is placed at the bottom of the secondary support, and the output end of the pneumatic cylinder is connected to the crank. The crank is connected to the secondary support through a fixing block.
[0035] The left moving module 7 and the right moving module 8 have the same structural composition. The left moving module 7 includes a longitudinal beam I 701, a drive mechanism I 702, a rotating shaft I 703, a gear I 704, an anti-collision mechanism I 705, a cable chain I 706, a V-shaped guide rail I 707, and a rack I 708. The longitudinal beam I 701 is placed on two support plates at the front and rear. A bracket I is provided on the outside of the longitudinal beam I 701, and the drive mechanism I 702 is installed inside the bracket I. The drive mechanism I 702 is connected to the rotating shaft I 703. 703 passes through bracket I via a coupling assembly. Gears I704 are provided at the front and rear ends of shaft I703. The front gear I704 engages with the front rack 107, and the rear gear I704 engages with the rear rack 108. Anti-collision mechanisms 705 are provided at the front and rear ends of the inner side of longitudinal beam I701. Rack I708 and V-shaped guide rail I707 are provided on the inner side of longitudinal beam I701. V-shaped guide rail I707 is located on the upper end of rack I708. Drag chain I706 is provided at the rear end of longitudinal beam I701.
[0036] The left lifting module 9 and the right lifting module 10 have the same structural composition. The right lifting module 10 consists of a lifting bracket 1001, a base plate 1002, a drive mechanism II 1003, a rack II 1004, a V-shaped guide rail II 1005, a roller assembly II 1006, a cable chain II 1007, a gear II 1008, a cable chain III 1009, a fixed plate 1010, a drive mechanism III 1011, a roller assembly III 1012, and an L-shaped bracket 1013. The gear II 1008 engages with the rack I 708, and the roller assembly III 1012 engages with and slides on the V-shaped guide rail I 707. The roller assembly III 1012 is located on the outer side of the base plate 1002, and the gear II 1008 is located at the rear end of the outer side of the base plate 1002. The gear II 1008 is connected to the output end of the drive mechanism III 1011, which is placed on the fixed plate 1010. Above, a fixed plate 1010 is placed on the inner side of the base plate 1002. A drive mechanism II 1003 is provided at the upper end of the outer side of the base plate 1002. The drive mechanism II 1003 passes through the base plate 1002 and is connected to a gear III. The gear III cooperates with a rack II 1004. The rack II 1004 is set on the outer side of the lifting bracket 1001. V-shaped guide rails II 1005 are provided at both ends of the outer side of the lifting bracket 1001. A roller assembly II 1006 is provided on the inner side of the base plate 1002. The roller assembly II 1006 cooperates with the V-shaped guide rails II 1005 and slides on the V-shaped guide rails II 1005. An L-shaped bracket 1013 is provided at the front end of the outer side of the base plate 1002. A drag chain III 1009 is provided at the upper end of the L-shaped bracket 1013. A drag chain II 1007 is provided at the bottom front end of the inner side of the base plate 1002. The other end of the drag chain II 1007 is connected to the bottom front end of the lifting bracket 1001.
[0037] The suction cup assembly 11 includes a buffer assembly 1101 and a suction cup opening 1102. The upper end of the buffer assembly 1101 is connected to the bottom end of the lifting bracket 1001. A rotating assembly is provided at the connection point. The rotating assembly consists of an outer cover, a gear set, a rotating motor, and a reducer. The buffer assembly 1101 includes a spring damper and a rubber pad. The upper end of the suction cup opening 1102 is provided with a pipeline channel.
[0038] Preferably, the bracket 1 is equipped with laser radar sensors at four positions at its lower end to realize the function of electronic fence, and a pneumatic control cabinet and a hydraulic workstation are provided at the rear end of the bracket 1.
[0039] Preferably, an adsorption working component is provided on the upper rear side of the side frame 101. The adsorption working component includes a support platform, symmetrically placed turbine fans 105, dust collection bags 106, and valves.
[0040] Preferably, the pallet buffer module 2 is provided with a visual sensing module, including a 3D camera and an image processing unit, which can identify the size, shape and stacking gap of the goods.
[0041] Preferably, the roller lifting module 3 consists of a pneumatic lifting mechanism, a hydraulic cylinder, a belt assembly, and a mobile conveying mechanism.
[0042] Preferably, the pallet recycling module 6 consists of a cylinder group, a transmission mechanism, a shear-type lifting platform, a guide plate, and a pallet. The lower end of the shear-type lifting platform is equipped with a weight sensor, and an electrical control box is located at the bottom of the rear end of the pallet recycling module 6.
[0043] Preferably, the bottom ends of cable chain I 706 and cable chain III 1009 are placed on a bracket, which is mounted on the support 1.
[0044] Preferably, the drive mechanism I 702, drive mechanism II 1003 and drive mechanism III 1011 are each composed of an independent servo motor and a planetary reducer, and are connected to the operation panel 112 by wires.
[0045] The working method of the above-mentioned double suction cup depalletizer includes the following steps: Step 1: A forklift is used to place the pallet containing the goods onto the pallet buffer module 2. The visual recognition module above the pallet buffer module 2 collects the pallet type, plans the destacking scheme, and transmits it to the control system in the operation screen 112.
[0046] Step 2: Start the destacking process. The pallet buffer module 2 transfers the pallet to the roller lifting module 3. The roller lifting module 3 raises the pallet and controls the stop position of the pallet through the dual mirror reflection sensor. The left moving module 7, right moving module 8, left lifting module 9, right lifting module 10 and suction cup assembly 11 work together according to the planned destacking scheme. The negative pressure vacuum is used to adsorb the goods on the suction cup port 1102 and transfer them to the conveying module 4.
[0047] Step 3: After the top layer of goods on the pallet is emptied, the roller lifting module 3 continues to lift the pallet until all the goods on the pallet are cleared. The roller lifting module 3 then lowers the empty pallet to its original position and transfers the empty pallet to the pallet turning module 5.
[0048] Step 4: The lifting mechanism 503 of the pallet turning module 5 lifts the transverse chain assembly 502, causing the empty pallet to move toward the pallet recycling module 6. The pallet recycling module 6 stores the empty pallet after lifting it, thus completing the destacking process.
[0049] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.
Claims
1. A double suction cup destacking machine, characterized in that: The system includes a support (1), a pallet buffer module (2), a roller lifting module (3), a conveying module (4), a pallet turning module (5), a pallet recycling module (6), a left moving module (7), a right moving module (8), a left lifting module (9), a right lifting module (10), and a suction cup assembly (11). The support (1) is provided with a left moving module (7) and a right moving module (8) on the upper left and right sides respectively. A left lifting module (9) is provided on the left moving module (7), and a right lifting module (10) is provided on the right moving module (8). A set of suction cup assemblies (11) is provided at the lower ends of the left lifting module (9) and the right lifting module (10). The support (1) is provided with a pallet buffer module (2), a roller lifting module (3), and a pallet turning module (5) in sequence from front to back. The pallet recycling module (6) is provided on the right side of the pallet turning module (5) and outside the support (1). The support (1) is provided with a conveying module (4) in the middle and above the pallet turning module (5). The roller lifting module (3) is provided with a double mirror reflection sensor. The support (1) consists of a side frame (101), a front crossbeam (102), a rear crossbeam (103), a middle bracket (104), a front rack (107), a rear rack (108), a front support plate assembly (109), a rear support plate assembly (110), a protective plate (111), an operation panel (112), and a roller assembly I (113). A protective plate (111) is installed between adjacent side frames (101), and an operation panel (112) is installed on the outside of one of the protective plates (111). The front crossbeam (102) and the rear crossbeam (103) are located on the upper end of the side frame (101), with the front crossbeam (102) at the front end and the rear crossbeam (103) near the rear end. 102) A front rack (107) is provided at the upper end, a rear rack (108) is provided at the upper end of the rear crossbeam (103), a front support plate group (109) is provided above the front crossbeam (102), and a rear support plate group (110) is provided above the rear crossbeam (103). The front support plate group (109) and the rear support plate group (110) are both composed of two support plates that are symmetrical from left to right. Each support plate is provided with a roller group I (113). The roller group I (113) cooperates with the guide rails on the lower edge of the front rack (107) and the rear rack (108) and slides on the guide rails. A middle bracket (104) is provided below the middle of the front crossbeam (102) and the rear crossbeam (103) on the side frame (101). The tray buffer module (2) consists of a roller group (201), a drive motor I (202) and a support frame (203). The roller group (201) consists of several rollers. The support frame (203) is placed outside the side frame (101). Each roller is placed on the upper end of the support frame (203). The drive motor I (202) is set at the bottom end of the support frame (203). The drive motor I (202) drives the roller group (201) to move through the chain mechanism. The conveying module (4) consists of a frame, baffles (401), belt (402), angle adjustment rod (403), drive motor II (404), and sprocket I (405). The frame is placed on the central bracket (104). A roller is set at each end of the frame. The belt (402) is wound around the shaft. A baffle (401) is set at the upper end of the frame and on both sides of the belt (402). Each baffle (401) is divided into two sections, the front section is fixed and the rear section can be deflected. An angle adjustment rod (403) is set on the outer side of the rear section of the baffle (401). The angle adjustment rod (403) is placed at the upper end of the frame. A drive motor II (404) is set below the belt and at the bottom end of the frame. The drive motor II (404) is connected to the sprocket I (405) through a chain. The sprocket I (405) is placed on one side of the front shaft. The pallet turning module (5) consists of a longitudinal chain assembly (501), a transverse chain assembly (502), and a lifting mechanism (503). The longitudinal chain assembly (501) and the transverse chain assembly (502) each consist of an independent drive mechanism, chain group, coupling, and shaft. The longitudinal chain assembly (501) is placed on the primary support, and the transverse chain assembly (502) is placed on the secondary support. The secondary support is embedded in the primary support. The transverse chain assembly (502) is connected to the lifting mechanism (503). The lifting mechanism (503) consists of a pneumatic cylinder and a crank. The pneumatic cylinder is placed at the bottom of the secondary support, and the output end of the pneumatic cylinder is connected to the crank. The crank is connected to the secondary support through a fixing block. The left moving module (7) and the right moving module (8) have the same structure. The left moving module (7) consists of a longitudinal beam I (701), a drive mechanism I (702), a rotating shaft I (703), a gear I (704), an anti-collision mechanism (705), a drag chain I (706), a V-shaped guide rail I (707), and a rack I (708). The longitudinal beam I (701) is placed on two support plates at the front and rear. A bracket I is provided on the outside of the longitudinal beam I (701). The drive mechanism I (702) is set in the bracket I. The drive mechanism I (702) is connected to the rotating shaft I (703). (703) A coupling assembly passes through the bracket I. Gear I (704) is provided at the front and rear ends of the shaft I (703). The front gear I (704) cooperates with the front rack (107), and the rear gear I (704) cooperates with the rear rack (108). Anti-collision mechanism (705) is provided at the front and rear ends of the inner side of the longitudinal beam I (701). A rack I (708) and a V-shaped guide rail I (707) are provided on the inner side of the longitudinal beam I (701). The V-shaped guide rail I (707) is set on the upper end of the rack I (708). A drag chain I (706) is provided at the rear end of the longitudinal beam I (701). The left lifting module (9) and the right lifting module (10) have the same structural composition. The right lifting module (10) consists of a lifting bracket (1001), a base plate (1002), a drive mechanism II (1003), a rack II (1004), a V-shaped guide rail II (1005), a roller group II (1006), a cable chain II (1007), a gear II (1008), a cable chain III (1009), a fixing plate (1010), a drive mechanism III (1011), a roller group III (1012), and an L-shaped support. The frame (1013) is composed of gear II (1008) cooperating with rack I (708), roller assembly III (1012) cooperating with V-shaped guide rail I (707) and sliding on V-shaped guide rail I (707), roller assembly III (1012) being disposed on the outer side of base plate (1002), gear II (1008) being disposed on the rear end of the outer side of base plate (1002), gear II (1008) being connected to the output end of drive mechanism III (1011), drive mechanism III (1011) being placed on fixed plate ( On the base plate (1002), a fixed plate (1010) is placed on the inner side of the base plate (1002). A drive mechanism II (1003) is provided on the upper side of the outer side of the base plate (1002). The drive mechanism II (1003) passes through the base plate (1002) and is connected to the gear III. The gear III cooperates with the rack II (1004). The rack II (1004) is set on the outer side of the lifting bracket (1001). V-shaped guide rails II (1005) are provided at both ends of the outer side of the lifting bracket (1001). The inner side of the base plate (1002) is provided with roller assembly II (1006), which cooperates with V-shaped guide rail II (1005) and slides on V-shaped guide rail II (1005). An L-shaped bracket (1013) is provided at the front end of the outer side of the base plate (1002). A drag chain III (1009) is provided at the upper end of the L-shaped bracket (1013). A drag chain II (1007) is provided at the bottom of the front end of the inner side of the base plate (1002). The other end of the drag chain II (1007) is connected to the bottom of the front end of the lifting bracket (1001). The suction cup assembly (11) includes a buffer assembly (1101) and a suction cup opening (1102). The upper end of the buffer assembly (1101) is connected to the bottom end of the lifting bracket (1001). A rotating assembly is provided at the connection point. The rotating assembly consists of an outer cover, a gear set, a rotating motor, and a reducer. The buffer assembly (1101) includes a spring damper and a rubber pad. The upper end of the suction cup opening (1102) is provided with a pipeline channel.
2. The double suction cup depalletizer according to claim 1, characterized in that: The bracket (1) is equipped with laser radar sensors at four positions at the lower end to realize the function of electronic fence. A pneumatic control cabinet and a hydraulic workstation are provided at the rear end of the bracket (1).
3. The double suction cup depalletizer according to claim 1, characterized in that: The adsorption working assembly is provided on the upper rear side of the side frame (101). The adsorption working assembly includes a support platform, symmetrically placed turbine fans (105), dust collection bags (106), and valves.
4. The double suction cup depalletizer according to claim 1, characterized in that: The pallet buffer module (2) is equipped with a visual sensing module, including a 3D camera and an image processing unit, which can identify the size, shape and stacking gap of the goods.
5. A double suction cup depalletizer according to claim 1, characterized in that: The roller lifting module (3) consists of a pneumatic lifting mechanism, a hydraulic cylinder, a belt assembly, and a mobile conveying mechanism.
6. A double suction cup depalletizer according to claim 1, characterized in that: The pallet recycling module (6) consists of a cylinder group, a transmission mechanism, a shear lifting platform, a guide plate, and a pallet. The lower end of the shear lifting platform is equipped with a weight sensor, and an electrical control box is located at the bottom of the rear end of the pallet recycling module (6).
7. A double suction cup depalletizer according to claim 1, characterized in that: The bottom ends of the cable chain I (706) and cable chain III (1009) are placed on the bracket, which is set on the support (1).
8. A double suction cup depalletizer according to claim 1, characterized in that: The drive mechanism I (702), drive mechanism II (1003) and drive mechanism III (1011) are each composed of independent servo motors and planetary reducers, and are connected to the operation panel (112) by wires.
9. The working method of a double suction cup destacking machine according to any one of claims 1 to 8, characterized in that, Includes the following steps: Step 1: Use a manual forklift to place the pallet containing the goods on the pallet buffer module (2). The visual recognition module above the pallet buffer module (2) collects the pallet type, plans the depalletizing scheme and transmits it to the control system in the operation screen (112). Step 2: Start the destacking process. The pallet buffer module (2) transfers the pallet to the roller lifting module (3). The roller lifting module (3) raises the pallet and controls the stop position of the pallet through the dual mirror reflection sensor. The left moving module (7), right moving module (8), left lifting module (9), right lifting module (10) and suction cup assembly (11) work together according to the planned destacking scheme. The negative pressure vacuum is used to adsorb the goods on the suction cup opening (1102) and transfer them to the conveying module (4). Step 3: After the top layer of goods on the pallet is emptied, the roller lifting module (3) continues to lift the pallet until all the goods on the pallet are cleared. The roller lifting module (3) lowers the empty pallet to its original position and moves the empty pallet to the pallet turning module (5). Step 4: The lifting mechanism (503) of the pallet turning module (5) lifts the transverse chain assembly (502), causing the empty pallet to move toward the pallet recycling module (6). The pallet recycling module (6) stores the empty pallet after lifting it, thus completing the destacking.