Loading system and loading method

Abstract

The present invention provides a loading system and a loading method. The loading system comprises a first conveyor line, a stacking type detection mechanism, a layer removal mechanism, a control system, a second conveyor line and a third conveyor line. The stacking type detection mechanism detects the activity of the arrangement of cargo boxes, and the layer removal mechanism performs layer removal processing according to the arrangement form of the cargo boxes, and can respectively transport goods arranged in different directions to the second conveyor line and the third conveyor line, which can improve the stacking progress and the loading efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent cargo loading and unloading, and in particular to a loading system and a loading method. Background Art

[0002] The loading of goods must go through the following process.

[0003] Transport: Usually with the help of conveyor lines, goods can be transported in a single layer on the conveyor line, but usually, with an efficient loading system, the goods are stacked in multiple layers and output on the conveyor line.

[0004] Layer removal: Remove the goods on the conveyor line in layers and transport them to a designated point for subsequent processing. In the prior art, the stacking of single-layer goods follows certain rules. For multi-layer goods, the stacking of goods on adjacent layers also follows certain rules.

[0005] In the prior art, the multi-layer cargo is usually simply placed layer by layer on the same conveyor line and transported to the loading position for loading. The cargo is stacked in a messy manner and further adjustments are required during loading, which affects the loading efficiency. Summary of the invention

[0006] The present invention provides a loading system and a loading method which can load goods in a standardized and efficient manner.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] A loading system, which includes the following steps in sequence along the cargo moving process:

[0009] The first conveyor line;

[0010] The stack type detection mechanism comprises a frame arranged above the first conveyor frame and a stack type detection component mounted on the frame, wherein the stack type detection component comprises: a first detection component and a second detection component arranged at intervals and movably mounted on the frame, and a detection switch 1 and a detection switch 2; the first detection component can be moved to trigger the detection switch 1, and the second detection component can be moved to trigger the detection switch 2;

[0011] The delamination mechanism comprises a first frame and a second frame, wherein the first frame is arranged on the upper side of the first conveyor line, the second frame is installed on the first frame via a pivoting and moving mechanism, and a plurality of first suction cups and a plurality of second suction cups are installed on the second frame;

[0012] A control system is electrically connected to the detection assembly and is used to obtain detection signals of the detection switch 1 and the detection switch 2; is electrically connected to the pivoting and moving mechanism and is used to control the movement of the layer removal mechanism; and is electrically connected to the suction cup assembly and is used to control the movement of the first suction cup and the second suction cup;

[0013] The second frame can be moved to the transfer and transportation mechanism via the pivoting and moving mechanism;

[0014] The second conveyor line and the third conveyor line, the transfer transport mechanism can run to the second conveyor line and the third conveyor line.

[0015] In some embodiments of the present invention, the control system includes:

[0016] A first suction cup control unit: used for generating a suction and release action control signal of the first suction cup according to the detection signals of the detection switch 1 and the detection switch 2;

[0017] A second suction cup control unit: used for generating a suction and release action control signal of the second suction cup according to the detection signals of the detection switch 1 and the detection switch 2;

[0018] The first suction cup control unit and the second suction cup control unit independently control the first suction cup and the second suction cup.

[0019] In some embodiments of the present invention, a shaping mechanism is further provided between the stack type detection mechanism and the layer removal mechanism, and the shaping mechanism includes:

[0020] Bracket: arranged on the upper side of the first conveyor line;

[0021] The third frame: installed on the bracket through the lifting mechanism;

[0022] The first pushing mechanism includes two sets of pushing components relatively mounted on the third frame, and the pushing directions of the two sets of pushing components are relatively

[0023] The second pushing mechanism comprises two groups of pushing components relatively mounted on the third frame, the pushing directions of the two groups of pushing components are opposite and perpendicular to the pushing directions of the two groups of pushing components in the first pushing mechanism.

[0024] In some embodiments of the present invention, the goods are transported in multiple layers through a conveyor line, and the control system is further configured to generate a control signal for each layer of goods based on the detection signals of detection switch 1 and detection switch 2, so as to control the delamination mechanism to delaminate each layer of goods.

[0025] In some embodiments of the present invention, the second conveyor line and the third conveyor line are arranged in parallel, and the loading system further includes a turntable arranged on the side of the second conveyor line or the side of the third conveyor line; the control system is further connected to the turntable to control the rotation of the turntable.

[0026] In some embodiments of the present invention, the loading system further includes a pushing mechanism, which is arranged on the side of the second conveyor line or the third conveyor line and is located on the side opposite to the turntable. The pushing mechanism includes a power mechanism and a pushing plate, and the pushing plate can be driven by the power mechanism to be pushed out in the direction of the turntable.

[0027] In some embodiments of the present invention, the loading system further includes a fourth conveyor line, which is disposed at the front end of the first conveyor line and connected to the first conveyor line via a transplanting mechanism.

[0028] In some embodiments of the present invention, the loading system further includes a fifth conveying line, and the fifth conveying line is arranged at the rear end of the delamination mechanism.

[0029] In some embodiments of the present invention, a loading method is further provided, using the above-mentioned loading system, comprising:

[0030] Determine the stack type according to the detection signals of the detection switch 1 and the detection switch 2;

[0031] Determine whether the direction of the suction cup assembly corresponds to the stack type;

[0032] If yes, start the suction cup assembly to suck the goods, transport the goods in the first direction sucked by the first suction cup to the second conveyor line, and transport the goods sucked by the second suction cup to the third conveyor line;

[0033] If not, the suction cup assembly is controlled to pivot and adjust to a direction corresponding to the stack type, the suction cup assembly is started to suck the goods, the goods in the first direction sucked by the first suction cup are transported to the second conveyor line, and the goods in the second direction sucked by the second suction cup are transported to the third conveyor line;

[0034] Load the goods on the second and third conveyor lines.

[0035] In some embodiments of the present invention, the method further comprises: loading the goods transported by the second conveyor line and the goods transported by the third conveyor line into vehicles according to the interval layers.

[0036] Compared with the prior art, the delamination device provided by the present invention has the following beneficial effects:

[0037] It provides an automated assembly line loading system. An intelligent destacking mechanism is added, and the direction of the suction cup is set according to the way the goods are stacked. The suction cup corresponds to the cargo box one by one to ensure that the goods can be sucked smoothly. It can automatically detect and determine the arrangement of the entire layer of cargo boxes, adjust the destacking mechanism to correspond to the arrangement of the cargo boxes, and accurately destacking. Goods arranged in different directions can be placed on different conveyor lines to ensure that the cargo boxes on the same conveyor line have the same direction, standardize the stacking of goods, and facilitate subsequent sorting and loading. It can greatly improve loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 This is a schematic diagram of the loading system structure;

[0040] Figure 2 This is a schematic diagram of the loading system structure;

[0041] Figure 3 This is a structural diagram of the delamination equipment in the unfastened state;

[0042] Figure 4 This is a schematic diagram of the structure of the layer removal equipment in the clamping state;

[0043] Figure 5 This is a schematic diagram of the structure of the layer removal equipment from a top view;

[0044] Figure 6 It is a schematic diagram of the three-dimensional structure of the layer removal equipment;

[0045] Figure 7 This is a schematic diagram of the loading gantry structure;

[0046] Figure 8 This is a schematic diagram of the loading gantry structure;

[0047] Fig. 9 This is a schematic structural diagram of a stack type detection mechanism according to a first embodiment of the present invention;

[0048] Fig.10 This is a schematic structural diagram of a stack type detection assembly according to a first embodiment of the present invention;

[0049] Fig.11 This is a structural schematic diagram of a working state of a stack type detection mechanism according to a first embodiment of the present invention;

[0050] Fig.12 This is a structural schematic diagram of the second working state of the stack type detection mechanism of the first embodiment of the present invention;

[0051] Fig.13 This is a schematic diagram of the third structure of the working state of the stack type detection mechanism of the first embodiment of the present invention;

[0052] Fig.14 This is a schematic structural diagram of a stack type detection mechanism according to a first embodiment of the present invention;

[0053] Fig.15This is a schematic structural diagram of a stack type detection assembly according to a second embodiment of the present invention;

[0054] Fig.16 This is a structural schematic diagram of a working state of a stack type detection mechanism according to a second embodiment of the present invention;

[0055] Fig.17 This is a structural schematic diagram of the second working state of the stack type detection mechanism of the second embodiment of the present invention;

[0056] Fig.18 This is a structural schematic diagram of the third working state of the stack type detection mechanism of the second embodiment of the present invention;

[0057] Fig.19a The stacking form of goods in the cargo stack;

[0058] Fig.19b The stacking form of goods in the cargo stack;

[0059] Fig. 20 It is a structural diagram of the shaping mechanism;

[0060] Fig.21 It is a structural diagram of the shaping mechanism;

[0061] Among them, the reference numerals in the figure are:

[0062] 1-second frame, 101-first frame beam, 102-second frame beam, 103-third frame beam, 104-fourth frame beam, 105-first auxiliary beam, 106-second auxiliary beam, 107-first direction suction cup mounting beam, 108-second direction suction cup mounting beam;

[0063] 2- Pivot lever;

[0064] 3- driving cylinder;

[0065] 4-holding claw, 401-main body, 402-holding panel;

[0066] 5- driver block;

[0067] 6- Seat plate;

[0068] 701-first direction suction cup, 702-second direction suction cup;

[0069] 8-first frame, 801-lifting drive module, 802-horizontal moving module, 803-rotating module;

[0070] 9-Auxiliary holding claws;

[0071] 10-frame, 1001-beam, 1002-supporting foot;

[0072] 11-stack type detection assembly, 11011-bracket 1, 11012-bracket 2, 11021-support rod 1, 11022-support rod 2, 11031-detection switch 1, 11032-detection switch 2, 1104-shaft sleeve, 1105-stopper, 11061-roller 1, 11062-roller 2, 1107-oblong hole, 1108-mounting surface, 1109-horizontal surface, 1110-vertical frame;

[0073] 12-Cargo box;

[0074] 1301-first pivot rod, 13011-first rod portion, 13012-second rod portion, 1302-detection switch three, 1303-first roller, 1304-first pivot shaft, 1305-first stopper, 1306-first mounting plate;

[0075] 1401 - second pivot rod, 1402 - detection switch four, 1403 - second roller, 1405 - second stopper, 1406 - second mounting plate;

[0076] 1501-first conveyor line, 1502-second conveyor line, 1503-third conveyor line, 1504-fourth conveyor line, 1505-fifth conveyor line

[0077] 16- Transplanting mechanism;

[0078] 17- Stack type detection mechanism;

[0079] 18- Layer removal mechanism;

[0080] 19-Transit and transportation agency;

[0081] 2001-first split organization, 2002-second split organization;

[0082] 21- Plastic surgery mechanism;

[0083] 22-Stand;

[0084] 23-frame, 2301-first beam, 2302-second beam, 2303-third beam, 2304-fourth beam;

[0085] 2401-first cylinder, 2402-first push plate, 2403-second cylinder, 2404-second push plate, 2405-third cylinder, 2406-third push plate, 2407-fourth cylinder, 2408-fourth push plate;

[0086] 25-Turntable;

[0087] 26-truck;

[0088] 27- Push mechanism. DETAILED DESCRIPTION

[0089] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0090] It should be noted that when an element is referred to as being "disposed on" or "connected to" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0091] It should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0092] It should be noted that the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not used to imply relative importance.

[0093] In some embodiments of the present invention, a loading system is first provided, referring to Figure 1 and Figure 2 , used for loading goods, and includes in sequence along the goods moving process: a first conveyor line 1501, a stack type detection mechanism 17, a layer removal mechanism 18, a transfer movement mechanism 19, a third conveyor line 1502 and a third conveyor line 1503.

[0094] The goods are transported forward via the first conveyor line 1501. Depending on the environmental conditions of cargo loading and unloading, in some embodiments, according to the cargo transportation process, the front end of the first conveyor line 1501 may also include a fourth conveyor line 1504. Usually, in order to save the floor space of the entire loading line, the fourth conveyor line 1504 may be selected to be perpendicular to the first conveyor line 1502. The goods are transported to the first conveyor line 1501 via the fourth conveyor line 1504 via the transplanting mechanism 16; further, the goods are usually arranged in a single layer or multiple layers and placed on pallets for transportation. After the goods are loaded, the pallets need to be recovered. In some embodiments, according to the cargo transportation process, the rear end of the first conveyor line 1501 may also be selected to set a fifth conveyor line 1505 for recovering empty pallets. The fifth conveyor line 1505 may also be selected to be set perpendicular to the first conveyor line 1501, and a transplanting mechanism may be further provided to transfer the pallets via the first conveyor line 1501 to the fifth conveyor line 1505 for recovery.

[0095] The stack type detection mechanism 17 is used to detect the stack type of a single-layer cargo box arrangement. The stack type described in the present invention refers to the horizontal and vertical arrangement of cargo boxes in a layer of products, the number of cargo boxes, etc. The stack type detection mechanism includes a frame arranged above the first conveyor line and a stack type detection component installed on the frame. The stack type detection component includes: a first detection component and a second detection component that are arranged at intervals and movably installed on the frame, and a detection switch 1 and a detection switch 2 that are installed at intervals on the frame; the first detection component can move to trigger the detection switch 1, and the second detection component can move to trigger the detection switch 2; when the cargo box passes through the stack type detection mechanism, the movement of the first detection component and the second detection component will be triggered, triggering the detection switch 1 11031 and the detection switch 2 11032; and since there will be gaps in the arrangement of the cargo boxes, when the first detection component and the second detection component pass through the gaps between the cargo boxes, the detection signals of the detection switch 1 11031 and the detection switch 2 11032 disappear, based on which a stack type judgment signal can be generated;

[0096] Delamination mechanism 18, structural reference Figures 3 to 8 , arranged behind the stack type detection mechanism along the direction of cargo conveying, including:

[0097] The first frame 8 may be a gantry frame, and the first conveyor line 1501 passes under the gantry frame;

[0098] The second frame 1 is mounted on the first frame 8 via a pivoting and moving mechanism, and the pivoting and moving mechanism can control the second frame 1 to rotate and move relative to the first frame 8;

[0099] Suction cup assembly; installed on the second frame 1, including a plurality of first direction suction cups 701 arranged along the first direction and a plurality of second direction suction cups 702 arranged along the second direction, and the suction cup mouth direction is toward the conveyor line; the first direction and the second direction are perpendicular to each other. After the suction cup assembly is installed, the first direction suction cup 701 and the second direction suction cup 702 correspond to the stacking direction and quantity of the cargo box.

[0100] In some embodiments of the present invention, the pivoting and moving mechanism comprises:

[0101] Rotating module 803: the second frame 1 is mounted on the rotating module 803, and the rotating module 803 can at least control the delamination device to pivot 180 degrees;

[0102] The longitudinal walking module 801, the rotating module 803 is installed on the longitudinal walking module to drive the second frame 1 to do lifting movement;

[0103] A horizontal walking module 802, on which the longitudinal walking module 801 is mounted, is used to control the delamination equipment to move in two horizontal degrees of freedom;

[0104] The control system described below is electrically connected to the rotating module 803, the horizontal walking module 802, and the longitudinal walking module 801 to control the movement of the suction cup assembly.

[0105] The control system is electrically connected to the detection component to obtain the detection signals of the detection switch 1 11031 and the detection switch 2 11032; it is electrically connected to the pivoting and moving mechanism to control the movement of the delamination mechanism; and it is electrically connected to the suction cup assembly to control the movement of the first direction suction cup 701 and the second direction suction cup 702.

[0106] The transfer transport mechanism 16, the second frame 8 can be moved to the transfer transport mechanism 16 via the pivoting and moving mechanism; the transfer transport mechanism 16 is connected to the translation drive component and the rotation drive component, can perform rotation and translation movement, and can be moved to the second conveyor line 1502 and the third conveyor line 1503.

[0107] The stack type detection mechanism 17 detects the form and quantity of the horizontal and vertical stacking of the single-layer goods, determines the stack type, determines and adjusts the direction of the suction cup assembly so that the arrangement direction of the first direction suction cup 701 and the second direction suction cup 702 in the suction cup assembly corresponds to the direction of the cargo box stacking, and absorbs the goods.

[0108] In some embodiments of the present invention, the control system comprises:

[0109] The first suction cup control unit is used to generate a suction and release action control signal of the first direction suction cup 701 according to the detection signals of the detection switch 1 and the detection switch 2;

[0110] The second suction cup control unit is used to generate a suction and release action control signal of the second direction suction cup 702 according to the detection signals of the detection switch 1 and the detection switch 2;

[0111] The first suction cup control unit and the second suction cup control unit independently control the first direction suction cup 701 and the second direction suction cup 702. Specifically, the suction and release actions of the two direction suction cups do not affect each other.

[0112] Based on this, the goods sucked by the first direction suction cup 701 can be transported to the first splitting mechanism 2001 via the transfer transport mechanism 16, and the goods sucked by the second direction suction cup assembly 702 can be transported to the second splitting mechanism 2002 via the transfer transport mechanism 16. Among them, the first splitting mechanism 2001 is aligned with the second conveying line 1502, and the second splitting mechanism 2002 is aligned with the third conveying line 1503. Based on this, the goods arranged in different directions can be transported to different conveying lines respectively.

[0113] In some embodiments of the present invention, the goods are transported in multiple layers through a conveyor line, and the control system is further configured to generate a control signal for each layer of goods based on the detection signals of detection switch 1 and detection switch 2, so as to control the delamination mechanism to delaminate each layer of goods.

[0114] The cargo stack is usually stacked in 4-5 layers when transported by the conveyor chain. The stacking forms of the adjacent layers are opposite, and the adjacent layers are staggered to ensure the stability of the cargo stack. For example, the stacking of 5 layers of cargo is defined as the first layer, and the layer on the conveyor chain is the bottom layer. Fig.19a The first layer of goods is shown in Figure 19b, and the second layer of goods is shown in Figure 19b, and the third layer to the bottom layer are repeated. Fig.19a , Fig.19b and Fig.19a Similarly, if Fig.19b The first layer of cargo is shown, repeat for the second to bottom layers Fig.19a , Fig.19b , Fig.19a and Fig.19b Therefore, as long as the stacking form of the first layer of goods is determined, the stacking form of the other layers of goods can be deduced, and then the corresponding control signal can be generated. After taking the first layer of goods, the layer removal mechanism 18 can be controlled to rotate 180°, and then the operation of the second layer of goods can be performed.

[0115] In some embodiments of the present invention, a shaping mechanism 21 is further provided between the stacking type detection mechanism 17 and the layer removal mechanism 18. Since the stacking of the cargo boxes is relatively sparse, it is not conducive to the operation of the layer removal mechanism 18, and the shaping mechanism 21 is used to clamp the whole stack of cargo boxes.

[0116] refer to Figure 20 to Figure 21 , the shaping mechanism 21 comprises:

[0117] Support 22: A gantry support may be used, straddling the first conveyor line 1501;

[0118] The third frame 23 is mounted on the bracket through a lifting mechanism;

[0119] The first pushing mechanism includes a first pushing assembly and a second pushing assembly mounted on the third frame 23, and the pushing directions of the two pushing assemblies are opposite.

[0120] The second pushing mechanism comprises a third pushing assembly and a fourth pushing assembly relatively mounted on the third frame 23, wherein the pushing directions of the two pushing assemblies are opposite and perpendicular to the pushing directions of the two pushing assemblies in the first pushing mechanism.

[0121] The third frame 23 can be a square frame, and the first pushing mechanism and the second pushing mechanism form a directional space, and the shaping operation is performed when the cargo stack passes through the space.

[0122] Specifically, the third frame 23 includes a first crossbeam 2301 and a second crossbeam 2302 that are arranged opposite to each other. The first pushing assembly is installed on the first crossbeam 2301, including a first cylinder 2401 installed on the first crossbeam 2301, and a first pushing plate 2402 installed at the power output end of the first cylinder 2401. The second pushing assembly is installed on the second crossbeam 2302, including a second cylinder 2403 installed on the second crossbeam 2302, and a second pushing plate 2404 installed at the power output end of the second cylinder 2403. The first pushing plate 302 is pushed out toward the direction of the second pushing plate 304, and the second pushing plate 2404 is pushed out toward the direction of the first pushing plate 2402. The two simultaneously clamp the product and adjust the position of the product.

[0123] The third frame 23 further includes a third crossbeam 2303 and a fourth crossbeam 2304 that are arranged opposite to each other; the third push assembly is installed on the third crossbeam 2303, including a third cylinder 2405 installed on the third crossbeam 2303, and a third push plate 2406 installed at the power output end of the third cylinder 2405; the fourth push assembly is installed on the fourth crossbeam 2304, including a fourth cylinder 2407 installed on the fourth crossbeam 2304, and a fourth push plate 2408 installed at the power output end of the fourth cylinder 2407. The third push plate 2406 is pushed out in the direction of the fourth push plate 2408, and the fourth push plate 2408 is pushed out in the direction of the third push plate 2406. The two simultaneously clamp the product and adjust the position of the product.

[0124] The third frame 23 can move up and down along the bracket 22 to align the multi-layer goods. When working, the first pushing mechanism and the second pushing mechanism are started to clamp the goods from four directions to shape the goods and ensure that the subsequent suction cup assembly absorbs the goods.

[0125] Specifically, two implementation structures of the stack type detection mechanism are provided.

[0126] Example 1

[0127] refer to Figures 7 to 10 The stacking detection mechanism is used to detect the arrangement of single-layer goods on the conveyor line, that is, the horizontal and vertical arrangement of the cargo boxes in the top layer of goods, including:

[0128] Frame 10;

[0129] Bracket: installed on the frame 10, located above the conveyor line, including bracket 1 11011 and bracket 2 11012 arranged at intervals;

[0130] Support rod: including support rod 1 11021 and support rod 2 11022;

[0131] The bracket 11011 is installed on the frame 10, the first end of the support rod 11021 passes through the bracket 11011, and the second end is restricted on the bracket 11011; the detection switch 11031 is arranged on the side of the second end of the support rod 11021, and can be triggered when the support rod 11021 moves relative to the frame 10;

[0132] The first end of the second support rod 11022 passes through the second bracket 11012, and the second end is restricted on the second bracket 11012; the detection switch 11032 is arranged on one side of the second end of the second support rod 11012, and can be triggered when the second support rod 11022 moves relative to the frame 10.

[0133] The two supporting rods are respectively used to detect the quantity of goods on the outermost side of a single layer of goods. After obtaining these two data, the arrangement of the entire layer of goods can be known.

[0134] Contact assembly: installed on the support rod, facing the direction of the cargo stack, and can contact with the cargo when the cargo passes by to trigger the support rod to move relative to the bracket; specifically, it includes a contact piece 1 installed on the support rod 11021 and a contact piece 2 installed on the support rod 11022, which can contact with the cargo when the cargo passes by to trigger the support rod 11021 and the support rod 2 11022 to move relative to the bracket 11011; in order to reduce the friction of contact and relative movement between the contact piece and the cargo box, in this embodiment, the contact piece adopts a roller, including a roller 11061 installed on the support rod 11021, and a roller 2 11062 installed on the support rod 2 11022.

[0135] When the roller contacts the cargo, it lifts the corresponding support rod. When it moves to the gap between the cargo boxes, the pulley moves into the gap. During the lifting and lowering process, the corresponding detection switch detects the induction signal. Fig.19a Taking the cargo stacking form shown in FIG. 11 as an example, the roller 1 11061 corresponding to the first side cargo box rises and falls 3 times, and the roller 2 11062 corresponding to the second side cargo box rises and falls 2 times. The stacking type is determined based on the number of roller rise and fall signals. Fig.13 , which is the working process of stack type detection.

[0136] In some embodiments of the present invention, the stack type detection mechanism is further implemented by the following structure.

[0137] The frame includes a crossbeam 1001 arranged at a distance from the ground, a support leg 1002 is arranged at the ground end, and a bracket 1101 is installed on the crossbeam 1001 .

[0138] In some embodiments of the present invention, the bracket 1101 includes a through hole facing the direction of the cargo stack, the direction of the through hole facing the conveyor line is the first end, the opposite side of the first end is the second end, the support rod passes through the second end of the through hole to the first end side, and the contact member is installed on the first end side of the support rod. The bracket 1101 includes a mounting surface 1108 for mounting with the crossbeam 1001, and also includes a horizontal plane 1109 set at an angle to the mounting surface 1108, and is set in a direction parallel to the ground. The through hole is located in the horizontal plane. The support rod passes through the through hole on the horizontal plane, and the roller is located on the lower side of the horizontal plane, close to the side of the cargo stack conveyor line.

[0139] In some embodiments of the present invention, it also includes a sleeve 1104 installed on one side of the second end of the through hole, the shaft hole of the sleeve 1104 is connected with the through hole, the support rod 1102 passes through the sleeve 1104, and a stopper 1105 is installed on the end of the support rod away from the bracket through hole. The stopper 1105 is located outside the sleeve 1104 away from the side of the through hole, and the radial width is greater than the radial width of the sleeve axial aperture. When the contact member contacts the cargo stack, the support rod 202 will move along the through hole and the sleeve hole in the direction away from the cargo stack, and when it moves to the gap between the cargo boxes, the support rod falls back. In particular, if the stack type detection component is installed on the crossbeam 1001, the support rod can fall back due to gravity.

[0140] In some embodiments of the present invention, an oblong hole 1107 is provided on the bracket 1101 in a direction perpendicular to the cargo stack. The bracket 1101 is installed on the frame 1 through a mounting piece, and the mounting piece is inserted into the oblong hole 1107. The installation height of the bracket relative to the frame 10 can be adjusted by adjusting the position of the mounting piece relative to the oblong hole 1107 to meet the detection requirements of different cargo stacks.

[0141] The detection assembly further includes a vertical frame 1110 vertically mounted on the frame. The vertical frame 1110 is provided with an oblong hole, and the detection switch passes through the oblong hole.

[0142] Example 2

[0143] Structure Reference Fig.14 and Fig.15 The stacking detection mechanism is used to detect the arrangement of single-layer goods on the conveyor line, that is, the horizontal and vertical arrangement of the cargo boxes in the top layer of goods, including:

[0144] The first detection assembly includes a first pivot rod 1301 pivotally mounted on the frame, and a detection switch 3 1302 (corresponding to the detection switch 1 of the first embodiment) is arranged in the rotation direction of the first pivot rod 1301 and can be triggered when the first pivot rod 1301 rotates relative to the frame 10;

[0145] The second detection assembly includes a second pivot rod 1401 pivotally mounted on the frame, and a detection switch 4 1402 (corresponding to the detection switch 2 of the first embodiment) is arranged in the rotation direction of the second pivot rod 1401 and can be triggered when the second pivot rod 1401 rotates relative to the frame 10.

[0146] Specifically, the detection switch is set in the active rotation direction of the pivot rod after being triggered by the cargo. Under normal circumstances, the detection switch does not generate a detection signal. When the pivot rod is triggered by the cargo and rotates in the direction of the detection switch, the detection switch is triggered and generates a signal.

[0147] The terminal communicates data with the detection switch three 1302 and the detection switch four 1402 to collect the triggering status of the detection switch and then determine the stack type.

[0148] refer to Figures 16 to 18 . Usually, the cargo stack moves through the conveying mechanism. Within a unit area, the discharge mode of a single row of cargo boxes 3 includes two cargo boxes 3 or three cargo boxes 3 as shown in the figure. Since the cargo boxes 3 are not stacked tightly, there is a gap between the cargo boxes 3. In the case of two cargo boxes 3, there is one cargo box 3 gap within the unit area. In the case of three cargo boxes 3, there are two cargo box 3 gaps within the unit area. The frame 10 is installed above the conveying mechanism. When the cargo passes through the frame 10, the pivot rod contacts the cargo box. The height of the pivot rod is configured so that when it contacts the top surface of the cargo box 3, the cargo box 3 can trigger the rotation of the pivot rod. When the pivot rod rotates in the direction of the detection switch, the detection switch is triggered to generate a detection signal. Since there is a gap between adjacent cargo boxes 3, when the cargo stack continues to be transported forward, the pivot rod is located in the gap between the cargo boxes, and the detection signal of the detection switch disappears at this time; when the cargo stack continues to be transported forward, the pivot rod and the next cargo box base once again move in the direction close to the detection switch, and the detection switch continues to generate a detection signal. The terminal includes a processor, which can infer and calculate the stack type of the goods based on the number of times the detection switch is triggered when the goods stack passes (within a unit area, a single layer has two cargo boxes 3 or three cargo boxes 3, and the number of times the detection switch is triggered is different).

[0149] In some embodiments of the present invention, the mechanism further includes a contact member, which is mounted on the pivot rod and faces the direction of the cargo stack. When the cargo passes by, the contact member can contact the cargo to trigger the pivot rod to rotate relative to the frame. In some embodiments of the present invention, the contact member is a roller, a first roller 130 is mounted on the first pivot rod 1301, a second roller 1403 is mounted on the second pivot rod 1401, and the corresponding roller is axially connected to the corresponding pivot rod, and the outer peripheral surface of the roller faces the direction of the cargo stack. The roller structure can reduce the friction between the contact member and the cargo stack, and avoid damage to the cargo box 3.

[0150] In some embodiments of the present invention, the pivot rod is mounted on the frame 10 via a pivot shaft. Take the first group of detection components as an example. The first pivot rod 1301 is mounted on the frame via a first pivot shaft 1304. Taking the pivot shaft 1304 as a reference, the first pivot rod 1301 includes a first rod portion 13011 located on a first side of the first pivot shaft 1304, and a second rod portion 13012 located on a second side of the pivot shaft 1304. In the direction shown in the figure, the first rod portion 13011 is located above the pivot shaft 1304, and the second rod portion 13012 is located below the first pivot shaft 1304. When the goods pass by, one end of the second rod portion 13012 contacts the goods 3; based on the walking direction of the goods, the detection switch three 1302 is located behind the first rod portion 13011, so that after the first pivot rod 1301 is driven to rotate by the cargo box 3, the detection switch three 1302 generates a detection signal. The second pivot rod 1402 is installed on the frame 10 via the second pivot shaft 1404, and the detection switch four 1402 is arranged behind the active rotation direction of the second pivot rod 1402, so that after the second pivot rod 1402 is driven to rotate by the cargo box 3, the detection switch four 1402 generates a detection signal.

[0151] Furthermore, the center of gravity of the pivot rod is located at the second rod portion, so that the pivot rod can automatically rotate and reset after moving between the cargo boxes 3 or breaking away from the contact between the cargo boxes 3.

[0152] In some embodiments of the present invention, a stopper is further provided, and the rotation of the pivot rod driven by the cargo is passive rotation, and the rotation after the contact with the cargo is released is active rotation (reset motion). The first stopper 1305 is provided in the active rotation direction of the first pivot rod, and can contact the pivot rod 1301 during the active rotation of the pivot rod 1301 to stop the rotation of the first pivot rod 1301. Correspondingly, the second stopper 1405 is provided in the active rotation direction of the second pivot rod, and can contact the pivot rod 1401 during the active rotation of the pivot rod 1401 to stop the rotation of the second pivot rod 1401.

[0153] In some embodiments of the present invention, in order to solve the problem of installing the stack type detection assembly, a first mounting plate 1306 and a second mounting plate 1406 are provided on the bracket, and the detection switch, stopper and pivot rod on the corresponding side are all installed on the mounting plates.

[0154] In some embodiments of the present invention, the delamination mechanism is implemented by the following structure, referring to Figures 1 to 6 .

[0155] The frame 1 includes a first frame beam 101, a second frame beam 102, a third frame beam 103 and a fourth frame beam 104, and the first frame beam 101, the second frame beam 102, the third frame beam 103 and the fourth frame beam 104 form a closed area; the suction cup assembly is arranged in the closed space.

[0156] A first auxiliary beam 105 is provided between the first frame beam 101 and the third frame beam 103 , and a second auxiliary beam 106 is provided between the first auxiliary beam 105 and the second frame beam 102 ;

[0157] A first direction suction cup mounting beam 107 is provided between the first auxiliary beam 105 and the fourth frame beam 104 , and at least one first direction suction cup 701 is installed on each first direction suction cup mounting beam 107 ;

[0158] A second direction suction cup mounting beam 108 is provided between the second auxiliary beam 106 and the first frame beam 101 , and at least one second direction suction cup 702 is installed on each second direction suction cup mounting beam 108 ;

[0159] A first direction suction cup mounting beam 107 is further provided between the first auxiliary beam 105 and the second frame beam 102 , and a first direction suction cup 701 is mounted on each first direction suction cup mounting beam 107 .

[0160] Taking the specific implementation shown in the top view as an example, four first direction suction cup mounting beams 107 are arranged between the first auxiliary beam 105 and the fourth frame beam 104, and four first direction suction cups 701 are installed thereon; one first direction suction cup mounting beam 107 is arranged between the first auxiliary beam 105 and the second frame beam 102, and two first direction suction cups 701 are installed thereon. Two second auxiliary beams 106 are arranged between the first auxiliary beam 105 and the second frame beam 102, wherein three second direction suction cup mounting beams 108 are arranged between one second auxiliary beam 106 and the first frame beam 101, and three second direction suction cup mounting beams 108 are installed thereon; and three second direction suction cup mounting beams 108 are arranged between another second auxiliary beam 106 and the third frame beam 103, and three second direction suction cup mounting beams 702 are installed thereon.

[0161] The arrangement design of the above suction cup assembly is set based on the specific cargo stacking structure and the cargo transportation form. In actual application, the arrangement of the first direction suction cup 701 and the second direction suction cup 702 can also be improved according to the specific arrangement form of the single-layer cargo.

[0162] In some embodiments of the present invention, in order to improve the effect of firmly clamping and transporting the goods, in addition to the suction cup assembly, at least one set of clamping mechanisms is further provided on the frame, each set of clamping mechanisms includes a first clamping mechanism and a second clamping mechanism that are arranged opposite to each other, and the clamping mechanisms include:

[0163] Pivot rod 2: mounted on frame 1;

[0164] Driving cylinder 3: installed on the frame 1, and capable of applying output power to the pivot rod 2 to drive the pivot rod 2 to rotate;

[0165] The clamping claw 4 comprises a main body 401 mounted on the pivot rod 2, and the main body 401 is provided with a clamping panel 402;

[0166] The controller can further control the operation of the driving cylinder 3 to control the clamping mechanism to execute the clamping instruction and clamp the goods.

[0167] The clamping panels 402 of the first clamping mechanism and the clamping claws 4 of the second clamping mechanism are arranged opposite to each other so that the two can cooperate to clamp the two sides of the cargo.

[0168] In order to achieve a more stable holding effect, two sets of clamping and holding mechanisms can be designed for use. The configuration is as follows: the holding panels 402 of the holding claws of the first holding mechanism and the second holding mechanism are arranged oppositely, and the holding panels 402 of the holding claws of the third holding mechanism and the fourth holding mechanism are arranged oppositely. The holding claw 4 can rotate with the pivot rod 2. When it is rotated to the right position, the holding panel 402 is located below the bottom end surface of the frame 1, and a cargo accommodating space is formed between the four sets of holding mechanisms and the bottom end surface of the frame 1.

[0169] In some embodiments of the present invention, at least two clamping claws 4 are installed on the pivot rod 2 of each clamping mechanism. Specifically, the two clamping claws 4 are symmetrically arranged at both ends of the pivot rod 2 to ensure a more stable clamping effect.

[0170] Furthermore, in some embodiments, in order to enhance the clamping effect, an auxiliary clamping plate 9 may be installed between the two clamping claws 4. The length of the auxiliary clamping plate 9 must at least extend to the outermost cargo box in the same layer of goods to ensure that the middle layer of goods can be clamped.

[0171] In some embodiments of the present invention, the clamping claw body 401 is a bent structure, and the clamping panel 402 is located at the end of the clamping claw body 401. The bent structures of the clamping claw body 401 of the first clamping mechanism and the third clamping mechanism are opposite, and the bent structures of the clamping claw body 401 of the second clamping mechanism and the fourth clamping mechanism are opposite.

[0172] In some embodiments of the present invention, a driving block 5 is installed on the pivot rod, and the position of the driving block 5 is configured to be in contact with or connected to the power output shaft of the driving cylinder 3 to drive the pivot rod 2 to rotate. Each pivot rod 2 is provided with a driving block 5, and the driving block 5 can be directly connected to the cylinder shaft of the driving cylinder 3, or can be arranged in the direction in which the cylinder shaft of the driving cylinder extends, and both can realize that the driving cylinder 3 applies a force to the driving block 5 to drive the pivot rod 2 to rotate.

[0173] In some embodiments of the present invention, a seat plate 6 is provided on the frame, and the driving cylinder 3 is mounted on the seat plate 6. The seat plate 6 is mounted on the upper end surface of the frame 1, and each driving cylinder 3 corresponds to one seat plate 6.

[0174] In some embodiments of the present invention, the second conveyor line 1502 and the third conveyor line 1503 are arranged in parallel, the third conveyor line 1503, the second conveyor line 1502 and the first conveyor line 1501 are arranged in parallel and spaced apart, the third conveyor line 1503 is located on the side close to the first conveyor line 1501, and the gap between the third conveyor line 1503 and the first conveyor line 1501 can accommodate a truck to pass through, as a loading area. The goods after delamination are transported to the loading area via two conveyor lines. The loading system further includes a turntable 25 arranged on the side of the second conveyor line 1502 or the side of the third conveyor line 1503; the control system is further connected to the turntable 25 to control the rotation of the turntable 25. In this embodiment, the turntable 25 is arranged on the side of the third conveyor line 1503. When loading, the goods on the third conveyor line 1503 are first transferred to the truck via the turntable 25, and then the goods transported by the second conveyor line 1502 are transferred to the truck via the turntable 25.

[0175] In some embodiments of the present invention, the loading system further includes a pushing mechanism, and the pushing mechanism 27 is arranged on the side of the second conveyor line 1502 or the third conveyor line 1503, and is located on the side opposite to the turntable 25. The pushing mechanism includes a power mechanism and a pushing plate, and the pushing plate can be driven by the power mechanism to be pushed out in the direction of the turntable.

[0176] In this embodiment, the turntable 25 is arranged on the side of the third conveying line 1503 , and the pushing mechanism 27 is arranged on the side of the second conveying line 1502 .

[0177] Based on the above loading system, a loading method is further provided.

[0178] The goods are transported via the first conveyor line 1501 .

[0179] When the goods pass through the stack type detection mechanism, the stack type detection is performed. The stack type is determined based on the detection signals of the detection switch 1 11031 and the detection switch 2 11032; specifically, the type of goods arranged on the top layer is determined based on the number of times the two detection switches rise and fall when the goods pass under the detection switch 1 11031 and the detection switch 2 11032;

[0180] Determine whether the direction of the suction cup assembly corresponds to the stack type; specifically, the arrangement of the first direction suction cup 701 and the second direction suction cup 702 in the suction cup assembly corresponds to the stacking method of the goods or differs by 180°; Determine whether the direction of the suction cup assembly corresponds to the stack type, that is, determine whether the arrangement of the suction cup assembly is the same as the stacking method of the top-level goods or differs by 180°;

[0181] If yes, the suction cup assembly is activated to suck up the goods and transport them to the designated location; in this case, the arrangement of the suction cups is the same as the type of goods, and corresponds one-to-one with the arrangement of the cargo box, so the suction cup assembly can be activated to directly suck up the entire layer of goods;

[0182] If not, the suction cup assembly is controlled to pivot and adjust to the direction corresponding to the stack type, and the suction cup assembly is started to absorb the goods and transport them to the designated location. In this case, the arrangement of the suction cups is 180° different from the shape of the goods, and the suction cup assembly is controlled to pivot 180° and rotate to the same direction as the shape of the goods, and the suction cup suction assembly is started. After each rotation of the suction cup assembly, the current state of the suction cup assembly is recorded for the next work.

[0183] After the suction cup absorbs the goods, the goods in the first direction absorbed by the first suction cup are transported to the second conveyor line 1502, and the goods absorbed by the second suction cup are transported to the third conveyor line 1503; specifically, with the help of a transfer conveying mechanism, the goods absorbed by the suction cup are first placed in the transfer conveying mechanism, and the goods are transported to the first splitting mechanism corresponding to the second conveyor line 1502 and the second splitting mechanism corresponding to the third conveyor line 1503 respectively through the transfer conveying mechanism.

[0184] In some embodiments of the present invention, the goods are transported in multiple layers, and the stacking mode of each layer of goods corresponds to the arrangement mode of the first suction cup and the second suction cup in the suction cup assembly, or corresponds at an angle of 180 degrees, and the stacking directions of adjacent layers of goods correspond at an angle of 180 degrees; the 180-degree correspondence mentioned here means that the first layer of goods is taken as a reference, and the arrangement of the cargo boxes is rotated 180 degrees to obtain the second layer of goods, and the method further includes:

[0185] After the depalletizing mechanism absorbs the i-th layer of goods, it is transported to the designated second conveyor line 1502 and third conveyor line 1503;

[0186] After the suction cup assembly pivots 180 degrees, it sucks up the (i+1)th layer of goods and conveys them to the designated second conveyor line 1502 and third conveyor line 1503 .

[0187] Based on the above method, the first direction suction cup 701 and the second direction suction cup 702 suck the goods at the same time, but they are stacked at different positions respectively. Based on this, two goods stacking positions can be realized. Specifically, the stacking form of the transported cargo boxes on the second conveyor line 1502 is the same, and the stacking form of the transported cargo boxes on the third conveyor line 1503 is the same. After the goods are transported to the loading area, the goods on the second conveyor line 1502 and the third conveyor line 1503 are loaded onto the truck respectively. Specifically, when loading, the goods on the second conveyor line 1502 and the third conveyor line 1503 are pushed to the turntable 25 by the pushing mechanism 27, and after being transferred by the turntable 25, they are transported to the truck 26 by the loading gantry for stacking.

[0188] In the next step, the goods transported by the second conveyor line 1502 and the goods transported by the third conveyor line 1503 are loaded into the vehicle according to the interval layer. Figure 2 According to the loading requirements and for the stability of loading, the cargo on different layers of the truck 26 can be loaded into the first direction cargo box and the second direction cargo box respectively.

[0189] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A loading system, characterized in that: The cargo movement process includes: The first conveyor line; A stack type detection mechanism comprises a frame arranged above a first conveyor line and a stack type detection assembly mounted on the frame, wherein the stack type detection assembly comprises: a first detection assembly and a second detection assembly arranged at intervals and movably mounted on the frame, and a detection switch 1 and a detection switch 2 mounted at intervals on the frame; the first detection assembly can move to trigger the detection switch 1, and the second detection assembly can move to trigger the detection switch 2; The delamination mechanism comprises a first frame and a second frame, wherein the first frame is arranged on the upper side of the first conveyor line, the second frame is installed on the first frame via a pivoting and moving mechanism, and a plurality of first suction cups and a plurality of second suction cups are installed on the second frame; A control system is electrically connected to the detection assembly and is used to obtain detection signals of the detection switch 1 and the detection switch 2; is electrically connected to the pivoting and moving mechanism and is used to control the movement of the layer removal mechanism; and is electrically connected to the suction cup assembly and is used to control the movement of the first suction cup and the second suction cup; The second frame can be moved to the transfer and transportation mechanism via the pivoting and moving mechanism; The second conveyor line and the third conveyor line, the transfer and transport mechanism can run to the second conveyor line and the third conveyor line; The goods sucked by the suction cup in the first direction can be transported to the first splitting mechanism via the transfer transport mechanism, and the goods sucked by the suction cup assembly in the second direction can be transported to the second splitting mechanism via the transfer transport mechanism. The first splitting mechanism is aligned with the second conveyor line, and the second splitting mechanism is aligned with the third conveyor line, so that the goods arranged in different directions can be transported to different conveyor lines respectively.

2. The loading system according to claim 1, characterized in that: The control system includes: A first suction cup control unit: used for generating a suction and release action control signal of the first suction cup according to the detection signals of the detection switch 1 and the detection switch 2; A second suction cup control unit: used for generating a suction and release action control signal of the second suction cup according to the detection signals of the detection switch 1 and the detection switch 2; The first suction cup control unit and the second suction cup control unit independently control the first suction cup and the second suction cup.

3. The loading system according to claim 1, characterized in that: A shaping mechanism is further provided between the stack type detection mechanism and the layer removal mechanism, and the shaping mechanism comprises: Bracket: arranged on the upper side of the first conveyor line; The third frame: installed on the bracket through the lifting mechanism; The first pushing mechanism comprises two sets of pushing components relatively mounted on the third frame, and the pushing directions of the two sets of pushing components are relatively opposite; The second pushing mechanism comprises two groups of pushing components relatively mounted on the third frame, the pushing directions of the two groups of pushing components are opposite and perpendicular to the pushing directions of the two groups of pushing components in the first pushing mechanism.

4. The vehicle loading system according to claim 1, characterized in that: The goods are transported in multiple layers through the conveyor line, and the control system is further configured to generate a control signal for each layer of goods according to the detection signals of the detection switch 1 and the detection switch 2, so as to control the delamination mechanism to delaminate each layer of goods.

5. The loading system according to claim 1, characterized in that: The second conveyor line and the third conveyor line are arranged in parallel, and the loading system further includes a turntable arranged on the side of the second conveyor line or the side of the third conveyor line; the control system is further connected to the turntable to control the rotation of the turntable.

6. The vehicle loading system according to claim 5, characterized in that: The loading system further includes a pushing mechanism, which is arranged on the side of the second conveyor line or the third conveyor line and is located on the side opposite to the turntable. The pushing mechanism includes a power mechanism and a pushing plate, and the pushing plate can be driven by the power mechanism to be pushed toward the turntable.

7. The vehicle loading system according to claim 1, characterized in that: The loading system further comprises a fourth conveying line, which is arranged at the front end of the first conveying line along the direction of the goods moving, and is connected to the first conveying line via a transplanting mechanism.

8. The vehicle loading system according to claim 1, characterized in that: The loading system further comprises a fifth conveying line, which is arranged at the rear end of the delamination mechanism along the direction in which the goods travel.

9. A loading method, using the loading system according to any one of claims 1 to 8, characterized in that: include: Determine the stack type according to the detection signals of the detection switch 1 and the detection switch 2; Determine whether the direction of the suction cup assembly corresponds to the stack type; If yes, start the suction cup assembly to suck the goods, transport the goods in the first direction sucked by the first suction cup to the second conveyor line, and transport the goods sucked by the second suction cup to the third conveyor line; If not, the suction cup assembly is controlled to pivot and adjust to a direction corresponding to the stack type, the suction cup assembly is started to suck the goods, the goods in the first direction sucked by the first suction cup are transported to the second conveyor line, and the goods in the second direction sucked by the second suction cup are transported to the third conveyor line; Load the goods on the second and third conveyor lines.

10. The vehicle loading method according to claim 9, characterized in that: The method further comprises: loading the goods transported by the second conveyor line and the goods transported by the third conveyor line into vehicles according to the interval layers.

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