CN114655658A - Automatic destacking and stacking loading and unloading vehicle - Google Patents

Automatic destacking and stacking loading and unloading vehicle Download PDF

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Publication number
CN114655658A
CN114655658A CN202210420988.1A CN202210420988A CN114655658A CN 114655658 A CN114655658 A CN 114655658A CN 202210420988 A CN202210420988 A CN 202210420988A CN 114655658 A CN114655658 A CN 114655658A
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CN
China
Prior art keywords
truss
stacking
frame body
pushing
base frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210420988.1A
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Chinese (zh)
Inventor
徐全德
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou C&c Machinery Co ltd
Original Assignee
Suzhou C&c Machinery Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou C&c Machinery Co ltd filed Critical Suzhou C&c Machinery Co ltd
Publication of CN114655658A publication Critical patent/CN114655658A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

Abstract

An automatic unstacking and stacking loader comprising: the device comprises a feeding mechanism, a truss arraying mechanism, a pushing mechanism, a stripping mechanism, a base frame body, a gantry frame body and a detection device; the feeding mechanism and the pushing mechanism are located in the same horizontal plane, the feeding mechanism is arranged on the base frame body, the discharging mechanism is arranged on the front side of the gantry frame body, the truss arraying mechanism and the pushing mechanism are movably arranged on the upper side of the base frame body, and the feeding mechanism is matched with the pushing mechanism. By using the automatic unstacking and stacking loader disclosed by the invention, the objects are effectively subjected to alignment and pre-stacking by utilizing the X-axial displacement, the Y-axial displacement and the Z-axial displacement of the truss alignment mechanism and then are fed into the material removing mechanism for integral stacking and stacking, the sizes of the objects can be automatically identified and judged by utilizing a space radar and an optical camera, the size of a space needing stacking can be automatically judged, and a sending transmission channel for stacking is planned.

Description

Automatic destacking and stacking loading and unloading vehicle
Technical Field
The invention relates to the technical field of loading and unloading equipment, in particular to an automatic unstacking and stacking loading and unloading vehicle; the design is applied to cargo water and road container transportation, cargo loading and unloading in transportation industries such as trucks and the like and standard product processing and manufacturing industries, and the like.
Background
It is known that in the warehouse management of factory production and the loading and unloading of logistics articles, the articles are intensively classified and stacked for storage. While the small-scale production generally depends on manpower to stack, the large-scale production depends on auxiliary mechanical equipment to complete, but the existing equipment depends on manual control to complete, and the planning layout of a transport line is fixed. Currently, the existing devices have some drawbacks:
1. the stacking machine can not deal with a plurality of different choices, and when transported articles are in various specifications, the machine can only operate according to manually set data, the article size can not be identified autonomously, the stacking space can not be planned according to the actual conditions of the existing articles, and the embarrassing conditions that the machine needs to be debugged again manually and can not be used directly can be involved;
2. the position of the articles cannot be aligned in advance, when the machine faces the articles packed by the parts, the stacked articles can only be conveyed according to a fixed mode, and the articles packed by the parts cannot be aligned and arranged in advance, so that the quantity of the articles which are conveyed out at one time by the machine is insufficient when the articles are stacked, and the working efficiency is reduced.
Disclosure of Invention
The application provides an automatic unstacking and stacking loader for solve among the prior art hacking machine structure not good, the defect of function singleness leads to the hacking machine at the size of the unable automatic identification article of during operation, can not arrange article in advance and lead to the inconvenient problem that influences work efficiency of pile up neatly operation.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic unstacking and stacking loader comprising: the device comprises a feeding mechanism, a truss arraying mechanism, a pushing mechanism, a stripping mechanism, a base frame body, a gantry frame body and a detection device; the feeding mechanism and the pushing mechanism are positioned in the same horizontal plane, the feeding mechanism is arranged on the base frame body, the stripping mechanism is arranged on the front side of the gantry frame body, the truss arraying mechanism and the pushing mechanism are movably arranged on the upper side of the base frame body, and the feeding mechanism is matched with the pushing mechanism;
the feeding mechanism comprises: the driving shaft and the driven shaft are respectively arranged in the base frame, and the conveying belt is sleeved outside the driving shaft and the driven shaft;
the truss arraying mechanism comprises: the material stopping mechanism, the gantry truss, the moving beam, the sliding table, the pushing device and the clamping device, wherein the gantry truss is arranged on the base frame body, (the moving beam and the sliding table are arranged on the gantry truss, the pushing device is arranged on the sliding table and is vertical to the sliding table, and the clamping device is arranged below the pushing device);
the push mechanism includes: the structure body platform is movably arranged on the base frame body, the transmission roller is arranged on the upper side of the guide platform, the guide side plates are movably arranged on two sides of the structure body platform, the limit baffle is positioned on the front side of the structure body platform, and the lateral pushing device is arranged in the structure body platform;
the stripping mechanism comprises: the device comprises a translation pulley, a lifting device, a carrying platform, an adsorption transfer device, an auxiliary stripping structure and a limiting protector, wherein the translation pulley is vertically arranged on one side of a gantry frame body, which is far away from a feeding mechanism, the two ends of the translation pulley and the moving frame body are respectively provided with a guide rail and a tooth row, the lifting device is arranged in the translation pulley, the lifting device comprises a lead screw and a guide rail mechanism, the carrying platform is arranged on the lifting device, the back of the carrying platform is provided with a slide rail and a lead screw nut, the guide rail and the lead screw mechanism of the lifting device are matched, the adsorption transfer device is movably arranged on one side, which is far away from the feeding mechanism, above the carrying platform, the auxiliary stripping structure is arranged in the carrying platform, the auxiliary stripping mechanism and the carrying platform are positioned on the same horizontal plane, and the limiting protector is movably arranged on two sides of the carrying platform, a telescopic limit plate is arranged in the limit protection;
the top surface of gantry frame body with it is equipped with to spread frame permutation mechanism deviates from gantry frame body one side detection device is equipped with, detection device includes: the irradiation end of the optical camera faces the feeding mechanism, and the scanning area of the space radar faces the base frame body;
the driving shaft, the sliding plate, the pushing device, the translation pulley, the lifting device, the adsorption transfer device, the auxiliary stripping structure, the limiting protection, the optical camera and the space radar are all connected with a controller.
The base frame body is used for supporting the truss arraying mechanism, sliding strips are arranged in the areas, located on the two sides of the feeding mechanism, of the truss arraying mechanism, sliding grooves matched with the two sliding strips are formed in the lower side of the truss arraying mechanism, and the sliding grooves are matched with the sliding strips.
The automatic unstacking and stacking loading and unloading vehicle is characterized in that the base frame body is used for supporting the downward-placing two side areas of the pushing mechanism and is provided with sliding strips, sliding grooves matched with the two sliding strips are formed in the lower side of the pushing mechanism, and the sliding grooves are matched with the sliding strips.
The automatic unstacking, stacking and loading and unloading vehicle is characterized in that hinge shafts are arranged on two sides of a material blocking mechanism in the truss arraying mechanism, and the material blocking mechanism blocks materials from advancing through structure overturning.
The automatic unstacking, stacking and loading and unloading vehicle is characterized in that a sliding rail and a tooth row are arranged above a gantry truss in the truss arraying mechanism along the conveying direction of the feeding mechanism, the sliding rail and the tooth row are matched with a moving beam in the truss arraying mechanism, and the moving beam slides along the sliding rail and the tooth row.
The automatic unstacking and stacking loader comprises a movable cross beam, a truss alignment mechanism and a sliding table, wherein the movable cross beam is arranged above the truss alignment mechanism in the transverse direction, the sliding table is matched with the sliding table, and the sliding table slides transversely along the directions of the sliding table and the rack.
The automatic unstacking and stacking loader comprises a rack, a sliding table, a pushing device and a screw rod, wherein the sliding table in the rack arraying mechanism is longitudinally provided with the screw rod nut and the linear guide sleeve, the screw rod nut and the linear guide sleeve are matched with the screw rod and the linear guide rail which are arranged on the pushing device, and the pushing device longitudinally moves according to the screw rod nut and the linear guide sleeve and does vertical movement.
The automatic unstacking and stacking loading and unloading vehicle is characterized in that a sponge sucker is arranged at the lower part of a clamping device in the truss arraying mechanism, clamping jaws are arranged on two sides of the clamping device, the sponge sucker adsorbs the upper surface of a workpiece, and the clamping jaws are tightened to keep positioning and provide additional tightening assistance.
The automatic unstacking and stacking loading and unloading vehicle is characterized in that sliding rails are arranged in contact areas of the upper end and the lower end of the gantry frame body and the translation pulleys in the material removing mechanism, sliding grooves matched with the two sliding rails are formed in the upper end and the lower end of the translation pulleys, the sliding grooves are matched with the sliding strips, and the translation pulleys move transversely along the sliding rails.
The automatic unstacking and stacking loading and unloading vehicle is characterized in that a sponge sucker is arranged at the front end of an adsorption transfer device in the material removing mechanism, a sliding groove is formed in the lower portion of the adsorption transfer device, a sliding way is arranged in a carrying platform in the material removing mechanism, and the sliding way is matched with the sliding groove.
The automatic unstacking and stacking loading and unloading vehicle is characterized in that the auxiliary material removing structure in the material removing mechanism is a power roller line.
The utility model provides an automatic destacking stack loading and unloading car, wherein, the spacing protection in the material mechanism of taking off can open the certain distance automatically, the inside expansion plate that is equipped with of spacing protection prevents that article from the landing of both sides.
The automatic unstacking, stacking and loading and unloading vehicle is characterized in that the structural height of the truss arraying mechanism is lower than that of the movable frame body.
According to the automatic pallet truck of the embodiment, the scheme has the following effects:
1. the X-axis, Y-axis and Z-axis displacements of the truss arraying mechanism are effectively utilized to carry out arraying and pre-stacking on the articles, and then the articles are fed into the material removing mechanism to carry out integral stacking and stacking;
2. the space radar and the optical camera can be used for autonomously identifying and judging the size of an article, autonomously judging the size of a space to be stacked and planning a sending-out transmission channel for stacking;
3. the structure is simple, and the manufacture and the installation are easy.
Drawings
FIG. 1 is a schematic structural view of an automatic unstacking and stacking truck;
FIG. 2 is a side view of an automatic unstacking truck;
reference is made to the following in corresponding reference numbers in the drawings of the specification: the device comprises a feeding mechanism 1, a truss arraying mechanism 2, a pushing mechanism 3, a stripping mechanism 4, a base frame 5, a gantry frame body 6, a detection device 7, a driving shaft 101, a driven shaft 102, a conveyor belt 103, a material blocking mechanism 201, a gantry truss 202, a movable beam 203, a sliding table 204, a pushing device 205, a clamping device 206, a sliding strip 207, a sliding groove 208, a truss platform 301, a transmission roller 302, a guide side plate 303, a limit baffle 304, a lateral pushing device 305, a sliding strip 306, a sliding groove 307, a translation pulley 401, a lifting device 402, a loading platform 403, an adsorption transfer device 404, an auxiliary stripping structure 405 and a limit protection 406.
Detailed Description
In order to make the technical means, the characteristics, the purposes and the functions of the invention easy to understand, the invention is further described with reference to the specific drawings.
As shown in fig. 1 and 2, the invention provides an automatic unstacking and stacking loader, comprising: the device comprises a feeding mechanism 1, a truss arraying mechanism 2, a pushing mechanism 3, a stripping mechanism 4, a base frame 5, a gantry frame 6 and a detection device 7; the feeding mechanism 1 and the pushing mechanism 3 are positioned in the same horizontal plane and are both arranged on a base frame body 5, the stripping mechanism 4 is arranged in front of a gantry frame body 6, the pushing mechanism 3 and the truss arraying mechanism 2 are movably arranged on the upper side of the base frame body 5, the feeding mechanism 1 is matched with the truss arraying mechanism 2 and the pushing mechanism 3, a material to be transported is placed in the feeding mechanism 1 to transport in the X-axis direction to finish the first-stage conduction, the material in the feeding mechanism 1 enters the truss arraying mechanism 2 and is detected and recorded by a detecting device 7, the detecting device 7 transmits the data obtained after detection to a controller, the truss arraying mechanism 2 is controlled by the controller to array and stack the articles, and the feeding mechanism 1 delivers the articles to the pushing mechanism 3 after the arraying and stacking actions are finished, the pushing mechanism 3 executes displacement in the X-axis direction and in the Y-axis direction to enable the materials to enter the stripping mechanism 4, the stripping mechanism 4 executes lifting to perform displacement in the Z-axis direction, then performs displacement in the Y-axis direction, and finally completes conveying and stacking through displacement in the X-axis direction.
The feeding mechanism 1 includes: the X-axis rotation device comprises a driving shaft 101, a driven shaft 102 and a conveyor belt 103, wherein the driving shaft 101 and the driven shaft 102 are respectively arranged in the base frame body 5, the conveyor belt 103 is sleeved outside the driving shaft 101 and the driven shaft 102, and the further rotation of the driving shaft 101 drives the conveyor belt 103 to rotate in the X-axis direction.
The truss arraying mechanism 2 comprises: the material blocking mechanism 201, the gantry truss 202, the moving beam 203, the sliding table 204, the pushing device 205, the clamping device 206, the bottom sliding strip 207 and the sliding groove 208 are arranged on the base frame body 5 and located at the tail end of the feeding mechanism 1, the gantry truss 202 is movably arranged on the base frame body 5, the bottom sliding strip 207 and the sliding groove 208 are matched, the moving beam 203 is transversely arranged on the gantry truss 202 and moves back and forth along the X-axis direction, the sliding table 204 is movably arranged on the moving beam 203 and moves left and right along the Y-axis direction, the pushing device 205 is movably arranged on the moving table 204 and moves up and down along the Z-axis direction, the clamping device is arranged at the lower side of the pushing device, after clamping and adsorbing materials, the moving beam 203, the sliding table 204 and the pushing device 205 move to realize translation of the materials along the X-axis, the Y-axis and the Z-axis, so as to realize the whole-column stacking operation, the material blocking mechanism 201 is lifted up in the whole-column process, the material is stopped on the feeding mechanism, the arrangement action is completed, the material stopping mechanism 201 falls down, and the material is sent to the pushing mechanism along the X-axis direction.
The pushing mechanism 3 includes: the structure platform 301, the transmission roller 302, the guide side plate 303, the limit baffle 304, the lateral pushing device 305, the sliding bar 306 and the sliding groove 307, wherein the structure platform 301 is movably arranged on the base frame body 5, the sliding bar 306 is fixed in the base frame body 5, the sliding bar 306 is matched with the sliding groove 307, the transmission roller 302 is arranged on the upper surface of the structure platform 301, the guide side plate 303 is movably arranged on two sides of the structure 301, the limit baffle 304 is arranged on one side of the structure platform 301 away from the feeding mechanism 1, the lateral pushing device 305 is movably arranged in the structure platform 301, further, the material moves through the transmission roller 302, cannot slide out of the transmission roller 302 under the guide of the guide side plate 303 when moving, the material is blocked when contacting the limit baffle 304, when the material is accumulated to a certain degree, the structure platform 301 is forwards sent along the X-axis direction through the sliding bar 306, after the forward sending of the structure platform 301 is completed, the lateral pushing device 305 performs Y-direction action on the material on the structure platform 301, the material is pushed to the upper side of the loading platform 403 of the material removing mechanism 4.
The stripping mechanism 4 comprises: the feed mechanism comprises a translation pulley 401, a lifting device 402, a carrying platform 403, an adsorption transferring device 404, an auxiliary stripping structure 405 and a limit protector 406, wherein the translation pulley 401 is vertically arranged on one side of a gantry frame body 6 departing from the feed mechanism 1, the lifting device 402 is arranged in the translation pulley 401, the carrying platform 403 is arranged on one side of the lifting device 402 departing from the translation pulley 401, the adsorption transferring device 404 is arranged on one side of the carrying platform 403 departing from the translation pulley 401, the adsorption transferring device 404 is connected with the carrying platform 403 through a slide way and a matching slide way, the auxiliary stripping structure 405 is arranged on the upper side of the carrying platform 403, the limit protector 406 is arranged on two sides of the carrying platform 403 to prevent materials from being separated from two sides in the moving process, the further translation pulley 401 carries out Y-direction displacement on the carrying platform for carrying materials, and further, the carrying platform 403 for carrying materials is carried out Z-direction displacement through the lifting device 402, after the positions of the Y axis and the Z axis are determined, the adsorption transfer device 404 displaces the material carried on the carrying platform 403 in the X axis direction, the auxiliary material-removing structure 405 assists the displacement in the X axis direction, the limiting protection 406 limits the material carried on the carrying platform 403, and the stacking operation on a plurality of different positions can be further realized by regulating and controlling the positions of the carrying platform 403 in the Y axis and the Z axis.
Be equipped with detection device 7 in gantry frame body 6's the top surface, detection device 7 includes: the optical camera and the space radar are arranged, the irradiation end of the optical camera faces the feeding mechanism 1, the scanning area of the space radar faces the base frame body 5, the optical camera and the space radar record and detect the feeding mechanism 1, once exceeding materials are found, the feeding mechanism 1 stops operating, the materials exceeding the size are prevented from being conveyed in sequence, the identified materials are further distributed by the truss arraying mechanism 2, and the materials are conveyed to different stacking areas through the matching of the pushing mechanism 3, the translation pulley 401, the lifting device 402, the adsorption transfer device 404 and the auxiliary stripping structure 405.
The driving shaft 101, the material stopping mechanism 201, the gantry truss 202, the moving beam 203, the sliding table 204, the pushing device 205, the clamping device 206, the structure platform 301, the driving roller 302, the guide side plate 303, the limit baffle 304, the lateral pushing device 305, the translation pulley 401, the lifting device 402, the loading platform 403, the adsorption and transfer device 404, the auxiliary stripping structure 405, the limit protection 406, the optical camera and the space radar are all connected with a controller, and the operation of the components is controlled by sending instructions to the components through the monitoring data of the optical camera and the space radar.
In the embodiment of the present invention, the base frame 5 is used for supporting the truss alignment mechanism 2 and is provided with sliding bars 207 at two side regions of the feeding mechanism 1, and the lower side of the truss alignment mechanism 2 is provided with sliding grooves 208 matching with the sliding bars 207, and the sliding grooves 208 are matched with the sliding bars 207.
In the embodiment of the present invention, the longitudinal direction of the guiding side plate 303 is parallel to the longitudinal direction of the structure platform 301, and further the guiding side plate 303 parallel to the structure platform 301 can effectively guide the material in the structure platform 301 to prevent the material from separating from the structure platform 301.
In the specific embodiment of the invention, a cover body is arranged on the outer side of the gantry frame body 5, two side plates of the cover body respectively cover two sides of part of the base frame body 5 to form a shielding area, the shielding area is the area where the pushing mechanism 3 is located, and further, objects outside the cover body are prevented from contacting the pushing mechanism 3, so that the pushing mechanism 3 and construction personnel are protected.
In the embodiment of the present invention, the conveying direction of the conveyor belt 103, the sliding direction of the gantry truss 202, the sliding direction of the movable beam 203, the sliding direction of the structure platform 301, the conveying direction of the driving roller 302, the displacement direction of the auxiliary stripping structure 405, and the displacement direction of the adsorption transfer device 404 are all X-axis directions, the displacement directions of the lateral pushing device 305 and the translation trolley 401 are Y-axis directions, and the lifting direction of the loading platform 403 is Z-axis direction.
In the embodiment of the present invention, driving roller 302 is at the same level as conveyor belt 103, and further, the material is transported from conveyor belt 103 to driving roller 302, and driving roller 302 is at the same level as conveyor belt 103 to facilitate the transportation of the material.
In summary, the automatic unstacking and stacking loader effectively utilizes the X-axial displacement, the Y-axial displacement and the Z-axial displacement of the truss arraying mechanism to carry out arraying and pre-stacking on the objects and then send the objects into the material removing mechanism for integral stacking and stacking, can automatically identify and judge the sizes of the objects by using a space radar and an optical camera, can automatically judge the size of a space needing stacking and plan a sending-out transmission channel for stacking, and is simple in structure and easy to manufacture and install.
Specific embodiments of the invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; various changes or modifications may be made by one skilled in the art within the scope of the claims without departing from the spirit of the invention, and without affecting the spirit of the invention.

Claims (12)

1. An automatic unstacking and stacking loader comprising: the device comprises a feeding mechanism, a truss arraying mechanism, a pushing mechanism, a stripping mechanism, a base frame body, a gantry frame body and a detection device; the feeding mechanism and the pushing mechanism are positioned in the same horizontal plane, the feeding mechanism is arranged on the base frame body, the stripping mechanism is arranged on the front side of the gantry frame body, the truss arraying mechanism and the pushing mechanism are movably arranged on the upper side of the base frame body, and the feeding mechanism is matched with the pushing mechanism;
the feeding mechanism comprises: the driving shaft and the driven shaft are respectively arranged in the base frame, and the conveying belt is sleeved outside the driving shaft and the driven shaft;
the truss arraying mechanism comprises: the material stopping mechanism, the gantry truss, the moving beam, the sliding table, the pushing device and the clamping device, wherein the gantry truss is arranged on the base frame body, (the moving beam and the sliding table are arranged on the gantry truss, the pushing device is arranged on the sliding table and is vertical to the sliding table, and the clamping device is arranged below the pushing device);
the push mechanism includes: the structure body platform is movably arranged on the base frame body, the transmission roller is arranged on the upper side of the guide platform, the guide side plates are movably arranged on two sides of the structure body platform, the limit baffle is positioned on the front side of the structure body platform, and the lateral pushing device is arranged in the structure body platform;
the stripping mechanism comprises: the device comprises a translation pulley, a lifting device, a carrying platform, an adsorption transfer device, an auxiliary stripping structure and a limiting protector, wherein the translation pulley is vertically arranged on one side of a gantry frame body, which is far away from a feeding mechanism, the two ends of the translation pulley and the moving frame body are respectively provided with a guide rail and a tooth row, the lifting device is arranged in the translation pulley, the lifting device comprises a lead screw and a guide rail mechanism, the carrying platform is arranged on the lifting device, the back of the carrying platform is provided with a slide rail and a lead screw nut, the guide rail and the lead screw mechanism of the lifting device are matched, the adsorption transfer device is movably arranged on one side, which is far away from the feeding mechanism, above the carrying platform, the auxiliary stripping structure is arranged in the carrying platform, the auxiliary stripping mechanism and the carrying platform are positioned on the same horizontal plane, and the limiting protector is movably arranged on two sides of the carrying platform, a telescopic limit plate is arranged in the limit protection;
the top surface of longmen support body with it is equipped with to spread the whole row mechanism of truss and deviate from longmen support body one side detection device includes: the irradiation end of the optical camera faces the feeding mechanism, and the scanning area of the space radar faces the base frame body;
the driving shaft, the sliding plate, the pushing device, the translation pulley, the lifting device, the adsorption transfer device, the auxiliary stripping structure, the limiting protection, the optical camera and the space radar are all connected with a controller.
2. The automatic unstacking, stacking and loading/unloading vehicle as claimed in claim 1, wherein the base frame is provided with slide bars at two side regions of the feeding mechanism for supporting the truss arraying mechanism, and the truss arraying mechanism is provided with slide grooves at the lower side thereof for matching with the slide bars, and the slide grooves are matched with the slide bars.
3. The automatic unstacking and stacking loader as claimed in claim 1, wherein the two lower side areas of the base frame body for supporting the pushing mechanism are provided with slide bars, the lower side of the pushing mechanism is provided with a sliding groove matched with the two slide bars, and the sliding groove is matched with the slide bars.
4. The automatic unstacking, stacking and loading/unloading truck as claimed in claim 1 wherein the truss alignment mechanism has hinged shafts on both sides of the material blocking mechanism, and the material blocking mechanism blocks the material by structural overturning.
5. The automatic unstacking, stacking and loading/unloading vehicle as claimed in claim 1, wherein a slide rail and a tooth row are arranged above a gantry truss in the truss alignment mechanism along the conveying direction of the feeding mechanism, the slide rail and the tooth row are matched with a movable beam in the truss alignment mechanism, and the movable beam slides along the slide rail and the tooth row.
6. The automatic unstacking, stacking and loading/unloading vehicle as claimed in claim 1, wherein a screw nut and a linear guide sleeve are longitudinally arranged inside a sliding table of the truss arraying mechanism, the screw nut and the linear guide sleeve are matched with a screw and a linear guide rail of the pushing device, and the pushing device moves vertically according to the longitudinal movement of the screw nut and the linear guide sleeve.
7. The automatic unstacking, stacking and loading/unloading truck as claimed in claim 1 wherein the clamping device of the truss alignment mechanism is provided with sponge suction cups at the lower part and clamping jaws at both sides, the sponge suction cups are used for sucking the upper surface of the workpiece, and the clamping jaws are clamped to maintain the positioning and provide additional clamping assistance.
8. The automatic unstacking and stacking loader as claimed in claim 1, wherein the contact area between the upper end and the lower end of the gantry body and the translation trolley in the material removing mechanism is provided with a slide rail, the upper end and the lower end of the translation trolley are provided with slide grooves matched with the two slide rails, the slide grooves are matched with the slide bars, and the translation trolley moves transversely along the slide rail.
9. The automatic unstacking and stacking loader as claimed in claim 1, wherein a sponge sucker is arranged at the front end of an adsorption transfer device in the material removing mechanism, a chute is arranged at the lower part of the adsorption transfer device, a slide way is arranged in a carrying platform in the material removing mechanism, and the slide way is matched with the chute.
10. The automatic unstacking and stacking loader as claimed in claim 1 wherein the auxiliary stripping structure in the stripping mechanism is a powered roller line.
11. The automatic unstacking, stacking and loading/unloading vehicle as claimed in claim 1, wherein the limiting protection in the material removing mechanism can automatically open for a certain distance, and a telescopic plate is arranged inside the limiting protection to prevent articles from sliding off from two sides.
12. The automatic unstacking, stacking and handling vehicle of claim 1 wherein the truss alignment mechanism has a lower structural height than the mobile frame.
CN202210420988.1A 2021-08-27 2022-04-21 Automatic destacking and stacking loading and unloading vehicle Pending CN114655658A (en)

Applications Claiming Priority (2)

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CN202110992527 2021-08-27
CN2021109925277 2021-08-27

Publications (1)

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CN114655658A true CN114655658A (en) 2022-06-24

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CN202210420988.1A Pending CN114655658A (en) 2021-08-27 2022-04-21 Automatic destacking and stacking loading and unloading vehicle

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Country Link
CN (1) CN114655658A (en)

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