CN116002406A

CN116002406A - Stacking device, loading machine and loading system

Info

Publication number: CN116002406A
Application number: CN202211554347.1A
Authority: CN
Inventors: 许大红; 石江涛; 贾仁耀; 汪隽清; 周文晓; 方明进; 吴祥; 郭子文
Original assignee: Hefei Taihe Intelligent Technology Group Co Ltd
Current assignee: Hefei Taihe Intelligent Technology Group Co Ltd
Priority date: 2022-12-06
Filing date: 2022-12-06
Publication date: 2023-04-25

Abstract

The invention provides a stacking device, a loading machine and a loading system. The first lifting mechanism can be arranged on the vehicle body frame in a lifting manner, and the telescopic conveying mechanism can extend out of the vehicle body frame or retract into the vehicle body frame so as to convey cargoes to the code wheel mechanism; the pushing and pulling bag three-coordinate mechanism comprises a three-coordinate main frame arranged on the first lifting mechanism, a pushing and pulling part and a pushing and pulling driving part, wherein the pushing and pulling part is connected to the three-coordinate main frame, the pushing and pulling part can push goods on the telescopic conveying mechanism to the code disc mechanism under the driving of the pushing and pulling driving part, and the pushing and pulling part can push the goods on the code disc mechanism out along with the three-coordinate main frame on the first lifting mechanism, so that two layers of goods can be stacked on the code disc mechanism and sequentially stacked in a forward conveying manner, the demand of stacking to a top layer in a carriage is well solved, and higher loading rate is realized.

Description

Stacking device, loading machine and loading system

Technical Field

The invention relates to the technical field of loading, in particular to a stacking device, a loading machine and a loading system.

Background

In the field of storage and logistics, the in-and-out of goods and loading and unloading vehicles are always labor-intensive links. With aging population and increasing human cost, the automated demand for cargo trucks is growing. In recent years, a truck apparatus capable of traveling in a vehicle cabin has become a research hotspot.

In an actual cargo loading scene, different carriage types (such as high and low columns, container type and bin column type) have different requirements on loading rate, for example, a container requires higher loading rate, and the cargo is required to be stacked to the top as much as possible, so that higher requirements are provided for a loading system, adaptability is considered, and special requirements are met.

However, the existing loading machine and the loading system matched with the loading machine can cause that goods are stacked to higher layers and are difficult to realize because the stacking device can interfere with the top of the carriage even after the stacking device reaches the highest position in the carriage.

Disclosure of Invention

The invention aims to provide a stacking device, a loading machine and a loading system, which can meet the requirement of stacking cargoes to a high layer and realize higher loading rate.

The invention provides a stacking device which is used for being movably connected to a car body frame of a car loader, and comprises a first lifting mechanism, a telescopic conveying mechanism, a code disc mechanism and a pushing bag three-coordinate mechanism, wherein the telescopic conveying mechanism, the code disc mechanism and the pushing bag three-coordinate mechanism are arranged on the first lifting mechanism;

the first lifting mechanism can be arranged on the vehicle body frame in a lifting manner;

the telescopic conveying mechanism can extend out of the vehicle body frame along the positive direction of the first horizontal direction or retract back into the vehicle body frame along the opposite direction of the first horizontal direction, and is used for conveying cargoes to the code wheel mechanism along the positive direction of the first horizontal direction;

the pushing and pulling bag three-coordinate mechanism comprises a three-coordinate main frame of the first lifting mechanism, a pushing and pulling piece and a pushing and pulling driving piece, wherein the pushing and pulling piece, the pushing and pulling piece and the pushing and pulling driving piece are connected to the three-coordinate main frame, the pushing and pulling piece and the pushing and pulling piece are sequentially arranged along the positive direction of the first horizontal direction, the pushing and pulling piece can move along the first horizontal direction under the driving of the pushing and pulling driving piece so as to push goods on the telescopic conveying mechanism to the code disc mechanism, and the pushing and pulling piece can move along the first horizontal direction along with the three-coordinate main frame on the first lifting mechanism so as to push the goods on the code disc mechanism.

In an alternative embodiment, the pushing and pulling bag three-coordinate mechanism further comprises a pushing and pulling lifting driving piece and a pushing and pulling transverse driving piece which are arranged on the three-coordinate main frame, wherein the pushing and pulling lifting driving piece is used for driving the pushing and pulling piece to lift and move, the pushing and pulling transverse driving piece is used for driving the pushing and pulling piece to move along a second horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction;

or alternatively, the first and second heat exchangers may be,

the code wheel mechanism comprises a code wheel supporting frame, two code wheels, a code wheel transverse moving drive and a code wheel forward moving drive, wherein the code wheel supporting frame is arranged on the first lifting mechanism, the two code wheels are arranged on the code wheel supporting frame in parallel along a second horizontal direction, each code wheel can move along the first horizontal direction under the action of the code wheel forward moving drive and also can move along the second horizontal direction under the action of the code wheel transverse moving drive, and the first horizontal direction is perpendicular to the second horizontal direction.

In an alternative embodiment, the first lifting mechanism comprises a first lifting frame, a first lifting driving piece, a linkage piece and a weight piece, the first lifting frame and the weight piece are all arranged on the vehicle body frame in a lifting mode through a first vertical sliding rail, the weight piece and the first lifting frame are sequentially distributed in the positive direction of the first horizontal direction, the telescopic conveying mechanism, the code disc mechanism and the pushing and pulling bag three-coordinate mechanism are all arranged on the first lifting frame, the first lifting driving piece is arranged on the vehicle body frame, the head end and the tail end of the linkage piece are respectively connected with the first lifting frame and the weight piece, the middle part of the linkage piece is connected with the first lifting driving piece in a hanging mode under the driving of the first lifting driving piece, and the head end and the tail end of the linkage piece can move reversely in the vertical direction.

In an alternative embodiment, the stacking device further includes a second lifting mechanism, the second lifting mechanism is configured to be lifted by the first lifting mechanism, and the code wheel mechanism is configured to be lifted by the second lifting mechanism.

In an alternative embodiment, the second lifting mechanism includes a second lifting frame and a second lifting driving member, where the second lifting frame is configured to be lifted by a second vertical sliding rail and configured to be lifted by the first lifting mechanism, and the second lifting driving member is configured to be lifted by the second lifting frame and configured to drive the second lifting frame to perform lifting movement.

In a second aspect, the present invention provides a loader comprising a running gear, a body frame provided on the running gear, and the stacking apparatus according to any one of the foregoing embodiments.

In an alternative embodiment, the loader further comprises a vehicle-mounted conveying device, wherein the vehicle-mounted conveying device is arranged on the vehicle body frame, is rotatably connected with one side of the telescopic conveying mechanism in the direction opposite to the first horizontal direction, and is used for conveying cargoes to the telescopic conveying mechanism in the positive direction of the first horizontal direction.

In an alternative embodiment, the vehicle-mounted conveying device comprises a mounting frame, a transition conveying mechanism and a pitching conveying mechanism, wherein the mounting frame is arranged on the vehicle body frame, the transition conveying mechanism is arranged on the mounting frame and can slide along the first horizontal direction, the feeding side of the pitching conveying mechanism is rotatably connected with the transition conveying mechanism, and the discharging side of the pitching conveying mechanism is rotatably connected with the telescopic conveying mechanism.

In an alternative embodiment, the vehicle-mounted conveying device further comprises a clamp holding steering mechanism, wherein the clamp holding steering mechanism is arranged at the upper part of the transition conveying mechanism and is used for steering the goods on the transition conveying mechanism.

In a third aspect, the present disclosure provides a loading system comprising a loader according to any one of the preceding embodiments.

The beneficial effects of the embodiment of the invention include:

through flexible conveying mechanism, code wheel mechanism and push away the common cooperation of dialling bag three-dimensional mechanism, can realize stacking two-layer goods on the code wheel mechanism to forward conveying stacks gradually, solves the demand of stacking to the top layer in the carriage better, realizes higher loading rate.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a perspective view of a loading system according to the present embodiment;

FIG. 2 is a schematic perspective view of the loader according to the embodiment;

FIG. 3 is a schematic view of the blanking encoder mechanism and the push-pull bag three-coordinate mechanism of FIG. 2;

FIG. 4 is a second perspective view of the loader according to the embodiment;

FIG. 5 is a left side view of FIG. 2;

FIG. 6 is a top view of FIG. 2;

FIG. 7 is a front view of FIG. 2;

FIG. 8 is a rear view of FIG. 2;

FIG. 9 is a perspective view of a three-dimensional pushing and pulling bag mechanism according to the present embodiment;

FIG. 10 is a top view of FIG. 9;

FIG. 11 is a left side view of FIG. 9;

FIG. 12 is a front view of FIG. 9;

FIG. 13 is a schematic perspective view of a code wheel mechanism according to the present embodiment;

FIG. 14 is a top view of FIG. 13;

FIG. 15 is a front view of FIG. 13;

FIG. 16 is a right side view of FIG. 13;

fig. 17 to 19 are schematic views of the loading process of the present embodiment.

Icon: 100-loading system; 1-a car loader; 11-a travelling mechanism; 111-rubber track chassis; 112-a walking driving motor; 12-a body frame; 121-left side frame; 122-right side frame; 123-a bottom frame; 124-a first vertical slide rail; 13-a first lifting mechanism; 131-a first lifting frame; 132-a second vertical slide rail; 133-a first lifting drive source; 134-a first driven roller; 135-telescoping delivery mechanism; 136-a counterweight; 14-a second lifting mechanism; 141-a second lifting frame; 142-a second lifting drive source; 143-a second driven roller; 15-a vehicle-mounted conveying device; 151-pitch transport mechanism; 152-a transitional conveying mechanism; 153-clamp steering mechanism; 154-mounting frame; 156-a slip mechanism; 16-pushing and pulling a three-coordinate mechanism of the bag; 161-left side support frame; 162-right side support frame; 163-three-coordinate main frame; 164-pushing and pulling piece; 165-push drive; 166-forward drive; 167-push stop; 168-pushing and shifting; 169-push-stop lifting drive; 17-a code wheel mechanism; 171-a code wheel support frame; 172-left side code wheel; 173-left code wheel bracket; 174-right side code wheel; 175-right code wheel bracket; 176-code disc traversing drive; 177-code wheel forward driving; 18-a walking navigation device; 181-laser line projection and acquisition recognition device; 182-scanning a radar device; 19-a vehicle-mounted drive control system; 2-lifting platform; 3-a parking position detecting device; 4-following the conveying device; 41-a conveying body; 42-traversing the track.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Some embodiments of the present invention are described in detail below with reference to fig. 1 to 19. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1 to 16, the present embodiment provides a loading system 100, and the loading system 100 includes a loader 1, a lifting platform 2, a parking position detecting device 3, and a follow-up conveying device 4.

The following conveyor 4 and the lift platform 2 are arranged in this order in the forward direction (forward) of the first horizontal direction (forward-backward direction), the lift platform 2 is used for the loading machine 1 to get on and off the carriage, the lift platform 2 is used for parking the loading machine 1 when the loading 5 operation is not being performed, and the lift platform 2 has the second horizontal direction (left

Right direction) so as to adjust the center of the driving route by traversing left and right, thereby reducing the precision requirement for parking the truck.

The parking position and pose detection devices 3 are arranged at two sides of the front part of the lifting platform 2 and are used for detecting parking positions

The vehicle deviates vertically relative to the central axis of the lifting platform 2 so as to adjust the emitting position 0 and the angle of the laser beam and the left-right transverse movement distance of the lifting platform 2. Following the lateral traversing distance of the conveyor 4.

The following conveyor 4 can extend and retract back and forth following the travel of the loader 1, and the rear part receives the conveyed goods, and the front part is used for docking with the loader 1 so as to convey the goods onto the loader 1.

Wherein the following conveyor 4 has a traversing rail 42 provided laterally left and right and a conveyor body 41 provided on the traversing rail 42, and a related traversing drive, so that the entire conveyor body 541 can be laterally traversed along the traversing rail 42.

The loader 1 includes a traveling mechanism 11, a body frame 12, a stacking device, and an in-vehicle conveying device 15.

The travelling mechanism 11 is mainly used for enabling the entire loader 1 to travel between the cabin and the lift platform 2, and for carrying a body frame 12, a stacking device and an in-vehicle conveying device 15 provided thereon.

The travelling mechanism 11 may be a rubber crawler chassis 111, the two rubber crawler chassis 111 are arranged at a left-right interval 0, the bearing capacity is large, the carriage bottom plate is not damaged, the driving device of the travelling mechanism 11 is two travelling driving motors 112 arranged left and right, and the two travelling driving motors 112 are respectively connected with one rubber crawler chassis 111, so that the travelling mechanism 11 is driven by the travelling driving motors 112 to travel forwards and backwards along the first horizontal direction.

The vehicle body frame 12 is provided at an upper portion of the traveling mechanism 11, and is mainly used for mounting components such as the stacker and the 5 in-vehicle conveyor 15. The vehicle body frame 12 includes a bottom frame 123, a left side frame 121 and a right side frame 122 provided on the bottom frame 123, and the bottom frame 123 is directly fixed to the running gear 11.

The two sides of the left side frame 121 and the right side frame 122, which are opposite to each other, are respectively provided with first vertical sliding rails 124, the number of the first vertical sliding rails 124 is four, the left side frame 121 is provided with two first vertical sliding rails 124 which are arranged in parallel along the first horizontal direction, the right side frame 122 is also provided with two first vertical sliding rails 124 which are arranged in parallel along the first horizontal direction, and the first vertical sliding rails 124 on the left side frame 121 and the first vertical sliding blocks on the right side frame 122 are in one-to-one correspondence in the second horizontal direction.

The stacking device comprises a first lifting mechanism 13, a second lifting mechanism 14 arranged on the first lifting mechanism 13, a telescopic conveying mechanism 135, a code disc mechanism 17 and a bag pushing and pulling three-coordinate mechanism 16.

The first lifting mechanism 13 is disposed on the body frame 12 in a lifting manner, and includes a first lifting frame 131, a first lifting driving member, a linkage member, and a counterweight 136.

The first lifting frame 131 and the counterweight 136 are both arranged on the vehicle body frame 12 in a lifting manner through the first vertical sliding rail 124, and the counterweight 136 and the first lifting frame 131 are sequentially distributed in the positive direction of the first horizontal direction. The telescopic conveying mechanism 135, the code wheel mechanism 17 and the pushing bag three-coordinate mechanism 16 are arranged on the first lifting frame 131, the first lifting driving piece is arranged on the vehicle body frame 12, the head end and the tail end of the linkage piece are respectively connected with the first lifting frame 131 and the counterweight 136, the middle part of the linkage piece is connected with the first lifting driving piece in a hanging mode, and under the driving of the first lifting driving piece, the head end and the tail end of the linkage piece can move reversely in the vertical direction.

Specifically, the left and right sides of the first lifting frame 131 are slidably connected to the left side frame 121 and the right side frame 122 of the vehicle body frame 12 through two first vertical slide rails 124, respectively. The counterweight 136 is slidably disposed at the rear of the vehicle body frame 12, and the linkage member and the first lifting driving member may be a sprocket-chain driven structure, i.e. the linkage member is a chain, and the first lifting driving member is meshed with the chain through a sprocket, so that when the first lifting driving member works, the first lifting frame 131 can drive the code wheel mechanism 17, the telescopic conveying mechanism 135 and the pushing and pulling bag three-coordinate mechanism 16 disposed thereon to rise or fall, and the counterweight 136 is used for pulling the linkage member, and then rising along with the rising of the first lifting frame 131 or rising along with the falling of the first lifting frame 131, so as to avoid the forward tilting condition of the loader 1 when the load is carried on the code wheel mechanism 17, ensure the normal operation of the loader 1, and reduce the safety risk.

The left and right sides of the first lifting frame 131 may be slidably connected to the first vertical sliding rails 124 on the left and right side frames 121 and 122 through sliding blocks or rollers, respectively.

The first elevation driving member includes a first elevation driving source 133, a first driving roller and a first driven roller 134, both of which are rotatably provided at the top of the body frame 12, and the first driving roller is located behind the first driven roller 134, and the first driven roller 134 is located above the first elevation frame 131. The first elevation driving source 133 may be a servo motor, which may be drivingly connected to the first driving roller by a chain transmission, a belt transmission, or a gear transmission. The first driving roller and the first driven roller 134 are provided at both ends thereof with sprockets, whereby the link bypasses both sprockets, and both ends are connected with the first elevating frame 131 and the weight 136, respectively. Thus, when the first lifting driving source 133 works, the first driving roller drives the first driven roller 134 to rotate through the linkage, the head end of the linkage lifts (descends) along the first vertical sliding rail 124 with the first lifting frame 131, and the tail end of the linkage lifts (ascends) along the first vertical sliding rail 124 with the counterweight 136, so that the first lifting frame 131 and the counterweight 136 move in opposite directions in the vertical direction.

The telescopic conveyor 135 may be a belt conveyor which mainly serves to convey the goods to the code wheel mechanism 17 in the forward direction of the first horizontal direction, i.e. to convey the goods to the code wheel mechanism 17 in the backward-forward direction. Further, the telescopic conveying mechanism 135 may be slidably connected to the first elevating frame 131 by a sliding pair provided in the first horizontal direction, and moved forward and backward in the first horizontal direction by the driving of the telescopic driving source to extend out of the vehicle body frame 12 in the forward direction of the first horizontal direction or retract into the vehicle body frame 12 in the reverse direction of the first horizontal direction.

The second lifting mechanism 14 can be lifted and arranged on the first lifting mechanism 13, the code wheel mechanism 17 is arranged on the second lifting mechanism 14, and the second lifting mechanism 14 is arranged on the first lifting mechanism 13, so that the movement of the code wheel mechanism 17 is more flexible, and the code wheel mechanism 17 can move up and down relative to the pushing and pulling bag three-coordinate mechanism 16.

The second lifting mechanism 14 includes a second lifting frame 141 and a second lifting driving member, where the second lifting frame 141 is configured to be lifted by the second vertical sliding rail 132 and configured to be lifted by the first lifting mechanism 13, and the second lifting driving member is configured to be lifted by the second lifting frame 141 and configured to drive the second lifting frame 141 to perform lifting movement.

The second lifting driving member includes a second lifting driving source 142, a second driving roller and a second driven roller 143, the second driving roller and the second driven roller 143 are vertically spaced from each other and arranged on the first lifting frame 131, a chain is wound around the first driven roller 134 and the second driving roller, the second lifting frame 141 is connected to the chain, and the second lifting driving source 142 is in transmission connection with the chain through a sprocket, thereby realizing lifting movement of the second lifting frame 141.

The pushing bag three-coordinate mechanism 16 includes a three-coordinate main frame 1630 provided to the first elevating mechanism 13, a pushing piece 164, a pushing stopper 167, and a pushing driving piece 165 connected to the three-coordinate main frame 163.

The three-coordinate main frame 163 is slidably disposed on the first elevation frame 131. Specifically, left and right support frames 161 and 162 are respectively fixed to both side upper portions of the first elevation frame 131, the left and right support frames 161 and 162 are arranged at intervals in the second horizontal direction,

the three-coordinate main frame 163 may be slidably installed between the left side 5 support frame 161 and the right side support frame 162 by a sliding pair disposed along the first horizontal direction, thereby achieving a sliding arrangement of the three-coordinate main frame 163 on the first elevation frame 131.

A forward drive 166 is also provided on the first lifting frame 131, the forward drive 166 may be a motor, and the three-coordinate main frame 163 is driven in the first horizontal direction by means of a rack and pinion

And (5) moving. Namely, racks along the first horizontal direction are respectively arranged on the left and right sides of the three-coordinate main frame 163, and the 0 forward driving 166 is meshed with the racks through gears, so that when the forward driving 166 works to drive the gears to rotate, the racks can drive the three-coordinate main frame 163 to move along the first horizontal direction.

The pushing member 164 and the pushing member 167 are disposed in sequence along the positive direction of the first horizontal direction, and the pushing member 164 can be moved along the first horizontal direction by the pushing driving member 165 to extend

The goods on the shrink conveying mechanism 135 are pushed onto the code wheel mechanism 17, and the push stopper 167 can move on the first elevating mechanism 13 along the first horizontal direction along with the three-coordinate 5 main frame 163 to push out the goods on the code wheel mechanism 17.

The pushing and pulling driving member 165 may be a motor installed at the rear of the three-coordinate main frame 163, and drives the pushing and pulling member 164 to move back and forth in the first horizontal direction relative to the three-coordinate main frame 163 by means of a synchronous pulley set or a sprocket chain.

The pushing and pulling bag three-coordinate mechanism 16 further comprises a push-block lifting drive 169 and a push-block transverse movement drive 168, wherein the push-block lifting drive 169 is arranged on the three-coordinate main frame 163, and can be a mechanism in which a motor is in transmission connection with the push-block 167 through a gear rack, so that the push-block lifting drive 169 can be used for driving the push-block 167 to do lifting movement. The push-block traversing drive 168 may be a mechanism in which a motor is drivingly coupled to the push-block 167 via a lead screw nut such that the push-block traversing drive 168 may drive the push-block 167 in a second horizontal direction.

The code wheel mechanism 17 includes a code wheel supporting frame 171, two code wheels, a code wheel traversing drive 176 and a code wheel advancing drive 177, the code wheel supporting frame 171 is disposed on the first lifting mechanism 13, the two code wheels are disposed on the code wheel supporting frame 171 in parallel along the second horizontal direction, each code wheel can move along the first horizontal direction under the action of the code wheel advancing drive 177, and can also move along the second horizontal direction under the action of the code wheel traversing drive 176, and the first horizontal direction is perpendicular to the second horizontal direction.

Specifically, the code wheel supporting frame 171 is fixedly attached to the second elevating frame 141, and moves up and down together with the second elevating mechanism 14.

A left code wheel bracket 173 and a right code wheel bracket 175 are provided on the code wheel supporting frame 171 by a slide rail sub-frame extending in the second horizontal direction, and the left code wheel bracket 173 and the right code wheel bracket 175 are laterally moved in the second horizontal direction by a code wheel lateral movement drive 176.

The left code disc bracket 173 and the right code disc bracket 175 are respectively provided with a code disc through a sliding rail pair along the first horizontal direction, and the two code discs move forwards and backwards in the first horizontal direction under the action of the code disc forward driving 177. That is, the two code wheels are divided into a left code wheel 172 and a right code wheel 174, and the left code wheel 172 and the right code wheel 174 are moved forward and backward in the first horizontal direction by the code wheel forward driving 177.

In this embodiment, the left code wheel 172 and the right code wheel 174 are comb-shaped code wheels, so that the resistance of the pushing device to pushing goods and back-drawing of the code wheels can be effectively reduced.

The in-vehicle conveying device 15 is provided to the vehicle body frame 12, and is rotatably connected to one side of the telescopic conveying mechanism 135 in the opposite direction to the first horizontal direction, for conveying the cargo to the telescopic conveying mechanism 135 in the forward direction of the first horizontal direction.

Further, the in-vehicle conveying device 15 includes a mounting frame 154, a transition conveying mechanism 152, and a pitching conveying mechanism 151, and the mounting frame 154 is provided on the left side frame 121 and the right side frame 122 of the vehicle body frame 12.

A sliding mechanism 156 is connected to the mounting frame 154 through a rolling pulley and a sliding rail such that the sliding mechanism 156 can move back and forth along a first horizontal direction on the mounting frame 154.

The transition conveyor 152 may be a belt conveyor that is mounted and secured to the slide mechanism 156, whereby the transition conveyor 152 is disposed on the bottom frame 123 of the mounting frame 154 via the slide mechanism 156 such that the transition conveyor 152 is capable of sliding in a first horizontal direction.

The elevation transport mechanism 151 may be a belt transport mechanism, the feed side of which is rotatably connected to the transition transport mechanism 152, and the discharge side of the elevation transport mechanism 151 is rotatably connected to the telescopic transport mechanism 135.

Thus, when the first elevating mechanism 13 is moved up and down, the elevation movement of the elevation movement conveyor 151 causes the elevation movement of the telescopic movement conveyor 135, and the transition conveyor 152 reciprocates back and forth on the mounting frame 154 with the sliding mechanism 156, thereby ensuring continuous conveyance of the load.

The vehicle-mounted conveying device 15 further comprises a holding and clamping steering mechanism 153, wherein the holding and clamping steering mechanism 153 is arranged on the upper portion of the transition conveying mechanism 152 and is used for steering cargoes on the transition conveying mechanism 152, so that the cargoes are aligned, and the cargoes are conveniently stacked in order.

The loader 1 further comprises a walking navigation device 18 and a vehicle-mounted driving control system 19, wherein the walking navigation device 18 comprises a laser line projection and acquisition identification device 181 and a scanning radar device 182. The laser line projection and acquisition recognition device 181 is arranged at the central position of the rear lower part of the travelling mechanism 11 and is used for projecting a rear navigation laser line bundle, acquiring the laser line bundle through a vision camera and transmitting the laser line bundle to the control system for calculation and recognition to form the travelling navigation parameters of the car loader 1. The scanning radar devices 182 are respectively disposed on the left and right sides of the car body frame 12, and are used for detecting and identifying the distance and the deflection angle between the car loader 1 and the two sides of the carriage so as to correct the driving navigation of the car loader 1. The vehicle-mounted driving control system 19 is a control center of the whole car loader 1, receives and interacts with a task instruction of the upper computer, and controls each execution mechanism on the car loader 1 to complete related operation actions according to the task instruction.

Referring to fig. 17 to 19, an example of a process of performing a non-container loading operation using the loading system 100 described above is as follows:

(1) After the truck to be loaded is parked in the parking area, the lifting platform 2 is adjusted in a following way, so that the boarding surfaces are level;

(2) The parking position and posture detection device 3 scans and acquires the deviation value of the truck to be loaded;

(3) The lifting platform 2 and the following conveying device 4 carry out transverse movement adjustment according to the parking deviation value;

(4) The navigation laser beam adjusts the emission position and angle;

(5) The loading machine 1 enters the carriage and synchronously extends forward along with the conveying device 4;

(6) When the stacking station is reached, the loader 1 stops and synchronously stops along with the conveying device 4;

(7) The first lifting mechanism 13, the second lifting mechanism 14 and the code wheel mechanism 17 are adjusted to a material receiving position;

(8) Following the delivery of the received cargo and forward delivery, the in-vehicle delivery device 15 receives the cargo and delivers the cargo onto the telescopic delivery mechanism 135;

(9) The pushing and pulling bag three-coordinate mechanism 16 pushes and pulls goods to the code disc mechanism 17;

(10) The pushing and pulling bag three-coordinate mechanism 16 and the code disc mechanism 17 form a combined action to stack goods into a carriage;

(11) The first lifting mechanism 13 and the second lifting mechanism 14 are gradually lifted according to the stacking instruction, so that stacking and stacking of cargoes in the carriage are realized;

(12) After one station is stacked, the car loader 1 and the following conveying device 4 synchronously back one station, and the conveying and stacking operation is executed again;

(13) The loading machine 1 is retreated to the lifting platform 2 and synchronously recovered along with the conveying device 4, so that the stacking of the tail part of the carriage is completed;

(14) And after loading, the truck drives out of the parking area, and the system enters the next working period.

The process of carrying out container loading operation using the loading system 100 described above is exemplified as follows:

(4) The navigation laser beam adjusts the emission position and angle;

(5) The loading machine 1 enters a carriage and synchronously extends out along with the conveying device 4;

(8) The following conveyor 4 receives and conveys the goods forward, and the in-vehicle conveyor 15 receives and conveys the goods onto the telescopic conveyor 135;

(12) When the unit station is stacked on the tenth layer, the eleventh to fourteenth layers need to push and stack two layers of goods each time;

(13) After the pushing and pulling bag three-coordinate mechanism 16 pushes and pulls the goods to the code disc mechanism 17, the second lifting mechanism 14 descends, the telescopic conveying mechanism 135 extends forwards, and the pushing and pulling piece descends and simultaneously withdraws to the front end of the two-stage telescopic conveying mechanism 135;

(14) The goods are conveyed to the front part of the telescopic conveying mechanism 135, and the pushing and pulling piece pushes the goods against the telescopic conveying mechanism 135 to carry out recovery movement, so that the goods fall on the upper layer of goods;

(15) The pushing and pulling piece is retracted, the code disc mechanism 17 is connected with the two layers of goods for forward feeding, the pushing and pulling bag three-coordinate mechanism 16 moves the pushing and pulling piece to the rear part of the two layers of goods, and the pushing and pulling piece descends;

(16) The pushing and pulling bag three-coordinate mechanism 16 pushes the two layers of cargoes to the front part of the code disc mechanism 17;

(17) The first lifting mechanism 13 and the second lifting mechanism 14 form a combined action to send two layers of cargoes to a stacking position;

(18) The pushing and pulling bag three-coordinate mechanism 16 and the code disc mechanism 17 form a combined action, and goods are stacked on a tenth layer of goods;

(19) Repeating the actions of (13) to (18) to finish the stacking of thirteenth and fourteenth layers;

(20) After one station is stacked, the car loader 1 and the following conveying device 4 synchronously back one station, and the operation actions of conveying (7) to (19) are executed again until the tail of the container is stacked.

In summary, the embodiment of the invention provides a stacking device, a loading machine 1 and a loading system 100, wherein the stacking device is used for being movably connected to a vehicle body frame 12 of the loading machine 1, and comprises a first lifting mechanism 13, a telescopic conveying mechanism 135, a code disc mechanism 17 and a pushing and pulling bag three-coordinate mechanism 16, wherein the telescopic conveying mechanism 135, the code disc mechanism 17 and the pushing and pulling bag three-coordinate mechanism 16 are arranged on the first lifting mechanism 13;

the first lifting mechanism 13 is provided to the vehicle body frame 12 in a liftable manner;

the telescopic conveying mechanism 135 is capable of extending out of the body frame 12 in the forward direction of the first horizontal direction or retracting back into the body frame 12 in the reverse direction of the first horizontal direction, the telescopic conveying mechanism 135 being for conveying the cargo to the code wheel mechanism 17 in the forward direction of the first horizontal direction;

the pushing and pulling bag three-coordinate mechanism 16 comprises a three-coordinate main frame 163 arranged on the first lifting mechanism 13, and a pushing and pulling piece 164, a pushing and pulling piece 167 and a pushing and pulling driving piece 165 which are connected to the three-coordinate main frame 163, wherein the pushing and pulling piece 164 and the pushing and pulling piece 167 are sequentially arranged along the positive direction of the first horizontal direction, the pushing and pulling piece 164 can move along the first horizontal direction under the driving of the pushing and pulling driving piece 165 so as to push the goods on the telescopic conveying mechanism 135 onto the code disc mechanism 17, and the pushing and pulling piece 167 can move along the first horizontal direction on the first lifting mechanism 13 along with the three-coordinate main frame 163 so as to push the goods on the code disc mechanism 17.

Therefore, through the cooperation of the telescopic conveying mechanism 135, the code disc mechanism 17 and the pushing and pulling bag three-coordinate mechanism 16, two layers of cargoes can be stacked on the code disc mechanism 17 and sequentially stacked in a forward conveying manner, the requirement of stacking to the top layer in a carriage is better solved, and a higher loading rate is realized. In addition, there is a continuous feed. The efficient operation of the forward stacking of the cartridges effectively improves the compatibility of the loading system 100 with the car type.

The loading system 100 can realize continuous receiving of cargoes, can simultaneously carry out the tasks of receiving cargoes and stacking cargoes, can detect the deflection condition that the boxcar parked, guide the loader 1, conveying system to remove and adjust, so as to realize the compatibility of different carriage types, higher loading rate stacking requirement.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. The stacking device is used for being movably connected to a car body frame of the car loader and is characterized by comprising a first lifting mechanism, a telescopic conveying mechanism, a stacking disc mechanism and a pushing and pulling bag three-coordinate mechanism, wherein the telescopic conveying mechanism, the stacking disc mechanism and the pushing and pulling bag three-coordinate mechanism are arranged on the first lifting mechanism;

2. The stacking device according to claim 1, wherein the pushing and pulling bag three-coordinate mechanism further comprises a pushing and lifting driving member and a pushing and traversing driving member, which are arranged on the three-coordinate main frame, the pushing and lifting driving member is used for driving the pushing and traversing driving member to move up and down, the pushing and traversing driving member is used for driving the pushing and traversing driving member to move along a second horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction;

or alternatively, the first and second heat exchangers may be,

3. The stacking device of claim 1, wherein the first lifting mechanism comprises a first lifting frame, a first lifting driving piece, a linkage piece and a counterweight piece, the first lifting frame and the counterweight piece are arranged on the vehicle body frame in a lifting manner through first vertical sliding rails, the counterweight piece and the first lifting frame are sequentially distributed in the positive direction of the first horizontal direction, the telescopic conveying mechanism, the code wheel mechanism and the pushing and pulling bag three-coordinate mechanism are arranged on the first lifting frame, the first lifting driving piece is arranged on the vehicle body frame, the head end and the tail end of the linkage piece are respectively connected with the first lifting frame and the counterweight piece, the middle part of the linkage piece is connected with the first lifting driving piece in a hanging manner, and the head end and the tail end of the linkage piece can move reversely in the vertical direction under the driving of the first lifting driving piece.

4. The stacking device of claim 1, further comprising a second lifting mechanism, wherein the second lifting mechanism is configured to be lifted by the first lifting mechanism, and wherein the code wheel mechanism is configured to be lifted by the second lifting mechanism.

5. The stacking device of claim 4, wherein the second lifting mechanism comprises a second lifting frame and a second lifting driving member, the second lifting frame is arranged on the first lifting mechanism in a lifting manner through a second vertical sliding rail, and the second lifting driving member is arranged on the second lifting frame and is used for driving the second lifting frame to move in a lifting manner.

6. A loading machine comprising a travelling mechanism, a body frame provided on the travelling mechanism, and the stacking apparatus according to any one of claims 1 to 5.

7. The loader of claim 6, further comprising an in-vehicle conveying device disposed on the body frame and rotatably connected to a side of the telescopic conveying mechanism opposite the first horizontal direction for conveying the cargo to the telescopic conveying mechanism in a forward direction of the first horizontal direction.

8. The truck loader of claim 7, in which the in-vehicle transport device comprises a mounting frame, a transition transport mechanism, and a pitch transport mechanism, the mounting frame is disposed on the body frame, the transition transport mechanism is disposed on the mounting frame and is capable of sliding along the first horizontal direction, a feed side of the pitch transport mechanism is rotatably connected with the transition transport mechanism, and a discharge side of the pitch transport mechanism is rotatably connected with the telescopic transport mechanism.

9. The truck loading apparatus according to claim 8 wherein the vehicle-mounted conveyor further comprises a clamp steering mechanism disposed on an upper portion of the transition conveyor for steering the cargo on the transition conveyor.

10. A loading system comprising a loader according to any one of claims 6-9.