Loading system

Abstract

The present invention belongs to the field of logistics, and in particular relates to a loading system, including a depalletizing and sorting system and a stacking and loading device. During the loading process, a whole stack of goods is first grasped by a depalletizing robot of the depalletizing and sorting system and the whole layer of goods is transported to a cargo sorting device. The cargo sorting device decomposes the whole layer of goods into individual pieces and then transports them to a grouping device. During the transportation process, the placement direction of the output goods is adjusted according to the subsequent loading stack type requirements by a steering device provided at the output end of the cargo sorting device. The individual pieces of goods output by the cargo sorting device are then sorted and combined into a whole layer of goods of the required stack type by the grouping device and output to the loading device of the stacking and loading device. Under the action of a deviation correction mechanism, the loading device can accurately unload goods on a flatbed truck, thereby increasing the loading speed of goods and ensuring the neatness and stability of the cargo stack. The use of this loading system can save manpower, reduce labor costs, and greatly improve loading efficiency.

Description

Technical Field

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

[0002] Currently, factories manually unload pallets of goods from the warehouse's delivery port, place them near a flatbed truck, and then manually transport them to the truck, stacking them layer by layer according to a specific stacking pattern. This loading method has the disadvantages of high labor costs, high labor intensity, poor worker safety, and low loading efficiency. Summary of the Invention

[0003] The embodiment of the present invention provides a loading system for solving the technical problems of the existing manual loading method, such as high labor cost, high labor intensity, lack of worker safety guarantee, and low loading efficiency.

[0004] To achieve the above object, the present invention provides a vehicle loading system, which includes:

[0005] The depalletizing and sorting system includes a depalletizing robot, a cargo sorting device, a steering device, and a marshaling device. The depalletizing robot is used to grab and carry multiple pieces of cargo; the cargo sorting device is used to receive the multiple pieces of cargo carried by the depalletizing robot and decompose them into single pieces for external output; the steering device is provided at the output end of the cargo sorting device and is used to adjust the placement direction of the output cargo; the marshaling device is connected to the output end of the cargo sorting device and is used to organize the single pieces of cargo output by the cargo sorting device into groups and output them; and

[0006] The palletizing and loading equipment includes tracks, a gantry, a correction mechanism, a load-bearing frame, a lifting mechanism and a cargo-carrying device. The two tracks are parallel and spaced apart, and a parking area for loading is formed between the two tracks. The gantry is arranged on the two tracks and can move along the length direction of the tracks. The correction mechanism is installed on the gantry. The load-bearing frame is located below the gantry and is connected to the correction mechanism. The load-bearing frame can move in a direction perpendicular to the length of the track and rotate around the height direction of the gantry under the action of the correction mechanism. The lifting mechanism is arranged on the load-bearing frame. The cargo-carrying device is used to load the goods output by the marshalling device and release the loaded goods. The cargo-carrying device is connected to the lifting mechanism. The cargo-carrying device can move in the height direction of the load-bearing frame under the action of the lifting mechanism.

[0007] Optionally, the cargo distribution device includes:

[0008] A stepping conveyor is used to carry multiple pieces of goods brought by the depalletizing robot and to convey the goods in steps along the conveying direction;

[0009] The side conveyor is connected to the output end of the stepping conveyor. The side conveyor includes a first side roller conveyor line and a second side roller conveyor line arranged side by side along the conveying direction and symmetrically arranged with respect to the conveying direction. The first side roller conveyor line and the second side roller conveyor line can separate two side-by-side goods to opposite sides of the side conveyor in the conveying direction and continue to convey them along the conveying direction.

[0010] A limiting member is provided at the output end of the first side roller conveyor line;

[0011] A delivery conveyor is connected to the output end of the second side roller conveyor line, and a steering device is provided on the delivery conveyor; and

[0012] The pushing device is used to push the goods stopped by the limiter to the second side roller conveyor line.

[0013] Optionally, the cargo sorting device also includes a first reversing device, a second reversing device and a scanner. The first reversing device is arranged on the first side roller conveyor line, and is used to adjust the placement direction of the goods conveyed by the first side roller conveyor line; the second reversing device is arranged on the second side roller conveyor line, and is used to adjust the placement direction of the goods conveyed by the second side roller conveyor line; the scanner is arranged on the shipping conveyor and is located upstream of the steering device.

[0014] Optionally, the steering device includes a mounting seat, a telescopic mechanism and a roller. The mounting seat is fixed to one side of the output end of the cargo distribution device, the telescopic mechanism is installed on the mounting seat, and the roller is installed at the movable end of the telescopic mechanism. The roller can extend or retract in a direction perpendicular to the conveying direction of the goods under the action of the telescopic mechanism.

[0015] Optionally, the grouping device includes a roller conveyor, a temporary storage platform, a single-row pushing mechanism and a whole-layer pushing mechanism. The roller conveyor is connected to the output end of the cargo sorting device. The output end of the roller conveyor is provided with a stopper for stopping the goods. The temporary storage platform is arranged on one side of the output end of the roller conveyor. The single-row pushing mechanism is arranged on the roller conveyor and is used to push a row of goods on the roller conveyor to the temporary storage platform. The whole-layer pushing mechanism is arranged on the temporary storage platform and is used to push multiple rows of goods on the temporary storage platform away from the temporary storage platform.

[0016] Optionally, the correction mechanism includes:

[0017] The support base is slidably arranged on the gantry in a direction perpendicular to the length of the track;

[0018] A linear drive assembly, mounted on the gantry and connected to the support base, the linear drive assembly being used to drive the support base to move in a direction perpendicular to the length of the track; and

[0019] The rotary drive component is arranged on the support seat, and the rotary drive end of the rotary drive component is connected to the carrier frame.

[0020] Optionally, the correction mechanism also includes a vehicle body detection device and a control unit. The vehicle body detection device is installed on the gantry to collect edge position data of the flatbed truck located in the parking area. The vehicle body detection device, the linear drive assembly and the rotary drive assembly are all electrically connected to the control unit. The control unit calculates the deflection of the flatbed truck based on the edge position data, and controls the movement of the linear drive assembly and the rotary drive assembly to align the center line of the cargo on the loading device with the center line of the flatbed truck.

[0021] Optionally, the cargo carrying device includes:

[0022] a cargo frame connected to the lifting mechanism;

[0023] The cargo platform is used to carry cargo, and the cargo platform is slidably arranged on the cargo frame;

[0024] a pull-out drive assembly, disposed on the cargo frame and connected to the cargo platform, the pull-out drive assembly being used to drive the cargo platform to slide relative to the cargo frame so as to extend or retract the cargo platform laterally; and

[0025] The end limit assembly is arranged on the cargo frame, and the end limit assembly is used to limit the cargo placed on the cargo platform in the extension and contraction direction of the cargo platform.

[0026] Optionally, the cargo frame includes a top frame and two side frames connected to opposite sides of the top frame, and the cargo platform is slidably connected to the side frames on both sides along the telescopic direction; the pulling drive assembly and the end limit assembly are both installed on the top frame;

[0027] The end stop assembly includes:

[0028] A front-end limiting assembly, comprising a front-end lifting drive member and a front-end lifting baffle, wherein the front-end lifting drive member is mounted on one end of the top frame along the direction in which the cargo platform is extended and retracted, and the front-end lifting baffle is mounted on the driving end of the front-end lifting drive member and is capable of moving in a direction perpendicular to the plane of the cargo platform under the action of the front-end lifting drive member; and

[0029] The rear end limiting assembly includes a transverse moving mechanism, a rear end lifting drive member and a rear end lifting stop rod. The transverse moving mechanism is arranged on the top frame, the rear end lifting drive member is installed on the transverse moving mechanism, and can move along the telescopic direction of the cargo platform under the action of the transverse moving mechanism. The rear end lifting stop rod is installed at the driving end of the rear end lifting drive member, and can move in a direction perpendicular to the plane where the cargo platform is located under the action of the rear end lifting drive member.

[0030] Optionally, the cargo device also includes a side baffle assembly, which includes a push-pull drive component and a side baffle. The side baffle is located between the plane where the cargo platform is located and the top frame, and the side baffle is slidably connected to the top frame along a telescopic direction perpendicular to the cargo platform. The push-pull drive component is installed on the top frame and connected to the side baffle to drive the side baffle to move along the telescopic direction perpendicular to the cargo platform.

[0031] The beneficial effect of the loading system provided by the present invention is that, compared with the prior art, during the loading process, the loading system of the present invention first grabs the whole stack of goods through the depalletizing robot of the depalletizing and sorting system and transports the whole layer of goods to the cargo sorting device, which decomposes the whole layer of goods into single pieces of goods and then transports them to the grouping device. During the transportation process, the placement direction of the output goods is adjusted according to the subsequent loading stack type needs through the steering device arranged at the output end of the cargo sorting device, and then the single pieces of goods output by the cargo sorting device are sorted and combined into a whole layer of goods of the required stack type through the grouping device and output to the loading device of the palletizing and loading equipment. Because the cargo device is mounted on the carrier frame via a lifting mechanism, and the carrier frame is connected to the gantry via a correction mechanism, when there is a left-right displacement deviation between the flatbed truck and the cargo device, the correction mechanism controls the carrier frame to move perpendicular to the track length to correct the left-right displacement deviation. When there is a directional deviation between the flatbed truck and the cargo device, the correction mechanism controls the carrier frame to rotate about the height direction of the gantry to correct the directional deviation. That is, the correction mechanism enables the cargo device to be accurately unloaded from the flatbed truck, improving cargo loading speed and ensuring the neatness and stability of cargo stacking. This loading system can save manpower, reduce labor costs, and significantly improve loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] in:

[0034] Figure 1 is a side view of a vehicle loading system according to an embodiment of the present invention;

[0035] Figure 2 1 is a schematic diagram of the three-dimensional structure of a vehicle loading system according to an embodiment of the present invention;

[0036] Figure 3 1 is a schematic diagram of the overall structure of a depalletizing and material sorting system according to an embodiment of the present invention;

[0037] Figure 4This is a partial structural diagram of a depalletizing and material sorting system according to one embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the connection structure of the stepping conveyor, the side conveyor, the limiter, and the delivery conveyor in the goods distribution device of the depalletizing and material sorting system shown in one embodiment of the present invention;

[0039] Figure 6 This is a schematic structural diagram of a pushing device in a goods sorting device of a depalletizing and material sorting system according to an embodiment of the present invention;

[0040] Figure 7 1 is a schematic structural diagram of a steering device of a depalletizing and material sorting system according to an embodiment of the present invention;

[0041] Figure 8 yes Figure 7 A schematic structural diagram of the steering device from another perspective is shown;

[0042] Figure 9 This is a schematic diagram of the overall structure of a grouping device in a depalletizing and material sorting system according to an embodiment of the present invention;

[0043] Figure 10 This is a schematic diagram of a single-row pushing mechanism of a grouping device in a depalletizing and material sorting system according to an embodiment of the present invention;

[0044] Figure 11 1 is a schematic diagram of a whole-layer pushing mechanism of a grouping device in a depalletizing and material sorting system according to an embodiment of the present invention;

[0045] Figure 12 This is a side view of a palletizing and loading device in use according to an embodiment of the present invention;

[0046] Figure 13 1 is a schematic diagram of the three-dimensional structure of a palletizing and loading device according to an embodiment of the present invention;

[0047] Figure 14 This is a schematic diagram showing the connection between the gantry and the deviation-correcting mechanism of a palletizing and loading device according to one embodiment of the present invention;

[0048] Figure 15 1 is a schematic diagram showing the connection between the deviation-correcting mechanism of the palletizing and loading equipment and the top beam of the gantry frame according to one embodiment of the present invention;

[0049] Figure 16 This is a schematic diagram showing the connection between a carrier frame, a lifting mechanism, and a cargo loading device of a palletizing and loading device according to an embodiment of the present invention;

[0050] Figure 17 1 is a schematic structural diagram of a cargo loading device of a palletizing and loading equipment according to an embodiment of the present invention;

[0051] Figure 18 1 is a schematic structural diagram of a cargo loading device of a palletizing and loading equipment according to an embodiment of the present invention;

[0052] Figure 19 1 is a schematic structural diagram of a rear end limit assembly in a cargo loading device of a palletizing and loading device according to an embodiment of the present invention;

[0053] Figure 20 The diagram is a schematic diagram of a group of goods that can be carried by the cargo platform in the cargo loading device of the palletizing and loading equipment shown in one embodiment of the present invention.

[0054] Description of main component symbols:

[0055] 1. Depalletizing and sorting system; 2. Palletizing and loading equipment;

[0056] 10. Destacking robot; 11. Base; 12. Industrial robot; 13. Clamp;

[0057] 20. Cargo sorting device; 21. Stepping conveyor; 211. Conveyor frame; 212. Conveyor roller; 22. Side conveyor; 221. First side roller conveyor line; 2211. First side baffle; 2212. First roller; 222. Second side roller conveyor line; 2221. Second side baffle; 2222. Second roller; 23. Positioning member; 24. Outgoing conveyor; 25. Pushing device; 251. Pushing frame; 2511. Support legs; 2512. Cross frame; 252. Carrier; 253. Moving mechanism; 254. Lifting mechanism; 255. Push plate; 26. First reversing device; 27. Second reversing device; 28. Scanner;

[0058] 30. Steering device; 31. Mounting seat; 32. Telescopic mechanism; 33. Roller;

[0059] 40. Marshalling device; 41. Roller conveyor; 411. Conveying section; 412. Temporary storage section; 42. Temporary storage platform; 43. Single-row pushing mechanism; 431. First mounting frame; 432. First linear guide rail; 433. First linear module; 434. First pushing frame; 44. Whole-layer pushing mechanism; 441. Second mounting frame; 442. Second linear guide rail; 443. Second linear module; 444. Second pushing frame; 45. Stopper;

[0060] 50. Track; 501. Parking area; 51. Track stop;

[0061] 60. Gantry; 61. Column; 62. Top beam; 63. Travel mechanism;

[0062] 70. Correction mechanism; 71. Support seat; 72. Linear drive assembly; 73. Rotary drive assembly; 731. Slewing bearing; 732. Rotary motor; 74. Vehicle body detection device; 741. Detection linear module; 742. Laser ranging sensor;

[0063] 80. Carrying frame; 81. Top frame; 82. Side frame;

[0064] 90. Lifting mechanism;

[0065] 100. Cargo loading device; 101. Cargo loading frame; 1011. Top frame; 10111. Boom assembly; 1012. Side frame; 102. Cargo loading platform; 1021. Support frame; 1022. Unpowered roller; 103. Pull-out drive assembly; 1031. Drive motor; 10311. Drive shaft; 1032. Synchronous drive belt; 1033. Guide wheel; 1034. Extension limiter; 1035. Retraction limiter; 1036. Fixing clamp; 104. End limiter assembly; 1041. Front limiter assembly; 104 11. Front-end lifting drive member; 10412. Front-end lifting baffle; 1042. Rear-end limiting assembly; 10421. Horizontal movement mechanism; 104211. Servo motor; 104212. Synchronous transmission belt; 10422. Rear-end lifting drive member; 10423. Rear-end lifting baffle; 10424. Moving beam; 10425. Horizontal guide assembly; 10426. Vertical guide assembly; 105. Side baffle assembly; 1051. Push-pull drive member; 1052. Side baffle; 106. Guide wheel assembly; 107. Support plate;

[0066] 200, power supply part; 201, support frame; 202, slide rail; 203, current collector;

[0067] 300. Parking barrier. DETAILED DESCRIPTION

[0068] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many other forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0069] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0070] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0073] It should also be noted that, in the embodiments of the present application, the same figure mark represents the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0074] As described in the background art, manual loading has the disadvantages of high labor costs, high labor intensity, lack of worker safety assurance, and low loading efficiency.

[0075] In order to solve the above problems, an embodiment of the present invention provides a vehicle loading system, such as Figure 1-Figure 3 and Figure 12-13 As shown, the loading system includes a depalletizing and sorting system 1 and a palletizing and loading device 2.

[0076] The depalletizing and sorting system 1 includes a depalletizing robot 10, a cargo sorting device 20, a steering device 30, and a marshaling device 40. The depalletizing robot 10 is used to grab and carry multiple pieces of cargo. The cargo sorting device 20 is used to receive the multiple pieces of cargo carried by the depalletizing robot 10 and decompose them into single pieces of cargo for external output. The steering device 30 is arranged at the output end of the cargo sorting device 20, and the steering device 30 is used to adjust the placement direction of the output cargo. The marshaling device 40 is connected to the output end of the cargo sorting device 20, and the marshaling device 40 is used to group and output the single pieces of cargo output by the cargo sorting device 20.

[0077] The palletizing and loading equipment 2 includes rails 50, a gantry 60, a deflection correction mechanism 70, a load carrier 80, a lifting mechanism 90, and a loading device 100. The two rails 50 are arranged parallel and spaced apart, forming a parking area 501 for loading. The gantry 60 is mounted on the two rails 50 and can move along the length of the rails 50 (for ease of understanding, the length of the rails 50 is indicated by arrow V in the figure). The deflection correction mechanism 70 is mounted on the gantry 60. The load carrier 80 is located below the gantry 60 and connected to the deflection correction mechanism 70. Under the action of the deflection correction mechanism 70, the load carrier 80 can move in a direction perpendicular to the length of the rails 50 and rotate about the height of the gantry 60. The lifting mechanism 90 is mounted on the load carrier 80. The loading device 100 is used to load and release cargo output by the marshaling device 40. The load carrier 100 is connected to the lifting mechanism 90 and can move in the height direction of the load carrier 80 under the action of the lifting mechanism 90.

[0078] In the embodiment of the present invention, before loading a whole stack of goods, a depalletizing robot 10 is used to grab and transport the whole layer of goods to a cargo sorting device 20, which is then used to decompose the whole layer of goods into individual pieces and then transport them to a grouping device 40. During the transportation process, the direction of the output goods is adjusted by a steering device 30 provided at the output end of the cargo sorting device 20 according to the size of the flatbed truck and the requirements of the stack type. Finally, the grouping device 40 organizes and combines the individual pieces of goods output by the cargo sorting device 20 into a whole layer of goods of the required stack type (such as Figure 20As shown, the width a of the group of goods is adapted to the width of the flatbed truck) and is output to the cargo loading device 100 of the stacking and loading equipment 2. The flatbed truck to be loaded stops in the parking area 501 between the two tracks 50. After the marshaling device 40 transports the marshaled goods to the cargo loading device 100, the cargo loading device 100 rises under the action of the lifting mechanism 90, and the gantry 60 drives the correcting mechanism 70, the load frame 80, the lifting mechanism 90 and the cargo loading device 100 to move along the track 50 to the farthest cargo position on the flatbed truck. According to the position and angle deviation between the flatbed truck and the cargo loading device 100, the correcting mechanism 70 controls the load frame 80 to move a corresponding distance in the direction perpendicular to the length of the track 50 and rotate a corresponding angle in the height direction around the gantry 60, so that the center line of the goods on the cargo loading device 100 (as shown in FIG. Figure 20 The lifting mechanism 90 then controls the loading device 100 to descend to a certain distance from the loading surface of the flatbed and then stops. The loading device 100 releases the cargo, which falls onto the flatbed, completing the loading process. This loading process is repeated until the first layer of the flatbed is loaded. Finally, the upper surface of the first layer of cargo is used as a reference, and the loading process for the first layer is repeated, completing the palletizing and loading process of the flatbed.

[0079] In addition, it is conceivable that by cooperating with the steering device 30 and the marshalling device 40, the goods can be combined into different groups in different horizontal and vertical directions and quantities, thereby improving the space utilization rate of the loading and the stability of the stack.

[0080] In summary, the use of this loading system can realize the unmanned and automated loading process, save manpower, reduce labor costs, and greatly improve loading efficiency; after the goods are sorted into corresponding stacking types in advance, they are sent to the flatbed truck for stacking as a whole, which is highly efficient; the upper and lower layers of the stacking type are staggered, ensuring stability after the goods are stacked; and it can adapt to box materials of various specifications.

[0081] In one embodiment, if Figure 3-Figure 4 As shown, the depalletizing robot 10 includes a base 11, an industrial robot 12, a clamp 13 and a visual camera (not shown in the figure). The base 11 is used to be fixed on the ground, the industrial robot 12 is installed on the base 11, and the clamp 13 and the visual camera are installed at the end of the execution structure of the industrial robot 12. The clamp 13 includes a frame connected to the industrial robot 12 and a suction cup structure provided on the frame. The suction cup structure absorbs the goods by vacuum adsorption. The visual camera calculates the stack shape of the goods by taking pictures, converts the optical signal into an electrical signal and feeds it back to the industrial robot 12, so that the industrial robot 12 can transfer the goods in an orderly and accurate manner.

[0082] It can be understood that the industrial robot 12 is a multi-joint manipulator (such as a five-axis or six-axis manipulator arm) or a multi-degree-of-freedom machine device widely used in the industrial field. Driven by the industrial robot 12, the clamp 13 moves multiple pieces or a whole layer of goods in a stack of goods to the cargo distribution device 20.

[0083] It should be noted that the whole stack of goods carried by the depalletizing robot 10 can be transported from the warehouse to the vicinity of the depalletizing robot 10 by a forklift or other transfer equipment. The depalletizing robot 10 can also be directly docked with the automatic outbound delivery line of the warehouse to achieve full automation of outbound delivery and depalletizing.

[0084] In one embodiment, if Figure 3-Figure 5 As shown, the goods distributing device 20 includes a stepping conveyor 21 , a side conveyor 22 , a limiting member 23 , a delivery conveyor 24 and a pushing device 25 .

[0085] The stepping conveyor 21 is used to carry multiple pieces of cargo transported by the depalletizing robot 10 and step-by-step transport the cargo along the conveying direction (for ease of explanation, the conveying direction is indicated by arrow X in the figure). The side conveyor 22 is docked at the output end of the stepping conveyor 21. The side conveyor 22 includes a first side roller conveyor line 221 and a second side roller conveyor line 222, which are arranged side by side along the conveying direction and are structurally symmetrical with respect to the conveying direction. The first side roller conveyor line 221 and the second side roller conveyor line 222 are capable of separating two side-by-side cargo pieces to opposite sides of the side conveyor 22 in the conveying direction and continuing to transport them along the conveying direction. A stopper 23 is provided at the output end of the first side roller conveyor line 221 to prevent cargo conveyed by the first side roller conveyor line 221 from falling from the output end of the first side roller conveyor line 221. The shipping conveyor 24 is docked at the output end of the second side roller conveyor line 222, and a steering device 30 is provided on the shipping conveyor 24. The pushing device 25 is used to push the goods stopped by the limiting member 23 to the second side roller conveyor line 222.

[0086] It can be understood that the side roller conveyor line can convey the goods in a diagonal direction until the goods are aligned with the side baffles, and can form a variety of cargo conveying solutions with other standard components.

[0087] Through the above design, by utilizing the mutual cooperation of the stepping conveyor 21, the side conveyor 22, the limiter 23, the shipping conveyor 24 and the pushing device 25, the entire layer of goods transported by the depalletizing robot 10 can be split into single pieces and output backward.

[0088] Specifically, when in use, the depalletizing robot 10 moves the entire layer of goods to the stepping conveyor 21, which steps along the transmission direction to stack the goods in rows (it can be understood that the entire layer of goods on the stepping conveyor can be divided into multiple rows along the transmission direction). Figure 3 and Figure 4 For example, a layer of goods on the stepping conveyor 21 can be divided into two rows along the transmission direction, and the first row and the second row each have two packaging boxes. The goods are successively conveyed to the side conveyor 22. The two side-by-side goods are separated on both sides of the conveyor by the side conveyor 22 and continue to be conveyed forward. The goods on the second side roller conveyor line 222 can be directly conveyed to the grouping device 40 via the shipping conveyor 24. The goods on the first side roller conveyor line 221 are stopped by the limiter 23. After the goods on the second side roller conveyor line 222 are all conveyed, the goods stopped by the limiter 23 are pushed piece by piece to the second side roller conveyor line 222 by the pushing device 25, and then conveyed to the grouping device 40 via the shipping conveyor 24. The steering device 30 provided on the shipping conveyor 24 adjusts the placement direction of the output goods (such as placement along the length of the goods or placement along the width of the goods) according to the subsequent grouping needs.

[0089] The limiting member 23 may be a limiting structure such as a limiting baffle or a limiting crossbar fixed to the output end of the first side roller conveyor line 221. The delivery conveyor 24 may be a belt conveyor or a roller conveyor.

[0090] In a specific embodiment, Figure 5 As shown, the stepping conveyor 21 includes a conveying frame 211, conveying rollers 212, a transmission mechanism (not shown in the figure) and a stepping motor (not shown in the figure). A plurality of conveying rollers 212 are arranged on the conveying frame 211 in parallel and at intervals along the transmission direction. The stepping motor is fixed on the conveying frame 211 and connected to the conveying rollers 212 through the transmission mechanism.

[0091] Specifically, the transmission mechanism can adopt belt drive or chain drive.It is understandable that the stepper motor is connected with the conveying roller 212 through the transmission mechanism, and the rotation of the conveying roller 212 is used to provide the power of conveying forward for the goods placed thereon.

[0092] It is understandable that, in other embodiments, a motorized roller may be directly used to replace the conveying roller 212 , the transmission mechanism, and the stepping motor in the stepping conveyor 21 of this embodiment.

[0093] In a specific embodiment, Figure 4 and Figure 5As shown, the first side roller conveyor line 221 includes a first side baffle 2211, a first roller 2212 and a first driving mechanism (not shown in the figure), a plurality of first rollers 2212 are arranged side by side along the extension direction of the first side baffle 2211 and form an acute angle with the first side baffle 2211, and the first driving mechanism is used to drive the first roller 2212 to rotate; the second side roller conveyor line 222 includes a second side baffle 2221, a second roller 2222 and a second driving mechanism (not shown in the figure), a plurality of second rollers 2222 are arranged side by side along the extension direction of the second side baffle 2221 and form an acute angle with the second side baffle 2221, and the second driving mechanism is used to drive the second roller 2222 to rotate; wherein, the first side baffle 2211 and the second side baffle are respectively located on opposite sides of the side conveyor 22 in the conveying direction.

[0094] Through the above arrangement, the first side roller conveyor line can convey the goods thereon in a diagonal direction until the goods are aligned with the first side baffle 2211, and the second side roller conveyor line can convey the goods thereon in a diagonal direction until the goods are aligned with the second side baffle 2221, thereby separating the two side-by-side goods and continuing to convey them in the conveying direction.

[0095] Spherical rolling bodies are evenly arranged at the side-by-side connection between the first side roller conveyor line 221 and the second side roller conveyor line 222. This design facilitates the goods on the first side roller conveyor line 221 to enter the second side roller conveyor line 222 under the action of the pushing device 25.

[0096] In a specific embodiment, Figure 4 and Figure 6 As shown, the pushing device 25 includes a pushing frame 251, a carrier 252, a moving mechanism 253 and a push plate 255; the pushing frame 251 includes a horizontal frame 2512 and two support legs 2511 supported at both ends of the horizontal frame 2512, the horizontal frame 2512 is located above the output end of the first side roller conveyor line 221, and the two support legs 2511 are respectively located on opposite sides of the side conveyor 22 in the conveying direction; the carrier 252 is slidably set on the horizontal frame 2512 along a pushing direction perpendicular to the conveying direction (for ease of explanation, the pushing direction is shown by arrow Y in the figure), the moving mechanism 253 is set on the horizontal frame 2512 and connected to the carrier 252 to drive the carrier 252 to slide on the horizontal frame 2512 along the pushing direction; the push plate 255 is installed on the carrier 252.

[0097] The working principle of the pushing device 25 is as follows: the carrier 252 can move back and forth along the pushing direction on the horizontal frame 2512 under the drive of the moving mechanism 253, so as to drive the push plate 255 to move together, and then use the push plate 255 to push the goods at the output end of the first side roller conveyor line 221 and the limit member 23 to the second side roller conveyor line 222.

[0098] The carrier 252 is slidably connected to the horizontal frame 2512 via a guide rail mounted on the horizontal frame 2512 and a slider mounted on the carrier 252. In this embodiment, the moving mechanism 253 utilizes a synchronous belt linear module, with the carrier 252 fixedly connected to the synchronous belt of the synchronous belt linear module. Of course, in other embodiments, the moving mechanism 253 may also utilize a ball screw linear module, a linear motor, or the like.

[0099] In a more specific embodiment, Figure 6 As shown, the pushing device 25 further includes a lifting mechanism 254 , which is disposed on the carrier 252 . The push plate 255 is mounted on the lifting mechanism 254 and can adjust its vertical position under the drive of the lifting mechanism 254 .

[0100] With this design, the push plate 255 can adjust its vertical position according to the height of different goods to better adapt to the center of gravity of the goods, thereby providing stable and reliable thrust for the goods.

[0101] In this embodiment, the lifting mechanism 254 includes a motor, a gear, a rack, a slide rail, and a sliding block. The slide rail is vertically fixed to one side of the carrier 252. The sliding block and the rack are fixed to the side of the push plate 255 near the carrier 252. The sliding block and the rack are slidably connected to the slide rail. The motor is mounted on the carrier 252. The gear is fixed to the output shaft of the motor and meshes with the rack. The motor drives the gear to rotate, which drives the rack to move up and down, thereby adjusting the height of the push plate 255. Of course, in other embodiments, the lifting mechanism 254 can also use a vertically arranged cylinder, linear motor, linear module, etc.

[0102] In some specific embodiments, such as Figure 4 As shown, the goods sorting device 20 also includes a first reversing device 26, a second reversing device 27 and a scanner 28. The first reversing device 26 is arranged on the first side roller conveyor line 221, and is used to adjust the placement direction of the goods conveyed by the first side roller conveyor line 221; the second reversing device 27 is arranged on the second side roller conveyor line 222, and is used to adjust the placement direction of the goods conveyed by the second side roller conveyor line 222; the scanner 28 is arranged on the shipping conveyor 24 and is located upstream of the steering device 30.

[0103] Through the above arrangement, the first reversing device 26 and the second reversing device 27 can respectively adjust the placement direction of the goods conveyed by the first side roller conveyor line 221 and the second side roller conveyor line 222, and turn the label surface of the goods to the direction recognized by the scanner 28, so as to facilitate the scanner 28 to scan the label of the goods.

[0104] The first reversing device 26 , the second reversing device 27 and the steering device 30 have the same structure, which facilitates processing and manufacturing and saves production costs.

[0105] In one embodiment, if Figure 4 and Figure 7-Figure 8 As shown, the steering device 30 includes a mounting seat 31, a telescopic mechanism 32 and a roller 33. The mounting seat 31 is fixed to one side of the output end of the cargo distribution device 20, the telescopic mechanism 32 is installed on the mounting seat 31, and the roller 33 is installed at the movable end of the telescopic mechanism 32. The roller 33 can be extended or retracted in a direction perpendicular to the conveying direction of the goods under the action of the telescopic mechanism 32.

[0106] Through the above arrangement, the steering device 30 has a simple structure, low cost, and is easy to maintain in the future.

[0107] Specifically, the telescopic mechanism 32 drives the rollers 33 to extend and retract to control the direction of the cargo, thereby adjusting the direction of the cargo. When the cargo needs to be turned, the telescopic mechanism 32 drives the rollers 33 to extend, blocking one end of the cargo while the other end continues forward, causing the cargo to rotate 90 degrees and continue to be transported forward.

[0108] In this embodiment, the telescopic mechanism 32 can be realized by a motor driving a gear to drive a rack to move in a straight line, or by a pneumatic cylinder or an oil cylinder, which is not limited here.

[0109] In one embodiment, if Figure 3 and Figure 9 As shown, the marshalling device 40 includes a roller conveyor 41, a temporary storage platform 42, a single-row pushing mechanism 43 and a whole-layer pushing mechanism 44. The roller conveyor 41 is connected to the output end of the cargo sorting device 20. The output end of the roller conveyor 41 is provided with a stopper 45 for stopping the cargo. The temporary storage platform 42 is provided on one side of the output end of the roller conveyor 41. The single-row pushing mechanism 43 is provided on the roller conveyor 41 and is used to push a row of cargo on the roller conveyor 41 to the temporary storage platform 42. The whole-layer pushing mechanism 44 is provided on the temporary storage platform 42 and is used to push multiple rows of cargo on the temporary storage platform 42 away from the temporary storage platform 42.

[0110] The grouping device 40 combines multiple goods into one group, which is convenient for subsequent loading by the palletizing and loading equipment 2, thereby improving the loading efficiency.

[0111] The working principle of the grouping device 40 is as follows: multiple single pieces of cargo output from the cargo distribution device 20 are adjusted in their placement direction by the steering device 30 and then enter the roller conveyor 41. Since a stopper 45 (such as a baffle) is provided at the output end of the roller conveyor 41, multiple cargoes stay on the roller conveyor 41 and are arranged in a row along the conveying direction. The single-row pushing mechanism 43 pushes a row of cargo on the roller conveyor 41 to the temporary storage platform 42. The above operation is repeated to push multiple rows of cargo to the temporary storage platform 42 in succession to form a group of cargo (the system matches the optimal stacking type according to the vehicle width and the cargo width, so that the width of a group of cargo formed by the combination of multiple rows of cargo matches the vehicle width and is close to the vehicle width to increase space utilization). Finally, the whole-layer pushing mechanism 44 pushes the group of cargo on the temporary storage platform 42 from the temporary storage platform 42 to the loading device 100 of the stacking and loading equipment 2.

[0112] In order to avoid interference between the pushing direction of the entire layer pushing mechanism 44 and the pushing direction of the single row pushing mechanism 43 , the pushing direction of the entire layer pushing mechanism 44 is arranged perpendicular to the pushing direction of the single row pushing mechanism 43 .

[0113] In a specific embodiment, Figure 9 As shown, the roller conveyor 41 includes a conveying section 411 and a temporary storage section 412 connected in sequence along the conveying direction. The stopper 45 is arranged at one end of the temporary storage section 412 away from the conveying section 411, and the temporary storage platform 42 is arranged on one side of the temporary storage section 412.

[0114] With this design, the temporary storage section 412 is used to temporarily store goods. When the temporary storage section 412 is full of goods, the single-row pushing mechanism 43 pushes the entire row of goods on the temporary storage section 412 onto the temporary storage platform 42 .

[0115] Among them, such as Figure 9 and Figure 10 As shown, the single-row pushing mechanism 43 includes a first mounting frame 431, a first linear guide rail 432, a first linear module 433 and a first pushing frame 434. The first mounting frame 431 is mounted above the temporary storage section 412. The first linear guide rail 432 and the first linear module 433 are mounted on the first mounting frame 431 and are both perpendicular to the length direction of the temporary storage section 412. The length of the first pushing frame 434 is adapted to the length of the temporary storage section 412. The first pushing frame 434 is slidably set on the first linear guide rail 432 and is connected to the driving part of the first linear module 433. The first pushing frame 434 is driven by the first linear module 433 to slide along the first linear guide rail 432 to push a row of goods on the temporary storage section 412.

[0116] like Figure 9 and Figure 11As shown, the whole-layer pushing mechanism 44 includes a second mounting frame 441, a second linear guide rail 442, a second linear module 443 and a second pushing frame 444. The second mounting frame 441 is mounted above the temporary storage platform 42. The second linear guide rail 442 and the second linear module 443 are mounted on the second mounting frame 441 and are both parallel to the length direction of the temporary storage section 412. The length of the second pushing frame 444 is adapted to the length of the temporary storage platform 42 perpendicular to the temporary storage section 412. The second pushing frame 444 is slidably set on the second linear guide rail 442 and connected to the driving part of the second linear module 443. The second pushing frame 444 is driven by the second linear module 443 to slide along the second linear guide rail 442 to push a group of goods on the temporary storage platform 42.

[0117] Specifically, the first linear module 433 and the second linear module 443 can be a synchronous belt type linear module, a ball screw type linear module or a linear motor, etc.

[0118] It is understood that the gantry 60 includes two columns 61, a top beam 62 connected between the tops of the two columns 61, and a running mechanism 63 disposed between the columns 61 and the track 50. The lower ends of the two columns 61 are slidably mounted on the two tracks 50 via sliding seats. The running mechanism 63 includes a motor mounted at the lower end of one of the columns 61 and a roller fixed to the output end of the motor. The roller rolls on the corresponding track 50 under the drive of the motor, thereby enabling the gantry 60 to travel along the length of the track 50. To prevent the running mechanism 63 from falling off the track 50, track blocks 51 are installed at the ends of the two tracks 50 to limit the running mechanism 63.

[0119] Among them, the function of the lifting mechanism 90 is to lift the cargo device 100 to different loading heights. The lifting mechanism 90 can be implemented by a motor fixed on the load frame 80 to drive a lifting chain connected to the cargo device 100, or it can be implemented by a cylinder installed on the load frame 80 along the height direction of the load frame 80, or it can be implemented by other mechanisms with lifting functions, which are not limited here.

[0120] In one embodiment, if Figure 13-15 As shown, the correction mechanism 70 includes a support base 71, a linear drive assembly 72, and a rotary drive assembly 73. The support base 71 is slidably mounted on the gantry 60 in a direction perpendicular to the length of the track 50. The linear drive assembly 72 is mounted on the gantry 60 and connected to the support base 71. The linear drive assembly 72 is used to drive the support base 71 to move in a direction perpendicular to the length of the track 50. The rotary drive assembly 73 is mounted on the support base 71, and the rotary drive end of the rotary drive assembly 73 is connected to the carrier 80.

[0121] Through the above arrangement, the structure of the correction mechanism 70 is simple. At the same time, the position adjustment and azimuth angle adjustment of the cargo loading device 100 are respectively achieved through the linear drive component 72 and the rotation drive component 73, so that the position correction and azimuth angle correction do not affect each other, which is conducive to ensuring the correction accuracy.

[0122] It is understood that the linear drive assembly 72 drives the support base 71 to slide in a direction perpendicular to the length of the track 50, driving the carrier 80 to move left and right, thereby adjusting the left and right position of the cargo device 100; the rotational drive assembly 73 drives the carrier 80 to rotate about the height direction of the gantry 60, thereby adjusting the orientation of the cargo device 100. The cargo device 100 completes the correction through the above-mentioned lateral movement and rotation.

[0123] Specifically, the top beam 62 of the gantry 60 is a rectangular frame structure, and the support seat 71 is installed on the two opposite sides of the top beam 62 through a set of linear guide rails at both ends along the length direction of the track 50. The length direction of the linear guide rail is perpendicular to the length direction of the track 50, so that the support seat 71 is slidably set on the gantry 60 along the direction perpendicular to the length of the track 50.

[0124] In a specific embodiment, Figure 14-15 As shown, the linear drive assembly 72 includes an electric cylinder, the cylinder body of the electric cylinder is fixed on the gantry 60, and the telescopic rod of the electric cylinder is connected to the support base 71; and / or

[0125] The rotary drive assembly 73 includes a slewing bearing 731, a rotary motor 732 and a driving gear. The slewing bearing 731 includes an inner ring and an outer gear ring that are rotatably connected. The inner ring of the slewing bearing 731 is fixed to the support base 71, and the rotary motor 732 is installed on the support base 71. The driving gear is fixed to the output shaft of the rotary motor 732 and engages with the outer gear ring of the slewing bearing 731. The outer gear ring of the slewing bearing 731 is fixedly connected to the carrier frame 80.

[0126] The electric cylinder has the characteristics of precise positioning, fast speed, large load, smooth movement and long life. Using the electric cylinder as the linear drive component 72 can be easily connected to a control system such as a PLC (Programmable Logic Controller) to achieve high-precision motion control.

[0127] In the rotary drive assembly 73, the slewing bearing 731 is used to achieve the rotational connection between the load frame 80 and the top beam 62 of the gantry 60. Driven by the drive motor 1031, the drive gear drives the meshed outer ring gear of the slewing bearing 731 to rotate, thereby driving the load frame 80 to adjust the orientation of the cargo device 100. The gear transmission formed between the drive gear and the outer ring gear of the slewing bearing 731 has the characteristics of high load capacity, smooth transmission, and high transmission accuracy, facilitating high-precision angle control.

[0128] In summary, the linear drive assembly 72 and the rotary drive assembly 73 are designed as described above, which can improve the adjustment accuracy of movement and rotation, and thus improve the correction accuracy.

[0129] Of course, it is understood that in other embodiments, the linear drive assembly 72 may also be a synchronous belt linear module, a ball screw linear module, etc. The rotary drive assembly 73 may also be other mechanisms capable of outputting rotary torque.

[0130] In one embodiment, if Figure 13 As shown, the correction mechanism 70 also includes a vehicle body detection device 74 and a control unit (not shown in the figure). The vehicle body detection device 74 is installed on the gantry 60 to collect edge position data of the flatbed truck located in the parking area 501. The vehicle body detection device 74, the linear drive component 72 and the rotary drive component 73 are all electrically connected to the control unit. The control unit calculates the deflection of the flatbed truck based on the edge position data, and controls the movement of the linear drive component 72 and the rotary drive component 73 to align the center line of the cargo on the cargo loading device 100 with the center line of the cargo on the flatbed truck.

[0131] By providing the vehicle body detection device 74 and the control unit, it is convenient to realize automatic control of the actions of the linear drive component 72 and the rotary drive component 73, thereby realizing automatic deviation correction.

[0132] Specifically, after the flatbed truck stops in the parking area 501 according to the guide line, the edge position data of the flatbed truck is collected through the vehicle body detection device 74. The control unit calculates the deflection of the flatbed truck based on the collected edge position data, and then calculates the displacement and angle that the cargo loading device 100 needs to correct and controls the linear drive component 72 to move the corresponding displacement and the rotary drive component 73 to swing the corresponding angle, so that the center line of the cargo on the cargo loading device 100 is aligned with the center line of the flatbed truck, ensuring that the cargo is stacked in the center of the flatbed truck, thereby ensuring the neatness and stability of the subsequent stacking and loading stacks.

[0133] Among them, the vehicle body detection device 74 can adopt visual detection or laser detection in the following embodiment. When visual detection is adopted, the camera in the visual detection is used to collect image information of the flatbed truck, and the edge position of the flatbed truck is determined through image calculation.

[0134] In a specific embodiment, Figure 14 As shown, the vehicle body detection device 74 includes a detection linear module 741 and a laser ranging sensor 742. The detection linear module 741 is installed on the gantry 60, and the laser ranging sensor 742 is installed on the detection linear module 741. The laser ranging sensor 742 can move back and forth along the length direction perpendicular to the track 50 under the action of the detection linear module 741 to detect the edge position data of the flatbed truck.

[0135] With this design, when the gantry 60 reaches the rear and front of the flatbed truck, the detection linear module 741 moves the laser ranging sensor 742 to detect the vehicle width and edge distribution. Specifically, the vehicle body detection device 74 scans the vehicle edge at the front and rear of the flatbed truck. The control unit calculates the flatbed truck's deflection and the required correction amount, then controls the correction mechanism 70 to perform the correction.

[0136] The detection linear module 741 includes but is not limited to an electric slide, a cylinder and an electric push rod.

[0137] In one embodiment, if Figure 16 As shown, the cargo device 100 includes a cargo frame 101, a cargo platform 102, a pull-out drive assembly 103 and an end limit assembly 104. The cargo frame 101 is connected to the lifting mechanism 90. The cargo platform 102 is used to carry cargo, and the cargo platform 102 is laterally slidably arranged on the cargo frame 101. The pull-out drive assembly 103 is arranged on the cargo frame 101 and connected to the cargo platform 102, and the pull-out drive assembly 103 is used to drive the cargo platform 102 to slide relative to the cargo frame 101 so that the cargo platform 102 extends or retracts laterally. The end limit assembly 104 is arranged on the cargo frame 101, and the end limit assembly 104 is used to limit the cargo placed on the cargo platform 102 in the telescopic direction of the cargo platform 102 (for ease of understanding, the telescopic direction of the cargo platform 102 is shown by arrow W in the figure).

[0138] Through the above arrangement, in the process of the pulling drive component 103 driving the cargo platform 102 to extend outward, the cargo placed on the cargo platform 102 is blocked by the end limit component 104 in the extension direction of the cargo platform 102, and therefore will not move together with the cargo platform 102. After the cargo platform 102 is extended, the cargo above it loses support and falls onto the flatbed truck, completing one loading.

[0139] It can be understood that when the cargo loading device 100 releases the cargo, the cargo will not move horizontally relative to the flatbed truck. Compared with the prior art in which the cargo is pushed out by the pushing device, the cargo is more stable during the loading and stacking process, and the position accuracy of the loading and stacking is easier to control.

[0140] Among them, the cargo platform 102 includes a support frame 1021 and a plurality of unpowered rollers 1022 arranged in parallel and at intervals on the support frame 1021. This design can reduce the friction between the cargo and the cargo platform 102 when the cargo platform 102 is extended, making the process of releasing the cargo smoother.

[0141] In a specific embodiment, Figure 16-17 As shown, the cargo frame 101 includes a top frame 1011 and two side frames 1012 connected to the opposite sides of the top frame 1011, and the cargo platform 102 is slidably connected to the two side frames 1012 on both sides along the telescopic direction; the pulling drive assembly 103 and the end limit assembly 104 are both installed on the top frame 1011.

[0142] Through the above design, the cargo frame 101 has an overall N-shaped structure, and the cargo platform 102 is slidably connected between the two side frames 1012, so that the cargo platform 102 will not be affected by the cargo frame 101 in the extension direction, ensuring the normal extension and retraction of the cargo platform 102. At the same time, in the height direction of the cargo frame 101, the channel formed between the cargo platform 102 and the top frame 1011 of the cargo frame 101 also facilitates the grouping device 40 of the destacking and material sorting system 1 to transport goods to the cargo platform 102.

[0143] Specifically, the cargo platform 102 is slidably connected to the two side frames 1012 on both sides of the extension and retraction direction via linear guides. The guide rails of the linear guides are mounted on the side frames 1012, and the sliders of the linear guides are mounted on the cargo platform 102. The linear guides provide guidance for the extension and retraction of the cargo platform 102. Nylon pallets 107 are mounted on the opposite inner sides of the two side frames 1012. Support wheels are arranged on both sides of the cargo platform 102. When the cargo platform 102 is retracted, the support wheels support the pallets 107. At this time, when cargo enters the cargo platform 102, the support wheels can share the supporting force of the sliders arranged near the end faces, preventing the sliders of the linear guides from being damaged by excessive force.

[0144] It is understandable that in order to ensure that the cargo can be loaded normally on the cargo platform 102 , the distance between the cargo platform 102 and the top frame 1011 in the height direction of the cargo frame 101 must be greater than the height of the cargo.

[0145] In this embodiment, the load-bearing frame 80 has an N-shaped structure, including two spaced-apart side frames 82 and a top frame 81 connected between the tops of the two side frames 82 . The middle portion of the top frame 81 is fixedly connected to the rotating drive end of the rotating drive assembly 73 , and the cargo carrying device 100 is located between the two side frames 82 .

[0146] Furthermore, in order to improve the stability of the cargo carrying device 100 in the height direction of the side frames 82 under the action of the lifting mechanism 90, the two side frames 1012 are respectively provided with guide wheel groups 106 that correspond one-to-one with the two side frames 82 and are in rolling contact.

[0147] In addition, in order to facilitate the connection between the cargo frame 101 and the lifting mechanism 90, a boom assembly 10111 for connecting the lifting chain is installed on the top of the two side frames 1012 of the cargo frame 101. The boom assembly 10111 includes a joint bearing, a chain rod and an adjusting rod. The adjusting rod has a left-handed thread at one end and a right-handed thread at the other end to facilitate the tensioning of the chain. The joint bearing can prevent the chain from twisting.

[0148] In a specific embodiment, Figure 16-17 As shown, the pulling drive assembly 103 includes a drive motor 1031 and two sets of synchronous belt transmission assemblies. The two sets of synchronous belt transmission assemblies are respectively arranged at both ends of the cargo frame 101 perpendicular to the extension and contraction direction of the cargo platform 102. Each set of synchronous belt transmission assemblies includes a synchronous drive belt 1032, a plurality of guide wheels 1033, an extension limiter 1034 and a retraction limiter 1035. The synchronous drive belt 1032 is wound around the cargo frame 101 through the guide wheels 1033, and the running direction of the synchronous belt is parallel to the extension and contraction direction of the cargo platform 102. The sides of the side frame 1012 are slidably connected to the side frames 1012 via linear guide rails. The sides of the cargo platform 102 are connected to the synchronous drive belt 1032 via a fixing clamp 1036. The operation of the synchronous drive belt 1032 drives the cargo platform 102 to extend outward or retract inward. Extension limiters 1034 (such as a stopper or block) and retraction limiters 1035 (such as a stopper or block) are respectively installed at the ends of the side frame 1012 along the extension and extension direction of the cargo platform 102, and are used to cooperate with the fixing clamp 1036 to stop and limit the cargo platform 102 at the two extreme positions of extension and retraction. The drive motor 1031 is fixed to the top frame 1011, and the drive shaft 10311 of the drive motor 1031 is simultaneously connected to one guide wheel 1033 of the two sets of synchronous belt drive assemblies to drive the operation of the two sets of synchronous belt drive assemblies simultaneously.

[0149] Of course, it should be noted that the pulling drive assembly 103 can also adopt other mechanisms, as long as it can provide driving force for the cargo platform 102 to extend outward or retract inward, and there is no limitation here.

[0150] In a specific embodiment, Figure 16-17 and Figure 19 As shown, the end limiting assembly 104 includes a front-end limiting assembly 1041 and a rear-end limiting assembly 1042 .

[0151] The front-end limiting assembly 1041 includes a front-end lifting drive component 10411 and a front-end lifting baffle 10412. The front-end lifting drive component 10411 is installed at one end of the top frame 1011 along the extension and retraction direction of the cargo platform 102. The front-end lifting baffle 10412 is installed at the driving end of the front-end lifting drive component 10411 and can move in a direction perpendicular to the plane of the cargo platform 102 under the action of the front-end lifting drive component 10411.

[0152] The rear end limiting assembly 1042 includes a transverse moving mechanism 10421, a rear end lifting drive 10422 and a rear end lifting block rod 10423. The transverse moving mechanism 10421 is arranged on the top frame 1011, and the rear end lifting drive 10422 is installed on the transverse moving mechanism 10421, and can move along the telescopic direction of the cargo platform 102 under the action of the transverse moving mechanism 10421. The rear end lifting block rod 10423 is installed at the driving end of the rear end lifting drive 10422, and can move in a direction perpendicular to the plane of the cargo platform 102 under the action of the rear end lifting drive 10422.

[0153] Through the above design, during use, the front lifting baffle 10412 descends under the action of the front lifting drive 10411, and the rear lifting baffle 10423 rises under the action of the rear lifting drive 10422. At this time, the channel formed between the cargo platform 102 and the top frame 1011 of the cargo frame 101 is open at one end and blocked at the other end. After the goods are depalletized and transported to the cargo platform 102 through the open end of the above-mentioned channel by the grouping device 40 of the material sorting system 1, the rear lifting baffle 10423 descends under the action of the rear lifting drive 10422, and the horizontal moving mechanism 10421 drives the rear lifting baffle 10423 to push the goods to align with the front lifting baffle 10412. The front lifting baffle 10412 serves as the front end positioning, and the shape of the box group before loading is restricted by the front lifting baffle 10412 and the rear lifting baffle 10423 to ensure the accuracy of the position.

[0154] In addition, some flatbed trucks do not have a positioning baffle at the front end. In this case, the front lifting baffle 10412 of the front limiting assembly 1041 is used to position the front end of the cargo. After the cargo arrives at the loading area, the cargo platform 102 is pulled out, and the cargo is restrained by the front lifting baffle 10412 and the rear lifting baffle rod 10423 of the rear limiting assembly 1042, and falls onto the predetermined loading plane, completing the loading. When the cargo is already restrained by a positioning baffle or the end surface of the stacked cargo, the front lifting baffle 10412 rises under the action of the front lifting drive member 10411, and the cargo is directly restrained by the positioning baffle or the end surface of the stacked cargo, and the loading is also completed by pulling out the cargo platform 102.

[0155] Specifically, a linear guide rail is provided between the front end lifting baffle 10412 and the top frame 1011 for guiding the front end lifting baffle 10412 in the lifting direction.

[0156] The front lift drive 10411 and the rear lift drive 10422 can both be electric cylinders, electric push rods, or pneumatic cylinders. The number of the front lift drive 10411 and the rear lift drive 10422 can be one each, or multiple can be configured to operate simultaneously, depending on actual needs and is not limited here.

[0157] In a more specific embodiment, Figure 18 and Figure 19 As shown, the lateral movement mechanism 10421 of the rear end limit assembly 1042 adopts a synchronous belt transmission mechanism composed of a servo motor 104211, a pulley and a synchronous transmission belt 104212. The running direction of the synchronous transmission belt 104212 is parallel to the telescopic direction of the cargo platform 102. The moving beam 10424 is slidably set on the top frame 1011 along the running direction of the synchronous transmission belt 104212 through a lateral guide assembly 10425 (such as a linear guide rail). The moving beam 10424 and the synchronous transmission belt 104212 are fixedly connected by a belt clamp. The rear end lifting and lowering bar 10423 is slidably set on the moving beam 10424 along the height direction of the cargo frame 101 through a vertical guide assembly 10426 (such as a linear guide rail). The rear end lifting and lowering drive member 10422 is installed on the moving beam 10424 and connected to the rear end lifting and lowering bar 10423, which is used to drive the rear end lifting and lowering bar 10423 to move up and down.

[0158] In some specific embodiments, Figure 17 As shown, the cargo device 100 also includes a side baffle assembly 105, which includes a push-pull drive member 1051 and a side baffle 1052. The side baffle 1052 is located between the plane where the cargo platform 102 is located and the top frame 1011, and the side baffle 1052 is slidably connected to the top frame 1011 along a telescopic direction perpendicular to the cargo platform 102. The push-pull drive member 1051 is installed on the top frame 1011 and connected to the side baffle 1052 to drive the side baffle 1052 to move along the telescopic direction perpendicular to the cargo platform 102.

[0159] By setting up the side baffle assembly 105, when the goods are pushed onto the cargo platform 102 by the grouping device 40 of the depalletizing and sorting system 1, the rear end lifting baffle rod 10423 first pushes the goods to align with the front end lifting baffle 10412, and then, the side baffle 1052 pushes the goods to align with the side frame 1012 opposite it under the action of the push-pull drive member 1051. The front end lifting baffle 10412 serves as the front end positioning, and the shape of the goods before loading is restricted by the baffles / bars in all directions, further ensuring the accuracy of the position.

[0160] The push-pull driving member 1051 is an electric cylinder, an electric push rod or a pneumatic cylinder.

[0161] In one embodiment, if Figure 1 、 Figure 12 and Figure 14 As shown, the palletizing and loading equipment 2 also includes a power supply unit 200, which includes a support frame 201 mounted above the two rails 50 and having a height greater than that of the gantry 60, a sliding guide rail 202 disposed on the support frame 201 and extending along the length of the rails 50, and a current collector 203 disposed on the gantry 60 and slidably connected to the sliding guide rail 202. The sliding guide rail 202 is a fixed portion connected to the power supply, and the current collector 203 is a sliding portion that can slide on the sliding guide rail 50 and maintain good contact. The current collector 203 is used to power the electrical components of the gantry 60, the correction mechanism 70, the lifting mechanism 90, and the cargo loading device 100.

[0162] The power supply part 200 is arranged as above, with a simple structure and high safety.

[0163] In one embodiment, if Figure 12 and Figure 13 As shown, the palletizing and loading equipment 2 also includes a parking block 300 for limiting the parking position of the flatbed truck. The parking block 300 is installed between the two tracks 50 and is used to provide a mechanical deadlock for the flatbed truck to reverse in the parking area 501.

[0164] Specifically, in this embodiment, the parking block 300 includes a vertical pole fixed to the ground, and a shock-absorbing rubber block is fixed on the vertical pole for contacting the rear end of the flatbed truck. Of course, in other embodiments, the parking block 300 can also adopt other structures, which are not limited here.

[0165] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] The above embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of the present invention. Therefore, the scope of the present invention shall be determined by the appended claims.

Claims

1. A loading system, characterized in that: include: The depalletizing and sorting system includes a depalletizing robot, a cargo sorting device, a steering device, and a marshaling device. The depalletizing robot is used to grab and carry multiple pieces of cargo; the cargo sorting device is used to receive the multiple pieces of cargo carried by the depalletizing robot and decompose them into individual pieces for external output; the steering device is provided at the output end of the cargo sorting device and is used to adjust the placement direction of the output cargo; the marshaling device is connected to the output end of the cargo sorting device and is used to organize the individual pieces of cargo output by the cargo sorting device into groups for output; as well as The palletizing and loading equipment includes a track, a gantry, a deviation-correcting mechanism, a load-bearing frame, a lifting mechanism, and a cargo-carrying device, wherein the two tracks are parallel and spaced apart, and a parking area for loading is formed between the two tracks; the gantry is arranged on the two tracks and can move along the length direction of the tracks; the deviation-correcting mechanism is installed on the gantry; the load-bearing frame is located below the gantry and connected to the deviation-correcting mechanism, and the load-bearing frame can move in a direction perpendicular to the length of the tracks and rotate around the height direction of the gantry under the action of the deviation-correcting mechanism; the lifting mechanism is arranged on the load-bearing frame; the cargo-carrying device is used to load the cargo output by the marshalling device and release the loaded cargo, and the cargo-carrying device is connected to the lifting mechanism and can move in the height direction of the load-bearing frame under the action of the lifting mechanism; The cargo separating device includes a stepping conveyor, a side conveyor, a limiting member, a shipping conveyor and a pushing device, the stepping conveyor is used to carry multiple pieces of cargo carried by the depalletizing robot and step-by-step convey the cargo along the conveying direction, the side conveyor is docked at the output end of the stepping conveyor, the side conveyor includes a first side roller conveyor line and a second side roller conveyor line arranged side by side along the conveying direction and symmetrical with respect to the conveying direction, the first side roller conveyor line and the second side roller conveyor line can separate two side-by-side cargoes to opposite sides of the side conveyor in the conveying direction and continue to convey them along the conveying direction, the limiting member is arranged at the output end of the first side roller conveyor line; the shipping conveyor is docked at the output end of the second side roller conveyor line, the steering device is arranged on the shipping conveyor, and the pushing device is used to push the cargo stopped by the limiting member to the second side roller conveyor line; The grouping device includes a roller conveyor, a temporary storage platform, a single-row pushing mechanism and a whole-layer pushing mechanism. The roller conveyor is connected to the output end of the cargo sorting device. The output end of the roller conveyor is provided with a stopper for stopping the cargo. The temporary storage platform is provided on one side of the output end of the roller conveyor. The single-row pushing mechanism is provided on the roller conveyor and is used to push a row of cargo on the roller conveyor to the temporary storage platform. The whole-layer pushing mechanism is provided on the temporary storage platform and is used to push multiple rows of cargo on the temporary storage platform away from the temporary storage platform.

2. The loading system according to claim 1, characterized in that: The goods sorting device also includes a first reversing device, a second reversing device and a scanner. The first reversing device is arranged on the first side roller conveyor line, and is used to adjust the placement direction of the goods conveyed by the first side roller conveyor line; the second reversing device is arranged on the second side roller conveyor line, and is used to adjust the placement direction of the goods conveyed by the second side roller conveyor line; the scanner is arranged on the shipping conveyor and is located upstream of the steering device.

3. The loading system according to claim 1, characterized in that: The steering device includes a mounting seat, a telescopic mechanism and a roller. The mounting seat is fixed to one side of the output end of the cargo distribution device, the telescopic mechanism is installed on the mounting seat, and the roller is installed at the movable end of the telescopic mechanism. The roller can extend or retract in a direction perpendicular to the conveying direction of the goods under the action of the telescopic mechanism.

4. The loading system according to claim 1, characterized in that: The correction mechanism comprises: A support seat is slidably arranged on the gantry along a direction perpendicular to the length of the track; a linear drive assembly, mounted on the gantry and connected to the support base, the linear drive assembly being used to drive the support base to move in a direction perpendicular to the length of the track; and The rotary drive assembly is arranged on the support seat, and the rotary drive end of the rotary drive assembly is connected to the supporting frame.

5. The loading system according to claim 4, characterized in that: The correction mechanism also includes a vehicle body detection device and a control unit. The vehicle body detection device is installed on the gantry to collect edge position data of the flatbed truck located in the parking area. The vehicle body detection device, the linear drive component and the rotary drive component are all electrically connected to the control unit. The control unit calculates the deflection of the flatbed truck based on the edge position data and controls the movement of the linear drive component and the rotary drive component to align the center line of the cargo on the cargo loading device with the center line of the flatbed truck.

6. The vehicle loading system according to claim 1, characterized in that: The cargo carrying device comprises: a cargo frame connected to the lifting mechanism; A cargo platform, used for carrying cargo, the cargo platform being laterally slidably disposed on the cargo frame; a pull-out drive assembly, disposed on the cargo frame and connected to the cargo platform, the pull-out drive assembly being used to drive the cargo platform to slide relative to the cargo frame so as to extend or retract the cargo platform laterally; and An end limit assembly is provided on the cargo frame, and the end limit assembly is used to limit the cargo placed on the cargo platform in the telescopic direction of the cargo platform.

7. The loading system according to claim 6, characterized in that: The cargo frame includes a top frame and two side frames connected to opposite sides of the top frame, and the cargo platform is slidably connected to the two side frames on both sides of the telescopic direction; the pulling drive assembly and the end limit assembly are both installed on the top frame; The end limit assembly includes: a front-end limiting assembly, comprising a front-end lifting drive member and a front-end lifting baffle, wherein the front-end lifting drive member is mounted on one end of the top frame along the extension and retraction direction of the cargo platform, and the front-end lifting baffle is mounted on the driving end of the front-end lifting drive member and is capable of moving in a direction perpendicular to the plane of the cargo platform under the action of the front-end lifting drive member; and The rear end limiting assembly includes a transverse moving mechanism, a rear end lifting drive member and a rear end lifting stop rod. The transverse moving mechanism is arranged on the top frame. The rear end lifting drive member is installed on the transverse moving mechanism and can move along the telescopic direction of the cargo platform under the action of the transverse moving mechanism. The rear end lifting stop rod is installed at the driving end of the rear end lifting drive member and can move in a direction perpendicular to the plane where the cargo platform is located under the action of the rear end lifting drive member.

8. The vehicle loading system according to claim 7, characterized in that: The cargo loading device also includes a side baffle assembly, which includes a push-pull drive member and a side baffle. The side baffle is located between the plane where the cargo platform is located and the top frame, and the side baffle is slidably connected to the top frame along a telescopic direction perpendicular to the cargo platform. The push-pull drive member is installed on the top frame and connected to the side baffle to drive the side baffle to move along the telescopic direction perpendicular to the cargo platform.

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