WO2022062720A1 - 物流码垛系统 - Google Patents

物流码垛系统 Download PDF

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Publication number
WO2022062720A1
WO2022062720A1 PCT/CN2021/111124 CN2021111124W WO2022062720A1 WO 2022062720 A1 WO2022062720 A1 WO 2022062720A1 CN 2021111124 W CN2021111124 W CN 2021111124W WO 2022062720 A1 WO2022062720 A1 WO 2022062720A1
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WO
WIPO (PCT)
Prior art keywords
telescopic platform
assembly
palletizing system
drive
logistics
Prior art date
Application number
PCT/CN2021/111124
Other languages
English (en)
French (fr)
Inventor
刘宗阳
苏建良
杨文涛
谈士力
沈俊杰
何永义
Original Assignee
上海克来机电自动化工程股份有限公司
上海奥可威智能设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202011045455.7A external-priority patent/CN112141724A/zh
Priority claimed from CN202121586397.9U external-priority patent/CN215206723U/zh
Application filed by 上海克来机电自动化工程股份有限公司, 上海奥可威智能设备有限公司 filed Critical 上海克来机电自动化工程股份有限公司
Priority to EP21871097.8A priority Critical patent/EP4219360A4/en
Priority to US18/028,924 priority patent/US20240025673A1/en
Publication of WO2022062720A1 publication Critical patent/WO2022062720A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/09—Stacking of articles by adding to the top of the stack from alongside
    • B65G57/10—Stacking of articles by adding to the top of the stack from alongside by devices, e.g. reciprocating, acting directly on articles for horizontal transport to the top of stack
    • 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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/007—Means for moving conveyor frames and control arrangements therefor
    • B65G41/008—Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar

Definitions

  • the present application relates to the field of logistics palletizing equipment, for example, to a logistics palletizing system.
  • material conveying often uses belts as a transmission tool to transfer materials from the warehouse to a designated location, and then stack the materials into stacks by a palletizer, which greatly improves the speed of material operation and solves the traditional manual handling efficiency. low problem.
  • the logistics palletizing system cannot automatically adjust the attitude of the conveyed materials, and can only rely on manpower to regulate the materials, which is low in efficiency and high in strength.
  • some devices such as mechanical arms and special turning mechanisms are used in some assembly line transportation to realize the attitude adjustment of materials, which overcomes the disadvantages of manual operation, such devices are often complicated in structure and high in cost.
  • the design of the logistics palletizing system is single, which cannot meet the increasing demand.
  • the present application provides a logistics stacking system, which can automatically transfer, divide, adjust the attitude and stack materials, improve the material processing efficiency, simplify the structure of the attitude adjustment mechanism, reduce space occupation, and reduce economic costs. .
  • a logistics palletizing system comprising:
  • a palletizer including a feeding device, a feed diversion device, a telescopic platform device, a multi-stage lifting device and a traveling device, the telescopic platform device is installed above the traveling device; the multi-stage lifting device and the feeding device
  • the diverting devices are all mounted on the telescopic platform device, and the telescopic platform device is configured to drive both the multi-stage lifting device and the feed diverting device to move relative to the traveling device along a first preset direction;
  • the feeding device is installed on the multi-stage lifting device, the multi-stage lifting device is configured to drive the feeding device to go up and down, and the feed dividing device is configured to convey materials to the feeding device, the feeding device is configured to stack the material;
  • a logistics conveying device is connected with the palletizer, the logistics conveying device includes a connected attitude adjustment mechanism and a transmission mechanism, the attitude adjustment mechanism includes a moving assembly and a turning assembly, and the moving assembly includes a plurality of rotatable a rolling part, a gap is formed between every two adjacent rolling parts, the rolling part is configured to drive the material to move; the turning assembly includes a driving part and a turning part, the turning part is drivingly connected with the driving part, The driving part is configured to drive the turning part to rotate, the turning part passes through the gaps between the plurality of rotatable rolling parts, and is configured to push the material to rotate to a preset position; the transmission The mechanism is configured to transfer the material.
  • FIG. 1 is a schematic diagram of the overall structure of a logistics palletizing system provided by a specific embodiment of the present application;
  • FIG. 2 is a schematic structural diagram of a palletizer provided by a specific embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a feeding device provided by a specific embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of an extended telescopic component of a feeding device provided by a specific embodiment of the present application.
  • Fig. 5 is the enlarged view of B place in Fig. 4;
  • FIG. 6 is a front view of a palletizer provided by a specific embodiment of the present application.
  • FIG. 7 is a schematic diagram of the overall structure of a feed splitting device provided by a specific embodiment of the present application.
  • FIG. 8 is a partial structural schematic diagram of a feed splitting device provided by a specific embodiment of the present application.
  • Fig. 9 is the partial disassembly structure schematic diagram of a kind of feed splitting device provided by the specific embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a telescopic platform device provided by a specific embodiment of the present application.
  • FIG. 11 is an exploded view of the structure of a telescopic platform device provided by a specific embodiment of the present application.
  • FIG. 12 is a front view of a telescopic platform device provided by a specific embodiment of the present application.
  • Fig. 13 is the enlarged view of A place in Fig. 2;
  • FIG. 14 is a schematic structural diagram of a multi-stage telescopic device provided by a specific embodiment of the present application.
  • FIG. 15 is a schematic structural diagram of another palletizer provided by a specific embodiment of the present application.
  • 16 is a schematic diagram of the exploded structure of a palletizer provided by a specific embodiment of the present application.
  • Figure 17 is another schematic diagram of the exploded structure of the palletizer provided by the specific embodiment of the present application.
  • Figure 18 is a schematic side view of the structure of a palletizer provided by a specific embodiment of the present application.
  • FIG. 19 is a schematic front view of a stacker provided by a specific embodiment of the present application.
  • Fig. 20 is a top-view structural schematic diagram of a palletizer provided by a specific embodiment of the present application.
  • Figure 21 is an enlarged view at A in Figure 15;
  • Figure 22 is an enlarged view at B in Figure 19;
  • FIG. 23 is a schematic structural diagram of an attitude adjustment mechanism provided by a specific embodiment of the present application.
  • FIG. 24 is a schematic structural diagram of a flipping component in an attitude adjustment mechanism provided by a specific embodiment of the present application.
  • FIG. 25 is a schematic structural diagram of a flipping component in another attitude adjustment mechanism provided by a specific embodiment of the present application.
  • 26 is a schematic structural diagram of a first stop assembly in an attitude adjustment mechanism provided by a specific embodiment of the present application.
  • FIG. 27 is a schematic structural diagram of a first stop assembly in another attitude adjustment mechanism provided by a specific embodiment of the present application.
  • FIG. 28 is a schematic structural diagram of a first stop assembly abutting against a turning assembly provided by a specific embodiment of the present application.
  • Feeding device 11. Pallet mechanism; 111, Roller wheel; 112, Second scissor arm part; 113, Drive plate; 1131, Position sensor; 114, Housing; 1141, First chute; 115, Skateboard; 1151, second chute; 12, push plate mechanism; 121, fixed plate; 122, telescopic assembly; 1221, first scissor arm part; 12211, front scissor arm; 12212, rear scissor arm; 12213, 1222, the first drive member; 123, the push plate assembly; 1231, the push plate; 12311, the fixed shaft; 1232, the first push bar; 1233, the second push bar; 12333, the card slot;
  • Feed distribution device 21. Base; 22. Rotating assembly; 221, First rotating assembly; 222, Second rotating assembly; 2211, First Mecanum wheel; 2212, Bearing; 2213, Rotating shaft; 23 231, the first drive motor; 232, the first transmission belt; 233, the tensioning wheel group;
  • Telescopic platform device 31. Level 1 telescopic platform; 311, First installation position; 312, Second installation position; 32, Second level telescopic platform; 321, First axle; 322, Second axle; 323, First guide rail; 33, abutment; 331, second drive member; 332, third installation position; 333, fourth installation position; 334, second guide rail; 335, positioning seat; 34, double-speed telescopic assembly; 341, first chain 342, the second chain; 35, the first landing gear assembly; 351, the first connecting rod; 352, the first roller; 353, the third driving part; 36, the second landing gear assembly; 361, the second connecting rod; , the second roller; 363, the fourth driving member;
  • Multi-stage lifting device 41. Primary lifting mechanism; 411, First bracket; 412, Second drive motor; 413, First lead screw; 42, Second-level lifting mechanism; 421, Second bracket; Three drive motors; 423, the second lead screw; 424, the first synchronous pulley; 43, the fixed seat;
  • Arrangement device 61, Arrangement bracket; 62, Servo motor; 63, Arrangement plate; 64, Triangular reinforcing plate;
  • Attitude adjustment mechanism 81, frame; 82, moving assembly; 821, rolling part; 822, moving drive part; 83, flipping assembly; 831, drive part; 8311, first shaft; 832, inversion part; 8321, inversion pawl; 833, connection part; 84, first stopper assembly; 841, base; 8411, fixed sleeve; 842, elastic connection part; 843, stopper part ; 85, the second stop assembly; 851, the second telescopic cylinder; 852, the stop wheel; 86, the limit part;
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • connection may be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may include the first and second features in direct contact, or may include the first and second features not directly in contact The contact is made through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.
  • the present application discloses a logistics palletizing system, as shown in FIGS. 1-28 , the logistics palletizing system includes a palletizing machine and a logistics conveying device, and the palletizing machine is connected with the logistics conveying device.
  • the stacker includes a feeding device 1 , a feeding and diverting device 2 , a telescopic platform device 3 , a multi-stage lifting device 4 and a traveling device 5 , and the telescopic platform device 3 is installed above the traveling device 5 .
  • the multi-stage lifting device 4 and the feed diversion device 2 are both installed on the telescopic platform device 3, and the telescopic platform device 3 is configured to drive the multi-stage lifting device 4 and the feed diversion device 2 to move relative to the traveling device 5 along a first preset direction .
  • the feeding device 1 is installed on the multi-stage lifting device 4, the multi-stage lifting device 4 is configured to drive the feeding device 1 to rise and fall, the feeding and diverting device 2 is configured to convey materials to the feeding device 1, and the feeding device 1 is configured as Stack the material.
  • the logistics conveying device includes a connected attitude adjustment mechanism 8 and a transmission mechanism 9.
  • the attitude adjustment mechanism 8 includes a moving assembly 82 and a turning assembly 83.
  • the moving assembly 82 includes a plurality of rotatable rolling parts 821, and each adjacent two rolling parts 821 A gap is formed between them, and the material can move under the driving of the rolling part 821 .
  • the flipping assembly 83 includes a driving part 831 and a flipping part 832 , the flipping part 832 is drivingly connected with the driving part 831 , the flipping part 832 can be driven to rotate by the driving part 831 , and the flipping part 832 passes through the plurality of rotatable rolling parts 821 .
  • the gap pushes the material to rotate to the preset position.
  • the transport mechanism 9 is configured to transport the material.
  • the logistics stacking system provided by the present application can automatically transfer, divide, adjust the attitude and stack the materials, improve the material processing efficiency, simplify the structure of the attitude adjustment mechanism 8, reduce the space occupation, and reduce the economic cost.
  • the feeding device 1 includes a pallet mechanism 11, a push plate mechanism 12 and a fixed plate 121.
  • the pallet mechanism 11 and the push plate mechanism 12 are both installed on the multi-stage lifting device 4 through the fixed plate 121, and the pallet mechanism 11 is configured to carry Material, the length of the pallet mechanism 11 is adjustable along the X direction; the push plate mechanism 12 is arranged on the first side of the pallet mechanism 11, and the push plate mechanism 12 is configured to push the material on the pallet mechanism 11 to the first side of the pallet mechanism 11.
  • the push plate mechanism 12 includes a push plate assembly 123 and a telescopic assembly 122, the telescopic assembly 122 is mounted on the fixed plate 121 and is drivingly connected to the push plate assembly 123, and the telescopic assembly 122 is configured to drive the push plate The assembly 123 pushes down the material.
  • the pallet mechanism 11 of the feeding device 1 is configured to carry the materials conveyed by the feeding and diverting device 2.
  • the pallet mechanism 11 is adjustable in length along the X direction. It is suitable for containers of various widths while increasing the amount of materials placed. Or truck containers, which have wide applicability and improve the stacking efficiency of materials.
  • the telescopic assembly 122 of the push plate mechanism 12 When the telescopic assembly 122 of the push plate mechanism 12 is stretched, the telescopic assembly 122 drives the push plate assembly 123 to push down the materials to realize the stacking of the materials; when the push plate mechanism 12 is not working, the telescopic assembly 122 is in a retracted state to reduce pushing The volume occupied by the plate mechanism 12 realizes the application of the push plate mechanism 12 in a narrow space.
  • the multi-stage lifting device 4 can drive the feeding device 1 and the feeding diverting device 2 to go up and down, thereby increasing the maximum stacking height of the stacker.
  • the palletizer includes a walking device 5, which is conducive to the movement of the palletizer. When there are obstacles on the ground or when the palletizer is applied to a gooseneck truck, the walking device 5 cannot cross the obstacle, and the telescopic platform device 3 of the palletizer can drive The feeding device 1 is retracted forward, so that the feeding device 1 stacks the material on the gooseneck platform in the gooseneck truck or the far end of the obstacle, thereby improving the practicability of the palletizer.
  • the telescopic assembly 122 includes a first scissor arm member 1221 and a first driving member 1222.
  • One end of the first scissor arm member 1221 is hinged to the fixing plate 121, and the other end is drivingly connected to the push plate assembly.
  • the first driving member 1222 is drivingly connected to the first scissor arm member 1221, and the first driving member 1222 is configured to drive the first scissor arm member 1221 to extend or shorten.
  • the first scissor arm part 1221 includes two sets of opposite front scissor arms 12211 and two sets of opposite rear scissor arms 12212 , wherein each set of front scissor arms 12211 and each set of rear scissor arms 12212 include two centers Scissor arms hinged to each other.
  • Two sets of opposing front scissor arms 12211 are hinged to two sets of opposing rear scissor arms 12212 to form a plurality of first hinge points, and the opposing first hinge points are connected by a first connecting shaft 12213, and the front scissor arms 12211 are far away from One end of the rear scissor arm 12212 is hinged to the push plate assembly 123 , and one end of the rear scissor arm 12212 away from the front scissor arm 12211 is hinged to the fixing plate 121 .
  • first driving member 1222 is hinged to one of the two first connecting shafts 12213 , and the other end is hinged to the push plate assembly 123 .
  • the first driving member 1222 is an air cylinder, one end of the air cylinder is hinged to one of the two first connection shafts 12213 , and the other end is hinged to the push plate assembly 123 .
  • the push plate assembly 123 is moved away from the first connecting shaft 12213 to realize the stacking of materials by the push plate assembly 123.
  • the first scissor arm member 1221 is extended; when the cylinder is retracted, the cylinder moves toward the Moving in the direction close to the first connecting shaft 12213 , the first scissor arm part 1221 is shortened at this time, so as to realize the reset of the push plate assembly 123 .
  • the first driving member 1222 may also be an oil cylinder.
  • the push plate assembly 123 includes a push plate 1231 , a first push bar 1232 and a second push bar 1233 .
  • the first push bar 1232 is fixed on the bottom of the push plate 1231
  • the second push bar 1233 is slidably connected along the length of the first push bar 1232 .
  • one of the first push bar 1232 and the second push bar 1233 is provided with a chute, and the other push bar is slidably connected in the chute. Due to the large frictional force at the bottom of the material, the driving end of the first driving member 1222 is hinged on the first push bar 1232 to increase the thrust at the bottom of the push plate assembly 123 and improve the stability of the material being pushed down.
  • the second push bar 1233 is provided with a card slot 12333, the card slot 12333 is clamped to the edge of the pallet mechanism 11, and the pallet mechanism 11 can drive the second push bar 1233 to extend or shorten, so as to realize the first push bar 1232 and the second push bar 1232 and the second push bar 1233.
  • the total length of the push bar 1233 varies with the length of the pallet mechanism 11 .
  • the push plate 1231 is provided with a fixed shaft 12311, one front scissor arm 12211 in each set of front scissor arms 12211 is hinged to the fixed shaft 12311, and the other front scissor arm 12211 is hinged to the first push bar 1232 .
  • the setting of the push plate 1231 increases the area where the material is subjected to the force, and increases the stability of the material being pushed down and stacked.
  • the bottom of the push plate assembly 123 is provided with a first push bar 1232 and a second push bar 1233 to act on the material.
  • the length of the pallet mechanism 11 is adjusted along the X direction, the quantity of the material in the X direction increases, and the first push bar 1233 acts on the material.
  • the total length of the push bar 1232 and the second push bar 1233 should be adjusted accordingly to maximize the stress area of the material, so as to improve the stability of the material pushing down and improve the stacking efficiency of the material.
  • the pallet mechanism 11 includes a plurality of rollers 111 and a second scissor arm member 112 arranged along the X direction.
  • the second scissor arm member 112 includes a plurality of mutually hinged scissor arms, and a plurality of scissor arms are formed between the plurality of scissor arms.
  • a plurality of second hinge points, the top of the pallet mechanism 11 is configured to carry materials, so the second hinge points located above the second scissor arm part 112 and opposite are connected by rollers 111, and the plurality of rollers 111 along the X The directions are set at intervals.
  • the rollers 111 can carry the material on the one hand, and facilitate the transportation of the material along the X direction on the other hand.
  • the length of the second scissor arm member 112 can be adjusted, so that the distance between the plurality of rollers 111 can be adjusted, so as to be adaptively adjusted according to the placement space of the cargo box.
  • the opposite second hinge points located below the second scissor arm part 112 are connected by a second connecting shaft.
  • the pallet mechanism 11 further includes a drive plate 113 and a housing 114 , and a first chute 1141 is provided on the inner side wall of the housing 114 . Both ends of some of the rollers 111 are slidably connected to the first chute 1141 .
  • the casing 114 supports the second scissor arm member 112 on the one hand, and guides the second scissor arm member 112 on the other hand.
  • the driving board 113 is drivingly connected with a driver, the driver can drive the driving board 113 to move in the X direction, the driving board 113 is connected to one end of the second scissor arm member 112, and the driving board 113 can drive the second scissor arm member 112 to extend in the X direction Or shorten it to adjust the bearing area of the material, with strong versatility.
  • the driver may be a device capable of driving the driving plate 113 to move, such as an air cylinder, an oil cylinder, or the like.
  • a sliding plate 115 is slidably arranged on the inner side wall of the housing 114 , and a second chute 1151 is arranged on the sliding plate 115 .
  • Part of the rollers 111 can be slidably connected to the second chute 1151 , the sliding plate 115 is connected to the driving plate 113 , and the driving plate 113 moves At the same time, the sliding plate 115 can be driven to slide relative to the inner side wall of the housing 114 , while the length of the chute required by the roller 111 is increased, and the supporting strength of the second scissor arm member 112 is increased.
  • the slot 12333 of the second push bar 1233 is clamped on the drive plate 113.
  • the drive plate 113 moves in the X direction, it can drive the second push bar 1233 to move, so that the second push bar 1233 can be elongated or shortened to realize the first
  • the total length of the first push bar 1232 and the second push bar 1233 varies with the length of the pallet mechanism 11 .
  • the driving plate 113 can also have a guiding effect on the first push bar 1232 and the second push bar 1233 .
  • a position sensor 1131 is further disposed on the driving board 113, and the position sensor 1131 is configured to measure the distance between the driving board 113 and the obstacle.
  • the length of the pallet mechanism 11 is adjusted to the maximum length according to the width of the side wall of the container, and the position sensor 1131 is configured to detect the distance between the driving plate 113 and the side wall of the container, so as to The distance between the drive plate 113 and the side wall of the cargo box can meet the minimum allowable distance, the stacking efficiency of the stacker is improved, and the fully flexible automatic positioning meeting the width of different trucks can be realized.
  • the number of the feeding device 1 and the multi-stage lifting device 4 are both two, one feeding device 1 is installed on one multi-stage lifting device 4, and the two multi-stage lifting devices 4 synchronously drive the two feeding devices 1 to rise and fall;
  • the material splitting device 2 is arranged between the two feeding devices 1, and the feeding splitting device 2 is configured to transport the material to the two feeding devices 1, so as to increase the single stacking capacity of the stacker.
  • the inlet of the palletizer is provided with a diversion mechanism, which divides the material into two columns for transmission to improve efficiency, and a conveyor belt 7 is set between the diversion mechanism and the feed diversion device 2, and the conveyor belt 7 upstream of the feed diversion device 2 transfers the material. It is transported to the feed splitting device 2, and then the feed splitting device 2 transports the material to the two feeding devices 1. Since the two rows of materials are not necessarily located in the middle position when moving on the conveyor belt 7, as shown in FIG. 6, a sorting device 6 is also provided above the conveyor belt 7.
  • Two trimming plates 63, two servo motors 62 are installed on the top of the trimming bracket 61 and above the conveyor belt 7, each servo motor 62 is installed with a trimming plate 63, and the servo motor 62 drives the trimming plate 63 to the conveyor belt. 7 are close to each other in the middle, and the two straightening plates 63 push the two rows of materials to the middle of the conveyor belt 7, so that the posture of the materials when entering the feeding and diverting device 2 is unified, and the transmission stability is improved.
  • the structure of the diversion mechanism and the feed diversion device 2 are the same, and only the installation positions are different.
  • the feed distribution device 2 includes a base 21, a plurality of rotating components 22 and a driving component 23, and the base 21 is provided with a plurality of rotating components 22 and driving components 23, and a plurality of rotating components 22 is connected to the drive assembly 23 .
  • the base 21 is configured to support the entire feed distribution device 2 to ensure the stability of the feed distribution device 2 .
  • a plurality of rotating components 22 are rotatably disposed on the base 21 , and a plurality of first Mecanum wheels 2211 are fixed on the rotating components 22 , and the plurality of first Mecanum wheels 2211 can be driven to rotate by the rotating component 22 to drive The material moves in a preset direction to achieve diversion.
  • the driving component 23 is connected with a plurality of rotating components 22 in a driving manner, and the plurality of rotating components 22 can be driven and rotated by the driving component 23 to drive the first Mecanum wheel 2211 to rotate, so as to realize the diversion of materials.
  • the base 21 is fixed on the use platform, so as to support and fix the entire feed distribution device 2 .
  • a plurality of small wheel shafts are distributed obliquely on the rim of the first Mecanum wheel 2211, and the small wheel shafts formed obliquely during rotation will have horizontal motion vectors and vertical motion vectors. The structure and principle will not be repeated here.
  • the plurality of rotating assemblies 22 include a plurality of first rotating assemblies 221 and a plurality of second rotating assemblies 222 , the first Mecanum wheel 2211 on the first rotating assembly 221 and the first Mecanum wheel on the second rotating assembly 222
  • the installation directions of the 2211 are opposite, and the plurality of first rotating assemblies 221 and the plurality of second rotating assemblies 222 are alternately arranged in sequence.
  • the first mecanum wheels 2211 on the plurality of first rotating assemblies 221 and the plurality of second rotating assemblies 222 The vertical motion vectors are equal in size and opposite in direction, and cancel each other, while the horizontal motion vectors have the same direction and are superimposed on each other, thereby driving the material to move in the horizontal direction (left or right) to realize the diversion of the material; in multiple first rotating components
  • the horizontal motion vectors of the first Mecanum wheels 2211 on the plurality of first rotating assemblies 221 and the plurality of second rotating assemblies 222 are equal in magnitude and opposite in direction, and cancel each other out.
  • the vertical motion vectors have the same direction and are superimposed on each other, so as to drive the material to move in the vertical direction (forward or backward) to realize the diversion of the material.
  • the material can be realized. Multi-directional movement and diversion along the front, rear, left and right directions, simple structure and strong flexibility.
  • the rotating assembly 22 includes a bearing 2212 and a rotating shaft 2213, the bearing 2212 is fixedly installed on the base 21, both ends of the rotating shaft 2213 are installed on the base 21 through the bearing 2212, and a plurality of first Mecanum wheels 2211 are fixedly sleeved on the base 21.
  • the outer circumference of the rotating shaft 2213 rotates with the rotation of the rotating shaft 2213, thereby driving the material to move in multiple directions.
  • a plurality of first Mecanum wheels 2211 are arranged on the rotating shaft 2213 at equal intervals.
  • the drive assembly 23 includes a first drive motor 231 and a first drive belt 232 that are drive-connected, the first drive motor 231 is fixedly mounted on the base 21, and the first drive belt 232 is drive-connected to the rotating assembly 22 to drive the rotating assembly. 22 turns.
  • the first driving motor 231 is a forward and reverse rotation motor, and the rotation direction of the rotating shaft 2213 can be controlled by forward transmission and reverse rotation, thereby controlling the rotation direction of the first Mecanum wheel 2211, so as to realize the material in different directions. mobile diversion.
  • the first driving motor 231 is a speed-adjusting motor, and by adjusting its rotational speed, the rotational speed of the rotating component 22 can be controlled, so as to realize the adjustment of the dividing speed of the feed dividing device 2, which is very convenient.
  • the first transmission belt 232 is drivingly connected with the rotating shaft 2213 to realize the rotation of the rotating shaft 2213 .
  • two first driving motors 231 and two first transmission belts 232 are provided to respectively control the first rotating assembly 221 and the second rotating assembly 222 .
  • the number of the first driving motor 231 and the first transmission belt 232 can be set according to requirements, which is not limited to this embodiment.
  • the first rotating assembly 221 and the second rotating assembly 222 are driven to rotate by two driving assemblies 23 respectively.
  • the two first transmission belts 232 are respectively connected with the plurality of first rotating assemblies 221 and the plurality of second rotating assemblies 222 to realize the control of the plurality of first rotating assemblies 221 and the plurality of second rotating assemblies 222 respectively
  • the first rotating assembly 221 and the second rotating assembly 222 are driven to rotate by the two first driving motors 231 respectively.
  • the first rotating assembly 221 can be controlled. It rotates in the same direction or opposite to the second rotating component 222 to realize the diversion of materials along the front, rear, left and right directions, which is very reliable.
  • the drive assembly 23 further includes a tensioning wheel set 233, which is rotatably mounted on the base 21, and is configured to tension the first transmission belt 232 to ensure the normal operation of the first transmission belt 232.
  • the tensioning pulley set 233 includes a plurality of tensioning pulleys, each of which is in contact with the first transmission belt 232 to tension multiple positions of the first transmission belt 232 .
  • the installation path of the first transmission belt 232 can be changed, the flexibility of the installation of the first transmission belt 232 can be improved, and the obstruction of other structures can be avoided.
  • the telescopic platform device 3 includes a first-level telescopic platform 31 , a second-level telescopic platform 32 , a base 33 , a double-speed telescopic assembly 34 , a first landing gear assembly 35 , and a second landing gear assembly 36 . and calibration components.
  • the first-level telescopic platform 31 is configured to carry the multi-stage lifting device 4; the second-level telescopic platform 32 is located under the first-level telescopic platform 31, and the first-level telescopic platform 31 is slidably connected to the second-level telescopic platform 32; the base 33 is installed on the traveling device 5 The second-level telescopic platform 32 is slidably connected to the base 33, and the base 33 is provided with a second driving member 331, and the second driving member 331 can drive the second-level telescopic platform 32 to expand and contract; 33 is driven and connected to the first-level telescopic platform 31 through the double-speed telescopic assembly 34 .
  • the feeding device 1 When working, the feeding device 1 is installed on the first-level telescopic platform 31.
  • the second driving member 331 on the base 33 drives the second-level telescopic platform. 32 moves in a direction away from the base 33, and the secondary telescopic platform 32 drives the primary telescopic platform 31 to move away from the base 33.
  • the double-speed telescopic assembly 34 drives the first-stage telescopic
  • the platform 31 moves away from the secondary telescopic platform 32, and the telescopic platform device 3 realizes the secondary extension, so that the feeding device 1 stacks the material on the gooseneck platform in the gooseneck truck.
  • the second driving member 331 on the base 33 drives the secondary telescopic platform 32 to move toward the direction close to the base 33, and the secondary telescopic platform 32 drives the primary telescopic platform 32
  • the platform 31 moves in the direction close to the base 33 .
  • the double-speed telescopic assembly 34 drives the first-level telescopic platform 31 to move toward the direction close to the second-level telescopic platform 32 to realize the first-level telescopic platform 31 And the reset of the secondary telescopic platform 32.
  • the second driving member 331 is an oil cylinder, one end of the oil cylinder is fixed on the base 33 , and the driving rod of the oil cylinder is drivingly connected to the secondary telescopic platform 32 , so that the oil cylinder drives the secondary telescopic platform 32 to move relative to the base 33 .
  • the base 33 is provided with a plurality of positioning seats 335 , and the oil cylinder is fixed on the positioning seats 335 .
  • the second driving member 331 may also be a screw drive mechanism, which is not limited to this embodiment.
  • the outer side wall of the secondary telescopic platform 32 is provided with a first guide rail 323, and both sides of the primary telescopic platform 31 are provided with first pulleys matching the first guide rail 323, and the first pulley is slidably connected to the first guide rail 323;
  • a second guide rail 334 is arranged on the outer side wall of the second-level telescopic platform 32 , and second pulleys matching the second guide rail 334 are arranged on both sides of the secondary telescopic platform 32 , and the second pulley is slidably connected to the second guide rail 334 .
  • the first end of the component is the end of the component away from the station to be stacked, and the second end of the component is the end of the component close to the station to be stacked.
  • the double-speed telescopic assembly 34 includes a first chain 341 and a second chain 342, the second end of the secondary telescopic platform 32 is provided with a first axle 321, and the first end is provided with a second axle 322; the first chain 341 It is wound around the first axle 321 , one end of the first chain 341 is connected to the first installation position 311 of the first end of the first-level telescopic platform 31 , and the other end of the first chain 341 is connected to the third installation position of the base 33 .
  • the first chain 341 is configured to drive the primary telescopic platform 31 to move away from the secondary telescopic platform 32;
  • the second chain 342 is wound around the second axle 322, and one end of the second chain 342 is connected to the primary telescopic platform 322.
  • the second installation position 312 of the first end of the platform 31, the other end of the second chain 342 is connected to the fourth installation position 333 of the base 33, and the second chain 342 is configured to drive the first-level telescopic platform 31 to extend and retract near the second-level The direction of the platform 32 moves.
  • the primary telescopic platform 31 When the secondary telescopic platform 32 moves away from the base 33 , the primary telescopic platform 31 also needs to move with the secondary telescopic platform 32 , and at the same time, the primary telescopic platform 31 is pulled by the first chain 341 to make the primary telescopic platform 31 move. 31 extends away from the secondary telescopic platform 32 , while the second chain 342 changes with the shape of the primary telescopic platform 31 .
  • the primary telescopic platform 31 When the secondary telescopic platform 32 moves toward the direction close to the base 33, the primary telescopic platform 31 also needs to move with the secondary telescopic platform 32, and at the same time, the primary telescopic platform 31 is pulled by the second chain 342, so that the primary telescopic platform 31 is pulled by the second chain 342. 31 is retracted toward the direction close to the secondary telescopic platform 32, and at the same time, the first chain 341 and the second chain 342 are reset.
  • the first axle 321 and the second axle 322 are both sprockets, which realize synchronous rotation between the chain and the sprockets, prevent slippage, prevent noise and equipment wear.
  • the number of the first chain 341 , the second chain 342 , the first axle 321 and the second axle 322 is two.
  • the two sets of first chains 341 and the two sets of first axles 321 are located in the middle of the secondary telescopic platform 32
  • the two sets of second chains 342 and the two sets of second axles 322 are symmetrically arranged on both sides of the first chain 341 , so as to improve the driving stability of the double-speed telescopic assembly 34 .
  • the loading device 1 is installed on the upper part of the first-level telescopic platform 31, and the first-level telescopic platform 31 and the second-level telescopic platform 32 have the risk of downward bending deformation due to the influence of gravity. As shown in FIG.
  • the bottom of the second end of the first-stage telescopic platform 31 is provided with a first landing gear assembly 35, and the first landing gear assembly 35 includes a first connecting rod 351, a first roller 352 and a third driving member 353;
  • the first connection One end of the rod 351 is hinged to the end of the second end of the first-level telescopic platform 31 , the other end is mounted with a first roller 352 ,
  • the third driving member 353 is mounted on the bottom of the first-level telescopic platform 31 , and the output end of the third driving member 353 Drivenly connected to one end of the first connecting rod 351 close to the first roller 352 , the third driving member 353 is configured to drive the first connecting rod 351 to rotate around the primary telescopic platform 31 to support the primary telescopic platform 31 .
  • the third driving member 353 drives the first connecting rod 351 to rotate around the first-level telescopic platform 31, so that the first roller 352 is arranged on the step, and the first roller 352 and the first connecting rod 351 are realized. Together, they support the first-level telescopic platform 31, prevent the first-level telescopic platform 31 from bending and deforming downward under the gravity of itself and the feeding device 1, and improve the service life of the stacker. Both sides of the bottom of the second end of the first-stage telescopic platform 31 are provided with first landing gear assemblies 35 .
  • a second landing gear assembly 36 is disposed at the bottom of the second end of the secondary telescopic platform 32 .
  • the second landing gear assembly 36 has the same structure as the first landing gear assembly 35 .
  • the second landing gear assembly 36 includes a second connecting rod 361 and a second roller. 362 and the fourth driving member 363; one end of the second connecting rod 361 is hinged to the bottom of the secondary telescopic platform 32, the other end is mounted with a second roller 362, and the fourth driving member 363 is mounted on the second end of the secondary telescopic platform 32.
  • the output end of the fourth driving member 363 is drivingly connected to one end of the second connecting rod 361 close to the second roller 362, and the fourth driving member 363 is configured to drive the second connecting rod 361 to rotate around the secondary telescopic platform 32, so as to The secondary telescopic platform 32 is supported.
  • the fourth driving member 363 drives the second connecting rod 361 to rotate around the secondary telescopic platform 32, so that the second roller 362 is arranged on the step, so as to realize the second roller 362 and the second connecting rod 361 Together, they support the secondary telescopic platform 32, prevent the secondary telescopic platform 32 from bending downward under the gravity of itself, the primary telescopic platform 31, the feeding device 1 and the material, and improve the service life of the palletizer.
  • Second landing gear assemblies 36 are provided on both sides of the bottom of the second end of the secondary telescopic platform 32 .
  • the third driving member 353 and the fourth driving member 363 are both oil cylinders.
  • the first-level telescopic platform 31 carrying the feeding device 1 needs to be kept parallel to the base 33 after the expansion and contraction.
  • the calibration component is used as the first-level telescopic platform.
  • the platform 31 adjusts the reference of the parallelism relative to the base 33 after being extended and retracted.
  • the calibration component includes a first gyroscope and a second gyroscope, the first gyroscope is installed on the first-level telescopic platform 31, and the second gyroscope is installed on the base 33, through the data of the first gyroscope and the second gyroscope, Adjust the driving distance of the third driving member 353 and the fourth driving member 363, and then adjust the parallelism of the first-level telescopic platform 31 and the base 33, so as to prevent the deformation of the telescopic platform device 3, improve the service life of the equipment, and improve the stacking quality .
  • the telescopic platform device 3 is further provided with a first displacement sensor, and the first displacement sensor can realize the precise displacement of the first-level telescopic platform 31 relative to the base 33 .
  • the multi-stage lifting device 4 includes a primary lifting mechanism 41 and a secondary lifting mechanism 42 .
  • the feeding device 1 is installed on the primary lifting mechanism 41 , and the primary lifting mechanism 41 can drive the feeding device. 1.
  • Lifting, the primary lifting mechanism 41 is installed on the secondary lifting mechanism 42, and the secondary lifting mechanism 42 can drive the primary lifting mechanism 41 to rise and fall.
  • the first-level lifting mechanism 41 and the second-level lifting mechanism 42 adopt a screw drive mechanism.
  • the first-level lifting mechanism 41 includes a first bracket 411 , a second driving motor 412 and a first screw 413 .
  • the first bracket 411 is vertically arranged, the first lead screw 413 is installed on the first bracket 411 , the second drive motor 412 is arranged on the top of the first bracket 411 , and the first lead screw 413 is drivingly connected to the second drive motor 412 .
  • the side of the fixing plate 121 away from the push plate mechanism 12 is provided with a first connecting block, the first connecting block has a built-in threaded hole, the first connecting block is drivingly connected to the first lead screw 413 , and the first bracket 411 is located on the first lead screw
  • the two sides of the bar 413 are provided with second slide rails, and the side of the fixing plate 121 away from the push plate mechanism 12 is also provided with a first slide groove 1141 matching the second slide rail, and the first slide groove 1141 is slidably connected to the second slide rail. rails to increase the stability of the lifting and lowering of the fixed plate 121 .
  • the fixing plate 121 carries the feeding device 1 to lift and lower along the second slide rail on the first lead screw 413 .
  • the secondary lifting mechanism 42 includes a second bracket 421 , a third driving motor 422 , a second lead screw 423 and a first synchronous pulley 424 .
  • the second bracket 421 is vertically arranged, the third driving motor 422 is arranged on the top of the second bracket 421 , the second lead screw 423 is installed on the second bracket 421 , and the third driving motor 422 is driven and connected to the second bracket 421 through the first synchronous pulley 424 .
  • a second connecting block is provided on the side of the first bracket 411 away from the fixing plate 121 , the second connecting block has built-in threaded holes, the second connecting block is drivingly connected to the second lead screw 423 , and the second bracket 421
  • a third slide rail is provided on the upper side of the second lead screw 423 and on both sides of the second lead screw 423 .
  • the side of the first bracket 411 away from the fixing plate 121 is also provided with a plurality of second slide blocks that match the third slide rail. It is slidably connected to the third slide rail to increase the stability of the primary lift mechanism 41 .
  • the third driving motor 422 drives the second lead screw 423 to rotate
  • the first-level lifting mechanism 41 carries the feeding device 1 to perform two-pole lifting and lowering on the second lead screw 423 along the third slide rail.
  • the secondary lifting mechanism 42 is fixed on the fixed base 43, the fixed base 43 is slidably installed on the primary telescopic platform 31, and the multi-stage lifting device 4 can be slidably installed on the primary telescopic platform 31, so that the state of the telescopic platform device 3 remains unchanged. In the case of fine adjustment of the position of the feeding device 1.
  • the above structure realizes the multi-stage lifting and lowering of the feeding device 1 and the feeding splitting device 2 .
  • the multi-stage lifting device 4 is also provided with a second displacement sensor, so as to realize the fully flexible automatic positioning of the feeding device 1 and the feeding distribution device 2 at different heights.
  • the traveling device 5 includes a chassis 51 and a moving mechanism 52.
  • the chassis 51 is installed on the moving mechanism 52, and the base 33 of the telescopic platform device 3 is fixed on the chassis 51.
  • the moving mechanism 52 is a crawler-driven structure, which moves The mechanism 52 includes two crawler belts, which are respectively installed on both sides of the chassis 51 to realize the movement of the palletizer.
  • the moving mechanism 52 may also be a wheel-driven structure, and the moving mechanism 52 includes four wheels, which are evenly installed on both sides of the chassis 51 to realize the movement of the palletizer.
  • the above-mentioned logistics stacking system also includes a hydraulic lifting platform 10, and the palletizer is arranged on the hydraulic lifting platform 10 to be driven up and down by the hydraulic lifting platform 10, and the walking device 5 can be lifted and lowered by the hydraulic lifting platform. Walk on the platform 10 .
  • the palletizer can be adjusted at different heights to adapt to different heights of material stacking platforms (for example, the docking of trucks of different heights), and can walk on the hydraulic lifting platform 10 through the walking device 5 to realize logistics stacking
  • the fine-tuning of the position can realize the accurate stacking of materials.
  • This embodiment also provides the working process of the above-mentioned palletizer.
  • the palletizer when the palletizer is applied to a gooseneck truck, first move the palletizer into the gooseneck truck, and through the position sensor 1131, first adjust the width of the pallet mechanism to meet the maximum allowable width, while the second push The width of the strip 1233 grows with the pallet mechanism.
  • the telescopic platform device 3 When the material needs to be stacked on the gooseneck platform, the telescopic platform device 3 is extended, and at the same time, the first landing gear assembly 35 and the second landing gear assembly 36 support the first-level telescopic platform 31 and the second-level telescopic platform 32 at the same time.
  • the diverting device 2 transports the material to the feeding device 1 on both sides, and the feeding device 1 stacks the material.
  • the feeding device 1 cooperates with the multi-level lifting device 4 to realize the multi-level stacking of materials and increase the maximum allowable stacking height.
  • the telescopic platform device 3 is reset, and the feed distribution device 2 and the feeding device 1 continue to cooperate with the multi-stage lifting device 4 to stack the materials in the cargo box. After the materials are stacked, the palletizer moves the boxes.
  • the embodiment of the present application also provides a palletizer.
  • the stacker includes a loading device 1 , a feed diverting device 2 , a telescopic platform device 3 , a multi-stage lifting device 4 and a traveling device 5 , as well as a translation device 200 and a conveyor belt 7 .
  • the traveling device 5 can adopt a crawler traveling structure.
  • the translation device 200 is arranged on the walking device 5, the feeding device 1, the feed distribution device 2, the telescopic platform device 3, the multi-stage lifting device 4 and the conveyor belt 7 constitute the main part 300 of the palletizer, and the main part 300 is arranged on the translation device.
  • the main body part 300 is connected with the output end of the translation device 200, so that the translation device 200 can push the main body part 300 to move along the X direction, so as to adapt to the gap control during stacking.
  • the X direction is the width direction of the palletizer, which can also be called the lateral or left-right direction.
  • the translation device 200 is an air cylinder. In other embodiments, it may be other mechanisms as long as it can push the main body portion 300 to move laterally.
  • the above structural improvement of disposing the translation device 200 on the palletizer is an improvement made according to the site requirements during palletizing. It solves the problem that the palletizer can only move forward and backward along the length direction of the palletizer, or move up and down along the height direction of the palletizer, and cannot achieve lateral movement along the width direction, so it cannot adapt to the gap control of the goods in the carriage. .
  • a translation device 200 is provided to push the main body 300 of the palletizer to move laterally, so as to realize the control of the clearance of goods in the carriage during automatic loading.
  • the telescopic platform device 3 and the conveyor belt 7 are both connected to the output end of the translation device 200 , and the translation device 200 drives the telescopic platform device 3 and the conveyor belt 7 to move along the X direction.
  • the feed diverting device 2 and the multi-stage lifting device 4 are both connected to the output end of the telescopic platform device 3.
  • the telescopic platform device 3 drives the feeding diversion device 2 and the multi-stage lifting device 4 to move in the Y direction, which is the palletizer.
  • the length direction can also be referred to as the longitudinal or front-to-rear direction.
  • the feeding device 1 is installed at the output end of the multi-stage lifting device 4.
  • the multi-stage lifting device 4 can drive the feeding device 1 to move in the Z direction, which is the height direction of the automatic stacker, which can also be called vertical or vertical. up and down direction.
  • the conveyor belt 7 and the feed diversion device 2 are located on the same line in the conveying direction.
  • the conveyor belt 7 drives the material to the feed diversion device 2.
  • the feeding device 1 is arranged on both sides of the feed diversion device 2.
  • the feed diversion device 2 will The material is distributed to the feeding device 1 on both sides; the multi-stage lifting device 4 can drive the feeding diversion device 2 and the feeding device 1 to move up and down as a whole to adapt to the stacking height; the telescopic platform device 3 drives the multi-stage lifting device 4 back and forth Moving, the multi-stage lifting device 4 moves back and forth together with the feeding and dividing device 2 and the feeding device 1 installed on the multi-stage lifting device 4 to realize telescopic and place the material on the stack.
  • the feeding device 1 is provided with a push plate mechanism 12, which can push the materials on the feeding device 1 to the stack.
  • the feeding device 1 includes a pallet mechanism 11 and a push plate mechanism 12 .
  • the pallet mechanism 11 is configured to hold the material.
  • the feed distribution device 2 distributes the material to the pallet mechanism 11 .
  • the push plate mechanism 12 is located on the side of the pallet mechanism 11 that is close to the multi-stage lifting device 4 along the Y direction, and can expand and contract along the Y direction to push the material so that the material is away from the multi-stage lifting device 4 from the pallet mechanism 11 along the Y direction. fall.
  • the push plate mechanism 12 can adopt a scissors telescopic structure, and is driven to expand and contract by a driving member.
  • the translation device 200 includes a translation cylinder 210 .
  • the translation cylinder 210 is horizontally arranged along the X direction, the main body of the translation cylinder 210 is fixedly installed on the traveling device 5 , and the piston of the translation cylinder 210 is connected with the main body 300 of the palletizer.
  • the expansion and contraction of the piston of the translation cylinder 210 can drive the main body 300 of the palletizer to move left and right along the X direction, so as to control the gap between the materials.
  • the translation cylinder 210 can also be replaced with other linear drive mechanisms, for example, driven by a motor with a screw nut structure, which is not limited herein.
  • the translation device 200 further includes a first sliding rail 220 and a first sliding block 230 .
  • the first sliding rail 220 is fixed on the traveling device 5 and is disposed along the X direction, so that the main body portion 300 moves along the X direction along the first sliding rail 220 .
  • the first sliding block 230 is slidably matched with the first sliding rail 220 , and the main body portion 300 is fixed on the first sliding block 230 .
  • the movement of the main body part 300 is guided by the cooperation of the first sliding block 230 and the first sliding rail 220 , so that the movement of the main body part 300 is more stable.
  • first sliding rails 220 There are two first sliding rails 220 , the two first sliding rails 220 are arranged in parallel, and there is a certain interval between the two first sliding rails 220 .
  • Each of the first sliding rails 220 is provided with a plurality of first sliding blocks 230 , and the main body part 300 is fixed on the plurality of first sliding blocks 230 , which can improve the supporting strength of the first sliding block 230 to the main body part 300 .
  • two first sliding rails 220 are provided, and three first sliding blocks 230 are provided on each of the first sliding rails 220 .
  • the first sliding rail 220 and the first sliding block 230 are The quantity can be adjusted as needed, and there is no limit here.
  • the main body portion 300 further includes a trimming device 6 .
  • the sorting device 6 is arranged above the conveyor belt 7 and is configured to sort and position the materials on the conveyor belt 7 .
  • the materials on the conveyor belt 7 may move to both sides during the conveying process.
  • the sorting device 6 By setting the sorting device 6, the materials on the conveyor belt 7 are gathered to the middle to prevent the materials from moving to both sides of the conveyor belt 7.
  • the trimming device 6 includes two servo motors 62 and two trimming plates 63 , the servo motors 62 are arranged along the X direction, and the two servo motors 62 are basically symmetrically arranged left and right.
  • the output end of each servo motor 62 is connected to a trimming plate 63 , and the two servo motors 62 can drive the two trimming plates 63 to approach each other to move the material toward the middle of the conveyor belt 7 . As shown in FIG.
  • the top of the trimming plate 63 is provided with a triangular reinforcing plate 64 , the top of the trimming plate 63 is a right angle, and the two adjacent sides of the triangular reinforcing plate 64 are respectively at right angles to the two sides of the trimming plate 63 .
  • the edges are connected, and the triangular reinforcing plate 64 can prevent the deformation of the trimming plate 63 .
  • the triangular reinforcing plate 64 can be a hollow structure, which can reduce weight and save materials.
  • the conveyor belt 7 includes a fifth driving member, a plurality of timing belts 71 , a plurality of second rotating shafts 72 and a plurality of second Mecanum wheels 73 sleeved on each second rotating shaft 72 .
  • the fifth driving member is configured to drive the second rotating shaft 72 to rotate, and the plurality of second rotating shafts 72 are arranged in sequence along the Y direction, so that the conveyor belt 7 conveys the material along the Y direction.
  • the fifth driving member is connected to one second rotating shaft 72 among the plurality of second rotating shafts 72 , so that the fifth driving member drives the second rotating shaft 72 to rotate.
  • the torque is transmitted between the plurality of second rotating shafts 72 through a plurality of timing belts 71, and the two ends of each timing belt 71 are respectively sleeved on the two second rotating shafts 72, so that all the second rotating shafts 72 can be driven by a fifth driving member.
  • the second shaft 72 is rotated.
  • the second rotating shaft 72 is provided with a second synchronous pulley, and the synchronous belt 71 is sleeved on the second synchronous pulley.
  • a plurality of second Mecanum wheels 73 are sleeved on the second rotating shaft 72 and rotate synchronously with the second rotating shaft 72 .
  • the palletizer further includes a casing 370 , the casing 370 is covered above the conveyor belt 7 , and the casing 370 is configured to protect the conveyor belt 7 .
  • the foreign objects are prevented from falling onto the conveyor belt 7, and the safety during the conveying process is also ensured.
  • the inlet end of the conveyor belt 7 is provided with two guide plates 74 , and the two guide plates 74 form an outwardly expanded opening to guide the materials flowing into the conveyor belt 7 , so that the materials can enter the conveyor belt 7 more easily. middle.
  • the attitude adjustment mechanism 8 includes a frame 81 , and the frame 81 is fixedly arranged on the working platform to support the entire attitude adjustment mechanism 8 .
  • the rolling part 821 is a roller, both ends of the roller are rotatably plugged on the frame 81 through a rotating shaft, and a plurality of rollers are arranged on the frame 81 at intervals to form a material conveying platform, which is very reliable. A gap is formed between every two adjacent rollers to make room for the disposition of the turning assembly 83 .
  • the rolling portion 821 may also be a roller shaft structure, which is not limited to this embodiment.
  • the moving assembly 82 further includes a moving driving part 822, and the moving driving part 822 is drivingly connected with the rolling part 821 to drive the rolling part 821 to rotate, so as to realize the automatic transmission of materials.
  • the moving driving part 822 includes a second driving belt and a fourth driving motor, the second driving belt is drivingly connected with the plurality of rolling parts 821, and the fourth driving motor is drivingly connecting with the second driving belt, so that the second driving belt is driven by the fourth driving motor to move,
  • the second transmission belt drives the rolling part 821 to rotate to realize the transmission of materials.
  • the second drive belt connects the plurality of rolling parts 821 in series, and the fourth driving motor is drivingly connected with the second transmission belt at the end of the series, so that the plurality of rolling parts 821 are driven to rotate synchronously by one fourth driving motor, and the material transmission is ensured. stability.
  • the number of the second transmission belt and the fourth driving motor may be set according to the length of the arrangement of the rolling parts 821, which is not limited to this embodiment.
  • the driving part 831 includes a first rotating shaft 8311 , a hinge 8312 and a first telescopic cylinder 8313 , the first rotating shaft 8311 is fixedly connected with the turning part 832 , and the hinge part 8312 is fixedly connected with the first shaft 8311, the first telescopic cylinder 8313 is rotatably mounted on the frame 81, the output end of the first telescopic cylinder 8313 is hinged with the hinge 8312, and the first telescopic cylinder 8313 can drive the hinge 8312 to rotate to The first rotating shaft 8311 is driven to rotate, thereby driving the turning portion 832 to rotate to abut and rotate the material to realize posture adjustment.
  • both ends of the first rotating shaft 8311 are rotatably mounted on the frame 81 through rolling bearings.
  • one end of the first rotating shaft 8311 is disposed through the rolling bearing, and the through end has a rectangular structure.
  • the hinge 8312 is a two-link mechanism, one end of the hinge 8312 has a rectangular insertion hole, and the rectangular structure on the first rotating shaft 8311 is fixedly inserted into the rectangular insertion hole to realize the fixing of the hinge 8312 and the first rotating shaft 8311 connection, high reliability.
  • prism structures such as triangular prisms and pentagonal prisms can also be arranged on the first rotating shaft 8311, and corresponding prism insertion holes are arranged on the hinge member 8312 to realize the insertion and fixation of the two, which is not the case in this embodiment. limit.
  • the first telescopic cylinder 8313 is hinged with the other end of the hinge member 8312, and the first rotation shaft 8311 connected to the hinge member 8312 can be driven to rotate through the telescopic movement of the first telescopic cylinder 8313.
  • the first telescopic cylinder 8313 is rotatably connected to the frame 81 through a hinge seat.
  • the inversion portion 832 includes a plurality of inversion pawls 8321, and the plurality of inversion pawls 8321 are equally spaced on the first rotating shaft 8311 to balance the force on the material, and each inversion pawl 8321 is connected to the first rotating shaft 8311.
  • a gap corresponds to increase the contact area of the material and improve the stability of the rotation of the material.
  • each flipping pawl 8321 is fixedly sleeved on the outer circumference of the first rotating shaft 8311 .
  • the flipping pawl 8321 and the first rotating shaft 8311 can also be fixed by welding, which is not limited to this embodiment.
  • the above-mentioned inversion assembly 83 further includes a connecting portion 833 , and the connection portion 833 is fixedly connected with the plurality of inversion pawls 8321 .
  • the connecting portion 833 passes through a plurality of turning pawls 8321 and is fixedly connected with the plurality of turning pawls 8321 at the same time.
  • the connecting portion 833 and the plurality of flipping pawls 8321 can also be fixed in other forms, which is not limited to this embodiment.
  • the attitude adjustment mechanism 8 further includes a first stopper component 84, the first stopper component 84 is installed on the frame 81, and the first stopper component 84 can pass through a gap to stop the material to prevent the collision between materials from hindering the adjustment of the material attitude.
  • the first stopper assembly 84 includes a base 841 , an elastic connection portion 842 and a stopper portion 843 , the base 841 is fixedly installed on the frame 81 , and the elastic connection portion 842 is connected to the base 841 Connection, the stopper 843 is fixedly connected with the elastic connection part 842 , the stopper 843 can pass through a gap to stop the material, and the stopper 843 can abut with the turning part 832 .
  • the base 841 is provided with fixing sleeves 8411 , two fixing sleeves 8411 are provided, and the two fixing sleeves 8411 are arranged at intervals.
  • the elastic connection part 842 includes a spring and a socket part.
  • the socket part is movably socketed in the fixed sleeve 8411; The expansion and contraction limit the position to prevent offset.
  • the elastic connecting portion 842 can also be directly set as a spring to connect the stop portion 843 and the base 841 , which is not limited to this embodiment.
  • a contact portion is provided on the stopper portion 843 , and the stopper portion 843 abuts against the turning portion 832 through the contact portion.
  • the abutting portion is an abutting groove, and the outermost turning pawl 8321 abuts on the abutting groove, so as to realize the abutting of the turning portion 832 and the stopping portion 843 .
  • the working process of the inversion assembly 83 and the first stopper assembly 84 is described as follows: when the material does not need to adjust the posture, the inversion part 832 does not operate, and the inversion part 832 does not operate. 832 is in contact with the stopper portion 843 , so that the stopper portion 843 is pressed under the rolling portion 821 , the elastic connecting portion 842 is compressed, and the material moves and transmits normally on the rolling portion 821 .
  • the turning part 832 is driven by the driving part 831 to rotate, and the turning part 832 is in contact with the material through a gap to make the material turn over and adjust the posture of the material.
  • the material Under the action of the restoring force, the material is stopped by passing through the gap to prevent the next material from obstructing the material at the turning part 832, so as to ensure the normal adjustment of the material posture.
  • the turning portion 832 is reset, and at the same time, the stopper portion 843 is pressed, the elastic connecting portion 842 is compressed, and the stopper portion 843 returns to the lower part of the rolling portion 821 .
  • the attitude adjustment mechanism 8 further includes a second stopper component 85 , the second stopper component 85 is installed on the frame 81 , and the second stopper component 85 is configured to stop the material part to prevent Adjust the horizontal attitude of the material.
  • the second stopper assembly 85 includes a second telescopic cylinder 851 and a stopper wheel 852 , and the second telescopic cylinder 851 is connected with the stopper wheel 852 .
  • the second telescopic cylinder 851 is installed on the frame 81, and the stopper wheel 852 is connected to the output end of the second telescopic cylinder 851.
  • the stopper wheel 852 can rotatably abut with the material, so as to adjust the horizontal posture of the material, and at the same time Reduced friction to the material.
  • the second telescopic cylinder 851 is fixedly installed on the frame 81, and the output end of the second telescopic cylinder 851 can be extended and retracted toward the area on the rolling part 821, so as to drive the stopper wheel 852 to expand and contract to stop the moving material part.
  • the unstopped part of the material continues to move forward under the action of the rolling part 821, and the stopped part is forced to stop, so that the material rotates around the stopper wheel 852 to adjust its horizontal posture.
  • the adjustment of the horizontal posture of the material can be controlled by the expansion and contraction of the second telescopic cylinder 851, which is very convenient.
  • the adjustment of the vertical and horizontal attitudes of the material can be realized through the joint action of the turning component 83 and the second stop component 85 , which is very convenient, and the whole device is simple and practical.
  • the attitude adjustment mechanism 8 further includes a limit portion 86 , and the limit portion 86 is fixedly installed on the frame 81 .
  • the two limiting portions 86 are provided, and the two limiting portions 86 are respectively located on two sides of the turning assembly 83 opposite to each other, so as to limit the two sides of the material.
  • the attitude adjustment mechanism 8 also includes a control unit, and the control unit is connected with the moving component 82, the turning component 83, the first stop component 84 and the second stop component 85 in signal connection to Automatically control the opening and closing of the moving assembly 82 , the turning assembly 83 , the first stopping assembly 84 and the second stopping assembly 85 , saving manpower and material resources.
  • the opening and closing of the above-mentioned components can also be controlled by manpower, which is not limited to this embodiment.
  • the above-mentioned attitude adjustment mechanism 8 also includes a displacement sensor, which is connected with the control unit to feed back the material information to the control unit, and the control unit sends a signal to control the moving component 82, the flipping component 83, the first stopper component 84 or the second stopper.
  • the stopper assembly 85 is opened.
  • the two ends of the transmission mechanism 9 are respectively connected with the attitude adjustment mechanism 8 and the shunt mechanism on the stacker, so as to transmit the material after the attitude adjustment to the shunt mechanism for shunt, and the material passes through the shunt mechanism, the conveyor belt 7 It is transmitted to the feed distribution device 2, and the feed distribution device 2 distributes the material to the feeding device 1.
  • the feeding device 1 lifts and expands according to the material stacking position, so as to stack the material to the designated position.
  • the logistics palletizing system of the present application realizes the attitude adjustment, automatic transmission, diversion and palletizing operations of materials, with high integration and wide applicability.
  • the transmission mechanism 9 is a telescopic belt conveyor, and the telescopic belt conveyor can realize expansion and contraction according to the distance from the palletizer, so as to meet the transportation of different distances, which is very convenient. Since the structure and principle of the telescopic belt conveyor are related technologies, they will not be repeated here.
  • the transmission mechanism 9 is configured to be able to rise and fall to suit different heights of palletizers, and has strong adaptability.
  • the transmission mechanism 9 can realize a lifting function through a hydraulic cylinder. In other embodiments, the transmission mechanism 9 can also be lifted and lowered through the sliding rail and the lead screw, which is not limited to this embodiment.
  • the logistics stacking system realized by the present application realizes the automatic transmission and stacking of materials by setting the connected logistics conveying device and the stacker, improves the material processing efficiency and saves manpower.
  • the logistics conveying device includes a connected attitude adjustment mechanism 8 and a transmission mechanism 9.
  • the attitude adjustment mechanism 8 includes a moving assembly 82 and a turning assembly 83.
  • the moving assembly 82 includes a plurality of rotatable rolling parts 821, and each adjacent two rolling parts 821 A gap is formed between the rolling parts 821, and the material can move under the driving of the rolling part 821.
  • the turning assembly 83 includes a driving part 831 and a turning part 832. 832 penetrates the gaps between a plurality of rotatable rolling parts 821 to push the material to rotate to the preset position, so as to realize the adjustment of the posture of the material, and the structure is simple and compact, which reduces the space occupation and saves the production cost.
  • the transmission mechanism 9 realizes the long-distance transmission of materials.
  • the palletizer is configured to stack the materials, and the palletizer can be moved through the walking device 5.
  • the materials are shunted to the feeding device 1 through the feeding shunt device 2, and are driven by the multi-stage lifting device 4 to lift to the stacking height.
  • the telescopic platform device 3 drives the feeding device 1 to expand and contract, so that the material is telescopically transferred to the stacking position, and the feeding device 1 can stack the material, which improves the automation of the stacker and realizes the accuracy of the material. Palletizing.

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Abstract

一种物流码垛系统，包括：码垛机，包括行走装置（5）、伸缩平台装置（3）、上料装置（1）、多级升降装置（4）及进料分流装置（2），伸缩平台装置（3）安装于行走装置（5）上方，多级升降装置（4）和进料分流装置（2）均安装于伸缩平台装置（3）上，伸缩平台装置（3）被配置为驱动多级升降装置（4）和进料分流装置（2）相对行走装置（5）沿预设方向移动，上料装置（1）安装于多级升降装置（4）上，多级升降装置（4）被配置为驱动上料装置（1）升降，进料分流装置（2）被配置为向上料装置（1）输送物料，上料装置（1）被配置为码放物料；物流输送装置，与码垛机连接，物流输送装置包括相连接的姿态调整机构（8）和传输机构（9），姿态调整机构（8）被配置为调整物料姿态，传输机构（9）被配置为传输物料。

Description

物流码垛系统
本申请要求在2020年09月28日提交中国专利局、申请号为202011045455.7的中国专利申请的优先权，本申请要求在2021年07月13日提交中国专利局、申请号为202121586397.9的中国专利申请的优先权，该两个申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及物流码垛设备领域，例如涉及一种物流码垛系统。
背景技术
在物流行业中，物料输送经常使用皮带作为传输工具，将物料从仓库传送至指定位置，再由码垛机对物料进行码垛成堆，大大地提高了物料运转速度，解决了传统人力搬运效率低下的问题。
但是在物料实际传输中，往往需要对物料进行一定的调整，例如将物料的姿态从水平卧式姿态调整为竖直立式姿态，以便于后端码垛机的码垛工作，但物流码垛系统并不能对输送的物料进行自动姿态调整，只能依靠人力对物料进行规整，效率低下、强度高。虽然也有部分流水线输送中采用了诸如机械臂、专用翻转机构等装置来实现物料的姿态调整，克服了人工操作的弊端，但该类装置往往结构较为复杂、成本高。同时物流码垛系统设计单一，不能满足日益增大的需求。
发明内容
本申请提供一种物流码垛系统，能够对物料进行自动传输、分流、姿态调整和码垛工作，提高了物料处理效率，同时简化了姿态调整机构的结构，减少了空间占用、降低了经济成本。
一种物流码垛系统，包括：
码垛机，包括上料装置、进料分流装置、伸缩平台装置、多级升降装置和行走装置，所述伸缩平台装置安装于所述行走装置上方；所述多级升降装置和所述进料分流装置均安装于所述伸缩平台装置上，所述伸缩平台装置被配置为驱动所述多级升降装置和所述进料分流装置均相对所述行走装置沿第一预设方向移动；
所述上料装置安装于所述多级升降装置上，所述多级升降装置被配置为驱动所述上料装置升降，所述进料分流装置被配置为向所述上料装置输送物料，所述上料装置被配置为码放所述物料；
物流输送装置，与所述码垛机连接，所述物流输送装置包括相连接的姿态调整机构和传输机构，所述姿态调整机构包括移动组件和翻转组件，所述移动组件包括多个可转动的滚动部，每相邻两个滚动部间形成间隙，所述滚动部被配置为驱动所述物料移动；所述翻转组件包括驱动部和翻转部，所述翻转部与所述驱动部传动连接，所述驱动部被配置为驱动所述翻转部转动，所述翻转部穿设所述多个可转动的滚动部之间的间隙，被配置为推动所述物料转动至预设位置；所述传输机构被配置为传输所述物料。
附图说明
图1是本申请具体实施方式提供的一种物流码垛系统的整体结构示意图；
图2是本申请具体实施方式提供的一种码垛机的结构示意图；
图3是本申请具体实施方式提供的一种上料装置的结构示意图；
图4是本申请具体实施方式提供的一种上料装置的伸缩组件伸长后的结构示意图；
图5是图4中B处的放大图；
图6是本申请具体实施方式提供的一种码垛机的主视图；
图7是本申请具体实施方式提供的一种进料分流装置的整体结构示意图；
图8是本申请具体实施方式提供的一种进料分流装置的部分结构示意图；
图9是本申请具体实施方式提供的一种进料分流装置的部分拆分结构示意图；
图10是本申请具体实施方式提供的一种伸缩平台装置的结构示意图；
图11是本申请具体实施方式提供的一种伸缩平台装置的结构爆炸图；
图12是本申请具体实施方式提供的一种伸缩平台装置的主视图；
图13是图2中A处的放大图；
图14是本申请具体实施方式提供的一种多级伸缩装置的结构示意图；
图15是本申请具体实施方式提供的另一种码垛机的结构示意图；
图16是本申请具体实施方式提供的一种码垛机的分解结构示意图；
图17是本申请具体实施方式提供的另一种码垛机分解结构示意图；
图18是本申请具体实施方式提供的一种码垛机的侧视结构示意图；
图19是本申请具体实施方式提供的一种码垛机的主视结构示意图；
图20是本申请具体实施方式提供的一种码垛机的俯视结构示意图；
图21是图15中A处的放大图；
图22是图19中B处的放大图；
图23是本申请具体实施方式提供的一种姿态调整机构的结构示意图；
图24是本申请具体实施方式提供的一种姿态调整机构中翻转组件的结构示意图；
图25是本申请具体实施方式提供的另一种姿态调整机构中翻转组件的结构示意图；
图26是本申请具体实施方式提供的一种姿态调整机构中第一止挡组件的结构示意图；
图27是本申请具体实施方式提供的另一种姿态调整机构中第一止挡组件的结构示意图；
图28是本申请具体实施方式提供的一种第一止挡组件与翻转组件抵接的结构示意图。
图中：
1、上料装置；11、托台机构；111、辊轮；112、第二剪叉臂部件；113、驱动板；1131、位置传感器；114、壳体；1141、第一滑槽；115、滑板；1151、第二滑槽；12、推板机构；121、固定板；122、伸缩组件；1221、第一剪叉臂部件；12211、前剪叉臂；12212、后剪叉臂；12213、第一连接轴；1222、第一驱 动件；123、推板组件；1231、推板；12311、固定轴；1232、第一推条；1233、第二推条；12333、卡槽；
2、进料分流装置；21、基座；22、转动组件；221、第一转动组件；222、第二转动组件；2211、第一麦克纳姆轮；2212、轴承；2213、转动轴；23、驱动组件；231、第一驱动电机；232、第一传动带；233、张紧轮组；
3、伸缩平台装置；31、一级伸缩平台；311、第一安装位；312、第二安装位；32、二级伸缩平台；321、第一轮轴；322、第二轮轴；323、第一导轨；33、基台；331、第二驱动件；332、第三安装位；333、第四安装位；334、第二导轨；335、定位座；34、倍速伸缩组件；341、第一链条；342、第二链条；35、第一起落架组件；351、第一连接杆；352、第一滚轮；353、第三驱动件；36、第二起落架组件；361、第二连接杆；362、第二滚轮；363、第四驱动件；
4、多级升降装置；41、一级升降机构；411、第一支架；412、第二驱动电机；413、第一丝杠；42、二级升降机构；421、第二支架；422、第三驱动电机；423、第二丝杠；424、第一同步带轮；43、固定座；
5、行走装置；51、底盘；52、移动机构；
6、归整装置；61、归整支架；62、伺服电机；63、归整板；64、三角形加强板；
7、传送带；71、同步带；72、第二转轴；73、第二麦克纳姆轮；74、导向板；
8、姿态调整机构；81、机架；82、移动组件；821、滚动部；822、移动驱动部；83、翻转组件；831、驱动部；8311、第一转轴；8312、铰接件；8313、第一伸缩气缸；832、翻转部；8321、翻转棘爪；833、连接部；84、第一止挡组件；841、底座；8411、固定套筒；842、弹性连接部；843、止挡部；85、第二止挡组件；851、第二伸缩气缸；852、止挡轮；86、限位部；
9、传输机构；
10、液压升降平台；
200、平移装置；210、平移气缸；220、第一滑轨；230、第一滑块；
300、主体部分；370、外壳。
具体实施方式
下面将结合附图对本申请实施例的技术方案进行描述。
在本申请的描述中，除非另有规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。可以根据情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
下面结合附图并通过具体实施方式来说明本申请的技术方案。
本申请公开了一种物流码垛系统，如图1-图28所示，该物流码垛系统包括码垛机和物流输送装置，码垛机与物流输送装置连接。码垛机包括上料装置1、进料分流装置2、伸缩平台装置3、多级升降装置4和行走装置5，伸缩平台装置3安装于行走装置5上方。多级升降装置4和进料分流装置2均安装于伸缩平台装置3上，伸缩平台装置3被配置为驱动多级升降装置4和进料分流装置2相对行走装置5沿第一预设方向移动。上料装置1安装于多级升降装置4上，多级升降装置4被配置为驱动上料装置1升降，进料分流装置2被配置为向上料装置1输送物料，上料装置1被配置为码放物料。物流输送装置包括相连接的姿态调整机构8和传输机构9，姿态调整机构8包括移动组件82和翻转组件83，移动组件82包括多个可转动的滚动部821，每相邻两个滚动部821间形成间隙，物料能在滚动部821驱动下移动。翻转组件83包括驱动部831和翻转部832，翻转部832与驱动部831传动连接且翻转部832能被驱动部831驱动转动，并且翻转部832穿设多个可转动的滚动部821之间的间隙推动物料转动至预设位置。传输机构9被配置为传输物料。本申请提供的物流码垛系统能够对物料进行自动传输、分流、姿态调整和码垛工作，提高了物料处理效率，同时简化了姿态调整机构8的结构，减少了空间占用、降低了经济成本。
上料装置1包括托台机构11、推板机构12及固定板121，托台机构11、推板机构12均通过固定板121安装于多级升降装置4上，托台机构11被配置为承载物料，托台机构11沿X方向长度可调；推板机构12设置于托台机构11的第一侧，推板机构12被配置为将托台机构11上的物料向托台机构11的第二侧推落，以码放物料；推板机构12包括推板组件123和伸缩组件122，伸缩组件122安装于固定板121上且驱动连接于推板组件123，伸缩组件122被配置为驱动推板组件123推落物料。
上料装置1的托台机构11被配置为承载进料分流装置2输送的物料，托台机构11沿X方向长度可调，在增大物料摆放量的同时，适用于多种宽度的集装箱或货车集装箱，适用性广，提高了物料的码放效率。当推板机构12的伸缩组件122伸长时，伸缩组件122带动推板组件123推落物料，实现物料的码放；当推板机构12不工作时，伸缩组件122为缩回状态，以减少推板机构12所占的体积，实现在狭小空间内推板机构12的应用。多级升降装置4能够驱动上料装置1和进料分流装置2升降，以此增加了码垛机的最大码垛高度。码垛机包括行走装置5，利于码垛机的移动，当地面有障碍物或码垛机应用于鹅颈式货车时，行走装置5无法跨越障碍物，码垛机的伸缩平台装置3能够驱动上料装置1向前伸缩，以使上料装置1将物料码放于鹅颈式货车内的鹅颈平台上或障碍物的远端，提高码垛机的实用性。
如图3-图5所示，伸缩组件122包括第一剪叉臂部件1221和第一驱动件1222，第一剪叉臂部件1221的一端铰接于固定板121，另一端驱动连接于推板组件123，第一驱动件1222驱动连接于第一剪叉臂部件1221，第一驱动件1222被配置为驱动第一剪叉臂部件1221伸长或缩短。第一剪叉臂部件1221包括两组相对的前剪叉臂12211和两组相对的后剪叉臂12212，其中，每组前剪叉臂12211和每组后剪叉臂12212均包括两个中心相互铰接的剪叉臂。两组相对的前剪叉臂12211铰接于两组相对的后剪叉臂12212以形成多个第一铰接点，且相对的第一铰接点通过第一连接轴12213连接，前剪叉臂12211远离后剪叉臂12212的一端铰接于推板组件123，后剪叉臂12212远离前剪叉臂12211的一端铰接于固定板121。
本实施例中，共需要两个第一连接轴12213连接。第一驱动件1222的一端铰接于两个第一连接轴12213中的一个第一连接轴12213，另一端铰接于推板组件123。第一驱动件1222为气缸，气缸的一端铰接于两个第一连接轴12213中的一个第一连接轴12213，另一端铰接于推板组件123。当气缸伸出时，使推板组件123向远离第一连接轴12213方向移动，以实现推板组件123码放物料，此时第一剪叉臂部件1221伸长；当气缸缩回时，气缸向靠近第一连接轴12213方向移动，此时第一剪叉臂部件1221缩短，以实现推板组件123复位。在其他实施例中，第一驱动件1222还可以为油缸。
推板组件123包括推板1231、第一推条1232和第二推条1233，第一推条1232固定于推板1231的底部，第二推条1233沿第一推条1232的长度方向滑动连接。为实现第一推条1232和第二推条1233的滑动连接，第一推条1232和第二推条1233中的其中一个推条设置有滑槽，另一个推条滑接于滑槽内。由于物料底部摩擦力较大，所以第一驱动件1222的驱动端铰接于第一推条1232上，以增加推板组件123底部的推力，提高物料推落的稳定性。
第二推条1233上设置有卡槽12333，卡槽12333卡接于托台机构11的边缘，托台机构11能够驱动第二推条1233伸长或缩短，实现第一推条1232和第二推条1233的总长度随托台机构11的长度变化而变化。
本实施例中，推板1231上设置有固定轴12311，每组前剪叉臂12211中的一个前剪叉臂12211铰接于固定轴12311，另一个前剪叉臂12211铰接于第一推条1232。推板1231的设置，增加了物料受到作用力的面积，增加了物料推落及码放的稳定性。本实施例中，推板组件123的底部设置第一推条1232和第二推条1233作用于物料，当托台机构11沿X方向长度调整时，物料在X方向上的数量增多，第一推条1232和第二推条1233总长度做相应调整，最大限度的增加物料受力面积，以提高物料推落的稳定性，提高物料的码放效率。
托台机构11包括多个辊轮111和沿X方向设置的第二剪叉臂部件112，第二剪叉臂部件112包括多个相互铰接的剪叉臂，多个剪叉臂之间形成有多个第二铰接点，托台机构11的上方被配置为承载物料，所以位于第二剪叉臂部件112的上方且相对的第二铰接点通过辊轮111连接，多个辊轮111沿X方向间隔设置，当物料经托台机构11的进料口进入时，辊轮111一方面能够承载物料，另一方面利于物料沿X方向的输送。第二剪叉臂部件112的长度可调，进而使多个辊轮111间距可调，以根据货箱的摆放空间，进行适应性调整。位于第二剪叉臂部件112的下方且相对的第二铰接点通过第二连接轴连接。
如图4(图4中隐藏了一侧的滑板115)和图5所示，托台机构11还包括驱动板113和壳体114，壳体114的内侧壁上设置有第一滑槽1141，部分辊轮111的两端滑接于第一滑槽1141，壳体114一方面对第二剪叉臂部件112起支撑作用，另一方面还能够对第二剪叉臂部件112起导向作用。驱动板113驱动连接有驱动器，驱动器能够驱动驱动板113沿X方向移动，驱动板113连接于第二剪叉臂部件112一端，驱动板113能够驱动第二剪叉臂部件112沿X方向伸长或缩短，以调整物料的承载面积，通用性较强。驱动器可以为气缸、油缸等能够驱动驱动板113移动的装置。壳体114的内侧壁上滑动设置有滑板115，滑板115上设置有第二滑槽1151，部分辊轮111能够滑接于第二滑槽1151，滑板115连接于驱动板113，驱动板113移动时，可以带动滑板115相对壳体114的内侧壁滑动，同时增长辊轮111需要的滑槽长度，以及增加第二剪叉臂部件112的支撑强度。
第二推条1233的卡槽12333卡接于驱动板113上，当驱动板113沿X方向移动时，能够带动第二推条1233移动，以使第二推条1233伸长或缩短，实现第一推条1232和第二推条1233的总长度随托台机构11的长度变化而变化。而且第一推条1232和第二推条1233推物料时，驱动板113还能对第一推条1232和第二推条1233具有导向作用。
本实施例中驱动板113上还设置有位置传感器1131，位置传感器1131被配置为测量驱动板113距离障碍物的距离。当该码垛机设置于货箱内时，托台机构11的长度根据货箱侧壁的宽度进行最大长度的调整，位置传感器1131被配置为检测驱动板113距离货箱侧壁的距离，以使驱动板113距离货箱侧壁的距离满足最小允许的距离，提高码垛机的码垛效率，实现满足不同货车宽度的全柔性自动定位。
上料装置1和多级升降装置4的数量均为两个，一个上料装置1安装于一个多级升降装置4上，两个 多级升降装置4同步驱动两个上料装置1升降；进料分流装置2设置于两个上料装置1之间，进料分流装置2被配置为将物料输送于两个上料装置1上，以提高码放机的单次码放量。
码垛机的入口处设置有分流机构，分流机构将物料分流成两列传输，提高效率，且分流机构与进料分流装置2之间设置传送带7，进料分流装置2上游的传送带7将物料输送至进料分流装置2，然后进料分流装置2将物料输送于两个上料装置1上。由于两列物料在传送带7上移动时，不一定位于中间位置，如图6所示，传送带7上方还设置有归整装置6，归整装置6包括归整支架61、两个伺服电机62和两个归整板63，两个伺服电机62安装于归整支架61的顶部且位于传送带7的上方，每个伺服电机62安装有一个归整板63，伺服电机62驱动归整板63向传送带7中间靠拢，两个归整板63将两列物料推到传送带7中间，使物料进入进料分流装置2时姿态统一，提高传输稳定性。
本实施例中，分流机构与进料分流装置2的结构相同，仅安装位置不同。
如图7-图9所示，该进料分流装置2包括基座21、多个转动组件22和驱动组件23，基座21上设有多个转动组件22和驱动组件23，多个转动组件22与驱动组件23连接。基座21被配置为对整个进料分流装置2进行支撑，确保进料分流装置2的稳定性。多个转动组件22可转动地设于基座21上，转动组件22上固定设有多个第一麦克纳姆轮2211，多个第一麦克纳姆轮2211能被转动组件22带动转动以驱动物料沿预设方向移动，实现分流。驱动组件23与多个转动组件22传动连接且多个转动组件22能被驱动组件23驱动转动，以带动第一麦克纳姆轮2211转动，实现对物料的分流。
可选地，基座21固定于使用平台上，以对整个进料分流装置2支撑固定。
在第一麦克纳姆轮2211的轮缘上斜向分布有多个小轮轴，转动时会形成斜向的小轮轴会存在水平运动矢量和竖直运动矢量，结构及原理此处不再赘述。第一麦克纳姆轮2211设有多个，多个第一麦克纳姆轮2211等间隔设置，以使物料受力均匀且兼顾制造成本。
多个转动组件22包括多个第一转动组件221和多个第二转动组件222，第一转动组件221上的第一麦克纳姆轮2211与第二转动组件222上的第一麦克纳姆轮2211的安装方向相反，多个第一转动组件221和多个第二转动组件222依次交替排列。按此设置，在多个第一转动组件221和多个第二转动组件222同向转动时，多个第一转动组件221和多个第二转动组件222上的第一麦克纳姆轮2211的竖直运动矢量大小相等、方向相反，相互抵消，水平运动矢量方向相同，相互叠加，从而驱动物料沿水平方向(向左或向右)移动，实现对物料的分流；在多个第一转动组件221和多个第二转动组件222相向转动时，多个第一转动组件221和多个第二转动组件222上的第一麦克纳姆轮2211的水平运动矢量大小相等、方向相反，相互抵消，竖直运动矢量方向相同，相互叠加，从而驱动物料沿竖直方向(向前或向后)移动，实现物料的分流。本申请通过将第一转动组件221和第二转动组件222上的第一麦克纳姆轮2211的安装方向设置相反，通过控制第一转动组件221和第二转动组件222的旋转方向就能够实现物料沿前、后、左、右方向的多向移动、分流，结构简单，灵活性强。
转动组件22包括轴承2212和转动轴2213，轴承2212固定安装于基座21上，转动轴2213的两端通过轴承2212安装于基座21上，多个第一麦克纳姆轮2211固定套设于转动轴2213的外周，以随着转动轴2213的转动而转动，从而驱动物料多向移动。多个第一麦克纳姆轮2211等间隔设于转动轴2213上。
可选地，驱动组件23包括传动连接的第一驱动电机231和第一传动带232，第一驱动电机231固定安装于基座21上，第一传动带232与转动组件22传动连接，以驱动转动组件22转动。
可选地，第一驱动电机231为正反转电机，通过正传和反转就能控制转动轴2213的旋转方向，从而 控制第一麦克纳姆轮2211的旋转方向，以实现物料沿不同方向的移动分流。第一驱动电机231为调速电机，通过调节其转速，即可控制转动组件22的转速，以实现对进料分流装置2分流速度的调节，十分便捷。
示例性地，第一传动带232与转动轴2213传动连接以实现转动轴2213的转动。可选地，第一驱动电机231和第一传动带232均设有两个，以实现分别对第一转动组件221和第二转动组件222的控制。在其他实施例中，第一驱动电机231和第一传动带232的数量可根据需求设置，不以本实施例为限。
第一转动组件221和第二转动组件222分别通过两个驱动组件23驱动转动。示例性地，两个第一传动带232分别与多个第一转动组件221和多个第二转动组件222连接，以实现分别对多个第一转动组件221和多个第二转动组件222的控制，同时，第一转动组件221和第二转动组件222分别由两个第一驱动电机231驱动转动，通过控制两个第一驱动电机231的同向或相反转动，就能控制第一转动组件221和第二转动组件222的同向或相向转动，实现对物料沿前、后、左、右方向的分流，十分可靠。
驱动组件23还包括张紧轮组233，张紧轮组233可转动地安装于基座21上，张紧轮组233被配置为对第一传动带232张紧，以保证第一传动带232的正常工作。张紧轮组233包括多个张紧轮，每一张紧轮与第一传动带232抵接，以对第一传动带232的多个位置进行张紧。同时，通过张紧轮组233在基座21上的位置设计，能够改变第一传动带232的设置路径，提高第一传动带232设置灵活性，以避免对其他结构造成妨碍。
示例性地，如图10和图11，该伸缩平台装置3包括一级伸缩平台31、二级伸缩平台32、基台33、倍速伸缩组件34、第一起落架组件35、第二起落架组件36及校准组件。一级伸缩平台31被配置为承载多级升降装置4；二级伸缩平台32位于一级伸缩平台31下方，一级伸缩平台31滑动连接于二级伸缩平台32；基台33安装于行走装置5上且位于二级伸缩平台32下方，二级伸缩平台32滑动连接于基台33，基台33上设置有第二驱动件331，第二驱动件331能够驱动二级伸缩平台32伸缩；基台33通过倍速伸缩组件34驱动连接于一级伸缩平台31。
工作时，上料装置1安装于一级伸缩平台31上，当码垛机需要将物料码放于鹅颈式货车的鹅颈平台时，基台33上的第二驱动件331驱动二级伸缩平台32向远离基台33的方向移动，二级伸缩平台32带动一级伸缩平台31向远离基台33的方向移动，此时，在倍速伸缩组件34的驱动下，倍速伸缩组件34驱动一级伸缩平台31向远离二级伸缩平台32的方向移动，该伸缩平台装置3实现了二级伸长，以使上料装置1将物料码放于鹅颈式货车内的鹅颈平台上。当鹅颈式货车的鹅颈平台上的货物码放完毕时，基台33上的第二驱动件331驱动二级伸缩平台32向靠近基台33的方向移动，二级伸缩平台32带动一级伸缩平台31向靠近基台33的方向移动，此时，在倍速伸缩组件34的驱动下，倍速伸缩组件34驱动一级伸缩平台31向靠近二级伸缩平台32的方向移动，实现一级伸缩平台31及二级伸缩平台32的复位。
本实施例中第二驱动件331为油缸，油缸的一端固定于基台33上，油缸的驱动杆驱动连接于二级伸缩平台32上，以使油缸驱动二级伸缩平台32相对基台33移动。基台33上设置有多个定位座335，油缸固定于定位座335上。第二驱动件331还可以为丝杠传动机构，不以本实施例为限。
二级伸缩平台32的外侧壁设置有第一导轨323，一级伸缩平台31两边设置有与第一导轨323匹配的第一滑轮，第一滑轮滑接于第一导轨323；一级伸缩平台31的外侧壁设置有第二导轨334，二级伸缩平台32两边设置有与第二导轨334匹配的第二滑轮，第二滑轮滑接于第二导轨334。
本实施例中零部件的第一端为零部件远离待码放工位的一端，零部件的第二端为零部件靠近待码放工 位的一端。本实施例中，倍速伸缩组件34包括第一链条341和第二链条342，二级伸缩平台32的第二端设置有第一轮轴321，第一端设置有第二轮轴322；第一链条341绕装于第一轮轴321，且第一链条341的一端连接于一级伸缩平台31的第一端的第一安装位311，第一链条341的另一端连接于基台33的第三安装位332，第一链条341被配置为驱动一级伸缩平台31向远离二级伸缩平台32的方向移动；第二链条342绕装于第二轮轴322，且第二链条342的一端连接于一级伸缩平台31的第一端的第二安装位312，第二链条342的另一端连接于基台33的第四安装位333，第二链条342被配置为驱动一级伸缩平台31向靠近二级伸缩平台32的方向移动。
当二级伸缩平台32向远离基台33的方向移动时，一级伸缩平台31也需要随二级伸缩平台32移动，同时一级伸缩平台31受到第一链条341的拉力，使一级伸缩平台31向远离二级伸缩平台32的方向伸出，同时第二链条342随一级伸缩平台31的形态变更。当二级伸缩平台32向靠近基台33的方向移动时，一级伸缩平台31也需要随二级伸缩平台32移动，同时一级伸缩平台31受到第二链条342的拉力，使一级伸缩平台31向靠近二级伸缩平台32的方向缩回，同时第一链条341和第二链条342复位。
本实施例中第一轮轴321和第二轮轴322均为链轮，实现链条与链轮之间的同步转动，防止出现打滑现象，防止产生噪音以及设备磨损。第一链条341、第二链条342、第一轮轴321及第二轮轴322的数量均为两个。本实施例中，两组第一链条341和两组第一轮轴321位于二级伸缩平台32的中间，两组第二链条342和两组第二轮轴322对称设置于第一链条341的两侧，以提高倍速伸缩组件34驱动的稳定性。
由于伸缩平台装置3伸长后，一级伸缩平台31上部安装上料装置1，且一级伸缩平台31和二级伸缩平台32由于重力因素影响存在向下弯曲变形的风险。如图12所示，一级伸缩平台31的第二端的底部设置有第一起落架组件35，第一起落架组件35包括第一连接杆351、第一滚轮352及第三驱动件353；第一连接杆351的一端铰接于一级伸缩平台31的第二端的端部，另一端安装有第一滚轮352，第三驱动件353安装于一级伸缩平台31的底部，第三驱动件353的输出端驱动连接于第一连接杆351靠近第一滚轮352的一端，第三驱动件353被配置为驱动第一连接杆351绕一级伸缩平台31转动，以支撑一级伸缩平台31。当一级伸缩平台31伸出后，第三驱动件353驱动第一连接杆351绕一级伸缩平台31转动，使第一滚轮352设置于台阶上，实现第一滚轮352和第一连接杆351共同对一级伸缩平台31起支撑作用，防止一级伸缩平台31在自身和上料装置1的重力下向下弯曲变形，提高码垛机的使用寿命。一级伸缩平台31的第二端的底部两侧均设置有第一起落架组件35。
二级伸缩平台32的第二端的底部设置有第二起落架组件36，第二起落架组件36与第一起落架组件35结构相同，第二起落架组件36包括第二连接杆361、第二滚轮362及第四驱动件363；第二连接杆361的一端铰接于二级伸缩平台32的底部，另一端安装有第二滚轮362，第四驱动件363安装于二级伸缩平台32的第二端的端部，第四驱动件363的输出端驱动连接于第二连接杆361靠近第二滚轮362的一端，第四驱动件363被配置为驱动第二连接杆361绕二级伸缩平台32转动，以支撑二级伸缩平台32。当二级伸缩平台32伸出后，第四驱动件363驱动第二连接杆361绕二级伸缩平台32转动，使第二滚轮362设置于台阶上，实现第二滚轮362和第二连接杆361共同对二级伸缩平台32起支撑作用，防止二级伸缩平台32在自身、一级伸缩平台31、上料装置1及物料的重力下向下弯曲变形，提高码垛机的使用寿命。二级伸缩平台32的第二端的底部两侧均设置有第二起落架组件36。本实施例中第三驱动件353和第四驱动件363均为油缸。
为了防止该伸缩平台装置3变形，以及提高上料装置1的码放质量，承载上料装置1的一级伸缩平台31伸缩后需要保持与基台33平行，本实施例通过校准组件作为一级伸缩平台31调节伸缩后相对基台33 的平行度的参照。校准组件包括第一陀螺仪和第二陀螺仪，第一陀螺仪安装于一级伸缩平台31上，第二陀螺仪安装于基台33上，通过第一陀螺仪和第二陀螺仪的数据，调整第三驱动件353和第四驱动件363的驱动距离，进而调整一级伸缩平台31与基台33的平行度，以防止该伸缩平台装置3变形，提高设备的使用寿命，以及提高码放质量。
伸缩平台装置3上还设置有第一位移传感器，第一位移传感器能够实现一级伸缩平台31相对基台33的精准位移量。
如图13和图14所示，多级升降装置4包括一级升降机构41和二级升降机构42，上料装置1安装于一级升降机构41上，一级升降机构41能够驱动上料装置1升降，一级升降机构41安装于二级升降机构42上，二级升降机构42能够驱动一级升降机构41升降。
本实施例中一级升降机构41及二级升降机构42均采用丝杠传动机构，一级升降机构41包括第一支架411、第二驱动电机412及第一丝杠413。第一支架411竖直设置，第一丝杠413安装于第一支架411上，第二驱动电机412设置于第一支架411的顶端，第一丝杠413驱动连接于第二驱动电机412。固定板121远离推板机构12的一侧设置有第一连接块，第一连接块内置螺纹孔，第一连接块驱动连接于第一丝杠413，且第一支架411上且位于第一丝杠413的两侧设置有第二滑轨，固定板121远离推板机构12的一侧还设置有与第二滑轨匹配的第一滑槽1141，第一滑槽1141滑动连接于第二滑轨，以增加固定板121升降的稳定性。当第二驱动电机412驱动第一丝杠413转动时，固定板121携带上料装置1在第一丝杠413上沿第二滑轨升降。
二级升降机构42包括第二支架421、第三驱动电机422、第二丝杠423及第一同步带轮424。第二支架421竖直设置，第三驱动电机422设置于第二支架421的顶端，第二丝杠423安装于第二支架421上，第三驱动电机422通过第一同步带轮424驱动连接于第二丝杠423，第一支架411远离固定板121的一侧设置有第二连接块，第二连接块内置螺纹孔，第二连接块驱动连接于第二丝杠423，且第二支架421上且位于第二丝杠423的两侧设置有第三滑轨，第一支架411远离固定板121的一侧还设置有多个与第三滑轨匹配的第二滑块，第二滑块滑动连接于第三滑轨，以增加一级升降机构41的稳定性。当第三驱动电机422驱动第二丝杠423转动时，一级升降机构41携带上料装置1在第二丝杠423上沿第三滑轨进行二极升降。
二级升降机构42固定于固定座43上，固定座43滑动安装于一级伸缩平台31上，多级升降装置4可滑动安装于一级伸缩平台31上，实现在伸缩平台装置3状态不变的情况下，上料装置1位置的微调。
上述结构，实现了上料装置1和进料分流装置2的多级升降。多级升降装置4上还设置有第二位移传感器，实现上料装置1和进料分流装置2不同高度的全柔性自动定位。
行走装置5包括底盘51和移动机构52，底盘51安装于移动机构52上，伸缩平台装置3的基台33固定于底盘51上，本实施例中，移动机构52为履带式驱动的结构，移动机构52包括两个履带，分别安装于底盘51的两侧，以实现码垛机的移动。在其他实施例中，移动机构52还可以为轮式驱动的结构，移动机构52包括四个车轮，四个车轮均匀安装于底盘51的两侧，以实现码垛机的移动。
为实现将物料码垛至不同高度位置，上述物流码垛系统还包括液压升降平台10，码垛机设置于液压升降平台10上，以被液压升降平台10带动升降，行走装置5能在液压升降平台10上行走。按此设置，码垛机既可实现不同高度的调节以适应不同高度的物料码放平台(例如不同高度的货车对接)，又能通过行走装置5在液压升降平台10上行走，以实现物流码垛位置的微调，从而实现对物料的准确码垛。
本实施例还提供了上述码垛机的工作过程。
例如，当码垛机应用于鹅颈式货车时，先将码垛机移动至鹅颈式货车内，通过位置传感器1131，先调整托板机构的宽度，使满足最大允许宽度，同时第二推条1233的宽度随托板机构增长。当需要将物料码放在鹅颈平台时，伸缩平台装置3进行伸长，同时第一起落架组件35和第二起落架组件36同时对一级伸缩平台31和二级伸缩平台32进行支撑，进料分流装置2将物料输送至两侧的上料装置1上，上料装置1码放物料。上料装置1配合多级升降装置4，实现物料的多级码放，增加最大允许码放高度。当鹅颈平台上的货物码放完毕，伸缩平台装置3复位，进料分流装置2和上料装置1继续配合多级升降装置4将物料码放于货箱内。物料码放完毕后，码垛机移出货箱。
本申请实施例还提供了一种码垛机。结合图15至图20，该码垛机除了包括上料装置1、进料分流装置2、伸缩平台装置3、多级升降装置4以及行走装置5外，还包括平移装置200、传送带7。行走装置5可采用履带行走结构。平移装置200设置在行走装置5上，上料装置1、进料分流装置2、伸缩平台装置3、多级升降装置4以及传送带7组成码垛机的主体部分300，主体部分300设置在平移装置200上方，主体部分300与平移装置200的输出端连接，使得平移装置200能推动主体部分300沿X方向移动，以适应码垛时的间隙控制。X方向即码垛机的宽度方向，也可以称为横向或左右方向。图17中平移装置200为气缸，在其它实施例中，也可以是其它机构，只要能推动主体部分300横向移动即可。
以上在码垛机上设置平移装置200的结构改进是根据码垛时的现场需求所作出的改进。解决了码垛机只能沿码垛机的长度方向前后移动，或沿码垛机的高度方向上下移动，无法实现沿宽度方向的横向移动，也就无法适应货物在车厢内的间隙控制的问题。本申请中，设置了平移装置200来推动码垛机的主体部分300横向移动，实现了自动装车时货物在车厢内的间隙控制。
参考图15至图20，伸缩平台装置3以及传送带7均与平移装置200的输出端连接，平移装置200驱动伸缩平台装置3以及传送带7沿X方向移动。进料分流装置2以及多级升降装置4均与伸缩平台装置3的输出端连接，伸缩平台装置3驱动进料分流装置2以及多级升降装置4沿Y方向移动，Y方向也就是码垛机的长度方向，也可以称为纵向或前后方向。上料装置1安装在多级升降装置4的输出端，多级升降装置4能驱动上料装置1沿Z方向移动，Z方向也就是自动码垛机的高度方向，也可以称为竖向或上下方向。
传送带7与进料分流装置2在传送方向上位于同一直线上，传送带7将物料传动到进料分流装置2，上料装置1设置在进料分流装置2的两侧，进料分流装置2将物料分流到两侧的上料装置1上；多级升降装置4能驱动进料分流装置2和上料装置1整体上下移动，以适应码垛高度；伸缩平台装置3驱动多级升降装置4前后移动，多级升降装置4连同安装在多级升降装置4上的进料分流装置2以及上料装置1一起前后移动，实现伸缩，将物料放置在垛堆上。上料装置1上设置了推板机构12，能将上料装置1上的物料推到垛堆上。
如图15所示，上料装置1包括托台机构11和推板机构12。托台机构11被配置为托住物料。进料分流装置2将物料分流至托台机构11上。推板机构12位于托台机构11沿Y方向靠近多级升降装置4的一侧，能沿Y方向伸缩以推动物料，使物料从托台机构11沿Y方向远离多级升降装置4的一侧落下。推板机构12可采用剪刀伸缩结构，通过驱动件驱动其伸缩。
一实施例中，如图17和图18所示，平移装置200包括平移气缸210。平移气缸210沿X方向水平布置，平移气缸210的主体固定安装在行走装置5上，平移气缸210的活塞与码垛机的主体部分300连接。平移气缸210的活塞伸缩可带动码垛机的主体部分300沿X方向左右移动，以控制物料之间的间隙。平移气缸210也可以替换成其它的直线驱动机构，例如通过电机搭配丝杆螺母结构来驱动，在此不作限制。
为了提升主体部分300移动的稳定性，如图16所示，平移装置200还包括第一滑轨220和第一滑块230。第一滑轨220固定于行走装置5上，且沿X方向设置，以使得主体部分300顺着第一滑轨220沿X方向移动。第一滑块230与第一滑轨220滑动配合，主体部分300固定于第一滑块230上。通过第一滑块230和第一滑轨220的配合对主体部分300的移动进行导向，使得主体部分300移动时更平稳。
第一滑轨220为两条，两条第一滑轨220平行设置，两条第一滑轨220之间具有一定间隔。每条第一滑轨220上设置多个第一滑块230，主体部分300固定在多个第一滑块230上，可以提高第一滑块230对主体部分300的支撑强度。图17中，设置了两条第一滑轨220，每条第一滑轨220上设置了三个第一滑块230，在其它实施例中，第一滑轨220和第一滑块230的数量可根据需要调整，在此不作限制。
一实施例中，如图19和图22所示，主体部分300还包括归整装置6。归整装置6设置在传送带7的上方，被配置为对传送带7上的物料进行归整定位。传送带7上的物料在传送过程中可能会向两侧移动，通过设置归整装置6将传送带7上的物料向中间聚拢，避免物料移动到传送带7的两侧。
参考图19及图22，归整装置6包括两个伺服电机62和两块归整板63，伺服电机62沿X方向布置，且两个伺服电机62基本左右对称布置。每一伺服电机62的输出端连接一块归整板63，两个伺服电机62能驱动两块归整板63相互靠近以将物料向传送带7的中间靠拢。如图22所示，归整板63的顶部设置有三角形加强板64，归整板63的顶部为直角形，三角形加强板64的两条相邻的边分别与归整板63的两条直角边连接，三角形加强板64可以防止归整板63变形。三角形加强板64可为镂空结构，可以减重和节约材料。
结合图15及图21，传送带7包括第五驱动件、多个同步带71、多条第二转轴72以及套设于每条第二转轴72上的多个第二麦克纳姆轮73。第五驱动件被配置为驱动第二转轴72转动，多条第二转轴72沿着Y方向依次排列，以使传送带7沿着Y方向传送物料。第五驱动件与多条第二转轴72中的一条第二转轴72连接，以使第五驱动件带动该第二转轴72转动。多条第二转轴72之间通过多个同步带71传递转矩，每个同步带71的两端分别套设在两条第二转轴72上，这样通过一个第五驱动件就可以带动所有第二转轴72转动了。第二转轴72上设置有第二同步带轮，同步带71套设在第二同步带轮上。多个第二麦克纳姆轮73套设于第二转轴72上，与第二转轴72同步转动。
一实施例中，如图15所示，码垛机还包括外壳370，外壳370盖设于传送带7上方，外壳370被配置为防护传送带7。避免异物落入传送带7上，同时也保证了传送过程中的安全性。
如图15所示，传送带7的入口端设置有两块导向板74，所述两块导向板74形成一个外扩的开口，以对流入传送带7的物料进行导向，便于物料更容易进入传送带7中。
如图23-图28所示，姿态调整机构8包括机架81，机架81固定设置于工作平台上，以对整个姿态调整机构8起固定支撑作用。
可选地，滚动部821为滚筒，滚筒两端通过旋转轴可转动地插接于机架81上，多个滚筒间隔排列于机架81上以形成物料的输送平台，十分可靠。每相邻两个滚筒之间形成间隙以对翻转组件83的设置进行让位。在其他实施例中，滚动部821也可设为辊轴结构，不以本实施例为限。
移动组件82还包括移动驱动部822，移动驱动部822与滚动部821传动连接以驱动滚动部821转动，从而实现物料的自动传输。移动驱动部822包括第二传动带和第四驱动电机，第二传动带与多个滚动部821传动连接，第四驱动电机与第二传动带传动连接，从而通过第四驱动电机驱动第二传动带运动，第二传动带带动滚动部821转动，实现对物料的传输。示例性地，第二传动带将多个滚动部821串联，第四驱动电 机与位于串联末端的第二传动带传动连接，从而实现通过一个第四驱动电机驱动多个滚动部821同步转动，确保物料传输的平稳性。在其他实施例中，第二传动带和第四驱动电机的数量可根据滚动部821排列的长度设置，不以本实施例为限。
如图24和图25所示，作为姿态调整机构8的技术方案，驱动部831包括第一转轴8311、铰接件8312和第一伸缩气缸8313，第一转轴8311与翻转部832固定连接，铰接件8312与第一转轴8311固定连接，第一伸缩气缸8313可转动安装于机架81上，第一伸缩气缸8313的输出端与铰接件8312铰接，且第一伸缩气缸8313能驱动铰接件8312转动以带动第一转轴8311转动，从而带动翻转部832转动以对物料进行抵接转动，实现姿态调整。
可选地，第一转轴8311两端通过滚动轴承可转动地安装于机架81上。同时第一转轴8311的一端穿出滚动轴承设置，且该穿出端为矩形结构。
铰接件8312为二连杆机构，铰接件8312的一端带有矩形插接孔，第一转轴8311上的矩形结构固定插接于矩形插接孔内，实现铰接件8312与第一转轴8311的固定连接，可靠性高。在其他实施例中，也可在第一转轴8311上设置三棱柱、五棱柱等棱柱结构，在铰接件8312设置相应的棱柱插接孔，实现两者的插接固定，不以本实施例为限。
第一伸缩气缸8313与铰接件8312的另一端铰接，通过第一伸缩气缸8313的伸缩运动，就能驱动与铰接件8312连接的第一转轴8311转动。第一伸缩气缸8313通过铰接座与机架81可转动连接。
作为姿态调整机构8的技术方案，翻转部832包括多个翻转棘爪8321，多个翻转棘爪8321等间隔分布于第一转轴8311上以使物料受力均衡，且每一翻转棘爪8321与一个间隙对应，以增大对物料的抵接面积，提高对物料转动的稳定性。示例性地，每一翻转棘爪8321固定套设于第一转轴8311的外周。在其他实施例中，也可将翻转棘爪8321与第一转轴8311焊接固定，不以本实施例为限。
为增强多个翻转棘爪8321转动与连接的稳定性，上述翻转组件83还包括连接部833，连接部833与多个翻转棘爪8321固定连接。示例性地，连接部833穿设多个翻转棘爪8321且同时与多个翻转棘爪8321固定连接。在其他实施例中，也可将连接部833与多个翻转棘爪8321以其他形式固定，不以本实施例为限。
作为姿态调整机构8的技术方案，上述姿态调整机构8还包括第一止挡组件84，第一止挡组件84安装于机架81上，第一止挡组件84能穿设间隙对物料进行止挡，以避免物料间碰撞对物料姿态调整造成妨碍。
可选地，如图26和图27所示，第一止挡组件84包括底座841、弹性连接部842和止挡部843，底座841固定安装于机架81上，弹性连接部842与底座841连接，止挡部843与弹性连接部842固定连接且止挡部843能穿设间隙对物料进行止挡，止挡部843能与翻转部832抵接。
示例性地，底座841上设有固定套筒8411，固定套筒8411设有两个，两个固定套筒8411间隔设置。
弹性连接部842包括弹簧和套接部，套接部可移动地套接于固定套筒8411内，弹簧设于固定套筒8411内且与套接部和固定套筒8411固定连接，以对弹簧的伸缩进行限位，防止偏移。相应地，弹簧和套接部均设有两个，两个弹簧和两个套接部与两个固定套筒8411一一对应连接，以确保第一止挡组件84的连接稳定性。在其他实施例中，也可将弹性连接部842直接设为弹簧对止挡部843和底座841进行连接，不以本实施例为限。
止挡部843上设有抵接部，止挡部843通过抵接部与翻转部832抵接。示例性地，抵接部为抵接槽，位于最外侧的翻转棘爪8321抵接于抵接槽上，实现翻转部832与止挡部843的抵接。
如图23-图28所示，为便于对本申请的理解，对翻转组件83及第一止挡组件84的工作过程做如下描述：当物料不需要调整姿态时，翻转部832不运行，翻转部832与止挡部843抵接使止挡部843压设于滚动部821之下，弹性连接部842被压缩，物料在滚动部821上正常移动传输。当物料需要调整姿态时，翻转部832在驱动部831驱动下转动，翻转部832穿设间隙与物料抵接以使物料翻转，实现对物料的姿态调整，同时止挡部843在弹性连接部842回复力作用下穿出间隙对物料进行止挡，防止下一物料对翻转部832处的物料进行妨碍，确保物料姿态调整的正常进行。当物料姿态调整完成后，翻转部832复位，同时对止挡部843进行压制，弹性连接部842被压缩，止挡部843回复于滚动部821之下。
作为姿态调整机构8的技术方案，姿态调整机构8还包括第二止挡组件85，第二止挡组件85安装于机架81上，第二止挡组件85被配置为对物料部分止挡以调整物料的水平姿态。
如图23和图28所示，第二止挡组件85包括第二伸缩气缸851和止挡轮852，第二伸缩气缸851与止挡轮852连接。第二伸缩气缸851安装于机架81上，止挡轮852与第二伸缩气缸851的输出端连接，止挡轮852能与物料可转动地抵接，以实现对物料水平姿态的调整，同时减小了对物料的摩擦。
示例性地，第二伸缩气缸851固定安装于机架81上，且第二伸缩气缸851的输出端能朝向滚动部821上的区域伸缩，以带动止挡轮852伸缩以对移动的物料部分止挡，物料未被止挡的部分在滚动部821作用下继续向前移动，被止挡的部分则被迫停止，从而使物料以止挡轮852为中心转动，实现其水平姿态的调整。通过第二伸缩气缸851的伸缩即可控制对物料水平姿态的调整，十分方便。本申请通过翻转组件83和第二止挡组件85的共同作用即可实现对物料竖直及水平姿态的调整，十分便捷，且整个装置简单，实用性强。
为对物料进行限位，避免物料在进行姿态调整时掉落，上述姿态调整机构8还包括限位部86，限位部86固定安装于机架81上。可选地，限位部86设有两个，两个限位部86分别相对位于翻转组件83的两侧，以对物料的两侧进行限位。
为提高姿态调整机构8的自动化控制程度，上述姿态调整机构8还包括控制单元，控制单元与移动组件82、翻转组件83、第一止挡组件84和第二止挡组件85均信号连接，以自动化控制移动组件82、翻转组件83、第一止挡组件84和第二止挡组件85的启闭，节省人力物力。在其他实施例中，也可通过人力控制上述组件的启闭，不以本实施例为限。
上述姿态调整机构8还包括位移传感器，位移传感器与控制单元连接，以将物料信息反馈给控制单元，控制单元发送信号，控制移动组件82、翻转组件83、第一止挡组件84或第二止挡组件85的开启。
如图1所示，可选地，传输机构9两端分别与姿态调整机构8和码垛机上的分流机构连接，以将姿态调整后的物料传输至分流机构分流，物料经分流机构、传送带7传输至进料分流装置2上，进料分流装置2将物料分送至上料装置1上，上料装置1依据物料码放位置进行升降和伸缩，从而将物料码放至指定位置。本申请的物流码垛系统实现了对物料的姿态调整、自动传输、分流及码垛操作，集成性高，适用性广。
示例性地，传输机构9为伸缩皮带机，伸缩皮带机能够根据与码垛机之间的距离实现伸缩，以满足不同距离的输送，十分便捷。由于伸缩皮带机的结构及原理为相关技术，此处不再赘述。传输机构9被配置为可升降以适应不同高度的码垛机，适应性强。示例性地，传输机构9可通过液压缸实现升降功能。在其他实施例，传输机构9还可通过滑轨配合丝杠进行升降，不以本实施例为限。
综上，本申请提供的一种物流码垛系统，通过设置相连接的物流输送装置和码垛机，实现了对物料的自动化传输和码垛工作，提高了物料处理效率，节省了人力。
物流输送装置包括相连接的姿态调整机构8和传输机构9，姿态调整机构8包括移动组件82和翻转组件83，移动组件82包括多个可转动的滚动部821，每相邻两个滚动部821间形成间隙，物料能在滚动部821驱动下移动，翻转组件83包括驱动部831和翻转部832，翻转部832与驱动部831传动连接且翻转部832能被驱动部831驱动转动，并且翻转部832穿设多个可转动的滚动部821之间的间隙推动物料转动至预设位置，从而实现对物料姿态的调整，且结构简单、紧凑，减少了空间占用，节省了生产制造成本。传输机构9实现物料的远距离传输。
码垛机被配置为对物料进行码垛堆放，通过行走装置5即可实现码垛机移动，物料经进料分流装置2分流至上料装置1，经多级升降装置4驱动升降至码垛高度，伸缩平台装置3带动上料装置1进行伸缩，使物料被伸缩移送至码垛位置，上料装置1即可对物料进行码垛操作，提高了码垛机的自动化程度，实现了物料的精确码垛。

Claims (47)

  1. 一种物流码垛系统，包括：
    码垛机，包括上料装置(1)、进料分流装置(2)、伸缩平台装置(3)、多级升降装置(4)和行走装置(5)，所述伸缩平台装置(3)安装于所述行走装置(5)上方；所述多级升降装置(4)和所述进料分流装置(2)均安装于所述伸缩平台装置(3)上，所述伸缩平台装置(3)被配置为驱动所述多级升降装置(4)和所述进料分流装置(2)相对所述行走装置(5)沿第一预设方向移动；
    所述上料装置(1)安装于所述多级升降装置(4)上，所述多级升降装置(4)被配置为驱动所述上料装置(1)升降，所述进料分流装置(2)被配置为向所述上料装置(1)输送物料，所述上料装置(1)被配置为码放所述物料；
    物流输送装置，与所述码垛机连接，所述物流输送装置包括相连接的姿态调整机构(8)和传输机构(9)，所述姿态调整机构(8)包括移动组件(82)和翻转组件(83)，所述移动组件(82)包括多个可转动的滚动部(821)，每相邻两个滚动部(821)间形成间隙，所述滚动部(821)被配置为驱动所述物料移动；所述翻转组件(83)包括驱动部(831)和翻转部(832)，所述翻转部(832)与所述驱动部(831)传动连接，所述驱动部(831)被配置为驱动所述翻转部(832)转动，所述翻转部(832)穿设所述多个可转动的滚动部(821)之间的间隙，被配置为推动所述物料转动至预设位置；所述传输机构(9)被配置为传输所述物料。
  2. 根据权利要求1所述的物流码垛系统，其中，所述姿态调整机构(8)还包括第一止挡组件(84)，所述第一止挡组件(84)包括：
    底座(841)；
    弹性连接部(842)，所述弹性连接部(842)安装于所述底座(841)上；
    止挡部(843)，所述止挡部(843)与所述弹性连接部(842)固定连接，所述止挡部(843)被配置为穿过所述间隙与所述物料抵接，且所述止挡部(843)能与所述翻转部(832)抵接。
  3. 根据权利要求2所述的物流码垛系统，其中，所述止挡部(843)上设有抵接部，所述止挡部(843)通过所述抵接部与所述翻转部(832)抵接。
  4. 根据权利要求1所述的物流码垛系统，其中，所述驱动部(831)包括：
    第一转轴(8311)，所述第一转轴(8311)与所述翻转部(832)固定连接；
    铰接件(8312)，所述铰接件(8312)与所述第一转轴(8311)固定连接；
    第一伸缩气缸(8313)，所述第一伸缩气缸(8313)的输出端与所述铰接件(8312)铰接，且所述第一伸缩气缸(8313)被配置为驱动所述铰接件(8312)转动以带动所述第一转轴(8311)转动。
  5. 根据权利要求1所述的物流码垛系统，其中，所述翻转部(832)包括多个翻转棘爪(8321)，且每一翻转棘爪(8321)与一个间隙对应。
  6. 根据权利要求5所述的物流码垛系统，其中，所述翻转组件(83)还包括连接部(833)，所述连接部(833)与所述多个翻转棘爪(8321)固定连接。
  7. 根据权利要求1所述的物流码垛系统，其中，所述传输机构(9)为伸缩皮带机。
  8. 根据权利要求1所述的物流码垛系统，其中，所述传输机构(9)被配置为可升降。
  9. 根据权利要求1或2所述的物流码垛系统，其中，所述姿态调整机构(8)还包括第二止挡组件(85)，所述第二止挡组件(85)包括：
    第二伸缩气缸(851)；
    止挡轮(852)，所述止挡轮(852)与所述第二伸缩气缸(851)的输出端连接，所述止挡轮(852)能与所述物料转动抵接，被配置为调整所述物料的水平姿态。
  10. 根据权利要求1所述的物流码垛系统，其中，所述上料装置(1)包括托台机构(11)、推板机构(12)及固定板(121)，所述托台机构(11)、所述推板机构(12)均通过所述固定板(121)安装于所述多级升降装置(4)上，所述托台机构(11)被配置为承载所述物料，所述托台机构(11)沿X方向的长度可调；所述推板机构(12)设置于所述托台机构(11)的第一侧，所述推板机构(12)被配置为将所述托台机构(11)上的所述物料向所述托台机构(11)的第二侧推落，以码放所述物料；所述推板机构(12)包括推板组件(123)和伸缩组件(122)，所述伸缩组件(122)安装于所述固定板(121)上且驱动连接于所述推板组件(123)，所述伸缩组件(122)被配置为驱动所述推板组件(123)推落所述物料。
  11. 根据权利要求10所述的物流码垛系统，其中，所述伸缩组件(122)包括第一剪叉臂部件(1221)和第一驱动件(1222)，所述第一剪叉臂部件(1221)的一端铰接于所述固定板(121)，另一端驱动连接于所述推板组件(123)，所述第一驱动件(1222)驱动连接于所述第一剪叉臂部件(1221)，所述第一驱动件(1222)被配置为驱动所述第一剪叉臂部件(1221)伸长或缩短。
  12. 根据权利要求11所述的物流码垛系统，其中，所述第一剪叉臂部件(1221)包括两组相对的前剪叉臂(12211)和两组相对的后剪叉臂(12212)，每组前剪叉臂(12211)和每组后剪叉臂(12212)均包括两个中心相互铰接的剪叉臂，所述两组相对的前剪叉臂(12211)铰接于所述两组相对的后剪叉臂(12212)以形成多个第一铰接点，且相对的第一铰接点通过第一连接轴(12213)连接；
    所述第一驱动件(1222)的一端铰接于一个第一连接轴(12213)，另一端铰接于所述推板组件(123)。
  13. 根据权利要求11所述的物流码垛系统，其中，所述第一驱动件(1222)为油缸或气缸。
  14. 根据权利要求10所述的物流码垛系统，其中，所述推板组件(123)包括推板(1231)、第一推条(1232)和第二推条(1233)，所述第一推条(1232)固定于所述推板(1231)的底部，所述第二推条(1233)沿所述第一推条(1232)的长度方向滑动连接。
  15. 根据权利要求14所述的物流码垛系统，其中，所述第二推条(1233)上设置有卡槽(12333)，所述卡槽(12333)卡接于所述托台机构(11)的边缘，所述托台机构(11)被配置为驱动所述第二推条(233)伸长或缩短。
  16. 根据权利要求10所述的物流码垛系统，其中，所述托台机构(11)包括多个辊轮(111)、驱动板(113)和沿X方向设置的第二剪叉臂部件(112)，所述第二剪叉臂部件(112)包括多个相互铰接的剪叉臂，所述多个相互铰接的剪叉臂之间形成有多个第二铰接点，位于所述第二剪叉臂部件(112)上方的且相对的所述第二铰接点通过所述辊轮(111)连接，所述多个辊轮(111)的间距可调，所述多个辊轮(111)被配置为承载所述物料，所述驱动板(113)驱动连接于所述第二剪叉臂部件(112)一端，所述驱动板(113)被配置为驱动所述第二剪叉臂部件(112)伸长或缩短。
  17. 根据权利要求16所述的物流码垛系统，其中，所述驱动板(113)上设置有位置传感器(1131)，所述位置传感器(1131)被配置为测量所述驱动板(113)距离障碍物的距离。
  18. 根据权利要求1所述的物流码垛系统，其中，所述上料装置(1)和所述多级升降装置(4)的数量均为两个，一个上料装置(1)安装于一个多级升降装置(4)上，两个多级升降装置(4)同步驱动两个上料装置(1)升降；
    所述进料分流装置(2)设置于所述两个上料装置(1)之间，所述进料分流装置(2)被配置为将所述物料输送于所述两个上料装置(1)上。
  19. 根据权利要求1或2所述的物流码垛系统，其中，所述进料分流装置(2)包括基座(21)、多个转动组件(22)及驱动组件(23)，所述多个转动组件(22)可转动地设于所述基座(21)上，所述转动组件(22)上固定设有多个第一麦克纳姆轮(2211)，所述多个转动组件(22)包括多个第一转动组件(221)和多个第二转动组件(222)，所述第一转动组件(221)上的第一麦克纳姆轮(2211)与所述第二转动组件(222)上的第一麦克纳姆轮(2211)的安装方向相反，所述多个第一转动组件(221)和所述多个第二转动组件(222)依次交替排列；所述多个第一麦克纳姆轮(2211)被配置为被所述转动组件(22)带动转动以驱动所述物料沿第二预设方向移动；所述驱动组件(23)安装于所述基座(21)上，所述驱动组件(23)与所述多个转动组件(22)传动连接且所述多个转动组件(22)被配置为被所述驱动组件(23)驱动转动。
  20. 根据权利要求19所述的物流码垛系统，其中，所述第一转动组件(221)和所述第二转动组件(222)分别通过两个驱动组件(23)驱动转动。
  21. 根据权利要求19所述的物流码垛系统，其中，所述驱动组件(23)包括传动连接的第一驱动电机(231)和第一传动带(232)，所述第一驱动电机(231)固定安装于所述基座(21)上，所述第一传动带(232)与所述多个转动组件(22)传动连接。
  22. 根据权利要求21所述的物流码垛系统，其中，所述第一驱动电机(231)为调速电机。
  23. 根据权利要求21所述的物流码垛系统，其中，所述转动组件(22)包括轴承(2212)和转动轴(2213)，所述轴承(2212)固定安装于所述基座(21)上，所述转动轴(2213)的两端通过所述轴承(2212)安装于所述基座(21)上，所述转动轴(2213)与所述第一传动带(232)传动连接，所述多个第一麦克纳姆轮(2211)固定套设于所述转动轴(2213)的外周。
  24. 根据权利要求23所述的物流码垛系统，其中，所述多个第一麦克纳姆轮(2211)等间隔设于所述转动轴(2213)上。
  25. 根据权利要求24所述的物流码垛系统，其中，所述驱动组件(23)还包括张紧轮组(233)，所述张紧轮组(233)可转动地安装于所述基座(21)上，所述张紧轮组(233)被配置为对所述第一传动带(232)张紧。
  26. 根据权利要求1或2所述的物流码垛系统，其中，所述伸缩平台装置(3)包括一级伸缩平台(31)、二级伸缩平台(32)、基台(33)及倍速伸缩组件(34)，所述一级伸缩平台(31)被配置为承载所述多级升降装置(4)；所述二级伸缩平台(32)位于所述一级伸缩平台(31)的下方，所述一级伸缩平台(31)滑动连接于所述二级伸缩平台(32)；所述基台(33)安装于所述行走装置(5)上且位于所述二级伸缩平台(32)的下方，所述二级伸缩平台(32)滑动连接于所述基台(33)，所述基台(33)上设置有第二驱动件(331)，所述第二驱动件(331)被配置为驱动所述二级伸缩平台(32)伸缩；所述基台(33)通过所述倍速伸缩组件(34)驱动连接于所述一级伸缩平台(31)；在所述二级伸缩平台(32)相对所述基台(33)伸出或缩回的情况下，所述倍速伸缩组件(34)被配置为驱动所述一级伸缩平台(31)相对所述 二级伸缩平台(32)伸出或缩回。
  27. 根据权利要求26所述的物流码垛系统，其中，所述倍速伸缩组件(34)包括第一链条(341)和第二链条(342)，所述二级伸缩平台(32)的第二端设置有第一轮轴(321)，所述二级伸缩平台(32)的第一端设置有第二轮轴(322)；
    所述第一链条(341)绕装于所述第一轮轴(321)，且所述第一链条(341)的一端连接于所述一级伸缩平台(31)的第一端，另一端连接于所述基台(33)，所述第一链条(341)被配置为驱动所述一级伸缩平台(31)向远离所述二级伸缩平台(32)的方向移动；
    所述第二链条(342)绕装于所述第二轮轴(322)，且所述第二链条(342)的一端连接于所述一级伸缩平台(31)的第一端，另一端连接于所述基台(33)，所述第二链条(342)被配置为驱动所述一级伸缩平台(31)向靠近所述二级伸缩平台(32)的方向移动。
  28. 根据权利要求27所述的物流码垛系统，其中，所述第一轮轴(321)和所述第二轮轴(322)均为链轮。
  29. 根据权利要求27所述的物流码垛系统，其中，所述第一链条(341)、所述第二链条(342)、所述第一轮轴(321)及所述第二轮轴(322)的数量均为两个。
  30. 根据权利要求26所述的物流码垛系统，其中，所述伸缩平台装置(3)还包括第一起落架组件(35)和第二起落架组件(36)，所述第一起落架组件(35)安装于所述一级伸缩平台(31)的底部，所述第一起落架组件(35)被配置为支撑伸出后的所述一级伸缩平台(31)，所述第二起落架组件(36)安装于所述二级伸缩平台(32)的底部，所述第二起落架组件(36)被配置为支撑伸出后的所述二级伸缩平台(32)。
  31. 根据权利要求30所述的物流码垛系统，其中，所述一级伸缩平台(31)的第二端底部设置有所述第一起落架组件(35)，所述第一起落架组件(35)包括第一连接杆(351)、第一滚轮(352)及第三驱动件(353)；所述第一连接杆(351)的一端铰接于所述一级伸缩平台(31)的第二端的端部，另一端安装有第一滚轮(352)，所述第三驱动件(353)安装于所述一级伸缩平台(31)的底部，所述第三驱动件(353)的输出端驱动连接于所述第一连接杆(351)靠近所述第一滚轮(352)的一端，所述第三驱动件(353)被配置为驱动所述第一连接杆(351)绕所述一级伸缩平台(31)转动，以支撑所述一级伸缩平台(31)。
  32. 根据权利要求31所述的物流码垛系统，其中，所述二级伸缩平台(32)的第二端底部设置有第二起落架组件(36)，所述第二起落架组件(36)包括第二连接杆(361)、第二滚轮(362)及第四驱动件(363)；所述第二连接杆(361)的一端铰接于所述二级伸缩平台(32)的底部，另一端安装有第二滚轮(362)，所述第四驱动件(363)安装于所述二级伸缩平台(32)的第二端的端部，所述第四驱动件(363)的输出端驱动连接于所述第二连接杆(361)靠近所述第二滚轮(362)的一端，所述第四驱动件(363)被配置为驱动所述第二连接杆(361)绕所述二级伸缩平台(32)转动，以支撑所述二级伸缩平台(32)。
  33. 根据权利要求26所述的物流码垛系统，其中，所述二级伸缩平台(32)的外侧壁设置有第一导轨(323)，所述一级伸缩平台(31)两边设置有与所述第一导轨(323)匹配的第一滑轮，所述第一滑轮滑接于所述第一导轨(323)；
    所述一级伸缩平台(31)的外侧壁设置有第二导轨(334)，所述二级伸缩平台(32)两边设置有与所述第二导轨(334)匹配的第二滑轮，所述第二滑轮滑接于所述第二导轨(334)。
  34. 根据权利要求32所述的物流码垛系统，其中，所述第二驱动件(331)、所述第三驱动件(353)及所述第四驱动件(363)均为油缸。
  35. 根据权利要求26所述的物流码垛系统，其中，所述伸缩平台装置(3)还包括校准组件，所述校准组件包括第一陀螺仪和第二陀螺仪，所述一级伸缩平台(31)上设置有所述第一陀螺仪，所述基台(33)上设置有所述第二陀螺仪，所述校准组件为所述一级伸缩平台(31)调节伸缩后相对所述基台(33)的平行度的参照。
  36. 根据权利要求1-35任一项所述的物流码垛系统，其中，所述多级升降装置(4)包括一级升降机构(41)和二级升降机构(42)，所述上料装置(1)安装于所述一级升降机构(41)上，所述一级升降机构(41)被配置为驱动所述上料装置(1)升降，所述一级升降机构(41)安装于所述二级升降机构(42)上，所述二级升降机构(42)被配置为驱动所述一级升降机构(41)升降。
  37. 根据权利要求1或2所述的物流码垛系统，其中，所述行走装置(5)包括底盘(51)和移动机构(52)，所述底盘(51)安装于所述移动机构(52)上，所述伸缩平台装置(3)安装于所述底盘(51)上，所述移动机构(52)为履带式或轮式驱动的结构。
  38. 根据权利要求1所述的物流码垛系统，其中，所述码垛机还包括平移装置(200)以及传送带(7)；
    所述平移装置(11)设于所述行走装置(5)上；所述上料装置(1)、所述进料分流装置(2)、所述伸缩平台装置(3)、所述多级升降装置(4)以及所述传送带(7)组成所述码垛机的主体部分(300)，所述主体部分(300)设于所述平移装置(11)上方，所述平移装置(11)被配置为推动所述主体部分(300)沿X方向移动；
    所述伸缩平台装置(3)以及所述传送带(7)均与所述平移装置(11)的输出端连接。
  39. 根据权利要求38所述的物流码垛系统，其中，所述平移装置(200)包括：
    平移气缸(210)，所述平移气缸(210)的主体固定于所述行走装置(5)上，所述平移气缸(210)的活塞与所述主体部分(300)连接。
  40. 根据权利要求39所述的物流码垛系统，其中，所述平移装置(200)还包括：
    第一滑轨(220)，沿X方向设于所述行走装置(5)上；
    第一滑块(230)，与所述第一滑轨(220)滑动配合，所述主体部分(300)固定于所述第一滑块(230)上。
  41. 根据权利要求40所述的物流码垛系统，其中，所述第一滑轨(220)的数量为两条，两条第一滑轨(220)平行设置，每一第一滑轨(220)上设置多个第一滑块(230)。
  42. 根据权利要求38所述的物流码垛系统，其中，所述主体部分(300)还包括：
    归整装置(6)，设于所述传送带(7)的上方，被配置为对所述传送带(7)上的物料进行归整定位。
  43. 根据权利要求42所述的物流码垛系统，其中，所述归整装置(6)包括两个伺服电机(62)和两块归整板(63)，每一伺服电机(62)的输出端连接一块归整板(63)，所述两个伺服电机(62)被配置为驱动所述两块归整板(63)相互靠近以将物料向所述所述传送带(7)的中间靠拢；每块归整板(63)的顶部设置有三角形加强板(64)。
  44. 根据权利要求38至43中任一项所述的物流码垛系统，其中，所述传送带(7)包括第五驱动件、多个同步带(71)、多条第二转轴(72)以及套设于每条第二转轴(72)上的多个第二麦克纳姆轮(73)；所述第五驱动件与一条第二转轴(72)连接，每个同步带(71)套设在两条第二转轴(72)上，所述多个同步带(71)被配置为在所述多条第二转轴(72)之间传递转矩。
  45. 根据权利要求38至43中任一项所述的物流码垛系统，其中，所述码垛机还包括外壳(370)，所述外壳(370)盖设于所述传送带(7)上方，所述外壳(370)被配置为防护所述传送带(7)。
  46. 根据权利要求38至43任一项所述的物流码垛系统，其中，所述传送带(7)的入口端设置有两块导向板(74)，所述两块导向板(74)形成一个外扩的开口，所述两块导向板(74)被配置为对流入所述传送带(7)的物料进行导向。
  47. 根据权利要求1或2所述的物流码垛系统，还包括液压升降平台(10)，所述码垛机设置于所述液压升降平台(10)上，所述行走装置(5)被配置为在所述液压升降平台(10)上行走。
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CN114771937A (zh) * 2022-05-05 2022-07-22 南通烟滤嘴有限责任公司 一种滤棒码垛整形装置
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CN117262616A (zh) * 2023-09-12 2023-12-22 山东杰达新型建材有限责任公司 一种水泥生产用节能环保型上料装置
CN117585438A (zh) * 2024-01-18 2024-02-23 江苏弘德光电材料科技有限公司 一种复合膜卷材运输设备
CN117983890A (zh) * 2024-03-21 2024-05-07 无锡联仕达机械工业有限公司 一种自动化高速立锯
CN118618905A (zh) * 2024-08-14 2024-09-10 烟台欧冠粉末设备有限公司 一种具有码料功能的全自动邦定机出料机构

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