A machine for unstacking trays

Abstract

The utility model discloses a kind of disassembly and stacking machine, including cylinder line, the top of cylinder line is provided with vertical frame, disassembly and stacking machine further includes lifting assembly, lifting assembly is set to the inside of vertical frame;Clamping assembly is set to the top of cylinder line.The utility model relates to the field of logistics automation, by installing the two clamping arms of disassembly and stacking machine and corresponding drive cylinder on two slide rods, clamping arm is clamped or loosened on the both sides of tray, and by the overall up-down movement of slide rod and clamping arm, disassembly or stacking operation is carried out to tray, when other size tray needs to be adapted, by adjusting the fixed position of clamping arm and drive cylinder on slide rod, the spacing between the two clamping arms is quickly adjusted, without replacing a large number of accessories or complex adjustment equipment parameters, effectively improve the versatility and operation convenience of equipment, improve the use flexibility of disassembly and stacking machine.

Description

Technical Field

[0001] This utility model relates to the field of logistics automation technology, specifically a pallet unpacking and stacking machine. Background Technology

[0002] Pallet destacking machines (also known as pallet stacking machines) are key equipment in automated warehousing systems. They are mainly used for the automatic splitting and stacking of pallets and are widely used in automated warehouses and production lines in logistics, manufacturing and other fields. Through advanced mechanical structures and control systems, they split or stack pallets, effectively improving the level of automation in warehousing and production, and reducing labor costs and operational errors.

[0003] In the existing technology, pallet destacking machines can usually only be adapted to pallets of the corresponding size. They are not very adaptable to pallets with large size differences. When changing pallets of different sizes, it is often necessary to replace or adjust a large number of parts and adjust the equipment parameters, which not only increases the complexity of operation and time cost, but also limits the flexibility of use of pallet destacking machines. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a pallet destabilizing and stacking machine, which solves the problem that pallet destabilizing and stacking machines can usually only adapt to pallets of corresponding sizes, and have poor adaptability to pallets with large size differences. When changing pallets of different sizes, it is often necessary to replace or adjust a large number of parts and adjust the equipment parameters, which not only increases the complexity of operation and time cost, but also limits the flexibility of use of the pallet destabilizing and stacking machine.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a destacking and stacking tray machine, including a roller conveyor, a vertical frame at the top of the roller conveyor, and a lifting assembly located inside the vertical frame; a clamping assembly located above the roller conveyor; wherein the clamping assembly clamps the material tray, and the lifting assembly raises and lowers the clamping assembly and the material tray, thereby splitting or stacking the material tray, and the clamping arm spacing of the clamping assembly can be quickly and adaptively adjusted.

[0006] Preferably, the lifting assembly includes a servo motor, which is fixedly connected to the top inner side of the vertical frame; a drive shaft is rotatably connected to the top inner side of the vertical frame below the servo motor and is also connected to the output end of the servo motor; two sets of sprockets are provided, which are respectively fixedly connected to both ends of the drive shaft and rotatably connected to the bottom sides of the vertical frame; chains are provided on both sides of the interior of the vertical frame and are meshed with the sprockets; guide rails are fixedly connected to both sides of the vertical frame; the lifting seat is slidably connected to the outer wall of the guide rail, and the upper and lower ends of the outer wall are respectively fixedly connected to the two ends of the chain; a lifting sensing assembly is provided on one side of the vertical frame located at the lifting seat; wherein, the servo motor drives the drive shaft to rotate, and drives the lifting seat to move up and down along the guide rail through the sprockets and chain, thereby driving the clamping assembly to lift and lower, and the lifting sensing assembly senses the height position of the lifting seat.

[0007] Preferably, the lifting sensing component includes photoelectric sensors, with multiple photoelectric sensors fixedly connected to one side of the vertical frame located on the lifting seat; a sensing plate fixedly connected to the side of the lifting seat near the photoelectric sensors and correspondingly positioned on the photoelectric sensors; and two limit switches fixedly connected to the vertical frame located above and below the lifting seat, with their sensing ends connected to the lifting seat. During the lifting process, the sensing plate moves synchronously. When the sensing plate moves to the corresponding position of the photoelectric sensor, the photoelectric sensor generates a sensing signal, enabling the control system to accurately determine the current height position of the lifting seat. The limit switches are triggered when the lifting seat reaches preset upper and lower limit positions, serving as safety protection and limit position positioning functions.

[0008] Preferably, the clamping assembly includes two slide rods, which are fixed to the upper and lower parts of the lifting seat respectively; a movable seat is slidably connected to the outer wall of the slide rods; two fixed plates are distributed on both sides of the interior of the vertical frame; multiple fixing clamps are equidistantly fixed to both sides of the fixing plates and are also connected to the outer wall of the slide rods; a servo cylinder is fixedly connected to one side of the fixing plates that are close to each other, and its output end is fixedly connected to the movable seat; a material lifting structure is located on one side of the movable seat; and a pallet sensing component is located above the roller conveyor. The slide rods and the lifting seat move synchronously, the fixing plates are fixed to a designated position on the slide rods by the fixing clamps, the movable seat is driven to slide on the slide rods by controlling the servo cylinders, and the pallet sensing component senses the position of the pallet, causing the material lifting structure to clamp and lift the material pallet.

[0009] Preferably, the material lifting structure includes a bracket, which is fixedly connected to the outer wall of the movable seat; multiple pallets are provided and are fixedly connected at equal intervals to the sides of the bracket that are close to each other; a limiting plate is provided on the top of the pallet; wherein, the bracket and the movable seat move synchronously, and when lifting the pallet, the two brackets move towards each other, so that the pallet is inserted into the insertion hole on the side of the pallet, and is lifted, split or stacked, and the limiting plate can prevent the pallet from slipping during the lifting process.

[0010] Preferably, the pallet sensing component includes a first laser rangefinder sensor mounted on the bottom of the bracket; a height adjustment seat fixedly connected to the outer wall of the bracket; and a second laser rangefinder sensor mounted on one side of the height adjustment seat and connected to the roller conveyor. The first laser rangefinder sensor measures the distance between the bracket and the side of the pallet, while the second laser rangefinder sensor senses the height of the bracket and can be adjusted via the height adjustment seat, facilitating the controller's detection of the pallet clamping status and lifting height.

[0011] Preferably, limit rods are fixedly connected at equal intervals on the side of the vertical frame closest to the bracket. Beneficial effects

[0012] This utility model provides a pallet destacking and stacking machine. It has the following advantages: This machine, by mounting two clamping arms and corresponding drive cylinders onto two sliding rods, controls the drive cylinders to move the two clamping arms relative to each other on the sliding rods. This allows the clamping arms to grip or release the pallet on both sides. By moving the sliding rods and clamping arms up and down as a whole, it can perform pallet splitting or stacking operations. Furthermore, when adapting to pallets of other sizes, the distance between the two clamping arms can be quickly adjusted according to the pallet size by adjusting the fixed positions of the clamping arms and drive cylinders on the sliding rods. This adapts to the clamping needs of pallets of different sizes without requiring the replacement of numerous parts or complex adjustments to equipment parameters, effectively improving the versatility and ease of operation of the machine, thus enhancing its flexibility. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a side view of the structure of this utility model; Figure 3 This is a schematic diagram of the appearance of the present utility model; Figure 4 This is a schematic diagram showing the appearance of the bracket, tray, and movable seat in this utility model; Figure 5 for Figure 1 A magnified view of a portion of region A in the middle.

[0014] Explanation of reference numerals in the attached drawings: 1. Roller conveyor; 2. Vertical frame; 3. Lifting assembly; 4. Clamping assembly; 31. Servo motor; 32. Drive shaft; 33. Sprocket; 34. Chain; 35. Guide rail; 36. Lifting seat; 37. Lifting sensing assembly; 371. Photoelectric sensor; 372. Sensing plate; 373. Limit switch; 41. Slide rod; 42. Moving seat; 43. Fixed plate; 44. Fixed clamp; 45. Servo cylinder; 46. Material lifting structure; 47. Pallet sensing assembly; 461. Bracket; 462. Pallet; 463. Limiting plate; 471. First laser rangefinder sensor; 472. Height adjustment seat; 473. Second laser rangefinder sensor; 5. Limiting rod. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Those skilled in the art should connect all electrical components and their compatible power supplies in this case via wires. Appropriate controllers and encoders should be selected according to the actual situation to meet control requirements. The specific connection and control sequence should refer to the working principle described below, where the electrical components are connected in sequence. The detailed connection methods are well-known in the art. The following mainly introduces the working principle and process, and will not describe the electrical control further.

[0017] Those skilled in the art can connect the components in this case sequentially. The specific connection and operation sequence should refer to the working principle described below. The detailed connection methods are well-known technologies in the field. The working principle and process are mainly described below.

[0018] Pallet destacking machines are typically only compatible with pallets of the same size. They are less adaptable to pallets with large size differences. When changing pallets of different sizes, it is often necessary to replace or adjust a large number of parts and adjust the equipment parameters, which not only increases the complexity and time cost of operation, but also limits the flexibility of the pallet destacking machine.

[0019] In view of this, the present invention provides a pallet destacking and stacking machine. Through the cooperation of the roller conveyor, vertical frame, lifting assembly, and clamping assembly, the two clamping arms of the pallet destacking and stacking machine and their corresponding drive cylinders are installed on two slide rods. By controlling the drive cylinders, the two clamping arms move relative to each other on the slide rods, thereby clamping or releasing the pallets on both sides. By moving the slide rods and clamping arms up and down as a whole, the pallet can be split or stacked. Furthermore, when it is necessary to adapt to pallets of other sizes, the distance between the two clamping arms can be quickly adjusted according to the pallet size by adjusting the fixed positions of the clamping arms and drive cylinders on the slide rods. This allows it to adapt to the clamping requirements of pallets of different sizes without the need to replace a large number of parts or make complex adjustments to equipment parameters, effectively improving the versatility and ease of operation of the equipment, thereby increasing the flexibility of the pallet destacking and stacking machine.

[0020] Depend on Figure 1-5 As can be seen, the destacking and stacking machine in this case includes a roller conveyor 1, a vertical frame 2 is provided on the top of the roller conveyor 1, and the destacking and stacking machine also includes a lifting component 3 and a clamping component 4. The lifting component 3 is located inside the vertical frame 2; the clamping component 4 is located above the roller conveyor 1. The clamping component 4 clamps the material pallet, and the lifting component 3 lifts and lowers the clamping component 4 and the material pallet, so that the material pallet can be split or stacked. At the same time, the clamping arm spacing of the clamping component 4 can be quickly and adaptively adjusted.

[0021] In the specific implementation process, it is worth noting that the roller conveyor 1 is used to transport material pallets, and the vertical frame 2 serves as the supporting structure for the entire equipment, providing a stable installation foundation for the lifting assembly 3 and the clamping assembly 4. Furthermore, the bottom of the vertical frame 2 is fixed to the bottom frame of the roller conveyor 1 to ensure the stability and reliability of the equipment during operation. The lifting assembly 3 uses a chain drive to precisely control the up-and-down movement of the clamping assembly 4. The two clamping arms of the clamping assembly 4 and their corresponding drive cylinders are mounted on two slide rods 41. By controlling the drive cylinders, the two clamping arms move relative to each other on the slide rods 41, thereby clamping or releasing the pallets on both sides. By controlling the up-and-down movement of the clamping assembly 4, the pallet can be split or stacked. Through the roller conveyor 1, vertical frame 2, and lifting assembly 4... The cooperation between component 3 and clamping component 4 involves mounting the two clamping arms of the destacking and stacking pallet machine and their corresponding drive cylinders onto two slide bars 41. By controlling the drive cylinders, the two clamping arms move relative to each other on the slide bars 41, thereby clamping or releasing the pallets on both sides. The pallet can be split or stacked by moving the slide bars 41 and the clamping arms up and down as a whole. When it is necessary to adapt to pallets of other sizes, the distance between the two clamping arms can be quickly adjusted according to the pallet size by adjusting the fixed positions of the clamping arms and drive cylinders on the slide bars 41. This allows the machine to adapt to the clamping requirements of pallets of different sizes without the need to replace a large number of parts or make complex adjustments to the equipment parameters, effectively improving the versatility and ease of operation of the equipment, and thus increasing the flexibility of the destacking and stacking pallet machine.

[0022] In one feasible embodiment, the lifting assembly 3 includes a servo motor 31, a drive shaft 32, sprockets 33, a chain 34, a guide rail 35, a lifting seat 36, and a lifting sensing assembly 37. The servo motor 31 is fixedly connected to the inner top of the vertical frame 2; the drive shaft 32 is rotatably connected to the inner top of the vertical frame 2 below the servo motor 31 and is drively connected to the output end of the servo motor 31; two sets of sprockets 33 are provided, respectively fixedly connected to both ends of the drive shaft 32 and rotatably connected to the bottom sides of the vertical frame 2; the chain 34 is located inside the vertical frame 2. The vertical frame 2 is located on one side of the vertical frame 2 and is meshed with the sprocket 33; the guide rail 35 is fixedly connected to both sides of the vertical frame 2; the lifting seat 36 is slidably connected to the outer wall of the guide rail 35, and the upper and lower ends of the outer wall are respectively fixedly connected to the two ends of the chain 34; the lifting sensing component 37 is located on one side of the vertical frame 2 located on the lifting seat 36; wherein, the servo motor 31 drives the transmission shaft 32 to rotate, and drives the lifting seat 36 to move up and down along the guide rail 35 through the sprocket 33 and the chain 34, thereby driving the clamping component 4 to lift and lower, and the lifting sensing component 37 senses the height position of the lifting seat 36.

[0023] In the specific implementation process, it is worth noting that by controlling the servo motor 31, the transmission shaft 32 is driven to rotate, which in turn drives the sprocket 33 to rotate. The rotation of the sprocket 33 drives the chain 34 to transmit power, thereby causing the two lifting seats 36 to move up and down synchronously along the guide rail 35. The height position of the lifting seats 36 is sensed by the lifting sensing component 37, so that the control system can accurately control the operation of the servo motor 31 according to the sensing signal, thereby achieving precise control of the height of the clamping component 4. The specific model of the servo motor 31 is not limited, as long as it meets the usage requirements.

[0024] In one feasible embodiment, the lifting sensing component 37 includes a photoelectric sensor 371, a sensing plate 372, and a limit switch 373. Multiple photoelectric sensors 371 are fixedly connected to one side of the vertical frame 2 located on the lifting seat 36. The sensing plate 372 is fixedly connected to the side of the lifting seat 36 near the photoelectric sensor 371 and is correspondingly positioned to the photoelectric sensor 371. Two limit switches 373 are fixedly connected to the vertical frame 2 located above and below the lifting seat 36, with their sensing ends connected to the lifting seat 36. During the lifting process of the lifting seat 36, the sensing plate 372 moves synchronously. When the sensing plate 372 moves to the corresponding position of the photoelectric sensor 371, the photoelectric sensor 371 generates a sensing signal, enabling the control system to accurately determine the current height position of the lifting seat 36. The limit switch 373 is triggered when the lifting seat 36 rises to a preset upper or lower limit position, serving as a safety protection and limit position positioning function.

[0025] In the specific implementation process, it is worth noting that during the lifting process of the lifting seat 36, the sensing plate 372 moves synchronously. When the sensing plate 372 moves to the corresponding position of the photoelectric sensor 371, the photoelectric sensor 371 generates a sensing signal so that the control system can accurately determine the current height position of the lifting seat 36. Multiple photoelectric sensors 371 are provided so that accurate sensing can be achieved at different height positions of the lifting seat 36, meeting the height information needs of the equipment at different working stages. When the lifting seat 36 rises or falls to the limit position, the sensing end of the limit switch 373 contacts the lifting seat 36 and immediately sends a signal to the control system. After receiving the signal, the control system quickly stops the operation of the servo motor 31 to prevent the lifting seat 36 from causing equipment failure or safety accidents due to exceeding the limit position, thus providing a reliable safety guarantee for the stable operation of the equipment. The specific models of the photoelectric sensor 371 and the limit switch 373 are not limited, as long as they meet the usage requirements.

[0026] In one feasible embodiment, the clamping assembly 4 includes a slide bar 41, a movable seat 42, a fixed plate 43, a fixing clamp 44, a servo cylinder 45, a material lifting structure 46, and a tray sensing assembly 47. Two slide bars 41 are provided, fixed to the upper and lower parts of the lifting seat 36 respectively; the movable seat 42 is slidably connected to the outer wall of the slide bar 41; two fixed plates 43 are provided, distributed on both sides of the interior of the vertical frame 2; multiple fixing clamps 44 are provided, equidistantly fixed to both sides of the fixed plate 43, and also fitted to the outer wall of the slide bar 41; the servo cylinder 45 is fixedly connected to... The fixed plate 43 is located on one side of the moving seat 42, and the output end is fixedly connected to the moving seat 42. The material lifting structure 46 is located on one side of the moving seat 42. The pallet sensing component 47 is located above the roller conveyor 1. The slide rod 41 moves synchronously with the lifting seat 36. The fixed plate 43 is fixed to the designated position of the slide rod 41 by the fixing clamp 44. The moving seat 42 is driven to slide on the slide rod 41 by controlling the servo cylinder 45. The pallet position is sensed by the pallet sensing component 47, so that the material lifting structure 46 clamps and lifts the material pallet.

[0027] In the specific implementation process, it is worth noting that the two ends of the two slide rods 41 are respectively fixed to the two lifting seats 36. When the lifting seats 36 move up and down, the slide rods 41 move synchronously. The fixing plate 43 is firmly connected to the designated position of the slide rods 41 by the fixing clamps 44. The two clamping arms are slidably connected to the slide rods 41 by the moving seats 42. By controlling the servo cylinder 45, the moving seats 42 are pushed to slide smoothly on the slide rods 41, thereby driving the clamping arms to achieve precise relative movement to meet the clamping requirements of pallets of different sizes. When it is necessary to adjust the clamping arm spacing to adapt to pallets of different sizes, it is only necessary to... Loosen the fixing clamp 44 and move the fixing plate 43 to the desired position for re-fixing. This allows for a quick change in the distance between the two clamping arms. Not only is the operation simple, but it also greatly improves the equipment's adaptability to pallets of different sizes. There is no need for large-scale modification of the equipment or replacement of parts, effectively reducing operating costs and time costs. The pallet sensing component 47 senses the position of the pallet and the height of the clamping arms in real time and transmits the signals to the control system. The control system can then perform clamping or releasing operations on the pallet at the correct time based on the received signals. The specific model of the servo cylinder 45 is not limited, as long as it meets the usage requirements.

[0028] In one feasible embodiment, the material lifting structure 46 includes a bracket 461, a pallet 462, and a limiting plate 463. The bracket 461 is fixedly connected to the outer wall of the movable seat 42. Multiple pallets 462 are provided and are fixedly connected at equal intervals to the sides of the brackets 461 that are close to each other. The limiting plate 463 is provided on the top of the pallet 462. The brackets 461 and the movable seat 42 move synchronously. When lifting the pallet, two brackets 461 move towards each other, so that the pallets 462 are inserted into the insertion holes on the side of the pallet and are lifted, split, or stacked. The limiting plate 463 can prevent the pallet from slipping during the lifting process.

[0029] In the specific implementation process, it is worth noting that the clamping arm structure of the pallet destacking and stacking machine is formed by the cooperation between the bracket 461, the pallet plate 462 and the limiting plate 463. The bracket 461 is fixed and moves synchronously with the moving seat 42. When it is necessary to clamp and lift the pallet, the bracket 461 is adjusted to a suitable height. By moving the bracket 461 towards the pallet, the pallet plate 462 is inserted into the insertion hole on the side of the pallet and clamps the pallet on both sides. By moving the bracket 461 upward, the pallet plate 462 lifts the pallet, thereby realizing the disassembly or stacking operation of the pallet. The limiting plate 463 limits the stacked pallets to prevent the pallets from slipping during the lifting process, ensuring the stability and safety of the pallets during the disassembly and stacking process.

[0030] In one feasible embodiment, the pallet sensing assembly 47 includes a first laser rangefinder 471, a height adjustment seat 472, and a second laser rangefinder 473. The first laser rangefinder 471 is mounted on the bottom of the bracket 461; the height adjustment seat 472 is fixedly connected to the outer wall of the bracket 461; the second laser rangefinder 473 is mounted on one side of the height adjustment seat 472 and is connected to the roller conveyor 1. The first laser rangefinder 471 is used to measure the distance between the bracket 461 and the side of the pallet, and the second laser rangefinder 473 senses the height of the bracket 461 and can be height adjusted by the height adjustment seat 472, so that the controller can detect the pallet clamping status and lifting height.

[0031] In the specific implementation process, it is worth noting that the first laser rangefinder 471 can accurately determine the position information of the pallet by measuring the distance between the bracket 461 and the side of the pallet in real time, providing the control system with an accurate clamping timing signal. The second laser rangefinder 473 is installed on the height adjustment seat 472. The height of the second laser rangefinder 473 can be flexibly adjusted through the height adjustment seat 472 to adapt to the detection requirements of pallets of different heights. This ensures that the height information of the bracket 461 can be obtained in real time and accurately during the pallet lifting process, and this information is fed back to the control system in a timely manner to ensure that the clamping arm clamps or releases the pallet at the appropriate time. The specific models of the first laser rangefinder 471 and the second laser rangefinder 473 are not limited, as long as they meet the usage requirements.

[0032] In one feasible embodiment, limit rods 5 are fixedly connected at equal intervals on the side of the vertical frame 2 near the bracket 461. The limit rods 5 limit the stacked pallets to prevent the pallets from colliding with other components inside the vertical frame 2 due to displacement, thus ensuring the stability of the pallets during the lifting process.

[0033] In the specific implementation process, it is worth noting that the limit rod 5 limits the stacked pallets to prevent the pallets from colliding with other components inside the vertical frame 2 due to displacement, thus ensuring the stability of the pallet lifting process.

[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A destacking and stacking machine, comprising a roller conveyor (1), characterized in that: The top of the roller conveyor (1) is provided with a vertical frame (2), and the destacking machine also includes: The lifting assembly (3) is located inside the vertical frame (2); A clamping assembly (4) is disposed above the roller line (1); The clamping component (4) clamps the material pallet, and the lifting component (3) lifts and lowers the clamping component (4) and the material pallet, so that the material pallet can be split or stacked. At the same time, the clamping arm spacing of the clamping component (4) can be quickly and adaptively adjusted.

2. The destacking and stacking machine according to claim 1, characterized in that: The lifting assembly (3) includes: A servo motor (31) is fixedly connected to the top inner side of the vertical frame (2); The drive shaft (32) is rotatably connected to the inner top of the vertical frame (2) located below the servo motor (31) and is drively connected to the output end of the servo motor (31); The sprockets (33) are provided in two sets, which are respectively fixedly connected to both ends of the drive shaft (32) and rotatably connected to the bottom of both sides of the vertical frame (2); Chains (34) are disposed on both sides inside the vertical frame (2) and are meshed with the sprockets (33). Guide rails (35) are fixedly connected to both sides of the vertical frame (2); The lifting seat (36) is slidably connected to the outer wall of the guide rail (35), and the upper and lower parts of the outer wall are respectively fixedly connected to the two ends of the chain (34); A lifting sensing component (37) is disposed on one side of the vertical frame (2) located on the lifting seat (36); The servo motor (31) drives the transmission shaft (32) to rotate, and drives the lifting seat (36) to move up and down along the guide rail (35) through the sprocket (33) and chain (34), thereby driving the clamping assembly (4) to move up and down. The lifting sensing assembly (37) senses the height position of the lifting seat (36).

3. The destacking and stacking machine according to claim 2, characterized in that: The lifting sensing component (37) includes: Multiple photoelectric sensors (371) are provided and fixedly connected to one side of the vertical frame (2) located on the lifting seat (36); The sensing plate (372) is fixedly connected to the side of the lifting seat (36) near the photoelectric sensor (371) and is correspondingly disposed on the photoelectric sensor (371). Limit switches (373) are provided in two, which are fixedly connected to the vertical frame (2) located above and below the lifting seat (36), and the sensing end is connected to the lifting seat (36). During the lifting process of the lifting seat (36), the sensing plate (372) moves synchronously. When the sensing plate (372) moves to the corresponding position of the photoelectric sensor (371), the photoelectric sensor (371) generates a sensing signal so that the control system can accurately determine the current height position of the lifting seat (36). The limit switch (373) is triggered when the lifting seat (36) is lifted to the preset upper and lower limit positions, which plays the role of safety protection and limit position positioning.

4. A destacking and stacking machine according to claim 3, characterized in that: The clamping assembly (4) includes: There are two slide bars (41), which are fixed to the upper and lower parts of the lifting seat (36) respectively; The movable seat (42) is slidably connected to the outer wall of the slide rod (41); There are two fixing plates (43), which are distributed on both sides of the inside of the vertical frame (2); Multiple fixing clamps (44) are provided and are fixedly connected to both sides of the fixing plate (43) at equal intervals, and are also connected to the outer wall of the slide rod (41). The servo cylinder (45) is fixedly connected to one side of the fixed plate (43) that is close to each other, and its output end is fixedly connected to the movable base (42). A material lifting structure (46) is disposed on one side of the movable seat (42); A tray sensing component (47) is disposed above the roller line (1); The slide bar (41) moves synchronously with the lifting seat (36). The fixing plate (43) is fixed to the designated position of the slide bar (41) by the fixing clamp (44). The moving seat (42) is driven to slide on the slide bar (41) by controlling the servo cylinder (45). The pallet position is sensed by the pallet sensing component (47), so that the material lifting structure (46) clamps and lifts the material pallet.

5. A destacking and stacking machine according to claim 4, characterized in that: The material lifting structure (46) includes: The bracket (461) is fixedly connected to the outer wall of the movable seat (42); Multiple trays (462) are provided and are fixedly connected at equal intervals to the side of the bracket (461) that are close to each other; A limiting plate (463) is disposed on the top of the tray (462); The bracket (461) moves synchronously with the movable seat (42). When the pallet is lifted, the two brackets (461) move towards each other, so that the pallet plate (462) is inserted into the insertion hole on the side of the pallet and is lifted, split or stacked. The limiting plate (463) can prevent the pallet from slipping during the lifting process.

6. A destacking and stacking machine according to claim 5, characterized in that: The tray sensing component (47) includes: The first laser rangefinder (471) is mounted on the bottom of the bracket (461); A height adjustment seat (472) is fixedly connected to the outer wall of the bracket (461); The second laser rangefinder (473) is installed on one side of the height adjustment seat (472) and is connected to the roller line (1). The first laser rangefinder (471) is used to measure the distance between the bracket (461) and the side of the tray, and the second laser rangefinder (473) senses the height of the bracket (461) and can adjust the height through the height adjustment seat (472), so that the controller can detect the tray clamping status and lifting height.

7. A destacking and stacking machine according to claim 6, characterized in that: The vertical frame (2) is fixedly connected with limit rods (5) at equal intervals on the side near the bracket (461).

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