Loading and unloading equipment, loading and unloading equipment control method, and product detection system

Abstract

This specification provides a loading and unloading device, a control method for the loading and unloading device, and a product detection system. The loading and unloading device includes: a palletizing mechanism, including: a first jaw; a first motion component capable of driving the first jaw to move in a first direction; a first telescopic component capable of driving the first jaw to move in a second direction. The first jaw grabs the palletized goods under the drive of the first telescopic component and can stack the palletized goods along the first direction under the drive of the first motion component; a loading and unloading mechanism for loading and unloading products on the palletized goods; a conveying mechanism, including: a placement table for placing the palletized goods and a second motion component for driving the placement table to move between the palletizing mechanism and the loading and unloading mechanism. The second motion component can drive the placement table to move to the second direction of the first jaw. This application effectively avoids the pushed carts from being stacked around the product detection line, avoids the stacked carts from occupying most of the area of the factory, and saves the labor cost of cleaning the carts.

Description

Technical Field

[0001] This application belongs to the technical field of mechanical equipment processing, and specifically relates to a loading and unloading device, a control method for the loading and unloading device, and a product detection system. Background Art

[0002] In the field of machining, products generally need to be quality inspected after production. This requires transporting the products on and off the production line to the product inspection line for quality inspection. For example, in the production of electric energy meters, the produced electric energy meters need to be loaded into a bin, and then the bin is transported to the product inspection line. After inspection, the electric energy meters are stored in the warehouse.

[0003] In the prior art, generally, a handling tool such as a trolley is used to transport the bin containing the product to the product inspection line, and the bin on the trolley is unloaded at the loading and unloading device of the product inspection line, and the bin is sent for inspection. After the bin is unloaded from the trolley, it is necessary to manually pull out the unloading trolley to put in the next trolley, so as to unload the bin on the next trolley.

[0004] However, by manually pushing out the trolley, the pushed-out trolleys are generally directly stacked around the product inspection line, which will occupy most of the area of the factory and require a lot of manpower for cleaning.

[0005] It should be noted that the above introduction of the technical background is only for the convenience of clearly and completely explaining the technical solution of the present invention and facilitating the understanding of those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art just because these solutions are described in the background art part of the present invention. Summary of the Invention

[0006] To solve the technical problems existing in the prior art, this application provides a loading and unloading device, a control method for the loading and unloading device, and a product detection system, which effectively avoid the trolleys pushed out from being stacked around the product inspection line, avoid the stacked trolleys occupying most of the area of the factory, and save the labor cost of cleaning the trolleys.

[0007] To achieve the above object, the technical solutions provided in this application are as follows:

[0008] A loading and unloading device, comprising:

[0009] A palletizing mechanism, comprising: a first jaw; a first motion component capable of driving the first jaw to move in a first direction; a first telescopic component capable of driving the first jaw to move in a second direction, the first jaw clamps the palletized object under the drive of the first telescopic component, and can stack the palletized object along the first direction under the drive of the first motion component;

[0010] A loading and unloading mechanism for loading and unloading products on the palletized object;

[0011] The conveying mechanism includes: a placement table for placing the stacked objects and a second motion component that drives the placement table to move between the stacking mechanism and the loading and unloading mechanism, and the second motion component can drive the placement table to move to the second direction of the first claw.

[0012] As a preferred embodiment, the loading and unloading mechanism includes: a second clamping claw; a third moving component capable of driving the second clamping claw to move in the first direction; a second telescopic component capable of driving the second clamping claw to move in the second direction; a fourth moving component capable of driving the second clamping claw to move in a third direction; the first direction, the second direction and the third direction are perpendicular to each other.

[0013] As a preferred embodiment, the loading and unloading equipment includes: a stacking cabinet for fixing the stacking mechanism and a loading and unloading cabinet for fixing the loading and unloading mechanism, the stacking cabinet and the loading and unloading cabinet are connected, and the loading and unloading cabinet and the stacking cabinet are both provided with a walking mechanism, and the bottoms of the loading and unloading cabinet and the stacking cabinet have space allowing a placement table and the stacked objects to pass through.

[0014] As a preferred embodiment, the stacking mechanism includes: a first stacking mechanism and a second stacking mechanism, and the first stacking mechanism and the second stacking mechanism are symmetrically arranged in the second direction; the loading and unloading mechanism includes: a first loading and unloading mechanism and a second loading and unloading mechanism, and the first loading and unloading mechanism and the second loading and unloading mechanism are symmetrically arranged in the second direction.

[0015] As a preferred embodiment, the loading and unloading cabinet and the stacking cabinet are both provided with a lifting mechanism, and the lifting mechanism can drive the loading and unloading cabinet and the stacking cabinet to rise relative to the ground so that the walking mechanism is lifted off the ground.

[0016] As a preferred embodiment, the first moving component includes: a first transmission member extending along the first direction; a first moving member transmission-connected to the first transmission member, and the first claw is arranged on the first moving member through the first telescopic component; and a first control unit for controlling the movement of the first moving member on the first transmission member.

[0017] As a preferred embodiment, the loading and unloading cabinet body and the palletizing cabinet body are arranged in parallel in the second direction, the second moving assembly is fixed at the bottoms of the palletizing cabinet body and the loading and unloading cabinet body, and the second moving assembly includes: a second transmission member extending along the second direction; a second moving member drivingly connected to the second transmission member, the second moving member being connected to the placement table; and a second control unit for controlling the movement of the second moving member on the second transmission member.

[0018] As a preferred embodiment, the conveying mechanism further includes: a platform located below the placement table; a limiting slide rail provided on the platform, the limiting slide rail extending along the second direction, and a limiting slider cooperating with the limiting slide rail is provided at the bottom of the placement table.

[0019] As a preferred embodiment, a height adjusting mechanism for adjusting the distance between the placement table and the platform is provided between the placement table and the limiting slider, universal wheels are provided at the bottom of the palletized object, and positioning grooves cooperating with the universal wheels are provided on the surface of the palletized object.

[0020] As a preferred embodiment, the placement table includes: a bottom plate and a fence surrounding the bottom plate, a limiting groove for limiting the palletized object is provided on the bottom plate, and a notch for avoiding the first clamping jaw is provided on the fence.

[0021] As a preferred embodiment, the loading and unloading device further includes a control mechanism for receiving signals and issuing instructions, the control mechanism is connected to the palletizing mechanism, the loading and unloading mechanism, the conveying mechanism and the height adjusting mechanism, and is used for controlling the operations of the palletizing mechanism, the loading and unloading mechanism, the conveying mechanism and the height adjusting mechanism.

[0022] A loading and unloading device control method using the above-mentioned loading and unloading device, the loading and unloading device control method includes:

[0023] Step S10: Start the loading and unloading mechanism and perform the unloading work;

[0024] Step S20: After the unloading is completed, control the placement table to move to the palletizing mechanism;

[0025] Step S30: Control the first moving assembly to move downward until the first clamping jaw moves to the first position, then control the first telescopic assembly to extend it, and after the first clamping jaw extends a predetermined distance, control the first moving assembly to move the first clamping jaw upward to the second position;

[0026] Step S40: Control the placement table to move back to the loading and unloading mechanism and perform the unloading work;

[0027] Step S50: After unloading is completed, control the placement table to move to the palletizing mechanism;

[0028] Step S60: After controlling the first moving component to move the first jaw downward to the third position, control the first telescopic component to retract it. The third position is between the first position and the second position;

[0029] Step S70: Control the first moving component to move downward. When the first jaw moves to the first position, control the first telescopic component to extend it. After the first jaw extends a predetermined distance, control the first moving component to move the first jaw upward to the second position.

[0030] A method for controlling a loading and unloading device using the loading and unloading device described above. The method for controlling the loading and unloading device includes:

[0031] Step S10: Start the loading and unloading mechanism and perform the unloading operation;

[0032] Step S20: After unloading is completed, control the placement table to move to the palletizing mechanism;

[0033] Step S30: Control the first moving component to move downward. When the first jaw moves to the first position, control the first telescopic component to extend it. Control the first moving component and the height adjustment mechanism to synchronously raise the first jaw and the placement table until the first jaw moves up to the second position. Then, control the height adjustment mechanism to lower the placement table;

[0034] Step S40: Control the placement table to move back to the loading and unloading mechanism and perform the unloading operation;

[0035] Step S50: After unloading is completed, control the placement table to move to the palletizing mechanism;

[0036] Step S60: Control the height adjustment mechanism to raise the placement table to the fourth position;

[0037] Step S70: Control the first telescopic component to retract the first jaw and control the first moving component to move the first jaw downward to the fifth position;

[0038] Step S80: Control the first telescopic component to extend it by a predetermined distance. Control the first moving component and the height adjustment mechanism to synchronously raise the first jaw and the placement table until the first jaw moves up to the second position. Then, control the height adjustment mechanism to lower the placement table.

[0039] A product detection system, comprising: a loading and unloading device, a detection device for detecting the quality of products, and a transmission device for transmitting products between the loading and unloading device and the detection device; wherein, the loading and unloading device includes:

[0040] A palletizing mechanism, including: a first jaw; a first motion component capable of driving the first jaw to move in a first direction; a first telescopic component capable of driving the first jaw to move in a second direction, the first jaw clamping the palletized goods under the drive of the first telescopic component and being able to stack the palletized goods along the first direction under the drive of the first motion component;

[0041] A loading and unloading mechanism for loading and unloading products on the palletized goods;

[0042] A conveying mechanism, including: a placement table for placing the palletized goods and a second motion component for driving the placement table to move between the palletizing mechanism and the loading and unloading mechanism, the second motion component being able to drive the placement table to move to the second direction of the first jaw.

[0043] Advantageous effects:

[0044] In the loading and unloading device, the loading and unloading device control method, and the product detection system provided by the embodiments of the present application, the loading and unloading device is provided with a palletizing mechanism and a conveying mechanism, and the palletized goods (such as handling tools like trolleys) after unloading can be conveyed to the palletizing mechanism by the conveying mechanism for palletizing. The palletized goods can be continuously stacked along the first direction, thus effectively avoiding the technical problem that the random stacking of trolleys will occupy most of the area of the factory, reducing the floor area of the trolleys in the factory, and saving the labor for cleaning the trolleys. In addition, after palletizing, the trolleys in the palletizing mechanism can also be conveyed to the loading and unloading mechanism by the conveying mechanism, so as to load the products on the trolleys, which can save the labor for pushing the trolleys to the loading and unloading mechanism for loading, and improve the working efficiency of the entire loading and unloading process.

[0045] Referring to the following description and the accompanying drawings, specific embodiments of the present application are disclosed in detail, indicating the ways in which the principles of the present application can be adopted. It should be understood that the embodiments of the present application are not limited in scope thereby.

[0046] Features described and / or illustrated for one embodiment can be used in the same or similar way in one or more other embodiments, combined with the features in other embodiments, or replace the features in other embodiments.

[0047] It should be emphasized that the term "comprising / including" when used herein refers to the presence of features, whole pieces, steps or components, but does not exclude the presence or addition of one or more other features, whole pieces, steps or components. Description of the Drawings

[0048] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative labor, other drawings can be obtained based on these drawings.

[0049] Figure 1 Schematic diagram of the three-dimensional structure of the loading and unloading equipment provided by the embodiment of this specification;

[0050] Figure 2 Schematic diagram of the structure of the conveying mechanism provided by the embodiment of this specification;

[0051] Figure 3 Schematic diagram of the structure of the loading and unloading mechanism provided by the embodiment of this specification;

[0052] Figure 4 Schematic diagram of the structure of the palletizing mechanism provided by the embodiment of this specification;

[0053] Figure 5 Flow chart of a method for controlling a loading and unloading equipment provided by the embodiment of this specification;

[0054] Figure 6 Flow chart of another method for controlling a loading and unloading equipment provided by the embodiment of this specification.

[0055] Explanation of reference numerals:

[0056] 1. Loading and unloading equipment; 11. Loading and unloading cabinet body; 12. Palletizing cabinet body; 2. Conveying mechanism; 21. Placing table; 211. Bottom plate; 212. Fixed enclosure; 213. Movable enclosure; 22. Limit slide rail; 23. Second transmission member; 24. Second moving member; 3. Loading and unloading mechanism; 31. Second claw; 32. Second telescopic assembly; 33. Fourth motion assembly; 34. Third motion assembly; 4. Palletizing mechanism; 41. First claw; 42. First telescopic assembly; 43. First motion assembly; 5. Palletized object / cart; A. First direction; B. Second direction; C. Third direction. Detailed implementation manners

[0057] The following will, in combination with the accompanying drawings and specific implementation manners, elaborate on the technical solutions of the present invention in detail. It should be understood that these implementation manners are only used to illustrate the present invention and not to limit the scope. After reading the present invention, various equivalent forms of modification made by those skilled in the art fall within the scope defined by the present application.

[0058] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0059] The following will be combined Figures 1 to 6 The loading and unloading equipment, the loading and unloading equipment control method and the product detection system in the embodiments of this specification are explained and described. It should be noted that, for the convenience of description, in the embodiments of the present invention, the same reference numerals represent the same components. For the sake of brevity, in different embodiments, the detailed description of the same components is omitted, and the descriptions of the same components can be referenced and quoted to each other.

[0060] Specifically, in order to facilitate the description of the operation process of each mechanism and component in the loading and unloading equipment provided in this specification, Figure 1 The upward direction indicated in the figure is defined as “up”. Figure 1 The downward direction indicated in the specification is defined as “down”. The direction facing the reader is defined as “front”, and the direction away from the “front” is defined as “back”. The directions perpendicular to the “front, back” directions and the “up, down” directions are defined as “left, right” directions. It is worth noting that the definitions of various directions in this specification are only for the convenience of illustrating the technical solutions of the present invention, and do not limit the directions of the loading and unloading equipment, the loading and unloading equipment control method, and the product detection system of the embodiments of the present invention in other scenarios including but not limited to use, testing, transportation, manufacturing, etc. that may cause the orientation of the device to be reversed or the position to be changed.

[0061] In this specification, the loading and unloading equipment is used to unload materials from a transport device or to load materials into a transport device. In the embodiments of this specification, the transport device is described by taking a cart for transporting material boxes as an example, but is not limited to this. After unloading the material boxes on the cart, the loading and unloading equipment provided in the embodiments of this specification stacks the cart after unloading the material boxes, that is, the stacked objects are the carts. The structure of the cart may include a load plate for holding the material boxes, and wheels may be provided under the load plate. Of course, the cart structure is not limited to this.

[0062] The following description will be combined with Figures 1 to 4, the handling equipment is elaborated in detail. The handling equipment 1 includes: a palletizing mechanism 4, including: a first jaw 41; a first motion component 43 capable of driving the first jaw 41 to move in a first direction A; a first telescopic component 42 capable of driving the first jaw 41 to move in a second direction B. The first jaw 41 grabs the palletized goods 5 under the drive of the first telescopic component 42 and can stack the palletized goods 5 along the first direction A under the drive of the first motion component 43; a handling and loading / unloading mechanism 3 for loading and unloading products on the palletized goods 5; a conveying mechanism 2, including: a placement table 21 for placing the palletized goods 5 and a second motion component for driving the placement table 21 to move between the palletizing mechanism 4 and the handling and loading / unloading mechanism 3. The second motion component can drive the placement table 21 to move to the second direction B of the first jaw 41.

[0063] Generally speaking, a handling and loading / unloading mechanism 3 is configured on the handling equipment 1 for handling products or bins. After the handling is completed, in order to facilitate the handling of the next batch of products, it is necessary to pull out the cart to put in the next cart. The handling equipment 1 provided by the embodiment of this specification is provided with a palletizing mechanism 4 and a conveying mechanism 2. The palletized goods 5 (such as handling tools like carts) after unloading can be conveyed to the palletizing mechanism 4 through the conveying mechanism 2 for palletizing. The palletized goods 5 can be continuously stacked along the first direction A, thus effectively avoiding the technical problem that the random stacking of the cart 5 will occupy most of the area of the factory, reducing the floor area of the cart 5 in the factory, and saving the labor for cleaning the cart 5. In addition, after palletizing, the cart 5 in the palletizing mechanism 4 can also be conveyed to the handling and loading / unloading mechanism 3 through the conveying mechanism 2, so that the products can be loaded on the cart 5, saving the labor for pushing and placing the cart 5 to the handling and loading / unloading mechanism 3 for loading, and improving the working efficiency of the entire handling process.

[0064] Specifically, as Figure 4 shown, the first jaw 41 is used to grab the palletized goods. It is driven by the first motion component 43 to move in the first direction A and moves in the second direction B through the first telescopic component 42. The first direction A is different from the second direction B, which can be a vertical relationship, or in some embodiments, an acute angle is formed between the two. Both the first motion component 43 and the first telescopic component 42 can be linear motion mechanisms, and their specific forms and structures are not particularly limited. The palletizing mechanism 4 drives the first jaw 41 to act through the first motion component 43 and the first telescopic component 42 to realize the clamping and palletizing of the palletized goods 5. The palletized goods 5 are stacked along the first direction A, and the first direction A can be the height direction.

[0065] As Figure 1 and Figure 2As shown, the second moving component in the conveying mechanism 2 can drive the placing table 21 to move between the palletizing mechanism 4 and the loading and unloading mechanism 3. Thus, the trolley 5 unloaded by the loading and unloading mechanism 3 can move to the second direction B of the first jaw 41 through the conveying mechanism 2. Driven by the second moving component, the placing table 21 can move along a certain-shaped trajectory between the palletizing mechanism 4 and the loading and unloading mechanism 3. Depending on the movement form of the placing table 21, the second moving component can be in any form. When the placing table 21 moves linearly between the loading and unloading mechanism 3 and the palletizing mechanism 4, the second moving component can be a linear motion mechanism.

[0066] In this specification, the loading and unloading device 1 includes: a palletizing cabinet body 12 for fixing the palletizing mechanism 4 and a loading and unloading cabinet body 11 for fixing the loading and unloading mechanism 3. The palletizing cabinet body 12 and the loading and unloading cabinet body 11 are connected. Walking mechanisms are provided on both the loading and unloading cabinet body 11 and the palletizing cabinet body 12. There is a space at the bottom of the loading and unloading cabinet body 11 and the palletizing cabinet body 12 to allow the placing table 21 and the palletized goods 5 to pass through.

[0067] Specifically, the loading and unloading cabinet body 11 and the palletizing cabinet body 12 are assembled to form the loading and unloading device 1. The loading and unloading cabinet body 11 and the palletizing cabinet body 12 can share a wall surface or can be separate independent cabinet bodies. The cabinet body can be a structure built by profiles, having a frame and a wall surface located outside the frame. The wall surface can be made of glass. Walking mechanisms are provided on both the loading and unloading cabinet body 11 and the palletizing cabinet body 12. The walking mechanism can be wheels rotatably provided at the bottom of the cabinet body. In some embodiments, the walking mechanism can also be a slider provided at the bottom of the cabinet body, as long as it can drive the entire loading and unloading device 1 to walk.

[0068] The conveying mechanism 2 is located at the bottom of the loading and unloading cabinet body 11 and the palletizing cabinet body 12. There is enough space at the bottom of the loading and unloading cabinet body 11 and the palletizing cabinet body 12 for the placing table 21 on the conveying mechanism 2 and the palletized goods 5 to pass through. The loading and unloading cabinet body 11 and the palletizing cabinet body 12 can be arranged side by side. Specifically, when the placing table 21 moves in a straight line direction, the loading and unloading cabinet body 11 and the palletizing mechanism 12 are arranged in parallel in the movement direction of the placing table 21.

[0069] Furthermore, the loading and unloading cabinet body 11 and the palletizing cabinet body 12 are provided with open cabinet doors. The cabinet doors of the loading and unloading cabinet body 11 and the palletizing cabinet body 12 can be opened in the same direction. At the same time, a wedge-shaped guide plate can be provided in front of the cabinet door to facilitate pushing the trolley 5 into the loading and unloading cabinet body 11 and onto the placing table 21 of the conveying mechanism 2.

[0070] In some specific embodiments, the loading and unloading cabinet body 11 and the palletizing cabinet body 12 are both provided with a lifting mechanism, and the lifting mechanism can drive the loading and unloading cabinet body 11 and the palletizing cabinet body 12 to rise relative to the ground so that the traveling mechanism of the cabinet body is separated from the ground.

[0071] The lifting mechanism can be a support foot arranged at the bottom of the loading and unloading cabinet body 11 and the palletizing cabinet body 12, and the support foot has a lifting function. Specifically, the lifting function can be realized by components such as air cylinders. When the entire loading and unloading device 1 needs to be fixed, the support foot can be raised so that the traveling mechanism is separated from the ground to stably support the device. When the loading and unloading device 1 needs to be moved, the height of the support foot can be lowered so that the traveling mechanism is in contact with the ground. In some scenarios, when the palletized object 5 to be palletized is relatively high and the space at the bottom of the loading and unloading cabinet body 11 and the palletizing cabinet body 12 is not sufficient for the palletized object 5 to pass through, the height of the support foot can also be controlled to increase the space at the bottom of the cabinet body.

[0072] In one embodiment, as Figure 4 shown, the first motion component 43 includes: a first transmission member extending along the first direction A; a first moving member drivingly connected to the first transmission member, and the first claw 41 is arranged on the first moving member through the first telescopic component 42; a first control unit for controlling the movement of the first moving member on the first transmission member.

[0073] In this embodiment, the first motion component 43 and the first telescopic component 42 are linear motion mechanisms. The driving connection manner between the first transmission member and the first moving member can be the connection between gears and chains, or the connection between a lead screw and a lead screw slider, or the driving connection manner between an air cylinder and a piston, so that the moving member can be driven by the transmission member and driven to move. Preferably, the first motion component 43 and the first telescopic component 42 are air cylinder transmission mechanisms. The first claw 41 is connected to the first telescopic component 42 and is driven by the first telescopic component 42 to extend and retract along the second direction B. The first claw 41 and the first telescopic component 42 are arranged on the first moving member. Thus, when the first moving member is driven by the first transmission member, it can drive the first claw 41 and the first telescopic component 42 to move along the first direction A together. The first direction A is the height direction, and the second direction B is perpendicular to the first direction A. The first control unit can control the movement of the first moving member on the first transmission member, and the first control unit shows different forms as the transmission manner of the first motion component 43 is different. For the air cylinder transmission mechanism, the first control unit can be a solenoid valve for controlling the inflow of gas; for the lead screw transmission mechanism, the first control unit can be a motor.

[0074] In one embodiment, as Figure 3As shown in the figure, the loading and unloading mechanism 3 includes: a second jaw 31; a third motion component 34 capable of driving the second jaw 31 to move in the first direction A; a second telescopic component 32 capable of driving the second jaw 31 to move in the second direction B; a fourth motion component 33 capable of driving the second jaw 31 to move in the third direction C; the first direction A, the second direction B, and the third direction C are perpendicular to each other in pairs.

[0075] In this embodiment, the third motion component 34, the fourth motion component 33, and the second telescopic component 32 are linear motion mechanisms. The third motion component 34, the fourth motion component 33, and the second telescopic component 32 can be cylinder mechanisms or screw rod slider mechanisms, which can drive the second jaw 31 to move in three directions to facilitate the grasping of the material box on the trolley 5. Preferably, the third motion component 34, the fourth motion component 33, and the second telescopic component 32 are cylinder transmission mechanisms.

[0076] In a specific embodiment, the fourth motion component 33 may include a first horizontal slide rail and a first horizontal slider, and the second jaw 31 is arranged on the first horizontal slider through the second telescopic component 32. The third motion component 34 includes a first vertical slide rail and a first vertical slider, and the first horizontal slide rail is fixedly arranged on the first vertical slider. The second telescopic component 32 drives the second jaw 31 to extend along the second direction B to clamp the material box.

[0077] Grooves are usually provided on the material box to facilitate the grasping of the second jaw 31. Preferably, a buffer roller can be arranged at the contact end of the second jaw 31 and the material box. The material of the buffer roller can be sponge or rubber, and the buffer roller can be rotatably arranged on the second jaw 31 through a mounting shaft. Since there may be errors in the placement position of the material box on the trolley 5, the parking position of the trolley 5 on the placement table 21, and the parking position of the placement table 21 relative to the loading and unloading mechanism 3. When the second telescopic component 32 drives the second jaw 31 to move towards the material box, the second jaw 31 on one side of the material box is likely to collide with the material box, causing damage to the material box. By arranging a buffer roller at the contact end of the second jaw 31 and the material box, the sliding friction between the second jaw 31 and the material box can be converted into the rolling friction between the buffer roller and the material box, which can prevent the second jaw 31 from damaging the material box.

[0078] In this specification, as Figure 1 shown, the palletizing mechanism 4 includes: a first palletizing mechanism and a second palletizing mechanism, and the first palletizing mechanism and the second palletizing mechanism are symmetrically arranged in the second direction B; the loading and unloading mechanism 3 includes: a first loading and unloading mechanism and a second loading and unloading mechanism, and the first loading and unloading mechanism and the second loading and unloading mechanism are symmetrically arranged in the second direction B.

[0079] Specifically, a symmetrical loading and unloading mechanism 3 is provided in the second direction B, and the second claws 31 on the first palletizing mechanism and the second palletizing mechanism are provided facing each other. Thus, when unloading is required, the two facing second claws 31 extend in the second direction B to clamp the material box. Similarly, when palletizing is required, the two facing first claws 41 extend in the second direction B to clamp the cart 5.

[0080] In one embodiment, if Figure 1 and Figure 2 As shown, the loading and unloading cabinet 11 and the stacking cabinet 12 are arranged in parallel in the second direction B, and the second motion component is fixed to the bottom of the stacking cabinet 12 and the loading and unloading cabinet 11, and the second motion component includes: a second transmission member 23 extending along the second direction B; a second moving member 24 transmission-connected to the second transmission member 23, and the second moving member 23 is connected to the placement table 21; and a second control unit for controlling the movement of the second moving member 24 on the second transmission member 23.

[0081] In this embodiment, the second motion component is a linear motion mechanism, which can drive the placement table 21 to move between the loading and unloading mechanism 3 and the stacking mechanism 4 when moving in the second direction B. The transmission connection between the second transmission member 23 and the second moving member 24 can be a connection between gears and chains, or a connection between a lead screw and a lead screw slider, or a transmission connection between a cylinder and a piston, so that the moving member can be driven and moved by the transmission member. Preferably, the second motion component is a cylinder transmission mechanism, the second transmission member 23 has a sliding track, the second moving member 24 is a moving slider matched therewith, and the second control unit is an electromagnetic valve.

[0082] Furthermore, the conveying mechanism 2 further includes: a platform located below the placing table 21; a limiting slide rail 22 arranged on the platform, the limiting slide rail 22 extending along the second direction B, and a limiting slider matched with the limiting slide rail 22 arranged at the bottom of the placing table 21. The matching of the limiting slide rail 22 and the limiting slider can make the placing table 21 tilt during the movement, thereby ensuring the stability of the movement of the placing table 21.

[0083] In a preferred embodiment, a height adjustment mechanism for adjusting the distance of the placement table 21 relative to the platform is provided between the placement table 21 and the limiting slider, a universal wheel is provided at the bottom of the stacked object 5, and a positioning groove matching the universal wheel is provided on the surface of the stacked object 5.

[0084] In this embodiment, the height adjustment mechanism is used to drive the placement table 21 to hold the trolley 5 and move upward. Since universal wheels are provided at the bottom of the trolley 5, when the first jaw 41 in the palletizing mechanism 4 grabs the trolley 5, the universal wheels may be vibrated and prone to free rotation, which may cause the universal wheels of the trolley 5 to fail to cooperate with the positioning slots on the next trolley 5.

[0085] Taking the palletizing of two trolleys 5 as an example, they are the first trolley and the second trolley respectively. When palletizing the first trolley, when the first moving component 43 drives the first jaw 41 and the first trolley to move upward, the placement table 21 is driven by the height adjustment mechanism to hold the trolley 5 and move upward until the trolley 5 moves to the second position, and then the placement table 21 descends. When the second trolley is to be palletized, it is necessary to move the second trolley upward to the lower part of the first trolley through the first moving component 43 and the first jaw 41 to achieve the stacking of the two trolleys. In the above process, when the first jaw 41 grabs the trolley, the universal wheels of the first trolley and the second trolley are prone to rotation and may not be able to successfully cooperate with the positioning slots on the trolley, which is not conducive to stacking. For example, when the second trolley is moved to the lower part of the first trolley through the first moving component 43, the universal wheels on the first trolley will not be able to successfully cooperate with the positioning slots on the second trolley due to rotation, and the first trolley is extremely likely to fall off the second trolley during the subsequent palletizing process, and smooth palletizing cannot be achieved.

[0086] In this embodiment, the height adjustment mechanism can make the placement table 21 hold the trolley 5 and move upward a certain distance during palletizing, so that the universal wheels are subject to the frictional force of the placement table 21, avoiding the free rotation of the universal wheels. For example, in the above scenario, when the first trolley is moving upward, the height adjustment mechanism can be operated to raise the placement table 21, so that the placement table 21 abuts against the universal wheels of the first trolley to prevent the universal wheels of the first trolley from rotating.

[0087] In one embodiment, the placement table 21 includes: a bottom plate 211 and a retaining wall surrounding the bottom plate 211. The bottom plate 211 is provided with a limiting slot for limiting the palletized object 5, and the retaining wall is provided with a notch for avoiding the first jaw 41.

[0088] Specifically, the enclosure includes a fixed enclosure 212 and a movable enclosure 213. One end of the movable enclosure 213 can be rotatably connected to the fixed enclosure 212 through a hinge, and the other end of the movable enclosure 213 can be connected to the fixed enclosure 212 through a magnetic attraction module. The shape of the bottom plate 211 can correspond to the shape of the trolley 5. In this embodiment, the placement bottom plate 211 is taken as an example of a rectangle. Setting the enclosure can prevent the trolley 5 from moving out of the bottom plate 211 and colliding with other components during the movement of the placement table 21, and can also prevent the trolley 5 from being parked obliquely. The limiting groove provided on the bottom plate 211 can be a wedge-shaped structure, which is used to limit the position of the trolley 5 on the placement table 21 when the trolley 5 is pushed onto the placement table 21, to avoid excessive thrust or excessive forward distance under the action of the inertia of the trolley 5 itself. The limiting groove also serves to brake the trolley 5.

[0089] In the embodiment of this specification, the loading and unloading device 1 further includes a control mechanism for receiving signals and issuing instructions. The control mechanism is connected to the palletizing mechanism 4, the loading and unloading mechanism 3, the conveying mechanism 2, and the height adjusting mechanism, and is used to control the operations of the palletizing mechanism 4, the loading and unloading mechanism 3, the conveying mechanism 2, and the height adjusting mechanism.

[0090] The control mechanism can take the form of, for example, a microprocessor or a processor, and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the microprocessor or the processor, logic gates, switches, application-specific integrated circuits (A PPLICATION S PECIFIC I NTEGRATED C IRCUIT , ASIC), programmable logic controllers (P ROGRAMMABLE L OGIC C ONTROLLER , PLC), and embedded microcontrol units (M ICROCONTROLLER U NIT , MCU). The control mechanism is electrically connected to each component of the palletizing mechanism 4, the loading and unloading mechanism 3, the conveying mechanism 2, and the height adjusting mechanism. The connection method can be a wired connection. Of course, the electrical connection method can also be a wireless connection, such as using technologies such as WIFI, infrared, and Bluetooth in the prior art, or other wireless communication technologies can also be used. The present application does not make specific limitations here.

[0091] This specification also provides a loading and unloading device control method using the loading and unloading device 1 as Figures 1 to 5 shown. The loading and unloading device control method includes:

[0092] Step S10: Start the loading and unloading mechanism 3 and perform the unloading work;

[0093] Step S20: After the unloading is completed, control the placement table 21 to move to the palletizing mechanism 4;

[0094] Step S30: Control the first moving component 43 to move downward until, when the first jaw moves to the first position, control the first telescopic component 42 to extend it. After the first jaw 41 extends a predetermined distance, control the first moving component 43 to move the first jaw 41 upward to the second position;

[0095] Step S40: Control the placement table 21 to move back to the loading and unloading mechanism 3 to perform the unloading work;

[0096] Step S50: After the unloading is completed, control the placement table 21 to move to the palletizing mechanism 4;

[0097] Step S60: After controlling the first moving component 43 to move the first jaw 41 downward to the third position, control the first telescopic component 42 to retract it. The third position is between the first position and the second position;

[0098] Step S70: Control the first moving component 43 to move downward until, when the first jaw 41 moves to the first position, control the first telescopic component 42 to extend it. After the first jaw 41 extends a predetermined distance, control the first moving component 43 to move the first jaw 41 upward to the second position.

[0099] In the above loading and unloading equipment control method, the operation of each component can be controlled by a control mechanism. A switch can be provided on the loading and unloading equipment 1. When the switch is pressed, after receiving the start signal, the control mechanism can issue instructions to each component to control the operation of each component according to the set sequence and time.

[0100] In the embodiments of this specification, in the subsequent palletizing process, steps S40 to S70 can be repeated. This specification illustrates the entire working process of the loading and unloading equipment by taking the palletizing of two trolleys as an example.

[0101] In step S10, when performing the unloading operation, the trolley 5 has been placed on the placement table 21 at this time. Then, the switch is activated, and the control mechanism controls the fourth moving component 33 to move forward to the bin, and controls the second telescopic component 32 to drive the second claw 31 to move in the second direction B, so that the second claw 31 fits into the bin groove. During this process, the contact between the second claw 31 and the bin can be controlled by setting a time or setting the moving distance of the second claw 31. After the second claw 31 grabs the bin, the third moving component 34 drives the bin to rise along the first direction A to a certain height, and then controls the fourth moving component 33 to drive the bin to move backward along the third direction C. When it moves above the unloading position, then control the third moving component 34 to drive the bin to descend and place the bin at the unloading position. Finally, control the second telescopic component 32 to drive the second claw 31 to retract along the second direction, thereby completing the unloading. The unloading position can be the position where the detection device on the product detection line is located, or other positions.

[0102] In step S30, the first position can be the height position corresponding to the bottom of the bearing plate of the trolley 5. When the first claw 41 is at the first position, it corresponds to the height position of the bearing plate of the trolley 5 to achieve the clamping of the bearing plate of the trolley 5. The second position can be a position slightly greater than the height of one trolley 5 compared to the first position, so as to facilitate the entry of the next trolley into the palletizing mechanism 4.

[0103] In step S40, when the palletizing of one trolley 5 is completed, control the conveying mechanism 2 to move the placement table 21 back to the loading and unloading mechanism 3 to perform the unloading operation of the bin on the next trolley 5. After the unloading is completed, then control the conveying mechanism 2 to move the placement table 21 to the palletizing mechanism 4 to perform the palletizing of the next trolley 5.

[0104] In step S60, the third position is located between the first position and the second position, and can be a position corresponding to the height of one trolley 5 relative to the first position. Thus, when the first moving component 43 drives the first claw 41 to move down to the third position, the two trolleys are abutted. At this time, control the first telescopic component 42 to retract the first claw 41, and control the first moving component 43 to move down to the first position to clamp the bearing plate of the next trolley to complete the palletizing of two trolleys.

[0105] The embodiment of the present specification also provides another method for controlling the loading and unloading equipment using the above-mentioned loading and unloading equipment, as Figure 1 and Figure 6 shown. The method for controlling the loading and unloading equipment includes:

[0106] Step S10: Activate the loading and unloading mechanism 3 to perform the unloading operation;

[0107] Step S20: After the unloading is completed, control the placement table 21 to move to the palletizing mechanism 4;

[0108] Step S30: Control the first moving component 43 to move downward until the first jaw 41 moves to the first position, then control the first telescopic component 42 to extend it. Control the first moving component 43 and the height adjustment mechanism to synchronously raise the first jaw 41 and the placement table 21 until the first jaw 41 moves up to the second position, and then control the height adjustment mechanism to lower the placement table 21.

[0109] Step S40: Control the placement table 21 to move back to the loading and unloading mechanism 3 to perform the unloading work.

[0110] Step S80: Control the first telescopic component 42 to extend it by a predetermined distance. Control the first moving component 43 and the height adjustment mechanism to synchronously raise the first jaw 41 and the placement table 21 until the first jaw 41 moves up to the second position, and then control the height adjustment mechanism to lower the placement table 21.

[0111] Step S60: Control the height adjustment mechanism to raise the placement table 21 to the fourth position.

[0112] Step S70: Control the first telescopic component 42 to retract the first jaw 41, and control the first moving component 43 to move the first jaw 41 downward to the fifth position.

[0113] Step S80: Control the first telescopic component 42 to extend it by a predetermined distance. Control the first moving component 43 and the height adjustment mechanism to synchronously raise the first jaw 41 and the placement table 21 until the first jaw 41 moves up to the second position, and then control the height adjustment mechanism to lower the placement table 21.

[0114] In the embodiment of this specification, in the subsequent palletizing process, steps S40 to S80 can be repeated. This specification illustrates the entire working process of the loading and unloading equipment by taking the palletizing of two trolleys as an example.

[0115] In this embodiment, it also includes the control of the height adjustment mechanism and the placement table 21. When controlling the first moving component 43 to drive the first jaw 41 to move up to the second position, the placement table 21 is driven by the height adjustment mechanism to hold up the trolley 5 and move up until the first jaw 41 reaches the second position. During this process, since the placement table 21 and the trolley 5 move up synchronously, the placement table 21 always holds up the universal wheels of the trolley 5, which can prevent the universal wheels of the trolley 5 from rotating freely. Then the placement table 21 moves down to the initial position and moves towards the loading and unloading mechanism 3. When the placement table 21 moves to the palletizing mechanism 4 again, the next trolley 5 can be directly palletized below the previous trolley 5 by raising the placement table 21. In this embodiment, during the process of the trolley 5 being clamped and lifted by the first jaw 41, the height adjustment mechanism is coordinated to drive the placement table 21 to rise to prevent the universal wheels of the trolley 5 from turning due to vibration.

[0116] Further, both the fourth position and the fifth position are located between the first position and the second position. In step S60, when the height adjustment mechanism moves the placement table 21 upward to the fourth position, at this time, the trolley bearing plate on the placement table 21 is at the fifth position, and the trolley 5 is located below the next trolley 5. In step S80, when the first claw 41 drives the trolley 5 to move upward, the placement table 21 also rises synchronously, so that the placement table 21 can always support the universal wheels of the lowermost trolley 5.

[0117] This specification also provides a product detection system, including: a loading and unloading device 1, a detection device for detecting the quality of the product, and a transmission device for transmitting the product between the loading and unloading device 1 and the detection device; wherein, as Figures 1 to 5 shown, the loading and unloading device 1 includes: a palletizing mechanism 4, including: a first claw 41; a first motion component 43 capable of driving the first claw 41 to move in the first direction A; a first telescopic component 42 capable of driving the first claw 41 to move in the second direction B, the first claw 41 clamps the palletized object 5 under the drive of the first telescopic component 42, and can stack the palletized object 5 along the first direction A under the drive of the first motion component 43; a loading and unloading mechanism 3 for loading and unloading the product on the palletized object 5; a conveying mechanism 2, including: a placement table 21 for placing the palletized object 5 and a second motion component for driving the placement table 21 to move between the palletizing mechanism 4 and the loading and unloading mechanism 3, and the second motion component can drive the placement table 21 to move to the second direction B of the first claw 41.

[0118] In the embodiments of this specification, neither the specific number nor the specific structure of the detection device is limited. For example, taking the detection of an electric meter on a product detection line as an example, the detection device may include an appearance detection device, a withstand voltage test device, but is not limited thereto.

[0119] The specific structure of the transmission device is not limited. For example, the transmission device may be a manipulator, a conveyor belt or a conveyor roller, but is not limited thereto.

[0120] Preferably, each detection device and the loading and unloading device 1 can be connected into a circular detection line through the transmission device, that is, the product can be placed on the transmission device from the loading and unloading device 1, and the transmission device drives the product to pass through each detection device in turn for detection. After the detection is completed, the product is conveyed to the loading and unloading device 1 again through the transmission device. In this way, the palletized trolley 5 can be directly conveyed to the loading and unloading mechanism 3 through the conveying mechanism 2 to load the detected product onto the trolley 5, which can save the manpower to push the trolley 5 to the loading and unloading mechanism 3 for loading. At the same time, after the loaded trolley 5 is pulled out and separated from the placement table 21, the placement table 21 can convey the trolley from the palletizing mechanism 4 to the loading and unloading mechanism 3 for loading, improving work efficiency.

[0121] The above embodiments are only used to illustrate the technical concept and features of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it accordingly. It should not be used to limit the protection scope of the present application. Any equivalent changes or modifications made according to the spirit and essence of the present application should be covered within the protection scope of the present application.

[0122] All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for various purposes. The term "consisting essentially of" describing a combination should include the identified elements, components, parts, or steps, as well as other elements, components, parts, or steps that do not materially affect the basic novel features of the combination. The use of the terms "comprising" or "including" to describe the combinations of elements, components, parts, or steps herein also contemplates embodiments consisting essentially of these elements, components, parts, or steps. By using the term "may" herein, it is intended to indicate that any of the attributes described as "may" include are optional.

[0123] A plurality of elements, components, parts, or steps can be provided by a single integrated element, component, part, or step. Alternatively, a single integrated element, component, part, or step can be separated into a plurality of discrete elements, components, parts, or steps. The disclosure of "a" or "an" used to describe an element, component, part, or step does not mean to exclude other elements, components, parts, or steps.

[0124] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and many applications other than the examples provided will be apparent to those skilled in the art upon reading the above description. For the sake of completeness, all articles and references, including patent applications and published announcements, are incorporated herein by reference.

Claims

1. A loading and unloading device, characterized in that, it includes: A palletizing mechanism, including: a first jaw; a first moving component capable of driving the first jaw to move in a first direction; a first telescopic component capable of driving the first jaw to move in a second direction, the first jaw clamping a palletized object under the drive of the first telescopic component, and being able to stack the palletized object along the first direction under the drive of the first moving component; A loading and unloading mechanism for loading and unloading products on the palletized object; A conveying mechanism, including: a placement table for placing the palletized object; a second moving component for driving the placement table to move between the palletizing mechanism and the loading and unloading mechanism, the second moving component being able to drive the placement table to move to the second direction of the first jaw; a platform located below the placement table; a limiting slide rail provided on the platform, the limiting slide rail extending along the second direction, and a limiting slider matching with the limiting slide rail is provided at the bottom of the placement table; A height adjusting mechanism for adjusting the distance between the placement table and the platform is provided between the placement table and the limiting slider, universal wheels are provided at the bottom of the palletized object, and a positioning groove matching with the universal wheels is provided on the surface of the palletized object; when the palletized object moves upward, the height adjusting mechanism can raise the placement table so that the placement table abuts against the universal wheels of the palletized object to prevent the universal wheels of the palletized object from rotating.

2. The loading and unloading device according to claim 1, characterized in that, the loading and unloading mechanism includes: a second jaw; a third moving component capable of driving the second jaw to move in the first direction; a second telescopic component capable of driving the second jaw to move in the second direction; a fourth moving component capable of driving the second jaw to move in a third direction; the first direction, the second direction and the third direction are perpendicular to each other in pairs.

3. The loading and unloading device according to claim 2, characterized in that, the loading and unloading device includes: a palletizing cabinet for fixing the palletizing mechanism and a loading and unloading cabinet for fixing the loading and unloading mechanism, the palletizing cabinet and the loading and unloading cabinet are connected, walking mechanisms are provided on both the loading and unloading cabinet and the palletizing cabinet, and a space allowing the placement table and the palletized object to pass through is provided at the bottom of the loading and unloading cabinet and the palletizing cabinet.

4. The loading and unloading device according to claim 3, characterized in that, the palletizing mechanism includes: a first palletizing mechanism and a second palletizing mechanism, the first palletizing mechanism and the second palletizing mechanism are symmetrically arranged in the second direction; the loading and unloading mechanism includes: a first loading and unloading mechanism and a second loading and unloading mechanism, the first loading and unloading mechanism and the second loading and unloading mechanism are symmetrically arranged in the second direction.

5. The loading and unloading device according to claim 3, characterized in that, lifting mechanisms are provided on both the loading and unloading cabinet and the palletizing cabinet, and the lifting mechanisms can drive the loading and unloading cabinet and the palletizing cabinet to rise relative to the ground so that the walking mechanisms are separated from the ground.

6. The loading and unloading device according to claim 1, characterized in that, The first moving component includes: a first transmission member extending along the first direction; a first moving member drivingly connected to the first transmission member, the first claw being disposed on the first moving member through the first telescopic assembly; and a first control unit for controlling the movement of the first moving member on the first transmission member.

7. The loading and unloading device according to claim 3, wherein, the loading and unloading cabinet body and the palletizing cabinet body are arranged in parallel in the second direction, the second moving component is fixed to the bottoms of the palletizing cabinet body and the loading and unloading cabinet body, and the second moving component includes: a second transmission member extending along the second direction; a second moving member drivingly connected to the second transmission member, the second moving member being connected to the placement table; and a second control unit for controlling the movement of the second moving member on the second transmission member, the second control unit being a solenoid valve.

8. The loading and unloading device according to claim 1, wherein, the placement table includes: a bottom plate and a fence surrounding the bottom plate, a limiting groove for limiting the palletized object is provided on the bottom plate, and a notch for avoiding the first claw is provided on the fence.

9. The loading and unloading device according to claim 7, wherein, the loading and unloading device further includes a control mechanism for receiving signals and issuing instructions, the control mechanism is connected to the palletizing mechanism, the loading and unloading mechanism, the conveying mechanism and the height adjusting mechanism, and is used for controlling the operations of the palletizing mechanism, the loading and unloading mechanism, the conveying mechanism and the height adjusting mechanism; the control mechanism takes the form of a microprocessor or a processor and a computer-readable medium storing computer-readable program codes executable by the microprocessor or the processor, logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded micro control units.

10. A control method for a loading and unloading device using the loading and unloading device according to claim 1, wherein, the control method for the loading and unloading device includes: Step S10: Start the loading and unloading mechanism and perform the unloading operation; Step S20: After the unloading is completed, control the placement table to move to the palletizing mechanism; Step S30: Control the first moving component to move downward until when the first claw moves to the first position, control the first telescopic assembly to extend it, and after the first claw extends a predetermined distance, control the first moving component to move the first claw upward to the second position; Step S40: Control the placement table to move back to the loading and unloading mechanism and perform the unloading operation; Step S50: After the unloading is completed, control the placement table to move to the palletizing mechanism; Step S60: Control the first moving component to move the first claw downward to the third position, and then control the first telescopic assembly to retract it, the third position being between the first position and the second position; Step S70: Control the first moving component to move downward until when the first claw moves to the first position, control the first telescopic assembly to extend it, and after the first claw extends a predetermined distance, control the first moving component to move the first claw upward to the second position.

11. A method for controlling a loading and unloading device using the loading and unloading device as described in claim 7, characterized in that, the method for controlling the loading and unloading device includes: Step S10: Start the loading and unloading mechanism and perform the unloading work; Step S20: After the unloading is completed, control the placement table to move to the palletizing mechanism; Step S30: Control the first moving component to move downward until when the first claw moves to the first position, control the first telescopic component to extend it, and control the first moving component and the height adjustment mechanism to make the first claw and the placement table rise synchronously until after the first claw moves up to the second position, control the height adjustment mechanism to lower the placement table; Step S40: Control the placement table to move back to the loading and unloading mechanism and perform the unloading work; Step S50: After the unloading is completed, control the placement table to move to the palletizing mechanism; Step S60: Control the height adjustment mechanism to move the placement table up to the fourth position; Step S70: Control the first telescopic component to retract the first claw, and control the first moving component to move the first claw downward to the fifth position; Step S80: Control the first telescopic component to extend it by a predetermined distance, and control the first moving component and the height adjustment mechanism to make the first claw and the placement table rise synchronously until after the first claw moves up to the second position, control the height adjustment mechanism to lower the placement table.

12. A product detection system, characterized in that, it includes: the loading and unloading device as described in claim 1, a detection device for detecting the product quality, and a transmission device for transmitting the product between the loading and unloading device and the detection device.

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