A cycle unstacking device and control method for adapting material conveying tempo

Abstract

This invention discloses a cyclic destacking device and control method with adaptive material conveying cycle time. It includes symmetrically arranged mounting frames, with multiple first chain conveyor rails below the mounting frames, and pallets for carrying materials on the first chain conveyor rails. The device further includes: an adaptive receiving mechanism located at the front end of the mounting frames; a multi-axis conveying mechanism located at the upper end of the mounting frames; and a temporary storage mechanism located between two mounting frames, with its entry end flush with the conveying surface of the first chain conveyor rails. This invention flexibly adjusts the position of the receiving output end by matching the height of the stack where the material is located, shortening the vertical transport stroke of the multi-axis conveying mechanism, thereby improving the efficiency of destacking operations.

Description

Technical Field

[0001] This invention relates to a destacking device, specifically to a cyclic destacking device and control method with adaptive material conveying rhythm, belonging to the field of destacking machinery technology. Background Technology

[0002] Depalletizing is a core link in logistics transportation and production line integration, and its efficiency and adaptability directly affect the overall production line's capacity and stability. Whether materials are boxed, bagged, or palletized, the depalletizing process must transform from batch stacking to orderly single-item transport, and it is widely used in various industries such as food, chemical, electronics, and e-commerce logistics. To this end, the industry has developed various depalletizing devices. For example, Chinese utility model patent CN212291988U discloses an automatic sequential depalletizing device for material packages, specifically including a depalletizing roller assembly, a suction cup depalletizing device, and a sequential stacking device. The sequential stacking device is located on one side of the suction cup depalletizing device, and the bottom of the suction cup depalletizing device is equipped with a depalletizing roller assembly. The depalletizing end of the suction cup depalletizing device moves between the depalletizing roller assembly and the feeding end of the sequential stacking device. Another suction cup depalletizing device is also disclosed, including a mounting bracket on which a three-axis moving depalletizing device is mounted. The depalletizing end of the three-axis moving depalletizing device has several suction cup assemblies arranged vertically. The material receiving output end of this type of destacking mechanism has a fixed height. Since the material height changes continuously with the destacking height, the handling mechanism needs to first adjust to the material height of the corresponding stack layer to complete the grabbing, and then readjust the height to match the fixed position of the material receiving output end for unloading. In this process, the vertical transportation stroke of the handling mechanism is extended, and the steps of the action process are also increased accordingly. This not only increases the time consumption of a single handling, but also easily drags down the overall destacking cycle by this redundant stroke, reducing the efficiency of continuous operation. Summary of the Invention

[0003] The purpose of this invention is to provide a cyclic destacking device and control method with adaptive material conveying cycle time. This invention flexibly adjusts the position of the receiving output end by matching the height of the stack where the material is located, shortening the vertical transport stroke of the multi-axis conveying mechanism, thereby improving the efficiency of destacking operations.

[0004] The technical solution of the present invention: A cyclic destacking device with adaptive material conveying rhythm, comprising a mounting frame symmetrically arranged on the left and right sides, a plurality of first chain conveyor rails arranged below the mounting frame, and a pallet for carrying materials arranged on the first chain conveyor rails; the device further includes:

[0005] An adaptive receiving mechanism is located at the front end of the mounting frame; the adaptive receiving mechanism is used to adaptively adjust the height of its receiving end according to the height of the material carried on the pallet on the first chain conveyor rail, and then convey the material outward after receiving it.

[0006] A multi-axis conveying mechanism is installed at the upper end of the mounting frame; the multi-axis conveying mechanism is used to transport materials from the tray of the first chain conveyor rail to the receiving end of the adaptive receiving mechanism;

[0007] A temporary storage mechanism is located between two mounting frames, with its input end flush with the conveying surface of the first chain conveyor rail; the temporary storage mechanism is used to centrally store the pallets that have been unloaded from the first chain conveyor rail.

[0008] The aforementioned adaptive material conveying cycle destacking device includes an adaptive receiving mechanism comprising an output conveyor belt positioned in front of the mounting frame and height adjustment mechanisms positioned on both sides in front of the mounting frame; a receiving conveyor belt is provided between the height adjustment mechanism and the output conveyor belt, with the rear end of the receiving conveyor belt fixedly connected to the adjustment end of the height adjustment mechanism; mounting seats are symmetrically arranged below the front end of the receiving conveyor belt, and rollers are rotatably connected to the mounting seats; guide rails are symmetrically arranged on both sides of the output conveyor belt, and the guide rails and rollers are in rolling cooperation.

[0009] The aforementioned adaptive material conveying cycle destacking device includes a height adjustment mechanism comprising a first reducer disposed below the mounting frame, the input end of which is provided with a first motor; the output end of which is provided with a drive shaft; first sprockets are respectively disposed on the upper and lower sides of the mounting frame, a conveyor chain is disposed between the first sprockets on the same side, a first mounting plate is disposed on the conveyor chain, and the first mounting plate is rotatably connected to the rear end of the receiving conveyor belt; the two ends of the drive shaft are respectively fixedly connected to the first sprockets located on both sides below the mounting frame.

[0010] The aforementioned adaptive material conveying cycle destacking device has multiple first spacing adjustment mechanisms symmetrically arranged on the receiving conveyor belt, and a first baffle is connected to the adjustment end of the first spacing adjustment mechanism on the same side; multiple second spacing adjustment mechanisms symmetrically arranged on the output conveyor belt, and a second baffle is connected to the adjustment end of the second spacing adjustment mechanism on the same side.

[0011] The aforementioned adaptive material conveying cycle destacking device has the same structure for the first and second spacing adjustment mechanisms. Both include a fixed shaft that is fixedly connected to the corresponding conveyor belt. A connector is provided on the fixed shaft. The front and rear ends of the connector are respectively provided with through holes. The two through holes are perpendicular to each other. One through hole is connected to the fixed shaft, and the other through hole is provided with a connecting rod. The connecting rod is connected to the corresponding baffle. An adjustment slot is provided on the side of the through hole. Locking threaded holes are provided at both ends of the connector and penetrate the adjustment slot on the same side.

[0012] The aforementioned adaptive material conveying cycle destacking device includes a multi-axis conveying mechanism comprising a three-axis moving mechanism mounted on a mounting frame. The moving end of the three-axis moving mechanism is equipped with a rotary motor, and the rotating end of the rotary motor is equipped with a connecting seat. A first cylinder is symmetrically arranged on the connecting seat, and a moving block is connected to the lower end of the first cylinder. Sliding guide rails are symmetrically arranged on the connecting seat, and the sliding guide rails are slidably connected to the moving block. A suction cup is provided below the moving block.

[0013] The aforementioned adaptive material conveying cycle destacking device includes a temporary storage mechanism comprising a storage rack positioned between two mounting frames, with rotating shafts rotatably connected to both sides of the storage rack, and second chain conveyor rails symmetrically arranged between the rotating shafts; a second motor is mounted on the storage rack, with a second reducer at the output end of the second motor, and a second sprocket at the output end of the second reducer; a third sprocket is mounted on the rotating shaft, and the third sprocket is connected to the second sprocket via a chain; third baffles are respectively provided on the front side and the left and right sides of the storage rack, with a distance between the third baffles on the left and right sides and the second chain conveyor rails forming an inlet; a second cylinder is located below the storage rack, with the telescopic end of the second cylinder facing upward and equipped with a top plate; and locking mechanisms are respectively provided at the front and rear ends of the storage rack.

[0014] The aforementioned adaptive material conveying cycle destacking device has multiple slots on the front and rear sides of the pallet; the positioning mechanism includes a second mounting plate disposed on the front and rear sides of the storage rack, bearing seats are symmetrically disposed on the outer side of the second mounting plate, a connecting shaft is disposed between the bearing seats on the same side, and multiple inverted L-shaped locking plates are disposed on the connecting shaft, the locking plates cooperating with the slots; a torsion spring is disposed between the bearing seat and the connecting shaft.

[0015] The control method of the above-mentioned adaptive material conveying cycle destacking device involves placing a pallet carrying materials on a first chain conveyor rail, which transports the pallet to the mounting frame. The adaptive receiving mechanism adjusts the height of the receiving end according to the maximum height of the materials. Then, the multi-axis conveying mechanism transports the materials to the adaptive receiving mechanism and then transports them outward. During the handling process, as the maximum height of the materials decreases, the adaptive receiving mechanism lowers the height of the receiving end according to the change, reducing the stroke of the multi-axis conveying mechanism. After the materials are moved, the pallet is transported by the first chain conveyor rail to the temporary storage mechanism for centralized storage.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This invention achieves a highly efficient closed-loop depalletizing process through the coordinated operation of various mechanisms. First, a first chain conveyor stably transports the pallet carrying the material to the mounting frame. An adaptive receiving mechanism adjusts its receiving end height in real-time to match the maximum height of the material on the pallet. The multi-axis handling mechanism can directly grab the material from the corresponding pallet layer and accurately unload it to the receiving end without repeated height adjustments. As the material is continuously transported, its maximum height gradually decreases, and the adaptive receiving mechanism dynamically adjusts its receiving end height accordingly, continuously shortening the vertical transport stroke of the multi-axis handling mechanism and reducing redundant operation time. Empty pallets after unloading are transferred by the first chain conveyor to a temporary storage mechanism for centralized storage. The entire process is tightly integrated and operates smoothly. Therefore, compared to existing technologies, this device, through its adaptive receiving mechanism that dynamically shortens the vertical idle stroke of the multi-axis handling mechanism by following changes in material height in real-time, significantly reduces the single transport cycle, thereby improving the overall depalletizing cycle time. Simultaneously, the automatic closed-loop processing of empty pallets, in conjunction with the temporary storage mechanism, ensures the stability of continuous production line operation.

[0018] 2. In this invention, the adaptive receiving mechanism achieves flexible adaptation of the receiving end height by relying on the height adjustment mechanism. The first motor drives the first reducer to operate, and the first reducer further drives the transmission shaft to drive the first sprockets on both sides to rotate synchronously. This causes the conveyor chain on the first sprockets to move the first mounting plate up and down, thereby precisely changing the receiving end height of the receiving conveyor belt so that it can match the height of different stacks of materials in real time. At the same time, when the height of the receiving conveyor belt is adjusted, the rollers on the mounting base at its front end will slide smoothly along the guide rails on both sides of the output conveyor belt, effectively ensuring that the receiving conveyor belt always maintains a reliable connection with the output conveyor belt without disengaging, ensuring the continuity of material transportation. In addition, the first spacing adjustment mechanism on the receiving conveyor belt and the second spacing adjustment mechanism on the output conveyor belt can adjust the spacing between the corresponding baffles to precisely adapt to materials of different specifications, providing stable guidance for the transfer of materials from the receiving conveyor belt to the output conveyor belt, and preventing materials from deviating or falling off the conveyor belt.

[0019] 3. In this invention, after the material handling is completed, the empty pallet is smoothly transferred from the first chain conveyor rail to the temporary storage mechanism, and smoothly enters the second chain conveyor rail in the storage rack through the inlet. Then, the extension end of the second cylinder extends upward, driving the top plate to rise synchronously and lift the pallet. During the lifting process, the pallet will abut against the clamping plate of the clamping mechanism, pushing the clamping plate to rotate outward around the connecting shaft. At this time, the torsion spring between the bearing seat and the connecting shaft stores force. When the clamping slot of the lowest pallet is precisely aligned with the clamping plate, the torsion spring releases elastic potential energy to drive the clamping plate to quickly reset and clamp into the clamping slot. The second mounting plate limits the clamping plate, realizing the stable positioning of the pallet and preventing the pallet from shifting or falling. At the same time, this positioning method will not block the inlet, so that the next empty pallet can enter the storage rack normally from the inlet without obstruction, realizing the continuous and orderly centralized storage of empty pallets, avoiding pallet accumulation or jamming that affects the continuity of the destabilization process, and further ensuring the efficient closed-loop operation of the overall destabilization operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a structural diagram of the mounting bracket;

[0022] Figure 3 yes Figure 2 A partially enlarged schematic diagram;

[0023] Figure 4 yes Figure 2 Enlarged view of point A;

[0024] Figure 5 This is a schematic diagram of the bottom structure of the mounting bracket;

[0025] Figure 6 yes Figure 5 Enlarged view of point B;

[0026] Figure 7 This is a structural diagram of the height adjustment mechanism;

[0027] Figure 8 yes Figure 7 A partially enlarged schematic diagram;

[0028] Figure 9 This is a schematic diagram of a multi-axis conveying mechanism;

[0029] Figure 10 This is a structural diagram of a suction cup;

[0030] Figure 11 This is a schematic diagram of the temporary storage mechanism;

[0031] Figure 12 yes Figure 11Enlarged view at point C;

[0032] Figure 13 This is a structural diagram of the drive shaft;

[0033] Figure 14 This is a schematic diagram of the bottom structure of the temporary storage mechanism.

[0034] The labels in the attached diagram are as follows: 1-Adaptive receiving mechanism, 2-Multi-axis handling mechanism, 3-Temporary storage mechanism, 4-Mounting frame, 5-First chain conveyor rail, 6-Pattern, 61-Slot, 20-Three-axis moving mechanism, 21-Rotary motor, 22-Connecting seat, 23-First cylinder, 24-Moving block, 25-Sliding guide rail, 26-Suction cup, 100-Output conveyor belt, 101-Height adjustment mechanism, 102-Receiving conveyor belt, 103-Mounting seat, 104-Roller, 105-Guide rail, 106-First reducer, 107-First motor, 108-Drive shaft, 109-First sprocket, 110-Conveyor chain, 111-First mounting plate, 112-The... A spacing adjustment mechanism, 113-first baffle, 114-second spacing adjustment mechanism, 115-second baffle, 116-fixed shaft, 117-connector, 118-through hole, 119-connecting rod, 120-adjusting gap, 121-locking threaded hole, 300-storage rack, 301-rotating shaft, 302-second chain conveyor rail, 303-second motor, 304-second reducer, 305-second sprocket, 306-third sprocket, 307-third baffle, 308-inlet, 309-second cylinder, 310-top plate, 311-positioning mechanism, 312-second mounting plate, 313-bearing seat, 314-connecting shaft, 315-clamping plate. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0036] Example: A cyclic depalletizing device with adaptive material conveying cycle time, configured as follows Figures 1-14 As shown, the device includes symmetrically arranged mounting frames 4, which are preferably assembled from structural steel or high-strength aluminum profiles, providing good overall rigidity and load-bearing capacity, thus offering a stable mounting foundation for each actuator. A camera is installed on the mounting frame 4 to monitor the height of the material. Below the mounting frame 4 are multiple first chain conveyor rails 5, typically composed of wear-resistant metal chains and sprockets, ensuring smooth and synchronized conveying. Each first chain conveyor rail 5 has a material-bearing tray 6, which can be made of injection-molded plastic or metal, offering good load-bearing capacity and reusability. The device also includes:

[0037] An adaptive receiving mechanism 1 is located at the front end of the mounting frame 4. This mechanism adaptively adjusts its receiving end height according to the height of the material carried on the pallet 6 on the first chain conveyor rail 5, receiving the material and then conveying it outwards. This ensures the receiving position always matches the current destacking layer height, reducing the ineffective travel of the multi-axis conveying mechanism 2. Figures 2 to 8 As shown, the adaptive receiving mechanism 1 includes an output conveyor belt 100 disposed in front of the mounting frame 4 and height adjustment mechanisms 101 disposed on both sides in front of the mounting frame 4; the output conveyor belt 100 can adopt a belt conveyor structure, and its conveyor belt body is preferably made of wear-resistant rubber or PVC material, which can realize continuous and stable material output; a receiving conveyor belt 102 is provided between the height adjustment mechanism 101 and the output conveyor belt 100. The receiving conveyor belt 102 can also adopt a belt or narrow chain plate structure, and its rear end is fixedly connected to the adjustment end of the height adjustment mechanism 101, so as to realize the overall synchronous lifting and lowering with the height adjustment mechanism 101; Figure 6 As shown, mounting bases 103 are symmetrically arranged below the front end of the receiving conveyor belt 102. The mounting bases 103 are preferably metal bracket structures. Rollers 104 are rotatably connected to the mounting bases 103. The rollers 104 are typically made of wear-resistant nylon or rubber-coated metal to reduce rolling friction. Guide rails 105 are symmetrically arranged on both sides of the output conveyor belt 100. The guide rails 105 can be U-shaped or channel-shaped metal profiles. The guide rails 105 and rollers 104 roll in cooperation, providing guidance and limiting during the lifting and lowering of the receiving conveyor belt 102, preventing the front end of the receiving conveyor belt 102 from shifting or detaching. Figure 7 and Figure 8 As shown, the height adjustment mechanism 101 includes a first reducer 106 disposed below the mounting frame 4. The first reducer 106 is used to reduce the output speed of the motor and increase the output torque to meet the load requirements of the receiving conveyor belt 102 during lifting. The input end of the first reducer 106 is provided with a first motor 107, which is preferably a servo motor or a stepper motor to facilitate precise height control. The output end of the first reducer 106 is provided with a drive shaft 108. First sprockets 109 are respectively disposed vertically on both sides of the mounting frame 4, and a conveyor chain 110 is disposed between the first sprockets 109 on the same side. The conveyor chain 110 uses a high-strength metal chain to ensure synchronization and reliability during lifting. A first mounting plate 111 is provided on the conveyor chain 110, which is rotatably connected to the rear end of the receiving conveyor belt 102, allowing the receiving conveyor belt 102 to maintain a certain adaptive posture during lifting. Both ends of the drive shaft 108 are fixedly connected to first sprockets 109 located on both sides below the mounting frame 4. Thus, driven by the first motor 107, the drive shaft 108 drives the first sprockets 109 on both sides to rotate synchronously, ensuring consistent lifting on both sides of the receiving conveyor belt 102 and preventing tilting. Figure 2As shown, the receiving conveyor belt 102 is symmetrically equipped with multiple first spacing adjustment mechanisms 112, and the adjusting ends of the first spacing adjustment mechanisms 112 on the same side are connected to a first baffle 113. The first baffle 113 can be made of metal plate or engineering plastic plate, and is used to laterally limit and guide the material. The output conveyor belt 100 is symmetrically equipped with multiple second spacing adjustment mechanisms 114, and the adjusting ends of the second spacing adjustment mechanisms 114 on the same side are connected to a second baffle 115. The second baffle 115 cooperates with the first baffle 113 to keep the material under control during the transfer process, which is suitable for materials of different widths and specifications. Figure 4 As shown, the first spacing adjustment mechanism 112 and the second spacing adjustment mechanism 114 have the same structure, both including a fixed shaft 116 fixedly connected to the corresponding conveyor belt. The fixed shaft 116 is generally a metal round shaft, which plays a supporting and positioning role. A connector 117 is provided on the fixed shaft 116. The front and rear ends of the connector 117 are respectively provided with through holes 118. The two through holes 118 are perpendicular to each other. One through hole 118 is connected to the fixed shaft 116, and the other through hole 118 is provided with a connecting rod 119, which is connected to the corresponding baffle. An adjustment slot 120 is provided on the side of the through hole 118. The adjustment slot 120 is used to provide fine adjustment space for the position of the baffle. Locking thread holes 121 are provided at both ends of the connector 117. The locking thread holes 121 pass through the adjustment slot 120 on the same side. After being locked with bolts, the baffle can be stably fixed in the required position to achieve reliable positioning. The adaptive receiving mechanism 1 achieves flexible adaptation of the receiving end height by relying on the height adjustment mechanism 101. The first motor 107 drives the first reducer 106, which in turn drives the transmission shaft 108 to synchronously rotate the first sprockets 109 on both sides. This causes the conveyor chain 110 on the first sprockets 109 to move the first mounting plate 111 up and down, thereby precisely changing the receiving end height of the receiving conveyor belt 102 to match the height of different stacks of materials in real time. Simultaneously, when the height of the receiving conveyor belt 102 is adjusted, the rollers on the mounting base 103 below its front end... Wheel 104 will slide smoothly along the guide rails 105 on both sides of the output conveyor belt 100, effectively ensuring that the receiving conveyor belt 102 always maintains a reliable connection with the output conveyor belt 100 without disengaging, thus ensuring the continuity of material conveying. In addition, the first spacing adjustment mechanism 112 on the receiving conveyor belt 102 and the second spacing adjustment mechanism 114 on the output conveyor belt 100 can adjust the spacing between the corresponding baffles to precisely adapt to materials of different specifications, providing stable guidance for the transfer of materials from the receiving conveyor belt 102 to the output conveyor belt 100, and preventing materials from deviating or falling off the conveyor belt.

[0038] A multi-axis conveying mechanism 2 is disposed at the upper end of the mounting frame 4; the multi-axis conveying mechanism 2 is used to transport materials from the tray 6 of the first chain conveyor rail 5 to the receiving end of the adaptive receiving mechanism 1. Figure 9 and Figure 10 As shown, the multi-axis conveying mechanism 2 includes a three-axis moving mechanism 20 mounted on the mounting frame 4. The three-axis moving mechanism 20 includes an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism. The X, Y, and Z axes typically correspond to horizontal, vertical, and longitudinal movements, respectively, covering the entire pallet 6 area and the receiving area. The Y-axis moving mechanism is located at the moving end of the X-axis moving mechanism, and the Z-axis moving mechanism is located at the moving end of the Y-axis moving mechanism, thereby achieving three-dimensional linkage movement in space. The X-axis, Y-axis, and Z-axis moving mechanisms operate on the same principle, all using a motor to drive gears to rotate, causing the gears to mesh with the rack. Linear movement; the moving end of the Z-axis moving mechanism is equipped with a rotary motor 21, which is used to adjust the angle of the suction cup 26 assembly to adapt to materials with different placement postures. The rotating end of the rotary motor 21 is equipped with a connecting seat 22, on which a first cylinder 23 is symmetrically arranged, and a moving block 24 is connected to its lower end; a sliding guide rail 25 is symmetrically arranged on the connecting seat 22, and the sliding guide rail 25 is slidably connected to the moving block 24 to ensure the linear movement stability of the moving block 24 during the extension and retraction of the cylinder; a suction cup 26 is provided below the moving block 24. The suction cup 26 usually adopts a vacuum suction cup 26 structure, which can reliably adsorb materials through vacuum negative pressure. The three-axis moving mechanism 20 makes a wide-range and rapid adjustment of the position of the suction cup 26 in space, so that the suction cup 26 is aligned with the target material position. After the coarse positioning is completed, the extension and retraction of the first cylinder 23 realizes a small-range fine adjustment of the suction cup 26 in the vertical direction. After the suction cup 26 picks up the material, the three-axis moving mechanism 20 moves in coordination to smoothly transport the material to the receiving end of the adaptive receiving mechanism 1 and completes the unloading.

[0039] A temporary storage mechanism 3 is positioned between two mounting brackets 4, with its input end flush with the conveying surface of the first chain conveyor rail 5; the temporary storage mechanism 3 is used to centrally store the pallets 6 that have been unloaded from the first chain conveyor rail 5. Figures 11 to 14 As shown, the temporary storage mechanism 3 includes a storage rack 300 disposed between two mounting frames 4. The storage rack 300 typically adopts a welded steel or aluminum profile assembly structure, which has high overall strength and good stability. Rotating shafts 301 are rotatably connected to both sides of the storage rack 300, such as... Figure 13As shown, a second chain conveyor rail 302 is symmetrically arranged between the rotating shafts 301. The second chain conveyor rail 302 is used to carry and transport empty pallets 6. A second motor 303 is provided on the storage rack 300. A second reducer 304 is provided at the output end of the second motor 303. A second sprocket 305 is provided at the output end of the second reducer 304. A third sprocket 306 is provided on the rotating shaft 301. The third sprocket 306 and the second sprocket 305 are connected by a chain to achieve synchronous power transmission. The storage rack 300 is equipped with a third baffle 307 on its front side and both sides. The third baffle 307 serves as a guide and limiter. A distance exists between the third baffle 307 on the left and right sides and the second chain conveyor rail 302, forming an entry port 308 to facilitate the smooth entry of the empty pallet 6. A second cylinder 309 is located below the storage rack 300. The telescopic end of the second cylinder 309 faces upward and is equipped with a top plate 310, which is used to support the pallet 6. The storage rack 300 is equipped with a locking mechanism 311 at its front and rear ends. Figure 12 As shown, the tray 6 has multiple slots 61 on its front and rear sides; the positioning mechanism 311 includes a second mounting plate 312 disposed on the front and rear sides of the storage rack 300. The second mounting plate 312 is used to install and limit the positioning mechanism 311 as a whole. Bearing seats 313 are symmetrically disposed on the outer side of the second mounting plate 312. A connecting shaft 314 is disposed between the bearing seats 313 on the same side. Multiple inverted L-shaped locking plates 315 are disposed on the connecting shaft 314. The locking plates 315 cooperate with the slots 61; a torsion spring is disposed between the bearing seats 313 and the connecting shaft 314. After the material handling is completed, the empty pallet 6 is smoothly transferred from the first chain conveyor rail 5 to the temporary storage mechanism 3, and smoothly enters the second chain conveyor rail 302 inside the storage rack 300 through the inlet 308; then the second cylinder 309 starts to extend its telescopic end upward, driving the top plate 310 to rise synchronously and lift the pallet 6. During the lifting process, the pallet 6 will abut against the locking plate 315 of the locking mechanism 311, pushing the locking plate 315 to rotate outward around the connecting shaft 314. At this time, the torsion spring between the bearing seat 313 and the connecting shaft 314 is twisted and stored. The spring releases elastic potential energy; when the slot 61 of the bottom tray 6 is precisely aligned with the position of the plate 315, the torsion spring releases elastic potential energy to drive the plate 315 to quickly reset and lock into the slot 61. The second mounting plate 312 limits the plate 315, realizing the stable positioning of the tray 6 and preventing the tray 6 from shifting or falling. At the same time, this positioning method will not block the entrance 308, so that the next empty tray 6 can enter the storage rack 300 normally from the entrance 308 without obstruction, thereby realizing the continuous and orderly centralized storage of empty trays 6.

[0040] Based on the adaptive material conveying cycle depalletizing device described above, this embodiment also provides a control method for the device, the specific steps of which are as follows:

[0041] The pallet 6 carrying the material is placed on the first chain conveyor rail 5. The first chain conveyor rail 5 starts and stably transports the pallet 6 to the predetermined destacking station in the mounting frame 4. The system detects or acquires the maximum height of the material on the pallet 6 and controls the adaptive receiving mechanism 1 to adjust the initial height of the receiving end according to the maximum height, so that the receiving end matches the height of the material to be transported. Subsequently, under the command of the control system, the multi-axis conveying mechanism 2 spatially positions the suction cup 26 through three-axis linkage, so that the suction cup 26 is aligned with the material to be transported on the pallet 6, and after adsorbing the material, it is transported to the receiving end of the adaptive receiving mechanism 1, and the adaptive receiving mechanism 1 continuously conveys the material outward.

[0042] During the destacking process, as materials are transported layer by layer, the maximum height of the materials on pallet 6 gradually decreases. Based on the changes in material height, the adaptive receiving mechanism 1 is controlled in real time to synchronously lower the height of the receiving end, so that the receiving end is always kept in a position that matches the current material height. This shortens the vertical travel of the multi-axis conveying mechanism 2, reduces ineffective actions, and improves the overall destacking cycle time.

[0043] After all the materials on pallet 6 have been moved, the empty pallet 6 is transported by the first chain conveyor rail 5 to the inlet 308 of the temporary storage mechanism 3 and enters the temporary storage mechanism 3 for centralized storage. During the temporary storage process, the temporary storage mechanism 3 lifts and fixes the incoming empty pallet 6 to achieve orderly stacking of the empty pallet 6 without blocking the inlet 308, thus providing conditions for subsequent recycling or transfer and completing a complete cycle of destacking and pallet 6 recycling.

Claims

1. A cycle unstacking device with adaptive material conveying rhythm, comprising left and right symmetrical mounting frames (4), a plurality of first chain conveying tracks (5) are arranged below the mounting frames (4), and a tray (6) for carrying materials is arranged on the first chain conveying tracks (5); characterized in that: The device also includes: An adaptive receiving mechanism (1) is set at the front end of the mounting frame (4); the adaptive receiving mechanism (1) is used to adaptively adjust the height of its receiving end according to the height of the material carried on the tray (6) on the first chain conveyor rail (5), and then convey the material outward. A multi-axis conveying mechanism (2) is set at the upper end of the mounting frame (4); the multi-axis conveying mechanism (2) is used to transport materials from the tray (6) of the first chain conveyor rail (5) to the receiving end of the adaptive receiving mechanism (1); The temporary storage mechanism (3) is set between two mounting frames (4), and its input end is flush with the conveying surface of the first chain conveyor rail (5); the temporary storage mechanism (3) is used to centrally store the pallets (6) that have been unloaded from the first chain conveyor rail (5).

2. The cycle unstacker of claim 1, wherein: The adaptive receiving mechanism (1) includes an output conveyor belt (100) disposed in front of the mounting frame (4) and height adjustment mechanisms (101) disposed on both sides in front of the mounting frame (4); a receiving conveyor belt (102) is provided between the height adjustment mechanism (101) and the output conveyor belt (100), and the rear end of the receiving conveyor belt (102) is fixedly connected to the adjustment end of the height adjustment mechanism (101); a mounting seat (103) is symmetrically disposed below the front end of the receiving conveyor belt (102), and a roller (104) is rotatably connected on the mounting seat (103); guide rails (105) are symmetrically disposed on both sides of the output conveyor belt (100), and the guide rails (105) and the rollers (104) roll in cooperation.

3. The cycle unstacker of claim 2, wherein: The height adjustment mechanism (101) includes a first reducer (106) disposed below the mounting frame (4), and a first motor (107) is provided at the input end of the first reducer (106); a drive shaft (108) is provided at the output end of the first reducer (106); first sprockets (109) are respectively disposed on the upper and lower sides of the mounting frame (4), and a conveyor chain (110) is provided between the first sprockets (109) on the same side, and a first mounting plate (111) is provided on the conveyor chain (110), and the first mounting plate (111) is rotatably connected to the rear end of the receiving conveyor belt (102); the two ends of the drive shaft (108) are respectively fixedly connected to the first sprockets (109) located on both sides below the mounting frame (4).

4. The adaptive material conveying cycle destacking device according to claim 2, characterized in that: The receiving conveyor belt (102) is symmetrically provided with a plurality of first spacing adjustment mechanisms (112), and the adjustment ends of the first spacing adjustment mechanisms (112) on the same side are connected to a first baffle (113); the output conveyor belt (100) is symmetrically provided with a plurality of second spacing adjustment mechanisms (114), and the adjustment ends of the second spacing adjustment mechanisms (114) on the same side are connected to a second baffle (115).

5. The adaptive material conveying cycle destacking device according to claim 4, characterized in that: The first spacing adjustment mechanism (112) and the second spacing adjustment mechanism (114) have the same structure, both including a fixed shaft (116) fixedly connected to the corresponding conveyor belt. The fixed shaft (116) is provided with a connector (117). The front and rear ends of the connector (117) are respectively provided with through holes (118). The two through holes (118) are perpendicular to each other. One through hole (118) is connected to the fixed shaft (116), and the other through hole (118) is provided with a connecting rod (119). The connecting rod (119) is connected to the corresponding baffle. The side of the through hole (118) is provided with an adjustment slot (120). The two ends of the connector (117) are respectively provided with locking thread holes (121). The locking thread holes (121) pass through the adjustment slot (120) on the same side.

6. The adaptive material conveying cycle destacking device according to claim 1, characterized in that: The multi-axis conveying mechanism (2) includes a three-axis moving mechanism (20) mounted on a mounting frame (4). The moving end of the three-axis moving mechanism (20) is provided with a rotary motor (21), and the rotating end of the rotary motor (21) is provided with a connecting seat (22). A first cylinder (23) is symmetrically arranged on the connecting seat (22), and a moving block (24) is connected to the lower end of the first cylinder (23). A sliding guide rail (25) is symmetrically arranged on the connecting seat (22), and the sliding guide rail (25) is slidably connected to the moving block (24). A suction cup (26) is provided below the moving block (24).

7. The adaptive material conveying cycle destacking device according to claim 1, characterized in that: The temporary storage mechanism (3) includes a storage rack (300) disposed between two mounting frames (4), with rotating shafts (301) rotatably connected to both sides of the storage rack (300), and second chain conveyor rails (302) symmetrically arranged between the rotating shafts (301); a second motor (303) is provided on the storage rack (300), a second reducer (304) is provided at the output end of the second motor (303), and a second sprocket (305) is provided at the output end of the second reducer (304); a third sprocket (306) is provided on the rotating shaft (301). The third sprocket (306) and the second sprocket (305) are connected by a chain; the storage rack (300) is provided with a third baffle (307) on the front side and the left and right sides respectively, and there is a distance between the third baffle (307) on the left and right sides and the second chain conveyor rail (302) to form an inlet (308); a second cylinder (309) is provided below the storage rack (300), and the extension end of the second cylinder (309) is upward and provided with a top plate (310); the front and rear ends of the storage rack (300) are respectively provided with a locking mechanism (311).

8. The adaptive material conveying cycle destacking device according to claim 7, characterized in that: The tray (6) has multiple slots (61) on its front and rear sides; the positioning mechanism (311) includes a second mounting plate (312) on the front and rear sides of the storage rack (300), bearing seats (313) are symmetrically arranged on the outer side of the second mounting plate (312), and a connecting shaft (314) is provided between the bearing seats (313) on the same side. Multiple inverted L-shaped locking plates (315) are provided on the connecting shaft (314), and the locking plates (315) cooperate with the slots (61); a torsion spring is provided between the bearing seats (313) and the connecting shaft (314).

9. The control method for the adaptive material conveying cycle destacking device according to any one of claims 1-8, characterized in that: The pallet carrying the material is placed on the first chain conveyor rail, which transports the pallet to the mounting frame. The adaptive receiving mechanism adjusts the height of the receiving end according to the maximum height of the material. Then, the multi-axis conveying mechanism moves the material to the adaptive receiving mechanism and transports it outward. During the handling process, as the maximum height of the material decreases, the adaptive receiving mechanism lowers the height of the receiving end accordingly, reducing the stroke of the multi-axis conveying mechanism. After the material is moved, the pallet is transported by the first chain conveyor rail to the temporary storage mechanism for centralized storage.

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