CN112061816B - Automatic loading system of container - Google Patents

Abstract

The invention relates to the technical field of automatic loading equipment, and provides an automatic container loading system which comprises a unstacking device, a conveying device and a conveying device, wherein a container stack is split, containers are conveyed one by one, and all containers face towards the same direction; the stacking mechanism comprises a row component and a box receiving component; the row assembly is arranged at the output end of the unstacking device and is used for arranging a plurality of containers into a container row with a preset length; the box receiving assembly receives the container rows with a preset number of layers layer by layer to form a container row; the conveying vehicle is used for receiving the container rows from the container receiving assembly; the loading mechanism can extend into the container; the rows of containers are placed in predetermined positions. Therefore, the invention can rapidly split the box stack and form the container rows according to the specification of the container by arranging the unstacking device and the stacking mechanism outside the container; the loading mechanism extends into the container, and the container row is integrally conveyed into the container by utilizing the conveying vehicle. The loading speed is fast, and the goods is difficult for damaging, and whole loading process automation degree is high, can realize the automatic loading operation of container under unmanned condition.

Description

Automatic loading system of container

Technical Field

The invention belongs to the technical field of automatic loading equipment, and particularly relates to an automatic loading system for a container.

Background

With the increase of product types and the market segment, one large truck often carries a plurality of products. Certain challenges are brought to the loading of freight cars, particularly boxed goods. With the continuous increase of labor cost, the storage logistics field gradually adopts equipment to replace manual work. Such as automatic loading equipment. But the loading of container class mainly still relies on the manual work, and intensity of labour is high, and the loading is efficient.

Although the related equipment solves the problem, such as the loading equipment disclosed in 201810903577.1, the equipment needs to be arranged in rows and reloaded in the container, the loading efficiency is low, and the containers with single specification can be loaded, and the multiple containers cannot be loaded in a mixed manner. Certain problems are brought to the distribution.

In view of the above, the prior art is obviously inconvenient and disadvantageous in practical use, and needs to be improved.

Disclosure of Invention

Aiming at the defects, the invention aims to provide an automatic container loading system, which is characterized in that a unstacking device and a stacking mechanism are arranged outside a container, so that a container stack is quickly disassembled and container rows are formed according to the specification of the container; the loading mechanism extends into the container, and the container row is integrally conveyed into the container by utilizing the conveying vehicle. The loading speed is fast, and the goods is difficult for damaging, and whole loading process automation degree is high, can realize the automatic loading operation of container under unmanned condition.

In order to achieve the above object, the present invention provides an automatic container loading system, comprising: the unstacking device is used for splitting the box stacks and conveying the containers one by one, and all the containers face towards the same direction; the stacking mechanism comprises a row component and a box receiving component; the row assembly is arranged at the output end of the unstacking device and is used for arranging a plurality of containers into a container row with a preset length; the length of the cargo box column does not exceed a certain preset value; the box receiving assembly receives the container rows with a preset number of layers layer by layer to form a container row; the conveying vehicle is used for receiving the container rows from the container receiving assembly; the loading mechanism bears the conveying vehicle and can extend into the container; the transport vehicle is movable on the loading mechanism to place the rows of containers in predetermined positions.

According to the automatic loading system of the container, the loading mechanism comprises: the two sides of the rail frame are respectively provided with a positioning component; the positioning assembly comprises a telescopic top wall rod and a force measuring element for detecting the axial force of the top wall rod; the two top wall rods extend out and then are respectively and correspondingly abutted against the wall of the container until the axial forces detected by the two force measuring elements are equal; the rail frame rotates a corresponding adjusting angle around a preset circle center in the horizontal plane, so that the central shaft of the rail frame is parallel to the central shaft of the container; the circle center is arranged on a central shaft of the rail frame; the rail frame is moved a predetermined distance in a horizontal plane parallel to its central axis so that the central axis of the rail frame coincides with the central axis of the container.

According to the automatic loading system of the container, the rail frame is arranged on the transverse moving seat in a rolling or sliding manner; the transverse moving seat is arranged on the rotating seat; the transverse moving seat is also penetrated and screwed with a transverse moving screw rod, and two ends of the transverse moving screw rod are respectively and rotatably arranged on the rotating seat; the transverse moving seat is rotatably arranged on the rotating seat, and an angle adjusting electric cylinder is connected between the transverse moving seat and the rotating seat.

According to the automatic container loading system, the top wall rod is a top wall lead screw, the top wall lead screw is connected with a fixed box fixed on the rail frame in a penetrating manner, and a lead screw sleeve in threaded connection with the top wall lead screw is arranged in the fixed box; a force measuring element movably connected with the top wall screw rod in a penetrating manner is further arranged in the fixed box; the force measuring element is a pressure sensor; two working faces of the pressure sensor are respectively abutted against the inner walls of the screw rod sleeve and the fixed box.

According to the automatic container loading system, the unstacking device comprises a box stack conveying mechanism, a container conveying belt is arranged above the box stack conveying mechanism, and a station switching rail is arranged above the container conveying belt; and a movable unstacking assembly is arranged on the station switching rail.

The unstacking assembly comprises a main lifting plate which is arranged on the station switching rail and can move along the station switching rail; the main hanging plate is rotatably connected with the direction-adjusting hanging plate; the main hanging plate and the direction-adjusting hanging plate are respectively provided with a destacking sucker;

when the included angle between the main hanging plate and the direction-adjusting hanging plate is 0 degree, the orientation of the unstacking sucker on the main hanging plate and the direction-adjusting hanging plate forms an included angle of 90 degrees.

When the included angle between the main hanging plate and the direction-adjusting hanging plate is 90 degrees, the directions of the unstacking suckers on the main hanging plate and the direction-adjusting hanging plate are the same.

According to the automatic container loading system, at least one row of unstacking suckers are arranged on the main lifting plate, and the direction of the row of unstacking suckers is parallel to the conveying direction of the station switching rail; the unstacking assemblies are arranged in two groups, and the two groups are rotationally symmetrical; the container conveying belts are also two and correspond to one unstacking assembly respectively.

According to the automatic container loading system, a plurality of rows of unstacking suckers are arranged on the main lifting plate in parallel; the direction-adjusting hanging plate is one and is provided with a row of unstacking suckers; when the included angle between the direction-adjusting hanging plate and the main hanging plate is 90 degrees, the directions of the unstacking suckers of the direction-adjusting hanging plate and the unstacking suckers in one row on the main hanging plate are completely overlapped.

According to the automatic container loading system, the main lifting plate of the unstacking assembly is rotatably connected with two direction-adjusting lifting plates, and the two direction-adjusting lifting plates are oppositely arranged; the main hanging plate is provided with a row of unstacking suckers, and the two direction-adjusting hanging plates are respectively provided with one unstacking sucker.

According to the automatic container loading system, the arraying mechanism comprises an arraying assembly and a receiving box assembly.

The row assembly is provided with a conveying roller group for conveying containers, and the conveying end of the conveying roller group is provided with a box baffle plate; the box blocking plates block a predetermined number of containers to form a container row.

And box pushing plates used for pushing the container columns to the box receiving assembly are arranged on the side faces of the conveying roller sets.

The box receiving assembly is provided with a box supporting plate moving in the vertical direction; the box supporting plates receive the cargo box columns pushed out of the row assembly and descend slightly higher than the height of the cargo box columns until receiving the cargo box columns with a preset number of layers to form a cargo box row.

According to the automatic loading system of the container, the box receiving assembly comprises a conveying chain which rotates circularly in the vertical direction, and the box supporting plate is fixed on the conveying chain; the box receiving assembly further comprises a buffer plate; the box supporting plate and the buffer plate are provided with supporting strips which are arranged at equal intervals; when the box supporting plate and the buffer plate are crossed, the supporting strips of the box supporting plate and the buffer plate pass through the supporting strip gap of the other supporting strip; and a lifting plate is arranged above the conveying roller set, and a direction adjusting sucker is arranged on the lifting plate.

According to the automatic loading system of the container, the conveying vehicle comprises a vehicle frame, and the vehicle frame is rotatably arranged on the moving plate; the moving plate is arranged on the rail frame.

The goods picking device is characterized in that a translation frame capable of extending forwards or retracting back is arranged on the vehicle frame, a vehicle baffle is arranged on the translation frame, and the bottom of the vehicle baffle is connected with a goods picking fork; the front end of the car baffle is also provided with a telescopic pushing plate; the picking fork is rotatably connected with the vehicle baffle.

The car baffle is also connected with side plates which are respectively arranged at the two sides of the goods pushing plate; the side plate is rotatably connected with the vehicle baffle; the end part of the side plate is provided with a guide part facing to the central shaft direction of the vehicle baffle plate; a lifting frame is arranged in the vehicle frame; the translation frame is arranged on the lifting frame.

The invention aims to provide an automatic container loading system, which is characterized in that a unstacking device and a stacking mechanism are arranged outside a container, so that a container stack is quickly disassembled and container rows are formed according to the specification of the container; the loading mechanism extends into the container, and the container row is integrally conveyed into the container by utilizing the conveying vehicle. The loading speed is fast, and the goods is difficult for damaging, and whole loading process automation degree is high, can realize the automatic loading operation of container under unmanned condition.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic view of the structure of the loading mechanism of the present invention.

Fig. 3 is a functional schematic diagram of an embodiment of the loading mechanism of the present invention.

Fig. 4 is a functional schematic diagram of an embodiment of the loading mechanism of the present invention.

Fig. 5 is a schematic view of fig. 2 from a perspective.

Fig. 6 is a schematic structural view of the region a in fig. 2.

Fig. 7 is a schematic structural view of a partial region in fig. 6.

Fig. 8 is a schematic view of the structure of the unstacking apparatus of the present invention.

Figure 9 is a schematic structural view of an embodiment of the unstacking assembly of the present invention.

Figure 10 is a schematic structural view of an embodiment of the unstacking assembly of the present invention.

Fig. 11 is a schematic structural diagram of an application example of the present invention.

Fig. 12 is a schematic structural diagram of the stacking mechanism of the present invention.

Fig. 13 is a schematic structural view of a part of the region in fig. 12.

Fig. 14 is a schematic structural view of the operating principle of the palletizing mechanism of the present invention.

Fig. 15 is a schematic structural view of the feed carriage of the present invention.

In the figure: 1-top wall rod, 11-fixed box, 12-lead screw sleeve, 13-pressure sensor, 14-positioning motor, 15-bearing, 16-bearing seat; 2-rail frame, 21-traversing seat, 211-traversing screw rod and 212-rail frame motor; 22-a rotating seat, 23-a base and 231-an angle adjusting electric cylinder; 3-vehicle frame, 31-picking fork, 32-vehicle baffle, 33-pushing plate, 34-side plate, 35-lifting frame, 36-translation frame and 37-moving plate; 4-conveying roller group, 41-box blocking plate, 42-box pushing plate, 43-direction adjusting sucker, 44-lifting plate and 45-blocking piece; 5-conveying chain, 51-box supporting plate, 52-buffer plate; 6-station switching rail, 61-main hanging plate, 62-direction-adjusting hanging plate and 63-unstacking sucker; 10-row module, 20-box-receiving module; 100-stacking mechanism, 200-box stack conveying mechanism, 300-lifting frame, 400-box conveyor belt, 500-container, 600-loading mechanism and 700-conveying vehicle.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating 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 the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Referring to fig. 1, the present invention provides an automatic container loading system, comprising:

and the unstacking device is used for splitting the box stack and conveying the containers one by one, and all the containers face towards the same direction.

The stacking mechanism 100 comprises a row assembly 10 and a junction box assembly 20.

A row assembly 10 arranged at the output end of the unstacking device and used for arranging a plurality of containers into a container row with a preset length; the length of the column of containers does not exceed a predetermined value, such as the inner width of the container.

The container receiving assembly 20 receives a predetermined number of columns of containers one after another to form a row of containers.

A transfer cart 700 for receiving rows of containers from the container pick-up assembly 20.

A loading mechanism 600 carrying the transport vehicle 700 and being extendable into the container 500; the transfer car 700 is movable on the loading mechanism 600 to place the rows of containers in predetermined positions.

The invention arranges a destacking device and a stacking mechanism 100 outside the container, quickly separates the container stack and forms container rows according to the specification of the container 500; the loading mechanism 600 extends into the container 500 and the row of containers is fed in its entirety by the transfer car 700. The loading speed is fast, and the goods is difficult for damaging, and whole loading process automation degree is high, can realize container 500's automatic loading operation under unmanned condition.

Referring to fig. 2, the loading mechanism 600 of the present invention comprises: the two sides of the rail frame 2 are respectively provided with a positioning component; the positioning assembly comprises a telescopic top wall rod 1 and a force measuring element for detecting the axial force of the top wall rod 1; referring to fig. 3, after the two top wall rods 1 extend out, they are respectively and correspondingly abutted against the walls of the container 500 until the axial forces detected by the two force measuring elements are equal; at this time, it is determined that the rail frame 2 is completely fixed in the box.

The rail frame 2 rotates a preset adjusting angle around a preset circle center in a horizontal plane, so that the central shaft of the rail frame 2 is parallel to the central shaft of the container 500; the circle center is arranged on the central shaft of the rail frame 2.

The rail frame 2 moves parallel to the central axis thereof by a predetermined distance in the horizontal plane, so that the central axis of the rail frame 2 coincides with the central axis of the container 500; completing its positioning within the container 500.

After the rail frame 2 is positioned, the conveying vehicle 700 can smoothly discharge the containers into the containers; because the rail frame 2 is completely positioned at the center position in the box, the container row does not interfere with the box door and the box wall in the advancing process, and the distance between two sides of the container row and the inner wall of the box can be reduced as much as possible; make full use of incasement space realizes being full-loaded of goods, avoids in the transportation, the empting of goods appears.

Referring to fig. 3, as an example, the distance between two top wall posts 1 on the rail frame 2 is zero.

The value of the distance between the two inner walls of the container 500 is known and entered into the control unit as a set value.

When positioning the ancestry, detecting the distance between the contact points of the two top wall rods 1 and the two inner walls (namely the distance between a and b), and comparing the distance with a set value; if the distance is larger than the set value, it indicates that the rail frame 2 and the central axis of the container 500 form an included angle, at this time, the rotation angle of the rail frame 2 is adjusted until the distance is the same as the set value, and it is determined that the rail frame 2 and the central axis of the container 500 are parallel.

Referring to fig. 4, as an example, the distance between two top wall posts 1 on the rail frame 2 is not zero; when the rail frame 2 is parallel to the central axis of the container 500, the distance between a and b is inputted to the control unit as a set value.

When positioning the ancestry, detecting the distance between the contact points of the two top wall rods 1 and the two inner walls respectively, and comparing the distance with a set value; if the distance is greater than the set value, it indicates that the rail frame 2 needs to be rotated counterclockwise (for example, as shown in fig. 4, the same applies below) for adjustment; if the distance is < set point, it is stated that the rail 2 needs to be adjusted by turning it clockwise (for example, as shown in fig. 4, the same applies below).

The embodiment has unidirectional adjustment process, and the adjustment process is simplified; in order to ensure the sensitivity of unidirectional adjustment, the distance between the two top wall rods 1 is not less than 50 cm.

The invention rail frame 2 is arranged on the transverse moving seat 21 in a rolling or sliding way; the transverse moving seat 21 is arranged on the rotating seat 22; the transverse moving seat 21 is also penetrated and screwed with a transverse moving screw rod 211, and two ends of the transverse moving screw rod 211 are respectively and rotatably arranged on the rotating seats 22; the translation of the rail frame 2 on the horizontal plane is adjusted through the rotation of the transverse screw rod 211; preferably, the traverse base 21 is provided with a rail frame motor 212 for driving the rail frame 2 to move on the traverse base 21; further, a rack is arranged on the rail frame 2, and the rail frame motor 212 is connected with a gear in transmission connection with the rack, so that the accurate control of the moving distance of the rail frame 2 is realized.

Referring to fig. 5, the traverse seat 21 is rotatably disposed on the rotating seat 22, and an angle adjusting electric cylinder 231 is connected therebetween; the rotation angle of the rail frame 2 is adjusted by the extension and contraction of the angle adjusting electric cylinder 231. The angle adjustment range of the rail frame 2 is-5 to 5 degrees with the central axis parallel to the container 500 as a zero point. Preferably, the traversing seat 21 and the rotating seat 22 are connected by a rotating support, and the rotating center point is located on the central axis of the rail frame 2.

Referring to fig. 6, as an embodiment, the top wall rod 1 of the present invention is a top wall screw rod, the top wall screw rod is connected through a fixed box 11 fixed on the rail frame 2, and a screw sleeve 12 screwed with the top wall screw rod is arranged in the fixed box 11; a force measuring element movably connected with the top wall screw rod in a penetrating manner is further arranged in the fixed box 11; the load cell of the invention is preferably a pressure sensor 13; two working surfaces of the pressure sensor 13 are respectively abutted against the inner walls of the screw sleeve 12 and the fixed box 11; when the top lead screw is pushed against the container 500 and subjected to an axial reaction force, the lead screw housing 12 is slightly moved in the axial direction, so that the pressure sensor 13 detects the axial force.

Referring to fig. 7, preferably, the screw housing 12 is sleeved with a bearing 15, and the bearing 15 is arranged in a bearing seat 16 fixed in the fixed box 11; avoid the roof lead screw when freely stretching out and drawing back, pressure sensor 13 detects noise figure.

The lead screw sleeve 12 is in transmission connection with a positioning motor 14; the screw sleeve 12 rotates to realize the extension and contraction of the top wall rod 1. Preferably, the screw sleeve 12 is connected with the positioning motor 14 in a gear transmission manner.

The positioning motor 14 of the present invention is preferably a servo motor, and the distance between the point a and the point b is determined by recording the number of rotations of the top lead screw by an encoder provided in the motor. Through set up distance sensor in the side of rail frame 2, like laser rangefinder etc. detect the distance between rail frame 2 and the tank wall, judge whether the center pin of rail frame 2 and container 500 coincides.

Referring to fig. 8, the unstacking device of the invention comprises a box stack conveying mechanism 200, wherein a container conveyor belt 400 is arranged above the box stack conveying mechanism 200, and a station switching rail 6 is arranged above the container conveyor belt 400; the station switching rail 6 is provided with a movable unstacking assembly.

The case pile conveying mechanism 200 has a crane 300 located below the station switching rail 6.

The lifting frame 300 is used for conveying the tray loaded with the containers to the operation position of the unstacking assembly, and when the unstacking assembly takes away a layer of containers, the lifting frame moves upwards by the height distance of the layer of containers, so that the unstacking assembly can move the layer of containers continuously; after all containers are completely removed, the lifting frame 300 falls down, and the box pile conveying mechanism 200 removes the empty pile trays. The lifting frame 300 is adapted to perform a lifting action by a suitable known structure, such as a screw structure, to lift the lifting frame 300.

The de-stacking assembly picks up one layer of containers at a time from the trays and moves along the station switch rails 6 over the container conveyor 400 to place containers in rows on the container conveyor 400.

Referring to fig. 9, the unstacking assembly includes a main lifting plate 61 mounted on the station switching rail 6 and movable along the station switching rail 6; the main hanging plate 61 is rotatably connected with a direction-adjusting hanging plate 62; the main hanging plate 61 and the direction-adjusting hanging plate 62 are respectively provided with a destacking suction cup 63; at least one row of unstacking suction cups 63 is arranged on the main lifting plate 61, and the row of unstacking suction cups 63 runs parallel to the conveying direction of the station switching rail 6. The connecting point of the direction-adjusting hanging plate 62 and the main hanging plate 61 is connected with a rotating motor in a transmission way, so that the rotation of the direction-adjusting hanging plate 62 is realized.

When the included angle between the main hanging plate 61 and the direction-adjusting hanging plate 62 is 0 degree, the orientation of the unstacking suction cup 63 on the main hanging plate 61 and the direction-adjusting hanging plate 62 forms an included angle of 90 degrees; at this time, the main hanging plate 61 and the direction-adjusting hanging plate 62 are both positioned above the box pile, and the unstacking suction cups 63 on the main hanging plate 61 and the direction-adjusting hanging plate 62 respectively suck the box in the same direction.

When the included angle between the main hanging plate 61 and the direction-adjusting hanging plate 62 is 90 degrees, the directions of the unstacking suckers 63 on the main hanging plate 61 and the direction-adjusting hanging plate 62 are the same; at this time, the main hanger plate 61 and the direction-adjusting hanger plate 62 are moved to above the container conveyor 400, and the containers are placed on the container conveyor 400 at predetermined positions, respectively, so that the containers are output in the same direction.

Preferably, a plurality of rows of unstacking suckers 63 are arranged on the main hanging plate 61 in parallel; a row of unstacking suckers 63 are arranged on the direction-adjusting hanging plate 62; preferably, when the included angle between the direction-adjusting hanging plate 62 and the main hanging plate 61 is 90 degrees, the directions of the unstacking suckers 63 of the direction-adjusting hanging plate 62 and the unstacking suckers 63 of one row on the main hanging plate 61 are completely overlapped, so that the output efficiency of the container is improved.

This embodiment can be used for de-stacking of special stacks, such as 14 containers per layer, three columns of containers in vertical placement; the containers placed transversely are in a row, and the row is five containers.

Preferably, the unstacking assemblies are arranged in two groups, and the two groups are rotationally symmetrical; the two container conveying belts 400 are also provided and correspond to a destacking assembly respectively; the two unstacking assemblies alternately move the containers and place the containers on the corresponding container conveyor belts 400; the efficiency of breaking a jam is improved, satisfies the production beat.

Because the adjacent two layers of the box stack are also in rotational symmetry, when the containers on the upper layer are moved away by one of the unstacking assemblies, the orientation of the containers on the lower layer is just matched with the unstacking suction cups 63 of the other unstacking assembly, and the unstacking efficiency is improved.

Referring to fig. 10, two direction-adjusting hanging plates 62 are rotatably connected to the main hanging plate 61 of the unstacking assembly, and the two direction-adjusting hanging plates 62 are oppositely arranged. Preferably, the main hanging plate 61 is provided with a row of unstacking suckers 63, and the two direction-adjusting hanging plates 62 are respectively provided with one unstacking sucker 63; this embodiment is suitable for unstacking of a quincuncial stack.

The invention arranges a plurality of groups of station switching rails 6 along the direction of the container conveyor belt 400; different types of unstacking assemblies are arranged on each station switching rail 6 and correspond to different stack shapes respectively, so that the output of box stacks with different stack shapes on the same container conveying belt 400 is realized, and further the mixed loading of containers with various specifications is realized.

Referring to fig. 11, the delivery end of the container conveyor 400 of the present invention is provided with a palletizing mechanism 100. The container conveying belt 400 continuously conveys the containers to the stacking mechanism 100, and the containers are stacked into the container rows with the preset specification in the stacking mechanism 100, so that the automatic operation of unstacking and stacking of the containers is realized, a large number of manual posts are replaced, the stacking of the containers is standard, the operation efficiency is high, and the operation amount in unit time is increased.

Referring to fig. 12, the stacking mechanism of the present invention includes a row of modules 10 and a drop box module 20.

Referring to fig. 13, the row assembly 10 has a conveying roller group 4 for conveying containers, and a conveying end of the conveying roller group 4 is provided with a baffle plate 41; the box guard 41 receives the containers and aligns the containers. The side surface of the conveying roller group 4 is provided with a box pushing plate 42; a plurality of containers arranged in a predetermined length are pushed to the drop box assembly 20. The push plate 42 can be pushed by an air cylinder. The conveyor roller set 4 is connected to the container conveyor 400.

A row assembly 10 for aligning a plurality of containers in a predetermined length column; the length of the cargo box column does not exceed a certain preset value; the predetermined value of the present invention may be the inner width of the container, the width of two opposing walls of the storage warehouse, or the entrance width of a certain enclosed storage space. The number of containers in the row of containers is determined based on the predetermined value and the specification of the containers (e.g., the length or width of the containers), and the length of the row of containers is usually slightly less than the predetermined value for smooth loading.

Due to the different specifications of the containers, the situation that the preset value cannot be divided by the length or the width of the container exists; if one less container is placed, the clearance between the container column and the walls (or walls) is too large, and the container risks toppling.

Therefore, in order to avoid the gap from being too large, the orientation of some containers needs to be adjusted, for example, in a container row arranged in the width direction, the orientation of a certain container needs to be adjusted to the length direction, so that the gap is effectively reduced, and the containers are prevented from falling in the transportation or storage process. A lifting plate 44 is arranged above the conveying roller group 4, a direction adjusting sucker 43 is arranged on the lifting plate 44, and according to the preset adjusting mode of the specification of a container, the direction adjusting sucker 43 sucks up a certain container, rotates 90 degrees and then puts down the container to complete the adjustment of the direction.

Preferably, the direction-adjusting suction cups 43 can move on the lifting plate 44, so that the direction-adjusting containers of two adjacent container rows are not overlapped, the stress is dispersed, and the falling is avoided. The direction-adjusting suckers 43 can be arranged in one group, two groups, three groups or more groups according to actual needs.

Furthermore, a stop member 45 is arranged at a preset position of the conveying roller group 4, and when the number of the containers passing through reaches the requirement of the container row, the stop member 45 extends out to stop the containers which are continuously conveyed; after the previous column of containers is pushed out, the dam 45 is retracted and the new column is formed. The dam 45 may be extended or retracted in a manner known in the art, such as by a pneumatic cylinder, electric cylinder, or lead screw drive.

Referring to fig. 14, the drop box assembly 20 has a drop box plate 51 that moves in a vertical direction; the box pallet 51 receives rows of containers pushed from the row of modules 10 and lowers slightly above the height of the rows until a predetermined number of rows of containers are received to form a row of containers.

After each container row is formed, it is removed in its entirety by the transfer car 700 and fed into the container.

The height of the container row is set according to the specification of a specific container and the height of the container; such as 1, 2 or 3 rows of containers depending on the height of the container.

The box receiving assembly 20 comprises a conveying chain 5 which rotates circularly in the vertical direction, wherein the box supporting plate 51 is fixed on the conveying chain 5; further, the junction box assembly 20 further includes a buffer plate 52; the drop box assembly 20 pushes the array of containers out to the buffer plate 52, and the position of the buffer plate 52 can be adjusted according to the length of the cargo.

The box supporting plate 51 and the buffer plate 52 are provided with supporting strips arranged at equal intervals; when the box supporting plate 51 and the buffer plate 52 meet, the supporting strips of the box supporting plate 51 and the buffer plate 52 pass through the supporting strip gaps of the other supporting plate, and the non-contact passing of the box supporting plate 51 to the buffer plate 52 is realized.

Further, the conveying vehicle 700 is provided with a picking fork 31, and the picking fork 31 is provided with inserting strips arranged at equal intervals; when picking up the cargo, the cuttings pass through the gap between the two support strips of the box supporting plate 51, and the cargo box row is picked up.

The box receiving assembly 20 of the present invention is drivingly connected to the translation drive member to effect translation in the horizontal direction. The box receiving assembly 20 retreats in advance, and the conveying vehicle 700 rotates to enable the picking forks 31 to face the box receiving assembly 20; then the container receiving assembly 20 moves forward, and after the picking fork 31 picks up the container row, the container receiving assembly 20 moves backward again, so that the interference of the rotation of the conveying vehicle 700 is avoided. After the orientation of the carrier 700 is adjusted, the pick-up unit 20 moves forward again to prepare for the pick-up column. The translation driving member can be an air cylinder, an oil cylinder or a lead screw.

Referring to fig. 15, the conveying vehicle 700 of the present invention includes a vehicle frame 3, wherein the vehicle frame 3 is rotatably disposed on a moving plate 37; the moving plate 37 is arranged on the rail frame 2; the moving plate 37 can move on the rail frame 2; the movement of the moving plate 37 on the rail 2 can be accomplished by a suitable known structure by those skilled in the art.

A translation frame 36 capable of extending forwards or retracting back is arranged on the vehicle frame 3, a vehicle baffle 32 is arranged on the translation frame 36, and the bottom of the vehicle baffle 32 is connected with a picking fork 31; the front end of the car baffle 32 is also provided with a retractable pushing plate 33.

The goods are loaded on the goods picking fork 31, the goods pushing plate 33 extends out after the conveying vehicle 700 is conveyed to a preset position, and meanwhile the conveying vehicle 700 retreats to complete the placement of the goods.

Preferably, the picking fork 31 is rotatably connected with the vehicle baffle 32, and the picking fork and the vehicle baffle are connected through a fork cylinder; when the goods are put down, the fork cylinder acts, the pick fork 31 rotates by a certain angle, and the goods can be conveniently and smoothly put down. When transporting goods, the front end of the goods picking fork 31 slightly upwarps to avoid the goods from sliding off.

Further, the car baffle 32 is further connected with side plates 34 respectively arranged at two sides of the pushing plate 33; goods are prevented from falling down in the delivery process; furthermore, the side plates 34 are rotatably connected with the vehicle baffle 32, and when goods are received, the side plates 34 are opened at a certain angle, so that the goods are conveniently received; in the delivery process, the two side plates 34 are retracted, and the goods are placed to be toppled forwards; further, the end of the side plate 34 is provided with a guide portion facing the center axis direction of the dash panel 32; interference with the door frame is avoided as the transport cart 700 passes over, for example, a container door.

Preferably, a lifting frame 35 is arranged in the vehicle frame 3; the translation frame 36 is arranged on the lifting frame 35; the height of the put goods is adjusted by the lifting frame 35. As an embodiment, a lifting screw is vertically arranged in the vehicle frame 3, and the lifting screw is in threaded connection with the lifting frame 35; the height of the lifting frame 35 is adjusted by the lifting screw.

A rack is arranged on the lifting frame 35, and a gear in transmission connection with the rack is arranged on the translation frame 36; the extension and retraction of the translation frame 36 are realized.

In summary, the invention provides an automatic container loading system, which is characterized in that a unstacking device and a stacking mechanism are arranged outside a container, so that a container stack is quickly disassembled and container rows are formed according to the specification of the container; the loading mechanism extends into the container, and the container row is integrally conveyed into the container by utilizing the conveying vehicle. The loading speed is fast, and the goods is difficult for damaging, and whole loading process automation degree is high, can realize the automatic loading operation of container under unmanned condition.

The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. An automatic container loading system, comprising:

the unstacking device is used for splitting the box stacks and conveying the containers one by one, and all the containers face towards the same direction;

the stacking mechanism comprises a row component and a box receiving component;

the row assembly is arranged at the output end of the unstacking device and is used for arranging a plurality of containers into a container row with a preset length; the length of the cargo box column does not exceed a certain preset value;

the box receiving assembly receives the container rows with a preset number of layers layer by layer to form a container row;

the conveying vehicle is used for receiving the container rows from the container receiving assembly;

the loading mechanism bears the conveying vehicle and can extend into the container; the conveying vehicle can move on the loading mechanism to place the container rows at preset positions;

the loading mechanism includes: the two sides of the rail frame are respectively provided with a positioning component; the positioning assembly comprises a telescopic top wall rod and a force measuring element for detecting the axial force of the top wall rod;

the two top wall rods extend out and then are respectively and correspondingly abutted against the wall of the container until the axial forces detected by the two force measuring elements are equal;

the rail frame rotates a corresponding adjusting angle around a preset circle center in the horizontal plane, so that the central shaft of the rail frame is parallel to the central shaft of the container; the circle center is arranged on a central shaft of the rail frame;

the rail frame is moved a predetermined distance in a horizontal plane parallel to its central axis so that the central axis of the rail frame coincides with the central axis of the container.

2. The automatic container loading system of claim 1, wherein said rail frame is rollingly or slidably disposed on a traverser; the transverse moving seat is arranged on the rotating seat; the transverse moving seat is also penetrated and screwed with a transverse moving screw rod, and two ends of the transverse moving screw rod are respectively and rotatably arranged on the rotating seat; the transverse moving seat is rotatably arranged on the rotating seat, and an angle adjusting electric cylinder is connected between the transverse moving seat and the rotating seat.

3. The automatic container loading system according to claim 1, wherein the top wall rod is a top wall screw rod, the top wall screw rod penetrates through a fixed box fixed on the rail frame, and a screw sleeve screwed with the top wall screw rod is arranged in the fixed box; a force measuring element movably connected with the top wall screw rod in a penetrating manner is further arranged in the fixed box; the force measuring element is a pressure sensor; two working faces of the pressure sensor are respectively abutted against the inner walls of the screw rod sleeve and the fixed box.

4. The automatic container loading system according to any one of claims 1 to 3, wherein the unstacking device comprises a box stack conveying mechanism, a container conveying belt is arranged above the box stack conveying mechanism, and a station switching rail is arranged above the container conveying belt; a movable unstacking assembly is arranged on the station switching rail;

the unstacking assembly comprises a main lifting plate which is arranged on the station switching rail and can move along the station switching rail; the main hanging plate is rotatably connected with the direction-adjusting hanging plate; the main hanging plate and the direction-adjusting hanging plate are respectively provided with a destacking sucker;

when the included angle between the main hanging plate and the direction-adjusting hanging plate is 0 degree, the orientation of the unstacking sucker on the main hanging plate and the direction-adjusting hanging plate forms an included angle of 90 degrees;

when the included angle between the main hanging plate and the direction-adjusting hanging plate is 90 degrees, the directions of the unstacking suckers on the main hanging plate and the direction-adjusting hanging plate are the same.

5. The automatic container loading system as claimed in claim 4, wherein the main lifting plate is provided with at least one row of de-stacking suction cups, and the row of de-stacking suction cups runs parallel to the conveying direction of the station switching rail; the unstacking assemblies are arranged in two groups, and the two groups are rotationally symmetrical; the container conveying belts are also two and correspond to one unstacking assembly respectively.

6. The automatic container loading system of claim 5, wherein said main hanging plate has a plurality of rows of de-stacking suction cups arranged thereon in parallel; the direction-adjusting hanging plate is one and is provided with a row of unstacking suckers; when the included angle between the direction-adjusting hanging plate and the main hanging plate is 90 degrees, the directions of the unstacking suckers of the direction-adjusting hanging plate and the unstacking suckers in one row on the main hanging plate are completely overlapped.

7. The automatic container loading system of claim 6, wherein the main hanging plate of the unstacking assembly is rotatably connected with two direction-adjusting hanging plates, and the two direction-adjusting hanging plates are oppositely arranged; the main hanging plate is provided with a row of unstacking suckers, and the two direction-adjusting hanging plates are respectively provided with one unstacking sucker.

8. The automatic container loading system according to any one of claims 5 to 7, wherein the stacking mechanism comprises a row assembly and a box receiving assembly;

the row assembly is provided with a conveying roller group for conveying containers, and the conveying end of the conveying roller group is provided with a box baffle plate; the box blocking plates block a predetermined number of containers to form a container row;

the side surface of the conveying roller group is provided with a box pushing plate used for pushing the container row to the box receiving assembly;

the box receiving assembly is provided with a box supporting plate moving in the vertical direction; the box supporting plates receive the cargo box columns pushed out of the row assembly and descend slightly higher than the height of the cargo box columns until receiving the cargo box columns with a preset number of layers to form a cargo box row.

9. The automated container loading system of claim 8, wherein the drop box assembly includes a conveyor chain that rotates cyclically in a vertical direction, the conveyor chain having the tote plates secured thereto; the box receiving assembly further comprises a buffer plate; the box supporting plate and the buffer plate are provided with supporting strips which are arranged at equal intervals; when the box supporting plate and the buffer plate are crossed, the supporting strips of the box supporting plate and the buffer plate pass through the supporting strip gap of the other supporting strip; and a lifting plate is arranged above the conveying roller set, and a direction adjusting sucker is arranged on the lifting plate.

10. The automatic container loading system of claim 8, wherein said transfer car includes a car frame rotatably disposed on a moving plate; the moving plate is arranged on the rail frame;

the goods picking device is characterized in that a translation frame capable of extending forwards or retracting back is arranged on the vehicle frame, a vehicle baffle is arranged on the translation frame, and the bottom of the vehicle baffle is connected with a goods picking fork; the front end of the car baffle is also provided with a telescopic pushing plate; the picking fork is rotationally connected with the vehicle baffle;

the car baffle is also connected with side plates which are respectively arranged at the two sides of the goods pushing plate; the side plate is rotatably connected with the vehicle baffle; the end part of the side plate is provided with a guide part facing to the central shaft direction of the vehicle baffle plate; a lifting frame is arranged in the vehicle frame; the translation frame is arranged on the lifting frame.

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