Loading device, stacker and control method

Abstract

The present application provides a loading device, a stacker and a control method, wherein the loading device comprises: a loading platform for supporting objects; a retractable airbag, located above the loading platform, and enclosing a loading space with the loading platform that can hold objects, wherein the retractable airbag can be inflated to expand, and clamp the object by expanding; a gas transmission system, connected to the retractable airbag, and the gas transmission system is used to input or output gas into the retractable airbag, so that the retractable airbag expands or contracts. The present invention uses a retractable airbag to clamp objects to prevent the objects from tilting or falling during transportation. The structure is simpler and the weight is lighter. It can be applied to objects of various specifications and sizes, and has a certain shock-absorbing effect. The holding force of the retractable airbag is adjusted by adjusting the gas volume of the gas transmission system, which ensures the clamping force while reducing the risk of crushing the object.

Description

Technical Field

[0001] The present invention relates to the field of stackers, and in particular to a loading device, a stacker and a control method. Background Art

[0002] In recent years, as one of the most important equipment in the warehousing system, the development of the pallet stacker industry has also put forward higher requirements on the stacker product technology, such as the faster operation speed of the stacker, the increased start and stop acceleration, and the increasing size of the goods. These are likely to cause the stacker loading platform to fall over or loosen the goods, seriously affecting the storage and retrieval efficiency of the goods in the automated warehouse and causing economic losses to the enterprise. Summary of the invention

[0003] An object of the present invention is to provide a loading device, a stacker and a control method, aiming to solve the problem that objects are prone to tipping over and falling during the process of transporting objects by the current stacker.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The technical solution of one aspect of the present invention provides a loading device, comprising:

[0006] A stage for supporting the object;

[0007] a retractable airbag, located above the loading platform, and enclosing a loading space with the loading platform for holding the object, wherein the retractable airbag can be inflated to expand, and clamp the object by expanding;

[0008] A gas delivery system is connected to the retractable airbag, and the gas delivery system is used to input or output gas into or out of the retractable airbag to make the retractable airbag expand or contract.

[0009] According to some technical solutions of the present invention, the retractable airbag includes:

[0010] At least one first retractable airbag and at least one second retractable airbag opposite to the first retractable airbag, the first retractable airbag and the second retractable airbag are arranged at intervals, the loading space is located at the interval between the first retractable airbag and the second retractable airbag and is located above the loading platform, the first retractable airbag and the second retractable airbag can be expanded to make them close to each other for clamping the object.

[0011] According to some technical solutions of the present invention, the retractable airbag further includes:

[0012] At least one third retractable airbag is located above the loading platform, the loading space is located between the third retractable airbag and the loading platform, and the third retractable airbag can be expanded to approach the loading platform to press the object toward the loading platform.

[0013] According to some technical solutions of the present invention, the gas supply system includes a first branch, which is connected to the first retractable airbag and the second retractable airbag and is used to supply gas to the first retractable airbag and the second retractable airbag. A first switch is provided on the first branch, and the first switch is used to control the connection and disconnection between the first branch and the first retractable airbag and the second retractable airbag.

[0014] According to some technical solutions of the present invention, the gas transmission system further includes:

[0015] A first pressure measuring element, disposed on the first branch, for detecting the air pressure of the first branch;

[0016] The first switch is configured to control the on-off of the first branch according to the detection value of the first pressure measuring element.

[0017] According to some technical solutions of the present invention, the gas supply system also includes a second branch connected in parallel with the first branch, the second branch is connected to the third retractable airbag, and is used to supply gas to the third retractable airbag. A second switch is provided on the second branch, and the second switch is used to control the connection and disconnection of the second branch and the third retractable airbag.

[0018] According to some technical solutions of the present invention, the object carrying device further includes:

[0019] A second pressure measuring element, disposed on the second branch, for detecting the air pressure of the second branch;

[0020] The second switch is configured to control the on-off of the second branches according to the detection value of the second pressure measuring element.

[0021] According to some technical solutions of the present invention, the gas transmission system further includes:

[0022] an air filter, wherein an air outlet of the air filter is in communication with the first branch and the second branch;

[0023] an air supply component, communicated with the air filter and used for outputting gas to the air filter;

[0024] The gas supply component includes a gas driving component, a gas storage tank and a third pressure measuring element for detecting the air pressure in the gas storage tank. The gas outlet of the gas storage tank is connected to the air inlet of the air filter, and the gas driving component is connected to the air inlet of the gas storage tank. The gas driving component is configured to start and stop according to the detection value of the third pressure measuring element.

[0025] According to some technical solutions of the present invention, the gas transmission system further includes:

[0026] A third switch: there are multiple retractable airbags, each of which is provided with the third switch, and the third switch is used to control the connection between the retractable airbag and the environment.

[0027] According to some technical solutions of the present invention, the object carrying device further includes:

[0028] The frame is arranged on the loading platform, and the frame has a top and two side parts connected with the top at two opposite ends, and the top and / or the side parts are provided with the retractable airbag.

[0029] According to some technical solutions of the present invention, the outer periphery of the retractable airbag disposed on the top portion extends to the edge of the top portion;

[0030] The retractable airbag disposed on the side portion extends to both ends of the side portion in the width direction, one end of the retractable airbag extends to the top end of the side portion in the height direction, and the other end extends toward the loading platform.

[0031] According to some technical solutions of the present invention, the retractable airbag includes:

[0032] A mounting plate connected to the frame;

[0033] The airbag bellows is arranged on the mounting plate, and the airbag bellows can be extended or shortened along the length direction.

[0034] According to some technical solutions of the present invention, flange structures are provided at both ends of the airbag bellows in the length direction, and one of the two flange structures is provided with a distance measuring element, which is used to measure the distance value from the distance measuring element to the other flange structure to determine the elongation of the airbag bellows;

[0035] The gas delivery system is configured to control the amount of gas input into the airbag bellows according to the elongation of the airbag bellows.

[0036] The technical solution of another aspect of the present invention provides a stacker, comprising:

[0037] frame;

[0038] As described in any of the above technical solutions, the object carrying device can be movably arranged on the frame.

[0039] A technical solution in another aspect of the present invention provides a control method for a loading device, which is applicable to the loading device as described in any of the above technical solutions, comprising:

[0040] In response to the object clamping instruction, the gas delivery system is controlled to input gas into the retractable airbag, and the change amount of the retractable airbag is detected in real time, until it is detected that the change amount reaches a preset condition, and then the gas delivery system is controlled to stop inputting gas into the retractable airbag;

[0041] The variation includes any one or both of the elongation and pressure value of the retractable airbag.

[0042] According to some technical solutions of the present invention, the variation includes the elongation and pressure value of the retractable airbag;

[0043] The preset condition includes that the detected extension of the retractable airbag satisfies a preset extension threshold, and the detected pressure value of the retractable airbag satisfies a preset pressure threshold;

[0044] Wherein, the preset elongation threshold and the preset pressure threshold are adjustable.

[0045] According to some technical solutions of the present invention, the real-time detection of the change amount of the retractable airbag until it is detected that the change amount reaches a preset condition, then controlling the gas supply system to stop inputting gas into the retractable airbag, comprises:

[0046] Real-time detection of the extension of the first retractable airbag and the second retractable airbag, and real-time detection of the pressure value of the first branch;

[0047] When it is detected that the extension amounts of the first retractable airbag and the second retractable airbag, and the pressure value of the first branch all meet the preset conditions, the first switch is controlled to block the first branch of the gas transmission system.

[0048] According to some technical solutions of the present invention, the real-time detection of the change amount of the retractable airbag until it is detected that the change amount reaches a preset condition, then controlling the gas supply system to stop inputting gas into the retractable airbag, comprises:

[0049] Real-time detection of the extension of the third retractable airbag and the pressure value of the second branch;

[0050] When it is detected that the extension of the third retractable airbag and the pressure value of the second branch meet the preset condition, the second switch is controlled to block the second branch of the gas transmission system.

[0051] According to some technical solutions of the present invention, in response to an object release instruction, a third switch of the gas transmission system is controlled to connect the retractable airbag and the environment, so that the retractable airbag can output gas to the environment through the third switch.

[0052] The present invention provides a retractable airbag on the loading platform, and the air supply system inputs gas into the retractable airbag to expand the retractable airbag to clamp the object on the loading platform. The retractable airbag outputs gas to shrink and expand to release the object, and the clamping force of the retractable airbag is used to prevent the object from tilting or falling during transportation. In particular, for the situation where multiple objects are stacked on the loading platform, the clamping effect of the retractable airbag makes the stacked objects fit more tightly, reducing the risk of loose stacking. The retractable airbag has a simpler structure and lighter weight, can be suitable for objects of various specifications and sizes, and has a certain shock-absorbing effect. The supporting strength of the retractable airbag is adjusted by adjusting the air supply volume of the air supply system, which ensures the clamping force while reducing the risk of crushing the object.

[0053] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0055] Figure 1 It is a schematic diagram of the three-dimensional structure of a loading device according to an embodiment of the present invention.

[0056] Figure 2 It is a schematic diagram of the three-dimensional structure of a loading device according to an embodiment of the present invention.

[0057] Figure 3 It is a schematic cross-sectional structural diagram of a retractable airbag according to an embodiment of the present invention.

[0058] Figure 4 It is a schematic diagram of the cross-sectional structure of an airbag bellows according to an embodiment of the present invention.

[0059] Figure 5 It is a schematic diagram of the structure of a gas transmission system according to an embodiment of the present invention.

[0060] Figure 6 It is a flow chart of a control method according to an embodiment of the present invention.

[0061] The reference numerals are as follows:

[0062] 10. Loading device; 100. Loading platform; 200. Retractable airbag; 210. First retractable airbag; 220. Second retractable airbag; 230. Third retractable airbag; 201. Mounting plate; 202. Airbag bellows; 203. Flange structure; 204. Distance measuring element; 205. Air inlet of airbag bellows; 206. Air outlet of airbag bellows; 301. Loading space; 400. Gas transmission system; 410. First branch; 411. First switch; 412. First pressure measuring element; 414. First pressure reducing valve; 415. First pressure gauge; 416. First A one-way valve; 420, a second branch; 421, a second switch; 422, a second pressure measuring element; 423, a second pressure reducing valve; 424, a second pressure gauge; 425, a second one-way valve; 430, an air filter; 440, an air supply component; 441, a gas drive component; 442, a gas storage tank; 443, a third pressure measuring element; 444, a third one-way valve; 445, an overflow valve; 450, a gas control cabinet; 460, a third switch; 500, a frame; 600, a guide rail matching structure; 610, a bracket; 620, a first pulley; 630, a second pulley; 20, an object. DETAILED DESCRIPTION

[0063] Although the present invention can be easily embodied in different forms of embodiments, only some of the specific embodiments are shown in the drawings and will be described in detail in this specification. It should be understood that this description should be regarded as an exemplary illustration of the principles of the invention and is not intended to limit the invention to that described herein.

[0064] Thus, a feature indicated in this specification will be used to illustrate one of the features of an embodiment of the present invention, rather than implying that each embodiment of the present invention must have the described feature. In addition, it should be noted that this specification describes many features. Although some features can be combined together to illustrate possible system designs, these features can also be used in other combinations that are not explicitly described. Thus, unless otherwise stated, the described combinations are not intended to be limiting.

[0065] In the embodiments shown in the drawings, the indications of directions (such as up, down, etc.) used to explain the structure and movement of various elements of the present invention are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the positions of these elements changes, the indications of these directions also change accordingly.

[0066] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that the description of the present invention will be more comprehensive and complete and the concepts of the example embodiments will be fully conveyed to those skilled in the art. The accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0067] The preferred embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings of this specification.

[0068] like Figure 1 and Figure 2 As shown, an embodiment of one aspect of the present invention provides a loading device 10. In more detail, the present invention provides a loading device 10 suitable for a stacker. The loading device 10 includes: a loading platform 100, a retractable air bag 200 and an air delivery system 400.

[0069] The loading platform 100 is used to support the object 20, and the retractable airbag 200 is located above the loading platform 100. The retractable airbag 200 and the loading platform 100 enclose a loading space 301 that can hold the object 20, wherein the retractable airbag 200 can be inflated to expand and clamp the object 20 by expanding. The gas delivery system 400 is connected to the retractable airbag 200, and the gas delivery system 400 is used to input or output gas into the retractable airbag 200, so that the retractable airbag 200 expands or contracts.

[0070] The present invention provides a retractable airbag 200 on the loading platform 100, and the gas supply system 400 inputs gas into the retractable airbag 200 to expand the retractable airbag 200 to clamp the object 20 on the loading platform 100. The retractable airbag 200 outputs gas to shrink and expand to release the object 20, and the clamping force of the retractable airbag 200 is used to prevent the object 20 from tilting or falling during the transportation process. In particular, for the situation where multiple objects 20 are stacked on the loading platform 100, the clamping effect of the retractable airbag 200 makes the stacked objects 20 fit more tightly, reducing the risk of loose stacking, and the retractable airbag 200 has a simpler structure and lighter weight, and can be suitable for objects 20 of various specifications and sizes, and has a certain shock-absorbing effect. The holding strength of the retractable airbag 200 is adjusted by adjusting the gas supply volume of the gas supply system 400, which ensures the clamping force while reducing the risk of crushing the object 20.

[0071] In some embodiments, the retractable airbag 200 includes at least one first retractable airbag 210 and at least one second retractable airbag 220 opposite to the first retractable airbag 210, the first retractable airbag 210 and the second retractable airbag 220 are arranged at intervals, the cargo space 301 is located at the interval between the first retractable airbag 210 and the second retractable airbag 220 and is located above the cargo platform 100, and the first retractable airbag 210 and the second retractable airbag 220 can be expanded so as to be close to each other for clamping the object 20. In this way, the first retractable airbag 210 and the second retractable airbag 220, which are located opposite to each other, are extended toward each other, so that the object 20 is clamped from two opposite sides of the object 20, the clamping force of the object 20 is more guaranteed, and the risk of the object 20 tipping over or falling from the side where the first retractable airbag 210 or the side where the second retractable airbag 220 is located is further reduced.

[0072] It should be noted that the present invention does not limit the number and size of the first retractable airbag 210 and the second retractable airbag 220. Those skilled in the art can design them as needed. For example, the number of the first retractable airbag 210 and the second retractable airbag 220 are 1, 2, 3 or more respectively.

[0073] In certain embodiments, such as Figure 5 As shown, the gas delivery system 400 includes a first branch 410, which is connected to the first telescopic airbag 210 and the second telescopic airbag 220 and is used to deliver gas to the first telescopic airbag 210 and the second telescopic airbag 220. The first branch 410 is provided with a first switch 411, which is used to control the on-off between the first branch 410 and the first telescopic airbag 210 and the second telescopic airbag 220. In this way, the first telescopic airbag 210 and the second telescopic airbag 220, which are located opposite to each other, are connected in parallel with the first branch 410, which is conducive to ensuring that the air intake amount and air intake speed of the first telescopic airbag 210 and the second telescopic airbag 220 are approximately equal, so that the expansion degree and expansion speed of the two are approximately the same, and the first telescopic airbag 210 and the second telescopic airbag 220 can simultaneously apply approximately equal forces to the object 20, reducing the risk of the object 20 tilting or falling due to inconsistent forces on both sides, and improving the reliability of clamping and fixing the object 20.

[0074] Furthermore, the gas transmission system 400 further includes a first pressure measuring element 412, such as a pressure sensor, which is disposed on the first branch 410 and is used to detect the gas pressure of the first branch 410. The first switch 411 is configured to control the on-off of the first branch 410 according to the detection value of the first pressure measuring element 412. It should be noted that, Figure 2As shown, in the application scenario of the stacker, the gas transmission path of the first branch 410 is relatively short, and the gas pressure loss during the gas transmission process can be relatively negligible. Therefore, in this embodiment, the first pressure measuring element 412 is set on the first branch 410, and the pressure value detected by the first pressure measuring element 412 can be equivalent to the pressure in the first telescopic airbag 210 and the second telescopic airbag 220, and such a setting is conducive to further simplifying the structure of the device. When the detected pressure value reaches the preset pressure threshold, it means that the first telescopic airbag 210 and the second telescopic airbag 220 have applied a preset clamping force to the object 20, and the first switch 411 closes the first branch 410 and stops continuing to transmit gas, so that the first telescopic airbag 210 and the second telescopic airbag 220 remain at the preset clamping force to clamp the object 20, and the control is more precise and sensitive, avoiding the first telescopic airbag 210 and the second telescopic airbag 220 from crushing the object 20.

[0075] In some embodiments, the retractable airbag 200 further includes at least one third retractable airbag 230, which is located above the stage 100, and the loading space 301 is located between the third retractable airbag 230 and the stage 100. The third retractable airbag 230 can be expanded to approach the stage 100, and is used to press the object 20 toward the stage 100. In this way, the third retractable airbag 230 expands to press the object 20 toward the stage 100, so that the object 20 can be placed more stably on the stage 100, especially for the case where multiple objects 20 are stacked on the stage 100, through the clamping effect of the third retractable airbag 230 and the stage 100, the stacked objects 20 are more tightly fitted, reducing the risk of loose stacking.

[0076] It should be noted that the present invention also does not limit the number and size of the third retractable airbag 230 , and those skilled in the art can design it as needed. For example, the number of the third retractable airbag 230 is 1, 2, 3 or more.

[0077] In a specific embodiment, Figure 1 and Figure 2 As shown, the retractable airbag 200 includes a first retractable airbag 210, a second retractable airbag 220 and a third retractable airbag 230. The first retractable airbag 210 and the second retractable airbag 220 are located opposite to each other and spaced apart. The third retractable airbag 230 is located above the loading platform 100. The first retractable airbag 210, the second retractable airbag 220, the third retractable airbag 230 and the loading platform 100 enclose a loading space 301 with both ends open. In this way, the first retractable airbag 210 and the second retractable airbag 220 clamp the object 20 from opposite sides of the object 20, and the third retractable airbag 230 compacts the object 20 from the top, further reducing the risk of one or more objects 20 placed on the loading platform 100 toppling or falling.

[0078] Furthermore, the gas delivery system 400 further includes a second branch 420 connected in parallel with the first branch 410, the second branch 420 is connected to the third retractable airbag 230, and is used to deliver gas to the third retractable airbag 230. The second branch 420 is provided with a second switch 421, and the second switch 421 is used to control the on-off of the second branch 420 and the third retractable airbag 230. The second branch 420 is set to deliver gas to the third retractable airbag 230 opposite to the loading platform 100. The gas delivery volume and speed of the second branch 420 to the third retractable airbag 230 can be different from those of the first branch 410, and the pressing force of the third retractable airbag 230 on the object 20 can be not limited by the first retractable airbag 210 and the second retractable airbag 220, and the control is more precise.

[0079] Furthermore, the object carrying device 10 further includes a second pressure measuring element 422, such as a pressure sensor, which is disposed on the second branch 420 and is used to detect the air pressure of the second branch 420. The second switch 421 is configured to control the on-off of the second branch 420 according to the detection value of the second pressure measuring element 422. It should be noted that, Figure 2 As shown, in the application scenario of the stacker, the gas transmission path of the second branch 420 is relatively short, and the gas pressure loss during the gas transmission process can be relatively negligible. Therefore, in this embodiment, the second pressure measuring element 422 is set on the second branch 420, and the pressure value detected by the second pressure measuring element 422 can be equivalent to the pressure in the third retractable airbag 230, and such a setting is conducive to further simplifying the structure of the device. When the detected pressure value reaches the preset pressure threshold (the preset pressure threshold of this embodiment can be inconsistent with the preset pressure threshold used to control the first retractable airbag 210 and the second retractable airbag 220), it means that the third retractable airbag 230 applies a preset clamping force to the object 20, and the second switch 421 closes the second branch 420 and stops continuing to transmit gas, so that the third retractable airbag 230 remains at the preset clamping force to clamp the object 20, and the control is more precise and sensitive, avoiding the third retractable airbag 230 from crushing the object 20.

[0080] In some embodiments, the gas delivery system 400 further includes an air filter 430 and an air supply component 440, wherein the air outlet of the air filter 430 is in communication with the first branch 410 and the second branch 420, and the air supply component 440 is in communication with the air filter 430 for outputting gas to the air filter 430. The gas output by the air supply component 440 is filtered through the air filter 430 to remove moisture and impurities, thereby extending the service life.

[0081] The gas supply component 440 includes a gas driving component 441, a gas tank 442 and a third pressure measuring element 443 for detecting the air pressure in the gas tank 442. The gas outlet of the gas tank 442 is connected to the air inlet of the air filter 430, and the gas driving component 441 is connected to the air inlet of the gas tank 442. The gas driving component 441 is configured to start and stop according to the detection value of the third pressure measuring element 443.

[0082] In more detail, the gas transmission system 400 is described as follows: the gas supply component 440 is an air compressor, which includes a gas driving component 441, a third one-way valve 444 and an air tank 442 connected in series in sequence; a third pressure measuring element 443 is connected to the air tank 442 for measuring the internal pressure of the air tank 442; one port of the overflow valve 445 is connected to the air tank 442, and the other port is connected to the pipeline between the gas driving component 441 and the third one-way valve 444.

[0083] The gas driving component 441 is an air pump, which can work intermittently. When the pressure in the air tank 442 is lower than the minimum set pressure of the third pressure measuring element 443, the air pump starts to run. When the air pump pressure exceeds the maximum set pressure of the third pressure measuring element 443, the air pump stops running. The air compressor keeps outputting compressed gas by starting and stopping in this cycle.

[0084] The gas transmission system 400 further includes a gas control cabinet 450, which is provided with an air filter 430, a first pressure reducing valve 414, a second pressure reducing valve 423, a first pressure gauge 415, a second pressure gauge 424, a first switch 411, a second switch 421, a first check valve 416, a second check valve 425, a first pressure measuring element 412, and a second pressure measuring element 422. The first pressure reducing valve 414 is connected to the gas outlet of the air filter 430, and the first pressure reducing valve 414, the first pressure gauge 415, the first switch 411, the first check valve 416, and the first pressure measuring element 412 are connected in series in sequence to form a first branch 410; the second pressure reducing valve 423 is connected to the gas outlet of the air filter 430, and the second pressure reducing valve 423, the second pressure gauge 424, the second switch 421, the second check valve 425, and the second pressure measuring element 422 are connected in series in sequence to form a second branch 420.

[0085] The compressed gas output by the air compressor passes through the air filter 430 to filter out moisture and impurities, and then outputs the compressed gas of the two branches through the first pressure reducing valve 414 and the second pressure reducing valve 423. By adjusting the first pressure reducing valve 414 or the second pressure reducing valve 423, the maximum output pressure of the corresponding branch can be adjusted. The pressure after pressure reduction can be displayed by the second pressure gauge 424 and the second pressure gauge 424 respectively. The output of the compressed gas of the first branch 410 and the second branch 420 is opened and closed by the respective first switch 411 (such as an electromagnetic switch valve) and the second switch 421 (such as an electromagnetic switch valve). The first check valve 416 and the second check valve 425 play the role of positive connection and reverse cutoff. The pressure output to the third telescopic airbag 230 can be monitored by the third pressure measuring element 443, and the pressure output to the first telescopic airbag 210 and the second telescopic airbag 220 can be monitored by the first pressure measuring element 412.

[0086] In some embodiments, the gas delivery system 400 further includes a third switch 460. There are multiple retractable airbags 200, each of which is provided with a third switch 460. The third switch 460 is used to control the connection and disconnection between the retractable airbag 200 and the environment. When the third switch 460 is turned on, the retractable airbag 200 is connected to the environment, and the retractable airbag 200 can exhaust gas to the environment to shrink and release the object 20.

[0087] For example, the third switch 460 includes an electromagnetic switch valve.

[0088] In some embodiments, the object carrier 10 further includes a frame 500, which is disposed on the object carrier 100. The frame 500 has a top and two side portions connected to opposite ends of the top, and the top and / or the side portions are provided with a retractable airbag 200. The frame 500 provides an installation position for the retractable airbag 200, increases the assembly stability of the retractable airbag 200, and enables the retractable airbag 200 to maintain a good clamping force.

[0089] Furthermore, the outer periphery of the retractable airbag 200 arranged at the top extends to the edge of the top, and the retractable airbag 200 at the top is also the third retractable airbag 230 of the aforementioned embodiment. In this way, the third retractable airbag 230 can roughly cover the space at the top, can fully contact and apply pressure to the object 20, and has a better clamping effect on the object 20.

[0090] The retractable airbag 200 disposed on the side extends to both ends of the side in the width direction, one end extends to the top of the side in the height direction, and the other end extends toward the loading platform 100. The retractable airbag 200 disposed on the side is also the first retractable airbag 210 and the second retractable airbag 220 of the aforementioned embodiment, so that the first retractable airbag 210 and the second retractable airbag 220 can roughly cover the side in the width direction, can fully contact and press the object 20, and have a better clamping effect on the object 20. In the height direction, the first retractable airbag 210 and the second retractable airbag 220 are located closer to the top, ensuring the clamping and fixing effect of the first retractable airbag 210 and the second retractable airbag 220 on the upper layer object 20, and reducing the risk of the upper layer object 20 scattering.

[0091] In certain embodiments, such as Figure 3 and Figure 4 As shown, the retractable airbag 200 includes a mounting plate 201 and an airbag bellows 202. The mounting plate 201 is connected to the frame 500. The airbag bellows 202 is arranged on the mounting plate 201. The airbag bellows 202 has an air inlet 205 and an air outlet 206 that are connected to the inside of the airbag bellows 202. The airbag bellows 202 can be extended or shortened along the length direction. With the help of the mounting plate 201, the retractable airbag 200 can be more firmly assembled and fixed on the frame 500, the expansion direction of the airbag bellows 202 is relatively stable, and the clamping force is more controllable.

[0092] Optionally, the retractable airbag 200 further includes an elastic member, which connects the mounting plate 201 and the airbag bellows 202 , and the elastic member can apply an elastic force to the airbag bellows 202 to cause the airbag bellows 202 to contract.

[0093] Furthermore, flange structures 203 are provided at both ends of the length direction of the airbag bellows 202, and one of the two flange structures 203 is provided with a distance measuring element 204, which is used to measure the distance value from the distance measuring element 204 to the other flange structure 203 to determine the elongation of the airbag bellows 202. The gas delivery system 400 is configured to control the amount of gas input into the airbag bellows 202 according to the elongation of the airbag bellows 202. In this way, by measuring the elongated length of the airbag bellows 202, it is determined whether the airbag bellows 202 is in contact with the object 20. When the detected distance value reaches the preset elongation threshold, the gas delivery system 400 can be controlled to stop continuing to deliver gas, so as to ensure that the airbag bellows 202 can contact the object 20 to apply a clamping force to the object 20.

[0094] The present invention further provides a stacker, comprising a frame and a carrier 10 as described in any of the above embodiments, wherein the carrier 10 is movably arranged on the frame, the frame can move on different shelves, and the carrier 10 can be raised and lowered relative to the frame to reach different shelf levels.

[0095] Furthermore, the loading device 10 is provided with a guide rail matching structure 600, which is slidably connected to the guide rail of the frame. In more detail, the guide rail matching structure 600 is arranged on the loading platform 100 and is located on the side of the first retractable airbag 210 away from the second retractable airbag 220, or is located on the side of the second retractable airbag 220 away from the first retractable airbag 210.

[0096] For example, the guide rail matching structure 600 specifically includes a bracket 610 and a plurality of first pulleys 620 and a plurality of second pulleys 630 disposed on the bracket 610 .

[0097] The first pulleys 620 on the bracket 610 are arranged in pairs, and the spacing between the two first pulleys 620 in a pair serves as a slideway for the guide rail to be slidably accommodated in the slideway. Figure 2 The two pairs of first pulleys 620 shown in the figure are arranged at intervals in the vertical direction of the bracket 610, which can make the sliding of the guide rail more stable. Of course, in other embodiments, the number of pairs of first pulleys 620 on the bracket 610 can also be set to 3 pairs, 4 pairs, 5 pairs, etc.

[0098] A second pulley 630 is disposed at the upper end and the lower end of the bracket 610 for sliding contact with the surface of the guide rail. In this way, three sides of the guide rail are supported by the pulleys, the guide rail is stable, and the sliding is smoother.

[0099] Preferably, the guide rail matching structures 600 are also arranged in pairs, and are used to be slidably connected to two guide rails arranged in pairs on the rack, so as to achieve a smoother relative sliding with the rack.

[0100] like Figure 6 As shown, the present invention further provides a control method of a loading device 10, which is applicable to the loading device 10 of any of the above embodiments, comprising:

[0101] S101: In response to the command of clamping the object 20, the gas delivery system 400 is controlled to input gas into the retractable airbag 200, and the change of the retractable airbag 200 is detected in real time until the change reaches a preset condition, and then the gas delivery system 400 is controlled to stop inputting gas into the retractable airbag 200.

[0102] The variation includes any one or both of the extension and pressure value of the retractable airbag 200 .

[0103] The present invention provides a retractable airbag 200 on the loading platform 100, and the gas supply system 400 inputs gas into the retractable airbag 200 to expand the retractable airbag 200 to clamp the object 20 on the loading platform 100. The retractable airbag 200 outputs gas to shrink and expand to release the object 20, and the clamping force of the retractable airbag 200 is used to prevent the object 20 from tilting or falling during the transportation process. In particular, for the situation where multiple objects 20 are stacked on the loading platform 100, the clamping effect of the retractable airbag 200 makes the stacked objects 20 fit more tightly, reducing the risk of loose stacking, and the retractable airbag 200 has a simpler structure and lighter weight, and can be suitable for objects 20 of various specifications and sizes, and has a certain shock-absorbing effect. The supporting force of the retractable airbag 200 is adjusted by adjusting the gas supply volume of the gas supply system 400, which ensures the clamping force while reducing the risk of crushing the object 20, and the control is simpler and more precise.

[0104] In some embodiments, the variation includes the elongation and pressure value of the retractable airbag 200 , and the preset condition includes that the detected elongation of the retractable airbag 200 meets a preset elongation threshold, and the detected pressure value of the retractable airbag 200 meets a preset pressure threshold.

[0105] Monitoring the extension of the retractable airbag 200 can ensure that the retractable airbag 200 is in contact with the object 20, and monitoring the pressure value of the retractable airbag 200 can ensure the clamping strength of the retractable airbag 200. When both meet the preset conditions, it indicates that the retractable airbag 200 has clamped the object 20 with the expected clamping strength. Then, the air supply system 400 can be controlled to stop supplying air to the retractable airbag 200, so that the retractable airbag 200 maintains the current clamping strength to clamp the object 20.

[0106] Optionally, the preset elongation threshold and the preset pressure threshold are adjustable, so as to adjust the corresponding preset elongation threshold and the preset pressure threshold according to the specifications and sizes of the object 20 .

[0107] In some embodiments, the change amount of the retractable airbag 200 is detected in real time until the change amount reaches a preset condition, and then the gas supply system 400 is controlled to stop supplying gas into the retractable airbag 200, including:

[0108] Real-time detection of the extension of the first retractable airbag 210 and the second retractable airbag 220, and real-time detection of the pressure value of the first branch 410;

[0109] When it is detected that the extension amounts of the first retractable airbag 210 and the second retractable airbag 220 and the pressure value of the first branch 410 meet the preset conditions, the first switch 411 is controlled to block the first branch 410 of the gas transmission system 400.

[0110] In some embodiments, the change amount of the retractable airbag 200 is detected in real time until the change amount reaches a preset condition, and then the gas supply system 400 is controlled to stop supplying gas into the retractable airbag 200, including:

[0111] Real-time detection of the extension of the third retractable airbag 230 and the pressure value of the second branch 420;

[0112] When it is detected that the extension of the third retractable airbag 230 and the pressure value of the second branch 420 meet the preset conditions, the second switch 421 is controlled to block the second branch 420 of the gas transmission system 400.

[0113] In some embodiments, in response to the instruction to release the object 20, the third switch 460 of the gas delivery system 400 is controlled to conduct the retractable airbag 200 and the environment, so that the retractable airbag 200 outputs gas to the environment through the third switch 460. In this way, when the object 20 needs to be released, the retractable airbag 200 is promptly controlled to exhaust and shrink toward the environment, thereby achieving the release of the object 20.

[0114] Although the present invention has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present invention can be embodied in a variety of forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A loading device, characterized in that: include: A stage for supporting the object; a retractable airbag, located above the loading platform, and enclosing a loading space with the loading platform for holding the object, wherein the retractable airbag can be inflated to expand, and clamp the object by expanding; A frame is arranged on the stage, the frame having a top and two side portions connected to opposite ends of the top, the top and / or the side portions are provided with the retractable airbag, wherein the retractable airbag comprises a mounting plate, an airbag bellows and an elastic member, the mounting plate is connected to the frame, the airbag bellows is arranged on the mounting plate, the airbag bellows can be extended or shortened along the length direction, the elastic member connects the mounting plate and the airbag bellows, and the elastic member can apply an elastic force to the airbag bellows to shrink the airbag bellows; A gas delivery system connected to the retractable airbag, the gas delivery system being used to input or output gas into or out of the retractable airbag so as to expand or contract the retractable airbag; The object carrying device can respond to the object holding instruction, control the gas delivery system to input gas into the retractable airbag, and detect the change amount of the retractable airbag in real time, until it is detected that the change amount reaches a preset condition, and then control the gas delivery system to stop inputting gas into the retractable airbag; Wherein, the variation includes the elongation and pressure value of the retractable airbag; The preset condition includes that the detected extension of the retractable airbag satisfies a preset extension threshold, and the detected pressure value of the retractable airbag satisfies a preset pressure threshold.

2. The object loading device according to claim 1, characterized in that: The retractable airbag comprises: At least one first retractable airbag and at least one second retractable airbag opposite to the first retractable airbag, the first retractable airbag and the second retractable airbag are arranged at intervals, the loading space is located at the interval between the first retractable airbag and the second retractable airbag and is located above the loading platform, the first retractable airbag and the second retractable airbag can be expanded to make them close to each other for clamping the object.

3. The object loading device according to claim 1 or 2, characterized in that: The retractable airbag also includes: At least one third retractable airbag is located above the loading platform, the loading space is located between the third retractable airbag and the loading platform, and the third retractable airbag can be expanded to approach the loading platform to press the object toward the loading platform.

4. The object loading device according to claim 2, characterized in that: The gas transmission system includes a first branch, which is connected to the first telescopic airbag and the second telescopic airbag and is used to transmit gas to the first telescopic airbag and the second telescopic airbag. A first switch is provided on the first branch, and the first switch is used to control the connection and disconnection between the first branch and the first telescopic airbag and the second telescopic airbag.

5. The object loading device according to claim 4, characterized in that: The gas transmission system further comprises: A first pressure measuring element, disposed on the first branch, for detecting the air pressure of the first branch; The first switch is configured to control the on-off of the first branch according to the detection value of the first pressure measuring element.

6. The object loading device according to claim 5, characterized in that: The gas transmission system also includes a second branch connected in parallel with the first branch, the second branch is connected to the third retractable airbag and is used to transmit gas to the third retractable airbag, and a second switch is provided on the second branch, and the second switch is used to control the connection and disconnection of the second branch and the third retractable airbag.

7. The object loading device according to claim 6, characterized in that: Also includes: A second pressure measuring element, disposed on the second branch, for detecting the air pressure of the second branch; The second switch is configured to control the on-off of the second branches according to the detection value of the second pressure measuring element.

8. The object loading device according to claim 6, characterized in that: The gas transmission system further comprises: an air filter, wherein an air outlet of the air filter is in communication with the first branch and the second branch; an air supply component, communicated with the air filter and used for outputting gas to the air filter; The gas supply component includes a gas driving component, a gas storage tank and a third pressure measuring element for detecting the air pressure in the gas storage tank. The gas outlet of the gas storage tank is connected to the air inlet of the air filter, and the gas driving component is connected to the air inlet of the gas storage tank. The gas driving component is configured to start and stop according to the detection value of the third pressure measuring element.

9. The object loading device according to claim 1, characterized in that: The gas transmission system further comprises: A third switch: there are multiple retractable airbags, each of which is provided with the third switch, and the third switch is used to control the connection between the retractable airbag and the environment.

10. The object loading device according to claim 1 or 2, characterized in that: The outer periphery of the retractable airbag disposed on the top portion extends to the edge of the top portion; The retractable airbag disposed on the side portion extends to both ends of the side portion in the width direction, one end of the retractable airbag extends to the top end of the side portion in the height direction, and the other end extends toward the loading platform.

11. The object loading device according to claim 1 or 2, characterized in that: Flange structures are provided at both ends of the airbag bellows in the length direction, and one of the two flange structures is provided with a distance measuring element, which is used to measure the distance value from the distance measuring element to the other flange structure to determine the elongation of the airbag bellows; The gas delivery system is configured to control the amount of gas input into the airbag bellows according to the elongation of the airbag bellows.

12. A stacker, characterized in that: include: frame; The object carrier according to any one of claims 1 to 11, wherein the object carrier is movably disposed on the frame.

13. A method for controlling a loading device, applicable to the loading device according to any one of claims 1 to 11, characterized in that: include: In response to the object clamping instruction, the gas delivery system is controlled to input gas into the retractable airbag, and the change amount of the retractable airbag is detected in real time, until it is detected that the change amount reaches a preset condition, and then the gas delivery system is controlled to stop inputting gas into the retractable airbag; Wherein, the variation includes the elongation and pressure value of the retractable airbag; The preset condition includes that the detected extension of the retractable airbag satisfies a preset extension threshold, and the detected pressure value of the retractable airbag satisfies a preset pressure threshold.

14. The control method according to claim 13, characterized in that: The preset extension threshold and the preset pressure threshold are adjustable.

15. The control method according to claim 13, characterized in that: The real-time detection of the change amount of the retractable airbag until the change amount reaches a preset condition is detected, and then the gas supply system is controlled to stop supplying gas into the retractable airbag, comprising: Real-time detection of the extension of the first retractable airbag and the second retractable airbag, and real-time detection of the pressure value of the first branch; When it is detected that the extension amounts of the first retractable airbag and the second retractable airbag, and the pressure value of the first branch all meet the preset conditions, the first switch is controlled to block the first branch of the gas transmission system.

16. The control method according to claim 13, characterized in that: The real-time detection of the change amount of the retractable airbag until the change amount reaches a preset condition is detected, and then the gas supply system is controlled to stop supplying gas into the retractable airbag, comprising: Real-time detection of the extension of the third retractable airbag and the pressure value of the second branch; When it is detected that the extension of the third retractable airbag and the pressure value of the second branch meet the preset condition, the second switch is controlled to block the second branch of the gas transmission system.

17. The control method according to any one of claims 13 to 16, characterized in that: In response to an object release instruction, a third switch of the gas delivery system is controlled to conduct the retractable airbag and the environment, so that the retractable airbag can output gas to the environment through the third switch.

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