Two-stage loading machine and loading method

Abstract

This invention relates to the field of loading technology, specifically to a two-stage loading machine and loading method. The two-stage loading machine includes a front-stage loading robot, which comprises a front frame, a lifting roller assembly, and a pallet assembly. The lifting roller assembly is vertically and vertically connected to the front frame and can move along a first direction on the truck bed. The pallet assembly is movably mounted on the front frame to organize and stack goods. The rear-stage loading robot includes a chassis and a forward extension arm assembly. The chassis can move along a first direction on a flat platform in the truck bed. The forward extension arm assembly is movably connected to the chassis and can extend beyond the chassis along the first direction. This reduces the length of the loading boom, thereby improving the problems of spatial limitations, the need to balance excessive torque, and low loading efficiency caused by excessively long booms in existing technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle loading technology, and more specifically, to a two-stage vehicle loading machine and a vehicle loading method. Background Technology

[0002] Before goods can be transported, they usually need to be loaded onto trucks. To automate the loading process and reduce manual labor, loading machines are becoming increasingly widely used.

[0003] Existing technologies employ three structural methods for loading operations at the front position: using a long boom, extending the boom with the frame moved forward, and a two-stage boom. When loading trucks with gooseneck platforms, the long booms are required due to the platform's length, leading to several problems:

[0004] ① The excessively long boom makes the loading robot body too long and creates space limitations;

[0005] ② When loading cargo boxes with a pallet, the long boom needs to bear a large torque, and it also needs a corresponding counterweight to balance it.

[0006] ③ The boom has a long stroke, and the speed is slower when the torque is large, resulting in low efficiency. Summary of the Invention

[0007] The present invention aims to provide, for example, a two-stage loading machine and loading method that can reduce the length of the loading boom, thereby improving the problems of space limitation, need to balance excessive torque, and low loading efficiency caused by excessive boom length in the prior art.

[0008] The embodiments of the present invention can be implemented as follows:

[0009] In a first aspect, the present invention provides a two-section loading machine with a gooseneck platform capable of loading and unloading from a wagon, comprising:

[0010] The front-end loading robot includes a front frame, a lifting roller assembly, and an encoder assembly.

[0011] The lifting roller assembly is vertically and vertically connected to the front frame, and the lifting roller assembly can move on the carriage along a first direction; the pallet assembly is movably mounted on the front frame to organize and stack goods.

[0012] And a rear loading robot, the rear loading robot including a chassis and a front extension arm assembly, the chassis being movable on a flat platform of the carriage along a first direction; the front extension arm assembly being movably connected to the chassis, and the front extension arm assembly being able to extend out of the chassis along the first direction;

[0013] The reach arm assembly is connected to the front frame to enable the front loading robot to move on the gooseneck platform and the flatbed.

[0014] This two-stage loading machine features a front-stage loading robot that, with the aid of a lifting roller assembly, can rise to the gooseneck platform height of the truck bed and descend to the flatbed height. The rear-stage loading robot's outrigger assembly propels the front-stage robot, allowing it to move on the gooseneck platform or flatbed via the lifting roller assembly, thus enabling the front-stage loading robot to move up and down the gooseneck platform. A pallet assembly on the front-stage loading robot arranges and stacks goods. This design allows for goods stacking by moving the front-stage loading robot to a preset position on the gooseneck platform. Compared to existing loading machines that can only move on the flatbed, resulting in an excessively long boom, this two-stage loading machine significantly shortens the boom's travel length, reduces the corresponding counterweight, and achieves higher goods stacking efficiency.

[0015] In an optional implementation, the forward reach assembly is movably coupled to the front frame along the height direction of the front loading robot.

[0016] In an optional implementation, the chassis and the reacharm assembly are height-adjustable.

[0017] In an optional embodiment, the code disk assembly includes a code disk frame, a code disk extension mechanism, and a touch edge sensor; the code disk frame cooperates with the front frame.

[0018] The code disk extension mechanism is respectively disposed on both sides of the code disk frame, so as to be close to or away from the outer side wall in the width direction of the carriage;

[0019] The edge sensor is disposed on the outer wall of the code disk extension mechanism.

[0020] In an optional embodiment, the encoder assembly further includes an ejector mechanism, a side extension mechanism, and a door closing and blocking mechanism; the encoder frame has a cargo passage for cargo to pass through;

[0021] Along the width direction of the carriage, the side extension mechanism and the door closing blocking mechanism are respectively movably arranged on both sides of the push-out seat mechanism, so that the side extension mechanism can move to the outer side of the code disk extension mechanism and the door closing blocking mechanism can close the cargo passage opening.

[0022] The ejector mechanism is movably mounted on the encoder frame along the first direction.

[0023] In an optional embodiment, the code disk assembly further includes a power roller;

[0024] The power roller is positioned on the encoder frame near the front frame to drive the goods from the front frame onto the encoder frame.

[0025] In an optional embodiment, the front-end loading robot further includes an inner conveyor line, which includes a roller conveyor, a sorting mechanism, and adjustable fixed side guards.

[0026] The roller conveyor is mounted on the front frame and is used to transport goods to the pallet assembly.

[0027] Adjustable fixed side guards are provided on both sides of the width direction of the roller conveyor; the sorting mechanism is movably coupled to the roller conveyor to move between the two adjustable fixed side guards to adjust the position of the goods in the width direction of the roller conveyor.

[0028] In an optional embodiment, the inner conveyor line further includes a clamping mechanism and a lifting blocking mechanism;

[0029] The lifting and blocking mechanism is vertically mounted on the roller line to block the goods from moving in the first direction; the clamping mechanism moves along the width of the carriage to clamp the goods and move them to a preset position.

[0030] In an optional embodiment, the downstream loading robot further includes a cumulative conveyor line and a differential conveyor line connected in sequence;

[0031] The cumulative conveyor line is used to receive goods, and the differential conveyor line is located at the end of the cumulative conveyor line near the front loading robot.

[0032] The conveying speed of the differential conveyor line is greater than the conveying speed of the cumulative conveyor line.

[0033] Secondly, the present invention provides a loading method, applied to a two-stage loading machine as described in any of the foregoing embodiments; the loading method includes:

[0034] When the front loading robot is on the flat platform of the carriage, the lifting roller assembly extends and lifts the front frame above the gooseneck platform.

[0035] The forward extension arm assembly extends forward to push the front loading robot forward to the loading position on the gooseneck platform;

[0036] The front-end loading robot completes the palletizing and boxing of goods.

[0037] The beneficial effects of the embodiments of the present invention include, for example:

[0038] This two-stage loading machine solution includes a front-stage loading robot and a rear-stage loading robot. The lifting roller assembly can raise the front-stage loading robot to the height of the gooseneck platform and lower it to the height of the flatbed of the wagon. The forward reach assembly works in conjunction with the lifting roller assembly to propel the front-stage loading robot on the gooseneck platform or flatbed, thus enabling the front-stage loading robot to move up and down the gooseneck platform. This improves upon the problems of existing loading machines that can only move on a flatbed, resulting in excessively long booms, space limitations, the need for heavier counterweights, and low palletizing efficiency. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of a two-section loading machine according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the two-section loading machine from another perspective according to an embodiment of the present invention;

[0042] Figure 3 This is a structural schematic diagram of the two-section loading machine according to another embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of the rear loading robot of the two-stage loading machine according to an embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the front-end loading robot of the two-stage loading machine according to an embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the internal conveyor line of the code disk assembly of the two-section loading machine according to an embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the internal conveyor line of the two-section loading machine according to an embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the front distribution assembly of the two-section loading machine according to an embodiment of the present invention.

[0048] Icons: 10 - Two-stage loading machine; 200 - Rear loading robot; 210 - Chassis; 220 - Cumulative conveyor line; 230 - Differential conveyor line; 240 - Forward reach arm assembly; 250 - Locking assembly; 260 - Rear outrigger; 270 - Lifting and adjusting assembly; 280 - Rear limit device; 290 - Forward reach power assembly; 300 - Front loading robot; 310 - Front frame; 311 - Roller; 320 - Lifting roller assembly; 330 - Main boom assembly; 340 - Counterweight assembly; 350 - Forward reach sorting assembly; 351 - Forward reach mechanism; 352 - Sorting device; 353 - Lowering blocking mechanism; 36 0-Small Z-axis assembly; 370-Encoder assembly; 371-Encoder frame; 372-Ejection mechanism; 373-Side extension mechanism; 374-Door closing blocking mechanism; 375-Encoder outer extension mechanism; 376-Contact sensor; 377-Power roller; 378-Cargo passageway; 380-Inner conveyor assembly; 381-Two-section roller conveyor; 382-Sorting mechanism; 383-Clamping mechanism; 384-Lifting blocking mechanism; 385-Adjustable fixed side guard; 390-Lifting power assembly; 20-Telescopic belt conveyor; 30-Lifting platform; 40-Parking blocking mechanism; 51-Gooseneck platform; 52-Plate platform. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] 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.

[0052] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, 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.

[0053] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0054] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0055] In the production of liquor, food and beverages, and daily chemical products, the unpalletizing, sorting, and loading processes are labor-intensive and costly, making automated conveying and loading equipment a hot demand. Boxed goods are generally packaged in cardboard boxes with a fixed shape, but come in a wide variety of sizes and weights, posing significant challenges to loading and transporting.

[0056] The loading systems provided by patents CN 201811559602.5, CN 201921775147.2, and CN 202022637461.3 include a loading conveyor mechanism and a stacking device. Cargo boxes are transported to the stacking device by the loading conveyor mechanism, and then a stacking pusher mechanism, in conjunction with a stacking tray, completes the stacking task. The loading conveyor mechanism is equipped with a centering device, and the stacking device is equipped with left and right separating devices. The drawback of this cargo box conveying and stacking method is:

[0057] ① When the pallet can accommodate an even number of boxes, and the width of the boxes is greater than half the width of the pallet entrance, the last box cannot enter the pallet because the previous box has already occupied the entrance position. For this type of box, the pallet can only stack an odd number of boxes at the same time, and cannot stack an even number of boxes, resulting in one less box per row of the truck, reducing the truck's space utilization and loading efficiency.

[0058] ② The spatial position of the left and right distribution devices on the pallet will limit the loading height of the box truck or container truck, thereby reducing the space utilization rate of the truck;

[0059] ③ When the left and right sorting devices are in motion, the cargo box pauses entering the pallet, which limits the loading frequency, reduces the overall loading efficiency, and also reduces the stability of loading.

[0060] Patents CN 202022637461.3, CN202011275978.0, and CN202210880242.9 employ three structural methods for loading operations at the front position: a long boom, a frame-forward extended boom, and a two-stage boom. When loading trucks with gooseneck platforms, the long booms are required due to the considerable length of the gooseneck platform, leading to several problems.

[0061] ① The excessively long boom makes the loading robot body too long and creates space limitations;

[0062] ② When loading cargo boxes with a pallet, the long boom needs to bear a large torque, and it also needs a corresponding counterweight to balance it.

[0063] ③ The boom has a long stroke, and the speed is slower when the torque is large, resulting in low efficiency.

[0064] In addition, the loading height of box trucks and container trucks, as well as the stacking of goods against the side and mixed loading, remain urgent problems that need to be solved. Cargo boxes cannot be stacked against the side walls of the truck or stacked with embossed patterns, as the goods will shake during transportation, posing a great potential danger in industries such as alcohol and beverages.

[0065] To improve the above-mentioned technical problems, a two-stage loading machine and loading method are provided in the following embodiments.

[0066] Please refer to Figure 1 This embodiment provides a two-section loading machine 10 with a gooseneck platform 51 capable of loading and unloading from the carriage, including a front loading robot 300 and a rear loading robot 200.

[0067] The front-end loading robot 300 includes a front-end frame 310, a lifting roller assembly 320, and an encoder assembly 370.

[0068] The lifting roller assembly 320 is vertically connected to the front frame 310, and the lifting roller assembly 320 can move on the carriage in a first direction; the pallet assembly 370 is movably mounted on the front frame 310 to organize and stack goods.

[0069] The rear loading robot 200 includes a chassis 210 and a front extension arm assembly 240. The chassis 210 can move on the flat platform 52 of the car body in a first direction. The front extension arm assembly 240 is movably connected to the chassis 210 and can extend out of the chassis 210 in the first direction.

[0070] The forward reach arm assembly 240 is connected to the front frame 310 to enable the front loading robot 300 to move on the gooseneck platform 51 and the flatbed 52.

[0071] The two-stage loading machine 10 of this solution features a front-stage loading robot 300 that, with the help of the lifting roller assembly 320, can rise to the height of the gooseneck platform 51 of the truck bed and descend to the height of the flatbed 52 of the truck bed. The rear-stage loading robot 200's forward extension arm assembly 240 can push the front-stage loading robot 300, allowing it to move on the gooseneck platform 51 or the flatbed 52 via the lifting roller assembly 320, thus enabling the front-stage loading robot 300 to move up and down the gooseneck platform 51. The pallet assembly 370 on the front-stage loading robot 300 can organize and stack goods. This allows for goods stacking by moving the front-stage loading robot 300 to a preset position on the gooseneck platform 51. Compared to existing technologies where the entire loading machine can only move on the flatbed 52, resulting in an excessively long boom, this two-stage loading machine 10 significantly shortens the boom travel length, reduces the corresponding counterweight, and achieves higher goods stacking efficiency.

[0072] For details, please continue reading. Figures 1 to 8 To learn more about the structural details of the two-stage loading machine 10.

[0073] It should be noted that in the component description, the front of the truck is considered the front, and the position of the hydraulic lifting platform 30 is considered the rear. Looking forward from the position of the hydraulic lifting platform 30, the left side is the left direction and the right side is the right direction.

[0074] from Figure 1 As can be seen, the two-stage loading machine 10 includes a front-stage loading robot 300 and a rear-stage loading robot 200. The rear-stage loading robot 200 is connected to the telescopic belt conveyor 20 via a telescopic conveyor line and is used to receive cargo boxes from the depalletized conveyor or directly receive cargo boxes from the product conveyor line. Depending on the cargo box specifications and stacking requirements, single or multiple boxes are stacked on the loading machine's pallet, achieving embossed stacking. The position of the two-stage loading machine 10 on the truck bed is controlled by a tracked walking mechanism. Each station can complete the stacking of two rows of cargo boxes, and the machine moves backward sequentially until the entire truck bed is filled.

[0075] The rear loading robot 200 mainly includes a tracked chassis 210, a cumulative conveyor line 220, a differential conveyor line 230, a forward extension arm assembly 240, a locking assembly 250, rear outriggers 260, a lifting and adjustment assembly 270, a rear limit device 280, and a forward extension power assembly 290. The rear loading robot 200 can move forward and backward as a whole in a first direction, and can also push the front loading robot 300 to move forward and backward. It can adjust the lifting of its own conveyor line to match the height changes of the telescopic belt conveyor 20.

[0076] It should be noted that the first direction here is the direction in which the carriage extends.

[0077] Specifically, chassis 210 serves as the mobile platform for the entire loading robot, moving along the truck bed and retracting station by station in coordination with the system's stacking rhythm until the stacking task is completed. Here, chassis 210 is a tracked chassis 210 that moves along the truck bed via a tracked walking mechanism. Optionally, the entire walking drive of the tracked chassis 210 is controlled by two servo motors. In this embodiment, the walking mechanism is a rubber tracked chassis 210, which features stable walking, good adaptability to road surfaces, and strong load-bearing capacity.

[0078] The cumulative conveyor line 220 is used to receive goods, and the differential conveyor line 230 is set at one end of the cumulative conveyor line 220 near the front loading robot 300; the conveying speed of the differential conveyor line 230 is greater than the conveying speed of the cumulative conveyor line 220.

[0079] Specifically, the accumulating conveyor line 220 is connected to the telescopic belt conveyor 20. The boxes conveyed from the telescopic belt conveyor 20 can be accumulated here. Because the boxes on the accumulating conveyor line 220 are closely spaced, the differential conveyor line 230, with its higher speed, widens the distance between the boxes for subsequent processing.

[0080] The forward reach arm assembly 240 connects to the front frame 310 of the front loading robot 300, providing power for the forward and backward movement of the front loading robot 300. It should be noted that the cumulative conveyor line 220, the differential conveyor line 230, and the rear support leg 260 are all mounted on the forward reach arm assembly 240.

[0081] The locking assembly 250 is located between the reach arm assembly 240 and the chassis 210. When the front loading robot 300 retracts from the gooseneck platform 51 (at this time, the cumulative conveyor line 220 and the reach arm assembly 240 retract to the appropriate position), the locking assembly 250 locks the conveyor line, reducing the impact caused by frame shaking and increasing overall stability.

[0082] The rear outriggers 260 are positioned below the reacharm assembly 240. In this embodiment, the four rear outriggers 260 are movably mounted in the rail grooves to support the entire accumulator conveyor line 220, differential conveyor line 230, and reacharm assembly 240. The rear outriggers 260 can be used to support the carriage when the accumulator conveyor line 220 and reacharm assembly 240 are extended.

[0083] The 270 lifting adjustment assembly is located between the reach arm assembly 240 and the chassis 210. That is, the chassis 210 and the reach arm assembly 240 can be height-adjusted together. When the two-section loading machine 10 moves back and forth, the telescopic conveyor belt 20 will extend or retract synchronously, resulting in a change in the tilt angle of the telescopic conveyor belt 20. The lifting adjustment assembly 270 provides the necessary height adjustment to accommodate these changes.

[0084] The rear end limiting device 280 is located at the end of the rail groove. The rear end limiting device 280 can prevent the rear support leg 260 from dislodging from the rail groove.

[0085] The 290 forward extension powertrain provides the forward extension and retraction power for the forward extension arm assembly 240 (pushing the front loading robot 300 to move back and forth).

[0086] The 300 front-end loading robot 300 includes a front frame 310, a lifting roller assembly 320, a boom assembly 330, a counterweight assembly 340, a forward-extending sorting assembly 350, a small Z-axis assembly 360, an encoder assembly 370, an internal conveyor assembly 380, and a lifting power assembly 390. Multiple rollers 311 are installed at the bottom of the front frame 310.

[0087] As can be seen from the figure, the forward reach arm assembly 240 and the front frame 310 are movably coupled along the height direction of the front loading robot 300. Optionally, the front frame 310 has a slide rail arranged vertically, and the end of the forward reach arm assembly 240 near the front loading robot 300 has a slider. The slider slides against the slide rail, allowing the front loading robot 300 to move vertically, thereby ensuring the stability of the front loading robot 300 when it is raised and lowered relative to the rear loading robot 200.

[0088] The front loading robot 300 is connected to the rear loading robot 200 via the front extension arm assembly 240 and can move independently on the gooseneck platform 51 (powered by the pushing and pulling force of the front extension arm assembly 240 and supported by the rollers 311 on the front frame 310).

[0089] Front frame 310: Four polyurethane rollers 311 are installed at the bottom to support the front loading robot 300. A lifting roller assembly 320 is also installed at the bottom. The boom assembly 330 is installed on both sides of the front frame 310. The counterweight assembly 340 is installed inside the front frame 310. The inner conveyor assembly 380 is installed inside the front frame 310. A lifting power assembly 390 is installed at the top of the front frame 310.

[0090] The 320 lifting roller assembly 320 is used to provide support when the front loading robot 300 is lifted onto or lowered from the gooseneck platform 51.

[0091] The 330 boom assembly is driven by the lifting power assembly 390 for lifting, and the counterweight assembly 340 serves as a counterweight to balance the lifting force. The boom assembly 330 can extend and retract two stacking plate positions to achieve stepped stacking of the boxes.

[0092] The forward-extending sorting assembly 350 includes a forward-extending mechanism 351, a sorting device 352, and a descending blocking mechanism 353. When the pallet assembly 370 returns to the loading position to transport the cartons, the inner conveyor assembly 380 transports single or grouped cartons to the pallet. The forward-extending sorting assembly 350 extends its body to above the pallet, and the descending blocking mechanism 353 descends (at this time, the descending blocking mechanism 353 is located at the end of the pallet assembly 370 away from the front frame 310), sorting the cartons on the pallet assembly 370 to the left and right. When the pallet assembly 370 is only one carton away from being fully loaded, the forward-extending sorting assembly 350 retracts into the loading robot.

[0093] It should be noted that in this example, the lowering blocking mechanism 353 is mounted on the forward-extending dispensing device 352, but the blocking device can also be mounted on the code disk assembly 370.

[0094] The small Z-axis assembly 360 is positioned between the boom assembly 330 and the encoder assembly 370, allowing the encoder assembly 370 to move relative to the boom assembly 330. Specifically, because the rear end of the small Z-axis assembly 360 is connected to the boom assembly 330, the lifting power assembly 390 drives the boom assembly 330 to move, thus achieving a first-stage lifting of the encoder assembly 370. The front end of the small Z-axis assembly 360 is connected to the encoder assembly 370, and the small Z-axis assembly 360 drives the encoder assembly 370 to rise or fall, thereby achieving a second-stage lifting of the encoder assembly 370. In this example, a motor-driven sprocket system is used to drive the encoder for the second-stage lifting.

[0095] The encoder assembly 370 includes an encoder frame 371, an ejector mechanism 372, a side extension mechanism 373, a door closing mechanism 374, an encoder extension mechanism 375, a touch edge sensor 376, and a power roller 377.

[0096] The encoder frame 371 is fitted with the front frame 310; the encoder extension mechanism 375 is respectively disposed on both sides of the encoder frame 371, close to or away from the outer side wall in the width direction of the carriage; the edge sensor 376 is disposed on the outer side wall of the encoder extension mechanism 375.

[0097] The pallet frame 371 has a cargo passage opening 378 for cargo to pass through; along the width direction of the carriage, the side extension mechanism 373 and the door closing blocking mechanism 374 are respectively movably disposed on both sides of the push-out seat mechanism 372, so that the side extension mechanism 373 can move to the outer side of the pallet extension mechanism 375 and the door closing blocking mechanism 374 can close the cargo passage opening 378; the push-out seat mechanism 372 is movably disposed on the pallet frame 371 along a first direction.

[0098] The drive roller 377 is positioned on the pallet frame 371 near the front frame 310 to drive the goods from the front frame 310 onto the pallet frame 371.

[0099] The inner conveyor assembly 380 includes two roller conveyors 381, a sorting mechanism 382, ​​a clamping mechanism 383, a lifting and blocking mechanism 384, and an adjustable fixed side guard 385. The rear end receives the cargo box of the differential conveyor 230, and the front end conveys the box onto the pallet assembly 370. The height of the roller conveyor is the initial position for receiving the material on the pallet.

[0100] The roller conveyor is mounted on the front frame 310 and is used to transport goods to the pallet assembly 370. Adjustable fixed side guards 385 are mounted on both sides of the roller conveyor in the width direction. The sorting mechanism 382 is movable to the roller conveyor to move between the two adjustable fixed side guards 385 to adjust the position of the goods in the width direction of the roller conveyor.

[0101] The inner conveyor line also includes a clamping mechanism 383 and a lifting blocking mechanism 384; the lifting blocking mechanism 384 is vertically mounted on the roller line to block the goods from moving in the first direction; the clamping mechanism 383 moves along the width of the carriage to clamp the goods and move them to a preset position.

[0102] Lifting power assembly 390: In this example, a motor drives a sprocket and chain to lift the boom assembly 330 (and counterweight assembly 340).

[0103] Telescopic belt conveyor 20: Connects the conveyor line system of the logistics unit to the two-stage loading machine 10. It can extend and retract as the two-stage loading machine 10 moves forward and backward. The telescopic belt conveyor 20 is used to transport cargo boxes.

[0104] Lifting platform 30: When the truck has not arrived, the loading robot stops and waits on the lifting platform 30. After the truck arrives at the loading area and stops, the height is adjusted to be consistent with the height of the truck floor. The height is adjusted synchronously when the loading robot loads and unloads the truck, due to the settlement caused by the truck's load.

[0105] Parking barrier mechanism 40: Provides a contact device during the parking process of a truck, so that the parking distance is within a controllable range and other equipment and devices will not be damaged by the truck collision.

[0106] Secondly, the present invention provides a loading method, applied to a two-stage loading machine 10 as described in any of the foregoing embodiments; the loading method includes:

[0107] When on the flat platform 52 of the carriage, the lifting roller assembly 320 of the front loading robot 300 extends, lifting the front frame 310 higher than the gooseneck platform 51.

[0108] The forward reach arm assembly 240 extends forward to push the front loading robot 300 forward to the loading position on the gooseneck platform 51;

[0109] The front-end loading robot 300 completes the palletizing and boxing of goods.

[0110] Specifically, the loading steps for truck 51 with gooseneck platform are as follows:

[0111] (1) The truck reverses into the loading area and stops after colliding with the parking barrier mechanism 40. The lifting platform 30 adjusts its height until it is flush with the rear floor of the truck.

[0112] (2) The loading robot moves inside the car to the initial loading position (in front of the gooseneck platform 51) and stops. The locking assembly 250 is released, and the front loading machine lifting roller assembly 320 extends to lift the front loading robot 300. At this time, the front loading robot 300 is supported by the lifting roller assembly 320, and the forward extension arm assembly 240 continues to rise forward, pushing the front loading machine forward until the two fixed rollers 311 are above the gooseneck platform 51. The lifting roller assembly 320 is retracted. At this time, the front loading robot 300 is supported by the two front fixed rollers 311, and the forward extension arm assembly 240 continues to extend forward, pushing the front loading machine to the loading position.

[0113] (3) The encoder assembly 370 moves to the initial receiving height and the encoder extension mechanism 375 opens until the edge sensor 376 touches the carriage arm or the maximum stroke position.

[0114] The forward-extending distribution assembly 350 extends its body to above the pallet, while the lowering blocking mechanism 353 descends to prevent the cargo box from rushing out of the pallet area.

[0115] (4) The cargo box conveyor extension belt 20 is connected to the cumulative conveyor line 220, the differential conveyor line 230, and the inner conveyor line assembly 380. When passing through the inner conveyor line assembly 380, the clamping mechanism 383 will clamp the cargo box in the center. Then, it passes through the power roller 377 on the pallet assembly 370 to ensure that the cargo box reaches the front end of the pallet assembly 370. The sorting device 352 sorts the cargo box to the left and right areas of the pallet.

[0116] If the number of boxes stacked in a single row is even, when conveying the last two boxes, the lifting blocking mechanism 384 on the inner conveyor assembly 380 rises in advance, and the sorting device 352 sorts the last two boxes to the left and right sides in sequence. In this way, the last two boxes will be grouped together, and after being clamped in the center by the clamping mechanism 383, the lifting blocking mechanism 384 is lowered, and the last two boxes are conveyed to the pallet, completing one row. The door closing blocking mechanism 374 extends.

[0117] (5) The encoder extension mechanism 375 retracts and clamps a row of cargo boxes. The boom assembly 330 and the small Z-axis assembly 360 rise and fall synchronously. The boom assembly 330 extends forward to move the encoder to the front of the carriage for stacking. The encoder extension mechanism 375 extends again to detect the carriage wall, touches the carriage arm or the maximum stroke position and records the position. Then immediately press the recorded position, the boom assembly 330 quickly retracts, and the push-out seat mechanism 372 pushes forward to move the single row of cargo boxes to the appropriate stacking position. The boom assembly 330 moves again to drive the encoder to push the cargo boxes tightly.

[0118] (6) The pallet assembly 370 moves to the initial receiving height. During (5), the cargo boxes on the conveyor line enter the accumulation state. When the pallet assembly 370 returns to the initial receiving position height, (3)-(5) are immediately repeated. During the stacking process, front and rear stepped stacking can be achieved according to the different extensions of the boom. The left and right distance of a single row of cargo boxes should also be slightly adjusted according to the position recorded by the pallet extension mechanism 375 contacting the car wall to achieve staggered stacking of upper and lower rows.

[0119] (7) During the gradual stacking process, the forward extension arm assembly 240 retracts synchronously, pulling the front loading robot 300 backwards until the lifting roller assembly 320 exits the gooseneck platform 51. At this time, the lifting roller assembly 320 of the front loading machine extends and lifts the body of the front loading robot 300. At this time, the front loading robot 300 is supported by the lifting roller assembly 320. The forward extension arm assembly 240 continues to pull back, pulling the front loading machine backwards until the body of the front loading robot 300 leaves the gooseneck platform 51. The lifting roller assembly 320 retracts, and the front loading robot 300 continues to be supported by the fixed roller 311. The forward extension arm assembly 240 retracts to its shortest distance, and the locking assembly 250 locks the forward extension arm assembly 240.

[0120] (8) Repeat (3)-(6) until all boxes are stacked according to the order. The loading robot returns to the lifting platform 30 and waits for the loading of a truck.

[0121] Loading steps for truck No. 51 without gooseneck platform:

[0122] The loading procedure is similar to that of the truck with the gooseneck platform 51, except that it is not necessary to separate the front and rear loading robots to load and unload the gooseneck platform 51. This will not be elaborated further here.

[0123] In summary, the embodiments of the present invention provide a two-stage loading machine 10 and a loading method, which have at least the following advantages:

[0124] The loading machine is divided into two sections, front and rear. When loading a truck with a gooseneck platform 51, the front and rear sections are separated, and the front section is mounted on the gooseneck platform 51 to carry out loading work, thereby improving the loading efficiency on the gooseneck platform 51.

[0125] The front-end robot's internal conveyor line is equipped with a grouping and sorting structure and a centering clamping mechanism 383, which can solve the problem of even-numbered boxes and centering positioning during the loading process.

[0126] The edge sensors 376 installed on the left and right sides of the encoder disk will issue a warning when they come into contact with the side wall of the carriage, so that the encoder can be stacked as close to the side wall of the carriage as possible.

[0127] The left and right travel of the pallet is adjustable, allowing for lateral adjustment of groups of cartons on the pallet to achieve embossed stacking and improve the stability of carton stacking. Specifically:

[0128] (1) The transportation method is more flexible and versatile, and can adapt to various specifications of cargo boxes;

[0129] (2) It is more suitable for trucks with long gooseneck platforms 51 and is more efficient.

[0130] (3) Side detection and position recording of the encoder disk to reduce collision problems caused by poor navigation.

[0131] (4) Contact-type parking barrier method.

[0132] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A two-stage loading machine with a gooseneck platform for loading and unloading carriages, characterized in that, include: The front-end loading robot (300) includes a front frame (310), a lifting roller assembly (320), and an encoder assembly (370). The lifting roller assembly (320) is vertically connected to the front frame (310), and the lifting roller assembly (320) can move on the carriage along a first direction; the pallet assembly (370) is movably mounted on the front frame (310) to organize and stack goods. And a rear loading robot (200), the rear loading robot (200) includes a chassis (210) and a front extension arm assembly (240), the chassis (210) being movable on a flat platform (52) of the carriage along a first direction; the front extension arm assembly (240) being movably connected to the chassis (210), and the front extension arm assembly (240) being able to extend out of the chassis (210) along the first direction. The reach arm assembly (240) is connected to the front frame (310) to enable the front loading robot (300) to move on the gooseneck platform (51) and the flatbed (52); The front-end loading robot (300) also includes an internal conveyor line; The rear loading robot (200) also includes a cumulative conveyor line (220) and a differential conveyor line (230) connected in sequence.

2. The two-stage loading machine according to claim 1, characterized in that: Along the height direction of the front loading robot (300), the front extension arm assembly (240) and the front frame (310) are movably coupled.

3. The two-stage loading machine according to claim 2, characterized in that: The chassis (210) and the reach arm assembly (240) are height-adjustable.

4. The two-stage loading machine according to claim 1, characterized in that: The encoder assembly (370) includes an encoder frame (371), an encoder extension mechanism (375), and a touch edge sensor (376); the encoder frame (371) cooperates with the front frame (310); The code disk extension mechanism (375) is respectively disposed on both sides of the code disk frame (371) to be close to or away from the outer side wall in the width direction of the carriage. The edge sensor (376) is disposed on the outer wall of the code disk extension mechanism (375).

5. The two-stage loading machine according to claim 4, characterized in that: The encoder assembly (370) further includes an ejector mechanism (372), a side extension mechanism (373), and a door closing mechanism (374); the encoder frame (371) has a cargo passage (378) for cargo to pass through. Along the width direction of the carriage, the side extension mechanism (373) and the door closing blocking mechanism (374) are respectively movably arranged on both sides of the push-out seat mechanism (372) so that the side extension mechanism (373) can move to the outer side of the code disk extension mechanism (375) and the door closing blocking mechanism (374) can close the cargo passage opening (378). The ejector mechanism (372) is movably mounted on the encoder frame (371) along a first direction.

6. The two-stage loading machine according to claim 4, characterized in that: The code disk assembly (370) also includes a power roller (377); The power roller (377) is positioned on the encoder frame (371) near the front frame (310) to drive the goods from the front frame (310) onto the encoder frame (371).

7. The two-stage loading machine according to claim 1, characterized in that: The inner conveyor line includes a roller conveyor, a sorting mechanism (382), and an adjustable fixed side guard (385). The roller conveyor is mounted on the front frame (310) and is used to transport goods to the pallet assembly (370). Adjustable fixed side guards (385) are provided on both sides of the width direction of the roller line; the sorting mechanism (382) is movably engaged with the roller line to move between the two adjustable fixed side guards (385) to adjust the position of the goods in the width direction of the roller line.

8. The two-stage loading machine according to claim 7, characterized in that: The inner conveyor line also includes a clamping mechanism (383) and a lifting and blocking mechanism (384). The lifting blocking mechanism (384) is vertically mounted on the roller line to block the goods from moving in the first direction; the clamping mechanism (383) moves along the width of the carriage to clamp the goods and move them to a preset position.

9. The two-stage loading machine according to claim 1, characterized in that: The cumulative conveyor line (220) is used to receive goods, and the differential conveyor line (230) is located at one end of the cumulative conveyor line (220) near the front loading robot (300); The conveying speed of the differential conveyor line (230) is greater than the conveying speed of the cumulative conveyor line (220).

10. A loading method, characterized in that: Applied to the two-stage loading machine as described in any one of claims 1-9; the loading method includes: When on the flat platform (52) of the carriage, the lifting roller assembly (320) of the front loading robot (300) extends to lift the front frame (310) above the gooseneck platform (51). The forward extension arm assembly (240) extends forward to push the front loading robot (300) forward to the loading position on the gooseneck platform (51); The front-end loading robot (300) completes the palletizing and boxing of goods.

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