CN218909151U - Loading system - Google Patents

Abstract

The utility model belongs to the field of logistics, and particularly relates to a loading system, which includes a destacking and sorting system and stacking and loading equipment. And transport the whole layer of goods to the cargo sorting device, the cargo sorting device decomposes the whole layer of cargo into individual pieces and then transports them to the marshalling device. The device adjusts the placement direction of the output goods, and then through the marshalling device, the single goods output by the sorting device are sorted and combined into the entire layer of goods of the required stacking type and output to the loading device of the palletizing and loading equipment. Under the function of the mechanism, it can realize the accurate unloading of the cargo device on the flatbed truck, increase the loading speed of the cargo, and ensure the orderliness and stability of the cargo stacking. The use of the loading system can save manpower, reduce labor costs, and greatly improve loading efficiency.

Description

Loading system

Technical Field

The utility model relates to the technical field of logistics, in particular to a loading system.

Background

At present, a factory adopts manpower to fork out whole cargoes from a warehouse cargo outlet, then forks the whole cargoes to the vicinity of a flat car, then adopts manpower to carry the whole cargoes onto the flat car, and stacks the whole cargoes on the flat car layer by layer according to a certain stack type. The loading mode has the defects of high labor cost, high labor intensity, insuring safety of workers and low loading efficiency.

Disclosure of Invention

The embodiment of the utility model provides a loading system, which is used for solving the technical problems of high labor cost, high labor intensity, guaranteeing of worker safety and low loading efficiency existing in the existing manual loading mode.

To achieve the above object, the present utility model provides a loading system including:

the unstacking and material arranging system comprises an unstacking robot, a goods distributing device, a steering device and a grouping device, wherein the unstacking robot is used for grabbing and carrying a plurality of goods; the goods distributing device is used for receiving the plurality of goods conveyed by the unstacking robot and decomposing the goods into single goods to be output outwards; the steering device is arranged at the output end of the cargo distributing device and is used for adjusting the placing direction of the output cargoes; the grouping device is in butt joint with the output end of the goods distributing device and is used for grouping and outputting single goods output by the goods distributing device; and

the stacking and loading device comprises a rail, a portal frame, a deviation correcting mechanism, a bearing frame, a lifting mechanism and a cargo carrying device, wherein the two rails are parallel and are arranged at intervals, and a parking area for loading is formed between the two rails; the gantry is arranged on the two rails and can walk along the length direction of the rails; the deviation correcting mechanism is arranged on the portal frame; the bearing frame is positioned below the portal frame and connected with the deviation correcting mechanism, and can move in the direction vertical to the length of the track and rotate around the height direction of the portal frame under the action of the deviation correcting mechanism; the lifting mechanism is arranged on the bearing frame; the cargo carrying device is used for loading cargos output by the grouping device and releasing the loaded cargos, and is connected to the lifting mechanism, and the cargo carrying device can move in the height direction of the bearing frame under the action of the lifting mechanism.

Optionally, the dispensing device comprises:

the step conveyor is used for bearing a plurality of cargoes conveyed by the unstacking robot and conveying the cargoes step by step along the conveying direction;

the edge leaning conveyor is in butt joint with the output end of the stepping conveyor and comprises a first edge leaning roller conveying line and a second edge leaning roller conveying line which are arranged side by side along the conveying direction and are structurally symmetrical relative to the conveying direction, and the first edge leaning roller conveying line and the second edge leaning roller conveying line can separate two goods which are side by side to the two opposite sides of the edge leaning conveyor in the conveying direction and continuously convey the goods along the conveying direction;

the limiting piece is arranged at the output end of the first side roller conveying line;

the delivery conveyor is in butt joint with the output end of the second side roller conveying line, and the steering device is arranged on the delivery conveyor; and

and the pushing device is used for pushing the cargoes stopped by the limiting piece to the second edge roller conveying line.

Optionally, the goods distributing device further comprises a first reversing device, a second reversing device and a scanner, wherein the first reversing device is arranged on the first edging roller conveying line and is used for adjusting the placing direction of goods conveyed by the first edging roller conveying line; the second reversing device is arranged on the second edging roller conveying line and is used for adjusting the placing direction of goods conveyed by the second edging roller conveying line; the scanner is disposed on the delivery conveyor upstream of the divert facility.

Optionally, the steering device comprises a mounting seat, a telescopic mechanism and a roller, wherein the mounting seat is fixed on one side of the output end of the cargo separating device, the telescopic mechanism is mounted on the mounting seat, the roller is mounted on the movable end of the telescopic mechanism, and the roller can extend or retract in the conveying direction perpendicular to the cargo under the action of the telescopic mechanism.

Optionally, the marshalling device comprises a roller conveyor, a temporary storage platform, a single-row pushing mechanism and a whole-layer pushing mechanism, wherein the roller conveyor is in butt joint with the output end of the goods distributing device, the output end of the roller conveyor is provided with a stop piece for stopping goods, the temporary storage platform is arranged on one side of the output end of the roller conveyor, the single-row pushing mechanism is arranged on the roller conveyor and used for pushing a row of goods on the roller conveyor onto the temporary storage platform, and the whole-layer pushing mechanism is arranged on the temporary storage platform and used for pushing a plurality of rows of goods on the temporary storage platform away from the temporary storage platform.

Optionally, the deviation rectifying mechanism includes:

the support seat is arranged on the portal frame in a sliding manner along the direction perpendicular to the length of the track;

the linear driving assembly is arranged on the portal frame and connected with the supporting seat, and the linear driving assembly is used for driving the supporting seat to move in a direction perpendicular to the length of the track; and

The rotary driving assembly is arranged on the supporting seat, and the rotary driving end of the rotary driving assembly is connected to the bearing frame.

Optionally, the deviation correcting mechanism further comprises a vehicle body detecting device and a control unit, the vehicle body detecting device is mounted on the portal frame to collect edge position data of the flat car in the parking area, the vehicle body detecting device, the linear driving assembly and the rotary driving assembly are all electrically connected to the control unit, the control unit calculates the deflection of the flat car according to the edge position data, and controls the linear driving assembly and the rotary driving assembly to act so that the center line of goods on the cargo carrying device is aligned with the center line of the flat car.

Optionally, the cargo device comprises:

a cargo frame connected to the lifting mechanism;

the cargo carrying platform is used for carrying cargos and is transversely arranged on the cargo carrying frame in a sliding manner;

the drawing driving assembly is arranged on the cargo carrying frame and connected with the cargo carrying platform, and is used for driving the cargo carrying platform to slide relative to the cargo carrying frame so as to enable the cargo carrying platform to transversely extend or retract; and

the end limiting assembly is arranged on the cargo carrying frame and used for limiting the cargo placed on the cargo carrying platform in the telescopic direction of the cargo carrying platform.

Optionally, the cargo carrying frame comprises a top frame and two side frames connected to two opposite sides of the top frame, and the cargo carrying platform is respectively connected to the two side frames in a sliding manner along two sides of the telescopic direction; the drawing driving assembly and the end limiting assembly are both arranged on the top frame;

the end limiting assembly includes:

the front end limiting assembly comprises a front end lifting driving piece and a front end lifting baffle, wherein the front end lifting driving piece is arranged at one end of the top frame along the extending and retracting direction of the cargo platform, and the front end lifting baffle is arranged at the driving end of the front end lifting driving piece and can move in the direction perpendicular to the plane where the cargo platform is located under the action of the front end lifting driving piece; and

the rear end limiting assembly comprises a transverse moving mechanism, a rear end lifting driving piece and a rear end lifting stop lever, wherein the transverse moving mechanism is arranged on a top frame, the rear end lifting driving piece is arranged on the transverse moving mechanism and can move along the telescopic direction of the cargo carrying platform under the action of the transverse moving mechanism, the rear end lifting stop lever is arranged at the driving end of the rear end lifting driving piece and can move in the direction perpendicular to the plane where the cargo carrying platform is located under the action of the rear end lifting driving piece.

Optionally, the cargo loading device further includes a side baffle assembly, the side baffle assembly includes a push-pull driving member and a side baffle, the side baffle is located between a plane where the cargo loading platform is located and the top frame, and the side baffle is slidably connected to the top frame along a telescopic direction perpendicular to the cargo loading platform, and the push-pull driving member is mounted on the top frame and connected to the side baffle to drive the side baffle to move along the telescopic direction perpendicular to the cargo loading platform.

The loading system provided by the utility model has the beneficial effects that: compared with the prior art, the loading system has the advantages that in the loading process, the whole stack of cargoes are firstly grabbed by the unstacking robot of the unstacking and sorting system and are conveyed to the distributing device, the distributing device breaks down the whole stack of cargoes into single cargoes and then conveys the single cargoes to the grouping device, the placing direction of the output cargoes is adjusted according to the follow-up loading stack type through the steering device arranged at the output end of the distributing device, then the single cargoes output by the distributing device are sorted and combined into the whole stack of cargoes required by the grouping device and are output to the cargo carrying device of the stacking and loading device, the cargo carrying device is arranged on the carrying frame through the lifting mechanism, the carrying frame is connected with the portal frame through the deviation correcting mechanism, when the left-right displacement deviation exists between the flat car and the cargo carrying device, the carrying frame is controlled to move in the direction perpendicular to the track length through the deviation correcting mechanism, and when the direction deviation exists between the flat car and the cargo carrying device, the direction deviation is corrected through the rotation of the deviation correcting mechanism around the height direction of the portal frame, namely, the cargo carrying device can be assembled into the whole stack of the required cargo and the whole layer of cargoes and are output through the grouping device, the cargo carrying speed is guaranteed, the cargo can be accurately loaded and the cargo can be guaranteed, and the cargo can be loaded and the cargo can be guaranteed. By adopting the loading system, manpower can be saved, labor cost can be reduced, and loading efficiency can be greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Wherein:

FIG. 1 is a side view of a loading system according to an embodiment of the present utility model;

FIG. 2 is a schematic perspective view of a loading system according to an embodiment of the present utility model;

FIG. 3 is a schematic view showing the overall structure of an unstacking and stacking system according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a portion of an unstacking and stacking system according to an embodiment of the present utility model;

FIG. 5 is a schematic view showing a connection structure of a step conveyor, a side edge conveyor, a stopper, and a delivery conveyor in a distributing device of an unstacking and sorting system according to an embodiment of the present utility model;

FIG. 6 is a schematic diagram of a pushing device in a distributing device of an unstacking and sorting system according to an embodiment of the present utility model;

FIG. 7 is a schematic view of a steering device of an unstacking and stacking system according to an embodiment of the present utility model;

FIG. 8 is a schematic view of the steering device of FIG. 7 from another perspective;

FIG. 9 is a schematic view showing the overall structure of a grouping device in an unstacking and sorting system according to an embodiment of the present utility model;

FIG. 10 is a schematic view of a single column pushing mechanism of a grouping device in an unstacking and palletizing system according to an embodiment of the present utility model;

FIG. 11 is a schematic view of a whole layer pushing mechanism of a grouping device in an unstacking and sorting system according to an embodiment of the present utility model;

FIG. 12 is a side view of a palletizing truck apparatus in use according to an embodiment of the present utility model;

FIG. 13 is a schematic perspective view of a palletizing truck apparatus according to an embodiment of the present utility model;

FIG. 14 is a schematic view of a connection of a gantry of a palletizing truck apparatus with a correction mechanism according to an embodiment of the present utility model;

FIG. 15 is a schematic illustration of the connection of the correction mechanism of the palletizing truck apparatus to the top beam of the gantry shown in an embodiment of the present utility model;

FIG. 16 is a schematic view of the connection of the carrier, lift mechanism and cargo carrying device of the palletizing load apparatus shown in an embodiment of the present utility model;

FIG. 17 is a schematic view of the cargo carrying device of the palletizing truck apparatus according to an embodiment of the present utility model;

FIG. 18 is a schematic view of the cargo carrying device of the palletizing truck apparatus according to an embodiment of the present utility model;

FIG. 19 is a schematic view of the rear end stop assembly of the truck loading system cargo unit in accordance with an embodiment of the utility model;

FIG. 20 is a schematic view of a set of loads that a load platform can carry in a truck loading system cargo device of a palletizing load apparatus in accordance with an embodiment of the present utility model.

Description of main reference numerals:

1. the unstacking and material arranging system; 2. a palletizing and loading device;

10. a destacking robot; 11. a base; 12. an industrial robot; 13. a clamp;

20. a goods distributing device; 21. a step conveyor; 211. a conveyor frame; 212. a conveying roller; 22. an edge conveyor; 221. a first edging roller conveyor line; 2211. a first side guard; 2212. a first roller; 222. a second edging roller conveyor line; 2221. a second side guard; 2222. a second roller; 23. a limiting piece; 24. a delivery conveyor; 25. a pushing device; 251. a pushing frame; 2511. a support leg; 2512. a cross frame; 252. a carrier; 253. a moving mechanism; 254. a lifting mechanism; 255. a push plate; 26. a first reversing device; 27. a second reversing device; 28. a scanner;

30. A steering device; 31. a mounting base; 32. a telescoping mechanism; 33. a roller;

40. a grouping device; 41. a roller conveyor; 411. a conveying section; 412. temporary storage section; 42. a temporary storage platform; 43. a single-row pushing mechanism; 431. a first mounting frame; 432. a first linear guide rail; 433. a first linear module; 434. a first pushing frame; 44. a whole layer pushing mechanism; 441. a second mounting frame; 442. a second linear guide rail; 443. a second linear module; 444. a second pushing frame; 45. a stopper;

50. a track; 501. a parking area; 51. a rail stop;

60. a portal frame; 61. a column; 62. a top beam; 63. a walking mechanism;

70. a deviation correcting mechanism; 71. a support base; 72. a linear drive assembly; 73. a rotary drive assembly; 731. a slewing bearing; 732. a rotating electric machine; 74. a vehicle body detection device; 741. detecting a straight line module; 742. a laser ranging sensor;

80. a carrier; 81. a top frame; 82. a side frame;

90. a lifting mechanism;

100. a cargo carrying device; 101. a cargo frame; 1011. a top frame; 10111. a boom assembly; 1012. a side frame; 102. a cargo platform; 1021. a support frame; 1022. an unpowered roller; 103. a pull drive assembly; 1031. a driving motor; 10311. a drive shaft; 1032. a synchronous drive belt; 1033. a guide wheel; 1034. extending out of the limiting piece; 1035. retracting the limiting piece; 1036. a fixing clamp; 104. an end limit assembly; 1041. a front end limiting assembly; 10411. a front end lifting driving member; 10412. a front end lifting baffle; 1042. a rear end limit assembly; 10421. a lateral movement mechanism; 104211, servo motor; 104212, synchronous drive belt; 10422. a rear end lifting driving member; 10423. the rear end lifts the stop lever; 10424. a moving beam; 10425. a lateral guide assembly; 10426. a vertical guide assembly; 105. a side dam assembly; 1051. push-pull driving piece; 1052. side baffles; 106. a guide wheel set; 107. a supporting plate;

200. A power supply section; 201. a support frame; 202. a slide wire guide rail; 203. a current collector;

300. a parking barrier.

Detailed Description

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many other different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

It should be further noted that, in the embodiments of the present application, the same reference numerals denote the same components or the same parts, and for the same parts in the embodiments of the present application, reference numerals may be given to only one of the parts or the parts in the drawings by way of example, and it should be understood that, for other same parts or parts, the reference numerals are equally applicable.

As described in the background art, the manual loading mode has the advantages of high labor cost, high labor intensity, insusceptible safety of workers and low loading efficiency.

In order to solve the above-described problems, an embodiment of the present utility model provides a loading system including an unstacking and sorting system 1 and a palletizing apparatus 2 as shown in fig. 1 to 3 and 12 to 13.

The unstacking and arranging system 1 comprises an unstacking robot 10, a distributing device 20, a steering device 30 and a grouping device 40. The unstacking robot 10 is used to grasp and handle a plurality of goods. The cargo distributing apparatus 20 is for receiving a plurality of cargos carried by the unstacking robot 10 and decomposing the cargos into individual cargos to be output. The steering device 30 is disposed at an output end of the cargo distributing device 20, and the steering device 30 is used for adjusting a placement direction of the output cargo. The grouping device 40 is abutted to the output end of the cargo distributing device 20, and the grouping device 40 is used for grouping and outputting the single cargos output by the cargo distributing device 20.

The pallet truck assembly 2 includes a track 50, a gantry 60, a correction mechanism 70, a carrier 80, a lift mechanism 90, and a cargo device 100. The two rails 50 are arranged in parallel and spaced apart, and a parking area 501 for loading is formed between the two rails 50. The portal frame 60 is provided on the two rails 50 and is capable of traveling along the length direction of the rails 50 (the length direction of the rails 50 is shown by an arrow V in the figure for ease of understanding). The deviation rectifying mechanism 70 is mounted on the gantry 60. The carrier 80 is located below the gantry 60 and connected to the deviation rectifying mechanism 70, and the carrier 80 can move in a direction perpendicular to the length of the track 50 and rotate around the height direction of the gantry 60 under the action of the deviation rectifying mechanism 70. The lifting mechanism 90 is disposed on the carrier 80. The cargo loading device 100 is for loading the cargo outputted from the grouping device 40 and releasing the loaded cargo, and the cargo loading device 100 is connected to the elevating mechanism 90 and is movable in the height direction of the carrier 80 by the elevating mechanism 90.

In the embodiment of the utility model, before loading, the whole stack of goods is grabbed by the unstacking robot 10 and conveyed to the goods distributing device 20, the whole stack of goods is decomposed into single goods by the goods distributing device 20 and then conveyed to the grouping device 40, the placing direction of the output goods is adjusted by the steering device 30 arranged at the output end of the goods distributing device 20 according to the size and stack type requirements of the pallet truck in the conveying process, and finally the single goods output by the goods distributing device 20 are tidied and combined into the whole stack of goods (the width a of the single goods is matched with the width a of the pallet truck as shown in fig. 20) by the grouping device 40 and are output to the goods loading device 100 of the stacking and loading device 2. After the pallet to be loaded is parked in the parking area 501 between the two rails 50, the marshalling device 40 conveys the marshalled cargoes to the cargo carrying device 100, the cargo carrying device 100 is lifted up under the action of the lifting mechanism 90, the portal frame 60 drives the deviation correcting mechanism 70, the bearing frame 80, the lifting mechanism 90 and the cargo carrying device 100 to move to the position farthest from the pallet along the rails 50, the bearing frame 80 is controlled to move by a corresponding distance in the direction perpendicular to the length of the rails 50 and rotate by a corresponding angle around the height direction of the portal frame 60 through the deviation correcting mechanism 70 according to the position and the angle deviation between the pallet and the cargo carrying device 100, so that the center line (shown as a dash-dot line Z in fig. 20) of the cargoes on the cargo carrying device 100 is aligned with the center line (along the length direction of the pallet) of the pallet, then the lifting mechanism 90 controls the cargo carrying device 100 to descend to a certain distance from the cargo carrying surface of the pallet, the cargo carrying device 100 releases the cargoes positioned on the pallet, and the cargoes drop onto the pallet to finish the loading process of the materials once. And repeating the material loading process until the loading operation of the first layer of the flat car is completed. And finally, taking the upper surface of the first layer of goods of the flat car as a reference, repeating the loading operation of the first layer of materials, and finally completing the stacking loading process of the whole flat car.

In addition, it is conceivable that the steering device 30 and the grouping device 40 are matched with each other, so that the cargoes can be combined into different groups in different horizontal and vertical directions and in different numbers, and the space utilization rate of loading and the stability of stacking can be improved.

In a word, the loading system can realize unmanned and automatic loading process, save manpower, reduce labor cost and greatly improve loading efficiency; after goods are orderly organized into corresponding stacks in advance, the goods are integrally sent to a flat car for stacking, so that the efficiency is high; the upper layers and the lower layers of the stacked piles are staggered, so that the stability of the stacked piles is ensured; can adapt to the box materials with various specifications.

In one embodiment, as shown in fig. 3 to 4, the unstacking robot 10 includes a base 11, an industrial robot 12, a clamp 13, and a vision camera (not shown in the drawings), the base 11 is used to be fixed on the ground, the industrial robot 12 is installed on the base 11, the clamp 13 and the vision camera are installed at the end of an execution structure of the industrial robot 12, the clamp 13 includes a frame connected with the industrial robot 12 and a suction cup structure provided on the frame, the suction cup structure sucks goods by means of vacuum suction, the vision camera calculates a goods stack type by photographing, converts an optical signal into an electrical signal, and feeds back to the industrial robot 12, so that the industrial robot 12 can transfer the goods orderly and accurately.

It will be appreciated that the industrial robot 12 is a multi-joint manipulator (e.g., a five-axis or six-axis manipulator) or multi-degree of freedom robotic device that is widely used in the industry, and that the gripper 13 is driven by the industrial robot 12 to transfer multiple pieces or layers of cargo in a stack of cargo onto the cargo handling device 20.

It should be noted that, the entire stack of goods carried by the unstacking robot 10 may be transferred from the warehouse to the vicinity of the unstacking robot 10 by a forklift or other transfer device. The unstacking robot 10 can be directly in butt joint with an automatic warehouse discharging line of a warehouse, so that the full automation of warehouse discharging and unstacking is realized.

In one embodiment, as shown in fig. 3-5, the dispensing device 20 includes a stepper conveyor 21, an edge rest conveyor 22, a stop 23, a delivery conveyor 24, and a pusher 25.

The step conveyor 21 is for carrying a plurality of cargoes carried by the unstacking robot 10 and step-conveying the cargoes in a conveying direction (the conveying direction is shown by an arrow X in the figure for convenience of explanation). The edge conveyor 22 is abutted against the output end of the step conveyor 21, the edge conveyor 22 includes a first edge roller conveyor line 221 and a second edge roller conveyor line 222 which are arranged side by side along the conveying direction and are structurally symmetrical with respect to the conveying direction, and the first edge roller conveyor line 221 and the second edge roller conveyor line 222 can separate two articles side by side to opposite sides of the edge conveyor 22 in the conveying direction and continue conveying along the conveying direction. The limiting piece 23 is arranged at the output end of the first edging roller conveying line 221 and is used for preventing cargoes conveyed by the first edging roller conveying line 221 from falling from the output end of the first edging roller conveying line 221. The delivery conveyor 24 is abutted against the output end of the second side roller conveyor line 222, and the turning device 30 is disposed on the delivery conveyor 24. The pushing device 25 is used for pushing the cargoes stopped by the limiting piece 23 onto the second leaning roller conveying line 222.

It will be appreciated that the alongside roller conveyor line can convey cargo in a diagonal direction until the cargo is aligned with the side guards, which can form a variety of cargo conveying schemes with other modular units.

Through the design, the whole layer of goods conveyed by the unstacking robot 10 can be split into single pieces and output backwards by utilizing the mutual matching of the stepping conveyor 21, the edge rest conveyor 22, the limiting piece 23, the delivery conveyor 24 and the pushing device 25.

Specifically, when the unstacking robot 10 is used, the whole layer of goods is carried onto the stepper conveyor 21, the stepper conveyor 21 steps and conveys the whole layer of goods on the stepper conveyor along the conveying direction, the whole layer of goods on the stepper conveyor can be divided into multiple rows along the conveying direction (as can be understood, taking fig. 3 and fig. 4 as an example, one layer of goods on the stepper conveyor 21 can be divided into two rows along the conveying direction, 2 packing boxes are arranged on the first row and the second row), the goods are sequentially conveyed onto the side conveyor 22, two pieces of goods which are arranged side by side are separated from two sides of the conveyor and are conveyed forward continuously in the side conveyor 22, the goods on the second side roller conveyor 222 can be conveyed to the marshalling device 40 directly through the goods outlet conveyor 24, the goods on the first side roller conveyor 221 are stopped by the stop piece 23, after the goods on the second side roller conveyor 222 are conveyed completely, the goods stopped by the stop piece 23 are pushed onto the second side roller conveyor 222 through the pushing device 25, and conveyed to the marshalling device 40 through the marshalling conveyor 24. The turning device 30 provided on the delivery conveyor 24 adjusts the direction of placement of the outgoing cargo (e.g., along the length of the cargo or along the width of the cargo) as needed for subsequent groupings.

The limiting member 23 may adopt a limiting structure such as a limiting baffle or a limiting cross rod fixed at the output end of the first side roller conveying line 221. The delivery conveyor 24 may be a belt conveyor or a roller conveyor.

In one embodiment, as shown in fig. 5, the stepper conveyor 21 includes a conveyor frame 211, a conveyor roller 212, a transmission mechanism (not shown in the figure), and a stepper motor (not shown in the figure), where the plurality of conveyor rollers 212 are disposed on the conveyor frame 211 in parallel and at intervals along the conveying direction, and the stepper motor is fixed on the conveyor frame 211 and connected to the conveyor roller 212 through the transmission mechanism.

In particular, the drive mechanism may employ a belt drive or a chain drive. It will be appreciated that the stepper motor is coupled to the transfer drum 212 via a transmission mechanism and that forward transfer power is provided to the goods placed thereon by rotation of the transfer drum 212.

It will be appreciated that in other embodiments, a motorized roller may be used directly in place of the conveyor roller 212, drive mechanism, and stepper motor of the stepper conveyor 21 of the present embodiment.

In a specific embodiment, as shown in fig. 4 and fig. 5, the first side roller conveying line 221 includes a first side guard 2211, a first roller 2212, and a first driving mechanism (not shown in the drawing), where the plurality of first rollers 2212 are arranged in parallel along the extending direction of the first side guard 2211 and form an acute angle with the first side guard 2211, and the first driving mechanism is used to drive the first roller 2212 to rotate; the second side roller conveyor line 222 includes a second side baffle 2221, a second roller 2222, and a second driving mechanism (not shown in the drawing), where the plurality of second rollers 2222 are arranged in parallel along the extending direction of the second side baffle 2221 and form an acute angle with the second side baffle 2221, and the second driving mechanism is used to drive the second roller 2222 to rotate; wherein the first side stop 2211 and the second side stop are respectively located at two opposite sides of the side conveyor 22 in the conveying direction.

By the arrangement, the first side roller conveyor line can convey the goods on the first side roller conveyor line along the diagonal direction until the goods are aligned with the first side baffle 2211, and the second side roller conveyor line can convey the goods on the second side roller conveyor line along the diagonal direction until the goods are aligned with the second side baffle 2221, so that the two side-by-side goods can be separated and conveyed along the conveying direction continuously.

The side-by-side connection of the first side roller conveying line 221 and the second side roller conveying line 222 is uniformly provided with spherical rolling bodies, so that the cargo on the first side roller conveying line 221 can conveniently enter the second side roller conveying line 222 under the action of the pushing device 25.

In one embodiment, as shown in fig. 4 and 6, the pushing device 25 includes a pushing frame 251, a carrier 252, a moving mechanism 253, and a pushing plate 255; the pushing frame 251 includes a transverse frame 2512 and two supporting legs 2511 supported at two ends of the transverse frame 2512, the transverse frame 2512 is located above the output end of the first side roller conveying line 221, and the two supporting legs 2511 are respectively located at two opposite sides of the side conveyor 22 in the conveying direction; the carrier 252 is slidably disposed on the transverse frame 2512 along a pushing direction (for convenience of illustration, the pushing direction is shown by an arrow Y in the figure), and the moving mechanism 253 is disposed on the transverse frame 2512 and connected to the carrier 252, so as to drive the carrier 252 to slide on the transverse frame 2512 along the pushing direction; the push plate 255 is mounted on the carrier 252.

The working principle of the pushing device 25 is as follows: the carrier 252 can reciprocate on the transverse frame 2512 along the pushing direction under the driving of the moving mechanism 253, so as to drive the push plate 255 to move together, and further, the push plate 255 is utilized to push the goods located at the output end of the first side roller conveying line 221 and stopped by the limiting piece 23 onto the second side roller conveying line 222.

The carrier 252 may be slidably connected to the transverse frame 2512 by a combination of a rail mounted on the transverse frame 2512 and a slider mounted on the carrier 252. In this embodiment, the moving mechanism 253 adopts a synchronous belt type linear module, and the carrier 252 is fixedly connected to the synchronous belt of the synchronous belt type linear module. Of course, in other embodiments, the moving mechanism 253 may also employ a ball screw type linear module or a linear motor, etc.

In a more specific embodiment, as shown in fig. 6, the pushing device 25 further includes a lifting mechanism 254, the lifting mechanism 254 is disposed on the carrier 252, and the push plate 255 is mounted on the lifting mechanism 254 and is capable of adjusting the vertical position under the driving of the lifting mechanism 254.

From this design for push pedal 255 can be according to the high adjustment vertical position of different goods to the focus of fine adaptation goods, thereby provide reliable and stable thrust for the goods.

In this embodiment, the lifting mechanism 254 includes a motor, a gear, a rack, a sliding rail and a sliding block, the sliding rail is vertically fixed on one side of the carrier 252, the sliding block and the rack are fixed on one side of the push plate 255 close to the carrier 252, the sliding block is slidably connected with the sliding rail, the motor is mounted on the carrier 252, the gear is fixed on an output shaft of the motor and engaged with the rack, and the gear is driven to rotate by the motor to drive the rack to move up and down, so as to adjust the height of the push plate 255. Of course, in other embodiments, the lifting mechanism 254 may also employ vertically disposed cylinders, linear motors, linear modules, and the like.

In some specific embodiments, as shown in fig. 4, the cargo distributing apparatus 20 further includes a first reversing device 26, a second reversing device 27, and a scanner 28, where the first reversing device 26 is disposed on the first edging roller conveying line 221, and is used for adjusting a placement direction of the cargo conveyed by the first edging roller conveying line 221; the second reversing device 27 is disposed on the second edging roller conveying line 222, and is used for adjusting the placement direction of the goods conveyed by the second edging roller conveying line 222; a scanner 28 is disposed on the discharge conveyor 24 upstream of the divert facility 30.

Through the arrangement, the first reversing device 26 and the second reversing device 27 can be used for respectively adjusting the placing direction of the goods conveyed by the first edging roller conveying line 221 and the second edging roller conveying line 222, and the label surface of the goods is turned to the direction identified by the scanner 28, so that the scanner 28 can scan the labels of the goods.

The first reversing device 26, the second reversing device 27 and the reversing device 30 have the same structure, so that the processing and the manufacturing are convenient, and the production cost is saved.

In one embodiment, as shown in fig. 4 and 7 to 8, the steering device 30 includes a mounting seat 31, a telescopic mechanism 32, and a roller 33, the mounting seat 31 is fixed to one side of the output end of the cargo dispenser 20, the telescopic mechanism 32 is mounted on the mounting seat 31, the roller 33 is mounted on the movable end of the telescopic mechanism 32, and the roller 33 can be extended or retracted in a direction perpendicular to the conveying direction of the cargo under the action of the telescopic mechanism 32.

Through the arrangement, the steering device 30 is simple in structure, low in cost and convenient for later maintenance.

Specifically, the extension and retraction of the roller 33 driven by the telescopic mechanism 32 is used for controlling the steering and non-steering of the goods, so that the adjustment of the placing direction of the goods is realized. When the cargo is required to be controlled to turn, the telescopic mechanism 32 drives the roller 33 to extend, one end of the cargo is blocked by the roller 33, the other end of the cargo continues to move forwards, and the cargo is continuously conveyed forwards after rotating for 90 degrees.

In this embodiment, the telescopic mechanism 32 may be implemented by driving the rack by using a motor to drive the gear to move along a straight line, or may be implemented by using a cylinder or an oil cylinder, which is not limited herein.

In one embodiment, as shown in fig. 3 and 9, the grouping device 40 includes a roller conveyor 41, a temporary storage platform 42, a single-row pushing mechanism 43 and a whole-layer pushing mechanism 44, the roller conveyor 41 is abutted to an output end of the cargo distributing device 20, a stop piece 45 for stopping cargoes is disposed at the output end of the roller conveyor 41, the temporary storage platform 42 is disposed at one side of the output end of the roller conveyor 41, the single-row pushing mechanism 43 is disposed on the roller conveyor 41 and is used for pushing a row of cargoes located on the roller conveyor 41 onto the temporary storage platform 42, and the whole-layer pushing mechanism 44 is disposed on the temporary storage platform 42 and is used for pushing a plurality of rows of cargoes located on the temporary storage platform 42 away from the temporary storage platform 42.

The plurality of cargoes are combined into a group through the marshalling device 40, so that the cargoes can be conveniently loaded through the stacking and loading equipment 2, and the loading efficiency is improved.

The working principle of the grouping device 40 is as follows: the single-piece goods sequentially output from the goods distributing device 20 enter the roller conveyor 41 after the arrangement direction is adjusted by the steering device 30, as the output end of the roller conveyor 41 is provided with the stop piece 45 (such as a baffle), the single-piece goods are stopped on the roller conveyor 41 and are arranged in a row along the conveying direction, a row of goods on the roller conveyor 41 is pushed onto the temporary storage platform 42 by the single-row pushing mechanism 43, the operation is repeated, the single-piece goods are sequentially pushed onto the temporary storage platform 42 to form a group of goods (the system is matched with the optimal stack type according to the width of the vehicle and the width of the goods, so that the width of the group of goods formed by combining the multiple-piece goods is matched with the width of the vehicle and is close to the width of the vehicle, the space utilization rate is increased), and finally the group of goods on the temporary storage platform 42 is pushed onto the goods loading device 100 of the palletizing equipment 2 by the temporary storage platform 42 by the whole-layer pushing mechanism 44.

In order to avoid interference between the pushing direction of the whole layer of pushing mechanism 44 and the pushing direction of the single-row pushing mechanism 43, the pushing direction of the whole layer of pushing mechanism 44 is perpendicular to the pushing direction of the single-row pushing mechanism 43.

In a specific embodiment, as shown in fig. 9, the roller conveyor 41 includes a conveying section 411 and a temporary storage section 412 sequentially connected along a conveying direction, the stopper 45 is disposed at an end of the temporary storage section 412 away from the conveying section 411, and the temporary storage platform 42 is disposed at one side of the temporary storage section 412.

In this design, the temporary storage section 412 is used to temporarily store the goods, and after the temporary storage section 412 is full of the goods, a single-row pushing mechanism 43 is used to integrally push a row of goods located on the temporary storage section 412 onto the temporary storage platform 42.

As shown in fig. 9 and 10, the single-column pushing mechanism 43 includes a first mounting frame 431, a first linear guide rail 432, a first linear module 433 and a first pushing frame 434, where the first mounting frame 431 is mounted above the temporary storage section 412, the first linear guide rail 432 and the first linear module 433 are mounted on the first mounting frame 431 and are perpendicular to the length direction of the temporary storage section 412, the length of the first pushing frame 434 is matched with the length of the temporary storage section 412, the first pushing frame 434 is slidably disposed on the first linear guide rail 432 and is connected to a driving portion of the first linear module 433, and the first pushing frame 434 is driven by the first linear module 433 to slide along the first linear guide rail 432, so as to push a column of goods on the temporary storage section 412.

As shown in fig. 9 and 11, the whole-layer pushing mechanism 44 includes a second mounting frame 441, a second linear guide rail 442, a second linear module 443, and a second pushing frame 444, where the second mounting frame 441 is mounted above the temporary storage platform 42, the second linear guide rail 442 and the second linear module 443 are mounted on the second mounting frame 441 and are parallel to the length direction of the temporary storage section 412, the length of the second pushing frame 444 is adapted to the length of the temporary storage platform 42 perpendicular to the temporary storage section 412, and the second pushing frame 444 is slidably disposed on the second linear guide rail 442 and is connected to a driving portion of the second linear module 443, and drives the second pushing frame 444 to slide along the second linear guide rail 442 through the second linear module 443, so as to push a group of cargos on the temporary storage platform 42.

Specifically, the first linear module 433 and the second linear module 443 may employ a synchronous belt type linear module, a ball screw type linear module, a linear motor, or the like.

It can be understood that the portal frame 60 includes two upright posts 61, a top beam 62 connected between the tops of the two upright posts 61, and a traveling mechanism 63 disposed between the upright posts 61 and the rails 50, the lower ends of the two upright posts 61 are slidably disposed on the two rails 50 through sliding seats, respectively, the traveling mechanism 63 includes a motor mounted at the lower end of one of the upright posts 61 and a roller fixed at the output end of the motor, and the roller rolls on the corresponding rail 50 under the driving of the motor, thereby realizing the traveling of the portal frame 60 along the length direction of the rail 50. To prevent the running gear 63 from coming out of the rails 50, rail stoppers 51 for restricting the running gear 63 are further attached to the ends of the rails 50.

The lifting mechanism 90 is used to lift the cargo device 100 to different loading heights, and the lifting mechanism 90 may be implemented by a lifting chain that is fixed on the carrier 80 and is driven by a motor and connected to the cargo device 100, or may be implemented by an oil cylinder that is mounted on the carrier 80 along the height direction of the carrier 80, or may be implemented by other mechanisms with lifting functions, which is not limited herein.

In one embodiment, as shown in fig. 13-15, the deskewing mechanism 70 includes a support base 71, a linear drive assembly 72, and a rotary drive assembly 73. The support base 71 is slidably disposed on the gantry 60 in a direction perpendicular to the length of the track 50. A linear drive assembly 72 is mounted on the gantry 60 and coupled to the support base 71, the linear drive assembly 72 being configured to drive the support base 71 to move in a direction perpendicular to the length of the track 50. The rotation driving assembly 73 is disposed on the supporting seat 71, and the rotation driving end of the rotation driving assembly 73 is connected to the carrier 80.

Through the arrangement, the deviation rectifying mechanism 70 is simple in structure, and meanwhile, the position adjustment and the azimuth angle adjustment of the cargo carrying device 100 are respectively realized through the linear driving assembly 72 and the rotary driving assembly 73, so that the position deviation rectifying and the azimuth angle deviation rectifying are not influenced, and the deviation rectifying precision is guaranteed.

It can be appreciated that the linear driving assembly 72 drives the carriage 80 to move left and right by driving the supporting seat 71 to slide along a direction perpendicular to the length of the track 50, so as to adjust the left and right position of the cargo device 100; the rotary drive assembly 73 adjusts the orientation of the cargo device 100 by driving the carriage 80 to rotate about the height of the gantry 60. The cargo device 100 performs the correction by traversing and rotating as described above.

Specifically, the top beam 62 of the gantry 60 has a rectangular frame structure, two ends of the support base 71 along the length direction of the track 50 are respectively mounted on two opposite frames of the top beam 62 through a set of linear guide rails, and the length direction of the linear guide rails is perpendicular to the length direction of the track 50, so that the support base 71 is slidably disposed on the gantry 60 along the length direction perpendicular to the track 50.

In a specific embodiment, as shown in fig. 14-15, the linear drive assembly 72 includes an electric cylinder, the cylinder body of which is fixed to the gantry 60, and the telescopic rod of which is connected to the support base 71; and/or

The rotary driving assembly 73 includes a pivoting support 731, a rotating motor 732, and a driving gear, the pivoting support 731 includes an inner ring and an outer ring rotatably connected, the inner ring of the pivoting support 731 is fixed to the supporting base 71, the rotating motor 732 is mounted to the supporting base 71, the driving gear is fixed to an output shaft of the rotating motor 732 and engaged with the outer ring of the pivoting support 731, and the outer ring of the pivoting support 731 is fixedly connected to the carrier 80.

The electric cylinder has the characteristics of accurate positioning, high speed, large load, stable movement, long service life and the like, and is used as a linear driving component 72, and is easy to be connected with a control system such as a PLC (Programmable logic Controller, a programmable logic controller) and the like, so that high-precision movement control is realized.

In the rotary driving assembly 73, the pivoting support 731 is used for realizing the rotary connection between the bearing frame 80 and the top beam 62 of the portal frame 60, and the driving gear drives the external gear of the pivoting support 731 meshed with the driving gear to rotate under the action of the driving motor 1031, so as to drive the bearing frame 80 to rotate, and realize the adjustment of the azimuth of the cargo carrying device 100. The gear transmission formed between the driving gear and the outer gear ring of the slewing bearing 731 has the characteristics of large bearing capacity, stable transmission, high transmission precision and the like, and is convenient for realizing high-precision angle control.

In summary, the linear driving assembly 72 and the rotary driving assembly 73 are designed as above, so that the moving and rotating adjustment precision can be improved, and the deviation rectifying precision can be further improved.

Of course, it is understood that in other embodiments, the linear drive assembly 72 may employ a timing belt linear module, a ball screw linear module, and the like. Other mechanisms capable of outputting rotational torque may be employed by the rotary drive assembly 73.

In one embodiment, as shown in fig. 13, the deviation correcting mechanism 70 further includes a vehicle body detecting device 74 and a control unit (not shown), wherein the vehicle body detecting device 74 is mounted on the portal frame 60 to collect edge position data of the pallet located in the parking area 501, and the vehicle body detecting device 74, the linear driving assembly 72 and the rotary driving assembly 73 are all electrically connected to the control unit, and the control unit calculates a deviation amount of the pallet based on the edge position data and controls the operations of the linear driving assembly 72 and the rotary driving assembly 73 so that a center line of the cargo on the cargo loading device 100 is aligned with a center line of the cargo on the pallet.

By arranging the vehicle body detection device 74 and the control unit, the automatic control of the actions of the linear driving assembly 72 and the rotary driving assembly 73 is facilitated, and further automatic deviation correction is achieved.

Specifically, after the flat car is stopped in the parking area 501 according to the guide line, edge position data of the flat car is collected through the car body detection device 74, the control unit calculates deflection of the flat car according to the collected edge position data, then calculates displacement and angle of the cargo carrying device 100 to be rectified and controls the linear driving assembly 72 to move corresponding displacement, and the rotary driving assembly 73 swings corresponding angle, so that the center line of the cargo on the cargo carrying device 100 is aligned with the center line of the flat car, the cargo is ensured to be placed on the flat car in a centering mode, and further uniformity and stability of subsequent stacking and loading stacks are ensured.

The vehicle body detection device 74 may adopt visual detection or laser detection in the following embodiment, and when adopting visual detection, the camera in the visual detection is used to collect the image information of the flat car, and the edge position of the flat car is determined through image calculation.

In a specific embodiment, as shown in fig. 14, the vehicle body detecting device 74 includes a detecting linear module 741 and a laser ranging sensor 742, the detecting linear module 741 is mounted on the portal frame 60, the laser ranging sensor 742 is mounted on the detecting linear module 741, and the laser ranging sensor 742 can reciprocate along a length direction perpendicular to the track 50 under the action of the detecting linear module 741 to detect edge position data of the flatbed.

Through the above design, when the portal frame 60 moves to the tail and head positions of the flat car, the detection linear module 741 moves the laser ranging sensor 742 to detect the car width and the car edge distribution. Specifically, the vehicle body detecting device 74 scans the edges of the vehicle at the front and rear of the flat car, and the control unit calculates the deflection of the flat car, calculates the required deflection, and then controls the deflection correcting mechanism 70 to correct the deflection.

The detection linear module 741 includes, but is not limited to, an electric sliding table, an air cylinder and an electric push rod.

In one embodiment, as shown in FIG. 16, the cargo device 100 includes a cargo frame 101, a cargo platform 102, a pull drive assembly 103, and an end stop assembly 104. The cargo frame 101 is connected to the lift mechanism 90. The cargo platform 102 is used for carrying cargo, and the cargo platform 102 is laterally slidably disposed on the cargo frame 101. The pull drive assembly 103 is arranged on the cargo frame 101 and is connected to the cargo platform 102, and the pull drive assembly 103 is used for driving the cargo platform 102 to slide relative to the cargo frame 101 so as to extend or retract the cargo platform 102 transversely. The end stop assembly 104 is disposed on the cargo frame 101, and the end stop assembly 104 is configured to stop the cargo placed on the cargo platform 102 in a telescopic direction of the cargo platform 102 (for convenience of understanding, the telescopic direction of the cargo platform 102 is shown by an arrow W in the figure).

Through setting up as above, in the process that pull drive assembly 103 drive cargo platform 102 outwards stretches out, put the goods on cargo platform 102 and be blocked by tip limit assembly 104 in cargo platform 102's flexible direction, consequently can not move together with cargo platform 102, and cargo platform 102 stretches out the back, and the goods that lie in its top lose support and fall to the flatbed, accomplish a loading.

It will be appreciated that the cargo loading device 100 does not move in a horizontal direction relative to the pallet truck when releasing the cargo, and the cargo is more stable during loading and stacking, and the position accuracy of loading and stacking is easier to control than when pushing out the cargo by the pushing-out device in the prior art.

Wherein the cargo platform 102 comprises a support frame 1021 and a plurality of unpowered rollers 1022 arranged on the support frame 1021 in parallel and at intervals, so that the friction between the cargo and the cargo platform 102 when the cargo platform 102 extends out can be designed, and the cargo releasing process is smoother.

In one embodiment, as shown in fig. 16-17, the cargo frame 101 includes a top frame 1011 and two side frames 1012 connected to opposite sides of the top frame 1011, and the cargo platform 102 is slidably connected to the two side frames 1012 along both sides of the telescopic direction, respectively; the drawing drive assembly 103 and the end limiting assembly 104 are both mounted on the top frame 1011.

Through the design, the cargo frame 101 is in an n-shaped structure as a whole, and the cargo platform 102 is slidably connected between the two side frames 1012, so that the cargo platform 102 is not influenced by the cargo frame 101 in the telescopic direction, normal extension and retraction of the cargo platform 102 are guaranteed, and meanwhile, in the height direction of the cargo frame 101, a channel formed between the cargo platform 102 and the top frame 1011 of the cargo frame 101 is also convenient for conveying cargoes to the cargo platform 102 by the grouping device 40 of the unstacking and sorting system 1.

Specifically, the two sides of the cargo platform 102 along the extension and retraction direction are respectively connected to the two side frames 1012 in a sliding manner through linear guide rails, the guide rails of the linear guide rails are installed on the side frames 1012, the sliding blocks of the linear guide rails are installed on the cargo platform 102, and the linear guide rails are utilized to provide guiding effects for extension and retraction of the cargo platform 102. The nylon supporting plates 107 are arranged on the opposite inner sides of the two side frames 1012, supporting wheels are arranged on the two sides of the cargo carrying platform 102, when the cargo carrying platform 102 is retracted, the supporting wheels are supported on the supporting plates 107, and when cargoes enter the cargo carrying platform 102, the supporting wheels can share the supporting force of the sliding blocks close to the end faces, so that the sliding blocks of the linear guide rail are prevented from being damaged due to overlarge stress.

It will be appreciated that in order to ensure proper loading of cargo on the cargo platform 102, the cargo platform 102 is spaced from the top frame 1011 by a distance greater than the height of the cargo in the height direction of the cargo frame 101.

In this embodiment, the carrying frame 80 has an n-shaped structure, and includes two side frames 82 arranged at intervals and a top frame 81 connected between the tops of the two side frames 82, wherein the middle part of the top frame 81 is fixedly connected to the rotation driving end of the rotation driving assembly 73, and the cargo carrying device 100 is located between the two side frames 82.

Further, in order to improve the stability of the cargo device 100 moving in the height direction of the side frames 82 under the action of the lifting mechanism 90, the two side frames 1012 are respectively provided with guide wheel sets 106 that are in rolling contact with the two side frames 82 in a one-to-one correspondence.

In addition, in order to facilitate connection of the cargo frame 101 and the lifting mechanism 90, the top parts of the two side frames 1012 of the cargo frame 101 are respectively provided with a boom component 10111 for connecting a lifting chain, the boom component 10111 comprises a joint bearing, a chain pull rod, an adjusting pull rod and the like, one end of the adjusting pull rod is provided with left-handed threads, the other end of the adjusting pull rod is provided with right-handed threads, tensioning of the chain is facilitated, and the joint bearing can prevent the chain from twisting.

In a specific embodiment, as shown in fig. 16-17, the drawing driving assembly 103 includes a driving motor 1031 and two sets of synchronous belt driving assemblies, the two sets of synchronous belt driving assemblies are respectively disposed at two ends of the cargo carrying frame 101 perpendicular to the extension direction of the cargo carrying platform 102, each set of synchronous belt driving assemblies includes one synchronous driving belt 1032, a plurality of guiding wheels 1033, an extension limiting member 1034 and a retraction limiting member 1035, the synchronous driving belt 1032 is wound on the cargo carrying frame 101 through the guiding wheels 1033, the running direction of the synchronous belt is parallel to the extension direction of the cargo carrying platform 102, two sides of the cargo carrying platform 102 are respectively connected to the two side frames 1012 in a sliding manner through linear guide rails, the side portions of the cargo carrying platform 102 are connected to the synchronous driving belt 1032 through fixing clips 1036, the cargo carrying platform 102 is driven to extend outwards or retract inwards by means of the running of the synchronous driving belt 1032, and the extension limiting members 1034 (such as a stop lever or a stop) and the retraction limiting members 1035 (such as a stop lever or a stop) are respectively mounted at two ends of the side frames 1012 along the extension direction of the cargo carrying platform 102, which are used for matching with the fixing clips 1036 to stop to realize limiting of the cargo carrying platform 102 at the extension and retraction limit positions. The driving motor 1031 is fixed on the top frame 1011, and the driving shaft 10311 of the driving motor 1031 is simultaneously connected with one guiding wheel 1033 of the two sets of synchronous belt transmission assemblies for simultaneously driving the two sets of synchronous belt transmission assemblies to operate.

Of course, it should be noted that other mechanisms may be used for the pull drive assembly 103, so long as the drive force is provided to extend or retract the cargo platform 102.

In one particular embodiment, as shown in fig. 16-17 and 19, the end stop assembly 104 includes a front end stop assembly 1041 and a rear end stop assembly 1042.

The front end limiting component 1041 includes a front end lifting driving element 10411 and a front end lifting baffle 10412, where the front end lifting driving element 10411 is installed at one end of the top frame 1011 along the extending direction of the cargo platform 102, and the front end lifting baffle 10412 is installed at the driving end of the front end lifting driving element 10411 and can move in the direction perpendicular to the plane where the cargo platform 102 is located under the action of the front end lifting driving element 10411.

The rear end limiting component 1042 comprises a lateral moving mechanism 10421, a rear end lifting driving piece 10422 and a rear end lifting stop lever 10423, the lateral moving mechanism 10421 is arranged on the top frame 1011, the rear end lifting driving piece 10422 is arranged on the lateral moving mechanism 10421 and can move along the extending and retracting direction of the cargo platform 102 under the action of the lateral moving mechanism 10421, and the rear end lifting stop lever 10423 is arranged on the driving end of the rear end lifting driving piece 10422 and can move in the direction perpendicular to the plane of the cargo platform 102 under the action of the rear end lifting driving piece 10422.

Through the design, in the use process, the front end lifting baffle 10412 descends under the action of the front end lifting driving piece 10411, the rear end lifting stop lever 10423 ascends under the action of the rear end lifting driving piece 10422, at this time, one end of a channel formed between the cargo carrying platform 102 and the top frame 1011 of the cargo carrying frame 101 is opened, one end is blocked, after the cargoes are conveyed onto the cargo carrying platform 102 by the grouping device 40 of the unstacking and material arranging system 1 through the open end of the channel, the rear end lifting stop lever 10423 descends under the action of the rear end lifting driving piece 10422, the transverse moving mechanism 10421 drives the rear end lifting stop lever 10423 to push the cargoes to be aligned with the front end lifting baffle 10412, the front end lifting baffle 10412 is used as a front end to be positioned, and the shape of the box set before loading is ensured by the limitation of the front end lifting baffle 10412 and the rear end lifting stop lever 10423.

In addition, some flatbed vehicles have no positioning baffle at the front end, and the front lifting baffle 10412 of the front limiting assembly 1041 is used as the front end of the goods for positioning. After the cargoes reach the area to be loaded, the cargo platform 102 is pulled out, the cargoes are limited by the front lifting baffle 10412 and the rear lifting stop lever 10423 of the rear limiting assembly 1042 and fall on a preset loading plane, and the loading is completed; when the front end of the secondary cargo loading has a positioning baffle or the end surface of the stacked cargo is limited, the front end lifting baffle 10412 is lifted under the action of the front end lifting driving piece 10411, and the cargo is directly limited by the positioning baffle or the end surface of the stacked cargo, and is also pulled out through the cargo platform 102 to finish loading.

Specifically, a linear guide for guiding the front end lift damper 10412 in the lift direction is provided between the front end lift damper 10412 and the top frame 1011.

Wherein, the front end lifting driving piece 10411 and the rear end lifting driving piece 10422 can be an electric cylinder, an electric push rod or an air cylinder, etc. The number of the front end lifting driving member 10411 and the number of the rear end lifting driving member 10422 may be one, or may be a plurality of simultaneous operations, and may be selected according to actual needs, which is not limited herein.

In a more specific embodiment, as shown in fig. 18 and 19, the lateral movement mechanism 10421 of the rear end limiting assembly 1042 adopts a synchronous belt transmission mechanism formed by a servo motor 104211, a belt pulley, a synchronous belt 104212 and the like, the running direction of the synchronous belt 104212 is parallel to the extending direction of the cargo platform 102, the moving beam 10424 is slidably arranged on the top frame 1011 along the running direction of the synchronous belt 104212 through a lateral guiding assembly 10425 (such as a linear guide rail), the moving beam 10424 is fixedly connected with the synchronous belt 104212 through a belt clip, the rear end lifting stop lever 10423 is slidably arranged on the moving beam 10424 along the height direction of the cargo frame 101 through a vertical guiding assembly 10426 (such as a linear guide rail), and the rear end lifting driving member 10422 is mounted on the moving beam 10424 and connected to the rear end lifting stop lever 10423 for driving the rear end lifting stop lever 10423 to move up and down.

In some embodiments, as shown in FIG. 17, the cargo device 100 further includes a side dam assembly 105, the side dam assembly 105 includes a push-pull drive member 1051 and a side dam 1052, the side dam 1052 is disposed between the plane of the cargo platform 102 and the top frame 1011, and the side dam 1052 is slidably coupled to the top frame 1011 in a direction perpendicular to the extension and retraction of the cargo platform 102, and the push-pull drive member 1051 is mounted to the top frame 1011 and coupled to the side dam 1052 to drive the side dam 1052 to move in a direction perpendicular to the extension and retraction of the cargo platform 102.

By providing the side dam assembly 105, after the cargo is pushed onto the cargo platform 102 by the grouping device 40 of the destacking and palletizing system 1, the rear end lift bar 10423 pushes the cargo into alignment with the front end lift bar 10412, and then the side dam 1052 pushes the cargo into alignment with the side frame 1012 opposite thereto under the action of the push-pull driving member 1051, the front end lift bar 10412 is positioned as the front end, the shape of the cargo before loading is limited by the side dams/bars in all directions, and the accuracy of the position is further ensured.

Wherein, the push-pull driving piece 1051 is opened by an electric cylinder, an electric push rod or an air cylinder, etc.

In one embodiment, as shown in fig. 1, 12 and 14, the pallet truck apparatus 2 further comprises a power supply section 200, the power supply section 200 comprising a support frame 201 erected above the two rails 50 and having a height greater than the gantry 60, a slide wire rail 202 provided on the support frame 201 and extending in the length direction of the rails 50, and a current collector 203 provided on the gantry 60 and slidably connected to the slide wire rail 202. The slide wire guide 202 is used as a fixed part, connected to a power source, and the current collector 203 is used as a sliding part, capable of sliding on the slide wire guide 50 and contacting well, and the current collector 203 is used for supplying power to the gantry 60, the deviation correcting mechanism 70, the lifting mechanism 90 and the power consuming part of the cargo device 100.

The power supply part 200 is arranged as above, and has simple structure and high safety.

In one embodiment, as shown in fig. 12 and 13, the palletizing apparatus 2 further comprises a parking stop 300 for limiting the parking position of the pallet truck, the parking stop 300 being mounted between the two rails 50 for providing a mechanical dead stop for the pallet truck to reverse in the parking area 501.

Specifically, in the present embodiment, the parking barrier 300 includes a pole fixed to the ground, to which a shock-absorbing rubber block for contacting the tail of the flat car is fixed. Of course, in other embodiments, parking barrier 300 may take other configurations, and is not limited in this regard.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the utility model, which are described in greater detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of the utility model should be assessed as that of the appended claims.

Claims (10)

1. A loading system, comprising:

the unstacking and material arranging system comprises an unstacking robot, a goods distributing device, a steering device and a grouping device, wherein the unstacking robot is used for grabbing and carrying a plurality of goods; the goods distributing device is used for receiving the plurality of goods conveyed by the unstacking robot and decomposing the goods into single goods to be output outwards; the steering device is arranged at the output end of the goods distributing device and is used for adjusting the placing direction of the output goods; the grouping device is in butt joint with the output end of the goods distributing device and is used for grouping and outputting single goods output by the goods distributing device; and

the stacking and loading device comprises a track, a portal frame, a deviation correcting mechanism, a bearing frame, a lifting mechanism and a cargo carrying device, wherein the two tracks are parallel and are arranged at intervals, and a parking area for loading is formed between the two tracks; the gantry is arranged on the two rails and can walk along the length direction of the rails; the deviation correcting mechanism is arranged on the portal frame; the bearing frame is positioned below the portal frame and connected with the deviation correcting mechanism, and can move in a direction perpendicular to the length of the track and rotate around the height direction of the portal frame under the action of the deviation correcting mechanism; the lifting mechanism is arranged on the bearing frame; and the cargo carrying device is used for loading cargos output by the grouping device and releasing the loaded cargos, is connected to the lifting mechanism and can move in the height direction of the bearing frame under the action of the lifting mechanism.

2. The loading system of claim 1, wherein the dispensing device comprises:

the stepping conveyor is used for bearing a plurality of cargoes conveyed by the unstacking robot and conveying the cargoes in a stepping manner along the conveying direction;

the edge conveyor is in butt joint with the output end of the stepping conveyor and comprises a first edge roller conveying line and a second edge roller conveying line which are arranged side by side along the conveying direction and are structurally symmetrical relative to the conveying direction, and the first edge roller conveying line and the second edge roller conveying line can separate two articles side by side to the two opposite sides of the edge conveyor in the conveying direction and continuously convey the articles along the conveying direction;

the limiting piece is arranged at the output end of the first side roller conveying line;

the delivery conveyor is in butt joint with the output end of the second edging roller conveying line, and the steering device is arranged on the delivery conveyor; and

and the pushing device is used for pushing the cargoes stopped by the limiting piece to the second side roller conveying line.

3. The loading system of claim 2, wherein the cargo distributing device further comprises a first reversing device, a second reversing device and a scanner, the first reversing device is arranged on the first side roller conveying line and is used for adjusting the placing direction of the cargo conveyed by the first side roller conveying line; the second reversing device is arranged on the second edging roller conveying line and is used for adjusting the placing direction of goods conveyed by the second edging roller conveying line; the scanner is disposed on the delivery conveyor and upstream of the divert facility.

4. The loading system of claim 1, wherein the steering device comprises a mounting base, a telescopic mechanism and a roller, the mounting base is fixed on one side of the output end of the cargo distributing device, the telescopic mechanism is mounted on the mounting base, the roller is mounted on the movable end of the telescopic mechanism, and the roller can extend or retract in a direction perpendicular to the conveying direction of the cargo under the action of the telescopic mechanism.

5. The loading system of claim 1, wherein the grouping device comprises a roller conveyor, a temporary storage platform, a single-row pushing mechanism and a whole-layer pushing mechanism, the roller conveyor is in butt joint with the output end of the goods distributing device, a stop piece for stopping goods is arranged at the output end of the roller conveyor, the temporary storage platform is arranged at one side of the output end of the roller conveyor, the single-row pushing mechanism is arranged on the roller conveyor and used for pushing a row of goods on the roller conveyor onto the temporary storage platform, and the whole-layer pushing mechanism is arranged on the temporary storage platform and used for pushing a plurality of rows of goods on the temporary storage platform away from the temporary storage platform.

6. The loading system of claim 1, wherein the deviation rectifying mechanism comprises:

the support seat is arranged on the portal frame in a sliding manner along the direction perpendicular to the length of the track;

the linear driving assembly is arranged on the portal frame and connected with the supporting seat, and the linear driving assembly is used for driving the supporting seat to move in a direction perpendicular to the length of the track; and

the rotary driving assembly is arranged on the supporting seat, and the rotary driving end of the rotary driving assembly is connected with the bearing frame.

7. The loading system of claim 6 wherein the deviation correcting mechanism further comprises a body detection device and a control unit, the body detection device being mounted on the gantry to collect edge position data of the pallet in the parking area, the body detection device, the linear drive assembly and the rotary drive assembly being electrically connected to the control unit, the control unit calculating an amount of deflection of the pallet based on the edge position data and controlling the linear drive assembly and the rotary drive assembly to operate so that a center line of the cargo on the cargo loading device is aligned with a center line of the pallet.

8. The loading system of claim 1, wherein the cargo carrying device comprises:

a cargo frame connected to the lifting mechanism;

the cargo carrying platform is used for carrying cargos and is arranged on the cargo carrying frame in a transversely sliding manner;

the drawing driving assembly is arranged on the cargo carrying frame and connected with the cargo carrying platform, and is used for driving the cargo carrying platform to slide relative to the cargo carrying frame so as to enable the cargo carrying platform to transversely extend or retract; and

the end limiting assembly is arranged on the cargo carrying frame and used for limiting the cargo placed on the cargo carrying platform in the telescopic direction of the cargo carrying platform.

9. The loading system of claim 8 wherein the cargo frame comprises a top frame and two side frames connected to opposite sides of the top frame, the cargo platform being slidably connected to the two side frames along opposite sides of the telescoping direction; the drawing driving assembly and the end limiting assembly are both arranged on the top frame;

the end stop assembly includes:

the front end limiting assembly comprises a front end lifting driving piece and a front end lifting baffle, the front end lifting driving piece is arranged at one end of the top frame along the extending direction of the cargo carrying platform, and the front end lifting baffle is arranged at the driving end of the front end lifting driving piece and can move in the direction perpendicular to the plane where the cargo carrying platform is located under the action of the front end lifting driving piece; and

The rear end limiting assembly comprises a transverse moving mechanism, a rear end lifting driving piece and a rear end lifting stop lever, wherein the transverse moving mechanism is arranged on the top frame, the rear end lifting driving piece is arranged on the transverse moving mechanism and can move along the telescopic direction of the cargo carrying platform under the action of the transverse moving mechanism, and the rear end lifting stop lever is arranged on the driving end of the rear end lifting driving piece and can move in the direction perpendicular to the plane where the cargo carrying platform is located under the action of the rear end lifting driving piece.

10. The loading system of claim 9, wherein the cargo carrying device further comprises a side dam assembly including a push-pull drive and a side dam, the side dam being positioned between the plane of the cargo carrying platform and the top frame, and the side dam being slidably coupled to the top frame in a telescoping direction perpendicular to the cargo carrying platform, the push-pull drive being mounted to the top frame and coupled to the side dam to drive the side dam to move in a telescoping direction perpendicular to the cargo carrying platform.

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