Automatic tray separating and disassembling machine for automated three-dimensional warehouse

Abstract

The application relates to the technical field of tray unstacking machines and discloses an automatic tray unstacking and separating machine for automatic stereoscopic warehouses, which comprises a rack, a fixing frame and a conveying belt arranged on the rack, the fixing frame is fixedly connected to the upper portion of the rack, the conveying belt is installed in the middle portion of the rack, a feeding mechanism and a tray unstacking mechanism are arranged on the fixing frame, the feeding mechanism and the tray unstacking mechanism are fixedly connected to the fixing frame, the feeding mechanism and the tray unstacking mechanism are vertically arranged from top to bottom, a transfer mechanism is arranged in the middle portion of the fixing frame and at the lower portion of the tray unstacking mechanism; through cooperation between the fixing plate, the lifting frame, the sliding plate, the tray plate and the electric push rod, when the moving speed of the sliding plate is consistent with the speed of the conveying belt, the tray plate releases the tray, the tray falls on the conveying belt, there is no horizontal relative displacement between the tray and the conveying belt, the probability of the problems, such as frictional force abrasion of the tray bottom, uneven force on the tray when the tray falls, excessive force on one side of the tray, tray deviation and overturning, is avoided.

Description

Technical Field

[0001] This invention belongs to the field of pallet unloading machine technology, specifically relating to an automatic pallet unloading machine for automated storage and retrieval systems. Background Technology

[0002] Automated storage and retrieval systems (AS / RS) are the core equipment of modern intelligent warehousing and logistics systems. They rely on stacker cranes, conveyor lines, racks, and pallets to complete the automated inbound and outbound storage of goods. As a cargo carrying unit, pallets need to be stacked in large quantities and individually supplied and transferred. Therefore, the automatic splitting of stacked pallets and single pallet conveying are key pre-processes for continuous operation of AS / RS.

[0003] With the widespread adoption of smart warehousing and automated storage and retrieval systems (AS / RS), industries such as new energy, 3C electronics, food, and pharmaceuticals are all using standardized plastic pallets and blister packs to carry goods. Pallet stacking for warehousing and outbound operations are the core processes in warehousing. After the pallets are separated, they need to be continuously transported to downstream workstations. Conveyor belts are commonly used in the industry as the unloading and conveying carrier after pallet separation. Conveyor belts can stably connect to the entire internal conveying chain of the AS / RS, enabling continuous pallet circulation without the need for manual secondary transfer, thus meeting the requirements of unmanned warehouse operations.

[0004] However, existing pallet unloading equipment is usually located directly above the conveyor belt. After being separated by the unloading mechanism, the pallet falls directly onto the conveyor belt surface. At the moment of fall, the pallet is stationary relative to the conveyor belt surface, while the conveyor belt maintains a constant continuous operating speed during warehousing operations. When the bottom surface of the pallet first contacts the moving conveyor belt, there is a huge instantaneous speed difference between the two. Under the forced action of the friction force on the conveyor belt surface, the stationary pallet will be accelerated to a speed completely synchronized with the conveyor belt in a very short time. This sudden change in speed will cause severe sliding friction between the pallet and the conveyor belt. Plastic turnover pallets, paper-lined pallets, and thin-walled blister pallets have low hardness and poor friction resistance. Instantaneous sliding friction may cause the bottom surface of the pallet to be scratched and whitened. The faster the operating speed, the greater the instantaneous sliding friction between the pallet and the conveyor belt. When the pallet falls freely, it cannot be guaranteed that the bottom surface is completely horizontal and fully adheres to the conveyor belt surface. At the moment of landing, most of the edges and corners will contact the chain plate first, generating sliding friction only in local areas, while the rest of the bottom surface is suspended and unloaded. The overall force distribution is severely uneven. The pallet is prone to lateral deviation and overall twisting and tilting after being subjected to unilateral lateral drag force. Some lighter small blister pallets may even flip or overturn directly on the conveyor belt surface. After tilting or flipping, the pallet cannot be transported to the downstream stacker crane and sorting station of the automated warehouse in a regular posture. This will not only cause material jamming and blockage of the conveyor belt, causing the entire warehouse conveyor line to stop, but also disrupt the continuous inbound and outbound production rhythm of the automated warehouse, seriously reducing the overall operating efficiency of the warehouse. Summary of the Invention

[0005] This invention provides an automatic pallet splitting and unplacing machine for automated storage and retrieval systems, solving the technical problems mentioned in the background art.

[0006] This invention provides an automatic palletizing and unpalletizing machine for an automated three-dimensional warehouse, including a frame, a fixed frame and a conveyor belt on the frame, the fixed frame being fixedly connected to the upper part of the frame, the conveyor belt being installed in the middle of the frame, a feeding mechanism and a pallet unloading mechanism being provided on the fixed frame, both of which are fixedly connected to the fixed frame and arranged vertically from top to bottom, and a transfer mechanism being provided in the middle of the fixed frame, which is located below the pallet unloading mechanism; The transfer mechanism includes two fixed plates, a lifting frame, a sliding plate, and two support plates. The two fixed plates are symmetrically arranged in the middle of the frame and are fixedly connected to the frame. The lifting frame is slidably connected to the two fixed plates and is located between the two fixed plates. The sliding plate is located in the middle of the lifting frame and is slidably connected to the lifting frame. The two support plates are respectively located on the two sides of the sliding plate and are rotatably connected to the sliding plate.

[0007] In a preferred embodiment, an electric push rod is provided on the side of the fixed frame away from the fixed plate. The electric push rod is fixedly connected to the fixed frame, and the drive end of the electric push rod is fixedly connected to the side wall of the lifting frame.

[0008] In a preferred embodiment, two fixing blocks are provided on the side of the lifting frame near the fixing plate. The fixing blocks are T-shaped. Two lifting grooves are provided on the side of the fixing plate near the lifting frame. The shape of the lifting grooves matches that of the fixing blocks. The groove direction of the lifting grooves is consistent with the height direction of the fixing plate. The fixing blocks are located inside the lifting grooves and form a sliding guide engagement with the lifting grooves.

[0009] In a preferred embodiment, a drive rod is provided on the side of the limiting plate away from the sliding plate. The drive rod is fixedly connected to the limiting plate. A guide groove is provided on the side of the fixed plate near the sliding plate. The guide groove has a triangular structure. The end of the drive rod away from the limiting plate is located in the guide groove and forms a sliding guide engagement with the guide groove.

[0010] In a preferred embodiment, two motors are provided on the side of the sliding plate away from the support plate. The two motors are symmetrically distributed and fixedly connected to the sliding plate. The drive end of the motor passes through the sliding plate and is connected to the rotation shaft of the support plate.

[0011] In a preferred embodiment, a friction plate is provided in the middle of the sliding plate, and the friction plate is fixedly connected to the sliding plate.

[0012] In a preferred embodiment, a telescopic mechanism is provided inside the tray. The telescopic mechanism includes a telescopic plate, which is disposed inside the tray and slidably connected to the tray. A second fixing block is provided on the side of the sliding plate near the tray and is fixedly connected to the sliding plate. A fixing rod is provided on the side of the telescopic plate near the second fixing block and is fixedly connected to the telescopic plate. A protrusion is provided on the end of the fixing rod away from the telescopic plate and is fixedly connected to the fixing rod. The protrusion is slidably connected to the second fixing block.

[0013] In a preferred embodiment, the tray has a receiving groove inside, the groove direction of which is consistent with the width direction of the tray, and the telescopic plate is located inside the receiving groove and forms a sliding guide engagement with the receiving groove.

[0014] In a preferred embodiment, a passive groove is provided on one side of the second fixing block. The passive groove has an arc-shaped structure. The distance from the end of the passive groove away from the fixing rod to the center of the second fixing block is less than the distance from the other end to the center of the second fixing block. The protrusion is located in the passive groove and forms a sliding guide engagement with the passive groove.

[0015] In a preferred embodiment, a positioning mechanism is provided inside the telescopic plate. The positioning mechanism includes a positioning plate and an electric push rod II. Both the positioning plate and the electric push rod II are disposed inside the telescopic plate. The positioning plate is slidably connected to the telescopic plate, and the electric push rod II is fixedly connected to the telescopic plate. The drive end of the electric push rod II is fixedly connected to the positioning plate.

[0016] The beneficial effects of this invention are as follows: 1. This invention utilizes the cooperation between a fixed plate, a lifting frame, a sliding plate, a pallet, and an electric push rod. After the pallet falls onto the pallet, the sliding plate moves downwards towards the conveyor belt and adheres to it. When the moving speed of the sliding plate matches the speed of the conveyor belt, the pallet releases the pallet, allowing it to fall onto the conveyor belt. There is no horizontal relative displacement between the pallet and the conveyor belt, thus avoiding frictional wear on the bottom of the pallet and reducing the probability of uneven force on one side of the pallet causing excessive force and pallet tilting.

[0017] 2. The present invention uses a pallet, a telescopic plate, a fixed rod, a protrusion, a passive groove, and a fixed block two in cooperation. When the pallet switches from the lifting state to the releasing state, the telescopic plate retracts into the interior of the receiving groove one simultaneously. This avoids the problem of hard collision and interference between the end of the pallet and the conveyor belt when the pallet is flipped and released, and achieves the effect of automatically avoiding the conveyor belt and preventing the pallet from being displaced and slipping due to vibration. Attached Figure Description

[0018] Figure 1 This is an overall schematic diagram of the present invention.

[0019] Figure 2 This is a side view of the present invention.

[0020] Figure 3 This is a schematic diagram of the fixing plate of the present invention.

[0021] Figure 4 This is a schematic diagram of the guide groove of the present invention.

[0022] Figure 5 This is a schematic diagram of the lifting frame of the present invention.

[0023] Figure 6 This is a schematic diagram of the friction plate of the present invention.

[0024] Figure 7 This is a cross-sectional view of the pallet of the present invention.

[0025] Figure 8 This is the invention Figure 7 Enlarged view of point A in the middle.

[0026] Figure 9 This is a cross-sectional view of the telescopic plate of the present invention.

[0027] Figure 10 This is a schematic diagram of the disassembly mechanism of the present invention.

[0028] In the diagram: 1. Frame; 11. Fixed frame; 2. Feeding mechanism; 3. Dismantling mechanism; 31. Hydraulic rod one; 32. Pallet one; 33. Hydraulic rod two; 34. Pallet two; 35. Hydraulic rod three; 36. Lifting plate; 4. Conveyor belt; 5. Transfer mechanism; 51. Fixed plate; 511. Guide groove; 512. Lifting groove; 52. Lifting frame; 521. Slide groove; 522. Fixed block one; 53. Sliding plate; 531. Limiting plate; 532. Drive rod; 54. Pallet; 541. Receiving groove one; 55. Motor; 56. Electric push rod one; 57. Friction plate; 6. Telescopic mechanism; 61. Fixed block two; 611. Passive groove; 62. Telescopic plate; 621. Fixed rod; 622. Protrusion; 623. Receiving groove two; 7. Positioning mechanism; 71. Positioning plate; 72. Electric push rod two. Detailed Implementation

[0029] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0030] like Figure 1 , Figure 2 and Figure 3As shown, an automatic palletizing and unpalletizing machine for an automated storage and retrieval system includes a frame 1, a fixed frame 11 and a conveyor belt 4 on the frame 1. The fixed frame 11 is fixedly connected to the upper part of the frame 1, and the conveyor belt 4 is installed in the middle of the frame 1. The fixed frame 11 is provided with a feeding mechanism 2 and a pallet unloading mechanism 3. Both the feeding mechanism 2 and the pallet unloading mechanism 3 are fixedly connected to the fixed frame 11 and are arranged vertically from top to bottom. A transfer mechanism 5 is provided in the middle of the fixed frame 11 and is located below the pallet unloading mechanism 3. The transfer mechanism 5 includes two fixed plates 51, a lifting frame 52, a sliding plate 53, and two support plates 54. The two fixed plates 51 are symmetrically arranged in the middle of the frame 1 and are fixedly connected to the frame 1. The lifting frame 52 is slidably connected to the two fixed plates 51 and is located between the two fixed plates 51. The sliding plate 53 is arranged in the middle of the lifting frame 52 and is slidably connected to the lifting frame 52. The two support plates 54 are respectively arranged on the two sides of the sliding plate 53 and are rotatably connected to the sliding plate 53.

[0031] It should be noted that, as Figure 1 , Figure 2 and Figure 3 As shown, the feeding mechanism 2 is used to supply pallets. In this embodiment, the feeding mechanism 2 is a clamping conveyor belt, which is existing technology and will not be described in detail.

[0032] It should be noted that, as Figure 1 , Figure 2 and Figure 10As shown, the pallet-separating mechanism 3 is used to separate stacked pallets. In this embodiment, the pallet-separating mechanism 3 includes a blocking mechanism and a separating mechanism. The blocking mechanism includes a set of hydraulic rods 31, which are fixedly connected to the fixed frame 11. The hydraulic rods 31 are arranged vertically, and a clamping plate 32 is provided at the driving end of the hydraulic rods 31. A nozzle is provided at the lower part of the clamping plate 32, with the nozzle facing the pallet. The other end of the nozzle is connected to an air compressor through a pipe. The separating mechanism includes a set of hydraulic rods 35 and a set of hydraulic rods 33. The hydraulic rods 35 are fixedly connected to the lower part of the fixed frame 11. A lifting plate 36 is fixed at the output end of the hydraulic rods 35 and is slidably connected to the fixed frame 11. The hydraulic rods 33 are disposed on the lifting plate 36, and a clamping plate 34 is provided at the driving end of the hydraulic rods 33. The clamping plate 34 is located below the clamping plate 32. In this embodiment, the blocking mechanism is used to clamp the pallet above the bottom pallet, thus separating the bottom pallets. Hydraulic rod 31 drives clamping plate 32 to retract. At this time, clamping plate 32 does not obstruct the downward movement of the upper tray. When the previous tray moves to the lower part of clamping plate 32, hydraulic rod 31 drives clamping plate 32 to lock onto the upper part of this tray. The separation mechanism is used to fasten the upper edge of the separated tray and push it downward after the tray is separated. When separating the tray, hydraulic rod 33 drives lifting plate 36 to descend, which in turn drives hydraulic rod 35 and clamping plate 34 to descend. Clamping plate 34 pushes the bottom tray downward. The nozzle set at the lower part of clamping plate 32 sprays air to break the original airtightness between the two trays and assist in the separation of the tray. When the two are separated, hydraulic rod 35 drives clamping plate 34 to retract, and hydraulic rod 33 drives lifting plate 36 to rise, which in turn drives hydraulic rod 35 to drive clamping plate 34 back to its original position. At this time, hydraulic rod 35 drives clamping plate 34 to re-insert into the bottom of the bottom tray. This can realize the function of continuous separation of the tray. This is the prior art and will not be described in detail.

[0033] It should be noted that, as Figure 1 , Figure 2 and Figure 3 As shown, the conveyor belt 4 is used to transfer the separated pallets. In this embodiment, in order to avoid the conveyor belt 4 from being dented when the friction block 57 descends and adheres to the conveyor belt 4, and to reduce the friction between the friction block 57 and the conveyor belt 4, the conveyor belt 4 is a chain plate type conveyor belt. When the friction block 57 is pressed on the chain plate type conveyor belt, since the chain plate is made of metal, the pressing of the friction block 57 will not cause the conveyor belt 4 to deform. At the same time, the movement of the chain plate can also drive the pallet to move. This is the prior art and will not be described in detail.

[0034] Specifically, such as Figure 1 , Figure 2 and Figure 3As shown, an electric push rod 56 is provided on the side of the fixed frame 11 away from the fixed plate 51. The electric push rod 56 is fixedly connected to the fixed frame 11, and the drive end of the electric push rod 56 is fixedly connected to the side wall of the lifting frame 52. It should be noted that, as Figure 4 and Figure 5 As shown, the lifting frame 52 has two fixing blocks 522 on the side near the fixed plate 51. The fixing blocks 522 are T-shaped. The fixed plate 51 has two lifting grooves 512 on the side near the lifting frame 52. The shape of the lifting grooves 512 matches the fixing blocks 522. The groove direction of the lifting grooves 512 is consistent with the height direction of the fixed plate 51. The fixing blocks 522 are located inside the lifting grooves 512 and form a sliding guide fit with the lifting grooves 512. That is, the fixing blocks 522 are slidably connected to the fixed plate 51 through the lifting grooves 512, that is, the lifting frame 52 is slidably connected to the fixed plate 51.

[0035] It should be noted that, as Figure 4 and Figure 5 As shown, limit plates 531 are provided on both sides of the sliding plate 53. The axis of the limit plate 531 is consistent with the length direction of the sliding plate 53. Two sliding grooves 521 are provided on the lifting frame 52. The groove direction of the sliding groove 521 is consistent with the length direction of the lifting frame 52. The limit plate 531 is located inside the sliding groove 521 and forms a sliding guide cooperation with the sliding groove 521. That is, the limit plate 531 is slidably connected to the lifting frame 52 through the sliding groove 521, that is, the sliding plate 53 is slidably connected to the lifting frame 52. It is necessary to add that, such as Figure 4 and Figure 5 As shown, a drive rod 532 is provided on the side of the limiting plate 53 away from the sliding plate 53. The drive rod 532 is fixedly connected to the limiting plate 531. A guide groove 511 is provided on the side of the fixed plate 51 near the sliding plate 53. The guide groove 511 has a triangular structure. One end of the drive rod 532 away from the limiting plate 531 is located in the guide groove 511 and forms a sliding guide engagement with the guide groove 511. That is, the drive rod 532 is slidably connected to the fixed plate 51 through the guide groove 511. It is necessary to add that, such as Figure 4 and Figure 5 As shown, in this embodiment, the guide groove 511 has one horizontal section and two inclined sections, that is, the guide groove 511 has a triangular structure. Therefore, the guide groove 511 has three inflection points. In this embodiment, referring to... Figure 4 In this embodiment, the three inflection points start from... Figure 8Starting from the upper middle part, points E, F, and G are sequentially referred to clockwise. Therefore, in this embodiment, two blocks are provided in the guide groove 511, with the two blocks respectively located at points E and G. The blocks are rotatably connected to the side wall of the guide groove 511. A coil spring is provided at the rotatable connection between the block and the fixing plate 51. One end of the coil spring is located on the side wall of the guide groove 511, and the other end of the coil spring is fixedly connected to the rotatable connection between the block and the fixing plate 51. A notch with the same diameter as the drive rod 532 is provided at the edge of the block. The initial positions of the two blocks are: the notch on the block at point E faces point G, at which time the coil spring at this point is in its natural state; the notch on the block at point G faces point F, at which time the coil spring at this point is in its natural state. Specifically, such as Figure 4 and Figure 5 As shown, two motors 55 are provided on the side of the sliding plate 53 away from the support plate 54. The two motors 55 are symmetrically distributed and are fixedly connected to the sliding plate 53. The drive end of the motor 55 passes through the sliding plate 53 and is connected to the rotation shaft of the support plate 54. Specifically, such as Figure 4 and Figure 5 As shown, a friction plate 57 is provided in the middle of the sliding plate 53, and the friction plate 57 is fixedly connected to the sliding plate 53. It is necessary to add that, such as Figure 4 and Figure 5 As shown, a flexible friction pad is provided at the lower end of the friction plate 57. When the friction plate 57 descends and contacts the conveyor belt 4, it can reduce or buffer the impact force brought by the descent of the friction plate 57 and maintain good contact with the conveyor belt 4, so that the two are in a static friction state. It is necessary to add that, such as Figure 4 and Figure 5 As shown, the pallet 54 has a lifting state and a releasing state. The lifting state is the initial state of the pallet 54. When the pallet 54 is in the lifting state, the pallet 54 is at a horizontal angle, and the fixing block 522 is located inside the upper part of the lifting groove 512, that is, the lifting frame 52 is located above the fixing plate 51. At this time, the limiting plate 531 is located inside the right side of the slide groove 521. (Refer to...) Figure 5 The drive rod 532 is located inside the upper right side of the guide groove 511; When the pallet 54 is in the released state, the pallet 54 is at a vertical angle, and the fixing block 522 is located in the lower part of the lifting groove 512, that is, the lifting frame 52 is located in the lower part of the fixing plate 51. At this time, the limiting plate 531 is located in the left side of the sliding groove 521. (Refer to...) Figure 5 The drive rod 532 is located on the lower left side inside the guide groove 511.

[0036] When the stacked pallets enter the feeding mechanism 2, they are held and moved downwards by the clamping conveyor belt. The bottom pallet is separated by the blocking and separating mechanisms and falls onto two pallet plates 54, which support the pallets on both sides. At this time, the electric push rod 56 is activated to push the lifting frame 52 downwards. The lifting frame 52 moves closer to the conveyor belt 4. Along with the movement of the lifting frame 52, the sliding plate 53 moves downwards. The drive rod 532 moves downwards within the guide groove 511. The guide groove 511 guides the drive rod 532 to move downwards at an angle. The horizontal movement of the drive rod 532 can push the sliding plate 53 to the left within the lifting frame 52. Figure 3When the drive rod 532 moves to the lower horizontal section of the guide groove 511, the electric push rod 56 stops pushing the lifting frame 52 downward, and the friction plate 57 abuts against the upper surface of the conveyor belt 4. At this time, the conveyor belt 4 can drive the sliding plate 53 to move to the left. When the sliding plate 53 moves to the left end of the slide groove 521, that is, when the drive rod 532 moves to the left end of the lower horizontal section of the guide groove 511, that is, when the limiting plate 531 moves from the right end to the left end of the slide groove 521, the electric push rod 56 starts, driving the lifting frame 52 to move upward. During this process, the speed of the lifting frame 52 and the conveyor belt 4 is consistent. During this process, the motor... 55 starts and drives the pallet 54 to rotate, causing the pallet 54 to rotate 90 degrees from the lifting state to the releasing state. That is, before the drive rod 532 reaches the left end of the lower horizontal section of the guide groove 511, the pallet is released by the pallet 54 and falls on the upper part of the conveyor belt 4, and moves away with the conveyor belt 4. When the drive rod 532 reaches the left end of the lower horizontal section of the guide groove 511, the drive rod 532 pushes the stop block to rotate clockwise. When the stop block rotates, it pushes the drive rod 532 upward to the left inclined section of the guide groove 511. When the drive rod 532 leaves the stop block, the spring at that point rebounds and causes the stop block to rotate back to its original position. When the drive rod 532 moves from the left inclined section... When the inclined section moves to the inflection point E, the drive rod 532 pushes the stop block at that point to rotate. At this time, the lifting frame 52 is back in the lower part of the pallet dismantling mechanism 3. During the process of the drive rod 532 moving from point G to point E, the motor 55 starts and drives the pallet 54 to rotate back to its original position, that is, the pallet 54 rotates 90 degrees in the opposite direction to switch from the released state to the lifting state. At the same time, during the upward tilting movement of the drive rod 532, the horizontal displacement of the drive rod 532 can push the drive rod 532 to move back to its original position, that is, the limiting plate 531 moves from the left side of the slide 521 to the right side. At this time, one pallet transfer process is completed. Repeating the above process can realize the transfer of the pallet. The continuous transfer; through the cooperation between the fixed plate 51, the lifting frame 52, the sliding plate 53, the pallet 54 and the electric push rod 56, after the pallet falls onto the pallet 54, it carries the pallet 54 downward to approach the conveyor belt 4 and adheres to the conveyor belt 4. When the moving speed of the sliding plate 53 is consistent with the speed of the conveyor belt 4, the pallet 54 releases the pallet, so that the pallet falls onto the conveyor belt 4. There is no horizontal relative displacement between the pallet and the conveyor belt 4, that is, there is no frictional contact between the two, which avoids the probability of frictional wear on the bottom of the pallet and uneven force on the pallet upon landing, which leads to excessive force on one side of the pallet and causes the pallet to shift and overturn.

[0037] In the above embodiments, such as Figure 5 , Figure 6 and Figure 7As shown, there is a height difference between the bottom surface and the side of the pallet. When the pallet 54 is horizontally supporting the pallet, its end extends outward. When the motor 55 drives the pallet 54 to rotate and flip from the horizontal supporting state to the vertical release state, the outward-extending end of the pallet 54 is very likely to directly impact and abut against the surface of the conveyor belt 4. Long-term continuous impact will not only cause deformation and wear of the conveyor belt 4 chain plate, but also cause the end of the pallet 54 to bend and be damaged, seriously affecting the service life of the equipment. At the same time, the vibration generated by the impact can easily cause the pallet to shift and slip at the moment of release. Therefore, in order to solve the above technical problems, in this embodiment, the pallet 54 is internally... A telescopic mechanism 6 is provided, which includes a telescopic plate 62. The telescopic plate 62 is disposed inside the support plate 54 and is slidably connected to the support plate 54. A second fixing block 61 is provided on the side of the sliding plate 53 near the support plate 54 and is fixedly connected to the sliding plate 53. A fixing rod 621 is provided on the side of the telescopic plate 62 near the second fixing block 61 and is fixedly connected to the telescopic plate 62. A protrusion 622 is provided on the end of the fixing rod 621 away from the telescopic plate 62 and is fixedly connected to the fixing rod 621. The protrusion 622 is slidably connected to the second fixing block 61.

[0038] It should be noted that, as Figure 5 , Figure 6 and Figure 8 As shown, the tray 54 has an internal receiving groove 541, the groove direction of which is consistent with the width direction of the tray 54. The telescopic plate 62 is located in the receiving groove 541 and forms a sliding guide engagement with it, that is, the telescopic plate 62 is slidably connected to the tray 54 through the receiving groove 541. One end of the fixing rod 621 is located in the receiving groove 541, and the other end of the fixing rod 621 passes through the side wall of the tray 54, that is, the other end of the fixing rod 621 extends out of the receiving groove 541. The tray 54 has a groove in the middle, and the fixing block 61 is located in the groove. The axis of the fixing block 61 is consistent with the axis of rotation of the tray 54 and the sliding plate 53. A passive groove 611 is provided on one side of the fixing block 611. The passive groove 611 has an arc-shaped structure. Figure 8 That is, the distance from the end of the passive groove 611 away from the fixed rod 621 to the center of the second fixed block 61 is less than the distance from the other end to the center of the second fixed block 61. The protrusion 622 is located in the passive groove 611 and forms a sliding guide fit with the passive groove 611. That is, the protrusion 622 is slidably connected to the second fixed block 61 through the passive groove 611.

[0039] Specifically, such as Figure 5 , Figure 6 and Figure 7As shown, the telescopic plate 62 has an extended state and a retracted state. The extended state is the initial state of the telescopic plate 62. When the telescopic plate 62 is in the initial state, the support plate 54 is in the lifting state. At this time, the end of the telescopic plate 62 near the fixing rod 621 is located inside the receiving groove 541, and the end of the telescopic plate 62 away from the fixing rod 621 extends out of the receiving groove 541. The protrusion 622 is located inside the passive groove 611 on the side away from the center of the second fixing block 61. When the telescopic plate 62 is in the retracted state, the support plate 54 is in the released state. At this time, the entire telescopic plate 62 retracts into the receiving groove 541, and the protrusion 622 is located inside the passive groove 611 on the side near the center of the second fixing block 61.

[0040] As the lifting frame 52 moves downward and the friction plate 57 contacts the conveyor belt 4, the sliding plate 53 can move together with the conveyor belt 4. At this time, the motor 55 starts and drives the pallet 54 to rotate 90 degrees. The pallet 54 rotates from the horizontal position to the vertical position, that is, during the process of the pallet 54 switching from the lifting state to the releasing state, the pallet 54 drives the telescopic plate 62 to rotate 90 degrees together. The angle of the telescopic plate 62 relative to the fixed block 61 changes, and the fixing rod 621 moves from the edge of the fixed block 61 to the middle of the fixed block 61. That is, during the rotation of the pallet 54, the pallet 54 pushes the telescopic plate 62 to move in the horizontal position. Under the guidance of the passive groove 611, the side wall of the passive groove 611 pushes the protrusion 622 to move upward. The protrusion 622 can drive the fixed rod 621 and the telescopic plate 62 to move relative to the pallet 54 toward the fixed block 61. That is, the telescopic plate 62 can move and retract into the interior of the receiving groove 541. In other words, during the process of the pallet 54 rotating from the lifting state to the releasing state, the telescopic plate 62 can retract into the interior of the receiving groove 541. Through the cooperation of the pallet 54, the telescopic plate 62, the fixed rod 621, the protrusion 622, the passive groove 611 and the fixed block 61, when the pallet 54 switches from the lifting state to the releasing state, the telescopic plate 62 retracts into the interior of the receiving groove 541 simultaneously. This avoids the problem of hard collision interference between the end of the pallet 54 and the conveyor belt 4 when the pallet 54 is flipped and released, and achieves the effect of automatically avoiding the conveyor belt 4 and preventing the pallet from being displaced and slipping due to vibration.

[0041] In the above embodiments, such as Figure 5 , Figure 6 and Figure 9As shown, for smaller pallets, when the pallet lands on the pallet plate 54, one side of the pallet may not be supported on the pallet plate 54, with only a local area supported on the telescopic plate 62. If the pallet's support area is insufficient, the pallet may tilt or tip over during the downward movement of the lifting frame 52 and synchronous movement with the conveyor belt 4. This not only fails to ensure that the pallet is placed centered on the conveyor belt 4, but also easily causes the pallet to slip off prematurely and get stuck between the pallet plate 54 and the conveyor belt 4, resulting in material blockage during conveying. Therefore, in order to solve the above technical problems, in this embodiment, a positioning mechanism 7 is provided inside the telescopic plate 62. The positioning mechanism 7 includes a positioning plate 71 and an electric push rod 72. Both the positioning plate 71 and the electric push rod 72 are located inside the telescopic plate 62. The positioning plate 71 is slidably connected to the telescopic plate 62, and the electric push rod 72 is fixedly connected to the telescopic plate 62. The drive end of the electric push rod 72 is fixedly connected to the positioning plate 71.

[0042] It should be noted that, as Figure 9 As shown, the telescopic plate 62 has a receiving groove 623 inside. The groove direction of the receiving groove 623 is consistent with the width direction of the telescopic plate 62. The positioning plate 71 is located inside the receiving groove 623 and forms a sliding guide fit with the receiving groove 623. That is, the positioning plate 71 is slidably connected to the telescopic plate 62 through the receiving groove 623, and the electric push rod 72 is fixedly connected inside the receiving groove 623.

[0043] It is necessary to add that, such as Figure 9 As shown, the positioning plate 71 has a centered state and a clearance state. The clearance state is the initial state of the positioning plate 71. When the positioning plate 71 is in the clearance state, the entire positioning plate 71 is located inside the receiving groove 623. When the positioning plate 71 is in the centered state, the end of the positioning plate 71 near the telescopic plate 62 is located inside the receiving groove 623, and the end of the positioning plate 71 away from the telescopic plate 62 extends out from inside the receiving groove 623.

[0044] When the pallet falls from the unloading mechanism 3 and lands on the pallet plate 54, the electric push rod 72 activates to push the positioning plate 71 out of the receiving groove 623. When the positioning plate 71 abuts against the side wall of the pallet or when its extension reaches its limit, the electric push rod 72 stops operating, meaning the positioning plate 71 switches from a clearance state to a centered state. At this time, the positioning plate 71 can push the pallet to the center of the sliding plate 53 during movement. While the electric push rod 56 pushes the lifting frame 52 downwards, the positioning plate 71 remains centered. When the friction plate 57 abuts against the surface of the conveyor belt 4, the sliding plate 53 and the two pallets... 54 moves together with the conveyor belt 4. During this process, the electric push rod 72 starts before the motor 55. The electric push rod 72 drives the positioning plate 71 to retract into the receiving groove 623, that is, the positioning plate 71 switches from the centering state to the avoidance state. Then the motor 55 starts and drives the pallet 54 to rotate from the lifting state to the releasing state. At the same time, the fixing block 61 switches from the extended state to the retracted state. Through the cooperation of the telescopic plate 62, the electric push rod 72 and the positioning plate 71, the pallet is pushed to the center after the small pallet falls on the pallet 54, reducing the probability of the pallet tilting and blocking the conveyor line due to insufficient support.

[0045] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. An automatic pallet splitting and unloading machine for an automated storage and retrieval system, characterized in that, Includes a frame (1), on which a fixed frame (11) and a conveyor belt (4) are provided. The fixed frame (11) is fixedly connected to the upper part of the frame (1), and the conveyor belt (4) is installed in the middle of the frame (1). The fixed frame (11) is provided with a feeding mechanism (2) and a dismantling mechanism (3). The feeding mechanism (2) and the dismantling mechanism (3) are both fixedly connected to the fixed frame (11). The feeding mechanism (2) and the dismantling mechanism (3) are arranged vertically from top to bottom. The middle of the fixed frame (11) is provided with a transfer mechanism (5). The transfer mechanism (5) is located at the lower part of the dismantling mechanism (3). The transfer mechanism (5) includes two fixed plates (51), a lifting frame (52), a sliding plate (53), and two support plates (54). The two fixed plates (51) are symmetrically arranged in the middle of the frame (1). The fixed plates (51) are fixedly connected to the frame (1). The lifting frame (52) is slidably connected to the two fixed plates (51) and is located between the two fixed plates (51). The sliding plate (53) is arranged in the middle of the lifting frame (52) and is slidably connected to the lifting frame (52). The two support plates (54) are respectively arranged on the two sides of the sliding plate (53) and are rotatably connected to the sliding plate (53).

2. The automatic pallet sorting and unscrambling machine for an automated storage and retrieval system according to claim 1, characterized in that, An electric push rod (56) is provided on the side of the fixed frame (11) away from the fixed plate (51). The electric push rod (56) is fixedly connected to the fixed frame (11), and the drive end of the electric push rod (56) is fixedly connected to the side wall of the lifting frame (52).

3. The automatic pallet splitting and unloading machine for an automated storage and retrieval system according to claim 2, characterized in that, Two fixing blocks (522) are provided on the side of the lifting frame (52) near the fixing plate (51). The fixing blocks (522) are T-shaped. Two lifting grooves (512) are provided on the side of the fixing plate (51) near the lifting frame (52). The shape of the lifting grooves (512) matches the fixing blocks (522). The groove direction of the lifting grooves (512) is consistent with the height direction of the fixing plate (51). The fixing blocks (522) are located inside the lifting grooves (512) and form a sliding guide fit with the lifting grooves (512).

4. The automatic pallet sorting and unscrambling machine for an automated storage and retrieval system according to claim 3, characterized in that, A drive rod (532) is provided on the side of the limiting plate (53) away from the sliding plate (53). The drive rod (532) is fixedly connected to the limiting plate (531). A guide groove (511) is provided on the side of the fixed plate (51) near the sliding plate (53). The guide groove (511) has a triangular structure. The end of the drive rod (532) away from the limiting plate (531) is located in the guide groove (511) and forms a sliding guide engagement with the guide groove (511).

5. An automatic pallet splitting and unloading machine for an automated storage and retrieval system according to claim 4, characterized in that, Two motors (55) are provided on the side of the sliding plate (53) away from the support plate (54). The two motors (55) are symmetrically distributed. The motors (55) are fixedly connected to the sliding plate (53). The driving end of the motor (55) passes through the sliding plate (53) and is connected to the rotating shaft of the support plate (54).

6. An automatic pallet sorting and unscrambling machine for an automated storage and retrieval system according to claim 5, characterized in that, A friction plate (57) is provided in the middle of the sliding plate (53), and the friction plate (57) is fixedly connected to the sliding plate (53).

7. An automatic pallet splitting and unloading machine for an automated storage and retrieval system according to claim 6, characterized in that, A telescopic mechanism (6) is provided inside the tray (54). The telescopic mechanism (6) includes a telescopic plate (62). The telescopic plate (62) is located inside the tray (54) and is slidably connected to the tray (54). A second fixing block (61) is provided on the side of the sliding plate (53) near the tray (54). The second fixing block (61) is fixedly connected to the sliding plate (53). A fixing rod (621) is provided on the side of the telescopic plate (62) near the second fixing block (61). The fixing rod (621) is fixedly connected to the telescopic plate (62). A protrusion (622) is provided at the end of the fixing rod (621) away from the telescopic plate (62). The protrusion (622) is fixedly connected to the fixing rod (621) and is slidably connected to the second fixing block (61).

8. An automatic pallet splitting and unloading machine for an automated storage and retrieval system according to claim 7, characterized in that, The tray (54) has a receiving groove (541) inside. The groove direction of the receiving groove (541) is consistent with the width direction of the tray (54). The telescopic plate (62) is located in the receiving groove (541) and forms a sliding guide fit with the receiving groove (541).

9. An automatic pallet sorting and unscrambling machine for an automated storage and retrieval system according to claim 8, characterized in that, A passive groove (611) is provided on one side of the fixed block 2 (61). The passive groove (611) has an arc-shaped structure. The distance from the end of the passive groove (611) away from the fixed rod (621) to the center of the fixed block 2 (61) is less than the distance from the other end to the center of the fixed block 2 (61). The protrusion (622) is located in the passive groove (611) and forms a sliding guide fit with the passive groove (611).

10. An automatic pallet sorting and unscrambling machine for an automated storage and retrieval system according to claim 9, characterized in that, The telescopic plate (62) is equipped with a positioning mechanism (7). The positioning mechanism (7) includes a positioning plate (71) and an electric push rod (72). The positioning plate (71) and the electric push rod (72) are both located inside the telescopic plate (62). The positioning plate (71) is slidably connected to the telescopic plate (62), and the electric push rod (72) is fixedly connected to the telescopic plate (62). The driving end of the electric push rod (72) is fixedly connected to the positioning plate (71).

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