Over the past few years, the use of wireless sensor networks in a range of Internet of Things (IoT) scenarios has grown in popularity. Since IoT sensor devices have restricted battery power, a proper IoT data aggregation approach is crucial to prolong the network lifetime. To this end, current approaches typically form a virtual aggregation backbone based on a connected dominating set or maximal independent set to utilize independent transmissions of dominators. However, they usually have a fairly long aggregation delay because the dominators become bottlenecks for receiving data from all dominatees. The problem of time-efficient data aggregation in multichannel duty-cycled IoT sensor networks is analyzed in this paper. We propose a novel aggregation approach, named LInk-delay-aware REinforcement (LIRE), leveraging active slots of sensors to explore a routing structure with pipeline links, then scheduling all transmissions in a bottom-up manner. The reinforcement schedule accelerates the aggregation by exploiting unused channels and time slots left off at every scheduling round. LIRE is evaluated in a variety of simulation scenarios through theoretical analysis and performance comparisons with a state-of-the-art scheme. The simulation results show that LIRE reduces more than 80% aggregation delay compared to the existing scheme.