CN115027969B

CN115027969B - Stacking and unstacking device and container loading and unloading system

Info

Publication number: CN115027969B
Application number: CN202210965219.XA
Authority: CN
Inventors: 祝胜光; 梁娇龙; 赵伟峰
Original assignee: Foshan Longshen Robot Co Ltd
Current assignee: Foshan Longshen Robot Co Ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-11-04
Anticipated expiration: 2042-08-12
Also published as: CN115027969A

Abstract

The invention relates to the technical field of cargo handling, and particularly discloses a stacking and unstacking device and a container loading and unloading system, which comprise a vehicle-mounted platform; the double-material-channel conveying assembly is arranged on the vehicle-mounted platform; the double-material-channel conveying assembly comprises a first conveying channel and a second conveying channel which are used for conveying goods, and the first end of the first conveying channel and the first end of the second conveying channel are both used for being communicated with an external material conveying belt; the first loading and unloading mechanism and the second loading and unloading mechanism are arranged on the vehicle-mounted platform; the first loading and unloading mechanism is used for stacking the goods at the second end of the first conveying channel; the second loading and unloading mechanism is used for stacking the goods at the second end of the second conveying channel. The invention can improve the cargo handling efficiency of the container.

Description

Stacking and unstacking device and container loading and unloading system

Technical Field

The invention relates to the technical field of cargo handling, in particular to a stacking and unstacking device and a container loading and unloading system.

Background

When loading the container with goods in the container body, the current common operation mode is to transport the goods into the container by means of a forklift or a conveyor, and then the operators put the goods in the container in order; similarly, when unloading the freight in the container body, the worker manually chops the freight onto the forklift or the conveyor, and then transports the freight out of the container body by the forklift or the conveyor.

Although the manual loading and unloading manner is very flexible, for a large-scale enterprise needing to transport large quantities of goods, the manual loading and unloading manner obviously causes low loading and unloading efficiency of the container goods, and the efficiency requirement of the enterprise is difficult to meet.

Disclosure of Invention

The invention mainly aims to provide a stacking and unstacking device and a container loading and unloading system, aiming at improving the loading and unloading efficiency of container cargos.

In order to achieve the above object, the present invention provides a stacking and unstacking apparatus, comprising:

the vehicle-mounted platform is provided with a moving mechanism at the bottom and moves through the moving mechanism;

the double-material channel conveying assembly is arranged on the vehicle-mounted platform; the double-material-channel conveying assembly comprises a first conveying channel and a second conveying channel, wherein the first conveying channel is used for conveying goods, the first end of the first conveying channel is connected with the first end of the second conveying channel, and the first end of the first conveying channel and the first end of the second conveying channel are both used for being communicated with an external material conveying belt;

the first loading and unloading mechanism and the second loading and unloading mechanism are arranged on the vehicle-mounted platform; the first loading and unloading mechanism is used for stacking the goods at the second end of the first conveying channel or unstacking the goods to the second end of the first conveying channel; the second loading and unloading mechanism is used for stacking the goods at the second end of the second conveying channel or unstacking the goods to the second end of the second conveying channel; or the first loading and unloading mechanism is used for stacking the goods at the second end of the second conveying channel or unstacking the goods to the second end of the second conveying channel; the second loading and unloading mechanism is used for stacking the goods at the second end of the first conveying channel or unstacking the goods to the second end of the first conveying channel.

Optionally, a guiding assembly and a positioning assembly are arranged on both sides of the advancing direction of the vehicle-mounted platform; the guide assembly comprises a row wheel set consisting of a plurality of row wheels, the axial direction of the row wheels is vertical to the advancing direction of the vehicle-mounted platform, and the row wheel set is used for being attached to the inner side wall of the container to roll; a first horizontal driving device is arranged on one side, close to the vehicle-mounted platform, of the row wheel set, and under the driving action of the first horizontal driving device, the row wheel set moves close to or away from the vehicle-mounted platform; the positioning assembly comprises an electromagnetic attraction piece, and the electromagnetic attraction piece is used for being fixed with the inner side wall of the container in an magnetic attraction manner; one side of the electromagnetic attraction piece close to the vehicle-mounted platform is provided with a second horizontal driving device, and under the driving action of the second horizontal driving device, the electromagnetic attraction piece moves close to or away from the vehicle-mounted platform.

Optionally, the dual-material-channel conveying assembly comprises a first conveying mechanism, a second conveying mechanism, a third conveying mechanism, a first lifting mechanism and a second lifting mechanism; the middle part of the first conveying mechanism is used for being communicated with the material conveying belt, and the middle part of the first conveying mechanism is arranged as a first end of the first conveying channel and a first end of the second conveying channel; one end of the first conveying mechanism is communicated with the conveying lower end of the first lifting mechanism, and the other end of the first conveying mechanism is communicated with the conveying lower end of the second lifting mechanism; the second conveying mechanism and the third conveying mechanism are arranged above the vehicle-mounted platform through a support, and the second conveying mechanism and the third conveying mechanism are symmetrically distributed along the center line of the vehicle-mounted platform; one end of the second conveying mechanism is communicated with the conveying upper end of the first lifting mechanism, and the other end of the second conveying mechanism is set as a second end of the first conveying channel; one end of the third conveying mechanism is communicated with the conveying upper end of the second lifting mechanism, and the other end of the third conveying mechanism is set as the second end of the second conveying channel.

Optionally, the first conveying mechanism includes a first roller bracket, and the first roller bracket is fixedly connected with the vehicle-mounted platform; the first roller bracket is provided with a plurality of first roller pieces distributed along a linear array, and a first gap is formed between any two adjacent first roller pieces; at least two first conveyor belts arranged at intervals are arranged below the first roller bracket, each first conveyor belt is arranged in parallel with the axial direction of the first roller piece, and each first conveyor belt is aligned with the first gap; at least two first conveyor belts are arranged on a first supporting plate, the first supporting plate is in driving connection with a first lifting driving device, and under the driving action of the first lifting driving device, the first conveyor belts penetrate through the first gap to move up and down so as to lift the goods to be separated from the first roller piece; the first conveyor belt can carry out bidirectional conveying so as to convey the goods to the first lifting mechanism or the second lifting mechanism at the end part of the first conveying mechanism.

Optionally, the first lifting mechanism and the second lifting mechanism each include a second roller bracket, the second roller bracket is provided with a plurality of second roller pieces distributed along a linear array, and the second roller pieces are parallel to the first roller pieces in the axial direction; the second roller bracket is in driving connection with a second lifting driving device, and under the driving action of the second lifting driving device, the second roller bracket vertically moves up and down relative to the vehicle-mounted platform.

Optionally, a second gap is arranged between any two adjacent second roller parts; at least two second conveyor belts which are arranged at intervals are arranged below the second roller bracket, each second conveyor belt is arranged in parallel with the axial direction of the second roller piece, and each second conveyor belt is aligned with the second gap; at least two second conveyor belts are arranged on a second support plate, the second support plate is in driving connection with a third lifting driving device, and the second conveyor belts penetrate through the second gap to move up and down under the driving action of the third lifting driving device; the second conveyor belt may perform bidirectional conveyance.

Optionally, the second conveying mechanism and the third conveying mechanism each include a third roller bracket, the third roller bracket is provided with a plurality of third roller pieces distributed along a linear array, and the third roller pieces are parallel to the second roller pieces in the axial direction; and one end of the third roller bracket, which is close to the first lifting mechanism/the second lifting mechanism, is provided with a wellhead part, and the wellhead part is used for the second roller bracket to pass through in the process of moving up and down.

Optionally, a third gap is formed between any two adjacent third roller members located at the second end of the first conveying channel or the second conveying channel, the third roller members located at the second end of the first conveying channel or the second conveying channel are arranged in a cantilever manner, and a suspended position is located at one side close to the first loading and unloading mechanism or the second loading and unloading mechanism; the first loading and unloading mechanism and the second loading and unloading mechanism respectively comprise a mechanical arm, the fixed end of the mechanical arm is fixedly connected with the vehicle-mounted platform, the tail end of the mechanical arm is provided with an adsorption component and at least two fork pieces, the adsorption component is arranged above the fork pieces, and the adsorption component is used for adsorbing and fixing the goods on the fork pieces; each of the fork members may pass through the third gap.

Optionally, the adsorption assembly comprises a fixed plate and a push plate, the fixed plate is fixedly connected with the tail end of the mechanical arm, and the push plate is arranged on one side of the fixed plate, which is far away from the mechanical arm; a telescopic driving device is arranged between the push plate and the fixed plate, and the push plate slides along the fork piece under the driving action of the telescopic driving device; the push pedal keep away from one side of flexible drive arrangement is equipped with the sucking disc, the sucking disc is used for right the goods adsorbs fixedly.

In order to achieve the purpose, the invention provides a container loading and unloading system which comprises the stacking unstacking device.

Compared with the prior art, the invention has the following beneficial effects:

after the vehicle-mounted platform is moved to a designated position (such as the inside of a container) by using the moving mechanism, when goods are stacked, the first conveying channel and the second conveying channel can be used for receiving the goods from the material conveying belt in a staggered mode, and then the goods positioned in the first conveying channel and the second conveying channel are stacked by the first loading and unloading mechanism and the second loading and unloading mechanism respectively; when goods are unstacked, the first loading and unloading mechanism and the second loading and unloading mechanism are used for unstacking the goods on the first conveying channel and the second conveying channel of the double-material-channel conveying assembly respectively and then conveying the goods onto the material conveying belt for unified output.

Through the arrangement of the double conveying channels of the first conveying channel and the second conveying channel, the first loading and unloading mechanism and the second loading and unloading mechanism which correspond to each other are matched to respectively operate the first loading and unloading mechanism and the second loading and unloading mechanism, so that the loading and unloading efficiency of container cargos can be effectively improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a front view of one embodiment of a palletizing and unstacking assembly of the present invention;

FIG. 2 is a perspective view of one embodiment of the stacking unstacking apparatus of the present invention;

FIG. 3 is a second isometric view of an embodiment of the stacking unstacking apparatus of the present invention;

FIG. 4 is a left side view of an embodiment of the palletizing and unstacking assembly of the present invention;

FIG. 5 is a top view of an embodiment of the stacking unstacking apparatus of the present invention;

FIG. 6 is a schematic structural diagram of the first conveyor belt/the second conveyor belt in an embodiment of the stacking unstacking apparatus of the present invention;

FIG. 7 is a top view of the first/second roller bracket in one embodiment of the palletizing and unstacking assembly of the present invention;

FIG. 8 is a schematic view of the elongated configuration of the adsorbent assembly in an embodiment of the palletizing and unstacking assembly according to the present invention;

FIG. 9 is a schematic structural view of a telescopic driving device in an embodiment of the stacking and unstacking apparatus of the present invention;

fig. 10 is a schematic structural view of an embodiment of the container loading and unloading system of the present invention.

The names of the components indicated in the figures are as follows.

Reference numerals	Name (R)	Reference numerals	Name(s)
				1	Vehicle-mounted platform	2	Double-material-channel conveying assembly
3	First loading and unloading mechanism	301	Mechanical arm
				4	Second loading and unloading mechanism	5	Guide assembly
501	Row wheel set	502	First horizontal driving device
				6	Positioning assembly	601	Electromagnetic attraction part
7	First conveying mechanism	701	First roller bracket
				702	First roller member	703	First gap
704	A first conveyor belt	705	First supporting plate
				706	First lifting driving device	707	First guide bar
8	Second transfer mechanism	801	Third roller bracket
				802	Third roller	803	Well head
804	Third gap	9	Third transfer mechanism
				10	First lifting mechanism	1001	Second roller bracket
1002	Second roller member	1003	Second lifting driving device
				1004	Second guide bar	1005	Second gap
1006	Second conveyor belt	1007	Second support plate
				1008	Third lifting driving device	1009	Third guide bar
11	Second lifting mechanism	12	Adsorption component
				1201	Fixing plate	12011	Slide way
12012	Third cross bar	12013	Fourth cross bar
				1202	Push plate	1203	Telescopic driving device
12031	Structure of scissors fork	12032	First connecting rod
				12033	Second connecting rod	12034	First cross bar
12035	Second cross bar	12036	Telescopic executive component
				1204	Suction cup (suction cup)	13	Fork piece
1301	The first rod body	1302	The second rod body
				14	3D depth camera	15	Goods
16	Material conveyor belt	17	Container for transporting goods
				18	Support frame

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the description is only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

The embodiment discloses a stacking and unstacking device, which is shown in the attached drawings 1-9 and comprises a vehicle-mounted platform 1, wherein a moving mechanism (not shown in the attached drawings) is arranged at the bottom of the vehicle-mounted platform 1, and the vehicle-mounted platform 1 moves through the moving mechanism; the double-material-channel conveying assembly 2 is arranged on the vehicle-mounted platform 1; the double-material channel conveying assembly 2 comprises a first conveying channel and a second conveying channel which are used for conveying goods 15, the first end of the first conveying channel is connected with the first end of the second conveying channel, and the first end of the first conveying channel and the first end of the second conveying channel are both used for being communicated with an external material conveying belt 16; the first loading and unloading mechanism 3 and the second loading and unloading mechanism 4 are arranged on the vehicle-mounted platform 1; the first loading and unloading mechanism 3 is used for stacking the goods 15 at the second end of the first conveying channel or unstacking the goods 15 to the second end of the first conveying channel; the second loading and unloading mechanism is used for stacking the goods 15 at the second end of the second conveying channel or unstacking the goods 15 to the second end of the second conveying channel; or the first loading and unloading mechanism 3 is used for stacking the goods 15 at the second end of the second conveying channel or unstacking the goods 15 to the second end of the second conveying channel; the second loading and unloading mechanism 4 is used for palletizing goods 15 located at the second end of the first conveyor path or unstacking goods 15 to the second end of the first conveyor path.

In the embodiment, after the vehicle-mounted platform 1 is moved to a specified position (such as inside a container 17) by using the moving mechanism, when goods 15 are stacked, the first conveying channel and the second conveying channel can be used for alternately receiving the goods 15 from the material conveying belt 16, and then the goods 15 positioned on the first conveying channel and the second conveying channel are stacked by the first loading and unloading mechanism 3 and the second loading and unloading mechanism 4 respectively; when the goods 15 are unstacked, the first loading and unloading mechanism 3 and the second loading and unloading mechanism 4 are used for unstacking the goods 15 on the first conveying channel and the second conveying channel of the double-material-channel conveying assembly 2 respectively, and then conveying the goods to the material conveying belt 16 for unified output.

Through the arrangement of double conveying channels of the first conveying channel and the second conveying channel, the first loading and unloading mechanism 3 and the second loading and unloading mechanism 4 which correspond to each other are matched to respectively operate the double conveying channels, so that the cargo loading and unloading efficiency of the container 17 can be effectively improved. For example, the first loading and unloading mechanism 3 is responsible for the left area of the placement area, and the second loading and unloading mechanism 4 is responsible for the right area of the placement area, so that the left side and the right side of the placement area are synchronously palletized/unstacked, and the loading and unloading efficiency of the goods 15 is effectively improved.

As a preferable scheme of the above embodiment, the moving mechanism includes a traveling wheel, and a servo drive system for driving the traveling wheel. So set up, rotate through servo drive system driven walking wheel to drive vehicle platform 1 and remove, simple structure practicality is strong. Since the servo drive system drives the traveling wheels, which belongs to a common technical means in the field, detailed description thereof is omitted in this application.

As a preferable scheme of the above embodiment, the vehicle-mounted platform 1 is provided with the guide assembly 5 and the positioning assembly 6 on both sides in the advancing direction.

Specifically, the guide assembly 5 comprises a row wheel group 501 consisting of a plurality of row wheels, the axial direction of the row wheels is vertical to the advancing direction of the vehicle-mounted platform 1, and the row wheel group 501 is used for being attached to the inner side wall of the container 17 to roll; a first horizontal driving device 502 is arranged on one side of the row wheel set 501 close to the vehicle-mounted platform 1, and under the driving action of the first horizontal driving device 502, the row wheel set 501 moves close to or away from the vehicle-mounted platform 1; so set up, consider going on along with goods 15 pile up neatly/unstack, vehicle-mounted platform 1 also need carry out corresponding business turn over in container 17's inside and remove, in order to guarantee that vehicle-mounted platform 1 removes the in-process can keep unanimous relatively with the distance between container 17's the inside wall, this embodiment all sets up guide assembly 5 through the both sides at the advancing direction of platform at the car, it removes to arrange wheelset 501 through the drive of first horizontal drive device 502, make it laminate each other with container 17's inside wall, thereby can effectively guarantee that the distance between vehicle-mounted platform 1 and container 17's the inside wall keeps unanimous relatively, the stationarity when vehicle-mounted platform 1 removes also can be guaranteed simultaneously. In addition, because the axial direction of the row wheels in the row wheel set 501 is perpendicular to the advancing direction of the vehicle-mounted platform 1, the row wheels also roll along with the inner side wall of the container 17 in the moving process of the vehicle-mounted platform 1, so that the blocking of the row wheel set 501 to the movement of the vehicle-mounted platform 1 is avoided.

Specifically, the positioning assembly 6 comprises an electromagnetic attraction piece 601, and the electromagnetic attraction piece 601 is used for being fixed with the inner side wall of the container 17 in a magnetic attraction manner; a second horizontal driving device (not shown in the drawings) is arranged on one side of the electromagnetic attraction 601 close to the vehicle-mounted platform 1, and under the driving action of the second horizontal driving device, the electromagnetic attraction 601 moves close to or away from the vehicle-mounted platform 1. So set up, consider that the in-process of carrying out the 15 pile up neatly of goods and breaking a jam will guarantee vehicle platform 1's stability, prevent that it from leading to the pile up neatly/breaking a jam efficiency reduction because of rocking, consequently this embodiment sets up electromagnetic attraction spare 601, and drive electromagnetic attraction spare 601 through second horizontal drive device is close to the inside wall of container 17, makes its and container 17's inside wall magnetism inhale each other fixedly to this improves vehicle platform 1's stability.

As a preferable scheme of the above embodiment, the double-material-path conveying assembly 2 comprises a first conveying mechanism 7, a second conveying mechanism 8, a third conveying mechanism 9, a first lifting mechanism 10 and a second lifting mechanism 11; the middle part of the first conveying mechanism 7 is used for being communicated with the material conveying belt 16, and the middle part of the first conveying mechanism 7 is arranged as a first end of a first conveying channel and a first end of a second conveying channel; one end of the first conveying mechanism 7 is communicated with the conveying lower end of the first lifting mechanism 10, and the other end of the first conveying mechanism 7 is communicated with the conveying lower end of the second lifting mechanism 11; the second conveying mechanism 8 and the third conveying mechanism 9 are arranged above the vehicle-mounted platform 1 through a support 18, and the second conveying mechanism 8 and the third conveying mechanism 9 are symmetrically distributed along the central line of the vehicle-mounted platform 1; one end of the second conveying mechanism 8 is communicated with the conveying upper end of the first lifting mechanism 10, and the other end of the second conveying mechanism 8 is set as the second end of the first conveying channel; one end of the third conveying mechanism 9 is communicated with the conveying upper end of the second lifting mechanism 11, and the other end of the third conveying mechanism 9 is set as the second end of the second conveying channel. So set up, connect one side of first transport mechanism 7, first elevating system 10 and second transport mechanism 8 in proper order in order to form first transfer passage to and connect the opposite side of first transport mechanism 7, second elevating system 11 and third transport mechanism 9 in proper order in order to form second transfer passage, wherein, the middle part of first transport mechanism 7 is connected with outside material conveyer belt 16, make the first end of first transfer passage and the first end of second transfer passage can smoothly communicate with material conveyer belt 16, so as to can smoothly transport goods 15 with the external world.

Specifically, the first conveying mechanism 7 comprises a first roller bracket 701, and the first roller bracket 701 is fixedly connected with the vehicle-mounted platform 1; a plurality of first roller pieces 702 distributed along a linear array are arranged on the first roller bracket 701, and a first gap 703 is arranged between any two adjacent first roller pieces 702; at least two first conveyor belts 704 arranged at intervals are arranged below the first roller bracket 701, each first conveyor belt 704 is arranged in parallel with the axial direction of the first roller 702, and each first conveyor belt 704 is aligned with the first gap 703; at least two first conveyor belts 704 are installed on a first support plate 705, the first support plate 705 is in driving connection with a first lifting driving device 706, and under the driving action of the first lifting driving device 706, the first conveyor belts 704 move up and down through a first gap 703 to lift the goods 15 off the first roller member 702; the first conveyor belt 704 can perform bidirectional transfer for transferring the goods 15 to the first lifting mechanism 10 or the second lifting mechanism 11 at the end of the first transfer mechanism 7; with this arrangement, when the goods 15 are located on the first roller members 702 of the first roller bracket 701, the first lifting/lowering driving device 706 drives the first support plate 705 to lift up, so that the first conveyor belt 704 passes through the first gap 703 between the first roller members 702, and the goods 15 are lifted up to be separated from the first roller members 702. Since the first conveyor belt 704 can perform bidirectional transfer to transfer the goods 15 from the middle of the first roller carriage 701 to both ends thereof or to transfer the goods 15 from both ends of the first roller carriage 701 to the middle thereof according to the palletizing or unstacking condition. In order to enable goods 15 to be smoothly butted between the first conveying mechanism 7 and the material conveying belt 16, the axial direction of the first roller member 702 and the conveying direction of the external material conveying belt 16 can be perpendicular to each other, and the plurality of first roller members 702 can be electrically connected in series by using an electric roller or a chain or a belt, and are synchronously driven by a first roller driving motor (not shown in the figure) arranged on the first roller bracket 701, so that the goods 15 can be conveyed along the first roller bracket 701 through the first roller members 702 and moved from the material conveying belt 16 to the first roller bracket 701.

In this embodiment, the first lifting driving device 706 is selected as a telescopic cylinder, and the first supporting plate is driven by the telescopic cylinder to move up and down. It should be noted that, after understanding the technical solutions of the present application, those skilled in the art may conceive of other structures of the first lifting driving device without creative efforts, and the structures are also within the protection scope of the present application.

Furthermore, the first guide rod 707 vertically arranged is sleeved at the angular position of the first support plate 705, the first guide rod 707 is fixed on the bracket 18, and the first support plate 705 is connected with the first guide rod 707 in a vertical sliding manner. This arrangement ensures vertical movement of the first support plate 705 along the vertically arranged first guide rod 707, ensuring stability during movement.

Specifically, each of the first lifting mechanism 10 and the second lifting mechanism 11 includes a second roller bracket 1001, the second roller bracket 1001 is provided with a plurality of second roller members 1002 distributed along a linear array, and the second roller members 1002 are parallel to the first roller member 702 in the axial direction; the second roller bracket 1001 is in driving connection with the second elevation driving device 1003, and under the driving action of the second elevation driving device 1003, the second roller bracket 1001 vertically moves up and down relative to the vehicle-mounted platform 1; among them, the plurality of second roller members 1002 may be electrically driven rollers, or may be connected in series by a chain or a belt, and may be driven synchronously by a second roller driving motor (not shown) provided on the second roller housing 1001. In this arrangement, the axial directions of the first roller 702, the second roller 1002, and the third roller 802 are parallel to each other, so that the load 15 can smoothly move among the first roller cradle 701, the second roller cradle 1001, and the third roller cradle 801, and when the load 15 moves from the first roller cradle 701/the third roller cradle 801 to the second roller cradle 1001, the second elevation driving device 1003 drives the second roller cradle 1001 to move up and down, specifically, to move up until the transfer surfaces of the second roller cradle 1001 and the third roller cradle 801 are at the same level, and to move down until the transfer surfaces of the second roller cradle 1001 and the first roller cradle 701 are at the same level. In this embodiment, the second elevation driving device 1003 is selected as a screw transmission mechanism, that is, the screw is driven to rotate by the rotating motor, and a threaded sleeve in threaded connection with the screw is disposed on the second roller bracket, so that the second roller bracket is driven to move up and down when the screw rotates. It should be noted that, after understanding the technical solutions of the present application, those skilled in the art may conceive of other structures of the second lifting driving device without creative efforts, and the structures are also within the protection scope of the present application.

Furthermore, a second guide bar 1004 vertically arranged is sleeved on an angular position of the second roller bracket 1001, the second guide bar 1004 is fixed on the support 18, and the second roller bracket 1001 and the second guide bar 1004 are connected in a vertical sliding manner. In this way, the second roller bracket 1001 can be vertically moved up and down along the second guide bar 1004 vertically provided when moving, and stability during movement can be ensured.

Specifically, a second gap 1005 is formed between any two adjacent second roller members 1002; at least two second conveyor belts 1006 arranged at intervals are arranged below the second roller bracket 1001, each second conveyor belt 1006 is arranged in parallel with the axial direction of the second roller member 1002, and each second conveyor belt 1006 is aligned with the second gap 1005; at least two second conveyor belts 1006 are installed on a second supporting plate 1007, the second supporting plate 1007 is in driving connection with a third lifting driving device 1008, and under the driving action of the third lifting driving device 1008, the second conveyor belts 1006 move up and down through a second gap 1005; the second conveyor 1006 may be bidirectional. In order to ensure that the goods 15 can be smoothly transferred between the first roller bracket 701 and the second roller bracket 1001, the second roller bracket 1001 is provided with the second conveyor belt 1006, the transfer directions of the second conveyor belt 1006 and the first conveyor belt 704 are positioned on the same straight line, and the goods 15 can be smoothly transferred between the first roller bracket 701 and the second roller bracket 1001 by the mutual matching of the first conveyor belt 704 and the second conveyor belt 1006. The second conveyor belt 1006 is disposed on a second supporting plate 1007, and the second supporting plate 1007 is driven to ascend by a third ascending and descending driving device 1008, so that the second conveyor belt 1006 passes through a second gap 1005 between the second roller members 1002 to lift up the goods 15 to be separated from the second roller members 1002. Since the second conveyor belt 1006 can perform bidirectional transfer to transfer the goods 15 from the first roller carriage 701 to the second roller carriage 1001 or to transfer the goods 15 from the second roller carriage 1001 to the first roller carriage 701 according to the palletizing or unstacking condition.

In this embodiment, the third lifting driving device 1008 is selected as a telescopic cylinder, and the second supporting plate is driven by the telescopic cylinder to move up and down. It should be noted that, after understanding the technical solutions of the present application, those skilled in the art may conceive of other structures of the third lifting driving device without creative efforts, and the structures also belong to the protection scope of the present application.

Further, a third guide rod 1009 which is vertically arranged is sleeved at an angular position of the second support plate 1007, the third guide rod 1009 is fixed on the support 18, and the second support plate 1007 and the third guide rod 1009 are connected in a vertically sliding manner. With the arrangement, the second supporting plate 1007 can vertically move up and down along the vertically arranged third guide rod 1009 when moving, and the stability during moving is ensured.

Specifically, the second conveying mechanism 8 and the third conveying mechanism 9 each include a third roller bracket 801, a plurality of third roller pieces 802 distributed in a linear array are arranged on the third roller bracket 801, and the axial directions of the third roller pieces 802 and the second roller pieces 1002 are parallel to each other; the third roller bracket 801 is provided with a well 803 at one end close to the first lifting mechanism 10/the second lifting mechanism 11, and the well 803 is used for the second roller bracket 1001 to pass through during moving up and down. In this arrangement, the axial directions of the first drum member 702, the second drum member 1002, and the third drum member 802 are parallel to each other, so that the load 15 can smoothly move among the first drum bracket 701, the second drum bracket 1001, and the third drum bracket 801. Wherein, a well 803 is provided at one end of the third roller bracket 801 close to the first lifting mechanism 10/the second lifting mechanism 11, so that the second roller bracket can smoothly pass through the well 803, and the second roller bracket 1001 is level with the third roller bracket 801, thereby ensuring the smooth transportation of the goods 15 between the second roller bracket 1001 and the third roller bracket 801. Wherein, a plurality of third roller members 802 can be electrically connected in series by a chain or a belt, and are driven synchronously by a third roller driving motor arranged on the third roller bracket 801, so that the goods 15 can be conveyed along the third roller bracket 801 through the third roller members 802.

As a preferable scheme of the above embodiment, a third gap 804 is provided between any two adjacent third roller pieces 802 located at the second end of the first conveying channel or the second conveying channel, the third roller pieces 802 located at the second end of the first conveying channel or the second conveying channel are arranged in a cantilever manner, and the suspended position is located at one side close to the first loading and unloading mechanism 3 or the second loading and unloading mechanism 4; the first loading and unloading mechanism 3 and the second loading and unloading mechanism 4 both comprise a mechanical arm 301, the fixed end of the mechanical arm 301 is fixedly connected with the vehicle-mounted platform 1, the tail end of the mechanical arm 301 is provided with an adsorption component 12 and at least two fork pieces 13, the adsorption component 12 is arranged above the fork pieces 13, and the adsorption component 12 is used for adsorbing and fixing the goods 15 on the fork pieces 13; each of the forks 13 may pass through the third gap 804. The arrangement is such that the fork members 13 of the first and second attachment/detachment mechanisms 3, 4 can pass through the third gaps 804 of the third roller member 802 to jack up the load 15 from the bottom and onto the fork members 13. Meanwhile, the adsorption component 12 adsorbs and fixes the goods 15 to ensure that the goods 15 can stably move along with the fork 13 for stacking/unstacking operation. Wherein, utilize fork spare 13 with goods 15 from bottom jack-up, be different from the current gripper and directly snatch, can not cause the scraping to the surface of goods 15, be favorable to improving goods 15 and transport the quality. Meanwhile, since the third roller member 802 is cantilevered on the side thereof closer to the first loading/unloading mechanism 3/the second loading/unloading mechanism 4, it is ensured that the end of the fork 13 connected to the robot arm 301 is not blocked by the third roller bracket 801 when passing through the third gap 804.

Specifically, the adsorption component 12 includes a fixing plate 1201 and a push plate 1202, the fixing plate 1201 is fixedly connected to the end of the mechanical arm 301, and the push plate 1202 is disposed on a side of the fixing plate 1201 away from the mechanical arm 301; a telescopic driving device 1203 is arranged between the push plate 1202 and the fixed plate 1201, and under the driving action of the telescopic driving device 1203, the push plate 1202 moves relatively along the fork 13; a suction cup 1204 is arranged on one side of the push plate 1202 far away from the telescopic driving device 1203, and the suction cup 1204 is used for adsorbing and fixing the goods 15. With this arrangement, in consideration of the fact that the goods 15 need to move on the fork 13 during the stacking/unstacking process, the suction assembly 12 is configured as a fixed plate 1201 and a push plate 1202, a telescopic driving device 1203 is arranged between the fixed plate 1201 and the push plate 1202, and a suction cup 1204 is arranged on one side of the push plate 1202 far away from the telescopic driving device 1203 and is used for sucking and fixing the goods 15 by using the suction cup 1204. Specifically, when palletizing is performed, the telescopic driving device 1203 drives the push plate 1202 to move, so that the goods 15 move to the placing area along the fork member 13, and then the suction cups 1204 release the adsorption. When unstacking is carried out, the telescopic driving device 1203 drives the push plate 1202 to move until the suction cups 1204 are attached to and adsorb the goods 15 on the placing area, and then the telescopic driving device 1203 drives the push plate 1202 to pull the goods 15 onto the fork member 13. In this embodiment, the suction cup 1204 may be selected to be a vacuum suction cup, and the present application is not limited thereto. Those skilled in the art can conceive of other suction cup structures without creative efforts after understanding the technical solutions of the present application, and the suction cup structures are also within the protection scope of the present application.

Specifically, the telescopic driving device 1203 comprises a scissor fork structure 12031 connected to the fixing plate 1201 and the side portion of the two sides of the push plate 1202; the fixed plate 1201 and the push plate 1202 are both provided with slideways 12011, the upper ends of the two ends of the scissor fork structure 12031 are slidably connected to the slideways 12011, and the lower ends of the two ends of the scissor fork structure 12031 are respectively fixedly connected with the fixed plate 1201 and the push plate 1202; a first cross bar 12034 is arranged between the corresponding first connecting bars 12032 of the scissor structures 12031 on both sides, a second cross bar 12035 is arranged between the corresponding second connecting bars 12033 of the scissor structures 12031 on both sides, and a telescopic executing member 12036 is arranged between the first cross bar 12034 and the second cross bar 12035, so that the scissor structures 12031 can be folded under the action of the telescopic executing member 12036, thereby driving the push plate 1202 to move closer to or away from the fixing plate 1201. With the arrangement, a common scissor fork structure 12031 in the market is adopted to match with the telescopic executing piece 12036 to serve as the telescopic driving device 1203, so that the structure is simple, and the practicability is high. In this embodiment, the telescopic actuator 12036 is a telescopic cylinder.

Specifically, the fixed plate 1201 is provided with a third crossbar 12012 and a fourth crossbar 12013 which are vertically arranged, the fork 13 includes an L-shaped structure formed by combining a first rod 1301 and a second rod 1302, the first rod 1301, the third crossbar 12012 and the fourth crossbar 12013 are slidably connected, and the second rod 1302 is used for supporting the goods 15. So set up, the position of the operation personnel accessible goods 15 is removed first body of rod 1301 to make fork spare 13 can be applicable to the different goods 15 of volume, improve the suitability.

Specifically, the robot arm 301 is a six-axis robot arm 301. So set up, six arms 301 can provide the multi-angle position, improve the flexibility of pile up neatly unstacking in-process.

As a preferable scheme of the above embodiment, the system further comprises a visual detection system, wherein the visual detection system comprises a 3D depth camera 14, and the 3D depth camera 14 can be arranged at the tail end of the mechanical arm 301 or on the push plate 1202 to realize eye-in-hand positioning; the positioning device can also be arranged at the front end of the platform of the vehicle to realize eye-to-hand positioning. With such an arrangement, the 3D depth camera 14 is a camera using a CCD image sensor, the CCD image sensor can directly convert an optical signal into an analog current signal, and the current signal is amplified and analog-to-digital converted to achieve image acquisition, storage, transmission, processing and reproduction. The principle of the vision inspection system in this application is to automatically scan the position information of the cargo 15 by the 3D depth camera 14, so as to control the mechanical arm 301 to move.

The present embodiment also discloses a container 17 loading and unloading system, which comprises the stacking and unstacking device of the above embodiment, with reference to fig. 10. With such arrangement, after the stacking unstacking device in the above embodiment is applied to a loading and unloading system of a container 17, and the vehicle-mounted platform 1 is moved to a specified position (such as inside the container 17) by using the moving mechanism in the stacking unstacking device, when the goods 15 are stacked, the goods 15 from the material conveying belt 16 are sequentially distributed into the first conveying channel and the second conveying channel in a staggered manner by the double-material-channel conveying assembly 2, and then the goods 15 positioned in the first conveying channel and the second conveying channel are respectively stacked by the first loading and unloading mechanism 3 and the second loading and unloading mechanism 4; when the goods 15 are unstacked, the first loading and unloading mechanism 3 and the second loading and unloading mechanism 4 are used for unstacking the goods 15 on the first conveying channel and the second conveying channel respectively, and then conveying the goods 15 to the material conveying belt 16 for unified output. The double conveying channels of the first conveying channel and the second conveying channel are arranged, and the first loading and unloading mechanism 3 and the second loading and unloading mechanism 4 which correspond to each other are matched to respectively operate the double conveying channels, so that the loading and unloading efficiency of the cargos 15 of the container 17 can be effectively improved.

When the loading and unloading system of the container 17 is used for stacking, the method comprises the following specific steps:

step (1): the material conveying belt 16 is hung at the middle part of the first conveying mechanism 7, after the moving mechanism drives the vehicle-mounted platform 1 to enter the container 17, the guide assembly 5 is unfolded, and under the action of the row wheel set 501 of the guide assembly 5, the vehicle-mounted platform 1 runs to the inside (stacking position) of the container 17 in the middle;

step (2): the locating component 6 is unfolded, and the electromagnetic attraction piece 601 in the locating component 6 is adsorbed on the inner side wall of the container 17 so as to stabilize the vehicle-mounted platform 1. The visual detection system scans a scene and carries out distance measurement and positioning on the placement area;

and (3): goods 15 are conveyed into the product by a material conveyor belt 16 and then enter a first conveying channel and a second conveying channel in a staggered mode in sequence; specifically, after the goods 15 enter the first conveying mechanism 7 from the material conveying belt 16, the first lifting driving device 706 and the third lifting driving device 1008 simultaneously drive the first supporting plate 705 and the second supporting plate 1007 to ascend, so that the first conveying belt 704 and the second conveying belt 1006 respectively pass through the first gap 703 between the first roller members 702 and the second gap 1005 between the second roller members 1002, the goods 15 are lifted up to be separated from the first roller members 702, and alternately reach the first lifting mechanism 10 and the second lifting mechanism 11 under the action of the first conveying belt 704 and the second conveying belt 1006, it can be understood that, as the first conveying belt 704 can convey the goods 15 to the first lifting mechanism 10, the second goods 15 to the second lifting mechanism 11, the third goods 15 to the first lifting mechanism 10, and so on, the goods 15 sequentially enter the first conveying passage and the second conveying passage in a staggered manner (as the working principle of the first conveying passage and the second conveying passage is about the same as that the first conveying passage is explained below);

and (4): when the goods 15 move to the position right above the second roller bracket 1001, the third lifting drive device 1008 drives the second support plate 1007 to descend, the second conveyor belt 1006 descends to the position below the second roller member 1002 through the second gap 1005, and the goods 15 stay on the second roller bracket 1001 because the goods 15 are blocked by the second roller member 1002; the second elevation drive 1003 then drives the second roller cradle 1001 up and through the well 803 of the third roller cradle 801 until the second roller member 1002 is level with the third roller member 802; then the second roller driving motor and the third roller driving motor are started simultaneously, so that the goods 15 move to the second end of the first conveying channel along the second conveying mechanism 8;

and (5): the robot arm 301 of the first loading/unloading mechanism 3 drives the fork 13 through the third gap 804 of the third drum member 802 to lift the load 15 from the bottom and to place the load on the fork 13. Meanwhile, the telescopic driving device 1203 in the adsorption assembly 12 drives the push plate 1202 to move until the suction cup 1204 and the goods 15 are attached to each other, so that the suction cup 1204 and the goods 15 are adsorbed and fixed to each other;

and (6): the mechanical arm 301 in the first loading and unloading mechanism 3 drives the goods 15 to move to the alignment placing area, and then the telescopic driving device 1203 drives the push plate 1202 to move, so that the goods 15 move to the placing area along the fork members 13; then the suction disc 1204 releases the adsorption effect on the goods 15, thereby completing the operation of stacking the goods 15;

and (7): after stacking one row, the electromagnetic absorbing piece 601 releases the absorption effect on the container 17, and the moving mechanism drives the vehicle-mounted platform 1 to move to the next position; the above steps are then repeated cyclically until the entire container 17 has been palletized.

When the container 17 loading and unloading system is in unstacking operation, the method comprises the following specific steps:

step (1): the material conveying belt 16 is hung at the middle part of the first conveying mechanism 7, the guide assembly 5 is unfolded after the moving mechanism drives the vehicle-mounted platform 1 to enter the container 17, and the vehicle-mounted platform 1 runs in the container 17 in the middle under the action of the row wheel set 501 of the guide assembly 5;

step (2): the locating component 6 is unfolded, and the electromagnetic attraction piece 601 in the locating component 6 is adsorbed on the inner side wall of the container 17 so as to stabilize the vehicle-mounted platform 1. The visual inspection system scans a scene and performs ranging and positioning on the goods 15 in the placement area (since the working principle of the first conveying channel is substantially the same as that of the second conveying channel, the first conveying channel is taken as an example for description below);

and (3): after the mechanical arm 301 in the first loading and unloading mechanism 3 drives the fork 13 to move to the alignment placement area, the telescopic driving device 1203 drives the push plate 1202 to move until the suction cup 1204 is attached to the goods 15, so that the suction cup 1204 and the goods 15 are fixed by being adsorbed to each other; then the telescopic driving device 1203 drives the push plate 1202 to move towards the fixed plate 1201, so that the goods 15 move onto the fork member 13 along the fork member 13;

and (4): the mechanical arm 301 drives the fork 13 to move to the position above the third roller bracket 801 in which the third roller 802 is cantilevered, and the fork 13 is aligned with the third gap 804 of the third roller 802, and meanwhile, the suction cup 1204 releases the suction fixation with the cargo 15; the robotic arm 301 then drives the fork 13 through the third gap 804 to move under the third roller element 802, while the load 15 rests on the third roller carriage due to the obstruction of the third roller element 802;

and (5): the second roller driving motor and the third roller driving motor are started simultaneously, so that the goods 15 move to the second roller bracket 1001 of the first lifting mechanism 10 along the second conveying mechanism 8;

and (6): the second lifting drive device 1003 drives the second roller bracket 1001 to move downwards until the second roller member 1002 is level with the first roller member 702;

and (7): the first lifting driving device 706 and the third lifting driving device 1008 simultaneously drive the first supporting plate 705 and the second supporting plate 1007 to ascend, so that the first conveyor belt 704 and the second conveyor belt 1006 respectively pass through a first gap 703 between the first roller members 702 and a second gap 1005 between the second roller members 1002, the goods 15 are jacked up to be separated from the second roller members 1002, and the goods reach the middle part of the first conveying mechanism 7 under the action of the first conveyor belt 704 and the second conveyor belt 1006;

and (8): the first lifting driving device 706 drives the first supporting plate 705 to descend, so that the first conveyor belt 704 descends to the lower part of the first roller member 702 through the first gap 703, and the goods 15 stays on the first roller bracket 701 due to the blockage of the first roller member 702; the first roller driving motor then drives the first roller member 702 to rotate, so that the goods 15 move onto the material conveying belt 16 and are conveyed to the outside of the container 17;

and (9): after one row of unstacking, the electromagnetic absorbing piece 601 releases the adsorption effect on the container 17, and the moving mechanism drives the vehicle-mounted platform 1 to move to the next position; the above steps are then repeated cyclically until the de-stacking of the goods 15 inside the container 17 is completed.

It should be noted that other contents of the stacking unstacking device and the container loading and unloading system disclosed by the invention are the prior art, and are not described herein again.

In addition, it should be noted that if directional indications (such as up, down, left, right, front, and back \8230;) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the motion situation, and the like in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indications are correspondingly changed.

Furthermore, it should be noted that the descriptions relating to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The above description is only an alternative embodiment of the present invention, and is not intended to limit the scope of the present invention, and all direct/indirect applications of the present invention in other related fields are included in the scope of the present invention.

Claims

1. A pile up neatly device of breaking a jam, its characterized in that includes:

the double-material channel conveying assembly is arranged on the vehicle-mounted platform; the double-material-channel conveying assembly comprises a first conveying channel and a second conveying channel which are used for conveying goods, wherein the first end of the first conveying channel is connected with the first end of the second conveying channel, and the first end of the first conveying channel and the first end of the second conveying channel are both used for being communicated with an external material conveying belt;

the first loading and unloading mechanism and the second loading and unloading mechanism are arranged on the vehicle-mounted platform; the first loading and unloading mechanism is used for stacking the cargos at the second end of the first conveying channel or unstacking the cargos to the second end of the first conveying channel; the second loading and unloading mechanism is used for stacking the goods at the second end of the second conveying channel or unstacking the goods to the second end of the second conveying channel; or the first loading and unloading mechanism is used for stacking the goods at the second end of the second conveying channel or unstacking the goods to the second end of the second conveying channel; the second loading and unloading mechanism is used for stacking the goods at the second end of the first conveying channel or unstacking the goods to the second end of the first conveying channel;

the double-material-channel conveying assembly comprises a first conveying mechanism, a second conveying mechanism, a third conveying mechanism, a first lifting mechanism and a second lifting mechanism; the middle part of the first conveying mechanism is used for being communicated with the material conveying belt, and the middle part of the first conveying mechanism is arranged as a first end of the first conveying channel and a first end of the second conveying channel; one end of the first conveying mechanism is communicated with the conveying lower end of the first lifting mechanism, and the other end of the first conveying mechanism is communicated with the conveying lower end of the second lifting mechanism; the second conveying mechanism and the third conveying mechanism are arranged above the vehicle-mounted platform through a support, and the second conveying mechanism and the third conveying mechanism are symmetrically distributed along the center line of the vehicle-mounted platform; one end of the second conveying mechanism is communicated with the conveying upper end of the first lifting mechanism, and the other end of the second conveying mechanism is set as a second end of the first conveying channel; one end of the third conveying mechanism is communicated with the conveying upper end of the second lifting mechanism, and the other end of the third conveying mechanism is set as a second end of the second conveying channel;

the second conveying mechanism and the third conveying mechanism respectively comprise third roller brackets, and a plurality of third roller pieces distributed along a linear array are arranged on the third roller brackets; a third gap is formed between any two adjacent third roller pieces positioned at the second end of the first conveying channel or the second conveying channel, the third roller pieces positioned at the second end of the first conveying channel or the second conveying channel are arranged in a cantilever mode, and the suspension position is positioned at one side close to the first loading and unloading mechanism or the second loading and unloading mechanism; the first loading and unloading mechanism and the second loading and unloading mechanism respectively comprise mechanical arms, the fixed ends of the mechanical arms are fixedly connected with the vehicle-mounted platform, the tail ends of the mechanical arms are provided with adsorption components and at least two fork members, the adsorption components are arranged above the fork members, and the adsorption components are used for adsorbing and fixing the goods on the fork members; each of the fork members may pass through the third gap.

2. A palletizing unstacking apparatus as in claim 1 wherein: both sides of the advancing direction of the vehicle-mounted platform are provided with a guide assembly and a positioning assembly;

the guide assembly comprises a row wheel group consisting of a plurality of row wheels, the axis direction of the row wheels is vertical to the advancing direction of the vehicle-mounted platform, and the row wheel group is used for being attached to the inner side wall of the container to roll; a first horizontal driving device is arranged on one side, close to the vehicle-mounted platform, of the row wheel set, and under the driving action of the first horizontal driving device, the row wheel set moves close to or away from the vehicle-mounted platform;

the positioning assembly comprises an electromagnetic attraction piece, and the electromagnetic attraction piece is used for being fixed with the inner side wall of the container in an magnetic attraction manner; one side of the electromagnetic attraction piece, which is close to the vehicle-mounted platform, is provided with a second horizontal driving device, and under the driving action of the second horizontal driving device, the electromagnetic attraction piece moves close to or away from the vehicle-mounted platform.

3. The palletizing unstacking device as claimed in claim 1, wherein: the first conveying mechanism comprises a first roller bracket, and the first roller bracket is fixedly connected with the vehicle-mounted platform; the first roller bracket is provided with a plurality of first roller pieces distributed along a linear array, and a first gap is formed between any two adjacent first roller pieces; at least two first conveyor belts arranged at intervals are arranged below the first roller bracket, each first conveyor belt is arranged in parallel with the axial direction of the first roller piece, and each first conveyor belt is aligned with the first gap; at least two first conveyor belts are arranged on a first supporting plate, the first supporting plate is in driving connection with a first lifting driving device, and under the driving action of the first lifting driving device, the first conveyor belts penetrate through the first gap to move up and down so as to lift the goods to be separated from the first roller piece; the first conveyor belt may perform bidirectional conveyance for conveying the goods to the first lifting mechanism or the second lifting mechanism at an end of the first conveying mechanism.

4. The palletizing unstacking device as claimed in claim 3, wherein: the first lifting mechanism and the second lifting mechanism respectively comprise a second roller bracket, a plurality of second roller pieces distributed along a linear array are arranged on the second roller bracket, and the axial directions of the second roller pieces and the first roller pieces are parallel to each other; the second roller bracket is in driving connection with a second lifting driving device, and under the driving action of the second lifting driving device, the second roller bracket vertically moves up and down relative to the vehicle-mounted platform.

5. The palletizing unstacking device as claimed in claim 4, wherein: a second gap is formed between any two adjacent second roller parts; at least two second conveyor belts which are arranged at intervals are arranged below the second roller bracket, each second conveyor belt is arranged in parallel with the axial direction of the second roller piece, and each second conveyor belt is aligned with the second gap; at least two second conveyor belts are arranged on a second support plate, the second support plate is in driving connection with a third lifting driving device, and the second conveyor belts penetrate through the second gap to move up and down under the driving action of the third lifting driving device; the second conveyor belt may perform bidirectional conveyance.

6. A palletizing unstacking apparatus as in claim 4 wherein: the axial directions of the third roller piece and the second roller piece are parallel to each other; and one end of the third roller bracket, which is close to the first lifting mechanism/the second lifting mechanism, is provided with a wellhead part, and the wellhead part is used for the second roller bracket to pass through in the process of moving up and down.

7. The palletizing unstacking device as claimed in claim 1, wherein: the adsorption assembly comprises a fixed plate and a push plate, the fixed plate is fixedly connected with the tail end of the mechanical arm, and the push plate is arranged on one side of the fixed plate, which is far away from the mechanical arm; a telescopic driving device is arranged between the push plate and the fixing plate, and the push plate slides along the fork under the driving action of the telescopic driving device; the push pedal keep away from one side of flexible drive arrangement is equipped with the sucking disc, the sucking disc is used for right the goods adsorbs fixedly.

8. A container handling system, comprising: comprising a palletizing unstacking apparatus as claimed in any one of claims 1 to 7.