A cargo loading system and method of stowing cargo

Abstract

The disclosed goods loading system and goods stacking method comprise a moving platform, a conveying device, and a multi-stage lifting frame connected with a delivery platform, wherein the delivery platform comprises a warehouse frame, a rotating structure connected with a lifting arm and an upper part of the warehouse frame at two ends respectively, a clamping structure installed in the warehouse frame, and a warehouse door structure installed at a lower part of the warehouse frame, a warehouse opening capable of communicating with an output end of the buffer platform is arranged at a front end of the warehouse frame, and a buffer structure is arranged in the warehouse frame away from the warehouse opening, wherein the clamping structure, the warehouse door structure, and the buffer structure surround a box storage cavity capable of changing in size according to the size of a box in the warehouse frame. The goods loading system solves the problem that when the material to be unloaded is pushed onto the unloading plate by the conveying belt, the material pushed by the conveying belt cannot be kept in a complete standard posture and may be inclined due to the pushing of the conveying belt.

Description

Technical Field

[0001] This invention relates to the field of warehouse automation, and more particularly to a cargo loading system and a cargo stacking method. Background Technology

[0002] With the development of industrialization, various industries have put forward higher requirements for warehousing and logistics efficiency. In particular, with the development of various automated warehousing machinery, manufacturers have gradually realized fully automated and unmanned equipment in the conveying and palletizing process. The loading process, which used to be done manually, has also begun to adopt various automated loading solutions, thereby greatly reducing the labor intensity of workers.

[0003] However, in applications requiring high precision in stacking or precise control of the orientation and position of the loaded goods, existing automated loading equipment often fails to meet the accuracy requirements for stacking boxes and other goods. For example, a prior art patent (Chinese Patent Publication No. CN215325770U) discloses a loading head and material loading equipment. This prior art loading head includes two movable receiving and unloading devices for material delivery. However, these devices use a fixed support frame and an unloading plate installed at the bottom of the frame. The unloading plate can switch between a closed state for receiving material packages and an open state for dispensing material packages. However, in order to adapt to… The space left on the unloading plate for materials of different sizes and packaging forms must not be too small and must have a certain amount of clearance. Therefore, when the materials to be unloaded are pushed onto the unloading plate by the conveyor belt, the pushing of the conveyor belt will cause the materials to enter the unloading plate without maintaining a standard posture, and may tilt or other situations. In addition, when the unloading device is moved or rotated, the materials on the unloading plate will also be deflected or moved. As a result, when the unloading device reaches the predetermined position and opens the unloading plate, the materials with different postures and positions on the unloading plate will deviate from the predetermined stacking position after being put down, resulting in the entire stacking pattern being chaotic and unstable. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a cargo loading system, comprising:

[0005] The mobile platform includes a gantry frame with a moving mechanism, a lifting frame installed in the gantry frame, and a buffer conveying platform installed at the rear of the lifting frame. A transverse track is installed on the lifting frame perpendicular to the moving direction of the gantry frame.

[0006] The conveying device is rotatably connected at both ends to the lifting frame and the upper box conveyor belt, and the output end of the conveying device is connected to the input end of the buffer platform.

[0007] A multi-stage lifting frame includes a translation seat that can move along a transverse track and a multi-stage sleeved lifting arm connected to the translation seat, wherein the lower end of the lifting arm is connected to a relatively rotatable delivery platform.

[0008] The delivery platform includes a storage rack, a rotating structure connected at both ends to a lifting arm and the upper part of the storage rack, a clamping structure installed inside the storage rack, and a door structure installed at the lower part of the storage rack. The front end of the storage rack is provided with a storage opening that can communicate with the output end of the buffer platform. A buffer structure is provided inside the storage rack on the side away from the storage opening. The buffer structure can move in the direction away from or close to the storage opening. The clamping structure, the door structure, and the buffer structure surround each other inside the storage rack to form a storage cavity for the box that can change size according to the size of the box.

[0009] Preferably, the buffer structure is located at the rear of the storage rack and includes a guide and a blocking component that can move on the guide. The guide is installed on the storage rack, and the blocking component includes a stop and a sliding component connected to both ends of the stop. Guides are arranged laterally on the rear of the two side plates of the storage body, and the sliding component can move along the guide to drive the stop to move back and forth on the rear side of the storage cavity.

[0010] Preferably, the abutment further includes an energy-absorbing structure installed on the side of the baffle near the opening of the storage cavity. The energy-absorbing structure is deformable after being squeezed by an external force from the direction of the opening of the storage cavity. The energy-absorbing structure is provided with a sensor for sensing the deformation of the energy-absorbing structure.

[0011] Preferably, the clamping structure includes a first driving member mounted on the rack, two opposing clamping plates mounted on the two side plates of the rack, and a transmission assembly connected to the first driving member and the two clamping plates respectively. The first driving member can simultaneously drive the two clamping plates to move closer or further apart by driving the transmission assembly.

[0012] Preferably, the buffer structure further includes a third driving member installed on the rack, the movable end of the third driving member being connected to the abutment and capable of driving the abutment to move on the guide.

[0013] The present invention also discloses a cargo stacking method, which involves stacking containers onto a transport platform using any of the cargo loading systems described above, comprising the following steps:

[0014] S1, Obtain the cargo information and stacking information of the boxes to be stacked sent by the server. The cargo information includes box attributes and box size, and the stacking information includes placement location and placement posture.

[0015] S2, after the buffer structure senses that the box has entered the box storage compartment, it sends an action stroke command to the clamping structure according to the box size, and controls the two clamping plates of the clamping structure to move relative to each other to the corresponding width position;

[0016] S3, after the two clamping plates are in place, drive the translation seat to move on the transverse track to above the delivery position according to the stacking information, and drive the lifting arm to descend and rotate the bin to the corresponding delivery position according to the delivery posture;

[0017] S4. Select the opening sequence of the corresponding clamping structure and the door structure according to the cargo information, and open the clamping structure and the door structure respectively to release the box.

[0018] Preferably, step S4 includes:

[0019] When the cargo information is of type 1, the first drive unit is controlled to push the two clamping plates of the clamping structure to move towards the corresponding shelf side plate, and after a first predetermined time, the second drive unit is controlled to open the bottom shelf door plate.

[0020] When the cargo information is type 2, the second drive unit is controlled to open the bottom door panel of the warehouse rack, and after a second predetermined time, the first drive unit is controlled to push the two clamping plates of the clamping structure to move towards the corresponding side panel of the warehouse rack.

[0021] Preferably, step S1 further includes:

[0022] Based on the obtained dimensions of the boxes to be deployed, the required depth and width of the box storage compartment are calculated. An adjustment command is sent to the third drive component according to the depth of the box storage compartment, controlling the blocking component to move within the compartment to form the required depth of the box storage compartment.

[0023] Preferably, step S2 further includes: after the buffer structure senses that the box has entered the box storage compartment, it sends an action stroke command to the clamping structure according to the calculated width of the box storage compartment, and controls the two clamping plates of the clamping structure to move relative to each other to the corresponding width position.

[0024] The cargo loading system and cargo stacking method disclosed in this invention include: a mobile platform, a conveying device, and a multi-stage lifting frame connected to a delivery platform. The delivery platform includes a storage frame, a rotating structure connected at both ends to a lifting arm and the upper part of the storage frame, a clamping structure installed inside the storage frame, and a door structure installed at the lower part of the storage frame. The front end of the storage frame is provided with a storage opening that can communicate with the output end of the buffer platform. A buffer structure is provided inside the storage frame on the side away from the storage opening. The clamping structure, the door structure, and the buffer structure surround each other inside the storage frame to form a storage cavity for the box that can change size according to the size of the box. This cargo loading system solves the problem of existing stacking devices where, when materials to be unloaded are pushed onto the unloading plate by the conveyor belt, the material may not maintain a standard posture upon entering the unloading plate, potentially resulting in tilting. Additionally, moving or rotating the unloading device can cause the material on the unloading plate to deflect or move. Consequently, when the unloading device reaches the predetermined position and opens the unloading plate, materials with inconsistent postures and positions on the unloading plate will deviate from the predetermined stacking position after being placed down, leading to overall disorder and instability.

[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and are used to explain the invention. They do not constitute an undue limitation of the invention. In the drawings:

[0027] Appendix Figure 1-3 These are schematic diagrams of the various structures of the cargo loading system disclosed in this embodiment.

[0028] Appendix Figure 4-7 These are schematic diagrams of the various structures of the gantry frame disclosed in this embodiment.

[0029] Appendix Figure 8 and 9 These are schematic diagrams of the various structures of the conveying device disclosed in this embodiment.

[0030] Appendix Figure 10-19 This is a schematic diagram of the various structures of the delivery platform disclosed in this embodiment.

[0031] Appendix Figure 20 This is a schematic diagram illustrating the specific process of the cargo stacking method disclosed in this embodiment. Detailed Implementation

[0032] 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, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0033] In this invention, unless otherwise expressly specified and limited, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a," and similar terms, do not indicate a quantity limitation, but rather indicate the presence of at least one.

[0034] As attached Figure 1-3 As shown, this embodiment discloses a cargo loading system that can be used in a conveying device, including a mobile platform 1, a conveying device 2, and a multi-stage lifting frame 3. The mobile platform 1 includes a gantry frame 11 with a moving mechanism, a lifting frame 12 installed inside the gantry frame 11, and a buffer conveying platform 13 installed at the rear of the lifting frame 12. A transverse track 14 is installed on the lifting frame 12 perpendicular to the moving direction of the gantry frame 11. The two ends of the conveying device 2 are rotatably connected to the lifting frame 12 and the upper box conveyor belt, respectively. The output end 21 of the conveying device 2 is connected to the input end of the buffer platform 13.

[0035] The multi-stage lifting frame 3 includes a translation seat 31 that can move on the transverse track 14 and a multi-stage lifting arm 32 connected to the translation seat 31. The lower end of the lifting arm 32 is connected to a relatively rotatable delivery platform 33. The delivery platform 33 includes a storage frame 331, a rotating structure 332 connected to the lifting arm 32 and the upper part of the storage frame 331 at both ends, a clamping structure 5 installed in the storage frame 332, and a door structure 333 installed at the lower part of the storage frame 331. The front end of the storage frame 331 is provided with a storage opening 334 that can communicate with the output end of the buffer platform 13. A buffer structure 4 is provided in the storage frame 331 on the side away from the storage opening 334. The buffer structure 4 can move in the direction away from or close to the storage opening 334. The clamping structure 5, the door structure 334, and the buffer structure 4 surround each other in the storage frame 331 to form a box storage cavity 335 that can change size according to the box size.

[0036] As attached Figure 4As shown, in this embodiment, the gantry frame 11 has two moving tracks 15 below it for movement. The gantry frame 11 includes an upper frame 16 and side frames 17 fixedly connected to both sides of the upper frame 16. The side frames 17 are rotatably connected to the corresponding moving tracks 15 below. The side frames 17 include a bottom moving component 171 and a suspension structure 172 connected to the moving component 171. The moving component 171 can move on the moving track 15, and the suspension structure 172 is connected to the upper frame 16.

[0037] In this embodiment, the moving component 171 includes a moving box 1711 and a first driving part 1712. The moving box 1711 is connected to the first driving part 1712 by a connecting shaft 1713 at one end. The two ends of the connecting shaft 1713 are connected to the moving box 1711 and the first driving part 1712, respectively. The moving box 1711 is provided with a roller assembly 1714 inside, which rolls on the moving track 15. The moving box 1711 is provided with a connecting frame 1715, the upper end of which is connected to the suspension structure 172, and the lower end of which is connected to the moving box 1711. The first driving part 1712 is provided with a mounting frame 17121, one side of which is fixedly connected to the lower end of the suspension structure 172, and the other side is suspended from the moving track 15.

[0038] As attached Figure 5 As shown, the moving track 15 is an I-shaped track 15. The roller assembly 1714 includes a rolling shaft 17141 and a blocking member 17142. The rolling shaft 17141 and the blocking member 17142 are coaxially sleeved. The rolling shaft 17141 rolls on the upper surface of the I-shaped track 15, and the blocking member 17142 abuts against the inner side of the guide rail on the I-shaped track 15 to prevent the frame 11 from derailing.

[0039] In this embodiment, the suspension structure 172 includes two side beams 1721 and two horizontal beams 1722 and two longitudinal beams 1723 arranged on opposite sides of the side beams 1721. The two longitudinal beams 1723 and the two horizontal beams 1722 are arranged in parallel. The end of the opposite side of the side beams 1721 near the moving component 171 is connected to the mounting frame 17121. The two horizontal beams 1722 include a first horizontal beam 17221 and a second horizontal beam 17222. The two ends of the first horizontal beam 17221 are connected to opposite sides of the two longitudinal beams 1723. The upper ends of the two longitudinal beams 1723 are connected to the upper frame 16, and the lower ends are connected to the second horizontal beam 17222. The second horizontal beam 1722... 2. The two ends are connected to the opposite side of the two side beams 1721. The second crossbeam 17222 is provided with two rotating shafts 17223 on the side near the moving component 171. The side beam 1721 includes a first side beam 17211 and a second side beam 17212. The first side beam 17211 is spatially vertically connected to the connecting frame 1715 and the upper frame 16, respectively. One end of the second side beam 17212 is connected to the first side beam 17211 and the upper frame 16, and the other end is connected to the connecting frame 1715 away from the first side beam 17211. A junction piece 17213 is provided on the second side beam 17212 and the junction piece 17213 is connected to the second side beam 17212.

[0040] As attached Figure 6-7 As shown, the upper frame 16 includes a support plate 161 and a support platform 162. The support plate 161 is fixedly installed on the support platform 162. The support platform 162 is provided with a second drive unit 1621. The second drive unit 1621 is provided with a first drive shaft 1622. The first drive shaft 1622 is connected to the second drive unit 1621 and the adjustment component 1623 respectively. The adjustment component 1623 is installed on one end of the support platform 162 near the side frame 11. The adjustment assembly 1623 includes a third drive unit 16231 and an adjustment member 1624. The adjustment member 1624 is rotatably connected to the third drive unit 16231. The third drive unit 16231 has second drive shafts 16232 at both ends. When the second drive shafts 16232 rotate, they can drive the adjustment member 1624 to move up and down relative to the frame 11. The end of the third drive unit 16231 near the second drive unit 1621 is connected to the first drive shaft 1622. The adjustment member 1624 includes an adjustment plate 16241 and adjustment belts 16242 installed on both sides of the adjustment plate 16241. The two ends of the adjustment belts 16242 are rotatably connected to the second drive shaft 16232 and the rotating shaft 17223, respectively. The two ends of the adjustment plate 16241 are provided with fixing members 16243 for fixing the adjustment belts 16242 and two counterweights 16244. The adjustment plate 16241 is located on the opposite side of the two counterweights 16244.

[0041] As attached Figure 8As shown, the transverse track 14 is provided with a moving guide rail 141 that drives the multi-stage lifting frame 3 to move and a fourth drive unit 142. The fourth drive unit 142 is provided with a moving belt 143 that drives the multi-stage lifting frame 3 to move. The bottom of the transverse track 14 is provided with a lifting frame 12. The two ends of the lifting frame 12 near the side frame 17 are fixedly connected to the adjusting belt 16242. With the rotation of the adjusting belt 16242, it moves up and down relative to the frame 11. The lower end of the lifting frame 12 is provided with a stabilizing structure 121. The stabilizing structure 121 is tumbling connected to both sides of the two longitudinal beams 1723. The transverse track 14 is provided with connecting parts 144 near the lifting frame 12. The connecting parts 144 are connected to the transverse track 14 and the lifting frame 12 respectively.

[0042] In this embodiment, a buffer platform 13 is provided at the end of the lifting frame 12 away from the multi-stage lifting frame 3. The buffer platform 13 is connected to the conveying device 2 and is used to carry the conveyed goods. (See attached diagram) Figure 9 As shown, the conveying device 2 includes a conveyor frame 21 and a conveying assembly 22. The conveying assembly 22 is installed inside the conveyor frame 21. The conveying assembly 22 includes a fifth drive unit 221 and a transmission roller 222. A conveyor belt 223 is provided on the transmission roller 222. The fifth drive unit 221 drives the transmission roller 222 and the conveyor belt 223 to convey goods. One end of the fifth drive unit 221 is provided with a connecting box 224 connected to the conveyor for receiving goods, and the other end of the fifth drive unit 221 is provided with a placement bin 225 for conveying goods. The output device is connected to the lifting frame at one end and to the conveyor at the other end. The output device mainly conveys goods between the conveyor and the placement platform. Its lifting frame can drive a multi-stage lifting frame to adjust its height within the gantry frame according to the height of the car body. Its multi-stage lifting frame can adjust its horizontal position on the transverse track, making the cargo loading system suitable for different sizes of truck bodies.

[0043] As attached Figure 10-11As shown, in this embodiment, the buffer structure 4 is located at the rear of the storage rack 331 and includes a guide 41 and a blocking component 42 that can move on the guide 41. The guide 41 is installed on the storage rack 331. The blocking component 42 includes a stop 421 and a sliding component 422 connected to both ends of the stop 421. The guide 41 is arranged laterally on the rear of the two side plates of the storage rack 331. The sliding component 422 can move along the guide 41 to drive the stop 421 to move back and forth on the rear side of the storage cavity 335. The guide 41 is arranged laterally on both side plates. The sliding member 422 includes a slide plate 4221, which includes a mounting part 42211 and two connecting parts 42212 connected to the upper and lower ends of the mounting part. Two sets of rolling elements 42213 are mounted parallel to each other on the mounting part 42211. The two sets of rolling elements 42213 respectively abut against the upper and lower sides of the guide 41 and can roll on both sides of the guide 41. The abutment 421 includes two connecting beams 4212 whose two ends are respectively connected to the two sliding members 422, and a baffle 4213 installed on the side of the connecting beams 4212 near the storage cavity opening 334. The two connecting parts 42212 are respectively connected to the ends of the corresponding connecting beams 4212. Two elongated holes 411 are arranged laterally on the upper and lower sides of the guide 41 on both sides of the shelf 331. The ends of the two connecting beams 4212 pass through the corresponding elongated holes 411 and are connected to the upper and lower connecting parts 42212 of the sliding member 422 that is movably connected to the guide 41. The projection points of the two ends of the elongated holes 411 on the opposite side of the guide 41 are both on the guide 41. The guide is arranged laterally on both sides of the shelf, and its sliding member can drive the blocking member to move laterally on the guide to adjust the capacity of the storage cavity.

[0044] As attached Figure 12 As shown, in this embodiment, the blocking member 421 further includes an energy-absorbing structure 423 installed on the side of the baffle 4213 near the opening of the storage cavity 335. The energy-absorbing structure 423 is deformable after being squeezed by an external force from the opening direction of the storage cavity 335. The energy-absorbing structure 423 is provided with a sensor 424 for sensing the deformation of the energy-absorbing structure 423. As shown in the attached figure Figure 13As shown, in this embodiment, the energy-absorbing structure 423 includes a first energy-absorbing element 4231 and a second energy-absorbing element 4232. One end of the first energy-absorbing element 4231 is connected to the side of the baffle 4213 near the opening of the storage cavity 335. The other end of the first energy-absorbing element 4231 is sleeved with one end of the second energy-absorbing element 4232. The other end of the second energy-absorbing element 4232 is provided with a blocking part 42321 for bearing the impact of the goods. Two elastic elements 42311 are provided inside the first energy-absorbing element 4231. The two ends of the elastic elements 42311 are respectively connected to the inner wall of the blocking part 42321 and the first energy-absorbing element 4232. The energy-absorbing component 4231 is connected to the inner wall or the front side of the baffle 4213; the energy-absorbing structure 423 also includes a guide structure 4233, which includes a guide rod 42331 connected to the second energy-absorbing component 4232 and a guide seat 42332 connected to the first energy-absorbing component 4231. The guide seat 42332 is provided with a guide channel 42333 for the guide rod 42331 to enter. Two elastic elements 42311 are arranged around the guide structure 4233 inside the first energy-absorbing component 4231, and anti-collision blocks 42312 are provided inside the elastic elements 42311. One end of the guide rod is embedded in the second energy-absorbing element and the other end is connected to the guide channel. The guide seat at one end of the guide channel is embedded in and connected to the first energy-absorbing element or the baffle. Its guide structure is used to connect the baffle, the first energy-absorbing element and the second energy-absorbing element. The anti-collision block provided in the elastic element is used to prevent the energy-absorbing structure from being excessively squeezed, limiting the maximum compression point of the elastic element and limiting the maximum buffering force of the energy-absorbing structure.

[0045] As attached Figure 14-16 As shown, in this embodiment, the clamping structure 5 includes a first driving member 51 mounted on the storage rack 331, two opposing clamping plates 52 respectively mounted on the two side plates of the storage rack 331, and a transmission assembly 53 respectively connected to the first driving member 51 and the two clamping plates 52. The first driving member 51 can simultaneously drive the two clamping plates 52 to move closer or further apart by driving the transmission assembly 53. The two clamping plates 52 include a first clamping plate 521 and a second clamping plate 522 arranged opposite to each other. The first clamping plate 521 and the second clamping plate 522 are rotatably connected to the inner sides of the two side plates of the storage rack 331. The first driving member 51 includes a driving part 513 connected to the lower side of the top plate of the storage rack 331, and a first movable part 511 and a second movable part 512 disposed at both ends of the driving part 513 facing the two side plates. The first movable part 511 and the second movable part 512 can move laterally relative to the driving part 513. In this embodiment, the structures of the first movable part, the second movable part, the first connecting assembly, the second connecting assembly, the first clamping plate, and the second clamping plate are identical.

[0046] The transmission component 53 includes a first connecting component 531 and a second connecting component 532. The first connecting component 531 is connected at both ends to the first movable part 511 and the first clamping plate 521 respectively, and can drive the first clamping plate 521 to rotate by following the lateral movement of the first movable part 511. The second connecting component 532 is connected at both ends to the second movable part 512 and the second clamping plate 522 respectively, and can drive the second clamping plate 522 to rotate by following the lateral movement of the second movable part 512.

[0047] As attached Figure 17 and 18 As shown, in this embodiment, a first sliding groove 5111 is provided on the first movable part 511 along a direction perpendicular to the moving direction of the first movable part 511, and the upper end of the first connecting component 531 can move within the first sliding groove 5111; a second sliding groove 5121 is provided on the second movable part 512 along a direction perpendicular to the moving direction of the second movable part 512, and the upper end of the second connecting component 532 can move within the second sliding groove 5121. The first clamping plate 521 includes a first rotating shaft 5211 connected to the warehouse rack side plate and a first clamping member 5212 fixedly connected to the first rotating shaft 5211. The lower end of the first connecting assembly 531 is connected to the rotating shaft and can drive the first rotating shaft 5211 to rotate relative to the warehouse rack side plate. The second clamping plate 522 includes a second rotating shaft 5221 connected to the warehouse rack side plate and a second clamping member 5222 fixedly connected to the second rotating shaft 5221. The lower end of the second connecting assembly 532 is connected to the rotating shaft and can drive the second rotating shaft 5221 to rotate relative to the warehouse rack side plate.

[0048] The first connecting assembly 531 includes a first connecting rod 5311 and a first roller 5312 mounted on the upper end of the first connecting rod 5311. The lower end of the first connecting rod 5311 is fixedly connected to the first rotating shaft 5211. The first roller 5312 can roll in the first sliding groove 5111 when the first movable part 511 translates. The second connecting assembly 532 includes a second connecting rod 5321 and a second roller 5322 mounted on the upper end of the second connecting rod 5321. The lower end of the second connecting rod 5321 is fixedly connected to the second rotating shaft 5221. The second roller 5322 can roll in the second sliding groove 5121 when the second movable part 512 translates. The first link 5311 has a first bend 53111 near the connection between the top plate of the shelf and the side plate. The first clamping plate 521 also includes a first support 5213 connected to the inner wall of the side plate and a first pivot bracket 5214 mounted on the side of the first support 5213 away from the side plate. The first pivot 5211 is rotatably mounted on the first pivot bracket 5214. The second link 5321 has a second bend 53211 near the connection between the top plate of the shelf and the side plate. The second clamping plate 522 also includes a second support 5223 connected to the inner wall of the side plate and a second pivot bracket 5224 mounted on the side of the second support 5223 away from the side plate. The second pivot 5221 is rotatably mounted on the second pivot bracket 5224.

[0049] In this embodiment, as shown in the appendix Figure 19 As shown, the first movable part 511 includes a first push rod 5112 that can move laterally at one end of the drive part 513 and a first push plate 5113 installed at the end of the first push rod 5112. The first slide member 5111 includes a first guide member 5114 installed on the side of the first push plate 5113 away from the drive part 513. The first guide member 5114 has a first vertical plate 5115 and a first horizontal plate 5116 arranged perpendicular to the top plate of the rack 331. One end of the first vertical plate 5115 is connected to the first push plate 5113, and the other end is perpendicularly connected to the side end of the first horizontal plate 5116. The first push plate 5113, the first vertical plate 5115 and the first horizontal plate 5116 surround to form a first guide groove 5117 for the first roller 5312 to move.

[0050] The second movable part 512 includes a second push rod 5122 that can move laterally at one end of the drive part 513 and a second push plate 5123 installed at the end of the second push rod 5122. The second slide member 5121 includes a second guide member 5124 installed on the side of the second push plate 5123 away from the drive part 513. The second guide member 5124 has a second vertical plate 5125 and a second horizontal plate 5126 arranged perpendicular to the top plate of the rack. One end of the second vertical plate 5125 is connected to the second push plate 5123, and the other end is perpendicularly connected to the side end of the second horizontal plate 5126. The second push plate 5123, the second vertical plate 5125 and the second horizontal plate 5126 surround to form a second guide groove 5127 for the second roller 5322 to move.

[0051] The first roller 5312 is installed on the upper end of the first connecting rod 5311 near the inlet of the rack 331, and the other end of the first vertical plate 5115 is perpendicularly connected to the side end of the first horizontal plate 5116 near the inlet of the rack 331. The second roller 5322 is installed on the upper end of the second connecting rod 5321 near the inlet of the rack 331, and the other end of the second vertical plate 5125 is perpendicularly connected to the side end of the second horizontal plate 5126 near the inlet of the rack 331. The first clamping member 5212 includes a first plate body 52121 and at least one first connecting member 52122. One end of the first connecting member 52122 is fixedly connected to the lower part of the first rotating shaft 5211, and the other end, away from the same side plate, is fixedly connected to the side of the first plate body 52121 near the same side plate. The second clamping member 5222 includes a second plate 52221 and at least one second connecting member 52222. One end of the second connecting member 52222 is fixedly connected to the lower part of the second rotating shaft 5221, and the other end, away from the same side plate, is fixedly connected to the side of the second plate 52221 close to the same side plate. The buffer structure also includes a third driving member mounted on the shelf. The movable end of the third driving member is connected to the abutment and can drive the abutment to move on the guide.

[0052] As attached Figure 20 As shown, the present invention also discloses a cargo stacking method, which stacks containers onto a transport platform using the cargo loading system disclosed in the above embodiments. The method may specifically include the following steps.

[0053] Step S1: Obtain the cargo information and stacking information of the boxes to be stacked sent by the server. The cargo information includes box attributes and box dimensions, and the stacking information includes placement location and placement posture.

[0054] Step S1 may further include: calculating the required depth and width of the storage compartment based on the obtained dimensions of the box to be deployed, sending an adjustment command to the third drive component based on the depth of the storage compartment, and controlling the blocking component to move within the rack to form the required storage compartment depth.

[0055] Step S2: After the buffer structure senses that the box has entered the box storage compartment, it sends an action stroke command to the clamping structure according to the box size, and controls the two clamping plates of the clamping structure to move relative to each other to the corresponding width position.

[0056] Step S2 further includes: after the buffer structure senses that the box has entered the box storage compartment, it sends an action stroke command to the clamping structure according to the calculated width of the box storage compartment, and controls the two clamping plates of the clamping structure to move relative to each other to the corresponding width position.

[0057] Step S3: After the two clamping plates are in place, drive the translation seat to move on the transverse track to above the delivery position according to the stacking information, and drive the lifting arm to descend and rotate the bin rack to the corresponding delivery position according to the delivery posture.

[0058] Step S4: Select the opening sequence of the corresponding clamping structure and the door structure according to the cargo information, and open the clamping structure and the door structure respectively to release the box.

[0059] In this embodiment, step S4 may include:

[0060] Step S41: When the cargo information is of the first type, control the first drive unit to push the two clamping plates of the clamping structure to move towards the corresponding warehouse shelf side plate, and control the second drive unit to open the bottom warehouse door plate of the warehouse shelf after a first predetermined time.

[0061] Step S42: When the cargo information is type 2, control the second drive unit to open the bottom door panel of the warehouse rack, and after a second predetermined time, control the first drive unit to push the two clamping plates of the clamping structure to move towards the corresponding side panel of the warehouse rack.

[0062] The cargo loading system and cargo stacking method disclosed in this invention include: a mobile platform, comprising a gantry frame with a moving mechanism, a lifting frame installed within the gantry frame, and a buffer conveyor platform installed at the rear of the lifting frame, wherein a transverse track is installed on the lifting frame perpendicular to the moving direction of the gantry frame; a conveying device, with both ends rotatably connected to the lifting frame and the upper box conveyor belt, respectively, wherein the output end of the conveying device is connected to the input end of the buffer platform; and a multi-stage lifting frame, comprising a translation seat capable of moving along the transverse track and a multi-stage nested lifting mechanism connected to the translation seat. The lowering arm is connected to a relatively rotatable delivery platform at its lower end. The delivery platform includes a storage frame, a rotating structure connected to the upper part of the lifting arm and the upper part of the storage frame at both ends, a clamping structure installed in the storage frame, and a storage door structure installed at the lower part of the storage frame. The front end of the storage frame is provided with a storage opening that can communicate with the output end of the buffer platform. A buffer structure is provided in the storage frame on the side away from the storage opening. The buffer structure can move in the direction away from or close to the storage opening. The clamping structure, the storage door structure, and the buffer structure surround each other in the storage frame to form a storage cavity for the box that can change size according to the size of the box. This invention solves the problem that in existing stacking devices, when the material to be unloaded is pushed onto the unloading plate by the conveyor belt, the material may not maintain a standard posture upon entering the unloading plate, and may tilt. In addition, when the unloading device is moved or rotated, the material on the unloading plate may also deflect or move. As a result, when the unloading device reaches the predetermined position and opens the unloading plate, the material with different postures and positions on the unloading plate will deviate from the predetermined stacking position after being put down, leading to the overall stacking pattern being chaotic and unstable.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0064] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A cargo loading system, characterized by, include: The mobile platform includes a gantry frame with a moving mechanism, a lifting frame installed in the gantry frame, and a buffer conveying platform installed at the rear of the lifting frame. A transverse track is installed on the lifting frame perpendicular to the moving direction of the gantry frame. The conveying device is rotatably connected at both ends to the lifting frame and the upper conveyor belt, and the output end of the conveying device is connected to the input end of the buffer platform. A multi-stage lifting frame includes a translation seat that can move along a transverse track and a multi-stage sleeved lifting arm connected to the translation seat, wherein the lower end of the lifting arm is connected to a relatively rotatable delivery platform. The delivery platform includes a storage rack, a rotating structure connected to a lifting arm and the upper part of the storage rack at both ends, a clamping structure installed inside the storage rack, and a door structure installed at the lower part of the storage rack. The front end of the storage rack is provided with a storage opening that can communicate with the output end of the buffer platform. A buffer structure is provided inside the storage rack on the side away from the storage opening. The buffer structure can move in the direction away from or close to the storage opening. The clamping structure, the door structure, and the buffer structure surround each other inside the storage rack to form a storage cavity for the box that can change size according to the size of the box. The buffer structure is located at the rear of the storage rack and includes a guide and a blocking assembly that can move on the guide. The guide is mounted on the storage rack, and the blocking assembly includes a stop and a sliding member connected to both ends of the stop. Guides are arranged laterally on the rear of the two side plates of the storage rack, and the sliding member can move along the guide to drive the stop to move back and forth on the rear side of the storage cavity. The clamping structure includes a first driving member mounted on the rack, two opposing clamping plates mounted on the two side plates of the rack, and a transmission assembly connected to the first driving member and the two clamping plates respectively. The first driving member can simultaneously drive the two clamping plates to move closer or further apart by driving the transmission assembly. The buffer structure also includes a third drive unit installed on the rack, the movable end of which is connected to the stop member and can drive the stop member to move on the guide member.

2. The cargo loading system according to claim 1, characterized in that: The blocking component also includes an energy-absorbing structure installed on the side of the baffle near the opening of the storage cavity. The energy-absorbing structure is deformable after being squeezed by an external force from the direction of the opening of the storage cavity. The energy-absorbing structure is equipped with a sensor for sensing the deformation of the energy-absorbing structure.

3. A method for stacking goods, characterized in that, The process of stacking containers onto a transport platform using the cargo loading system according to any one of claims 1-2 includes the following steps: S1, Obtain the cargo information and stacking information of the boxes to be stacked sent by the server. The cargo information includes box attributes and box size, and the stacking information includes placement location and placement posture. S2, after the buffer structure senses that the box has entered the box storage compartment, it sends an action stroke command to the clamping structure according to the box size, and controls the two clamping plates of the clamping structure to move relative to each other to the corresponding width position; S3, after the two clamping plates are in place, drive the translation seat to move on the transverse track to above the delivery position according to the stacking information, and drive the lifting arm to descend and rotate the bin to the corresponding delivery position according to the delivery posture; S4. Select the opening sequence of the corresponding clamping structure and the door structure according to the cargo information, and open the clamping structure and the door structure respectively to release the box.

4. The cargo stacking method according to claim 3, characterized in that, Step S4 includes: When the cargo information is of type 1, the first drive unit is controlled to push the two clamping plates of the clamping structure to move towards the corresponding shelf side plate, and after a first predetermined time, the second drive unit is controlled to open the bottom shelf door plate. When the cargo information is type 2, the second drive unit is controlled to open the bottom door panel of the warehouse rack, and after a second predetermined time, the first drive unit is controlled to push the two clamping plates of the clamping structure to move towards the corresponding side panel of the warehouse rack.

5. The cargo stacking method according to claim 4, characterized in that, Step S1 further includes: Based on the obtained dimensions of the boxes to be deployed, the required depth and width of the box storage compartment are calculated. An adjustment command is sent to the third drive component according to the depth of the box storage compartment, controlling the blocking component to move within the compartment to form the required depth of the box storage compartment.

6. The cargo stacking method according to claim 4, characterized in that, Step S2 further includes: after the buffer structure senses that the box has entered the box storage compartment, it sends an action stroke command to the clamping structure according to the calculated width of the box storage compartment, and controls the two clamping plates of the clamping structure to move relative to each other to the corresponding width position.

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