Stacking devices, loading machines and loading systems

Abstract

This invention provides a stacking device, a loading machine, and a loading system. The stacking device includes a first lifting mechanism and a telescopic conveying mechanism, a pallet mechanism, and a push-bag three-coordinate mechanism disposed on the first lifting mechanism. The first lifting mechanism is movably mounted on the vehicle frame. The telescopic conveying mechanism can extend out of or retract from the vehicle frame to transport goods to the pallet mechanism. The push-bag three-coordinate mechanism includes a three-coordinate main frame disposed on the first lifting mechanism and a pusher, a push stop, and a push drive connected to the three-coordinate main frame. The pusher can push the goods on the telescopic conveying mechanism onto the pallet mechanism under the drive of the push drive. The push stop can push the goods on the pallet mechanism out of the three-coordinate main frame along with the first lifting mechanism. Thus, two layers of goods can be stacked on the pallet mechanism and conveyed forward sequentially, better solving the need for stacking to the top layer in the vehicle compartment and achieving a higher loading rate.

Description

Technical Field

[0001] This invention relates to the field of vehicle loading technology, and in particular to a stacking device, a vehicle loading machine, and a vehicle loading system. Background Technology

[0002] In the warehousing and logistics sector, the handling of goods entering and leaving warehouses and loading / unloading has always been a labor-intensive process. With an aging population and rising labor costs, the demand for automated cargo loading and unloading is increasingly strong. In recent years, loading and unloading equipment that can move inside the vehicle has become a research hotspot.

[0003] In actual cargo loading scenarios, different types of truck bodies (such as high and low side, container, and warehouse) have different requirements for loading rates. For example, containers require a higher loading rate and require goods to be stacked to the top as much as possible. This places higher demands on the loading system, which must be both adaptable and meet special needs.

[0004] However, even when the existing loading machines and their supporting loading systems reach their highest position inside the wagon, the stacking device interferes with the top of the wagon, making it difficult to stack goods to higher levels. Summary of the Invention

[0005] The purpose of this invention is to provide a stacking device, a loading machine, and a loading system that can meet the needs of stacking goods to higher levels and achieve a higher loading rate.

[0006] In a first aspect, the present invention provides a stacking device for being movably connected to the vehicle frame of a loading machine. The stacking device includes a first lifting mechanism and a telescopic conveying mechanism, a stacking plate mechanism, and a three-coordinate pusher bag mechanism disposed on the first lifting mechanism.

[0007] The first lifting mechanism is vertically and vertically mounted on the vehicle body frame;

[0008] The telescopic conveyor mechanism can extend out of the vehicle frame in the positive direction of the first horizontal direction or retract into the vehicle frame in the opposite direction of the first horizontal direction. The telescopic conveyor mechanism is used to convey goods to the pallet mechanism in the positive direction of the first horizontal direction.

[0009] The push-bag three-coordinate mechanism includes a three-coordinate main frame disposed on the first lifting mechanism and a pusher, a push stop, and a push drive connected to the three-coordinate main frame. The pusher and the push stop are arranged sequentially along the positive direction of the first horizontal direction, and the pusher can move along the first horizontal direction under the drive of the push drive to push the goods on the telescopic conveying mechanism onto the stacking mechanism. The push stop can move along the first horizontal direction on the first lifting mechanism with the three-coordinate main frame to push the goods on the stacking mechanism out.

[0010] In an optional embodiment, the push-pull bag three-coordinate mechanism further includes a push-gear lifting drive and a push-gear lateral movement drive disposed on the three-coordinate main frame. The push-gear lifting drive is used to drive the push-gear to move up and down, and the push-gear lateral movement drive is used to drive the push-gear to move along a second horizontal direction, wherein the first horizontal direction and the second horizontal direction are perpendicular.

[0011] or,

[0012] The code disk mechanism includes a code disk support frame, two code disks, a code disk lateral movement drive, and a code disk forward movement drive. The code disk support frame is disposed on the first lifting mechanism. The two code disks are arranged side by side on the code disk support frame along a second horizontal direction. Each code disk can move along a first horizontal direction under the action of the code disk forward movement drive, and can also move along a second horizontal direction under the action of the code disk lateral movement drive. The first horizontal direction and the second horizontal direction are perpendicular.

[0013] In an optional embodiment, the first lifting mechanism includes a first lifting frame, a first lifting drive, a linkage, and a counterweight. The first lifting frame and the counterweight are both vertically and vertically mounted on the vehicle frame via a first vertical slide rail. The counterweight and the first lifting frame are sequentially distributed in the positive direction of the first horizontal direction. The telescopic conveying mechanism, the encoder mechanism, and the push-bag three-coordinate mechanism are all mounted on the first lifting frame. The first lifting drive is mounted on the vehicle frame. The first and last ends of the linkage are respectively connected to the first lifting frame and the counterweight. The middle part of the linkage is hooked onto the first lifting drive. Under the drive of the first lifting drive, the first and last ends of the linkage can move in opposite directions vertically.

[0014] In an optional embodiment, the stacking device further includes a second lifting mechanism, which is vertically and vertically mounted on the first lifting mechanism, and the stacking mechanism is mounted on the second lifting mechanism.

[0015] In an optional embodiment, the second lifting mechanism includes a second lifting frame and a second lifting drive component. The second lifting frame is vertically and vertically mounted on the first lifting mechanism via a second vertical slide rail. The second lifting drive component is mounted on the second lifting frame and is used to drive the second lifting frame to move vertically.

[0016] Secondly, the present invention provides a loading machine, including a traveling mechanism, a vehicle frame disposed on the traveling mechanism, and a stacking device as described in any of the foregoing embodiments.

[0017] In an optional embodiment, the loading machine further includes a vehicle-mounted conveying device, which is disposed on the vehicle frame and rotatably connected to the telescopic conveying mechanism on the opposite side of the first horizontal direction, for conveying goods to the telescopic conveying mechanism along the positive direction of the first horizontal direction.

[0018] In an optional embodiment, the vehicle-mounted conveying device includes a mounting frame, a transition conveying mechanism, and a pitching conveying mechanism. The mounting frame is disposed on the vehicle body frame, the transition conveying mechanism is disposed on the mounting frame and is slidable along the first horizontal direction, the infeed side of the pitching conveying mechanism is rotatably connected to the transition conveying mechanism, and the discharge side of the pitching conveying mechanism is rotatably connected to the telescopic conveying mechanism.

[0019] In an optional embodiment, the vehicle-mounted conveying device further includes a clamping and steering mechanism disposed on the upper part of the transition conveying mechanism for steering the goods on the transition conveying mechanism.

[0020] Thirdly, the present invention provides a vehicle loading system, including the vehicle loading machine described in any of the foregoing embodiments.

[0021] The beneficial effects of the embodiments of the present invention include:

[0022] By working together with the telescopic conveyor mechanism, the palletizing mechanism, and the three-coordinate pusher bag mechanism, two layers of goods can be stacked on the palletizing mechanism and conveyed forward in sequence, which better solves the need to stack goods to the top layer in the carriage and achieves a higher loading rate. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional schematic diagram of the vehicle mounting system in this embodiment;

[0025] Figure 2 This is one of the three-dimensional schematic diagrams of the loading machine in this embodiment;

[0026] Figure 3 for Figure 2 A schematic diagram showing the back of the blanking encoder mechanism and the push-bag three-coordinate mechanism;

[0027] Figure 4 This is the second perspective view of the loading machine in this embodiment;

[0028] Figure 5 for Figure 2 The left view;

[0029] Figure 6 for Figure 2 Top view;

[0030] Figure 7 for Figure 2 Front view;

[0031] Figure 8 for Figure 2 Rear view;

[0032] Figure 9 This is a three-dimensional schematic diagram of the push-pull bag three-coordinate mechanism in this embodiment;

[0033] Figure 10 for Figure 9 Top view;

[0034] Figure 11 for Figure 9 The left view;

[0035] Figure 12 for Figure 9 Front view;

[0036] Figure 13 This is a three-dimensional schematic diagram of the encoder mechanism in this embodiment;

[0037] Figure 14 for Figure 13 Top view;

[0038] Figure 15 for Figure 13 Front view;

[0039] Figure 16 for Figure 13 The right view;

[0040] Figures 17 to 19 This is a schematic diagram of the vehicle loading process in this embodiment.

[0041] Icons: 100-Loading system; 1-Loading machine; 11-Traveling mechanism; 111-Rubber track chassis; 112-Traveling drive motor; 12-Vehicle frame; 121-Left side frame; 122-Right side frame; 123-Bottom frame; 124-First vertical slide rail; 13-First lifting mechanism; 131-First lifting frame; 132-Second vertical slide rail; 133-First lifting drive source; 134-First driven roller; 135-Telescopic conveying mechanism; 136-Counterweight; 14-Second lifting mechanism; 141-Second lifting frame; 142-Second lifting drive source; 143-Second driven roller; 15-Onboard conveying device; 151-Pitching conveying mechanism; 152-Transitional conveying mechanism; 153-Clamping steering mechanism; 154-Mounting frame; 156-Sliding mechanism; 1 6-Push-and-pull bag three-coordinate mechanism; 161-Left side support frame; 162-Right side support frame; 163-Three-coordinate main frame; 164-Push-and-pull component; 165-Push-and-pull drive component; 166-Forward movement drive; 167-Push-gear component; 168-Push-gear lateral movement drive; 169-Push-gear lifting drive; 17-Code disk mechanism; 171-Code disk support frame; 172-Left side code disk; 173-Left code disk bracket; 174-Right side code disk; 175-Right code disk bracket; 176-Code disk lateral movement drive; 177-Code disk forward movement drive; 18-Walking navigation device; 181-Laser line projection and acquisition recognition device; 182-Scanning radar device; 19-Vehicle drive control system; 2-Lifting platform; 3-Parking position and posture detection device; 4-Following conveyor device; 41-Conveyor body; 42-Transverse track. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0044] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0045] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0046] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0047] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] The following is in conjunction with the appendix Figures 1 to 19 The following describes some embodiments of the present invention in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0049] Please refer to Figures 1 to 16 This embodiment provides a loading system 100, which includes a loading machine 1, a lifting platform 2, a parking position detection device 3, and a following conveyor 4.

[0050] Following the conveyor 4 and the lifting platform 2, they are sequentially arranged in the positive direction (forward) of the first horizontal direction (front-back direction). The lifting platform 2 is used for loading the loading machine 1 onto and off the car body. When loading 5 is not being performed, the lifting platform 2 is used to park the loading machine 1. The lifting platform 2 also has a second horizontal direction (left-right direction).

[0051] The right-hand movement function allows for reciprocating movement, thereby adjusting the center of the driving route by moving left and right, reducing the precision requirements for parking trucks.

[0052] Parking position detection device 3 is installed on both sides of the front of the lifting platform 2 to detect parking.

[0053] The vehicle deviates vertically from the centerline of the lifting platform 2 to adjust the laser beam emission position 0 and angle, as well as the lateral movement distance of the lifting platform 2. This lateral movement distance follows the lateral movement distance of the conveyor device 4.

[0054] The following conveyor 4 can extend and retract to follow the movement of the loading machine 1. The rear part receives the goods being conveyed, and the front part is used to dock with the loading machine 1 to transport the goods onto the loading machine 1.

[0055] The following conveying device 4 has a transverse track 42 arranged horizontally to the left and right, a conveying body 41 arranged on the transverse track 42, and a related transverse drive, so that the entire conveying body 541 can move horizontally to the left and right along the transverse track 42.

[0056] The loading machine 1 includes a traveling mechanism 11, a car body frame 12, a stacking device, and an on-board conveying device 15.

[0057] The traveling mechanism 11 is mainly used to enable the entire loading machine 1 to move between the car body and the lifting platform 2, and to support the car body frame 12, stacking device and vehicle-mounted conveying device 15 installed on it.

[0058] The traveling mechanism 11 can be a rubber track chassis 111. Two rubber track chassis 111 are arranged with a left-right interval of 0, which has a large load-bearing capacity and will not damage the bottom plate of the carriage. The driving device of the traveling mechanism 11 is two traveling drive motors 112 arranged on the left and right. The two traveling drive motors 112 are respectively connected to one rubber track chassis 111, so that the traveling mechanism 11 moves back and forth along the first horizontal direction under the drive of the traveling drive motors 112.

[0059] The vehicle frame 12 is located on the upper part of the traveling mechanism 11, and it is mainly used to provide installation for components such as the stacking device and the vehicle-mounted conveying device 15. The vehicle frame 12 includes a bottom frame 123 and a left frame 121 and a right frame 122 set on the bottom frame 123. The bottom frame 123 is directly fixed to the traveling mechanism 11.

[0060] The left frame 121 and the right frame 122 are respectively provided with first vertical slide rails 124 on their opposite sides. There are four first vertical slide rails 124. The left frame 121 has two first vertical slide rails 124 arranged side by side along the first horizontal direction, and the right frame 122 also has two first vertical slide rails 124 arranged side by side along the first horizontal direction. The first vertical slide rails 124 on the left frame 121 and the first vertical slide rails on the right frame 122 correspond one-to-one in the second horizontal direction.

[0061] The stacking device includes a first lifting mechanism 13, a second lifting mechanism 14 disposed on the first lifting mechanism 13, a telescopic conveying mechanism 135, a stacking mechanism 17, and a three-coordinate mechanism 16 for pushing and releasing bags.

[0062] The first lifting mechanism 13 is elliptical and equidistantly mounted on the vehicle frame 12, and includes a first lifting frame 131, a first lifting drive component, a linkage component, and a counterweight component 136.

[0063] The first lifting frame 131 and the counterweight 136 are both vertically and flexibly mounted on the vehicle frame 12 via the first vertical slide rail 124, and the counterweight 136 and the first lifting frame 131 are sequentially distributed in the positive direction of the first horizontal direction. The telescopic conveying mechanism 135, the encoder mechanism 17, and the push-bag three-coordinate mechanism 16 are all mounted on the first lifting frame 131. The first lifting drive is mounted on the vehicle frame 12. The two ends of the linkage are respectively connected to the first lifting frame 131 and the counterweight 136, and the middle of the linkage is hooked to the first lifting drive. Under the drive of the first lifting drive, the two ends of the linkage can move in opposite directions vertically.

[0064] Specifically, the left and right sides of the first lifting frame 131 are slidably connected to the left frame 121 and right frame 122 of the vehicle frame 12 via two first vertical slide rails 124. The counterweight 136 is slidably disposed at the rear of the vehicle frame 12. The linkage and the first lifting drive can be a sprocket and chain drive structure, that is, the linkage is a chain, and the first lifting drive engages with the chain through a sprocket. Thus, when the first lifting drive is working, it can drive the chain to move, so that the first lifting frame 131 drives the stacking mechanism 17, the telescopic conveying mechanism 135 and the push-bag three-coordinate mechanism 16 mounted on it to rise or fall. The counterweight 136 is used to pull the linkage, falling as the first lifting frame 131 rises or falling as the first lifting frame 131 falls, so as to prevent the loading machine 1 from tilting forward when the stacking mechanism 17 is carrying goods, thus ensuring the normal operation of the loading machine 1 and reducing safety risks.

[0065] The left and right sides of the first lifting frame 131 can be slidably connected to the first vertical slide rail 124 on the left frame 121 and the right frame 122 respectively by sliders or rollers.

[0066] The first lifting drive component includes a first lifting drive source 133, a first driving roller, and a first driven roller 134. Both the first driving roller and the first driven roller 134 are rotatably mounted on the top of the vehicle frame 12, with the first driving roller located behind the first driven roller 134 and the first driven roller 134 located above the first lifting frame 131. The first lifting drive source 133 can be a servo motor, which can be connected to the first driving roller via chain drive, belt drive, or gear drive. Both ends of the first driving roller and the first driven roller 134 are equipped with sprockets, through which the linkage bypasses the two sprockets, and both ends are connected to the first lifting frame 131 and the counterweight 136, respectively. In this way, when the first lifting drive source 133 is working, the first active roller drives the first driven roller 134 to rotate through the linkage. The first end of the linkage carries the first lifting frame 131 to rise (fall) along the first vertical slide rail 124, and the tail end of the linkage carries the counterweight 136 to fall (rise) along the first vertical slide rail 124. The first lifting frame 131 and the counterweight 136 move in opposite directions in the vertical direction.

[0067] The telescopic conveyor mechanism 135 can be a belt conveyor mechanism, whose main function is to transport goods to the pallet mechanism 17 in the positive direction of the first horizontal direction, that is, to transport goods to the pallet mechanism 17 in the direction from back to front. In addition, the telescopic conveyor mechanism 135 can be slidably connected to the first lifting frame 131 through a sliding pair provided in the first horizontal direction, and can move back and forth in the first horizontal direction under the drive of the telescopic drive source, so as to extend out of the vehicle frame 12 in the positive direction of the first horizontal direction or retract into the vehicle frame 12 in the opposite direction of the first horizontal direction.

[0068] The second lifting mechanism 14 is vertically mounted on the first lifting mechanism 13, and the encoder mechanism 17 is mounted on the second lifting mechanism 14. By mounting the second lifting mechanism 14 on the first lifting mechanism 13, the encoder mechanism 17 can move more flexibly, and the encoder mechanism 17 can move up and down relative to the push-pull bag three-coordinate mechanism 16.

[0069] The second lifting mechanism 14 includes a second lifting frame 141 and a second lifting drive component. The second lifting frame 141 is vertically and vertically mounted on the first lifting mechanism 13 via a second vertical slide rail 132. The second lifting drive component is mounted on the second lifting frame 141 and is used to drive the second lifting frame 141 to move vertically.

[0070] The second lifting drive component includes a second lifting drive source 142, a second driving roller and a second driven roller 143. The second driving roller and the second driven roller 143 are vertically spaced on the first lifting frame 131. A chain is wound around the first driven roller 134 and the second driving roller. The second lifting frame 141 is connected to the chain. The second lifting drive source 142 is connected to the chain drive through a sprocket, thereby realizing the lifting and moving of the second lifting frame 141.

[0071] The push-pull bag three-coordinate mechanism 16 includes a three-coordinate main frame 1630 disposed on the first lifting mechanism 13, and a push-pull component 164, a push-block component 167 and a push-pull drive component 165 connected to the three-coordinate main frame 163.

[0072] The three-coordinate main frame 163 is slidably mounted on the first lifting frame 131. Specifically, a left support frame 161 and a right support frame 162 are fixed to the upper parts of both sides of the first lifting frame 131, respectively, and the left support frame 161 and the right support frame 162 are arranged at intervals in the second horizontal direction.

[0073] The three-coordinate main frame 163 can be slidably mounted between the left support frame 161 and the right support frame 162 by means of a sliding pair set along the first horizontal direction, thereby realizing the sliding setting of the three-coordinate main frame 163 on the first lifting frame 131.

[0074] A forward drive 166 is also provided on the first lifting frame 131. This forward drive 166 can be a motor, which drives the three-coordinate main frame 163 in the first horizontal direction via a gear and rack mechanism.

[0075] Movement. That is, racks along the first horizontal direction are respectively set on the left and right sides of the three-coordinate main frame 163. The forward drive 166 engages with the racks through gears. Thus, when the forward drive 166 works and drives the gears to rotate, the racks can drive the three-coordinate main frame 163 to move along the first horizontal direction.

[0076] The pusher 164 and the push stop 167 are arranged sequentially along the positive direction of the first horizontal direction, and the pusher 164 can move along the first horizontal direction under the drive of the pusher drive 165 to extend...

[0077] The goods on the conveyor mechanism 135 are pushed onto the stacking mechanism 17. The pusher 167 can move along the first horizontal direction on the first lifting mechanism 13 with the main frame 163 of the three-coordinate 5 to push the goods on the stacking mechanism 17 out.

[0078] The push-pull drive component 165 can be a motor installed at the rear of the three-coordinate main frame 163, which drives the push-pull component 164 to move back and forth relative to the three-coordinate main frame 163 in the first horizontal direction through a synchronous belt pulley pair or sprocket chain.

[0079] The three-coordinate mechanism 16 for pushing and pulling bags also includes a push-gear lifting drive 169 and a push-gear lateral movement drive 168 disposed on the main frame 163 of the three-coordinate system. The push-gear lifting drive 169 can be a mechanism in which a motor is connected to the push-gear component 167 via a gear and rack, so that the push-gear lifting drive 169 can be used to drive the push-gear component 167 to move up and down. The push-gear lateral movement drive 168 can be a mechanism in which a motor is connected to the push-gear component 167 via a lead screw and nut, so that the push-gear lateral movement drive 168 can drive the push-gear component 167 to move along a second horizontal direction.

[0080] The code disk mechanism 17 includes a code disk support frame 171, two code disks, a code disk lateral movement drive 176, and a code disk forward movement drive 177. The code disk support frame 171 is mounted on the first lifting mechanism 13. The two code disks are arranged side by side on the code disk support frame 171 along the second horizontal direction. Each code disk can move along the first horizontal direction under the action of the code disk forward movement drive 177, and can also move along the second horizontal direction under the action of the code disk lateral movement drive 176. The first horizontal direction and the second horizontal direction are perpendicular.

[0081] Specifically, the code disk support frame 171 is mounted and fixed on the second lifting frame 141, and moves up and down together with the second lifting mechanism 14.

[0082] A left code disk bracket 173 and a right code disk bracket 175 are mounted on a slide rail extending in the second horizontal direction on the code disk support frame 171. The left code disk bracket 173 and the right code disk bracket 175 move left and right in the second horizontal direction through the code disk lateral movement drive 176.

[0083] Each of the left code disk bracket 173 and the right code disk bracket 175 is equipped with a code disk via a slide rail pair along the first horizontal direction. The two code disks move back and forth in the first horizontal direction under the action of the code disk forward movement drive 177. That is, the two code disks are divided into a left code disk 172 and a right code disk 174, and the left code disk 172 and the right code disk 174 move back and forth in the first horizontal direction under the action of the code disk forward movement drive 177.

[0084] In this embodiment, both the left-side code disk 172 and the right-side code disk 174 are comb-shaped code disks, which can effectively reduce the resistance of the pushing device in pushing goods and the code disks pulling back.

[0085] The vehicle-mounted conveying device 15 is mounted on the vehicle frame 12 and is rotatably connected to the telescopic conveying mechanism 135 on the opposite side of the first horizontal direction, for conveying goods to the telescopic conveying mechanism 135 in the positive direction of the first horizontal direction.

[0086] Furthermore, the vehicle-mounted conveying device 15 includes a mounting frame 154, a transition conveying mechanism 152, and a pitching conveying mechanism 151. The mounting frame 154 is disposed on the left side frame 121 and the right side frame 122 of the vehicle body frame 12.

[0087] A sliding mechanism 156 is connected to the mounting frame 154 via rolling pulleys and sliding rails, enabling the sliding mechanism 156 to move back and forth along the first horizontal direction on the mounting frame 154.

[0088] The transition conveying mechanism 152 can be a belt conveyor mechanism, which is mounted and fixed on the sliding mechanism 156. Thus, the transition conveying mechanism 152 is set on the bottom frame 123 of the mounting frame 154 through the sliding mechanism 156, so that the transition conveying mechanism 152 can slide along the first horizontal direction.

[0089] The pitching conveyor 151 can be a belt conveyor, with its infeed side rotatably connected to the transition conveyor 152 and its discharge side rotatably connected to the telescopic conveyor 135.

[0090] In this way, when the first lifting mechanism 13 moves up and down, the pitching conveyor 151 can pitch and sway along with the lifting and lowering of the telescopic conveyor 135, and the transition conveyor 152, along with the sliding mechanism 156, moves back and forth on the mounting frame 154 to ensure the continuous transmission of goods.

[0091] The vehicle-mounted conveying device 15 also includes a clamping and turning mechanism 153, which is located on the upper part of the transition conveying mechanism 152 and is used to turn the goods on the transition conveying mechanism 152 so that the goods are straightened and can be stacked neatly.

[0092] The loading machine 1 also includes a navigation device 18 and an onboard drive control system 19. The navigation device 18 includes a laser line projection and acquisition recognition device 181 and a scanning radar device 182. The laser line projection and acquisition recognition device 181 is installed in the center of the lower rear part of the walking mechanism 11. It is used to project a rear navigation laser beam, which is acquired by a vision camera and transmitted to the control system for calculation and recognition to form the driving navigation parameters of the loading machine 1. The scanning radar devices 182 are located on the left and right sides of the vehicle frame 12. They are used to detect and identify the distance and deflection angle between the loading machine 1 and the sides of the vehicle body to correct the driving navigation of the loading machine 1. The onboard drive control system 19 is the control center of the entire loading machine 1. It receives task instructions from the host computer and interacts with it. According to the task instructions, it controls the various actuators on the loading machine 1 to complete the relevant operation actions.

[0093] Combination Figures 17 to 19 An example of the process of using the loading system 100 described above for non-container loading operations is as follows:

[0094] (1) After the truck to be loaded stops in the parking area, the lifting platform 2 adjusts accordingly to make the loading surface level;

[0095] (2) The parking position detection device 3 scans and obtains the deviation value of the truck to be loaded;

[0096] (3) The lifting platform 2 and the following conveyor 4 are adjusted laterally according to the parking deviation value;

[0097] (4) Adjust the emission position and angle of the navigation laser beam;

[0098] (5) Loading machine 1 enters the carriage and extends forward synchronously with conveyor 4;

[0099] (6) Upon reaching the stacking station, the loading machine 1 stops and the following conveyor 4 stops synchronously.

[0100] (7) The first lifting mechanism 13, the second lifting mechanism 14, and the encoder mechanism 17 are adjusted to the receiving position;

[0101] (8) Follow the conveyor to receive the goods and move forward. The vehicle-mounted conveyor 15 receives the goods and transfers them to the telescopic conveyor 135.

[0102] (9) The three-coordinate pusher 16 pushes the goods onto the pallet mechanism 17;

[0103] (10) The push bag three-coordinate mechanism 16 and the stacking mechanism 17 form a combined action to stack the goods into the carriage;

[0104] (11) The first lifting mechanism 13 and the second lifting mechanism 14 are gradually lifted according to the stacking instruction to realize the stacking of goods in the carriage.

[0105] (12) After completing the stacking at one workstation, the loading machine 1 and the following conveyor 4 synchronously retreat one workstation and perform the conveying and stacking operation again.

[0106] (13) Loading machine 1 retreats to lifting platform 2 and is synchronously recovered with conveyor 4 to complete the stacking of the rear of the car body;

[0107] (14) After the truck finishes loading, it leaves the parking area and the system enters the next work cycle.

[0108] An example of the container loading operation using the loading system 100 described above is as follows:

[0109] (1) After the truck to be loaded stops in the parking area, the lifting platform 2 adjusts accordingly to make the loading surface level;

[0110] (2) The parking position detection device 3 scans and obtains the deviation value of the truck to be loaded;

[0111] (3) The lifting platform 2 and the following conveyor 4 are adjusted laterally according to the parking deviation value;

[0112] (4) Adjust the emission position and angle of the navigation laser beam;

[0113] (5) Loading machine 1 enters the car body and extends synchronously with conveyor 4;

[0114] (6) Upon reaching the stacking station, the loading machine 1 stops and the following conveyor 4 stops synchronously.

[0115] (7) The first lifting mechanism 13, the second lifting mechanism 14, and the encoder mechanism 17 are adjusted to the receiving position;

[0116] (8) The following conveyor 4 receives the goods and conveys them forward, and the vehicle-mounted conveyor 15 receives the goods and conveys them to the telescopic conveyor 135.

[0117] (9) The three-coordinate pusher 16 pushes the goods onto the pallet mechanism 17;

[0118] (10) The push bag three-coordinate mechanism 16 and the stacking mechanism 17 form a combined action to stack the goods into the carriage;

[0119] (11) The first lifting mechanism 13 and the second lifting mechanism 14 are gradually lifted according to the stacking instruction to realize the stacking of goods in the carriage.

[0120] (12) After the single workstation has stacked up to the tenth layer, the eleventh to fourteenth layers need to be stacked with two layers of goods each time.

[0121] (13) After the push bag three-coordinate mechanism 16 pushes the goods onto the pallet mechanism 17, the second lifting mechanism 14 descends, the telescopic conveying mechanism 135 extends forward, and the push block descends while retracting to the front end of the two-stage telescopic conveying mechanism 135.

[0122] (14) When the goods are conveyed to the front of the telescopic conveyor 135, the pusher pushes the goods forward and the telescopic conveyor 135 performs a retraction movement, so that the goods fall on the goods on the previous layer.

[0123] (15) The pusher is pulled up, the stacking mechanism 17 feeds the two layers of goods forward, the pusher bag three-coordinate mechanism 16 moves the pusher to the rear of the two layers of goods, and the pusher plate descends.

[0124] (16) The three-coordinate pusher 16 pushes the two layers of goods to the front of the palletizing mechanism 17;

[0125] (17) The first lifting mechanism 13 and the second lifting mechanism 14 form a combined action to deliver the two layers of goods to the stacking position;

[0126] (18) The push bag three-coordinate mechanism 16 and the stacking mechanism 17 form a combined action to stack the goods onto the tenth layer of goods;

[0127] (19) Repeat steps (13) to (18) to complete the stacking of the thirteenth and fourteenth layers;

[0128] (20) After completing the stacking of one station, the loading machine 1 and the following conveyor 4 move back one station in sync and perform the conveying (7) to (19) operation again until the rear of the container is stacked.

[0129] In summary, the present invention provides a stacking device, a loading machine 1, and a loading system 100. The stacking device is movably connected to the vehicle frame 12 of the loading machine 1. The stacking device includes a first lifting mechanism 13 and a telescopic conveying mechanism 135, a stacking plate mechanism 17, and a three-coordinate pusher bag mechanism 16 disposed on the first lifting mechanism 13.

[0130] The first lifting mechanism 13 is liftably mounted on the vehicle body frame 12;

[0131] The telescopic conveyor mechanism 135 can extend out of the vehicle frame 12 in the positive direction of the first horizontal direction or retract into the vehicle frame 12 in the opposite direction of the first horizontal direction. The telescopic conveyor mechanism 135 is used to transport goods to the pallet mechanism 17 in the positive direction of the first horizontal direction.

[0132] The push-bag three-coordinate mechanism 16 includes a three-coordinate main frame 163 disposed on the first lifting mechanism 13, and a push-pull member 164, a push-block member 167, and a push-pull drive member 165 connected to the three-coordinate main frame 163. The push-pull member 164 and the push-block member 167 are arranged sequentially along the positive direction of the first horizontal direction, and the push-pull member 164 can move along the first horizontal direction under the drive of the push-pull drive member 165 to push the goods on the telescopic conveying mechanism 135 onto the pallet mechanism 17. The push-block member 167 can move along the first horizontal direction on the first lifting mechanism 13 with the three-coordinate main frame 163 to push the goods on the pallet mechanism 17 out.

[0133] Therefore, through the coordinated operation of the telescopic conveyor mechanism 135, the palletizing mechanism 17, and the bag-pushing three-coordinate mechanism 16, two layers of goods can be stacked on the palletizing mechanism 17 and conveyed forward sequentially, better addressing the need for stacking to the top layer within the carriage and achieving a higher loading rate. Furthermore, it features continuous feeding and efficient front-feeding stacking, effectively improving the loading system 100's compatibility with different carriage types.

[0134] The loading system 100 can continuously receive goods and simultaneously perform the tasks of receiving and stacking goods. It can also detect the tilting of the truck compartment and guide the loading machine 1 and the conveying system to move and adjust, so as to achieve compatibility with different types of truck compartments and higher loading rate stacking requirements.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A stacking device for movably connecting to the vehicle frame of a loading machine, characterized in that, The stacking device includes a first lifting mechanism and a telescopic conveying mechanism, a stacking plate mechanism and a three-coordinate pusher bag mechanism disposed on the first lifting mechanism. The first lifting mechanism is vertically and vertically mounted on the vehicle body frame; The telescopic conveyor mechanism can extend out of the vehicle frame in the positive direction of the first horizontal direction or retract into the vehicle frame in the opposite direction of the first horizontal direction. The telescopic conveyor mechanism is used to convey goods to the pallet mechanism in the positive direction of the first horizontal direction. The push-bag three-coordinate mechanism includes a three-coordinate main frame disposed on the first lifting mechanism and a push-pull component, a push-block component, and a push-pull drive component connected to the three-coordinate main frame. The push-pull component and the push-block component are arranged sequentially along the positive direction of the first horizontal direction, and the push-pull component can move along the first horizontal direction under the drive of the push-pull drive component to push the goods on the telescopic conveying mechanism onto the stacking mechanism. The push-block component can move along the first horizontal direction on the first lifting mechanism with the three-coordinate main frame to push the goods on the stacking mechanism out. The stacking device further includes a second lifting mechanism, which is vertically and vertically mounted on the first lifting mechanism, and the stacking mechanism is mounted on the second lifting mechanism.

2. The stacking device according to claim 1, characterized in that, The push-pull bag three-coordinate mechanism further includes a push-gear lifting drive and a push-gear lateral movement drive disposed on the three-coordinate main frame. The push-gear lifting drive is used to drive the push-gear to move up and down, and the push-gear lateral movement drive is used to drive the push-gear to move along a second horizontal direction. The first horizontal direction and the second horizontal direction are perpendicular. or, The code disk mechanism includes a code disk support frame, two code disks, a code disk lateral movement drive, and a code disk forward movement drive. The code disk support frame is disposed on the first lifting mechanism. The two code disks are arranged side by side on the code disk support frame along a second horizontal direction. Each code disk can move along a first horizontal direction under the action of the code disk forward movement drive, and can also move along a second horizontal direction under the action of the code disk lateral movement drive. The first horizontal direction and the second horizontal direction are perpendicular.

3. The stacking device according to claim 1, characterized in that, The first lifting mechanism includes a first lifting frame, a first lifting drive, a linkage, and a counterweight. The first lifting frame and the counterweight are both vertically and vertically mounted on the vehicle frame via a first vertical slide rail. The counterweight and the first lifting frame are sequentially distributed in the positive direction of the first horizontal direction. The telescopic conveying mechanism, the encoder mechanism, and the push-bag three-coordinate mechanism are all mounted on the first lifting frame. The first lifting drive is mounted on the vehicle frame. The first and last ends of the linkage are respectively connected to the first lifting frame and the counterweight. The middle part of the linkage is hooked onto the first lifting drive. Under the drive of the first lifting drive, the first and last ends of the linkage can move in opposite directions vertically.

4. The stacking device according to claim 1, characterized in that, The second lifting mechanism includes a second lifting frame and a second lifting drive component. The second lifting frame is vertically and vertically mounted on the first lifting mechanism via a second vertical slide rail. The second lifting drive component is mounted on the second lifting frame and is used to drive the second lifting frame to move vertically.

5. A loading machine, characterized in that, It includes a walking mechanism, a vehicle frame mounted on the walking mechanism, and a stacking device as described in any one of claims 1-4.

6. The loading machine according to claim 5, characterized in that, The loading machine also includes a vehicle-mounted conveying device, which is disposed on the vehicle frame and rotatably connected to the telescopic conveying mechanism on the opposite side of the first horizontal direction, for conveying goods to the telescopic conveying mechanism along the positive direction of the first horizontal direction.

7. The loading machine according to claim 6, characterized in that, The vehicle-mounted conveying device includes a mounting frame, a transition conveying mechanism, and a pitching conveying mechanism. The mounting frame is disposed on the vehicle body frame, the transition conveying mechanism is disposed on the mounting frame and can slide along the first horizontal direction, the inlet side of the pitching conveying mechanism is rotatably connected to the transition conveying mechanism, and the outlet side of the pitching conveying mechanism is rotatably connected to the telescopic conveying mechanism.

8. The loading machine according to claim 7, characterized in that, The vehicle-mounted conveying device also includes a clamping and steering mechanism, which is disposed on the upper part of the transition conveying mechanism and is used to turn the goods on the transition conveying mechanism.

9. A loading system, characterized in that, Includes the loading machine as described in any one of claims 5-8.

Images