A cargo loading and unloading system for rear-opening container with shaping and pallet removal functions

Abstract

The present invention provides a back-opening container cargo loading and unloading system with shaping and pallet removal functions, comprising a control device, a first support frame, a crossbeam, a first fork, a horizontal drive device, a second support frame, a first rotation drive device, a longitudinal conveying device, a transverse conveying device, a base, a flip frame, a second rotation drive device, a clamping plate, a clamping drive device, a shaping plate, a third rotation drive device, a first conveying device, a second conveying device, a third conveying device, a first position detection device, a second position detection device and a third position detection device. The cargo and the pallet are flipped 180° and turned upside down by the flip frame, so that the upper pallet can be taken out. The crossbeam is used to carry the first fork to load and unload the cargo, and the second support frame is used to support the bottom of the crossbeam to avoid bending or even breaking of the crossbeam due to the cantilever, thereby improving the strength of the crossbeam and ensuring the safety of loading and unloading the cargo.

Description

Technical Field

[0001] The invention relates to the technical field of automatic loading and unloading of cargo in containers, in particular to a cargo loading and unloading system for a back-opening container with shaping and pallet removal functions. Background Art

[0002] In the field of automatic loading and unloading of cargo in rear-opening containers, the traditional method of loading and unloading cargo is to move the cargo into the container manually or by forklift. Manual loading and unloading is too inefficient and has high labor costs, while forklift loading and unloading has low position accuracy and requires repeated adjustment of the cargo placement, which also leads to low efficiency.

[0003] In the prior art, a fork is installed at the end of the cantilever to load and unload goods. However, in actual application, it is found that the practicality of this system for loading and unloading goods is poor. This is because the back-opening container has a large depth, that is, the length direction. As the cantilever gradually extends into the container, the cantilever gradually increases, that is, the lever arm also gradually increases, so that the moment on the cantilever is also greater, which makes it easier to cause the crossbeam to bend or even break. This affects the safety of cargo loading and unloading. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a back-opening container cargo loading and unloading system with shaping and pallet removal functions, in which the cargo is shaped by a shaping plate and flipped by a flipping outer frame, and then the pallet can be removed. A first cargo fork is arranged at the front end of the crossbeam to extend into the container for loading and unloading cargo, and an adjustable second support frame is arranged at the bottom of the crossbeam to support the crossbeam, thereby preventing the crossbeam from becoming a cantilever and increasing the strength of the crossbeam.

[0005] The present invention is implemented as follows: a back-opening container cargo loading and unloading system with shaping and pallet removal functions, comprising:

[0006] Control devices;

[0007] a first support frame;

[0008] A crossbeam, movably connected to the first support frame in a transverse direction;

[0009] A first fork is slidably connected to the front end of the crossbeam;

[0010] A horizontal driving device, communicatively connected to the control device, and driving the crossbeam to move in the lateral direction;

[0011] A second support frame, rotatably connected to the bottom of the beam;

[0012] A first rotation driving device, communicatively connected to the control device, and an output end of which is connected to the second support frame;

[0013] A longitudinal conveying device, which is communicatively connected to the control device and is longitudinally erected in front of the crossbeam and has a height lower than the bottom surface of the crossbeam;

[0014] A transverse conveying device, which is communicatively connected to the control device and is transversely mounted on one side of the longitudinal conveying device;

[0015] A base, mounted in front of the transverse conveying device;

[0016] The flip outer frame is provided with a receiving cavity with two open ends in the horizontal direction and one open end in the longitudinal direction, a support platform is provided on the bottom surface of the receiving cavity, and the flip outer frame is rotatably connected to the base;

[0017] A second rotation driving device, the output end of which is connected to the flip outer frame;

[0018] A pressing plate is placed on the top of the accommodating cavity and arranged parallel to and facing the supporting platform;

[0019] A clamping drive device, fixedly connected to the flip outer frame, and an output end of which is connected to the clamping plate, driving the clamping plate to move up and down;

[0020] There are two shaping plates, which are rotatably connected to the flip outer frame and are symmetrically arranged at the front and rear ends of the accommodating cavity;

[0021] A third rotation driving device is fixedly connected to the flip outer frame, and an output end of the third rotation driving device is connected to each of the shaping plates;

[0022] A first conveying device, communicatively connected to the control device and disposed laterally at the front end of the base;

[0023] A second conveying device, communicatively connected to the control device and fixedly connected to the support platform in a transverse direction;

[0024] A third conveying device is communicatively connected to the control device and is laterally fixedly connected to the bottom surface of the pressing plate, and is arranged parallel to and facing the second conveying device;

[0025] A first position detection device, communicatively connected to the control device, for detecting whether the pallet and the goods have reached a predetermined position on the first conveying device;

[0026] A second position detection device, communicatively connected to the control device, for detecting whether the pallet and the goods have reached a predetermined position on the second conveying device;

[0027] a third position detection device, communicatively connected to the control device, for detecting whether the pallet and the goods have reached a predetermined position on the transverse conveying device;

[0028] in,

[0029] When the flip outer frame rotates until the pressing plate and the support platform are horizontal, and the pressing plate is located above the support platform, the first conveying device and the second conveying device are in the same straight line, and the height of the first conveying device is greater than or equal to the height of the second conveying device;

[0030] When the flip outer frame rotates 180° until the clamping plate and the support platform are horizontal and the clamping plate is located below the support platform, the transverse conveying device and the third conveying device are in the same straight line, and the height of the third conveying device is ≥ the height of the transverse conveying device.

[0031] Furthermore, it also includes

[0032] A first slide rail is vertically laid at the front end of the beam;

[0033] A first sliding block, fixedly connected to the first fork and slidably connected to the first slide rail;

[0034] The first driving device is communicatively connected to the control device and fixedly connected to the front end of the beam, and an output end of the first fork is connected to the first fork.

[0035] Furthermore, it also includes

[0036] A support plate, the top end of which is rotatably connected to the front end of the beam around a longitudinal axis;

[0037] A second driving device is communicatively connected to the control device and fixedly connected to the crossbeam, and an output end of the second driving device is connected to the support plate;

[0038] Wherein, the first slide rail is laid vertically on the front end surface of the support plate.

[0039] Furthermore, it also includes

[0040] Push plate,

[0041] The third driving device is communicatively connected to the control device, fixedly connected to the support plate or the crossbeam, and has an output end connected to the push plate, so as to drive the push plate to move in the lateral direction.

[0042] Furthermore, it also includes

[0043] Tracks, at least two of them, are fixedly connected to the bottom of the beam in the transverse direction;

[0044] There are a plurality of track wheels, which are rotatably mounted below the track and arranged in at least two rows in the transverse direction, and the track wheels in each row are rollingly connected to the track in a one-to-one correspondence;

[0045] Wherein, the horizontal driving device drives the track wheel to rotate.

[0046] Furthermore, it also includes a roller, which is movably connected to the bottom of the second support frame.

[0047] Furthermore, a longitudinal rotation axis is provided at the bottom of the crossbeam on the transverse center line; the longitudinal rotation axis is connected to the second support frame;

[0048] The top end of the second support frame is higher than the longitudinal rotation axis, and the output end of the first rotation driving device at the top end is connected to the top end of the second support frame.

[0049] Furthermore, it also includes

[0050] There are two shaping protection parts, which are symmetrically arranged on both sides of the first fork;

[0051] The fourth driving device is communicatively connected to the control device and connected to the crossbeam, and the output end is fixedly connected to each of the shaping protection members.

[0052] Furthermore, it also includes

[0053] Limiting parts, at least two;

[0054] There are two rotating shafts, which are rotatably connected to the front and rear ends of the support platform; each of the rotating shafts is fixedly connected to at least one of the limiting members;

[0055] There are two fourth rotation driving devices, which are communicatively connected to the control device and fixedly connected to the flip outer frame, and the output end of each of the fourth rotation driving devices is fixedly connected to the rotating shaft in a one-to-one correspondence;

[0056] The limiting member includes the following two states:

[0057] State 1: before the pallet and the goods enter the second conveying device, the fourth rotary drive device drives the rotary shaft to rotate, driving the limiter to rotate to a position lower than the top surface of the first conveying device;

[0058] State 2: When the pallet and the goods reach the predetermined position on the second conveying device, the fourth rotary drive device drives the rotary shaft to rotate, driving the limiting members to rotate to the two sides of the pallet to limit the pallet.

[0059] Furthermore, it also includes

[0060] A tray collection support frame is mounted on one side of the base, and when the flip outer frame rotates 180° and the pressing plate is located below the support platform, the longitudinal opening of the accommodating cavity faces the tray collection support frame;

[0061] A Y-axis moving module, communicatively connected to the control device and slidably connected to the tray collecting support frame in a longitudinal direction;

[0062] A Z-axis moving module is communicatively connected to the control device and vertically slidably connected to the Y-axis moving module;

[0063] The second fork is fixedly connected to the Z-axis moving module and arranged in the longitudinal direction toward the flip outer frame.

[0064] Furthermore, it also includes

[0065] The fourth conveying device is communicatively connected to the control device, and is mounted in the pallet collecting support frame and is located below the second fork.

[0066] Furthermore, the longitudinal outer surface of the flip outer frame is in an arc shape;

[0067] The longitudinal outer surface of the flip outer frame is symmetrically provided with two arc-shaped racks;

[0068] The second rotary drive device is a motor, and there are two of them. The output shaft fixing sleeve of each second rotary drive device is provided with a gear, and the gears are meshed with the arc-shaped racks in a one-to-one correspondence;

[0069] A groove is formed on the top surface of the base in the longitudinal direction; the flip outer frame is located in the groove;

[0070] A plurality of rolling elements are also provided in the groove, each of the rolling elements is arranged in the transverse direction and is located between the two arc-shaped racks;

[0071] Each of the rolling elements is also tangent to the longitudinal outer surface of the flip outer frame.

[0072] The invention has the following advantages: the goods are first shaped by the shaping plate, and then the goods and the pallet are turned 180 degrees by the turning outer frame, so that the upper pallet can be taken out. The first fork is carried by the crossbeam to load and unload the goods, and the second support frame is used to support the bottom of the crossbeam, so that the crossbeam is prevented from bending or even breaking due to the cantilever, the strength of the crossbeam is improved, and the safety of loading and unloading the goods is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0074] Figure 1 It is a front view of components such as the transverse conveying device, the longitudinal conveying device and the crossbeam of the present invention.

[0075] Figure 2 It is a left view of the transverse conveying device, longitudinal conveying device, crossbeam and other components of the present invention.

[0076] Figure 3 It is a top view of the transverse conveying device, longitudinal conveying device, crossbeam and other components of the present invention.

[0077] Figure 4 for Figure 3 AA section view in.

[0078] Figure 5 and Figure 6 It is a three-dimensional diagram of components such as the transverse conveying device, the longitudinal conveying device and the crossbeam of the present invention.

[0079] Figure 7 for Figure 6 A local enlarged schematic diagram of point B in the middle.

[0080] Figure 8 It is a front view of the transfer device of the present invention.

[0081] Fig. 9 It is a left side view of the transfer device of the present invention.

[0082] Fig.10 It is a three-dimensional diagram of the transfer device of the present invention.

[0083] Fig.11 It is a stereoscopic view of the transverse conveying device, the transfer device and the longitudinal conveying device of the present invention.

[0084] Fig.12 for Fig.11 A partial enlarged schematic diagram of point C in the middle.

[0085] Fig.13 It is a stereoscopic view of the transverse conveying device, the transfer device and the longitudinal conveying device of the present invention.

[0086] Fig.14 for Fig.13 A partial enlarged schematic diagram of point D in the middle.

[0087] Figures 15 to 17 It is a schematic diagram of the use state of the rear-opening container cargo loading and unloading system of the present invention after the cargo pallet is removed.

[0088] Fig.18 yes Figure 4 A partial enlarged schematic diagram of point E in the middle.

[0089] Fig.19 yes Fig.13 A partial enlarged schematic diagram of point F in the middle.

[0090] Fig. 20 It is a three-dimensional view of the present invention when the tray is removed.

[0091] Fig.21 yes Fig. 20 A local enlarged schematic diagram of point G in the middle.

[0092] Fig. 22 It is a three-dimensional diagram of the rear-opening container cargo loading and unloading system of the present invention when removing the pallet.

[0093] Fig.23 yes Fig. 22 A local enlarged schematic diagram of point H in the middle.

[0094] Fig.24 yes Fig. 22 A local enlarged schematic diagram of point I in the middle.

[0095] Fig.25 It is a three-dimensional diagram of the rear-opening container cargo loading and unloading system of the present invention when removing the pallet.

[0096] Fig.26 yes Fig.25 A local enlarged schematic diagram of point J in the middle.

[0097] Fig. 27 It is a stereoscopic image of the flip outer frame of the present invention after being rotated 180 degrees.

[0098] Fig.28 It is a three-dimensional diagram of the rear-opening container cargo loading and unloading system of the present invention when removing the pallet.

[0099] Fig.29 yes Fig.28 A local enlarged schematic diagram of point K in the middle.

[0100] Fig.30 It is a three-dimensional diagram of the rear-opening container cargo loading and unloading system of the present invention when removing the pallet.

[0101] Fig.31 It is a stereoscopic diagram of the cargo loading and unloading system for a rear-opening container according to the present invention.

[0102] Description of reference numerals:

[0103] A first support frame 1, a limiting wheel 11;

[0104] Crossbeam 2, track 21, track wheel 22;

[0105] First fork 3;

[0106] Horizontal drive device 4;

[0107] A second support frame 5, a roller 51, and a longitudinal rotation axis 52;

[0108] A first rotary drive device 6;

[0109] Longitudinal conveying device 7, second detection device 71, third detection device 72, avoidance groove 73;

[0110] A first detection device 8;

[0111] Transfer device 9, fixed frame 91, lift 92, lift platform 93, drive motor 94, chain 95, sprocket 96, rotating shaft 97;

[0112] A first slide rail 10;

[0113] A first slider 20;

[0114] A first driving device 30;

[0115] Support plate 40;

[0116] A second driving device 50;

[0117] Push plate 60;

[0118] A third driving device 70;

[0119] Plastic protection member 80;

[0120] Fourth driving device 90;

[0121] Base 201, groove 2011;

[0122] Flip the outer frame 202, the accommodating cavity 2021, and the supporting platform 2022;

[0123] A second rotation driving device 203;

[0124] A clamping plate 204;

[0125] Compressing drive device 205;

[0126] Plastic plate 206;

[0127] A third rotation driving device 207;

[0128] A first conveying device 208;

[0129] Transverse conveying device 209;

[0130] A second conveying device 210;

[0131] A third conveying device 211;

[0132] A first position detection device 212;

[0133] A second position detection device 213;

[0134] A third position detection device 214;

[0135] Limiting member 215;

[0136] Rotation axis 216;

[0137] Fourth rotary drive device 217;

[0138] Tray collection support frame 218, transverse connecting rod 2181;

[0139] Y-axis moving module 219;

[0140] Z-axis moving module 220;

[0141] Second fork 221;

[0142] A fourth conveying device 222;

[0143] Arc-shaped rack 223;

[0144] Gear 224;

[0145] Rolling element 225;

[0146] Curved track 226. DETAILED DESCRIPTION

[0147] In the description of the present invention, it is necessary to understand that the description indicating the orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is 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 limiting the scope of protection of the present invention.

[0148] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0149] The inventive concept of the present invention is as follows:

[0150] (1) Place the pallet and the goods at a predetermined position on the support platform 2022, and then drive the shaping plate 206 to rotate to the longitudinal closure through the third rotation drive device 207, so as to push the front and rear sides of the goods to achieve shaping, and then drive the pressing plate 204 to press the goods on the top through the clamping drive device 205 to prevent the goods from collapsing or falling during flipping; then drive the flip outer frame 202 to rotate 180° through the second rotation drive device 203, and the longitudinal opening is always facing upward during the flipping process, and the bottom surface of the goods is against the longitudinal inner surface of the accommodating cavity 2021 to ensure that the goods will not fall from the longitudinal opening and turn the goods and the pallet upside down; then the clamping drive device 205 drives the clamping plate 204 to reset and retract, that is, at this time, the clamping plate 204 drags the goods down, thereby loosening the pallet and the support platform, and finally the pallet can be taken out.

[0151] (2) The control device (not shown) is provided to automatically control the actions of each driving device.

[0152] (3) Automatic conveying of goods and pallets is achieved by combining the first conveying device 208, the second conveying device 210, the third conveying device 211, and the transverse conveying device 209 with various position detection devices.

[0153] (4) The second fork 221 is driven by the Y-axis moving module 219 and the Z-axis moving module 220 to automatically fork the pallet that has been flipped 180 degrees and released from the cargo, thereby realizing automatic pallet removal.

[0154] (5) By arranging the first cargo fork 3 at the front end of the crossbeam 2, the crossbeam 2 moves laterally, driving the first cargo fork 3 to fork the cargo into the container, and controlling each driving device to operate through the control device to realize automatic loading and unloading of cargo.

[0155] (6) One of the key points of the present invention is that the second support frame 5 can move with the cross beam 2. The cross beam 2 is supported in the container by the rotatable second support frame 5, so as to avoid the cross beam 2 being an isolated cantilever and to avoid the cross beam 2 being subjected to too much torque during loading and unloading of goods, thereby ensuring the safety of cargo loading and unloading.

[0156] At the same time, the second support frame 5 can be rotatably arranged, so that after entering the container, the second support frame 5 can be rotated down to support the crossbeam 2 to avoid interference with external equipment.

[0157] At the same time, the height of the second support frame 5 in the vertical direction can be adjusted by adjusting the rotation angle of the second support frame 5 to adapt to the heights of containers of different models and increase the scope of use.

[0158] See also Figures 1 to 31 shown.

[0159] The invention discloses a cargo loading and unloading system for a back-opening container with shaping and pallet removal functions, comprising:

[0160] The control device (not shown) may be a PLC, for example, model: 6ES7215-1AG40-0XB0 CPU1215C DC / DC / DC.

[0161] A first support frame 1;

[0162] The crossbeam 2 is movably connected to the first support frame 1 in the transverse direction. In the specific implementation, the crossbeam can be designed in various ways according to the needs. For example, in the embodiment shown in the drawings, the crossbeam 2 adopts a rectangular frame structure, which is welded by steel pipes, has a simple structure and is easy to manufacture. Figure 1 and Figure 2 As shown, limiting wheels 11 are respectively provided on the left and right sides and the top of the first support frame 1, and the limiting wheels 11 roll on the left, right and upper surfaces of the beam 2 respectively, so as to realize the movable connection between the beam 2 and the first support frame 1, and limit the beam 2 by the rollers on the left, right and upper surfaces to prevent the rear end of the beam 2 from tilting when loading and unloading goods.

[0163] The first fork 3 is connected to the front end of the beam 2 in an upward and downward sliding manner; the first fork 3 can be made into one, or two or more, and can fork one pile of goods at a time, or two or more piles of goods at a time, which can be arranged according to needs. For example, in a specific embodiment, according to the inner width of the container, there are two first forks 3, which can fork two piles of goods at a time.

[0164] The horizontal driving device 4 is communicatively connected to the control device (not shown), controlled by the control device (not shown), and the output end is connected to the beam 2, and is used to drive the beam 2 to slide horizontally, so as to transport the first fork 3 and the goods into the container, or transport them out of the container; in a specific embodiment, the horizontal driving device 4 can drive the beam 2 to move horizontally by a combination of a motor and a screw nut pair, or can also adopt the embodiment shown in the accompanying drawings, such as Figure 7 As shown, the motor, gear chain method, or motor, pulley transmission method, etc.

[0165] The second support frame 5 is rotatably connected to the bottom of the beam 2. In a specific implementation, the number of the second support frame 5 and the first rotation drive device 6 can be one or more, and the number can be set according to actual needs.

[0166] The first rotation driving device 6 is communicatively connected to the control device (not shown), controlled by the control device (not shown), and the output end is connected to the second support frame 5 to drive the second support frame 5 to rotate; in a specific embodiment, the first rotation driving device 6 can be a pneumatic cylinder or a hydraulic cylinder.

[0167] The longitudinal conveying device 7 is communicatively connected to the control device (not shown), controlled by the control device (not shown), and is longitudinally erected in front of the crossbeam 2, and is lower than the bottom surface of the crossbeam 2. The longitudinal conveying device 7 is used to convey the goods to a predetermined position in front of the first fork 3, opposite to the first fork 3, so that the crossbeam 2 carrying the first fork 3 moves horizontally and can fork up the goods. In a specific embodiment, Fig.13 and Fig.19 As shown, a third detection device 72 is provided on the longitudinal conveying device 7, and the third detection device 72 is communicatively connected to the control device (not shown), and the third detection device 72 is used to detect whether the goods have reached the predetermined loading position and are opposite to the first fork 3. In a specific implementation, the longitudinal conveying device 7 can adopt an existing conveying line. When the goods are directly placed on the longitudinal conveying device 7 for loading and unloading, an avoidance groove 73 can be provided on the longitudinal conveying device 7, so that the first fork 3 can extend into the avoidance groove 73 and rise upward in the avoidance groove 73, thereby forking the goods.

[0168] The transverse conveying device 209 is communicatively connected to the control device (not shown) and is horizontally mounted on one side of the longitudinal conveying device 7. In a specific implementation, the transverse conveying device 209 can also use an existing conveying line. The transverse conveying device 209 is used to convey the goods after the pallet is removed to the longitudinal conveying device 7.

[0169] In a specific embodiment, a transfer device 9 is provided behind the transverse conveying device 209 and below the longitudinal conveying device 7. The transfer device 9 transfers the goods from the transverse conveying device 209 to the predetermined position of the longitudinal conveying device 7 to avoid the end of the goods being placed on the edge of the longitudinal conveying device 7, which affects the conveying of the goods by the longitudinal conveying device 7. Of course, whether to use the transfer device can be selected according to the structure of the longitudinal conveying device 7. Therefore, the longitudinal conveying device 7 uses a conveyor line. The models and structures of the conveyor lines are different. The frame of some conveyor lines is higher than the roller. In this case, the transfer device 9 is required to adjust the position of the goods so that the goods are completely located on the roller. For some conveyor lines, the roller is higher than the frame. In this case, the transfer device is not required. Of course, the effect will be better if the transfer device 9 is used, and the position of the goods can be adjusted to a better level.

[0170] The transfer device 9 includes an elevator 92, which is mounted on a fixed frame 91. The elevator 92 is communicatively connected to a control device (not shown). The output end of the elevator 92 is fixedly connected to a lifting platform 93. The lifting platform 93 is provided with a driving motor 94 and a plurality of sprockets 96 and a chain 95 assembly, wherein the plurality of sprockets 96 are fixedly sleeved on a rotating shaft 97, and the rotating shaft 97 is rotatably mounted on the lifting platform 93. The chain 95 is meshed with the sprocket 96, and the chain 95 and the rollers of the longitudinal conveying device 7 are arranged in parallel, and each of the chains 95 is located in the gap between adjacent rollers. In a specific embodiment, a driving gear (not shown) is fixedly mounted on the output shaft of the driving motor 94, and a driven gear (not shown) is fixedly mounted on the rotating shaft 97. The driving gear (not shown) and the driven gear (not shown) are connected by a main power chain (not shown), so that the driving motor 94 drives the driving gear (not shown) to rotate, and the driven gear (not shown) is driven to rotate through the gear chain, thereby driving the rotating shaft 97 fixed to the driven gear (not shown) to rotate, and finally driving the sprocket 96 to rotate, thereby driving the chain to rotate.

[0171] A first detection device 8 is also provided at the end of the transverse conveying device 209. The first detection device 8 is communicatively connected to the control device (not shown). In a specific implementation, the first detection device 8 can be a detection device such as a position sensor, a CCD visual detector, an industrial camera, etc. In use, when the first detection device 8 detects the goods, the control device (not shown) controls the piston rod of the elevator 92 to extend upward, lifts the lifting platform 93 to a predetermined position, and each chain 95 rises from the gap between the rollers. At this time, the top surface of the chain is flush with the top surface of the roller of the longitudinal conveying device 7. The goods are supported by each chain and roller. After being lifted into place, the rotation of the chain 95 can drive the goods to move; the control device (not shown) controls the drive motor 94 to work, drives the sprocket 96 to rotate, drives the chain 95 to rotate, and the goods are gradually transported from the transverse conveying device 209 and the chain 95 to the longitudinal conveying device 7, so that the goods continue to move horizontally to a predetermined position. In a specific implementation, a second detection device can be set on the longitudinal conveying device 7. Device 71, the second detection device 71 is communicatively connected to the control device (not shown), the second detection device can use a position sensor, the second detection device is used to detect whether the goods are transported to the predetermined position on the longitudinal conveying device 7 by the chain 95, and after being in place, it is detected by the second detection device 71, and the second detection device 71 feedbacks a signal to the control device (not shown), the control device (not shown) controls the drive motor 94 to stop working, and the control device (not shown) controls the piston rod of the elevator 92 to descend and reset, so that the chain 95 is located below the roller. At this time, the goods are supported by the rollers of the longitudinal conveying device 7. After the elevator 92 is reset, the control device (not shown) controls the longitudinal conveying device 7 to work and transport the goods to the predetermined parking place for loading. In a specific implementation, the elevator 92 can use a hydraulic cylinder.

[0172] The base 201 is mounted in front of the transverse conveying device 209;

[0173] The flip outer frame 202 is provided with a accommodating cavity 2021 which is open at both ends horizontally and at one end vertically. A support platform 2022 is provided on the bottom surface of the accommodating cavity 2021. The flip outer frame 202 is rotatably connected to the base 201. The flip outer frame 202 rotates around the horizontal axis, and the opening at one end vertically is always facing upwards during the rotation process, ensuring that the goods will not fall from the longitudinal opening during the flipping process. Even if the goods slip during the flipping process, the goods can be pressed against the longitudinal inner side of the accommodating cavity by their own gravity to achieve automatic longitudinal shaping without falling in the longitudinal direction.

[0174] A second rotation driving device 203, whose output end is connected to the flip outer frame 202, drives the flip outer frame 202 to flip; in a specific embodiment, the second rotation driving device 202 can be fixedly connected to the base 201;

[0175] The pressing plate 204 is placed on the top of the accommodating cavity 2021 and arranged parallel to the supporting platform 2022, so that the pallet and the goods are placed between the pressing plate 204 and the supporting platform 2022, and the goods and the pallet are pressed from above by the pressing plate 204 to prevent the goods from collapsing or falling due to looseness during the turning process;

[0176] The clamping drive device 205 is fixedly connected to the flip outer frame 202, and the output end is connected to the clamping plate 204, driving the clamping plate 204 to move up and down, thereby clamping or loosening the goods and the pallet; in a specific embodiment, the clamping drive device 205 can adopt a hydraulic cylinder or a pneumatic cylinder, and its output is arranged vertically toward the support platform.

[0177] There are two shaping plates 206, which are rotatably connected to the flip outer frame 202 and are symmetrically arranged at the front and rear ends of the accommodating cavity 2021; in a specific implementation, a reinforcing tube can also be set on the outer side of the shaping plate 206 to increase the strength of the shaping plate. In a specific implementation, the bottom of the shaping plate 206 is higher than the top surface of the pallet, which can increase the scope of use and allow the use of goods of different sizes. This is because in actual use, after the size of some goods is stacked on the pallet, the total length or total width of the goods will be slightly larger than the size of the pallet, and the edge of the goods will exceed the edge of the pallet. At this time, it does not matter if the bottom of the shaping plate 206 is lower than the top surface of the pallet, and shaping can still be performed; while for some goods, the total length or total width after stacking is smaller than the size of the pallet, the goods may not exceed the edge of the pallet. If the bottom of the shaping plate 206 is lower than the top surface of the pallet, interference is likely to occur, or the shaping effect may not meet expectations. Therefore, in a preferred implementation, the top surface of the pallet is lower than the bottom surface of the shaping plate 206, which can avoid interference between the two, and the height difference between the two can be set according to actual conditions, and the thickness of the goods can be referred to to ensure that the bottom goods can be shaped together. For example, the height difference can be 1cm, 1.5cm, 2cm, 3cm..., etc., which can be set according to needs.

[0178] In a specific implementation, the shaping plate 206 can be connected to the flip outer frame 202 via a hinge to achieve rotation. The embodiment shown in the accompanying drawings can also be adopted, in which a rotating shaft is set on the shaping plate 206 to connect to the flip outer frame 202 to achieve rotation. In other embodiments, the shaping plate 206 can also be connected to the flip outer frame 202 in other ways to achieve rotation.

[0179] The third rotation driving device 207 is fixedly connected to the flip outer frame 202, and the output end is connected to each shaping plate 206, so as to drive the two shaping plates 206 to rotate synchronously to close or open. In a specific implementation, the third rotation driving device 207 can be an actuator such as a cylinder or a hydraulic cylinder.

[0180] The first conveying device 208 is communicatively connected to the control device (not shown) and is disposed laterally at the front end of the base 201 ; the pallets and goods are conveyed by the first conveying device 208 to realize automatic conveyance.

[0181] The second conveying device 210 is communicatively connected to the control device (not shown) and is fixedly connected to the support platform 2022 in the transverse direction. The second conveying device 210 conveys the pallet and the goods to a predetermined position for subsequent shaping.

[0182] The third conveying device 211 is connected to the control device (not shown) in communication, and is fixedly connected to the bottom surface of the pressing plate 204 in the horizontal direction, and is arranged parallel to the second conveying device 210. The third conveying device is used to convey the goods after turning 180 degrees and removing the pallet to the horizontal conveying device. In a specific implementation, the second conveying device 210 and the third conveying device 211 can both use existing conveying chains. Fig.10 As shown, it is a partial enlarged schematic diagram of the second conveying device 210. The structure of the third conveying device 211 is the same as that of the second conveying device 210, and the two are arranged symmetrically.

[0183] in,

[0184] When the flip outer frame 202 rotates until the clamping plate 204 and the support platform 2022 are horizontal, and the clamping plate 204 is located above the support platform 2022, the support platform 2022 is in a horizontal position, the first conveying device 208 and the second conveying device 210 are in the same straight line, and the height of the first conveying device 208 is ≥ the height of the second conveying device 210, so that the pallet and the goods can be transported from the first conveying device 208 to the second conveying device 210. In a specific implementation, preferably, in an embodiment, the first conveying device 208 is higher than the second conveying device 210. Because there are errors in actual use, the second conveying device 210 may be higher than the first conveying device 208 due to manufacturing errors, assembly errors and other factors. At this time, the pallet is easy to collide with the front end surface of the second conveying device 210. Therefore, the height of the first conveying device 208 is higher than the height of the second conveying device 210, which can avoid the front end bottom surface of the goods from colliding with the second conveying device 210.

[0185] When the flip outer frame rotates 180° until the clamping plate 24 and the support platform 2022 are horizontal, and the clamping plate 2004 is located below the support platform 2022, the transverse conveying device 209 and the third conveying device 211 are in the same straight line, and the height of the third conveying device 211 is ≥ the height of the transverse conveying device 209, ensuring that the goods can be transported from the third conveying device 211 to the transverse conveying device.

[0186] In a specific implementation, the first conveying device 208, the second conveying device 210, the third conveying device 211, the transverse conveying device 209, and the longitudinal conveying device 7 can adopt existing conveying lines, and different models and sizes can be selected according to needs. The type of conveying line can adopt a conveying line driven by a motor. When in use, the motors of each conveying line are connected to the control device (not shown) for communication, so that the control device (not shown) controls each conveying device to act according to a predetermined program.

[0187] The first position detection device 212 is communicatively connected to the control device (not shown), and is used to detect whether the pallet and the goods have reached the predetermined position on the first conveying device 208; in a specific embodiment, the first position detection device 212 can be installed on one side of the rear end of the first conveying device 208; the first position detection device 212 can adopt a position sensor, or a sensing device such as a photoelectric sensor; therefore, it has a sensing range, and of course it can also be installed on other supporting objects, as long as it can sense that the pallet and the goods have reached the predetermined position.

[0188] The second position detection device 213 is communicatively connected to the control device (not shown) and is used to detect whether the pallet and the goods have reached the predetermined position on the second conveying device 210; in a specific embodiment, the second position detection device 213 can be installed in the accommodating cavity 2021 and located on one side of the rear end of the second conveying device 210; the second position detection device 213 can also adopt a position sensor, or a sensing device such as a photoelectric sensor.

[0189] The third position detection device 214 is communicatively connected to the control device (not shown) and is used to detect whether the pallet and the goods have reached the predetermined position on the transverse conveying device. In a specific embodiment, the third position detection device 214 can be installed on one side of the front end of the transverse conveying device 209; the third position detection device 214 can also be a position sensor, or a sensing device such as a photoelectric sensor.

[0190] Also includes

[0191] A first slide rail 10 is vertically laid at the front end of the beam 2;

[0192] A first sliding block 20, fixedly connected to the first fork 3, and slidably connected to the first slide rail 10;

[0193] The first driving device 30 is communicatively connected to the control device (not shown), and is fixedly connected to the front end of the beam 2 , and an output end thereof is connected to the first fork 3 .

[0194] The first fork 3 is driven to slide up and down by the first driving device 30, so as to lift or lower the cargo. The first slide rail 10 guides the sliding direction of the first fork 3 to ensure the movement accuracy. In a specific implementation, the first driving device 30 can be an actuator such as a cylinder or a hydraulic cylinder.

[0195] Also includes

[0196] The top end of the support plate 40 is rotatably connected to the front end of the cross beam 2 around the longitudinal axis; in a specific embodiment, the top end of the support plate 40 and the cross beam 2 are hinged together to achieve rotation.

[0197] The second driving device 50 is communicatively connected to the control device (not shown), and is fixedly connected to the beam 2, and an output end is connected to the support plate 40; in a specific implementation, the second driving device 50 can be an actuator such as a cylinder or a hydraulic cylinder.

[0198] The first slide rail 10 is vertically laid on the front end surface of the support plate 40 .

[0199] Therefore, when loading and unloading goods, the second driving device 50 drives the support plate 40 to rotate, so that the front end of the first fork 3 tilts upward and moves at an angle that can be preset, and only needs to be tilted slightly, so that the goods are moved toward the support plate 40, avoiding the risk of the goods tilting forward and falling during the movement process. Fig.16 As shown, when the first fork 3 extends into the pallet and picks up the goods, the piston rod of the second driving device 50 extends to push the support plate 40 to rotate counterclockwise, thereby driving the first fork 3 to tilt upward at a certain angle.

[0200] Also includes

[0201] Push plate 60,

[0202] The third driving device 70 is communicatively connected to the control device (not shown), fixedly connected to the support plate 40 or the crossbeam 2, and the output end is connected to the push plate 60, driving the push plate 60 to move in the lateral direction, so as to push the goods off the first fork 3. This embodiment is applicable to the embodiment after the goods are removed from the pallet. If the goods are placed on the pallet, it is not necessary to use the push plate 60 and the third driving device 70, and the first fork 3 can be directly controlled to withdraw from the pallet. This can be arranged according to whether the pallet is carried during the actual transportation of the goods. Of course, when this embodiment is used for carrying the pallet to unload the goods, the push plate 60 and the third driving device 70 do not need to be turned on. In a specific embodiment, the number and area of ​​the push plates 60 can be arranged according to the size of the goods to ensure that the push plates can smoothly push the goods from the first fork 3 into the container. For example, in the embodiment shown in the accompanying drawings, there are four push plates 60 and four third drive devices 70, which are arranged in a rectangular shape. Avoidance openings are provided on the first fork 3 and the support plate 40 to avoid the piston rods of the push plates 60 and the third drive devices 70.

[0203] Also includes

[0204] There are at least two rails 21, which are fixedly connected to the bottom of the beam 2 in the transverse direction;

[0205] There are several track wheels 22, which are rotatably mounted below the track 21 and arranged in at least two rows in the horizontal direction, and each row of the track wheels 22 is rollingly connected to the track 21 one by one; in a specific implementation, the horizontal drive device 4 can use a motor, and each track wheel 22 can be arranged with a corresponding horizontal drive device 4 for driving, or each track wheel 22 does not need to be driven by the horizontal drive device 4, and some track wheels 22 can be used as driven wheels. The number of the horizontal drive devices 4 can be arranged according to the load capacity; the rotating shaft of the track wheel 22 and the output shaft of the horizontal drive device 4 can be directly connected through a coupling, and the horizontal drive device 4 is mounted on the ground; of course, in another embodiment, such as Figure 7 As shown, the track wheel 22 is mounted on two vertical support plates, the horizontal drive device 4 is fixed on the ground or a supporting object, the output shaft of the horizontal drive device 4 is sleeved with a gear or a pulley, and the rotating shaft of the track wheel 22 is also fixedly sleeved with a driven gear or a pulley, which is connected to the gear or pulley on the horizontal drive device 4 through a chain or a belt, so that the output shaft of the horizontal drive device 4 rotates to drive the track wheel 22 to rotate through the gear chain or pulley transmission, thereby driving the track 21 to move horizontally, and then driving the beam 2 to move horizontally.

[0206] The horizontal driving device 4 drives the track wheel to rotate, thereby moving the track 21 and the crossbeam 2 laterally. The rolling method is adopted, so that the friction resistance is rolling friction, which reduces the friction resistance.

[0207] Of course, in other embodiments, a slide rail and a slider can also be used to realize the lateral movement of the beam 2. For example, a second slide rail (not shown) is also included, which is laid on the first support frame 1 in the lateral direction; a second slider (not shown) is slidably connected to the second slide rail (not shown) and fixedly connected to the beam 2. In this way, the beam 2 is slidably connected to the first support frame 1, and the first support frame 1 supports and limits the beam 2, so as to avoid the rear end of the beam 2 from tilting when the beam 2 is extended into the container. At the same time, the second slide rail (not shown) guides the sliding direction of the beam 2 to improve the movement accuracy. At this time, it can be used in combination with the track 21 and the track wheel 22, or it can be used alone. When the second slide rail (not shown) and the second slider (not shown) are used alone, the horizontal drive device 4 can use a motor, which is connected to the beam 2 through a ball screw nut pair, so as to drive the beam 2 to move horizontally.

[0208] like Figure 5 As shown, the container further includes a roller 51, which is movably connected to the bottom of the second support frame 5. In a specific implementation, bolts can be used to make the second support frame 5 roll in the container through the roller 51 to reduce friction. In a specific embodiment, the rotating shaft of the roller 51 can be arranged longitudinally. Of course, in other embodiments, since the lateral movement direction has been guided and limited by the track 21, the roller 51 can also be a universal roller. Or in other embodiments, other arrangements can also be used.

[0209] The bottom of the crossbeam 2 is provided with a longitudinal rotation shaft 52 on the transverse center line; the longitudinal rotation shaft 52 is connected to the second support frame 5. In a specific embodiment, a bearing can be sleeved on the longitudinal rotation shaft 52, and the bearing is then embedded in the second support frame 5, so that the second support frame 5 can rotate more smoothly. Of course, in other embodiments, other structures can also be used to realize the rotation of the second support frame 5. For example, the longitudinal rotation shaft 52 can be directly inserted into the second support frame 5, and a clearance fit is adopted. Of course, in this embodiment, the rotation of the second support frame 5 is not as smooth as in the above embodiment.

[0210] The top of the second support frame 5 is higher than the longitudinal rotation axis 52, and the output end of the first rotation drive device 6 is connected to the top of the second support frame 5. In a specific embodiment, the first rotation drive device 6 can adopt a hydraulic cylinder or a cylinder, and the piston rod is hinged to the top of the second support frame 5. In a specific implementation, the first rotation drive device can also adopt a motor, a hydraulic cylinder and other equipment, and the angle of rotation can be adjusted to meet the use requirements of containers of different models and different inner cavity bottom surface heights, thereby increasing the scope of use. In a specific implementation, when the second support frame 5 rotates to a predetermined position, the roller 51 contacts the bottom surface of the container inner cavity and rolls on it, supporting the cross beam 2 and preventing the cross beam 2 from being in a cantilever state. In a specific embodiment, the second support frame 5 is arranged at the bottom of the front end of the cross beam 2, which can better support the front end of the cross beam 2.

[0211] Also includes

[0212] There are two shaping protection members 80, which are symmetrically arranged on both sides of the first fork 3;

[0213] The fourth driving device 90 is connected to the control device (not shown) in communication and connected to the cross beam 2. That is, in a specific implementation, the fourth driving device 90 can be directly fixedly connected to the cross beam 2, or fixedly connected to the cross beam 2 through an intermediate connecting member. For example, the fourth driving device 90 is fixedly connected to the support plate 40, and the support plate 40 is rotatably connected to the cross beam 2, so that the fourth driving device 90 is connected to the cross beam 2, and the output end is fixedly connected to each of the shaping protection members 80. The shaping protection members 80 are driven by the fourth driving device 90 to open and close in the longitudinal direction, and the two sides of the cargo are pushed straight to play a shaping role, so as to avoid the uneven sides of the cargo from rubbing against the inner wall of the container during loading, thereby damaging the cargo. On the other hand, the shaping protection member 80 blocks the two sides of the cargo, thereby protecting the cargo and preventing the position from deviating during loading and unloading when the truck is parked in an error position. Even if there is friction with the inner wall of the container, it is the shaping protection member 80 that rubs against the inner wall of the container, and the cargo will not directly rub against the inner wall of the container, thereby protecting the cargo. In a specific embodiment, there are four fourth drive devices 90, which are arranged in a rectangular shape on the front end surface of the support plate 40. The fourth drive device 90 adopts a hydraulic cylinder or a pneumatic cylinder, and its piston rod is arranged in the longitudinal direction and fixedly connected to the shaping protection member 80. Therefore, the piston rod of the fourth drive device 90 is extended and retracted to drive the shaping protection member 80 to perform opening and closing movements.

[0214] Also includes

[0215] There are at least two limiting members 215; in a specific implementation, the limiting member 215 can be a vertical plate, or can also be a buckle as shown in the embodiment of the accompanying drawings, so that the tray can be limited or clamped, or other structures can be used; the tray is limited on the front and rear sides of the tray by the limiting member 215 to prevent the tray from moving horizontally during the flipping process.

[0216] There are two rotating shafts 216, which are rotatably connected to the front and rear ends of the support platform 2022; each of the rotating shafts 216 is fixedly connected to at least one of the limiting members 215;

[0217] There are two fourth rotation drive devices 217, which are communicatively connected to the control device (not shown) and fixedly connected to the flip outer frame 202, and the output end of each fourth rotation drive device 217 is fixedly connected to the rotating shaft 216 in a one-to-one correspondence; in a specific implementation, the fourth rotation drive device 217 can use a motor.

[0218] The limiting member 215 has the following two states:

[0219] State 1: before the pallet and the goods enter the second conveying device 210, the fourth rotary drive device 217 drives the rotary shaft 216 to rotate, driving the stopper 215 to rotate to a position lower than the top surface of the first conveying device 208, so as to avoid interference between the pallet and the stopper 215 when the pallet enters the second conveying device 210;

[0220] State 2: When the pallet and the goods reach the predetermined position on the second conveying device 210, the fourth rotary drive device 217 drives the rotary shaft 216 to rotate, driving the limiting member 215 to rotate to both sides of the pallet to limit the pallet.

[0221] Also includes

[0222] The pallet collecting support frame 218 is erected on one side of the base 201, and when the flip outer frame 202 is rotated 180° and the clamping plate 204 is located under the support platform 2022, the accommodating cavity 2021 is longitudinally opened toward the pallet collecting support frame 218; in a specific embodiment, as shown in the accompanying drawings, a transverse connecting rod 2181 is provided at the top of the pallet collecting support frame 218 near the flip outer frame, and it is necessary to ensure that the transverse connecting rod 2181 is higher than the pallet to avoid interference when the pallet is forked. Of course, in other embodiments, the transverse connecting rod 2181 can also be removed, so there is no need to worry about interference.

[0223] A Y-axis moving module 219 is communicatively connected to the control device (not shown) and is slidably connected to the tray collecting support frame 218 in the longitudinal direction;

[0224] The Z-axis moving module 220 is communicatively connected to the control device (not shown) and vertically slidably connected to the Y-axis moving module 219;

[0225] The second fork 221 is fixedly connected to the Z-axis moving module 220 , and is arranged in the longitudinal direction toward the flip outer frame 202 .

[0226] Therefore, the Y-axis coordinate, i.e., the longitudinal position, of the second fork 221 is adjusted by the Y-axis moving module 219, and the Z-axis coordinate, i.e., the vertical coordinate, of the second fork 221 is adjusted by the Z-axis moving module 220, so that the second fork is inserted into the pallet, the pallet is forked, and then taken out of the accommodating cavity 2021, and finally the pallet is placed at a predetermined position.

[0227] The Y-axis moving module 219 and the Z-axis moving module 220 can adopt existing linear slides, which are standard parts and can be directly purchased on the market. For example, a linear slide driven by a motor can be adopted, and the motor and a control device (not shown) can be connected in communication.

[0228] Also includes

[0229] The fourth conveying device 222 is communicatively connected to the control device (not shown), and is installed in the pallet collecting support frame 218 and is located below the second fork 221. The pallet taken out from the second fork 221 can be placed on the fourth conveying device 222, and then transported away by the fourth conveying device 222. The fourth conveying device 222 can also use an existing conveying line and can be directly purchased on the market.

[0230] The longitudinal outer surface of the flip outer frame 202 is arc-shaped;

[0231] The longitudinal outer surface of the flip outer frame 202 is symmetrically provided with two arc-shaped racks 223;

[0232] The second rotary drive device 203 is a motor, and there are two of them. The output shaft fixed sleeve of each second rotary drive device 203 is provided with a gear 224, and the gears are meshed with the arc-shaped racks 223 in a one-to-one correspondence;

[0233] The top surface of the base 201 is provided with a groove 2011 along the longitudinal direction; the flip outer frame 202 is located in the groove 2011;

[0234] A plurality of rolling elements 225 are further provided in the groove 2011, and each rolling element 225 is arranged in the transverse direction and is located between the two arc-shaped racks 223; in a specific implementation, the rolling element 225 can be a roller, a wheel, a ball, etc., or can also be implemented in the embodiment shown in the accompanying drawings, wherein the rolling element 225 is a track wheel, and an arc track 226 is provided on the arc-shaped outer surface of the flip outer frame 202, and the track wheel and the arc track 226 are rollingly connected, so that the reverse rotation of the flip outer frame 202 is also guided by the arc track 226.

[0235] Each of the rolling elements 225 is also tangent to the longitudinal outer surface of the flip outer frame 202 .

[0236] The flip outer frame 202 is supported by rolling by the rolling member 225, and the rolling connection between the two can reduce the friction when the flip outer frame 202 rotates. The output shaft of the second rotation drive device 203 rotates, driving the gear 224 to rotate, and then the arc-shaped rack 223 is driven to rotate through the meshing movement of the gear rack, thereby driving the flip outer frame 202 to flip.

[0237] Specific usage:

[0238] The first conveying device 208, the fourth conveying device 222, the transverse conveying device 209 and the longitudinal conveying device 7 all use existing conveying lines driven by motors. The second conveying device 210 and the third conveying device 211 use conveying chains driven by motors.

[0239] Initially, the control device (not shown) controls the first driving device 30 to drive the first fork 3 to move to a predetermined first low position, at which time the crossbeam 2 moves laterally, and the first fork can directly enter the avoidance groove 73 and extend under the cargo;

[0240] The second rotation drive device 203 uses a motor, the third rotation drive device 207 uses a hydraulic cylinder, and the fourth rotation drive device 217 uses a motor; the clamping drive device uses a hydraulic cylinder;

[0241] Preset working procedures;

[0242] First go to the tray:

[0243] Initially, the two shaping plates 206 are rotated to open, and the opening angle can be preset, and it is only necessary to ensure that the pallet and goods are not blocked from entering and exiting;

[0244] Placing the pallet and the goods on the first conveying device 208;

[0245] The control device (not shown) controls the motor of the first conveying device 208 to drive the rollers on the conveying line to rotate and convey the pallet and the goods to the second conveying device 210;

[0246] When the first position detection device 212 detects that the pallet and the goods have reached the predetermined position, a feedback signal is sent to the control device (not shown);

[0247] The rear control device (not shown) controls the second conveying device 210 to work, so that the pallet and the goods are conveyed to the second conveying device 210 through the first conveying device 208, and the pallet and the goods are conveyed to the predetermined shaping and turning position through the second conveying device 210;

[0248] When the second position detection device 213 detects that the pallet and the goods have reached the predetermined shaping and flipping positions, a feedback signal is sent to the control device;

[0249] The rear control device (not shown) controls the piston rod of the third rotary drive device 207 to extend, and rotates the shaping plate 206 to be longitudinally closed, thereby pushing the front and rear sides of the cargo to be straightened to achieve shaping;

[0250] After the piston rod of the third rotation drive device 207 is extended into place, the control device (not shown) controls the piston rod of the clamping drive device 205 to extend, driving the clamping plate 204 to press down to clamp the goods; at the same time, the control device (not shown) controls the fourth rotation drive device 217 to drive the rotating shaft 216 to drive the limit member 215 to rotate to a predetermined position, limiting the pallet on both sides of the pallet to prevent the pallet from moving horizontally when flipping.

[0251] After the piston rod of the clamping drive device 205 is extended into position and the fourth rotation drive device 217 is rotated into position, the control device (not shown) controls the second rotation drive device 203 to work, and drives the flip outer frame 202 to flip 180° through the gear rack meshing movement, turning the pallet and the goods upside down. During this process, the opening of one longitudinal end of the accommodating cavity 2021 faces upward to prevent the goods from falling.

[0252] After flipping into place, the control device (not shown) controls the piston rod of the third rotation drive device 207 to retract, driving the two shaping plates 206 to reset and open;

[0253] After the piston rod of the third rotary drive device 207 is reset and retracted, the control device (not shown) controls the piston rod of the clamping drive device 205 to reset and retract. At this time, the piston rod of the clamping drive device 205 is arranged vertically upward. Therefore, after the piston rod is reset and retracted, the goods and the pallet are driven to descend, so that the pallet and the second conveying device 210 are separated, that is, the pallet is released;

[0254] After the piston rod of the clamping drive device 205 is retracted, the control device (not shown) controls the Y-axis moving module 219 and the Z-axis moving module 220 to move along a predetermined trajectory, first inserting the second fork 221 into the pallet, then lifting the pallet to a predetermined height, then withdrawing the pallet from the accommodating cavity 2021, and finally placing the pallet on the fourth conveying device 222;

[0255] After being placed on the fourth conveying device 222, the control device (not shown) controls the third conveying device 211 to work and convey the goods after the pallet is removed to the transverse conveying device 209. When the third position detection device 214 detects that the goods have reached the predetermined position, the control device (not shown) controls the transverse conveying device 209 to work and continue to convey the goods.

[0256] On the other hand, the control device (not shown) controls the fourth conveying device 222 to convey the tray away;

[0257] Finally, the control device (not shown) controls each driving device to reset the second fork 221 and the flip outer frame 202. The reset signal can be preset, for example, when the third position detection device 214 detects the goods, it waits for a predetermined time to ensure that all the goods enter the transverse conveying device, which can be preset according to the actual transportation speed of the third conveying device 211 and the transverse conveying device 209. Of course, in other embodiments, a sensing device can be added to detect whether the goods have completely entered the transverse conveying device 209, or the third position detection device 214 also uses visual detection equipment, industrial cameras, etc., to detect whether the goods have reached the predetermined position, which is used to notify the control device to start the transverse conveying device 209, and can also detect whether the goods have completely entered the transverse conveying device 209; or the third detection device 214 detects that the goods have reached the predetermined position, which indicates that the goods have completely entered the transverse conveying device 209, and when the machine is turned on, the control device (not shown) directly controls the transverse conveying device 209 to work all the time, so that there is no need to notify the control device to start the transverse conveying device 209 during the working process. These can be preset according to actual needs.

[0258] The transverse conveying device 209 conveys the goods to the longitudinal conveying device 7 for loading;

[0259] The goods are transported from the end of the transverse conveying device 209 to the longitudinal conveying device 7; when the goods arrive at the predetermined position and are detected by the first detection device 8, the first detection device 8 feeds back a signal to the control device (not shown);

[0260] The control device (not shown) controls the piston rod of the lift 92 to extend upward, drives the lifting platform 93 to rise, and drives the chain 95 to be lifted to be flush with the top surface of the roller of the longitudinal conveying device 7. When the piston rod of the lift 92 reaches the predetermined position, the travel switch provided by the lift 92 feeds back a signal to the control device (not shown). The control device (not shown) controls the driving motor 94 to work, drives the chain 95 to rotate, and thus continues to move the goods in the horizontal direction, adjusts the position of the goods, and reaches the predetermined position to be detected by the second detection device 71. The second detection device 71 feeds back a signal to the control device (not shown).

[0261] The control device (not shown) controls the driving motor 94 to stop working, and then controls the piston rod of the lift 92 to reset and retract, and the chain 95 descends to below the roller of the longitudinal conveying device 7, and the goods are supported by the roller of the longitudinal conveying device 7; after the piston rod of the lift 92 is reset, a feedback signal is given to the control device (not shown);

[0262] The control device (not shown) controls the motor of the longitudinal conveying device 7 to work, drives the roller to rotate, and conveys the goods to the predetermined loading position in front of the first fork 3. After the goods are in place, they are detected by the third detection device 72, and a signal is fed back to the control device (not shown); the control device (not shown) controls the motor of the longitudinal conveying device 7 to stop working;

[0263] The rear control device (not shown) controls the horizontal drive device 4 to drive the track wheel 22 to rotate, thereby driving the track 21 and the crossbeam 2 to move horizontally to a predetermined position, and the first fork 3 extends into the avoidance groove 73 and is located below the goods; in a specific implementation, a fourth detection device (not shown) can be provided on the longitudinal conveying device 7, and the fourth detection device (not shown) is communicatively connected to the control device (not shown) to detect whether the first fork 3 moves to a predetermined position in the avoidance groove 73. Of course, it is also possible to determine whether the first fork 3 reaches a predetermined position in the avoidance groove 73 by presetting a travel switch of the horizontal drive device 4. Of course, it is also possible to set the predetermined position in the avoidance groove 73 by presetting the number of rotations of the horizontal drive device 4;

[0264] After the fork is in place, the control device (not shown) controls the first driving device 30 to work, driving the first fork 3 to lift up to a predetermined position;

[0265] The rear control device controls (not shown) the piston rod of the fourth drive device 90 to retract, driving the shaping protection member 80 to close and straighten the cargo; after the piston rod of the fourth drive device 90 is retracted, the control device (not shown) controls the piston rod of the fourth drive device 90 to extend and reset, resetting and opening the two shaping protection members 80;

[0266] The rear control device (not shown) controls the second driving device 50 to work, driving the support plate 40 to rotate and tilt upward by a certain angle, such as 3° to 5°, to tilt the goods upward to prevent them from falling forward;

[0267] The rear control device (not shown) controls the piston rod of the first rotation drive device 6 to extend, driving the second support frame 5 to rotate downward to a predetermined position, for example, the second support frame 5 is vertical or tilted downward; wherein, the second support frame 5 rotates to a predetermined position, and can rotate down after the goods enter the container, and contact the bottom surface of the container cavity, which can be based on the height of the roller 51 and the longitudinal conveying device 7. If the two do not interfere, the second support frame 5 can be rotated to a predetermined position before entering the container. This can be set according to the actual use requirements. The working procedure can be preset by the travel switch of the first drive device 30, the number of rotations, or the setting of a detection device.

[0268] The control device (not shown) controls the horizontal driving device 4 to work, driving the cross beam 2 to move to a predetermined position in the container. During this process, as the second support frame 5 enters the container, the roller 51 rolls on the bottom surface of the inner cavity of the container, so that the second support frame 5 supports the cross beam 2, preventing the cross beam 2 from becoming an independent cantilever, shortening the length of the force arm, and reducing the moment of force on the cross beam 2;

[0269] After reaching the predetermined position in the container, the control device (not shown) controls the first driving device 30 to work, lowers to the predetermined second lowest position, and lowers the first fork 3 to the bottom surface of the container; then the control device (not shown) controls the piston rod of the second driving device 50 to return and retract, and rotates the first fork 3 to a horizontal position;

[0270] The rear control device (not shown) controls the piston rod of the third driving device 70 to extend to a predetermined position, and drives the push plate 60 to push the cargo, so that the cargo moves from the first cargo fork 3 to the container;

[0271] Then the control device (not shown) controls the piston rod of the third driving device 70 to return and retract, and controls the first driving device 30 to work, driving the first fork 3 to be lifted to a predetermined position;

[0272] Finally, the control device (not shown) controls the output shaft of the horizontal drive device 4 to reverse, drives the cross beam 2 to reset, and exits the container; in this process, if the bottom surface of the roller 51 is higher than the top surface of the longitudinal conveying device 7, the second support frame 5 does not need to be reset; if it is lower, the control device (not shown) needs to first control the piston rod of the first rotary drive device 6 to reset and retract, rotate the second support frame 5 and the roller 51 upward to reset, and finally control the horizontal drive device 4 to drive the cross beam 2 to reset;

[0273] After the crossbeam 2 is reset, the control device (not shown) finally controls the first driving device 30 to drive the first fork 3 to reset to the first low point.

[0274] Similarly, when unloading, the first fork 3 first forks the pallet and the goods in the container. At this time, the goods are placed on the pallet. The first fork 3 forks the pallet, thereby forking the goods, and then places them on the longitudinal conveying device 7, and the longitudinal conveying device 7 can be transported away. The goods can be directly forked off from the longitudinal conveying device 7, or docked to the transverse conveying device 209, or other conveying equipment for transportation. The movement trajectory during unloading can be preset according to needs.

[0275] When each driving device is in place, a signal can be fed back to the control device through the travel switch provided by the motor or hydraulic cylinder, so as to notify the control device (not shown) that it is in place and the next action can be carried out at the same time.

[0276] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A cargo loading and unloading system for a back-opening container with shaping and pallet removal functions, characterized in that: include Control devices; a first support frame; A crossbeam, movably connected to the first support frame in a transverse direction; A first fork is slidably connected to the front end of the crossbeam; A horizontal driving device, communicatively connected to the control device, and driving the crossbeam to move in the lateral direction; A second support frame, rotatably connected to the bottom of the beam; A first rotation driving device, communicatively connected to the control device, and an output end of which is connected to the second support frame; A longitudinal conveying device, which is communicatively connected to the control device and is longitudinally erected in front of the crossbeam and has a height lower than the bottom surface of the crossbeam; A transverse conveying device, which is communicatively connected to the control device and is transversely mounted on one side of the longitudinal conveying device; A base, mounted in front of the transverse conveying device; The flip outer frame is provided with a receiving cavity with two open ends in the horizontal direction and one open end in the longitudinal direction, a support platform is provided on the bottom surface of the receiving cavity, and the flip outer frame is rotatably connected to the base; A second rotation driving device, the output end of which is connected to the flip outer frame; A pressing plate is placed on the top of the accommodating cavity and arranged parallel to and facing the supporting platform; A clamping drive device, fixedly connected to the flip outer frame, and an output end of which is connected to the clamping plate, driving the clamping plate to move up and down; There are two shaping plates, which are rotatably connected to the flip outer frame and are symmetrically arranged at the front and rear ends of the accommodating cavity; A third rotation driving device is fixedly connected to the flip outer frame, and an output end of the third rotation driving device is connected to each of the shaping plates; A first conveying device, communicatively connected to the control device and disposed laterally at the front end of the base; A second conveying device, communicatively connected to the control device and fixedly connected to the support platform in a transverse direction; A third conveying device is communicatively connected to the control device and is laterally fixedly connected to the bottom surface of the pressing plate, and is arranged parallel to and facing the second conveying device; A first position detection device, communicatively connected to the control device, for detecting whether the pallet and the goods have reached a predetermined position on the first conveying device; A second position detection device, communicatively connected to the control device, for detecting whether the pallet and the goods have reached a predetermined position on the second conveying device; a third position detection device, communicatively connected to the control device, for detecting whether the pallet and the goods have reached a predetermined position on the transverse conveying device; in, When the flip outer frame rotates until the pressing plate and the support platform are horizontal, and the pressing plate is located above the support platform, the first conveying device and the second conveying device are in the same straight line, and the height of the first conveying device is greater than or equal to the height of the second conveying device; When the flip outer frame rotates 180° until the pressing plate and the support platform are horizontal, and the pressing plate is located below the support platform, the transverse conveying device and the third conveying device are in the same straight line, and the height of the third conveying device is ≥ the height of the transverse conveying device; Also includes There are two shaping protection parts, which are symmetrically arranged on both sides of the first fork; a fourth driving device, communicatively connected to the control device and connected to the crossbeam, and having an output end fixedly connected to each of the shaping protection members; Limiting parts, at least two; There are two rotating shafts, which are rotatably connected to the front and rear ends of the support platform; each of the rotating shafts is fixedly connected to at least one of the limiting members; There are two fourth rotation driving devices, which are communicatively connected to the control device and fixedly connected to the flip outer frame, and the output end of each of the fourth rotation driving devices is fixedly connected to the rotating shaft in a one-to-one correspondence; The limiting member includes the following two states: State 1: before the pallet and the goods enter the second conveying device, the fourth rotary drive device drives the rotary shaft to rotate, driving the limiter to rotate to a position lower than the top surface of the first conveying device; State 2: When the pallet and the goods reach a predetermined position on the second conveying device, the fourth rotary drive device drives the rotary shaft to rotate, driving the limiting members to rotate to both sides of the pallet to limit the pallet.

2. The cargo loading and unloading system for a back-opening container with shaping and pallet removal functions according to claim 1, characterized in that: Also includes A first slide rail is vertically laid at the front end of the beam; A first sliding block, fixedly connected to the first fork and slidably connected to the first slide rail; The first driving device is communicatively connected to the control device and fixedly connected to the front end of the beam, and an output end of the first fork is connected to the first fork.

3. The cargo loading and unloading system for a back-opening container with shaping and pallet removal functions according to claim 2, characterized in that: Also includes A support plate, the top end of which is rotatably connected to the front end of the beam around a longitudinal axis; A second driving device is communicatively connected to the control device and fixedly connected to the crossbeam, and an output end of the second driving device is connected to the support plate; Wherein, the first slide rail is laid vertically on the front end surface of the support plate.

4. The cargo loading and unloading system for a back-opening container with shaping and pallet removal functions according to claim 3 is characterized in that: Also includes Push plate, The third driving device is communicatively connected to the control device, fixedly connected to the support plate or the crossbeam, and has an output end connected to the push plate, so as to drive the push plate to move in the lateral direction.

5. A cargo loading and unloading system for a back-opening container with shaping and pallet removal functions according to any one of claims 1 to 4, characterized in that: Also includes Tracks, at least two of them, are fixedly connected to the bottom of the beam in the transverse direction; There are a plurality of track wheels, which are rotatably mounted below the track and arranged in at least two rows in the transverse direction, and the track wheels in each row are rollingly connected to the track in a one-to-one correspondence; Wherein, the horizontal driving device drives the track wheel to rotate.

6. A cargo loading and unloading system for a back-opening container with shaping and pallet removal functions according to any one of claims 1 to 4, characterized in that: It also includes a roller, which is movably connected to the bottom of the second support frame.

7. A cargo loading and unloading system for a back-opening container with shaping and pallet removal functions according to any one of claims 1 to 4, characterized in that: A longitudinal rotation axis is provided at the bottom of the crossbeam on the transverse center line; the longitudinal rotation axis is connected to the second support frame; The top end of the second support frame is higher than the longitudinal rotation axis, and the output end of the first rotation driving device at the top end is connected to the top end of the second support frame.

8. The cargo loading and unloading system for a back-opening container with shaping and pallet removal functions as claimed in claim 1, characterized in that: Also includes A tray collection support frame is mounted on one side of the base, and when the flip outer frame rotates 180° and the pressing plate is located below the support platform, the longitudinal opening of the accommodating cavity faces the tray collection support frame; A Y-axis moving module, communicatively connected to the control device and slidably connected to the tray collecting support frame in a longitudinal direction; A Z-axis moving module is communicatively connected to the control device and vertically slidably connected to the Y-axis moving module; The second fork is fixedly connected to the Z-axis moving module and arranged in the longitudinal direction toward the flip outer frame.

9. A cargo loading and unloading system for a back-opening container with shaping and pallet removal functions as claimed in claim 8, characterized in that: Also includes The fourth conveying device is communicatively connected to the control device, and is mounted in the pallet collecting support frame and is located below the second fork.

10. The cargo loading and unloading system for a back-opening container with shaping and pallet removal functions as claimed in claim 1, characterized in that: The longitudinal outer surface of the flip outer frame is in an arc shape; The longitudinal outer surface of the flip outer frame is symmetrically provided with two arc-shaped racks; The second rotary drive device is a motor, and there are two of them. The output shaft fixing sleeve of each second rotary drive device is provided with a gear, and the gears are meshed with the arc-shaped racks in a one-to-one correspondence; A groove is formed on the top surface of the base in the longitudinal direction; the flip outer frame is located in the groove; A plurality of rolling elements are also provided in the groove, each of the rolling elements is arranged in the transverse direction and is located between the two arc-shaped racks; Each of the rolling elements is also tangent to the longitudinal outer surface of the flip outer frame.

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