CN116081338B - Two-stage loading machine and loading method - Google Patents
Two-stage loading machine and loading methodInfo
- Publication number
- CN116081338B CN116081338B CN202211499306.7A CN202211499306A CN116081338B CN 116081338 B CN116081338 B CN 116081338B CN 202211499306 A CN202211499306 A CN 202211499306A CN 116081338 B CN116081338 B CN 116081338B
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- Prior art keywords
- assembly
- loading
- front section
- code wheel
- loading robot
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- 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
- B65G67/04—Loading land vehicles
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- 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
- B65G13/00—Roller-ways
- B65G13/02—Roller-ways having driven rollers
- B65G13/06—Roller driving means
- B65G13/07—Roller driving means having endless driving elements
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- 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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/22—Horizontal loading or unloading platforms
- B65G69/24—Horizontal loading or unloading platforms having platform level adjusting means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
本发明涉及装车技术领域，具体而言，涉及一种两段式装车机和装车方法。两段式装车机包括前段装车机器人，前段装车机器人包括前段框架、顶升滚轮总成、码盘总成；顶升滚轮总成与前段框架可升降连接，且顶升滚轮总成能够沿第一方向在车厢上移动；码盘总成可活动地设置在前段框架上以实现整理货物并码放货物；以及后段装车机器人，后段装车机器人包括底盘和前伸臂总成，底盘能够沿第一方向在车厢的平板台上移动；前伸臂总成与底盘可活动连接，且前伸臂总成能够沿第一方向伸出底盘。如此能够减小装车大臂的长度，从而改善现有技术因为大臂过长导致的空间性限制、需要平衡过大力矩和装车效率低下的问题。
This invention relates to the field of loading technology, specifically to a two-stage loading machine and loading method. The two-stage loading machine includes a front-stage loading robot, which comprises a front frame, a lifting roller assembly, and a pallet assembly. The lifting roller assembly is vertically and vertically connected to the front frame and can move along a first direction on the truck bed. The pallet assembly is movably mounted on the front frame to organize and stack goods. The rear-stage loading robot includes a chassis and a forward extension arm assembly. The chassis can move along a first direction on a flat platform in the truck bed. The forward extension arm assembly is movably connected to the chassis and can extend beyond the chassis along the first direction. This reduces the length of the loading boom, thereby improving the problems of spatial limitations, the need to balance excessive torque, and low loading efficiency caused by excessively long booms in existing technologies.
Description
Technical Field
The invention relates to the technical field of loading, in particular to a two-section loading machine and a loading method.
Background
Before cargo is transported, it is often necessary to load the cargo. In order to realize loading automation and reduce manual operation, the application of the loading machine is gradually wide.
In the prior art, loading operation is carried out on the front position by adopting three structural modes of respectively using a long arm, a frame forward moving long arm and a two-stage large arm. When loading a truck with a gooseneck platform, the gooseneck platform is long, long large arms are needed, and various problems exist:
① The overlong large arm makes the loading robot body longer and has space limitation;
② When the coded disc is used for loading a container, the longer large arm needs to bear large moment, and corresponding counterweight is needed to balance the coded disc;
③ The large arm travel is longer and the speed is slower in the case of larger moment, resulting in inefficiency.
Disclosure of Invention
The object of the present invention consists, for example, in providing a two-stage loader and loading method which allow to reduce the length of the loading boom, thus improving the problems of the prior art, such as the space constraints due to the excessive length of the boom, the need to balance excessive moments and the inefficiency of loading.
Embodiments of the invention may be implemented as follows:
In a first aspect, the present invention provides a two-piece loader, a gooseneck platform for loading and unloading a carriage, comprising:
the front section loading robot comprises a front section frame, a jacking roller assembly and a code wheel assembly;
The jacking roller assembly is connected with the front section frame in a lifting manner, and can move on the carriage along a first direction; the code wheel assembly is movably arranged on the front section frame to finish goods and stack the goods;
The rear section loading robot comprises a chassis and a front extension arm assembly, and the chassis can move on a platform of a carriage along a first direction; the front arm assembly is movably connected with the chassis, and the front arm assembly can extend out of the chassis along the first direction;
The forward boom assembly is connected with the front section frame so that the front section loading robot can move on the gooseneck platform and the platform.
According to the scheme, the front-section loading robot of the two-section loading machine can rise to the height of the gooseneck platform of the carriage and fall to the height of the flat table of the carriage under the action of the jacking roller assemblies, and the front-extension arm assembly of the rear-section loading robot can push the front-section loading robot, so that the front-section loading robot can move on the gooseneck platform or the flat table through the jacking roller assemblies, and the front-section loading robot can go up and down the gooseneck platform. The coded disc assembly arranged on the front section loading robot can be used for arranging cargoes and stacking cargoes. So realized through removing anterior segment loading robot to the preset position of gooseneck platform and carry out cargo pile up neatly again, compare in prior art whole carloader only can remove and lead to the condition of big arm overlength on flat board platform, such two segmentation carloader can be showing the length of shortening big arm stroke, has alleviateed corresponding counter weight, and cargo pile up neatly efficiency is higher.
In an alternative embodiment, the front arm assembly is movably matched with the front section frame along the height direction of the front section loading robot.
In an alternative embodiment, the chassis and the forearm assembly may be in a lifting fit.
In an alternative embodiment, the code wheel assembly comprises a code wheel frame, a code wheel extension mechanism and a touch edge sensor, wherein the code wheel frame is matched with the front section frame;
The code wheel extension mechanisms are respectively arranged at two sides of the code wheel frame so as to be close to or far away from the outer side wall of the carriage in the width direction;
the touch edge sensor is arranged on the outer side wall of the code wheel epitaxial mechanism.
In an alternative embodiment, the code wheel assembly further comprises a push-out seat mechanism, a side extension mechanism and a door closing blocking mechanism, wherein the code wheel frame is provided with a goods passage port for passing goods;
The side extending mechanism and the door closing blocking mechanism are respectively and movably arranged at two sides of the push-out seat mechanism along the width direction of the carriage, so that the side extending mechanism can move to the outer side edge of the code wheel extension mechanism and the door closing blocking mechanism can close the goods passage opening;
the pushing seat mechanism is movably arranged on the code disc frame along a first direction.
In an alternative embodiment, the code wheel assembly further comprises a power roller;
the power roller is arranged at a position of the code wheel frame, which is close to the front section frame, so as to drive goods to move from the front section frame to the code wheel frame.
In an alternative embodiment, the front loading robot further comprises an inner conveyor line comprising a roller line, an allocation mechanism and an adjustable fixed side flange;
the roller wire is arranged on the front section frame and is used for conveying cargoes to the code wheel assembly;
The distributing mechanism is movably matched with the roller line so as to move between the two adjustable fixed side flanges to adjust the position of goods in the width direction of the roller line.
In an alternative embodiment, the inner conveyor line further comprises a clamping mechanism and a lifting blocking mechanism;
the lifting blocking mechanism is arranged on the roller line in a lifting manner to block the goods from moving along the first direction, and the clamping mechanism moves along the width direction of the carriage to clamp the goods to move to a preset position.
In an alternative embodiment, the rear section loading robot further comprises an accumulation conveying line and a differential conveying line which are sequentially connected;
the differential conveying line is arranged at one end of the accumulation conveying line, which is close to the front section loading robot;
the conveying speed of the differential conveying line is greater than that of the accumulation conveying line.
In a second aspect, the present invention provides a loading method applied to the two-stage loading machine according to any one of the foregoing embodiments, where the loading method includes:
when the front section loading robot is arranged on the platform of the carriage, the jacking roller assembly of the front section loading robot stretches out and jacks the front section frame higher than the gooseneck platform;
The front arm assembly extends forwards to push the front section loading robot to move forwards to a loading position on the gooseneck platform;
the front section loading robot completes cargo stacking and boxing.
The beneficial effects of the embodiment of the invention include, for example:
The two-section loading machine of this scheme includes anterior segment loading robot and back end loading robot. The front-section loading robot can be lifted to the height of the gooseneck platform and lowered to the height of the platform of the carriage by the jacking roller assembly, and the front-extension arm assembly is matched with the jacking roller assembly to push the front-section loading robot to move on the gooseneck platform or the platform, so that the front-section loading robot can go up and down the gooseneck platform. Can promote anterior segment loading robot for anterior segment loading robot can be through the removal of jacking roller assembly on gooseneck platform or platform, thereby realized anterior segment loading robot upper and lower gooseneck platform. The problems of overlong large arm space limitation, heavier weight and low stacking efficiency caused by overlong large arms due to the fact that the whole loader in the prior art can only move on a flat table are solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a two-stage loader according to an embodiment of the present invention;
FIG. 2 is a schematic view of a two-stage loader according to another embodiment of the present invention;
FIG. 3 is a schematic view of a two-stage loader according to another embodiment of the present invention;
Fig. 4 is a schematic structural view of a rear loading robot of a two-stage loader according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a front-stage loading robot of a two-stage loading machine according to an embodiment of the present invention;
FIG. 6 is a schematic view of the structure of an inner conveyor line of a code wheel assembly of a two-stage loader according to an embodiment of the present invention;
FIG. 7 is a schematic view of the structure of an inner conveyor line of a two-stage loader according to an embodiment of the present invention;
Fig. 8 is a schematic structural view of a front-extension allocation assembly of a two-stage loader according to an embodiment of the present invention.
The icons include a 10-two-stage loader, a 200-rear stage loading robot, a 210-chassis, a 220-accumulation conveying line, a 230-differential conveying line, a 240-front extension arm assembly, a 250-locking assembly, a 260-rear side supporting leg, a 270-lifting adjustment assembly, a 280-rear end limiting device, a 290-front extension power assembly, a 300-front stage loading robot, a 310-front stage frame, a 311-roller, a 320-lifting roller assembly, a 330-large arm assembly, a 340-counterweight assembly, a 350-front extension distribution assembly, a 351-front extension mechanism, a 352-distribution device, a 353-lowering blocking mechanism, a 360-small Z-axis assembly, a 370-code disc assembly, a 371-code disc frame, a 372-pushing seat mechanism, a 373-side extension mechanism, a 374-closing blocking mechanism, a 375-code disc extension mechanism, a 376-touch edge sensor, a 378-cargo passage opening, a 380-inner roller assembly, a 382-two-stage roller line, a 382-holding mechanism, a 383-lifting clamp mechanism, a 352-lifting clamp mechanism, a 385-lifting clamp mechanism, a 40-lifting platform, a telescopic mechanism, a telescopic platform, a guide rail, a 40-20-lifting platform, and a telescopic belt.
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 refer to 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, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In the production enterprises such as white spirit, food beverage, daily chemicals, etc., the unstacking letter sorting of goods and loading link working strength are big, and the recruitment cost is high, and automatic transport loading equipment becomes the demand hotspot. The materials of the box cargoes are generally paper box packages, the shapes of the box cargoes are fixed, but the box shapes with various sizes and large weight differences bring great challenges to loading and conveying.
In the loading system provided in the patents CN 201811559602.5, CN 201921775147.2 and CN 202022637461.3, a loading conveying mechanism and a stacking device are provided. The container is conveyed to the stacking device by the loading conveying mechanism, and then the stacking task is completed by the stacking pushing mechanism and the code disc. Wherein the loading conveying mechanism is provided with a centering device, and the stacking device is provided with a left-right distributing device. The defects of the container conveying mode and the stacking mode are as follows:
① When an even number of containers can be accommodated on the coded disc, and the width of each container is half of the width of the entrance of the coded disc, the last container cannot enter the coded disc because the previous container occupies the entrance position, and aiming at containers with the specification, the coded disc can only finish simultaneous stacking of an odd number of containers, and the even number of containers cannot be stacked, so that each row of containers of a truck is reduced, and the space utilization rate and the truck loading efficiency of the truck are reduced;
② The space positions of the left and right distributing devices of the stacking tray can limit the boxing height of the top of the van or the container type van, so that the space utilization rate of the van is reduced;
③ When the left and right allocating devices move, the container temporarily stops entering the code wheel, so that the loading frequency is limited, the overall loading efficiency is reduced, and meanwhile, the loading stability is also reduced;
In CN 202022637461.3, CN202011275978.0 and CN202210880242.9 patents, the loading operation is performed on the front position by using three structural modes of long arm, frame forward moving long arm and two-stage large arm, and when loading a truck with a gooseneck platform, because the gooseneck platform is long, long large arms are required, there are many problems:
① The overlong large arm makes the loading robot body longer and has space limitation;
② When the coded disc is used for loading a container, the longer large arm needs to bear large moment, and corresponding counterweight is needed to balance the coded disc;
③ The large arm travel is longer and the speed is slower in the case of larger moment, resulting in inefficiency.
In addition, the loading height, the side stacking and the mixed stacking of the box type truck and the container type truck are all the time the difficult problems to be solved immediately at present, the container loading cannot be stacked and embossed and stacked by the side wall of the carriage, and the goods can shake integrally during transportation, so that great potential hazards exist in industries such as drinks and the like.
In order to improve the above technical problems, a two-stage loader and a loading method are provided in the following embodiments.
Referring to fig. 1, the present embodiment provides a two-stage loading machine 10, which is capable of loading and unloading a gooseneck platform 51 of a carriage, and includes a front-stage loading robot 300 and a rear-stage loading robot 200.
The front section loading robot 300 comprises a front section frame 310, a jacking roller assembly 320 and a code wheel assembly 370;
the lifting roller assembly 320 is connected with the front section frame 310 in a lifting manner, and the lifting roller assembly 320 can move on the carriage along a first direction;
The rear loading robot 200 comprises a chassis 210 and a front arm assembly 240, wherein the chassis 210 can move on the platform 52 of the carriage along a first direction, the front arm assembly 240 is movably connected with the chassis 210, and the front arm assembly 240 can extend out of the chassis 210 along the first direction;
The forward boom assembly 240 is coupled to the forward frame 310 to enable the forward loading robot 300 to move on the gooseneck platform 51 and the platform 52.
The front-section loading robot 300 of the two-section loading machine 10 can rise to the height of the gooseneck platform 51 of the carriage and descend to the height of the flat plate platform 52 of the carriage under the action of the jacking roller assemblies 320, and the front-extension arm assembly 240 of the rear-section loading robot 200 can push the front-section loading robot 300, so that the front-section loading robot 300 can move on the gooseneck platform 51 or the flat plate platform 52 through the jacking roller assemblies 320, and the front-section loading robot 300 can ascend and descend the gooseneck platform 51. The code wheel assembly 370 provided on the front loading robot 300 can finish and stack goods. So realized through removing anterior segment loading robot 300 to the preset position of gooseneck platform 51 and carry out cargo pile up neatly again, compared with the condition that whole carloader in the prior art only can remove and lead to the big arm overlength on flat board platform 52, such two segmentation carloader 10 can be showing shorten big arm stroke length, has alleviateed corresponding counter weight, and cargo pile up neatly efficiency is higher.
In particular, please continue to refer to fig. 1-8 for more structural details of the two-stage loader 10.
In the description of the components, the direction of the truck head is taken as the front, the position of the hydraulic lifting platform 30 is taken as the rear, and the left side is left and the right side is right when the position of the hydraulic lifting platform 30 is seen forwards.
As can be seen in fig. 1, the two-stage loader 10 includes a front-stage loading robot 300 and a rear-stage loading robot 200. The rear loading robot 200 is connected to the telescopic belt conveyor 20 through a telescopic conveying line and is used for receiving a container which is unstacked and conveyed or directly receiving a container on a product conveying line. And (3) stacking single or multiple stacking trays on the loading machine according to the specification and stacking requirements of the container, so that embossing stacking is realized. The position of the two-section loading machine 10 on the carriage is controlled by the crawler travelling mechanism, and each station can finish 2 rows of container stacking and sequentially back until the cargo stacking work of the whole carriage is finished.
200 The rear loading robot 200 mainly comprises a crawler chassis 210, an accumulation conveying line 220, a differential conveying line 230, a front cantilever assembly 240, a locking assembly 250, a rear supporting leg 260, a lifting adjustment assembly 270, a rear limiting device 280 and a front stretching power assembly 290. The rear loading robot 200 can move back and forth along the first direction as a whole, and can also push the front loading robot 300 to move back and forth, and can adjust the lifting of the conveyor line of itself to match the height change of the telescopic belt conveyor 20.
The first direction is the longitudinal extension direction of the vehicle cabin.
The specific 210 chassis 210 is used as a walking carrier of the whole loading robot, walks on a carriage, and is matched with the stacking rhythm of the system, and retreats station by station until the stacking task is finished. The chassis 210 here is a crawler chassis 210 that moves on a carriage by a crawler running mechanism. Alternatively, the entire travel drive of the crawler 210 is controlled by two servo motors. The travelling mechanism of the embodiment is a rubber crawler chassis 210, which has the characteristics of stable travelling, good adaptability to travelling road surfaces and strong load capacity.
The accumulation conveyor line 220 is used for receiving goods, the differential conveyor line 230 is arranged at one end of the accumulation conveyor line 220 close to the front section loading robot 300, and the conveying speed of the differential conveyor line 230 is greater than that of the accumulation conveyor line 220.
Specifically, the accumulation conveyor line 220 is connected to the telescopic belt conveyor 20. The cases fed from the telescopic belt 20 can be accumulated therein. Because the box spacing on accumulation conveyor line 220 is tight, differential conveyor line 230 is faster, pulling the box distance apart for subsequent processing.
The forward boom assembly 240 is coupled to a front frame 310 of the front loading robot 300 to power the front loading robot 300 to travel forward and backward. Note that, the accumulation conveyor line 220, the differential conveyor line 230, and the rear leg 260 are disposed on the front arm assembly 240.
The locking assembly 250 is disposed between the forward boom assembly 240 and the chassis 210. The current loading robot 300 is retracted from the gooseneck platform 51 (at this time, the conveyor line 220 is accumulated and the forward boom assembly 240 is retracted to the proper position), the locking assembly 250 locks the conveyor line, the impact caused by shaking of the frame is reduced, and the overall stability is improved.
260 The rear legs 260 are disposed below the forward boom assembly 240. In this embodiment four rear legs 260 are movably in the rail slots to support the entire accumulation conveyor line 220, differential conveyor line 230 and forward boom assembly 240. The rear leg 260 can be used to leg the vehicle when the accumulation conveyor line 220, the forward boom assembly 240, is extended forward.
270 The lift adjustment assembly 270 is disposed between the forearm assembly 240 and the chassis 210. I.e., the chassis 210 and the forearm assembly 240 may be in a lifting engagement. When the two-stage loader 10 moves forward and backward, the telescopic belt conveyor 20 can synchronously extend or retract, and the inclination angle of the telescopic belt conveyor 20 can be changed, and the lifting adjustment assembly 270 provides lifting to adapt to the height change of the telescopic belt conveyor 20.
The rear end stop 280 is disposed at the end of the rail groove 280. The rear end stop 280 prevents the rear leg 260 from backing out of the rail groove.
290 The reach power assembly 290 provides reach and retract power (pulling the front loading robot 300 forward and backward) to the reach arm assembly 240.
300 Front loading robot 300 includes a front frame 310, a jacking roller assembly 320, a large arm assembly 330, a counterweight assembly 340, a forward extending assembly 350, a small Z-axis assembly 360, a code wheel assembly 370, an inner conveyor line assembly 380, and a lifting power assembly 390. The bottom of the front frame 310 is provided with a plurality of rollers 311.
It can also be seen that the forward boom assembly 240 is movably coupled to the front frame 310 along the height of the front loading robot 300. Optionally, the front section frame 310 has a slide rail disposed along a vertical direction, and an end of the front boom assembly 240 near the front section loading robot 300 has a slider. The sliding block is in sliding fit with the sliding rail, so that the front-section loading robot 300 can move along the vertical direction, and stability of the front-section loading robot 300 when lifting relative to the rear-section loading robot 200 is ensured.
The front loading robot 300 is connected to the rear loading robot 200 through the front arm assembly 240 and is capable of walking on the gooseneck platform 51 alone (supported by the rollers 311 on the front frame 310 with the push-pull force of the front arm assembly 240 as a motive force).
The front section frame 310 is provided with 4 polyurethane rollers 311 at the bottom to support the front section loading robot 300, a jacking roller assembly 320 at the bottom, a large arm assembly 330 at two sides of the front section frame 310, a counterweight assembly 340 at the inner side of the front section frame 310, an inner conveying line assembly 380 at the inner side of the front section frame 310, and a lifting power assembly 390 at the top of the front section frame 310.
320 The lift roller assembly 320 is used to provide support when the front loading robot 300 lifts the gooseneck platform 51 or retracts the gooseneck platform 51.
330 The big arm assembly 330 is driven by the lifting power assembly 390 to lift, the counterweight assembly 340 is used as counterweight to balance the lifting force, and the big arm assembly 330 can stretch out and draw back two code wheel positions to realize the ladder stacking of the box.
The reach-out dispenser assembly 350 includes a reach-out mechanism 351, a dispenser 352, and a descent blocking mechanism 353. When the pallet assembly 370 is returned to the loading position for container transport, the inner conveyor line assembly 380 conveys single or unitized containers to the pallet, the forward extending assembly 350 extends forward the body above the pallet, the descending blocking mechanism 353 descends (at this time the descending blocking mechanism 353 is located at the end of the pallet assembly 370 remote from the front frame 310), the containers on the pallet assembly 370 are allocated left and right, and when the containers on the pallet assembly 370 are still inferior by one full row, the forward extending assembly 350 is retracted into the loading robot.
In this example, the descent blocking mechanism 353 is provided on the forward extending device 352, but the blocking device may be provided on the code wheel assembly 370.
The small Z-axis assembly 360 is disposed between the large arm assembly 330 and the code wheel assembly 370 such that the code wheel assembly 370 is raised and lowered relative to the large arm assembly 330. Specifically, the rear end of the small Z-axis assembly 360 is connected with the large arm assembly 330,390 to lift the power assembly 390 to drive the large arm assembly 330 to move so as to realize the first-stage lifting of the code wheel assembly 370, while the front end of the small Z-axis assembly 360 is connected with the code wheel assembly 370, and the small Z-axis assembly 360 drives the code wheel assembly 370 to lift or descend so as to realize the second-stage lifting of the code wheel assembly 370. In the example, the motor is used for driving the chain wheel system to drive the code wheel to carry out secondary lifting.
The code wheel assembly 370 includes a code wheel frame 371, a push-out seat mechanism 372, a side extension mechanism 373, a door closing blocking mechanism 374, a code wheel extension mechanism 375, a touch edge sensor 376, and a power roller 377.
The code wheel frame 371 is matched with the front section frame 310, the code wheel extension mechanisms 375 are respectively arranged on two sides of the code wheel frame 371 so as to be close to or far from the outer side wall of the carriage in the width direction, and the touch edge sensors 376 are arranged on the outer side wall of the code wheel extension mechanisms 375.
The code wheel frame 371 has a cargo passage opening 378 through which the cargo passes, side extension mechanisms 373 and a door closing blocking mechanism 374 are respectively movably provided on both sides of the push-out seat mechanism 372 in the vehicle-cabin width direction so that the side extension mechanisms 373 can be moved to the outer side of the code wheel extension mechanism 375 and the door closing blocking mechanism 374 can close the cargo passage opening 378, and the push-out seat mechanism 372 is movably provided on the code wheel frame 371 in the first direction.
The power roller 377 is provided at a position of the code wheel frame 371 near the front stage frame 310 to drive the goods to move from the front stage frame 310 to the code wheel frame 371.
The inner conveyor line assembly 380 includes two sections of roller lines 381, an allocating mechanism 382, a clamping mechanism 383, a lifting blocking mechanism 384, and an adjustable fixed side flange 385. The rear end carries the containers of the differential conveyor line 230 and the front end carries the containers to the code wheel assembly 370, the height of the roller line being the initial position for the code wheel material.
The drum wire is disposed on the front frame 310 for conveying the goods to the drum assembly 370, the adjustable fixed side ribs 385 are disposed on both sides of the drum wire in the width direction, and the distributing mechanism 382 is movably engaged with the drum wire to move between the two adjustable fixed side ribs 385 to adjust the position of the goods in the width direction of the drum wire.
The inner conveyor line further includes a clamp mechanism 383 and a lifting blocking mechanism 384, the lifting blocking mechanism 384 is liftably provided on the roller line to block the movement of the cargo in the first direction, and the clamp mechanism 383 is moved in the carriage width direction to clamp the movement of the cargo to a preset position.
Lifting power assembly 390. In this example, a motor is used to drive a sprocket chain to raise and lower the boom assembly 330 (and counterweight assembly 340).
The telescopic belt conveyor 20 is used for connecting a conveying line system of a logistics unit with the two-section type loading machine 10, and can extend and retract along with the advancing and retreating of the two-section type loading machine 10, and the telescopic belt conveyor 20 is used for conveying a container.
When the truck does not arrive, the loading robot stops waiting on the lifting platform 30, the height is adjusted to be consistent with the height of the truck bottom plate after the truck arrives at the loading area and stops, and the height can be synchronously adjusted when the truck is loaded on and unloaded from the loading machine, so that the truck can be settled due to the loading capacity of the truck.
The parking barrier mechanism 40 provides a contact type device during the parking process of the truck, so that the parking distance is within a controllable range, and other equipment and devices are not damaged due to the collision of the truck.
In a second aspect, the present invention provides a loading method applied to the two-stage loader 10 according to any one of the foregoing embodiments, the loading method comprising:
when the front section loading robot 300 is on the platform 52 of the carriage, the jacking roller assemblies 320 of the front section loading robot 300 extend out, and the jacking front section frame 310 is higher than the gooseneck platform 51;
The forward boom assembly 240 is extended forward to push the front loading robot 300 forward to a loading position on the gooseneck platform 51;
the front loading robot 300 completes the palletizing and boxing of the cargoes.
Specifically, the loading step of the truck with the gooseneck platform 51 comprises the following steps:
(1) The truck is driven back into the loading area, is stopped after colliding with the parking blocking mechanism 40, and the lifting platform 30 is adjusted in height to be flush with the truck tail bottom plate.
(2) The loading robot walks in the carriage to an initial loading position (in front of the gooseneck platform 51), the locking assembly 250 is loosened, the front-stage loading machine jacking roller assembly 320 extends out to jack up the front-stage loading robot 300 body, at this time, the front-stage loading robot 300 is supported by the jacking roller assembly 320, the front-arm assembly 240 continues to ascend, the front-stage loading machine is pushed to move forwards until the two fixed rollers 311 are above the gooseneck platform 51, the jacking roller assembly 320 is retracted, at this time, the front-stage loading robot 300 is supported by the two front fixed rollers 311, the front-arm assembly 240 continues to stretch forwards, and the front-stage loading machine is pushed to reach the loading position.
(3) The code wheel assembly 370 device is moved to an initial charge level and the code wheel extension 375 is opened until the touch edge sensor 376 touches the car arm or maximum travel position;
the forward extending dispensing assembly 350 extends the body forward above the code wheel and the descent blocking mechanism 353 descends to prevent the container from flushing out of the code wheel area.
(4) The container conveying extension belt conveyor 20 is characterized in that the container conveying extension belt conveyor 20 comprises an accumulation conveying line 220, a differential conveying line 230 and an inner conveying line assembly 380, when the container conveying extension belt conveyor passes through the inner conveying line assembly 380, the clamping mechanism 383 can clamp the container to be centered, and then the container passes through a power roller 377 on the code wheel assembly 370, so that the container is ensured to reach the front end of the code wheel assembly 370, and the distributing device 352 distributes the container to the left and right areas of the code wheel.
If the single row stacking boxes are even, when the last two boxes are conveyed, the lifting blocking mechanism 384 on the inner conveying line assembly 380 is lifted in advance, the allocating device 352 allocates the last two boxes to the left side and the right side in sequence, so that the last two boxes are grouped, the clamping mechanism 383 clamps the boxes in the middle, the lifting blocking mechanism 384 is put down, and the last two boxes are conveyed to the code wheel to finish a row. The door closing blocking mechanism 374 protrudes.
(5) The code wheel extension mechanism 375 is retracted to clamp a row of containers, the large arm assembly 330 and the small Z-axis assembly 360 are lifted synchronously, the large arm assembly 330 extends forwards to drive the code wheel to move to the front end of a carriage to be placed at the stacking position, the code wheel extension mechanism 375 extends out of the carriage wall again to detect the maximum position of the carriage arm or the stroke and records the position, the large arm assembly 330 is quickly pulled back according to the recording position immediately after the carriage arm or the stroke is touched, the push-out seat mechanism 372 pushes forwards to move a single row of containers to the proper stacking position, and the large arm assembly 330 moves again to drive the code wheel to push the containers tightly.
(6) The code wheel assembly 370 device moves to the initial receiving height, the containers on the conveyor line enter a cumulative state as (5) proceeds, and (3) - (5) are repeated immediately as the code wheel assembly 370 returns to the initial receiving height. In the stacking process, the front and back ladder stacking can be achieved according to different large arm elongations, and the left and right distances of the single-row containers are slightly adjusted according to the position where the code wheel extension mechanism 375 contacts the carriage wall records, so that the staggered joint stacking of the upper row and the lower row is achieved.
(7) In the gradual stacking process, the front arm assembly 240 is synchronously contracted, the front-stage loading robot 300 is pulled to gradually retreat until the jacking roller assembly 320 retreats from the gooseneck platform 51, the jacking roller assembly 320 of the front-stage loading machine extends out to jack up the front-stage loading robot 300 body, at this time, the front-stage loading robot 300 is supported by the jacking roller assembly 320, the front arm assembly 240 continues to be pulled back, the front-stage loading machine is pulled to move backwards until the front-stage loading robot 300 body leaves the upper part of the gooseneck platform 51, the jacking roller assembly 320 is retracted, the front-stage loading robot 300 continues to be supported by the fixed roller 311, the distance of the front arm assembly 240 is retracted to be the shortest, and the locking assembly 250 locks the front arm assembly 240.
(8) Repeating (3) - (6) until stacking all containers according to the order is completed, and returning the loading robot to the lifting platform 30 to wait for loading of one vehicle.
The loading step of the truck without the gooseneck platform 51 comprises the following steps:
Similar to the truck loading step with the gooseneck platform 51, the front and rear loading robots need not be separated to upper and lower the gooseneck platform 51. And will not be described in detail here.
In summary, embodiments of the present invention provide a two-stage loader 10 and loading method, which have at least the following advantages:
The loading machine is divided into a front section and a rear section, when loading a truck with the gooseneck platform 51, the front section and the rear section are separated, and the front section ascends the gooseneck platform 51 to carry out loading work, so that the loading efficiency on the gooseneck platform 51 is improved;
the front section robot internal conveying line is provided with a grouping and distributing structure and a centering clamping mechanism 383, so that the even number box problem and the centering in-place problem in the loading process can be solved;
The touch edge sensors 376 arranged left and right on the code wheel perform early warning when touching the carriage wall, and are stacked up by the limit near the carriage side wall;
The left and right strokes on the code wheel are adjustable, the left and right adjustment is carried out on the grouped containers on the code wheel, the embossing stacking is realized, and the stacking stability of the containers is improved. Specific:
(1) The flexibility and the universality of the conveying mode are stronger, and the conveying device can adapt to containers with various specifications;
(2) The truck with the long gooseneck platform 51 is more suitable and has higher efficiency.
(3) And the problem of wall collision caused by poor navigation is reduced by detecting the side face of the code wheel and recording the position.
(4) A contact type stopping mode.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a two segmentation carloader, gooseneck platform that can go up and down carriage, its characterized in that includes:
The front section loading robot (300), wherein the front section loading robot (300) comprises a front section frame (310), a jacking roller assembly (320) and a code wheel assembly (370);
the lifting roller assembly (320) is connected with the front section frame (310) in a lifting manner, and the lifting roller assembly (320) can move on a carriage along a first direction;
The rear-section loading robot (200) comprises a chassis (210) and a front arm assembly (240), wherein the chassis (210) can move on a platform (52) of a carriage along a first direction, the front arm assembly (240) is movably connected with the chassis (210), and the front arm assembly (240) can extend out of the chassis (210) along the first direction;
the forward boom assembly (240) is connected to the front section frame (310) to enable the front section loading robot (300) to move on the gooseneck platform (51) and the flatbed platform (52);
the front section loading robot (300) further comprises an inner conveying line;
the rear loading robot (200) further comprises an accumulation conveying line (220) and a differential conveying line (230) which are sequentially connected.
2. The two-piece loader of claim 1, wherein:
Along the height direction of the front section loading robot (300), the front extension arm assembly (240) is movably matched with the front section frame (310).
3. The two-piece loader of claim 2, wherein:
The chassis (210) and the forward arm assembly (240) are in lifting fit.
4. The two-piece loader of claim 1, wherein:
The code disc assembly (370) comprises a code disc frame (371), a code disc extension mechanism (375) and a touch edge sensor (376), wherein the code disc frame (371) is matched with the front section frame (310);
The code wheel extension mechanisms (375) are respectively arranged at two sides of the code wheel frame (371) so as to be close to or far from the outer side wall of the carriage in the width direction;
The touch edge sensor (376) is disposed on an outer sidewall of the code wheel epitaxy mechanism (375).
5. The two-piece loader of claim 4, wherein:
The code wheel assembly (370) further comprises a push-out seat mechanism (372), a side extension mechanism (373) and a door closing blocking mechanism (374), wherein the code wheel frame (371) is provided with a goods passage opening (378) for passing goods;
The side extending mechanism (373) and the door closing blocking mechanism (374) are respectively and movably arranged at two sides of the push-out seat mechanism (372) along the width direction of the carriage, so that the side extending mechanism (373) can move to the outer side edge of the code wheel extension mechanism (375) and the door closing blocking mechanism (374) can close the goods passage opening (378);
the push-out seat mechanism (372) is movably provided on the code wheel frame (371) in a first direction.
6. The two-piece loader of claim 4, wherein:
The code wheel assembly (370) further comprises a power roller (377);
The power roller (377) is arranged at a position of the code wheel frame (371) close to the front section frame (310) so as to drive goods to move from the front section frame (310) to the code wheel frame (371).
7. The two-piece loader of claim 1, wherein:
The inner conveying line comprises a roller line, a distributing mechanism (382) and an adjustable fixed side flange (385);
the roller wire is arranged on the front section frame (310) and is used for conveying cargoes to the code wheel assembly (370);
The adjustable fixed side flanges (385) are arranged on two sides of the width direction of the roller line, and the distributing mechanism (382) is movably matched with the roller line so as to move between the two adjustable fixed side flanges (385) to adjust the position of goods in the width direction of the roller line.
8. The two-piece loader of claim 7, wherein:
The inner conveying line further comprises a holding and clamping mechanism (383) and a lifting and blocking mechanism (384);
The lifting blocking mechanism (384) is arranged on the roller line in a lifting manner to block the goods from moving along the first direction, and the clamping mechanism (383) moves along the width direction of the carriage to clamp the goods to move to a preset position.
9. The two-piece loader of claim 1, wherein:
the accumulation conveyor line (220) is used for receiving cargoes, and the differential conveyor line (230) is arranged at one end of the accumulation conveyor line (220) close to the front section loading robot (300);
the conveying speed of the differential conveying line (230) is greater than the conveying speed of the accumulation conveying line (220).
10. A loading method, characterized in that:
the two-stage loading machine applied to the two-stage loading machine as claimed in any one of claims 1 to 9, wherein the loading method comprises the following steps:
When the front section loading robot (300) is arranged on the platform (52) of the carriage, the jacking roller assembly (320) of the front section loading robot stretches out to jack the front section frame (310) higher than the gooseneck platform (51);
The front arm assembly (240) extends forwards to push the front section loading robot (300) to move forwards to a loading position on the gooseneck platform (51);
The front section loading robot (300) finishes cargo stacking and boxing.
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| CN117719905A (en) * | 2023-11-07 | 2024-03-19 | 玉溪市新特科技有限公司 | Automatic loading and unloading system |
| CN120922529A (en) * | 2025-10-13 | 2025-11-11 | 金石机器人常州股份有限公司 | Multistage telescopic loading platform |
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| CN212197116U (en) * | 2020-03-30 | 2020-12-22 | 科捷智能装备有限公司 | Multi-section conveying assembly |
| CN114426211A (en) * | 2020-10-29 | 2022-05-03 | 唐山海容机器人应用技术研究院 | Automatic loading and unloading robot for box-packed goods |
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| US8257007B2 (en) * | 2007-07-27 | 2012-09-04 | Container Stuffers, Llc | Cargo loader |
| CN208616971U (en) * | 2018-07-23 | 2019-03-19 | 合肥泰禾光电科技股份有限公司 | Convey loading system and logistics system |
| CN110104458A (en) * | 2019-05-09 | 2019-08-09 | 杨国金 | It can be used for the sub-material head of intelligent entrucking |
| CN110550118A (en) * | 2019-09-05 | 2019-12-10 | 北京特种机械研究所 | increase journey and transport butt joint AGV equipment |
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| CN212197116U (en) * | 2020-03-30 | 2020-12-22 | 科捷智能装备有限公司 | Multi-section conveying assembly |
| CN114426211A (en) * | 2020-10-29 | 2022-05-03 | 唐山海容机器人应用技术研究院 | Automatic loading and unloading robot for box-packed goods |
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