A stacking and unstacking equipment

Abstract

The present invention discloses a stacking and unloading device, comprising: a motorized trolley, a movable arm mechanism, and a manipulator. The movable arm mechanism is connected to the motorized trolley. The manipulator is connected to the movable arm mechanism, and the manipulator comprises a clamp, a holding clamp, and a driving mechanism. The clamp and the holding clamp are spaced apart, and the driving mechanism is respectively connected to the holding clamp and the clamp for driving the holding clamp and the clamp to respectively perform a clamping or releasing action. The manipulator of the stacking and unloading device of the present application can facilitate the loading and unloading of bagged goods. The clamp and the holding clamp at both ends of the manipulator respectively clamp the two sides of the bagged goods, and can clamp and fix the bagged goods stably and effectively, saving manpower and improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of loading and unloading engineering machinery, in particular to a stacking and unstacking device. Background Art

[0002] In modern logistics and cargo transportation, fiber bagging is a predominant method of packaging materials. Commonly used goods include cement, fertilizer, grain, fruit, small appliances, mail, medical supplies, and other daily necessities. Due to the irregular shapes of these materials, most terminal loading and unloading work must be done manually. With the development of society and the emergence of advanced production tools, people are increasingly reluctant to engage in the physically demanding work of manual loading and unloading, which also comes with rising wages. Furthermore, with the increasing affluence of society, logistics volume is growing significantly annually, resulting in a shortage of loader and unloader workers, even to the point where there are insufficient workers to fill the positions despite the available resources. The logistics and loading and unloading industry requires automated loading and unloading equipment, particularly mechanized equipment for bagged goods, for which mature technology is lacking, let alone comprehensive technological breakthroughs and widespread practical application.

[0003] In view of this, the present invention is proposed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a stacking and unstacking device.

[0005] This application provides the following technical solutions:

[0006] A stacking and unstacking device, comprising:

[0007] motorized trolley;

[0008] A movable arm mechanism connected to the motorized trolley;

[0009] The manipulator is connected to the movable arm mechanism, and the manipulator includes a clamp, a clamp and a driving mechanism. The clamp and the clamp are arranged at intervals, and the driving mechanism is respectively connected to the clamp and the clamp for driving the clamp and the clamp to perform clamping or releasing actions respectively.

[0010] Optionally, the manipulator includes a main beam and a telescopic beam, and the telescopic beam is slidably connected to the main beam;

[0011] The driving mechanism includes a clamping cylinder;

[0012] The clamp is provided on one end of the main beam away from the telescopic beam;

[0013] The clamp includes a first clamp and a second clamp, both of which are hinged to the telescopic beam, the first clamp has a first gear, and the second clamp has a second gear, the first gear and the second gear are meshed with each other, and one end of the clamp cylinder is connected to the main beam, and the other end is connected to the first clamp.

[0014] Optionally, the driving mechanism includes a clamp cylinder, the clamp includes a bracket and two clamps, and the bracket is connected to the main beam;

[0015] The two grippers are rotatably connected to the bracket, one of the two grippers is provided with a third gear, and the other is provided with a fourth gear, and the third gear and the fourth gear are meshed;

[0016] The clamp oil cylinder is connected to any one of the clamps for driving the clamp to rotate.

[0017] Optionally, a plurality of vacuum adsorption devices are provided on the main beam.

[0018] Optionally, the motorized trolley includes a frame, rear support legs, rear drive wheels, front drive wheels, a belt conveyor, a sliding frame, front support legs and a luffing cylinder;

[0019] The rear support legs are movably connected to the vehicle frame, and the rear drive wheels are connected to the rear support legs;

[0020] The sliding frame is slidably connected to the vehicle frame;

[0021] One end of the belt conveyor is hinged to the sliding frame;

[0022] One end of the luffing cylinder is hinged to the sliding frame, and the other end is hinged to the belt conveyor;

[0023] The front support leg is connected to a side of the belt conveyor away from the sliding frame;

[0024] The motorized trolley has a first obstacle overcoming condition and a second obstacle overcoming condition. In the first obstacle overcoming condition, the boom cylinder extends to drive the belt conveyor to tilt and lift the front support legs. In the second obstacle overcoming condition, the rear support legs extend out of the frame and are perpendicular to the frame to lift the frame.

[0025] Optionally, the motorized trolley has a leg telescopic oil cylinder, one end of the rear supporting leg is connected to the front driving wheel, and the other end is hinged to the leg telescopic oil cylinder, a driven gear is provided at one end of the rear supporting leg close to the rear driving wheel, and a driving gear is provided on the frame;

[0026] In the second obstacle overcoming condition, the rear support leg is in an extended state, the driving gear and the driven gear are engaged, and the driving gear drives the driven gear to rotate and drive the rear support leg to rotate perpendicular to the frame.

[0027] Optionally, a rear wheel swing cylinder is provided on the rear supporting leg, and a telescopic end of the rear wheel swing cylinder is hinged to the rear drive wheel to drive the rear drive wheel to rotate.

[0028] Optionally, the stacking and unstacking equipment further comprises a connecting rod, one end of the connecting rod is hinged to the sliding frame, the other end of the connecting rod is hinged to the front support leg, the front support leg is hinged to the belt conveyor, and the connecting rod and the belt conveyor are parallel;

[0029] The connecting rod, the belt conveyor, a portion of the sliding frame and a portion of the front supporting legs form a parallel four-bar linkage mechanism.

[0030] Optionally, the movable arm mechanism includes an arm lifting mechanism, a first-level rotary mechanism, a first-level telescopic arm, a second-level rotary mechanism, a second-level telescopic arm, a third-level rotary mechanism and a manipulator lifting mechanism;

[0031] The arm lifting mechanism is connected to the vehicle frame, the first-level rotating mechanism is connected to the arm lifting mechanism, the first-level telescopic arm is connected to the first-level rotating mechanism, the second-level rotating mechanism is connected to the first-level telescopic arm, the second-level telescopic arm is connected to the second-level rotating mechanism, the third-level rotating mechanism is connected to the second-level telescopic arm, the manipulator lifting mechanism is connected to the third-level rotating mechanism, and the manipulator is connected to the manipulator lifting mechanism.

[0032] Optionally, the first-level telescopic boom includes a main boom, a main boom cylinder and a main boom pitch cylinder;

[0033] The main boom comprises a basic arm and a telescopic boom, wherein the basic arm is hinged to the primary rotary mechanism, and one end of the telescopic boom is slidably connected to the basic arm and the other end is hinged to the secondary rotary mechanism;

[0034] The main arm oil cylinder includes a cylinder barrel and a piston rod, the cylinder barrel is hinged to the primary rotary mechanism, and the piston rod is hinged to the secondary rotary mechanism;

[0035] One end of the main arm pitch cylinder is hinged to the first-stage slewing mechanism, and the other end is hinged to the basic arm.

[0036] The main boom and the main arm oil cylinder are parallel to each other, and the main boom, the main arm oil cylinder, part of the primary slewing mechanism, and part of the secondary slewing mechanism form a parallel four-bar linkage mechanism.

[0037] By adopting the above technical solution, the present invention has the following beneficial effects:

[0038] The manipulator of the stacking and unloading equipment of the present application can facilitate the loading and unloading of bagged goods. The clamps and grippers at both ends of the manipulator respectively clamp the two sides of the bagged goods, which can clamp and fix the bagged goods stably and effectively, saving manpower and improving work efficiency.

[0039] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are part of this application and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an undue limitation of the present invention. Obviously, the drawings described below are only some embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive effort. In the accompanying drawings:

[0041] Figure 1 A schematic structural diagram of the stacking and depalletizing equipment provided in an embodiment of the present application is shown;

[0042] Figure 2 Show Figure 1 Enlarged view of part A in the middle;

[0043] Figure 3 A schematic diagram showing the stacking and depalletizing equipment provided by an embodiment of the present application in a first obstacle-crossing working condition;

[0044] Figure 4 A schematic diagram showing the stacking and depalletizing equipment provided by an embodiment of the present application in a second obstacle-crossing working condition;

[0045] Figure 5 A schematic diagram showing a telescopic arm of a stacking and depalletizing device provided in an embodiment of the present application in an extended state;

[0046] Figure 6 A top view of the stacking and depalletizing equipment provided in an embodiment of the present application is shown;

[0047] Figure 7 A top view showing another state of the stacking and depalletizing equipment provided by an embodiment of the present application is shown.

[0048] In the figure, 1. motorized trolley; 11. frame; 111. driving gear; 112. auxiliary wheel; 12. rear support leg; 13. rear drive wheel; 14. front drive wheel; 15. belt conveyor; 16. sliding frame; 17. front support leg; 18. luffing cylinder; 19. connecting rod; 2. movable boom mechanism; 21. boom lifting mechanism; 22. first-stage slewing mechanism; 23. first-stage telescopic boom; 231. main boom; 232. main boom cylinder; 233. main boom pitch cylinder; 24. second-stage slewing mechanism; 25. second-stage telescopic boom; 26. third-stage telescopic boom; 1. First stage rotary mechanism; 27. Manipulator lifting mechanism; 271. First dovetail guide rail; 272. Manipulator mounting seat; 3. Manipulator; 31. Main beam; 32. Telescopic beam; 33. Clamping cylinder; 34. Clamp; 341. Clamping; 35. Clamp; 351. First clamp; 352. Second clamp; 36. Clamping cylinder; 37. Vacuum adsorption device; 4. Laser scanning device; 5. Freight platform; 6. Forklift pallet.

[0049] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0051] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0052] In the description of the present invention, it should be noted that, unless otherwise specified or limited, the terms "mounted" and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0053] See also Figures 1 to 7As shown, the embodiment of the present application provides a stacking and unstacking device, comprising: a motorized trolley 1, a movable arm mechanism 2, and a manipulator 3. The movable arm mechanism 2 is connected to the motorized trolley 1 and can rotate around the motorized trolley 1 to adjust the angle. The manipulator 3 is connected to the movable arm mechanism 2 and is used to grab goods. The movable arm mechanism 2 can drive the manipulator 3 to move its position in space to achieve the transfer of goods. Figure 2 As shown, the manipulator includes a clamp 34, a clamp 35 and a driving mechanism. The clamp 34 and the clamp 35 are spaced apart. The driving mechanism is respectively connected to the clamp 35 and the clamp 34 for driving the clamp 35 and the clamp 34 to respectively perform a clamping or releasing action. The manipulator of the stacking and unloading equipment of the present application can facilitate the loading and unloading of goods, especially the loading and unloading of bagged goods. The clamp 34 of the manipulator first clamps one end of the bagged goods and drags it a certain distance in the longitudinal direction. Then the clamp 35 clamps the other end of the bagged goods. This can effectively clamp and fix the bagged goods, save manpower and improve work efficiency.

[0054] In one possible embodiment, the manipulator includes a main beam 31 and a telescopic beam 32, wherein the telescopic beam 32 is slidably connected to the main beam 31. The drive mechanism includes a clamping cylinder 33. The clamp 34 is provided on the end of the main beam 31 facing away from the telescopic beam 32. The clamp 35 includes a first clamp 351 and a second clamp 352, both of which are hinged to the telescopic beam 32. The first clamp 351 has a first gear, and the second clamp 352 has a second gear, and the first gear and the second gear are meshed. One end of the clamping cylinder 33 is connected to the main beam 31, and the other end is connected to the first clamp 351.

[0055] In this embodiment, a clamping space is formed between the first clamp 351 and the second clamp 352 brackets. When the clamping cylinder 33 is extended, it can drive the telescopic beam 32 to slide along the main beam 31, and at the same time drive the first clamp 351 to rotate. The rotation of the first clamp 351 drives the second gear to rotate through the first gear, so that the second clamp 352 moves closer to the first clamp 351, thereby reducing the clamping space.

[0056] In one possible embodiment, the drive mechanism includes a clamp cylinder 36, and the clamp 34 includes a bracket and two clamps 341, wherein the bracket is connected to the main beam 31. The two clamps 341 are both rotatably connected to the bracket, and one of the two clamps 341 is provided with a third gear, and the other is provided with a fourth gear, and the third gear and the fourth gear are meshed. A gripping space is formed between the two clamps 341. The clamp cylinder 36 is in transmission connection with either clamp 341, driving the clamp 341 to rotate. When the clamp 341 rotates, the meshing of the third gear and the fourth gear naturally drives the other clamp 341 to rotate, and the two clamps 341 move closer together, reducing the gripping space.

[0057] See also Figure 2 As shown, in one possible embodiment, multiple vacuum suction devices 37 are provided on the main beam 31. These vacuum suction devices 37 facilitate the suction of cargo and are suitable for grasping regularly shaped cargo. For example, they can be attached to the surface of a box to grasp the box. The stacking and depalletizing equipment of this application can utilize two different material grasping processes: mechanical clamping or vacuum suction, depending on the packaged cargo.

[0058] When bagged goods are being loaded and unloaded, the proximal clamp 34 clamps the goods according to the direction of gear rotation. Then, the distal clamp 35, under the action of the telescopic cylinder, can hold the bottom of the material, while the vacuum suction device 37 works to adsorb the goods.

[0059] The manipulator designed for the stacking and unstacking equipment of the present invention has a small height and can vertically enter the working environment with small space above the box top and materials. In addition, two different material gripping processes, mechanical gripping or vacuum suction, can be selected for different packaged goods.

[0060] A laser scanning device 4 may be provided on the vehicle frame 11 to perform three-dimensional scanning and position coordinate measurement on the stack, and automatically perform loading and unloading operations on the stack based on the stack material stacking coordinate parameters obtained by the scan.

[0061] See also Figure 1As shown, in a possible embodiment, the motorized trolley 1 includes a frame 11, rear support legs 12, rear drive wheels 13, front drive wheels 14, a belt conveyor 15, a sliding frame 16, a front support leg 17 and a boom cylinder 18. The rear support leg 12 is movably connected to the frame 11, and the rear drive wheel 13 is connected to the rear support leg 12. The boom cylinder 16 is slidably connected to the frame 11. One end of the belt conveyor 15 is hinged to the sliding frame 16. One end of the boom cylinder 18 is hinged to the sliding frame 16, and the other end is hinged to the belt conveyor 15. The front support leg 17 is connected to the side of the belt conveyor 15 away from the sliding frame 16. The motorized trolley 1 has a first obstacle overcoming condition and a second obstacle overcoming condition, see Figure 3 As shown, in the first obstacle crossing condition, the luffing cylinder 18 extends, driving the belt conveyor 15 to tilt and lifting the front support leg 17 so that the front support leg 17 can be supported on the freight platform. The front support leg 17 is provided with a support wheel, see Figure 4 As shown, in the second obstacle crossing condition, the rear support legs 12 extend out of the vehicle frame 11 and are perpendicular to the vehicle frame 11, lifting the vehicle frame 11. This makes the vehicle frame 11 in a horizontal state, and the entire vehicle frame 11 is now located on top of the freight platform. Auxiliary wheels 112 are also provided on the vehicle frame 11, which continue to control the operation of the front drive wheels 14 and the rear drive wheels 13 so that the auxiliary wheels 112 can be supported on the freight platform 5. At this time, the rear support legs 12 can be controlled to leave the ground and reset, and stored inside the vehicle frame 11. In this way, the obstacle crossing task is completed. This facilitates the subsequent stacking and unloading tasks of the goods. The variable amplitude cylinder 18 of the belt conveyor 15 can be linked with the rear support legs 12 to achieve the overall lifting of the stacking and unloading equipment, so that the stacking and unloading equipment can cross the hurdle and enter the interior of the train box for loading and unloading operations.

[0062] The sliding frame 16 is installed inside the vehicle frame 11 and moves along the vehicle frame 11 under the action of the sliding cylinder, enabling the belt conveyor 15 to move forward and backward. When performing obstacle surmounting operations, the variable-length cylinder 18 is extended to tilt the belt conveyor 15 to a certain angle. Combined with the tilting of the rear support legs 12, the entire vehicle can be lifted. When the front drive wheels 14 of the stacking and unloading equipment contact an obstacle, the auxiliary wheels 112 are lowered, the sliding frame 16 moves toward the rear of the vehicle frame 11, the belt conveyor 15 is flattened, and the entire vehicle moves forward. When the auxiliary wheels 112 contact the freight platform, the rear support legs 12 return to a horizontal state and retract into the interior of the vehicle frame 11.

[0063] In a possible embodiment, the motorized vehicle 1 has a leg telescopic cylinder, the rear support leg 12 is slidably connected to the frame 11, one end of the rear support leg 12 is hinged to the leg telescopic cylinder, a driven wheel is provided on the side of the rear support leg 12 close to the rear drive wheel 13, and a driving gear 111 is provided on the frame 11. In the second obstacle overcoming condition, the rear support leg 12 is in an extended state, the driving gear 111 and the driven gear are engaged, and the driving gear 111 drives the driven gear to rotate and drive the rear support leg 12 to rotate perpendicular to the frame 11. A rear wheel swing cylinder is provided on the rear support leg 12, and the telescopic end of the rear wheel swing cylinder is hinged to the wheel frame of the rear drive wheel 13 to drive the rear drive wheel 13 to rotate. When the rear support leg 12 rotates downward, the rear drive wheel 13 also rotates accordingly to keep it in a horizontal state at all times.

[0064] See also Figure 1 and Figure 3 As shown, in one possible embodiment, the stacking and unstacking equipment further includes a connecting rod 19, one end of which is hinged to the sliding frame 16, and the other end of which is hinged to the front support leg 17. The front support leg 17 is hinged to the belt conveyor 15, and the connecting rod 19 and the belt conveyor 15 are parallel. The connecting rod 19, the belt conveyor 15, part of the sliding frame 16, and part of the front support leg form a parallelogram linkage. During the upward lifting process of the belt conveyor 15, the front support leg can always remain in a vertical position through the action of the four-bar linkage, conveniently supporting it on the freight platform.

[0065] See also Figure 1 and Figure 3 As shown, in a possible embodiment, the movable boom mechanism 2 includes a boom lifting mechanism 21, a primary rotating mechanism 22, a primary telescopic boom 23, a secondary rotating mechanism 24, a secondary telescopic boom 25, a tertiary rotating mechanism 26, and a manipulator lifting mechanism 27. The boom lifting mechanism 21 is connected to the vehicle frame 11, the primary rotating mechanism 22 is connected to the boom lifting mechanism 21, the primary telescopic boom 23 is connected to the primary rotating mechanism 22, the secondary rotating mechanism 24 is connected to the primary telescopic boom 23, the secondary telescopic boom 25 is connected to the secondary rotating mechanism, the tertiary rotating mechanism 26 is connected to the secondary telescopic boom 25, the manipulator lifting mechanism 27 is connected to the tertiary rotating mechanism 26, and the manipulator is connected to the manipulator lifting mechanism 27.

[0066] The lifting mechanism consists of an outer cylinder, an inner cylinder, a screw mechanism, and a turntable. The outer cylinder is fixed to the frame 11 and contains a copper sleeve that connects to the inner cylinder. The turntable is fixed above the inner cylinder and bolted to the primary rotary mechanism 22. The screw mechanism is installed between the outer and inner cylinders. A servo motor or other motor can drive the screw to rotate, achieving the lifting function. Alternatively, other mechanisms capable of linear motion can be used to achieve the lifting function.

[0067] The primary telescopic boom 23 includes a main boom 231, a main boom cylinder 232, and a main boom pitch cylinder 233. The main boom 231 comprises a base boom and a telescopic boom. The base boom is hinged to the primary slewing mechanism. The telescopic boom has one end slidably connected to the base boom and the other end hinged to the secondary slewing mechanism. The main boom cylinder 232 comprises a cylinder barrel and a piston rod. The cylinder barrel is hinged to the primary slewing mechanism, and the piston rod is hinged to the secondary slewing mechanism. The main boom pitch cylinder 233 has one end hinged to the primary slewing mechanism and the other end hinged to the base boom. The main boom 231 and the main boom cylinder 232 are parallel to each other. The main boom 231, the main boom cylinder 232, part of the primary slewing mechanism, and part of the secondary slewing mechanism form a parallelogram linkage, which keeps the secondary telescopic boom in a constant horizontal position. The primary slewing structure includes a first slewing motor, a first slewing support, and a first slewing support seat. The first slewing support is fixedly connected to the inner cylinder with bolts. The first slewing support seat is rotatably connected to the first slewing support. A first gear ring is provided on the first slewing support, and a first slewing motor is provided on the first slewing support seat. The driving teeth of the first slewing motor are engaged with the first gear ring. The first slewing support seat is hinged to the main boom 231 of the primary telescopic boom 23, and the main boom 231 can rotate about the hinge. The main boom cylinder 232 is hinged to the first slewing support seat and the first main boom 231, respectively. The main boom cylinder 232 rotates the main boom 231 about its rotation hinge. Of course, the primary slewing mechanism 22 can also adopt other structures, as long as the primary slewing mechanism can drive the primary telescopic boom 23 to rotate as a whole when it rotates.

[0068] The secondary slewing mechanism 24 consists of a second slewing motor, a second slewing bearing, and a second slewing support. The second slewing support is hinged to the main boom 231 and the end of the main boom cylinder 232. The second slewing motor is mounted below the second slewing support. The second slewing support connects the second slewing support to the secondary telescopic boom 25. The second slewing motor output gear meshes with the external gear surface of the second slewing bearing. The second slewing motor drives the second slewing bearing to rotate, thereby driving the secondary telescopic boom 25 to achieve ±120° rotation.

[0069] The third slewing mechanism comprises a third slewing motor, a third slewing bearing, and a third slewing support. The third slewing bearing is fixedly connected to the head of the secondary telescopic boom 25 and the third slewing support. The third slewing motor is mounted on the bottom of the third slewing support. The output teeth of the third slewing motor mesh with the internal teeth of the third slewing bearing. The slewing motor drives the slewing bearing to rotate, achieving 360° rotation of the manipulator lifting mechanism 27.

[0070] The manipulator lifting mechanism 27 consists of a first dovetail guide rail 271 and a manipulator lifting cylinder. One end of the manipulator lifting cylinder is mounted at the bottom of the cylinder support, and the other end is mounted on top of the first dovetail guide rail 271. A second dovetail guide rail is provided on one side of the third slewing support. The dovetail guide rail of the manipulator lifting mechanism 27 is coupled to the second dovetail guide rail on the slewing support. The manipulator lifting cylinder drives the first dovetail guide rail 271 up and down on the third slewing support.

[0071] The manipulator lifting mechanism 27 also includes a manipulator mounting base 272, a screw, and a motor. The screw is nested within the manipulator mounting base 272, with its ends mounted on the upper and lower ends of a first dovetail guide rail 271. Driven by the motor, the screw rotates, driving the manipulator mounting base 272 to move the manipulator up and down along the first dovetail guide rail 271. The manipulator's main beam 31 is connected to the manipulator mounting base 272.

[0072] Through the movement of the arm lifting mechanism 21, the first-level rotating mechanism 22, the first-level telescopic arm 23, the second-level rotating mechanism 24, the second-level telescopic arm 25, the third-level rotating mechanism 26 and the manipulator lifting mechanism 27, the five-dimensional movement function of the manipulator in the entire spatial domain can be obtained.

[0073] The stacking and unloading equipment of the present application is a terminal loading and unloading machine equipment that can automatically or semi-automatically load and unload vehicles, containers, train compartments, etc. that transport packaged goods, and can quickly link with other loading and unloading conveying equipment at the front and rear ends.

[0074] The present invention realizes the movement of the equipment in a longitudinal direction parallel to the open-top truck and performs stacking, unstacking, loading and unloading operations on the goods through the arrangement of various rotating mechanisms. The goods can be placed or grabbed on the belt conveyor 15, and the belt conveyor 15 can be made horizontal or inclined by the variable amplitude cylinder 18 of the belt conveyor 15, thereby transporting the goods at a high or low position.

[0075] The stacking and unstacking equipment can place the pallet 6 on the belt conveyor 15 by a forklift, and can respectively perform the loading and unloading and stacking and unstacking operations of the packaging materials between the forklift pallets 6 by the vehicle.

[0076] The stacking and unloading equipment can adjust the movable arm mechanism 2 to be lowered to below the height of the container or train compartment door, and then use the rotary mechanism to adjust the telescopic arm and the manipulator to enter the container or train compartment to load and unload packaging materials.

[0077] In the present application, the front drive wheel 14 and the rear drive wheel 13 can both rotate freely. By controlling the angles of the front drive wheel 14 and the rear drive wheel 13, the stacking and unloading equipment can have multiple steering and motorized walking functions such as longitudinal and transverse, and on-site steering, and can be connected to the conveyor traction to perform linked loading and unloading operations.

[0078] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with this patent can make slight changes or modifications to equivalent embodiments using the above-mentioned technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the solution of the present invention.

Claims

1. A stacking and unstacking equipment, characterized in that: include: The motorized trolley comprises a frame, a rear support leg, a rear drive wheel, a front drive wheel, a belt conveyor, a sliding frame, a front support leg and a luffing oil cylinder. The rear support leg is movably connected to the frame, the rear drive wheel is connected to the rear support leg, the sliding frame is slidably connected to the frame, one end of the belt conveyor is hinged to the sliding frame, one end of the luffing oil cylinder is hinged to the sliding frame, and the other end is hinged to the belt conveyor, and the front support leg is connected to a side of the belt conveyor away from the sliding frame. The motorized trolley has a first obstacle overcoming condition and a second obstacle overcoming condition. In the first obstacle overcoming condition, the luffing oil cylinder extends to drive the belt conveyor to tilt and lift the front support leg. In the second obstacle-crossing working condition, the rear support legs extend out of the vehicle frame and are perpendicular to the vehicle frame, lifting the vehicle frame; A movable arm mechanism connected to the motorized trolley; The manipulator is connected to the movable arm mechanism, and the manipulator includes a clamp, a clamp and a driving mechanism. The clamp and the clamp are arranged at intervals, and the driving mechanism is respectively connected to the clamp and the clamp for driving the clamp and the clamp to perform clamping or releasing actions respectively.

2. The stacking and depalletizing equipment according to claim 1, characterized in that: The manipulator comprises a main beam and a telescopic beam, wherein the telescopic beam is slidably connected to the main beam; The driving mechanism includes a clamping cylinder; The clamp is provided on one end of the main beam away from the telescopic beam; The clamp includes a first clamp and a second clamp, both of which are hinged to the telescopic beam, the first clamp has a first gear, and the second clamp has a second gear, the first gear and the second gear are meshed with each other, and one end of the clamp cylinder is connected to the main beam, and the other end is connected to the first clamp.

3. The stacking and depalletizing equipment according to claim 2, characterized in that: The driving mechanism includes a clamp cylinder, the clamp includes a bracket and two clamps, and the bracket is connected to the main beam; The two grippers are rotatably connected to the bracket, one of the two grippers is provided with a third gear, and the other is provided with a fourth gear, and the third gear and the fourth gear are meshed; The clamp oil cylinder is connected to any one of the clamps for driving the clamp to rotate.

4. The stacking and depalletizing equipment according to claim 2, characterized in that: A plurality of vacuum adsorption devices are arranged on the main beam.

5. The stacking and depalletizing equipment according to claim 1, characterized in that: The motorized trolley has a leg telescopic oil cylinder, one end of the rear support leg is connected to the front drive wheel, and the other end is hinged to the leg telescopic oil cylinder, the end of the rear support leg close to the rear drive wheel is provided with a driven gear, and the frame is provided with a driving gear; In the second obstacle overcoming condition, the rear support leg is in an extended state, the driving gear and the driven gear are engaged, and the driving gear drives the driven gear to rotate and drive the rear support leg to rotate perpendicular to the frame.

6. The stacking and depalletizing equipment according to claim 5, characterized in that: A rear wheel swing oil cylinder is provided on the rear supporting leg, and a telescopic end of the rear wheel swing oil cylinder is hinged to the rear driving wheel to drive the rear driving wheel to rotate.

7. The stacking and depalletizing equipment according to claim 1, characterized in that: It also includes a connecting rod, one end of which is hinged to the sliding frame, the other end of which is hinged to the front support leg, the front support leg is hinged to the belt conveyor, and the connecting rod and the belt conveyor are parallel; The connecting rod, the belt conveyor, a portion of the sliding frame and a portion of the front supporting legs form a parallel four-bar linkage mechanism.

8. The stacking and depalletizing equipment according to claim 1, characterized in that: The movable arm mechanism includes an arm lifting mechanism, a first-level rotary mechanism, a first-level telescopic arm, a second-level rotary mechanism, a second-level telescopic arm, a third-level rotary mechanism and a manipulator lifting mechanism; The arm lifting mechanism is connected to the vehicle frame, the first-level rotating mechanism is connected to the arm lifting mechanism, the first-level telescopic arm is connected to the first-level rotating mechanism, the second-level rotating mechanism is connected to the first-level telescopic arm, the second-level telescopic arm is connected to the second-level rotating mechanism, the third-level rotating mechanism is connected to the second-level telescopic arm, the manipulator lifting mechanism is connected to the third-level rotating mechanism, and the manipulator is connected to the manipulator lifting mechanism.

9. The stacking and depalletizing equipment according to claim 8, characterized in that: The first-level telescopic boom comprises a main boom, a main boom oil cylinder and a main boom pitching oil cylinder; The main boom comprises a basic arm and a telescopic boom, wherein the basic arm is hinged to the primary rotary mechanism, and one end of the telescopic boom is slidably connected to the basic arm and the other end is hinged to the secondary rotary mechanism; The main arm oil cylinder includes a cylinder barrel and a piston rod, the cylinder barrel is hinged to the primary rotary mechanism, and the piston rod is hinged to the secondary rotary mechanism; One end of the main arm pitch cylinder is hinged to the first-stage slewing mechanism, and the other end is hinged to the basic arm; The main boom and the main arm oil cylinder are parallel to each other, and the main boom, the main arm oil cylinder, part of the primary slewing mechanism, and part of the secondary slewing mechanism form a parallel four-bar linkage mechanism.

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